Autonomous, self leveling, self correcting stabilized platform

• US 6,611,662 B1
• Filed: 05/26/2000
• Issued: 08/26/2003
• Est. Priority Date: 05/28/1999
• Status: Expired due to Term

• Current Assignee: David E. Grober
• Original Assignee: David E. Grober
• Inventors: Grober, David E.
• Primary Examiner(s): MAHONEY, CHRISTOPHER E
• Application Number:
  US09/579,723
• Time in Patent Office: 1,187 Days
• Field of Search: 396/7, 396/12, 396/13, 396/419, 396/428, 396/55, 396/52, 396/421, 74/52.2, 74/53.4, 74/54
• US Class Current: 396/55
• CPC Class Codes: A61G 13/10 Parts, details or accessories surgical drape sheets A61B46/00
• CPC Class Codes: A61G 2203/36 for motion
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B63B 29/12 Self-levelling mountings
• 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 11/2021 around a horizontal axis F16M11/2035 takes precedence
• CPC Class Codes: F16M 11/24 changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each otherF16M11/42 takes precedence
• CPC Class Codes: F16M 13/00 Other supports for positioning apparatus or articles heads thereof F16M11/02 ; undercarriages thereof F16M11/20 ; adapted to be stuck in the ground A45F3/44 ; sockets or holders for poles or posts E04H12/22; Means for steadying hand-held apparatus or articles supports for measuring instruments G01D11/30; supports for casings of remote control switching devices H01H9/025
• 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: F16M 2200/041 for balancing rotational movement of the head
• CPC Class Codes: G01C 21/18 Stabilised platforms, e.g. by gyroscope
• CPC Class Codes: G03B 17/561 Support related camera accessories
• CPC Class Codes: H01Q 1/18 Means for stabilising antennas on an unstable platform

Abstract

A stabilized platform is stabilized to compensate for motion caused by waves, currents, wind, and other motion during land, air, and sea operations of a camera. Although the stabilized platform is primarily described as useful for supporting a camera, the platform may be used to support other articles or persons. The stabilized platform includes a stabilizing system connecting a payload platform to a base. The stabilizing system including at least two motors for rotating the payload platform with respect to the base about two perpendicular axes of rotation providing the payload platform with stabilization in two dimensions. A control system stabilizes the platform based on information provided by a first sensor package or other location for sensing motion of the vehicle and a second sensor package on the platform. The use of the second sensor package allows the stabilized platform to be self correcting. A camera when mounted on the payload platform may be manually or remotely controlled.

Claims

1. A stabilized platform comprising:

a payload platform for supporting an article to be stabilized;

a base;

a stabilizing system connected between the payload platform and the base, the stabilizing system including means for moving the payload platform with respect to the base about two different axes for providing the payload platform with stabilization in two dimensions;

a first sensor package for determining, in two transverse directions, motion of a moving object on which the stabilized platform is mounted;

a second sensor package comprising sensor means for sensing a position of the payload platform and for providing information based on the position of the payload platform relative to a predetermined position; and

a control system connected to the means for moving for stabilizing the platform in response to information provided by the first sensor package and the second sensor package, wherein the second sensor package is fixed to the payload platform, and the first sensor package is fixed with respect to the base.

2. The stabilized platform of claim 1, wherein the control system compensates for errors in the first sensor package using information obtained from the second sensor package.

3. The stabilized platform of claim 1, wherein the second sensor package includes two level sensors for sensing a position of the payload platform in two perpendicular directions.

4. The stabilized platform of claim 1, wherein the second sensor package is mounted on the payload platform.

5. The stabilized platform of claim 1, further comprising a camera mounted on a payload platform.

6. The stabilized platform of claim 1, further comprising at least one of a chair and a table mounted on the payload platform.

7. The stabilized platform of claim 1, wherein the means for moving the payload platform comprises three motors for rotating the payload platform about three perpendicular axes of rotation.

8. The stabilized platform of claim 7, wherein the first sensor package includes sensors for determining rate of rotation about three perpendicular axes.

9. The stabilized platform of claim 1, wherein a universal camera mount is mounted on the payload platform and a camera is mounted on the camera mount, the camera mount allowing hands on control of the camera by a camera operator and stabilization of the camera with the stabilized platform.

10. The stabilized platform of claim 1, wherein the second sensor means comprises at least two level sensors for sensing differences in level about at least two transverse axes relative to the predetermined position.

11. The stabilized platform of claim 1, wherein the information provided by the first set of sensors results in drift over time of the position of the payload platform from the predetermined position, and the means for moving, in response to information provided by the second set of sensors to the control system, corrects the drift and moves the platform back to the predetermined position.

