Stabilizing platform and camera
A stabilizing platform for stabilizing a payload includes a frame assembly, a plurality of actuators, and a plurality of electronic speed control (ESC) units. The frame assembly includes a plurality of frame components movable relative to one another and is configured to support the payload. The plurality of actuators are configured to permit the plurality of frame components to move relative to one another. The plurality of actuators include 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. Each of the plurality of ESC units is electrically coupled to a corresponding actuator of the plurality of actuators and is configured to control actuation of the corresponding actuator. At least one of the plurality of ESC units is received in the payload.
1. A stabilizing platform for stabilizing a payload, comprising:
a frame assembly comprising a plurality of frame components movable relative to one another, the frame assembly being configured to support the payload and connect the payload to a carrier;
a plurality of actuators configured to permit the plurality of frame components to move relative to one another and to move relative to the carrier, 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;
a plurality of electronic speed control (ESC) units each electrically coupled to a corresponding actuator of the plurality of actuators and configured to control actuation of the corresponding actuator; and
a state measurement member supported by the payload, the state measurement member being configured to obtain state of the payload;
wherein:
at least one of the plurality of ESC units and the state measurement member are provided on a same circuit board or integrated as one integrated circuit to allow the at least one of the plurality of ESC units to control the corresponding actuator according to the state of the payload in a real-time manner;
at least one of the plurality of frame components includes a cavity, one of the plurality of actuators allowing the at least one of the plurality of frame components that includes the cavity to move relative to the carrier; and
at least two of the plurality of ESC units are received and sealed in the cavity of the at least one of the plurality of frame components.
2. The stabilizing platform of claim 1 , wherein the state measurement member is provided inside the payload.
3. The stabilizing platform of claim 1 , wherein the actuation of the plurality of actuators is controlled according to the state of the payload.
4. The stabilizing platform of claim 1 , wherein the state measurement member includes an inertial measurement unit (IMU).
5. The stabilizing platform of claim 4 , wherein the IMU comprises a gyroscope, an accelerometer, and an IMU controller.
6. The stabilizing platform of claim 5 , wherein:
the IMU controller is configured to generate motor control instructions based upon the state of the payload; and
each of the plurality of ESC units is configured to control the actuation of the corresponding actuator according to the motor control instructions.
7. The stabilizing platform of claim 1 , wherein the circuit board includes a printed circuit board (PCB).
8. The stabilizing platform of claim 1 , wherein the frame assembly comprises a first frame component that supports the payload and permits the payload to rotate about the first axis.
9. The stabilizing platform of claim 8 , wherein the first actuator is configured to control movement of the first frame assembly.
10. The stabilizing platform of claim 9 , wherein the first actuator includes a motor, a rotor of the motor being attached to the first frame and a stator of the motor being attached to the payload.
11. The stabilizing platform of claim 10 , wherein the first actuator includes a brushless motor.
12. The stabilizing platform of claim 8 , wherein the plurality of ESC units comprise a first ESC unit configured to control actuation of the first actuator.
13. The stabilizing platform of claim 12 , wherein the first ESC unit is received in the payload.
14. The stabilizing platform of claim 8 , wherein the first axis is a pitch axis.
15. The stabilizing platform of claim 8 , wherein the frame assembly further comprises a second frame component that supports the first frame component and permits the first frame component to rotate about the second axis.
16. The stabilizing platform of claim 15 , wherein the second actuator is configured to control movement of the second frame assembly.
17. The stabilizing platform of claim 15 , wherein the plurality of ESC units comprise a second ESC unit configured to control actuation of the second actuator.
18. The stabilizing platform of claim 17 , wherein the second ESC unit is provided in the payload.
19. The stabilizing platform of claim 17 , wherein the second ESC unit is not provided in the payload.
20. The stabilizing platform of claim 15 , wherein the second axis is a roll axis.
21. The stabilizing platform of claim 15 , wherein the frame assembly further comprises a third frame component that supports the second frame component and permits the second frame component to rotate about a third axis.
22. The stabilizing platform of claim 21 , wherein the plurality of actuators comprise a third actuator configured to control movement of the third frame assembly.
23. The stabilizing platform of claim 22 , wherein the plurality of ESC units further comprise a third ESC unit configured to control actuation of the third actuator.
24. The stabilizing platform of claim 21 , wherein the third axis is a yaw axis.
25. The stabilizing platform of claim 1 , wherein the payload includes a camera.
26. The stabilizing platform of claim 1 , wherein the stabilizing platform includes a multidimensional gimbal.
27. The stabilizing platform of claim 1 , wherein the first axis is perpendicular to the second axis.
28. The stabilizing platform of claim 1 , wherein the plurality of actuators further comprise a third actuator that is configured to control movement of the payload about a third axis.
29. The stabilizing platform of claim 28 , wherein the third axis is perpendicular to the first axis and the second axis.
30. The stabilizing platform of claim 1 , wherein the frame assembly comprises at least three frame components that are movable relative to one another.
31. The stabilizing platform of claim 1 , wherein the plurality of frame components are movably connected to one another by joints, and each joint includes a sensor configured to detect position or rotation of corresponding connected frame components.
32. The stabilizing platform of claim 1 , further comprising:
at least one coupling line connecting one of the ESC units to a corresponding actuator,
wherein the at least one coupling line includes a linear part and a coil part.
33. The stabilizing platform of claim 1 , wherein at least one of the plurality of actuators is connected between the carrier and the at least one of the plurality of frame components that includes the cavity.
34. The stabilizing platform of claim 1 , wherein:
the circuit board is located inside the payload; and
the at least one of the plurality of ESC units, the state measurement member, and an optical sensor of the payload are integrated together on the circuit board.
35. The stabilizing platform of claim 1 , wherein the at least one of the plurality of ESC units that is integrated with the state measurement member is configured to control a movement of the payload around a pitch axis.
36. The stabilizing platform of claim 1 , wherein a distance between the at least one of the plurality of ESC units and the state measurement member is less than 50 mm.