Stabilizer device for optical equipment

A stabilizer for a hand-held optical device includes a gyroscope assembly suspended below a base assembly, and a handle pivotably attached to the base assembly. The optical device, which may be a video camera, mounts to the base assembly. The gyroscope assembly has two or more rotatable members that pivot independently to stabilize the optical device about two or more axes of rotation whenever the user moves the stabilizer. A rigid strut connects the gyroscope to the base assembly such that the centers of rotation of the rotatable members are co-linear with a longitudinal axis that extends the handle.

TECHNICAL FIELD

The present invention relates generally to stabilizers for optical equipment, and particularly to hand-held stabilizer devices that isolate portable cameras from the undesirable effects of user motion.

BACKGROUND

Many people who use hand-held video cameras will move with their cameras to film a scene. Unfortunately, such user movement can cause motion that will undesirably affect the camera's ability to record smooth and pleasing video. Many video cameras have internal mechanisms that substantially eliminate certain types of undesirable effects, such as “shake.” However, these internal mechanisms do not eliminate all types of undesired motion.

For example, moving the camera can induce unwanted motion about the roll, tilt, and pan axes. As seen inFIG. 1, the roll, tilt, and pan axes are defined for clarity as the x, y, and z-axes, respectively. A camera's internal stabilizing mechanisms are not well-suited to address gross motion about these axes. Thus, to eliminate undesired motion about the axes, users typically must employ expensive and complicated camera stabilizers.

Camera stabilizers for video cameras and other optical equipment have been in use for many years. Generally, camera stabilizers are external devices that function to isolate the body of a camera or other optical equipment from the unwanted effects of a user's body movements. Such isolation can eliminate or greatly reduce the undesirable effects in the roll, tilt, and pan directions, thereby providing a smooth video or film recording for the user.

Currently available stabilizers, such as passive inertial stabilizers, generally rely on two principles to achieve smooth video recordings. The first principle uses a mass that connects to, but is spaced away from, the body of the camera. The mass may comprise one or more weights or masses that counterbalance the camera about a pivot point near a center of gravity of the stabilizer. Separating the camera and the mass from the center of gravity increases the moments of inertia of the stabilizer in at least the roll and tilt directions (e.g., the x and y-axes). Thus, a counterbalanced system is more stable in these two axes than the camera is alone. Depending on the distribution of the mass, the counterbalancing mass or masses can also increase a moment of inertia in the pan direction (e.g., z-axis).

The second principle uses gimbals at a support point for the stabilizer structure. As those skilled in the art understand, a gimbal is a pivoted support that permits an object to rotate freely about a single axis. Passive inertial stabilizers typically employ multiple gimbals at a support point on the stabilizer. Each gimbal pivots about a different axis of rotation (e.g., x-axis, y-axis, and z-axis) to allow the stabilizer (and thus, the mounted camera) to rotate about those axes freely. Allowing free rotation in all three axes of rotation effectively isolates the camera from the motions of the user in the roll, tilt, and pan directions.

Users generally prefer balanced camera stabilizers that are slightly bottom-heavy. For example, the mass or masses used to counterbalance the camera may be positioned below the camera such that a center of gravity of the stabilizer is below a point about which the stabilizer pivots. Such stabilizers require little or no operator intervention to maintain the camera parallel to the horizon, which is the most common shot framing position. Even when a camera wanders off-axis, the slightly bottom heavy nature of the stabilizer causes it to automatically return the camera to its original position.

However, bottom-heavy stabilizers usually introduce reaction torques whenever an operator accelerates. That is, with a bottom heavy balance position, any acceleration, including movement in an arc, could produce unwanted motion. Thus, when the operator moves in a direction (e.g., forward), the camera, which mounts to the stabilizer opposite the bottom-heavy portion of the stabilizer, will tend to move in the same direction as the operator (e.g., forward). The slightly bottom-heavy portion of the stabilizer, however, will lag behind the camera. Although the camera will slowly return to its original position, such movement may cause the camera to rock undesirably, and can only be reduced by the skill of the operator. Other conditions and factors, such as wind while filming outdoors or the imperfect design or construction of the stabilizer, can also cause the camera to experience unwanted motion.

To improve camera stability, some manufacturers employ gyroscopes attached directly to the cameras or mounted to a passive stabilizer. For example, Kenyon Laboratories of Higganum, Conn., (http://www.ken-lab.com) sells gyroscopes that mount directly to a camera or camera structure. Other manufacturers, such as Glidecam Industries, Kingston, Mass. (http://www.glidecam.com/products.php) employ gyroscopes supported by a platform that is connected to the camera.

