Heavy load gimbal and heavy load gimbal leveling method

Abstract

The application provides a heavy-load holder and a heavy-load holder leveling method, the heavy-load holder comprising a control assembly, a support assembly, a fixing assembly and a support platform, the fixing assembly being rotationally connected to the support platform with the two support assemblies and being spaced apart from each other, and the control assembly being electrically connected to the two support assemblies. In use, the support assembly and the fixing assembly jointly support the support platform, and the fixing assembly serves as a main bearing part, so that the support platform can bear a large weight; the control assembly obtains an included angle in a first direction and an included angle in a second direction between an unlevel support platform and a level support platform, and obtains a distance in the first direction and a distance in the second direction between the unlevel support assembly and the fixing assembly, determines the movement of the unlevel support assembly according to the included angles and the distances, and controls the unlevel support assembly to complete the movement, so that a support surface of the support platform remains in a level state, and automatic leveling is realized.

Description

Technical Field

[0001] This application relates to the field of gimbal technology, and more particularly to a heavy-duty gimbal and a heavy-duty gimbal leveling method. Background Technology

[0002] Scanners, total stations, and other instruments play important roles in civil engineering, water conservancy, coal mining, and many other fields. They need to be kept horizontal during the scanning process to ensure the accuracy of the modeling.

[0003] In related technologies, instruments such as scanners and total stations are relatively heavy and are fixed in position using tripods.

[0004] However, tripods require manual adjustment to keep the instrument level, and the accuracy of keeping it level is relatively low, which cannot meet the high-precision automatic leveling requirements of the instrument. Summary of the Invention

[0005] To address at least one of the problems mentioned in the background art, this application provides a heavy-duty gimbal and a heavy-duty gimbal leveling method, aiming to solve the technical problem in the related art that the tripod needs to be manually adjusted to keep the instrument level, the accuracy of keeping the level is low, and it cannot meet the high-precision automatic leveling requirements of the instrument.

[0006] To achieve the above objectives, in a first aspect, this application provides a heavy-duty gimbal, including a control component, a support component, a fixing component, and a support platform. The support platform has a support surface for supporting instruments. The number of support components is two. The fixing component and the two support components extend in the same direction and are rotatably connected to the side of the support platform opposite to the support surface. The control component is electrically connected to the two support components.

[0007] The fixing component and the two supporting components are all spaced apart on the supporting platform.

[0008] When the support platform is in a non-horizontal state, the distance between the end of the non-horizontal support component near the support platform and the end of the horizontal support component near the support platform is d;

[0009] The angle between the non-horizontal support platform and the horizontal support platform along the first direction is θ1, and the angle along the second direction is θ2, wherein the first direction and the second direction are perpendicular.

[0010] The distance between the non-horizontal support component and the fixing component in the first direction is x, and the distance between them in the second direction is y;

[0011] The control component is configured to determine d based on θ1, θ2, x, y, and control the non-horizontal support component to move according to d, so that the support surface of the support platform remains horizontal.

[0012] In the aforementioned heavy-duty gimbal, the relationships between θ1, θ2, x, y, and d can be chosen as follows:

[0013]

[0014] In this way, the control component can determine d based on θ1, θ2, x, and y, thereby obtaining the specific distance d between the unleveled support platform and the support platform in the level state, and controlling the support component to move according to d, so that the support surface of the support platform remains in a level state, thus achieving automatic leveling.

[0015] Optionally, in the aforementioned heavy-duty gimbal, there is a first line connecting the two support components, and a second line connecting the midpoint of the first line to the fixing component, wherein the second line is perpendicular to the first line.

[0016] In the aforementioned heavy-duty gimbal, optionally, one of the supporting components and the fixing component have a third connecting line, and the other supporting component and the fixing component have a fourth connecting line, wherein the third connecting line and the fourth connecting line are perpendicular.

[0017] In the aforementioned heavy-duty gimbal, optionally, the support assembly includes a support member, a first rotating member, a second rotating member, and a fixed platform;

[0018] The fixed platform is disposed opposite to the supporting platform, and the supporting member is located between the fixed platform and the supporting platform;

[0019] The end of the support member closer to the support platform is rotatably connected to the support platform along a first direction via the first rotating member, and the other end of the support member farther from the support platform is rotatably connected to the fixed platform along a second direction via the second rotating member;

[0020] The rotation axes of the two first rotating members are located on the same straight line, and the rotation axes of the two second rotating members are parallel to each other;

[0021] The support is a telescopic member, and the telescopic direction is the extension direction of the support.

[0022] Optionally, in the aforementioned heavy-duty gimbal, the support assembly further includes a movable shaft and a sliding member fixed on the support platform. The sliding member is slidably connected to the movable shaft and rotatably connected to the first rotating member, so that the first rotating member slides on the movable shaft.

[0023] And / or, the support assembly further includes a third rotating member, the rotation axis of which is the same as the extension direction of the support member and perpendicular to the rotation axes of the first rotating member and the second rotating member, the third rotating member being rotatably connected to the support member and rotatably connected to the first rotating member.

