Apparatus and methods for stabilization and vibration reduction

• US 10,334,171 B2
• Filed: 09/29/2016
• Issued: 06/25/2019
• Est. Priority Date: 10/08/2013
• Status: Active Grant

• Current Assignee: SZ DJI Osmo Technology Co Ltd (iFlight Technology Company Limited)
• Original Assignee: SZ DJI Osmo Technology Co Ltd (iFlight Technology Company Limited)
• Inventors: Wang, Tao, Wang, Mingyu
• Primary Examiner(s): Rahaman, Mohammed S
• Application Number:
  US15/280,516
• Publication Number:
  US 20170171468A1
• Time in Patent Office: 999 Days
• Field of Search: None
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• CPC Class Codes: B64U 20/87 Mounting of imaging devices, e.g. mounting of gimbals
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: G03B 15/006 Apparatus mounted on flying objects
• CPC Class Codes: H04N 23/51 Housings
• CPC Class Codes: H04N 23/54 Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
• CPC Class Codes: H04N 23/55 Optical parts specially adapted for electronic image sensors; Mounting thereof
• CPC Class Codes: H04N 23/63 by using electronic viewfinders
• 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 23/687 by shifting the lens or sensor position
• 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 25/41 Extracting pixel data from a plurality of image sensors simultaneously picking up an image, e.g. for increasing the field of view by combining the outputs of a plurality of sensors
• CPC Class Codes: H04N 7/185 from a mobile camera, e.g. for remote control

Abstract

The present invention provides an apparatus for stabilizing an imaging device and methods of using the same for a wide variety of applications including photography, video, and filming. Also provided are unmanned vehicles including aerial vehicles that contain the apparatus disclosed herein.

Claims

1. An aerial vehicle comprising:

(a) a vehicle body coupled to one or more blades configured to provide lift to the aerial vehicle; and

(b) an apparatus connected to the vehicle body and configured to stabilize at least a portion of an imaging device, said imaging device comprising (1) a first housing containing an optical unit comprising a lens and a photosensor, and (2) a second housing containing a non-optical unit and not the optical unit, wherein the non-optical unit is configured to permit wireless transmission of image data generated by the photosensor of the optical unit, said wireless communication comprising image data based on signals generated by the photosensor of the optical unit, wherein the apparatus comprises;

(i) a frame assembly supporting the optical unit of the imaging device without supporting the non-optical unit of the imaging device, wherein the frame assembly comprises (A) a first frame member that supports the optical unit and an inertial measurement unit, and (B) a second frame member that bears weight of the first frame member, and wherein the frame assembly is configured to permit rotation of the optical unit about at least a first rotational axis and a second rotational axis; and

ii) a motor assembly coupled to the frame assembly, wherein the motor assembly is configured to drive the frame assembly in response to a signal provided by the inertial measurement unit so as to permit rotation of the optical unit about at least the first rotational axis and the second rotational axis, and wherein a motor of the motor assembly utilizes 5 Watts or less to drive a corresponding frame member of the frame assembly.

2. The aerial vehicle of claim 1, wherein the optical unit is configured to communicate wirelessly with the non-optical unit.

3. The aerial vehicle of claim 1, wherein the optical unit is configured to communicate with the non-optical unit via at least one of the following:

electromagnetic telecommunications, light, magnetic fields, or electric fields.

4. The aerial vehicle of claim 3, wherein the optical unit is configured to communicate with the non-optical unit via radio communications or infrared communications.

5. The aerial vehicle of claim 2, wherein the optical unit is configured to communicate with the non-optical unit via point-to-point or point-to-multi-point wireless networking.

6. The aerial vehicle of claim 1, wherein the second housing is external to the vehicle body.

7. The aerial vehicle of claim 6, wherein the second housing is separable from the vehicle body.

8. The aerial vehicle of claim 1, wherein the frame assembly comprises a third frame member that bears weight of the second frame member and the first frame member, and wherein the frame assembly is further configured to permit rotation of the optical unit about a third rotational axis.

9. The aerial vehicle of claim 8, wherein at least one of the first rotational axis, second rotational axis, or third rotational axis is a roll axis of the optical unit.

10. The aerial vehicle of claim 1, wherein the motor assembly consumes a minimum amount of energy that is 80% or less than a minimum amount of energy required by the motor assembly to drive a frame assembly supporting both the optical unit and the non-optical unit.

11. The aerial vehicle of claim 1, wherein the optical unit comprises a maximum dimension of about 3 cm or less.

12. The aerial vehicle of claim 1, wherein the optical unit weighs 15 grams or less.

13. The aerial vehicle of claim 1, wherein the aerial vehicle is an unmanned aerial vehicle.

14. The aerial vehicle of claim 1, further comprising one or more shock absorbers, wherein the one or more shock absorbers are positioned between the frame assembly and the vehicle body.

15. The aerial vehicle of claim 1, wherein the optical unit and the non-optical unit constitute the imaging device in its entirety.

16. The aerial vehicle of claim 1, wherein the non-optical unit is not mechanically coupled to the optical unit.

17. The aerial vehicle of claim 1, wherein the second housing comprises a memory device.

18. The aerial vehicle of claim 1, wherein the first housing comprises a removable memory device.

19. The aerial vehicle of claim 1, wherein the optical unit does not comprise a power supply for powering the photosensor, a processor for processing an image captured by the photosensor, or a memory device for storing the image.

20. A method of stabilizing at least a portion of an imaging device, said method comprising:

providing the aerial vehicle of claim 1; and

supporting the optical unit with the frame assembly, thereby stabilizing the optical unit, without supporting the non-optical unit with the frame assembly.