Stabilizing platform

摘要

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.

主权项

1. An apparatus, comprising:
(a) a frame assembly adapted to hold a device, wherein the frame assembly comprises:
a first frame member configured to be coupled to the device;a second frame member rotatably coupled to the first frame member on a pitch axis of the device; anda third frame member rotatably coupled to the second frame member on a roll axis of the device that intersects with the device (b) a controller assembly comprising: an inertial measurement member configured to obtain state information comprising at least angular velocity and linear acceleration of the device; a controller configured to provide one or more motor signals based at least in part on posture information calculated from the state information; and (c) a motor assembly configured to directly drive the frame assembly in response to the one or more motor signals so as to allow the device to rotate around at least one of the pitch, roll or yaw axes; and wherein the apparatus further comprises a connecting assembly that connects a distal end of the second frame member and a distal end of the third frame member so as to support and stabilize the second frame member when the second frame member rotates relative to the third frame member, wherein the connecting assembly comprises a first connecting member, a second connecting member, and a third connecting member, which are sequentially and hingedly connected; a free end of the first connecting member is hingedly connected with a first distal end of the second frame member; a free end of the third connecting member is hingedly connected with a second distal end of the second frame member; and the second connecting member is connected with the third frame member, and wherein the motor assembly comprises a fourth motor configured to directly drive the second connecting member to rotate relative to the third frame member.