[0024] Optionally, the aforementioned heavy-duty gimbal may also include a drive assembly and a transmission assembly. The drive assembly is connected to the support member via the transmission assembly and is electrically connected to the control assembly. The drive assembly is configured to be controlled by the control assembly and controls the extension and retraction of the support member via the transmission assembly, so that the support member drives the unleveled support platform to maintain a level state.

[0025] In the aforementioned heavy-duty gimbal, optionally, the fixing component includes a fixing member, a fourth rotating member, and a fifth rotating member. One end of the fourth rotating member is rotatably connected to the fixing member, and the other end of the fourth rotating member is rotatably connected to the fifth rotating member. The supporting platform is connected through the fifth rotating member, so that the fixing member is rotatably connected to the supporting platform.

[0026] The rotation axis of the fourth rotating member is in the same direction as the extension of the fixed member and is perpendicular to the rotation axis of the fifth rotating member.

[0027] In the aforementioned heavy-duty gimbal, optionally, the control component includes an electrically connected angle sensor and a feedback controller. The angle sensor is disposed on the side of the support platform near the support component, and the angle sensor is configured to acquire θ1 and θ2 and send θ1 and θ2 to the feedback controller.

[0028] The feedback controller is electrically connected to the support components. The feedback controller is configured to acquire θ1 and θ2 sent by the angle sensor, as well as x and y corresponding to the two support components, and determine d corresponding to the non-horizontal support component based on θ1, θ2, x, and y.

[0029] The feedback controller is also configured to control the movement of the non-horizontal support component according to d, so that the support surface of the non-horizontal support platform remains horizontal.

[0030] In the aforementioned heavy-duty gimbal, the feedback controller may optionally include a proportional-integral-derivative controller, a sliding mode controller, or a linear quadratic regulator.

[0031] The feedback controller is configured to obtain the magnitude of the current driving the non-level support component to move based on the non-level support component, and control the drive component of the non-level support component to keep the support surface of the non-level support platform in a level state.

[0032] Secondly, this application also provides a heavy-duty gimbal leveling method for heavy-duty gimbals, the heavy-duty gimbal leveling method comprising:

[0033] Obtain θ1, θ2, x, and y, where θ1 is the angle between the non-horizontal support platform and the support platform in the horizontal state along the first direction, θ2 is the angle between the non-horizontal support platform and the support platform in the horizontal state along the second direction, x is the distance between the non-horizontal support component and the fixed component in the first direction, and y is the distance between the non-horizontal support component and the fixed component in the second direction.

[0034] Determine the d of the non-horizontal support component based on θ1, θ2, x, and y;

[0035] According to d, the movement of the non-horizontal support component is controlled so that the support surface of the support platform remains horizontal.

[0036] In the aforementioned heavy-duty gimbal leveling method, optionally, the d of the unleveled support component is determined based on θ1, θ2, x, and y, specifically including: based on the relational formula...

[0037]

[0038] Determine the d of the non-horizontal support component.

[0039] In the above-described heavy-duty gimbal leveling method, optionally, according to d, controlling the movement of the non-horizontal support component includes:

[0040] Get d;

[0041] Based on d, the moving speed v of the non-horizontal support component is obtained, and the driving component is controlled to drive the non-horizontal support component to move.

[0042] In the above-mentioned heavy-load gimbal leveling method, it is optional to obtain v;

[0043] Based on v, the current magnitude of the driving component is obtained, and the driving component is controlled to drive the non-horizontal support component to move according to the current magnitude.

[0044] The heavy-duty pan-tilt unit and its leveling method provided in this application include a control component, a support component, a fixing component, and a support platform. The support platform's support surface supports the instrument. The fixing component and two support components are rotatably connected to the side of the support platform opposite to the support surface, and are spaced apart on the support platform. The control component is electrically connected to the two support components. Thus, during use, the two support components and the fixing component jointly support the support platform. The fixing component, as the main load-bearing component, enables the support platform to bear a large weight. The control component obtains the angle θ1 along the first direction and the angle θ2 along the second direction between the non-level support platform and the level support platform, and obtains the distance x between the non-level support component and the fixing component in the first direction and the distance y between the non-level support component and the fixing component in the second direction. Based on θ1, θ2, x, and y, the control component determines d and controls the non-level support component to move according to d, so that the support surface of the support platform remains level, achieving automatic leveling.

[0045] The structure of this application, as well as its other application objectives and beneficial effects, will become more apparent and understandable through the description of preferred embodiments in conjunction with the accompanying drawings. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the structure of the heavy-duty gimbal provided in the embodiments of this application;

[0048] Figure 2 A coordinate diagram of a heavy-duty gimbal provided in an embodiment of this application;

[0049] Figure 3 Another structural schematic diagram of the heavy-duty gimbal provided in the embodiments of this application;

[0050] Figure 4 This is a flowchart illustrating the heavy-duty gimbal leveling method provided in an embodiment of this application.

