U.S. patent application number 17/367483 was filed with the patent office on 2021-11-04 for stabilizing platform and camera.
The applicant listed for this patent is SZ DJI TECHNOLOGY CO., LTD.. Invention is credited to Peng BIN, Peng WANG, Chengyu YIN.
Application Number | 20210339884 17/367483 |
Document ID | / |
Family ID | 1000005725045 |
Filed Date | 2021-11-04 |
United States Patent
Application |
20210339884 |
Kind Code |
A1 |
BIN; Peng ; et al. |
November 4, 2021 |
STABILIZING PLATFORM AND CAMERA
Abstract
A circuit board of a payload includes a substrate, and an
inertial measurement unit (IMU) supported on a peninsula-like
portion of the substrate and configured to measure a state of the
payload. Only one side of the peninsula-like portion is attached to
other portion of the substrate.
Inventors: |
BIN; Peng; (Shenzhen,
CN) ; WANG; Peng; (Shenzhen, CN) ; YIN;
Chengyu; (Shenzhen, CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SZ DJI TECHNOLOGY CO., LTD. |
Shenzhen |
|
CN |
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|
Family ID: |
1000005725045 |
Appl. No.: |
17/367483 |
Filed: |
July 5, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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16994364 |
Aug 14, 2020 |
11053022 |
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17367483 |
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16044924 |
Jul 25, 2018 |
10745148 |
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16994364 |
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PCT/CN2016/072229 |
Jan 26, 2016 |
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16044924 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G03B 17/561 20130101;
F16M 2200/042 20130101; B64C 2201/141 20130101; F16M 13/022
20130101; B64C 2201/127 20130101; B64C 2201/146 20130101; B64D
47/08 20130101; F16M 11/2071 20130101; F16M 13/02 20130101; F16M
11/18 20130101; B64C 39/024 20130101; G03B 15/006 20130101; F16M
2200/044 20130101; B64C 2201/027 20130101; F16M 2200/041 20130101;
F16M 11/10 20130101; G05D 1/0094 20130101 |
International
Class: |
B64D 47/08 20060101
B64D047/08; B64C 39/02 20060101 B64C039/02; F16M 13/02 20060101
F16M013/02; F16M 11/20 20060101 F16M011/20; F16M 11/18 20060101
F16M011/18; F16M 11/10 20060101 F16M011/10; G03B 15/00 20060101
G03B015/00; G03B 17/56 20060101 G03B017/56 |
Claims
1. A circuit board of a payload, comprising: a substrate; and an
inertial measurement unit (IMU) supported on a peninsula-like
portion of the substrate and configured to measure a state of the
payload, wherein only one side of the peninsula-like portion is
attached to other portion of the substrate.
2. The circuit board of claim 1, wherein the payload is an imaging
apparatus, the circuit board further comprising: an optical sensor
is supported on the substrate and configured to be optically
coupled to an optical lens to generate an image.
3. The circuit board of claim 1, further comprising: a vibration
dampening member configured to damp shock or vibration introduced
from the payload to the IMU.
4. The circuit board of claim 3, wherein the vibration dampening
member is configured to press an exterior electrical cable to a
connector of the circuit board.
5. The circuit board of claim 3, wherein the vibration dampening
member is configured to cover the IMU to keep a constant working
temperature of the IMU.
6. The circuit board of claim 1, wherein: the circuit board is
fixedly attached to the payload.
7. The circuit board of claim 6, wherein: the circuit board is
fixedly attached to a rear cover of the payload.
8. The circuit board of claim 6, wherein: the circuit board is
fixedly attached to the payload with an interlayer therebetween,
the interlayer including a vibration dampening member.
9. The circuit board of claim 8, wherein the interlayer fills
between the IMU and a rear cover of the payload.
10. The circuit board of claim 1, further comprising: an electronic
speed control (ESC) unit supported on the substrate, the ESC unit
being connected to the IMU and an actuator, and the ESC unit being
configured to control actuation of the actuator based on the state
of the payload measured by the IMU.
11. The circuit board of claim 10, wherein: the IMU includes a
gyroscope, an accelerometer, or an IMU controller; the IMU
controller is further configured to generate control instructions
based upon the state of the payload; and the ESC unit is configured
to further control the actuation of the actuator according to the
control instructions.
12. An imaging apparatus, comprising: an optical lens; and a
circuit board including: a substrate; an optical sensor supported
on the substrate and configured to be optically coupled to the
optical lens to generate an image; and an inertial measurement unit
(IMU) supported on a peninsula-like portion of the substrate and
configured to measure a state of the imaging apparatus, wherein
only one side of the peninsula-like portion is attached to other
portion of the substrate.
13. The imaging apparatus of claim 12, wherein the circuit board
further includes: a vibration dampening member configured to damp
shock or vibration introduced from the imaging apparatus to the
IMU.
14. The imaging apparatus of claim 13, wherein the vibration
dampening member is configured to press an exterior electrical
cable to a connector of the circuit board.
15. The imaging apparatus of claim 12, wherein: the circuit board
is fixedly attached to a rear cover of the imaging apparatus; or
the circuit board is fixedly attached to the imaging device with an
interlayer therebetween, the interlayer including a vibration
dampening member.
16. The imaging apparatus of claim 12, wherein: the imaging
apparatus is carried and supported by a stabilizing platform, the
stabilizing platform including a frame assembly configured to
support the imaging apparatus, an actuator configured to permit the
frame assembly to carry the imaging apparatus to move, and an
electronic speed control (ESC) unit configured to control actuation
of the actuator.
17. The imaging apparatus of claim 16, wherein the ESC unit is
integrated on the circuit board.
18. The imaging apparatus of claim 16, wherein: the IMU includes a
gyroscope, an accelerometer, or an IMU controller; the IMU
controller is further configured to generate motor control
instructions based upon the state of the imaging apparatus; and the
ESC unit is configured to further control the actuation of the
actuator according to the motor control instructions.
19. An unmanned aerial vehicle, comprising: a payload; a circuit
board including: a substrate; an inertial measurement unit (IMU)
supported on a peninsula-like portion of the substrate and
configured to measure a state of the payload, wherein only one side
of the peninsula-like portion is attached to other portion of the
substrate; and a stabilizing platform configured to support and
carry the payload, the stabilizing platform including: a frame
assembly configured to support the payload; an actuator configured
to permit the frame assembly to carry the payload to move; and an
electronic speed control (ESC) unit configured to control actuation
of the actuator.
20. The imaging system of claim 19, wherein the actuator is a pitch
actuator.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of application Ser. No.
16/994,364, filed on Aug. 14, 2020, which is a continuation of
application Ser. No. 16/044,924, filed on Jul. 25, 2018, now U.S.
Pat. No. 10,745,148, which is a continuation of International
Application No. PCT/CN2016/072229, filed on Jan. 26, 2016, the
entire contents of all of which are incorporated herein by
reference.
BACKGROUND
[0002] A stabilizing platform such as a gimbal may be provided to
stabilize a payload, which may include sensors, cargos and/or a
device. For example, a payload may comprise a camera that requires
stabilization while shooting still photographs or video. A
multi-dimensional gimbal may be capable of providing stabilization
in more than one dimension by controlling the gimbal in response to
a movement of the payload.
[0003] Existing approaches for controlling the gimbal motor may not
be optimal in some instances. For example, a delay in transmitting
motor control instructions from a state measurement device to
electronic speed control (ESC) units may cause a delayed control of
gimbal motors, which may prevent the gimbal from timely adjusting
its attitude according to a state change of the payload.
SUMMARY OF THE DISCLOSURE
[0004] Systems and methods are provided for reducing a delay in
adjusting gimbal attitude according to information about a payload
state measured by a state measurement device, such as an inertial
measurement unit (IMU). More than one gimbal motor may be provided
in a multi-dimensional gimbal, each of which may be controlled by a
corresponding electronic speed control (ESC) unit. One or more ESC
units may be on or in the payload (such as a camera) carried by the
gimbal to directly control the corresponding gimbal motors based
upon the state information of the payload. In some embodiments, one
or more ESC units for controlling a pitch motor of the gimbal may
be on or in the payload. The one or more ESC units may be provided
on the same electrical board with the IMU or may be integrated with
the IMU. Various embodiments provided herein enable a real time
control of at least the pitch motor of the gimbal to respond to a
state change of the payload, thereby reducing a response time of
adjusting the attitude of the gimbal and improving the
stabilization of payload in response to a change in state of the
payload.
[0005] An aspect of the disclosure may provide a stabilizing
platform for stabilizing a payload, the stabilizing platform
comprising: a frame assembly comprising a plurality of frame
components movable relative to one another, the frame assembly
being configured to support the payload; a plurality of actuators
configured to permit the plurality of frame components to move
relative to one another, the plurality of actuators comprising a
first actuator that is configured to control movement of the
payload about a first axis, and a second actuator that is
configured to control movement of the payload about a second axis;
and a plurality of electronic speed control (ESC) units each
electrically coupled to a corresponding actuator of the plurality
of actuators in order to control actuation of the plurality of
actuators, wherein at least one of the plurality of ESC units is
received in the payload.
[0006] Aspects of the disclosure may also provide a method of
stabilizing a payload, the method comprising: supporting the
payload using a frame assembly comprising a frame assembly having a
plurality of frame components movable relative to one another;
permitting the plurality of frame components to move relative to
one another using a plurality of actuators, the plurality of
actuators including a first actuator that is configured to control
movement of the payload about a first axis, and a second actuator
that is configured to control movement of the payload about a
second axis; and controlling actuation of the plurality of
actuators using a plurality of electronic speed control (ESC)
units, each of the plurality of ESC units electrically coupled to a
corresponding actuator of the plurality of actuators in order to
control actuation of the actuators, wherein at least one of the
plurality of ESC units is received in the payload.
[0007] Aspects of the disclosure may also provide a movable object,
comprising: a body; one or more propulsion units carried by the
body and configured to effect a moving of the movable object; and a
stabilizing platform of an aspect of the disclosure for stabilizing
a payload, the stabilizing platform is configured to stabilize the
payload.
[0008] Aspects of the disclosure may also provide an imaging
system, comprising: an optical camera; a stabilizing platform of an
aspect of the disclosure for stabilizing a payload, the stabilizing
platform is configured to stabilize the payload.
[0009] Aspects of the disclosure may also provide a circuit board,
comprising: a substrate configured for supporting and connecting
electrical components; a state measurement member supported on the
substrate, wherein the state measurement member is configured to
measure a state of an object; and at least one electronic speed
control (ESC) unit supported on the substrate, wherein the at least
one ESC unit is electrically coupled to the state measurement
member and a corresponding actuator of a plurality of actuators,
the at least one ESC unit is configured to control actuation of the
corresponding actuator in response to the state of the object.
[0010] Aspects of the disclosure may also provide a method of
producing a circuit board, the method comprising: disposing a state
measurement member on a substrate, wherein the state measurement
member is configured to measure a state of an object; and disposing
at least one electronic speed control (ESC) unit on the substrate,
wherein the at least one ESC unit is electrically coupled to the
state measurement member, and each of the at least one ESC unit is
electrically coupled to a corresponding actuator of a plurality of
actuators and is configured to control actuation of the
corresponding actuator in response to the state of the object.
[0011] Aspects of the disclosure may also provide an imaging
apparatus, the imaging apparatus comprising: an optical lens for
collecting light beams of an object; at least one optical sensor
optically coupled to the optical lens and generating an image of
the object; and a circuit board of an aspect of the disclosure,
wherein the state measurement member is configured to measure a
state of the imaging apparatus.
