CN102027736A - 用于光学设备的全景摇摄云台 - Google Patents

用于光学设备的全景摇摄云台 Download PDF

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CN102027736A
CN102027736A CN2009801133949A CN200980113394A CN102027736A CN 102027736 A CN102027736 A CN 102027736A CN 2009801133949 A CN2009801133949 A CN 2009801133949A CN 200980113394 A CN200980113394 A CN 200980113394A CN 102027736 A CN102027736 A CN 102027736A
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R·A·林赛
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    • 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
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • 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
    • F16M11/18—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
    • F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical 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
    • F16M11/20—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
    • F16M11/242—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 spreading of the legs
    • 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
    • F16M11/32—Undercarriages for supports with three or more telescoping legs
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)
  • Camera Bodies And Camera Details Or Accessories (AREA)

Abstract

本公开涉及用于捕捉或者产生图像的光学设备(10)(例如视频摄像机)的全景摇摄云台(12)。该云台具有将安装在支承结构(11)(例如三脚架)上的基座(19)，安装在该基座上以用于摇镜运动的主体(15)，以及安装在主体上以便绕着倾斜轴线进行倾斜运动、用来接收该光学设备的平台。该云台包括阻尼器件和变换器件(17，20)，阻尼器件用于阻尼摇镜运动和倾斜运动两者，变换器件(17，20)用于测量主体绕着所述倾斜轴线的倾斜运动和基座的摇镜运动，以提供对不希望的摇镜运动和倾斜运动的测量，以便针对所述不希望的运动对光学设备进行校正。

Description

用于光学设备的全景摇摄云台
本发明涉及用于安装光学设备的全景摇摄云台(pan and tilt head)，且特别地但不排它地适用于用于摄像机(诸如TV摄像机、视频摄像机或电影摄像机)、光束引导装置以及照准装置的全景摇摄云台。
我们的国际专利公开No.WO00/39498公开了用于具有光轴的光学设备的支架，云台(head)具有非活动构件和活动构件，包括基座和用于该光学设备的支承件，其提供绕着一个或多个轴(例如摇镜轴和倾斜轴)的运动，并且在各个轴线上在活动构件和非活动构件之间具有阻尼器件。提供了编码器，以便测量在各个轴线上跨越阻尼器件的、活动构件与非活动构件之间的运动，以指示支承件在各个轴线上的预期运动，且提供了回转仪，以用于测量支承件在该或者各个轴线上的实际运动。确定支承件的实际运动与预期运动之间的差异，其代表了不希望的运动，并且将校正应用于支承件/设备，以便抵消(counter)不希望的运动。
在全景摇摄云台中跨越阻尼器件提供编码器需要非标准的云台，其会提高成本。本发明的一个目的在于提供一种全景摇摄云台，其中，可确定在各个轴线上的该云台的活动构件与非活动构件之间的不希望的运动，而不需要用于测量活动构件在各个轴线上相对于非活动构件的运动的编码器。
本发明提供了用于捕捉或产生图像的光学设备的全景摇摄云台，该云台具有待安装到支承结构上的基座，安装在基座上以便进行摇镜(pan)运动的主体以及安装在主体上以便绕着倾斜轴线进行倾斜运动、用来接收光学设备的平台，该云台包括阻尼器件以及变换器件，阻尼器件用于阻尼摇镜运动和倾斜运动两者，变换器件用于测量主体绕着所述倾斜轴线的倾斜运动和基座的摇镜运动，以便提供对不希望的摇镜运动和倾斜运动的测量，以用于针对所述不希望的运动校正该光学设备。
优选地，该变换器件包括安装在云台的基座上以便测量基座的不希望的摇镜运动的一个变换器，以及安装在云台的主体上以用于测量云台绕着所述倾斜轴线的不希望的倾斜运动的第二变换器。
在以上布置中的任一种中，变换器可选自电子回转仪、倾斜计或加速计。
在以上布置中的任何一种中，光学设备可为TV/视频摄像机。
在后一种情况下，提供与变换器件连通的控制系统，以便产生校正信号以及具有输出，以用于通向用来调节摄像机、摄像机支架、摄像机光学器件、图像捕捉、图像回放或者后期图像处理其中之一的器件的连接，以便针对所述不希望的运动将校正应用于其上。
以下是对本发明的具体实施例的描述，对附图进行了参照，在附图中：
图1是实施本发明的全景摇摄云台的示意图，该云台位于标准三脚架上并且承载视频摄像机；
图2是用于平衡倾斜运动的机构的已知的形式的分解透视图，其在云台中包括摄像机；且
图3显示了适于在阻尼摇镜轴以及倾斜轴两者上的、云台的活动部件与非活动部件之间的运动时使用的可调阻尼器的一种已知的形式。
首先参照附图的图1，大体在10处标示了视频摄像机，其借助于在12处标示的全景摇摄云台安装于在11处所标示的三脚架上。
该全景摇摄云台具有倾斜段13，倾斜段13具有用来接收摄像机10的平台14。倾斜段13在轴承16中支承在主体15上，且平衡机构结合在该云台中，以便在摄像机移动到的任何位置上使倾斜段与摄像机平衡。附图的图2显示了在25处标示的合适的平衡机构。该机构在我们的英国专利公开No.2189042中进行了充分描述，将对该公开进行参照。
在可倾斜段与主体之间提供旋转式可调阻尼器26，以便阻尼倾斜段相对于主体的运动。在附图的图3中显示了阻尼器的一种合适的形式。在我们的欧洲专利公开No.0850382中充分描述了该阻尼器，将对该公开进行参照。
主体15具有电子回转仪17形式的变换器，以便探测主体15绕着轴承16的轴线的倾斜运动。主体15中探测到的任何倾斜运动都是不希望的运动，且由回转仪提供的信息被供给到控制系统(未显示)中，以便校正摄像机支架、摄像机光学器件或者图像捕捉或图像回放，以便抵消不希望的倾斜运动。
主体15受支承，以便在位于固定基座19上的轴承18中绕着竖直轴线旋转。提供了类似于阻尼器26的阻尼器，以便阻尼主体15在该轴承中绕着基座19的摇镜运动。
电子回转仪20安装在基座上，以便确定基座中的摇镜运动。基座中的任何摇镜运动都将表示需要被校正的不希望的运动。来自回转仪20的信号被供给到控制器，该控制器将对应的校正信号提供给用于摄像机、摄像机支架、摄像机光学器件、图像捕捉、图像重放其中之一或者用于后期图像处理的合适的促动器。将对我们的英国专利公开No.2359743，2425907和2442602和国际专利公开No.WO2006/117568进行参照，以参照合适的布置的细节。
将了解的是，以上所参照的电子回转仪可采用用来探测运动的任何合适的变换器的形式，包括加速计和倾斜计(在倾斜运动的情况下)。
在本发明的另外的实施例中，光学设备可为用于引导光束(例如激光)的装置或者照准装置。在这种布置中，提供了与变换器件连通的控制系统，以便产生校正信号，以及具有与光学设备的可调特征连通的输出，以便针对所述不希望的运动进行校正。
该设备还可包含复原装置，其用于减少该布置中的任何偏置，以便将不希望的运动抵消至零。当该设备或图像例如通过图像分析或者手动选择而是非活动的时，可使得该复原装置不可操作。在我们的英国专利申请No.0806871.0中更详细地描述了这样的布置。