[0051] Explanation of reference numerals in the attached figures:

[0052] 100-Heavy-duty gimbal;

[0053] 110 - Control components;

[0054] 120 - Support component;

[0055] 130 - Fixed component;

[0056] 140 - Support Platform;

[0057] 121-Support component;

[0058] 1211 - Pusher;

[0059] 1212-Sleeve Cudgel;

[0060] 122 - First rotating component;

[0061] 1221-Rotation;

[0062] 1222 - Mounting base;

[0063] 123 - Second rotating component;

[0064] 1231 - Rotating block;

[0065] 1232 - Rotary seat;

[0066] 124 - Fixed platform;

[0067] 125 - Moving axis;

[0068] 126 - Slider;

[0069] 127 - Third rotating component;

[0070] 150 - Drive components;

[0071] 160 - Transmission assembly;

[0072] 131-Fasteners;

[0073] 132 - Fourth rotating component;

[0074] 133 - Fifth rotating component.

[0075] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0076] In related technologies, heavy instruments such as scanners and total stations are fixed in position using tripods. However, tripods require manual adjustment to keep the instrument level, such as adjusting the angle between the tripod legs and the support frame, and adjusting the threaded connections to secure the tripod. Maintaining level using these methods has relatively low precision, and when the instrument experiences bumps, the tripod needs to be readjusted, failing to meet the high-precision automatic leveling requirements of the instrument.

[0077] Based on the aforementioned technical problems, this application provides a heavy-duty gimbal and a method for leveling the heavy-duty gimbal. The heavy-duty gimbal includes a control component, a support component, a fixing component, and a support platform. The support surface of the support platform supports the instrument. The fixing component and the two support components are rotatably connected to the side of the support platform opposite to the support surface, and are spaced apart on the support platform. The control component is electrically connected to the two support components. Therefore, during use, the two support components and the fixing component jointly support the support platform. The fixing component, as the main load-bearing component, enables the support platform to bear a large weight. The control component obtains the angle θ1 along the first direction and the angle θ2 along the second direction between the non-level support platform and the level support platform, and obtains the distance x between the non-level support component and the fixing component in the first direction and the distance y between the non-level support component and the fixing component in the second direction. Based on θ1, θ2, x, and y, the control component determines d and controls the non-level support component to move according to d, so that the support surface of the support platform remains level, achieving automatic leveling.

[0078] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0079] Figure 1 This is a schematic diagram of the structure of the heavy-duty gimbal provided in the embodiments of this application; Figure 2 A coordinate diagram of a heavy-duty gimbal provided in an embodiment of this application; Figure 3 This is a schematic diagram of another structure of the heavy-duty gimbal provided in the embodiments of this application.

[0080] Reference Appendix Figure 1 Appendix Figure 2 and attached Figure 3 As shown, in a first aspect, this application provides a heavy-duty gimbal 100, which can support an instrument (not shown in the figure). The heavy-duty gimbal 100 includes a control component 110, a support component 120, a fixing component 130, and a support platform 140.

[0081] Specifically, the support platform 140 has a support surface for supporting the instrument, and there are two support components 120. The fixing component 130 and the two support components 120 extend in the same direction and are rotatably connected to the side of the support platform 140 away from the support surface. The control component 110 is electrically connected to the two support components 120. The fixing component 130 and the two support components 120 are spaced apart on the support platform 140.

[0082] Understandably, the support assembly 120 can move in a direction closer to or further away from the instrument so that the support platform 140 can move the instrument and thus level the support platform 140.

[0083] Furthermore, the fixing component 130 and the two support components 120 are spaced apart and located on the side of the support platform 140 away from the instrument, forming a triangular structure to support the support platform 140. This can improve the stability of the support platform 140, thereby improving the stability of the heavy-duty gimbal 100. At the same time, it can increase the load capacity of the support platform 140 and ensure the normal operation of the instrument.

[0084] It should be noted that the directions of rotational connection between the fixed component 130 and the support platform 140 can be different; the directions of rotational connection between the two support components 120 and the support platform 140 can also be different, so that the support platform 140 can rotate in different directions, such as rotating around different rotation axes extending in the horizontal direction, so that the support platform 140 has two degrees of freedom.

[0085] Furthermore, when the support platform 140 is in a non-horizontal state, the distance between the end of the non-horizontal support component 120 near the support platform 140 and the end of the horizontal support component 120 near the support platform 140 is d; the angle between the non-horizontal support platform 140 and the horizontal support platform 140 along the first direction is θ1, and the angle along the second direction is θ2, with the first direction being perpendicular to the second direction; the distance between the non-horizontal support component 120 and the fixed component 130 in the first direction is x, and the distance between the non-horizontal support component 120 and the fixed component 130 in the second direction is y.

[0086] The control component 110 is electrically connected to the two support components 120, can acquire θ1, θ2, x, y, and is configured to determine d based on θ1, θ2, x, y, and control the non-horizontal support component 120 to move according to d, so that the support surface of the support platform 140 remains horizontal.

[0087] It should be noted that the un-horizontal support component 120 can refer to any one support component 120 or two support components 120. In this application embodiment, the support component 120 referred to as the un-horizontal support component 120 is not limited to one or two, and the actual situation shall prevail.

[0088] It is understandable that the first direction and the second direction can be two rotating axes that extend horizontally and are perpendicular to each other. The support platform 140 can rotate along the first direction and the second direction to maintain a horizontal state.

