DE102012107265A1 - Device for the stabilized guidance of an image recording device - Google Patents

Abstract

The present invention relates to a device (1) for the stabilized guidance of an image recording device (4), comprising a bearing device (2) for receiving bearing forces generated by the device (1) and the image recording device (4), the bearing device (2) and the Image recording device (4) can be rotated relative to one another at least about a first axis of rotation (X1) and a second axis of rotation (Y1), which are not arranged parallel to one another. In order to produce a device (1) by means of which stable guidance of an image recording device (4) is possible in the sense of generating a film that flows as evenly as possible, without jerking, without the need for active intervention by the respective user of the device (1), whereby the device (1) should also be mobile, i.e. not designed to be stationary, according to the invention a rigid connecting part (3) is proposed which is connected to both the storage device (2) and the image recording device (4), the connecting part (3 ) and the bearing device (2) are rotatable relative to one another at least about the first axis of rotation (X1) and the second axis of rotation (Y1) and the connecting part (3) and the image recording device (4) are rotatable at least about a third axis of rotation (X2) and a fourth axis of rotation (Y2), which are not arranged parallel to one another, are rotatable relative to one another.

Description

introduction

The invention relates to a device for stabilized guidance of an image recording device, comprising a bearing device for receiving bearing forces generated by the device and the image recording device, wherein the bearing device and the image recording device at least about a first axis of rotation and a second axis of rotation, which are not arranged parallel to each other, relative are rotatable to each other.

A "stabilized guidance" is understood to mean that the image recording device executes a uniform movement during a movement of the entire device, that is to say that it does not wobble or jerk at all, or barely noticeably, at most. Accordingly, a stabilized guide in the sense of the present application is a guide which is suitable for guiding the image recording device in such a way that a film continuously recorded by means of the image recording device acts uniformly and steadily in a manner that is pleasant for a viewer. This requirement is particularly relevant in camera shots in which the image pickup device is deliberately moved, but the movement should not result in uneven acceleration of the image pickup device.

The image pickup device is typically a photographic or film camera. These can be equally small or small scale devices (mass less than 100 g to 1 kg) as well as large film cameras (mass of several kg). Image recording devices with the exclusive possibility of capturing individual images are just as conceivable as those which are suitable both for recording single images and series images or films.

Under a rotation axis in the sense of the present application is less understood a concrete physical component, for example in the sense of the axis of a car, but a geometric indication of the possibility of a "direction" of a mutual rotation of two or more components. An exact spatial definition of the axis of rotation is just as little determinant for the mode of action as the specific embodiment, which ultimately releases the rotational degree of freedom that characterizes the axis of rotation.

Accordingly, for example, two ends of a flexible garden hose around any variety of axes of rotation in the context of this application relative to each other rotatable, wherein a constructive, possibly fixed rotation or rotation axis is not present. The same applies to a ball joint, which has infinitely many, not clearly definable rotation axes.

For the purposes of the present application, the bearing forces may be both static bearing forces, which are caused, for example, by the dead weight of the device, and dynamic bearing forces resulting from the movement of the device or at least a single part thereof. All bearing forces are absorbed by the bearing device and further derived from this - for example, to other components.

State of the art

Devices of the type described above have been known for some time and find in everyday practice in the recording of all types of films a major role. Here, in particular, the so-called floating tripod ("Steadicam" ^® ) call, which uses the structure of the device described above.

Such a tripod is apparent, for example, from the following documents: US 4,946,272 . DE 203 01 604 U1 . US2009 / 0257741 A1 and US 2011/0169972 A1 , The underlying technical principle is always identical: an image recording device, typically a film camera, is coupled by means of a rigid coupling element to a balancing mass. The coupling element is in turn pivotally connected to a bearing device, typically a handle, the handle being held by a cameraman while the device is in use, thus guiding and supporting the device. The coupling element together with the image recording device mounted thereon is typically rotatably mounted by means of the joint about three mutually perpendicular spatial axes, wherein a so-called "gimbal" or a cardanic suspension is typically used as the joint. This articulation makes it possible that movements of the bearing device are at least partially decoupled from the movements of the film camera. Thus, for example, the cameraman is allowed to change his hand position while lifting the entire suspended tripod, moving left and right, or the like, without changing an orientation of the optical axis of the motion picture camera. In addition, unwanted "dithering" of the hand of the cameraman can be effectively filtered, so that they are not reflected in the recording.

This is due to the inertia of the coupling element together with the masses mounted thereon (balancing mass, film camera), which causes the advantageously very low frictional forces which are transmitted via the joint to the connecting element, not be able to cause a change in position of the same.

However, this "decoupling" of the movements of the bearing device (handle) relative to the image pickup device (camera) only applies to relative rotations of both parts against each other. Translational movements of the handle, however, are transmitted directly from the hand of the cameraman to the camera. Using the example of the tripod, undesired jerky movements of the film camera, which could be disturbing for the viewer of the recording, could thereby be triggered. However, the cameraman typically uses balancing arm movements to achieve a smooth, non-jerky camera work that provides a stable image.

However, this compensatory influence, which can always be exerted by the respective user on the example of the suspended tripod, is eliminated as soon as the camera is not in the direct access area of the user. This is the case, for example, with aerial photographs, in which the camera is typically mounted on a device at a considerable distance from the cameraman. Such devices are typically camera cranes. These are usually designed as massive rigid devices that are placed firmly in a location. Such a camera crane is for example the DE 38 153 42 C1 removable. Such devices achieve a stable and "jerk-free" leadership of the camera by one hand, the camera crane is fixed and on the other hand, the boom of the crane is designed to be particularly stiff. The disadvantage of such devices is the inflexible and expensive design, with the example, rapid change of location, as they are possible with hand-held cameras, are not conceivable.

task

The object of the present invention is therefore to provide a device by means of which a stable guidance of an image pickup device in the sense of generating a smooth as possible flowing, judder-free film is possible without requiring an active intervention of a respective user of the device is required, the device should also be mobile.

solution

The underlying object is achieved, starting from a device of the type described above according to the invention by a rigid connection part which is connected to both the bearing device and the image recording device, wherein the connecting part and the bearing means at least about the first axis of rotation and the second axis of rotation relative to each other are rotatable and the connecting part and the image pickup device at least about a third axis of rotation and a fourth axis of rotation, which are not arranged parallel to each other, are rotatable relative to each other.

The connecting part according to the invention therefore serves as a kind of "intermediate part" between the bearing device and the image recording device, wherein two further rotational freedom lines (third and fourth rotation axis) are added to the device, which kinematically decouple the image recording device from the bearing device in addition to the two already existing rotation axes , As a result, movements of the bearing device are not transmitted directly or not "unfiltered" or "undamped" to the image recording device. A film recorded by means of the image recording device is accordingly characterized by a calm image, which is pleasant for the viewer.

The bearing device, the connecting part and the image pickup device are arranged in a manner "in series". Since the connecting part is coupled both to the bearing device and to the image recording device via at least two rotational axes (and consequently while maintaining two rotational degrees of freedom), a movement on the bearing device can be compensated for on the one hand by virtue of the articulated mounting relative to the bearing device and on the other hand, the image pickup device is rotated relative to the connecting part. The mutual rotation of the adjacent components unfolds a "balancing" effect, since the rotation angle, each incurred by the existing axes of rotation, in the rotation of the bearing device relative to the connecting part typically at least approximately the same amount, as in the rotation of the connecting part opposite the image pickup device. However, the same amount or approximately the same rotation angle in opposite directions, so ideally add to zero, that is, the corresponding rotation angle have different signs.

