445 results about "Gimbal" patented technology

A control method of an aerial vehicle. The aerial vehicle includes a gimbal carrying an image acquisition device. The method includes obtaining a preliminary-flight trajectory of the aerial vehicle and control information of the gimbal that are set by a user, automatically controlling the aerial vehicle to move according to the preliminary-flight trajectory, and automatically controlling the gimbal and the image acquisition device to photograph a target object according to the control information of the gimbal.

The invention relates to a course axis drift suppression method and device, a holder and a medium, and the method comprises the steps: receiving original data of a current course, the original data comprising an absolute angle outputted by a course encoder, and an acceleration and an angular velocity outputted by an IMU module; the original data are converted into a unified coordinate system through a rotation matrix, and mechanical installation deviation is compensated; performing data fusion on the compensated original data through a preset fusion algorithm; and outputting the fused absolute angle to a servo mechanism of the holder, and by adopting the method, through real-time sensor data alignment, a dynamic compensation algorithm and a fusion algorithm, a course drift suppression mechanism which is resistant to dynamic interference and low in cost is constructed, and static drift lt can be realized; the dynamic tracking error is 1t, 0.01 degree / h and 1t; and the technical index is 0.05 degree.

The present application relates to the field of photographing auxiliary apparatus, more particularly, to a gimbal. The gimbal comprising a handle assembly, a first motor assembly, a second motor assembly, a third motor assembly, a clamping assembly, a control assembly and a target tracking assembly. The target tracking assembly is mounted on the third motor assembly and connected with the control assembly. The control assembly may be used to control the first motor assembly, the second motor assembly and the third motor assembly to rotate based on the tracking information obtained by the target tracking assembly, so that the photographing device clamped by the clamping assembly can keep tracking the target object to perform photographing.

A gyroscopic roll stabilizer for a boat includes an enclosure mounted to a gimbal for rotation about a gimbal axis and configured to maintain a below-ambient pressure, and a flywheel assembly including a flywheel and flywheel shaft, with the flywheel assembly rotatably mounted inside the enclosure for rotation about a flywheel axis. The gyroscopic roll stabilizer also includes a motor operative to rotate the flywheel assembly and disposed inside the enclosure. A motor cooling circuit is configured to transfer heat away from the motor. The motor cooling circuit has a closed fluid pathway for recirculating cooling fluid therein. The fluid pathway includes a fluid channel jointly defined by the motor and the enclosure and having the cooling fluid therein. The gyroscopic roll stabilizer is configured to transfer heat away from the motor to the cooling fluid. Related methods are also disclosed.

A gyroscopic roll stabilizer includes an enclosure, a flywheel assembly, a bearing, a motor, and a bearing cooling circuit. The enclosure is mounted to a gimbal for rotation about a gimbal axis and configured to maintain a below-ambient pressure. The flywheel assembly includes a flywheel and flywheel shaft. The bearing rotatably mounts the flywheel assembly inside the enclosure for rotation about a flywheel axis. The bearing has an inner race and an outer race. The inner race is rotationally fixed relative to the flywheel shaft, and the outer race is held rotationally fixed relative to the enclosure. The motor is operative to rotate the flywheel assembly. The bearing cooling circuit is configured to transfer heat away from the bearing by recirculating coolant along a closed fluid pathway. The gyroscopic roll stabilizer is configured to transfer heat away from the inner and / or outer race of the bearing to the coolant.

A gyroscopic roll stabilizer includes an enclosure, a flywheel assembly, a bearing, a motor, and a bearing cooling circuit. The enclosure is mounted to a gimbal for rotation about a gimbal axis and configured to maintain a below-ambient pressure. The flywheel assembly includes a flywheel and flywheel shaft. The bearing rotatably mounts the flywheel assembly inside the enclosure for rotation about a flywheel axis. The bearing has an inner race and an outer race. The inner race is rotationally fixed relative to the flywheel shaft, and the outer race is held rotationally fixed relative to the enclosure. The motor is operative to rotate the flywheel assembly. The bearing cooling circuit is configured to transfer heat away from the bearing by recirculating coolant along a closed fluid pathway. The gyroscopic roll stabilizer is configured to transfer heat away from the inner and / or outer race of the bearing to the coolant.

