Note: Descriptions are shown in the official language in which they were submitted.
1
ANTI-ROTATION MOUNT
Introduction
An aircraft may be equipped with a gimbal system including a camera. The
gimbal system enables the camera to be accurately pointed as the attitude and
location of the aircraft changes during flight. Accordingly, the camera can be
panned
and tilted to survey a wide field of view or to monitor a specific target from
the flying
aircraft. The camera may provide a line of sight not available to the pilot
and/or may
detect optical radiation, such as infrared radiation, that is invisible to the
human eye.
Aircraft vibration can degrade camera performance. Images from the camera
can be unsteady and/or blurred if the field of view of the camera is not
stabilized during
flight. In particular, small, vibration-induced changes to the angular
orientation of the
camera, relative to the aircraft, can produce unacceptably large shifts in the
field of
view, especially if the camera is being used to view a distant target or
scene.
The gimbal system may stabilize the camera through servomechanisms that
include gyroscopes and motors. The servomechanisms can sense small, vibration-
induced changes to the camera's orientation and actively apply compensating
forces
or movements to stabilize the camera. However, such active compensation may
need
to be applied with great accuracy, high gain, and considerable speed, to
effectively
stabilize the image when aircraft vibration is transmitted to the camera. As a
result,
active compensation can require sophisticated instrumentation and substantial
power
consumption and generally is effective only for low vibration frequencies.
A mounting system for a camera, whether or not amiable with gimbals, is
needed to manage vibration from the aircraft and minimize vibration-induced
rotational
motion of the camera.
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Summary
The present disclosure provides an imaging system comprising an anti-rotation
mount and an image detector. The mount may comprise a first frame member
having
a fixed relation to a set of mutually transverse X, Y, and Z axes, and a
second frame
member. The second frame member may be connected to the first frame member via
a coupling assembly, such that the frame members are not permitted to rotate
relative
to one another. The mount also may comprise X-axis, Y-axis, and Z-axis
coupling
structures each formed at least partially by the coupling assembly and each
permitting
axial motion of the frame members relative to one another only substantially
parallel
to the X axis, Y axis, and Z axis, respectively. The image detector may be
connected
to the mount via the second frame member.
Brief Description of the Drawings
Figure 1 is a schematic view of an exemplary imaging system including an anti-
rotation mount (a mounting portion) through which an image detector is
connected to
a support platform (e.g., a vehicle), in accordance with aspects of the
present
disclosure.
Figure 2 is a view of an exemplary imaging system according to Figure 1 that
is constructed as a gimbal system including an independently aimable portion
(a turret
unit) containing an image detector, with the turret unit connected to an
exterior of a
support platform (here, a helicopter) via the anti-rotation mount of Figure 1,
in
accordance with aspects of the present disclosure.
Figure 3 is a schematic view of selected aspects of the gimbal system of
Figure 2, particularly the anti-rotation mount and the aimable portion, in
accordance
with aspects of the present disclosure.
Figure 4 is an isometric view of an exemplary anti-rotation mount for the
gimbal
system of Figure 2 (and/or the imaging system of Figure 1), taken in isolation
from the
turret unit of the gimbal system and from generally above a fixed frame member
of the
mount that is securable to a vehicle or other support platform.
Figure 5 is another view of the anti-rotation mount of Figure 4 taken in
isolation
from the turret unit of the gimbal system and from generally below a movable
frame
member of the mount that mounts to and supports the turret unit of the gimbal
system.
Figure 6 is a partially exploded view of the anti-rotation mount of Figure 4,
taken
generally as in Figure 4 with a cover of the fixed frame member removed.
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Figure 7 is a pair of fragmentary plan views of the anti-rotation mount of
Figure
4, taken generally at the region indicated at "7" in Figure 6, with the cover
and one of
the plates of the fixed frame member removed, and with a coupling assembly of
the
mount in two different configurations.
Figure 8 is a sectional view of the anti-rotation mount of Figure 4, taken
generally along line 8-8 of Figure 6, but in the presence of the cover of the
fixed frame
member and in the absence of the coil springs, with coupling assembly in a
neutral
position.
Figures 9 and 10 are sectional views of the anti-rotation mount of Figure 4,
taken as in Figure 8 and showing exemplary axial displacement of the movable
frame
member parallel to the X axis and the Z axis that is permitted and guided by X-
axis
and Z-axis coupling structures in response to force applied to the coupling
assembly;
the X-axis and Z-axis displacement is indicated by open arrows.
Figure 11 is an isometric view of selected aspects of another exemplary body
and movable frame member for the anti-rotation mount of Figure 4, in
accordance with
aspects of the present disclosure.
Figure 12 is a plan view of the body and frame member of Figure 11.
Figure 13 is a fragmentary sectional view of the body and frame member of
Figure 11, taken generally along line 13-13 of Figure 12.
Figure 14 is a plan view of selected aspects of another exemplary anti-
rotation
mount for the imaging system of Figure 1 (and the gimbal system of Figure 2),
in which
a movable frame member is connected to a fixed frame member via a plurality of
radially arranged pivotable members.
Figure 15 is another plan view of the mount of Figure 14, but taken after
displacement of the movable frame member relative to the fixed frame member
parallel to the X axis and parallel to the Y axis, with motion parallel to the
X-axis and
motion parallel to the Y-axis motion guided by X-axis coupling structure and Y-
axis
coupling structure similar to that present in the mount of Figures 4-10.
Figures 16-18 are sectional views of the mount of Figure 14, taken generally
along line 16-16 of Figure 14 (except with the coupling assembly and movable
frame
member centered within their range of permitted X-axis motion), and showing
mount
configurations produced by motion of the movable frame member along the Z
axis.
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Detailed Description
The present disclosure provides an imaging system comprising an anti-rotation
mount and an image detector. The mount may comprise a first frame member
having
a fixed relation to a set of mutually transverse X, Y, and Z axes, and a
second frame
member. The second frame member may be connected to the first frame member via
a coupling assembly, such that the frame members are not permitted to rotate
relative
to one another. The mount also may comprise X-axis, Y-axis, and Z-axis
coupling
structures each formed at least partially by the coupling assembly and each
permitting
axial motion of the frame members relative to one another only substantially
parallel
to the X axis, Y axis, and Z axis, respectively. The image detector may be
connected
to the mount via the second frame member.
In some embodiments, the coupling assembly may include one or more leaf
springs through which the frame members are connected to one another, with
deformation of the leaf spring(s) allowing the frame members to move relative
to one
another parallel to the Z axis.
In some embodiments, the coupling assembly may include a plurality of
pivotable members each arranged at least generally radially with respect to
the Z axis
and each having a first end and a second end, wherein the first ends of the
pivotable
members are pivotably connected to a same one of the frame members at
respective
single pivot axes arranged around and orthogonal to the Z axis and coplanar to
one
another, and wherein the second end of each pivotable member is connected to a
portion of the X-axis coupling structure and/or a portion of the Y-axis
coupling
structure.
The present disclosure provides a passive mechanical means of limiting the
effects of vibration modes and amplitude by a source (e.g., a vehicle) onto a
system
(e.g., an imaging system); this may be achieved by implementing two processes.
First,
the amplitude of the source vibration for any given frequency may be decreased
through the use of damped mass spring systems. Second, the kinematic motion of
frame members relative to one another may be limited to three perpendicular
directions, significantly raising the natural frequencies for those modes
which cause
roll, pitch, or yaw.
