# US 10,766,635 B2 · Stabilizing platform > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,766,635 B2 - Document ID: US10766635B2 - Status: Granted - Kind: B2 - Application number: 15/916,618 - Filed: 2018-03-09 - Published: 2018-07-12 - Granted: 2020-09-08 - Earliest claimed: 2015-09-11 - Assignees: Sz Dji Osmo Technology Co., Ltd. - Applicants: Sz Dji Osmo Technology Co., Ltd. - Inventors: Zihan Chen - Web page: https://patentgrep.com/patent/US10766635B2 ## CPC - F16M 11/06: allowing pivoting - B64U 10/13: Flying platforms - B64U 20/87: Mounting of imaging devices, e.g. mounting of gimbals - F16M 11/123: {the axis of rotation intersecting in a single point, e.g. by using gimbals} - F16M 11/18: with mechanism for moving the apparatus relatively to the stand - F16M 11/205: {the axis of rotation intersecting in a single point, e.g. gimbals} - F16M 13/02: for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle - G03B 17/563: {Camera grips, handles (means in general for steadying hand-held apparatus F16M13/00)} - H04N 23/6812: {based on additional sensors, e.g. acceleration sensors} - H04N 23/685: {performed by mechanical compensation} - B64U 2101/31: for surveillance - B64U 2201/20: Remote controls - F16M 2200/041: for balancing rotational movement of the head - F16M 2200/044: for balancing rotational movement of the undercarriage - F16M 2200/06: Arms - F16M: FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR - 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) - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract A carrier for controlling torque delivery to a payload includes a carrier component configured to rotate about a carrier axis, a payload support structure coupled to the carrier component and configured to support the payload, and a rotational device coupled to the payload support structure. The rotational device includes a non-rotating portion directly coupled to the payload support structure and a rotating portion configured to rotate freely to provide a supplemental torque to the payload support structure to compensate for a torque transmission delay from the carrier component to the payload support structure when the carrier component rotates about the carrier axis. ## Claims ### Claim 1 A carrier for controlling torque delivery to a payload, comprising: a carrier component configured to rotate about a carrier axis; a payload support structure coupled to the carrier component and configured to support the payload; an actuator configured to generate a correction torque through the carrier component in response to and to correct for an external torque exerted onto the payload support structure; and a rotational device coupled to the payload support structure, comprising: a non-rotating portion directly coupled to the payload support structure; and a rotating portion configured to rotate freely to provide a supplemental torque to the payload support structure to compensate the correction torque for a torque transmission delay from the carrier component to the payload support structure when the carrier component rotates about the carrier axis, wherein the supplemental torque counteracts the external torque at the payload support structure before the correction torque reaches the payload support structure, and the supplemental torque is applied in a same direction as the correction torque. ### Claim 2 (depends on 1) The carrier of claim 1, wherein the rotational device is a reaction wheel comprising an actuator. ### Claim 3 (depends on 1) The carrier of claim 1, wherein a distance from the actuator to the payload support structure is substantially greater than a distance from the rotational device to the payload support structure. ### Claim 4 (depends on 3) The carrier of claim 3, wherein the distance from the actuator to the payload support structure is determined based at least on a length of the carrier component. ### Claim 5 (depends on 1) The carrier of claim 1, wherein the torque transmission delay is a result of a torsional deformation of a rotating portion of the actuator and a torsional deformation of the carrier component. ### Claim 6 (depends on 1) The carrier of claim 1, wherein the supplemental torque is reduced or removed when the correction torque is transmitted to the payload support structure. ### Claim 7 (depends on 6) The carrier of claim 6, wherein the supplemental torque is reduced or removed by applying an electric current to the rotational device that causes a rotor and/or an inertia wheel of the rotational device to decelerate. ### Claim 8 (depends on 1) The carrier of claim 1, wherein the external torque is generated and transmitted to the payload support structure as a result of external disturbances exerted on the payload support structure. ### Claim 9 (depends on 1) The carrier of claim 1, wherein the rotational device is a rotational motor including a stator and a rotor, the stator being rigidly and directly attached to the payload support structure to transmit the supplemental torque directly to the payload support structure without transmitting through any intervening parts, and the rotor being configured to rotate freely about an axis parallel to a yaw axis of an unmanned aerial vehicle by which the payload is being carried.