JP6369877B2 - platform - Google Patents

Description

  Multiple loads, including multiple sensors, cargo, multiple passengers and multiple devices, may require stabilization and three-dimensional movement. For example, the camera may require stabilization between taking multiple still pictures or videos. Three-dimensional indirect joining (articulation) can be realized by using a multidimensional gimbal. A multidimensional gimbal can be supported by a frame.

  Multiple multi-dimensional gimbals may be easy to lock the gimbal. This can cause a deterioration in the control of the gimbal system and reduce the reliability of the load control.

  Multiple multi-dimensional gimbal systems can be used to stabilize the load in the coordinate system. Multiple multi-dimensional gimbal systems may encounter situations where one or more axes rotate to overlap. This overlap can lead to a condition known as gimbal lock. Gimbal lock can worsen the control of the gimbal system. There is a need to stabilize the load in a multidimensional gimbal system while avoiding gimbal lock. Furthermore, it may be desirable to change the orientation of the frame that holds the load without causing significant disruption in the direction of the load. Furthermore, it may be beneficial to stabilize the load in a system that can implement multiple arrangements so that the stabilization system may be able to have a compact or widened profile.

  An aspect of the present invention is a stabilization platform configured to stabilize a load, the frame assembly having a plurality of frame components movable relative to each other, the frame configured to support the load The assembly, a handle assembly configured to support the frame assembly and switchable between a first orientation and a second orientation regardless of the orientation of the load, and the plurality of frame components move relative to each other. And a plurality of motors configured to enable (1) (a) controlling movement of the load about the yaw axis when the handle assembly is in the first orientation. (B) a first module configured to control the movement of the load about the roll axis when the handle assembly is in the second orientation; (2) (a) controlling the movement of the load about the roll axis when the handle assembly is in the first orientation; and (b) about the yaw axis when the handle assembly is in the second orientation. A stabilization platform having a second motor configured to control movement of a load.

  The load may be a camera.

  In some embodiments, the handle assembly has a handle bar connecting the two grips, and the frame assembly is supported on the handle bar. The handlebar 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. Can have. The handle assembly may be configured to be grasped by a user on one or more of the two grips. The handle assembly may further include a third grip extending from the handle bar between the two grips.

  The plurality of motors are (3) a third configured to control movement of the load about the pitch axis when the handle assembly is in the first orientation and when the handle assembly is in the second orientation. A motor may be further included.

  The frame assembly may have at least three frame components that are movable relative to each other. The at least three frame components may include a first frame component that supports the load and allows the load to rotate relative to the first frame component about a pitch axis. At least three frame components support the first frame component; (i) the first frame component rotates about the roll axis when the handle assembly is in the first orientation; and (ii) the handle assembly is the second A second frame component may be included that allows the first frame component to rotate about the yaw axis when in orientation. At least three frame components support the second frame component; (i) the second frame component rotates about the yaw axis when the handle assembly is in the first orientation; and (ii) the handle assembly is the second A third frame component may be included that allows the second frame component to rotate about the roll axis when in orientation.

  A method for stabilizing a load according to an embodiment of the present invention detects a step of providing a stabilization platform as described above and switching a handle assembly from a first orientation to a second orientation, or vice versa. Including stages.

  The handle assembly can be switched between a first orientation and a second orientation without changing the power state of the frame assembly. The plurality of motors may remain powered on while the handle assembly is switched between the first orientation and the second orientation.

  The switching can be detected using one or more sensors provided on the handle assembly, frame assembly, load or motors. The one or more sensors may comprise a plurality of inertial sensors or a plurality of Hall effect sensors. The stabilization platform includes one or more processors configured to receive one or more signals from one or more sensors and generate a signal based on the one or more signals indicating that a switch has occurred. It's okay.

  An additional aspect of the present invention is a method for stabilizing a load comprising a frame assembly having a plurality of frame components movable relative to each other, the frame assembly configured to support a load. Providing a frame assembly with a handle assembly configured to be switchable between a first orientation and a second orientation regardless of the orientation of the load; and a plurality of frame components A plurality of motors configured to allow relative movement relative to each other, (1) a first motor that controls movement of a load about a first axis when the handle assembly is in a first orientation; And (2) providing a plurality of motors including a second motor for controlling the movement of the load about the second axis when the handle assembly is in the first orientation. Detecting the switching of the handle assembly from the first orientation to the second orientation, and detecting the handle assembly from the first orientation to the second orientation using one or more processors. In response to the switching, (1) when the handle assembly is in the second orientation, the first motor controls the movement of the load about the second axis, and (2) when the handle assembly is in the second orientation. Generating a control signal that causes a second motor to control the movement of the load about the first axis.

  In some embodiments, the first axis may be the yaw axis. The second axis may be a roll axis.

  The handle assembly can be switched between a first orientation and a second orientation without changing the power state of the frame assembly. The plurality of motors may remain powered on while the handle assembly is switched between the first orientation and the second orientation.

  The load may be a camera.

  The handle assembly may have a handle bar connecting the two grips, and the frame assembly is supported on the handle bar. The handlebar 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. Can have. The handle assembly may be configured to be grasped by a user on one or more of the two grips. The handle assembly may further include a third grip extending from the handle bar between the two grips.

  The plurality of motors are (3) a third configured to control movement of the load about the pitch axis when the handle assembly is in the first orientation and when the handle assembly is in the second orientation. A motor may be further included.

  The frame assembly may have at least three frame components that are movable relative to each other. The at least three frame components may include a first frame component that supports the load and allows the load to rotate relative to the first frame component about a pitch axis.

  The switching can be detected using one or more sensors provided on the handle assembly, frame assembly, load or motors. The one or more sensors may comprise a plurality of inertial sensors or a plurality of Hall effect sensors. The stabilization platform includes one or more processors configured to receive one or more signals from one or more sensors and generate a signal based on the one or more signals indicating that a switch has occurred. It's okay.

  According to another aspect of the invention, a stabilization platform can be provided that is configured to stabilize a load. The stabilization platform is a frame assembly having a plurality of frame components movable relative to each other, the frame assembly configured to support a load, the frame assembly, and independent of the orientation of the load A handle assembly configured to be switchable between a first orientation and a second orientation and a plurality of motors configured to allow the plurality of frame components to move relative to each other may be provided. A plurality of motors responsive to signals generated based on detection of a change in the handle assembly from the first orientation to the second orientation when the handle assembly changes from the first orientation to the second orientation; And a motor configured to rotate by a predetermined angle.

  The motor controls (a) the movement of the load about the yaw axis when the handle assembly is in the first orientation, and (b) the load around the roll axis when the handle assembly is in the second orientation. It may be configured to control movement. The load may be a camera.

  The handle assembly may have a handle bar connecting the two grips, and the frame assembly is supported on the handle bar. The handlebar 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. Can have. The handle assembly may be configured to be grasped by a user on one or more of the two grips. The handle assembly may further include a third grip extending from the handle bar between the two grips.

  The frame component driven by the motor may be substantially perpendicular to the handlebar when the handle assembly is in the first orientation, and the frame component driven by the motor is in the second orientation when the handle assembly is in the second orientation. In some cases, it may be substantially parallel to the handlebar. The predetermined angle may be 90 degrees.

  The stabilization platform may further comprise one or more processors configured to detect when the handle assembly switches from the first orientation to the second orientation and to generate a signal that results in rotation of the motor.

  The motors (a) control the movement of the load about the roll axis when the handle assembly is in the first orientation, and (b) load around the yaw axis when the handle assembly is in the second orientation. It may further comprise a second motor configured to control the movement of the object. The plurality of motors are (3) a third configured to control movement of the load about the pitch axis when the handle assembly is in the first orientation and when the handle assembly is in the second orientation. A motor may be further included.

  In some embodiments, the frame assembly may have at least three frame components that are movable relative to one another. The at least three frame components may include a first frame component that supports the load and allows the load to rotate relative to the first frame component about a pitch axis. At least three frame components support the first frame component; (i) the first frame component rotates about the roll axis when the handle assembly is in the first orientation; and (ii) the handle assembly is the second A second frame component may be included that allows the first frame component to rotate about the yaw axis when in orientation. At least three frame components support the second frame component; (i) the second frame component rotates about the yaw axis when the handle assembly is in the first orientation; and (ii) the handle assembly is the second A third frame component may be included that allows the second frame component to rotate about the roll axis when in orientation.

  In some cases, a method for stabilizing a load, wherein a detection platform is provided and detection is performed when the handle assembly is switched between a first orientation and a second orientation as described above. A method may be provided that includes steps and rotating the motor by a predetermined angle.

  The handle assembly can be switched between a first orientation and a second orientation without changing the power state of the frame assembly. The plurality of motors may remain powered on while the handle assembly is switched between the first orientation and the second orientation.

  Furthermore, aspects of the present invention are a stabilization platform configured to stabilize a load, the frame assembly having a plurality of frame components movable relative to each other, the load assembly supporting a load. A configured frame assembly, a handle assembly configured to support the frame assembly and to be switchable between a first orientation and a second orientation independent of the orientation of the load, and movement of the handle assembly A handlebar connecting the two grips with a plurality of motors configured to allow the plurality of frame components to move relative to each other to maintain the orientation of the load independent of The frame assembly is supported on the handlebar, the handlebar being (i) the hand It has a substantially horizontal orientation when the assembly is in a first orientation, has a substantially vertical orientation when (ii) the handle assembly is in the second orientation may relate to the stabilization platform.

  The stabilization platform may have a greater width when the handle assembly is in the first orientation than when the handle assembly is in the second orientation. The load may be placed laterally between the two grips when the handle assembly is in the first orientation. The load may be placed higher than the two grips. The load may be placed below two grips. The load may be placed at a height between the two grips when the handle assembly is in the second orientation. The load may be aligned laterally with the two grips.

  Optionally, the center of gravity of the load and frame assembly combination may be below the handlebar when the handle assembly is in the first orientation. The center of gravity of the load and frame assembly combination may be above the handlebar when the handle assembly is in the first orientation. The center of gravity of the load and frame assembly combination may be between the two grips when the handle assembly is in the second orientation.

  The motors (a) control the movement of the load about the yaw axis when the handle assembly is in the first orientation, and (b) load around the roll axis when the handle assembly is in the second orientation. A first motor configured to control the movement of the object may be included. The motors (a) control the movement of the load about the roll axis when the handle assembly is in the first orientation, and (b) load around the yaw axis when the handle assembly is in the second orientation. There may be a second motor configured to control the movement of the object. The first motor may be configured to rotate by a predetermined angle when the handle assembly changes from the first orientation to the second orientation.

  The handle assembly may further include a third grip extending from the handle bar between the two grips. The third grip may be aligned substantially perpendicular to the two grips. The load may be a camera.

  Aspects of the present invention are stabilization platforms configured to stabilize a load, the frame assembly having a plurality of frame components movable relative to each other, and configured to support the load. A frame assembly, a handle assembly configured to support the frame assembly and to be switchable between a first orientation and a second orientation irrespective of the orientation of the load, and the first orientation and the first orientation At least one sensor that provides data useful in determining whether the handle assembly has been switched between two orientations, and a plurality of frames to maintain the orientation of the load independent of the movement of the handle assembly A stabilizing platform comprising a plurality of motors configured to allow the components to move relative to each other; It may have over-time.

  In some embodiments, the at least one sensor is an inertial sensor. The at least one sensor may be a Hall effect sensor. At least three Hall effect sensors may be attached to at least three motors of the plurality of motors. The at least three motors may be configured to rotate the load about the yaw axis, the roll axis, and the pitch axis. The stabilization platform may further comprise one or more processors configured to calculate a rotation of the handle assembly by calculating a quaternion difference. At least one sensor may be disposed on the handle assembly. At least one sensor may be disposed on the frame assembly. The at least one sensor may be provided with a plurality of motors. The at least one sensor may have at least three sensors configured to detect orientation relative to the three axes. The at least one sensor may have a pan / tilt / zoom inertial measurement unit.

