Method and system for stabilizing a payload
The present disclosure provides systems, methods, and devices related to the control and operation of a carrier for supporting a payload. In one aspect, a carrier may include: a stator configured to be coupled to a base support, wherein the stator include a spherical surface; and a frame operably coupled to the stator via a plurality of piezoelectric actuators, wherein the frame is configured to rotate relative to the stator about one or more rotational axes, and wherein the frame is configured to support a plurality of payloads in a manner that substantially balances a weight of the plurality of payloads relative to the stator.
1. A carrier comprising:
a stator configured to be coupled to a base support, the stator comprising a spherical surface; and
a frame operably coupled to the stator via a plurality of piezoelectric actuators,
wherein the frame is configured to:
rotate relative to the stator about one or more rotational axes, and
support a plurality of payloads in a manner that substantially balances a weight of the plurality of payloads relative to the stator.
2. The carrier of claim 1 , wherein the frame comprises a ring located around the spherical surface of the stator.
3. The carrier of claim 2 , wherein the plurality of payloads are uniformly distributed along the ring.
4. The carrier of claim 2 , wherein the plurality of payloads are attached along the ring such that a center of gravity of the carrier with the payloads is offset from a spherical center of the stator.
5. The carrier of claim 4 , wherein the center of gravity is offset from the spherical center of the stator along a yaw axis.
6. The carrier of claim 1 , wherein the stator is rotatably coupled to the base support via a motor.
7. The carrier of claim 6 , wherein the stator or the base support is attached to a rotor of the motor.
8. The carrier of claim 7 , wherein a rotational position of the motor is determined using a magnetic field sensor.
9. The carrier of claim 6 , wherein a housing of the motor is located at the base support.
10. The carrier of claim 6 , wherein a housing of the motor is located at the stator.
11. The carrier of claim 10 , wherein the housing of the motor is disposed below the spherical surface of the stator.
12. The carrier of claim 6 , wherein the motor is configured to rotate the stator relative to the base support about a yaw axis.
13. The carrier of claim 12 , wherein the one or more rotational axes of the frame relative to the stator comprise at least one of a pitch axis or roll axis.
14. The carrier of claim 13 , wherein the one or more rotational axes of the frame relative to the stator further comprise the yaw axis.
15. The carrier of claim 1 , wherein the piezoelectric actuators are uniformly distributed along a circle of the spherical surface of the stator.
16. The carrier of claim 15 , wherein:
the stator is rotatable relative to the base support about a yaw axis using a motor; and
the plurality of piezoelectric actuators are uniformly distributed along a first circle, and configured to rotate the frame relative to the stator about a roll axis and a pitch axis.
17. The carrier of claim 15 , wherein:
the stator is rigidly attached to the base support; and
the plurality of piezoelectric actuators are uniformly distributed along a second circle, and configured to rotate the frame relative to the stator about a roll axis, a pitch axis, and a yaw axis.
18. The carrier of claim 1 , wherein the carrier is powered by an external power source.
19. The carrier of claim 18 , wherein the external power source is located at the base support.
20. The carrier of claim 18 , wherein:
the external power source includes a battery located onboard a movable object, and
the carrier is configured to be mechanically and electrically coupled to the movable object via the base support.
21. The carrier of claim 20 , wherein power is delivered from the battery to the carrier through an electrical coupling in the base support.