The invention relates to a pan-tilt angle calculation method and device, an electronic device and a storage medium, and the method comprises the steps: obtaining initial gravitational acceleration data and initial angular velocity data, determining reconstructed gravitational acceleration data according to the initial gravitational acceleration data and the initial angular velocity data, and calculating the angle of a pan-tilt according to the reconstructed gravitational acceleration data; and determining an observation model according to the initial gravitational acceleration data, determining real gravitational acceleration data according to the reconstructed gravitational acceleration data and the observation model, obtaining a carrier coordinate gravitational acceleration, and determining a cradle head attitude angle according to the carrier coordinate gravitational acceleration and the real gravitational acceleration data. According to the method and the device, the problem of how to accurately calculate the attitude angle of the unmanned aerial vehicle holder is solved, noise interference is reduced, the real gravitational acceleration is restored, and the stability augmentation control capability of the holder is effectively improved.

A gyroscopic roll stabilizer includes an enclosure, a flywheel assembly, a bearing, a motor, and a bearing cooling circuit. The enclosure is mounted to a gimbal for rotation about a gimbal axis and configured to maintain a below-ambient pressure. The flywheel assembly includes a flywheel and flywheel shaft. The bearing rotatably mounts the flywheel assembly inside the enclosure for rotation about a flywheel axis. The bearing has an inner race and an outer race. The inner race is rotationally fixed relative to the flywheel shaft, and the outer race is held rotationally fixed relative to the enclosure. The motor is operative to rotate the flywheel assembly. The bearing cooling circuit is configured to transfer heat away from the bearing by recirculating coolant along a closed fluid pathway. The gyroscopic roll stabilizer is configured to transfer heat away from the inner and / or outer race of the bearing to the coolant.

A gyroscopic roll stabilizer includes an enclosure, a flywheel assembly, a bearing, a motor, and a bearing cooling circuit. The enclosure is mounted to a gimbal for rotation about a gimbal axis and configured to maintain a below-ambient pressure. The flywheel assembly includes a flywheel and flywheel shaft. The bearing rotatably mounts the flywheel assembly inside the enclosure for rotation about a flywheel axis. The bearing has an inner race and an outer race. The inner race is affixed to the flywheel shaft, and the outer race is held rotationally fixed relative to the enclosure. The motor is operative to rotate the flywheel assembly. The bearing cooling circuit is configured to transfer heat away from the bearing by recirculating cooling fluid along a closed fluid pathway. The gyroscopic roll stabilizer is configured to transfer heat away from the inner and / or outer race of the bearing to the cooling fluid.

A gyroscopic roll stabilizer for a boat includes an enclosure mounted to a gimbal for rotation about a gimbal axis and configured to maintain a below-ambient pressure, and a flywheel assembly including a flywheel and flywheel shaft, with the flywheel assembly rotatably mounted inside the enclosure for rotation about a flywheel axis. The gyroscopic roll stabilizer also includes a motor operative to rotate the flywheel assembly and mounted in a boss that is integrally formed in the enclosure. A motor cooling circuit is configured to transfer heat away from the motor. The motor cooling circuit has a closed fluid pathway for recirculating cooling fluid therein. The fluid pathway extends through the boss so that the cooling fluid circulates through the boss around the motor. The gyroscopic roll stabilizer is configured to transfer heat away from the motor to the cooling fluid. Related methods are also disclosed.

