Claims:
1. A gimbal assembly (100) comprising:
at least one inner frame (110) for housing at least one payload (115);
an outer frame (120) configured to mount said at least one inner frame (110) and swivel about an axis (X1) in a first angular degree of freedom and a second angular degree of freedom;
at least one shock absorber (130) coupled in series with said at least one inner frame (110) at a first end and a bracket (150) at a second end, for imparting a third linear degree of freedom along a linear axis (X2), thereby isolating vibrations, and reducing impact of contact with a target surface of interest; and
a plurality of outwardly projecting alignment pins (140) configured on an outer surface (110a) of said at least one inner frame (110) in pre-defined selective positions for self-alignment of said at least one payload (115) onto said target surface of interest, with minimal effort, maintaining a constant stand-off distance.

2. The assembly (100) as claimed in claim 1, wherein said bracket (150) is mountable removably or fixedly to a remotely operated vehicle (ROV) or a drone or is handheld by a user or a diver.

3. The assembly (100) as claimed in one of the preceding claims 1-2, wherein said inner frame (110) and said outer frame (120) swivel are removably coupled about their respective axis.
4. The assembly (100) as claimed in one of the preceding claims 1-3, wherein said swivel of the mount is controlled by an arm (155) projecting out of at least one cut-out (125) located on at least one outer surface or via plurality of actuators (180) positioned within said mount.

5. The assembly (100) as claimed in one of the preceding claims 1-4, wherein a controller (160) is configured within said assembly (100) or said remotely operated vehicle (ROV) or said drone, said controller (160) configured to:
actuate command signals based on user input provided through a user interface (170) to control said at least one payload (115) and/or said plurality of actuators (180) via a plurality of cables (166) passing through said at least one cut-out (125) or via a communication element (166) and a hardware interface (168, 178); and
receive feedback signals and feedback inspection data generated by said at least one payload (115) and/or said plurality of actuators (180) to be transmitted to said user interface (170).

6. The assembly (100) as claimed in one of the preceding claims 1-5, wherein said at least one payload (115) is a detecting / measuring sensor or transducer that include a non-destructive testing system in the form of eddy current or an alternating current field magnetic sensor or a probe or an optical sensor or a sonic or an ultrasonic sensor or a combination thereof.

7. The assembly (100) as claimed in one of the preceding claims 1-6, wherein said at least one payload (115) includes a foam, a spongy material for damage protection.

8. The assembly (100) as claimed in one of the preceding claims 1-7, wherein said alignment pins (140) include sharp pointed ends/tips that penetrate through uneven corroded blisters or scales or biofouling protruding from said target surface of interest for inspection.

9. The assembly (100) as claimed in one of the preceding claims 1-8, wherein tip of each said alignment pin (140) include a pin-hole nozzle for waterjet-based cleaning of marine growth, cavitation cleaning on said target surface of interest for inspection.

10. The assembly (100) as claimed in one of the preceding claims 1-9, wherein said alignment pins (140) are of predetermined sizes and shapes of equal or unequal lengths and include magnets for alignment on metallic, curved, irregular target surface of interest for inspection.

11. The assembly (100) as claimed in one of the preceding claims 1-10, wherein said communication element (166) include a WIFI, a Bluetooth and said hardware interface (168, 178) include a transceiver.

12. A system (300) for alignment of a payload (115) onto a target surface of interest, said system (300) comprising:
at least one shock absorber (130) coupled with said payload (115) for isolating vibrations, and reducing impact of contact with said target surface of interest; and
a plurality of outwardly projecting alignment pins (140) configured on a surface of said system (300) in pre-defined selective positions for self-alignment of said payload (115) onto said target surface of interest, with minimal effort, maintaining a constant stand-off distance, said alignment pins (140) include sharp pointed ends/tips that penetrate through uneven corroded blisters or scales or biofouling protruding from said target surface of interest for inspection.

