Systems and methods for payload stabilization

• US 9,765,926 B2
• Filed: 04/08/2015
• Issued: 09/19/2017
• Est. Priority Date: 07/29/2014
• 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: Chen, Fazhan, Chen, Zihan
• Primary Examiner(s): Dhakal, Bickey
• Application Number:
  US14/681,830
• Publication Number:
  US 20160033077A1
• Time in Patent Office: 895 Days
• Field of Search: 318585
• CPC Class Codes: A45F 5/10 Handles for carrying purposes
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: F16M 11/04 Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
• CPC Class Codes: F16M 11/123 the axis of rotation intersecting in a single point, e.g. by using gimbals
• CPC Class Codes: F16M 11/18 with mechanism for moving the apparatus relatively to the stand
• CPC Class Codes: F16M 11/42 with arrangement for propelling the support stands on wheels
• 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

Abstract

Systems and methods are provided for supporting and articulating a payload using stabilization platform. The stabilization platform may be configured to avoid gimbal lock. The stabilization platform may be configured to automatically transition between different modes of orientation.

Claims

1. A stabilizing platform configured to stabilize a payload comprising:

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

a handle assembly that bears weight of the frame assembly and is configured to be switchable between a first orientation and a second orientation independently of an orientation of the payload, wherein the handle assembly comprises a handle bar connecting two grips, wherein the frame assembly is supported on the handle bar, and wherein the handle bar has (i) a substantially horizontal orientation when the handle assembly is in the first orientation, and (ii) a substantially vertical orientation when the handle assembly is in the second orientation; and

a plurality of motors configured to permit the frame components to move relative to one another to keep the orientation of the payload independent of switching of the handle assembly between the first orientation and the second orientation.

2. The stabilizing platform of claim 1, wherein the stabilizing platform has a greater width when the handle assembly is in the first orientation than when the handle assembly is in the second orientation.

3. The stabilizing platform of claim 1, wherein the payload is located laterally between the two grips when the handle assembly is in the first orientation.

4. The stabilizing platform of claim 3, wherein the payload is located at a greater height than the two grips.

5. The stabilizing platform of claim 3, wherein the payload is located at a lesser height than the two grips.

6. The stabilizing platform of claim 1, wherein the payload is located at a height between the two grips when the handle assembly is in the second orientation.

7. The stabilizing platform of claim 6, wherein the payload is laterally aligned with the two grips.

8. The stabilizing platform of claim 1, wherein a center of mass of a combination of the payload and the frame assembly is beneath the handle bar when the handle assembly is in the first orientation.

9. The stabilizing platform of claim 1, wherein a center of mass of a combination of the payload and the frame assembly is above the handle bar when the handle assembly is in the first orientation.

10. The stabilizing platform of claim 1, wherein a center of mass of a combination of the payload and the frame assembly is between the two grips when the handle assembly is in the second orientation.

11. The stabilizing platform of claim 1, wherein the plurality of motors comprise a first motor that is configured to (a) control movement of the payload about a yaw axis when the handle assembly is in the first orientation, and (b) control movement of payload about a roll axis when the handle assembly is in the second orientation.

12. The stabilizing platform of claim 11, wherein the plurality of motors comprise a second motor that is configured to (a) control movement of the payload about the roll axis when the handle assembly is in the first orientation, and (b) control movement of the payload about the yaw axis when the handle assembly is in the second orientation.

13. The stabilizing platform of claim 11, wherein the first motor is configured to rotate by a predetermined number of degrees when the handle assembly changes from the first orientation to the second orientation.

14. The stabilizing platform of claim 1, wherein the handle assembly further comprises a third grip extending from the handle bar between the two grips.

15. The stabilizing platform of claim 14, wherein the third grip is aligned substantially perpendicularly to the two grips.

16. The stabilizing platform of claim 1, wherein the payload is a camera.

17. A method of stabilizing a platform, said method comprising:

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

bearing weight of the frame assembly using a handle assembly that is configured to be switchable between a first orientation and a second orientation independently of an orientation of the payload, wherein the handle assembly comprises a handle bar connecting two grips, wherein the frame assembly is supported on the handle bar, and wherein the handle bar has (i) a substantially horizontal orientation when the handle assembly is in the first orientation, and (ii) a substantially vertical orientation when the handle assembly is in the second orientation; and

providing a plurality of motors configured to permit the frame components to move relative to one another to keep the orientation of the payload independent of switching of the handle assembly between the first orientation and the second orientation.

18. The method of claim 17, wherein the handle assembly is switched between the first orientation and the second orientation without altering a power state of the plurality of motors.

19. The method of claim 17, wherein the payload is located laterally between the two grips when the handle assembly is in the first orientation.

20. The method of claim 17, wherein the payload is located at a height between the two grips when the handle assembly is in the second orientation.