Claims:1. A gimbal configured to be integrated with a vehicle, the gimble comprising:
a payload configured inside housing, and wherein the platform comprising one or more sensors configured to sense one or more attribute pertaining to orientation of the payload;
one or more actuating devices operatively configured with the gimbal;
a processing unit, comprising one or more processors, operatively configured with the gimbal and the one or more actuating devices;
a memory associated with the processing unit for storing instructions which on execution causes the processing unit to:
receive, from the one or more sensors, the one or more attribute pertaining to orientation of the payload,
comparing the one or more attributes with corresponding predefined one or more reference value, and
sending a set of control signals to the one or more actuating devices when the one or more attributes are less than or greater than the corresponding predefined one or more reference values,
wherein, upon the receipt of the set of control signals, the one or more actuating devices configured to change the one or more attributes of the payload such that the one or more attributes becomes equal to the corresponding predefined one or more reference values.
2. The gimbal as claimed in claim 1, wherein the payload comprises a camera.
3. The gimble as claimed in claim 2, wherein the payload is configured in a payload assembly, and the payload assembly comprises any or combination of thermal imager, day camera, a window glass for day camera, a window glass for the thermal imager, and brackets for mounting the camera.
4. The gimbal as claimed in claim 1, wherein the one or more actuating device comprises:
a first motor, enclosed in a first housing, and the first motor is configured to move the payload along a first axis,
a second motor, enclosed in a second housing, and the second motor is configured to move the payload along a second axis, and
a third motor, enclosed in a third housing, and the third motor is configured to move the payload along a third axis.
5. The gimbal as claimed in claim 4, wherein the first motor is mechanically coupled with the second motor, and the second motor is mechanically coupled with the third motor, and the third motor is electrically coupled with the processing unit, and the first motor, the second motor, and the third motor are electrically coupled with the processing unit.
6. The gimbal as claimed in claim 1, wherein gimbal comprise an aluminium dome configured to cover the payload.
7. The gimbal as claimed in claim 1, wherein cable connection between the third motor and the processing unit can be routed via second motor housing, and two sectorial projections are given inside the second motor housing so that the inner surface of the projections guide and enclose the second motor, wherein cables are routed around the outer surface.
8. The gimbal as claimed in claim 1, wherein the one or more sensing device comprises any or combination of gyro-sensor, and accelerometer.
9. The gimbals as claimed in claim 1, wherein the gimbal is integrated with vehicle using any or combination of coupling brackets, shock absorber, and electronic interface.
, Description:TECHNICAL FIELD
[0001] The present disclosure relates to the field of a payload carrying platform. More particularly the present disclosure relates to a compact stabilized payload carrying platform.

BACKGROUND
[0002] Background description includes information that may be useful in understanding the present invention. It is not an admission that any of the information provided herein is prior art or relevant to the presently claimed invention, or that any publication specifically or implicitly referenced is prior art.
[0003] Gimbal is referred as a pivotable support that can be used to allow rotation of an object about a single or multiple axis. The object can include a camera that can be fixed in the gimbal for taking video and image data with improved stability. Gimbal can be integrated with aerial vehicles to take elevated picture and for surveillance purpose. Integration of the gimbal with the unmanned aerial vehicle such as drone requires necessary isolation from the drone vibration. The vibration and disturbance caused due to the operation of the unmanned vehicle can disturb focus of the camera which can reduce the image quality and performance of the camera.
[0004] There is, therefore, a need of an improved gimbals that can suppress the vibrations and disturbance caused by the operation of the unmanned aerial vehicle.

OBJECTS OF THE PRESENT DISCLOSURE
[0005] Some of the objects of the present disclosure, which at least one embodiment herein satisfies are as listed herein below.
[0006] It is an object of the present disclosure to provides a compact gimbal for carrying a payload such as military grade cameras.
[0007] It is an object of the present disclosure to provides a gimbal for carrying a payload with necessary stabilization for improved image quality.
[0008] It is an object of the present disclosure to provide a gimbal for carrying a payload that can be integrated with unmanned aerial vehicle and can isolate vibrations and disturbance caused by operation of the unmanned aerial vehicle and environmental disturbances.

SUMMARY
[0009] The present disclosure relates to the field of a compact payload carrying platform. More particularly the present disclosure relates to a stabilized payload carrying platform.
