Handheld platform stabilization system employing distributed rotation sensors

• US 7,642,741 B2
• Filed: 04/22/2006
• Issued: 01/05/2010
• Est. Priority Date: 04/27/2005
• Status: Active Grant

• Current Assignee: Adam D. Sidman
• Original Assignee: Adam D. Sidman
• Inventors: Sidman, Adam D.
• Primary Examiner(s): Ro; Bentsu
• Assistant Examiner(s): Luo; David S
• Application Number:
  US11/379,783
• Publication Number:
  US 20070050139A1
• Time in Patent Office: 1,354 Days
• Field of Search: 318/649, 318/648, 318/838
• US Class Current: 318/649
• CPC Class Codes: F16M 11/041 Allowing quick release of the apparatus
• CPC Class Codes: F16M 11/048 adapted to forward-backward translation movement
• CPC Class Codes: F16M 11/18 with mechanism for moving the apparatus relatively to the stand
• CPC Class Codes: F16M 11/2064 for tilting and panning F16M11/2078 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 13/04 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 2200/028 by positive interaction, e.g. male-female connections
• CPC Class Codes: F16M 2200/044 for balancing rotational movement of the undercarriage
• CPC Class Codes: G01C 21/18 Stabilised platforms, e.g. by gyroscope
• CPC Class Codes: G03B 17/561 Support related camera accessories

Abstract

A stabilization system including a platform supported by two or more rotatably-coupled gimbal frames each having a pivot assembly disposed at its rotation axis to couple an actuator to a rotation sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the rotation axis, and a controller including means for accepting the sensor signals and for producing each motor signal needed to dispose the platform in a predetermined angular position with respect to each rotation axis independent of changes in the base orientation. A motion simulator embodiment includes controller means for accepting an external slew signal sequence and means for producing the motor signals needed to move the platform along a predetermined sequence of positions represented by the slew signal sequence.

Claims

1. A stabilization system comprising:

a platform having a mass centroid;

a base having an orientation;

a first gimbal frame;

a first pivot assembly disposed to rotatably couple the first gimbal frame to the base on a first rotation axis, including

an actuator disposed to torque the first gimbal frame about the first rotation axis responsive to a first motor signal, and

a sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the first rotation axis and producing a first sensor signal representing motion of the first gimbal frame about the first rotation axis;

a second gimbal frame;

a second pivot assembly disposed to rotatably couple the second gimbal frame to the first gimbal frame on a second rotation axis, including

an actuator disposed to torque the second gimbal frame about the second rotation axis responsive to a second motor signal, and

a sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the second rotation axis and producing a second sensor signal representing motion of the second gimbal frame about the second rotation axis;

coupling means for coupling the second gimbal frame to the platform such that the platform has an angular position with respect to each rotation axis; and

a controller including

input means for accepting the sensor signals, and

output means for producing each motor signal responsive to the respective sensor signal, whereby the corresponding platform angular position is stabilized to a predetermined value independent of changes in the base orientation.

2. The stabilization system of claim 1 further comprising:

in the coupling means,

a third pivot assembly disposed to rotatably couple the platform to the second gimbal frame on a third rotation axis, including

an actuator disposed to torque the platform about the third rotation axis responsive to a third motor signal, and

a sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the third rotation axis and producing a third sensor signal representing motion of the platform about the third rotation axis.

3. The stabilization system of claim 1 wherein:

in at least one of the pivot assemblies, the rotation-sensitive sensor axis is substantially aligned with the rotation axis.

4. The stabilization system of claim 1 wherein:

in at least one of the pivot assemblies, the sensor is fixedly coupled to the actuator and to the associated gimbal frame.

5. The stabilization system of claim 1 further comprising:

at least one handle fixed to the base for holding and carrying the stabilization system during operation; and

a third pivot assembly disposed to rotatably couple the first pivot assembly to the base on a third rotation axis, including

an actuator disposed to torque the first pivot assembly about the third rotation axis responsive to a third motor signal, and

a sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the third rotation axis and producing a third sensor signal representing motion of the first pivot assembly about the third rotation axis.

6. The stabilization system of claim 1 further comprising:

in at least one of the gimbal frames, mechanical adjustment means for repositioning at least one rotation axis with respect to the platform, whereby the platform mass centroid may be realigned with respect to the at least one rotation axis.

7. The stabilization system of claim 1 wherein the sensors are selected from the group consisting essentially of:

angular rate sensors, integrated rate gyro sensors, angular position sensors, angular accelerometers, absolute rotation sensors, and inertial rotation sensors.

