WO2021217462A1

WO2021217462A1 - Gimbal assembly, mobile platform, shock absorption layout method and device, and storage medium

Info

Publication number: WO2021217462A1
Application number: PCT/CN2020/087622
Authority: WO
Inventors: 蒋李; 吴利鑫
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-04-28
Filing date: 2020-04-28
Publication date: 2021-11-04
Also published as: CN113015872A

Abstract

A gimbal assembly (100), a mobile platform, and a shock absorption layout method and device. The gimbal assembly (100) comprises a shock-absorbing structure (10) and a gimbal structure (20); the shock-absorbing structure (10) comprises a shock-absorbing mount (12) and multiple shock-absorbing members (11); the shock-absorbing mount (12) is connected to the gimbal structure (20) and the multiple shock-absorbing members (11); an orientation of at least one shock-absorbing member (11) is different from orientations of the remaining shock-absorbing members (11). In this way, by changing the orientation of at least one shock-absorbing member (11), the shock absorption layout of the gimbal structure (20) is more flexible, the space occupied by the shock-absorbing structure (10) is reduced, and the layout compactness of the overall system can be further increased while ensuring a certain shock absorption performance.

Description

PTZ component, mobile platform, shock-absorbing layout method and device and storage medium

Technical field

This application relates to the technical field of unmanned aerial vehicles, and in particular to a pan-tilt assembly, a mobile platform, a shock-absorbing layout method, a shock-absorbing layout device, and a storage medium.

Background technique

In related technologies, in the past, the gimbal damping was designed with an orthogonal design, that is, the arrangement direction of the damping parts is the same as that of the coordinate system of the whole machine. When the layout space is limited, the damping performance of the gimbal must be sacrificed.

Summary of the invention

The embodiments of the present application disclose a pan/tilt assembly, a shock-absorbing layout method, a shock-absorbing layout device, and a storage medium.

The pan/tilt assembly of the embodiment of the present application includes a shock-absorbing structure and a pan/tilt structure. The shock-absorbing structure includes a shock-absorbing frame and a plurality of shock-absorbing members. The shock-absorbing frame connects the pan/tilt structure and the plurality of shock-absorbing members. The direction of at least one of the shock-absorbing members is different from the direction of the remaining shock-absorbing members.

In the above-mentioned pan/tilt assembly, by changing the orientation of at least one shock-absorbing member, the shock-absorbing layout of the pan/tilt structure is made more flexible, and the space occupied by the shock-absorbing structure is reduced, and the overall system performance can be further improved while ensuring a certain shock-absorbing performance. The compactness of the layout.

The mobile platform of the embodiment of the present application includes the pan-tilt component of the above-mentioned embodiment.

In the above-mentioned mobile platform, by changing the orientation of at least one damping member, the damping layout of the gimbal structure is made more flexible, and the space occupied by the damping structure is reduced, and the overall system layout can be further improved while ensuring the damping performance. degree.

The shock-absorbing layout method of the embodiment of the present application is used for a pan/tilt assembly. The pan/tilt assembly includes a shock-absorbing structure and a pan-tilt structure. The shock-absorbing structure includes a shock-absorbing frame and a plurality of shock-absorbing members. The frame is connected to the pan/tilt structure and the plurality of shock-absorbing components, and the shock-absorbing layout method includes: determining an equivalent stiffness matrix of the shock-absorbing structure at the center of mass of the pan/tilt structure; The stiffness matrix and the damping decoupling degree of the PTZ structure determine the spatial arrangement of the plurality of damping members relative to the center of mass of the PTZ structure.

The shock-absorbing layout device of the embodiment of the present application includes a processor for determining the equivalent stiffness matrix of the shock-absorbing structure at the center of mass of the pan-tilt structure; and for determining the equivalent stiffness matrix according to the equivalent stiffness matrix The degree of decoupling with the damping of the pan/tilt structure determines the spatial arrangement of the plurality of damping members relative to the center of mass of the pan/tilt structure.

The mobile platform of the embodiment of the present application is obtained from the shock absorption layout method of the above embodiment.

The embodiment of the present application provides a non-volatile computer-readable storage medium containing computer-executable instructions. When the computer-executable instructions are executed by a processor, the processor is caused to execute the aforementioned shock-absorbing layout method.

In the above-mentioned damping layout method, damping layout device, mobile platform and storage medium, by determining the equivalent stiffness matrix and the damping decoupling degree of the pan/tilt structure, the spatial arrangement of the damping member relative to the center of mass of the pan/tilt structure is determined, The damping layout of the pan/tilt structure can be made more flexible, the space occupied by the damping structure is reduced, and the layout compactness of the entire system of the mobile platform can be further improved while ensuring a certain damping performance.

The additional aspects and advantages of the present application will be partly given in the following description, and part of them will become obvious from the following description, or be understood through the practice of the present application.

Description of the drawings

The above and/or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

Figures 1 and 2 are three-dimensional schematic diagrams of a pan-tilt assembly according to an embodiment of the present application;

Fig. 3 is a schematic plan view of a shock absorber according to an embodiment of the present application;

4 and 5 are another three-dimensional schematic diagrams of the pan-tilt assembly according to the embodiment of the present application;

FIG. 6 is a schematic diagram of a simplified model of a pan-tilt assembly according to an embodiment of the present application;

Fig. 7 is the X-direction angular vibration response characteristics of the pan-tilt assembly according to the embodiment of the present application;

Figure 8 is the X-direction angular vibration response characteristics of the pan-tilt assembly with the shock absorber obliquely passing the center of mass of the related art;

Figures 9-14 are schematic flow diagrams of the shock absorption layout method of the embodiment of the present application.

Symbol description of main components:

PTZ assembly 100;

Damping structure 10, damping member 11, first damping 111, second damping member 112, third damping member 113, fourth damping member 114, damping part 115, mounting part 116, second mounting part 117. Shock absorber 12, horizontal part 121, down inclined part 122, middle part 123, connecting part 124, mounting hole 128, horizontal arm 1241, down inclined arm 1242;

PTZ structure 20, first shaft assembly 21, second shaft assembly 22, third shaft assembly 23, first motor 211, first shaft arm 212, first horizontal arm 2121, first downward tilt arm 2122;

Rectangular plane 200;

The photographing device 300.

Detailed ways

The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions. The following embodiments described with reference to the drawings are exemplary, and are only used to explain the present application, and cannot be understood as a limitation to the present application.

In the description of this application, it should be noted that the terms "installation", "connection", and "connection" should be understood in a broad sense, unless otherwise clearly specified and limited. For example, it can be a fixed connection or a detachable connection. Connected or integrally connected; it can be mechanically connected, or electrically connected or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction of two components relation. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in this application can be understood according to specific circumstances.

In this application, unless expressly stipulated and defined otherwise, the "on" or "under" of the first feature of the second feature may include direct contact between the first and second features, or may include the first and second features Not in direct contact but through other features between them. Moreover, the "above", "above" and "above" of the first feature on the second feature include the first feature directly above and obliquely above the second feature, or it simply means that the first feature is higher in level than the second feature. The “below”, “below” and “below” of the second feature of the first feature include the first feature directly below and obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.

The following disclosure provides many different embodiments or examples for realizing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are only examples, and are not intended to limit the application. In addition, the present application may repeat reference numerals and/or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and/or settings discussed. In addition, this application provides examples of various specific processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and/or the use of other materials.

In the related art, in order to improve the shock absorption performance of the pan/tilt assembly, two arrangements of the pan/tilt assembly are usually adopted. One is the horizontal arrangement of shock-absorbing balls. This method is to place the shock-absorbing structure of the gimbal component horizontally above the gimbal structure, and the orientation of each shock-absorbing ball is perpendicular to the horizontal plane, so that multiple shock-absorbing balls The center of the formed polygon and the center of mass of the gimbal structure are located on the same vertical line, so that the linear vibration and angular vibration of the gimbal component can be better decoupled. However, this arrangement makes the height difference between the center of the polygon formed by multiple shock-absorbing balls and the center of mass of the gimbal structure, and the linear displacement of the gimbal assembly in some directions will be coupled into angular displacement, which reduces the shock-absorbing effect of the gimbal assembly . For example, since the X/Y-direction linear vibration of the gimbal damping is coupled to the Y/X-direction angular vibration, the X/Y-direction linear acceleration will cause a greater amount of The large Y/X angular displacement increases the risk of the gimbal hitting the fuselage structure of the aircraft. To avoid this risk, it is necessary to increase the movement space of the gimbal, which affects the compact layout of the entire system.

Another arrangement is the damping ball obliquely crossing the center of mass solution, in which the damping structure is arranged obliquely, and the orientation of each damping ball is parallel to the horizontal plane, so that the center of the polygon formed by multiple damping balls It coincides with the center of mass of the gimbal structure to decouple the linear and angular vibrations of the gimbal components. However, due to the need to avoid the gimbal structure, this arrangement causes the layout space required for the overall structure of the gimbal components to be limited by the orientation of the shock-absorbing ball, which affects the compact layout of the entire system, and the angular vibration of the gimbal components They are not decoupled from each other, which reduces the shock absorption performance of the gimbal components. For example, when the pan/tilt damping is subjected to Z-direction or X-direction disturbing moments, it will cause both X-direction and Z-direction angular displacement, that is, the Z/X-direction angular vibration of the pan/tilt damping is not decoupled, which affects the entire system. Shock absorption performance.

Please refer to FIG. 1 to FIG. 5, an embodiment of the present application provides a pan-tilt assembly 100. The pan/tilt assembly 100 includes a shock-absorbing structure 10 and a pan/tilt structure 20. The shock-absorbing structure 10 includes a shock-absorbing frame 12 and a plurality of shock-absorbing members 11. The shock absorber 12 connects the pan-tilt structure 20 and the plurality of shock absorbers 11. The orientation of at least one damping member 11 is different from the orientation of the remaining damping members 11.

In the above-mentioned pan/tilt assembly 100, by changing the orientation of at least one shock-absorbing member 11, the shock-absorbing layout of the pan/tilt structure 20 is made more flexible, and the space occupied by the shock-absorbing structure 10 is reduced. Improve the compactness of the overall system layout.