12. The stabilized platform of claim 1, wherein the control system responds to information from the first sensor package at a rate of at least as fast as about one hundred times per second and the control system responds to information from the second sensor package at a rate of about once per second to about once per minute.

13. The stabilized platform of claim 1, wherein the information provided by the first set of sensors results in drift over time of the position of the payload platform from the predetermined position, and the means for moving, in response to information provided by the second sensor package to the control system, corrects the drift and moves the platform back to the predetermined position.

14. A method of stabilizing and self correcting a camera platform comprising:

positioning a stabilized camera platform on a moving object;

stabilizing the payload platform in at least two dimensions based on information collected by a first sensor package sensing motion of the moving object independent of motion of the payload platform;

sensing by a second sensor package a position of the payload platform relative to a predetermined position; and

self correcting the position of the payload platform to the predetermined position based on information collected by the second sensor package.

15. The method of claim 14, wherein the position of the platform is subject to drift over time from stabilization of the platform in response to the first sensor package, and the step of self correcting based on information provided by the second sensor package corrects for the drift.

16. The method of claim 14, wherein the step of stabilizing based on the information provided by the first sensor package comprises sensing motion of the moving object independent of the motion of the platform, and the step of self correcting based on the information provided by the second sensor package, comprises a step of sensing the position of the platform.

17. The method of claim 14, wherein the step of stabilizing is performed by moving the platform in response to information provided by the first sensor package, and the step of self correcting is performed by moving the platform in response to the information provided by the second sensor package, and the step of stabilizing is performed more often than the step of self correcting.

18. The method of claim 17, wherein the step of stabilizing in response to information provided by the first package is at a rate of at least as fast as about one hundred times per second, and the step of self correcting is in response to information provided by the second sensor package at a rate of about once per second to about once per minute.

19. The method of claim 14, wherein the step of stabilizing results in drift of the position of the platform relative to the predetermined position, and in the step of self correcting, the drift is corrected by sensing the position of the platform.

20. The method of claim 14, wherein there is a step of fixing the second sensor package to the payload platform prior to the step of sensing with the second sensor package.

21. The method of claim 20, wherein the information collected by the second sensor package is collected by a plurality of level sensors.

22. The method of claim 21, wherein in the step of stabilizing, the first sensor package comprises two rate sensors for sensing a rate of motion of the moving object.

23. The method of claim 20, wherein the stabilized platform is self corrected in two dimensions.

24. The method of claim 20, further comprising controlling a camera mounted on the platform by hands on operator control.

25. The method of claim 20, wherein the position of the platform is subject to drift over time from stabilization of the platform in response to the first sensor package, and the step of self correcting based on information provided by the second sensor package corrects for the drift.

26. The method of claim 20, wherein the step of stabilizing based on the information provided by the first sensor package comprises sensing motion of the moving object independent of the motion of the platform, and the step of self correcting based on the information provided by the second sensor package, comprises a step of sensing the position of the platform.

27. The method of claim 20, wherein the step of stabilizing is performed by moving the platform in response to information provided by the first sensor package, and the step of self correcting is performed by moving the platform in response to the information provided by the second sensor package, and the step of stabilizing is performed more often than the step of self correcting.

28. The method of claim 20, wherein the step of stabilizing results in drift of the position of the platform relative to the predetermined position, and in the step of self correcting, the drift is corrected by sensing the position of the platform.

29. A stabilized platform comprising:

a payload platform for supporting an article to be stabilized;

a base;

a stabilizing system connected between the payload platform and the base, the stabilizing system including means for moving the payload platform with respect to the base about two different axes for providing the payload platform with stabilization in two dimensions;

a first sensor package for determining, in two transverse directions, motion of a moving object on which the stabilized platform is mounted;

a second sensor package comprising sensor means fixed to the payload platform for providing information based on a position of the payload platform relative to a predetermined position; and

a control system connected to the means for moving for stabilizing the platform in response to information provided by the first sensor package and the second sensor package, wherein the information provided by the first sensor package is independent of the stabilization of the platform provided by the means for moving, and the position of the platform is subject to drift over time from stabilization thereof based on information provided by the first sensor package, and wherein the control system responds to information provided by the second sensor package to correct for the drift from the predetermined position, and the first sensor package comprises rate of motion sensors and the sensor means comprises level sensors.

30. A stabilized platform comprising:

a payload platform for supporting an article to be stabilized;

a base;

a stabilizing system connecting the payload platform to the base, the stabilizing system including at least two motors for rotating the payload platform with respect to the base about two perpendicular axes of rotation providing the payload platform with stabilization in two dimensions;

a first sensor package fixed to said base for determining motion of a vehicle on which the stabilized platform is mounted in two perpendicular directions,

a second sensor package including at least one level sensor fixed to the payload platform; and

a control system for continuously stabilizing the platform based on information provided by the first sensor package and correcting for first sensor package anomalies based on information provided periodically by the second sensor package.