8. The stabilization system of claim 1 wherein the actuators are selected from the group consisting essentially of:

direct current (DC) brush motors, DC brush less motors, DC torque motors, linear solenoids stepper motors, ultrasonic motors, geared motors, speed-reduced motors, and piggybacked motor combinations.

9. The stabilization system of claim 1 further comprising:

in the controller, an amplifier for producing one of the motor signals selected from the group consisting essentially of

linear power amplifiers, pulse-width-modulated (PWM) amplifiers, and H-bridge amplifiers.

10. The stabilization system of claim 1 further comprising:

a slew controller for producing a slew signal; and

in the controller,

first circuit means for accepting the slew signal, and

second circuit means for producing each motor signal responsive to a combination of the respective sensor signal and the slew signal, whereby the predetermined value of the angular position of the platform with respect to at least one rotation axis is changed according to the slew signal.

11. The stabilization system of claim 1 further comprising:

a quick-release apparatus fixed to the platform for removably coupling an optical instrument thereto.

12. A motion simulator system for moving a platform having a mass centroid along a predetermined sequence of positions about one or more rotation axes represented by a sequence of slew signals, the system comprising:

a base having an orientation;

a first gimbal frame;

a first pivot assembly disposed to rotatably couple the first gimbal frame to the base on a first rotation axis, including

an actuator disposed to torque the first gimbal frame about the first rotation axis responsive to a first motor signal, and

a sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the first rotation axis and producing a first sensor signal representing motion of the first gimbal frame about the first rotation axis;

a second gimbal frame;

a second pivot assembly disposed to rotatably couple the second gimbal frame to the first gimbal frame on a second rotation axis, including

an actuator disposed to torque the second gimbal frame about the second rotation axis responsive to a second motor signal, and

a sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the second rotation axis and producing a second sensor signal representing motion of the second gimbal frame about the second rotation axis;

coupling means for coupling the second gimbal frame to the platform such that the platform has an angular position with respect to each rotation axis; and

a controller including

input means for accepting the sensor signals and the slew signals, and

output means for producing each motor signal responsive to a combination of the respective sensor signal and the slew signals, whereby the platform is moved along the predetermined sequence of motions independent of changes in the base orientation.

13. The motion simulator system of claim 12 further comprising:

in the coupling means,

a third pivot assembly disposed to rotatably couple the platform to the second gimbal frame on a third rotation axis, including

an actuator disposed to torque the platform about the third rotation axis responsive to a third motor signal, and

a sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the third rotation axis and producing a third sensor signal representing motion of the platform about the third rotation axis.

14. The motion simulator system of claim 12 wherein:

in at least one of the pivot assemblies, the rotation-sensitive sensor axis is substantially aligned with the rotation axis.

15. The motion simulator system of claim 12 wherein:

in at least one of the pivot assemblies, the sensor is fixedly coupled to the actuator and to the associated gimbal frame.

16. The motion simulator system of claim 12 further comprising:

at least one handle fixed to the base for holding and carrying the motion simulator system during operation; and

a third pivot assembly disposed to rotatably couple the first pivot assembly to the base on a third rotation axis, including

an actuator disposed to torque the first pivot assembly about the third rotation axis responsive to a third motor signal, and

a sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the third rotation axis and producing a third sensor signal representing motion of the first pivot assembly about the third rotation axis.

17. The motion simulator system of claim 12 further comprising:

in at least one of the gimbal frames, mechanical adjustment means for repositioning at least one rotation axis with respect to the platform, whereby the platform mass centroid may be realigned with respect to the at least one rotation axis.

18. The motion simulator system of claim 12 wherein the sensors are selected from the group consisting essentially of:

angular rate sensors, integrated rate gyro sensors, angular position sensors, angular accelerometers, absolute rotation sensors, and inertial rotation sensors.

19. The motion simulator system of claim 12 wherein the actuators are selected from the group consisting essentially of:

direct current (DC) brush motors, DC brush less motors, DC torque motors, linear solenoids stepper motors, ultrasonic motors, geared motors, speed-reduced motors, and piggybacked motor combinations.

20. The motion simulator system of claim 12 further comprising:

in the controller, an amplifier for producing one of the motor signals selected from the group consisting essentially of

linear power amplifiers, pulse-width-modulated (PWM) amplifiers, and H-bridge amplifiers.