A gyroscopic roll stabilizer comprises a gimbal having a support frame and enclosure configured to maintain a below-ambient pressure, a flywheel assembly including a flywheel and flywheel shaft, one or more bearings for rotatably mounting the flywheel inside the enclosure, a motor for rotating the flywheel, and bearing cooling system for cooling the bearings supporting the flywheel. For smaller units, the bearing cooling system is effective to enable a flywheel with a moment of inertia less than 40,000 lb in2 to be accelerated at a rate of 5 rpm / s or greater. For larger units, the bearing cooling system is effective to enable a flywheel with a moment of inertia greater than 40,000 lb in2 to be accelerated at a rate of 2.5 rpm / s or greater.

The invention relates to a hull total longitudinal bending moment monitoring device and method, a terminal and a medium, belongs to the field of structural health monitoring, and aims to solve the problems of high cost and low precision of existing bending moment monitoring. The long baseline sensor is fixedly installed on a to-be-monitored point of a hull bottom structure, the long baseline sensor is in data connection with the data receiving processor, and the data receiving processor and the terminal are in data connection with the medium. The device can accurately simulate the working condition, improves the measurement precision and stability of the sensor, is simple and convenient to operate, improves the working efficiency, is flexible in structure, and has multiple driving modes. According to the method, long-distance bending moment recognition is converted into short-distance displacement recognition, long-baseline deck bending moment is converted into short-baseline displacement measurement through a high-rigidity iron pipe and a universal joint, the bending moment can be recognized based on local displacement information by constructing a transfer matrix, and compared with a traditional technology, the method is simple and efficient in algorithm, high in measurement precision, high in interference resistance, convenient to install and high in practicability. The cost is greatly reduced; and the maintenance is simple.

Methods and systems for a control device, defined as a multi-configuration, redundant, fixed-axis control device. Disclosed systems include one or more members configured to translate about one or more corresponding axes; and a mount in a fixed plane and configured to support one or more gimbals, each gimbal connected to a corresponding member and configured to translate in a corresponding axis.

An apparatus for attaching a gimbal for an antenna to a structure, the apparatus including a pivot element for attachment to the structure, wherein the pivot element includes a first hole for rotatably attaching the gimbal to the pivot element using a first fastening element, wherein the pivot element includes a second hole, which is an oblong hole, for guiding a rotational movement of the gimbal within an angular range around an axis of rotation associated with the first hole, wherein a first surface of the pivot element, which faces the gimbal, when the gimbal is attached to the pivot element, is convex.

The invention relates to the technical field of stable anti-shake, and discloses a stable anti-shake device for photogrammetry and remote sensing, which comprises an external shell and is characterized in that an anti-shake mechanism is arranged in the external shell and is used for weakening disturbance of the outside to measuring equipment, and a power generation mechanism for supplementing power to the whole device is arranged in the anti-shake mechanism and is used for generating power to the measuring equipment. An anchoring mechanism for stabilizing the whole device is arranged at the bottom of the external shell, and a driving mechanism is fixedly connected to the bottom of the external shell and used for moving the whole device. Under the action of the anti-shake mechanism and under the guidance of the air guide assembly, air spirally accelerates along with the air guide groove to downwards impact the external shell and exerts downward pressure on the external shell when facing external wind power interference, so that the whole device is more stable, meanwhile, the air is guided into the suspension assembly, the holder for supporting the measurement equipment is suspended, and the measurement precision is improved. And the situation that the measurement equipment is influenced by influencing the anti-shake equipment by the outside world is weakened.

The application discloses a two-axis holder, the connecting arm can rotate relative to the rotor end of the first motor to switch the holder between the storage state and the use state; the clamping part comprises a first clamping jaw and a second clamping jaw, when the holder is in the storage state, the clamping part faces the handheld part; when the holder is in the use state, the clamping part is located above the first motor, the connecting arm is inclined to the axis extension line of the first motor, so that the clamping part is located on the axis extension line of the first motor, the outer ring of the rotor end of the first motor and the connecting arm are provided with matched limiting structures to limit the relative rotation of the rotor end of the first motor and the connecting arm. The two-axis holder disclosed by the application can always balance the gravity center of the two-axis holder, a rotating mechanism is additionally arranged between the first motor and the connecting arm to meet the storage of the two-axis holder, the length after storage is only the length of the handheld part of the holder, and the problem of the motor blocking the wide-angle lens during shooting of the two-axis holder can be solved.