[0012] Aspects of the disclosure may also provide an integrated
circuit, comprising: an electrical circuit for state measurement,
wherein the electrical circuit for state measurement is configured
to measure a state of an object; and an electrical circuit for
actuator control, wherein the electrical circuit for actuator
control is electrically coupled the electrical circuit for state
measurement and a corresponding actuator among a plurality of
actuators, the electrical circuit for actuator control is
configured to control actuation of the corresponding actuator in
response to the state of the object.
[0013] Aspects of the disclosure may also provide a method of
producing an integrated circuit, the method comprising: providing
an electrical circuit for state measurement, wherein the electrical
circuit for state measurement is configured to measure a state of
an object; and providing an electrical circuit for actuator
control, wherein the electrical circuit for actuator control is
electrically coupled the electrical circuit for state measurement
and a corresponding actuator among a plurality of actuators, the
electrical circuit for actuator control is configured to control
actuation of the corresponding actuator in response to the state of
the object.
[0014] Aspects of the disclosure may also provide an imaging
apparatus, the imaging apparatus comprising: an optical lens for
collecting light beams of an object; at least one optical sensor
optically coupled to the optical lens and generating an image of
the object; and a circuit board supporting the integrated circuit
of an aspect of the disclosure, wherein the electrical circuit for
state measurement is configured to measure a state of the imaging
apparatus.
[0015] It shall be understood that different aspects of the
disclosure can be appreciated individually, collectively, or in
combination with each other. Various aspects of the disclosure
described herein may be applied to any of the particular
applications set forth below or for any other types of stationary
or movable objects. Any description herein of aerial vehicles, such
as unmanned aerial vehicles, may apply to and be used for any
movable object, such as any vehicle. Additionally, the systems,
devices, and methods disclosed herein in the context of aerial
motion (e.g., flight) may also be applied in the context of other
types of motion, such as movement on the ground or on water,
underwater motion, or motion in space.
[0016] Other objects and features of the present disclosure will
become apparent by a review of the specification, claims, and
appended figures.
INCORPORATION BY REFERENCE
[0017] All publications, patents, and patent applications mentioned
in this specification are herein incorporated by reference to the
same extent as if each individual publication, patent, or patent
application was specifically and individually indicated to be
incorporated by reference.
BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The novel features of the disclosure are set forth with
particularity in the appended claims. A better understanding of the
features and advantages of the present disclosure will be obtained
by reference to the following detailed description that sets forth
illustrative embodiments, in which the principles of the disclosure
are utilized, and the accompanying drawings of which:
[0019] FIG. 1 shows a carrier which includes a stabilizing platform
carrying a payload in accordance with an embodiment of the
disclosure.
[0020] FIG. 2 shows a carrier which comprises a stabilizing
platform carrying a payload in accordance with an embodiment of the
disclosure.
[0021] FIG. 3 shows a stabilizing platform which comprises a
payload, a plurality of gimbal motors and a plurality of electronic
speed control (ESC) units, in accordance with an embodiment of the
disclosure.
[0022] FIG. 4 is a flow chart illustrating a method of stabilizing
a payload, in accordance with an embodiment of the disclosure.
[0023] FIG. 5 shows a schematic of a circuit board on which at
least a state measurement device and an ESC unit are provided, in
accordance with an embodiment of the disclosure.
[0024] FIG. 6 is a flow chart illustrating a method of producing a
circuit board, in accordance with an embodiment of the
disclosure.
[0025] FIG. 7 is a flow chart illustrating a method of producing an
integrated circuit, in accordance with an embodiment of the
disclosure.
[0026] FIG. 8 is an exploded view illustrating an imaging device in
accordance with an embodiment of the disclosure.
[0027] FIG. 9 is an exploded view illustrating an imaging device in
accordance with an embodiment of the disclosure.
[0028] FIG. 10 is a diagram illustrating a circuit board carrying
an IMU being fixedly attached to an imaging device, in accordance
with an embodiment of the disclosure.
[0029] FIG. 11 is a diagram illustrating a circuit board carrying
an IMU to be fixedly attached to a rear cover of an imaging device,
in accordance with an embodiment of the disclosure.
[0030] FIG. 12 is a diagram illustrating a circuit board carrying
an IMU being fixedly attached to a rear cover of an imaging device,
in accordance with an embodiment of the disclosure.
[0031] FIG. 13 illustrates a movable object including a carrier and
a payload, in accordance with embodiments of the present
disclosure.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[0032] A payload such as a camera may be carried on a stabilizing
platform which can provide stability to the payload during a
movement. One example of the stabilizing platform may be a
multi-dimensional gimbal which comprises a plurality of gimbal
frames driven by gimbal motors. The methods and systems described
herein reduce a delay in adjusting gimbal attitude according to
state information of a payload carried on the gimbal. The state
information of the payload may be measured by a state measurement
device such as an inertial measurement unit (IMU) which may be
provided with the payload. The operation of the plurality of gimbal
motors may be respectively controlled by corresponding electronic
speed control (ESC) units which may regulate the rotating speed and
direction of corresponding gimbal motor based upon motor control
instructions which are generated by the IMU from the measured state
information of the payload, such that any change in the state of
the payload may be compensated and the payload may thus be
stabilized.
[0033] In some embodiments, one or more ESC units may be located on
or in the payload to directly control the corresponding gimbal
motor to reduce a delay in transmitting the motor control
instructions from a state measurement device to the ESC units. For
instance, one or more ESC units for controlling a pitch motor of
the gimbal may be supported by the payload. In some embodiments,
the one or more ESC unit may be provided on a same circuit board
with the state measurement member or be integrated with the state
measurement member. As compared to the conventional ESC
configuration in which ESC units are provided separately from the
state measurement device and the motor control instructions, which
are generated from the measured state information, are transmitted
through a signal bus or a twisted-pair cable, systems and methods
provided herein may permit the ESC units provided on a common
support or integrated into the state measurement member to react
more quickly. Due to the merit of ultra-high speed of on-board and
on-chip signal transmission, the motor control instructions may be
transmitted to the at least one ESC unit on the same circuit board
in substantial real time. The ESC unit can actuate the movement of
corresponding motor and adjust the gimbal attitude in real time.
Therefore, extremely quick or real time stability is provided to
the payload. When the payload is a camera, the quality of the
captured image and video is improved due to increased
stability.
[0034] FIG. 1 shows a carrier 100 which comprises a stabilizing
platform 102 carrying a payload in accordance with an embodiment of
the disclosure. The stabilizing platform 102 such as a gimbal may
carry a payload 110 such as a camera. In some embodiments, the
carrier may include a support member 104 which supports the payload
and being connected to a bearing object, such as an unmanned aerial
vehicle (UAV).
[0035] The stabilizing platform is supported on a central body of a
bearing object such as a UAV. The stabilizing platform is located
beneath the central body of the bearing object. The stabilizing
platform may be located above or to the side of the bearing object.
The stabilizing platform is located beneath one or more arms of the
bearing object, and/or between one or more landing supports of the
bearing object configured to bear weight of the bearing object when
the bearing object is stationary. The stabilizing platform may or
may not be supported on one or more extension members of the
bearing object such as arms of a UAV. The stabilizing platform may
be supported by a housing of the bearing body. The stabilizing
platform may be attached to an external surface of the housing the
bearing object. The stabilizing platform may be embedded within an
external surface of the housing of the bearing body.
[0036] The stabilizing platform is directly attached to a bearing
object. Alternatively, the stabilizing platform may be attached to
a bearing object through the support member. The support member may
be connected to the stabilizing platform at one end and to the
bearing object at the other end. In some instances, the support
member may be fixedly connected to the stabilizing platform and/or
the bearing object. For example, the support member may be
connected to the stabilizing platform and/or the bearing object
through bolts, screws, studs, etc. Alternatively, the support
member may be removably connected to the stabilizing platform
and/or the bearing object. For example, the support member may be
connected to the stabilizing platform and/or the bearing object
through one or more interlocking components such as snap fits or
quick releases.
[0037] The support member has a shape consistent to a portion of
the bearing object to which the support member connected. For
example, the support member as shown in FIG. 1 has a shape
consistent to an UAV body to which it is connected, such that the
support member may be connected to the bearing object seamlessly.
Alternatively, the support member may not have shape consistent to
a portion of the bearing object to which the support member
connected.
[0038] The support member may permit vibration reduction. For
example, the support member may comprise one or more damping
elements such as rubber balls or springs to filter out a shock
and/or vibration from the bearing object. The support member may
prevent some of the vibration or reduce the degree of vibration
from the bearing object from reaching the stabilizing platform. The
vibration reduction may occur in a vertical direction and/or
lateral direction.
[0039] The support member may accommodate various electrical or
mechanic components which are used to operate the stabilizing
platform and/or the bearing object. For example, at least one of a
battery pack, a payload controller, a bearing object controller, a
communication unit, sensors, a memory, a port, a light, or a
navigation system may be received in the support member. The
support member may optionally include a housing that may enclose
one or more components, such as electrical or mechanical
components. The housing may enclose any of the components
described. Any of the components may be located on an external
surface of the housing, internal surface of the housing, or
embedded within the housing. The housing may or may not be fluid
tight (e.g., air tight, water tight).
[0040] The bearing object bears the weight of the stabilizing
platform. The bearing object is located at a terminal end of the
stabilizing platform. A support member may or may not be provided
between the stabilizing platform and the bearing object. The
movement of the bearing object may be independent of the movement
of the payload. The bearing object may be a movable object, or a
stationery object. The bearing object may be a non-living object or
may be a living being (or may be supported by a living being). The
movable object may be capable of self-propelled movement (e.g., a
vehicle), while the stationary object may not be capable of
self-propelled movement. The bearing object may be a handheld
object, such as a handheld stabilizer. The bearing object may be
carried by a movable object and/or removably attached to a movable
object. The movable object may be an unmanned aerial vehicle (UAV).
Any description herein of an object, such as a movable object, may
apply to any type of movable object, or a stationary object, such
as a UAV or any other examples described elsewhere herein, and vice
versa. The UAV has one or more propulsion units that may permit the
UAV to move about in the air. The UAV may be a rotorcraft. In some
instances, the UAV may be a multi-rotor craft that may include a
plurality of rotors. The plurality of rotors are capable of
rotating to generate lift for the UAV, enabling the UAV to move
about freely through the air (e.g., with up to three degrees of
freedom in translation and/or up to three degrees of freedom in
rotation). The bearing object may be capable of spatial translation
(e.g., along, one, two, or three directions) and/or change in
orientation (e.g., about one, two, or three axes).
[0041] The stabilizing platform may be mounted to the bearing
object using a permanent or temporary attachment. The stabilizing
platform may be removably attached to the bearing object. The
stabilizing platform may be removably attached to a support member,
or the support member may be removably attached to the bearing
object.
[0042] The payload carried by the stabilizing platform may include
a device capable of sensing the environment about the movable
object, a device capable of emitting a signal into the environment,
and/or a device capable of interacting with the environment. One or
more sensors may be provided as a payload, and may be capable of
sensing the environment. An example of a sensor may be a camera.
Any other sensors, such as those described elsewhere herein may be
provided as a payload.
[0043] In one example, the payload may be a camera. Any description
herein of a camera may apply to any type of image capture device,
and vice versa. A camera is a physical imaging device. An imaging
device can be configured to detect ambient light (e.g., visible,
infrared, and/or ultraviolet light) and generate image data based
on the detected ambient light. An imaging device includes an image
sensor, such as a charge-coupled device (CCD) sensor or a
complementary metal-oxide-semiconductor (CMOS) sensor that
generates electrical signals in response to wavelengths of light.
The resultant electrical signals can be processed to produce image
data. The image data generated by an imaging device can include one
or more images, which may be static images (e.g., photographs),
dynamic images (e.g., video), or suitable combinations thereof. The
image data can be polychromatic (e.g., RGB, CMYK, HSV) or
monochromatic (e.g., grayscale, black-and-white, sepia). The
imaging device may include a lens configured to direct light onto
an image sensor.
