Platform stabilization system

Claim 2

A platform stabilization system for a platform carried by a movable vehicle and comprising an electrical power supply carried by the vehicle, gimbal means operably connected between the vehicle and the platform to provide 2* of rotational freedom of movement of the platform with respect to the vehicle, sensing means secured to the platform for determination of an out-oflevel condition of the platform, electromagnet platform erection means operably connected between the platform and the vehicle, said erection means comprising magnetic coil means for creating a magnetic field and core means movable with respect to the coil means, and electronic control means operably connected between the sensing means and the erection means whereby upon the sensing of any out of level condition of the platform, the sensing means provides an electrical signal to the control means which in turn provides electrical power from the power supply to create an electromagnetic field within the magnetic coil means thereby acting upon the core means for effecting erection of said platform to a level condition.

Claim 3

A platform stabilization system as set forth in claim 1 wherein the sensing means comprises a first elongated mercury switch having a gravity sensitive mercury bubble suspended therein secured to the platform and disposed with the centerline axis of the switch being parallel to one of the rotational axes of the platform with respect to the vehicle and a second substantially identical second elongated mercury switch having a gravity sensitive mercury bubble suspended therein secured to the platform and disposed with the centerline axis thereof being parallel to the second axis of rotation of the platform with respect to the vehicle whereby the said switches will be closed when the platform is in an out-of-level condition in one direction, and the said switches will be open when the platform is in an out-of-level condition in the opposite direction.

Claim 4

A platform stabilization system as set forth in claim 1 wherein the gimbal means comprises a gimbal frame which is rotatably secured to the vehicle, the platform being rotatably connected to the gimbal frame, the axis of rotation of the platform with respect to the gimbal frame being disposed perpendicularly to the axis of rotation of the gimbal frame with respect to the vehicle.

Claim 5

A platform stabilization system as set forth in claim 3 wherein the electronic control means comprises a pair of substantially identical control circuits having the inputs thereof operably connected to the sensing means and the outputs thereof operably connected to the electromagnetic platform erection means, the first said control circuit for providing electrical power from the power supply to create an electromagnetic field within the erection means for effecting corrective rotation of the platform with respect to the gimbal frame and the second control circuit providing electrical power from the power supply to create an electromagnetic field within the erection means for effecting erection of the gimbal frame with respect to the vehicle.

Claim 6

A platform stabilization system for a platform carried by a movable vehicle and comprising an electrical power supply carried by the vehicle, gimbal means operably connected between the vehicle and the platform to provide two degrees of rotational freedom of movement of the platform with respect to the vehicle, sensing means secured to the platform for determination of an out-of-level condition of the platform, electromagnetic platform erection means operably connected to the platform, the gimbal means and the vehicle, and electronic control means operably connected between tHe sensing means and the erection means whereby upon the sensing of any out-of-level condition of the platform, the sensing means provides an electrical signal to the control means which in turn provides electrical power from the power supply to create an electromagnetic field within the erection means thereby effecting erection of the said platform to a level condition, wherein a motor driven stabilizing gyroscope is rotatably secured to the platform, the said gyroscope comprising an axle and massive wheel secured thereto, the plane of the said massive wheel being at right angles to the axis of the axle, the said axle being disposed within the platform having its axis mutually perpendicular to the rotational platform and the axis of the gimbal means.

Claim 7

A platform stabilization system for a platform carried by a movable vehicle and comprising an electrical power supply carried by the vehicle, gimbal means operably connected between the vehicle and the platform to provide two degrees of rotational freedom of movement of the platform with respect to the vehicle, sensing means secured to the platform for determination of an out-of-level condition of the platform, electromagnetic platform erection means operably connected to the platform, the gimbal means and the vehicle, and electronic control means operably connected between tHe sensing means and the erection means whereby upon the sensing of any out-of-level condition of the platform, the sensing means provides an electrical signal to the control means which in turn provides electrical power from the power supply to create an electromagnetic field within the erection means thereby effecting erection of the said platform to a level condition, wherein a motor driven stabilizing gyroscope is rotatably secured to the platform, the said gyroscope comprising an axle and massive wheel secured thereto, the plane of the said massive wheel being at right angles to the axis of the axle, the said axle being disposed within the platform having its axis mutually perpendicular to the rotational platform and the axis of the gimbal means.