Prior art stabilizers that use gyroscopes, however, are relatively heavy and expensive, and do not provide an optimal combination of platform stabilization and camera control. Further, existing gyroscopes require long startup times and shutdown times, and may restrict an operator's ability to control desired camera movement in the tilt, roll or pan directions. Therefore, prior art stabilizers are not practical for hand-held use.

SUMMARY

The present invention provides a stabilizer for a hand-held camera, such as a video camera. In one embodiment, the stabilizer comprises a base assembly, a handle assembly, a gyroscope pod, and a rigid arcuate strut that fixedly attaches the gyroscope pod to the base assembly.

The base assembly includes a platform and a battery compartment that encloses control circuitry and a power source. The platform is configured to releasably mount the camera, and moves along a plane independently of battery compartment. The handle assembly pivotably attaches a handle to a bottom surface of the battery compartment, and extends along a longitudinal axis.

The strut suspends the gyroscope pod, which comprises two or more rotating members such as disks, for example, below the base assembly and the handle assembly. The strut positions the gyroscope pod to align the centers of rotation of each rotating member co-linearly along the longitudinal axis. This co-linear alignment provides the user with the ability to control the unwanted movement of the stabilizer that may result from the motion of the user.

In operation, a user mounts the camera to the platform. During filming, the user may move the stabilizer to follow a moving subject, or to capture an expansive scene, for example. Such motion may cause the camera to undesirably move while recording. However, the rotating members within the gyroscope are mounted to pivot about independent axes to counter the effects of such motion in the roll and tilt directions. This control stabilizes the camera allowing it to record smooth video. In some embodiments, the stabilizer can also control the camera's unwanted rotation about the longitudinal axis.

DETAILED DESCRIPTION

Users typically move optical recording devices, such as hand-held cameras, while filming video. Such movement can often produce forces that disturb the camera's stability and/or orientation. Particularly, these forces can cause unwanted rotational motion for the camera in a roll, tilt and/or panning direction that interferes with the camera's ability to produce smooth video.

The present invention provides a stabilizer for a hand-held video camera that greatly reduces or eliminates the effects of these unwanted forces on the camera. Particularly, the user mounts a hand-held camera to the stabilizer for filming. User movement while filming causes the unwanted forces that act on the camera and the stabilizer. However, the stabilizer of the present invention isolates the camera from the undesirable effects of these forces by controlling the camera's rotational motion about a roll axis, a tilt axis, and a pan axis. Such control stabilizes the camera and helps to maintain its orientation as the user moves the stabilizer with the camera attached.

FIG. 2is a perspective view illustrating a stabilizer configured according to one embodiment of the present invention. The stabilizer, generally indicated by the number10, is a unitary device upon which a camera12may be releasably mounted. The stabilizer10comprises a handle assembly20, a base assembly40, and a gyroscope pod90. A rigid support member, such as strut70, fixedly attaches the gyroscope pod90to the base assembly40.

As described in more detail below, the gyroscope pod90comprises two or more rotating members, such as disks, for example, that are driven by motors to rotate at high velocities. The strut70suspends the gyroscope pod90below the base assembly40such that the centers of rotation of the disks within pod90are aligned with a pan axis (i.e., the z-axis) that extends longitudinally through the handle assembly20. Each motor and disk is pivotably mounted on a single gimbal to allow each disk to pivot about a single axis. As the user moves the stabilizer, the disks precess about their respective axes to react against the torques produced by the user movement. This reaction force opposes rotation of the stabilizer about the roll and tilt axes, thereby stabilizing the camera against movement in the roll, tilt directions.

FIGS. 3 and 4illustrate the handle assembly20and the base assembly40in more detail. The handle assembly20comprises a pivot support22attached to the base assembly40, a handle grip24, and an elongated shaft26that connects the handle grip24to the pivot support22. An adjustment mechanism28rotates about the z-axis to allow the user to adjust the distance between the handle grip24and the base assembly40for proper balance in the z-axis.