[0089] Specifically, refer to the appendix Figure 2 As shown, a coordinate system is established with the extension direction of the fixed component 130 as the z-axis, the first direction as the x-axis, and the second direction as the y-axis. The coordinates of the position where the fixed component 130 connects to the support platform 140 are (0, 0, 0). When the support platform 140 is in a horizontal state, the coordinates of the position where one support component 120 connects to the support platform 140 are (x1, y1, 0), and the coordinates of the position where the other support component 120 connects to the support platform 140 are (x2, y2, 0). When the support platform 140 is not in a horizontal state, and neither support component 120 is horizontal... When the platform is level, the coordinates of the position where one support component 120 connects to the support platform 140 are (x1, y1, d1), and the coordinates of the position where the other support component 120 connects to the support platform 140 are (x2, y2, d2). When the support platform 140 is not level, and only one support component 120 is not level, the coordinates of the position where the non-level support component 120 connects to the support platform 140 are (x1, y1, d1), and the coordinates of the position where the other support component 120 connects to the support platform 140 are (x2, y2, 0).

[0090] As an optional implementation, the relationship between θ1, θ2, x, y, and d is:

[0091]

[0092] In this way, the control component 110 can determine d based on θ1, θ2, x, and y, thereby obtaining the specific distance d between the non-level support platform 140 and the support platform 140 in the level state, and control the support component 120 to move according to d, so that the support surface of the support platform 140 remains in a level state, thereby realizing the automatic leveling of the support platform 140.

[0093] As an optional implementation, a first line (not shown in the figure) connects the two support components 120, and a second line (not shown in the figure) connects the midpoint of the first line to the fixing component 130. The second line is perpendicular to the first line, meaning that the two support components 120 can be symmetrically arranged about the second line. By using the above-distributed fixing component 130 and support component 120, the distance between the two support components 120 and the fixing component 130 is the same, which can help the fixing component 130 support the support platform 140, thereby improving the stability of the support platform 140 and ensuring that the instrument can work normally.

[0094] As an optional implementation, one support component 120 has a third connecting line (not shown in the figure) between it and the fixed component 130, and the other support component 120 has a fourth connecting line (not shown in the figure) between it and the fixed component 130. The third connecting line and the fourth connecting line are perpendicular, that is, the two support components 120 are respectively located at corresponding positions with an angle of 90° with the fixed component 130 as the angle center. Compared with the distribution where the angle between the connecting lines of the two support components 120 and the fixed component 130 is less than 90°, it has a larger range of rotation, that is, the support platform 140 has a larger range of rotation. Compared with the distribution where the angle between the connecting lines of the two support components 120 and the fixed component 130 is greater than 90°, it has higher stability, that is, the support platform 140 has better stability, thereby ensuring the normal operation of the instrument.

[0095] It is understandable that the distribution pattern where the first and second lines are perpendicular can coexist with the distribution pattern where the third and fourth lines are perpendicular, which will not be elaborated here.

[0096] Reference Appendix Figure 1 and attached Figure 3 As one optional implementation shown, the support assembly 120 includes a support member 121, a first rotating member 122, a second rotating member 123, and a fixed platform 124.

[0097] Specifically, the fixed platform 124 is arranged opposite to the support platform 140, and the support member 121 is located between the fixed platform 124 and the support platform 140 for connecting the fixed platform 124 and the support platform 140.

[0098] One end of the support member 121 near the support platform 140 is rotatably connected to the support platform 140 in a first direction via a first rotating member 122, and the other end of the support member 121 away from the support platform 140 is rotatably connected to the fixed platform 124 in a second direction via a second rotating member 123. The first direction is perpendicular to the second direction, that is, the extension direction of the rotation axis of the first rotating member 122 is the second direction, and the extension direction of the rotation axis of the second rotating member 123 is the first direction.

[0099] The rotation axes of the two first rotating members 122 are located on the same straight line, and the rotation axes of the two second rotating members 123 are parallel to each other. That is, the rotation directions of the first rotating members 122 of the two support assemblies 120 are the same, and the rotation directions of the second rotating members 123 are the same. When the rotation axes of the two first rotating members 122 are located on the same straight line, that is, both support assemblies 120 can rotate in the second direction or in the first direction.

[0100] The support member 121 is a telescopic member, and the telescopic direction is the extension direction of the support member 121. The extension direction of the support member 121 is the same as the extension direction of the fixing component 130, that is, the extension direction of the support member 121 is the z-axis. In other words, the support member 121 can telescopically extend and retract along the z-axis direction to cooperate with the first rotating member 122 and the second rotating member 123 to keep the non-horizontal support member 121 in a horizontal state.

[0101] Furthermore, the support member 121 can be a ball screw, a gear rack, or a worm gear, or other structures capable of linear motion. This application does not limit the specific form of the support member 121, nor is it limited to the examples described above.

[0102] The following explanation uses the support component 121 as an example of a ball screw.