This means that, for example, in a device in which the connecting part is pivoted about a horizontal axis by 45 ° to the right with respect to the bearing device, the image pickup device arranged on the connecting part would also be pivoted through 45 °, if the device does not have the rotation axes according to the invention would. As a result, an optical axis of the image pickup device, which effectively represents a "viewing direction" of the image pickup device, would change its orientation and the originally targeted subject would disappear from the image area of the picked-up image. In the case of the device according to the invention, however, the image recording device does not readily follow the rotation of 45 °, which traverses the connecting part relative to the bearing device, owing to its mass and the associated mass inertia. Instead, the optical axis substantially retains its orientation, as the image pickup device in turn rotates about the connecting part, with both parts equally rotating at an angle of 45 ° to each other. The direction of rotation "connecting part bearing means" is exactly opposite to the direction of rotation "image pickup device connecting part", that is, although of the same amount but of different direction.

As a result, in effect, the optical axis of the image pickup device substantially maintains its orientation even with movement of the bearing device. That is to say, in the case of a film sequence recorded by means of the image recording device, the respective observer does not notice the actual movement of the image recording device during the recording of the film sequence or barely notices it. In particular, the viewer is not irritated and disturbed by unsteady movements of the image or other disturbing influences.

This represents a significant improvement over the prior art, as it is readily possible by means of the device disclosed herein to produce a stable ("jerk-free") image, without the need for a complex rigid stationary design and / or the corrective influence of a Cameraman are needed. In particular, the device disclosed herein is adapted to be mounted on particularly light and filigree holding devices, which, in contrast to conventional prior art camera cranes and the like, have a lower rigidity and are therefore more susceptible to vibrations, but in comparison to these considerably are more mobile and flexible in use. This gives the cameraman a special degree of artistic freedom and a significant advantage in the speed of work with at least constant image quality.

In a particularly advantageous embodiment of the device according to the invention are in a rest position of the device in which no disturbing forces acting on the device, all four axes of rotation oriented approximately horizontally, preferably wherein the first axis of rotation and the second axis of rotation and the third axis of rotation and the fourth axis of rotation respectively are arranged perpendicular to each other and further preferably, the first axis of rotation and the second axis of rotation intersect at a first intersection and the third axis of rotation and the fourth axis of rotation in a second intersection, more preferably the first axis of rotation parallel to the third axis of rotation and the second axis of rotation parallel to fourth axis of rotation is arranged and the two points of intersection are arranged on a lying in approximately vertical lines one above the other.

By means of such an arrangement of the axes of rotation, the above-described compensatory rotation possibility, which decouples the image recording device from the bearing device, is particularly easy to implement. In particular, the parallelism of the respective corresponding axes of rotation (one and three, and two and four) means that a rotation about the respective one axis of rotation can be compensated particularly easily by means of the underlying second axis of rotation. Thus, the first rotation axis and the third rotation axis as well as the second rotation axis and the fourth rotation axis correspond. The described orientation of the axis of rotation allows so-called "rolling movements" and "pitching movements" of both the connecting part relative to the bearing device and the image pickup device relative to the connecting part. Typically, each parallel horizontal rotation axis (for example, the first and the third) are arranged parallel to the optical axis of the image pickup device and thus act as so-called "rolling axes", while the horizontal axes perpendicular thereto form the so-called "pitch axes".

Under the rest position is such a position of the device to understand, in which it is completely free from external interference in a "suspended" position, that is, "at rest".

In a particularly advantageous embodiment in practice, the connecting part and the bearing device and / or the connecting part and the image pickup device are rotatable relative to each other at least about a fifth axis of rotation, wherein the fifth axis of rotation is non-parallel to one of the first axis of rotation and the second Rotation axis and / or oriented by the third axis of rotation and the fourth axis of rotation plane is oriented, wherein in a rest position of the device in which no disturbing forces act on the device, the fifth axis of rotation is oriented approximately vertically.

Accordingly, the fifth axis of rotation is a so-called "yaw axis", by means of which it is possible to yaw the respectively connected components that are rotatable by this degree of freedom. This is particularly advantageous with regard to the control of the image recording device, since the cameraman has the possibility to rotate the optical axis about the vertical fifth axis of rotation and thus to obtain an adaptation of the respectively recorded image.

The fifth axis of rotation also serves a further essential purpose. Thus, the connecting part of the bearing device and / or the image pickup device of the connecting part in addition to the other four axes of rotation are decoupled from each other by a further degree of freedom. This may be particularly advantageous with regard to a "quiet" image, that is to say a jolt-free and vibration-free image, since interferences which cause the bearing device to rotate about a vertical axis are no longer transmitted to the image recording device, but by means of the additional fifth Degree of freedom are filtered. That is, the image pickup device does not "notice" movement of the bearing device with a rotational component about a vertical axis because the rotation of the image pickup device about the fifth rotation axis is independent of the bearing device. Such a potentially disturbing rotation component is present at least to a small degree in most unwanted movements.

The device is particularly advantageous when the first axis of rotation and the second axis of rotation are perpendicular to one another and the fifth axis of rotation is oriented perpendicular to a plane spanned by the first axis of rotation and the second axis of rotation, preferably the first axis of rotation, the second axis of rotation and the second axis of rotation fifth axis of rotation intersect at an intersection. This arrangement describes a typical coordinate system, wherein the orientation of the axes to each other at right angles is particularly suitable, so that the system with respect to the three spatial rotational freedom line is maximally independent, since the orientation of the axes of rotation corresponds to the degrees of freedom. That is, a mutual rotation, for example, about the vertical axis ("yaw axis") is possible regardless of the rotation about the other two axes of rotation.

This has a particularly advantageous effect especially if, in addition, the first rotation axis and the third rotation axis are aligned approximately parallel to an optical axis of the image recording device. Thus, the second and the fourth rotation axis, each of which is perpendicular to the first and third axes of rotation, are also parallel, wherein the first and the second and the third and the fourth axis of rotation are arranged horizontally. The second and the fourth rotation axis are thus oriented transversely to the optical axis of the image recording device. That is, the first and third rotation axes are so-called "roll axes," while the second and fourth rotation axes are so-called "pitch axes." As described above, the vertical fifth axis of rotation, which is perpendicular to these axes, finally permits yawing of the image recording device and accordingly forms the so-called "yaw axis".

With regard to the structural design of the previously only geometrically described axes of rotation, it is particularly advantageous if the device both a first hinge device, which allows relative rotation of the bearing device relative to the connecting part at least about the first axis of rotation and the second axis of rotation and a second hinge device, a relative rotation of the connecting part relative to the image recording device allows at least about the third axis of rotation and the fourth axis of rotation, wherein preferably the first hinge means and / or the second hinge means are designed as universal joints, further preferably, the first hinge means relative rotation of the bearing device relative to the connecting part around a fifth axis of rotation, which is oriented perpendicular to a plane spanned by the first axis of rotation and the second axis of rotation, allows. For example, the formation of the rotational degrees of freedom by means of universal joints is particularly simple, wherein the entire universal joint could for example be mounted rotatably about a vertical axis in a subsequent component. In this way, three independent rotational degrees of freedom would be realized in a compact hinge device. Alternatively, the rotational degree of freedom about the vertical can also be carried out directly in the universal joint.