The pivot support22pivotably connects the handle grip24to the base assembly40. In this embodiment, the pivot support22comprises a two-axis gimbal mounted between the handle grip24and a bottom of the base assembly40; however, other two-axis mechanisms are equally as suitable. The pivot support22defines an x-axis (i.e., the roll axis) and a y-axis (i.e., the tilt axis), and pivots about those axes to provide the handle grip24and the shaft26with two degrees of freedom. However, the pivot support22remains in a fixed position relative to both the base assembly40and the gyroscope pod90. As seen in the figures, the x and y-axes are orthogonal to each other, and intersect at a first common intersection point30located within the pivot support22. Similarly, the z-axis is orthogonal to both the x and the y-axes, and intersects those axes at the common point30.

The handle assembly20also includes a panning control that provides the user within a third degree of freedom about the z-axis (i.e., pan axis). The panning control comprises a recessed control wheel32fixedly attached to the shaft26, and a plurality of ball bearings34positioned above and below control wheel32. In this embodiment, the bearings34are located within the interior of the handle grip24below the pivot support22and the common intersection point30. The handle grip24also includes a window36through which the user can access the control wheel32with a finger or thumb, for example.

In operation, the user places his or her index finger, for example, on the control wheel32while gripping the handle grip24. The ball bearings34allow the handle grip24to rotate about the z-axis independently of the shaft26. Therefore, when the user applies a rotational force to the control wheel32with his finger, it causes the control wheel32and the shaft26, and thus, the stabilizer10, to rotate about the z-axis. To stop or prevent the stabilizer10from rotating about the z-axis, the user simply presses his finger against the control wheel32to apply a force that is generally orthogonal to the z-axis. Such directional force “locks” the stabilizer10in place and prevents its rotation about the z-axis.

The base assembly40comprises a platform42and a base compartment44. As described below in more detail, a pair of rotatable adjustment controls48allows the user to adjust the position of the platform42in a plane independently of base compartment44and the other components of stabilizer10. A pair of levels46provides a visual indication of whether the stabilizer10is level or parallel to the horizon.

Any mechanism known in the art may be used to move the platform42; however in one embodiment, a mechanical linkage movably connects the platform42to the base compartment44. A first adjustment control48ais disposed on a sidewall of the platform42, and a second adjustment control48bis disposed on a sidewall of the base compartment44. Both controls48connect to the linkage and rotate independently to move the platform42in a plane that is substantially parallel to the x and y-axis. The ability to adjust the position of the platform42in this “x-y plane” independently of the other components of the stabilizer10allows the user to balance the stabilizer10and achieve optimal gyroscope performance. This occurs when the center of gravity of the stabilizer10, with the camera12mounted to the platform42, is co-incident with the z-axis. It also prevents torque produced by forces related to user motion and applied along the x and y-axes from acting on the stabilizer10along the z-axis.

The base compartment44is sized to contain a printed circuit board (PCB)50and a power source52to supply electrical power to the stabilizer10. A user interface54, which may comprise Light Emitting Diodes (LED)54a, a display54b, and/or other user interfaces and controls such as one or more buttons to receive user input, is disposed on a sidewall of base compartment44. A user could, for example, start and stop the stabilizer10by actuating one or more buttons on the user interface54, and/or vary the velocity of the disks in the gyroscope pod90as described in more detail later. In a preferred embodiment, the power source52comprises a plurality of rechargeable AA nickel-metal hydride (NiMH) batteries that are inserted into one or more battery compartments58through one or more access doors. Besides being rechargeable, NiMH batteries provide a good balance between the energy they provide, useful life, and weight. However, as those skilled in the art will readily appreciate, the present invention is not limited solely to using these types of batteries as a power source. Stabilizer10may use any type of battery.

The PCB50includes a variety of electronic components and circuitry responsible for the operation of the stabilizer10. One such circuit, seen inFIG. 5, comprises a control circuit60having a controller62and a memory64. In some embodiments, described later in more detail, PCB50may also include a sensor66that detects rotation of the stabilizer about the longitudinal z-axis.

The controller62, which may comprise one or more microprocessors, controls the operation of the stabilizer based on application programs and data stored in memory64. In one embodiment, controller62monitors the operation of the stabilizer10and generates appropriate control signals to operate the user interface54. For example, the controller62could generate signals to light different LEDs54ato indicate various operating modes and/or error conditions to the user and/or receive from one or more input controls such as buttons on user interface54. In another embodiment, the controller62outputs various messages to the display54bto indicate the modes or error conditions. In some embodiments, the display54bmay be a touch sensitive display to allow a user to input commands to control the stabilizer10operation.

