# US 10,321,060 B2 · Stabilizing platform

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- Number: US 10,321,060 B2
- Document ID: US10321060B2
- Status: Granted
- Kind: B2
- Application number: 15/487,172
- Filed: 2017-04-13
- Published: 2017-08-03
- Granted: 2019-06-11
- Earliest claimed: 2011-09-09
- Assignees: Sz Dji Osmo Technology Co., Ltd.
- Applicants: Sz Dji Osmo Technology Co., Ltd.
- Inventors: Tao Wang
- Web page: https://patentgrep.com/patent/US10321060B2

## CPC

- H04N 23/685: {performed by mechanical compensation}
- B64U 10/13: Flying platforms
- B64U 20/87: Mounting of imaging devices, e.g. mounting of gimbals
- F16M 11/10: around a horizontal axis {(F16M11/12 takes precedence)}
- F16M 11/18: with mechanism for moving the apparatus relatively to the stand
- F16M 11/2071: {for panning and rolling (F16M11/2078 takes precedence)}
- G02B 27/644: {compensating for large deviations, e.g. maintaining a fixed line of sight while a vehicle on which the system is mounted changes course}
- G02B 27/646: {compensating for small deviations, e.g. due to vibration or shake (movement of one or more optical elements for control of motion blur in cameras, projectors or printers G03B2205/0007; image stabilisation in cameras peculiar to the presence or use of an electronic image sensor H04N23/68)}
- G03B 15/006: {Apparatus mounted on flying objects}
- G03B 17/561: {Support related camera accessories}
- G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target}
- H04N 7/183: {for receiving images from a single remote source}
- H04N 23/54: Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
- H04N 23/6812: {based on additional sensors, e.g. acceleration sensors}
- B64U 2101/30: for imaging, photography or videography
- F16M 2200/04: Balancing means
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- F16M: FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR (optical parts of such apparatus G02B; photosensitive materials or processes for photographic purposes G03C; apparatus for processing exposed photographic materials G03D)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

The present invention provides an apparatus and related methods for stabilizing a payload device such an imaging device. The methods and apparatus provide fast response time for posture adjustment of the payload device while reducing the energy used.

## Claims

### Claim 1

An unmanned aerial vehicle (UAV) comprising:
(a) a central body;
(b) a plurality of propulsion units supported away from the central body and configured to rotate to generate lift during flight of the UAV;
(c) a frame assembly adapted to hold a device, wherein the frame assembly comprises:
a first frame member, wherein the device is configured to be coupled to the first frame member;
a second frame member, wherein the first frame member is rotatably coupled to the second frame member about a first rotational axis; and
a third frame member, wherein the second frame member is rotatably coupled to the third frame member about a second rotational axis, wherein the second axis is orthogonal to the first rotational axis; and
one or more adjustment members positioned on at least two of the frame members; and
(d) a motor assembly configured to directly drive the frame assembly in response to one or more motor signals so as to allow the device to rotate about at least one of a pitch axis, roll axis, or yaw axis, wherein the motor assembly comprises
a first motor configured to directly drive the first frame member to rotate around the first rotational axis in response to at least one of the one or more motor signals;
a second motor configured to directly drive the second frame member to rotate around the second rotational axis in response to at least one of the one or more motor signals; and
a third motor configured to directly drive the third frame member to rotate around a third rotational axis in response to at least one of the one or more motor signals;
wherein the one or more adjustment members are configured to adjust (1) a position of the first motor relative to the first frame member, such that a resulting center of gravity of (i) the device and (ii) the first frame member is collectively aligned on the first rotational axis, or (2) a position of the second motor relative to the second frame member, such that a resulting center of gravity of (i) the device, (ii) the first frame member, and (iii) the second frame member is collectively aligned on the second rotational axis.

### Claim 2 (depends on 1)

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

### Claim 3 (depends on 1)

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

### Claim 4 (depends on 1)

The UAV of claim 1, wherein a stator of the first motor is affixed to the first frame member and a rotor of the first motor is affixed to the second frame member, or the rotor of the first motor is affixed to the first frame member and the stator of the first motor is affixed to the second frame member; and a stator of the second motor is affixed to the second frame member and a rotor of the second motor is affixed to the third frame member, or the rotor of the second motor is affixed to the second frame member and the stator of the second motor is affixed to the third frame member.

### Claim 5 (depends on 1)

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

### Claim 6 (depends on 1)

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

### Claim 7 (depends on 1)

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

### Claim 8 (depends on 6)

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

### Claim 9 (depends on 6)

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

### Claim 10 (depends on 6)

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

### Claim 11 (depends on 1)

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

### Claim 12 (depends on 1)

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

### Claim 13 (depends on 1)

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

### Claim 14 (depends on 1)

The UAV of claim 1, wherein the center of gravity of (i) the device, (ii) the first frame member, (iii) the second frame member, and (iv) the third frame member, is located on the yaw axis.

### Claim 15 (depends on 1)

The UAV of claim 1, further comprising adjusting the position of the second frame member relative to the third frame member by adjusting the position of the second frame member along the third frame member.

### Claim 16 (depends on 1)

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

### Claim 17 (depends on 1)

A method for stabilizing a device on a UAV, said method comprising:
providing the UAV of claim 1;
adjusting (1) a position of the device relative to the first frame member, a position of the first frame member relative to the second frame member, or a position of the second frame member relative to the third frame member, or (2) a dimension of the frame assembly using the one or more adjustment members.

### Claim 18 (depends on 1)

The UAV of claim 1, wherein the adjustment members allow the frame assembly to accommodate payload devices of different dimensions, shapes, and/or weight.

### Claim 19 (depends on 1)

The UAV of claim 1, wherein the adjustment members comprise slits or holes.