[0010] An aspect of the present disclosure pertains to a gimbal configured to be integrated with an aerial vehicle. The gimbal includes a payload configured inside housing, and wherein the platform comprising one or more sensors configured to sense one or more attribute pertaining to orientation of the payload. One or more actuating devices operatively configured with the gimbal. A processing unit, comprising one or more processors, operatively configured with the gimbal and the one or more actuating devices. A memory associated with the processing unit for storing instructions which on execution causes the processing unit to receive, from the one or more sensors, the one or more attribute pertaining to orientation of the payload. compare the one or more attributes with corresponding predefined one or more reference values. Send a set of control signals to the one or more actuating devices when the one or more attributes are less than or greater than the corresponding predefined one or more reference values. Upon the receipt of the set of control signals, the one or more actuating devices configured to change the one or more attributes of the payload such that the one or more attributes becomes equal to the corresponding predefined one or more reference values.
[0011] In an aspect, the payload may include a camera. The payload may be configured in a payload assembly, and the payload assembly may include any or combination of thermal imager, day camera, a window glass for day camera, a window glass for the thermal imager, and brackets for mounting the camera. The one or more actuating device may include a first motor, enclosed in a first housing, and the first motor may be configured to move the payload along a first axis. A second motor, enclosed in a second housing, and the second motor may be configured to move the payload along a second axis. A third motor, enclosed in a third housing, and the third motor may be configured to move the payload along a third axis.
[0012] In an aspect, the first motor may be mechanically coupled with the second motor, and the second motor may be mechanically coupled with the third motor, and all the motors may be electrically coupled with the processing unit. The gimbal may include an aluminum dome configured to cover the payload. The one or more sensing device may include any or combination of gyro-sensor, and accelerometer. The gimbal may include bearing assembly coaxial with the first motor and configured to aid elevation rotation, and the bearing assembly may be enclosed inside elevation bearing housing and coupled to the roll motor assembly with elevation coupling arm. Similarly, the gimbal may include bearing assembly as an integral part of the second motor and configured to aid roll rotation, and the roll motor assembly coupled to the azimuth motor assembly with roll coupling arm. Similarly, the gimbal may include bearing assembly as an integral part of the third motor and configured to aid azimuth rotation. The gimbal may be integrated with vehicle using any or combination of coupling brackets, shock absorbers, and electronic interface.
[0013] Various objects, features, aspects and advantages of the inventive subject matter will become more apparent from the following detailed description of preferred embodiments, along with the accompanying drawing figures in which like numerals represent like components.

BRIEF DESCRIPTION OF DRAWINGS
[0014] The accompanying drawings are included to provide a further understanding of the present disclosure, and are incorporated in and constitute a part of this specification. The drawings illustrate exemplary embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure. The diagrams are for illustration only, which thus is not a limitation of the present disclosure.
[0015] In the figures, similar components and/or features may have the same reference label. Further, various components of the same type may be distinguished by following the reference label with a second label that distinguishes among the similar components. If only the first reference label is used in the specification, the description is applicable to any one of the similar components having the same first reference label irrespective of the second reference label.
[0016] FIG. 1 illustrates an exemplary diagram of the proposed gimbal, in accordance with an embodiment of the present disclosure.
[0017] FIG. 2 illustrates an exemplary integration of the proposed gimbal with an unmanned aerial vehicle, in accordance with an embodiment of the present disclosure.
[0018] FIG. 3 illustrates an exploded view of the proposed gimbal, in accordance with an embodiment of the present disclosure.
[0019] FIG. 4 illustrates an exemplary block diagram of the proposed gimbal, in accordance with an embodiment of the present disclosure.
[0020] FIG. 5 illustrates an exemplary coupling arms in the proposed gimbal, in accordance with an embodiment of the present disclosure.
[0021] FIG. 6 illustrates an exemplary view of an inner surface of projections guide and enclose the roll motor (also referred as second motor) an exploded view of the proposed gimbal, in accordance with an embodiment of the present disclosure.

DETAILED DESCRIPTION
[0022] The following is a detailed description of embodiments of the disclosure depicted in the accompanying drawings. The embodiments are in such detail as to clearly communicate the disclosure. However, the amount of detail offered is not intended to limit the anticipated variations of embodiments; on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present disclosure as defined by the appended claims.
[0023] In the following description, numerous specific details are set forth in order to provide a thorough understanding of embodiments of the present invention. It will be apparent to one skilled in the art that embodiments of the present invention may be practiced without some of these specific details.
[0024] The present disclosure relates to the field of a compact payload carrying platform. More particularly the present disclosure relates to a stabilized payload carrying platform.
