STABILIZING PLATFORM AND CAMERA

• US 20190002125A1
• Filed: 07/25/2018
• Published: 01/03/2019
• Est. Priority Date: 01/26/2016
• Status: Active Grant

• Current Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Original Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Inventors: BIN, Peng, WANG, Peng, YIN, Chengyu
• Granted Patent: US 10,745,148 B2
• Time in Patent Office: Days
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• 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: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 50/30 Supply or distribution of electrical power
• 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 13/02 for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
• CPC Class Codes: F16M 13/022 repositionable
• CPC Class Codes: F16M 2200/041 for balancing rotational movement of the head
• CPC Class Codes: F16M 2200/042 for panning movement
• CPC Class Codes: F16M 2200/044 for balancing rotational movement of the undercarriage
• 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

Abstract

A stabilizing platform for stabilizing a payload includes a frame assembly, a plurality of actuators, and a plurality of electronic speed control (ESC) units. The frame assembly includes a plurality of frame components movable relative to one another and is configured to support the payload. The plurality of actuators are configured to permit the plurality of frame components to move relative to one another. The plurality of actuators include a first actuator that is configured to control movement of the payload about a first axis and a second actuator that is configured to control movement of the payload about a second axis. Each of the plurality of ESC units is electrically coupled to a corresponding actuator of the plurality of actuators and is configured to control actuation of the corresponding actuator. At least one of the plurality of ESC units is received in the payload.

Claims

1. A stabilizing platform for stabilizing a payload, comprising:

a frame assembly comprising a plurality of frame components movable relative to one another, the frame assembly being configured to support the payload;

a plurality of actuators configured to permit the plurality of frame components to move relative to one another, the plurality of actuators comprising a first actuator that is configured to control movement of the payload about a first axis, and a second actuator that is configured to control movement of the payload about a second axis; and

a plurality of electronic speed control (ESC) units each electrically coupled to a corresponding actuator of the plurality of actuators and configured to control actuation of the corresponding actuator, wherein at least one of the plurality of ESC units is received in the payload.

2. The stabilizing platform of claim 1, further comprising:

a state measurement member supported by the payload, the state measurement member being configured to obtain state of the payload.

3. The stabilizing platform of claim 2, wherein the state measurement member is provided inside the payload.

4. The stabilizing platform of claim 2, wherein the actuation of the plurality of actuators is controlled according to the state of the payload.

5. The stabilizing platform of claim 2, wherein the state measurement member includes an inertial measurement unit (IMU).

6. The stabilizing platform of claim 5, wherein the IMU comprises a gyroscope, an accelerometer, and an IMU controller.

7. The stabilizing platform of claim 6, wherein:

the IMU controller is configured to generate motor control instructions based upon the state of the payload; and

each of the plurality of ESC units is configured to control the actuation of the corresponding actuator according to the motor control instructions.

8. The stabilizing platform of claim 2, wherein the at least one of the plurality of ESC units is provided on a same circuit board with the state measurement member.

9. The stabilizing platform of claim 8, wherein the circuit board includes a PCB board.

10. The stabilizing platform of claim 2, wherein the at least one of the plurality of ESC units is integrated with the state measurement member.

11. The stabilizing platform of claim 10, wherein the at least one of the plurality of ESC units is integrated with the state measurement member in one package.

12. The stabilizing platform of claim 1, wherein the frame assembly comprises a first frame component that supports the payload and permits the payload to rotate about the first axis.

13. The stabilizing platform of claim 12, wherein the first actuator is configured to control movement of the first frame assembly.

14. The stabilizing platform of claim 13, wherein the first actuator includes a motor, a rotor of the motor being attached to the first frame and a stator of the motor being attached to the payload.

15. The stabilizing platform of claim 14, wherein the first actuator includes a brushless motor.

16. The stabilizing platform of claim 12, wherein the plurality of ESC units comprise a first ESC unit configured to control actuation of the first actuator.

17. The stabilizing platform of claim 16, wherein the first ESC unit is received in the payload.

18. The stabilizing platform of claim 12, wherein the first axis is a pitch axis.

19. The stabilizing platform of claim 12, wherein the frame assembly further comprises a second frame component that supports the first frame component and permits the first frame component to rotate about the second axis.

20. The stabilizing platform of claim 19, wherein the second actuator is configured to control movement of the second frame assembly.

21. The stabilizing platform of claim 19, wherein the plurality of ESC units comprise a second ESC unit configured to control actuation of the second actuator.

22. The stabilizing platform of claim 21, wherein the second ESC unit is provided in the payload.

23. The stabilizing platform of claim 21, wherein the second ESC unit is not provided in the payload.

24. The stabilizing platform of claim 19, wherein the second axis is a roll axis.

25. The stabilizing platform of claim 19, wherein the frame assembly further comprises a third frame component that supports the second frame component and permits the second frame component to rotate about a third axis.

26. The stabilizing platform of claim 25, wherein the plurality of actuators comprise a third actuator configured to control movement of the third frame assembly.

27. The stabilizing platform of claim 26, wherein the plurality of ESC units further comprise a third ESC unit configured to control actuation of the third actuator.

28. The stabilizing platform of claim 27, wherein the third ESC unit is provided in the payload.

29. The stabilizing platform of claim 27, wherein the third ESC unit is not provided in the payload.

30. The stabilizing platform of claim 25, wherein the third axis is a yaw axis.

31. The stabilizing platform of claim 1, wherein the payload includes a camera.

32. The stabilizing platform of claim 1, wherein the stabilizing platform includes a multidimensional gimbal.

33. The stabilizing platform of claim 1, wherein the first axis is perpendicular to the second axis.

34. The stabilizing platform of claim 1, wherein the plurality of actuators further comprise a third actuator that is configured to control movement of the payload about a third axis.

35. The stabilizing platform of claim 34, wherein the third axis is perpendicular to the first axis and the second axis.

36. The stabilizing platform of claim 1, wherein the frame assembly comprises at least three frame components that are movable relative to one another.