CA2536826A1 - Stabilized three-axis camera head - Google Patents
Stabilized three-axis camera head Download PDFInfo
- Publication number
- CA2536826A1 CA2536826A1 CA002536826A CA2536826A CA2536826A1 CA 2536826 A1 CA2536826 A1 CA 2536826A1 CA 002536826 A CA002536826 A CA 002536826A CA 2536826 A CA2536826 A CA 2536826A CA 2536826 A1 CA2536826 A1 CA 2536826A1
- Authority
- CA
- Canada
- Prior art keywords
- camera
- frame
- housing
- pan
- linked
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract 3
- 230000000712 assembly Effects 0.000 claims abstract 2
- 238000000429 assembly Methods 0.000 claims abstract 2
- 238000000034 method Methods 0.000 claims 11
- 230000001133 acceleration Effects 0.000 claims 3
- 238000007789 sealing Methods 0.000 claims 3
- 210000002445 nipple Anatomy 0.000 claims 1
- 238000004091 panning Methods 0.000 claims 1
- 238000010926 purge Methods 0.000 claims 1
- 230000006641 stabilisation Effects 0.000 claims 1
- 238000011105 stabilization Methods 0.000 claims 1
Classifications
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/02—Bodies
- G03B17/08—Waterproof bodies or housings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/048—Mobile camera platform
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
- F16M11/105—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis the horizontal axis being the roll axis, e.g. for creating a landscape-portrait rotation
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
- F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
- F16M11/2064—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction for tilting and panning
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
- F16M11/28—Undercarriages for supports with one single telescoping pillar
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
- F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/06—Arms
- F16M2200/063—Parallelogram arms
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Studio Devices (AREA)
- Accessories Of Cameras (AREA)
- Structure And Mechanism Of Cameras (AREA)
Abstract
A remote camera head and stabilized camera system contain a roll frame, tilt frame and pan frame in multiple positions. The camera head can be expanded or reduced in size as needed based on the space requirements of the camera and camera accessories mounted on the camera head. Control circuits are provided to compensate for drift, to allow manual aiming of the camera during stabilized camera operation, and for providing rapid leveling. Waterproof or sealed slip ring assemblies and connectors allow the camera head to operate in wet environments, or even when submerged in water.
Claims (47)
1.~A camera support comprising:
a pan frame, including a pan housing, a pan arm, rotatably attached to the pan housing and a pan motor for moving the pan arm relative to the pan housing;
a tilt frame including tilt housing, a tilt arm rotatably attached to the tilt housing and a tilt motor for moving the tilt arm relative to the tilt housing, and with the tilt frame securable onto the pan arm at multiple positions along the pan arm; and a roll frame having a roll housing and a camera platform rotatably attached to the roll housing, and a roll motor for moving the camera platform relative to the roll housing, and with the roll frame securable to the tilt arm at multiple positions along the tilt arm.
a pan frame, including a pan housing, a pan arm, rotatably attached to the pan housing and a pan motor for moving the pan arm relative to the pan housing;
a tilt frame including tilt housing, a tilt arm rotatably attached to the tilt housing and a tilt motor for moving the tilt arm relative to the tilt housing, and with the tilt frame securable onto the pan arm at multiple positions along the pan arm; and a roll frame having a roll housing and a camera platform rotatably attached to the roll housing, and a roll motor for moving the camera platform relative to the roll housing, and with the roll frame securable to the tilt arm at multiple positions along the tilt arm.
2. ~The camera support of claim 1 with the tilt frame slidably attached to the pan frame, and including a locking element movable into an open position, to allow sliding movement between the pan frame and the tilt frame, for adjusting the relative position of the tilt frame to the pan frame, and with the locking element also moveable into a locked position, to lock the tilt frame into a fixed position on the pan frame.
3. ~The camera support of claim 1 further comprising a worm gear on the pan motor meshing with a drive gear linked to the pan through a clutch.
4. ~The camera support of claim 1 further comprising a slip ring assembly in each of the pan, tilt and roll housings, and with water proof cable segments extending between the slip ring assemblies.
5. ~The camera support of claim 1 further comprising a sealed bearing in the pan housing, providing a low friction rotation connection between the pan arm and the pan housing.
6. ~The camera support of claim 1 further comprising a first pair of waterproof connectors between the pan housing and the tilt housing, a second pair of waterproof connectors between the tilt housing and the roll housing, and a third pair of waterproof connectors on the camera platform.
