GIMBAL SYSTEM WITH LINEAR MOUNT

• US 20120316685A1
• Filed: 06/07/2011
• Published: 12/13/2012
• Est. Priority Date: 06/07/2011
• Status: Active Grant

• Current Assignee: Teledyne FLIR LLC (Teledyne Technologies Incorporated)
• Original Assignee: FLIR Systems, Inc. (Teledyne Technologies Incorporated)
• Inventors: PETTERSSON, Daniel
• Granted Patent: US 8,844,896 B2
• Time in Patent Office: Days
• US Class Current: 700/275
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 20/87 Mounting of imaging devices, e.g. mounting of gimbals
• CPC Class Codes: F16F 3/00 Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic F16F1/32, F16F1/34, F16F7/14 take precedence ; if including fluid springs F16F5/00, F16F13/00
• CPC Class Codes: F16M 11/126 for tilting and panning F16M11/14 takes precedence
• CPC Class Codes: F16M 11/18 with mechanism for moving the apparatus relatively to the stand
• CPC Class Codes: F16M 11/2014 around a vertical axis F16M11/2035 takes precedence
• CPC Class Codes: G03B 15/006 Apparatus mounted on flying objects
• CPC Class Codes: G03B 17/561 Support related camera accessories
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: G08B 13/1963 Arrangements allowing camera rotation to change view, e.g. pivoting camera, pan-tilt and zoom [PTZ]
• CPC Class Codes: H04N 23/6812 based on additional sensors, e.g. acceleration sensors

Abstract

Gimbal system, including method and apparatus, for mounting a gimbal apparatus to a support platform with a mount assembly. The mount assembly may include first and second bar assemblies that are rotationally coupled to each other by a pair of gears.

Claims

1. A gimbal system, comprising:

a gimbal apparatus including a first frame and a plurality of gimbals supporting a payload that is orientable with respect to the first frame about a plurality of axes by motor-driven rotation of the gimbals; and

a mount assembly including

a second frame,

first and second bar assemblies pivotably connected to the second frame for rotation about a pair of spaced axes and rotationally coupled to each other by a pair of gears, and

a plurality of linkage members connecting the bar assemblies to the first frame, such that coupled rotation of the first and second bar assemblies produces motion of the gimbal apparatus along an axis.

2. The gimbal system of claim 1, wherein the first and second bar assemblies are rotationally coupled to each other by meshed engagement of a first pair of gears and meshed engagement of a second pair of gears.

3. The gimbal system of claim 1, wherein each gear is elongate orthogonal to an axis of rotation of such gear and includes a series of teeth arranged along an arcuate path that represents less than 45 degrees of a complete circle.

4. The gimbal system of claim 1, wherein each gear is a helical gear.

5. The gimbal system of claim 1, wherein each bar assembly includes a shaft and a transverse member secured to the shaft such that the shaft and the transverse member rotate as a unit, wherein the transverse member forms a first arm and a second arm extending from the shaft, wherein the first arm forms one of the gears and the second arm forms an attachment site for one of the linkage members.

6. The gimbal system of claim 1, wherein the mount assembly includes a plurality of spring elements configured to resiliently position the gimbal apparatus along the axis.

7. The gimbal system of claim 1, further comprising a processor programmed to control motor-driven rotation of the gimbals based on signals from one or more gyroscopes.

8. The gimbal system of claim 7, wherein the processor is programmed to control motor-driven rotation of the gimbals based on signals from an inertial measurement unit.

9. The gimbal system of claim 7, wherein the one or more gyroscopes are included in the gimbal apparatus.

10. The gimbal system of claim 7, wherein the processor is included in the gimbal apparatus, the mount assembly, or both.

11. The gimbal system of claim 1, wherein the payload includes a camera.

12. The gimbal system of claim 1, wherein the camera detects infrared radiation.

13. A method of using the gimbal system of claim 1, the method comprising:

securing the second frame of the mount assembly to a vehicle; and

orienting the payload by rotation of the gimbals as the vehicle conveys the gimbal apparatus.

14. The method of claim 13, wherein the gimbal system further comprises a processor and an inertial measurement unit, wherein the step of orienting is controlled by the processor based on signals from the inertial measurement unit.

15. A gimbal system, comprising:

a gimbal apparatus including a first frame, a plurality of gimbals, and a payload orientable with respect to the first frame about a plurality of orthogonal axes by processor-controlled, motor-driven rotation of the gimbals; and

a mount assembly including

a second frame configured to be attached to a support platform,

first and second bar assemblies supported by and pivotably connected to the second frame for rotation about respective axes and rotationally coupled to each other by a pair of meshed gears,

a plurality of linkage members connecting opposing end regions of each of the bar assemblies to the first frame, such that coupled rotation of the first and second bar assemblies produces motion of the gimbal apparatus along an axis extending orthogonally through the second frame, and

a plurality of spring elements disposed between the first and second frames and configured to resiliently position the gimbal apparatus along the axis.

16. The gimbal system of claim 15, wherein the first and second bar assemblies are rotationally coupled to each other by meshed engagement of a first pair of gears and meshed engagement of a second pair of gears.

17. The gimbal system of claim 15, wherein each gear is elongate orthogonal to an axis of rotation of such gear and includes a series of teeth arranged along an arcuate path that represents less than 45 degrees of a complete circle.

18. The gimbal system of claim 15, wherein each gear is a helical gear.

19. The gimbal system of claim 15, wherein each bar assembly includes a shaft and a transverse member secured to the shaft such that the shaft and the transverse member rotate as a unit, wherein the transverse member forms a first arm and a second arm extending from the shaft, wherein the first arm forms one of the gears and the second arm forms an attachment site for one of the linkage members.

20. A gimbal system, comprising:

a gimbal apparatus including a first frame, a plurality of gimbals, and a payload orientable with respect to the first frame about a plurality of orthogonal axes by processor-controlled, motor-driven rotation of the gimbals; and

a mount assembly including

a second frame configured to be attached to a support platform,

first and second bar assemblies pivotably connected to the second frame and each including a shaft and an arm extending transversely from the shaft, the shafts being rotationally coupled to each by toothed engagement of the arms with each other;

a plurality of linkage members connecting the bar assemblies to the first frame, such that coupled rotation of the shafts produces motion of the gimbal apparatus along an axis, and

a plurality of spring elements configured to resiliently position the gimbal apparatus along the axis.