Camera system using stabilizing gimbal

• US 10,274,129 B2
• Filed: 12/14/2017
• Issued: 04/30/2019
• Est. Priority Date: 05/27/2015
• Status: Active Grant

• Current Assignee: GoPro, Inc.
• Original Assignee: GoPro, Inc.
• Inventors: Saika, Noriaki, Harrison, Ryan, Druker, Joshua Todd, Shukla, Himay Rashmikant, Uzunovic, Nenad, Russell, Edward Gordon
• Primary Examiner(s): Pontius, James M
• Application Number:
  US15/841,555
• Publication Number:
  US 20180106422A1
• Time in Patent Office: 502 Days
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: F16M 11/041 Allowing quick release of the apparatus
• CPC Class Codes: F16M 11/121 constituted of several dependent joints
• CPC Class Codes: F16M 11/18 with mechanism for moving the apparatus relatively to the stand
• CPC Class Codes: F16M 13/02 for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
• CPC Class Codes: F16M 13/04 for supporting on, or holding steady relative to, a person, e.g. by chains , e.g. rifle butt or pistol grip supports, supports attached to the chest or head apparatus or arrangements for taking photographs or for projecting or viewing them G03B
• CPC Class Codes: G03B 15/006 Apparatus mounted on flying objects
• CPC Class Codes: G03B 17/561 Support related camera accessories
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: H04N 23/11 for generating image signals from visible and infrared light wavelengths
• CPC Class Codes: H04N 23/50 Constructional details
• CPC Class Codes: H04N 23/55 Optical parts specially adapted for electronic image sensors; Mounting thereof
• CPC Class Codes: H04N 23/60 Control of cameras or camera modules
• CPC Class Codes: H04N 23/63 by using electronic viewfinders
• CPC Class Codes: H04N 23/66 Remote control of cameras or camera parts, e.g. by remote control devices
• CPC Class Codes: H04N 23/6812 based on additional sensors, e.g. acceleration sensors
• CPC Class Codes: H04N 23/685 performed by mechanical compensation
• CPC Class Codes: H04N 23/695 Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
• CPC Class Codes: H04N 5/772 the recording apparatus and the television camera being placed in the same enclosure
• CPC Class Codes: H04N 5/783 : Adaptations for reproducing at a rate different from the recording rate
• CPC Class Codes: H04N 7/183 : for receiving images from a single remote source
• CPC Class Codes: H04N 9/8205 : involving the multiplexing of an additional signal and the colour video signal

Abstract

Disclosed is an electronic gimbal with camera and mounting configuration. The gimbal can include an inertial measurement unit which can sense the orientation of the camera and three electronic motors which can manipulate the orientation of the camera. The gimbal can be removably coupled to a variety of mount platforms, such as an aerial vehicle, a handheld grip, or a rotating platform. Moreover, a camera can be removably coupled to the gimbal and can be held in a removable camera frame. Also disclosed is a system for allowing the platform, to which the gimbal is mounted, to control settings of the camera or to trigger actions on the camera, such as taking a picture, or initiating the recording of a video. The gimbal can also provide a connection between the camera and the mount platform, such that the mount platform receives images and video content from the camera.

Claims

1. A method, comprising:

detecting a first angular position of an object relative to an orientation of a camera coupled to a gimbal, the gimbal coupled to a rotating platform; and

controlling any of a motor of the rotating platform; and

a motor of the gimbal by;

determining a target change in angular velocity representing a difference between an angular velocity of the camera and a target angular velocity of the camera suitable for tracking the object;

comparing the target change in angular velocity to a threshold change in angular velocity;

responsive to the target change in angular velocity exceeding the threshold change in angular velocity, adjusting an angular velocity of the motor of the rotating platform to reduce the difference between the angular velocity of the camera and the target angular velocity of the camera; and

responsive to the target change in angular velocity not exceeding the threshold change in angular velocity, adjusting an angular velocity of the motor of the gimbal to reduce the difference between the angular velocity of the camera and the target angular velocity of the camera.

2. The method of claim 1, wherein controlling any of the motor of the rotating platform;

and the motor of the gimbal comprises;

determining a target angular velocity for moving the camera to track the object based on an angular velocity of the object and a displacement between the orientation of the camera and the first angular position of the object;

determining if the target angular velocity is below a threshold angular velocity;

responsive to determining that the target angular velocity is not below the threshold angular velocity, controlling the motor of the rotating platform to adjust an angular velocity of the rotating platform to reduce an offset between the angular velocity of the rotating platform and the target angular velocity;

responsive to determining that the target angular velocity is below the threshold angular velocity, determining if the rotating platform is stationary;

responsive to determining that the rotating platform is stationary, controlling the motor of the gimbal to adjust an angular velocity of the motor of the gimbal to reduce an offset between the angular velocity of the motor of the gimbal and the target angular velocity; and

responsive to determining that the rotating platform is not stationary, decelerating the rotating platform and adjusting the angular velocity of the motor of the gimbal to reduce the offset between the angular velocity of the motor of the gimbal and the target angular velocity.