7. ~The camera support of claim 1 further comprising gas purge ports in the tilt housing.
8. ~The camera support of claim 1 further comprising a pan lock pin moveable between a lock position where the pan lock pin extends between the pan housing and the pan arm, to prevent movement between them, to an unlock position wherein the pan lock pin is withdrawn from one of the pan housing and the pan arm, to allow rotational movement between them.
9. ~The camera support of claim 1 further comprising an adjustable pan brake to set pan axis braking force.
10. ~The camera support of claim 1 further comprising a pan shaft in the pan housing, with the pan motor connecting to the pan shaft via gearing, and with the pan shaft sealed against the pan housing and rotatable within the pan housing when driven by the pan motor.
11. ~The camera support of claim 1 further comprising seals in the pan housing, the tilt housing and the roll housing, for sealing water out of each of the housings, to allow for underwater operation of the camera support.
12. ~A camera head comprising:
a first frame;~
a first arm rotatably attached to the first frame;
a first motor for rotating the first arm relative to the first frame, with the first motor enclosed within a sealed first housing;
a second frame attached to the first arm;
a second arm rotatably attached to the second frame; and a second motor for rotating the second arm relative to the second frame, with the second motor enclosed within a sealed second housing.
a first frame;~
a first arm rotatably attached to the first frame;
a first motor for rotating the first arm relative to the first frame, with the first motor enclosed within a sealed first housing;
a second frame attached to the first arm;
a second arm rotatably attached to the second frame; and a second motor for rotating the second arm relative to the second frame, with the second motor enclosed within a sealed second housing.
13. ~The camera head of claim 12 further comprising a third frame, a third arm rotatably attached to the third frame, and a third motor for rotating the third arm relative to the third frame, with the third motor enclosed within a sealed third housing.
14. ~The camera head of claim 12 wherein the first and second sealed housings are waterproof, to allow for underwater operation of the camera head.
15. ~The camera head of claim 12 further comprising a first shaft rotatably supported within the first housing, with the second frame attached to the first shaft, and the first shaft sealed against the first housing, a first gear linked to the first shaft through a first clutch, and with the first gear linked to the first motor, and at least one clutch operation lever on the housing moveable from a first position, wherein the lever engages the first clutch to allow the first motor to drive the first shaft, to a second position, wherein the lever disengages the first clutch, allowing the first shaft to rotate free of the motor.
16. ~The camera head of claim 15 further comprising one or more clutch drive pins within the first housing between the first clutch and the clutch operation lever, and with the clutch drive pins axially moveable within the first housing and sealed against the first housing.
17. ~The camera head of claim 12 further comprising:
a first housing on the first frame;
a first hollow shaft rotatably supported within the first housing, with the second frame attached to the first shaft, and the first shaft sealed against the first housing;
a first gear linked to the first shaft through a first clutch, and with the first gear linked to the first motor;
a first slip ring assembly extending into the first hollow shaft;
a first shaft plug within and sealed against the first hollow shaft;
a first electrical cable extending into a first end of the first slip ring assembly via a waterproof connection; and a second electrical cable extending through a waterproof connection in the first shaft plug and into a second end of the first slip ring assembly.
a first housing on the first frame;
a first hollow shaft rotatably supported within the first housing, with the second frame attached to the first shaft, and the first shaft sealed against the first housing;
a first gear linked to the first shaft through a first clutch, and with the first gear linked to the first motor;
a first slip ring assembly extending into the first hollow shaft;
a first shaft plug within and sealed against the first hollow shaft;
a first electrical cable extending into a first end of the first slip ring assembly via a waterproof connection; and a second electrical cable extending through a waterproof connection in the first shaft plug and into a second end of the first slip ring assembly.
18. ~The camera head of claim 17 further comprising a tube adapter having a tube nipple and a base plate, with the tube adapter attached to the first slip ring assembly and to the first housing, first seal sealing the base plate to the first slip ring assembly, and a second seal sealing the slip ring assembly to the first housing, to provide a waterproof connection for wires leading into the first slip ring assembly.
19. ~The camera head of claim 12 further comprising a position locking device moveable from a locked position, wherein the locking device prevents movement between the first arm and the second housing, to an unlocked position, wherein the second housing can move relative to the first arm, to adjust the size of the camera head.
