CN203133618U - Driving device and carrier using the same - Google Patents
Driving device and carrier using the same Download PDFInfo
- Publication number
- CN203133618U CN203133618U CN 201320159848 CN201320159848U CN203133618U CN 203133618 U CN203133618 U CN 203133618U CN 201320159848 CN201320159848 CN 201320159848 CN 201320159848 U CN201320159848 U CN 201320159848U CN 203133618 U CN203133618 U CN 203133618U
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- tumbler
- drive unit
- driver
- carrier
- drive motor
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Abstract
The utility model discloses a driving device comprising a first driving motor and a first driving module. The first driving motor comprises a first stator; a first rotor, which can rotate with respect to the first stator; and a first rotating shaft connected with the first rotor. The first driving module is electrically connected with the first driving motor, and comprises a first driver of the first driving motor. The driving device also comprises a first potentiometer sleeved on the first rotating shaft of the first driving motor. The first potentiometer can be used to measure the position relation of the first rotor and the first stator to generate a first position signal, which can be returned to the first driver of the first driving module. The first driver can be used to send a first driving signal according to the first position signal, and the first driving signal can be used to drive the first driving motor. The driving device has advantages of high driving accuracy and short response time. The utility model also provides a carrier using the driving device.
Description
[technical field]
The utility model relates to a kind of drive unit, relates in particular to a kind of drive unit of drive motor.
[background technology]
Can carry carrier on the drive unit, in order to the attitude (for example: the height and/or the direction that change carrier) of fixing, the regulated at will carrier of realizing carrier with carrier is stablized remain on definite attitude.For example, when carrier was camera or video camera, its lift-launch can realize stablizing on drive unit and control method thereof, smoothness and multi-angle are taken; When carrier was microphone, it carried the sound that can obtain the user on drive unit and control method thereof more accurately.
The drive unit of correlation technique comprises the driver module of motor and drive motor, and driver module comprises the driver of drive motor and is the controller of driver sending controling instruction.During work, driver sends the drive motor according to the steering order of controller.
But driver generates the drive motor according to the steering order of controller merely, and it is low to cause driving precision.
Therefore, be necessary to provide a kind of new drive unit and control method thereof to overcome above-mentioned shortcoming.
[utility model content]
The purpose of this utility model is: a kind of high drive unit of precision that drives is provided.
The purpose of this utility model is achieved in that a kind of drive unit, comprising:
First drive motor, the first rotor and first rotation axis that links to each other with the first rotor that it comprises first stator, rotates with respect to first stator;
First driver module that is electrically connected with first drive motor, it comprises first driver that drives first drive motor;
Wherein, described drive unit also is provided with first potentiometer of first rotation axis that is set in first drive motor, described first potentiometer is used for measuring first driver that the first rotor generates the primary importance signal with respect to first position of stator relation and described primary importance signal feedback given first driver module, described first driver sends first according to described primary importance signal and drives signal, and described first drives signal is used for driving first drive motor.
Preferably, described drive unit also comprises the controller that sends first steering order to first driver, and described first driver is controlled first drive motor according to described first steering order.
Preferably, described drive unit also comprises the attitude detection module, and described attitude detection module is used for sending attitude signal to controller, and described controller generates first steering order according to described attitude signal.
Preferably, described drive unit also comprises
Second drive motor, second rotor and second rotation axis that links to each other with second rotor that it comprises second stator, rotates with respect to second stator;
Second driver module that is electrically connected with second drive motor, it comprises second driver that drives second drive motor;
Described controller is used for sending second steering order to second drive motor;
Wherein, described drive unit also is provided with second potentiometer of second rotation axis that is set in second drive motor, described second potentiometer is used for measuring second driver that second rotor generates second place signal with respect to second position of stator relation and described second place signal feedback given second driver module, described second driver sends the second driving signal according to described second steering order and second place signal, and described second drives signal is used for driving second drive motor.
Preferably, described controller generates first steering order and second steering order simultaneously according to described attitude signal.
Preferably, described carrier comprises first tumbler and second tumbler that is rotatedly connected with first tumbler, and described first drive unit is used for driving first tumbler and rotates with respect to second tumbler.