Specifically, when the orientation of at least one damping member 11 is different from that of other damping members 11, the orientation angle of the damping member 11 and/or its position relative to the center of mass C of the pan/tilt structure 20 can be adjusted to Ensure the corresponding shock absorption performance; at the same time, the spatial arrangement range of the shock absorber 11 can be constrained through the structural layout of the specific pan/tilt assembly 100 and the fuselage of the mobile platform, so that it can be flexibly adjusted under the premise of adapting to the corresponding structure The orientation and position of the shock-absorbing member 11 achieve a better spatial layout, not only limited to the above two arrangements, and cannot achieve better shock-absorbing performance. That is, under the structural constraints of the specific pan/tilt assembly 100 and the fuselage of the mobile platform, in order to achieve better shock absorption performance, the orientation of the at least one shock absorbing member 11 and/or the center of mass C relative to the pan/tilt structure 20 The position of is able to meet the preset spatial arrangement range, and there is no need that the center of the polygon formed by the multiple shock absorbers 11 and the center of mass C of the pan/tilt structure 20 must be on the same vertical line or overlap.

The pan/tilt assembly 100 of the embodiment of the present application can be used for a mobile platform. The mobile platform can include a fuselage. The shock absorbing structure 10 can connect the fuselage and the pan/tilt structure 20. The shock absorbing structure 10 is used to reduce the transmission of the vibration of the fuselage to the pan/tilt. The vibration of the structure 20 enables the gimbal structure 20 to work in a stable state.

In an example, the mobile platform may be an unmanned aerial vehicle, and the gimbal structure may be equipped with functional devices, such as a camera, and the gimbal assembly is connected to the fuselage of the unmanned aerial vehicle and the camera. When the drone is flying, the drone's body will vibrate, and the vibration will be transmitted to the gimbal component, causing the camera on the gimbal to vibrate, resulting in unclear pictures.

Therefore, it is necessary to reduce or eliminate the vibration transmitted from the fuselage to the pan/tilt structure 20 through the damping structure 10 installed between the fuselage and the pan/tilt structure 20, so that the functional device mounted on the functional pan/tilt structure 20 can be stably normal work. It can be understood that the shock-absorbing structure can also reduce or eliminate the transmission of vibration generated by the pan-tilt structure to the fuselage.

Specifically, the embodiment of the present application optimizes the damping performance and overall structural arrangement of the pan/tilt assembly 100 by optimizing the spatial arrangement of the damping member 11, and the structure of the damping frame 12 can also be based on the optimized damping member 11 The spatial arrangement is adjusted to make the structural arrangement of the pan-tilt assembly 100 more flexible.

Please refer to FIG. 3, in some embodiments, the shock-absorbing member 11 is a rotationally symmetric structure around a rotation axis I, and the direction of the shock-absorbing member 11 is along the axis of the rotation axis I of the shock-absorbing member 11.

In this way, the shock-absorbing member 11 is a rotationally symmetric structure. When the shock-absorbing function is performed, the force of the shock-absorbing member 11 itself is relatively uniform, which can reduce the transmitted vibration, improve the shock-absorbing effect of the shock-absorbing member 11, and enhance the pan/tilt assembly 100 overall shock absorption performance.

It should be noted that in practical applications, the shock-absorbing member 11 may not be a rotationally symmetric structure. Optionally, the use of the rotationally symmetrical shock-absorbing member 11 is to facilitate the subsequent optimization of the shock-absorbing structure, so that the following optimized γ arrangement angle will be 0°, which is beneficial to reduce optimization variables, and thus can reduce The difficulty of optimization.

Specifically, please continue to refer to FIG. 2, the number of shock absorbers 11 is four, and the four shock absorbers 11 are the first shock absorber 111, the second shock absorber 112, the third shock absorber 113, and the fourth shock absorber 11, respectively. Damping member 114.

The first damping member 111 is a rotationally symmetric structure around the rotation axis a, and the orientation of the first damping member 111 is along the axis of the rotation axis a of the first damping member 111. The second shock absorber 112 is a rotationally symmetric structure around the rotation axis b, and the direction of the second shock absorber 112 is along the axial direction of the rotation axis b of the second shock absorber 112. The third damping member 113 is a rotationally symmetric structure around the rotation axis d, and the third damping member 1113 faces along the axis of the rotation axis d of the third damping member 113. The fourth damping member 114 is a rotationally symmetric structure around the rotation axis e, and the direction of the fourth damping member 114 is along the axis of the rotation axis e of the fourth damping member 114. It should be pointed out that the number of shock absorbers can be set according to actual needs, and can be 3, 5 or more than 4, usually at least 3.

Please refer to FIG. 1, in some embodiments, the plurality of shock-absorbing members 11 includes at least one pair of shock-absorbing members. The shock absorber is arranged in mirror symmetry to the two shock absorbers 11 contained therein.

In this way, the two shock-absorbing members 11 arranged in mirror symmetry can form corresponding stress states and deformations when performing shock-absorbing effects, so as to evenly slow down the vibration transmitted from the shock-absorbing frame 12 or the head structure, and improve The stability of the pan-tilt assembly 100.

Specifically, in the illustrated embodiment, the first damping member 111 and the second damping member 112 constitute a first damping member pair, and the first damping member 111 and the second damping member 112 are arranged in mirror symmetry. For example, it may be arranged in mirror symmetry along the vertical plane F, and the vertical plane F may pass through the center of mass C of the pan-tilt structure 20. The third damping member 113 and the fourth damping member 114 constitute a second damping member pair, and the third damping member 113 and the fourth damping member 114 are arranged mirror-symmetrically, for example, they may be mirror-symmetrical along the vertical plane F It is set, the vertical plane F can pass through the center of mass C of the pan-tilt structure 20. When the number of damping members 11 is an odd number, it is possible to set every two damping members 11 to form a damping member pair.

1 and 2, in some embodiments, a part of the shock absorber 12 is located above the pan/tilt structure 20, and the other portion is located on the horizontal side of the pan/tilt structure 20. One or two of the multiple shock-absorbing members 11 are located above the pan/tilt structure 20, and the remaining shock-absorbing members 11 are located on the horizontal side of the pan/tilt structure 20.

In this way, the damping member 11 is arranged above and on the horizontal side of the pan/tilt structure 20, and the damping member 11 can be flexibly arranged, which can ensure that the pan/tilt structure 20 has a certain damping performance, which is beneficial to adapt movement. The special structural layout of the fuselage of the platform further improves the compactness of the entire system of the pan/tilt assembly 100.

Specifically, the number of shock absorbers 11 is four. The shock absorber 11 located above the pan/tilt structure 20 includes a first shock absorber 111 and a second shock absorber 112. The first shock absorber 111 and the second shock absorber 112 are arranged in mirror symmetry along the vertical plane F. The shock absorber 11 located on the horizontal side of the pan/tilt structure 20 includes a third shock absorber 113 and a fourth shock absorber 114. The third shock absorber 113 and the fourth shock absorber 114 are mirror-symmetrical along the vertical plane F. set up.

In this way, the two shock-absorbing member pairs are respectively arranged above and on the horizontal side of the pan-tilt structure 20, and the two shock-absorbing members 11 of each shock-absorbing member pair are arranged in mirror symmetry along the same vertical plane F, so that each group The shock-absorbing element pairs can be flexibly arranged, and the two shock-absorbing elements 11 of each group of shock-absorbing element pairs can form corresponding stress states and deformations, thereby improving the shock-absorbing effect of the shock-absorbing element pairs.

Please refer to FIG. 2. In some embodiments, the shock absorber 12 includes a horizontal portion 121 and a downward inclined portion 122 that are connected. The first damping member 111 and the second damping member 112 are installed at one end of the horizontal portion 121, and the third damping member 113 and the fourth damping member 114 are installed at one end of the downward inclined portion 122.

In this way, the shock-absorbing member 11 can be flexibly arranged according to the shape of the shock-absorbing frame 12, so that the pan-tilt assembly 100 has a more compact structure while ensuring a certain shock-absorbing performance.

Specifically, the shock absorber 12 may be an integrally formed structure, or the horizontal portion 121 and the downward inclined portion 122 may be connected and fixed by a fastening method. In the embodiment of the present application, the shock absorber 12 is an integrally formed structure. The first damping member 111 and the second damping member 112 are installed at one end of the horizontal portion 121, and the third damping member 113 and the fourth damping member 114 are installed at one end of the downward inclined portion 122, so that the The arrangement is as far away as possible from the center of mass of the pan/tilt structure 20, so that the pan/tilt structure 20 can be damped in a larger range.

Please refer to FIG. 2. In some embodiments, the pan-tilt structure 20 includes a first shaft assembly 21 connected to the shock absorber 12. The first shaft assembly 21 includes a first motor 211 and a first shaft arm 212, and the first motor 211 is connected to the shock absorber 12 and the first shaft arm 212. The first shaft arm 212 includes a first horizontal arm 2121 and a first downward tilt arm 2122. The first horizontal arm 2121 is parallel to the horizontal portion 121, and the first downward inclined arm 2122 is parallel to the downward inclined portion 122.

In this way, the first horizontal arm 2121 and the first downward tilting arm 2122 are parallel to the horizontal portion 121 and the downward tilting portion 122, respectively, while ensuring that the shock absorber 12 and the first shaft arm 212 will not collide when the first motor 211 is working. , It can also improve the compactness of the overall structure of the pan-tilt assembly 100.

Please refer to FIG. 3. In some embodiments, the shock absorber 11 includes two shock absorbers 115 arranged symmetrically apart. In this way, it can be ensured that the shock absorber 11 provided with the two shock absorbers 115 has a certain shock absorption performance.

Specifically, each damping part 115 is in the shape of a flat sphere, and the two damping parts 115 are arranged at intervals along the axis of rotation I of the damping member 11, so that when the vibration is transmitted along the axis of the rotation axis I of the damping member 11, , The two shock absorbers 115 can effectively absorb shock, thereby reducing or eliminating the transmission of vibration between the pan-tilt structure and the mobile platform body. It can be understood that, in other embodiments, the number of shock-absorbing parts 115 provided on the shock-absorbing member 11 may also be one, or two or more, depending on the specific situation. The separation distance of the shock absorber 115 can also be determined according to different usage conditions.