A particularly preferable device is characterized by a pendulum device which is connected to the connecting part, wherein the pendulum device and the connecting part by means of the third axis of rotation and the fourth axis of rotation are rotatable relative to each other, the pendulum preferably in opposing end sections on the one hand Image receiving device and on the other hand, a balancing mass, the mass further preferably corresponds approximately to a mass of the image pickup device, but is not identical. This offers the advantage that, due to a mass difference between the image recording device and the leveling compound, one of the two parts always generates a greater torque about the respective bearing axis and the pendulum device thus always shuttles to a rest position. It is basically irrelevant whether the image recording device or the balancing mass is heavier than the other part. This only influences whether, in the case of a pendulum device in its rest position, the image recording device is located "below" or "above" on the pendulum device. By means of such a shuttle, it is particularly easy to store the image pickup device stably on the device.

This is due, in particular, to the fact that an automatic vertical position of the image recording device can be achieved by means of the pendulum device. The pendulum device is suitable for decelerating the image recording device against disturbing accelerations acting thereon and for transferring it as quickly as possible to an idle state in which the image recording device is at rest. This is achieved by means of the force acting on the shuttle gravity force that accelerates the entire mass of the shuttle, that is, the balancing mass, the image pickup device and the weight of the other parts, thereby causing a "braking effect". Furthermore, the pendulum device by means of a certain net mass simultaneously cause a high inertia, which reduces an undesirable "knocking out" or swinging out of the image pickup device from its rest position, from the outset. The roughly equal mass distribution between the image recording device and the balancing mass has the advantage that in the case of a lateral movement of the entire device, both end sections of the pendulum device react approximately equally "sluggishly" and no unwanted rotation occurs.

Such a pendulum device is particularly advantageous, in which a mass of the balancing mass is changeable, preferably individual mass parts can be mounted non-destructively on the balancing mass or can be dismantled therefrom. In this way, the balancing mass can be adapted to different image recording devices, so that in general there is the possibility to exchange the image pickup device used in each case.

In an expedient embodiment of the pendulum device selbige is formed from an elongated rigid pendulum rod, which is preferably oriented approximately vertically in a rest position of the device in which no disturbing forces act on the device, more preferably, the image pickup device in a lower end portion and the Balancing mass are arranged in an upper end portion of the shuttle. The pendulum rod of the shuttle should also be arranged as possible with its central region on the connecting part, wherein due to the ratio of the respective masses to the distance from an attachment point of the pendulum rod to the connecting part, the pendulum device vertically aligns itself in the gravitational field of the earth, so that the image pickup device and the balancing mass are typically arranged vertically above one another.

Optimally, the balancing mass has at least two elongated support members which are arranged in a rest position of the device in which no disturbing forces act on the device in a horizontal plane and are preferably oriented perpendicular to each other, each support member having individual mass parts along a The longitudinal axis of the respective carrier part are movable, wherein more preferably each carrier part has two mass parts, which are arranged at opposite end portions of the respective carrier part. Such a balancing mass makes it particularly easy to adapt a mass distribution of the balancing mass, wherein by moving the mass parts along the support members each have a lever arm to a center of gravity of the shuttle is changeable. This causes the shuttle in its rest position assumes a different orientation in the gravitational field of the earth. Consequently, a fine adjustment of the shuttle can be made by the movement of the mass parts, which can then be adapted, for example, to different image pickup devices.

By means of the mutually perpendicular support members, it is particularly easy to make the adjustment described above. In particular, the mass parts can be readily shifted in position, with an adaptation of the mass distribution relative to the third and the fourth axis of rotation is particularly easy by means of the described "crosswise" design of the support members.

A particularly advantageous embodiment of the device according to the invention has an elongated holding device which is connected to an end portion of the bearing device, wherein the holding device is preferably telescopically extendable, more preferably a fishing rod. By means of such a holding device, the image pickup device can be guided very easily and quickly to hard-to-reach points, the are typically accessible only by means of a camera crane according to the prior art. For example, the image pickup device can be run several meters above the ground or hover over abysses that would otherwise be unreachable. A direct access to the image pickup device and its movements, vibrations and the like is verwied thereby the cameraman, due to the inventive design, this is not necessary for a "stable" or quiet camera image for a high-quality result.

A particularly rigid design of the holding device is not required to keep the image pickup device quiet. On the contrary, it may be particularly advantageous if the holding device has a relatively low rigidity, which allows a deformation already at mean outer disturbing forces, by means of this deformation of the holding device already a first damping effect is obtained, which decouples the image pickup device from a holder. Thus, it is ensured, for example, that even with a "shaky" leadership of the holding device by the cameraman, the vibration generated by this only in attenuated form is transferred to the storage facility and finally by means of the rotational storage of the connecting part and the image pickup residual interference can be filtered. As a result, the image generated by means of the image recording device remains stable and quiet as desired.

In order to improve the above-described effect of the damping bearing either in combination with a holding device described above or to effect, for example, in the course of a suspension of the entire device to a component, it is proposed to connect the bearing device to a flexible elastic suspension device, wherein by means of the suspension device Bearing forces of the bearing device can be accommodated. The damping effect of the elastic bearing of the device, which dampens transmission of unwanted vibrations and movements, is comparable here to the above-described relatively "soft" holding device, for example in the form of a fishing rod. Thus, due to its low rigidity, the suspension device is not capable of transmitting forces lossless, this same effect contributing to the desired "damping".

Experiments have been able to show that a distance between the intersection of the third axis of rotation and the fourth axis of rotation and an end of the suspension device facing away from the bearing device should be approximately twice as large as a distance between the intersection of the first axis of rotation and the second axis of rotation and the point of intersection the third rotation axis and the fourth rotation axis. In such an embodiment of the geometric conditions, a particularly effective damping of the interference between the suspension device and the image recording device could be observed.

As already indicated above, it is particularly advantageous if the suspension device is arranged with its end remote from the bearing device at one end portion of an elongate holding device, preferably a telescopically extendable holding device, more preferably a fishing rod. The combination of the flexible elastic suspension device with the holding device is particularly well suited to compensate for unwanted interference.

In a particularly advantageous embodiment of the device according to the invention, the rigid connecting part is formed by a closed rigid frame. Such a frame basically has a higher rigidity than an "open" bracket produced from comparable profile cross sections, which would basically also be conceivable. The closed design allows an internal balance of forces within the connecting part, which causes the stiffening effect. In addition, a frame is typically constructed symmetrically, which is particularly favorable in terms of the most uniform mass distribution. The uniform mass distribution is particularly advantageous with respect to a compensating, disturbing forces damping vibration.

In order to achieve an increased controllability of the application, such a device is particularly advantageous, having a drive means by which a relative rotation of the image pickup device relative to the bearing means about the third axis of rotation and / or fourth axis of rotation and / or a fifth axis of rotation, the non-parallel is oriented to one of the first axis of rotation and the second axis of rotation and / or one of the third axis of rotation and the fourth axis of rotation spanned plane is triggered. By means of such a drive device, the cameraman alike can cause pitching, rolling and / or yawing of the image pickup device, wherein advantageously the respective drive device is actuated without contact, for example via radio. The device thereby achieves an increased practical applicability, since the cameraman has better control over the image recording device and thus also on the film produced by means of it.

As a particularly suitable embodiment for the drive device, at least one propeller, preferably a propeller pair, is proposed, wherein a flow direction of the propeller, which is perpendicular to a plane defined by a rotor blade of the propeller plane, is not aligned parallel to the axis of rotation or the axes of rotation, by which he triggers a relative rotation of the image pickup device relative to the storage device, still has an intersection with this or this. That is, a line of action of a driving force generated by the at least one propeller is adapted to generate a torque about the respective axis about which the image pickup device is to be rotated.

