Counter-balancing vibrations from a vehicle for stabilizing image capture

Patent metadata

Field	Value
Publication number	US-12413860-B2
Application number	US-202318481327-A
Country	US
Kind code	B2
Filing date	Oct 5, 2023
Priority date	Oct 25, 2016
Publication date	Sep 9, 2025
Grant date	Sep 9, 2025

Abstract

Embodiments are described for a stabilization system configured, in some embodiments, for stabilizing image capture from an aerial vehicle (e.g., a UAV). According to some embodiments, the stabilization systems employs both active and passive stabilization means. A passive stabilization assembly includes a counter-balanced suspension system that includes an elongated arm that extends into and is coupled to the body of a vehicle. The counter-balanced suspension system passively stabilizes a mounted device such as an image capture device to counter motion of the UAV while in use. In some embodiment the counter-balanced suspension system passively stabilizes a mounted image capture assembly that includes active stabilization means (e.g., a motorized gimbal and/or electronic image stabilization). In some embodiments, the active and passive stabilization means operate together to effectively stabilize a mounted image capture device to counter a wide range of motion characteristics.

First claim

What is claimed is:

1. An aerial vehicle comprising:
a housing;
a front facing image capture assembly; and
an image stabilization assembly configured to isolate the image capture assembly from vibration of the housing using a member that counterbalances a mass of components of the image capture assembly,
wherein the member extends into an interior space of the housing.

2. The aerial vehicle of claim 1 , wherein the member comprises a distal end and a proximal end, the distal end coupled to an interior surface of the housing and the proximal end coupled to the image capture assembly.

3. The aerial vehicle of claim 2 , further comprising:
one or more passive vibration isolators,
wherein the distal end of the member is coupled to the interior surface of the housing via at least one of the one or more passive vibration isolators.

4. The aerial vehicle of claim 2 , wherein:
at least one of the one or more passive vibration isolators comprises an elastic vibration isolator, or
at least one of the one or more passive vibration isolators has a 1:1:1 ratio of compression stiffness to tensile stiffness to shear stiffness.

5. The aerial vehicle of claim 2 , further comprising:
a mounting assembly,
wherein the proximal end of the member is coupled to the image capture assembly via the mounting assembly.

6. The aerial vehicle of claim 1 , wherein the housing has a front end and a back end, the image capture assembly is arranged proximate to the front end of the housing, and the member extends into an interior space of the housing from the image capture assembly towards the back end of the housing.

7. The aerial vehicle of claim 1 , wherein the image stabilization assembly is configured to isolate the image capture assembly from vibration of the housing when the vibration is above a threshold frequency.

8. The aerial vehicle of claim 7 , wherein the threshold frequency is 15 Hz.

9. The aerial vehicle of claim 1 , wherein the image stabilization assembly comprises:
an active stabilization assembly including a motorized gimbal, the active stabilization assembly configured to actively counter motion by the aerial vehicle to actively stabilize the image stabilization assembly; and
a passive stabilization assembly including the member, the passive stabilization configured to passively counter the motion by the aerial vehicle to passively stabilize the image stabilization assembly.

10. The aerial vehicle of claim 1 , wherein the member is made of one or more of plastic, metal, carbon fiber, synthetic fiber, or a composite material.

11. An image stabilization apparatus for isolating a front facing image capture assembly from vibration of a housing, the apparatus comprising:
one or more passive vibration isolators; and
a member that counterbalances a weight of the image capture assembly,
the member having a proximal end adapted to couple with the image capture assembly and a distal end coupled to the housing via one or more passive vibration isolators,
wherein the member extends into an interior space of the housing.

12. The image stabilization apparatus of claim 11 , wherein at least one of the one or more passive vibration isolators comprises an elastic vibration isolator.

13. The image stabilization apparatus of claim of claim 11 , wherein at least one of the one or more passive vibration isolators has a 1:1:1 ratio of compression stiffness to tensile stiffness to shear stiffness.

14. The image stabilization apparatus of claim of claim 11 , further comprising:
a mounting assembly,
wherein the proximal end of the member is coupled to the image capture assembly via the mounting assembly.

15. The image stabilization apparatus of claim of claim 11 , wherein the housing is coupled to an unmanned aerial vehicle (UAV).

16. The image stabilization apparatus of claim of claim 15 , wherein the housing has a front end and a back end, the image capture assembly is arranged proximate to the front end of the housing, and the member extends into an interior space of the housing from the image capture assembly towards the back end of the housing.

17. The image stabilization apparatus of claim of claim 11 , wherein the image stabilization assembly is configured to isolate the image capture assembly from vibration of the housing when the vibration is above a threshold frequency.

18. The image stabilization apparatus of claim of claim 11 , wherein the image capture assembly includes an electronic imaging stabilization (EIS) system, the EIS system configured to:
receive images captured by the image capture device; and process the received images to actively counter a detected motion.

19. A system for isolating an image capture assembly from vibration of a housing, the system comprising:
one or more passive vibration isolators;
an apparatus coupled to the housing via the one or more passive vibration isolators;
a mounting assembly coupled to the apparatus and adapted to couple with the apparatus with the image capture assembly;
wherein the apparatus is weighted to counterbalance a mass of the components of the image capture assembly,
wherein the apparatus extends into an interior space of the housing.

20. The system of claim 19 , wherein the housing is coupled to an unmanned aerial vehicle (UAV), wherein the image capture assembly includes an image capture device configured to capture images of a surrounding physical environment while UAV is in flight.

Assignees

• Skydio Inc

Inventors

• Kalinowski David
• Mcclure Stephen R
• Lowe Patrick Allen
• Adams Daniel Thomas
• Thompson Benjamin Scott
• Bry Adam Parker
• Bachrach Abraham Galton

Classifications

• H04N23/6811 Primary

  based on the image signal · CPC title

• H04N23/685

  performed by mechanical compensation · CPC title

• H04N23/683 Primary

  performed by a processor, e.g. controlling the readout of an image memory · CPC title

• H04N23/6812

  based on additional sensors, e.g. acceleration sensors · CPC title