Claim 8

A platform stabilization system for a platform carried by a movable vehicle and comprising an electrical power supply carried by the vehicle, gimbal means operably connected between the vehicle and the platform to provide two degrees of rotational freedom of movement of the platform with respect to the vehicle, sensing means secured to the platform for determination of an out-of-level condition of the platform, electromagnetic platform erection means operably connected to the platform, the gimbal means and the vehicle, and electronic control means operably connected between the sensing means and the erection means whereby upon the sensing of any out-of-level condition of the platform, the sensing means provides an electrical signal to the control means which in turn provides electrical power from the power supply to create an electromagnetic field within the erection means thereby effecting erection of the said platform to a level condition, wherein the gimbal means comprises a gimbal frame which is rotatably secured to the vehicle, the platform being rotatably connected to the gimbal frame, the axis of rotation of the platform with respect to the gimbal frame being disposed perpendicularly to the axis of rotation of the gimbal frame with respect to the vehicle, wherein the electromagnetic platform erection means comprises a first electromagnetic coil means having an aperture therein, the said coil means being operably connected to the electronic control means and secured to the gimbal frame, a first core means secured to the platform and reciporocally disposed within the aperture of the said first electromagnetic coil means whereby upon the application of electrical power from the power supply to the said coil means, electromagnetic force will be applied to the core means thereby effecting rotation of the platfrom with respect to the gimbal frame and a second electromagnetic coil means having an aperture therein, the said coil means being operably connected to the electronic control means and secured to the vehicle and a second core means secured to the gimbal frame and reciprocally disposed within the aperture of the second coil means whereby upon application of electrical power from the power supply to the second electromagnetic coil means, electromagnetic force will be applied to the second core means thereby effecting rotation of the gimbal frame with respect to the vehicle.

Claim 9

A platform stabilization system for a platform carried by a movable vehicle and comprising an electrical power supply carried by the vehicle, gimbal means operably connected between the vehicle and the platform to provide two degrees of rotational freedom of movement of the platform with respect to the vehicle, sensing means secured to the platform for determination of an out-of-level condition of the platform, electromagnetic platform erection means operably connected to the platform, the gimbal means and the vehicle, and electronic control means operably connected between the sensing means and the erection means whereby upon the sensing of any out-of-level condition of the platform, the sensing means provides an electrical signal to the control means which in turn provides electrical power from the power supply to create an electromagnetic field within the erection means thereby effecting erection of the said platform to a level condition, wherein the gimbal means comprises a gimbal frame which is rotatably secured to the vehicle, the platform being rotatably connected to the gimbal frame, the axis of rotation of the platform with respect to the gimbal frame being disposed perpendicularly to the axis of rotation of the gimbal frame with respect to the vehicle, wherein the electromagnetic platform erection means comprises a first electromagnetic coil means having an aperture therein, the said coil means being operably connected to the electronic control means and secured to the gimbal frame, a first core means secured to the platform and reciporocally disposed within the aperture of the said first electromagnetic coil means whereby upon the application of electrical power from the power supply to the said coil means, electromagnetic force will be applied to the core means thereby effecting rotation of the platfrom with respect to the gimbal frame and a second electromagnetic coil means having an aperture therein, the said coil means being operably connected to the electronic control means and secured to the vehicle and a second core means secured to the gimbal frame and reciprocally disposed within the aperture of the second coil means whereby upon application of electrical power from the power supply to the second electromagnetic coil means, electromagnetic force will be applied to the second core means thereby effecting rotation of the gimbal frame with respect to the vehicle.

