Stabilizing platform
First Claim
Patent Images
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) a frame assembly adapted to hold a device, wherein the frame assembly comprises;
a first frame member, wherein the device is configured to be coupled to the first frame member;
a second frame member, wherein the first frame member is rotatably coupled to the second frame member about a first rotational axis; and
a third frame member, wherein the second frame member is rotatably coupled to the third frame member about a second rotational axis, wherein the second axis is orthogonal to the first rotational axis; and
one or more adjustment members positioned on at least two of the frame members; 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 about at least one of a pitch axis, roll axis, or yaw axis, wherein the motor assembly comprisesa first motor configured to directly drive the first frame member to rotate around the first rotational 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 the second rotational 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 third rotational axis in response to at least one of the one or more motor signals;
wherein the one or more adjustment members are configured to adjust (1) a position of the first motor relative to the first frame member, such that a resulting center of gravity of (i) the device and (ii) the first frame member is collectively aligned on the first rotational axis, or (2) a position of the second motor relative to the second frame member, such that a resulting center of gravity of (i) the device, (ii) the first frame member, and (iii) the second frame member is collectively aligned on the second rotational axis.
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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.
131 Citations
19 Claims
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1. An unmanned aerial vehicle (UAV) comprising:
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(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) a frame assembly adapted to hold a device, wherein the frame assembly comprises; a first frame member, wherein the device is configured to be coupled to the first frame member; a second frame member, wherein the first frame member is rotatably coupled to the second frame member about a first rotational axis; and a third frame member, wherein the second frame member is rotatably coupled to the third frame member about a second rotational axis, wherein the second axis is orthogonal to the first rotational axis; and one or more adjustment members positioned on at least two of the frame members; 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 about at least one of a pitch axis, roll axis, or yaw axis, wherein the motor assembly comprises a first motor configured to directly drive the first frame member to rotate around the first rotational 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 the second rotational 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 third rotational axis in response to at least one of the one or more motor signals; wherein the one or more adjustment members are configured to adjust (1) a position of the first motor relative to the first frame member, such that a resulting center of gravity of (i) the device and (ii) the first frame member is collectively aligned on the first rotational axis, or (2) a position of the second motor relative to the second frame member, such that a resulting center of gravity of (i) the device, (ii) the first frame member, and (iii) the second frame member is collectively aligned on the second rotational axis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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Specification