[0044] The camera can be a movie or video camera that captures
dynamic image data (e.g., video). A camera can be a still camera
that captures static images (e.g., photographs). A camera may
capture both dynamic image data and static images. A camera may
switch between capturing dynamic image data and static images.
Although certain embodiments provided herein are described in the
context of cameras, it shall be understood that the present
disclosure can be applied to any suitable imaging device, and any
description herein relating to cameras can also be applied to any
suitable imaging device, and any description herein relating to
cameras can also be applied to other types of imaging devices. A
camera can be used to generate 2D images of a 3D scene (e.g., an
environment, one or more objects, etc.). The images generated by
the camera can represent the projection of the 3D scene onto a 2D
image plane. Accordingly, each point in the 2D image corresponds to
a 3D spatial coordinate in the scene. The camera may comprise
optical elements (e.g., lens, mirrors, filters, etc.). The camera
may capture color images, greyscale image, infrared images, and the
like.
[0045] The camera may capture an image or a sequence of images at a
specific image resolution. In some embodiments, the image
resolution may be defined by the number of pixels in an image. In
some embodiments, the image resolution may be greater than or equal
to about 352.times.420 pixels, 480.times.320 pixels, 720.times.480
pixels, 1280.times.720 pixels, 1440.times.1080 pixels,
1920.times.1080 pixels, 2048.times.1080 pixels, 3840.times.2160
pixels, 4096.times.2160 pixels, 7680.times.4320 pixels, or
15360.times.8640 pixels. In some embodiments, the camera may be a
4K camera or a camera with a higher resolution.
[0046] The camera may capture a sequence of images at a specific
capture rate. In some embodiments, the sequence of images may be
captured standard video frame rates such as about 24 p, 25 p, 30 p,
48 p, 50 p, 60 p, 72 p, 90 p, 100 p, 120 p, 300 p, 50 i, or 60 i.
In some embodiments, the sequence of images may be captured at a
rate less than or equal to about one image every 0.0001 seconds,
0.0002 seconds, 0.0005 seconds, 0.001 seconds, 0.002 seconds, 0.005
seconds, 0.01 seconds, 0.02 seconds, 0.05 seconds, 0.1 seconds, 0.2
seconds, 0.5 seconds, 1 second, 2 seconds, 5 seconds, or 10
seconds. In some embodiments, the capture rate may change depending
on user input and/or external conditions (e.g. rain, snow, wind,
unobvious surface texture of environment).
[0047] The camera may have adjustable parameters. Under differing
parameters, different images may be captured by the imaging device
while subject to identical external conditions (e.g., location,
lighting). The adjustable parameter may comprise exposure (e.g.,
exposure time, shutter speed, aperture, film speed), gain, gamma,
area of interest, binning/subsampling, pixel clock, offset,
triggering, ISO, etc. Parameters related to exposure may control
the amount of light that reaches an image sensor in the imaging
device. For example, shutter speed may control the amount of time
light reaches an image sensor and aperture may control the amount
of light that reaches the image sensor in a given time. Parameters
related to gain controls the amplification of a signal from the
optical sensor. ISO controls the level of sensitivity of the camera
to available light.
[0048] One or more cameras carried by the stabilizing platform can
have one or more of the same parameters, characteristics or
features. In some instances, all of the cameras carried by the
stabilizing platform may have the same characteristics or features.
Alternatively, one or more of the cameras carried by the
stabilizing platform may have different characteristics or
features. In some instances, each of the cameras carried by the
stabilizing platform may have different characteristics or
features.
[0049] The one or more cameras have an optical element, such as a
lens, that may be exposed to an environment exterior to the UAV.
The optical element may optionally be protected from an environment
exterior to the UAV with aid of a cover. The cover may be
transparent. The cover may or may not include an optical
filter.
[0050] Any number of cameras may be provided. For instance, there
may be 1 or more, 2 or more, 3 or more, 4 or more, 5 or more
cameras supported by the UAV.
[0051] The payload includes one or more devices capable of emitting
a signal into an environment. For instance, the payload may include
an emitter along an electromagnetic spectrum (e.g., visible light
emitter, ultraviolet emitter, infrared emitter). The payload
includes a laser or any other type of electromagnetic emitter. The
payload may emit one or more vibrations, such as ultrasonic
signals. The payload emits audible sounds (e.g., from a speaker).
The payload emits wireless signals, such as radio signals or other
types of signals.
[0052] The payload is capable of interacting with the environment.
For instance, the payload may include a robotic arm. The payload
may include an item for delivery, such as a liquid, gas, and/or
solid component. For example, the payload may include pesticides,
water, fertilizer, fire-repellant materials, food, packages, or any
other item.
[0053] The stabilizing platform comprises a frame assembly which
may have a plurality of frame components. The frame components are
rigid parts. The frame components are configured to move relative
to each other. The movement of the frame components may be about a
joint, for example the joint may be a hinge, ball and socket, plane
joint, saddle, or pivot. Movement of the frame components are
affected and controlled by one or more motors. In some instances,
one or more motors may be provided at the joints between the frame
components. Each frame component may be moved by one motor or a
plurality of frame components may be moved by a single motor. Each
frame component may rotate about one, two, three, or more axes.
Additionally, the frame components may be configured to translate
in at least one direction. The joints may further comprise Hall
sensors which may detect the position, and/or rotation of the frame
components relative to each other at each joint location. The one
or more motors, which are provided at the joints between the frame
components, may include a first motor 1081, a second motor 1082 and
a third motor 1083. In some embodiments, the stabilizing platform
may have at least 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10 motors
configured to move the frame components relative to each other.
Alternatively, the frame components may be moved manually in a
design without motors.
[0054] Movement of the frame components may be determined relative
to a fixed or non-fixed reference frame. For instance, the movement
of the frame components may be determined relative to an inertial
reference frame, such as an environment within which the bearing
object is operating. The movement of the frame component may be
determined relative to a non-fixed reference frame, such as the
bearing object itself
[0055] The frame assembly may have at least one, two, or three
frame components. In some embodiments, the frame assembly may have
a first frame component 1061, a second frame component 1062 and a
third frame component 1063. The three components may each be
configured to rotate the payload along a given axis of rotation.
For example, the first frame component rotates about a yaw axis,
the second frame component rotates about a roll axis, and the third
frame component rotates about a pitch axis. Any of the frame
components are configured to rotate about an additional axis. The
frame components are additionally configured to translate in at
least one dimension.
[0056] In some embodiments, the first frame component is directly
supported by a bearing object such as a UAV. The first frame
component is configured to move about a first axis of rotation,
such as yaw axis. The movement of the first frame component about
the first axis of rotation is driven and/or controlled by a first
motor. The second frame component is directly supported by the
first frame component. The second frame component is configured to
move about a second axis of rotation, such as a roll axis. The
movement of the second frame component about the second axis of
rotation is driven and/or controlled by a second motor. A third
frame component is directly supported by the second frame
component. The third frame component is configured to move about a
third axis of rotation, such as a pitch axis. The movement of the
third frame component about the third axis of rotation is driven
and/or controlled by a third motor. The third frame component is
configured to support the payload, such as a camera. Any
description of supporting a component (e.g., the payload) includes
bearing weight of the component. The third frame component is
configured to support the payload in a fixed manner (e.g., the
payload may be fixedly attached to the third frame and may not move
relative to the third component). Alternatively, the payload is
movable relative to the third component. In some instances, the
plurality of axes of rotation may be perpendicular to each other.
Alternatively, the plurality of axes of rotation may not be
perpendicular to each other.
[0057] The motor may be an AC or DC motor. Any description herein
of a motor may apply to any type of motor or other actuator. Motors
may be direct drive motors. Other examples of types of motors may
include, but are not limited to brushed or brushless motors,
servomotors, switched reluctance motors, stepper motors, or any
other types of motors. The motor is powered by an energy source,
such as a battery system, onboard or off-board the stabilizing
platform. Alternatively, the motor is powered by a power cord
connected to an external power source.
[0058] The operation of each motor is controlled by an electronic
speed control (ESC) unit which is electrically coupled to the
motor. An ESC unit can be operably coupled to an electric motor in
order to control the operation of the motor, e.g., with respect to
rotation speed, rotation direction, acceleration, and/or braking.
An ESC unit may be coupled to a motor through a UART (universal
asynchronous receiver/transmitter) interface or CAN (controller
area network) interface. An ESC unit may be provided in the motor
to be regulated. An ESC unit may also be integrated with the motor
to be regulated. The ESC unit can regulate the operation of a motor
based upon a control instruction. This control can be affected by
transmission of control signals (e.g., PPM signals, PWM signals,
chopper signals, input port signals, output port signals, etc.)
generated and transmitted from the ESC unit to the motor.
Conversely, the ESC unit can receive signals from the motor that
are indicative of the motor status (e.g., the speed, direction,
acceleration, and/or braking of the motor, error or fault
information). The ESC may measure operating state parameters of the
motor, including the electrical current and a rotor angle with
respect to the stator. From the electrical current and the rotor
angle, a plurality of operating state parameters of the motor can
be calculated, including a q-axis current, d-axis current, a
counter electromotive force generated due to a rotation of the
rotor, the electrical resistance of the windings, and temperature
of the windings.
[0059] Each ESC unit can be coupled to a flight control module via
a signal line such as a private pulse-position modulation (PPM)
signal line that permits control signals to be transmitted from the
flight control module to the ESC unit. Additionally, the ESC unit
may be configured to transmit information to the flight control
module, e.g., information regarding the current operational status
of the ESC unit and/or the motor. The flight control module may
include one or more processors (such as implemented by a
field-programmable gate array (FPGA)) for controlling key
operations of the UAV. The flight control module may be supported
by a central body of the UAV. The flight control module may provide
a signal that may affect the one or more actuators. The signal may
be generated on the flight control module. The signal may be
generated in response to a command from a user terminal remote to
the UAV. The signal may be generated in response to a signal from
one or more sensors on-board the UAV. The signal may be generated
on the flight control module without requiring user input or active
user control.
[0060] The ESC units may be provided onboard the carrier. The ESC
may be provided onboard any component of the carrier, such as the
stabilizing platform and/or the support member. Alternatively, the
ESC units may be provided off-board the carrier. The ESC units may
be provided on-board the bearing object instead.
[0061] The ESC units may be provided onboard the stabilizing
platform. In some instances, the ESC units may be provided in the
respective frame components. Each one of the ESC units may be
housed within the respective frame component. The ESC units may be
supported by respective frame components that support or are
controlled by a respective motor controlled by the respective ESC
unit. For example, the ESC unit for regulating the pitch motor may
be housed within the third frame component, the ESC unit for
regulating the roll motor may be housed within the second frame
component, and the ESC unit for regulating the yaw motor may be
housed within the first frame component. Alternatively, more than
one ESC unit may be collectively provided within a frame component.
For example, the ESC unit for regulating the pitch motor may be
housed within the third frame component, and the ESC unit for
regulating the roll motor and the ESC unit for regulating the yaw
motor may be housed within the second frame component.
Alternatively, all the ESC units may be collectively provided
within one frame component. For example, all the ESC units may be
housed within the second frame component.