Referring to FIGS. 4 and 5, in some embodiments, the shock absorber 12 and the plurality of shock absorbers 11 are located above the pan-tilt structure 20. In this way, the pan-tilt structure 20 is not easy to collide with the shock absorber 12 and the shock absorber 11 when working, and the shock absorber 12 and the shock absorber 11 can be more flexibly arranged in space under the premise of ensuring a certain shock absorption performance. .

The pan/tilt assembly of this embodiment can be applied to industrial flight platforms. Specifically, for the load of an industrial flight platform, the mass of the pan/tilt structure 20 is usually greater, and in order to satisfy multi-angle shooting, a plurality of shock absorbers 11 are arranged above the entire pan/tilt structure 20.

Referring to FIGS. 4 and 5, in some embodiments, the shock absorber 12 includes a middle part 123 and a plurality of connecting parts 124 connecting the periphery of the middle part 123. Each connecting portion 124 is installed with a shock-absorbing member 11, and the pan-tilt structure 20 is connected to the middle portion 123.

In this way, the shock absorbing member 11 can be flexibly arranged in space according to the arrangement of the connecting portion 124 on the premise that the overall shock absorbing performance of the pan/tilt assembly 20 is satisfied.

Specifically, the middle portion 123 and the connecting portion 124 may be an integral structure, or may be connected together by a fastening method. In the embodiment of the present application, the intermediate portion 123 and the connecting portion 124 are an integral structure to improve the overall structural rigidity of the shock absorber 12 and reduce the vibration of the shock absorber 12 itself.

Referring to FIGS. 4 and 5, in some embodiments, a plurality of connecting portions 124 are arranged at even intervals along the periphery of the middle portion 123. As shown in FIG. In this way, the shock absorbers 11 on the connecting portions 124 arranged at even intervals can evenly reduce the vibration of the pan/tilt assembly 20.

Specifically, the number of the connecting portions 124 is multiple, and the number of connecting portions 124 in the embodiment of the present application is four, and the four connecting portions 124 are evenly connected to the intermediate portion 123 at intervals of 90 degrees in the circumferential direction of the intermediate portion 123.

Referring to FIGS. 4 and 5, in some embodiments, the connecting portion 124 includes a horizontal arm 1241 and a downward tilt arm 1242. The horizontal arm 1241 connects the middle part 123 and the lower tilt arm 1242, and the shock absorber 11 is installed on the lower tilt arm 1242.

In this way, the space occupied by the shock-absorbing structure 10 can be reduced, thereby making the entire pan/tilt structure 20 more compact.

It should be pointed out that in the embodiments shown in FIGS. 4 and 5, the lower tilt arm 1242 can be bent toward the side where the pan/tilt structure 20 is located, so as to reduce the overall space occupied by the pan/tilt assembly 100. At the same time, multiple reductions The seismic element 11 is arranged obliquely to the side of the platform structure 20 with respect to the horizontal plane.

Specifically, in the embodiment of the present application, the horizontal arm 1241 may be integrally structured with the downward tilt arm 1242 to improve the structural rigidity of the connecting portion 124 and reduce the vibration of the connecting portion 124 itself.

Please refer to FIG. 5. In some embodiments, the number of shock absorbers 11 is four. The four shock absorbers 11 include a first shock absorber 111, a second shock absorber 112, a third shock absorber 113, and a fourth shock absorber 114. The first damping member 111 and the second damping member 112 are close to the front end of the pan-tilt structure 20 and are arranged in mirror symmetry along a vertical plane F. The third shock absorbing member 113 and the fourth shock absorbing member 114 are close to the rear end of the pan-tilt structure 20 and are arranged in mirror symmetry along the vertical plane F.

In this way, the first shock-absorbing member 111 and the second shock-absorbing member 112 are arranged in mirror symmetry, and the third shock-absorbing member 113 and the fourth shock-absorbing member 114 are arranged in mirror symmetry. The stress state and deformation are balanced to slow down the vibration transmitted from the shock mount 12, thereby improving the shock absorption performance of the pan/tilt assembly 100.

Please refer to FIG. 5. In some embodiments, the pan-tilt structure 20 includes a first shaft assembly 21 connected to the middle portion 123. The first shaft assembly 21 includes a first motor 211 and a first shaft arm 212. The first motor 211 is connected to the shock absorber 12 and the first axle arm 212, and the first axle arm 212 is located below the interval between the third shock absorber 113 and the fourth shock absorber 114.

In this way, the first motor 211 can drive the first shaft arm 212 to rotate along the output shaft of the first motor 211, and the first shaft arm disposed below the interval between the third shock absorber 113 and the fourth shock absorber 114 212 can distribute the weight of the pan/tilt structure 20 to multiple shock absorbers 11, avoiding the weight of the pan/tilt structure 20 being concentrated on one or two shock absorbers 11, which can effectively improve the shock absorption performance of the pan/tilt assembly 100 .

Specifically, the first shaft arm 212 can be fixedly connected to the stator or rotor of the first motor 211. When the first motor 12 is working, the stator and the rotor rotate relative to each other, thereby driving the first shaft arm 212 to rotate along the output shaft of the first motor 211 .

Please refer to FIG. 4. In some embodiments, the shock-absorbing member 11 has a spherical shape. In this way, the spherical shock-absorbing member 11 can evenly disperse the shock received by itself, and achieve a good shock-absorbing effect, thereby improving the shock-absorbing performance of the pan/tilt assembly 100 as a whole.

Specifically, in the embodiments of FIGS. 4 and 5, the pan/tilt assembly is applied to an industrial flight platform, and its load is heavier, which makes the weight of the pan/tilt structure 20 heavier. When there is vibration transmission, the cloud with a heavier weight The table structure 20 is prone to cause relatively large vibrations. The spherical shock-absorbing member 11 can be deformed to a greater extent to absorb more shocks, which ensures the shock-absorbing performance of the pan-tilt assembly 100. In other embodiments, the shock-absorbing member 11 may also be a rotating structure in an ellipsoidal shape or an oblate shape.

2 and 4, in some embodiments, the orientation of the first damping member 111, the orientation of the second damping member 112, the orientation of the third damping member 113, and the orientation of the fourth damping member 114 All are different.

In this way, by arranging a plurality of damping members 11 with different orientations, the space occupied by the damping structure 10 can be reduced. Under the premise of ensuring a certain damping performance, the overall layout compactness of the pan/tilt assembly 100 can be further improved.

Referring to FIGS. 2 and 5, in some embodiments, the pan-tilt structure 20 includes a first shaft assembly 21 connected to the shock absorber 12. The first shaft assembly 21 includes a first motor 211 and a first shaft arm 212. The first motor 211 is used to drive the first shaft arm 212 to rotate along the first axis L, which is located in the vertical plane F.

In this way, the first motor 211 drives the first shaft arm 212 to rotate along the first axis L located in the vertical plane F, which can make the movement range of the first shaft arm 212 occupy a small space, which is beneficial to avoid the first shaft arm 211 The collision with the damping structure 10 is also beneficial to improve the overall compactness of the pan/tilt assembly 100.

Specifically, the first axis L is the axis where the output shaft of the first motor 21 is located.

Please refer to FIG. 3, in some embodiments, a mounting portion 116 is connected to one end of the shock-absorbing member 11. The shock absorber 11 is installed on the shock absorber 12 through the mounting portion 116. In this way, the shock-absorbing member 11 can be installed and fixed on the shock-absorbing frame 12 through the mounting portion 116 to prevent the shock-absorbing member 11 from falling off.

Specifically, referring to FIG. 1, the shock absorber 12 is provided with a mounting hole 128, and the mounting portion 116 is penetrated with a mounting hole. In this way, the installation of the shock absorber 11 is more convenient. Specifically, when installing the shock-absorbing member 11, only the mounting portion 116 is inserted through the mounting hole 128 and fixed to install the shock-absorbing member 11 in place.

Specifically, referring to FIGS. 1 and 3 in combination, the shock-absorbing member 11 may be an elastic member. The size of the mounting portion 116 can be larger than the size of the mounting hole, and the feature that the shock absorbing member 11 is an elastic member can be used to make the mounting portion 116 pass through the mounting hole 128 and snap into the mounting hole 128, and the shock absorbing member 11 The snap fit is fixed to the mounting hole. Of course, in other embodiments, the shock absorbing member 11 can also be mounted on the shock absorbing frame 12 in other ways. In FIG. 3, the mounting portion 116 is provided at the lower end of the shock-absorbing member 11 and serves as the first mounting portion 116, and the upper end of the shock-absorbing member 11 is provided with a second mounting portion 117, and the shock-absorbing member is mounted to move through the second mounting portion 117. On the fuselage of the platform.

In the embodiment of the present application, the process of optimizing the spatial arrangement of the shock absorber 11 is as follows:

Please refer to Figure 6 to set a simplified model of the pan/tilt assembly 100, C is the center of mass of the pan/tilt structure 20, the coordinate system ZXY is the center of mass coordinate system of the pan/tilt structure 20, and P _i is the elasticity of the i-th shock-absorbing member 11 The center defines the direction of the body coordinate system of the i-th shock-absorbing member 11 as the elastic principal axis direction of the i-th shock-absorbing member 11. It can be understood that, referring to FIG. 3, the shock-absorbing member 11 of the embodiment of the present application is a rotationally symmetrical member. Therefore, the axis I, the axis II, and the axis III are defined as the directions of the three main axes of the body coordinate system of the shock-absorbing member 11, namely The axis I, the axis II, and the axis III are defined as the three elastic main axes of the shock absorber 11, and the axis III passes through the intersection of the axis I and the axis II and is orthogonal to the axis I and the axis II. It should be pointed out that the intersection of the axis I, the axis II, and the axis III is the intersection of the three elastic main axes of the shock-absorbing member 11, that is, the point P _i is the elastic center of the i-th shock-absorbing member 11. More generally, the axis I is the rotation axis of the shock-absorbing member 11, and the axial direction of the axis I is the direction of the shock-absorbing member 11.