13. The system (300) as claimed in claim 12, wherein said payload (115) is coupled to a gimbal assembly (100).
, Description:FORM 2

THE PATENTS ACT, 1970
(39 of 1970)

&

THE PATENTS RULES, 2003

COMPLETE SPECIFICATION
[See section 10, Rule 13]

GIMBAL ASSEMBLY AND SYSTEM FOR ALIGNMENT OF PAYLOAD

PLANYS TECHNOLOGIES PRIVATE LIMITED, AN INDIAN COMPANY HAVING ADDRESS, NO. 5, JAYA NAGAR EXTENSION, BALAJI NAGAR MAIN ROAD, G.K. AVENUE, PUZHUTHIVAKKAM, CHENNAI – 600091, TAMIL NADU, INDIA

THE FOLLOWING SPECIFICATION PARTICULARLY DESCRIBES THE INVENTION AND THE MANNER IN WHICH IT IS TO BE PERFORMED.
TECHNICAL FIELD OF THE INVENTION
[1] The present invention relates to a gimbal assembly for aligning a payload on a target surface, and a system for alignment of the payload.

BACKGROUND OF THE INVENTION
[2] Conventionally, structures are inspected using ultrasonic sensors mounted to a remotely operated vehicle or are handheld by a user onto said surface. Such sensors are required to have good alignment with the target surface for measuring accurate readings. However, it has been observed that in operation of alignment of such devices, sensors are sensitive to stand-off distance between the sensor and the target surface, making the alignment of such sensors complex to operate in harsh environments by divers, drones, Remotely Operated Vehicles (ROVs) or any such carrier. Moreover, it requires superior skills and time to obtain quality measurement in conventional alignment devices because vibrations or instabilities from the carrier or diver or user hinder the quality of measurement, which is not accounted in most of conventional alignment devices.
[3] Further, such conventional alignment devices, if held rigidly against the target surface for measurement, probe/sensor/payload would get easily damaged due to the impact against surface of wall.
[4] Therefore, there is a need for a device that overcomes one or more of the aforementioned problems.

SUMMARY OF THE INVENTION
[5] Accordingly, an aspect of the present invention discloses a gimbal assembly comprising at least one inner frame for housing at least one payload; an outer frame configured to mount said at least one inner frame and swivel about an axis in a first angular degree of freedom and a second angular degree of freedom; at least one shock absorber coupled in series with said at least one inner frame at a first end and a bracket at a second end, for imparting a third linear degree of freedom along a linear axis, thereby isolating vibrations, and reducing impact of contact with a target surface of interest; and a plurality of outwardly projecting alignment pins configured on an outer surface of said at least one inner frame in pre-defined selective positions for self-alignment of said at least one payload onto said target surface of interest, with minimal effort, maintaining a constant stand-off distance.
[6] According to an embodiment, said bracket is mountable removably or fixedly to a remotely operated vehicle (ROV) or a drone or is handheld by a user or a diver.
[7] According to the embodiment, said inner frame and said outer frame holder swivel are removably coupled about their respective axis.
[8] According to the embodiment, said swivel of the mount is controlled by an arm projecting out of said at least one cut-out located on at least one outer surface or via plurality of actuators positioned within said mount.
[9] According to the embodiment, a controller is configured within said assembly or said remotely operated vehicle (ROV) or said drone, said controller configured to actuate command signals based on user input provided through a user interface to control said at least one payload and/or said plurality of actuators via a plurality of cables passing through said at least one cut-out or via a communication element and a hardware interface; and receive feedback signals and feedback inspection data generated by said at least one payload and/or said plurality of actuators to be transmitted to said user interface.
[10] According to the embodiment, said at least one payload is a detecting / measuring sensor or transducer that include a non-destructive testing system in the form of eddy current or an alternating current field magnetic sensor or a probe or an optical sensor or a sonic or an ultrasonic sensor or a combination thereof.
[11] According to the embodiment, said at least one payload includes a foam, a spongy material for damage protection.
[12] According to the embodiment, said alignment pins include sharp pointed ends/tips that penetrate through uneven corroded blisters or scales or biofouling protruding from said target surface of interest for inspection.
[13] According to the embodiment, tip of each said alignment pin may include a pin-hole nozzle for waterjet-based cleaning of marine growth or cavitation cleaning on said target surface of interest for inspection.
[14] According to the embodiment, said alignment pins are of predetermined sizes and shapes of equal or unequal lengths and may include magnets for alignment on metallic or curved or irregular target surface of interest for inspection.
[15] According to the embodiment, said communication element include a WIFI or a Bluetooth and said hardware interface include a transceiver.
[16] According to another aspect, the present invention discloses a system for alignment of a payload onto a target surface of interest, said system comprising at least one shock absorber coupled with said payload for isolating vibrations, and reducing impact of contact with said target surface of interest; and a plurality of outwardly projecting alignment pins configured on a surface of said system in pre-defined selective positions for self-alignment of said payload onto said target surface of interest, with minimal effort, maintaining a constant stand-off distance, said alignment pins include sharp pointed ends/tips that penetrate through uneven corroded blisters or scales or biofouling protruding from said target surface of interest for inspection.
[17] According to the embodiment, said payload is coupled to a gimbal assembly.