[0103] Reference Appendix Figure 3 Specifically, the support member 121 includes a push rod 1211 and a sleeve rod 1212 sleeved on the end of the push rod 1211 away from the support platform 140. The push rod 1211 can move relative to the sleeve rod 1212 to realize the telescopic function of the support member 121. Specifically, the end of the push rod 1211 near the support platform 140 is connected to a first rotating member 122 and is rotatably connected to the support platform 140 through the first rotating member 122; the end of the push rod 1211 away from the support platform 140 is connected to a second rotating member 123 and can be rotatably connected to a fixed platform 124 through the second rotating member 123. That is, when the support member 121 telescopically extends or retracts, the fixed platform 124 can move synchronously with the push rod 1211. At this time, the fixing component 130 can pass through the fixed platform 124, that is, the fixed platform 124 is provided with a through hole for the fixing component 130 to pass through, so as to ensure the supporting function of the fixing component 130 for the support platform 140.

[0104] On the other hand, the fixing component 130 may not pass through the fixing platform 124. That is, the two ends of the fixing component 130 are respectively connected to the support platform 140 and the fixing platform 124. In this case, the support member 121 can pass through the fixing platform 124. That is, the fixing platform 124 is provided with through holes for the support member 121 to pass through, so as to ensure the telescopic function of the support member 121.

[0105] Specifically, the push rod 1211 may include two parts. One end of the push rod 1211 is rotatably connected to the support platform 140 through the first rotating member 122, and the other end is rotatably connected to one end of the other push rod 1211 through the second rotating member 123. The other end of the other push rod 1211 is sleeved on the sleeve rod 1212. The support member 121 with the above structure can realize the function of pushing rod 1211 rotating in the first direction and the second direction while performing the telescopic function, so as to realize the leveling of the support platform 140.

[0106] Furthermore, in order to improve the structural stability of the support assembly 120, the end of the sleeve rod 1212 near the push rod 1211 can be fixed on the fixed platform 124. This allows the push rod 1211 to move relative to the sleeve rod 1212 and rotate along the first and second directions, while ensuring the connection stability of the support assembly 120 and guaranteeing the leveling of the support platform 140.

[0107] Reference Appendix Figure 3 Specifically, the second rotating component 123 may include a rotating block 1231 with a rotating end and rotating seats 1232 located on both sides of the rotating block 1231. The rotating seats 1232 are fixedly connected to the fixed platform 124. The rotating block 1231 is rotatably connected to the rotating seat 1232 through the rotating end. The rotating block 1231 is rotatably connected to the push rod 1211 and the sleeve rod 1212. Thus, while the push rod 1211 rotates relative to the sleeve rod 1212, the structural stability of the support assembly 120 can be ensured, and the leveling of the support platform 140 can be guaranteed.

[0108] Reference Appendix Figure 1 and attached Figure 3 As an optional implementation, the support assembly 120 further includes a movable shaft 125 and a slider 126 fixed on the support platform 140. The slider 126 is slidably connected to the movable shaft 125 and rotatably connected to a first rotating member 122, so that the first rotating member 122 slides on the movable shaft 125.

[0109] Specifically, fixed blocks can be provided at both ends of the movable shaft 125. The movable shaft 125 is fixed to the side of the support platform 140 away from the instrument by the fixed blocks. The sliding member 126 is provided with a through hole for the movable shaft 125 to pass through, and is sleeved on the movable shaft 125 through the through hole, thereby realizing a sliding connection.

[0110] Reference Appendix Figure 3As shown further, the fixed block is rotatably connected to the first rotating member 122. The first rotating member 122 may include two rotating rings 1221 with through holes and a mounting base 1222 for mounting the rotating rings 1221. The mounting base 1222 has a groove that can accommodate the sliding member 126 and a through hole corresponding to the rotating ring 1221. The rotating ring 1221 is rotatably connected at the through hole. The sliding member 126 has a rotating end corresponding to the through hole of the two rotating rings 1221. The sliding member 126 is rotatably connected to the rotating ring 1221 through the rotating end. Thus, when the unleveled support member 121 rotates or shifts, the support member 121 can move relative to the support platform 140 and can rotate relative to the support platform 140 to achieve leveling of the support platform 140.

[0111] Reference Appendix Figure 1 and attached Figure 3 As an optional embodiment, the support assembly 120 further includes a third rotating member 127. The rotation axis of the third rotating member 127 is the same as the extension direction of the support member 121 and is perpendicular to the rotation axes of the first rotating member 122 and the second rotating member 123. The third rotating member 127 is rotatably connected to the support member 121 and rotatably connected to the first rotating member 122.

[0112] Specifically, the third rotating member 127 can be a rotating column, which can be integrally formed with the push rod 1211 of the support member 121. The mounting base 1222 of the first rotating member 122 is provided with a mounting hole corresponding to the rotating column on the side near the push rod 1211. The rotating column is located at the mounting hole, and the push rod 1211 can rotate relative to the sleeve rod 1212. Thus, when the push rod 1211 rotates relative to the sleeve rod 1212, it drives the rotating column to rotate relative to the first rotating member 122 along the z-axis.

[0113] It is understandable that the two support components 120 with the above structure can move along the z-axis respectively and rotate around the z-axis, x-axis and y-axis respectively, with a high degree of freedom, so as to achieve the leveling of the support platform 140.