[0062] In some instances, one or more ESC units are supported by
the payload. For instance, one or more ESC units are provided
within the payload. One or more ESC units are enclosed within a
housing of the payload. For example, the one or more ESC units are
attached to an inner surface of a housing of the payload. The one
or more ESC units are provided outside the payload. For example,
the one or more ESC unit may be attached to an outer surface of a
housing of the payload. The one or more ESC unit may be embedded in
an outer surface of a housing of the payload. In some instances,
the ESC unit for regulating the pitch motor may be provided within
the payload. One or more of the other ESC units (e.g., for
regulating a yaw motor and/or roll motor) may or may not be
supported by the payload. The one or more ESC units may move with
the payload. The one or more ESC units may have a fixed position
relative to the payload. The one or more ESC units are supported on
a same support as a state measurement member. The same support may
be a circuit board. Optionally, the state measurement member and
the one or more ESC units may be borne by the payload. One, two,
three, or more of the ESC members may be borne by the payload.
[0063] The ESC units may be provided off-board the stabilizing
platform. For instances, the ESC units may be provided on the
bearing object such as a UAV. The ESC units may be collectively
provided on a circuit board on which other electrical components of
the UAV are supported. The ESC units may be separately provided
within the body of the UAV, or within arms of the UAV.
Alternatively, the ESC units are provided on a support member which
supports the payload and connected to the bearing object.
[0064] The ESC units may be provided together with the motors. In
some instances, an ESC unit is provided with the motor to be
regulated within a motor assembly. The ESC unit shares a common
support or circuit board with a respective motor assembly.
[0065] The ESC unit is provided in a combination of onboard and
off-board the stabilizing platform. One or more ESC units are
provided on the stabilizing platform, while others may not be
provided on the stabilizing platform. For instance, one ESC unit is
provided within the payload while others are provided within the
UAV body. Any number of ESC's may be provided on any combination of
locations, such as the payload, stabilizing platform, support
member, and/or bearing object.
[0066] The actuation of the motor is controlled by a corresponding
ESC unit based upon state information of the payload measured by a
state measurement member. The state measurement member may generate
motor control instructions from the measured state information of
the payload and transmit the generated motor control instructions
to the ESC units for motor control. In some instances, the state
information of the payload is an attitude of the payload or a
change in the state information of the payload. The state
measurement member includes any suitable number and combination of
inertial sensors, such as at least one, two, three, or more
accelerometers, and/or at least one, two, three, or more
gyroscopes. Examples of inertial sensors may include, but are not
limited to, accelerometers, gyroscopes, gravity-detecting sensors,
magnetometers, or any other sensors. Optionally, the state
measurement member includes at least one, two, three, or more
inertial measurement units (IMU), which each includes any number or
combination of integrated accelerometers, gyroscopes, or any other
type of inertial sensors. In some embodiments, one-axis, two-axis,
or three-axis accelerometers may be provided. Optionally, one-axis,
two-axis, or three-axis gyroscopes may be provided. Any number or
combination of inertial sensors may be provided to detect state of
a component (e.g., payload, frame component, support member,
bearing object) about or along a single axis, about or along two
axes, or about or along three axes.
[0067] The state measurement member may provide sensing data of the
payload relative to a single axis of motion. The axis of motion
corresponds to an axis of the inertial sensor (e.g., a longitudinal
axis). In some embodiments, the state measurement member includes a
plurality of inertial sensors, each inertial sensor provides
measurements along a different axis of motion. For example, the
state measurement member includes three accelerometers so as to
provide acceleration data along three different axes of motion. The
three directions of motion are orthogonal axes. One or more of the
accelerometers are linear accelerometers configured to measure
acceleration along a translational axis. Conversely, one or more of
the accelerometers are angular accelerometers configured to measure
acceleration about a rotational axis. As another example, the state
measurement member includes three gyroscopes so as to provide
orientation data about three different axes of rotation. The three
axes of rotation are orthogonal axes (e.g., roll axis, pitch axis,
yaw axis). Alternatively, at least some or all of the inertial
sensors may provide measurement relative to the same axes of
motion. Such redundancy may be implemented, for instance, to
improve measurement accuracy. Optionally, an inertial sensor is
capable of providing sensing data relative to a plurality of axes.
For example, an IMU including a plurality of integrated
accelerometers and gyroscopes is configured to generate
acceleration data and orientation data with respect to up to six
axes of motion. Alternatively, a single accelerometer can be
configured to detect acceleration along multiple axes, and a single
gyroscope can be configured to detect rotation about multiple
axes.
[0068] Various configurations and embodiments of state measurement
member can be incorporated described herein. The state measurement
member can be microelectromechanical system (MEMS), which is
smaller than other types of inertial sensors. Such MEMS state
measurement member can be provided as part of an integrated
circuit, such as within a chip.
[0069] In some embodiments, the state measurement member includes
an inertial measurement unit (IMU). The IMU includes a gyroscope,
an accelerometer and so on. The state measurement member is fixed
to a payload, a carrier or a movable object to measure an
acceleration of the payload, carrier or movable object relative to
an inertial reference system. Then the information on the speed,
attitude angle and position in a navigation coordinate system can
be achieved by an integral operation based on the Newton law of
inertia.
[0070] A state of a component (e.g., payload, frame component,
support member, bearing object) may include positional information
of the component. This may include spatial location along one, two,
or three axes. This may include orientation about one, two, or
three axes. This may also include movement information such as
linear velocity, angular velocity, linear acceleration, and/or
angular acceleration. A state of a component may include
information about operation of a component, such as whether the
component is on or off, a power level of a component, power usage
of a component, errors detected in the component, a communication
status of the component or operational parameters of the component.
For example, operational parameters of a camera may include an
image resolution of the camera, a camera shooting mode, exposure,
balance, focus, zoom, or any other function of the camera. A state
measurement member may detect any state of the component. A state
measurement member may detect positional information of the
component.
[0071] FIG. 2 shows a carrier 200 which comprises a stabilizing
platform 202 carrying a payload 210 in accordance with an
embodiment of the disclosure. The stabilizing platform may include
a frame assembly which may have at least one, two, or three frame
components. In some embodiments, the frame assembly includes a
first frame component 2061, a second frame component 2062 and a
third frame component 2063. The three components may each be
configured to rotate the payload along a given axis of rotation. In
some examples, the first frame component rotates in about a yaw
axis, the second frame component may rotate about a roll axis, and
the third frame component rotates about a pitch axis. The payload
such as a camera may be directly supported by the third frame
component.
[0072] The movement of the third frame component about the third
axis of rotation may be driven and/or controlled by a third motor
2083. The movement of the second frame component about the second
axis of rotation may be driven and/or controlled by a second motor
2082. The movement of the first frame component about the first
axis of rotation may be driven and/or controlled by a first motor
2081. In some embodiments, the first frame component may be
directly supported by a bearing object such as a UAV.
Alternatively, the carrier may include a support member 204 which
supports the payload and being connected to a bearing object such
as an unmanned aerial vehicle (UAV). The support member 204 can be
a portion of a bearing object such as a UAV.
[0073] In some embodiments, the third ESC unit for regulating an
actuation of the third motor about a pitch axis is received in the
payload. The second ESC unit for regulating an actuation of the
roll axis and the first ESC unit for regulating an actuation of the
first motor about the yaw axis are provided outside the payload. In
some instances, the second and first ESC units are provided in one
of the frame assemblies. Alternatively, the second and first ESC
units are respectively provided in the second frame assembly and
the first frame assembly. Alternatively, the second and first ESC
units are provided in the support member. In some embodiments, the
second and first ESC units may be provided in the second frame
assembly. For example, the second and first ESC units may be
provided on one or two circuit boards which are received in a
cavity of the second frame assembly. The cavity of the second frame
assembly is sealed by a cover 220. The one or two circuit boards
are received in the second frame assembly in an air tight and/or
water proof manner.
[0074] FIG. 3 shows a stabilizing platform 300 which comprises a
payload, a plurality of gimbal motors and a plurality of electronic
speed control (ESC) units, in accordance with an embodiment of the
disclosure. In the embodiment, the payload 302 is a camera having
an optical lens 312 and an optical sensor optically coupled to the
optical lens. The payload may comprise a state measurement member
304, such as an IMU, for measuring state information of the payload
and generate motor control instruction from the measured state
information of the payload. The payload is carried by a stabilizing
platform such as a gimbal in accordance with an embodiment of the
disclosure. In some embodiments, the stabilizing platform may be a
triple-axis gimbal having three gimbal motors 3081, 3082 and 3083
which are respectively controlled by a first ESC unit 3061, a
second ESC unit 3062 and a third ESC unit 3063 based upon state
information of the payload as measured by the state measurement
member.
[0075] The state information of the payload may comprise a
positional state of the payload and a change thereof. The
positional state comprises at least one of a posture of the payload
with respect to three different axes of motion, a linear
acceleration of the payload along three different axes of motion,
or an angular acceleration of the payload about three different
axes of motion. The positional state of the payload may also
comprise a height, a velocity, ON/OFF of the stabilizing platform
on which the payload is supported, ON/OFF of the bearing object
such as UAV. In some instance, the state information of the payload
may be a combination of any of the positional state and a change
thereof as discussed hereinabove.
[0076] The state measurement member may be an inertial measurement
unit (IMU). The IMU includes a gyroscope 3041, an accelerometer
3042 and an IMU controller 3043. The IMU controller is configured
to generate motor control instruction based upon state information
of the payload as measured by the gyroscope and the accelerometer.
The ESC units may receive the generated motor control instructions,
amplify the received motor control instructions, and control a
rotation of corresponding gimbal motors, such as a rotating speed
and direction of corresponding gimbal motors. The IMU controller
may also receive information regarding the current operational
status of the ESC units and/or the motors. The IMU is provided in
the payload in a fixed manner such that no relative movement occurs
during the movement of the payload. The IMU may be rigidly attached
to the payload by various fasteners. The fastener may be a screw, a
bolt, a stud, a snap fastener, a buckle, a clip, a pin, a hook, a
rivet, a staple, a stitch, a strap, a zipper, a press fit, welding,
soldering, or a glue. Alternatively, the IMU may be releasably
attached to the payload as long as the IMU does not move relative
to the payload when it is attached to the payload. The IMU may be
directly attached to the payload without an intermediate layer
therebetween. Alternatively, the IMU may be attached to the payload
with an intermediate layer therebetween. In some instance, the
intermediate layer may be a damping element to damp any shock or
vibration of the payload during a movement of the payload. The
damping element may also function to keep the temperature of the
IMU constant so as to improve the measurement accuracy.
[0077] The measurement of the accelerometer may be configured to
correct the measured attitude of payload from the gyroscope. The
gyroscope may measure an angular velocity of the payload to which
the gyroscope and the accelerometer are attached. The attitude of
the payload may be calculated by performing an integration of the
measured angular velocity over time. However, due to a drifting of
the gyroscope, an error may be found in the measured attitude of
the payload, and this error may accumulate over time. For example,
the gyroscope may output an angular velocity even if no angular
movement actually occurs. In order to correct the error in the
measured attitude of the payload from the gyroscope, the
measurement of the accelerometer may be used.
[0078] The accelerometer may not suffer from a drifting since it is
calibrated in factory. When the UAV travels in a constant velocity
or the UAV is stationery, the measurement of the accelerometer may
be a vector of gravity under gimbal head coordinate. In addition,
the yaw vector of the payload can be calculated from the UAV's
attitude and the rotor angles of the motors of the gimbal, where
the attitude of the UAV may be measured by a gyroscope provided on
the UAV. Then, the payload's attitude with respect to a horizontal
plane as a reference plane can be calculated, where the horizontal
plane can be represented by the vector of gravity as measured by
the accelerometer. Since the calculated attitude of the payload is
calculated from the vector of gravity as measured by the
accelerometer, no integration may be performed, and thus no
drifting error may be found in the calculated attitude of the
payload. Therefore, the attitude of the payload, which is
calculated from the measurement of the accelerometer, can be
configured to correct the measured attitude of the payload by the
gyroscope.