The use of a propeller is especially useful because the propeller generates its driving effect through the interaction with the air. As a result, the driving force generated by the propeller steadily increases from zero to a maximum or steadily drops from the maximum to zero. A "sudden" force development of the type "no rotation - maximum rotational speed - no rotation", as it could be achieved for example by means of a direct motor drive, is not available. The latter "choppy" type of drive would make itself felt later viewing a cinematic recording by sudden image movements that would attract the viewer unpleasant. On the other hand, by means of the propeller or the propeller pair both a so-called "ease in" and a so-called "ease out" can be generated, which describes flowing transitions between a standstill of the image recording device and its movement / rotation.

As an alternative to the propeller drive, it is likewise conceivable for the drive device to be formed by a recoil drive which, by means of an acceleration of a mass in the direction of a straight line which is aligned neither parallel to the axis of rotation or the axes of rotation, relative to which it causes relative rotation of the image recording device Bearing device triggers, still has an intersection with this or this, causes a rotation about the axis of rotation or the axes of rotation. Also, this drive leads to a "fluid" rotation about the respective axis of rotation. The drive principle is based on the law of conservation of momentum, which states that the total momentum of a closed system is constant. Practically, this means that an action of a force - for example from an electric drive - on a mass a corresponding backlash is triggered on the connected system. If the system is not fixed in the "opposite direction" to the direction of action of the force on the mass, it is set in motion. This effect is achieved by means of the recoil drive, whereby the desired movement is generated around the respectively desired axis of rotation. An abrupt "start" and braking of the movements of the image pickup device does not occur even when using such a drive device - similar to the above-described propeller - so that the film recorded by means of the image pickup device always shows smooth movements ("ease in / out").

With regard to a control of a tilting or rolling movement of the image recording device to the third and / or the fourth axis of rotation, it is also conceivable that a mass element is provided on the balancing mass of the shuttle, which starts from a gravity axis of the shuttle, which runs through the pendulum rod of the same , For example, parallel to the third and / or fourth axis of rotation can be moved out of the gravity axis out. In this way, the balancing mass, which is typically intended to bring about a vertical position of the image recording device, is "deliberately" varied in its mass distribution so that the pendulum device "deflects" in the direction of a respective desired axis of rotation and in this way tilting or rolling of the image recording device causes. This form of influencing the orientation of the optical axis of the image recording device is particularly easy to implement. The movement of the mass element can be effected by means of a linear drive, for example in the form of a spindle drive, which is advantageously designed remotely controllable.

As an alternative to the drive devices described here, it goes without saying that all other types of drive devices are also conceivable which are capable of producing the desired "forced rotation" success. As a further example, an electric motor may be mentioned here which can actively effect a mutual rotation of adjacent components, wherein the described effect of the "ease in" or "ease out" can equally well be achieved by means of a friction clutch.

For the practical use of the device according to the invention, it is particularly advantageous in this context to use the drive device for actively compensating unwanted movements of individual parts, in particular the image recording device. Thus, the "triggering" of a relative rotation of the individual components of the device against each other in the sense of the above formulation can not only be that a resting system is driven and thereby rotated or pivoted. In addition, the drive device namely optimally equally suitable, already existing movements of the device or its individual parts, for example, wind-induced movements, "cancel", ie to work exactly the other way round. This can be done manually by a user of the device. On the other hand, a particularly advantageous automated control system is conceivable which automatically initiates "countermeasures" as a function of accelerations and speeds of the image recording device, for example, which at least attenuate undesired movement of the image recording device, optimally even prevent it. These countermeasures make sense in the activation of the drive devices described above. Thus, for example, an undesired pitching movement of the pendulum device could be counteracted by means of a corresponding activation of a propeller drive.

A signal for activation receives the drive device in such a constellation advantageously from a data processing module, by means of which measurement data, which are detected by means of individual measuring elements (for example, acceleration sensors, inclination sensors and gravitational sensors), interpreted and converted into commands that a suitable depending on the load situation activation of a or can cause a plurality of drive means. As a result, alignment of the image pickup device can be fully automatically stabilized in this way.

In a particularly preferred embodiment of the device according to the invention, a damper module is provided, by means of which a vertical movement of the bearing device is at least partially decoupled from a vertical movement of the image recording device, wherein the damper module has at least one vertically oriented guide element along which the image recording device or a picture receiving device Component is mounted vertically movable. By means of such a damper module in addition to horizontal movements of the bearing device, such movements are also kinematically decoupled from the image recording device, which are oriented vertically. Unintentional vertically acting disturbing influences can be filtered in this way and have no negative effect on the quality of the picture taken by means of the image recording device.

In a further advantageous embodiment of the device according to the invention this is provided with a data transmitter, by means of the image pickup device recorded image data can be transmitted to a display device, wherein by means of the display device alignment of an optical axis of the image pickup device by a user of the device is controllable, wherein the data transmitter preferably transmits the image data wirelessly to the display device. This embodiment is particularly advantageous because the cameraman can particularly easily track the field of view of the image recording device on a display device communicating with the data transmitter (for example a smartphone) and thus can control and monitor its recording. The data transmitter, in combination with a display, accordingly replaces a viewfinder of a conventional camera.

A further advantageous embodiment of the device according to the invention provides a deceleration device, by means of which a relative rotation of the bearing device relative to the image recording device about a fifth axis of rotation, not parallel to one of the first axis of rotation and the second axis of rotation and / or of the third axis of rotation and the fourth axis of rotation spanned plane oriented, is brakable. In this way, a yaw of the image pickup device can be controlled particularly easily. In particular, unwanted distortions of the image recording device relative to the bearing device, which could be caused for example by external influences such as wind, can be prevented.

Control over the image pickup device can be further improved by arranging the image pickup device and the shuttle assembly about at least a sixth axis of rotation, preferably further about a seventh axis of rotation oriented nonparallel to the sixth axis of rotation, more preferably further about an eighth axis of rotation is not parallel to both the sixth axis of rotation and the seventh axis of rotation and is not arranged in a plane formed by the sixth axis of rotation and the seventh axis of rotation are rotatable relative to each other, still more preferably this axis of rotation or these axes of rotation a center of gravity Cut image pickup device. By means of such a device, the image recording device or its optical axis can be aligned independently of a movement of the rest of the device. Thus, it is for example possible to keep the device completely still, but still give the cameraman the opportunity to change the image taken by the image pickup by moving or rotating the image pickup device relative to the stationary shuttle.

This possibility of aligning the image recording device can be both "fixed", that is, once before the start of a recording cycle, as well as "flexible", that is constantly changing (for example, remotely controlled) can be realized by means of individual drive units. This functionality allows the user of the device maximum freedom in designing a shot, since the optical axis of the image capture device can be moved without having to move other components of the device except the image capture device itself.

If the at least one axis of rotation or the axis of rotation run through the center of gravity of the image recording device, a rotation of the same would not change the "pendulum" balance of the pendulum device, so that the device as a whole would continue to remain at rest. This is particularly advantageous as it gives the cameraman the ability to make adjustments without causing unwanted movement of the image.

