Camera System Using Stabilizing Gimbal

• US 20170227162A1
• Filed: 04/20/2016
• Published: 08/10/2017
• Est. Priority Date: 05/27/2015
• Status: Active Grant

• Current Assignee: GoPro, Inc.
• Original Assignee: GoPro, Inc.
• Inventors: Saika, Noriaki, Harrison, Ryan, Shukla, Himay Rashmikant, Uzunovic, Nenad, Druker, Joshua Todd, Russell, Edward Gordon, Fong, Gary
• Granted Patent: US 9,874,308 B2
• Time in Patent Office: Days
• 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 2101/30 for imaging, photography or videography
• CPC Class Codes: F16M 11/041 Allowing quick release of the apparatus
• CPC Class Codes: F16M 11/121 constituted of several dependent joints
• CPC Class Codes: F16M 11/18 with mechanism for moving the apparatus relatively to the stand
• CPC Class Codes: F16M 13/02 for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
• 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: 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 23/11 for generating image signals from visible and infrared light wavelengths
• CPC Class Codes: H04N 23/50 Constructional details
• CPC Class Codes: H04N 23/55 Optical parts specially adapted for electronic image sensors; Mounting thereof
• CPC Class Codes: H04N 23/60 Control of cameras or camera modules
• CPC Class Codes: H04N 23/63 by using electronic viewfinders
• CPC Class Codes: H04N 23/66 Remote control of cameras or camera parts, e.g. by remote control devices
• 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 23/695 Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
• CPC Class Codes: H04N 5/772 : the recording apparatus and the television camera being placed in the same enclosure
• CPC Class Codes: H04N 5/783 : Adaptations for reproducing at a rate different from the recording rate
• CPC Class Codes: H04N 7/183 : for receiving images from a single remote source
• CPC Class Codes: H04N 9/8205 : involving the multiplexing of an additional signal and the colour video signal

Abstract

Disclosed is an electronic gimbal with camera and mounting configuration. The gimbal can include an inertial measurement unit which can sense the orientation of the camera and three electronic motors which can manipulate the orientation of the camera. The gimbal can be removably coupled to a variety of mount platforms, such as an aerial vehicle, a handheld grip, or a rotating platform. Moreover, a camera can be removably coupled to the gimbal and can be held in a removable camera frame. Also disclosed is a system for allowing the platform, to which the gimbal is mounted, to control settings of the camera or to trigger actions on the camera, such as taking a picture, or initiating the recording of a video. The gimbal can also provide a connection between the camera and the mount platform, such that the mount platform receives images and video content from the camera.

Claims

1. A mount for connecting a gimbal to a mount platform, the mount comprising:

a fixed mount floor rigidly attachable to the mount platform;

a fixed mount ceiling rigidly attachable to the mount platform, wherein a gap exists between a top surface of the fixed mount floor and a bottom surface of the fixed mount ceiling;

a plurality of elastic connectors protruding from the bottom surface of the fixed mount ceiling;

a floating base having a top surface mechanically coupled to the plurality of elastic connectors and hanging below the fixed mount ceiling and adjacent to the fixed mount floor;

a gimbal connection housing rigidly attached to the floating base, the gimbal connection housing removably connectable to the gimbal;

a plurality of locking blocks protruding from the floating base towards the fixed mount floor;

a plurality of locking slots in the fixed mount floor structured to form a cavity reciprocal to the plurality of locking blocks;

wherein at an equilibrium position without a net contact force applied to the floating base in a direction toward the fixed mount floor, a gap exists between ends of the plurality of locking blocks and corresponding ends of the plurality of locking slots, and wherein at a non-equilibrium position when a net contact force is applied to the floating base in the direction towards the fixed mount floor, the ends of the plurality of locking blocks are flush with the corresponding ends of the plurality of locking slots.

2. The mount of claim 1, further comprising:

a cylindrical locking shell rotatable about the gimbal connection housing, the cylindrical locking shell rotatable between a first position to lock the gimbal into the gimbal connection housing and a second position to unlock the gimbal from the gimbal connection housing.

3. The mount of claim 1, wherein the plurality of elastic connectors are structured such that the net contact force applied to the floating base in the direction towards the fixed mount floor causes first ends of the plurality of elastic connectors attached to the floating base to be displaced relative to second ends of the plurality of elastic connectors attached to the fixed mount ceiling.

4. The mount of claim 1, wherein the plurality of locking blocks comprise tapered blocks having a first end rigidly attached to the floating base and a second end protruding into or adjacent to the plurality of locking slots, wherein the first end has a greater width than the second end.

5. The mount of claim 1, wherein the mount platform comprises an aerial vehicle.

6-12. -12. (canceled)

13. An aerial vehicle system comprising:

an aerial vehicle platform;

a fixed mount portion rigidly attached to the aerial vehicle platform;

a plurality of elastic connectors protruding from a bottom surface of the fixed mount portion;

a floating base having a top surface mechanically coupled to the plurality of elastic connectors;

a plurality of locking blocks protruding from the floating base;

a plurality of locking slots in a side surface of the fixed mount portion structured to form a cavity reciprocal to the plurality of locking blocks;

a gimbal connection housing rigidly attached to the floating base; and

a gimbal removably attached to the gimbal connection housing.

14. The aerial vehicle system of claim 13, wherein at an equilibrium position without a net contact force applied to the floating base in a direction toward the side surface of the fixed mount portion, a gap exists between ends of the plurality of locking blocks and corresponding ends of the plurality of locking slots, and wherein at a non-equilibrium position when a net contact force is applied to the floating base in the direction towards the side surface of the fixed mount portion, the ends of the plurality of locking blocks are flush with the corresponding ends of the plurality of locking slots.

15. The aerial vehicle system of claim 14, wherein the plurality of elastic connectors are structured such that the net contact force when applied to the floating base in the direction towards the side surface of the fixed mount portion causes first ends of the plurality of elastic connectors attached to the floating base to be displaced relative to second ends of the plurality of elastic connectors attached to the fixed mount portion.

16. The aerial vehicle system of claim 13, wherein the fixed mount portion comprises:

a fixed mount floor rigidly attached to the aerial vehicle platform; and

a fixed mount ceiling rigidly attached to the aerial vehicle platform, wherein a gap exists between a top surface of the fixed mount floor and a bottom surface of the fixed mount ceiling.

17. The aerial vehicle system of claim 13, wherein the gimbal connection housing comprises:

a cylindrical locking shell rotatable about the gimbal connection housing, the cylindrical locking shell rotatable between a first position to lock the gimbal into the gimbal connection housing and a second position to unlock the gimbal from the gimbal connection housing.

18. The aerial vehicle system of claim 13, wherein the plurality of locking blocks comprise tapered blocks each having a first end rigidly attached to the floating base and a second end protruding into or adjacent to the plurality of locking slots, wherein the first end has a greater width than the second end.

19. The aerial vehicle system of claim 13, wherein the gimbal comprises:

a first motor connected to apply a first torque to a first motor shaft to cause the first motor shaft to rotate about a first axis of rotation;

a second motor connected to apply a second torque to a second motor shaft to rotate the second motor shaft about a second axis of rotation, the second motor connected to the first motor shaft;

a third motor connected to apply a third torque to a third motor shaft to rotate the third motor about a third axis of rotation, the third motor connected to the second motor shaft; and

a camera connection to removably secure a camera to the third motor shaft, the camera connection connected to the third motor shaft.

20. The aerial vehicle system of claim 19, wherein the gimbal further comprises:

an electronic interface to transfer communications between the aerial vehicle platform and the camera.

21-64. -64. (canceled)