The present disclosure is directed to the problem of external vibration being
put
into a system. Traditionally, dampers or isolators are used to limit the
effects of
vibration on a system; they allow a reduction in the amplitude of the input
motion to be
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transferred through them. Unfortunately, they have limited control over the
direction of
the motion. The mount of the present disclosure may have internal features
that isolate
motion in only a few degrees of freedom. Of the six degrees of freedom, the
rotational
movements about the three perpendicular axes are of specific concern.
With a vibration managing mount, depending on the orientation of the system,
motion could exist for which there are no internal system features to remove
the
motion. The present disclosure provide a mount having kinematic limits that
specifically address the rotational movements of the system about three
perpendicular
axes. If all three rotational movements are limited or even eliminated, then
the
.. remaining degrees of freedom can be addressed by internal system features
as well
as features from external isolators and dampers.
As a simplified synopsis, the present disclosure may provide a system
vibration
isolator that uses kinematic limits to significantly constrain the three
rotational degrees
of freedom and may use a combination of damping solutions to address the
remaining
.. axial motion.
This present disclosure has at least two exemplary purposes, while at the same
time optimizing height and weight requirements.
The first purpose may be to increase the first natural frequencies that are
unique
to cantilevered systems (pendulum modes). This is done by creating kinematic
limits
for the motion of the system in three perpendicular directions. The first
direction may
be vertical, or the nominal direction of gravity. This also may be the
direction that
defines the range of motion needs as it experiences the most significant
amplitudes in
vibration. The second and third directions may be transverse and longitudinal
directions, and in most instances the system may be moving in some combination
of
both directions. By limiting the motion of frame members to three axial
directions, the
ability of the system to yaw, pitch, or roll is limited to that achieved by
the deformation
of the mount components and joints.
The second purpose may be to decrease the amplitude of the vibration to limit
the effects of the vibration on the system. The smaller the amplitude, the
less sway
space is needed inside the system, thus allowing multiple layers of functional
isolation.
This decrease in the amplitude may be achieved by damping motion in the three
above-mentioned axial directions.
The unique features that allow this mount to do what has been mentioned above
may be a set of single-axis isolation features. The longitudinal and
transverse
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horizontal directions may be isolated through a concept adapted from an Oldham
coupling. Movement parallel to the directions is permitted without allowing
rotation
about the vertical axis. The vertical direction may be isolated by using the
concept of
two concentric cylinders, where one cylinder is constrained inside the other.
This
allows motion to only occur in the vertical direction and removes any rotation
about
the transverse or longitudinal axes. By layering these features in a manner
where they
do not contradict each other's movement, it is possible to create a mount that
only
moves parallel to predefined axes and does not rotate about any axis.
Further aspects of the present disclosure are described in the following
sections: (I) definitions, (II) overview of exemplary imaging systems with an
anti-
rotation mount, (III) exemplary anti-rotation mounts, (IV) payloads, (V)
support
platforms, and (VI) selected embodiments.
I. Definitions
Technical terms used in this disclosure have the meanings that are commonly
recognized by those skilled in the art. However, the following terms may have
additional meanings, as described below. The wavelength ranges identified in
these
meanings are exemplary, not limiting, and may overlap slightly, depending on
source
or context. The wavelength ranges lying between about 1 nm and about 1 mm,
which
include ultraviolet, visible, and infrared radiation, and which are bracketed
by x-ray
radiation and microwave radiation, may collectively be termed optical
radiation. The
image detector disclosed herein may be configured to detect optical radiation
of any
suitable wavelength, including ultraviolet radiation, visible radiation,
infrared radiation,
or any combination thereof.
Ultraviolet radiation - Invisible electromagnetic radiation having wavelengths
from about 100 nm, just longer than x-ray radiation, to about 400 nm, just
shorter than
violet light in the visible spectrum. Ultraviolet radiation includes (A) UV-C
(from about
100 nm to about 280 or 290 nm), (B) UV-B (from about 280 or 290 nm to about
315 or
320 nm), and (C) UV-A (from about 315 or 320 nm to about 400 nm).
Visible liqht - Visible electromagnetic radiation having wavelengths from
about
360 or 400 nanometers, just longer than ultraviolet radiation, to about 760 or
800
nanometers, just shorter than infrared radiation. Visible light may be imaged
and
detected by the human eye and includes violet (about 390-425 nm), indigo
(about
425-445 nm), blue (about 445-500 nm), green (about 500-575 nm), yellow (about
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575-585 nm), orange (about 585-620 nm), and red (about 620-740 nm) light,
among
others.
Infrared (IR) radiation - Invisible electromagnetic radiation having
wavelengths
from about 700 nanometers, just longer than red light in the visible spectrum,
to about
1 millimeter, just shorter than microwave radiation. Infrared radiation
includes (A) IR-
A (from about 700 nm to about 1,400 nm), (B) IR-B (from about 1,400 nm to
about
3,000 nm), and (C) IR-C (from about 3,000 nm to about 1 mm). IR radiation,
particularly IR-C, may be caused or produced by heat and may be emitted by an
object in proportion to its temperature and emissivity. Portions of the
infrared range
having wavelengths between about 3,000 and 5,000 nm (i.e., 3 and 5 pm) and
between about 7,000 or 8,000 and 14,000 nm (i.e., 7 or 8 and 14 pm) may be
especially useful in thermal imaging, because they correspond to minima in
atmospheric absorption and thus are more easily detected (particularly at a
distance).
The particular interest in relatively shorter wavelength IR radiation has led
to the
following classifications: (A) near infrared (NIR) (from about 780 nm to about
1,000
nm), (B) short-wave infrared (SWIR) (from about 1,000 nm to about 3,000 nm),
(C)
mid-wave infrared (MWIR) (from about 3,000 nm to about 6,000 nm), (D) long-
wave
infrared (LWIR) (from about 6,000 nm to about 15,000 nm), and (E) very long-
wave
infrared (VLWIR) (from about 15,000 nm to about 1 mm). Portions of the
infrared
range, particularly portions in the far or thermal IR having wavelengths
between about
0.1 and 1 mm, alternatively or additionally may be termed millimeter-wave
(MMV)
wavelengths.
II Overview of Exemplary Imaging Systems with an Anti-rotation Mount
This section describes exemplary imaging systems in which an image detector
is connected to a support platform (e.g., a vehicle) via an anti-rotation
mount; see
Figures 1-3.
Figure 1 shows an exemplary imaging system 50 including an anti-rotation
mount 52 through which an image detector 54 (and/or other payload) may be
connected to a support platform 56 (e.g., a vehicle). Mount 52 interchangeably
may
be termed a mounting portion and/or a translational mount. The anti-rotation
mount
includes a pair of frame members 58, 60 that are movably connected to one
another
via a coupling assembly 62 (also called a linkage assembly). Frame member 58
may
be described as a fixed frame member that attaches the mount to platform 56
(e.g.,
such that frame member 58 is firmly attached to the platform). Frame member 60
may
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be described a movable frame member through which image detector 54 is
connected
to mount 52 and platform 56. Frame member 60 may be permitted, via coupling
assembly 62, to move only translationally with respect to frame member 58.
(Translational motion of image detector 54 and frame member 60 is indicated in
phantom outline in Figure 1.) The coupling assembly may resist rotational
motion of
the frame members relative to one another, to remove at least a pair or three
degrees
of rotational freedom of the frame members, while permitting at least two or
three
degrees of translational freedom of the frame members relative to each other.