[0079] The IMU can be provided on a circuit board of the payload.
The circuit board can be a printed circuit board (PCB) which
mechanically supports and electrically connects with electronic
components including the IMU. The circuit board may be rigidly
attached to the payload by any fastening means as discussed
hereinabove. For example, the circuit board may be rigidly attached
to the payload by one or more threaded screws. Alternatively, the
PCB board may be attached to the payload with an intermediate layer
therebetween. In some instance, the intermediate layer may be a
damping element to damp any shock or vibration introduced from the
payload.
[0080] The damping element can be any element suitable for damping
a motion experienced by the PCB board. The motion damped by the
damping elements may include one or more of vibrations,
oscillations, shaking, or impacts. Such motions may originate from
motions of the payload that are transmitted to the PCB board. The
damping element may provide motion damping by isolating the PCB
board from the source of unwanted motion by dissipating or reducing
the amount of motion transmitted to the PCB board. The damping
element may reduce the magnitude (e.g., amplitude) of the motion
that would otherwise be experienced by the PCB board, such as by
greater than or equal to approximately 10%, 20%, 30%, 40%, 50%,
60%, 70%, 80%, 90%, or 100%. In some instances, the damping element
can be configured to reduce motions having certain frequencies. For
example, some damping elements can reduce high frequency motions,
while other damping elements can reduce low frequency motions. A
damping element can damp motions having frequencies greater than or
equal to about 0.5 Hz, 1 Hz, 5 Hz, 10 Hz, 20 Hz, 30 Hz, 40 Hz, 50
Hz, 100 Hz, 200 Hz, 300 Hz, 400 Hz, 500 Hz, 600 Hz, 700 Hz, 800 Hz,
900 Hz, or 1000 Hz. Alternatively, a damping element can damp
motions having frequencies less than or equal to about 0.5 Hz, 1
Hz, 5 Hz, 10 Hz, 20 Hz, 30 Hz, 40 Hz, 50 Hz, 100 Hz, 200 Hz, 300
Hz, 400 Hz, 500 Hz, 600 Hz, 700 Hz, 800 Hz, 900 Hz, or 1000 Hz. The
motion damping applied by the damping element may improve the
quality of IMU measurement, such as by reducing the amount of noise
and/or measurement drift of the sensors on PCB board, as well as by
increasing the accuracy, precision, responsiveness, and/or
stability of the sensors on the PCB board.
[0081] The damping elements described herein can be formed from any
suitable material or combination of materials, including solid,
liquid, or gaseous materials. The materials used for the damping
elements may be compressible and/or deformable. For example, the
damping element can be a sponge, foam, rubber material, gel, and
the like. Alternatively or in addition, the damping element can
include piezoelectric materials or shape memory materials. The
damping element can include one or more mechanical elements, such
as springs, pistons, hydraulics, pneumatics, dashpots, shock
absorbers, isolators, and the like. The properties of the damping
element can be selected so as to provide a predetermined amount of
motion damping. For example, the damping element may have a
characteristic stiffness, which may correspond to a Young's modulus
of the damping element. The Young's modulus may be greater than or
equal to approximately 0.01 GPa, 0.05 GPa, 0.1 GPa, 0.2 GPa, 0.3
GPa, 0.4 GPa, 0.5 GPa, 0.6 GPa, 0.7 GPa, 0.8 GPa, 0.9 GPa, 1 GPa,
or 5 GPa. Alternatively, the Young's modulus may be less than or
equal to approximately 0.01 GPa, 0.05 GPa, 0.1 GPa, 0.2 GPa, 0.3
GPa, 0.4 GPa, 0.5 GPa, 0.6 GPa, 0.7 GPa, 0.8 GPa, 0.9 GPa, 1 GPa,
or 5 GPa. In some instances, the damping element may have
viscoelastic properties. The properties of the damping element may
be isotropic or anisotropic. For instance, the damping element may
provide motion damping equally along all directions of motion.
Conversely, the damping element may provide motion damping only
along a subset of the directions of motion (e.g., along a single
direction of motion).
[0082] The IMU or the circuit board supporting the IMU may be
attached to an interior of the payload. For example, the IMU or the
circuit board supporting the IMU may be attached to an inner
surface of a housing of the payload. Alternatively, the IMU or the
circuit board supporting the IMU may be attached to an exterior of
the payload. For example, the IMU or the circuit board supporting
the IMU may be attached to an outer surface of a housing of the
payload. In this case, an additional cover may be provided to
encapsulate the IMU or the circuit board to prevent any damage from
dust or humidity.
[0083] At least one ESC unit among the plurality may be provided
together with the IMU, such that the at least one ESC unit may
receive motor control instructions generated from the IMU
controller which generates the motor control instructions based
upon the measured state information. An ESC unit may include an
amplifier for amplifying the received motor control instructions
and a controller for regulating a rotation of a corresponding
gimbal motor, such as a rotating speed and direction of the gimbal
motor. In some embodiments, the at least one ESC unit may be
provided on the same circuit board with the IMU, such that the
motor control instructions may be received by the at least one ESC
unit much faster as compared to a situation where the motor control
instructions are transmitted to an ESC unit through a signal bus or
a twisted-pair cable. The circuit board may be a PCB board. The
signal may be transmitted from the IMU to the at least one ESC unit
via pads and tracks which are made of material having higher
conductivity, such as gold, silver or copper. The signal velocity
on a PCB board may be fast. For example, the signal can be
transmitted on a PCB with a velocity of at least 100 ps/inch, 120
ps/inch, 130 ps/inch, 140 ps/inch, 150 ps/inch or 160 ps/inch, as
compared with the data transmission delay through external physical
port which might be 128 .mu.s at a Baud rate of 1.56 Mbps.
[0084] The one or more ESC units can be provided in proximity to
the IMU on the circuit board such that electrical connections, such
as the pads or tracks, may have a short length. A distance between
the at least one ESC unit and the IMU may be less than or equal to
approximately 20 microns, 50 microns, 100 microns, 200 microns, 500
microns, 1 mm, 2 mm, 3 mm, 4 mm, 5 mm, 6 mm, 7 mm, 8 mm, 9 mm, 10
mm, 12 mm, 14 mm, 16 mm, 18 mm, 20 mm, 25 mm, 30 mm, 35 mm, 40 mm,
45 mm, or 50 mm. A time in signal transmission from the IMU to the
at least one ESC unit may be less than or equal to approximately
0.1 ps, 0.5 ps, 1 ps, 5 ps, 10 ps, 15 ps, 20 ps, 25 ps, 30 ps, 35
ps, 40 ps, 45 ps, 50 ps, 55 ps, 60 ps, 65 ps, 70 ps, 75 ps, 80 ps,
85 ps, 90 ps, 95 ps, 100 ps, 150 ps, 200ps, 250 ps, 300 ps, 400 ps,
500 ps, 600 ps, 700 ps, 800 ps, 900 ps or 1 ns.
[0085] Alternatively, the at least one ESC unit may be integrated
with the IMU. For example, the at least one ESC unit and the IMU
may be encapsulated and produced as one integrated circuit or one
processor such that the signal transmission is even faster.
Meanwhile, other ESC units, which are not provided in the payload
together with the IMU, may receive motor control instructions from
the IMU controller via a signal bus. The data transmission delay on
the internal data bus of the integrated circuit may be less than 1
.mu.s. In some instances, the at least one ESC unit may be
integrated with the IMU in one package, the one package being
configured to perform a complete function such that an attempt to
separate the at least one ESC unit or the IMU from the one package
will destroy functioning of the one package.
[0086] Alternatively, only the amplifier of the at least one ESC
unit, which receiving and amplifying the motor control
instructions, may be integrated with the IMU, while the controller
of the at least one ESC unit, which regulating a rotation of a
corresponding gimbal motor, may be provided with the gimbal motor.
In this configuration, the motor control instructions generated by
the IMU from the measured state information of the payload can be
transmitted to the amplifier of the ESC unit in an on-chip manner,
and the amplified motor control instructions can then be provided
to the controller of the ESC unit to regulate a rotation of a
corresponding gimbal motor.
[0087] The at least one ESC unit provided in the payload together
with the IMU, as well as other ESC units which are not provided in
the payload together with the IMU, may then control the actuation
of a corresponding motor based upon the received motor control
instructions, so as to adjust an attitude of the gimbal and
stabilize the payload carried on the gimbal. The payload may be
stabilized in all three dimensions (e.g., yaw, roll and pitch)
based upon the received motor control instructions, with in at
least one direction being stabilized faster than in other
directions. In other words, in at least one direction which
corresponds to the ESC unit being received in the payload together
with the IMU, the payload may be stabilized with less response time
as compared in other directions. In some examples, the payload may
be stabilized in the at least one direction in a substantially real
time manner.
[0088] The ESC unit may measure operating state parameters of the
motor, including the electrical current in two windings out of the
three windings and a rotor angle with respect to the stator. From
the electrical current in two windings and the rotor angle, a
plurality of operating state parameters of the motor can be
calculated, including a q-axis current, d-axis current, a counter
electromotive force generated due to a rotation of the rotor, the
electrical resistance of the windings, and temperature of the
windings, as discussed hereinabove. The ESC unit may send the
measured operating state parameters of the motor to the IMU as
feedback. The IMU may generate a motor control instruction, in
addition to measuring the state information of the payload. In some
instances, the IMU may change the motor control instruction based
upon the operating state parameters received from the ESC unit. For
instance, the IMU may determine if the motor is to be shut down to
avoid overheating.
[0089] In some examples, the payload may be a camera. The camera
may be stabilized in all three dimensions (e.g., yaw, roll and
pitch), so that the image collected remains smooth while payload
experiencing vibration or shock. Meanwhile, in at least the pitch
direction, the camera may be stabilized in a substantially real
time manner, so as to avoid any vibration in pitch direction which
may deteriorate the image quality most.
[0090] The one or more ESC unit and the IMU may be provided in the
payload. Optionally, the one or more ESC unit and the IMU may be
provided outside the payload. For example, the ESC unit and the IMU
(which includes the gyroscope, the accelerometer and the IMU
controller) may be rigidly attached to an interior or exterior
surface of the payload, and the at least one ESC unit may receive
the motor control instructions, which are generated by the IMU
controller based upon the measured state information of the
payload, with less transmission delay as compared to the other ESC
units which are not provided together with the IMU because the
on-PCB signal transmission is much faster.
[0091] More than one ESC unit may be provided together with the
IMU, either in the payload or outside the payload. For example, the
more than one ESC unit may be provided on the same circuit board
with the IMU or may be integrated with the IMU, so as to receive
the motor control instructions from the IMU controller of the IMU
with less transmission delay as compared to a situation where the
motor control instructions are transmitted to an ESC unit through a
signal bus or a twisted-pair cable. The corresponding gimbal motors
may be regulated by the more than one ESC unit in response to the
motor control instructions with less response time, such that the
payload may be stabilized in more than one direction in
substantially real time.
[0092] The ESC unit may be provided in proximity to the motor to be
regulated. In some instance, the ESC unit may be provided in
proximity to the motor to be regulated in order to shorten a signal
transmission route and therefore reduce a delay in signal
transmission from the ESC unit to the motor. A length of electrical
path between the ESC unit to the motor to be regulated by the ESC
unit may be less than 1 mm, 5 mm, 10 mm, 15 mm, 20 mm, 25 mm, 30
mm, 35 mm, 40 mm, 45 mm, 50 mm, 55 mm, 60 mm, 65 mm, 70 mm, 75 mm,
80 mm, 85 mm, 90 mm, 95 mm, 100 mm, 150 mm, 200 mm, 250 mm or 300
mm. A time in signal transmission from the ESC unit to the motor
may be less than 1 ps, 10 ps, 50 ps, 100 ps, 200 ps, 400 ps, 600
ps, 800 ps, 1 ns, 50 ns, 100 ns, 200 ns, 400 ns, 600 ns, 800 ns, 1
.mu.s, 10 .mu.s, 50 .mu.s, 100 .mu.s, 200 .mu.s, 400 .mu.s, 600
.mu.s, 800 .mu.s, 1 ms, 10 ms, 50 ms, 100 ms, 200 ms, 400 ms, 600
ms, 800 ms or 1 s. The less time required to transmit signal from
the ESC unit to the motor may allow the payload being stabilized
with less delay in response to the state information of the
payload, substantially in a real time manner. In case the payload
is a camera, the quality of the captured image and video may be
improved.