The controller62also controls the operation of the motors in the gyroscope pod90. As previously stated, the gyroscope pod90encases two or more disks that are driven to rotate by two or more motors. In one simple embodiment, the controller62controls the rotation of the gyroscope disks by generating and sending control signals to turn the motors on and off. In a more complex embodiment, the controller62controls the rotational velocities of the gyroscope disks based on the operating mode of the stabilizer10. For example, the user could operate the user interface54to alternately place the stabilizer10in a high-speed mode and a low-speed mode. In the high-speed mode, the gyroscope disks would rotate at full speed about the z-axis (e.g., 15,000 rpm) to stabilize the camera12. The controller62could generate control signals to maintain the gyroscope disks rotating at this speed. In the low-speed mode, however, the controller62could generate other control signals to slow the rotational velocities of the gyroscope disks. Varying the speed of the disks conserves battery power and allows a user to adjust the amount of gyro response to the movement of the stabilizer10. Further, because the disks are already rotating, it reduces the time required for the disks to achieve full speed.

Maintaining the velocities of the gyroscope disks, however, would require a feedback loop so that the controller62could monitor and alter the disk velocity as needed, or in cases where brushless direct current (BLDC) motors are used, provide correct commutation. For example, the motors that drive the gyroscope disks could include sensors or encoders that provide such feedback to the controller62. Based on that feedback, the controller62would generate control signals to ensure that the motors continue to drive the disks to rotate at a particular velocity.

However, in some embodiments, the present invention employs motors that do not have sensors. For such “sensorless” motors, the controller62would have to determine the velocities of the gyroscope disks using other means, and then generate the appropriate control signals to automatically vary the rotational velocities of the gyroscope disks to ensure that they rotate at a substantially constant velocity. For example, the controller62could employ a well-known technique known as “back electro magnetic force (EMF)” sensing to determine and control the rotational speeds of the gyroscope disks. With this type of sensing, the controller62periodically measures the EMF in the motor coils to infer the positions of the motor rotor at a given instant. Based on this position information, and knowing the time over which the measurements are performed, the controller62could use well-known techniques to control motor commutation and calculate the velocities of the rotating gyroscope disks. Based on the calculated velocities, the controller62would generate control signals to increase/decrease the disk velocities as needed.

As previously stated, the stabilizer10includes a strut70. As seen in the figures, the strut70comprises a rigid, arcuate member that is independent of the handle assembly20. Strut70structurally connects the gyroscope pod90to the base assembly40, and is substantially hollow to enclose the cables or wires72that electrically connect the gyroscope pod90to the base assembly40. However, the strut70also performs another function. Particularly, the strut70suspends the gyroscope pod90below the pivot support22and the base assembly40to maintain the position the disks within the gyroscope pod90for optimal stabilization of the stabilizer10.

FIGS. 6 and 7illustrate the interior of gyroscope pod90in more detail. The gyroscope pod90comprises a housing92that hermetically seals a pair of opposing rotating members, such as gyroscope disks94and108. In one embodiment, the housing is filled with a helium gas118to reduce aerodynamic drag on the rotating disks94,108. A first motor96drives the first disk94via an output shaft98. The motor96in this embodiment comprises a sensorless, inner rotor brushless direct current (BLDC) motor having three poles, although the present invention is not limited to any particular type of motor. Other motors, such as outer rotor types, are also suitable.

The motor96is electrically connected to the base compartment44via flexible cabling72that extends through the strut70and the sidewall of the housing92. In one embodiment, the cabling72connects to flexible flying leads attached to the motor98to allow for precession of the first disk94. The motor96receives power via the cabling72from the power source52, and drives the rotation of disk94according to control signals received from the controller62. The housing92is sealed around the cables72to prevent the helium gas118from escaping.

The motor96and the first disk94are mounted to a bracket100that is pivotably attached to a support structure via a pair of gimbals102. The gimbals102allow for a certain amount of torque-induced precession in the first disk94, however, the distance that the first disk94may move off-axis is limited by one or more stops106positioned on each side of the bracket100. Such torque-induced precession occurs during operator motion with the stabilizer10. If the first disk94does move off axis, one or more biasing members, which may be a pair of coil springs104aand104b, for example, automatically restores the rotating first disk94to its neutral position, which in this embodiment, is rotating about the z-axis.