[0114] Reference Appendix Figure 3 As an optional implementation, the heavy-duty gimbal 100 also includes a drive assembly 150 and a transmission assembly 160. The drive assembly 150 is connected to the support member 121 through the transmission assembly 160 and is electrically connected to the control assembly 110. The drive assembly 150 is configured to be under the control of the control assembly 110 and controls the extension and retraction of the support member 121 through the transmission assembly 160 so that the support member 121 drives the support surface of the non-level support platform 140 to maintain a level state.

[0115] Specifically, the drive component 150 can be a motor, the output end of which is connected to the transmission component 160. The motor can drive the transmission component 160 and drive the support member 121 to extend, retract, or rotate, so that the support member 121 can keep the support surface of the non-level support platform 140 level.

[0116] It is understood that the type of motor can be a permanent magnet synchronous motor, an asynchronous motor, or a stepper motor. This application does not limit the specific type of the drive component 150, nor is it limited to the above examples; adjustments can be made according to actual circumstances.

[0117] It should be noted that the drive assembly 150 can adjust the time, speed, etc. of the extension, retraction or rotation of the support member 121 through the transmission assembly 160. For example, the transmission assembly 160 can be a synchronous belt drive, a gear drive, or a worm gear drive. The embodiments of this application do not limit the transmission method of the drive assembly 150, nor are they limited to the above examples. They can be adjusted according to the actual situation.

[0118] It should be noted that there are two support components 120. In order to achieve the leveling of the support platform 140, the drive component 150 may include two independent output ends. The two output ends are respectively connected to a transmission component 160 to drive the corresponding support component 120 to move or rotate, so that the support member 121 drives the support surface of the unleveled support platform 140 to keep it in a horizontal state.

[0119] Reference Appendix Figure 1 and attached Figure 3 As one optional embodiment, the fixing assembly 130 includes a fixing member 131, a fourth rotating member 132, and a fifth rotating member 133. One end of the fourth rotating member 132 is rotatably connected to the fixing member 131, and the other end of the fourth rotating member 132 is rotatably connected to the fifth rotating member 133. The support platform 140 is connected through the fifth rotating member 133, so that the fixing member 131 is rotatably connected to the support platform 140. The rotation axis of the fourth rotating member 132 is the same as the extension direction of the fixing member 131 and is perpendicular to the rotation axis of the fifth rotating member 133.

[0120] Specifically, the fixing member 131 can be a fixing column, and the fourth rotating member 132 can include a universal joint. For example, the fourth rotating member 132 can be a cross shaft coupling, a ball cage coupling, or a ball fork coupling, etc. That is, the fourth rotating member 132 can rotate around the x-axis and y-axis so that when the unleveled support component 120 is working, it drives the support platform 140 to rotate or move around the fixing component 130 as the center, thereby keeping the support surface of the unleveled support platform 140 in a horizontal state.

[0121] It is understood that the specific form of the fourth rotating member 132 in this application embodiment is not limited, nor is it limited to the above example, and can be selected according to the actual situation.

[0122] The following description uses the fourth rotating component 132 as a cross-shaft coupling.

[0123] Furthermore, the fifth rotating component 133 can be sleeved on the fixed column and located at the end of the fixed column away from the support platform 140, and rotatably connected to the fixed platform 124. That is, the fifth rotating component 133 can rotate around the z-axis so that when the unleveled support component 120 is working, it drives the support platform 140 to rotate around the fixed component 130, thereby keeping the support surface of the unleveled support platform 140 in a horizontal state.

[0124] As an optional implementation, the control component 110 includes an angle sensor (not shown) and a feedback controller (not shown) that are electrically connected. The angle sensor is disposed on the side of the support platform 140 near the support component 120 and is configured to acquire θ1 and θ2 and send θ1 and θ2 to the feedback controller.

[0125] It is understood that the angle sensor can acquire θ1 and θ2 of the two support components 120 and send them to the feedback controller, so that the feedback controller can acquire d, thereby keeping the support surface of the unleveled support platform 140 in a horizontal state. It should be noted that the angle sensor can be an electronic inclinometer, an electronic gyroscope, or other devices capable of acquiring angles. The embodiments of this application do not limit the specific form of the angle sensor, nor are they limited to the examples described above.

[0126] Furthermore, the feedback controller is electrically connected to the support assembly 120. The feedback controller is configured to acquire θ1 and θ2 sent by the angle sensor, as well as x and y corresponding to the two support assemblies 120, and determine d corresponding to the unleveled support assembly 120 based on θ1, θ2, x, and y. The feedback controller is also configured to control the movement of the unleveled support assembly 120 based on d, so that the support surface of the unleveled support platform 140 remains level.

[0127] The leveling process is as follows: The angle sensor acquires θ1 and θ2 in real time and sends them to the feedback controller. The feedback controller acquires θ1 and θ2 and obtains the x and y coordinates corresponding to the support component 120, according to the following relationship:

[0128]

[0129] The specific distance d between the non-level support platform 140 and the support platform 140 in the level state is obtained, and the support component 120 is controlled to move according to d. For example, the non-level support component 120 is controlled to rotate along the x-axis and the z-axis, and move along the z-axis so that d is 0. At this time, the coordinates of the non-level support platform 140 are (x, y, 0). At this time, θ1 and θ2 are both 0. At this time, the support surface remains in a level state, and thus the automatic leveling of the heavy-duty gimbal 100 can be realized.