3. The method of claim 1, wherein controlling any of the motor of the rotating platform and the motor of the gimbal comprises:

determining a target change in angular velocity representing a difference between an angular velocity of the camera and a target angular velocity of the camera suitable for tracking the object;

summing an angular velocity of the motor of the gimbal and the target change in angular velocity to generate a combined angular velocity;

comparing the combined angular velocity to a threshold change in angular velocity;

responsive to the combined angular velocity exceeding the threshold change in angular velocity, adjusting an angular velocity of the motor of the rotating platform to reduce the difference between the angular velocity of the camera and the target angular velocity of the camera; and

responsive to the combined angular velocity not exceeding the threshold change in angular velocity, adjusting an angular velocity of the motor of the gimbal to reduce the difference between the angular velocity of the camera and the target angular velocity of the camera.

4. The method of claim 1, wherein controlling any of the motor of the rotating platform and the motor of the gimbal comprises:

detecting a second angular position of the object relative to the orientation of the camera, the first angular position detected at a first time instance and the second angular position detected at a second time instance;

calculating an angular velocity of the object based on at least the first and second angular positions and at least the first and second time instances;

adjusting an angular velocity of the motor of the rotating platform to reduce a difference between an angular velocity of the rotating platform and the angular velocity of the object; and

determining a target angular position of the motor of the gimbal based on an angular position of the motor of the gimbal, the second angular position of the object, and an angular position of the camera;

adjusting the angular position of the motor of the gimbal to reduce a difference between the angular position of the motor of the gimbal and the target angular position.

5. A non-transitory computer-readable storage medium storing instructions that when executed cause a processor to perform operations including:

detecting a first angular position of an object relative to an orientation of a camera coupled to a gimbal, the gimbal coupled to a rotating platform; and

controlling any of a motor of the rotating platform and a motor of the gimbal by;

determining a target change in angular velocity representing a difference between an angular velocity of the camera and a target angular velocity of the camera suitable for tracking the object;

comparing the target change in angular velocity to a threshold change in angular velocity;

responsive to the target change in angular velocity exceeding the threshold change in angular velocity, adjusting an angular velocity of the motor of the rotating platform to reduce the difference between the angular velocity of the camera and the target angular velocity of the camera; and

responsive to the target change in angular velocity not exceeding the threshold change in angular velocity, adjusting an angular velocity of the motor of the gimbal to reduce the difference between the angular velocity of the camera and the target angular velocity of the camera.

6. The non-transitory computer-readable storage medium of claim 5, wherein controlling any of the motor of the rotating platform and the motor of the gimbal comprises:

determining a target angular velocity for moving the camera to track the object based on an angular velocity of the object and a displacement between the orientation of the camera and the first angular position of the object;

determining if the target angular velocity is below a threshold angular velocity;

responsive to determining that the target angular velocity is not below the threshold angular velocity, controlling the motor of the rotating platform to adjust an angular velocity of the rotating platform to reduce an offset between the angular velocity of the rotating platform and the target angular velocity;

responsive to determining that the target angular velocity is below the threshold angular velocity, determining if the rotating platform is stationary;

responsive to determining that the rotating platform is stationary, controlling the motor of the gimbal to adjust an angular velocity of the motor of the gimbal to reduce an offset between the angular velocity of the motor of the gimbal and the target angular velocity; and

responsive to determining that the rotating platform is not stationary, decelerating the rotating platform and adjusting the angular velocity of the motor of the gimbal to reduce the offset between the angular velocity of the motor of the gimbal and the target angular velocity.

7. The non-transitory computer-readable storage medium of claim 5, wherein controlling any of the motor of the rotating platform;

and the motor of the gimbal comprises;

determining a target change in angular velocity representing a difference between an angular velocity of the camera and a target angular velocity of the camera suitable for tracking the object;

summing an angular velocity of the motor of the gimbal and the target change in angular velocity to generate a combined angular velocity;

comparing the combined angular velocity to a threshold change in angular velocity;

responsive to the combined angular velocity exceeding the threshold change in angular velocity, adjusting an angular velocity of the motor of the rotating platform to reduce the difference between the angular velocity of the camera and the target angular velocity of the camera; and

responsive to the combined angular velocity not exceeding the threshold change in angular velocity, adjusting an angular velocity of the motor of the gimbal to reduce the difference between the angular velocity of the camera and the target angular velocity of the camera.

8. The non-transitory computer-readable storage medium of claim 5, wherein controlling any of the motor of the rotating platform and the motor of the gimbal comprises:

detecting a second angular position of the object relative to the orientation of the camera, the first angular position detected at a first time instance and the second angular position detected at a second time instance;

calculating an angular velocity of the object based on at least the first and second angular positions and at least the first and second time instances;

adjusting an angular velocity of the motor of the rotating platform to reduce a difference between an angular velocity of the rotating platform and the angular velocity of the object; and

determining a target angular position of the motor of the gimbal based on an angular position of the motor of the gimbal, the second angular position of the object, and an angular position of the camera;

adjusting the angular position of the motor of the gimbal to reduce a difference between the angular position of the motor of the gimbal and the target angular position.