The present invention provides a three-axis self-stabilizing gimbal, which solves the problem that the existing self-stabilizing gimbal only satisfies the axial rotation in the heading and pitching directions, and the clarity and stability of the captured image are poor during the movement. The gimbal includes a control unit, a fixed top frame, a gyroscope assembly, a rotating cavity assembly, a middle bin assembly, a heading motor, a roll motor, a pitch motor, a camera function assembly, and a gyroscope assembly device provided in the camera function assembly; the stator and rotor of the heading motor are respectively connected to the fixed top frame and the rotating cavity assembly; the stator and rotor of the roll motor are respectively connected to the rotating cavity assembly and the middle bin assembly, and the axis of the roll motor stator is perpendicular to the axis of the heading motor rotor; the stator of the pitch motor is fixed in the middle bin assembly, the axis of the pitch motor stator is perpendicular to both the axis of the roll motor stator and the axis of the heading motor rotor, and its rotor is connected to the camera function assembly; the control unit is connected to the gyroscope assembly and controls the actions of the heading motor, the roll motor, and the pitch motor respectively.

The utility model discloses a gun camera pan / tilt bracket with azimuth and pitch angle measurement functions, comprising: a fixed bracket, a rotating bracket, an outer frame bracket, a pan / tilt, a camera, an angle sensor, an inclination sensor, and a pan / tilt control unit; the outer frame bracket and the fixed bracket are connected through the rotating bracket, the pan / tilt is located at the connection between the fixed bracket and the rotating bracket, the angle sensor is located at the connection between the outer frame bracket and the rotating bracket, the camera is installed at the pan / tilt, and the inclination sensor is used to detect the inclination angle of the pan / tilt in real time. The angle sensor detects the rotation angle of the pan / tilt in the horizontal direction in real time, and the inclination sensor can accurately measure the inclination angle of the pan / tilt, thereby providing a basic posture perception capability for the pan / tilt bracket. By applying real-time image processing and feature point matching technology, the accuracy of angle measurement is improved, so that the system can cope with various complex environments.

The utility model discloses a multi-directional tripod, comprising a rotating connected gimbal assembly, a support foot assembly, a gimbal assembly comprising a gimbal and a turntable that can be rotated relatively. An external screw is provided on the turntable for connecting a camera, mobile phone clip, etc., to realize the horizontal 360° rotation adjustment function of the shooting equipment. The gimbal assembly is connected with the support foot assembly through a ratchet assembly. The vertical direction of the gimbal is adjusted 180° to realize free switching of horizontal and vertical shooting. The support foot assembly is provided with at least one pin assembly, wherein each of the pin assembly realizes the 90° folding of a first support foot and a second support foot, realize the two-hand holding operation, etc. The disclosed multi-directional tripod offers light and a portable structure with rich product functions.

The utility model relates to the field of pipe bending forming, in particular to a large-bending-radius and large-bending-angle pipe bending forming device. The device comprises a bending disc mold, an upper mold cover, a clamp, a limiting mold, a clamp baffle, a holder, a base, a roller conveying table, a motor, a speed reducer, an inner gear, a straight gear, a chain, a chain gear, a fixing shaft, a bearing, a bearing cover, an operation table and the like. One end of a pipe is fixed to a cavity where an inner edge end cover of a bending disc mold is matched with an upper mold cover, a limiting mold is moved to the inner edge end cover of the bending disc mold through a chain, a groove of the limiting mold is tightly attached to the pipe, then the limiting mold is clamped through a clamp on a holder, and a motor is started through an operation table to drive the bending disc mold to rotate and the limiting mold to move; and after reaching the preset position, the pipe is bent into a target part. The pipe bending machine is simple in structure, convenient to operate, high in production efficiency and suitable for pipe bending products with large bending radiuses and large bending angles, and the application range of traditional pipe bending equipment is expanded.