Additionally, the coil springs104, which may be any linear or non-linear biasing member, yieldingly resist the pivoting motion of the first disk94to reduce the precession of the first disk94and the gyro reaction torque. That is, the coil springs104are selected to slightly restrain the precessional motion of the first disk94. Restraining the precession of the first disk94prevents abrupt contact between the bracket100and the stops106. Such contact may cause “gyro jump” resulting in an undesirable reaction torque in the stabilizer10. To minimize this effect, the coil springs104are selected based on a spring constant that exhibits suitable gyro-restoring and/or dynamic stabilization. The optimum spring strength is a tradeoff between the gyro stabilizing effect and reducing “gyro jump.”

A second motor110, which may also comprise a sensorless BLDC motor, drives the second disk108via an output shaft112to rotate about the z-axis. As above, motor110receives power via the cabling72from the power source52, and drives the rotation of disk108according to control signals received from the controller62. Both the motor110and the second disk108are mounted to a bracket114that is pivotably attached to the support structure via another pair of gimbals116. Gimbals116also allow for a certain amount of torque-induced precession in the second disk108, which is limited by one or more stops120positioned on each side of the bracket114. One or more biasing members such as a pair of coil springs122aand122bautomatically restores the rotating second disk108to its neutral position, and yieldingly resists the precession of the second disk. As above, the coil springs122may be selected based on a spring constant that exhibits suitable gyro-restoring and/or dynamic stabilization, and may comprise linear or non-linear springs.

Although the figures illustrate the biasing members as being pairs of coil springs, the present invention is not so limited. In one embodiment, a single biasing member is used for each of the first and second disks94,108. In another embodiment, a third biasing member such as a linear or non-linear coil spring may be added to the first and second disks94,108opposite the other coil springs104,122. Electrically insulating each of the coil springs would then allow those springs to be used to deliver phase voltages to their respective motors. Such a configuration could eliminate the need to run flying leads to each of the motors96,110.

As previously stated the motors96,110comprise BLDC type motors. This type of motor is well suited to a well-known technique called dynamic braking to electrically slow or stop the motors96,110. In one embodiment, for example, the controller62generates control signals to provide fast dynamic braking (e.g., less than 30 seconds) of the very high angular momentum disks94,108responsive to receiving a shut down command from the user. This allows for a shut down time that is less than 1/10 the time it would take to shut down without dynamic braking, and typically, within 1/20 to 1/30 the un-braked time. Such fast shut down times allows the user to pack the stabilizer10or remove the camera12in a much shorter time.

As seen inFIGS. 6 and 7, each disk94,108rotates in opposite directions, and each has an axis of rotation that is co-linear with the z-axis. However, the corresponding gimbals102,116are positioned 90° apart to define corresponding gimbal pivot axes x′, y′. In one embodiment, the axes x′, y′ about which the disks94,108pivot are substantially parallel to the x and y-axes defined by the pivot support22. Such alignment allows the disks94,108to pivot about the x′ and y′-axes, respectively, to provide stabilization for the camera12in the roll and tilt directions (i.e., in the x-y plane). However, as those skilled in the art will appreciate, the pivot axes x′, y′ are shown for illustrative purposes only.

As stated above, the strut70positions the gyroscope pod90below the pivot support22such that the disks94,108are aligned with the longitudinal z-axis. More particularly, the axis of rotation for the first disk94orthogonally intersects its pivot axis x′ at a common intersection point124. Similarly, the axis of rotation for the second disk108orthogonally intersects its pivot axis y′ at a common intersection point126. With the present invention, the strut90suspends the gyroscope pod90below the pivot support22such that each of the common intersection points30,124,126are aligned with each other and along the longitudinal z-axis. Further, the strut70maintains the common intersection points30,124,126in this alignment regardless of whether the stabilizer10is moving and, as seen later in more detail, regardless of the directions of their rotational and/or pivot axes. Such alignment provides optimal stabilization for the camera12.

The gimbals102, and/or116may be positioned as needed or desired to permit the disks94,108to pivot about axes that are not aligned with the x and y-axis. In one embodiment, for example, the gimbals102,116are positioned such that the angle φ between the pivot axes x′, y′ is about 60°. Orienting the bisection of angle φ in the x-y plane in a particular orientation (e.g., x, y′) increases the gyroscopic effect in that direction, while maintaining significant stabilization in an orthogonal direction (e.g., x, y″).