BRIEF DESCRIPTION OF THE ACCOMPANYING DRAWINGS
[18] The above and other aspects, features, and advantages of certain exemplary embodiments of the present invention will be more apparent from the following description taken in conjunction with the accompanying drawings in which:
[19] Figure 1 illustrates an isometric view of a gimbal assembly, according to an aspect of the present invention;
[20] Figure 2 illustrates a sectional top view of gimbal assembly with shock absorbers, according to the embodiment of the present invention;
[21] Figure 3 illustrates a block diagram of controller, according to the embodiment of the present invention; and
[22] Figure 4 illustrates a method of aligning a payload onto a target structure, according to another aspect of the present invention.
[23] Persons skilled in the art will appreciate that elements in the figures are illustrated for simplicity and clarity and may have not been drawn to scale. For example, the dimensions of some of the elements in the figure may be exaggerated relative to other elements to help to improve understanding of various exemplary embodiments of the present disclosure.
[24] Throughout the drawings, it should be noted that like reference numbers are used to depict the same or similar elements, features, and structures.

DETAILED DESCRIPTION OF THE INVENTION
[25] In general, the present invention claims a gimbal assembly comprising a system for self-alignment of at least one payload onto a target surface of interest, said payload configured to analyze said target surface of interest; and said system having plurality of alignment pins for maintaining constant stand-off distance and at least one shock absorber for mitigating the shock of contact. The system is operated manually via a controlling arm or automatically via a controller in communication with said system. The alignment pins include sharp pointed ends/tips that penetrate through uneven corroded blisters or scales or biofouling protruding from said target surface of interest for inspection.
[26] Other aspects, advantages, and salient features of the invention will become apparent to those skilled in the art from the following detailed description, which, taken in conjunction with the annexed drawings, discloses exemplary embodiments of the invention.
[27] The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of exemplary embodiments of the invention as defined by the claims and their equivalents. It includes various specific details to assist in that understanding but these are to be regarded as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
[28] The terms and words used in the following description and claims are not limited to the bibliographical meanings, but, are merely used by the inventor to enable a clear and consistent understanding of the invention. Accordingly, it should be apparent to those skilled in the art that the following description of exemplary embodiments of the present invention are provided for illustration purpose only and not for the purpose of limiting the invention as defined by the appended claims and their equivalents. For example, controller include processor, memory, hardware interface, user interface and communication element include components known in the art in communication with each other in a known way for transmitting and receiving signals, and therefore, description of such known process of communication and devices is not thoroughly described. The terms first, second inner and outer, hollow, sharp, pointed, axis, payload, type of sensors, materials, type of communication elements, user interfaces, gimbal configuration, shape in the description for the purpose of the understanding and nowhere limit the invention.
[29] Figures discussed below, and the various embodiments used to describe the principles of the present disclosure in this patent document are by way of illustration only and should not be construed in any way that would limit the scope of the disclosure. Those skilled in the art will understand that the principles of the present disclosure may be implemented in any suitably arranged environment. The terms used to describe various embodiments are exemplary. It should be understood that these are provided to merely aid the understanding of the description, and that their use and definitions in no way limit the scope of the invention.
[30] According to the present invention, the present invention discloses a combination of a shock absorbing mechanism and a gimbal. The mechanism is designed with considerations of the scenarios relating to operation with a carrier. For instance, the shock absorbing mechanism is designed with the objective of absorbing the impact and self-aligning the sensor even under adverse environmental conditions with the carrier. Also, the gimbal mechanism is designed to self-align the sensor even under steep angles of approach of the carrier. The shock-absorber construction is such that it allows liquid to be displaced out/into the shock absorbing forks during the linear movement. During the linear movement of the shock-absorbing mechanism, the water inside the forks must be pumped into/out of the forks to allow smooth movement of the mechanism. Hence, holes/slots are provided on the fork for this purpose.