[0093] FIG. 4 is a flow chart illustrating a method 400 of
stabilizing a payload, in accordance with an embodiment of the
disclosure.
[0094] In process 402, the payload may be supported using a frame
assembly comprising a frame assembly having a plurality of frame
components movable relative to one another. In process 404, the
plurality of frame components may be permitted to move relative to
one another using a plurality of actuators, the plurality of
actuators including a first actuator that is configured to control
movement of the payload about a first axis, and a second actuator
that is configured to control movement of the payload about a
second axis.
[0095] The frame assembly may comprise one, two, three or more
frame components which are configured to move relative to each
other about a joint, such that the payload may be moved and
stabilized in one, two, three or more dimensions. The movement of
the frame components may be effected and controlled by one or more
actuators (e.g., motors) which are provided at the joints between
the frame components. In some instances, the frame assembly may
comprise at least two frame components such that the payload may be
moved and stabilized in at least two dimensions or directions. For
example, the first frame assembly may be permitted to rotate about
a first axis by a first motor, and the second frame assembly may be
permitted to rotate about a second axis by a second motor. The
first axis may be perpendicular to the second axis. In some
embodiments, the first axis may be a pitch axis. The second axis
may be a roll axis or a yaw axis.
[0096] The payload such as a camera is rigidly attached to the
frame assembly. In some instances, the payload is attached to an
innermost frame component of the frame assembly. In some
embodiments, the innermost frame component may permit the payload
to rotate about a pitch axis.
[0097] In process 406, the actuation of the plurality of actuators
may be controlled using a plurality of electronic speed control
(ESC) units, each of the plurality of ESC units may be electrically
coupled to a corresponding actuator of the plurality of actuators
in order to control actuation of the actuators, wherein one or more
of the plurality of ESC units may be received in the payload.
[0098] The movement and operation (e.g., rotation speed, rotation
direction, acceleration, and/or braking) of the motors may be
respectively controlled by a corresponding ESC unit which may
regulate based upon motor control instructions. The motor control
instructions can be generated by the state information member from
state information of the payload or a change thereof measured by
state information member such as an IMU. In some instances, the IMU
may be rigidly attached to the payload to measure the state of the
payload.
[0099] In some embodiments, one or more ESC units from a plurality
may be provided together with the IMU to facilitate a fast signal
transmission from the IMU to the at least one ESC unit. For
example, the one or more of ESC unit is provided on the same
circuit board with the IMU. The IMU controller of the IMU may
generate motor control instructions based upon the measured state
information of the payload. The measured state information of the
payload is transmitted from the gyroscope and the accelerometer to
the IMU controller in an on-chip manner, and the generated motor
control instructions is transmitted to the at least one ESC unit in
an on-board manner, which is much faster as compared to a situation
where the motor control instruction is transmitted to an ESC unit
through a signal bus or a twisted-pair cable. For another example,
the at least one ESC unit may be integrated with the IMU. The at
least one ESC unit and the IMU may be received in the payload or
outside the payload.
[0100] FIG. 5 shows a schematic of a circuit board 502 on which at
least a state measurement device 5021 and an ESC unit 5022 are
provided, in accordance with an embodiment of the disclosure. The
circuit board may be attached to an object to measure state
information of the payload and a change thereof. The object can be
a moveable object such as a vehicle, or a handheld object. The
state measurement device can be an IMU which includes a gyroscope,
an accelerometer and an IMU controller. The IMU may generate motor
control instructions for motor control based upon measured state
information of the payload from the gyroscope and accelerometer.
The IMU controller may also receive information regarding the
current operational status of the ESC units and/or the motors.
[0101] In some embodiments, at least one ESC unit, among the
plurality for controlling gimbal motors of a stabilizing platform,
may be provided on the circuit board with a state measurement
device such as an IMU. The IMU may generate state information
member from state information of the object as measured, and may
transmit the generated state information member to the at least one
ESC unit, and then, the at least one ESC unit may control an
exterior actuator such as a motor according to the state
information member. In some examples, the at least one ESC unit may
be the ESC unit for controlling the pitch motor of the gimbal. The
information on the speed, attitude angle and position in a
navigation coordinate system of the payload may be achieved from
the IMU measurements.
[0102] The circuit board may comprise a substrate to support the at
least one ESC unit and the IMU. The substrate may be a printed
circuit board (PCB). The PCB may mechanically support and
electrically connect electronic components using conductive tracks,
pads and other features etched from copper sheets laminated onto a
non-conductive substrate. The PCB may be single sided, double sided
or multi-layered. The signal transmission velocity onboard the PCB
may be much faster than that of a signal bus or a twisted-pair
cable. For example, the signal delay of data transmission on a PCB
can be less than 1 .mu.s, as compared with the data transmission
delay through external physical port which might be 128 .mu.s at a
Baud rate of 1.56 Mbps over a signal bus or a twisted-pair
cable.
[0103] The PCB board supporting the IMU and at least one ESC unit
may be rigidly attached to an interior of the payload. For example,
the PCB board may be attached to an inner surface of a housing of
the payload. Alternatively, the PCB board may be attached to an
exterior of the payload. For example, the PCB board may be attached
to an outer surface of a housing of the payload. Various means may
be possible to ensure a rigidity of a connection between the PCB
board and the payload, such as a screw, a bolt, a stud, a welding
or a glue. In some examples, the PCB board may be rigidly attached
to the payload by a plurality of screws.
[0104] The PCB board may be directly attached to the payload or
through an intermediate layer. For example, the intermediate layer
may be a damping element (e.g., a shock absorption layer or a
vibration dampening pad) to damp any shock of the payload. The
damping element may also function to keep the temperature of the
IMU constant so as to improve the measurement accuracy. The damping
element can be any element suitable for damping a motion
experienced by the PCB board, and can be formed from any suitable
material or combination of materials, including solid, liquid, or
gaseous materials, as discussed hereinabove.
[0105] In some embodiments, the at least one ESC unit may be
integrated with the IMU as one chip, which may affect an even
faster signal transmission. For example, the electrical circuit of
the at least one ESC unit may be provided with the electrical
circuit of the IMU within the same integrated circuit package. In
some instances, the computer executable instructions, which are
configured to implement the functionality of the at least one ESC
unit, may be integrated with the computer executable instructions,
which are configured to implement the functionality of the IMU. The
at least one ESC unit may receive the motor control instructions,
which are generated from measured state information of the payload,
in substantially real time and then regulate the operation of
corresponding motor. The fast signal transmission from the IMU to
the at least one ESC unit may mean a fast control to gimbal motor
with less delay and a substantially real time adjusting to the
gimbal attitude. In a configuration where the at least one ESC unit
is integrated with the IMU as one chip, once the state information
of the payload is measured by the IMU and corresponding motor
control instruction is generated by the IMU, the motor control
instruction can be sent to the at least one ESC unit without any
external data transmission over a physical port such as a UART or a
CAN. In some instances, the computer executable instructions
configured to implement the functionality of the IMU may generate a
motor control instruction based upon the measured state of the
payload, and send the motor control instruction to the computer
executable instructions configured to implement the functionality
of the at least one ESC unit through internal data bus. The data
transmission delay on the internal data bus may be less than 1 us,
as compared with the data transmission delay through external
physical port which might be 128 us at a Baud rate of 1.56
Mbps.
[0106] FIG. 6 is a flow chart 600 illustrating a method of
producing a circuit board, in accordance with an embodiment of the
disclosure. A circuit board such as the one illustrated in FIG. 5
may be produced by this method.
[0107] In process 602, a state measurement member may be disposed
on a substrate, the state measurement member being configured to
measure a state of an object. The substrate may be provided as a
PCB board. In some embodiments, the state measurement member may be
an IMU which may include any number or combination of integrated
accelerometers and gyroscopes. The IMU may provide linear
acceleration data along three different axes of motion, angular
acceleration data about three different axes of motion, and
orientation data about three different axes of rotation.
[0108] The IMU may be soldered to the PCB board. An example of the
soldering process may be a wave soldering, a reflow soldering, or a
laser soldering. The PCB board may be single sided, double sided or
multi-layered. In addition to the IMU, various electrical
components of the payload may be supported on the PCB board, such
as an optical sensor, a payload controller, sensors, memories,
ports, one or more ESC units, communication unit, heat dissipater,
etc.
[0109] The PCB board may be rigidly attached to the payload by
fasteners such as a bolt, a screw or a stud. A damping element may
be interposed between the PCB board and the payload to damp any
shock or vibration introduced from the payload. The PCB board may
be received in the payload. The PCB board may be provided in any
shape suitable to be accommodated in the payload. In some
instances, the PCB board may be attached to an interior face of the
payload to avoid any vibration thereof relative to the payload. For
example, in case the payload is a camera, the PCB board may be
attached to a rear cover of the camera.
[0110] In process 604, at least one electronic speed control (ESC)
unit may be disposed on the substrate. The at least one ESC unit
may be electrically coupled to the state measurement member. Each
of the at least one ESC unit may be electrically coupled to a
corresponding actuator of a plurality of actuators, and may be
configured to control actuation of the corresponding actuator
according to the state of the object.
[0111] The at least one ESC unit may be provided in proximity to
the state measurement member such as IMU on the circuit board. The
signal transmission velocity onboard the PCB may be much faster
than that of a signal bus or a twisted-pair cable, such that a
smaller delay may be found in transmitting motor control
instructions, which are generated from the measured state
information of the payload, to the at least one ESC unit. For
example, the signal can be transmitted on a PCB with a velocity of
140 ps/inch. The fast signal transmission from the IMU to the at
least one ESC unit may mean a fast control to gimbal motor with
less delay and a substantially real time adjusting to the gimbal
attitude. In other words, the payload may be stabilized in response
to a change in state of the payload in a substantially real time
manner. In some embodiments, the at least one ESC unit may be the
ESC unit for controlling the pitch motor of the gimbal, such that
the payload may be stabilized in a substantially real time manner
at least in the pitch axis. In case the payload is a camera, the
quality of the captured image and video may be improved because the
aerial photography image may be deteriorated in a pitch direction
most due to a vibration of the bearing object such as a UAV.
[0112] More than one ESC unit may be provided on the PCB with the
IMU. The corresponding gimbal motors may be regulated by the more
than one ESC unit in response to the motor control instructions as
received from the IMU with less response time, such that the
payload may be stabilized in more than one direction in
substantially real time.
[0113] FIG. 7 is a flow chart 700 illustrating a method of
producing an integrated circuit, in accordance with an embodiment
of the disclosure.
[0114] In process 702, an electrical circuit for state measurement
may be provided, the electrical circuit for state measurement being
configured to measure a state of an object. In some instances, the
electrical circuit for state measurement may be provided to
implement the functionality of an IMU which may include any number
or combination of integrated accelerometers and gyroscopes. The
electrical circuit for state measurement may provide linear
acceleration data along three different axes of motion, angular
acceleration data about three different axes of motion, and
orientation data about three different axes of rotation.