20. ~A camera support comprising:
a first frame including a first housing;
a first shaft rotatably supported within the first housing, and sealed against the first housing;
a first arm attached to the first shaft;
a first motor sealed within the first housing, for rotating the first shaft, to rotate the first arm relative to the first housing;
a second frame including a second housing;
a second shaft rotatably supported within the second housing, and sealed against the second housing;
a second arm attached to the second shaft;
a second motor sealed within the second housing, for rotating the second shaft, to rotate the second arm relative to the second housing;
and with the second frame having an extension section slidable over or into the first arm;
and a locking device associated the extension section and the first arm, with the locking device movable from a locked position, wherein the locking device locks the extension section and the first arm together, to an unlocked position, wherein the extension section can slide over or into the first arm, to adjust the size of the camera support.
a first frame including a first housing;
a first shaft rotatably supported within the first housing, and sealed against the first housing;
a first arm attached to the first shaft;
a first motor sealed within the first housing, for rotating the first shaft, to rotate the first arm relative to the first housing;
a second frame including a second housing;
a second shaft rotatably supported within the second housing, and sealed against the second housing;
a second arm attached to the second shaft;
a second motor sealed within the second housing, for rotating the second shaft, to rotate the second arm relative to the second housing;
and with the second frame having an extension section slidable over or into the first arm;
and a locking device associated the extension section and the first arm, with the locking device movable from a locked position, wherein the locking device locks the extension section and the first arm together, to an unlocked position, wherein the extension section can slide over or into the first arm, to adjust the size of the camera support.
21. ~The camera support of claim 20 further comprising a third frame having a third housing and a camera platform rotatably attached to the third housing, and a third motor for moving the camera platform relative to the third housing, and with the roll frame securable to the second arm at multiple positions along the second arm.
22. ~The camera support of claim 20 wherein the locking device comprises a cam lever.
23. ~A stabilized camera system, comprising:~
a pan frame;
a roll frame pivotably attached to the pan frame, with the roll frame comprising a parallelogram linkage; and a tilt frame pivotably attached to the roll frame.
a pan frame;
a roll frame pivotably attached to the pan frame, with the roll frame comprising a parallelogram linkage; and a tilt frame pivotably attached to the roll frame.
24. ~The system of claim 23 wherein the pan frame comprises an arcuate box section.
25. ~The system of claim 23 further comprising a roll collar at a first end of the parallelogram linkage, and first and second roll motors linked to the roll collar.
26. ~The system of claim 25 further comprising a tilt collar at a second end of the parallelogram linkage, and first and second tilt motors linked to the tilt collar.
27. ~The system of claim 23 further comprising a pan shaft joined to the pan frame and first and second pan motors linked to the pan shaft.
28. ~The system of claim 23 further comprising locking means for locking the parallelogram linkage into a fixed position.
29. ~A stabilized camera system, comprising:
a control device linked to first summator;
a camera platform sensor linked to the first summator;
a switch having a first position and a second position;
an amplifier linked to the summator when the switch is in the first position to provide a first mode of stabilization; and a manual camera aiming mode circuit linked to the summator and to the amplifier, when the switch is in a second position.
a control device linked to first summator;
a camera platform sensor linked to the first summator;
a switch having a first position and a second position;
an amplifier linked to the summator when the switch is in the first position to provide a first mode of stabilization; and a manual camera aiming mode circuit linked to the summator and to the amplifier, when the switch is in a second position.
30. ~The system of claim 29 wherein the manual camera aiming mode circuit includes a divider for providing adjustable dampening and a differentiator for providing an adjustable amount of inertia feel to manual aiming movement of the camera platform, with the divider and differentiator linked to a second summator connecting to the amplifier.
31. ~The system of claim 29 wherein the control device comprises a joystick, a mouse, a memory device; control wheels, or control foot pedals, or a combination of them.
32. A stabilized camera platform system, comprising:
a control device linked to a summator;
a rate sensor on the camera platform linked to the summator;
an amplifier linked to the summator;
a motor for moving the platform, linked to the amplifier; and a position sensor on the camera platform linked to the summator, for controlling drift by providing feedback.
a control device linked to a summator;
a rate sensor on the camera platform linked to the summator;
an amplifier linked to the summator;
a motor for moving the platform, linked to the amplifier; and a position sensor on the camera platform linked to the summator, for controlling drift by providing feedback.