[31] According to the present invention, self-alignment mechanism for ROV mountable sensors has a mass of around 2 kilograms.
[32] According to the present invention, an effective combination of shock absorbers and self-aligning mechanism improves sensor accuracy on a suitable carrier. Since the gimbal has a high degree of angular movement in combination with the linear degree of freedom provided by the shock absorber mechanism, the sensor aligns with the target object with minimal effort.
[33] According to the present invention, even in the case of usage by a diver, the unstable movements of the diver are absorbed by the shock-absorbing mechanism and the rotations are absorbed by the gimbal. The parameters for the shock-absorbing mechanism and gimbal would depend on the carrier.
[34] According to the present invention, selective positioning of alignment pins assists effective alignment of the gimbal to the target object. With the presence of pins, cleaning of the underwater structures is not necessary as the alignment pins penetrate the growth to align the gimbal mechanism.
[35] According to the present invention, the gimbal assembly provide ability to maintain constant standoff in cases where obstructions including uneven corroded blisters, scales and biofouling protrude from the surface of interest, which is important for payloads based on electromagnetic/ induction, for example, eddy current and alternating current field magnetic techniques.
[36] According to the present invention, the gimbal assembly may be used in a variety of applications in the area of field robotics, especially in harsh environments. In particular, the present invention may be used in the inspection of structures underwater or above-ground with drones, underwater ROVs, divers and any such carrier. Minimal effort is required to align to the test object while achieving high measurement accuracy.
[37] Referring Figures 1-4 shows a gimbal assembly (100), inner frame (110), payload (115), outer frame (120), axes (X1, X2), shock absorber (130), alignment pins (140), outer surface (110a), two horizontally or vertically parallel shock absorbers (130a, 130b), hollow shock absorbing forks (132), a bushing (135), a bracket (150), a threaded bushing cap (138), cut-out (125), arm (155), plurality of actuators (180), controller (160), having a processor (162), a memory (165), a communication element (166), hardware interface (168), a user interface (170), having a processor (172), an input module or voice module (174), a memory (175), a output display module (176), a hardware interface (178) and a communication element or cables (166), actuators (170), payload (190), system (300) and a method (400).
[38] Referring Figures 1 illustrates an isometric view of a gimbal assembly (100), according to an aspect of the present invention. The gimbal assembly (100) comprises at least one inner frame (110) for housing at least one payload (115); an outer frame (120) configured to mount said at least one inner frame (110) and swivel about an axis (X1) in a first angular degree of freedom and a second angular degree of freedom; at least one shock absorber (130) coupled in series with said at least one inner frame (110) at a first end and a bracket (150) at a second end, for imparting a third linear degree of freedom along a linear axis (X2), thereby isolating vibrations, and reducing impact of contact with a target surface of interest; and a plurality of outwardly projecting alignment pins (140) configured on an outer surface (110a) of said at least one inner frame (110) in pre-defined selective positions for self-alignment of said at least one payload (115) onto said target surface of interest, with minimal effort, maintaining a constant stand-off distance.
[39] According to the present invention, sensor (115) is suspended on a gimbal (100) mechanism in series with a shock-absorbing mechanism (130a, 130b) which is held onto the ROV with a mounting bracket (150). The gimbal mechanism consists of three main parts – the prober holder (110), swivel mount (120) and the sensor (115), along with other smaller parts which are coupled via screws. The first part is the probe holder (110), which directly holds the required sensor (115). The probe holder (110) also consists of alignment pins (140) which are used for guiding the sensor (115) on the target object. The alignment pins (140) may also be generally called as guide pins/ locating pins which serve the purpose of penetrating marine growth in structures with thick marine fouling. The alignment pins are made with a slightly sharp tip. The first part (110) is hinged on the second part – the swivel mount (120), which in turn is hinged with respect to the shock absorber (130). As a result, the sensor (115) will have two degrees of freedom in the rotary direction. The hinges in the specified embodiment is made of a brass cylindrical pin held with a plastic bearing, however, it may be of any suitable combination to provide smooth rotary motion and not limited to those described herein. The swivel mount (120) also has a cutout (125) on one side to allow cabling (166) from the sensor (115) to pass through. The parts in the embodiment – the probe holder and swivel holder are made of High-Density Polyethylene (HDPE), however, it may be of any material according the intended application. The alignment pins are very effective in aligning the gimbal mechanism even in the presence of marine growth.
