Stabilizing Platform

• US 20140037278A1
• Filed: 10/03/2013
• Published: 02/06/2014
• Est. Priority Date: 09/09/2011
• Status: Active Grant

• Current Assignee: SZ DJI Osmo Technology Co Ltd (iFlight Technology Company Limited)
• Original Assignee: Shenzhen Dajiang Innovation Technology Company Limited
• Inventors: Wang, Tao
• Granted Patent: US 8,938,160 B2
• Time in Patent Office: Days
• US Class Current: 396/55
• CPC Class Codes: B64U 10/13 Flying platforms
• 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: F16M 11/10 around a horizontal axis F16M11/12 takes precedence
• CPC Class Codes: F16M 11/18 with mechanism for moving the apparatus relatively to the stand
• CPC Class Codes: F16M 11/2071 for panning and rolling F16M11/2078 takes precedence
• CPC Class Codes: F16M 2200/04 Balancing means
• CPC Class Codes: G02B 27/644 compensating for large deviations, e.g. maintaining a fixed line of sight while a vehicle on which the system is mounted changes course
• CPC Class Codes: G02B 27/646 compensating for small deviations, e.g. due to vibration or shake movement of one or more optical elements for control of motion blur in cameras, projectors or printers G03B2205/0007; image stabilisation in cameras peculiar to the presence or use of an electronic image sensor H04N23/68
• 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 23/54 Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
• 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 7/183 for receiving images from a single remote source

Abstract

The present invention provides an apparatus and related methods for stabilizing a payload device such an imaging device. The methods and apparatus provide fast response time for posture adjustment of the payload device while reducing the energy used.

Claims

1. An apparatus, comprising:

a frame assembly adapted to hold a device;

a controller assembly comprising;

a measurement member configured to obtain state information with respect to at least a pitch, roll, and yaw axes of the device, the roll axis intersecting with the device;

a controller configured to provide one or more motor signals based at least in part on posture information calculated from the state information; and

a motor assembly configured to directly drive the frame assembly in response to the one or more motor signals so as to allow the device to rotate around at least one of the pitch, roll or yaw axes.

2. The apparatus of claim 1, wherein device is configured to capture images.

3. The apparatus of claim 1, wherein the measurement member includes one or more inertial sensors.

4. The apparatus of claim 1, wherein the state information includes at least an angular velocity of the device.

5. The apparatus of claim 1, wherein the frame assembly comprises:

a first frame member configured to be coupled to the device;

a second frame member rotatably coupled to the first frame member on the pitch axis of the device; and

a third frame member rotatably coupled to the second frame member on the roll axis of the device.

6. The apparatus of claim 5, wherein the motor assembly comprises:

a first motor configured to directly drive the first frame member to rotate around the pitch axis in response to at least one of the one or more motor signals; and

a second motor configured to directly drive the second frame member to rotate around the roll axis in response to at least one of the one or more motor signals.

7. The apparatus of claim 6, wherein:

the frame assembly further comprises a fourth frame member, the fourth frame member rotatably coupled to the third frame member on a yaw axis of the device; and

the motor assembly further comprises a third motor configured to directly drive the third frame member to rotate around the yaw axis in response to at least one of the one or more motor signals.

8. The apparatus of claim 6, wherein the center of gravity of (i) the device and (ii) the first frame member, is located on the pitch axis.

9. The apparatus of claim 6, wherein the center of gravity of (i) the device, (ii) the first frame member, and (iii) the second frame member, is located on the roll axis.

10. The apparatus of claim 7, wherein the center of gravity of (i) the device, (ii) the first frame member, (iii) the second frame member, and (iv) the third frame member, is located on the yaw axis.

26. An unmanned aerial vehicle (UAV), comprising a base coupled to the apparatus of claim 1.

28. A method for controlling the apparatus of claim 1, comprising:

calculating, by the controller assembly, posture information based at least in part on the state information;

providing, by the controller assembly, one or more motor signals to the motor assembly based at least in part on the calculated posture information; and

in response to the one or more motor signals, driving, by the motor assembly, the frame assembly to rotate around at least one of the pitch, roll, or yaw axis.

30. A method of image acquisition, comprising:

remotely operating the unmanned aerial vehicle (UAV) to approach an object, the UAV being coupled to the apparatus of claim 1; and

controlling the apparatus to stabilize a device held by the frame assembly of the apparatus so as to improve quality of images captured by the device.