33. The system of claim 32 further including a trim potentiometer linked to the summator.
34. A stabilized camera platform system, comprising:
a first control device linked to a first summator;
a first sensor on the camera platform linked to the first summator;
a first amplifier linked to the first summator;
a first motor linked to the first amplifier, for moving the platform about a first axis;
a second control device linked to a second summator;
a second sensor on the camera platform linked to the second summator;
a second amplifier linked to the second summator;
a second motor linked to the second amplifier, for moving the platform about a second axis;
a third control device linked to a third summator;~~
a third sensor on the camera platform linked to the third summator;
a third amplifier linked to the third summator;
a third motor linked to the third amplifier, for moving the platform about a third axis;
a sine angle sensor associated with the roll frame and pan frame and first and the third summators, to compensate the output of the first sensor when the camera platform is moved out of a zero degree level position.
a first control device linked to a first summator;
a first sensor on the camera platform linked to the first summator;
a first amplifier linked to the first summator;
a first motor linked to the first amplifier, for moving the platform about a first axis;
a second control device linked to a second summator;
a second sensor on the camera platform linked to the second summator;
a second amplifier linked to the second summator;
a second motor linked to the second amplifier, for moving the platform about a second axis;
a third control device linked to a third summator;~~
a third sensor on the camera platform linked to the third summator;
a third amplifier linked to the third summator;
a third motor linked to the third amplifier, for moving the platform about a third axis;
a sine angle sensor associated with the roll frame and pan frame and first and the third summators, to compensate the output of the first sensor when the camera platform is moved out of a zero degree level position.
35. The system of claim 34 wherein the second sensor is a roll axis level sensor.
36. A stabilized camera platform system, comprising:
a roll axis control circuit including a switch having first, second~
and third positions;
a roll axis level sensor on the camera platform linked to the roll axis control circuit;
a first summator linked to the roll axis control circuit and to a manual control device;
a second summator linked to a roll axis rate sensor and to the first summator;
an amplifier linked to the second summator;
a roll axis drive motor linked to the amplifier for moving the camera platform about the roll axis; and the roll axis control circuit providing a fast-to-horizon mode, when the switch is in the first position, for rapidly moving the camera platform to horizontal; and providing a normal speed-to-horizon mode, when the switch is in the second position and the roll axis manual control device is providing a zero output; and for providing an off mode, where the output from the roll axis level sensor is not used in controlling camera platform movement.
a roll axis level sensor on the camera platform linked to the summator;
an amplifier linked to the summator;
a motor for moving the platform, linked to the amplifier; and a position sensor on the camera platform linked to the summator, for controlling drift by providing feedback.
a roll axis control circuit including a switch having first, second~
and third positions;
a roll axis level sensor on the camera platform linked to the roll axis control circuit;
a first summator linked to the roll axis control circuit and to a manual control device;
a second summator linked to a roll axis rate sensor and to the first summator;
an amplifier linked to the second summator;
a roll axis drive motor linked to the amplifier for moving the camera platform about the roll axis; and the roll axis control circuit providing a fast-to-horizon mode, when the switch is in the first position, for rapidly moving the camera platform to horizontal; and providing a normal speed-to-horizon mode, when the switch is in the second position and the roll axis manual control device is providing a zero output; and for providing an off mode, where the output from the roll axis level sensor is not used in controlling camera platform movement.
a roll axis level sensor on the camera platform linked to the summator;
an amplifier linked to the summator;
a motor for moving the platform, linked to the amplifier; and a position sensor on the camera platform linked to the summator, for controlling drift by providing feedback.
37. A method for setting up a camera support comprising the following steps:
releasing a hand operable tilt frame locking element, to allow sliding movement between a pan frame and a tilt frame;
adjusting the relative position of the tilt frame to the pan frame, by sliding the tilt frame relative to the pan frame, and returning the tilt frame locking element back to a locked position, to lock the tilt frame into a fixed position on the pan frame;
releasing a hand operable roll frame locking element, to allow sliding movement between the tilt frame and a roll frame;
adjusting the relative position of the roll frame to the tilt frame, by sliding the roll frame relative to the tilt frame; and returning the roll frame locking element back to a locked position, to lock the roll frame into a fixed position on the tilt frame.
releasing a hand operable tilt frame locking element, to allow sliding movement between a pan frame and a tilt frame;
adjusting the relative position of the tilt frame to the pan frame, by sliding the tilt frame relative to the pan frame, and returning the tilt frame locking element back to a locked position, to lock the tilt frame into a fixed position on the pan frame;
releasing a hand operable roll frame locking element, to allow sliding movement between the tilt frame and a roll frame;
adjusting the relative position of the roll frame to the tilt frame, by sliding the roll frame relative to the tilt frame; and returning the roll frame locking element back to a locked position, to lock the roll frame into a fixed position on the tilt frame.