Through the three elastic principal axes defined above, the stiffness of the i-th shock-absorbing member 11 in the directions of its three elastic principal axes can be obtained, and the body linear stiffness matrix of the i-th shock-absorbing member 11 can be obtained:

in,

Is the stiffness matrix of the i-th shock-absorbing member 11 in the body coordinate system of the i-th shock-absorbing member 11, k _xi , k _yi , and k _zi are the stiffness matrix of the i-th shock-absorbing member 11 in its three elastic main axis directions Line stiffness.

Define the ZXY attitude of the i-th shock absorber 11 relative to the center of mass coordinate system of the gimbal structure 20 as

Resilient damper element 11 is assumed center line P _i of the displacement body in its coordinate system is

The i-th center of the elastic damping element 11 along the head structure P _i of the centroid coordinates 20 ZXY displacement in all directions

for:

in,

_{Then the stiffness matrix K i} of the i-th shock-absorbing member 11 in each direction of the center-of-mass coordinate system ZXY of the pan-tilt structure 20 is:

Assuming that the displacement of the center of mass C of the gimbal structure 20 S _c =(s _xc ,s _yc ,s _zc ,θ _xc ,θ _yc ,θ _zc ) ^T =(s _lc ,s _θc ) ^T , the i-th shock-absorbing member 11 The coordinates of the elastic center P _i in the center-of-mass coordinate system ZXY of the pan-tilt structure 20 are P _i = (x _i , y _i , z _i _{), then the elastic center P i of} the i-th shock-absorbing member 11 is in the pan-tilt structure Displacement in each direction of the center of mass coordinate system ZXY of 20

PTZ structure centroid displacement S _c C satisfy the following relation:

Among them, I _3×3 is the unit matrix of 3×3,

Then the equivalent stiffness matrix of the i-th shock-absorbing member 11 at the center of mass C of the gimbal structure 20

for:

It should be pointed out that the equivalent stiffness matrix of the i-th shock-absorbing member 11 at the center of mass C of the gimbal structure 20

The direction corresponds to the direction of the center of mass coordinate system ZXY of the pan-tilt structure 20.

Therefore, the equivalent stiffness matrix of the i-th shock absorber 11 at the center of mass C of the gimbal structure 20 obtained above is

^{By summing, the equivalent stiffness matrix K c of the} damping structure 10 at the center of mass C of the gimbal structure 20 and the relationship between the equivalent stiffness matrix K ^c and the static disturbance force/torque on the gimbal can be obtained as:

From the perspective of improving the decoupling degree of damping of the gimbal structure 20, the following two optimization constraints can be obtained:

The first constraint is that according to the decoupling of linear and angular vibrations, k14, k15, k16, k24, k25, k26, k34, k35, k36, k41, k42, k43, k51, k52, k53, k61, k62 are guaranteed , K63 is as close to 0 as possible.

The second constraint is to ensure that k45, k46, k56, k54, k64, and k65 are as close to 0 as possible according to the mutual decoupling of angular vibrations.

More particularly, in the embodiment of the present application, the number of shock-absorbing members 11 is four, and the four shock-absorbing members 11 form two sets of shock-absorbing member pairs, and the two shock-absorbing members 11 of each pair of shock-absorbing members are symmetrical. It is provided that the elastic center of each shock-absorbing member 11 is in the same plane, and the elastic centers of the four shock-absorbing members 11 can form a quadrilateral. It can be understood that the elastic center of the shock-absorbing member or the overall elastic center of the shock-absorbing structure described in the embodiments of the present application can be calculated according to the prior art, and will not be repeated here.

After the spatial arrangement of the shock absorber 11 is optimized by the above-mentioned layout method, the shock-absorbing structure 10 shown in Figs. 1 and 4 can be obtained. In the shock-absorbing structure 10 shown in Figs. 1 and 4, four shock-absorbing structures The orientation of the components 11 are different. By changing the orientation of the damping component 11, the damping layout of the pan/tilt assembly 100 is more flexible. Under the premise of ensuring a certain damping performance of the damping structure 10, the pan/tilt can be further improved. The overall layout of the assembly 100 is compact, that is, the overall elastic center P of the shock-absorbing structure 20 can almost coincide with the center of mass C of the pan-tilt structure 20, and the shock-absorbing members 11 can be flexibly arranged. In some embodiments, the spatial arrangement of the shock absorber 11 includes a spatial arrangement position or a spatial arrangement angle, and may also include a spatial arrangement position and a spatial arrangement angle. There is no specific limitation here, and it can be selected and determined according to needs.

Please continue to refer to FIG. 1. FIG. 1 is an arrangement of the pan-tilt assembly 100 optimized by the above-mentioned layout method. The quadrilateral plane 200 surrounded by a plurality of shock-absorbing members 11 is inclined with respect to the pan-tilt structure 20. The center of the polygon formed by the seismic element 11 does not necessarily have to coincide with the center of mass C of the pan/tilt structure 20 or be located on the same vertical line (for example, the center of the quadrilateral formed by the four vibration damping members 11 does not necessarily need to be aligned with the center of the pan/tilt structure 11 The center of mass C is located on the same vertical line or coincides with each other), the shock absorber 11 can also face in multiple different directions, so that the arrangement of the shock absorber 11 is more flexible, and the structure of the shock absorber 12 can also be based on the shock absorber The arrangement of 11 is more diverse, which can reduce the occupied space of the pan/tilt assembly 100 while ensuring the better shock absorption performance of the pan/tilt assembly 100, making the structure of the pan/tilt assembly 100 more compact.

Please continue to refer to Figures 1 and 2, the pan-tilt structure 20 also includes a second shaft assembly 22 and a third shaft assembly 23. The second shaft assembly 22 is connected to the first shaft assembly 21 and the third shaft assembly 23. The camera 300 is mounted on The third shaft component 23. In the illustrated embodiment, the first shaft component 21 is a Yaw shaft component, the second shaft component 22 is a Roll shaft component, and the third shaft component 23 is a pitch shaft component.

Through the above optimization process of the shock absorption structure 10, the spatial arrangement of the four shock absorption elements 11 in Table 1 below can be obtained. The position and azimuth angle of each shock absorption element 11 relative to the center of mass C of the pan/tilt structure 20 are shown in Table 1. The origin of the coordinate system is defined as the center of mass C, the direction of the coordinate system is the forward direction of the fuselage is the positive X direction, the vertical earth downward is the positive Z direction, and the X/Z axis perpendicular to the right side of the fuselage is the positive Y direction.

Table 1 Layout parameters of shock absorbers in specific examples of the implementation of this application

To	减震件111 Shock absorber 111	减震件112 Shock absorber 112	减震件113 Shock absorber 113	减震件114Shock absorber 114
x[mm]x[mm]	15.915.9	15.915.9	-28.4-28.4	-28.4-28.4
y[mm]y[mm]	14.714.7	-14.7-14.7	12.512.5	-12.5-12.5
z[mm]z[mm]	-9.37-9.37	-9.37-9.37	5.15.1	5.15.1
α[°]α[°]	-80-80	8080	55	-5-5
β[°]β[°]	4545	4545	37.437.4	37.437.4
γ[°]γ[°]	00	00	00	00

Among them, α, β, and γ represent the XYZ attitude angles relative to the center of mass coordinate system.

Please continue to refer to FIG. 4, which is an arrangement of the pan/tilt assembly 100 optimized by the above-mentioned layout method. A quadrilateral plane 200 surrounded by a plurality of shock-absorbing members 11 is located above the pan/tilt structure 20, and the plane is located The horizontal plane, the center of the polygon formed by all the shock-absorbing elements 11 does not necessarily have to coincide with the center of mass C of the pan/tilt structure 20 or be on the same vertical line. (For example, the center of the quadrilateral formed by the four shock-absorbing elements 11 does not necessarily need to be The center of mass C of the pan/tilt structure 11 is located on the same vertical line or coincides with each other.) The orientation of the multiple shock absorbers 11 is different. This arrangement makes the spatial arrangement of the shock absorbers 11 more flexible, and at the same time ensures the cloud The table assembly 100 has a certain shock absorption performance.

Please continue to refer to Figures 4 and 5, the pan-tilt structure 20 also includes a second shaft assembly 22 and a third shaft assembly 23. The second shaft assembly 22 is connected to the first shaft assembly 21 and the third shaft assembly 23. The camera 300 is mounted on The third shaft component 23. In the illustrated embodiment, the first shaft component 21 is a Yaw shaft component, the second shaft component 22 is a Roll shaft component, and the third shaft component 23 is a pitch shaft component.

Through the above optimization process of the shock absorption structure 10, the spatial arrangement of the four shock absorption elements 11 in Table 2 below can be obtained. The position and azimuth angle of each shock absorption element 11 relative to the center of mass C of the pan/tilt structure 20 are shown in Table 2. The origin of the coordinate system is defined as the center of mass C, the direction of the coordinate system is the forward direction of the fuselage is the positive X direction, the vertical earth downward is the positive Z direction, and the X/Z axis perpendicular to the right side of the fuselage is the positive Y direction.

Table 2 Layout parameters of shock absorbers in specific examples of the implementation of this application

To	减震件111 Shock absorber 111	减震件112 Shock absorber 112	减震件113 Shock absorber 113	减震件114Shock absorber 114
x[mm]x[mm]	68.368.3	68.368.3	-54.7-54.7	-54.7-54.7
y[mm]y[mm]	40.740.7	-40.7-40.7	58.258.2	58.258.2
z[mm]z[mm]	3.93.9	3.93.9	-1.4-1.4	-1.4-1.4
α[°]α[°]	-149-149	149149	21twenty one	-21-twenty one
β[°]β[°]	-160-160	-160-160	1919	1919
γ[°]γ[°]	00	00	00	00

By comparing the damping ball 11 slanting through the center of mass scheme and the specific embodiments corresponding to Figs. 1 and 2 in this application, the damping decoupling rates of the two schemes are shown in Table 3 and Table 4, α, β, γ Corresponding to the degrees of freedom of angular vibration in X/Y/Z directions respectively, the two schemes are compared as follows:

By comparing γ, it can be seen that the frequency points of the Z-direction angular damping modes of the two damping schemes are both around 95 Hz. In the Z-direction angular damping mode of the specific embodiment of this application, the proportion of Z-direction angular vibration energy is as high as 98.4%. , While the damping ball is only 81.5% slanted across the center of mass. Among them, the proportion of Z-direction angular vibration energy can be calculated from the overall stiffness and mass matrix of the damping structure.