11. An apparatus, comprising:

a frame assembly adapted to hold an imaging device, the frame assembly comprising a first frame member configured to be coupled to the imaging device, a second frame member rotatably coupled to the first frame member on a pitch axis of the imaging device, and a third frame member rotatably coupled to the second frame member on a roll axis of the imaging device;

a controller assembly comprising;

a measurement member configured to obtain state information with respect to at least the pitch, roll, and yaw axes of the imaging device;

a controller configured to provide one or more motor signals based at least in part on posture information calculated from the state information; and

a motor assembly configured to directly drive the frame assembly in response to the one or more motor signals so as to allow the imaging device to rotate around at least one of the pitch, roll or yaw axes.

12. The apparatus of claim 11, wherein the roll axis intersects with the imaging device.

13. The apparatus of claim 11, wherein the motor assembly comprises:

a first motor configured to directly drive the first frame member to rotate around the pitch axis in response to at least one of the one or more motor signals; and

a second motor configured to directly drive the second frame member to rotate around the roll axis in response to at least one of the one or more motor signals.

14. The apparatus of claim 13, wherein:

the frame assembly further comprises a fourth frame member, the fourth frame member rotatably coupled to the third frame member on a yaw axis of the imaging device; and

the motor assembly further comprises a third motor configured to directly drive the third frame member to rotate around the yaw axis in response to at least one of the one or more motor signals.

15. The apparatus of claim 13, wherein a stator of the first motor is affixed to the first frame member and a rotor of the first motor is affixed to the second frame member, or the rotor of the first motor is affixed to the first frame member and the stator of the first motor is affixed to the second frame member.

16. The apparatus of claim 13, wherein a stator of the second motor is affixed to the second frame member and a rotor of the second motor is affixed to the third frame member, or the rotor of the second motor is affixed to the second frame member and the stator of the second motor is affixed to the third frame member.

27. An unmanned aerial vehicle (UAV), comprising a base coupled to the apparatus of claim 11.

29. A method for controlling the apparatus of claim 11, comprising:

calculating, by the controller assembly, posture information based at least in part on the state information;

providing, by the controller assembly, one or more motor signals to the motor assembly based at least in part on the calculated posture information; and

in response to the one or more motor signals, driving, by the motor assembly, the frame assembly to rotate around at least one of the pitch, roll, or yaw axis.

17. An apparatus, comprising:

a frame assembly adapted to hold a device;

a controller assembly comprising;

an inertial measurement member configured to obtain state information comprising at least angular velocity and linear acceleration of the imaging device;

a controller configured to provide one or more motor signals based at least in part on posture information calculated from the state information; and

a motor assembly configured to directly drive the frame assembly in response to the one or more motor signals so as to allow the device to rotate around at least one of the pitch, roll or yaw axes.

18. The apparatus of claim 17, wherein the frame assembly comprises:

a first frame member configured to be coupled to the device;

a second frame member rotatably coupled to the first frame member on a pitch axis of the device; and

a third frame member rotatably coupled to the second frame member on a roll axis of the device that intersects with the device.

19. The apparatus of claim 18, wherein the motor assembly comprises:

a first motor configured to directly drive the first frame member to rotate around the pitch axis in response to at least one of the one or more motor signals; and

a second motor configured to directly drive the second frame member to rotate around the roll axis in response to at least one of the one or more motor signals.

20. The apparatus of claim 19, wherein the frame assembly further comprises a fourth frame member, the fourth frame member rotatably coupled to the third frame member on a yaw axis of the device.

21. The apparatus of claim 20, wherein the motor assembly further comprises a third motor configured to directly drive the third frame member to rotate around the yaw axis in response to at least one of the one or more motor signals.

22. The apparatus of claim 17, wherein the frame assembly further comprises an adjustment member for adjusting at least one of the pitch, roll, or yaw axis relative to the frame assembly.

23. The apparatus of claim 18, further comprising a connecting assembly that connects a distal end of the second frame member and a distal end of the third frame member so as to support and stabilize the second frame member when the second frame member rotates relative to the third frame member.

24. The apparatus of claim 23, wherein:

the connecting assembly comprises a first connecting member, a second connecting member, and a third connecting member, which are sequentially and hingedly connected;

a free end of the first connecting member is hingedly connected with a first distal end of the second frame member;

a free end of the third connecting member is hingedly connected with a second distal end of the second frame member; and

the second connecting member is connected with the third frame member.

25. The apparatus of claim 24, wherein the motor assembly comprises a fourth motor configured to directly drive the second connecting member to rotate relative to the third frame member.