38. ~A method for supporting a camera on camera head, comprising;
sensing movement of the camera about a first axis;
generating a first axis movement signal based on the sensed~
movement;
combining the first axis movement signal with an input control device signal to form a combined signal;
inputting the combined signal to a summator;
amplifying a corresponding output signal from the summator; and using the amplified output signal to control a motor adapted to move the camera about the first axis, in a manual camera aiming mode.
sensing movement of the camera about a first axis;
generating a first axis movement signal based on the sensed~
movement;
combining the first axis movement signal with an input control device signal to form a combined signal;
inputting the combined signal to a summator;
amplifying a corresponding output signal from the summator; and using the amplified output signal to control a motor adapted to move the camera about the first axis, in a manual camera aiming mode.
39. ~The method of claim 38 further including the step of inputting the combined signal to a divider and a differentiator, and then providing divider and differentiator output signals from the summator, with the divider providing an adjustable dampening feel to manual camera movement, and with the differentiator providing an adjustable inertia feel to manual camera movement.
40. The method of claim 38 or 39 further comprising performing the same steps for a second axis and a third axis.
41. The method of claim 38 or 39 where the camera or camera platform movement is sensed via a rate sensor.
42. A method for supporting a camera on camera head or platform, comprising;
sensing movement or a speed of movement of the camera about a first axis;
controlling an electric motor adapted to move the camera about the first axis, so that the motor resists movement of the camera about the first axis, and with the resistance proportional to the speed of camera movement, so that the control of the electric motor provides electronically controlled dampening to movement of the camera.
sensing movement or a speed of movement of the camera about a first axis;
controlling an electric motor adapted to move the camera about the first axis, so that the motor resists movement of the camera about the first axis, and with the resistance proportional to the speed of camera movement, so that the control of the electric motor provides electronically controlled dampening to movement of the camera.
43. The method of claim 42 further including the step of generating a signal proportional to the sensed movement, inputting the signal to a divider circuit, and controlling the motor based on an output from the divider.
44. ~A method for supporting a camera on camera head or platform, comprising;
sensing acceleration of the camera about a first axis;
controlling an electric motor adapted to move the camera about the first axis, so that the motor resists movement of the camera about the first axis, and with the resistance proportional to the acceleration of the camera movement, so that the control of the electric motor provides an electronically~
controlled amount of inertia feel to movement of the camera.
sensing acceleration of the camera about a first axis;
controlling an electric motor adapted to move the camera about the first axis, so that the motor resists movement of the camera about the first axis, and with the resistance proportional to the acceleration of the camera movement, so that the control of the electric motor provides an electronically~
controlled amount of inertia feel to movement of the camera.
45. ~The method of claim 42 further including the step of generating a signal proportional to the sensed acceleration, inputting the signal to a differentiator circuit, and controlling the motor based on an output from the differentiator
46. ~A method for reducing drift in a camera support system, comprising the steps of:
detecting movement of the camera or camera platform about a first axis via a first rate sensor;
detecting movement of the camera or camera platform about a second axis via a first position sensor;
adding a drift output signal from the first position sensor, a control device output signal, and a trim position signal, in a drift compensation circuit;
and using the sum of the added signals to control a motor connected to drive the camera or camera platform about the first axis, to reduce or eliminate drift about the first axis.
detecting movement of the camera or camera platform about a first axis via a first rate sensor;
detecting movement of the camera or camera platform about a second axis via a first position sensor;
adding a drift output signal from the first position sensor, a control device output signal, and a trim position signal, in a drift compensation circuit;
and using the sum of the added signals to control a motor connected to drive the camera or camera platform about the first axis, to reduce or eliminate drift about the first axis.