A head gimbal assembly with a gimbal having a base portion and a tongue that are connected by a neck portion, wherein the tongue includes a first lateral side and a second lateral side opposing the first lateral side, first and second struts connected to the base portion, and a distal portion extending from distal ends of the first and second struts toward the tongue. First and second aft tethers have first ends connected to the first and second lateral sides respectively, and second ends connected to the distal portion. First and second fore tethers have first ends connected to the first and second lateral sides respectively, and second ends connected to the first and second struts respectively. A circuit is mounted on the gimbal. The slider is mounted on the tongue and electrically connected to the circuit.

According to one embodiment, a suspension assembly includes a support plate, a wiring member provided on the support plate and including an elastically deformable gimbal portion including a tongue portion on which a magnetic head is mounted and an outrigger connected to the tongue portion, and a viscoelastic material filled into a gap between the outrigger and the support plate and forming a damper.

The invention discloses a marine binocular camera stabilizing device based on Z-axis active compensation, and belongs to the technical field of marine equipment.The marine binocular camera stabilizing device comprises a base, a sliding block is arranged on the base in a sliding fit mode, and a three-axis holder is arranged on the sliding block; a Z-axis compensation mechanism used for driving the sliding block to move in the vertical direction is arranged on the base. The Z-axis compensation mechanism comprises a driving motor, a driving wheel, a driven wheel and a synchronous belt, the driving wheel is connected with an output shaft of the driving motor, and the driving wheel and the driven wheel are in transmission connection through the synchronous belt; the sliding block is fixedly connected with one side of the synchronous belt. According to the invention, heaving displacement caused by sea waves is compensated through the Z-axis compensation mechanism so as to keep the stability of the binocular camera, compared with a traditional three-axis stabilizer, the stabilizing device after Z-axis compensation is added can prevent the ship-borne binocular camera from being influenced by the sea waves, the posture of the ship-borne binocular camera can be stabilized, the ship-borne binocular camera can be kept on the same horizontal plane, and the stability of the ship-borne binocular camera is improved. And the perception accuracy of the binocular camera is improved.

The invention relates to the technical field of aircrafts, in particular to a sensor parameter adjustment method and device, equipment and a medium, and the method comprises the steps: obtaining the acceleration data of an unmanned plane, the acceleration data of a holder, and the sensing data; and acquiring a detected pitch angle and a detected roll angle based on the sensor parameters and the sensing data. The pitching angle and the rolling angle of the holder are obtained, and the pitching angle and the rolling angle of the unmanned aerial vehicle are obtained. And obtaining an estimated pitch angle according to the pitch angle of the holder and the pitch angle of the unmanned aerial vehicle, and obtaining an estimated roll angle according to the roll angle of the holder and the roll angle of the unmanned aerial vehicle. If the angle difference between the estimated pitch angle and the detected pitch angle is larger than or equal to an angle difference threshold value, or the angle difference between the estimated roll angle and the detected roll angle is larger than or equal to the angle difference threshold value, sensor parameters are adjusted. According to the scheme, the parameters of the sensor can be adjusted in a wide range of scenes, normal use of the holder is ensured, and the user experience is improved.

The present invention discloses a horizontal centrifuge using the gyroscopic effect with horizontal centrifuge sieve assembly comprising a sieve basket disposed within the sieve assembly. A motor is coupled to the horizontal centrifuge sieve assembly and enables the sieve basket to rotate along with the horizontal centrifuge sieve assembly. The sieve basket is mounted to the motor shaft of the horizontal centrifuge sieve assembly. The support and drive structure comprising a support frame structure configured for mechanically supporting and transferring the weight of the horizontal centrifuge to the ground and at least a set of gimbal mounts configured for allowing rotating parts to freely spin to maintain a steady direction of its axis of rotation and prevent transfer of significant forces to the support frame structure. The motor supporting structure configured for holding the motor which is further connected with the horizontal centrifuge sieve assembly and securing the gimbal mounts.