Moreover, it may be of particular advantage if at least the image recording device, preferably both the image recording device and the rigid connecting part, at least partially, preferably completely, are enclosed by an enveloping body, wherein the enveloping body is preferably rigidly connected to the bearing device. Such an enveloping body is particularly suitable for isolating the image recording device - or, moreover, adjacent components - from external influences such as wind and the like. A direct influence on the image recording device and its movement can be avoided in this way. In this case, it may be necessary for the enveloping body to be arranged only partially around the image recording device, so that the enveloping body is not visible on the image recorded by means of the image recording device. With regard to the shielding effect of such an enveloping body, however, a completely closed variant would be preferable.

embodiments

The device according to the invention will be explained in more detail below with reference to exemplary embodiments which are illustrated in the figures.

It shows:

1 A first device according to the invention,

2 : as 1 but with a drive unit formed by a pair of propellers,

3 : as 1 but with a plurality of drive means each formed from recoil drives,

4 : as 1 but with a damper module,

5 A device according to the invention with a data transmitter and a display device,

6 : A detail of a yaw bearing with a delay device between a bearing device and a connecting part and

7 : A detail of a hinge device to which the connecting part and a pendulum device are coupled to each other.

In a first embodiment, the in 1 is shown has a device according to the invention 1 a storage facility 2 , a connecting part 3 and an image pickup device 4 on, with the connecting part 3 from a rigid frame 5 is formed and the image pickup device 4 at a shuttle 6 is arranged, wherein the shuttle 6 next to the image recording device 4 also a balancing mass 7 having.

The storage facility 2 is on one of the connecting part 3 opposite side with a flexible elastic suspension 8th connected, which is formed here by a hollow tube, which consists of a metal spiral with a plastic jacket. Such a suspension device 8th In particular, has the advantageous property of still having a high torsional stiffness with a low bending stiffness, so difficult to allow a rotation about its own longitudinal axis. In this way, an uncontrolled rotation of the image pickup device 4 be avoided.

The suspension device 8th is again at an end portion 9 a rigid holding device 10 arranged in 1 only partially shown. To a curvature of the bending elastic suspension device 8th to limit to a maximum degree is at a kink 11 directly to the rigid holding device 10 connects, a spring element 12 arranged, which has a radius of curvature of the suspension device 8th limited. In this way, otherwise permanently occurring damage to the hanger 8th be prevented.

The storage facility 2 is with the connecting part 3 coupled, wherein both parts are rotatable about a total of three axes of rotation X1, Y1 and Z1 relative to each other. The first rotation axis X1 and the second rotation axis Y1 are in one joint device 13 executed in the form of a universal joint, wherein both axes of rotation X1, Y1 are oriented approximately horizontally, perpendicular to each other and in a common point of intersection 14 to cut. The axes of rotation X1 and Y1 together span an approximately horizontally oriented plane. The axis of rotation Z1 is perpendicular to this plane and thus oriented approximately vertically. A mutual rotation of the storage facility 2 against the connecting part 3 around the rotation axis Z1 is in a so-called yaw storage 15 implemented structurally, vertically below the hinge device 13 is arranged. The axis of rotation Z1 passes through the intersection 14 the rotation axes X1 and Y1. The rotation axes X1, Y1 and Z1 each provide a degree of freedom of the connecting part 3 This means that the connecting part 3 together with the image pickup device arranged thereon 4 about the rotation axes X1, Y1 and Z1 against the bearing device is freely rotatable.

The storage facility 2 and the connecting part 3 are detachably connected. This is the yaw camp 15 designed in two parts and has an upper housing part 16 and a lower housing part 17 on. Both housing parts 16 . 17 are by means of a bolt 18 in the corresponding recesses of both housing parts 16 . 17 is insertable, positively connected with each other, wherein the bolt 18 by means of two locking pins 23 slipping out of the yaw camp 15 is hindered. A detail of the yaw camp 15 is 6 This application can be removed.

The connecting part 3 is - as described above - here as a closed rigid frame 5 executed. The closed version helps the connecting part 3 to one compared to an alternative equally conceivable open design for increased rigidity. In particular, the closed frame 5 significantly less susceptible to twisting and torsion, which is an undesirable deflection of the image pickup device 4 could cause.

At a lower side of the connecting part 3 is the shuttle 6 arranged. A coupling between the connection part 3 and the shuttle 6 is articulated, the pendulum device 6 around a third rotation axis X2 and a fourth rotation axis Y2 relative to the connection part 3 is rotatable. Both axes of rotation X2 and Y2 are structurally by means of another joint device 19 implemented in the form of a universal joint, wherein the axes of rotation X2 and Y2 are perpendicular to each other, both are aligned approximately horizontally and in an intersection 20 to cut. The joint device 19 is in a detail in 7 of the present application described in detail.

The further rotation axes X2 and Y2 cause a decoupling of the shuttle 6 together with the image pickup device arranged thereon 4 from the connecting part 3 , According to the invention, this has the consequence that the image recording device 4 completely rotatory from the storage facility 2 is decoupled. The importance for the recording quality, by means of such a device 1 can be achieved is explained below with reference to an exemplary sequence of movements:
The storage facility 2 the device 1 should move in a horizontal direction parallel to the second axis of rotation Y1 of the device, for example, due to a guiding movement of the cameraman, the image pickup device 4 would like to move. Due to the condition caused by the rotation axis Y1 articulation between the bearing device 2 and the connecting part 3 the latter is against the storage facility 2 twist around the first axis of rotation X1, since both the connecting part 3 itself as well as the pendulum device arranged thereon 6 together with their attachments has a not insignificant mass that opposes the inertia of the desired movement. So while the storage facility 2 is already moved in the horizontal direction, the image pickup device remains 4 in the first moment in place and the connecting part 3 rotates against the storage facility 2 around the rotation axis X1. In this movement, however, an upper side of the connecting part 3 , on the same with the yaw camp 15 is connected, moved in the same way translationally, as the connecting part 2 yourself. Because the bottom of the connector 3 due to the inertia remains stationary for the time being, it leads to a rotation of the entire frame 5 opposite the storage facility 2 ,

Would be the shuttle 6 rigid or rigid to the connecting part 3 connected, the former would be at the same angle against the storage facility 2 twist, as it does the connecting part 3 does. As a result of this distortion, the image pickup device would also 4 be twisted, which ultimately an undesirable rotation of the means of the image pickup device 4 taken picture would result.

According to the invention, the shuttle is 6 however by means of the hinge device 19 from the connecting part 3 decoupled, so that both parts can rotate against each other. This is particularly easy in the example shown, since the third axis of rotation X2 is arranged parallel to the first axis of rotation X1. That is, in the described rotation of the connecting part 3 the pendulum device 6 together with the image recording device 4 will not rotate or the rotation of the connecting part 3 not "participate" is. A translatory movement of the connecting part 3 arising from the movement of the storage facility 2 results, the pendulum device 6 on the other hand experienced, where it finally to the desired movement of the image pickup device 4 which comes without any rotation of the same. The latter desired effect of the "stable guidance", that is to say the rotation- and jerk-free guidance of the image recording device, is accordingly realized by means of the third and / or the fourth rotation axis X2, Y2 (here in the example by means of the rotation axis X2).

The pendulum device 6 the device 1 has an elongated pendulum rod 21 on, at the lower end portion of a headband 22 is arranged, by means of which the image pickup device 4 is held. At an upper end portion of the pendulum rod 21 is the balancing mass 7 whose mass is slightly below that of the image pickup device 4 lies. The pendulum rod 21 is in its central area with the hinge device 19 connected. The balancing mass 7 has five individual mass parts 24 one of which is central in an extension of the pendulum rod 21 is arranged and the remaining four on two support parts 25 are distributed. These support parts 25 are arranged horizontally similar to the axes of rotation X1, Y1, X2 and Y2 and are perpendicular to each other. The mass parts 24 are each in end portions of the support members 25 arranged and each have a certain horizontally measured distance to the pendulum rod 21 and thus also to the point of intersection 20 the rotation axes X2, Y2. That means that the mass parts 24 a lever arm relative to the intersection 20 and generate in the gravitational field of the earth, that is, under the effect of gravitational force, a torque about the axes of rotation X2, Y2. Assign the mass parts 24 on the support parts 25 such a position in which the moments of the opposing mass parts 24 exactly cancel, is the pendulum device 6 - and with it the image recording device 4 , essentially vertical.