In addition, the gyroscope disks94,108may also be employed to provide limited stabilization when panning. Particularly, the disks94,108may be oriented such that they rotate slightly off the longitudinal z-axis. This may be accomplished, for example, by setting the coil springs104,122to maintain the disks94,108in a position such that their rotational axes are between about 5 and 10 degrees off the longitudinal z-axis, however, other angles may be used. In this configuration, the stabilizer10would provide a limited amount of gyro dynamic effect for z-axis rotation while maintaining nearly full x and y-axis stabilization.

Although this “off-axis” disk configuration provides some stabilization about the z-axis, it can also impede the ease with which a user can control the panning motion of the stabilizer10, or produce unwanted gryoscopic forces. Users, often wish to move their cameras in a panning motion, which would trigger the z-axis stabilization. Therefore, the present invention contemplates other methods to provide z-axis stabilization while maintaining the rotational axes of the disks94,108to be co-linear with the z-axis.

As stated above, the PCB50includes a sensor66that is positioned to lie on the z-axis. One commercially available sensor that is suitable for use with the present invention is the ADXRS401 sensor manufactured by ANALOG DEVICES, INC., although other sensors could be used. The sensor66detects angular motion of the stabilizer10about the z-axis, and outputs corresponding signals to the controller62. Responsive to these signals, the controller62sends one or more control signals to motor drivers, which control the motors96,110to increase or decrease the velocity of the gyroscope disks94,108as necessary. Varying the disk velocity creates a reaction torque that opposes the sensed z-axis rotation of the stabilizer10thereby stabilizing the camera12.

In one embodiment, with the controller62dynamically brakes the motors96,110using Pulse Width Modulation (PWM) control. Such control is an effective method of achieving fast speed changes, however, other control methods may also be suitable. The motors96,110rotate in opposite directions, and thus, braking may be applied to the appropriate motor96and/or110to cause the gyroscope pod90to produce the appropriate reaction torque. Generally, cumulative loss of motor speed does not occur because the required reaction torques are bi-directional, thereby allowing each motor96,110time to recover speed slowly without producing unwanted reaction torque. The controller62may control each motor96,110together or independently.

The controller62may generate the control signals to control the disk94,108velocities as often as needed or desired. More frequent changes could keep the reaction-torques mild and therefore, less noticeable to the user. Less frequent changes, in contrast, could require stronger, more noticeable corrections in the disk velocities. The user could, in some embodiments, enable and disable this z-axis control via a user control disposed on the handle grip24, for example.

The present invention may, of course, be carried out in other ways than those specifically set forth herein without departing from essential characteristics of the invention. For example, as previously stated, a panning control mechanism may be included in the handle assembly20in some embodiments of the present invention. However, the invention is not limited exclusively to this type of panning control mechanism.FIGS. 8 and 9illustrate another embodiment of the present invention wherein the handle assembly20includes another type of panning control mechanism. As seen inFIG. 8, the stabilizer10may include a sensor130or other user control such as a switch or button, for example, integrated with the handle grip24. A communication interface132may also be included in the handle assembly20to communicate signals output by the sensor130to the controller62.

In operation, the user may vary the rotational velocities of the first and second disks94,108independently of each other by swiping a finger, for example, over the sensor130. An output of the sensor130is sent to the controller62via a receiving communication interface134disposed on the PCB50. The controller62can then generate control signals to vary the speed of one or both of the disks94,108to produce reaction torques to cause the stabilizer10to pan in either direction about the z-axis. For example, increasing the velocity of the first disk94and decreasing the velocity of the second disk108may cause the stabilizer10to pan in a first direction about the z-axis. Decreasing the velocity of the first disk94and increasing the velocity of the second disk108may cause the stabilizer10to pan in the opposite direction about the z-axis. Independently controlling the rotational velocities of the disks allows the user to control the panning motion of the stabilizer10. Those skilled in the art will appreciate that the communication interfaces132,134may be any interface known in the art. Some suitable examples include, but are not limited to, wireless interfaces such as BLUETOOTH and ZIGBY.

FIG. 10illustrates another embodiment of the panning control mechanism that prevents the shaft26from rotating within the handle grip24. This embodiment directly couples z-axis rotation to the user's hand. This allows some rotational jitter, but permits direct control of the panning motion through the user's wrist, arm or body motion.