Preferably, described carrier also comprises the bearing part that is connected on second tumbler.
Preferably, described carrier comprise first tumbler, with first tumbler second tumbler that is rotatedly connected and the bearing part that links to each other with second tumbler, described first drive unit is used for driving first tumbler and rotates with respect to second tumbler, described second drive unit is used for driving bearing part and rotates with respect to second tumbler, and described attitude detection module is positioned on the described bearing part.
Compare with correlation technique, drive unit of the present utility model drives precision height and response time weak point.
[description of drawings]
Fig. 1 is the carrier of using drive unit of the present utility model and the stereographic map that carries the carrier on it.
Fig. 2 removes the stereographic map at another visual angle of bearing part for the carrier of using drive unit of the present utility model.
Fig. 3 is the three-dimensional exploded view of second tumbler of the carrier of application drive unit of the present utility model.
Fig. 4 is the three-dimensional exploded view of first tumbler of the carrier of application drive unit of the present utility model.
The synoptic diagram that when first tumbler removed first fixed part when Fig. 5 was in first locked position for the carrier of using the drive unit of the present utility model and position of second tumbler concerns.
The synoptic diagram that when first tumbler removed first fixed part when Fig. 6 was in second locked position for the carrier of using the drive unit of the present utility model and position of second tumbler concerns.
Fig. 7 is the stereographic map of the bearing part of the carrier of application drive unit of the present utility model.
Fig. 8 is the synoptic diagram of the flexible connecting device of the carrier of application drive unit of the present utility model.
Fig. 9 is the part stereographic map of the carrier of application drive unit of the present utility model.
Figure 10 for first connecting portion of the carrier of using drive unit of the present utility model in advance around second synoptic diagram that rotates axial region.
Figure 11 is the synoptic diagram of the control method of drive unit of the present utility model.
[embodiment]
Use the carrier of drive unit of the present utility model, can carry carrier on it, in order to the attitude (for example: the height, inclination angle and/or the direction that change carrier) of fixing, the described carrier of regulated at will of realizing carrier with carrier is stablized remain on definite attitude.Described carrier can be used as the servicing unit of photography, photograph, monitoring, sampling, can apply to space base (for example rotor craft or fixed wing aircraft), water base (for example submarine or ship), roadbed (for example motor vehicles) or space-based (satellite for example, space station, or airship) etc. the field.Described carrier can be camera heads such as camera and video camera, also can be sensor etc.In the present embodiment, carrier is example with little one camera, and carrier is applied on the aircraft, sets forth the beneficial effects of the utility model.Little one camera can be fixed on the bearing part by locking member.Certainly, be appreciated that ground, carrier also can be first-class for camera or the monitoring camera of other type.Below in conjunction with accompanying drawing, carrier of the present utility model is elaborated.
Shown in Fig. 1-11, a kind of carrier 100 that the utility model embodiment provides is used for carrying carrier 1, and can be enough relatively stable.This carrier 100 comprises first tumbler 4, second tumbler 6, the bearing part 3 that links to each other with second tumbler 6 that is rotatedly connected with first tumbler 4 and the drive unit (not label) that drives second tumbler 4 and bearing part 3.Described drive unit comprise for drive first drive division 5 that first tumbler 4 rotates with respect to second tumbler 6, link to each other with second tumbler 6 be used for driving bearing part 3 with respect to second drive division 7 of second tumbler, 6 rotations, be positioned at the attitude detection module (not shown) on the bearing part 3 and control the controller (not shown) of described first drive division 5 and second drive division 7.Described carrier 1 carries on bearing part 3.Described controller can be located on the carrier, also can separate with carrier.Described controller is used for sending first steering order to first drive division 5; Also can be used for sending second steering order to second drive division 7.Described carrier comprises that also being respectively first drive division 5 and second drive division 7 provides the flexible connecting device 2 that drives signal and/or energy.Described attitude detection module is carried on bearing part 3, for detection of the attitude of the carrier 1 on the bearing part 3 and generate attitude signal and send to controller.