The
mount also may serve as a mechanical filter to manage transmission of
vibration and
other variable forces from the support platform to the image detector, and to
bias the
position of the movable frame member with respect to the fixed frame member
(and
the platform) within a plane or within three-dimensional space (i.e., along
three
orthogonal axes).
Figure 2 shows an example of imaging system 50 constructed as a gimbal
system 70. The gimbal system contains a gimbal assembly 72 connected to the
exterior of a vehicle 74 (here, a helicopter) via anti-rotation mount 52.
Figure 3 shows a schematic view of selected aspects of gimbal system 70.
Gimbal assembly 72 may be connected to and supported by mount 52 (e.g., below
or
above the mount, among others) and pivotable collectively with respect to the
mount
(and the vehicle). At least a portion of the mount may be relatively
stationary with
respect to vehicle 74, and the gimbal assembly may be relatively movable with
respect
to the vehicle. System 70 also may be equipped with a payload 76 (e.g.,
including at
least one or more optical devices, such as at least one image detector 54
(also called
a camera)) that is orientable with respect to mount 52 (and the vehicle) by
rotation of
gimbals of gimbal assembly 72 about a plurality of axes (e.g., at least two
nonparallel
axes and/or a pair of orthogonal axes).
Mount 52 includes frame members 58, 60. In some cases, the frame members
may be positioned as an upper frame member (58 or 60) and a lower frame member
(60 or 58), which may be separated from one another along an axis (e.g., at
least
generally parallel to the indicated Z-axis, which may or may not be at least
generally
vertical). For example, here, frame member 58 is an upper frame member through
which the mount is secured to vehicle 74, and frame member 60 is a lower frame
member. However, the frame members may switch their relative positions if the
gimbal
assembly is mounted above the vehicle, with frame member 58 adjacent the
vehicle.
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More generally, the frame members may be separated from each other along any
axis
determined, for example, by how the mount is attached to a support platform.
In any
event, fixed frame member 58 may firmly attach the mount to vehicle 74, and
movable
frame member 60 may connect the mount to gimbal assembly 72.
Frame member 58 may be secured to a support platform via attachment
features of the frame member. For example, the frame member may define a set
of
apertures to receive fasteners. The apertures may have any suitable position,
such as
being disposed generally centrally or near a perimeter of the frame member.
Frame member 58 may define and/or have a fixed relation to a set of three
mutually transverse axes (e.g., orthogonal axes), designated herein as X, Y,
and Z for
convenience. In some embodiments, with mount 52 secured to a vehicle, the X
axis is
parallel to a fore-aft or longitudinal axis of the vehicle, the Y axis is
parallel to a left-
right lateral or transverse axis of the vehicle, and the Z axis points
downward from the
vehicle. Accordingly, the Z axis may be approximately aligned with gravity
during
operation of the vehicle. The Z axis may be coaxial with a central axis
defined by the
mount, and the central axis may extend through both frame members. The
drawings
of the present disclosure show an XYZ coordinate system oriented according to
this
convention, with some translational offset of the coordinate system occurring
among
the drawings for convenience.
Frame members 58, 60 may be connected movably to one another through a
coupling assembly 62. The coupling assembly may permit zero degrees of
rotational
freedom for the frame members relative to one another. In other words, the
coupling
assembly may resist rotation of the frame members relative to one another
about any
axis, such that no substantial rotation occurs. However, the coupling assembly
may
allow three degrees of translational freedom for movement of the frame members
relative to one another.
Coupling assembly 62 may at least partially form X-axis coupling structure 80,
Y-axis coupling structure 82, and Z-axis coupling structure 84. Each coupling
structure
80, 82, and 84 may guide and permit translational motion of the frame members
relative to one another only substantially parallel to the X axis, Y axis, and
Z axis,
respectively, of a set of mutually transverse axes. The coupling structures
may
function independently of one another. X-axis, Y-axis, and Z-axis coupling
structures
may include respective X-axis, Y-axis, and Z-axis slide structures.
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Each slide structure may include at least one or a plurality of slide
interfaces at
which discrete components move translationally relative to one another. Each
slide
interface may be formed at least in part by coupling assembly 62 and each may
have
only one degree of axial freedom. Each slide interface may permit axial motion
of the
frame members relative to one another only parallel to one of three mutually
transverse
axes (X, Y, or Z). One or more of the slide interfaces may be X-axis
interfaces that at
least partially form X-axis coupling structure 80 for motion parallel to the X
axis. One
or more of the slide interfaces may be Y-axis interfaces that at least
partially form Y-
axis coupling structure 82 for motion parallel to the Y axis. One or more of
the slide
.. interfaces may be Z-axis interfaces that at least partially form Z-axis
coupling structure
84 for motion parallel to the Z axis. Further aspects of exemplary coupling
structures
and slide interfaces are described below in Section III.
Coupling assembly 62 may include one or more biasing members 86, and/or
one or more dampers 88 to dampen vibrations (e.g., to dissipate kinetic energy
as
.. heat). Biasing members 86 (also called spring elements or isolators) may be
any
resilient/elastic members that apply a restoring force when the frame members
are
displaced relative to one another from an equilibrium or resting position, to
urge the
frame members back toward the equilibrium/resting position. The biasing
members
may cushion gimbal assembly 72 from shocks and may filter vibrations of the
vehicle
.. according to frequency (e.g., a low-pass filter that blocks higher-
frequency vehicle
vibration), to limit transmission of vibration from the vehicle to the gimbal
assembly.
Biasing members 86 may be disposed at any suitable number of locations between
frame members 58, 60. The biasing members may be configured to resiliently
position
frame member 60 (and image detector 54) along each of three mutually
transverse
.. axes. Exemplary biasing members include coil springs and leaf springs,
among others.
Gimbal assembly 72 may comprise a series of two or more gimbals, such as
first through fourth gimbals 92, 94, 96, and 98. Each gimbal is pivotably
connected to
preceding and succeeding gimbals of the series, for example, via one or more
axles.
First gimbal 92 supports second through fourth gimbals 94, 96, and 98 and
payload
76 and is pivotably connected to and supported by frame member 60 for rotation
about
a first axis 100 (e.g., a first yaw, azimuthal, and/or vertical axis), which
may extend at
least generally centrally through mount 52 and/or one or both frame members
58, 60.
Second gimbal 94 supports third and fourth gimbals 96, 98 and payload 76 and
is
pivotably connected to and supported by first gimbal 92 for rotation about a
second
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axis 102 (e.g., a first pitch, elevational, and/or horizontal axis), which may
be
orthogonal to first axis 100. Third gimbal 96 supports fourth gimbal 98 and
payload 76
and is pivotably connected to and supported by second gimbal 94 for rotation
about a
third axis 104 (e.g., a second pitch, elevational, and/or horizontal axis).
Third axis 104
may be parallel to, and/or coaxial with second axis 102 (or first axis 100
with the gimbal
assembly in a neutral position). Fourth gimbal 98 supports payload 76 and is
pivotably
connected to and supported by third gimbal 96 for rotation about a fourth axis
106
(e.g., a second yaw, azimuthal, and/or vertical axis). Fourth axis 106 may be
parallel
to, and/or coaxial with first axis 100 (or second axis 102) with the gimbal
assembly in
a neutral position. The payload may (or may not) be fixed to the fourth
gimbal. In some
cases, rotation of first and second gimbals 92, 94 may provide larger
adjustments to
the orientation of payload 76, and rotation of third and fourth gimbals 96 and
98 may
provide smaller adjustments to the orientation (or vice versa).