Claim 10

A platform stabilization system as set forth in claim 6 wherein the first core means comprises a first elongated bar connected at one end thereof to the platform at a point in alignment with the axes of rotation of the platform with respect to the gimbal frame and a first arcuate metallic rod connected to the opposite end of the first elongated bar, each point along the axis of the first arcuate rod being equal distance from the said axis of rotation of the platform with respect to the gimbal frame and wherein the first electromagnetic coil means comprises a pair of spaced substantially identical oppositely disposed annular shaped electrical coils the first coil having an arcuate shaped aperture therein for receiving one end of the first arcuate shaped rod, the second said coil having a substantially identical arcuate aperture therein for rEceiving the opposite end of the said first arcuate rod therein, the said coils being secured to the gimbal means and oppositely disposed on either side of the first elongated bar whereby upon rotation of the platform with respect to the gimbal means, each end of the said first arcuate metallic rod will freely pass within the coils, each of the said coils being connected to the electronic control means; and wherein the second core means comprises a second elongated bar having one end thereof secured to the gimbal frame at a point in substantial alignment with the axis of rotation of the gimbal frame with respect to the vehicle and having a second arcuate rod secured to the opposite end thereof and disposed with every point along the axis of the said second arcuate rod being equal distance from the said axis of rotation of the gimbal frame with respect to the vehicle and wherein the second electromagnetic coil means comprises a pair of substantially identical annular shaped electrical coils, the first said coil having an arcuate shaped aperture therein for receiving one end of the said second arcuate rod therethrough and the other said coil having a substantially identical arcuate aperture therein for receiving the opposite end of the second arcuate rod therethrough, said coils being secured to the vehicle and oppositely disposed on either side of the second elongated bar whereby upon rotation of the gimbal means with respect to the vehicle each end of the said arcuate rod will pass freely through the coils, each of the said coils being electrically connected to the electronic control means.

Claim 11

A platform stabilization system for a platform carried by a movable vehicle comprising an electrical power supply carried by the vehicle, a gimbal means rotatably secured to the vehicle, the axis of rotation thereof being horizontally disposed with respect to the said vehicle when the vehicle is level, the platform rotatably carried by the said gimbal means, the axis of rotation thereof being horizontally disposed with respect to the said vehicle when the vehicle is level, the platform rotatably carried by the said gimbal means, the axis of rotation thereof being perpendicular to the axis of rotation of the gimbal means with respect to the vehicle and horizontal with respect to the vehicle when level, roll sensing means secured to the platform for sensing an out-of-level condition of the said platform with respect to the vehicle about the axis of rotation of the gimbal means with respect to the vehicle, pitch sensing means secured to the platform for sensing an out-of-level condition of the said platform with respect to the vehicle about the axis of rotation of the platform with respect to the gimbal means, electromagnet roll erection means for effecting platform erection with respect to the vehicle about the axis of rotation and the gimbal means with respect to the said vehicle, said roll erection means comprising roll electromagnet coil means for creating a magnetic field and roll core means movable with respect to the roll electromagnet coil means, electromagnet pitch erection means for effecting erection of the platform with respect to the vehicle about the axis of rotation of the said platform with respect to the gimbal means, said pitch erection means comprising pitch electromagnet coil means for creating a magnetic field and pitch core means movable with respect to the pitch electromagnet coil means, electronic roll control means operably connected between the roll sensing means and the electromagnetic roll erection means and electronic pitch control means operably connected between the pitch sensing means and the electromagnetic pitch erection means whereby upon the sensing of an out-of-level condition of the platform about the axis of rotation of the gimbal means, the pitch sensing means provides an electrical signal to the pitch control means which in turn provides electrical power from the power supply to create an electromagnetic field within the pitch erection means theReby effecting erection of the said platform about the axis of rotation of the platform with respect to the gimbal means.

