# US 11,898,690 B1 · Spherical field of view (FOV) multiple payloads gimbal system and method of manufacturing and using the same

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- Number: US 11,898,690 B1
- Document ID: US11898690B1
- Status: Granted
- Kind: B1
- Application number: 18/061,462
- Filed: 2022-12-04
- Granted: 2024-02-13
- Earliest claimed: 2022-12-04
- Applicants: Quoc Viet Luong
- Inventors: Quoc Viet Luong
- Web page: https://patentgrep.com/patent/US11898690B1

## CPC

- F16M 11/123: {the axis of rotation intersecting in a single point, e.g. by using gimbals}
- F16M 11/041: {Allowing quick release of the apparatus}
- F16M 11/08: around a vertical axis {, e.g. panoramic heads (F16M11/12 takes precedence)}
- F16M 11/18: with mechanism for moving the apparatus relatively to the stand
- F16M 11/2064: {for tilting and panning (F16M11/2078 takes precedence)}
- F16M 11/2085: {comprising means allowing sideward adjustment, i.e. left-right translation of the head relatively to the undercarriage}
- F16M 11/24: changeable in height or length of legs, also for transport only, {e.g. by means of tubes screwed into each other}(F16M11/42 takes precedence)
- G05B 6/02: electric
- B64C 39/024: {of the remote controlled vehicle type, i.e. RPV}
- B64D 47/08: Arrangements of cameras
- B64U 20/87: Mounting of imaging devices, e.g. mounting of gimbals
- F16M 2200/041: for balancing rotational movement of the head
- F16M 2200/044: for balancing rotational movement of the undercarriage
- G03B 17/561: {Support related camera accessories}
- F16M: FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- B64C: AEROPLANES; HELICOPTERS
- B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- 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)

## Abstract

A method and a spherical field of view gimbal system (“gimbal system”) are provided, comprising: a suspension arm having a first terminal and a second terminal; a first gimbal arm connected to the suspension arm; a second L-shaped gimbal arm connected to the gimbal arm; and a third L-shaped gimbal arm connected to the first gimbal arm; and controller circuit configured to measure the errors in rotational angles and adjust the rotations of the second L-shaped gimbal arm and second L-shaped gimbal arm accordingly.

## Claims

### Claim 1

A spherical field of view gimbal system (“gimbal system”), comprising:
(a) a suspension arm having a first terminal and a second terminal, wherein said first terminal is connected to a transport vehicle;
(b) a first gimbal arm connected to said second terminal of said suspension arm in a manner that allows said first gimbal arm to roll in 360°;
(c) a second extendable telescoping L-shaped gimbal arm connected to a third terminal of said first gimbal arm in a manner that allows said extendable telescoping second L-shaped gimbal arm to pitch and yaw independently in 360°; and
(d) a third extendable telescoping L-shaped gimbal arm connected to a fourth terminal of said first gimbal arm in a manner that allows said third extendable telescoping L-shaped gimbal arm to pitch and yaw independently in 360°.

### Claim 2 (depends on 1)

The gimbal system of claim 1 further comprising:
(e) a plurality of rotors operable to pitch and yaw said second extendable telescoping L-shaped gimbal arm in 360° and pitch and yaw said third extendable telescoping L-shaped gimbal arm in in 360°;
(e) a plurality of sensors operable to sense rotational angles of said first second extendable telescoping L-shaped gimbal arm and said third extendable telescoping L-shaped gimbal arm; and
(f) a controller circuit, electrically coupled to said plurality of sensors, operable to cause said plurality of rotors to rotate according to predetermined angles of rotation.

### Claim 3 (depends on 2)

The gimbal system of claim 2 wherein said controller circuit further comprises:
a PID circuit operable to measure error angles which are the differences between said predetermined angles of rotation and actual measured angles of rotation;
a arithmetic logic unit (ALU) operable to calculate Euler rotation matrices for said second extendable telescoping L-shaped gimbal arm and said third L-shaped extendable telescoping gimbal arm; and
a Geo Positioning System (GPS) operable to determine positions of said gimbal system with respect to a fixed frame of reference.

### Claim 4 (depends on 1)

The gimbal system of claim 1 wherein said controller circuit further comprises:
a feedback control circuit; electrically coupled to said plurality of sensors, said controller circuit, and said plurality of rotors; operable to provide said error angles.

### Claim 5 (depends on 3)

The gimbal system of claim 3 further comprising a plurality of feedback sensors each coupled to said plurality of rotors, operable to measure said actual measured angles of rotation.

### Claim 6 (depends on 4)

The gimbal system of claim 4 wherein said plurality of sensors further comprises inertia measurement units (IMUs).

### Claim 7 (depends on 1)

The gimbal system of claim 1 further comprising a transceiver circuit electrically coupled to said controller circuit.