  The handle assembly may have a handle bar connecting the two grips, and the frame assembly is supported on the handle bar. The handlebar 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. Can have.

  The stabilization platform further comprises one or more processors configured to perform detection based on a signal from the at least one sensor when the handle assembly switches between the first orientation and the second orientation. It's okay. The one or more processors generate a signal for at least one of the plurality of motors in advance when a detection occurs that the handle assembly has switched between the first orientation and the second orientation. It may be configured to rotate by a defined angle. If the orientation change angle threshold is exceeded, the handle assembly may be determined to have switched between the first orientation and the second orientation.

  The plurality of motors (1) (a) control the movement of the load about the yaw axis when the handle assembly is in the first orientation, and (b) the roll axis when the handle assembly is in the second orientation. A first motor configured to control movement of the surrounding load; (2) (a) controlling movement of the load about the roll axis when the handle assembly is in the first orientation; (b) And a second motor configured to control the movement of the load about the yaw axis when the handle assembly is in the second orientation.

  The load may be a camera.

  The handle assembly may have a handle bar connecting the two grips, and the frame assembly may be supported on the handle bar. The handlebar 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. Can have. The handle assembly may be configured to be grasped by a user on one or more of the two grips. The handle assembly may further include a third grip extending from the handle bar between the two grips.

  The motors (a) control the movement of the load about the yaw axis when the handle assembly is in the first orientation, and (b) load around the roll axis when the handle assembly is in the second orientation. A first motor configured to control the movement of the object may be included. The motors (a) control the movement of the load about the roll axis when the handle assembly is in the first orientation, and (b) load around the yaw axis when the handle assembly is in the second orientation. There may be a second motor configured to control the movement of the object. The plurality of motors further includes a third motor configured to control the movement of the load about the pitch axis when the handle assembly is in the first orientation and when the handle assembly is in the second orientation. You may have.

  The frame assembly may have at least three frame components that are movable relative to each other.

  Other objects and features of the invention will become apparent from a review of the specification, claims, and accompanying drawings. Incorporation by reference.

  All publications, patents and patent applications mentioned in this specification are to the same extent as if each individual publication, patent or patent application was specifically presented and incorporated by reference. , Incorporated herein by reference.

  The novel features of the invention are set forth with particularity in the appended claims. A better understanding of the features and advantages of the present invention will be obtained by reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the invention are utilized, and to the accompanying drawings. Let's go.

1 is a schematic view of a stabilization platform including a frame assembly, a plurality of handles and a load. FIG.

FIG. 6 shows an example of a stabilization platform handle assembly.

It is a figure which shows an example of the stabilization platform in a horizontal arrangement | positioning in detail.

4b and 4c show a schematic diagram of three possible stabilization platform deployment modes. Figures 4a and 4c show a schematic diagram of three possible stabilization platform deployment modes. Figures 4a and 4b show schematic views of three possible stabilization platform deployment modes.

FIG. 4 shows a plurality of axes of rotation of a load that can be generated by a stabilization platform.

It is a figure which shows an example of a gimbal lock state.

FIG. 6 illustrates a plurality of steps that can be performed by a processor in response to a change in frame orientation.

FIG. 5 shows a number of steps that can be performed by a processor to change the control and orientation of a motor.

FIG. 5 shows a stabilization platform having a handle assembly that is transitioning from a horizontal orientation to a vertical orientation.

FIG. 6 shows a stabilization platform having a handle assembly that is further transitioned from a horizontal orientation to a vertical orientation.

FIG. 3 shows a vertical orientation stabilization platform. FIG. 3 shows a vertical orientation stabilization platform.

It is a figure which shows an example of the stabilization platform which has a camera as a load.

It is a figure which shows the example of the stabilization system attached to the transport body (for example, a motor vehicle and an unmanned aerial vehicle (UAV)). It is a figure which shows the example of the stabilization system attached to the transport body (for example, a motor vehicle and an unmanned aerial vehicle (UAV)).

FIG. 4 illustrates a movable object including a carrier and a load according to one embodiment of the present invention.

1 is a schematic diagram in block diagram form of a system for controlling a movable object in accordance with one embodiment of the present invention.

FIG. 6 is a diagram illustrating an example of a process of landing on a multi-zone battery station according to an embodiment of the present invention.

FIG. 6 illustrates an example of a remote device that can be used to control aspects or settings of a stabilization platform according to an embodiment of the present invention.

1 is a schematic diagram of a stabilization platform including one or more sensors and one or more processors communicatively coupled to the one or more sensors according to an embodiment of the invention. FIG. BEST MODE FOR CARRYING OUT THE INVENTION

  The multiple systems, multiple devices, and multiple methods of the present invention provide a multi-axis stabilization platform. The description of the multi-axis stabilization platform may be applied to any other type of multi-axis stabilization frame, or any other multi-dimensional gimbal system. The description of the multi-axis stabilization platform may be adapted to a land-bound, underground, underwater, water surface, air, or space-based multi-axis stabilization platform. The stabilization platform may be a handheld platform or may be attached to any stationary or movable object.

  The stabilization platform may include a frame assembly, a handle assembly, and a plurality of motors. The frame assembly may have a plurality of frame components configured to move relative to each other. The rotation of the plurality of frame components can be performed by one or more motors. Each motor can rotate the frame component about an axis. The load can be carried by the frame. The movement of the plurality of frame components can be linked to the movement of the load. In one example, the load may be a camera. The camera may be moved to follow the object of interest while taking a video or multiple still pictures of the object. Camera movement can be performed using multiple frame components.

  The plurality of frame components can be configured to be attached to the handlebar assembly. The handlebar assembly may be held by the user's hand or attached to a device that can carry the stabilization platform. The handle bar assembly can be moved relative to the load without causing movement of the load. For example, a reference frame can be provided. The reference frame is an environment or the like. The handlebar assembly may move relative to the reference frame while the load may remain stationary with respect to the reference frame or may remain in a fixed orientation.

  The handlebar assembly may be moved so that the stabilization platform can have some compact structure. The handlebar assembly may be moved so that the stabilization platform can be held in one or both hands, or multiple attachments. The handlebar assembly may be moved so that the center of gravity of the stabilizing platform including the load is positioned above, below, or collinearly with the handlebar assembly. The movement of the handlebar assembly can occur simultaneously with motor control and orientation changes. In one example, the handlebar assembly can move from an almost horizontal orientation to an almost vertical orientation. Simultaneously with the change in handlebar orientation, one or more motors may rotate a fixed angle. Further, the control of the plurality of motors may be changed, for example, the rotation shaft controlled by at least one of the plurality of motors may be changed.

  The stabilization platform may include a plurality of sensors. The plurality of sensors can recognize the movement of the handlebar assembly. The plurality of sensors may be attached to the handlebar assembly, the plurality of frame components, and / or the plurality of motors. The plurality of sensors may communicate information to an onboard processor or an offboard processor of the stabilization unit. The processor may use information from the plurality of sensors to detect a change in handlebar orientation and subsequently cause a change in at least one orientation and / or control of the plurality of motors on the stabilization platform. .

  FIG. 1 shows a high-level schematic diagram of a stabilization platform 101 according to one embodiment of the present invention. The stabilization platform 101 can be configured to stabilize the load 102. The load 102 may be supported by a frame assembly 103 that may be carried by the handle assembly 104. The load may be, for example, a camera, a sensor, a passenger, or a cargo.

  The load 102 can be fixed to the frame assembly 103. Frame assembly 103 may be formed of a metal, plastic, or mixed material. Frame assembly is at least 1 mg, 5 mg, 10 mg, 50 mg, 100 mg, 500 mg, 1 g, 2 g, 3 g, 5 g, 7 g, 10 g, 12 g, 15 g, 20 g, 25 g, 30 g, 35 g, 40 g, 45 g, 50 g, 60 g, 70 g 80g, 90g, 100g, 120g, 150g, 200g, 250g, 300g, 350g, 400g, 450g, 500g, 600g, 700g, 800g, 900g, 1kg, 1.1kg, 1.2kg, 1.3kg, 1.4kg 1.5 kg, 1.7 kg, 2 kg, 2.2 kg, 2.5 kg, 3 kg, 3.5 kg, 4 kg, 4.5 kg, 5 kg, 5.5 kg, 6 kg, 6.5 kg, 7 kg, 7.5 kg, 8 kg 8.5 kg, 9 kg, 9.5 kg, 10 kg, 11 kg, 12 kg, 13 kg, 4kg, 15kg, 17kg, 20kg, 30kg, 40kg, 50kg, 60kg, 70kg, 80kg, 90kg or may be configured to support a load having a weight of 100 kg,. Frame assembly 103 may be configured to support a load having a weight that is less than any of the values provided herein. The frame assembly 103 may be configured to support a load having a weight that is within a range between any two values provided herein.

  Further, the frame assembly 103 is at least 1 mm, 5 mm, 1 cm, 3 cm, 5 cm, 10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 45 cm, 50 cm, 55 cm, 60 cm, 65 cm, 70 cm, 75 cm, 80 cm, 85 cm. , 90cm, 95cm, 100cm, 110cm, 120cm, 130cm, 140cm, 150cm, 160cm, 170cm, 180cm, 190cm, 200cm, 220cm, 250cm, 300cm, 350cm, 400cm, 450cm, or 500cm May be configured to. Frame assembly 103 may be configured to support a load having a longest dimension that is less than any of the values provided herein. The frame assembly may be configured to support a load having a longest dimension that is within a range between any two values provided herein.

Frame assembly 103 is at least 1 mm ³ , 5 mm ³ , 1 cm ³ , 3 cm ³ , 5 cm ³ , 10 cm ³ , 12 cm ³ , 15 cm ³ , 20 cm ³ , 25 cm ³ , 30 cm ³ , 35 cm ³ , 40 cm ³ , 45 cm ³ , 50 cm ³ 55cm ³ , 60cm ³ , 65cm ³ , 70cm ³ , 75cm ³ , 80cm ³ , 85cm ³ , 90cm ³ , 95cm ³ , 100cm ³ , 110cm ³ , 120cm ³ , 130cm ³ , 140cm ³ , 150cm ³ , 160cm ³ , 170cm ³ , 180 cm ³ , 190 cm ³ , 200 cm ³ , 220 cm ³ , 250 cm ³ , 300 cm ³ , 350 cm ³ , 400 cm ³ , 450 cm ³ , or 500 cm ³ may be configured to be supported. Frame assembly 103 may be configured to support a load having a volume that is less than any of the values provided herein. The frame assembly may be configured to support a load having a volume that is within a range between any two values provided herein.

  The load may be a sensor. For example, the load may be an audio, visual, olfactory, position, temperature or motion sensor. In one example, the load may be a camera. Examples of multiple loads are multiple position sensors (eg, multiple global positioning system (GPS) sensors), multiple mobile device transmitters that allow position triangulation), multiple visual sensors (eg, visible light, red Multiple imaging devices such as cameras capable of detecting ambient light or ultraviolet light), multiple proximity sensors (eg, multiple ultrasonic sensors, riders, multiple time-of-flight cameras), multiple Inertial sensors (eg, multiple accelerometers, multiple gyroscopes, multiple inertial measurement units (IMU)), multiple altitude sensors, multiple pressure sensors (eg, multiple barometers), multiple auditory sensors (eg, multiple multiple sensors) Microphone), or multiple field sensors (eg, multiple magnetometers, multiple electromagnetic sensors) Any suitable number, and any suitable combination of sensors, such as one, two, three, four, five or more sensors. Or can be provided as a load, optionally with data from multiple sensors of different types (eg, 2, 3, 4, 5 or more types). Different types of sensors may measure different types of signals or information (eg, position, orientation, velocity, acceleration, proximity, pressure, etc.) and / or data Different types of measurement techniques may be utilized to obtain, for example, multiple sensors may generate and measure energy from multiple active sensors (eg, their own sources). Sensor) and any suitable combination of a plurality of passive sensors (eg, sensors that detect available energy) In other embodiments, the plurality of loads may be visual, sound, The emitter may be a light source, for example, the load may be directed within the stabilization platform to be directed to the object or region of interest. It's okay.