The described difference of the masses of the balancing mass 7 and the image pickup device 4 causes a tilting of the pendulum rod 21 a restoring moment of the image recording device 4 the one that by the balancing mass 7 is exceeded. This leads to the effect that the shuttle 6 after an (undesired) deflection about one or both axes of rotation X2, Y2 again shuttles into a rest position in which the pendulum rod 21 is oriented approximately vertically. Overall, it is advantageous if the shuttle 21 has a certain minimum mass, so that it has a sufficient inertia. This is beneficial in terms of stable storage as possible.

The mass parts 24 the balancing mass 7 are movable on the support parts 25 arranged so that the user of the device particularly easy to adjust the shuttle and the above-described torque ratios can be adjusted about the axes of rotation X2, Y2. In addition, a total mass of the balancing mass 7 Particularly easy changeable by the mass parts 24 the balancing mass 7 be increased or reduced. In the example shown, this particular is simply possible because the mass parts 24 are composed of a plurality of small mass fragments in the form of slices, which can be added and / or removed individually. In this way, the balancing mass 7 particularly comfortable with different image recording devices 4 be adjusted.

The image capture device 4 is in the example shown also three further rotation axes X3, Y3 and Z3 rotatable in the headband 22 stored, wherein analogous to the nomenclature of the other rotation axes X1, Y1, Z1, X2, Y2, the rotation axis X3 a roll, the rotation axis Y3 a pitch and the rotation axis Z3 yaw the image pickup device 4 allows. The special feature of these three rotation axes X3, Y3, Z3 is that upon rotation of the image recording device 4 around these axes only the image recording device 4 itself is moved while the remaining components of the device 1 stay relatively alone. This is ensured in particular by the fact that the axes of rotation X3, Y3 and Z3 are in a center of gravity of the image recording device 4 cutting, so that a rotation of the same causes no change in the torque balance of the shuttle and thereby causes a movement.

A rotation of the image pickup device 4 The rotational axes X3, Y3, Z3 optimally take place by means of remotely controllable drive units, so that the possibility of adjusting an alignment of an optical axis 26 the image pickup device 4 is given continuously. In the example shown, however, only the possibility of a discrete adjustment of the orientation of the image pickup device 4 provided around the rotation axes X3, Y3, Z3. That is, when using the device 1 the user makes a desired setting in advance and then, as soon as the image pickup device 4 unreachable for him at an end facing away from the holding device 10 is stored, not readily change this setting.

The rotation axes X1, X2 and X3 are arranged parallel to each other. The same applies to the rotation axes Y1, Y2 and Y3. Furthermore, both are intersections 14 . 21 as well as the focus of Image recording device 4 in which the respective axes of rotation X1 and Y1, X2 and Y2 and X3 and Y3 intersect, arranged approximately vertically one above the other, that is, the fifth (optional) axis of rotation Z1 and the parallel axis of rotation Z3 cut not only the point of intersection as described above 14 but optimally further the point of intersection 21 as well as the center of gravity of the image recording device 4 , In addition to the rotation axes Z1 and Z3, the yaw of the image pickup device 4 could also allow the joint device 19 have an additional degree of freedom in the form of a vertical axis of rotation (this would be a rotation axis Z2). Such an embodiment is in the in 1 shown embodiment, however, not shown.

Optimally, the axes of rotation X1, X2 and X3 are parallel to the optical axis 26 the image pickup device 4 arranged. Thus, in particular, rotations around the axes X2 and Y2 correspond to pitching and rolling of the image pickup device 4 , wherein a rotation about the rotation axis X2 (roll) relative to the connecting part 3 is independent of a translational movement in the direction of the axis of rotation X2 possible and equally a rotation about the axis of rotation Y2 (pitch) relative to the connecting part 3 is possible regardless of a translatory movement in the direction of the axis of rotation Y2.

In a second embodiment, the in 2 is shown, is the device of the invention 1 with a propeller pair 27 fitted. The propeller pair 27 has two individual propellers 28 on, on opposite sides of the pendulum rod 21 at the joint device 19 are arranged. The propellers 28 are torsionally rigid with the joint device 19 connected, with the propellers 28 only about the rotation axis Y2 rotatable relative to the connecting part 3 are stored. With respect to the axes of rotation X2 and Z1 are the propellers 28 however, torsionally rigid at the connecting part 3 arranged.

The propellers 28 each have a flow direction perpendicular to one of rotor blades 29 of the respective propeller 28 developed level. Furthermore, the flow directions of both propellers run 28 perpendicular to the fifth axis of rotation Z1 and the fourth axis of rotation Y2, they do not intersect. This arrangement causes one by means of the propeller 28 generated driving force can cause a torque about these axes of rotation Y2, Z1, whereby a rotation of either the connecting part 3 relative to the storage facility 2 about the rotation axis Z1 or the shuttle 6 relative to the connecting part 3 around the rotation axis Y2 can be caused.

Which rotation is caused in detail, can about the direction of propulsion of the two propellers 28 to be controlled. Run both propellers 28 in the same direction - for example, to generate a driving force in the direction of the image pickup device 4 - There is a torque balance with respect to the axis of rotation Z1, since both propellers 28 have an identical distance to the axis of rotation Z1 and also generate identical propulsive forces. However, this does not apply to the rotation axis Y2: both propellers 28 cause a torque acting in the same direction about the rotation axis Y2, so that the hinge device 19 together with the pendulum device mounted therein 6 rotated about the rotation axis Y2. The user can in this way a nod of the image pickup device 4 cause. On the other hand, if the propellers are running in opposite directions, the situation is the other way around: With respect to the axis of rotation Y2, they are lifted by means of the propellers 28 Torque generated exactly as they add up with respect to the axis of rotation Z1. In this way, the joint device 19 together with the connecting part which is rigidly connected thereto with respect to the axis of rotation Z1 3 against the storage facility 2 twisted. This rotation describes a yaw of the image pickup device 4 ,

In a further embodiment, the in 3 is shown, is the device 1 instead of the propeller pair 27 with a total of five recoil drives 30 fitted. These recoil drives 30 each have a central axis of rotation 31 and an outer mass ring 32 on, with the axis of rotation 31 and the mass ring 32 by means of connecting struts 33 connected to each other. The axes of rotation 31 are drivable by means of a drive, typically by means of an electric motor. Will the rotation axis 31 a recoil drive 30 accelerated, this likewise causes an acceleration of the respective associated mass ring 32 , According to the law of conservation of momentum, this acceleration produces the mass ring 32 an opposite acceleration acting on the axis of rotation 31 acts ("actio = reactio"). The latter is firmly connected to a respective adjacent component, so that the acceleration of the axis of rotation 31 is transferred directly to this particular component.

If the component is rotatably mounted, the opposite acceleration results in the mass ring 32 finally in a rotational movement of the respective component. Thus, for example, the connecting part 3 relative to the storage facility 2 be twisted about the rotation axis Z1 by the upper of the yaw bearing 15 arranged recoil drive 30 is used. The rest at the joint device 19 connected recoil drives 30 are suitably adapted to a rotation of the shuttle 6 relative to the connecting part 3 to cause the rotation axes X2 and Y2.