By comparing α, it can be seen that the frequency point of the X-direction angular damping mode of the specific embodiment corresponding to FIG. 1 and FIG. 2 in this application is 56 Hz, which is higher than the 26 Hz when the damping ball is arranged obliquely through the center of mass. In this application, the X-direction angular vibration energy of the specific embodiment corresponding to FIG. 1 and FIG. 2 accounts for 86.8%, and the damping ball is arranged obliquely across the center of mass to 72.8%. Among them, the proportion of X-direction angular vibration energy can be calculated through the overall stiffness and mass matrix of the shock-absorbing structure.

Table 3 Decoupling degree of shock absorption in specific embodiments of the application

频点Frequency	xx	yy	zz	αα	ββ	γγ
94.7936594.79365	1.2E-051.2E-05	0.0003130.000313	1.3E-071.3E-07	0.0151990.015199	2.04E-052.04E-05	0.9844550.984455
51.742151.7421	0.0584930.058493	0.0001060.000106	0.0224520.022452	0.0006320.000632	0.9183170.918317	3.27E-073.27E-07
56.264856.2648	9.97E-069.97E-06	0.1195620.119562	7.1E-057.1E-05	0.8678360.867836	0.0006580.000658	0.0118630.011863
27.3926227.39262	0.4753720.475372	0.0001030.000103	0.5207920.520792	3.11E-063.11E-06	0.0037230.003723	6.1E-066.1E-06
15.8726415.87264	0.4661110.466111	0.0001030.000103	0.4564980.456498	7.75E-067.75E-06	0.0772780.077278	2.18E-062.18E-06
12.7028612.70286	2.09E-062.09E-06	0.8798130.879813	0.0001860.000186	0.1163250.116325	1.37E-061.37E-06	0.0036720.003672

Table 4 Decoupling degree of damping ball arranged obliquely across the center of mass

频点Frequency	xx	yy	zz	αα	ββ	γγ
97.5188397.51883	2.59E-072.59E-07	0.0001820.000182	4.17E-084.17E-08	0.1850380.185038	2.57E-052.57E-05	0.8147530.814753
28.3767928.37679	0.0033770.003377	0.0002280.000228	0.0035680.003568	-3.2E-06-3.2E-06	0.9927180.992718	0.0001120.000112
11.7225911.72259	5.26E-065.26E-06	0.8972610.897261	3.8E-073.8E-07	0.0866160.086616	0.0002980.000298	0.015820.01582
26.543226.5432	0.0001830.000183	0.1022440.102244	0.0003260.000326	0.7279990.727999	9.11E-069.11E-06	0.1692380.169238
16.2163716.21637	0.510440.51044	8.29E-058.29E-05	0.4890580.489058	0.0003430.000343	9.45E-089.45E-08	7.59E-057.59E-05
16.0970816.09708	0.4859940.485994	1.57E-061.57E-06	0.5070470.507047	6.63E-066.63E-06	0.006950.00695	9.25E-079.25E-07

The comparison of the X-direction angular vibration response characteristic curves of the above two solutions is shown in Figure 7 and Figure 8. When the input direction is Z-direction angular vibration, the X-direction angular vibration response amplitude of the specific embodiment of the application is below 0.2 (refer to Fig. 7), and the arrangement of the damping ball 11 obliquely across the center of mass is 0.59 (refer to Fig. 8), which also proves that the damping layout method in this application improves the X/Z angular vibration solution of the damping structure 20 The coupling rate, thereby improving the damping performance of the pan/tilt assembly 100, also reduces the space required for the damping arrangement of the pan/tilt, and effectively improves the layout compactness of the system.

The mobile platform of the embodiment of the present application includes the pan-tilt assembly 100 of any of the above embodiments.

In the above-mentioned mobile platform, by changing the orientation of at least one damping member 11, the damping layout of the pan/tilt structure 20 is made more flexible, and the space occupied by the damping structure 10 is reduced, and the entire system can be further improved while ensuring a certain damping performance. The compactness of the layout.

It can be understood that the pan/tilt assembly 100 is connected and fixed to the fuselage of the mobile platform through a plurality of shock absorbers 11.

In some embodiments, the mobile platform includes a photographing device 300, and the photographing device 300 is provided on the pan-tilt structure 20. In this way, the pan/tilt assembly 100 with certain shock absorption performance can improve the stability of the photography device 300 when the photography device 300 is mounted on the pan/tilt structure 20, and can also reduce the targeting of the photography device 300 with respect to the mobile platform to improve The overall stability of the mobile platform.

In some embodiments, the mobile platform includes at least one of a drone, a robot, and a mobile vehicle. In this way, pan-tilt components with certain shock absorption performance can be installed on drones, robots, mobile vehicles, etc., and the shock absorption performance of mobile platforms such as drones, robots, and mobile vehicles can be improved.

Please refer to FIG. 9 in conjunction with FIG. 1 and FIG. 2. The shock-absorbing layout method of the embodiment of the present application is used for the pan/tilt assembly 100. The pan/tilt assembly 100 includes a shock-absorbing structure 10 and a pan-tilt structure 20. The shock-absorbing structure 10 includes The shock absorber 12 and the multiple shock absorbers 11 are connected to the pan-tilt structure 20 and the multiple shock absorbers 11. The shock absorber layout method includes:

^{Step S10, determining the equivalent stiffness matrix K c of the} damping structure 10 at the center of mass C of the gimbal structure 20;

Step S20: Determine the spatial arrangement of the plurality of shock absorbers 11 relative to the center of mass C of the pan/tilt structure 20 according to the equivalent stiffness matrix K ^{c and the degree of decoupling of the pan/tilt structure 20.}

In the above-mentioned damping layout method, by determining the equivalent stiffness matrix K ^c and the damping decoupling degree of the pan/tilt structure 20, the spatial arrangement of the damping member 11 relative to the center of mass C of the pan/tilt structure 20 can be determined to make the pan/tilt structure 20 The damping layout is more flexible, and the space occupied by the damping structure 10 is reduced, which can further improve the layout compactness of the entire system while ensuring a certain damping performance.

It should be pointed out that the gimbal structure 20 can be regarded as an irregular rigid body, and the centroid of the gimbal structure 20 can be obtained by the calculation method of the centroid of the irregular rigid body. The specific calculation process will not be repeated here. In addition, the beneficial effects and explanations of the implementation of the pan-tilt assembly 100 in the above-mentioned embodiment are also applicable to the shock-absorbing layout method of this embodiment. In order to avoid redundancy, it will not be detailed here.

In some embodiments, the spatial arrangement includes a spatial arrangement position and/or a spatial arrangement angle.

In this way, the spatial arrangement position of the shock absorber relative to the head structure can be determined by the shock absorption layout method; or the spatial arrangement angle of the shock absorber relative to the pan/tilt structure can be determined by the shock absorption layout method; or the shock absorber can be determined by the shock absorption layout method. The spatial arrangement position and spatial arrangement angle of the seismic component relative to the pan-tilt structure.

In the embodiment of the present application, the spatial arrangement position of the plurality of shock absorbers 11 relative to the center of mass C of the pan/tilt structure can be understood as the space coordinate system ZXY established by the center of mass C of the pan/tilt structure, and the elastic center of each shock absorber 11 is at The coordinates of the center of mass coordinate system ZXY. The spatial arrangement angle of each shock absorber 11 relative to the center of mass C of the pan-tilt structure 20 can be understood as the angle of the orientation of each shock absorber 11 with respect to the coordinate axis of the center of mass coordinate system ZXY. It should be pointed out that the shock absorbing member 11 of the embodiment of the present application has a rotationally symmetric structure, the elastic center of the shock absorbing member 11 is the center of mass of the shock absorbing member, and the direction of the shock absorbing member 11 is the direction of the rotation axis of the shock absorbing member. Specifically, referring to FIG. 3, the axis I is the rotation axis of the shock absorber, and the axial direction of the axis I is the direction of the shock absorber 11.

Please refer to FIG. 10, in some embodiments, the equivalent stiffness matrix K ^c includes a linear vibration/angular vibration coupling stiffness matrix and an angular vibration coupling stiffness matrix, and the vibration reduction and decoupling degree of the gimbal structure includes linear vibration and angular vibration solutions The degree of mutual decoupling between the coupling degree and the angular vibration; according to the equivalent stiffness matrix K ^c and the decoupling degree of the gimbal structure, the spatial arrangement of multiple shock absorbers relative to the center of mass C of the gimbal structure is determined, including:

Step S21, optimizing the linear vibration/angular vibration coupling stiffness matrix according to the degree of decoupling of linear vibration and angular vibration, so that each element of the linear vibration/angular vibration coupling stiffness matrix is smaller than a first preset threshold;

Step S22, optimizing the angular-vibration coupling stiffness matrix according to the degree of mutual decoupling between the angular vibrations, so that the non-diagonal elements of the angular-vibration coupling stiffness matrix are smaller than the second preset threshold;

Step S23: According to the optimized linear vibration/angular vibration coupling stiffness matrix and the optimized angular vibration coupling stiffness matrix, the spatial arrangement of the plurality of shock absorbers relative to the center of mass C of the pan/tilt structure is determined.

In this way, the linear vibration/angular vibration coupling stiffness matrix and the angular vibration coupling stiffness matrix K ^c can be optimized according to the degree of decoupling between the linear vibration and the angular vibration and the angular vibration, so as to obtain the optimized shock absorber relative to the gimbal structure The spatial arrangement of the center of mass C.