Rotation of each gimbal 92, 94, 96, and 98 may be driven by a corresponding
motor 108, 110, 112, and 114, respectively. Each motor may be attached to its
corresponding gimbal or to the structure that supports the gimbal, or a
combination
thereof. For example, motor 108 may be attached to frame member 60 or first
gimbal
92; motor 110 to first gimbal 92 or second gimbal 94; and so on. Accordingly,
the
angular orientation of the payload may be adjusted horizontally and vertically
via
rotation of gimbals 92, 94, 96, and 98, without changing the orientation of
the support
platform, and/or the payload may continue to point at a target as the attitude
and
location of the support platform changes, among others. Accordingly, the
gimbal
system may allow one or more fixed and/or moving targets to be monitored or
tracked
over time from a fixed and/or moving support platform.
The gimbal system also may comprise one or more sensors to sense aspects
of the vehicle, one or more gimbals, the payload, or a target. Exemplary
sensors
include an orientation sensor (e.g., a gyroscope that measures angular
position or rate
of angular change, among others), an accelerometer, an optical sensor to
detect
optical radiation (e.g., image detector 54), or the like. At least one gimbal
of the gimbal
assembly and/or the payload may be attached to at least one gyroscope 118 to
measure the orientation of the gimbal and/or payload. In some cases, the
gimbal
system may include at least one inertial measurement unit (IMU) 120, which may
be
carried by gimbal assembly 72 (e.g., by payload 76 or fourth gimbal 98),
and/or vehicle
74. The IMU includes sensors to measure acceleration along three orthogonal
axes
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and angular position/change about three orthogonal axes. Measurements from
unit
120 alone or in combination with those from one or more other gyroscopes of
the
gimbal assembly may be used to aim the payload with respect to an inertial
reference
frame (e.g., the earth), as the vehicle travels with respect to the reference
frame.
Gimbal system 70 also may comprise a processor 122, and a user interface
124 to communicate user preferences, commands, etc., to the processor. The
processor may be included in gimbal assembly 72 (and/or mount 52), vehicle 74,
or a
combination thereof, among others. The user control unit may be disposed in
the
vehicle, if the vehicle has a person onboard, or may be disposed elsewhere
(e.g., on
the ground) if the vehicle is unmanned.
The processor may include any electronic device or set of electronic devices
responsible for signal processing, manipulation of data, and/or communication
between or among gimbal system components. The processor may be localized to
one site or may be distributed to two or more spaced sites of the gimbal
system. The
processor may be programmed to receive user inputs from user interface 124 and
to
control operation of and/or receive signals from any suitable system
components, as
indicated by dashed lines in Figure 3, for example, the motors, sensors (e.g.,
one or
more optical devices, an IMU(s), gyroscopes, accelerometers, etc.), payload
76, a
display 126 carried by vehicle 74, and so on. Accordingly, the processor may
be in
communication with the motors, sensors, and display, to receive signals from
and/or
send signals to these devices, and may be capable of controlling and/or
responding
to operation of these devices. Also, the processor may be responsible for
manipulating
(processing) image data (i.e., a representative video signal) received from
image
detector 54 before the signal is communicated to display 126, to drive
formation of
visible images by the display.
Gimbal assembly 72 may include and/or be connected to a power supply. The
power supply may include any mechanism for supplying power, such as electrical
power, to the motors, sensors, camera, processor, etc. The power supply may be
provided by the support platform, the mount, the gimbal apparatus, or a
combination
thereof, among others. Suitable power supplies may generate, condition, and/or
deliver power, including AC and/or DC power, in continuous and/or pulsed
modes.
Exemplary power supplies may include batteries, AC-to-DC converters, DC-to-AC
converters, and so on.
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III. Exemplary Anti-rotation Mounts
This section describes exemplary anti-rotation mounts 52 that may be included
in the imaging/gimbal systems of Section II; see Figures 4-18.
Figures 4-13 show an exemplary embodiment 130 of anti-rotation mount 52
taken in isolation from the gimbal assembly and image detector of gimbal
system 70
(also see Figures 2 and 3). A coordinate system defined by a set of mutually
orthogonal X, Y, and Z axes and generally centered in the mount is shown in
the
figures. However, the coordinate system is translationally shifted among the
figures
for convenience.
Mount 130 includes an upper frame member 58 that mounts to a vehicle or
other support platform (see Figures 4 and 5). Frame member 58 has a fixed
relationship to the XYZ coordinate system shown. The fixed frame member may
include a base 132 and a cover 134. The cover may be secured to the base to
form a
housing in which a coupling assembly 62 may be at least predominantly
contained
(see Figure 5). The mount also has a lower frame member 60 movably connected
to
upper frame member 58 via coupling assembly 62. The lower frame member may
provide a bracket 136 that connects to and supports a gimbal assembly and/or
an
image detector.
Coupling assembly 62 may include a body 138 attached to and extending
radially from movable frame member 60 to form at least four radial extensions
or arms
140 (see Figures 5 and 6). The body may be movable with respect to fixed frame
member 58 parallel to the XY plane, due to the presence of X-axis coupling
structure
80 and Y-axis coupling structure 82 (see Figure 6). X-axis coupling structure
80 of
mount 130 may be described as an X-axis slide structure formed by a plurality
of X-
axis slide interfaces 142a-142d. Y-axis coupling structure 82 of mount 130 may
be
described as a Y-axis slide structure formed by a plurality of Y-axis slide
interfaces
144a-144d. Each interface 142a-142d and 144a-144d may be formed near or at the
end of one of arms 140 of body 138. The depicted embodiment has four X-axis
slide
interfaces and four Y-axis slide interfaces. Each X-axis slide interface
permits axial
motion of the frame members relative to one another only substantially
parallel to the
X axis. Each Y-axis slide interface permits axial motion of the frame members
relative
to one another only substantially parallel to the Y axis. The range of motion
permitted
by the X-axis slide interfaces and the range of motion permitted by the Y-axis
slide
interfaces are additive with each other, collectively determining the range of
motion
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permitted parallel to the XY plane. Each slide interface also may be called a
translational coupling.
Figures 6-8 show further aspects of each associated pair of X-axis and Y-axis
interfaces (i.e., 142a/144a, 142b/144b, 142c/144c, and 142d/144d). Each
associated
pair of slide interfaces may be formed by a radially-outer end portion 146 of
one of
arms 140 of body 138, a slidable element 148, and a radial track 150. Slidable
element
148 may be considered to be part of coupling assembly 62 but not body 138.
Radial
track 150 may be formed by frame member 58. In the depicted embodiment, each
radial track 150 is created by a recess 152 defined by base 132, and a plate
154 that
is fastened to the base over the recess (see Figures 6 and 8). Plate 154 is
absent from
Figure 7.
Each arm 140 of body 138 may be mated with a slidable element 148 such that
end portion 146 is slidable along a complementary tangential track 156 defined
by the
slidable element. In the depicted embodiment, end portion 146 forms an
enlarged
protrusion (here, cylindrical) and is slidably received in a channel that
creates
tangential track 156. The channel is shaped to retain the protrusion; arm 140
and
slidable element 148 remain coupled to one another through the entire range of
motion
of the coupling assembly. The mated end portion 146 of arm 140 is slidable
along track
156 parallel to the XY plane, in both tangential directions orthogonal to the
axis of the
corresponding arm 140 (i.e., either parallel to the X axis or parallel to the
Y axis). In
other embodiments, end portion 146 may define a recess that mates with a
protruding
tangential track defined by slidable element 148.