47. ~A method for controlling movement of a camera about a pan or first axis while the camera or camera platform is at a non-zero roll angle position, comprising the steps of:
detecting the roll angle of the camera or camera platform and generating a roll angle signal;
applying a sine function to the roll angle signal;
combining the sine function of the roll angle signal and a pan axis , control device output signal; and controlling panning movement based in whole or in part on the combined signal.
detecting the roll angle of the camera or camera platform and generating a roll angle signal;
applying a sine function to the roll angle signal;
combining the sine function of the roll angle signal and a pan axis , control device output signal; and controlling panning movement based in whole or in part on the combined signal.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US10/654,848 US20050052531A1 (en) | 2003-09-04 | 2003-09-04 | Stabilized camera platform system |
| US10/654,848 | 2003-09-04 | ||
| US10/782,034 US7209176B2 (en) | 2004-02-19 | 2004-02-19 | Three-axis remote camera head |
| US10/782,034 | 2004-02-19 | ||
| PCT/US2004/029036 WO2005024507A2 (en) | 2003-09-04 | 2004-09-03 | Stabilized three-axis camera head |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2536826A1 true CA2536826A1 (en) | 2005-03-17 |
| CA2536826C CA2536826C (en) | 2011-03-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CA2536826A Expired - Lifetime CA2536826C (en) | 2003-09-04 | 2004-09-03 | Stabilized three-axis camera head |
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| EP (1) | EP1661393A4 (en) |
| CA (1) | CA2536826C (en) |
| WO (1) | WO2005024507A2 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8773525B2 (en) | 2005-11-17 | 2014-07-08 | Alain Lortie | Apparatus and method for conducting remote video inspection from above |
| US8525877B2 (en) | 2005-11-17 | 2013-09-03 | Infratech Sewer & Water Services | Apparatus and method for conducting remote video inspection from above |
| AU2006315034A1 (en) * | 2005-11-16 | 2007-05-24 | Ct-Zoom Technologies Inc. | Apparatus and method for conducting remote video inspection from above |
| JP4865398B2 (en) * | 2006-04-28 | 2012-02-01 | キヤノン株式会社 | Operating device and lens device |
| WO2011143622A2 (en) * | 2010-05-13 | 2011-11-17 | Google Inc. | Underwater acquisition of imagery for 3d mapping environments |
| EP3033563B1 (en) * | 2013-08-15 | 2021-07-14 | Freefly Systems Inc. | Hand-held or vehicle mounted camera stabilization system |
| US9900511B2 (en) | 2015-04-10 | 2018-02-20 | Freefly Systems, Inc. | Method, system, and device for controlling a stabilized camera remotely |
| CN107613211B (en) * | 2017-10-19 | 2023-11-10 | 广州娉婷视觉科技信息服务有限公司 | Underwater film and television damper |
| CN109668032B (en) * | 2018-12-21 | 2021-06-15 | 东北农业大学 | Camera anti-shake data acquisition device |
| US20220002128A1 (en) * | 2020-04-09 | 2022-01-06 | Chapman/Leonard Studio Equipment, Inc. | Telescoping electric camera crane |
| CN112261255B (en) * | 2020-10-16 | 2022-01-25 | 广东履安实业有限公司 | Hidden high-definition hemispherical network camera |
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| US5316412A (en) * | 1992-05-08 | 1994-05-31 | The United States Of America As Represented By The Secretary Of The Army | Remote controlled underwater joint and crack sealing |
| GB9225102D0 (en) * | 1992-12-01 | 1993-01-20 | Vinten Group Plc | Improvements in or relating to counter-balanced load carriers |
| US5463432A (en) * | 1993-05-24 | 1995-10-31 | Kahn; Philip | Miniature pan/tilt tracking mount |
| US7106359B2 (en) * | 2000-05-31 | 2006-09-12 | Fantone Stephen J | Subsurface video observation system |
| US6579016B2 (en) * | 2000-05-31 | 2003-06-17 | Chapman/Leonard Studio Equipment | Camera crane |
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- 2004-09-03 WO PCT/US2004/029036 patent/WO2005024507A2/en active Application Filing
- 2004-09-03 CA CA2536826A patent/CA2536826C/en not_active Expired - Lifetime
- 2004-09-03 EP EP04788602A patent/EP1661393A4/en not_active Withdrawn
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| WO2005024507A2 (en) | 2005-03-17 |
| WO2005024507A3 (en) | 2005-12-22 |
| EP1661393A4 (en) | 2010-06-02 |
| CA2536826C (en) | 2011-03-15 |
| EP1661393A2 (en) | 2006-05-31 |
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