9. A system, comprising:

a processor; and

a memory coupled to the processor, wherein the memory includes instructions executable by the processor to cause the system to;

detect a first angular position of an object relative to an orientation of a camera coupled to a gimbal, the gimbal coupled to a rotating mount apparatus; and

control any of a motor of the rotating mount apparatus and a motor of the gimbal by;

determining a target change in angular velocity representing a difference between an angular velocity of the camera and a target angular velocity of the camera suitable for tracking the object;

comparing the target change in angular velocity to a threshold change in angular velocity;

responsive to the target change in angular velocity exceeding the threshold change in angular velocity, adjusting an angular velocity of the motor of the rotating platform to reduce the difference between the angular velocity of the camera and the target angular velocity of the camera; and

responsive to the target change in angular velocity not exceeding the threshold change in angular velocity, adjusting an angular velocity of the motor of the gimbal to reduce the difference between the angular velocity of the camera and the target angular velocity of the camera.

10. The system of claim 9, wherein the rotating mount apparatus comprises:

a gimbal mount including a mechanical coupling for removably coupling to the gimbal, the gimbal mount further including an electronic connection to connect to the gimbal, the electronic connection allowing communication between the rotating mount apparatus and the camera coupled to the gimbal via an electronic bus internal to the gimbal;

a motor shaft connected to the gimbal mount such that rotation of the motor shaft causes the gimbal mount to rotate;

an electric motor coupled to the motor shaft to provide torque on the motor shaft; and

a base coupled to the electric motor.

11. The system of claim 9, wherein the rotating mount apparatus receives any of a digital video and a digital image from the camera coupled to the gimbal.

12. The system of claim 9, wherein the rotating mount apparatus sends a set of instructions to the camera via the electronic bus, the set of instructions including any of an instruction to capture a picture and an instruction to begin recording a video.

13. The system of claim 10, wherein the rotating mount apparatus further comprises a control logic unit, the control logic unit allowing movement of the electric motor in the gimbal to be controlled through the electronic connection.

14. The system of claim 9, wherein controlling any of the motor of the rotating platform and the motor of the gimbal comprises:

determining a target angular velocity for moving the camera to track the object based on an angular velocity of the object and a displacement between the orientation of the camera and the first angular position of the object;

determining if the target angular velocity is below a threshold angular velocity;

responsive to determining that the target angular velocity is not below the threshold angular velocity, controlling the motor of the rotating platform to adjust an angular velocity of the rotating platform to reduce an offset between the angular velocity of the rotating platform and the target angular velocity;

responsive to determining that the target angular velocity is below the threshold angular velocity, determining if the rotating platform is stationary;

responsive to determining that the rotating platform is stationary, controlling the motor of the gimbal to adjust an angular velocity of the motor of the gimbal to reduce an offset between the angular velocity of the motor of the gimbal and the target angular velocity; and

responsive to determining that the rotating platform is not stationary, decelerating the rotating platform and adjusting the angular velocity of the motor of the gimbal to reduce the offset between the angular velocity of the motor of the gimbal and the target angular velocity.

15. The system of claim 9, wherein controlling any of the motor of the rotating platform and the motor of the gimbal comprises:

determining a target change in angular velocity representing a difference between an angular velocity of the camera and a target angular velocity of the camera suitable for tracking the object;

summing an angular velocity of the motor of the gimbal and the target change in angular velocity to generate a combined angular velocity;

comparing the combined angular velocity to a threshold change in angular velocity;

responsive to the combined angular velocity exceeding the threshold change in angular velocity, adjusting an angular velocity of the motor of the rotating platform to reduce the difference between the angular velocity of the camera and the target angular velocity of the camera; and

responsive to the combined angular velocity not exceeding the threshold change in angular velocity, adjusting an angular velocity of the motor of the gimbal to reduce the difference between the angular velocity of the camera and the target angular velocity of the camera.

16. The system of claim 9, wherein controlling any of the motor of the rotating platform and the motor of the gimbal comprises:

detecting a second angular position of the object relative to the orientation of the camera, the first angular position detected at a first time instance and the second angular position detected at a second time instance;

calculating an angular velocity of the object based on at least the first and second angular positions and at least the first and second time instances;

adjusting an angular velocity of the motor of the rotating platform to reduce a difference between an angular velocity of the rotating platform and the angular velocity of the object; and

determining a target angular position of the motor of the gimbal based on an angular position of the motor of the gimbal, the second angular position of the object, and an angular position of the camera;

adjusting the angular position of the motor of the gimbal to reduce a difference between the angular position of the motor of the gimbal and the target angular position.