[0115] In process 704, an electrical circuit for actuator speed
control may be provided. The electrical circuit for actuator speed
control may be electrically coupled to the electrical circuit for
state measurement and at least one actuator. The electrical circuit
for actuator speed control may be configured to control actuation
of the at least one actuator according to the state of the object.
In some instances, the electrical circuit for actuator speed
control may be provided to implement the functionality of at least
one electronic speed control (ESC) unit. Each of the at least one
ESC unit may be electrically coupled to a corresponding actuator of
a plurality of actuators, and may be configured to control
actuation of the corresponding actuator according to the state of
the object.
[0116] In some instance, the integrated circuit may comprise
computer readable medium which stores computer executable
instructions. The computer executable instructions may comprise
computer executable instructions that, when executed, to implement
the functionality of the electrical circuit for state measurement,
and computer executable instructions that, when executed, to
implement the functionality of electrical circuit for actuator
speed control.
[0117] The signal transmission velocity between the electrical
circuit for state measurement/motor control instruction generation
and the electrical circuit for actuator speed control may be much
faster than that of a signal bus or a twisted-pair cable, such that
a smaller delay may be found in transmitting the motor control
instructions to the electrical circuit for actuator speed control.
For example, the motor control instruction can be transmitted to
the electrical circuit for motor speed control in less than 1
.mu.s. In some examples, the fast signal transmission within the
integrated circuit may mean a fast control to gimbal motor with
less delay and a substantially real time adjusting to the gimbal
attitude. In other words, the payload may be stabilized in response
to a change in state of the payload in a substantially real time
manner. In some embodiments, the integrated circuit may be provided
to control the pitch motor of the gimbal, such that the payload may
be stabilized in a substantially real time manner at least in the
pitch axis. In case the payload is a camera, the quality of the
captured image and video may be improved because the aerial
photography image may be deteriorated in a pitch direction most due
to a vibration of the bearing object such as a UAV.
[0118] More than one electrical circuit for actuator speed control
may be provided in the integrated circuit. The corresponding gimbal
motors may be regulated by the more than one electrical circuit for
actuator speed control in response to motor control instructions as
received from the electrical circuit for state measurement/motor
control instruction generation with less response time, such that
the payload may be stabilized in more than one direction in
substantially real time.
[0119] FIG. 8 is an exploded view illustrating an imaging device
800 in accordance with an embodiment of the disclosure.
[0120] In some embodiments, a body 802 of an imaging device 800 may
be directly attached to a motor 804 of a gimbal. In some
embodiments, the motor to which the image device is attached may be
a pitch motor which permits the imaging device to move about a
pitch axis. In some examples, the imaging device may be a camera.
In this configuration, since the imaging device is directly
attached to the pitch motor of the gimbal through no frame
component, a weight of the entire stabilizing platform may be
reduced. Alternatively, the imaging device may be attached to a
frame component and the frame component may be attached to the
pitch motor.
[0121] A circuit board 806 may be received in the camera body and
sealed by a rear cover 808 of the camera. The circuit board may be
received in the camera body in an air tight and water-proofing
manner. The circuit board may support thereon an IMU and at least
one ESC unit. The circuit board may be a PCB board as discussed
hereinabove with reference to FIG. 5.
[0122] In some embodiments, the pitch motor control instruction,
which is generated by the IMU based upon measured state
information, may be transmitted to the pitch motor through a first
coupling line 810, and to other ESC units through a second coupling
line 812. In some examples, the first coupling line and the second
coupling line may be a Flexible Printed Circuit (FPC). The first
coupling line may be connected to the at least one ESC unit at one
end, and connected to the gimbal motor at the other end. In some
examples, the first coupling line may transmit the pitch motor
control instruction from the at least one ESC unit to the pitch
motor. In some instance, the first coupling line may be connected
to the at least one ESC unit through a socket on the PCB board.
This configuration may prevent the first coupling line from winding
or folding during a rotation of the camera about the pitch axis,
because the first coupling line rotates together with the imaging
device and the stator of the pitch motor during the imaging
device's rotation about the pitch axis. In some embodiments, the
second coupling line 812 also can transmit image signal obtained by
the image device.
[0123] FIG. 9 is an exploded view illustrating an arrangement of
second coupling line 912 in accordance with an embodiment of the
disclosure. The body 902 of an imaging device 900 may be directly
attached to a motor 904 of a gimbal. In some embodiments, the motor
may be a pitch motor which permits the imaging device to move about
a pitch axis. The imaging device may be a camera. In this
configuration, the circuit board 906 may be received in the camera
body. The second coupling line 912 may be a Flexible Printed
Circuit (FPC). The second coupling line may be a FPC having
branches to be connected to the ESC units for controlling the roll
motor and yaw motor of the gimbal. The second coupling line may at
one end be connected to the IMU, for example, the IMU controller
which is a part of the IMU, and transmits the generated motor
instructions to respective ESC units, and at the other end
connected to the roll motor and yaw motor through branches. In
addition to the motor control instructions, the second coupling
line may transmit the captured images and videos by the imaging
device to an image processing unit or image transmission unit which
may be provided in the support member or in the bearing object.
[0124] In some embodiments, the one end of the second coupling line
may be wounded around a pitch rotating axis of the imaging device
at a side of the imaging device opposite to the pitch motor. The
second coupling line may have a linear part which extends out to
the roll motor and the yaw motor and a coiled part which is wounded
around the pitch rotating axis of the imaging device. The one end
of the second coupling line may at be connected to the IMU by
penetrating through the side wall of the imaging device. This
configuration may prevent the second coupling line from winding or
folding during a rotation of the imaging device about the pitch
axis, because the coiled part of the second coupling line may
absorb the rotating of the imaging device without stretching the
linear part of the second coupling.
[0125] A coiled part of the second coupling line may be housed in
an end cap provided at the side of the imaging device opposite to
the pitch motor. The linear part of the second coupling line may be
routed along the frame components of the gimbal to the roll motor
and the yaw motor. The configuration described herein above may be
applied to a configuration where the first coupling line is
connected to the roll motor and/or yaw motor.
[0126] FIG. 10 is a diagram illustrating a circuit board 1006
carrying an IMU being fixedly attached to an imaging device, in
accordance with an embodiment of the disclosure. The body 1002 of a
body of an imaging device 1000 may be directly attached to a motor
1004 of a gimbal. In some embodiments, the motor may be a pitch
motor which permits the imaging device to move about a pitch axis.
The imaging device may be a camera.
[0127] The circuit board, on which the IMU and at least one ESC
unit are supported, may be attached to an interior of the imaging
device. The circuit board may be fixedly attached to the interior
of the imaging device through a plurality of fasteners such as
screws, studs or bolts. In some examples, the circuit board may
have a shape conforming to the interior contour of the imaging
device. The circuit board may be fitted into the interior of the
imaging device with substantially no space between the edges of the
circuit board with the inner faces of the imaging device.
Alternatively, one or more damping elements may be provided between
the circuit board and the inner faces of the imaging device. The
damping elements may absorb any shock or vibration experienced by
the circuit board. The providing of damping elements may prevent
any component on the circuit board from dropping during a movement
of the imaging device.
[0128] The first coupling line 1010 may be a FPC. In some examples,
the first coupling line may transmit the pitch motor control
instruction from the at least one ESC unit supported by the circuit
board to the pitch motor. One end of the first coupling line may be
connected to the at least one ESC unit supported on the circuit
board, and the other end of the first coupling line may be
connected to the gimbal motor. The one end of the first coupling
line may be tightly pressed on the sockets on the circuit board by
a damping element which is provided between the rear cover 1008 and
the circuit board, such that a connection between the first
coupling line and the socket may not release during the movement of
the payload.
[0129] The second coupling line (not shown) may be connected to the
circuit board through the rotating axis member 1012 of the imaging
device. In some examples, the second coupling line may at one end
be connected to the IMU controller of the IMU, which generates
motor control instruction based upon state information as measured
and transmits the motor control instruction to respective ESC
units, and at the other end connected to the roll motor and yaw
motor through branches. The second coupling line may be a FPC. The
one end of the second coupling line may be wounded around the pitch
rotating axis member of the imaging device at a side of the imaging
device opposite to the pitch motor. The one end of the second
coupling line may penetrate the pitch rotating axis member into the
interior of the imaging device and being connected to the circuit
board.
[0130] The rear cover may be fixed attached to the body of the
imaging device so as to encapsulate the body. For example, the rear
cover may be rigidly attached to the body through a plurality of
fasteners such as screws. The fasteners may be provided at corners
of the rear cover, the edges of the rear cover or the center of the
rear cover. Alternatively, the rear cover may be releasably
attached to the body of the imaging device. For example, the rear
cover may be attached to the body of the imaging device through a
snap fastener, a buckle, or a clip. The rear cover may seal the
body of the imaging device in an air tight and water-proofing
manner. One or more damping elements may be provided between the
rear cover and the circuit board to damp any shock or vibration
experienced by the circuit board.
[0131] FIG. 11 is a diagram illustrating a circuit board carrying
an IMU to be fixedly attached to a rear cover of an imaging device,
in accordance with an embodiment of the disclosure. The circuit
board 1104 may be received in the payload. For example, the circuit
board, on which the IMU 1106 and at least one ESC unit are
supported, may be fixedly attached to an interior surface of the
payload such as a camera. In some embodiments, the circuit board
may be fixedly attached to a rear cover 1102 of the payload. The
circuit board may be a PCB board as discussed hereinabove with
reference to FIG. 5.
[0132] The circuit board may be attached to the payload by various
fasteners. The fastener may be a screw, a bolt, a stud, a snap
fastener, a buckle, a clip, a pin, a hook, a rivet, a staple, a
stitch, a strap, a zipper, a press fit, a welding or a glue. The
circuit board may be attached to the payload via one fastener.
Alternatively, the circuit board may be attached to the payload via
a plurality of fasteners. In some embodiments, the circuit board
may be attached to the rear cover via three screws 1181, 1182 and
1183 which penetrate holes on the circuit boards and screws into
receiving holes on the rear cover of the payload. The one or more
holes, through which the one or more fasteners may penetrate, may
be provided on any location of the circuit board. For example, the
holes may be provided at a location where a density of electrical
components is small. For another example, the holes may be provided
on corners or edges of the circuit board. In some embodiments, the
holes may be provided in proximity to the IMU such that the IMU can
be rigidly attached to the rear cover of the payload.
[0133] The circuit board may be directly attached to the rear cover
without an intermediate layer therebetween. Alternatively, the
circuit board may be attached to the rear cover with an
intermediate layer therebetween. In some instance, the intermediate
layer may be a damping element 1120 to absorb any shock or
vibration experienced by the payload. The damping element may be
provided in multiple at various locations between the circuit board
and the rear cover of the payload. In some embodiments, the damping
element may also tightly press any exterior electrical cable to a
connector of the circuit board, such that the connection between
the exterior electrical cable and the connector of the circuit
board may not release by accident even if the payload experience a
shock. For example, the vibration dampening pad may tightly press
the FPC, which transmits the state information member as generated
by the IMU to exterior ESC units, again the socket on the circuit
board. For example, the first and second coupling lines may be
tightly pressed on the sockets on the circuit board by the damping
element, such that a connection between the first and second
coupling lines and the sockets may not release during the movement
of the payload.
