Handheld Gimbal Stabilization via Fixed Gyro Sensors
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Solution Overview
Problem
Existing camera stabilization systems are heavy, costly, and unsuitable for lightweight, handheld applications, as they fail to effectively isolate operator motion across a wide range of camera positions and frequencies, limiting their ability to provide smooth camera motion without jitter.
Innovation Solution
A lightweight, handheld camera stabilization system that eliminates gyro sensor angular interaction issues by rigidly fixing each gyro sensor at its corresponding pivot axis, allowing direct imposition of reaction forces onto the gimbal frame, thereby isolating the stabilized platform from operator motion and maintaining constant control loop gain across large yaw and pitch displacements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional mechanical stabilizers (Steadicam) are used, then camera stabilization is achieved, but the system becomes heavy and cumbersome
Solution Approach 1:
The patent replaces the purely mechanical Steadicam system with an electro-mechanical system that uses reaction wheel flywheels controlled by electronic sensors and actuators to provide stabilization, reducing the need for heavy mechanical counterweights and support structures
Solution Approach 2:
The patent changes the stabilization approach from passive mechanical balancing to active control using spinning flywheels, where the stabilization capability is adjusted by changing the rotational speed and momentum of the flywheels rather than relying on fixed mechanical structures
2Reliability
If reaction wheel flywheels are used for stabilization, then operator motion isolation is improved, but the system weight increases significantly
Solution Approach 1:
The patent divides the stabilization function into separate orthogonal components using multiple flywheels oriented at right angles to each other, allowing each flywheel to handle specific axes of motion independently, which optimizes the weight-to-performance ratio
Solution Approach 2:
The patent uses composite construction for the flywheel assemblies and gimbal structure, combining materials with different properties to achieve high strength-to-weight ratios and optimize the overall system weight while maintaining structural integrity
3Reliability
If high-speed flywheels are used, then stabilization effectiveness increases, but power consumption and heat dissipation increase
Solution Approach 1:
The patent uses periodic modulation of the flywheel speeds rather than maintaining constant high speeds, adjusting the rotational velocity dynamically based on detected motion disturbances, which reduces average power consumption while maintaining stabilization effectiveness
Solution Approach 2:
The patent employs brushless direct-drive motor technology where the motor generates its own magnetic field without external brushes, eliminating mechanical contact and reducing power losses, heat generation, and maintenance requirements
4Reliability
If gyroscopic flywheels are used, then stabilization is achieved, but gyroscopic precession creates unwanted dynamics
Solution Approach 1:
The patent deliberately positions the flywheel spin axes asymmetrically relative to the camera and gimbal structure, specifically orienting them to minimize the generation of unwanted gyroscopic precession torques during normal camera operation
Solution Approach 2:
The patent accepts the presence of gyroscopic effects and uses control algorithms to convert the potentially harmful precession into useful stabilization torque, where the flywheels' angular momentum is harnessed to counteract operator-induced camera motion
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system achieves exceptional operator motion rejection and fluid camera control, allowing for smooth panning and tilting without the need for heavy harnesses or high-power flywheels, while minimizing electrical power consumption and enabling stabilization of long focal length cameras in various motion scenarios.
Implementation Method 1
a first gyro sensor fixed to the first gimbal frame and disposed at the first rotation axis to detect angular velocity of the stabilized platform about the first rotation axis
Implementation Method 2
a second gyro sensor fixed to the second gimbal frame and disposed at the second rotation axis to detect angular velocity of the stabilized platform about the second rotation axis
Implementation Method 3
having an actuator to torque the first gimbal frame about the first rotation axis responsive to a first motor signal
Data Source
AI summary
A stabilization system including a platform supported by two or more rotatably-coupled gimbal frames each having a pivot assembly disposed at its rotation axis to couple an actuator to a rotation sensor having a rotation-sensitive sensor axis that is fixedly disposed with respect to the rotation axis, and a controller including means for accepting the sensor signals and for producing each motor signal needed to dispose the platform in a predetermined angular position with respect to each rotation axis independent of changes in the base orientation. A motion simulator embodiment includes controller means for accepting an external slew signal sequence and means for producing the motor signals needed to move the platform along a predetermined sequence of positions represented by the slew signal sequence.