  In one example, the stabilization platform may have a camera as a load. The camera may be a film or a digital camera. The camera may be able to capture multiple video records or multiple still photos. The camera may be a macro lens camera, a point and shot camera, a mobile phone camera, a professional video camera or a camcorder. Stabilization platform is at least ± 5 °, ± 4 °, ± 3 °, ± 2 °, ± 1 °, ± .75 °, ± .5 °, ± 0.4 °, ± 0.3 °, ± 0.2 °, ± 0.1 It may be configured to achieve a desired camera angle with an accuracy of °, ± 0.08 °, ± 0.06 °, ± 0.04 °, ± 0.02 °, ± 0.01 °, or ± 0.005.

  The orientation of the load can be controlled by the onboard processor of the stabilization unit in response to the movement of the handle assembly 104 by the user. The processor may be programmed to calculate the load orientation and / or generate a signal that provides the desired load orientation. The processor may receive a plurality of signals indicative of the orientation and / or movement of the handle assembly from one or more sensors and provide actuation of the one or more motors to provide a desired load orientation. Multiple signals may be generated. Any description herein for a processor may be adapted to one or more processors capable of performing any of the described actions individually or collectively.

  The processor may be able to automatically calculate and / or autonomously determine the desired load orientation without requiring additional input from an external device or user. In some cases, the desired load orientation may remain substantially constant with respect to the reference frame. Instead, the desired load orientation may be changed with respect to the reference frame. In other embodiments, the desired load orientation may be calculated and / or determined based on signals received from an external device such as a remote control. Similarly, the desired load orientation may be calculated and / or determined based on signals received from the user input interface of the handle assembly. For example, the stabilizing platform operator or another operating an external device or remote control may provide input regarding the orientation of the load relative to the reference frame.

  Furthermore, if the load is a camera, the multiple camera settings can be controlled by another user by remote control or by multiple user input components integrated into the stabilization platform. Examples of multiple camera settings may be white balance, aperture size, shutter speed, focal length, zoom, or ISO sensitivity.

  The frame assembly 103 may have a plurality of frame components. The plurality of frame components may be rigid parts. The plurality of components may be configured to move relative to each other. The movement of the plurality of components may be about a joint, for example, the joint may be a hinge, ball and socket, planar joint, saddle or pivot. The movement of the plurality of frame components may be controlled by one or more motors. Optionally, one or more motors are provided at a plurality of joints between a plurality of components. Each frame component may be moved by one motor, or multiple frame components may be moved by a single motor. Multiple frame components may be rotated about an axis. Each component may rotate around one, two, three, or more axes. The axis of rotation may be defined within a fixed or non-fixed reference frame. Further, the frame component may be configured to translate in at least one direction. The plurality of joints may further include a plurality of hall sensors at each joint position that can detect the positions and / or rotation amounts of the plurality of frame components with respect to each other.

  The frame assembly may allow the load to rotate relative to one, two, three, or more axes relative to the handle assembly. In some cases, the handle assembly may be rotated about one, two, or three axes relative to the reference frame. While the handle assembly can move, the load may or may not remain in the same orientation relative to the reference frame. Optionally, one, two, three or more motors may be provided that may allow the load to rotate relative to the handle assembly. The load may rotate about three orthogonal axes with respect to the handle assembly. In some cases, the load may rotate about the pitch, roll and / or yaw axis relative to the payload.

  The frame assembly may be supported on the handle assembly 104. The handle assembly 104 may support the weight of the frame assembly. The handle assembly may be located at the end of the frame assembly. The handle assembly may include one or more grips that may be configured to move relative to each other and change between various configurations. The movement of the handle assembly (eg, multiple grips) is independent of the load movement.

  An example of the handle assembly 201 is shown in FIG. The handle assembly may have a handle bar 204 that connects the two grips 202. The two grips may be substantially parallel to each other and perpendicular or parallel to the handlebar. In some embodiments, the two grips may be parallel to each other within a range of about ± 30, 25, 20, 15, 10, 5, 3, or 1 degree. In some embodiments, the two grips may be perpendicular to the handlebar within a range of about ± 30, 25, 20, 15, 10, 5, 3, or 1 degree. In some cases, the end of the grip may be joined to the handlebar. Alternatively, the grip end may extend beyond the handlebar. The handle assembly may be configured to be grasped by the user at the two grips 202. The frame assembly may be supported on the handlebar.

  Furthermore, the handlebar may have a third grip 203 between the two connected grips. The third grip may be connected directly to the handlebar or may be connected using the bar 205. The third grip may be substantially perpendicular or parallel to the other two grips at both ends of the handlebar. Optionally, the third grip may be substantially perpendicular to both the other two grips and / or the handlebar at the same time. The third grip and / or bar may be attached to the handle bar 204 directly and / or securely. Alternatively, the third grip and / or bar may be removable from the handle bar. The third grip and / or bar may or may not be attached or connected to the frame assembly.

  The frame assembly may be supported on the handle assembly. The plurality of handles (which may be a plurality of grips) may be configured to be gripped by a human hand. The plurality of grips may have a textured surface that can prevent the user's hand from slipping while gripping the handle. The plurality of grips may have a covering material. In some cases, the dressing may include plastic, foam material, rubber, or other moderately soft or malleable material. In addition, the plurality of handles may have an ergonomic design, which allows the user to grip the handle for extended periods without experiencing wrist or joint pain.

  The stabilization platform can be carried by a person. The handle assembly may be configured to allow a person to carry the stabilization platform by grasping one or more grips in the person's hand. An individual may hold two grips simultaneously or a single grip. The individual may grip one or more of the two end grips, or the third grip. In another example, the handle assembly may be configured to be attached to other objects, such as a vehicle. The transporter may be a car, truck, aircraft, unmanned aerial vehicle (UAV), bus, boat, train, motorcycle, bicycle, moving platform or tractor. The handle assembly may be configured to attach to a movable object, such as those described elsewhere herein. The handle assembly may also be configured to be attached to a stationary object. The handle assembly may be attached to a boom that may be attached to a fixed or movable object.

  The components of the frame assembly can be moved relative to each other by a plurality of motors connected to the frame assembly. FIG. 3 shows in detail a stabilization platform comprising a first motor 301, a second motor 302 (not shown directly in FIG. 3) and a third motor 303. In some embodiments, the stabilization platform is at least 1, 2, 3, 4, 5, 6, 7, 8, 9 or configured to move a plurality of frame assembly components 304, 305, 306 relative to each other. Ten motors may be provided. Alternatively, the plurality of frame assembly components may be moved manually in a motorless design.

  The frame assembly may have at least one, two, or three frame components 304, 305, and 306. Each of the three components may be configured to rotate the load along a given axis of rotation. For example, the frame component 304 may rotate about the yaw axis, the frame component 305 may rotate about the roll axis, and the frame component 306 may rotate about the pitch axis. Any of the plurality of components may be configured to be rotated about an additional axis. The plurality of components may further be configured to translate in at least one dimension.

  In some embodiments, the first frame component 304 may be directly supported by the handle assembly. The first frame component 304 may be configured to move about a first rotational axis (eg, the yaw axis) when the handle assembly is in the first orientation. The movement of the first frame component 304 about the first rotational axis may be driven and / or controlled by the first motor 301. The second frame component 305 may be directly supported by the first frame component. The second frame component 305 may be configured to move about a second rotational axis (eg, a roll axis) when the handle assembly is in the first orientation. The movement of the second frame component 305 about the second rotational axis may be driven and / or controlled by the second motor 302. The third frame component 306 may be directly supported by the second frame component 305. The third frame component 306 may be configured to move about a third rotational axis (eg, a pitch axis) when the handle assembly is in the first orientation. The movement of the third frame component 306 about the third rotational axis may be driven and / or controlled by the third motor 303. The third frame component 306 may be configured to support a load 308, such as a camera. The third frame component may be configured to support the load in a fixed manner (eg, the load does not move relative to the third component). Instead, the load may be movable relative to the third component.

  The plurality of frame components may be substantially rigid. The plurality of frame components may have any shape. The plurality of frame components may include one or more linear or curved parts that can be connected to each other. In some examples, the plurality of frame components may have a substantially Y shape or U shape. The plurality of frame components may include a first bar connected to the second bar in a substantially orthogonal manner, and the second bar may be connected to the third bar in a substantially orthogonal manner. The first and third bars may or may not be substantially parallel.

  The stabilization platform may comprise a handle assembly having one or more grips 307. The user may grip multiple grips and change the orientation of the handle assembly. While the handle assembly may change orientation, the load 308 may remain stabilized. While the handle assembly can change orientation, the frame components 304, 305, 306 may move relative to each other and / or relative to the handle assembly to maintain the load in a stable state. The motors 301, 302, 303 may be actuated to allow and / or cause multiple frame components to move relative to each other. Stabilizing the load may include maintaining the load in the same orientation, or changing the orientation in a controlled manner. Stabilizing the load may include maintaining the load in the same translational position, or changing the translational position of the load in a controlled manner. Changes in load orientation and / or translational position can occur in a smooth manner (eg, with reduced jerkiness or vibration). This can be beneficial when the load is a camera and it is desirable to collect a substantially stabilized image.

  The multiple components of the stabilization platform can move relative to each other to achieve three separate arrangements. A first possible arrangement is shown in FIG. 4a. The arrangement shown in FIG. 4a illustrates the underslang mode. In the underslang mode, the load 401 can be placed between the two grips 402. The load 401 can be placed on the side between the two grips. The load 401 can be below the two grips based on height. In the underslang mode, the user may choose to hold the stabilization platform with both hands. For example, the user may grip each of the two grips that can be connected by the handle bar 403. The handlebar can be oriented horizontally in the underslang mode. In the underslang mode, the center of gravity of the frame assembly and load combination can be below the handlebar and / or grips. The center of gravity of the load can be below the handlebar and / or the plurality of grips. The center of gravity of the load or the combination of the load and frame assembly can be lateral between the grips. Underslang mode can direct the load to multiple objects or areas below the height of the user's hand.

  In another arrangement shown in FIG. 4b, the stabilization platform is placed in upright mode. In the upright mode, the load 405 can be directed above one or more handles and / or handlebars 404. In the upright mode, the user may choose to hold the frame with both hands. In the upright mode, the center of gravity of the frame and load 405 combination can be located above the frame. The center of gravity of the load can be above the handlebar and / or the plurality of grips. The center of gravity of the load or the combination of the load and frame assembly can be lateral between the grips. The frame assembly and / or load may be placed laterally between the grips. The upright mode can direct the load to multiple objects or areas above the height of the user's hand or at the eye level.