Specifically, in the above formula:

The linear vibration/angular vibration coupling stiffness matrix is a matrix composed of elements k14, k15, k16, k24, k25, k26, k34, k35, k36, k41, k42, k43, k51, k52, k53, k61, k62, and k63.

The angular vibration coupling stiffness matrix is elements k44, k45, k46, k54, k55, k56, k64, k65, k66, and elements k45, k46, k56, k54, k64, and k65 are non-diagonal elements.

The first preset threshold and the second preset threshold can be selected according to layout requirements. In one embodiment, the first preset threshold and the second preset threshold are both greater than zero, and the first preset threshold and zero constitute the first preset range, so that each element of the linear vibration/angular vibration coupling stiffness matrix is located in the first Preset the range and try to approach zero as much as possible. The second preset threshold and zero constitute a second preset range, so that the non-diagonal elements of the angular vibration coupling stiffness matrix are located in the second preset range and tend to zero as much as possible. In the embodiment shown in FIG. 10, step S21 is executed before step S22. It can be understood that, in other embodiments, step S21 may be performed after step S22, or step S21 and step S22 may be performed at the same time.

^{Referring to FIG. 11, in some embodiments, determining the equivalent stiffness matrix K c of the} shock-absorbing structure 10 at the center of mass C of the pan-tilt structure 20 includes:

Step S11, determine the equivalent stiffness matrix of each shock absorber 11 at the center of mass C of the gimbal structure

Step S12, according to the equivalent stiffness matrix of each shock-absorbing member 11 at the center of mass of the gimbal structure

^{Determine the equivalent stiffness matrix K c of the} damping structure at the center of mass of the gimbal structure.

In this way, the equivalent stiffness matrix of the entire shock-absorbing structure at the center of mass of the gimbal structure can be obtained from the stiffness matrix of all individual shock-absorbing members at the center of mass of the gimbal structure.

Referring to FIG. 12, in some embodiments, the equivalent stiffness matrix of each shock absorber 11 at the center of mass C of the pan/tilt structure is determined

include:

_{Step S111, determining the stiffness matrix K i of} each shock absorbing member 11 in each direction of the center of mass coordinate system ZXY of the pan-tilt structure;

Step S112, the stiffness matrix K _i in accordance with the respective direction of each of the damper member 11 in the center of mass coordinates of the head ZXY structure, the structure of the head displacement of centroid C S _c, and each damper member 11 of the elastic center Displacement of P _i in various directions along the center of mass coordinate system ZXY of the gimbal structure

Calculate the equivalent stiffness matrix of each shock absorber 11 at the center of mass C of the gimbal structure

Thus, by determining the displacement of each shock absorbing member 11 S _c stiffness matrix K _i and the centroid C of the head structure in various directions head ZXY structure coordinates of the centroid of each shock absorbing member 11 the elastic center P _i of the Displacement in various directions along the center of mass coordinate system ZXY of the pan/tilt structure to obtain the equivalent stiffness matrix of each shock absorber 11 at the center of mass C of the pan/tilt structure

Thus, the equivalent stiffness matrix of the plurality of shock absorbers 11 at the center of mass C of the pan/tilt structure can be obtained.

In particular, in the embodiment of the present application, centroid C may be assumed to head the displacement of the structure, each of the shock absorbing member 11 the elastic center P _i of the center of mass in each direction of the head coordinate system ZXY structure is also displaced, may then be According to the stiffness matrix K _i of each shock absorber 11 in each direction of the center of mass coordinate system ZXY of the pan/tilt structure, _{the elastic center P i of each shock absorber 11 is in each direction of the center of mass coordinate system ZXY of the pan/tilt structure} , And the displacement of the center of mass C of the gimbal structure, the equivalent stiffness matrix of each shock absorber 11 at the center of mass C of the gimbal structure is calculated

_{Referring to FIG. 13, in some embodiments, determining the stiffness matrix K i of} each shock-absorbing member 11 in each direction of the center-of-mass coordinate system ZXY of the pan-tilt structure includes:

Step S1111, according to the attitude of each shock absorber 11 relative to the center of mass coordinate system ZXY of the pan/tilt structure

And an elastic damper member center of each P _i of the linear displacement in the coordinates of each body member 11 of the damper

Calculated for each damping element P _i of the elastic center 11 is displaced in various directions along ZXY centroid coordinates head structure

Step S1112, according to the stiffness matrix of each shock-absorbing member 11 in the body coordinate system of each shock-absorbing member 11

And the displacement of the elastic center P _{i of} each shock absorber in various directions along the center of mass coordinate system ZXY of the gimbal structure

_{Calculate the stiffness matrix K i of} each shock absorber 11 in each direction of the center-of-mass coordinate system ZXY of the pan-tilt structure.

Thus, each can be obtained by calculating the elastic damping element P _i of the center 11 is displaced in various directions along ZXY centroid coordinates of the head structure, and each of the shock absorbing member 11 in each of the damper member 11 Stiffness matrix in the body coordinate system

_{The stiffness matrix K i of} each shock absorber 11 in each direction of the center-of-mass coordinate system ZXY of the pan-tilt structure is obtained by calculation.

It should be pointed out that, in the embodiment of the present application, the attitude of each shock-absorbing member 11 relative to the center-of-mass coordinate system ZXY of the pan/tilt structure can be understood as the orientation of each shock-absorbing member 11 and the center-of-mass coordinate system ZXY of the pan/tilt structure. The included angle of the coordinate axis.

In some embodiments, the stiffness matrix of each shock-absorbing member 11 in the body coordinate system of each shock-absorbing member 11 is

It is a body linear stiffness matrix composed of the stiffness of each shock absorber 11 in the directions of the three elastic main axes.

In this way, the stiffness matrix of each shock absorber 11 in the body coordinate system is

_{It has reliability and can be used to calculate the stiffness matrix K i of} each shock absorber 11 in each direction of the center-of-mass coordinate system ZXY of the pan/tilt structure.

Specifically, referring to FIG. 3, the shock-absorbing member 11 in the embodiment of the present application is a rotationally symmetrical member. Therefore, the axis I, the axis II, and the axis III can be defined as the directions of the three main axes of the body coordinate system of the shock-absorbing member 11. That is, the axis I, the axis II, and the axis III are defined as the three elastic main axes of the shock absorber 11.

Referring to FIG. 14, in some embodiments, according to the equivalent stiffness matrix K ^c and the damping decoupling degree of the pan/tilt structure, the spatial arrangement of the plurality of damping members 11 relative to the center of mass C of the pan/tilt structure is determined, including :

Step S24, according to the equivalent stiffness matrix K ^c , the damping decoupling degree of the pan/tilt structure, and the preset spatial arrangement range of the multiple damping members 11, determine the center of mass C of the multiple damping members 11 relative to the pan/tilt structure The space layout.

In this way, the spatial arrangement of the plurality of shock absorbers 11 relative to the center of mass C of the pan/tilt structure can be determined, so that the pan/tilt assembly has a certain shock absorption performance, and the optimization efficiency can also be improved.

Specifically, by setting the preset spatial arrangement range of the plurality of shock-absorbing members 11 in the preset spatial arrangement range, the spatial arrangement of the plurality of shock-absorbing members 11 relative to the center of mass C of the pan/tilt structure is determined, which optimizes efficiency higher.

The shock-absorbing layout device of the embodiment of the application includes a processor, and the processor is used to determine the equivalent stiffness matrix K ^{c of the} shock-absorbing structure at the center of mass of the pan/tilt structure; The degree of seismic decoupling determines the spatial arrangement of multiple shock absorbers relative to the center of mass of the pan/tilt structure.

In the above damping layout device, the processor determines the spatial arrangement of the damping components relative to the center of mass of the cradle head structure by determining the equivalent stiffness matrix and the damping decoupling degree of the cradle head structure, which can make the cradle head structure more damping layout. Flexible, the space occupied by the shock-absorbing structure is reduced, and the compactness of the entire system can be further improved while ensuring a certain shock-absorbing performance.

The shock-absorbing layout devices include but are not limited to terminals such as mobile phones, tablets, personal computers, servers, drones, and drone remote controls. It should be pointed out that the beneficial effects and explanations of the implementation of the pan-tilt assembly and the implementation of the shock-absorbing layout method of the above-mentioned embodiment are also applicable to the shock-absorbing layout device of this embodiment. To avoid redundancy, they will not be omitted here. Expand in detail.

In this way, the spatial arrangement position of the shock absorber relative to the center of mass of the gimbal structure can be determined by the shock absorption layout device; or the spatial arrangement angle of the shock absorber relative to the centroid of the gimbal structure can be determined by the shock absorber layout device; The spatial arrangement position and the spatial arrangement angle of the shock absorber relative to the center of mass of the pan/tilt structure.

In some embodiments, the processor is configured to optimize the linear vibration/angular vibration coupling stiffness matrix according to the degree of decoupling of linear vibration and angular vibration, so that each element of the linear vibration/angular vibration coupling stiffness matrix is smaller than the first preset threshold; And used to optimize the angular vibration coupling stiffness matrix according to the degree of mutual decoupling between angular vibrations, so that the off-diagonal elements of the angular vibration coupling stiffness matrix are smaller than the second preset threshold; and used to optimize the linear vibration/angle according to the optimized The vibration coupling stiffness matrix and the optimized angular vibration coupling stiffness matrix determine the spatial arrangement of multiple shock absorbers relative to the center of mass of the cloud structure.

In this way, the processor can optimize the linear vibration/angular vibration coupling stiffness matrix and the angular vibration coupling stiffness matrix according to the degree of decoupling between the linear vibration and the angular vibration and the angular vibration, and obtain the center of mass of the optimized shock absorber relative to the gimbal structure The space layout.

In some embodiments, the processor is used to determine the equivalent stiffness matrix of each shock absorber at the center of mass of the pan/tilt structure

And it is used according to the equivalent stiffness matrix of each shock absorber at the center of mass of the gimbal structure

In this way, the processor can obtain the equivalent stiffness matrix of the entire shock-absorbing structure at the center of mass of the gimbal structure from the stiffness matrix of each shock-absorbing member at the center of mass of the gimbal structure.