31. A method of stabilizing and self correcting a camera platform comprising:

positioning a stabilized camera platform on a moving vehicle;

continuously stabilizing the platform in at least two dimensions based on information collected by a first sensor package fixed relative to the moving vehicle and sensing motion of the moving vehicle; and

periodically self correcting a position of the platform based on information collected by a second sensor package including a level sensor and mounted on the platform.

32. A stabilized platform comprising:

a payload platform for supporting an article to be stabilized;

a base;

a stabilizing system connected between the payload platform and the base, the stabilizing system including means for moving the payload platform with respect to the base about two different axes for providing the payload platform with stabilization in two dimensions;

a first sensor package for determining, in two transverse directions, motion of a moving object on which the stabilized platform is mounted;

a second sensor package comprising sensor means for sensing a position of the payload platform and for providing information based on the position of the payload platform relative to a predetermined position; and

a control system connected to the means for moving for stabilizing the platform in response to information provided by the first sensor package and the second sensor package, wherein the second sensor package is fixed to the payload platform, and wherein the control system allows a user to set an initial payload platform position and provides self correction of the platform to the initial position.

33. A stabilized platform comprising:

a payload platform for supporting an article to be stabilized;

a base;

a stabilizing system connected between the payload platform and the base, the stabilizing system including means for moving the payload platform with respect to the base about two different axes for providing the payload platform with stabilization in two dimensions;

a first sensor package for determining, in two transverse directions, motion of a moving object on which the stabilized platform is mounted;

a second sensor package comprising sensor means for sensing a position of the payload platform and for providing information based on the position of the payload platform relative to a predetermined position; and

a control system connected to the means for moving for stabilizing the platform in response to information provided by the first sensor package and the second sensor package, wherein the second sensor package is fixed to the payload platform, and wherein the control system responds to information from the first sensor package at a rate of at least as fast as about one hundred times per second and the control system responds to information from the second sensor package at a rate of about once per second to about once per minute.

34. A stabilized platform comprising:

a payload platform for supporting an article to be stabilized;

a base;

a stabilizing system connected between the payload platform and the base, the stabilizing system including means for moving the payload platform with respect to the base about two different axes for providing the payload platform with stabilization in two dimensions;

a first sensor package for determining, in two transverse directions, motion of a moving object on which the stabilized platform is mounted;

a second sensor package comprising sensor means for sensing a position of the payload platform and for providing information based on the position of the payload platform relative to a predetermined position; and

a control system connected to the means for moving for stabilizing the platform in response to information provided by the first sensor package and the second sensor package, wherein the second sensor package is fixed to the payload platform, and wherein the information provided by the first sensor package is independent of the stabilization of the payload platform provided by the means for moving, and the information provided by the second sensor package is dependent upon the stabilization of the payload platform.

35. A stabilized platform comprising:

a payload platform for supporting an article to be stabilized;

a base;

a stabilizing system connected between the payload platform and the base, the stabilizing system including means for moving the payload platform with respect to the base about two different axes for providing the payload platform with stabilization in two dimensions;

a first sensor package for determining, in two transverse directions, motion of a moving object on which the stabilized platform is mounted;

a second sensor package comprising sensor means for sensing a position of the payload platform and for providing information based on the position of the payload platform relative to a predetermined position; and

a control system connected to the means for moving for stabilizing the platform in response to information provided by the first sensor package and the second sensor package, wherein the second sensor package is fixed to the payload platform, and wherein the f sensor package comprises sensors for sensing a different type of information from the sensor means in the second sensor package.

36. The stabilized platform of claim 35, wherein the first sensor package includes sensors for determining rate of rotation about three perpendicular axes.

37. The stabilized platform of claim 35, wherein the second sensor means comprises at least two level sensors for sensing differences in level about at least two transverse axes relative to the predetermined position.

38. A stabilized platform comprising:

a payload platform for supporting an article to be stabilized;

a base;

a stabilizing system connected between the payload platform and the base, the stabilizing system including means for moving the payload platform with respect to the base about two different axes for providing the payload platform with stabilization in two dimensions;

a first sensor package for determining, in two transverse directions, motion of a moving object on which the stabilized platform is mounted;

a second sensor package comprising sensor means for sensing a position of the payload platform and for providing information based on the position of the payload platform relative to a predetermined position; and

a control system connected to the means for moving for stabilizing the platform in response to information provided by the first sensor package and the second sensor package, wherein the control system responds to information from the first sensor package more often than the control system responds to information from the second sensor package.