Slidable element 148 fits closely in radial track 150 such that the element is
slidable along only a single axis defined by the track (i.e., parallel to the
X axis or
parallel to the Y axis and orthogonal to the direction of motion permitted by
track 156
of the slidable element). Since slidable element 148 is coupled to the end of
one of
arms 140, radial motion of the slidable element is coupled to corresponding
motion of
body 138 and movable frame member 60.
Each pair of tracks 150, 156 permits two-dimensional motion parallel to the XY
plane. In other embodiments, the pair of tracks may be arranged transverse
(e.g.,
orthogonal) to one another and parallel to the XY plane, but are not
necessarily radial
and tangential.
Figure 7 shows a pair of exemplary configurations 160, 162 of mount 130
illustrating how X-axis slide interface 142d and Y-axis slide interface 144d
permit
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independent movement of arm 140 of coupling assembly 62 parallel to the X axis
and
parallel to the Y axis. To move from configuration 160 to configuration 162,
arm 140
undergoes net displacement parallel to the X axis, indicated by a motion arrow
at 164,
via X-axis slide interface 142d. In other words, end portion 146 slides along
tangential
track 156 of slidable element 148. Also, arm 140 undergoes net displacement
parallel
to the Y axis, indicated by a motion arrow at 166, via X-axis slide interface
144d. In
other words, slidable element 148 moves radially along radial track 150.
The pairs of associated X-axis and Y-axis slide interfaces may be substantial
copies of one another. In other words, each arm 140 may be mated with a
slidable
element 148, which may be slidable radially along a radial track 150. However,
because two of the associated pairs are rotationally offset by 90 degrees from
the
other two associated pairs, the axial identity of structurally similar
interfaces is
switched. In other words, X-axis slide interfaces 142b and 142d are formed by
end
portions 146 and tangential tracks 156, while X-axis slide interfaces 142a and
142c
are formed by slidable elements 148 and radial tracks 150. Also, Y-axis slide
interfaces
144a and 144c are formed by end portions 146 and tangential tracks 156, while
Y-axis
slide interfaces 144b and 144d are formed by slidable elements 148 and radial
tracks
150.
The slide interfaces may be formed by any suitable materials. For example,
slidable element 148 may include a low-friction polymer and may contact
polymer
and/or metal, among others, at an X-axis slide interface and a Y-axis slide
interface.
The positions of body 138 and movable frame member 60 are biased in a plane
parallel to the XY plane, namely, along an axis parallel to the X axis and
along an axis
parallel to the Y axis, by a plurality of biasing members 86a. In the depicted
embodiment, these biasing members are coil springs 168 (see Figures 5 and 6).
Body 138 may include at least one Z-axis biasing member 86b that is
deformable to permit axial motion of the frame members relative to one another
parallel to the Z axis, independently of axial motion parallel to the X and Y
axes (see
Figures 6 and 8). Z-axis biasing member 86b may, for example, include one or
more
resiliently/elastically deformable plates 170 (se Figure 8). In the depicted
embodiment,
biasing member 86b includes at least one leaf spring 172, which is an assembly
(e.g.,
a stack) of two or more resiliently/elastically deformable plates facing one
another.
Each deformable plate 170 and/or each leaf spring 172 may be arranged
substantially
orthogonal to the Z axis.
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Each arm 140 of body 138 may contain at least a portion of one or more
deformable plates 170 and/or at least a portion of a leaf spring 172. In some
embodiments, each arm 140 may include a separate deformable plate 170 and/or
leaf
spring 172. In some embodiments, as described further below in this section,
two or
more arms (e.g., all of the arms) may share one or more deformable plates 170
and/or
at least one leaf spring 172.
Each deformable plate 170 or leaf spring 172 may be attached (e.g., firmly) to
an end portion 146 of at least one arm 140, indicated by an arrow at 174, and
attached
(e.g., firmly) to movable frame member 60, indicated by an arrow at 176 (see
Figure
8). A radially-outer edge of the deformable plate or leaf spring may be
attached to end
portion 146, and a radially-inner edge of the deformable plate or leaf spring
may be
attached to frame member 60. The plate or leaf spring may deform in a region
between
the inner and outer edges when the frame members move relative to one another
parallel to the Z axis, indicated by downward and upward motion arrows 178,
180 in
Figures 9 and 10.
Body 138 also may move as a unit parallel to the X axis and parallel to the Y
axis, independently of and optionally concurrently with the Z axis motion. For
example,
Figures 9 and 10, when compared with Figure 8, show body 138 and movable frame
member 60 displaced in opposite directions parallel to the X axis, indicated
by motion
arrows at 182 and 184. The body and movable frame member may be displaced
parallel to the Y axis (i.e., orthogonal to the section plane of Figures 8-
10),
independently of and optionally concurrently with the X axis and Z axis
displacement
shown.
Body 138 may include one or more brace assemblies (e.g., upper and lower
brace assemblies 186a, 186b), which may guide and/or limit deformation of Z-
axis
biasing member(s) 86b (see Figure 10). Each brace assembly is configured to be
substantially more rigid than biasing member(s) 86b. Each brace assembly may
include a plurality of support members 188 each forming an upper or lower part
of one
of arms 140. Each support member 188 may be arranged obliquely to a deformable
portion 190 of the arm, with the deformable portion created by one or more
biasing
members 86b. The deformable portion may be located intermediate upper and
lower
support members 188 of the arm. The support members may extend divergently
from
end portion 146 of arm 140 toward movable frame member 60. A radially-outer
edge
region of each support member may be attached (e.g., firmly) to end portion
146 of an
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arm 140. A radially-inner edge region of each brace assembly 186a, 186b may
slidably
interface with movable frame member 60 at a respective Z-axis slide interface
192a,
192b. Biasing member(s) 86b, supports 188, and Z-axis slide interfaces 192a,
192b
collectively form Z-axis coupling structure 84, which permits and guides
motion of
movable frame member 60 parallel to the Z axis, while preventing motion of
frame
member 60 that would allow it to tilt/rock out of alignment with the Z axis.
The brace
assemblies may function to limit deformation of biasing member(s) 86b to
symmetrical
modes, thereby substantially eliminating any rocking motion of the movable
frame
member that could be produced by asymmetrical deformation of biasing member(s)
86b.
Each brace assembly 186a, 186b may include a respective bearing 194 that
contacts movable frame member 60 (see Figure 10). The bearings may be
described
as anti-rock bearings. Each bearing 194 may be disposed around a cylindrical
region
of frame member 60.
Figures 11-13 show another exemplary body 138' and movable frame member
60 for mount 130 (also see Figures 4-10). Body 138' is similar to body 138 of
mount
130; corresponding elements are identified with the same reference numbers.
Differences between body 138 and 138' are described below.
Each brace assembly 186a, 186b of body 138' includes rigidifying features to
reduce deformation thereof. Each support member 188 is formed as a plate, as
in body
138, but includes a main portion 200 that faces deformable portion 190 of the
corresponding arm 140, and one or more flanges 202 that project transversely
from
main portion 200. A buttress plate 204 is mounted to main portion 200 near the
radially-
outer end of the arm, to further strengthen the support member. Support
members 188
of each brace assembly are secured to a respective ring 206a, 206b around
frame
member 60. Each ring includes a bearing 194 that slides on frame member 60
(see
Figure 13).
A single leaf spring 172 may be disposed between brace assemblies 186a,
186b (see Figures 11 and 13). The leaf spring is formed by a stack of
deformable
plates 170 that creates deformable portion 190 of each arm 140.