Claim 12

A platform stabilization system for a platform carried by a movable vehicle comprising an electrical power supply carried by the vehicle, a gimbal means rotatably secured to the vehicle, the axis of rotation thereof being horizontally disposed with respect to the said vehicle when the vehicle is level, the platform rotatably carried by the said gimbal means, the axis of rotation thereof being horizontally disposed with respect to the said vehicle when the vehicle is level, the platform rotatably carried by the said gimbal means, the axis of rotation thereof being perpendicular to the axis of rotation of the gimbal means with respect to the vehicle and horizontal with respect to the vehicle when level, roll sensing means secured to the platform for sensing an out-of-level condition of the said platform with respect to the vehicle about the axis of rotation of the gimbal means with respect to the vehicle, pitch sensing means secured to the platform for sensing an out-of-level condition of the said platform with respect to the vehicle about the axis of rotation of the platform with respect to the gimbal means, electromagnet roll erection means for effecting platform erection with respect to the vehicle about the axis of rotation and the gimbal means with respect to the said vehicle, said roll erection means comprising roll electromagnet coil means for creating a magnetic field and roll core means movable with respect to the roll electromagnet coil means, electromagnet pitch erection means for effecting erection of the platform with respect to the vehicle about the axis of rotation of the said platform with respect to the gimbal means, said pitch erection means comprising pitch electromagnet coil means for creating a magnetic field and pitch core means movable with respect to the pitch electromagnet coil means, electronic roll control means operably connected between the roll sensing means and the electromagnetic roll erection means and electronic pitch control means operably connected between the pitch sensing means and the electromagnetic pitch erection means whereby upon the sensing of an out-of-level condition of the platform about the axis of rotation of the gimbal means, the pitch sensing means provides an electrical signal to the pitch control means which in turn provides electrical power from the power supply to create an electromagnetic field within the pitch erection means theReby effecting erection of the said platform about the axis of rotation of the platform with respect to the gimbal means.

Claim 13

A platform stabilization system for a platform carried by a movable vehicle comprising an electrical power supply carried by the vehicle, a gimbal means rotatably secured to the vehicle, the axis of rotation thereof being horizontally disposed with respect to the said vehicle when the vehicle is level, the platform rotatably carried by the said gimbal means, the axis of rotation thereof being perpendicular to the axis of rotation of the gimbal means with respect to the vehicle and horizontal with respect to the vehicle when level, roll sensing means secured to the platform for sensing an out-of-level condition of the said platform with respect to the vehicle about the axis of rotation of the gimbal means with respect to the vehicle, pitch sensing means secured to the platform for sensing an out-of-level condition of the said platform with respect to the vehicle about the axis of rotation of the platform with respect to the gimbal means, electromagnetic roll erection means for effecting platform erection with respect to the vehicle about the axis of rotation of the gimbal means with respect to the said vehicle, electromagnetic pitch erection means for effecting erection of the platform with respect to the vehicle about the axis of rotation of the said platform with respect to the gimbal means, electronic roll control means operably connected between the roll sensing means and the electromagnetic roll erection means and electronic pitch control means operably connected between the pitch sensing means and the electromagnetic pitch erection means whereby upon the sensing of an out-of-level condition of the platform about the axis of rotation of the gimbal means, the pitch sensing means provides an electrical signal to the pitch control means which in turn provides electrical power from the power supply to create an electromagnetic field within the pitch erection means thereby effecting erection of the said platform about the axis of rotation of the platform with respect to the gimbal means, wherein a motor driven stabilizing gyroscope is rotatably secured to the platform, the said gyroscope comprising an axle having its axis of rotation mutually perpendicular to the rotational axis of the gimbal means with respect to the vehicle and the axis of the platform with respect to the gimbal means, the said axle having a massive wheel secured thereto, the plane of the wheel being at a right angle to the axis of the axle and wherein the electromagnetic roll erection means effects erection forces about the axis of rotation of the platform with respect to the gimbal, the resulting force due to the angular momentum of the gyroscope wheel effedting platform erection with respect to the vehicle about the axis of rotation of the gimbal means with respect to the said vehicle, and wherein the electromagnetic pitch erection means effects an erection force on the gimbal means about the axis of rotation of the gimbal means with respect to the vehicle, the resulting force due to the angular momentum of the gyroscope wheel, effecting erection of the platform about the axis of rotation of the platform with the gimbal means.