### Claim 8 (depends on 1)

The gimbal system of claim 1 wherein said first extendable telescoping L-shaped gimbal arm and said second extendable telescoping L-shaped gimbal arm each comprises:
a first section; and
a second section connected to said first section by a joint at a 90° angle; wherein said first section is coupled to said first gimbal arm.

### Claim 9 (depends on 8)

The gimbal system of claim 8 wherein said second section is a telescoping tube capable of extending a length of said second section so that said first extendable telescoping L-shaped gimbal arm and said second extendable telescoping L-shaped gimbal arm is capable of supporting at least one payloads.

### Claim 10 (depends on 8)

The gimbal system of claim 8 wherein said telescoping tube further comprises:
a third pitch rotor; and
a third yaw rotor.

### Claim 11 (depends on 9)

The gimbal system of claim 9 wherein said third extendable telescoping L-shaped gimbal arm further comprises:
a third section; and
a fourth section connected to said third section by a second joint at a 90° angle; wherein said third section is coupled to said first gimbal arm.

### Claim 12 (depends on 11)

The gimbal system of claim 11 wherein said fourth section is a second telescoping tube capable of extending a length of said fourth section.

### Claim 13 (depends on 11)

The gimbal system of claim 11 wherein said second telescoping tube further comprises:
a fourth pitch rotor; and
a fourth yaw rotor.

### Claim 14

A method of obtaining a spherical field of view gimbal system, comprising:
(a) preparing a gimbal structure comprising: a suspension arm having a first terminal and a second terminal, wherein said first terminal is connected to a host vehicle; a first gimbal arm connected to said second terminal of said suspension arm in a manner that allows said first gimbal arm to roll in 360°; a second extendable telescoping L-shaped gimbal arm connected to a third terminal of said first gimbal arm in a manner that allows said second extendable telescoping L-shaped gimbal arm to pitch and yaw in 360°; and a third extendable telescoping L-shaped gimbal arm connected to a fourth terminal of said first gimbal arm in a manner that allows said first gimbal arm to pitch and yaw in 360°;
(b) measuring actual angles of rotation of said second extendable telescoping L-shaped gimbal arm and said third extendable telescoping L-shaped gimbal arm;
(c) determining differences between said actual angles of rotation and predetermined angles of rotation of said second extendable telescoping L-shaped gimbal arm and said third extendable telescoping L-shaped gimbal arm;
(d) if said differences are substantially zero, then rotating said second extendable telescoping L-shaped gimbal arm and said third extendable telescoping L-shaped gimbal arm to said predetermined angles of rotation;
(e) otherwise, converting said differences into voltages which rotate said second extendable telescoping L-shaped gimbal arm and said third extendable telescoping L-shaped gimbal arm to said predetermined angles of rotation.

### Claim 15 (depends on 14)

The method of claim 14 wherein said step (b) of measuring actual angles of rotation of said second extendable telescoping L-shaped gimbal arm and said third extendable telescoping L-shaped gimbal arm using a plurality of inertia measurement sensor units.

### Claim 16 (depends on 14)

The method of claim 14 wherein said step of (b) measuring actual angles of rotation of said second extendable telescoping L-shaped gimbal arm and said third extendable telescoping L-shaped gimbal arm further comprises:
measuring first total external forces and torques exerting on said second extendable telescoping L-shaped gimbal arm; and
measuring second total external forces and torques exerting on said third extendable telescoping L-shaped gimbal arm.

### Claim 17 (depends on 15)

The method of claim 15 said step of (b) measuring actual angles of rotation of said second extendable telescoping L-shaped gimbal arm and said third extendable telescoping L-shaped gimbal arm further comprises associating said first total external forces and said second total external forces to said differences in angles of rotation for said second extendable telescoping L-shaped gimbal arm and said third extendable telescoping L-shaped gimbal arm.

### Claim 18 (depends on 15)

The method of claim 15 said step (b) measuring actual angles of rotation of said second extendable telescoping L-shaped gimbal arm and said third extendable telescoping L-shaped gimbal arm further comprises: using associations between said first total external forces and said second total external forces to said differences in angles of rotation to compensate for said difference in angles of rotation.

### Claim 19 (depends on 14)

The method of claim 14 wherein said step (c) of determining differences between said actual angles of rotation and predetermined angles of rotation of said second extendable telescoping L-shaped gimbal arm and said third extendable telescoping L-shaped gimbal arm further comprises: using Euler rotation matrices in three dimensional space methods.

### Claim 20 (depends on 14)

The method of claim 14 wherein said step (c) of determining differences between said actual angles of rotation and predetermined angles of rotation of said second extendable telescoping L-shaped gimbal arm and said third extendable telescoping L-shaped gimbal arm further comprises: using quaternion transformation in three dimensional space methods.