Described first tumbler 4 comprises the first fixing support arm 41, first fixed part 43 that links to each other with the first fixing support arm 41, with first fixed part, 43 second fixed parts 42 separated by a distance and that link to each other with the first fixing support arm 41, the connecting wall 44 that is connected first fixed part 43 and second fixed part 42 with by first fixed part 43, second fixed part 42 and the connecting wall 44 common receiving spaces 45 that form.The described first fixing support arm 41 comprises horizontal mounting arm 411 and the vertical support arm 412 that extends from horizontal mounting arm 411 bendings.Described horizontal mounting arm 411 and vertical support arm 412 are one-body molded.Certainly, in selectable embodiment, described horizontal mounting arm 411 is connected with vertical support arm 412 splits.Described vertical support arm 412 is provided with for what flexible connecting device passed and first penetrates hole 4121.
Described first fixed part 43 is oppositely arranged with second fixed part 42 and links to each other away from an end of horizontal mounting arm 411 respectively with on the vertical support arm 412.In the present embodiment, the described first fixing support arm 41 and second fixed part 42 are wholely set; First fixed part 42 is fixed on second fixed part 42 by securing member (not label), that is: described first fixed part 43 and the first fixing support arm 41 and the 42 split settings of second fixed part.In other selectable embodiments, the described first fixing support arm, first fixed part and second fixed part can be wholely set.
Described first fixed part 43 is used for fixing first drive motor 52, and it is provided with first through hole 431 that runs through on it.Described second fixed part 42 is provided with base plate 421, run through base plate 421 be used for accommodating first spring bearing 55 second through hole 422 and from base plate 421 to extend away from the direction of connecting wall 44 and around second through hole 422 arrange around portion 423, described first spring bearing 55 is contained in described in portion 423.Such first spring bearing 55 arranges away from first fixed part 43.In the present embodiment, second through hole 422 and accommodate described first spring bearing 55 jointly around portion 423.In other selectable embodiments, can only utilize second through hole to accommodate first spring bearing, realize first rotation axis fixing with respect to first tumbler.Has enough thickness as long as guarantee base plate.The rotation center of the geometric center of described second through hole and first spring bearing lays respectively on the axis of first rotation axis.During assembling, described first rotation axis 54 runs through described second through hole 422 and first through hole 431 respectively.In addition, described connecting wall 44 is provided with first stopper section 441 and second stopper section 442 relative with first stopper section 441 and the impenetrating mouths 443 that communicate with receiving space 45 that formed jointly by first stopper section 441 and second stopper section 442.
Described second tumbler 6 is contained in the receiving space 45 of described first tumbler 4 by described impenetrating mouth 443 parts.Described second tumbler 6 comprises the second fixing support arm 62 that the end bending of the rotating support arm 61 that is set on first rotation axis 54 and autorotation support arm 61 is extended.Described rotating support arm 61 is provided with dwang 611 and runs through first support arm shaft 612 of dwang 611.Described first support arm shaft 612 comprises the first support arm rotating shaft 6121 that is positioned at dwang 611 1 sides and the second support arm rotating shaft 6122 that is positioned at dwang 612 opposite sides.During assembling, the described first support arm rotating shaft 6121 is set on first rotation axis 54 of first drive motor 52 of first drive division 5 and is housed in the receiving space 45 of first tumbler 4; The second support arm rotating shaft 6122 is inserted in first spring bearing 55.Described first spring bearing 55 is realized being rotationally connected of first spring bearing 55 and first rotation axis 54 by the second support arm rotating shaft 6122 of the first support arm rotating shaft 6121.Described second tumbler 6 can rotate up and down with respect to vertical support arm 412 under the drive of first drive motor 52 like this; In addition, first spring bearing and the first rolling bearing acting in conjunction can prevent the axial dipole field of first rotation axis and first support arm shaft, thus make the power of first rotation axis more stable pass to second tumbler.In other selectable embodiments, described first support arm shaft can omit.Directly utilize first rotation axis to run through dwang, realize being rotationally connected of second tumbler and first rotation axis, meanwhile, described first spring bearing directly is set on first rotation axis.In addition, the described second fixing support arm 62 be provided with arm 622, run through the patchhole 621 of an arm 622, prop up certainly arm 622 to the wound portion 623 of extending away from an arm 622 and arranging around second rotation axis 721 and from wound portion 623 to the stop part 624 that extends away from an arm 622.