_{In some embodiments, the processor is used to determine the stiffness matrix K i of} each shock absorber in each direction of the center of mass coordinate system of the pan/tilt structure; and used to determine the center of mass coordinates of each shock absorber in the pan/tilt structure _{The stiffness matrix K i} in all directions of the system, the displacement of the center of mass of the pan/tilt structure S _c , and the displacement of the elastic center of each shock absorber in all directions along the center of mass coordinate system of the pan/tilt structure

Calculate the equivalent stiffness matrix of each shock absorber at the center of mass of the gimbal structure

In this way, the processor can determine the stiffness matrix of each shock absorber in each direction of the coordinate system of the center of mass of the gimbal structure and the displacement of the center of mass of the gimbal structure, and the elastic center of each shock absorber is located along the center of mass of the gimbal structure. Displacement in each direction of the coordinate system can obtain the equivalent stiffness matrix of each shock absorber at the center of mass of the pan/tilt structure, so that the equivalent stiffness matrix of each shock absorber at the center of mass of the pan/tilt structure can be obtained.

In some embodiments, the processor is used to determine the position of each shock absorber relative to the center of mass coordinate system of the pan/tilt structure

And the linear displacement of the elastic center of each shock absorber in the body coordinate system of each shock absorber

Calculate the displacement of the elastic center of each shock absorber in all directions along the center of mass coordinate system of the gimbal structure

And it is used according to the stiffness matrix of each shock-absorbing member in the body coordinate system of each shock-absorbing member

And the displacement of the elastic center of each shock absorber in all directions along the coordinate system of the center of mass of the gimbal structure

_{Calculate the stiffness matrix K i of} each shock absorber in each direction of the center of mass coordinate system of the pan/tilt structure.

In this way, the processor can calculate the displacement of the elastic center of each shock absorber in various directions along the center of mass coordinate system of the pan/tilt structure

And the stiffness matrix of each shock absorber in the coordinate system of each shock absorber body

_{The stiffness matrix K i of} each shock absorber in each direction of the center of mass coordinate system of the pan/tilt structure is calculated.

In some embodiments, the stiffness matrix of each shock absorber in the coordinate system of each shock absorber body

The body linear stiffness matrix composed of the stiffness of each shock absorber in the directions of the three elastic main axes

In this way, the stiffness matrix of each shock absorber in the body coordinate system

It is reliable and can be used to calculate the stiffness matrix of each shock absorber in each direction of the center of mass coordinate system of the pan/tilt structure.

In some embodiments, the processor is used to ^{determine the relative position of the multiple shock-absorbing members relative to the cloud based on the equivalent stiffness matrix K c} , the degree of shock-absorbing decoupling of the pan-tilt structure, and the preset spatial arrangement range of the multiple shock-absorbing members. The spatial arrangement of the center of mass of the platform structure.

In this way, the processor can determine the spatial arrangement of the plurality of shock absorbing members relative to the center of mass of the pan/tilt structure, ensuring that the pan/tilt assembly has a certain shock absorption performance, and also optimizes the overall spatial arrangement of the pan/tilt assembly.

The mobile platform of the embodiment of the present application is obtained by the shock absorption layout method of any of the above embodiments.

In the above-mentioned mobile platform, by determining the equivalent stiffness matrix and the degree of decoupling of the damping of the gimbal structure to determine the spatial arrangement of the damping components relative to the center of mass of the gimbal structure, the damping layout of the gimbal structure can be made more flexible and damping The space occupied by the structure is reduced, and the compactness of the entire system of the mobile platform can be further improved while ensuring a certain shock absorption performance.

Specifically, the mobile platform may include at least one of a drone, a robot, and a mobile vehicle.

The present application also provides a non-volatile computer-readable storage medium containing computer-executable instructions. When the computer-executable instructions are executed by a processor, the processor executes the shock-absorbing layout method described in any of the above embodiments.

In the description of this specification, the description with reference to the terms “one embodiment”, “certain embodiments”, “exemplary embodiments”, “examples”, “specific examples”, or “some examples” etc. means to combine The specific features, structures, materials or characteristics described in the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

Any process or method description in the flowchart or described in other ways herein can be understood as a module, segment or part of code that includes one or more executable instructions for performing specific logical functions or steps of the process And the scope of the preferred embodiments of the present application includes additional executions, which may not be in the order shown or discussed, including executing functions in a substantially simultaneous manner or in the reverse order according to the functions involved. This should It is understood by those skilled in the art to which the embodiments of the present application belong.

The logic and/or steps represented in the flowchart or described in other ways herein, for example, can be considered as a sequenced list of executable instructions for executing logic functions, and can be specifically executed in any computer-readable medium, For use by instruction execution systems, devices, or equipment (such as computer-based systems, systems including processors, or other systems that can fetch and execute instructions from instruction execution systems, devices, or equipment), or combine these instruction execution systems, devices Or equipment. For the purposes of this specification, a "computer-readable storage medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, device, or device or in combination with these instruction execution systems, devices, or devices. . More specific examples (non-exhaustive list) of computer-readable storage media include the following: electrical connections (electronic devices) with one or more wiring, portable computer disk cases (magnetic devices), random access memory (RAM) , Read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). In addition, the computer-readable storage medium may even be a paper or other suitable storage medium on which the program can be printed, because it can be used, for example, by optically scanning the paper or other storage medium, and then editing, interpreting, or when necessary The program is processed in other suitable ways to obtain the program electronically, and then stored in the computer memory.

It should be understood that each part of this application can be executed by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be executed by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if it is performed by hardware, as in another embodiment, it can be performed by any one or a combination of the following technologies known in the art: a logic gate circuit for performing logic functions on data signals Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate array (PGA), field programmable gate array (FPGA), etc.

A person of ordinary skill in the art can understand that all or part of the steps carried in the above implementation method can be executed by a program instructing relevant hardware to complete. The program can be stored in a computer-readable storage medium, and the program can be executed when the program is executed. When it includes one of the steps of the method embodiment or a combination thereof.

In addition, the functional units in the various embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units may be integrated into one module. The above-mentioned integrated modules can be executed in the form of hardware or software function modules. If the integrated module is executed in the form of a software function module and sold or used as an independent product, it may also be stored in a computer readable storage medium.

The aforementioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present application. Those of ordinary skill in the art can comment on the above within the scope of the present application. The implementation mode undergoes changes, modifications, replacements and modifications.

Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and modifications can be made to these embodiments without departing from the principle and purpose of the present application. The scope of the application is defined by the claims and their equivalents.

Claims

A pan/tilt assembly, characterized in that it comprises a shock-absorbing structure and a pan/tilt structure, the shock-absorbing structure includes a shock-absorbing frame and a plurality of shock-absorbing parts, and the shock-absorbing frame is connected to the pan/tilt structure and a plurality of shock-absorbing members. For the shock-absorbing member, the orientation of at least one of the shock-absorbing members is different from the orientation of the remaining shock-absorbing members.
The pan/tilt head assembly according to claim 1, wherein the damping member is a rotationally symmetric structure around a rotation axis, and the direction of the damping member is along the axis of the rotation axis of the damping member.
The pan/tilt head assembly according to claim 1, wherein the plurality of damping members comprise at least one damping member pair, and the two damping members included in the damping member pair are arranged in mirror symmetry.
The pan/tilt assembly according to claim 1, wherein a part of the shock absorber is located above the pan/tilt structure, and another part is located on the horizontal side of the pan/tilt structure, and the plurality of shock absorbers are One or two are located above the pan/tilt structure, and the rest of the shock absorbers are located on the horizontal side of the pan/tilt structure.
The pan/tilt assembly according to claim 4, wherein the number of the shock-absorbing members is four;

The shock absorber located above the head structure includes a first shock absorber and a second shock absorber, the first shock absorber and the second shock absorber are arranged in mirror symmetry along a vertical plane;

The shock absorber located on the horizontal side of the head structure includes a third shock absorber and a fourth shock absorber, the third shock absorber and the fourth shock absorber are mirror images along the vertical plane Symmetrical setting.
The pan/tilt head assembly according to claim 5, wherein the shock absorber includes a horizontal portion and a downward inclined portion that are connected, and the first shock absorber and the second shock absorber are installed at the horizontal The third shock-absorbing member and the fourth shock-absorbing member are installed at one end of the downward inclined portion.
The pan/tilt assembly according to claim 6, wherein the pan/tilt structure includes a first shaft assembly connected with the shock absorber, and the first shaft assembly includes a first motor and a first shaft arm, The first motor is connected to the shock absorber and the first shaft arm;

The first shaft arm includes a first horizontal arm and a first downward tilting arm, the first horizontal arm is parallel to the horizontal portion, and the first downward tilting arm is parallel to the downward tilting portion.
The pan/tilt head assembly according to claim 4, wherein the shock-absorbing member comprises two shock-absorbing parts arranged at a symmetrical interval.
The pan-tilt assembly according to claim 1, wherein the shock-absorbing frame and the plurality of shock-absorbing members are located above the pan-tilt structure.
The pan/tilt assembly according to claim 9, wherein the shock absorber includes a middle part and a plurality of connecting parts connecting the periphery of the middle part, and each of the connecting parts is equipped with one shock absorber , The pan-tilt structure is connected to the middle part.
The pan/tilt assembly according to claim 10, wherein a plurality of the connecting portions are arranged at even intervals along the periphery of the middle portion.
The pan/tilt assembly according to claim 10, wherein the connecting portion comprises a horizontal arm and a downward tilting arm, the horizontal arm connects the middle portion and the downward tilting arm, and the shock-absorbing member is mounted on The lower tilt arm.
The pan-tilt assembly according to claim 10, wherein the number of the shock-absorbing members is four;

