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United States Patent (10) Patent N0.: US 6,611,662 B1 Grober (45) Date of Patent: Aug

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United States Patent (10) Patent N0.: US 6,611,662 B1 Grober (45) Date of Patent: Aug US006611662B1 (12) United States Patent (10) Patent N0.: US 6,611,662 B1 Grober (45) Date of Patent: Aug. 26, 2003 (54) AUTONOMOUS, SELF LEVELING, SELF OTHER PUBLICATIONS CORRECTI G STABILIZED PLATFORM N Product Brochure for PANAFLEX products. (76) Inventor: David E. Grober, 616 Venice Blvd., Product Ad for SPACECAM- _ Marina del Rey, CA (Us) 90291 Product Ad for GYRON, Model 935 by WolfeAlr, Pasadena, CA May 1996. ~ ( * ) Notice; Subject to any disclaimer, the term of this Product Brochure and pr1ce sheet for TYLER Camera Sys patent is extended or adjusted under 35 terns U_S_C_ 154(k)) by 0 days_ Technical Manual for Self—Synchronous Stabilized Alidade, Sperry Marine Systemts Division, Department of the Navy, 21 A 1. N .1 09 579 723 P- 131M129’ 1969 ( ) pp 0 / ’ Speci?cation sheet for Nettmann Cam—remote With Gyron (22) Filed: May 26, 2000 Stabilizer Module, MattheW Studio Electronics, Jun. 1997. Product Brochure for Libra III, 3—Axis Remote Head, Geo Related US. Application Data Film Group, Van Nuys, CA. (60) Provisional application No. 60/136,756, ?led on May 28, _ _ 1999_ * cited by eXammer (51) Int. Cl.7 .............................................. .. G03B 17/00 Primary Examiner—Christopher Mahoney (52) 396/55; 396/421 (74) Attorney, Agent, or Firm—LaW Of?ces of David L. (58) Field of Search .............................. .. 396/7, 12, 13, Hoffman 396/419, 428, 55, 52, 421; 74/522, (57) ABSTRACT _ A stabilized platform is stabilized to compensate for motion (56) References Clted caused by Waves, currents, Wind, and other motion during Us‘ PATENT DOCUMENTS land, air, and sea operations of a camera. Although the . stabilized platform is primarily described as useful for 3,638,502 A 2/1972 Leavitt et al. ............. .. 74/534 Supporting a camera, the platform may be used to support 3,781,786 A * 12/1973 Laffimofe ~~~~~~~~~~~~~~~~~ ~~ 340/985 other articles or persons. The stabilized platform includes a 2 i 13; stabilizing system connecting a payload platform to a base. 4’070’674 A * 1/1978 Blirelllngteala' ' "'"342/117 The stabilizing system including at least tWo motors for 4,214,372 A 7/1980 Rusbach 33/252 rotating thegayioad platfoém with respect? thesase all’oug 4,625,938 A 12/1986 Brown .... .. 248/550 two Perpen~ 1611 M @3659 Potanon Rm“ {Hg t 6 Pay 0*‘ 4,828,376 A 5/1989 Padera ____ __ 350/500 platform With stabilization in tWo dimensions. A control 4,989,466 A 2/1991 Goodman 74/522 system stabilizes the platform based on information pro 5,050,087 A * 9/1991 Walrath et al. .... .. 701/4 vided by a ?rst sensor package or other location for sensing 5,124,938 A 6/1992 Algrain -- 364/566 motion of the vehicle and a second sensor package on the 5,142,497 A * 8/1992 WaTTOW - - - - - - - - ~~ 367/12 platform. The use of the second sensor package alloWs the 2 glyl?r """ "" " stabilized platform to be self correcting. A camera When ’ ’ 0 an SWOT e a ' mounted on the payload platform may be manually or 5,332,136 A * 7/1994 Rudolph ................... .. 224/185 5,419,521 A 5/1995 Matthews 248/278 remotely Controlled‘ 5,897,223 A 4/1999 Tritchew et al. 396/13 6,263,160 B1 * 7/2001 Lewis ....................... .. 396/13 38 Claims, 11 Drawing Sheets U.S. Patent Aug. 26, 2003 Sheet 1 0f 11 US 6,611,662 B1 22 24 IlIllIl| 18 U.S. Patent Aug. 26, 2003 Sheet 2 0f 11 US 6,611,662 B1 U.S. Patent Aug. 26, 2003 Sheet 3 0f 11 US 6,611,662 B1 U.S. Patent Aug. 26, 2003 Sheet 4 0f 11 US 6,611,662 B1 44 42’ U.S. Patent Aug. 26, 2003 Sheet 5 0f 11 US 6,611,662 B1 6° I ............. .. d; :' 1i 1 ' 11' 0.1, 6 _ _ _ _ _ _ _ , _ _ . t _ _ __ 178 i 25 FIG. 6 ° 170 N _/174178 "~ 22 if if’ E ____ u‘ ------------ H 55 182 172 U.S. Patent Aug. 26, 2003 Sheet 6 0f 11 US 6,611,662 B1 FIG. 9 / 100 FIG. 8 "3 176 U.S. Patent Aug. 26, 2003 Sheet 7 0f 11 US 6,611,662 B1 FIG.10 U.S. Patent Aug. 26, 2003 Sheet 8 0f 11 US 6,611,662 B1 09, \T,mKg:EN8 m)wmw ..............-....... .......- \v--....................1 2:\Q2\<6,, m2.a\v\@1HH \ 9:I(9:9;\...................I _ s: \m_\/mo2 ................, N9 (o2 \@HNE‘. A\ mm?) I‘.@_n_Nr.mv_u_ uin!‘ \/nE: . \<2/_/ O?\ #2 3:21 1+IT ........... w.O2h:m2w? n}< U.S. Patent Aug. 26, 2003 Sheet 9 0f 11 US 6,611,662 B1 FIG. 13 U.S. Patent Aug. 26, 2003 Sheet 10 0f 11 US 6,611,662 B1 U.S. Patent Aug. 26, 2003 Sheet 11 0f 11 US 6,611,662 B1 [234 [230 I.