  A third arrangement of stabilization platforms is shown in Fig. 4c. The arrangement shown in FIG. 4c may be referred to as a briefcase mode. The user can hold the stabilization platform with one hand while the platform is in briefcase mode. For example, the user may grip the upper handle 406 of the handle assembly when the stabilization platform is in briefcase mode. The handle bar 407 connecting the two grips can be in a substantially vertical orientation. The frame assembly and / or load can be placed between two grips. The height of the frame assembly and / or load can be between the heights of the two grips. The two grip and frame assemblies and / or the load can be substantially aligned along the sides. For example, the shaft may pass through two grip and frame assemblies and / or loads. When the stabilization platform is in briefcase mode, the center of gravity of the frame and load combination, or the center of gravity of the load only, can be between the two hand grips. The height of the center of gravity of the frame assembly and the load (or only the load) can be between the heights of the two grips. The two grips and the frame assembly and / or the center of gravity of the load can be aligned substantially along the sides. For example, the shaft may pass through the center of gravity of the two grip and frame assemblies and / or the load.

  The stabilization platform may move between any of the multiple arrangements described herein. For example, the stabilization platform may move between underslang, upright and / or briefcase modes. Any of the multiple intermediate arrangements between the multiple modes may continue to stabilize the load. For example, any plurality of intermediate arrangements where the handlebar is neither horizontal nor vertical can be provided. The stabilization platform operator may or may not hold the stabilization platform in an intermediate configuration, or may provide an intermediate configuration while moving between different modes.

  The stabilization platform may have a greater width in multiple horizontal modes (eg, underslang, upright) than in multiple vertical modes (eg, briefcase). Multiple vertical modes may allow for a more compact structure compared to multiple horizontal modes. Multiple vertical modes may provide a stabilization mode having a smaller width, a smaller footprint, and / or a smaller side area than the horizontal mode. In an example where the load is a sensor, multiple vertical modes are desirable to sense an object or region within a narrow space. Similarly, the upright mode is desirable for sensing multiple objects or multiple areas above the user's height. The upright mode may allow the load to face multiple objects or areas above the plane that holds the stabilization platform.

  Although different modes may result from different orientations of the frame and handle assembly, changes in the frame and handle assembly may not lead to changes in the orientation of the load. The handle assembly may change orientation regardless of the orientation of the load, and vice versa. For example, if the handle and frame assembly change between primarily horizontal mode (eg, multiple upright mode underslang) and primarily vertical mode (eg, briefcase mode), the load remains in a fixed orientation. It may be. In one example, the load may remain in a horizontal orientation during a change in handle and frame assembly from a horizontal orientation to a vertical orientation. Alternatively, the load may remain in a vertical orientation during the change of handle and frame assembly from a horizontal orientation to a vertical orientation. The plurality of motors may allow the plurality of frame components to move relative to each other to maintain the load orientation independent of the movement of the handle assembly.

  The stabilization platform may comprise a 3-axis gimbal assembly that may be configured to allow rotation of the load about one, two, or three axes. The load may rotate about the yaw, roll, and / or pitch axis. In some cases, the load may be rotatable relative to the handle assembly about the yaw, roll and pitch axes. Optionally, the load may be rotatable relative to the fixed reference frame about the yaw, roll and pitch axes. FIG. 5 shows three axes of rotation that can occur for a load. A plurality of axes shown in FIG. 5 are a yaw axis 501, a roll axis 502, and a pitch axis 503. These axes can be defined within the reference frame of the load, as shown in FIG. In another example, these axes can be defined within a reference frame relative to the handle assembly. These axes can be defined within a fixed reference frame, such as the environment in which the stabilization platform can be operating (eg, ground). These axes may or may not intersect. One, two or three of these axes may pass through the load. Two or three of these axes may intersect within the load. The intersection may or may not occur at the center of gravity of the load. The intersection may or may not occur at the center of gravity of the load and frame assembly combination. Instead, two or three of these three axes may intersect outside the load. These axes may be defined within a fixed or non-fixed reference frame. These axes can be defined by a Cartesian coordinate system, a spherical coordinate system, or a cylindrical coordinate system. The load can rotate clockwise or counterclockwise around the rotation axis shown in FIG.

  This rotation can be performed by a motor that can cause rotation of the frame components. The frame component can then rotate the load within a fixed reference frame. Alternatively, the frame component may rotate while the load remains stationary relative to the fixed reference frame. The handle assembly may move with respect to one or more of the plurality of axes, while the load may maintain the same orientation with respect to the fixed reference frame.

  The motor may be an AC or DC motor. Any description herein for a motor may be applicable to any type of motor or other actuator. The plurality of motors may be a plurality of direct drive motors. Other examples of multiple motor types may include, but are not limited to, brush motors or brushless motors, servo motors, switching reluctance motors, stepper motors, or any other type of motor.

  The motor can be driven by an energy source, such as a battery system, on the stabilization platform. Alternatively, the motor can be driven by a power cable connected to an external power source. Each rotating shaft can be controlled by a motor. For example, the first motor can provide rotation about the yaw axis. The second motor can provide rotation about the roll axis. The third motor can provide rotation about the pitch axis. In various arrangements and modes of operation, the rotational axes of the plurality of motors can vary. For example, in a plurality of modes in which the stabilization platform is held by both hands of the user (eg, underslang and upright modes), the first motor controls the yaw axis rotation, the second motor controls the roll axis rotation, Three motors can control pitch axis rotation. Instead, in a mode in which the stabilization platform is held with one hand of the user (eg, briefcase mode), the first motor controls roll axis rotation, the second motor controls yaw axis rotation, and the third motor is pitch. The shaft rotation can be controlled. Similarly, the first motor may control yaw rotation while the second motor may control roll shaft rotation when the handle of the stabilization platform assembly is in the first orientation. The first motor may control roll axis rotation while the second motor may control yaw axis rotation when the handle of the stabilization platform assembly is in the second orientation. Optionally, the third motor may control pitch axis rotation when the handlebar assembly is in the first and second orientations. In some embodiments, the first orientation may include a substantially horizontally oriented handlebar, while the second orientation may comprise a substantially vertically oriented handlebar. . During mode switching of the stabilization platform orientation, power may be continuously supplied to a plurality of motors.

  The rotation of the load by the 3-axis gimbal can encounter a gimbal lock. The gimbal lock may be a state in which one of the three shafts is rotated to the extent that it is aligned with the second rotation shaft. Gimbal lock can lead to worse rotation control of the load. An example of a gimbal lock scenario is shown in FIG. In the case shown in FIG. 6, the first orientation of the gimbal has non-overlapping axes 601, 602 and 603 so that no gimbal lock is encountered. In the second case shown in the drawing, the shaft 601 rotates to overlap the shaft 603. This overlap represents an example of a gimbal lock. If a gimbal lock occurs, the system may lose freedom. It may be beneficial to avoid gimbal lock.

  The stabilization platform may be configured to reduce or eliminate multiple instances of gimbal lock. The stabilization platform may include a set of sensors that can detect the amount of rotation of the load. This rotation causes the gimbal to approach the gimbal lock state. For example, as the amount of rotation about the yaw axis approaches 90 °, the gimbal can approach the gimbal lock state. Rotation about the yaw axis sufficient to induce a gimbal lock can occur when switching between the first and second operating modes of the stabilization platform. The stabilization platform may include a plurality of sensors on the frame, the plurality of motors, and / or the plurality of handles that can detect the amount of rotation of the stabilization platform about the yaw axis, the roll axis, and the pitch axis. For example, the plurality of sensors include a plurality of inertial sensors (eg, a plurality of position or angle displacement sensors, a plurality of velocity sensors, a plurality of accelerometers, a plurality of gyroscopes, a plurality of magnetometers), a plurality of capacitance sensors. , Multiple Hall sensors, or any other type of multiple sensors as described elsewhere herein. The plurality of sensors may be capable of detecting linear and / or angular displacement, linear velocity and / or angular velocity, or linear or angular acceleration. The plurality of sensors may or may not be provided on any part of the handle assembly, such as a grip, handlebar, bar or any other part. The plurality of sensors may or may not be provided in one, two, three, or more of the plurality of frame components. The plurality of sensors may or may not be provided in one, two, three, or more of the plurality of motors. The plurality of sensors may be provided on the load or may not be provided. The on-board or off-board processor of the stabilization platform can interpret the sensor data to detect the amount of rotation about the yaw axis, roll axis or pitch axis. Sensor data from any component of the stabilization platform can be used to detect component position information and / or amount of rotation. Sensor data from multiple components may be collected and / or compared. In some cases, sensor data from a plurality of components may include relative movement of the load relative to the handle assembly, or vice versa, relative movement of the load relative to the fixed reference frame, relative movement of the handle assembly relative to the fixed reference frame, and relative to the fixed reference frame. It may be used to determine the relative movement of any of the plurality of frame components, or any variation or combination thereof.

  If the processor detects a rotation of the handle assembly indicating a change from the first mode / arrangement to the second mode / arrangement, the processor may change the direction of motor control. For example, in the first mode, the first motor can control the yaw axis rotation, and the second motor can control the roll axis rotation. When the processor detects a change from the first to the second mode, the processor can switch motor control such that the first motor can control roll axis rotation and the second motor can control yaw axis rotation. In the first and second modes, the motor control of the pitch axis may not change so that the third motor can control the pitch axis rotation in both the first and second modes. The change in motor control can occur without a change in power supply to the motor so that continuous power can be supplied to the motor while the shaft control of the motor changes.

  FIG. 18 shows a schematic diagram of a stabilization platform that includes one or more sensors and one or more processors communicatively coupled to the one or more sensors, according to an embodiment of the invention. As described above, the stabilization platform 1801 can support the load 1802. The stabilization platform may include a frame assembly 1803 and a handle assembly 1804. One or more sensors 1805a, 1805b, 1806 may be provided on the stabilization platform. In some cases, one or more sensors 1805a may be supported by handle assembly 1804, one or more sensors 1805b may be supported by frame assembly 1803, and / or one or more sensors 1805c may be loaded 1802. May be supported by In some cases, one or more motors 1806 may be provided on the stabilization platform. The plurality of motors may allow a plurality of frame components of the frame assembly to move relative to a plurality of other frame components or handle assemblies. The motor may have one or more sensors provided on or incorporated in the motor. In some cases, the stabilization platform may include an on-board processor 1807a. Alternatively, an off-board processor 1807b may be provided. Any combination of on-board and / or off-board processors may be provided or utilized.

  One or more processors 1807a, 1807b may receive signals from one or more sensors 1805a, 1805b, 1805c. Multiple signals from multiple sensors can be used to detect the orientation and / or movement of one or more components of the stabilization platform. For example, multiple signals from multiple sensors may indicate the orientation and / or movement (eg, angular velocity, angular acceleration, linear velocity, etc.) of the handle assembly, multiple frame components, load, motor, or any other part of the stabilizing platform. Linear acceleration). The processor may use multiple signals to determine if the handle assembly has changed orientation or if any other component has moved. Based on this determination, the processor can generate a signal that can be transmitted to one or more motors 1806. The generated signal can be linked to motor operation and / or maintenance. The generated signal may control the plurality of motors to allow the load to remain stabilized while other components of the stabilization platform may move. The generated signal can control multiple motors to allow the load to remain horizontal or in the same orientation while other components of the stabilization platform can move. .

  FIG. 7 outlines a detection and response procedure that can be performed by one or more processors for frame rotation. Initially, the stabilization platform may be in a first mode or a second mode (701). In some cases, the stabilization platform handlebar may have a horizontal orientation in the first mode and a vertical orientation in the second mode. The processor may detect a change in the mode of the stabilization platform by input from one or more sensors (702). For example, the change in the mode of the stabilization platform may be a rotation of the handlebar assembly from a horizontal configuration to a vertical configuration or vice versa. One or more sensors may detect angular acceleration, velocity, or orientation of the handlebar arrangement when the handle assembly can rotate from horizontal to vertical arrangement or from vertical to horizontal arrangement. In one example, angular acceleration, velocity, or orientation may be sensed by an inertial measurement device, a group of Hall sensors, or any other type of sensors described elsewhere herein. The plurality of sensors may communicate with the processor wirelessly or via a wired connection.

