Stabilizing platform

• US 9,648,240 B2
• Filed: 12/08/2014
• Issued: 05/09/2017
• Est. Priority Date: 09/09/2011
• 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: Wang, Tao
• Primary Examiner(s): Phan, Minh
• Application Number:
  US14/564,016
• Publication Number:
  US 20150156385A1
• Time in Patent Office: 883 Days
• Field of Search: 396 7, 396 12, 396 13, 396 55
• 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: 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 unmanned aerial vehicle (UAV) comprising:

(a) a central body;

(b) a plurality of propulsion units supported away from the central body and configured to rotate to generate lift during flight of the UAV;

(c) an adjustable frame assembly configured to hold a device selected from a plurality of devices having different dimensions, shapes and weights, wherein the frame assembly comprises;

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

a second frame member, wherein the first frame member is rotatably coupled to the second frame member about a first rotational axis of the device;

a third frame member, wherein the second frame member is rotatably coupled to the third frame member about a second rotational axis of the device, wherein the second rotational axis is orthogonal to the first rotational axis;

a plurality of adjustment members positioned on at least two of the frame members selected from the first, second and third frame members, wherein the plurality of adjustment members are configured to adjust dimensions defined by the first frame member, the second frame member and the third frame member, so as to accommodate the plurality of devices having different dimensions, shapes and weights, and wherein the plurality of adjustment members are configured to adjust a position of the second frame member relative to the third frame member; and

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

wherein the motor assembly comprises;

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

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

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

2. The UAV of claim 1, wherein the frame assembly is located beneath the central body during flight of the UAV.

3. The UAV of claim 1, wherein the frame assembly is located beneath the plurality of propulsion units during flight of the UAV.

4. The UAV of claim 1, 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;

and

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.

5. The UAV of claim 1, wherein the motor assembly is controlled in a stepless manner.

6. The UAV of claim 1, further comprising a controller configured to provide the one or more motor signals based at least in part on (1) a posture information of said UAV about the pitch axis, the roll axis, and the yaw axis of the UAV, (2) the posture information of said device about the pitch axis, the roll axis, and the yaw axis of the device, or (3) a signal from a remote controller of the UAV.

7. The UAV of claim 6, wherein an inertial sensor is configured to obtain at least an angular velocity or a linear acceleration of the device.

8. The UAV of claim 1, wherein the frame assembly is located beneath the central body and between multiple support frames, wherein the multiple support frames are configured to bear weight of the UAV when the UAV is not in flight.

9. The UAV of claim 6, wherein an inertial sensor on the frame assembly measures the posture information of said UAV.

10. The UAV of claim 6, wherein an inertial sensor on the device measures the posture information of said device.

11. The UAV of claim 1, wherein the device is configured to capture images.

12. The UAV of claim 1, wherein the center of gravity of (i) the device and (ii) the first frame member, is located on the pitch axis.

13. The UAV of claim 1, 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.

14. The UAV of claim 1, 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.

15. The UAV of claim 1, wherein the third frame assembly is configured to rotate to up to 360 degrees relative to the central body.

16. A method of stabilizing a device on a UAV, said method comprising:

providing the UAV of claim 1;

adjusting (1) the position of the device relative to the first frame member, the position of the first frame member relative to the second frame member, or the position of the second frame member relative to the third frame member, or (2) the dimension of the frame assembly using the plurality of adjustment members.

17. The UAV of claim 1, wherein the roll axis of the device intersects the device.

18. The UAV of claim 6, wherein the controller further assesses and controls a velocity or acceleration of the device about the pitch axis of the device, the yaw axis of the device, and the roll axis of the device relative to the UAV, based at least in part on both (1) the posture information of said UAV about the pitch axis, the roll axis, and the yaw axis of the UAV, and (2) the posture information of said device about the pitch axis, the roll axis, and the yaw axis of the device.

19. The UAV of claim 1, further comprising an inertial measurement unit that measures gravitational forces.

20. The UAV of claim 1, further comprising an inertial sensor that measures gravitational forces.

21. The UAV of claim 1, further comprising an inertial measurement unit comprising a magnetometer.

22. The UAV of claim 1, wherein the device is positioned between legs of a landing stand configured to bear weight of the UAV when the UAV is not in flight.

23. The UAV of claim 1, wherein the plurality of adjustment members are configured to adjust a center of gravity of the device relative to at least one of the pitch, roll, or yaw axis of the UAV.

24. The UAV of claim 1, wherein the device is an imaging device.

25. An unmanned aerial vehicle (UAV) comprising:

(a) a central body;

(b) a plurality of propulsion units supported away from the central body and configured to rotate to generate lift during flight of the UAV;

(c) an adjustable frame assembly configured to hold a device selected from a plurality of devices having different dimensions, shapes and weights, wherein the frame assembly comprises;

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

a second frame member, wherein the first frame member is rotatably coupled to the second frame member about a first rotational axis of the device;

a third frame member, wherein the second frame member is rotatably coupled to the third frame member about a second rotational axis of the device, wherein the second rotational axis is orthogonal to the first rotational axis;

a plurality of adjustment members positioned on the second and the third frame members, wherein the plurality of adjustment members are configured to adjust dimensions defined by the first frame member, the second frame member and the third frame member, so as to accommodate the plurality of devices having different dimensions, shapes and weights; and

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

wherein the motor assembly comprises;

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

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

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

26. An unmanned aerial vehicle (UAV) comprising:

(a) a central body;

(b) a plurality of propulsion units supported away from the central body and configured to rotate to generate lift during flight of the UAV;

(c) an adjustable frame assembly configured to hold a device selected from a plurality of devices having different dimensions, shapes and weights, wherein the frame assembly comprises;

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

a second frame member, wherein the first frame member is rotatably coupled to the second frame member about a first rotational axis of the device;

a third frame member, wherein the second frame member is rotatably coupled to the third frame member about a second rotational axis of the device, wherein the second rotational axis is orthogonal to the first rotational axis;

a plurality of adjustment members positioned on at least two of the frame members selected from the first, second and third frame members, wherein the plurality of adjustment members are configured to adjust dimensions defined by the first frame member, the second frame member and the third frame member, so as to accommodate the plurality of devices having different dimensions, shapes and weights; and

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

wherein the motor assembly comprises;

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

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

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

and wherein the plurality of adjustment members are configured to adjust a position of the first motor relative to the first frame member, a position of the second motor relative to the second frame member, or a position of the third motor relative to the third frame member.