[0025] An embodiment of the present disclosure pertains to a payload carrying platform (also referred as, gimbal) configured to be integrated with an aerial vehicle. The gimble includes a payload configured inside housing, and wherein the platform comprising one or more sensors configured to sense one or more attribute pertaining to orientation of the payload. One or more actuating devices operatively configured with the payload. A processing unit, comprising one or more processors, operatively configured with the payload and the one or more actuating devices. A memory associated with the processing unit for storing instructions which on execution causes the processing unit to receive, from the one or more sensors, the one or more attribute pertaining to orientation of the payload. compare the one or more attributes with corresponding predefined one or more reference values. Send a set of control signals to the one or more actuating devices when the one or more attributes are less than or greater than the corresponding predefined one or more reference values. Upon the receipt of the set of control signals, the one or more actuating devices configured to change the one or more attributes of the payload such that the one or more attributes becomes equal to the corresponding predefined one or more reference values.
[0026] In an embodiment, the payload can include a camera.
[0027] In an embodiment, the payload can be configured in a payload assembly, and the payload assembly can include any or combination of thermal imager, day camera, a window glass for day camera, a window glass for the thermal imager, and brackets for mounting the camera.
[0028] In an embodiment, the one or more actuating device can include a first motor, enclosed in a first housing, and the first motor can be configured to move the payload along a first axis. A second motor, enclosed in a second housing, and the second motor can be configured to move the payload along a second axis. A third motor, enclosed in a third housing, and the third motor can be configured to move the payload along a third axis.
[0029] In an embodiment, the first motor can be mechanically coupled with the second motor, and the second motor can be mechanically coupled with the third motor, and all the motors can be electrically coupled with the processing unit.
[0030] In an embodiment, gimbal can include an aluminum dome configured to cover the payload.
[0031] In an embodiment, the one or more sensing device can include any or combination of gyro-sensor, and accelerometer.
[0032] In an embodiment, the gimbal can include bearing assembly coaxial with the first motor and configured to aids an elevation rotation.
[0033] In an embodiment, the gimbal may include bearing assembly as an integral part of second motor and configured to aid roll rotation, and roll motor assembly coupled to the azimuth motor assembly with roll coupling arm.
[0034] In an embodiment, the gimbal may include bearing assembly as an integral part of third motor and configured to aid azimuth rotation.
[0035] In an embodiment, the gimbal can be integrated with vehicle using any or combination of coupling brackets, shock absorber, and electronic interface.
[0036] FIG. 1 illustrates an exemplary diagram of the proposed gimbal, in accordance with an embodiment of the present disclosure.
[0037] FIG. 2 illustrates an exemplary integration of the proposed gimbal with an unmanned aerial vehicle, in accordance with an embodiment of the present disclosure.
[0038] FIG. 3 illustrates an exploded view of the proposed gimbal, in accordance with an embodiment of the present disclosure.
[0039] FIG. 4 illustrates an exemplary block diagram of the proposed gimbal, in accordance with an embodiment of the present disclosure.
[0040] As illustrated, the proposed gimbal 100 can be integrated with a vehicle 102 that can be but not limited to an unmanned aerial vehicle (UAV). The gimbal 100 can include a payload configured inside housing. The gimbal 100 can include one or more sensors 104-4 configured to sense one or more attribute pertaining to orientation of the payload. The one or more sensor 104-4 can include but not limited to a gyro sensor, and accelerometer. One or more actuating devices that can be operatively configured with the payload. The one or more attributes can include but not limited to direction, angle of the payload with respect to one or more axis of the one or more actuating devices. A processing unit 104-5, can include one or more processors, operatively configured with the payload and the one or more actuating devices. A memory can be associated with the processing unit for storing instructions which on execution causes the processing unit 104-5 to receive, from the one or more sensors 104-4, the one or more attribute pertaining to orientation of the payload. Compare the one or more attributes with corresponding predefined one or more reference values. Send a set of control signals to the one or more actuating devices when the one or more attributes are less than or greater than the corresponding predefined one or more reference values.