  One or more processors may receive information from multiple sensors. The plurality of processors may determine whether the stabilization platform has switched modes (eg, whether the handle assembly has changed orientation). A signal is generated based on information from multiple sensors and can be used to control one or more motors. One or more motors may be used to maintain and / or change the load position relative to the handle assembly. In response to a change in the orientation of the handle assembly, the processor may command a change in motor control (703). The change in motor control may include a change in the rotation axis that is controlled by one or more motors. For example, the first motor can be used to control rotation about the first axis when the handle assembly is in the first orientation. The second motor can be used to control rotation about the second axis. If a change in orientation of the handle assembly to the second orientation is detected, the first motor can be used to control rotation about the second axis. The first motor can be used to control rotation about the first axis. The first axis may be a yaw axis, while the second axis may be a roll axis. Or vice versa. The control algorithm may be updated to include a change in the order of axis control. In another example, the motor control change may be turning off or on a motor on the stabilization platform. Changing the motor control may command one or more of the plurality of motors to change the direction, speed or axis of rotation. The detection phase of the change in the mode, the orientation of the handlebar assembly can occur simultaneously with the change in motor control. These steps can occur repeatedly to change back and forth between the first and second arrangements of the stabilization platform. For example, if the arrangement of the handle assembly is changed from the second orientation to the first orientation, the first motor may be changed to control the movement about the first axis, while the second motor is It may be changed to control the movement around the second axis. When generating a plurality of signals for controlling the motor to stabilize the platform, a plurality of calculations may be performed taking into account changes in the axes controlled by the plurality of motors. For example, if it is desired to rotate the load about the yaw axis and the handle assembly is in the first orientation, a plurality of commands that cause rotation may be sent to the first motor, and the handle assembly is When in orientation, a plurality of instructions that cause rotation may be sent to the second motor. Similarly, when it is desired to rotate the load about the roll axis, when the handle assembly is in the first orientation, a plurality of commands that cause rotation may be sent to the second motor, and the handle assembly is When the direction is, a plurality of commands that cause rotation may be sent to the first motor.

  In addition to switching motor control, the processor may further command rotation of one or more motors. FIG. 8 outlines an example of detection and response, including motor control changes and motor rotation. The stabilization platform may have an initial arrangement (801), for example, the initial arrangement may be a horizontal or vertical arrangement of the handle assembly or other components of the stabilization platform. A plurality of on-board sensors of the stabilization platform may monitor the amount of rotation of the handle assembly, the plurality of frame components and / or the load about the yaw axis, roll axis and / or pitch axis (802). The plurality of sensors may send information to the processor regarding rotation of the handle assembly, the plurality of frame components and / or the load about the yaw axis, roll axis and / or pitch axis. The plurality of sensors can transmit information by wired connection or by wireless connection.

  The processor may be on-board or off-board of the stabilization platform. Any description herein for a processor may be all onboard for the stabilization platform, all offboard for the stabilization platform, or onboard and for the stabilization platform. It can be adapted to any number of processors that can be any combination of off-board. The multiple processors may be configured to perform any of the described stages, either individually or collectively.

The processor may interpret information from the plurality of sensors to detect a change in position of the handle assembly from the first to the second configuration (803). Depending on the detected change, the processor may instruct at least one of the plurality of motors to perform a finite angular rotation about a single axis (804). For example, the motor may rotate about 90 °. In one example, the first motor may be commanded to rotate at a predetermined angle (eg, 15, 30, 45, 60, 75, 90, 105, 120, 150, or 180 degrees).
The first motor may be commanded to rotate 90 degrees so that the frame components driven by this motor also rotate by 90 degrees.
The frame component bar may be perpendicular to the handle assembly handle bar when the handle assembly is in the first orientation.
When the handle assembly is in the second orientation, the motor may rotate the frame component bars until they are parallel to the handle bars.
The bar may be rotated so that it remains substantially parallel to the direction of gravity.
In some cases, the first motor rotates the load about the yaw axis when the handle assembly is in the first orientation, and the rotation of the load about the roll axis when the handle assembly is in the second orientation. May be controlled.
The rotation of the first motor can occur simultaneously with the change of the orientation of the handle assembly.
The processor may communicate with one or more of the plurality of motors wirelessly or via a wired connection.

  After or at the same time as the motor rotation, the processor may command a change in motor control of two or more axes (805). For example, the processor may cause the first motor to change from controlling the rotation of the frame component about the yaw axis to controlling the rotation of the frame component about the roll axis. The second motor may be commanded by the processor to change from controlling the rotation of the frame component about the roll axis to controlling the rotation of the frame component about the yaw axis.

  In one example, the stabilization platform may have the initial horizontal arrangement shown in FIG. The horizontal arrangement may be an underslang mode of the stabilization platform. In the underslang mode, the platform can be held with both hands on a plurality of handles 307 attached to both sides of the handlebar. The load 308 can be positioned below the plurality of handles so that the center of gravity of the frame assembly and load system is below the plurality of handles. The yaw axis motor 301 may be a first motor. The yaw motor can be placed above the load when the stabilization platform is in the underslang mode. The yaw motor can be placed below the load when the stabilization platform is in upright mode. The yaw axis motor can be the motor closest to the handlebar. The yaw axis motor can provide rotation of the first frame component 304. The rotation of the first motor and / or the first frame component may result in rotation of a plurality of other frame components 305, 306 and / or load 308 supported by the first frame component.

  The roll shaft motor 302 may be a second motor. The roll axis motor can be positioned behind the load when the handle assembly is in a horizontal configuration. The roll axis motor can be placed behind the load when the stabilization platform is in underslang mode or upright mode. The roll axis motor may be further from the handlebar than the yaw axis motor. The roll axis motor can provide rotation of the second frame component 305. The rotation of the roll axis motor may result in rotation of a plurality of other frame components 306 and / or load 308 supported by the second frame component. In some cases, the first frame component 304 is not supported by the second frame component, and operation of the second motor does not cause movement of the first frame component.

  The system may further include a third motor 303 dedicated to controlling the pitch rotation of the load 308. The third motor may be a pitch axis motor. The third motor can be arranged on the right or left of the load. When the stabilization platform is in underslang mode, upright mode, or briefcase mode, the third motor can be placed to the right or left of the load. The third motor can provide rotation of the third frame component 306. The rotation of the pitch axis motor may result in rotation of the load 308 supported by the third frame component and / or any other plurality of frame components. In some cases, the first and / or second frame components 304, 305 are not supported by the third frame component, and operation of the third motor does not result in movement of the first and / or second frame components.

  The handle can be rotated downward to approach a vertical arrangement as shown in FIG. One or more intermediate arrangements may be provided during continuous movement of the handlebar. As the handlebar rotates, the load can maintain its initial orientation. For example, the load 901 can remain substantially horizontal while the handlebar 902 is diagonal. The rotation of the handle bar 1003 can continue as shown in FIG. Once the handlebar angle relative to the horizontal plane reaches a predetermined threshold, the system may record the mode change from horizontal mode to vertical mode. The predetermined threshold angle may be 90 °. Instead, the threshold angles are at least 15 °, 20 °, 25 °, 30 °, 35 °, 40 °, 45 °, 50 °, 55 °, 60 °, 65 °, 70 °, 75 °, 80 °, 85 °, 95 °, 100 °, 105 °, 110 °, 115 °, 120 °, 125 °, 130 °, 135 °, 140 °, 145 °, 150 °, 155 °, 160 °, 165 °, 170 ° Or it may be 180 °. The threshold angle may be a fixed value. For example, if the handlebar is within a range of 5 degrees relative to being oriented vertically, the system may record the change. Alternatively, the threshold angle may be a function of angular rotation speed or acceleration. The threshold angle can be calculated using a processor. This calculation can occur using the angular velocity and / or acceleration of the handlebar. Calculations can occur using the direction in which the handlebar is rotating. The threshold angle may be set by the user. The angle of the handlebar with respect to the horizontal plane is dependent on the stabilization platform's onboard multiple sensors, such as multiple inertial sensors, multiple Hall sensors, or any other type of sensor described elsewhere herein. And so on. The plurality of sensors may be disposed on one or more of a handle assembly, a frame assembly, a load and / or a plurality of motors. In some cases, the amount of handle rotation may be calculated in real time by an inertial measurement unit (IMU) on the stabilization unit. The IMU may be a pan / tilt / zoom (PTZ) inertial measurement device. The joint angle of each frame joint can be measured by a plurality of Hall sensors. The plurality of hall sensors can be arranged at a plurality of joints. The plurality of hall sensors may be attached to three motors used for rotation of the load around the yaw axis, roll axis, and pitch axis. The amount of rotation of the handle can be reversely determined by calculating the quaternion difference between the amounts of rotation of the ends of the handle and the joint angles. The processor may determine whether the handle has been switched from the horizontal mode to the vertical mode based on the measured amount of handle rotation.

  In the plurality of intermediate arrangements shown in FIGS. 9 and 10, the first motor 1001 may control rotation around the yaw axis, and the second motor may control rotation around the roll axis 1002. If the processor detects a change from the first mode (horizontal) to the second mode (vertical), the processor may instruct the first motor 1001 to perform a finite rotation. For example, the first motor can rotate 90 °. Instead, the motor is at least 15 °, 20 °, 25 °, 30 °, 35 °, 40 °, 45 °, 50 °, 55 °, 60 °, 65 °, 70 °, 75 °, 80 °, 85 °, 95 °, 100 °, 105 °, 110 °, 115 °, 120 °, 125 °, 130 °, 135 °, 140 °, 145 °, 150 °, 155 °, 160 °, 165 °, 170 ° or You may rotate 180 °. In addition to the rotation of the first motor 1001, the processor controls the first motor 1001 and the second motor 1002 so that the first motor controls the rotation about the roll axis and the second motor controls the rotation about the yaw axis. May be instructed to switch functions.

  An example of the final result of handle rotation and motor rotation may be shown in FIGS. 11a and 11b. FIGS. 11a and 11b show the stabilization platform 1100 in a vertical configuration (eg, briefcase mode). In this mode, the first motor 1101 may control rotation around the roll axis, and the second motor 1102 may control rotation around the yaw axis. The rotation around the pitch axis can be controlled by the third motor 1103.

  The present disclosure describes in detail a plurality of processes for switching axis control between a plurality of motors that control yaw rotation and roll rotation. This description is intended to be illustrative rather than limiting features of the stabilization platform. In other embodiments, the stabilization platform may be configured to switch motor control between any set of motors in the manner described. In another example, this may include switching control between a pitch motor and a roll motor, between a yaw motor and a pitch motor, or between a yaw motor, a pitch motor and a roll motor. Furthermore, the sequence describes the switching process from a substantially horizontal arrangement to a substantially vertical arrangement. By reversing the sequence of operations described, the opposite result can be achieved (ie, from a substantially vertical arrangement to a substantially horizontal arrangement).

  FIG. 11a shows a view of a stabilization platform 1100 having a handle assembly in a second orientation (eg, a vertical orientation). A first motor 1101, a second motor 1102, and a third motor 1103 may be provided. The frame assembly may include a first frame component 1104, a second frame component 1105, and a third frame component 1106. The handle assembly may include a handle bar 1107 that connects one pair of grips 1108. Optionally, a third grip 1109 may be provided. The load 1110 may be supported by a plurality of frame components.