[0134] The IMU may be provided on the circuit board in a manner the
IMU is affected by a shock or vibration experienced by the payload
to the minimum extent. In some embodiments, the IMU may be provided
on a peninsula-like portion of the circuit board where only one
side of the peninsula-like portion is attached to the other portion
of the circuit board. Only a portion of the shock or vibration
experienced by the payload may propagate to the peninsula-like
portion, such that the IMU may be less affected by the shock or
vibration and the accuracy in measurement may not be affected. In
some embodiments, the IMU and/or the portion of the circuit board
on which the IMU is disposed may be covered by a vibration
dampening member 1110 to keep a working temperature of the IMU
constant to further improve the measurement accuracy. The vibration
dampening member may fill between the IMU and/or the portion of the
circuit board and the rear cover of the payload, such that no
relative movement occurs between the IMU and/or the portion of the
circuit board and the rear cover. In some embodiments, the
vibration dampening member may be formed in a U-shape. For example,
the U-shaped vibration dampening member may cover the IMU and/or
the portion of the circuit board on which the IMU is disposed on
two sides, as shown in FIG. 11.
[0135] FIG. 12 is a diagram illustrating a circuit board carrying
an IMU being fixedly attached to a rear cover of an imaging device,
in accordance with an embodiment of the disclosure. FIG. 12 shows
an assembled state of the circuit board to the rear cover of the
payload of FIG. 11.
[0136] The circuit board 1204 on which the IMU is supported may be
fixedly attached to a rear cover 1208 of the payload. In some
embodiments, the circuit board may be attached to the rear cover by
a plurality of fasteners such as screws which are provided in
proximity to the IMU. For example, three screws may be provided to
penetrate holes on the circuit boards and screws into receiving
holes on the rear cover of the payload. The three screws may form a
triangle shape encompassing the IMU.
[0137] A plurality of damping elements 1210, 1220 and 1230 may be
provided between the circuit board and the body 1202 of the payload
to tightly press the circuit board against the rear cover. At least
one of the damping elements may cover the IMU. The damping element
may reduce the shock or vibration experienced by the IMU to improve
a measurement accuracy. The damping element may also keep a working
temperature of the IMU constant to further improve the measurement
accuracy. At least one of the damping elements may press the first
coupling line and second coupling line (not shown) against the
circuit board, such that a connection between the first coupling
line and the socket may not release during the movement of the
payload.
[0138] The systems, devices, and methods described herein can be
applied to a wide variety of objects, including movable objects and
stationary objects. The movable object may be capable of moving
freely within the environment with respect to six degrees of
freedom (e.g., three degrees of freedom in translation and three
degrees of freedom in rotation). Alternatively, the movement of the
movable object can be constrained with respect to one or more
degrees of freedom, such as by a predetermined path, track, or
orientation. The movement can be actuated by any suitable actuation
mechanism, such as an engine or a motor. The actuation mechanism of
the movable object can be powered by any suitable energy source,
such as electrical energy, magnetic energy, solar energy, wind
energy, gravitational energy, chemical energy, nuclear energy, or
any suitable combination thereof. The movable object may be
self-propelled via a propulsion system, as described elsewhere
herein. The propulsion system may optionally run on an energy
source, such as electrical energy, magnetic energy, solar energy,
wind energy, gravitational energy, chemical energy, nuclear energy,
or any suitable combination thereof. Alternatively, the movable
object may be carried by a living being.
[0139] In some instances, the movable object can be an aerial
vehicle. An aerial vehicle can be self-propelled, such as
self-propelled through the air. A self-propelled aerial vehicle can
utilize a propulsion system, such as a propulsion system including
one or more engines, motors, wheels, axles, magnets, rotors,
propellers, blades, nozzles, or any suitable combination
thereof.
[0140] Any description herein of an aerial vehicle, such as a UAV,
may apply to and be used for any movable object. Any description
herein of an aerial vehicle may apply specifically to UAVs. A
movable object of the present disclosure can be configured to move
within any suitable environment, such as in air (e.g., a fixed-wing
aircraft, a rotary-wing aircraft, or an aircraft having neither
fixed wings nor rotary wings), in water (e.g., a ship or a
submarine), on ground (e.g., a motor vehicle, such as a car, truck,
bus, van, motorcycle, bicycle; a movable structure or frame such as
a stick, fishing pole; or a train), under the ground (e.g., a
subway), in space (e.g., a spaceplane, a satellite, or a probe), or
any combination of these environments.
[0141] The movable object can be controlled remotely by a user or
controlled locally by an occupant within or on the movable object.
The movable object may be controlled remotely via an occupant
within a separate vehicle. In some embodiments, the movable object
is an unmanned movable object, such as a UAV. An unmanned movable
object, such as a UAV, may not have an occupant onboard the movable
object. The movable object can be controlled by a human or an
autonomous control system (e.g., a computer control system), or any
suitable combination thereof. The movable object can be an
autonomous or semi-autonomous robot, such as a robot configured
with an artificial intelligence.
[0142] FIG. 13 illustrates a movable object 1300 including a
carrier 1302 and a payload 1304, in accordance with embodiments of
the present disclosure. Although the movable object 1300 is
depicted as an aircraft, this depiction is not intended to be
limiting, and any suitable type of movable object can be used, as
previously described herein. One of skill in the art would
appreciate that any of the embodiments described herein in the
context of aircraft systems can be applied to any suitable movable
object (e.g., an UAV). In some instances, the payload 1304 may be
provided on the movable object 1300 without requiring the carrier
1302. The movable object 1300 may include propulsion mechanisms
1306, a sensing system 1308, and a communication system 1310.
[0143] The propulsion mechanisms 1306 can include one or more of
rotors, propellers, blades, engines, motors, wheels, axles,
magnets, or nozzles, as previously described. The movable object
may have one or more, two or more, three or more, or four or more
propulsion mechanisms. The propulsion mechanisms may all be of the
same type. Alternatively, one or more propulsion mechanisms can be
different types of propulsion mechanisms. The propulsion mechanisms
1306 can be mounted on the movable object 1300 using any suitable
means, such as a support element (e.g., a drive shaft) as described
elsewhere herein. The propulsion mechanisms 1306 can be mounted on
any suitable portion of the movable object 1300, such on the top,
bottom, front, back, sides, or suitable combinations thereof.
[0144] In some embodiments, the propulsion mechanisms 1306 can
enable the movable object 1300 to take off vertically from a
surface or land vertically on a surface without requiring any
horizontal movement of the movable object 1300 (e.g., without
traveling down a runway). Optionally, the propulsion mechanisms
1306 can be operable to permit the movable object 1300 to hover in
the air at a specified position and/or orientation. One or more of
the propulsion mechanisms 1300 may be controlled independently of
the other propulsion mechanisms. Alternatively, the propulsion
mechanisms 1300 can be configured to be controlled simultaneously.
For example, the movable object 1300 can have multiple horizontally
oriented rotors that can provide lift and/or thrust to the movable
object. The multiple horizontally oriented rotors can be actuated
to provide vertical takeoff, vertical landing, and hovering
capabilities to the movable object 1300. In some embodiments, one
or more of the horizontally oriented rotors may spin in a clockwise
direction, while one or more of the horizontally rotors may spin in
a counterclockwise direction. For example, the number of clockwise
rotors may be equal to the number of counterclockwise rotors. The
rotation rate of each of the horizontally oriented rotors can be
varied independently in order to control the lift and/or thrust
produced by each rotor, and thereby adjust the spatial disposition,
velocity, and/or acceleration of the movable object 1300 (e.g.,
with respect to up to three degrees of translation and up to three
degrees of rotation).
[0145] The sensing system 1308 can include one or more sensors that
may sense the spatial disposition, velocity, and/or acceleration of
the movable object 1300 (e.g., with respect to up to three degrees
of translation and up to three degrees of rotation). The one or
more sensors can include global positioning system (GPS) sensors,
motion sensors, inertial sensors, proximity sensors, or image
sensors. The sensing data provided by the sensing system 1308 can
be used to control the spatial disposition, velocity, and/or
orientation of the movable object 1300 (e.g., using a suitable
processing unit and/or control module, as described below).
Alternatively, the sensing system 1308 can be used to provide data
regarding the environment surrounding the movable object, such as
weather conditions, proximity to potential obstacles, location of
geographical features, location of manmade structures, and the
like.
[0146] The communication system 1310 enables communication with
terminal 1312 having a communication system 1314 via wireless
signals 1316. The communication systems 1310, 1314 may include any
number of transmitters, receivers, and/or transceivers suitable for
wireless communication. The communication may be one-way
communication, such that data can be transmitted in only one
direction. For example, one-way communication may involve only the
movable object 1300 transmitting data to the terminal 1312, or
vice-versa. The data may be transmitted from one or more
transmitters of the communication system 1310 to one or more
receivers of the communication system 1312, or vice-versa.
Alternatively, the communication may be two-way communication, such
that data can be transmitted in both directions between the movable
object 1300 and the terminal 1312. The two-way communication can
involve transmitting data from one or more transmitters of the
communication system 1310 to one or more receivers of the
communication system 1314, and vice-versa.
[0147] In some embodiments, the terminal 1312 can provide control
data to one or more of the movable object 1300, carrier 1302, and
payload 1304 and receive information from one or more of the
movable object 1300, carrier 1302, and payload 1304 (e.g., position
and/or motion information of the movable object, carrier or
payload; data sensed by the payload such as image data captured by
a payload camera). In some instances, control data from the
terminal may include instructions for relative positions,
movements, actuations, or controls of the movable object, carrier
and/or payload. For example, the control data may result in a
modification of the location and/or orientation of the movable
object (e.g., via control of the propulsion mechanisms 1306), or a
movement of the payload with respect to the movable object (e.g.,
via control of the carrier 1302). The control data from the
terminal may result in control of the payload, such as control of
the operation of a camera or other image capturing device (e.g.,
taking still or moving pictures, zooming in or out, turning on or
off, switching imaging modes, change image resolution, changing
focus, changing depth of field, changing exposure time, changing
viewing angle or field of view). In some instances, the
communications from the movable object, carrier and/or payload may
include information from one or more sensors (e.g., of the sensing
system 1308 or of the payload 1304). The communications may include
sensed information from one or more different types of sensors
(e.g., GPS sensors, motion sensors, inertial sensor, proximity
sensors, or image sensors). Such information may pertain to the
position (e.g., location, orientation), movement, or acceleration
of the movable object, carrier and/or payload. Such information
from a payload may include data captured by the payload or a sensed
state of the payload. The control data provided transmitted by the
terminal 1312 can be configured to control a state of one or more
of the movable object 1300, carrier 1302, or payload 1304.
Alternatively or in combination, the carrier 1302 and payload 1304
can also each include a communication module configured to
communicate with terminal 1312, such that the terminal can
communicate with and control each of the movable object 1300,
carrier 1302, and payload 1304 independently.
[0148] In some embodiments, the movable object 1300 can be
configured to communicate with another remote device in addition to
the terminal 1312, or instead of the terminal 1312. The terminal
1312 may also be configured to communicate with another remote
device as well as the movable object 1300. For example, the movable
object 1300 and/or terminal 1312 may communicate with another
movable object, or a carrier or payload of another movable object.
When desired, the remote device may be a second terminal or other
computing device (e.g., computer, laptop, tablet, smartphone, or
other mobile device). The remote device can be configured to
transmit data to the movable object 1300, receive data from the
movable object 1300, transmit data to the terminal 1312, and/or
receive data from the terminal 1312. Optionally, the remote device
can be connected to the Internet or other telecommunications
network, such that data received from the movable object 1300
and/or terminal 1312 can be uploaded to a web site or server.
[0149] While some embodiments of the present disclosure have been
shown and described herein, it will be obvious to those skilled in
the art that such embodiments are provided by way of example only.
Numerous variations, changes, and substitutions will now occur to
those skilled in the art without departing from the disclosure. It
should be understood that various alternatives to the embodiments
of the disclosure described herein may be employed in practicing
the disclosure. It is intended that the following claims define the
scope of the invention and that methods and structures within the
scope of these claims and their equivalents be covered thereby.
* * * * *