|||| 200 j FIG. 15 US 6,611,662 B1 1 2 AUTONOMOUS, SELF LEVELING, SELF In accordance With one aspect of the present invention, a CORRECTING STABILIZED PLATFORM stabiliZed platform includes a payload platform for support ing an article to be stabiliZed, a base, a stabiliZing system This application claims priority based on Provisional connecting the payload platform to the base, a ?rst sensor Application Ser. No. 60/136,756 ?led May 28, 1999 Which package for determining motion of a vehicle on Which the is incorporated herein by reference in its entirety. stabiliZed platform is mounted in tWo perpendicular BACKGROUND OF THE INVENTION directions, a second sensor package including at least one 1. Field of the Invention sensor ?xed to the payload platform, and a control system for stabiliZing the platform based on information provided The invention relates to a stabilized platform for support 10 by the ?rst sensor package and the second sensor package. ing cameras, antennas, chairs, tables, and other articles, and more particularly, the invention relates to a self leveling and The stabiliZing system includes at least tWo motors for self correcting stabiliZed platform. rotating the payload platform With respect to the base about tWo perpendicular aXes of rotation providing the payload 2. Brief Description of the Related Art platform With stabiliZation in tWo dimensions. When using a camera on a vehicle such as an automobile, 15 In accordance With another aspect of the present boat, airplane, helicopter, and the like, it is often necessary invention, a method of stabiliZing and self correcting a for the camera to be stabiliZed in some manner. KnoWn stabiliZing platforms for cameras are generally large, heavy camera platform includes the steps of: positioning a stabi liZed camera platform on a moving vehicle; stabiliZing the devices using gyroscopes for stabiliZation. platform in at least tWo dimensions based on information US. Pat. Nos. 3,638,502; 4,989,466; and 5,184,521 collected by a ?rst sensor package sensing motion of the describe stabiliZing devices employing gyroscopes. These moving vehicle; and self correcting a position of the plat devices generally employ three orthogonally positioned form based on information collected by a second sensor gyroscopes to adjust for pitch, tilt, and yaW of the vehicle on package mounted on the platform. Which the device is mounted. The camera is mounted on or In accordance With a further aspect of the present in the stabiliZing device and the device maintains the camera 25 level during motion of the vehicle. These gyroscopic stabi invention, an anti-seasickness chair includes a stabiliZed liZation platforms are quite heavy, i.e., greater than 100 platform con?gured to be mounted on a vehicle and a chair mounted on the stabiliZed platform. The stabiliZed platform pounds, due to the use of gyroscopes. The devices are includes sensors for sensing motion of the vehicle and a particularly designed for use on helicopters and are mounted on an exterior of the helicopter. The heavy platforms add control system for compensating for motion of the vehicle in substantial Weight to the helicopter, increasing fuel at least tWo dimensions. consumption, and decreasing the amount of time the heli BRIEF DESCRIPTION OF THE DRAWINGS copter can be airborne for a particular shoot. In addition, these gyroscopic platforms are generally able to carry only The invention Will noW be described in greater detail With reference to the preferred embodiments illustrated in the small payloads, such as cameras Weighing 100 pounds or 35 less. accompanying draWings, in Which like elements bear like reference numerals, and Wherein: Another draWback of the knoWn gyroscopic stabiliZing platforms is that they restrict operation of the camera to FIG. 1 is a top vieW of a tWo aXis stabiliZed platform remote operation using remote controls, such as joysticks. according to the present invention; Remote operation requires that the camera operator acquire FIG. 2 is a front vieW of the stabiliZed platform of FIG. a neW set of skills for remote manipulation of the camera and 1; does not alloW the hands on camera control that camera FIG. 3 is a left side vieW of a three aXis stabiliZed platform operators are accustomed to using. according to the present invention; Non-electronic stabiliZing devices, such as the Steadicam, FIG. 4 is a side vieW of a tWo aXis stabiliZed platform and are limited in the total Weight that can be compensated for 45 camera mounted on a harness; and in their range of motion. FIG. 5 is a front vieW of a tWo aXis stabiliZed platform and Other stabiliZing systems Which have been used on ships camera mounted on a base having handles; for stabiliZing sighting devices are not only heavy, but rely FIG.
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