Another device according to the invention 1 , in the 4 is shown, shows a damper module 34 , By means of which a vertical, parallel to the axis of rotation Z1 movement of the connecting part 3 from a vertical movement of the shuttle 6 is at least partially decoupled. The damper module 34 has two opposite guide elements 55 on, along these connecting parts 35 that the articulation device 19 with the damper module 34 connect, are mounted vertically displaceable. The damper module 34 is designed here as a hydraulic shock absorber, with both guide elements 55 in each case a corresponding piston-cylinder unit 36 have, which generates a damping effect. Furthermore, both guide elements 55 two spring elements each 37 on, which provide a restoring force, so that the connecting parts 35 after a deflection in vertical direction back to a resting position, the in 4 is shown, return.

By means of with the help of such a damper module 34 generated decoupling of the shuttle 6 or the image recording device 4 from the storage facility 2 may in particular a "restless" vertical movement of the image pickup device 4 be avoided. The risk of a disturbing external influence on the image recording device 4 , which would have a negative impact on the made cinematic recording, can thus be further reduced.

In a further embodiment, the in 5 is shown, is the device 1 recognizable in their entirety. In particular, the holding device 10 , which is executed here in the form of a fishing rod, fully represented. At an end remote from the cameraman 9 the holding device 10 is only the bending elastic suspension 8th arranged, in turn, with the storage facility 2 connected is.

To the image recording device 4 An unillustrated data transmitter is connected, which is capable of image data, by means of the image pickup device 4 be received, to a display device 38 to send, so that they can be displayed there. This display device 38 is advantageously in a cameraman facing end portion 39 the holding device 10 mounted, so that the cameraman can easily get an impression of how the optical axis of the image pickup device 4 is currently aligned and how will the subsequent image material look like. By means of this control possibility, a considerably more efficient working with the device according to the invention is possible, since a possibility for quality control is given directly at the moment of the recording.

6 shows a detail of a yaw camp 15 in an exploded view. This consists of the upper housing part 16 and the lower housing part 17 , wherein the lower housing part 17 firmly with the connecting part 3 is connected and by means of the upper housing part 16 to the storage facility 2 connected. Kinematic is the yaw camp 15 the connecting part 3 because it is arranged "below" the axes of rotation X1 and Y1 and thus by these same axes of rotation X1 and Y1 against the bearing device 2 is rotatable. The upper housing part 16 of the yaw camp 15 is with the lower housing part 17 by means of the bolt 18 connectable, in the corresponding recesses of both housing parts 16 . 17 inserted and by means of two locking pins 23 is secured against slipping out. Both housing parts 16 . 17 are therefore torsionally rigid with the connecting part 3 connected and can not be twisted against this.

To a rotation of the connecting part 3 relative to the storage facility 2 to allow the axis of rotation Z1, the yaw bearing 15 a ball bearing 42 on, with its inner ring on a non-rotatable with the bearing device 2 connected axis is attached. The ball bearing 42 is in an assembled state of the yaw camp 15 in the upper housing part 16 stored. For this it is in the upper housing part 17 inserted and up to an upper, the connecting part 3 opposite end of the upper housing part 17 led, where it is with a radially from an outer wall of the upper housing part 17 inwardly projecting nose is prevented from coming out of the upper housing part 17 "Slipping out". Further, an inner diameter of the upper housing part 17 and an outer diameter of an outer race of the ball bearing 42 , which is rotatably supported about the rotation axis Z1 relative to the inner ring, approximately equal, so that the outer ring of the ball bearing 42 with an inner wall of the upper housing part 17 engages and forms a frictional connection.

Below the ball bearing 42 is a brake disc 44 arranged with respect to the rotational axis Z1 rotatably relative to the joint body 13 or the storage facility 2 is executed. This brake disc 44 is suitable with a brake pad 45 cooperate and in this way a braking of a rotation of the connecting part 3 relative to the storage facility 2 to effect the rotation axis Z1. The brake disc 44 and the brake pad 45 together form a delay device 40 ,

The brake pad 45 is by means of a coupling element 46 rotatable relative to the housing parts 16 . 17 arranged by the coupling element 46 with two opposite grooves form-fitting with the bolt 18 intervenes. Below the brake pad 45 is a tension element 41 arranged, by means of a pull cord 43 from a bottom against the brake pad 45 can be pulled. This will be the brake pad 45 against a bottom of the brake disc 44 pressed so that both parts make a frictional engagement, wherein the with the connecting part 3 rotating brake pad 45 against the stationary with the storage facility 2 rotatably connected brake disc 44 suppressed. By this frictional connection, a braking effect is finally generated, which is the rotation of the connecting part 3 brakes about the axis of rotation Z1. According to the principle of a Bowden cable is the pull cord 43 in the example shown in the executed as a hollow hose suspension device 8th guided and can by a user of the device 1 facing end portion of the holding device 10 be operated.

After a successful braking the brake pad 45 again from the brake disc 44 to solve, between both elements is a return spring 56 arranged, which has a restoring force on the activated brake pad 45 triggers. Once the user of the device 1 the drawstring 43 lets go and thus the tension element 41 no longer from the bottom against the brake pad 45 presses, the latter is due to the action of the return spring 56 moved back to its starting position, where he no longer with the brake disc 44 intervenes. In this state is readily another rotation of the connecting part 3 relative to the storage facility 2 around the rotation axis Z1 possible.

In 7 is finally a detail of the joint device 19 represented, which implements the rotation axes X2 and Y2 constructively and for the mutual rotatability of connecting part 3 and shuttle 6 provides. The joint device 19 has an outer box enclosing an interior area 47 on, the four lateral wall parts 48 . 49 . 50 . 51 having. At the two wall parts 48 . 50 , which are oriented perpendicular to the axis of rotation Y2, is the connecting part 3 in the form of the rigid frame 5 connected. The connecting part 3 is by means of ball bearings 52 about the rotation axis Y2 rotatable in the wall parts 48 . 50 the box 47 stored. Consequently, the entire box 47 about the axis of rotation Y2 against the connecting part 3 to be twisted.

In the wall parts 49 . 51 is a bolt 53 anchored, which is not itself against the wall parts 49 . 51 is rotatable. On this bolt 53 is a pivot bearing 54 arranged by means of two other ball bearings 52 on the bolt 53 is stored. By means of these ball bearings 52 can the pivot bearing 54 relative to the wall parts 49 . 51 or the box 47 twist around the axis of rotation X2. The pivot bearing 54 is finally stuck with the pendulum rod 21 connected, so that by means of the pivot bearing 54 ultimately a twistability of the shuttle 6 relative to the box 47 and thus also to the connecting part 3 around the axis of rotation X2 is achieved.

By means of the rotatable mounting of the connecting part 3 in the wall parts 48 . 50 the box 47 and the rotatable mounting of the pivot bearing 54 on the bolt 53 is therefore the shuttle 6 both about the axis of rotation X2 and about the axis of rotation Y2 rotatable relative to the connecting part 3 stored. Referring to the embodiment according to 4 , are the recoil drives 30 that is a twist of the shuttle 6 relative to the connecting part 3 to trigger the rotation axis X2, rotationally fixed to the pivot bearing 54 connected, so that by means of the recoil drives 30 generates acceleration directly on the shuttle 6 acts and thus rolling the image pickup device 4 can generate. The laterally arranged recoil drives 30 Indirectly act directly with the wall parts 48 . 50 the box 47 together and thus can generate a rotation about the axis of rotation Y2.