  When in the second orientation (eg, briefcase mode), the first motor 1101 may control the roll of the load, the second motor 1102 may control the yaw of the load, and / or the third The motor 1103 may control the pitch of the load. The first frame component 1104 may include a bar that is substantially parallel to the handlebar when the stabilization platform is in the second orientation. The second motor may be supported by the first frame component. The second frame component 1105 may be driven by a second motor and may move relative to the first frame component about the yaw axis. The third motor may be supported by the second frame component. The third frame component 1106 may be driven by a third motor. The third frame component may support the load 1110. The payload may be fixed relative to the third frame component. The first motor may be disposed substantially behind the load. The second motor may be disposed substantially below the load. The third motor may be arranged on the right and / or left of the load.

  FIG. 11b shows an additional view of the stabilization platform in the briefcase mode. Optionally, the one or more frame components may be fixed relative to each other or may include multiple parts that are movable relative to each other. In some cases, the first frame component 1104 may include a track 1111. The track 1111 may allow the part of the frame component to slide relative to the other part of the frame component. Vertical movement, horizontal movement, and / or translation can be achieved.

  A transition from a horizontal arrangement (eg, FIG. 3) to a vertical arrangement (eg, FIGS. 11a, 11b) can lead to a rotation of the first motor by only about 90 degrees, resulting in a rotation of the first frame component. The first frame component 304 may include a bar that may be substantially perpendicular to the horizontal handlebar when the stabilization platform is in a horizontal configuration. The first frame component 1104 may include a bar that may be substantially parallel to the vertical handlebar 1107 when the stabilization platform is in a vertical configuration. The rotation of the first motor can affect the orientation of the first frame component. The first frame component may include bars that may be substantially vertical in both horizontal and vertical arrangements. The first frame component may rotate with the handle assembly when the stabilization platform passes through a plurality of intermediate configurations (eg, FIGS. 9, 10), but when the stabilization platform reaches a vertical configuration, or May rotate when approaching.

  The second motor 302 may be arranged behind the load when the stabilization platform is in a horizontal arrangement. The second motor 1102 may be disposed below the load when the stabilization platform is in a vertical configuration. The relative orientation of the load with respect to the grip or grips of the handle assembly may vary between horizontal and vertical placement. For example, in a horizontal arrangement, the load 308 may be oriented in a direction perpendicular to the one or more grips 307, while in a vertical arrangement, the load 1110 is oriented in a direction parallel to the one or more grips 1108. May be suitable. In a horizontal arrangement, the load 308 may be oriented in a direction parallel to the third grip, while in a vertical arrangement, the load 1110 may be oriented in a direction perpendicular to the third grip 1109. The second motor may have a rotation axis that is parallel to the direction of the load in a horizontal arrangement, while the second motor has a rotation axis that is perpendicular to the direction of the load in a vertical arrangement. You can do it.

  The third frame component 306 may include a plurality of side bars that may be substantially perpendicular to the plurality of side bars of the second frame component 305 when the stabilization platform is in a horizontal arrangement. The third frame component 1106 may include a plurality of side bars that are substantially parallel to the plurality of side bars of the second frame component 1105 when the stabilization platform is in a vertical configuration. The second and third frame components may not be coplanar when the stabilization platform is in a horizontal arrangement. The second and third frame components may be coplanar when the stabilization platform is in a vertical configuration. The horizontal bar of the third frame component may be below the load when the stabilization platform is in a horizontal arrangement and when the stabilization platform is in a vertical arrangement.

  Any explanation of how the components of the stabilization platform herein can be positioned or oriented, or the orientation can change, is given by Can be adapted to Or vice versa.

  An example of a user having a stabilization platform holding a camera is shown in FIG. Three modes may be beneficial when capturing different shooting angles. For example, the underslang mode 1201 can be used to capture multiple still images or videos of multiple features at or below the user's chest. Upright mode 1203 may capture a plurality of still images or videos of a plurality of features at the user's eye level or above the user's height. Finally, the briefcase mode 1202 can reduce the size of the stabilization platform to a compact structure compared to the upright and underslang modes. The briefcase mode may be selected in an area that has a limited space for photographing multiple features.

  The user can grip one or more of the plurality of side grips, or the third central grip. In some examples, a user may grasp a plurality of side grips with both hands to provide a horizontal orientation (eg, in underslang or upright mode) to the handlebar. The user may hold the third grip with one hand, which may allow the handlebar to be in a horizontal orientation. In another example, the user may grasp the side grip with one hand and the third central grip with the other hand. The user may grasp a single side grip to provide a vertical orientation (eg, in briefcase mode) to the handlebar. The user may optionally hold the third central grip with one hand, which may allow the handlebar to be in a vertical orientation. Optionally, the user may grasp any one or two of the plurality of grips to provide any orientation on the handlebar.

The user may transition between different modes. The load may remain active while the user transitions between different modes. While the stabilization platform is in the intermediate mode, the load may remain in operation. For example, if the load is a camera,
While the user transitions between different modes, the camera may remain powered on and / or recording. While a load such as a camera seamlessly collects data, the user can change the orientation of the handle assembly. The stabilization platform may remain activated while the user transitions between different modes. One or more motors and / or processors may be operating to stabilize the load while the user changes the orientation of the handle assembly. Data from multiple sensors may be collected continuously, periodically, or in response to events. Data from multiple sensors can be used to generate signals that can control the operation of multiple motors. Such data collection and control can occur in substantially real time while the user can move the handle assembly. Optionally, the load may remain stabilized while the handle assembly is moved (eg, translated or rotated). For example, while the user moves the handle assembly around, the camera may remain oriented in the same direction with little or no jerkiness or vibration. The image captured by the camera may remain horizontal.

  In an alternative case, the stabilization platform may be attached to the object. The object may be a stationary object or a movable object such as a transporter. If the stabilization platform is attached to the vehicle, the platform may or may not be held by a human user. Alternatively, the stabilization platform may be attached to the vehicle or other object using a permanent or temporary attachment. For example, a boom may be provided on which the stabilization platform can be suspended. The stabilization platform may be attached to the front, rear, side, top or bottom of the vehicle. The transporter may have a plurality of attachments for the stabilization platform at one or more locations on the transporter. The stabilization platform may be attached to the transporter in a horizontal or vertical arrangement. The plurality of mounts on the vehicle relative to the stabilization platform may be configured such that the plurality of mounts can rotate or translate to change the stabilization platform from a horizontal configuration to a vertical configuration. The transporter can be a car, truck, bus, trolley, boat, motorcycle, motorcycle, aircraft, jet, unmanned aerial vehicle (UAV), train, or any other type as described elsewhere herein. It may be a transporter. FIGS. 13a and 13b show multiple possible examples of a stabilization platform 1301 attached to an automobile 1302 and a UAV 1303. FIG.

  The load may be a camera. The camera may be stabilized by a stabilization platform that can be carried by a stationary or moving object. In some cases, the camera may remain on while the stabilization platform is moved by the movable object. While the stabilization platform is not moving or is moving, the camera may capture multiple still photos or videos. The user may carry the stabilization with the user's hands and then attach it to an object such as a boom or a movable object. While the transition from the handheld state to the state supported by the object takes place, the camera may remain on and collect image data. The camera can be stabilized so that the collected image remains smooth during the transition from the handheld state to the object-supported state. Similarly, the camera can remain on and stabilized while the transition from the object-supported state to the handheld state can occur. The stabilization platform described herein can reduce the possibility of gimbal lock while the orientation and / or position of the handle assembly changes, and advantageously the load remains stable. It can be possible. This may allow for smooth video capture while the video capture device is moved around in a handheld or object-supported manner.

  The systems, devices, and methods described herein may include a stabilization platform that can be carried by a wide variety of movable objects. Any description herein for an air vehicle such as a UAV can be adapted to and used for any movable object. Any description herein for air transport may be particularly applicable to multiple UAVs. The movable object of the present invention can be used in the atmosphere (eg, fixed wing aircraft, rotary wing aircraft, or aircraft having neither fixed wing nor rotary wing), underwater (eg, ship or submarine), land (eg, car, truck, bus). Motor vehicles such as vans, motorcycles, bicycles; movable structures or frames such as sticks, fishing rods, etc .; trains), underground (eg subways), space (eg space planes, satellites or space exploration rockets ( probe)), or any combination of these environments, may be configured to run in any suitable environment. The movable object may be a transporter, such as a transporter described elsewhere herein. In some embodiments, the movable object can be carried by a living body or can fly away from a living body such as a human or animal. Suitable animals can include avines, dogs, cats, horses, cows, sheep, pigs, delphine, rodents or insects. A person or any other type of movable object described herein may be used to transport or support the stabilization platform.

  The movable object may be freely movable in the environment for 6 degrees of freedom (eg, 3 degrees of freedom of translation and 3 degrees of freedom of rotation). Instead, the movement of the movable object may be limited for one or more degrees of freedom, such as by a predetermined path, track or orientation. The movement may be triggered by any suitable actuation mechanism such as an engine or motor. The actuation mechanism of the movable object is driven by any suitable energy source, such as electrical energy, magnetic energy, solar energy, wind energy, gravity energy, chemical energy, nuclear energy, or any suitable combination thereof. It's okay. The movable object can be self-propelled via a propulsion system as described elsewhere herein. The propulsion system may optionally operate with an energy source such as electrical energy, magnetic energy, solar energy, wind energy, gravity energy, chemical energy, nuclear energy, or any suitable combination thereof. Instead, the movable object may be carried by a living thing.

  In some cases, the movable object may be an air vehicle. For example, the aerial vehicle does not have a fixed wing aircraft (eg, aircraft, multiple gliders), a rotary wing aircraft (eg, multiple helicopters, rotorcraft), an aircraft with both fixed and rotary wings, or neither It may be an aircraft (eg, a plurality of small airships, a plurality of hot air balloons). The air transportation means may be self-propelled such as self-propelled through the air. A self-propelled aerial vehicle can utilize a propulsion system. The propulsion system is, for example, a propulsion system that includes one or more engines, motors, wheels, axles, magnets, rotors, propellers, blades, nozzles, or any suitable combination thereof. In some cases, in order to allow a movable object to jump out of the surface, down to the surface, maintain the current position and / or orientation (eg, hover), change orientation, and / or change position, A propulsion system can be used.

  The movable object can be controlled remotely by the user or locally by a passenger in or on the movable object. The movable object can be controlled remotely via a passenger in a remote transport. In some embodiments, the movable object is an unmanned movable object such as a UAV. Unmanned movable objects such as UAVs do not have to have onboard occupants of movable objects. The movable object may be controlled by a person, or an autonomous control system (eg, a computer control system), or any suitable combination thereof. The movable object may be an autonomous or semi-autonomous robot such as a robot configured with artificial intelligence.

  The movable object may have any suitable size and / or size. In some embodiments, the movable object may be sized and / or sized to have a human occupant in or on the vehicle. Instead, the movable object may be of a smaller size and / or size than can have a human occupant in or on the vehicle. The movable object may be of a size and / or size suitable for being lifted or carried by a person. Instead, the movable object may be larger than the size and / or size suitable for being lifted or carried by a person. In some cases, the movable object has a maximum dimension (eg, length, width, height, diameter, diagonal) equal to or less than about 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. ). The maximum dimension may be equal to or greater than about 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m or 10 m. For example, the distance between the shafts of the opposing rotors of the movable object may be equal to or less than about 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. Instead, the distance between the shafts of the opposing rotors may be equal to or greater than about 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m.