[40] According to the embodiment, the alignment pins may be of different shapes sizes and material depending on the end application to be effective in the alignment of the gimbal. In an exemplary embodiment, they may be magnetic to enable easier and quicker alignment against metallic surfaces – such as key walls. In another exemplary embodiment, the tips of the alignment pins may be designed to possess a water jet nozzle. Most often, the target surface of inspection is covered with marine growth and the water jet nozzle would be very effective in cleaning marine growth on the target surface of inspection. Also, since the alignment pins are metallic, they may also be used for potential measurement on surfaces requiring cathodic protection (CP) potential measurement. In some applications, the alignment pin may also be of different lengths to align against irregular or curved surfaces, which required as many inspecting surfaces, such as underwater pillars, are cylindrical in shape and would need such alignment pins for effective alignment.
[41] Referring Figure 2 illustrates a sectional top view of gimbal assembly with shock absorbers, according to the embodiment of the present invention. According to an embodiment, the present invention discloses two horizontally or vertically parallel shock absorbers (130a, 130b), each positioned inside hollow shock absorbing forks (132), are guided along said linear axis (X2) by a bushing (135) or a linear ball bearing.
[42] According to the embodiment, each said shock absorber (130a, 130b) include a spring and a damper or a shock-absorbing material and each said shock absorber (130a, 130b) include a fluid chamber with damping fluid. According to the embodiment, each said shock absorber (130a, 130b) include a first end and a second end, said first end removably or fixedly coupled with said at least one inner frame (110) and said second end removably or fixedly coupled with a bracket (150) and each said shock absorber (130a, 130b) include a threaded bushing cap (138) to prevent the shock absorber (130a, 130b) from slipping out. The shock-absorber construction is such that it allows liquid to be displaced out/into the shock absorbing forks (132) during the linear movement. During the linear movement of the shock-absorbing mechanism, the water inside the forks (132) must be pumped into/out of the forks to allow smooth movement of the mechanism. Hence, holes/slots are provided on the fork for this purpose.
[43] According to the embodiment, bracket (150) is mountable removably or fixedly to a remotely operated vehicle (ROV) or a drone or is handheld by a user or a diver.
[44] According to the present invention, the shock absorbing mechanism (130) in the embodiment consists of two parallel shock absorbers (130a, 130b) guided inside shock absorbing forks. The linear axis movement is guided by a plastic bushing (135); however, it may also be replaced with a linear ball bearing or equivalent. A bushing cap (138) is threaded into the assembly to prevent the shock absorber from slipping out of the assembly. The shock absorber in the embodiment consists of a spring and damper. If the embodiment is heavy, a stiffer shock-absorbing material may be directly used.
[45] Referring Figure 1 and 2, according to an embodiment, said inner frame (110) and said outer frame (120) swivel are removably coupled about their respective axis. The inner frame (110) projects outwardly from said outer frame (120) having at least one cut-out (125) on at least one outer surface.
[46] According to the embodiment, the swivel of the mount is controlled by an arm (155) projecting out of said at least one cut-out (125) or via plurality of actuators (180) positioned within said mount.
[47] According to the embodiment, said at least one payload (115) is a detecting / measuring sensor or transducer that include a non-destructive testing system in the form of eddy current or an alternating current field magnetic sensor or a probe or an optical sensor or a sonic or an ultrasonic sensor or a combination thereof.
[48] According to the embodiment, said alignment pins (140) include sharp pointed ends/tips that penetrate through uneven corroded blisters or scales or biofouling protruding from said target surface of interest for inspection.