[0130] As an optional implementation, the feedback controller includes a proportional-integral-derivative (PID) controller, a sliding mode controller (SMC), or a linear quadratic regulator (LQR). The embodiments of this application do not limit the specific form of the feedback controller, nor are they limited to the examples above. The appropriate controller can be selected according to the actual situation.

[0131] The following explanation uses a feedback controller, including a proportional-integral-derivative controller, as an example.

[0132] Specifically, the feedback controller is configured to obtain the magnitude of the current driving the non-level support component 120 to move based on the non-level support component 120, and control the drive component 150 of the non-level support component 120 so that the support component 120 drives the support surface of the non-level support platform 140 to remain level.

[0133] Furthermore, when the feedback controller includes a PID controller, the processing procedure is as follows:

[0134] The PID controller obtains the specific distance d between the horizontal and horizontal support platforms 140, and calculates the distance based on the following formula:

[0135]

[0136] The system acquires the moving speed signal of the non-horizontal support component 120, and based on the speed signal, acquires the magnitude of the current that drives the non-horizontal support component 120 to move. Based on the acquired current magnitude, the system controls the drive component 150 to provide the aforementioned current, thereby keeping the support surface horizontal and thus enabling automatic leveling of the heavy-duty gimbal 100.

[0137] The heavy-duty gimbal 100 provided in this application embodiment includes a control component 110, a support component 120, a fixing component 130, and a support platform 140. The support surface of the support platform 140 is used to support the instrument. The fixing component 130 and the two support components 120 are rotatably connected to the side of the support platform 140 away from the support surface, and are spaced apart on the support platform 140. The control component 110 is electrically connected to the two support components 120. Therefore, during use, the heavy-duty gimbal 100 of this application uses two support components 120 and a fixed component 130 to jointly support the support platform 140. The fixed component 130 serves as the main load-bearing component, enabling the support platform 140 to bear a large weight. The control component 110 obtains the angle θ1 along the first direction and the angle θ2 along the second direction between the non-level support platform 140 and the level support platform 140, and obtains the distance x between the non-level support component 120 and the fixed component 130 in the first direction and the distance y between the non-level support component 120 and the fixed component 130 in the second direction. Based on θ1, θ2, x, and y, d is determined, and the non-level support component 120 is controlled to move according to d, so that the support surface of the support platform 140 remains level, achieving automatic leveling.

[0138] Secondly, refer to the appendix. Figure 4 As shown in the embodiment of this application, a heavy-duty gimbal leveling method is also provided for heavy-duty gimbals. The heavy-duty gimbal leveling method includes:

[0139] S100. Obtain θ1, θ2, x, and y, where θ1 is the angle between the non-horizontal support platform and the horizontal support platform along the first direction, θ2 is the angle between the non-horizontal support platform and the horizontal support platform along the second direction, x is the distance between the non-horizontal support component and the fixed component in the first direction, and y is the distance between the non-horizontal support component and the fixed component in the second direction.

[0140] S200. Based on θ1, θ2, x, and y, determine the d of the non-horizontal support component;

[0141] S300, according to d, control the movement of the non-horizontal support components to keep the support surface of the support platform horizontal.

[0142] As an optional implementation, the d of the non-horizontal support component is determined based on θ1, θ2, x, and y, specifically including:

[0143] S210. According to the relation:

[0144]

[0145] Determine the d of the non-horizontal support component.

[0146] As an optional implementation, according to d, controlling the movement of the non-horizontal support component includes:

[0147] S310, Obtain d;

[0148] S320. Based on d, obtain the moving speed v of the non-horizontal support component, and control the drive component to drive the non-horizontal support component to move.

[0149] As an optional implementation, controlling the drive component to drive the non-horizontal support component to move includes:

[0150] S321, Obtain v;

[0151] S322. Based on v, obtain the current magnitude of the driving component, and control the driving component to drive the non-horizontal support component to move according to the current magnitude.

[0152] As an optional implementation, obtaining v includes:

[0153] S3211. According to the relation:

[0154]

[0155] Get v.

[0156] The heavy-duty gimbal leveling method provided in this application embodiment obtains θ1, θ2, x, and y corresponding to the non-level support component through the control component, and then applies the following relationship:

[0157]

[0158] Obtain the specific distance d between the non-horizontal support platform and the horizontal support platform, and apply the following formula:

[0159]

[0160] Get v; finally, based on v, get the current of the drive component, and control the drive component to drive the non-horizontal support component to move or rotate according to the current, so that the support surface of the support platform remains horizontal and achieves automatic leveling.

[0161] In the description of the embodiments of this application, it should be understood that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. The terms "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In the description of this application, "multiple" means two or more, unless otherwise precisely specified.