[0041] In an embodiment, upon the receipt of the set of control signals, the one or more actuating devices can be configured to change the one or more attributes of the payload 104-1 such that the one or more attributes becomes equal to the corresponding predefined one or more reference values. The payload 104 can include any or combination of imaging device or camera that can be but not limited to a charge-coupled device (CCD) day camera 104-1, a thermal imager 104-2, necessary payload electronics 104-3, an electronic gyro card 104-4 (also referred as one or more sensors, herein), necessary electronics for gimbal control and drive 104-5 (also referred as processing unit), a window glass for day camera 104-7, a window glass for thermal imager 104-8, and a bracket for mounting the payload inside the gimbal 104-6. The gimbal 100 can include a front aluminum dome 106 a right-side dome 106-1, a left side dome 106-2, a top cover 106-5, a bottom cover 106-4 and a rear side dome 106-3 enclose the payload inside.
[0042] In an embodiment, the one or more actuating device can include a first motor 108 (also referred as elevation motor), enclosed in a first housing 108-1, and the first motor 108 can be configured to move the payload along a first axis (also referred as elevation axis ‘A1’). A second motor 112 (also referred as roll motor) can be enclosed in a second housing (112-1, 112-3), and the second motor 112 can be configured to move the payload along a second axis (also referred as roll axis ‘A2’). A third motor 114 (also referred as azimuth motor), enclosed in a third housing (114-1, 114-2), and the azimuth motor 114 can be configured to move the payload along a third axis (also referred as azimuthal axis ‘A3’). The gimbal can include bearing assembly 110 coaxial with the first motor 108 and configured to aids an elevation rotation, and the bearing assembly can be enclosed inside elevation bearing housing 110-1 and coupled to the roll motor assembly with elevation coupling arm 110-2.
[0043] In an embodiment, the gimbal 100 can be integrated with vehicle 102. The elevation motor 108, the roll motor 112, and the azimuth motor 114 can include respective encoder magnet 116 and encoder electronic circuits 116-1. An external interface connector 120 may be given for electronic interface with the UAV 102. The gimbal 100 can be coupled to the UAV 102 using the coupling brackets 118 through set of shock absorbers 118-1 for considerable vibration isolation. The mismatch between one or more attributes and the corresponding predefined one or more reference values can be due to but not limited to disturbance cause by the operation of the UAV 102. The gimbal XXX can be provided with an onboard power source (such as battery) that can be used to provide input power to the one or more actuating devices, one or more sensors 104-4, and processing unit 104-5.
[0044] FIG. 5 illustrates an exemplary coupling arms in the proposed gimbal, in accordance with an embodiment of the present disclosure.
[0045] As illustrated, the first motor 108 can be mechanically coupled with the second motor 112, and the second motor 112 can be mechanically coupled with the third motor 114, and the first motor 108, the second motor 112, and the third motor 114 can be electrically coupled with the processing unit 104-5. The coupling arms can be designed to be hollow for weight reduction and allow routing of electrical cables from elevation assembly to roll assembly and further from roll assembly to azimuth assembly. This can avoid overdesign on mass basis.
[0046] FIG. 6 illustrates an exemplary view of an inner surface of projections guide and enclose the roll motor (also referred as second motor) an exploded view of the proposed gimbal, in accordance with an embodiment of the present disclosure.
[0047] As illustrated, cables connection between the Azimuth motor 114 and the control and drive electronics 104-5 can be routed via roll motor housing 112-1. For this purpose, two sectorial projections 128 can be given inside the roll motor housing as shown in the FIG. 6. An inner surface of the projections guide and enclose the roll motor, whereas the cables can be routed around the outer surface.
[0048] Moreover, in interpreting the specification, all terms should be interpreted in the broadest possible manner consistent with the context. In particular, the terms “comprises” and “comprising” should be interpreted as referring to elements, components, or steps in a non-exclusive manner, indicating that the referenced elements, components, or steps may be present, or utilized, or combined with other elements, components, or steps that are not expressly referenced. Where the specification claims refer to at least one of something selected from the group consisting of A, B, C ….and N, the text should be interpreted as requiring only one element from the group, not A plus N, or B plus N, etc.
[0049] While the foregoing describes various embodiments of the invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof. The scope of the invention is determined by the claims that follow. The invention is not limited to the described embodiments, versions or examples, which are included to enable a person having ordinary skill in the art to make and use the invention when combined with information and knowledge available to the person having ordinary skill in the art.

ADVANTAGES OF THE INVENTION
[0050] The proposed invention provides a compact gimbal for carrying Military grade cameras as payload.
[0051] The proposed invention provides a gimbal for carrying a payload with necessary stabilization for improved image quality.
[0052] The proposed invention provides a gimbal for carrying a payload that can be integrated with unmanned aerial vehicle and can isolate vibrations and disturbance caused by operation of the unmanned aerial vehicle and environmental disturbances.