One or more stop links 208 may be connected to both brace assemblies 186a,
186b to limit the range of travel of the brace assemblies relative to one
another (see
Figures 11 and 12). Despite the rigidifying and strengthening features added
to the
brace assemblies, a small amount of deformation of these assemblies still can
occur.
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This deformation can change the separation between upper and lower rings 206a,
206b. Each link 208 is connected at opposite ends to the respective brace
assemblies
with fasteners 210. At least one of the connections is a slidable connection
created by
a slot 212 elongated parallel to the Z axis.
A pair of stop members 214 may be disposed in each arm 140 between
deformable portion 190 and its associated pair of support members 188 (see
Figure
13). The stop members are configured to establish a limit for upward and
downward
motion of deformable portion 190 within each arm, and for leaf spring 172
within body
138'. Each stop member 214 may be mounted to a support member 188, as shown,
or to leaf spring 172.
Figures 14-18 show another exemplary embodiment 230 of anti-rotation mount
52 for the systems of Section II. Mount 230 is structured and functions
generally as
described for mount 130 of Figures 4-13, with structurally and/or functionally
similar
elements labeled with the same reference numbers. For example, mount 230 has X-
axis coupling structure 80 and Y-axis coupling structure 82, formed with X-
axis slide
interfaces 142 and Y-axis slide interfaces 144, as described above for mount
130.
Accordingly, movable frame member 60 can move in an XY plane, indicated by
arrows
at 231 in Figure 15, by independent movement at a set of X-axis slide
interfaces and
at a set of Y-axis slide interfaces. However, mount 230 replaces leaf spring
172 and
brace assemblies 186a, 186b, with radially arranged pivotable members 232. In
other
words, arms 140 of body 138 (or 138') are replaced at least in part with
pivotable
members 232, which may be considered to be pivotable arms.
Pivotable members 232 are configured to undergo coupled pivotal motion that
prevents lower frame member 60 from tilting/rocking. Each pivotable member 232
has
an outer end pivotably connected to slidable element 148 for single-axis
rotation about
a respective pivot axis 234. Pivot axes 234 are coplanar with one another and
arranged around the central Z axis, with each axis 234 orthogonal to the Z
axis. Each
pivotable member 232 also has an inner end pivotably connected to lower frame
member 60 for single-axis rotation about a respective pivot axis 236. Pivot
axes 236
also are coplanar with one another and arranged around the central Z axis,
with each
axis 236 orthogonal to the Z axis. Pivot axes 234 move radially inward and
outward
with respect to a central Z axis as slidable elements 148 slide parallel to
the X axis
and/or Y axis, as described above for mount 130 (see Figures 16-18). This
arrangement forces symmetrical motion of pivotable members 232, which is
generally
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analogous to the symmetrical deformation of the leaf spring(s) of mount 130.
Mount
230 also may include one or more Z-axis biasing members to resiliently bias
the
position of lower frame member 60 along the Z axis.
IV. Payloads
A payload is any device or collection of devices that is carried and aimed by
a
gimbal assembly. The payload may include one or more detectors and/or
emitters,
among others. A detector may create a signal representative of detected energy
and/or force, such as electromagnetic radiation, an electric field, a magnetic
field, a
pressure or pressure difference (e.g., sonic energy), a temperature or
temperature
difference (e.g., thermal energy), a particle or particles (e.g., high energy
particles),
movement (e.g., an inertial measurement device), and/or the like. An emitter
generally
comprises any mechanism for emitting a suitable or desired signal, such as
electromagnetic radiation (e.g., via a laser), sonic energy, and/or the like.
The payload
generally is in communication with a processor that sends signals to and/or
receives
.. signals from the payload. The payload may be connected (generally via a
processor)
to a display such that signals from the payload may be formatted into a
visible form for
viewing on the display. In some cases, the payload may contain high heat-
emitting
components, such as lasers, radars, millimeter-wave (MMW) imagers, light
detection
and ranging (LIDAR) imagers, mine-detection sensors, and/or inertial
measurement
.. units (IMUs).
In some embodiments, the payload may form a detection portion of an imaging
system. An imaging system generally comprises any device or assembly of
devices
configured to generate an image, or an image signal, based on received energy,
such
as electromagnetic radiation. Generally, an imaging system detects spatially
.. distributed imaging energy (e.g., visible light and/or infrared radiation,
among others)
and converts it to a representative signal. Imaging may involve optically
forming a
duplicate, counterpart, and/or other representative reproduction of an object
or scene,
especially using a mirror and/or lens. Detecting may involve recording such a
duplicate, counterpart, and/or other representative reproduction, in analog or
digital
formats, especially using film and/or digital recording mechanisms.
Accordingly, an
imaging system may include an analog camera that receives radiation (e.g.,
optical
radiation) and exposes film based on the received radiation, thus producing an
image
on the film. Alternatively, or in addition, an imaging system may include a
digital
camera that receives radiation (e.g., optical radiation) and generates a
digital image
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signal that includes information that can be used to generate an image that
visually
portrays the received radiation. Alternatively, or in addition, an imaging
system may
include an active component such as a laser to illuminate a scene and form an
image
from one or more reflections of the laser. "Imaging energy," as used herein,
may
include any type of energy, particularly electromagnetic energy, from which an
image
can be generated, including but not limited to ultraviolet radiation, visible
light, and
infrared radiation.
Suitable detectors for an imaging system may include (1) array detectors, such
as charge-coupled devices (CCDs), charge-injection devices (CIDs),
complementary
metal-oxide semiconductor (CMOS) arrays, photodiode arrays, microbolometers,
and
the like, and/or (2) arrays of point detectors, such as photomultiplier tubes
(PMTs),
photodiodes, pin photodiodes, avalanche photodiodes, photocells, phototubes,
and
the like. Detectors may be sensitive to the intensity, wavelength,
polarization, and/or
coherence of the detected imaging energy, among other properties, as well as
spatial
and/or temporal variations thereof.
The imaging system also may include optics (i.e., one or more optical
elements). Exemplary optical elements may include (1) reflective elements
(such as
mirrors), (2) refractive elements (such as lenses), (3) transmissive or
conductive
elements (such as fiber optics or light guides), (4) diffractive elements
(such as
gratings), and/or (5) subtractive elements (such as filters), among others.
The imaging system also may contain gyroscopes and/or other elements
arranged to form an inertial measurement unit (IMU) on an optical bench. The
IMU
may be used to assess the pointing angle of the line-of-sight, as well as geo-
location,
geo-referencing, geo-pointing, and/or geo-tracking in earth coordinates.
In some embodiments, an imaging system may be capable of generating image
signals based on two or more different types or wavebands of imaging energy.
For
example, the imaging system may be configured to generate a first image signal
representative of visible light and a second image signal representative of
infrared
radiation. Visible light and infrared radiation are both types of
electromagnetic radiation
(see Definitions); however, they are characterized by different wavebands of
electromagnetic radiation that may contain or reflect different information
that may be
used for different purposes. For example, visible light may be used to
generate an
image signal that in turn may be used to create a photograph or movie showing
how
a scene appears to a human observer. In contrast, infrared radiation may be
used to
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generate an image signal that in turn may be used to create a heat profile
showing
heat intensity information for a scene. More generally, the imaging system may
be
used with any suitable set of first and second (or first, second, and third
(and so on))
image signals, using any suitable wavelength bands. These suitable image
signals
may include first and second visible wavebands, first and second infrared
wavebands,
mixtures of visible, infrared, and/or ultraviolet wavebands, and so on,
depending on
the application.