Described second drive division 7 is fixed on the second fixing support arm 62 and part is inserted in the patchhole 621 of the described second fixing support arm 62, the support housing 74 that it comprises the second drive motor outer cover 73 that is fixed on the second fixing support arm, 62 1 sides, be fixed on second drive motor 72 on the second drive motor outer cover 73, drive second driver module 77 of second drive motor 72 and be fixed on the second fixing support arm, 62 opposite sides and arrange away from second drive motor 72.Described second drive motor 72 comprises second stator (not shown), second rotor (not shown), second rotation axis 721 and is fixed in second rolling bearing (not shown) on second rotation axis 721.Described support housing 74 is provided with host cavity 741.Described second drive division 7 also is provided with second support arm shaft 75 that is set on second rotation axis 721.Described second support arm shaft 75 comprises the 3rd support arm rotating shaft 751 that is rotatedly connected with second rotation axis 721, is inserted in the 4th support arm rotating shaft 752 in the host cavity 741 and is sheathed on the 4th support arm rotating shaft 752 and is housed in second spring bearing 753 in the wound portion 623 of the second fixing support arm 62.Described spring bearing 7 can also be housed in patchhole and the wound portion simultaneously, perhaps only is housed in the patchhole.In like manner, described second support arm shaft also can omit, bearing part directly links to each other with second rotation axis and second spring bearing directly to be set in also be feasible on second rotation axis.Described second rolling bearing can also substitute with axle sleeve.
Described second driver module 77 comprises second motor driver 76 and second potentiometer 71 that is positioned on second motor driver 76.Described second potentiometer 71 is inserted in and is used for measuring second rotor on second rotation axis 721 with respect to the position relation of second stator, generates second place signal and gives second motor driver 76 with described second place signal feedback.See also Figure 11, during work: the attitude detection module sends the attitude signal of carrier to controller; Controller sends second steering order according to above-mentioned attitude signal to second motor driver; Second potentiometer generates second place signal and gives second motor driver with described second place signal feedback, and second motor driver drives described second drive motor according to second place signal and second steering order of second potentiometer feedback; Thereby the rotation of second drive motor changes the attitude of carrier.In other selectable embodiments, described controller and attitude detection module can be omitted, and second motor driver can be started by other modes well known to those skilled in the art; Controller also needs to send second steering order according to the attitude detection signal.In addition, controller can send first steering order and second steering order simultaneously according to attitude signal, and described like this first drive division and second drive division rotate simultaneously, and both second rotation section and bearing part rotated simultaneously, thereby improves the response speed of carrier.Certainly, controller also can send first steering order earlier according to attitude signal and send second steering order again; Or controller sends second steering order earlier and sends first steering order again; Or only send first steering order; Or only send second steering order.The same, how second motor driver utilizes second place signal to drive the also technology for knowing in the industry of second drive motor, so repeat no more.
Described bearing part 3 comprises substrate 31, the respect to one another some holding boards 32 that extend from substrate 31, the cover plate 35 that connects described some holding boards 32, the fixed head 33 between adjacent two holding boards 32 that extends from substrate 31 and the reach 34 that extend and that be rotatedly connected with the 4th support arm rotating shaft 752 from fixed head 33.With the reach 34 of transmission of power to bearing part 3, bearing part 3 can be with respect to vertical support arm 412 forward and backward upsets (or claiming to bow, look up upset) under the drive of second rotation axis 721 like this by the second support arm rotating shaft 75 for described second rotation axis 721.Described reach 34 comprises the inner ring 341 that is set in the second support arm rotating shaft 75, with inner ring 341 outer ring 342 separated by a distance, be connected the extension 343 of inner ring 341 and outer ring 342 and 342 stopper slots 344 to inner ring 341 depressions from the outer ring.
The 4th end 26 that first connecting portion 22 that described flexible connecting device 2 comprises the first end 21 that links to each other with bearing part 3, extend from first end 21, the second end 23 that extends from the end of first connecting portion 22, the 3rd end 24 that links to each other with the second end 23, second connecting portion 25 that links to each other with the 3rd end 24 with the second end 23 respectively link to each other with end with second connecting portion 25.
