Apparatus and methods for stabilization and vibration reduction

• US 9,485,427 B2
• Filed: 12/30/2015
• Issued: 11/01/2016
• Est. Priority Date: 10/08/2013
• Status: Active Grant

• Current Assignee: SZ DJI Osmo Technology Co Ltd (iFlight Technology Company Limited)
• Original Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Inventors: Wang, Tao, Wang, Mingyu
• Primary Examiner(s): RAHAMAN, MOHAMMED S
• Application Number:
  US14/984,348
• Publication Number:
  US 20160119546A1
• Time in Patent Office: 307 Days
• Field of Search: 348/144
• US Class Current: 1/1
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• 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: G03B 15/006 Apparatus mounted on flying objects
• CPC Class Codes: H04N 23/51 Housings
• CPC Class Codes: H04N 23/54 Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
• CPC Class Codes: H04N 23/55 Optical parts specially adapted for electronic image sensors; Mounting thereof
• CPC Class Codes: H04N 23/63 by using electronic viewfinders
• 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 23/687 by shifting the lens or sensor position
• CPC Class Codes: H04N 23/695 Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
• CPC Class Codes: H04N 25/41 Extracting pixel data from a plurality of image sensors simultaneously picking up an image, e.g. for increasing the field of view by combining the outputs of a plurality of sensors
• CPC Class Codes: H04N 7/185 from a mobile camera, e.g. for remote control

Abstract

The present invention provides an apparatus for stabilizing an imaging device and methods of using the same for a wide variety of applications including photography, video, and filming. Also provided are unmanned vehicles including aerial vehicles that contain the apparatus disclosed herein.

Claims

1. An aerial vehicle comprising:

(a) a vehicle body coupled to one or more blades configured to provide lift to the aerial vehicle;

(b) an apparatus connected to the vehicle body and configured to stabilize at least a portion of an imaging device, said imaging device comprising (1) a first housing containing an optical unit and a processor configured to control rotation of the optical unit, the optical unit comprising a lens and a photosensor, and (2) a second housing containing a non-optical unit and not the optical unit, the non-optical unit comprising a memory device to store image data captured by the imaging device, wherein the second housing (1) is not supported by a frame assembly, and (2) does not rotate with the optical unit, and wherein the apparatus comprises;

(i) the frame assembly supporting the optical unit of the imaging device without supporting the non-optical unit of the imaging device, wherein the frame assembly comprises (A) a first frame member that supports the optical unit and an inertial measurement unit, and (B) a second frame member that bears weight of the first frame member, and wherein the frame assembly is configured to permit rotation of the optical unit about at least a first rotational axis and a second rotational axis;

(ii) a motor assembly coupled to the frame assembly, wherein the motor assembly is configured to drive the frame assembly in response to a signal provided by the inertial measurement unit so as to permit rotation of the optical unit about at least the first rotational axis and the second rotational axis, and wherein a motor of the motor assembly utilizes 5 Watts or less to drive a corresponding frame member of the frame assembly.

2. The aerial vehicle of claim 1, wherein the second housing is configured to be coupled to the vehicle body with aid of one or more fixing points.

3. The aerial vehicle of claim 1, wherein the processor is within the second housing.

4. The aerial vehicle of claim 1, wherein the second housing further comprises a memory device.

5. The aerial vehicle of claim 1, wherein the processor communicates with the optical unit wirelessly.

6. The aerial vehicle of claim 1, wherein the processor communicates with the optical unit via a wired connection.

7. The aerial vehicle of claim 1, wherein the optical unit and the non-optical unit constitute the imaging device in its entirety.

8. The aerial vehicle of claim 1, wherein a volume of the frame assembly is less than that of a frame assembly required to support the optical unit and the non-optical unit of the imaging device.

9. The aerial vehicle of claim 1, wherein an amount of energy required by the motor assembly to drive the frame assembly is less than that required when the optical unit and the non-optical unit of the imaging device were to be supported by the frame assembly.

10. The aerial vehicle of claim 1, wherein the non-optical unit is electrically coupled to the optical unit.

11. The aerial vehicle of claim 10, wherein the non-optical unit and the optical unit are movable relative to each other.

12. The aerial vehicle of claim 1, wherein the non-optical unit is not mechanically coupled to the optical unit.

13. The aerial vehicle of claim 1, wherein the second frame member is (1) movable relative to the first frame member about the first rotational axis, and (2) movable relative to the second housing about the second rotational axis.

14. The aerial vehicle of claim 1, wherein the frame assembly further comprises (C) a third frame member that bears weight of the second frame member and the first frame member, wherein the frame assembly is configured to permit rotation of the optical unit about at least the first rotational axis, the second rotational axis, and a third rotational axis.

15. The aerial vehicle of claim 14, wherein the second frame member is rotatably coupled to the first frame member about a pitch axis, and the third frame member is rotatably coupled to the second frame member about a roll axis, and wherein the third frame member is configured to rotate relative to the second housing about a yaw axis.

16. The aerial vehicle of claim 1, wherein the non-optical unit does not comprise a lens or a photosensor.

17. The aerial vehicle of claim 1, wherein the optical unit does not comprise a power supply for powering the photosensor, a processor for processing an image captured by the photosensor, or a memory device for storing the image.

18. The aerial vehicle of claim 1, wherein at least one of the first rotational axis or the second rotational axis corresponds to a roll axis of the optical unit.

19. The aerial vehicle of claim 1, wherein the inertial measurement unit is configured to detect translational movement or spatial position of the optical unit.

20. The aerial vehicle of claim 1, wherein the inertial measurement unit is configured to detect rotational movement or orientation of the optical unit.

21. The aerial vehicle of claim 1, wherein the non-optical unit further comprises a display configured to display images captured using the optical unit.

22. The aerial vehicle of claim 1, wherein the frame assembly is freely rotatable over a range of 360 degrees over at least one axis.

23. The aerial vehicle of claim 1, wherein the first frame member is connected to the optical unit without movable components and the second frame member is movable relative to the first frame member about the first rotational axis.

24. The aerial vehicle of claim 1, wherein the aerial vehicle is an unmanned aerial vehicle.

25. The aerial vehicle of claim 1, wherein the inertial measurement unit comprises a gyroscope or an accelerometer.

26. The aerial vehicle of claim 1, wherein the first rotational axis and the second rotational axis intersect with the optical unit.

27. The aerial vehicle of claim 1, further comprising one or more shock absorbers, wherein the one or more shock absorbers are positioned between the frame assembly and the vehicle body.

28. A method of stabilizing at least a portion of an imaging device, said method comprising:

providing the aerial vehicle of claim 1; and

supporting the optical unit with the frame assembly, thereby stabilizing the optical unit, without supporting the non-optical unit with the frame assembly.

29. The aerial vehicle of claim 1, wherein the optical unit comprises a maximum dimension of about or less than 3 cm.

30. The aerial vehicle of claim 1, wherein the optical unit weighs 15 gr or less.