In some examples, an imaging system may form composite images. The
composite images may be straight combinations of two or more other images.
However, in some cases, one or both of the images may be processed prior to or
during the process of combining the images. Composite images may be formed for
use in firefighting, aeronautics, surveillance, and/or the like, for example,
by
superimposing infrared images of hot spots, runway lights, persons, and/or the
like on
visible images.
The payload alternatively, or in addition, may include non-imaging systems,
such as laser rangefinders, laser designators, laser communication devices,
polarimeters, hyperspectral sensors, and/or the like.
In some examples, second gimbal 94 supports and encloses payload 76. The
payload may include a plurality of optical devices, such as an infrared
camera, a video
camera for visible light (e.g., a closed-circuit television camera), a laser
rangefinder, a
light source that serves as a pointer and/or illuminator, or any combination
thereof.
The second gimbal also may be equipped with one or more optical windows that
allow
optical radiation to enter or exit the second gimbal, such that the optical
radiation can
travel to and/or from each optical device of the payload.
V. Support Platforms
The gimbal system of the present disclosure may include a gimbal assembly
connected to a support platform by an anti-rotation mount. A support platform,
as used
herein, generally refers to any mechanism for supporting and/or conveying an
anti-
rotation mount and a gimbal assembly. The support platform may be movable or
fixed
in relation to the earth, and may be disposed on the ground, in the air or
space, or on
and/or in water, among others. In any case, the support platform may be
selected to
complement the function of the mount and gimbal assembly, and particularly the
payload thereof.
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The support platform may be movable, such as a vehicle with or without motive
power. Exemplary vehicles include a ground vehicle (e.g., a car, truck,
motorcycle,
tank, etc.), a watercraft (e.g., a boat, submarine, carrier, etc.), an
aircraft (e.g., a fixed-
wing piloted aircraft, pilotless remote-controlled aircraft, helicopter,
missile, dirigible,
aerostat balloon, rocket, etc.), or the like. In some cases, the support
platform may
include a crane or mast, which may provide hydraulic positioning of the
support
platform
The support platform may be fixed in position. Exemplary fixed support
platforms may include a building, an observation tower, a wall, a mast, and/or
an
observation platform, among others.
A gimbal system with a movable or fixed support platform may be used for any
suitable application(s). Exemplary applications for a gimbal system include
navigation,
targeting, search and rescue, law enforcement, firefighting, force protection,
and/or
surveillance, among others.
VI. Selected Embodiments
This section describes selected embodiments of the present disclosure,
presented as a series of numbered paragraphs. These embodiments are intended
for
illustration only and should not limit the scope of the present disclosure.
A. Selected Embodiments I
Paragraph 1. A gimbal system, comprising: (A) a mounting portion including a
first frame member having a fixed relation to a set of mutually orthogonal X,
Y, and Z
axes and also including a second frame member movably connected to the first
frame
member by a linkage assembly that resists any rotation of the first frame
member and
the second frame member relative to one another, the mounting portion
including X-
axis slide structure and Y-axis slide structure each formed at least partially
by the
linkage assembly and each permitting axial motion of the frame members
relative to
one another only substantially parallel to the X axis or only substantially
parallel to the
Y axis, respectively; and (B) a gimbal assembly connected to and supported by
the
mounting portion.
Paragraph 2. The gimbal system of paragraph 1, wherein the linkage assembly
includes Z-axis slide structure that permits axial motion of the frame members
relative
to one another only substantially parallel to the Z axis.
Paragraph 3. The gimbal system of paragraph 1, wherein at least a portion of
the X-axis slide structure is nested in at least a portion of the Y-axis slide
structure.
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Paragraph 4. The gimbal system of paragraph 1, wherein the linkage assembly
includes one or more leaf springs, and wherein deformation of the one or more
leaf
springs is coupled to motion of the frame members relative to one another
parallel to
the Z axis.
Paragraph 5. The gimbal system of paragraph 4, wherein each of the one or
more leaf springs is rigidly attached to the second frame member.
Paragraph 6. The gimbal system of paragraph 4 or 5, wherein the one or more
leaf springs are included in a plurality of arms arranged radially with
respect to the Z
axis.
Paragraph 7. The gimbal system of paragraph 6, wherein a radially outer end
of each arm is connected to a portion of the X-axis slide structure and/or a
portion of
the Y-axis slide structure.
Paragraph 8. The gimbal system of paragraph 7, wherein the linkage assembly
includes one or more plates each facing the one or more leaf springs and
attached to
a radially outer end of each arm.
Paragraph 9. The gimbal system of paragraph 8, wherein each plate of the one
or more plates supports a bearing for a Z-axis slide structure.
Paragraph 10. The gimbal system of paragraph 9, wherein the bearing contacts
a cylindrical region of the second frame member.
Paragraph 11. The gimbal system of any of paragraphs 4 to 10, wherein the
one or more leaf springs define a plane that is orthogonal to the Z axis.
Paragraph 12. The gimbal system of any of paragraphs 1 to 3, wherein the
linkage assembly includes a plurality of pivotable members arranged at least
generally
radially with respect to the Z axis and each having a first end and a second
end,
wherein the first ends of the pivotable members are pivotably connected to a
same
one of the frame members at respective pivot axes arranged around and
orthogonal
to the Z axis and coplanar to one another, and wherein the second end of each
pivotable member is connected to a portion of the X-axis slide structure
and/or a
portion of the Y-axis slide structure.
Paragraph 13. The gimbal system of any of paragraphs 1 to 12, wherein the
gimbal assembly includes a plurality of gimbals supporting a payload that is
orientable
with respect to the mounting portion by rotation of the gimbals about a pair
of
nonparallel (e.g., orthogonal axes).
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Paragraph 14. The gimbal system of any of paragraphs 1 to 13, wherein the
gimbal assembly includes a plurality of gimbals supporting an image detector.
Paragraph 15. The gimbal system of paragraph 14, wherein the image detector
is sensitive to infrared radiation.
Paragraph 16. The gimbal system of paragraph 14 or 15, wherein the image
detector is orientable with respect to the mounting portion about a pair of
nonparallel
axes by rotation of the gimbals.
Paragraph 17. The gimbal system of any of paragraphs 1 to 16, further
comprising a processor programmed to control motor-driven rotation of the
gimbals.
Paragraph 18. The gimbal system of paragraph 17, wherein the processor is
programmed to control motor-driven rotation of the gimbals based on signals
from an
inertial measurement unit.
Paragraph 19. The gimbal system of paragraph 1, wherein the mounting portion
includes one or more vibration isolators and one or more vibration dampers.
Paragraph 20. The gimbal system of paragraph 1, wherein the gimbal assembly
supports a payload including a camera.
Paragraph 21. The gimbal system of any of paragraphs 1 to 20, wherein each
frame member includes a plate portion that defines a plane, and wherein the
planes
of the frame members are parallel to one another.
Paragraph 22. The gimbal system of any of paragraphs 1 to 21, wherein the
frame members are movable relative to one another parallel to an XY plane
substantially only via the X-axis slide structure and the Y-axis slide
structure.
Paragraph 23. The gimbal system of any of paragraphs 1 to 22, wherein any
axial movement of the frame members relative to one another parallel to the X
axis
changes a configuration of the X-axis slide structure and parallel to the Y
axis changes
a configuration of the Y-axis slide structure.
Paragraph 24. The gimbal system of paragraph 23, wherein any axial
movement of the frame members relative to one another parallel to the Z axis
changes
a configuration of a Z-axis slide structure.