During assembling, described the 4th end 26 links to each other with first driver module 56; Second connecting portion 25 extends and penetrates first along the vertical support arm 412 of first tumbler 4 and penetrates hole 4121 and be housed in then in the receiving space 45, described like this second connecting portion 25 is folded between the rotating support arm 611 of connecting wall 44 and second tumbler 6 and between first fixed part 43 and second fixed part 42, then passes first tumbler 4 by described impenetrating mouth 433 and is centered around on the rotating support arm 611 of second tumbler 6.Described first connecting portion 22 is pre-simultaneously, and described the second end 23 links to each other with second driver module 76 of the second fixing support arm 62 on the reach 34 of described wound portion 623 and bearing part 3, and described first end 21 links to each other with the substrate 31 of bearing part 3.By above connected mode, when external electric signal or other signals can offer first drive division, second drive division and supporting body by flexible connecting device.In addition, the carrier that carries on supporting body also can obtain above-mentioned signal simultaneously.Described flexible connecting device can be flexible PCB (FPC), and all can twine and can be the device that first drive division, second drive division and supporting body provide above-mentioned signal electric wire or winding displacement etc.In selectable embodiment, wound portion and reach can omit, and described first connecting portion is in advance on second support arm shaft.As mentioned above, second support arm shaft also can omit, and first connecting portion is directly in advance on second rotation axis so.Second connecting portion can freely switch at first locked position and second locked position so the length of second connecting portion will guarantee second tumbler around the rotating support arm setting of second tumbler in the present embodiment.
During work, when described second tumbler 6 is connected on first stopper section 411 of first tumbler 4 and second stopper section 412 respectively, just can not rotate, realize the auto-lock function of described carrier 100.When described second tumbler 6 is connected on first stopper section 441, be first locked position of carrier 100 of the present utility model; When described second tumbler 6 is connected on second stopper section 442, be second locked position of carrier 100 of the present utility model.Therefore the setting of described impenetrating mouth 433 is related to the maximum anglec of rotation of second tumbler 6.In the present embodiment, described carrier 100 is provided with the surface level 51 of the axis that passes first rotation axis 54.Described second tumbler 6 is provided with rotation 63, and namely second tumbler 6 rotates with respect to described first tumbler 4 around described rotation 63.
When carrier 100 was in first locked position, the rotation 63 of described second tumbler 6 formed first included angle A with surface level 51; When carrier 100 was in second locked position, the rotation 63 of described second tumbler 6 formed second included angle B with surface level 51.By controlling the size of first included angle A and second included angle B, namely control the particular location of first stopper section 441 and second stopper section 442, can control first locked position and second locked position of second tumbler 6.Present embodiment carrier 4 is example with little one camera, if first included angle A and second included angle B are 50 when spending, carrier of the present utility model can be combined with aircraft and be realized the pan-shot of taking photo by plane.In addition, first included angle A is during less than second included angle B, and especially, described first included angle A is 40 degree, and second included angle B is 110 when spending, and carrier of the present utility model also can be combined the general demand of taking photo by plane that realizes with aircraft.
Described first potentiometer directly is inserted on first rotation axis of first drive motor, can be in advance and obtain the position relation of first stator of first drive motor and the first rotor accurately, such first driver can be more accurate, send first to first drive motor timely drives signal.Drive unit of the present utility model, it is short to drive precision height and response time.
Described controller generates first steering order and/or second steering order according to the attitude signal of attitude detection module, can more accurate driving first drive motor and second drive motor.
The above only is preferred embodiments of the present utility model; protection domain of the present utility model is not limited with above-mentioned embodiment; as long as the equivalence that those of ordinary skills do according to the utility model institute disclosure is modified or changed, all should include in the protection domain of putting down in writing in claims.
Claims (8)
1. drive unit, it comprises:
First drive motor, the first rotor and first rotation axis that links to each other with the first rotor that it comprises first stator, rotates with respect to first stator;
First driver module that is electrically connected with first drive motor, it comprises first driver that drives first drive motor;
It is characterized in that: described drive unit also is provided with first potentiometer of first rotation axis that is set in first drive motor, described first potentiometer is used for measuring first driver that the first rotor generates the primary importance signal with respect to first position of stator relation and described primary importance signal feedback given first driver module, described first driver sends first according to described primary importance signal and drives signal, and described first drives signal is used for driving first drive motor.