[0162] The terms "first," "second," "fourth," "fourth," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0163] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A leveling method for a heavy-duty gimbal, characterized in that, The heavy-duty gimbal includes a control component, a support component, a fixing component, and a support platform. The support platform has a support surface for supporting the instrument. There are two support components. The fixing component and the two support components extend in the same direction and are rotatably connected to the side of the support platform opposite to the support surface. The control component is electrically connected to the two support components. The fixing component and the two supporting components are all spaced apart on the supporting platform. When the support platform is in a non-horizontal state, the distance between the end of the non-horizontal support component closest to the support platform and the end of the horizontal support component closest to the support platform is: ; The angle along the first direction between the non-horizontal support platform and the horizontal support platform is . The included angle along the second direction is The first direction is perpendicular to the second direction; The distance between the non-horizontal support component and the fixing component in the first direction is The distance between the fixed component and the second direction is ; The control component is configured to, according to , , , Sure And control the non-horizontal support components according to The movement is completed so that the support surface of the support platform remains horizontal; The heavy-duty gimbal leveling method includes: According to the relation Determine the unleveled support component ; according to The movement of the non-horizontal support component is controlled to keep the support surface of the support platform horizontal.

2. The leveling method for a heavy-duty gimbal according to claim 1, characterized in that, A first line connects the two support components, and a second line connects the midpoint of the first line to the fixing component, the second line being perpendicular to the first line.

3. The leveling method for a heavy-duty gimbal according to claim 1, characterized in that, One of the supporting components and the fixing component have a third connecting line, and the other supporting component and the fixing component have a fourth connecting line, wherein the third connecting line and the fourth connecting line are perpendicular.

4. The leveling method for a heavy-duty gimbal according to any one of claims 1-3, characterized in that, The support assembly includes a support member, a first rotating member, a second rotating member, and a fixed platform; The fixed platform is disposed opposite to the supporting platform, and the supporting member is located between the fixed platform and the supporting platform; The end of the support member closer to the support platform is rotatably connected to the support platform along a first direction via the first rotating member, and the other end of the support member away from the support platform is rotatably connected to the fixed platform along a second direction via the second rotating member; The rotation axes of the two first rotating members are located on the same straight line, and the rotation axes of the two second rotating members are parallel to each other; The support is a telescopic member, and the telescopic direction is the extension direction of the support.

5. The leveling method for a heavy-duty gimbal according to claim 4, characterized in that, The support assembly further includes a movable shaft and a sliding member fixed on the support platform. The sliding member is slidably connected to the movable shaft and rotatably connected to the first rotating member, so that the first rotating member slides on the movable shaft. And / or, the support assembly further includes a third rotating member, the rotation axis of which is the same as the extension direction of the support member and perpendicular to the rotation axes of the first rotating member and the second rotating member, the third rotating member being rotatably connected to the support member and rotatably connected to the first rotating member.

6. The leveling method for a heavy-duty gimbal according to claim 4, characterized in that, It also includes a drive assembly and a transmission assembly. The drive assembly is connected to the support member through the transmission assembly and is electrically connected to the control assembly. The drive assembly is configured to be under the control of the control assembly and controls the extension and retraction of the support member through the transmission assembly so that the support member drives the unleveled support surface of the support platform to maintain a level state.

7. The leveling method for a heavy-duty gimbal according to claim 1 or 2, characterized in that, The fixing component includes a fixing member, a fourth rotating member, and a fifth rotating member. One end of the fourth rotating member is rotatably connected to the fixing member, and the other end of the fourth rotating member is rotatably connected to the fifth rotating member. The supporting platform is connected through the fifth rotating member, so that the fixing member is rotatably connected to the supporting platform. The rotation axis of the fourth rotating member is in the same direction as the extension of the fixed member and is perpendicular to the rotation axis of the fifth rotating member.

8. The leveling method for a heavy-duty gimbal according to claim 1 or 2, characterized in that, The control component includes an electrically connected angle sensor and a feedback controller. The angle sensor is disposed on the side of the support platform near the support component and is configured to acquire... and and will and Send to the feedback controller; The feedback controller is electrically connected to the support assembly, and the feedback controller is configured to acquire signals transmitted by the angle sensor. and and the two supporting components corresponding to and and according to , , , Determine the level of the support component corresponding to the non-horizontal component. ; The feedback controller is also configured according to Control the movement of the non-horizontal support component to keep the support surface of the non-horizontal support platform horizontal.

9. The leveling method for a heavy-duty gimbal according to claim 8, characterized in that, The feedback controller includes a proportional-integral-derivative controller, a sliding mode controller, or a linear quadratic regulator. The feedback controller is configured to, according to Obtain the unleveled support component To obtain the magnitude of the current that drives the non-horizontal support component to move, and to control the drive component of the non-horizontal support component so that the support component drives the support surface of the non-horizontal support platform to remain horizontal.

10. The leveling method for a heavy-duty gimbal according to claim 1, characterized in that, according to Controlling the movement of the non-horizontal support component includes: Get ; according to Obtain the moving speed of the non-horizontal support component. And control the drive component to drive the non-horizontal support component to move.

11. The leveling method for a heavy-duty gimbal according to claim 10, characterized in that, Controlling the drive component to drive the non-horizontal support component to move includes: Get ; according to The current magnitude of the driving component is obtained, and the driving component is controlled to drive the non-horizontal support component to move according to the current magnitude.

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