LIST OF REFERENCE NUMBERS

1

contraption

2

Storage facility

3

connecting part

4

Image recording device

5

frame

6

shuttle

7

Leveling compound

8th

suspension

9

end

10

holder

11

kink

12

spring element

13

joint device

14

intersection

15

greed camp

16

Upper housing part

17

Lower housing part

18

bolt

19

joint device

20

intersection

21

pendulum rod

22

headband

23

safety pin

24

mass part

25

support part

26

Optical axis

27

propeller pair

28

propeller

29

rotor blade

30

Reaction engine

31

axis of rotation

32

ground ring

33

connecting strut

34

attenuator module

35

connector

36

Piston-cylinder unit

37

spring element

38

display

39

end

40

delay means

41

tension element

42

ball-bearing

43

drawstring

44

brake disc

45

brake pad

46

coupling element

47

box

48

wall part

49

wall part

50

wall part

51

wall part

52

ball-bearing

53

bolt

54

pivot bearing

55

guide element

56

Return spring

X1

(first) rotation axis

Y1

(second) rotation axis

X2

(third) rotation axis

Y2

(fourth) rotation axis

Z1

(fifth) rotation axis

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• US 4946272 [0008]
• DE 20301604 U1 [0008]
• US 2009/0257741 A1 [0008]
• US 2011/0169972 A1 [0008]
• DE 3815342 C1 [0011]

Claims (11)

Contraption ( 1 ) for the stabilized guidance of an image recording device ( 4 ), comprising a storage device ( 2 ) for receiving by the device ( 1 ) generated bearing forces and the image pickup device ( 4 ), the storage facility ( 2 ) and the image recording device ( 4 ) at least about a first axis of rotation (X1) and a second axis of rotation (Y1), which are not arranged parallel to each other, are rotatable relative to each other, characterized by a rigid connecting part ( 3 ), both with the storage facility ( 2 ) as well as with the image recording device ( 4 ), the connecting part ( 3 ) and the storage facility ( 2 ) at least about the first axis of rotation (X1) and the second axis of rotation (Y1) are rotatable relative to each other and the connecting part ( 3 ) and the image recording device ( 4 ) at least about a third axis of rotation (X2) and a fourth axis of rotation (Y2), which are not arranged parallel to each other, are rotatable relative to each other. Apparatus according to claim 1, characterized in that in a rest position of the device ( 1 ), in which no disturbing forces on the device ( 1 ), all four rotation axes (X1, Y1, X2, Y2) are oriented approximately horizontally, wherein preferably the first rotation axis (X1) and the second rotation axis (Y1) and the third rotation axis (X2) and the fourth rotation axis (Y2) are each arranged perpendicular to each other and more preferably, the first axis of rotation (X1) and the second axis of rotation (Y2) in a first intersection ( 14 ) and the third rotation axis (X2) and the fourth rotation axis (Y2) in a second intersection ( 20 ), wherein even more preferably the first axis of rotation (X1) parallel to the third axis of rotation (X2) and the second axis of rotation (Y1) parallel to the fourth axis of rotation (Y2) is arranged and the two intersection points (X1) 14 . 20 ) are arranged one above the other on an approximately vertical line, wherein even more preferably the first axis of rotation (X1) and the third axis of rotation (X2) are parallel to an optical axis (X2). 26 ) of the image recording device ( 4 ) are arranged. Device according to claim 1 or 2, characterized in that the connecting part ( 3 ) and the storage facility ( 2 ) and / or the connecting part ( 3 ) and the image recording device ( 4 ) are rotatable relative to each other at least about a fifth rotational axis (Z1), the fifth rotational axis (Z1) being non-parallel to one of the first rotational axis (X1) and the second rotational axis (Y2) and / or one of the third rotational axis (X2 ) and the fourth axis of rotation (Y2) plane oriented, preferably oriented perpendicular to the respective plane, wherein in a rest position of the device ( 1 ), in which no disturbing forces on the device ( 1 ) act, the fifth axis of rotation (Z1) is oriented approximately vertically. Device according to one of claims 1 to 3, characterized by a pendulum device ( 6 ) connected to the connecting part ( 3 ), the shuttle ( 6 ) and the connecting part ( 3 ) are rotatable relative to each other by means of the third axis of rotation (X1) and the fourth axis of rotation (X2), wherein the pendulum device ( 6 ) preferably in opposing end sections on the one hand the image recording device ( 4 ) and on the other hand a balancing mass ( 7 ), whose mass is further preferably approximately in a mass of the image recording device ( 4 ), but is actually smaller than this, the mass of the balancing mass ( 7 ) is preferably changeable. Device according to one of claims 1 to 4, characterized by an elongated holding device ( 10 ), preferably a telescopically extendable holding device ( 10 ), more preferably a fishing rod, the storage device ( 2 ) at an end portion ( 9 ) of the holding device ( 10 ) is arranged. Device according to one of claims 1 to 5, characterized by at least one drive device, by means of which a relative rotation of the image recording device ( 4 ) opposite the storage facility ( 2 ) about the third axis of rotation (X2) and / or fourth axis of rotation (Y2) and / or a fifth axis of rotation (Z1) which are non-parallel to one of the first axis of rotation (X1) and the second axis of rotation (Y2) and / or is triggered by the third axis of rotation (X2) and the fourth axis of rotation (Y2) is oriented, the drive device preferably by at least one propeller ( 28 ) and / or at least one recoil drive ( 30 ) and / or at least one mass drive driving linear drive is formed. Apparatus according to claim 6, characterized by at least one sensor unit, by means of which an acceleration and / or a speed and / or an inclination angle and / or a gravitational force of the image recording device ( 4 ) and / or the connecting part ( 3 ), and a data processing unit, wherein data detected by means of the sensor unit can be evaluated by means of the data processing unit and the at least one drive device can be controlled. Device according to one of claims 1 to 7, characterized by a damper module ( 34 ), by means of which a vertical movement of the bearing device ( 2 ) of a vertical movement of the image recording device ( 4 ) is at least partially decoupled, wherein the damper module ( 34 ) at least one vertically oriented guide element ( 55 ), along which the image recording device ( 4 ) or the image recording device ( 4 ) supporting member is mounted vertically movable. Device according to one of claims 1 to 8, characterized by a data transmitter, by means of which the image recording device ( 4 ) recorded image data to a display device ( 38 ) are transferable, wherein by means of the display device ( 38 ) an alignment of an optical axis ( 26 ) of the image recording device ( 4 ) by a user of the device ( 1 ) is controllable, wherein the data transmitter, the image data preferably wirelessly to the display device ( 38 ) transmits. Device according to one of claims 1 to 9, characterized by a delay device ( 40 ), by means of which a relative rotation of the bearing device ( 2 ) relative to the image recording device ( 4 ) about a fifth rotation axis (Z1) oriented non-parallel to a plane spanned by the first rotation axis (X1) and the second rotation axis (Y1) and / or one plane spanned by the third rotation axis (X2) and the fourth rotation axis (Y2) is, is brakable. Device according to one of claims 1 to 10, characterized in that at least the image recording device ( 4 ), preferably both the image recording device ( 4 ) as well as the rigid connecting part ( 3 ), by an enveloping body at least partially, preferably completely, are enclosed, wherein the enveloping body is preferably rigidly connected to the bearing means ( 2 ) connected is.

Images