Parallelogram Load Stabilization for Gravity-Induced Jitter
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Solution Overview
Problem
Current load stabilization devices fail to achieve ideal stabilization due to load jitter caused by gravity, which existing gimbals cannot effectively compensate for.
Innovation Solution
A load stabilization device comprising a base, a parallelogram mechanism, a motion sensor, and a stabilization motor, where a processor obtains sensor data to determine the velocity of the load in the direction of gravity and generates control instructions for the motor to rotate the parallelogram mechanism relative to the base, stabilizing the load.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a traditional three-axis gimbal is used to stabilize the load, then rotation direction stabilization is improved, but gravity-induced jitter in the vertical direction cannot be compensated
Solution Approach 1:
The stabilization system is divided into two independent modules: a traditional three-axis gimbal for horizontal stabilization (pitch, yaw, roll) and a new vertical stabilization mechanism using a parallelogram structure with a stabilization motor. This segmentation allows each module to specialize in compensating for specific方向的 jitter, with the vertical module specifically addressing gravity-induced instability that the gimbal cannot handle.
Solution Approach 2:
A parallelogram mechanism is introduced as an intermediary structure between the base and the load. This mechanism, driven by a stabilization motor, specifically addresses vertical displacement caused by gravity. The parallelogram structure translates rotational motion into vertical motion to counteract gravity-induced jitter, serving as a mediator that bridges the gap between the gimbal's horizontal stabilization and the load's vertical instability.
2Stability of the object's composition
If the stabilization motor drives the parallelogram mechanism to rotate, then vertical stabilization is improved, but device complexity increases
Solution Approach 1:
The parallelogram mechanism serves multiple functions: it provides vertical motion control, maintains horizontal alignment of the load, and works synergistically with the three-axis gimbal. By making this single mechanism multi-functional, the patent reduces the need for additional separate components, thereby managing complexity while achieving vertical stabilization.
Solution Approach 2:
The stabilization system employs a nested structure where the three-axis gimbal is integrated within the parallelogram mechanism framework. The gimbal handles fine horizontal adjustments while the parallelogram mechanism provides coarse vertical stabilization. This nesting allows both mechanisms to work together in a compact configuration, reducing overall system complexity compared to having completely separate systems.
3Measurement precision
If motion sensor and processor are added to detect velocity and generate control instructions, then stabilization precision is improved, but device complexity increases
Solution Approach 1:
A feedback control loop is implemented where the motion sensor continuously monitors the velocity of the second end in the vertical direction, the processor compares this velocity to the desired zero velocity, and the stabilization motor adjusts the parallelogram mechanism accordingly. This feedback mechanism enables precise velocity detection and real-time correction of vertical jitter, significantly improving stabilization precision.
Solution Approach 2:
The control system is designed to be self-regulating, automatically detecting vertical motion through the motion sensor and adjusting the stabilization motor without external intervention. The processor autonomously generates control instructions based on real-time velocity data, enabling the system to self-correct vertical instability caused by gravity or external forces.
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 solution effectively stabilizes loads by compensating for gravity-induced jitter, ensuring the load's velocity in the direction of gravity approximates zero, thereby improving stabilization performance.
Implementation Method 1
a motion sensor; a stabilization motor, configured to drive the parallelogram mechanism to rotate relative to the base; and at least one processor, configured to: obtain sensor data output by the motion sensor, determine a velocity of the second end in a direction of gravity relative to a ground based on the sensor data
Implementation Method 2
a stabilization motor, configured to drive the parallelogram mechanism to rotate relative to the base
Implementation Method 3
determine a velocity of the second end in a direction of gravity relative to a ground based on the sensor data, and generate a control instruction, based on the velocity of the second end in the direction of gravity relative to the ground, to direct the stabilization motor to drive the parallelogram mechanism to rotate relative to the base to stabilize the load carried at the second end
Data Source
AI summary
The present disclosure provides a load stabilization device, a control method thereof, and a computer readable storage medium. In the load stabilization device, a motion sensor, a processor, a stabilization motor, and a parallelogram mechanism constitute a closed-loop feedback control system. A control instruction for the stabilization motor is generated based on a velocity of a second end of the parallelogram mechanism in a direction of gravity relative to a ground, where the second end may carry a load, and the stabilization motor is controlled to drive, according to the control instruction, the parallelogram mechanism to rotate relative to a base, so as to at least partially offset or compensate for jitter of the load carried at the second end of the parallelogram mechanism in the direction of gravity, suppress disturbance generated at a first end of the parallelogram mechanism, and stabilize the load carried at the second end.