B. Selected Embodiments II
Paragraph 1. An imaging system, comprising: (A) a mount comprising (i) a first
frame member having a fixed relation to a set of mutually transverse X, Y, and
Z axes,
(ii) a coupling assembly, (iii) a second frame member connected to the first
frame
member via the coupling assembly, such that the frame members are not
permitted to
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rotate relative to one another, and (iv) X-axis, Y-axis, and Z-axis coupling
structures
each formed at least partially by the coupling assembly and permitting axial
motion of
the frame members relative to one another only substantially parallel to the X
axis, Y
axis, and Z axis, respectively; and (B) an image detector connected to the
mount via
the second frame member.
Paragraph 2. The imaging system of paragraph 1, wherein at least a portion of
the X-axis coupling structure is nested in at least a portion of the Y-axis
coupling
structure.
Paragraph 3. The imaging system of paragraph 1 or 2, wherein one of the
coupling structures includes a leaf spring.
Paragraph 4. The imaging system of any of paragraphs 1 to 3, wherein the leaf
spring is orthogonal to the Z axis.
Paragraph 5. The imaging system of any of paragraphs 1 to 4, wherein the
coupling assembly includes a body having a plurality of arms.
Paragraph 6. The imaging system of paragraph 5, wherein the arms are
arranged radially with respect to the Z axis.
Paragraph 7. The imaging system of paragraph 5 or 6, wherein an end of each
arm forms a portion of the X-axis coupling structure or a portion of the Y-
axis coupling
structure.
Paragraph 8. The imaging system of any of paragraphs 5 to 7, wherein an end
of each arm is slidably received by a bearing or forms a bearing.
Paragraph 9. The imaging system of any of paragraphs 5 to 8, wherein the body
includes a deformable portion and a pair of brace assemblies disposed on
opposite
sides of the deformable portion from one another.
Paragraph 10. The imaging system of paragraph 9, wherein the deformable
portion includes a leaf spring.
Paragraph 11. The imaging system of any of paragraphs 1 to 10, wherein the
X-axis coupling structure includes a plurality of separate X-axis slide
interfaces, and
wherein the Y-axis coupling structure includes a plurality of separate Y-axis
slide
interfaces.
Paragraph 12. The imaging system of paragraph 11, wherein mount defines a
central axis that is coaxial to the Z axis, and wherein the central axis is
disposed
intermediate a pair of the X-axis slide interfaces and intermediate a pair of
the Y-axis
slide interfaces.
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Paragraph 13. The imaging system of any of paragraphs 1 to 12, further
comprising a plurality of biasing members configured to bias a position of the
second
frame member with respect to the first frame member in three dimensions.
Paragraph 14. The imaging system of paragraph 13, further comprising a
plurality of dampers configured to damp motion of the frame members relative
to one
another.
Paragraph 15. The imaging system of any of paragraphs 1 to 14, further
comprising a plurality of gimbals supporting the image detector such that the
image
detector is orientable with respect to the mount by rotation of the gimbals
about a pair
of nonparallel axes.
Paragraph 16. The imaging system of any of paragraphs Ito 15, wherein any
axial movement of the frame members relative to one another parallel to the X
axis
changes a configuration of the X-axis coupling structure, parallel to the Y
axis changes
a configuration of the Y-axis coupling structure, and parallel to the Z axis
changes a
configuration of the Z-axis coupling structure.
Paragraph 17. The imaging system of any of paragraphs 1 to 16, wherein the
first frame member is firmly attached to a vehicle.
Paragraph 18. The imaging system of any of paragraphs 1 to 17, wherein the
image detector is disposed under the second frame member.
Paragraph 19. The imaging system of any of paragraphs 1 to 18, wherein the
X, Y, and Z axes are mutually orthogonal to one another.
Paragraph 20. An imaging system, comprising: (A) a mount comprising (i) a
first
frame member having a fixed relation to a set of mutually transverse X, Y, and
Z axes,
(ii) a coupling assembly including at least one leaf spring, (iii) a second
frame member
connected to the first frame member via the coupling assembly, such that the
frame
members are permitted to move relative to one another translationally in three
dimensions, and such that the frame members are not permitted to rotate
relative to
one another, wherein the Z axis is coaxial with a central axis of the mount
that extends
through both frame members, and wherein deformation of the at least one leaf
spring
is coupled to movement of the frame members relative to one another parallel
to the
Z axis; and (B) an image detector connected to the mount via the second frame
member.
Paragraph 21. The imaging system of paragraph 20, wherein the at least one
leaf spring is orthogonal to the Z axis.
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Paragraph 22. The imaging system of paragraph 20 or 21, wherein the coupling
assembly includes a body having a plurality of arms, and wherein the at least
one leaf
spring forms a portion of each arm.
Paragraph 23. The imaging system of paragraph 22, wherein an end of each
arm forms a portion of the X-axis coupling structure or a portion of the Y-
axis coupling
structure.
Paragraph 24. The imaging system of paragraph 22 or 23, wherein the body
includes a pair of brace assemblies disposed on opposite sides of the at least
one leaf
spring from one another.
Paragraph 25. The imaging system of any of paragraphs 20 to 24, further
comprising at least one X-axis slide interface and at least one Y-axis slide
interface
each formed at least partially by the coupling assembly and each permitting
axial
motion of the frame members relative to one another only substantially
parallel to the
X axis or only substantially parallel to the Y axis, respectively.
Paragraph 26. The imaging system of any of paragraphs 20 to 25, further
comprising a plurality of gimbals supporting the image detector such that the
image
detector is orientable with respect to the mount by rotation of the gimbals
about a pair
of nonparallel axes.
Paragraph 27. The imaging system of any of paragraphs 20 to 26, wherein the
X, Y, and Z axes are mutually orthogonal to one another.
Paragraph 28. An imaging system, comprising: (A) a mount comprising (i) a
first
frame member having a fixed relation to a set of mutually transverse X, Y, and
Z axes,
(ii) a coupling assembly, (iii) a second frame member connected to the first
frame
member via the coupling assembly, such that the frame members are permitted to
move translationally relative to one another in three dimensions, and are not
permitted
to rotate relative to one another, and (iv) at least one X-axis slide
interface and at least
one Y-axis slide interface each formed at least partially by the coupling
assembly and
each permitting axial motion of the frame members relative to one another only
substantially parallel to the X axis or only substantially parallel to the Y
axis,
respectively; and (B) an image detector connected to the mount via the second
frame
member.
The disclosure set forth above may encompass multiple distinct inventions with
independent utility. Although each of these inventions has been disclosed in
its
preferred form(s), the specific embodiments thereof as disclosed and
illustrated herein
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are not to be considered in a limiting sense, because numerous variations are
possible. The subject matter of the inventions includes all novel and
nonobvious
combinations and subcombinations of the various elements, features, functions,
and/or properties disclosed herein. The following claims particularly point
out certain
combinations and subcombinations regarded as novel and nonobvious. Inventions
embodied in other combinations and subcombinations of features, functions,
elements, and/or properties may be claimed in applications claiming priority
from this
or a related application. Such claims, whether directed to a different
invention or to the
same invention, and whether broader, narrower, equal, or different in scope to
the
original claims, also are regarded as included within the subject matter of
the
inventions of the present disclosure. Further, ordinal indicators, such as
first, second,
or third, for identified elements are used to distinguish between the
elements, and do
not indicate a particular position or order of such elements, unless otherwise
specifically stated.