The four damping members include a first damping member, a second damping member, a third damping member, and a fourth damping member. The first damping member and the second damping member are close to the The front end of the pan/tilt structure is mirror-symmetrically arranged along a vertical plane, and the third shock-absorbing member and the fourth shock-absorbing member are close to the rear end of the pan/tilt structure and are arranged mirror-symmetrically along the vertical plane.
The pan/tilt assembly according to claim 13, wherein the pan/tilt structure includes a first shaft assembly connected with the middle part, and the first shaft assembly includes a first motor and a first shaft arm, so The first motor is connected to the shock absorber frame and the first shaft arm, and the first shaft arm is located below the interval between the third shock absorber and the fourth shock absorber.
The pan/tilt assembly according to claim 9, wherein the shock-absorbing member has a spherical shape.
The pan/tilt assembly according to claim 5 or 13, wherein the orientation of the first damping member, the orientation of the second damping member, the orientation of the third damping member and the first The orientation of the four shock absorbers is different.
The pan/tilt assembly according to claim 5 or 13, wherein the pan/tilt structure includes a first shaft assembly connected with the shock absorber, and the first shaft assembly includes a first motor and a first shaft The first motor is used to drive the first shaft arm to rotate along a first axis, and the first axis is located in the vertical plane.
The pan/tilt head assembly according to claim 1, wherein a mounting portion is connected to one end of the shock-absorbing member, and the shock-absorbing member is mounted on the shock-absorbing frame through the mounting portion.
The pan/tilt assembly according to claim 18, wherein the shock absorber frame is provided with a mounting hole, and the mounting portion penetrates the mounting hole.
A mobile platform, characterized by comprising the pan-tilt assembly according to any one of claims 1-19.
22. The mobile platform according to claim 20, wherein the mobile platform comprises a photographing device, and the photographing device is provided on the pan-tilt structure.
The mobile platform according to claim 20, wherein the mobile platform comprises at least one of a drone, a robot, and a mobile vehicle.
A shock-absorbing layout method for a pan/tilt assembly, wherein the pan/tilt assembly includes a shock-absorbing structure and a pan-tilt structure, and the shock-absorbing structure includes a shock-absorbing frame and a plurality of shock-absorbing parts. The shock mount is connected to the pan-tilt structure and the plurality of damping members, and the damping layout method includes:

Determining the equivalent stiffness matrix of the damping structure at the center of mass of the pan/tilt structure;

According to the equivalent stiffness matrix and the damping decoupling degree of the pan/tilt structure, the spatial arrangement of the plurality of damping members relative to the center of mass of the pan/tilt structure is determined.
The shock-absorbing layout method according to claim 23, wherein the spatial arrangement includes a spatial arrangement position and/or a spatial arrangement angle.
The shock-absorbing layout method according to claim 23, wherein the equivalent stiffness matrix includes a linear vibration/angular vibration coupling stiffness matrix and an angular vibration coupling stiffness matrix, and the vibration reduction decoupling degree of the pan/tilt structure includes The degree of decoupling between linear vibration and angular vibration and the degree of mutual decoupling between angular vibration;

The determining the spatial arrangement of the plurality of shock absorbers relative to the center of mass of the pan/tilt structure according to the equivalent stiffness matrix and the decoupling degree of the pan/tilt structure includes:

Optimizing the linear vibration/angular vibration coupling stiffness matrix according to the degree of decoupling of the linear vibration and angular vibration, so that each element of the linear vibration/angular vibration coupling stiffness matrix is smaller than a first preset threshold;

Optimizing the angular-vibration coupling stiffness matrix according to the degree of mutual decoupling between the angular vibrations, so that the non-diagonal elements of the angular-vibration coupling stiffness matrix are smaller than a second preset threshold;

According to the optimized linear vibration/angular vibration coupling stiffness matrix and the optimized angular vibration coupling stiffness matrix, the spatial arrangement of the plurality of shock absorbers relative to the center of mass of the pan/tilt structure is determined.
The shock-absorbing layout method according to claim 23, wherein the determining the equivalent stiffness matrix of the shock-absorbing structure at the center of mass of the pan-tilt structure comprises:

Determine the equivalent stiffness matrix of each of the shock absorbers at the center of mass of the pan/tilt structure;

According to the equivalent stiffness matrix of each shock absorbing member at the center of mass of the pan/tilt structure, the equivalent stiffness matrix of the shock absorbing structure at the center of mass of the pan/tilt structure is determined.
The shock-absorbing layout method according to claim 26, wherein the determining the equivalent stiffness matrix of each shock-absorbing member at the center of mass of the pan-tilt structure comprises:

Determine the stiffness matrix of each of the shock absorbers in each direction of the center of mass coordinate system of the pan/tilt structure;

According to the stiffness matrix of each shock absorber in each direction of the center of mass coordinate system of the pan/tilt structure, the displacement of the center of mass of the pan/tilt structure, and the elastic center of each shock absorber along the line The displacement in each direction of the center of mass coordinate system of the pan/tilt structure is calculated to calculate the equivalent stiffness matrix of each of the shock absorbers at the center of mass of the pan/tilt structure.
The shock-absorbing layout method according to claim 27, wherein the determining the stiffness matrix of each shock-absorbing member in each direction of the center-of-mass coordinate system of the pan-tilt structure comprises:

According to the posture of each shock-absorbing member relative to the center of mass coordinate system of the pan/tilt structure, and the linear displacement of the elastic center of each shock-absorbing member in the body coordinate system of each shock-absorbing member, calculate The displacement of the elastic center of each shock-absorbing member in various directions along the center of mass coordinate system of the pan-tilt structure;

According to the stiffness matrix of each shock-absorbing member in the body coordinate system of each shock-absorbing member and the elastic center of each shock-absorbing member in various directions along the structural center of mass coordinate system of the pan/tilt Calculate the stiffness matrix of each shock absorber in each direction of the center-of-mass coordinate system of the pan/tilt structure.
The shock-absorbing layout method according to claim 28, wherein the stiffness matrix of each shock-absorbing member in the coordinate system of each shock-absorbing member is three The body line stiffness matrix composed of the stiffness in the direction of the elastic main axis.
The shock-absorbing layout method according to claim 23, characterized in that, according to the equivalent stiffness matrix and the shock-absorbing decoupling degree of the pan-tilt structure, it is determined that a plurality of the shock-absorbing members are relative to the The spatial arrangement of the center of mass of the gimbal structure includes:

According to the equivalent stiffness matrix, the damping decoupling degree of the pan/tilt structure, and the preset spatial arrangement range of the plurality of damping members, it is determined that the multiple damping members are relative to the pan/tilt structure The spatial arrangement of the center of mass.
A shock-absorbing layout device, characterized by comprising a processor for determining the equivalent stiffness matrix of the shock-absorbing structure at the center of mass of the pan/tilt structure; and for determining the equivalent stiffness matrix according to the equivalent stiffness The decoupling degree of the matrix and the damping of the pan/tilt structure determines the spatial arrangement of the plurality of damping members relative to the center of mass of the pan/tilt structure.
The shock-absorbing layout device according to claim 31, wherein the spatial arrangement includes a spatial arrangement position and/or a spatial arrangement angle.
The shock absorption layout device of claim 31, wherein the processor is configured to optimize the linear vibration/angular vibration coupling stiffness matrix according to the degree of decoupling of the linear vibration and the angular vibration, so that the linear vibration Each element of the vibration/angular vibration coupling stiffness matrix is smaller than a first preset threshold; and used to optimize the angular vibration coupling stiffness matrix according to the degree of mutual decoupling between the angular vibrations, so that the angular vibration coupling stiffness matrix The non-diagonal element of is smaller than the second preset threshold; and is used to determine the relative vibration of a plurality of the shock absorbers according to the optimized linear vibration/angular vibration coupling stiffness matrix and the optimized angular vibration coupling stiffness matrix The spatial arrangement of the center of mass of the cloud structure.
The shock-absorbing layout device according to claim 31, wherein the processor is used to determine the equivalent stiffness matrix of each of the shock-absorbing members at the center of mass of the pan/tilt structure; The equivalent stiffness matrix of the shock-absorbing member at the center of mass of the pan/tilt structure determines the equivalent stiffness matrix of the shock-absorbing structure at the center of mass of the pan/tilt structure.
The shock-absorbing layout device according to claim 34, wherein the processor is used to determine the stiffness matrix of each shock-absorbing member in each direction of the center of mass coordinate system of the pan/tilt structure; and According to the stiffness matrix of each of the shock absorbers in each direction of the center of mass coordinate system of the pan/tilt structure, the displacement of the center of mass of the pan/tilt structure, and the elastic center of each shock absorber along the The displacement in each direction of the center of mass coordinate system of the pan/tilt structure is calculated, and the equivalent stiffness matrix of each of the shock absorbers at the center of mass of the pan/tilt structure is calculated.
The shock-absorbing layout device according to claim 35, wherein the processor is configured to respond to the attitude of each shock-absorbing member relative to the center of mass coordinate system of the pan/tilt structure, and each shock-absorbing member The linear displacement of the elastic center of each shock-absorbing member in the body coordinate system, and calculating the displacement of the elastic center of each shock-absorbing member in various directions along the center of mass coordinate system of the pan-tilt structure; And used for the stiffness matrix of each shock-absorbing member in the body coordinate system of each shock-absorbing member and the elastic center of each shock-absorbing member in the coordinate system of the center of mass of the structure along the head Calculate the stiffness matrix of each shock absorber in each direction of the center of mass coordinate system of the pan/tilt structure.
The shock-absorbing layout device according to claim 36, wherein the stiffness matrix of each shock-absorbing member in the coordinate system of each shock-absorbing member is three The body line stiffness matrix composed of the stiffness in the direction of the elastic main axis.
The shock-absorbing layout device according to claim 31, wherein the processor is used for pre-processing according to the equivalent stiffness matrix, the shock-absorbing decoupling degree of the pan/tilt structure, and a plurality of shock-absorbing components. The set spatial arrangement range determines the spatial arrangement of the plurality of shock absorbers relative to the center of mass of the pan/tilt structure.
A mobile platform, characterized in that the mobile platform is obtained by the shock-absorbing layout method according to any one of claims 23-30.
A non-volatile computer-readable storage medium containing computer-executable instructions, wherein when the computer-executable instructions are executed by a processor, the processor is caused to execute any one of claims 23-30 The damping layout method described.