In some embodiments, the movable object may have a volume smaller than 100 cm × 100 cm × 100 cm, a volume smaller than 50 cm × 50 cm × 30 cm, or a volume smaller than 5 cm × 5 cm × 3 cm. The total volume of the movable object is about 1 cm ³ , 2 cm ³ , 5 cm ³ , 10 cm ³ , 20 cm ³ , 30 cm ³ , 40 cm ³ , 50 cm ³ , 60 cm ³ , 70 cm ³ , 80 cm ³ , 90 cm ³ , 100 cm ³ , 150 cm ³ , ^{200cm 3, 300cm 3, 500cm 3} , 750cm 3, 1000cm 3, 5000cm 3, 10000cm 3, equal to or 100000cm ³ 3,1m ³ or 10 m ^3,, which may be less than. Conversely, the total volume of the movable object is about 1 cm ³ , 2 cm ³ , 5 cm ³ , 10 cm ³ , 20 cm ³ , 30 cm ³ , 40 cm ³ , 50 cm ³ , 60 cm ³ , 70 cm ³ , 80 cm ³ , 90 cm ³ , 100 cm ³ , ^{150cm 3, 200cm 3, 300cm 3} , 500cm 3, 750cm 3, 1000cm 3, 5000cm 3, 10000cm 3, 100000cm 3, 1m 3 or 10 m ³ and equal, it may be greater than this.

In some embodiments, the movable object is about ^{32000cm 2, 20000cm 2, 10000cm 2} , 1000cm 2, 500cm 2, 100cm 2, 50cm 2, 10cm 2 , or 5 cm ² and equal, smaller footprint than this, ( May refer to a cross-sectional area included in the movable object). Conversely, if the installation area is equal to about ^{32000cm 2, 20000cm 2, 10000cm 2} , 1000cm 2, 500cm 2, 100cm 2, 50cm 2, 10cm 2 , or 5 cm ^2,, may be greater than this.

  In some cases, the movable object may weigh 1000 kg or less. The weight of the movable object is about 1000kg, 750kg, 500kg, 200kg, 150kg, 100kg, 80kg, 70kg, 60kg, 50kg, 45kg, 40kg, 35kg, 30kg, 25kg, 20kg, 15kg, 12kg, 10kg, 9kg, 8kg, 7kg , 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg, or 0.01 kg, or smaller. Conversely, the weight is about 1000kg, 750kg, 500kg, 200kg, 150kg, 100kg, 80kg, 70kg, 60kg, 50kg, 45kg, 40kg, 35kg, 30kg, 25kg, 20kg, 15kg, 12kg, 10kg, 9kg, 8kg, 7kg, It may be equal to or greater than 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg, or 0.01 kg.

  In some embodiments, the movable object may be relatively small relative to the load carried by the movable object. The load may include loads and / or carriers, as will be described in further detail elsewhere herein. In some examples, the ratio of the weight of the movable object to the load weight may be greater than about 1: 1, less than about 1: 1, or equal to about 1: 1. In some cases, the ratio of the weight of the movable object to the load weight may be greater than about 1: 1, less than about 1: 1, or equal to about 1: 1. Optionally, the ratio of carrier weight to load weight may be greater than about 1: 1, less than about 1: 1, or equal to about 1: 1. If desired, the ratio of the weight of the moving object to the load weight may be equal to or less than 1: 2, 1: 3, 1: 4, 1: 5, 1:10 or even smaller values. . Conversely, the ratio of the weight of the movable object to the load weight may also be equal to or greater than 2: 1, 3: 1, 4: 1, 5: 1, 10: 1 or greater.

  In some embodiments, the movable object may have a low energy consumption. For example, the movable object may consume less than about 5 W / h, 4 W / h, 3 W / h, 2 W / h, 1 W / h or less. In some cases, the carrier of the movable object may have a low energy consumption. For example, the carrier may consume less than about 5 W / h, 4 W / h, 3 W / h, 2 W / h, 1 W / h or less. Optionally, the load of movable objects may have a low energy consumption, such as about 5 W / h, 4 W / h, 3 W / h, 2 W / h, 1 W / h or less.

  FIG. 14 shows an unmanned aerial vehicle (UAV) 1400 according to an embodiment of the present invention. A UAV may be an example of a movable object described herein. The UAV 1400 may comprise a propulsion system having four rotors 1402, 1404, 1406 and 1408. Any number of rotors may be provided (eg, one, two, three, four, five, six, or more). Multiple rotors, multiple rotor assemblies or other propulsion systems of an unmanned aerial vehicle may allow the unmanned aircraft to perform hovering / position maintenance, reorientation, and / or repositioning. The distance between the shafts of the opposing rotors may be any suitable length 410. For example, the length 1410 may be equal to 2 m or less than 2 m, or may be equal to 5 m or less than 5 m. In some embodiments, the length 1410 may be in the range of 40 cm to 1 m, 10 cm to 2 m, or 5 cm to 5 m. Any description herein for UAVs may be adapted to movable objects, for example different types of movable objects. The reverse is also true. The UAV may use the auxiliary takeoff system or method described herein.

  In some embodiments, the movable object may be configured to carry a load. A cargo may include one or more of passengers, cargo, equipment, equipment, and the like. The load may be provided in a housing. The housing may be separate from the housing of the movable object or may be a part of the housing for the movable object. Alternatively, the movable object may not have a housing, whereas the load may be provided with a housing. Alternatively, multiple portions of the load, or the entire load may be provided without a housing. The load may be rigidly fixed relative to the movable object. Optionally, the load may be movable relative to the movable object (eg, translatable or rotatable relative to the movable object). A load may include a load and / or a carrier, as described elsewhere herein.

  In some embodiments, the relative movement of movable objects, carriers, and loads relative to a fixed reference frame (eg, the ambient environment) and / or each other can be controlled by a terminal. The terminal device may be a remote control device located away from the movable object, carrier and / or load. The terminal device may be disposed on or attached to the support platform. Alternatively, the terminal device may be a handheld or wearable device. For example, the terminal device may include a smartphone, a tablet, a laptop, a computer, glasses, a glove, a helmet, a microphone, or a suitable combination thereof. The terminal device may include a user interface such as a keyboard, mouse, joystick, touch screen, or display. Any suitable user input such as multiple manually entered commands, voice control, gesture control, position control (eg via terminal device movement, position or tilt) may be used to interact with the terminal device. .

  A terminal device can be used to control any suitable state of the movable object, carrier and / or load. For example, terminal devices can be used to control the position and / or orientation of movable objects, carriers and / or loads relative to each other and / or relative to a fixed reference to each other. In some embodiments, a terminal device can be used to control a plurality of individual elements of a movable object, carrier and / or load. The plurality of elements may be a carrier actuation assembly, a load sensor, or a load emitter. The terminal device may include a wireless communication device adapted to communicate with one or more of a movable object, a carrier or a load.

  The terminal device may include a suitable display unit for viewing information on movable objects, carriers and / or loads. For example, the terminal device may be configured to display movable object, carrier and / or load information regarding position, translation speed, translation acceleration, orientation, angular velocity, angular acceleration, or any suitable combination thereof. . In some embodiments, the terminal device displays information provided from the load, such as data provided from the functional load (eg, multiple images recorded by a camera or other image capture device). Good.

  Optionally, the same terminal device controls the state of the movable object, carrier and / or load, or receives information from the movable object, carrier and / or load. And / or display. For example, the terminal device may control the positioning of the load relative to the environment while displaying image data captured by the load or information on the position of the load. Instead, different terminal devices may be used for different functions. For example, the first terminal device may control the movement or state of the movable object, carrier and / or load, while the second terminal device receives and / or receives information from the movable object, carrier and / or load. May be displayed. For example, the first terminal device may be used to control the positioning of the load relative to the environment, while the second terminal device displays the image data captured by the load. Between a movable object and an integrated terminal device that controls both the movable object and receives data, or between a movable object and multiple terminal devices that both control the movable object and receive data Between, various communication modes may be used. For example, at least two different communication modes may be formed between a movable object and a terminal device that performs both control of the movable object and reception of data from the movable object.

  FIG. 15 illustrates a movable object 1500 that includes a carrier 1502 and a load 1504, according to embodiments. Although movable object 1500 is illustrated as an aircraft, this illustration is not intended to be limiting and any suitable type of movable object may be used as described herein above. Those skilled in the art will appreciate that any of the embodiments described herein in connection with an aircraft system may be applied to any suitable movable object (eg, UAV). In some cases, the load 1504 may be provided on the movable object 1500 without the need for the carrier 1502. The movable object 1500 may include a propulsion mechanism 1906, a sensing system 1508, and a communication system 1510.

  As described above, the propulsion mechanism 1506 includes one or more of a plurality of rotors, a plurality of propellers, a plurality of blades, a plurality of engines, a plurality of motors, a plurality of wheels, a plurality of axles, a plurality of magnets, and a plurality of nozzles. Multiple may be included. The movable object may have one or more, two or more, three or more, four or more propulsion mechanisms. The plurality of propulsion mechanisms may all be of the same type. Alternatively, the one or more propulsion mechanisms may be different types of propulsion mechanisms. The propulsion mechanism 1506 may be mounted on the movable object 1500 using any suitable means, such as a support element (eg, a drive shaft), as described elsewhere herein. The propulsion mechanism 1506 can be attached to any suitable portion of the movable object 1500, such as top, bottom, front, back, side, or any suitable combination thereof.

  In some embodiments, the plurality of propulsion mechanisms 1506 do not require horizontal movement of the movable object 1500 (e.g., without going down the runway), or the movable object 1500 flies vertically from the surface, or is vertical. It may be possible to get down to the plane. Optionally, the propulsion mechanism 1506 may be operable to allow the movable object 1500 to hover in a particular position and / or orientation in the air. One or more of the plurality of propulsion mechanisms 1500 may be controlled independently of other propulsion mechanisms. Instead, the plurality of propulsion mechanisms 1500 may be configured to be controlled simultaneously. For example, the movable object 1500 may have a number of rotors that can be horizontally oriented to provide lift and / or thrust to the movable object. A number of horizontally oriented rotors can be operated to provide the movable object 1500 with vertical take-off, vertical landing, and hovering capabilities. In some embodiments, one or more of the horizontally oriented rotors may rotate clockwise, while one or more of the horizontal rotors rotate counterclockwise. It's okay. For example, the number of clockwise rotors may be equal to the number of counterclockwise rotors. To control the lift and / or thrust produced by each rotor, thereby adjusting the spatial arrangement, speed and / or acceleration of the movable object 1500 (eg, for a maximum of 3 translations and a maximum of 3 rotations) The rotation rates of the plurality of horizontally oriented rotors may be changed independently.

  Sensing system 1508 may include one or more sensors. These sensors may sense the spatial arrangement, velocity and / or acceleration of the movable object 1500 (eg, for a maximum of 3 translations and a maximum of 3 rotations). The one or more sensors may include multiple global positioning system (GPS) sensors, multiple motion sensors, multiple inertial sensors, multiple proximity sensors, or multiple image sensors. Sensing data provided by sensing system 1508 controls the spatial arrangement, velocity and / or orientation of movable object 1500 (eg, using an appropriate processing unit and / or control module as described below). Can be used as needed. Instead, the sensing system 1508 may provide data about the environment surrounding the movable object, such as weather conditions, proximity to potential obstacles, geographic feature locations, man-made building locations, etc. , Can be used to provide

  The communication system 1510 enables communication with the terminal device 1512 having the communication system 1514 via the radio signal 1516. The plurality of communication systems 1510, 1514 may include any number of transmitters, receivers and / or transceivers suitable for wireless communication. The communication may be a one-way communication so that data can be transmitted in only one direction. For example, the one-way communication may include only the movable object 1500 that transmits data to the terminal device 1512 or vice versa. Data may be transmitted from one or more transmitters of communication system 1510 to one or more receivers of communication system 1512. Or vice versa. Instead, the communication may be two-way communication so that data can be transmitted between the movable object 1500 and the terminal device 1512 in both directions. Bi-directional communication may include transmitting data from one or more transmitters of communication system 1510 to one or more receivers of communication system 1514 and vice versa.