In this embodiment, the mechanism comprises a mechanical fastener140, such as a threaded thumb-screw, that permits the user to lock and unlock the stabilizer10. Particularly, the fastener140threads into and out of a corresponding opening formed in the handle grip24. Turning the fastener140into the handle grip24causes the fastener140to contact a flat portion formed on the shaft26in a direction that is generally orthogonal to the z-axis. This prevents the shaft26from rotating within the handle grip24thereby preventing the stabilizer10from rotating about the longitudinal z-axis, and allowing the alignment of the handle grip24relative to the x-axis to be controlled. Turning the fastener140in the opposite direction unlocks the stabilizer10so that z-axis rotation is allowed.

FIGS. 11 and 12illustrate another embodiment wherein the gyroscope disks94,108have different orientations. Particularly, the rotational axes of the disks94,108were co-linear with the z-axis in previous embodiments. However, in this embodiment, the disks96,108are oriented such that their respective rotational axes x″, y″ are orthogonal to the z-axis. The x″ and z-axes, and y″ and z-axes, still intersect at their respective common intersection points124,126, and are aligned along the z-axis with common intersection point30. Although not explicitly shown in these figures, coil springs may be used to automatically restore the rotating disks to their respective neutral position, and to restrain the precession of the disks as previously described.

FIGS. 13 and 14illustrate other embodiments wherein the gyroscope pod90includes a third disk150. Disk150is mounted to a bracket154that is gimbaled to pivot about the x′″-axis, and has a similar orientation as disk108. InFIG. 13, all three disks94,110,150are oriented to rotate about axes that are generally orthogonal to the z-axis. InFIG. 14, disks94and108are oriented to rotate about the z-axis, while disk150is oriented to rotate about the y′″-axis that is orthogonal to the z-axis. The disk150is further gimbaled to pivot about an axis that is orthogonal to both the y′″ and z-axes, although in other embodiments, the disk150may be gimbaled to pivot about the y′″-axis. A sensorless BLDC motor152drives the rotation of disk150about the rotational axis y′″ according to control signals generated by controller62. In each embodiment, the y′″ and the z-axes remain orthogonal to each other and intersect at a common intersection point156. The common intersection point156is aligned along the z-axis with the other intersection points30,124, and126. As above, coil springs may be used to automatically restore the rotating disks to their respective neutral positions, and to restrain the precession of the disks.

FIG. 15illustrates an embodiment wherein the stabilizer10is weighted to facilitate cameras12that are too heavy or too light for the adjustment mechanism to obtain a proper balance about the z-axis. Particularly, for cameras that are too heavy, one or more masses160may be releasably attached to an exterior of the gyroscope pod90using any mechanical fastener known in the art. The mass160counterbalances the weight of the camera12so that the user can obtain a proper z-axis balance using the adjustment mechanism28.

For cameras12that are too light, the camera12is raised above the platform40with a camera mounting plate170. The camera mounting plate170attaches to the camera12using a screw or other mechanical fastener. The camera mounting plate can be positioned along the x-axis of the platform42to provide additional x-axis camera balancing range.

In operation, the camera12is connected to the mounting plate170and the plate170is mounted to the platform42. Any method known in the art may be used to attach the plate170to the platform42, but in this embodiment, both the platform42and the plate170are formed to include corresponding dovetails174. The dovetails174permit the plate170to slidingly engage the platform42such that the plate170is secure on one side. One or more finger operated locking mechanisms172are movable between locked and unlocked positions, and are positioned opposite the dovetail features174. The locking mechanisms172allow the user to secure the mounting plate170and the camera12to the platform42without impeding the ability of the platform42to move within the x-y plane.

It should also be noted that the previous embodiments illustrate the gyroscope pod90as using coil springs104,122. While the arc proscribed by the moving spring anchor point provides a desirable non-linear increasing spring force for increasing bracket100angles, non-linear coil springs, such as springs with varying winding diameter, can also be used. In some embodiments, non-linear springs can provide improved performance over standard linear coil springs by further reducing the tendency for gyro jump while minimizing restraining force for low precession angles.

It should also be noted that in some embodiments of the present invention, the isolation provided by the pivot support22is not used. Instead, the user may support the camera12by placing his or her hand(s) directly under the base assembly50. This mode of operation will still benefit from the dynamic stabilization provided by the gyroscope pod90, but provides the user a greater degree of control over the camera movement. Controlling the stabilizer10in this manner is also easy to learn, and is particularly well suited for relatively motionless telephoto shots.

The present embodiments are to be considered in all respects as illustrative and not restrictive, and all changes coming within the meaning and equivalency range of the appended claims are intended to be embraced therein.