Claim 14

A platform stabilization system for a platform carried by a movable vehicle comprising an electrical power supply carried by the vehicle, a gimbal means rotatably secured to the vehicle, the axis of rotation thereof being horizontally disposed with respect to the said vehicle when the vehicle is level, the platform rotatably carried by the said gimbal means, the axis of rotation thereof being perpendicular to the axis of rotation of the gimbal means with respect to the vehicle and horizontal with respect to the vehicle when level, roll sensing means secured to the platform for sensing an out-of-level condition of the said platform with respect to the vehicle about the axis of rotation of the gimbal means with respect to the vehicle, pitch sensing means secured to the platform for sensing an out-of-level condition of the said platform with respect to the vehicle about the axis of rotation of the platform with respect to the gimbal means, electromagnetic roll erection means for effecting platform erection with respect to the vehicle about the axis of rotation of the gimbal means with respect to the said vehicle, electromagnetic pitch erection means for effecting erection of the platform with respect to the vehicle about the axis of rotation of the said platform with respect to the gimbal means, electronic roll control means operably connected between the roll sensing means and the electromagnetic roll erection means and electronic pitch control means operably connected between the pitch sensing means and the electromagnetic pitch erection means whereby upon the sensing of an out-of-level condition of the platform about the axis of rotation of the gimbal means, the pitch sensing means provides an electrical signal to the pitch control means which in turn provides electrical power from the power supply to create an electromagnetic field within the pitch erection means thereby effecting erection of the said platform about the axis of rotation of the platform with respect to the gimbal means, wherein a motor driven stabilizing gyroscope is rotatably secured to the platform, the said gyroscope comprising an axle having its axis of rotation mutually perpendicular to the rotational axis of the gimbal means with respect to the vehicle and the axis of the platform with respect to the gimbal means, the said axle having a massive wheel secured thereto, the plane of the wheel being at a right angle to the axis of the axle and wherein the electromagnetic roll erection means effects erection forces about the axis of rotation of the platform with respect to the gimbal, the resulting force due to the angular momentum of the gyroscope wheel effedting platform erection with respect to the vehicle about the axis of rotation of the gimbal means with respect to the said vehicle, and wherein the electromagnetic pitch erection means effects an erection force on the gimbal means about the axis of rotation of the gimbal means with respect to the vehicle, the resulting force due to the angular momentum of the gyroscope wheel, effecting erection of the platform about the axis of rotation of the platform with the gimbal means.

Claim 15

A camera platform stabilization system for a camera platform carried by an aircraft and comprising a motor driven gyroscope rotatably secured within the platform, the axis of rotation thereof being mutually perpendicular to the roll axis of the aircraft and the axis of rotation of the said platform with respect to the gimbal frame, a power supply carried by the aircraft, a gimbal frame rotatably secured to the aircraft, the axis of rotation thereof being parallel to the roll axis of the aircraft, the camera platform rotatably secured to the gimbal frame, the axis of rotation thereof being perpendicular to the axis of rotation of the gimbal frame with respect to the aircraft and parallel to the pitch axis of the aircraft when the said gimbal fRame and aircraft is in a level condition, a gravity sensitive roll sensing mercury switch secured to the platform for sensing an out-of-level condition of the said platform with respect to the roll axis of the aircraft, a gravity sensitive pitch sensing mercury switch secured to the platform for sensing an out-of-level condition of the said platform with respect to the pitch axis of the aircraft, electromagnetic roll erection means comprising a pair of substantially identical roll erection coils, each having an aperture therein secured to the gimbal frame on either side of the axis of rotation of the said platform with respect to the gimbal frame and an arcuate shaped metallic roll core means rigidly secured to the platform having one end thereof movably disposed within the aperture of one of the roll erection coils and the opposite end thereof being movably disposed within the aperture of the other roll erection coil for effecting erection of the platform with respect to the roll axis of the aircraft, electromagnetic pitch erection means comprising a pair of substantially identical oppositely disposed electromagnetic pitch coils each having an aperture therein which are secured to the aircraft and disposed on either side of the axis of rotation of the gimbal frame with respect to the aircraft and an arcuate shaped metallic pitch core means rigidly secured to the gimbal frame and having one end thereof movably disposed within the aperture of one of the pitch coils and the opposite end thereof being movably disposed within the aperture of the other pitch coil for effecting erection of the platform with respect to the vehicle about the pitch axis of the said aircraft, electronic roll control means operably connected between the roll sensing mercury switch and the electromagnetic roll erection means whereby upon the sensing of an out-of-level condition of the platform with respect to the roll axis of the aircraft, the roll sensing mercury switch provides an electrical signal to the roll control means which in turn provides electrical power from the power supply to create an electromagnetic field within the roll erection means thereby creating a corrective force on the platform about the axis of rotation of the platform with respect to the gimbal frame, the resulting force due to the angular momentum of the gyroscope effecting erection of the said platform about the roll axis of the aircraft and whereby upon sensing of an out-of-level condition of the platform with respect to the pitch axis of the aircraft, the pitch sensing mercury switch provides an electrical signal to the pitch control means which in turn provides electrical power from the power supply to create an electromagnetic field within the pitch erection means thereby creating a corrective force on the platform about the axis of rotation of the gimbal frame with respect to the aircraft, the resulting force due to the angular momentum of the gyroscope effecting erection of the said platform about the pitch axis of the aircraft.

