Stabilized platform system
View Patent ↗A stabilized platform system includes a platform, a chassis subject to external vibration, first and second servomechanisms fixed to the chassis, first support having an end rotatably coupled to the first servomechanism and an other end rotatably coupled to the platform, a second support having an end rotatably coupled to the second servomechanism and an other end rotatably coupled to the platform, a third support having an end fixed relative to one of the chassis and an other end rotatably coupled to the platform, one or more sensors fixed to the platform, and a controller coupled to the one or more sensors and the first and the second servomechanisms. The controller causes the servomechanisms to adjust the inclination angles of the platform to maintain a desired orientation of the platform.
1. A stabilized platform system, comprising:
a platform;
a chassis subject to external vibration;
a first servomechanism being fixed relative to one of the chassis and the platform;
a second servomechanism being fixed relative to one of the chassis and the platform;
a first support having an end rotatably coupled to the first servomechanism and an other end rotatably coupled to one of the chassis and the platform that is not fixed relative to the first servomechanism;
a second support having an end rotatably coupled to the second servomechanism and an other end rotatably coupled to one of the chassis and the platform that is not fixed relative to the second servomechanism;
a third support having an end fixed relative to one of the chassis and the platform and an other end rotatably coupled to an other of the chassis and the platform;
one or more sensors being fixed relative to the platform to detect inclination angles of the platform about two platform axes; and
a controller being coupled to the sensors to receive the inclination angles of the platform, and to the first and the second servomechanism to adjust the inclination angles of the platform to maintain a desired position of the platform,
wherein the first, the second, and the third support are coupled to the platform at three mounting points, the three mounting points are located at vertices of an isosceles triangle.
2. The system of claim 1 , wherein the isosceles triangle is an isosceles right triangle.
3. The system of claim 1 , wherein
a first accelerometer is vertically mounted to the platform so its first accelerometer axis is parallel to a first equal side of the isosceles triangle and its second accelerometer axis is parallel to gravity, and
a second accelerometer is vertically mounted to the platform so its first accelerometer axis is parallel to a second equal side of the isosceles triangle and its second accelerometer axis is parallel to gravity.
4. The system of claim 1 , wherein one accelerometer is horizontally mounted to the platform so a first accelerometer axis is parallel to a first platform axis and a second accelerometer axis is parallel to a second platform axis.
5. The system of claim 1 , the first and the second servomechanisms are fixed relative to the chassis;
the first support has the other end rotatably coupled to the platform;
the second support has the other end rotatably coupled to the platform; and
a third support has the end fixed relative to the chassis and the other end rotatably coupled to the platform.
6. The system of claim 1 , wherein the first and the second servomechanisms each comprises a servo motor and a link that couples the motor to a corresponding support.
7. The system of claim 1 , wherein the chassis further comprises wheels.
8. The system of claim 1 , wherein the stabilized system is a car, a boat, a plane, a helicopter, or a train.
9. The system of claim 1 , wherein the one or more sensors are microelectromechanical systems (MEMS) accelerometers.
10. The system of claim 1 , wherein the desired orientation of the platform is horizontally level.