2. drive unit as claimed in claim 1, it is characterized in that: described drive unit also comprises the controller that sends first steering order to first driver, described first driver is controlled first drive motor according to described first steering order.
3. drive unit as claimed in claim 2, it is characterized in that: described drive unit also comprises the attitude detection module, and described attitude detection module is used for sending attitude signal to controller, and described controller generates first steering order according to described attitude signal.
4. drive unit as claimed in claim 3, it is characterized in that: described drive unit also comprises
Second drive motor, second rotor and second rotation axis that links to each other with second rotor that it comprises second stator, rotates with respect to second stator;
Second driver module that is electrically connected with second drive motor, it comprises second driver that drives second drive motor;
Described controller is used for sending second steering order to second drive motor;
It is characterized in that: described drive unit also is provided with second potentiometer of second rotation axis that is set in second drive motor, described second potentiometer is used for measuring second driver that second rotor generates second place signal with respect to second position of stator relation and described second place signal feedback given second driver module, described second driver sends the second driving signal according to described second steering order and second place signal, and described second drives signal is used for driving second drive motor.
5. drive unit as claimed in claim 4, it is characterized in that: described controller generates first steering order and second steering order simultaneously according to described attitude signal.
6. use the carrier of drive unit as claimed in claim 1, it is characterized in that: described carrier comprises first tumbler and second tumbler that is rotatedly connected with first tumbler, and described first drive unit is used for driving first tumbler and rotates with respect to second tumbler.
7. use the carrier of drive unit as claimed in claim 6, it is characterized in that: described carrier also comprises the bearing part that is connected on second tumbler.
8. use the carrier of drive unit as claimed in claim 4, it is characterized in that: described carrier comprise first tumbler, with first tumbler second tumbler that is rotatedly connected and the bearing part that links to each other with second tumbler, described first drive unit is used for driving first tumbler and rotates with respect to second tumbler, described second drive unit is used for driving bearing part and rotates with respect to second tumbler, and described attitude detection module is positioned on the described bearing part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320159848 CN203133618U (en) | 2013-03-31 | 2013-03-31 | Driving device and carrier using the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320159848 CN203133618U (en) | 2013-03-31 | 2013-03-31 | Driving device and carrier using the same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203133618U true CN203133618U (en) | 2013-08-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320159848 Expired - Lifetime CN203133618U (en) | 2013-03-31 | 2013-03-31 | Driving device and carrier using the same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203133618U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104076825A (en) * | 2013-03-31 | 2014-10-01 | 深圳市大疆创新科技有限公司 | Drive device, carrier with drive device and control method of carrier |
| CN104965524A (en) * | 2015-05-21 | 2015-10-07 | 深圳市大疆创新科技有限公司 | Tranquilizer and initial attitude control system and method of same |
| US10179658B2 (en) | 2013-03-31 | 2019-01-15 | SZ DJI Technology Co., Ltd. | Payload mounting platform |
-
2013
- 2013-03-31 CN CN 201320159848 patent/CN203133618U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104076825A (en) * | 2013-03-31 | 2014-10-01 | 深圳市大疆创新科技有限公司 | Drive device, carrier with drive device and control method of carrier |
| US10179658B2 (en) | 2013-03-31 | 2019-01-15 | SZ DJI Technology Co., Ltd. | Payload mounting platform |
| US10556708B2 (en) | 2013-03-31 | 2020-02-11 | SZ DJI Technology Co., Ltd. | Payload mounting platform |
| US11001395B2 (en) | 2013-03-31 | 2021-05-11 | SZ DJI Technology Co., Ltd. | Payload mounting platform |
| CN104965524A (en) * | 2015-05-21 | 2015-10-07 | 深圳市大疆创新科技有限公司 | Tranquilizer and initial attitude control system and method of same |
| CN104965524B (en) * | 2015-05-21 | 2018-02-02 | 深圳市大疆灵眸科技有限公司 | Tranquilizer and tranquilizer initial attitude control system, method |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
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Granted publication date: 20130814 |