Claim 16

A camera platform stabilization system for a camera platform carried by an aircraft and comprising a motor driven gyroscope rotatably secured within the platform, the axis of rotation thereof being mutually perpendicular to the roll axis of the aircraft and the axis of rotation of the said platform with respect to the gimbal frame, a power supply carried by the aircraft, a gimbal frame rotatably secured to the aircraft, the axis of rotation thereof being parallel to the roll axis of the aircraft, the camera platform rotatably secured to the gimbal frame, the axis of rotation thereof being perpendicular to the axis of rotation of the gimbal frame with respect to the aircraft and parallel to the pitch axis of the aircraft when the said gimbal fRame and aircraft is in a level condition, a gravity sensitive roll sensing mercury switch secured to the platform for sensing an out-of-level condition of the said platform with respect to the roll axis of the aircraft, a gravity sensitive pitch sensing mercury switch secured to the platform for sensing an out-of-level condition of the said platform with respect to the pitch axis of the aircraft, electromagnetic roll erection means comprising a pair of substantially identical roll erection coils, each having an aperture therein secured to the gimbal frame on either side of the axis of rotation of the said platform with respect to the gimbal frame and an arcuate shaped metallic roll core means rigidly secured to the platform having one end thereof movably disposed within the aperture of one of the roll erection coils and the opposite end thereof being movably disposed within the aperture of the other roll erection coil for effecting erection of the platform with respect to the roll axis of the aircraft, electromagnetic pitch erection means comprising a pair of substantially identical oppositely disposed electromagnetic pitch coils each having an aperture therein which are secured to the aircraft and disposed on either side of the axis of rotation of the gimbal frame with respect to the aircraft and an arcuate shaped metallic pitch core means rigidly secured to the gimbal frame and having one end thereof movably disposed within the aperture of one of the pitch coils and the opposite end thereof being movably disposed within the aperture of the other pitch coil for effecting erection of the platform with respect to the vehicle about the pitch axis of the said aircraft, electronic roll control means operably connected between the roll sensing mercury switch and the electromagnetic roll erection means whereby upon the sensing of an out-of-level condition of the platform with respect to the roll axis of the aircraft, the roll sensing mercury switch provides an electrical signal to the roll control means which in turn provides electrical power from the power supply to create an electromagnetic field within the roll erection means thereby creating a corrective force on the platform about the axis of rotation of the platform with respect to the gimbal frame, the resulting force due to the angular momentum of the gyroscope effecting erection of the said platform about the roll axis of the aircraft and whereby upon sensing of an out-of-level condition of the platform with respect to the pitch axis of the aircraft, the pitch sensing mercury switch provides an electrical signal to the pitch control means which in turn provides electrical power from the power supply to create an electromagnetic field within the pitch erection means thereby creating a corrective force on the platform about the axis of rotation of the gimbal frame with respect to the aircraft, the resulting force due to the angular momentum of the gyroscope effecting erection of the said platform about the pitch axis of the aircraft.

Claim 17

A platform stabilization system as set forth in claim 10 wherein a pair of substantially identical roll sensitive normally closed single pole, single throw mercury slop switches are secured to the platform, one of the said slop switches for detecting an extreme out-of-level condition of the platform in one direction about the roll axis of the aircraft and the other said slop switch for detecting an extreme out-of-level condition of the platform in the opposite direction about the roll axis of the aircraft, the said slop switches being electrically connected in series with the roll and pitch erection means whereby an extreme roll of the aircraft will cause one of the slop switches to open, thereby electrically disengaging the erection means until the aircraft is substantially level again.