[49] Referring Figure 3 illustrates a block diagram of controller (160), according to the embodiment of the present invention. According to an aspect, the present invention discloses system (300) for alignment of a payload (115) onto a target surface of interest, said system (300) comprising at least one shock absorber (130) coupled with said payload (115) for isolating vibrations, and reducing impact of contact with said target surface of interest; and a plurality of outwardly projecting alignment pins (140) configured on a surface of said system (300) in pre-defined selective positions for self-alignment of said payload (115) onto said target surface of interest, with minimal effort, maintaining a constant stand-off distance, said alignment pins (140) include sharp pointed ends/tips that penetrate through uneven corroded blisters or scales or biofouling protruding from said target surface of interest for inspection.
[50] According to one embodiment, the gimbal assembly (100) comprises a system (300) for self-alignment of at least one payload (115) onto a target surface of interest, said payload (115) configured to analyze said target surface of interest; and said system (300) having plurality of alignment pins (140) for maintaining constant stand-off distance and at least one shock absorber (130) for mitigating the shock of contact. The system (300) is operated manually via a controlling arm (155) or automatically via a controller (160) in communication with said system (300).
[51] According to the embodiment, the controller (160) is configured within said assembly (100) or said remotely operated vehicle (ROV) or said drone, said controller (160) configured to: actuate command signals based on user input provided through a user interface (170) to control said at least one payload (115) and/or said plurality of actuators (180) via a plurality of cables (166) passing through said at least one cut-out (125) or via a communication element (166) and a hardware interface (168, 178); and receive feedback signals and feedback inspection data generated by said at least one payload (115) and/or said plurality of actuators (180) to be transmitted to said user interface (170).
[52] According to the embodiment, said user interface (170) include a screen or a mobile device, or a computer or a tablet or a personal digital assistant (PDA) for actuating said command signal via an user finger movement or touch or joystick or a stylus or voice of user.
[53] According to the embodiment, said communication element (166) include a WIFI or a Bluetooth and said hardware interface (168, 178) include a transceiver.
[54] Referring Figure 4 illustrates a method (400) of aligning a payload onto a target structure, according to another aspect of the present invention. The method (400) includes the step of: step (410): assembling a gimbal (100) with at least one shock absorber (130) and a plurality of alignment pins (140), for mitigating the shock of contact, self-aligning of said payload (115), and maintaining constant stand-off distance; and step (420) navigating said gimbal (100) onto said target surface for analyzing the target surface.
[55] There have been described and illustrated herein several embodiments of a gimbal assembly for self-alignment of payload sensor mountable on ROV. While particular embodiments of the invention have been described, it is not intended that the invention be limited thereto, as it is intended that the invention be as broad in scope as the art will allow and that the specification be read likewise. The type of materials for components and the components, are not limited to those described herein above. Further, the shape and configuration of the assembly, components are provided only for reference and understating purpose of the invention. It will be appreciated that the embodiments may be manufactured with other types of materials and further, the structure and design of the assembly may vary accordingly as well.
[1] In the foregoing detailed description of aspects embodiments of the invention, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the invention require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive subject matter lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby incorporated into the detailed description of aspects, embodiments of the invention, with each claim standing on its own as a separate embodiment.
[2] It is understood that the above description is intended to be illustrative, and not restrictive. It is intended to cover all alternatives, modifications and equivalents as may be included within the spirit and scope of the invention as defined in the appended claims. Many other embodiments will be apparent to those of skill in the art upon reviewing the above description. The scope of the invention should, therefore, be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. In the appended claims, the terms “including” is used as the plain-English equivalent of the respective term “comprising” respectively.