  In some embodiments, the terminal device 1512 provides control data to one or more of the movable object 1500, the carrier 1502, and the load 1504, and from one or more of the movable object 1500, the carrier 1502, and the load 1504. Information may be received (eg, position and / or movement information of a movable object, carrier or load; data sensed by the load, such as image data captured by a load camera). In some cases, the control data from the terminal device may include a plurality of instructions for the relative position, movement, actuation or control of the movable object, carrier and / or load. For example, the control data may relate to changes in the position and / or orientation of the movable object (eg, via control of the propulsion mechanism 1506) or the movement of the load relative to the movable object (eg, via control of the carrier 1502). Good. Control data from the terminal device controls the operation of the camera or other image capture device (e.g. taking a still image or video, zooming in or out, powering on or off, switching the imaging mode, Changing the image resolution, changing the focus, changing the depth of field, changing the exposure time, changing the viewing angle or field of view), and the like. In some cases, communications from movable objects, carriers and / or loads may include information from one or more sensors (eg, those of sensing system 1508 or loads 1504). The communication may include sensing information from one or more different types of sensors (eg, multiple GPS sensors, multiple motion sensors, inertial sensors, multiple proximity sensors, or multiple image sensors). Such information may relate to the position (eg, position, orientation), movement or acceleration of movable objects, carriers and / or loads. Such information from the load may include data captured by the load or a sensed state of the load. The control data transmitted and provided by the terminal device 1512 may be configured to control one or more states of the movable object 1500, the carrier 1502, or the load 1504. Alternatively or in combination, the carrier 1502 and the load 1504 can also each include a communication module configured to communicate with the terminal device 1512 so that the terminal device independently can move the movable object 1500. , Communicate with each of the carrier 1502 and the load 1504 and control each of them.

  In some embodiments, the movable object 1500 can be configured to communicate with another remote device in addition to or instead of the terminal device 1512. The terminal device 1512 can also be configured to communicate not only with the movable object 1500 but also with another remote device. For example, the movable object 1500 and / or the terminal device 1512 may communicate with another movable object or with another movable object carrier or load. If desired, the remote device may be a second terminal device or other computing device (eg, a computer, laptop, tablet, smartphone or other mobile device). The remote device may be configured to transmit data to the movable object 1500, receive data from the movable object 1900, transmit data to the terminal device 1512, and / or receive data from the terminal device 1512. Optionally, the remote device can be connected to the Internet or other electronic communication network so that data received from the movable object 1500 and / or the terminal device 1512 can be uploaded to a website or server.

  FIG. 16 is a schematic diagram in block diagram form of a system 1600 for controlling a movable object in accordance with embodiments. System 1600 may be used in combination with any suitable embodiment of systems, devices, and methods described herein. System 1600 may include a sensing module 1602, a processing unit 1604, a non-transitory computer readable medium 1606, a control module 1608, and a communication module 1610.

  The sensing module 1602 may utilize different types of sensors that collect information about multiple movable objects in multiple different ways. The plurality of different types of sensors may sense a plurality of different types of signals or signals from different sources. For example, the plurality of sensors may include a plurality of inertial sensors, a plurality of GPS sensors, a plurality of proximity sensors (eg, a rider), or a plurality of visual / image sensors (eg, a camera). The sensing module 1602 can be operatively coupled to a processing unit 1604 having a plurality of processors. In some embodiments, the sensing module is operatively coupled to a transmission module 1612 (eg, a Wi-Fi image transmission module) configured to transmit the sensing data directly to an appropriate external device or system. sell. For example, the transmission module 1612 can be used to transmit a plurality of images captured by the camera of the sensing module 1602 to a remote terminal device.

  The processing unit 1604 may include one or more processors, such as a programmable processor (eg, a central processing unit (CPU)). Processing unit 1604 may be operatively coupled to non-transitory computer readable media 1606. Non-transitory computer readable media 1606 may store logic, code and / or multiple program instructions that may be executed by processing unit 1604 to perform one or more steps. Non-transitory computer readable media may include one or more memory units (eg, removable media such as an SD card or external storage, or random access memory (RAM)). In some embodiments, data from sensing module 1602 may be communicated and stored directly in multiple memory units of non-transitory computer readable media 1606. The plurality of memory units of the non-transitory computer readable medium 1606 may include logic, code, and / or code executable by the processing unit 1604 to implement any suitable embodiment of the methods described herein. Multiple program instructions can be stored. For example, the processing unit 1604 may be configured to execute a plurality of instructions that cause the one or more processors of the processing unit 1604 to analyze the sensing data produced by the sensing module. The plurality of memory units may store sensing data from the sensing module to be processed by the processing unit 1604. In some embodiments, multiple memory units of non-transitory computer readable media 1606 may be used to store multiple processing results produced by processing unit 1604.

  In some embodiments, the processing unit 1604 can be operatively coupled to a control module 1608 that is configured to control the state of the movable object. For example, the control module 1608 can be configured to control multiple propulsion mechanisms of the movable object to adjust the spatial arrangement, velocity and / or acceleration of the movable object with respect to six degrees of freedom. Alternatively or in combination, the control module 1608 may control one or more of the states of the carrier, load or sensing module.

  The processing unit 1604 is operatively coupled to a communication module 1610 that is configured to transmit and / or receive data from one or more external devices (eg, a terminal device, a display device or other remote controller). Can be done. Any suitable communication means such as wired communication or wireless communication can be used. For example, the communication module 1610 uses one or more of local area network (LAN), wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network, telecommunications network, cloud communication, and the like. Yes. Optionally, multiple relay stations such as multiple towers, multiple satellites, or multiple mobile stations may be used. The wireless communication may be a proximity dependent type or a proximity independent type. In some embodiments, line of sight may or may not be required for communication. The communication module 1610 receives one or more of sensing data from the sensing module 1602, a plurality of processing results created by the processing unit 1604, predetermined control data, a plurality of user commands from a terminal device or a remote controller, and the like. Can be transmitted and / or received.

  The multiple components of system 1600 may be arranged in any suitable configuration. For example, one or more of the components of system 1600 may be located on a movable object, carrier, load, terminal device, sensing system, or additional external device that communicates with one or more of the above. Further, FIG. 16 illustrates a single processing unit 1604 and a single non-transitory computer readable medium 1606, which is not intended to be limiting, and that the system 1600 includes multiple processing units and One of ordinary skill in the art will appreciate that a non-transitory computer readable medium may be included. In some embodiments, one or more of the plurality of processing units and / or non-transitory computer readable media are in different locations, eg, movable object, carrier, load, terminal device, sensing module, one or more of the above It can be placed on additional external devices that communicate with multiple or suitable combinations thereof. As a result, any suitable aspect of the processing and / or memory functions performed by system 1600 may occur at one or more of the above-described locations.

  Any description herein for the carrier may be compatible with the stabilization platform as described, or any other type of carrier.

  Optionally, the stabilization platform can be controlled by one operator. One operator may move the handle assembly (eg, carry the handle assembly), or move the handle assembly around (eg, control the movement of a movable object that can carry the stabilization platform). One operator may or may not control the direction of the load. In some cases, the load may remain in the same orientation as the handle assembly moves around, unless there is a command from the operator. Instead, the load may change direction according to a plurality of instructions from the processor. In other examples, the operator may provide input that can control the orientation of the load. For example, the operator can command the load to change the orientation about the yaw axis, pitch axis and / or roll axis relative to the fixed reference frame.

  In some cases, the stabilization platform can be controlled by two or more operators. For example, the first operator may move the handle assembly or move the handle assembly around. The second operator may or may not control the direction of the load. The second operator may have a remote control that can communicate with the stabilization platform. The remote control can receive multiple inputs from the second operator and send multiple commands to a stabilization platform that can control the movement of the load. For example, the plurality of instructions may rotate the load about a yaw axis, a roll axis, and / or a pitch axis relative to a fixed reference frame. In other examples, the instructions may control other functions of the load. For example, if the load is a camera, multiple commands can remotely turn the camera on or off, zoom in or out, control the lighting balance, control the shutter speed, and control the shooting mode. Or may allow control of any other type of camera function. The remote control can transmit multiple signals wirelessly to the stabilization platform. The on-board processor of the stabilization platform or a processor in communication with the stabilization platform may receive multiple signals from the remote control and generate signals that can be sent to the multiple motors of the stabilization platform. The plurality of motors can be activated in response to the generated signal and can cause the load to respond to a plurality of commands from a remote control.

  Any type of device can be used as a remote controller to control any aspect of the stabilization platform. In some cases, a remote controller or another device may be used to set up one or more functions of the stabilization platform. In some cases, multiple functions, such as deadband, maximum speed, smoothing, setting, or channel, can be determined using an external device. FIG. 17 shows an example of a remote device that can be used to control aspects or settings of the stabilization platform. In some cases, the remote controller or setup device may be a mobile device. The mobile device is, for example, a smartphone, tablet, laptop, personal digital assistant, wearable device (eg glasses, wristband, armband, glove, torso band, helmet, pendant) or any other type of mobile device .

  While several preferred embodiments of the present invention have been presented and described herein, it will be apparent to those skilled in the art that such embodiments are provided for illustrative purposes only. Numerous variations, changes and substitutions will now occur to those skilled in the art without departing from the invention. It should be understood that various alternatives to the embodiments of the invention described herein can be employed in the practice of the invention. It is intended that the following claims define the scope of the invention and that methods and structures within these claims and their equivalents be covered thereby.

Claims (12)

A platform to stabilize the load,
A frame assembly having a plurality of frame components that support the load and are movable relative to each other;
A handle assembly that supports the frame assembly and is switchable between a first orientation and a second orientation irrespective of the orientation of the load, and having a handle bar that connects two grips;
A plurality of motors that allow the plurality of frame components to move relative to each other;
The plurality of motors are:
Wherein Ri handle assembly said first orientation der, and if in a substantially horizontal orientation directing the handlebar, the handle assembly is the second orientation, the handlebar substantially vertical orientation A platform for controlling the load to be directed in the same direction .   The platform of claim 1, wherein the load is disposed laterally between the two grips when the handle assembly is in the first orientation. The platform of claim 1 or 2 , wherein the load is disposed between the two grips when the handle assembly is in the second orientation. The plurality of motors are:
Controls movement of the load about the yaw axis when the handle assembly is in the first orientation, and controls movement of the load about the roll axis when the handle assembly is in the second orientation. having a first motor, according to any one of claims 1 3 platform. The plurality of motors are:
Controls movement of the load about the roll axis when the handle assembly is in the first orientation, and controls movement of the load about the yaw axis when the handle assembly is in the second orientation. The platform according to any one of claims 1 to 4 , further comprising a second motor. The first motor is
The platform of claim 4 , wherein the platform assembly rotates a predetermined angle when the handle assembly changes from the first orientation to the second orientation. The platform according to any one of claims 1 to 6 , wherein the handle assembly further comprises a third grip extending from the handle bar between the two grips.   The platform of claim 7, wherein the third grip is in a position substantially perpendicular to the two grips. Wherein the plurality of motors, according to any one of claims 1 to 8 and-out movement of the handle assembly to maintain the orientation of independently the cargo platform. The cargo is a camera, according to any one of claims 1 to 9 platform.   The platform according to any one of claims 1 to 10, wherein at least one of the handle assembly, the plurality of frame components, and the plurality of motors comprises a plurality of sensors.   The platform according to claim 11, wherein the direction of the load is controlled by using information from the plurality of sensors.

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