A gimbal, a balancing method, a control method, a balancing motor and a gimbal assembly are provided. The balancing method includes: controlling a driving motor to rotate, and obtain a first electric signal parameter of the driving motor, where the gimbal includes a rotating assembly and a balancing motor, and the rotating assembly includes a gimbal component, a transmission mechanism and a driving motor. The driving motor is configured to drive the gimbal component to rotate so as to adjust the attitude of the gimbal. The balancing motor is configured to drive at least part of the gimbal component to move via the transmission mechanism so as to adjust the center of gravity of the gimbal. The operation of the balancing motor may be controlled based on the first electrical signal parameter to make the gimbal in a balanced state in an adjustment direction of the balancing motor.

This utility model relates to an automatic rotating shaft for an intelligent gimbal, comprising a housing and a screen. The housing has a mounting step with a mounting groove. A drive assembly is housed within the mounting groove. The drive assembly includes a fixed plate, a rack, a lifting plate, a rotating bracket, a drive motor, a drive support, a drive screw, and a drive block. The rotating bracket includes a mounting plate and a rotating cylinder rotatably connected within the mounting groove. The fixed plate has a lifting slide groove, and the rotating cylinder has a bushing. The lifting plate has a through hole through which the rotating cylinder passes and is rotatably connected to the fixed plate via the bushing. The rotating cylinder has transmission teeth. The side of the drive block is fixedly connected to the lifting plate via a locking device. The drive block has a screw hole. The drive block drives the lifting plate and the rotating bracket to lift. During lifting, the rotating bracket, through the transmission teeth and the rack, drives the mounting plate and the screen on the mounting plate to rotate. This utility model has an ingenious structure and is convenient and practical.

The invention relates to the technical field of speed reducers, and discloses a universal assembly for a rotary speed reducer and the rotary speed reducer, the universal assembly comprises a torque input part, a torque output part and a key pin, the torque input part can rotate relative to a base assembly of the rotary speed reducer, and the torque input part is provided with a mounting cavity; the torque output piece comprises an output shaft and a spherical connecting piece, the spherical connecting piece is arranged at one end of the output shaft in the axial direction of the output shaft and is at least partially arranged in the mounting cavity, two first sliding grooves are formed in the peripheral face of the spherical connecting piece, the two first sliding grooves extend in the outer surface of the spherical connecting piece, and the two second sliding grooves extend in the radial direction of the spherical connecting piece; the projections of the two first sliding grooves coincide with the projection of the axis of the spherical connecting piece. The number of the key pins is two, each key pin is arranged on the inner wall of the mounting cavity, and each key pin is in sliding fit with the corresponding first sliding groove in the length direction of the first sliding groove.

A gimbal and a gimbal control method are disclosed. The gimbal control method may include: acquiring attitude information of a gimbal; determining whether the gimbal is in a falling state based upon the attitude information; and when the gimbal is in the falling state, triggering a protection mode and controlling the gimbal to rotate to a set attitude. The set attitude may be an attitude at which the gimbal is not easy to be broken from falling, thereby reducing the probability of the gimbal being broken from falling.

A gimbal (100), comprising a handle (12); and at least two axis assemblies, the at least two axis assemblies comprising a first axis assembly (14) and a second axis assembly (16), the first axis assembly (14) comprising a first motor (18) and a first axis arm (20), and the second axis assembly (16) comprising a second motor (22) and and a second axis arm (24). The first motor (18) is arranged at a handle top (26) in the extending direction of the handle (12) and is separately connected to the handle (12) and the first axis arm (20), and the first axis arm (20) is connected to the second motor (22). The gimbal (100) has a folded state, and in the folded state, the rotation axis of of the second motor (22) does not pass through the first motor (18), the first axis assembly (14) is a pitch axis assembly, and the second axis assembly (16) is a yaw axis assembly.