Claims (7)

1.一种用于捕捉或者产生图像的光学设备的全景摇摄云台，所述云台具有将会安装在支承结构上的基座，安装在所述基座上以用于摇镜运动的主体，以及安装在所述主体上以便绕着倾斜轴线进行倾斜运动、用来接收光学设备的平台，所述云台包括阻尼器件和变换器件，所述阻尼器件用于阻尼摇镜运动和倾斜运动两者，所述变换器件用于测量所述主体绕着所述倾斜轴线的倾斜运动和所述基座的摇镜运动，以便提供对不希望的摇镜运动和倾斜运动的测量，以针对所述不希望的运动校正所述光学设备。
2.根据权利要求1所述的全景摇摄云台，其特征在于，所述变换器件包括安装在所述云台的基座上以便测量所述基座的不希望的摇镜运动的一个变换器，以及安装在所述云台的主体上以测量所述主体绕着所述倾斜轴线的不希望的倾斜运动的第二变换器。
3.根据前述权利要求中任一项所述的全景摇摄云台，其特征在于，所述变换器选自回转仪、倾斜计和加速计。
4.根据权利要求1-3中任一项所述的全景摇摄云台，其特征在于，所述光学设备是TV/视频摄像机。
5.根据权利要求4所述的全景摇摄云台，其特征在于，提供与所述变换器件连通的控制系统，以便产生校正信号以及具有输出，以用于通向用来调节摄像机、摄像机支架、摄像机光学器件、图像捕捉、图像回放或后期图像处理的器件的连接，以便针对所述不希望的运动对其应用校正。
6.根据权利要求1-3中任一项所述的全景摇摄云台，其特征在于，所述光学设备包括光束引导装置或者照准装置。
7.根据权利要求6所述的全景摇摄云台，其特征在于，提供与所述变换器件连通的控制系统，以便产生校正信号，以及具有与所述设备的可调特征连通的输出，以校正所述不希望的运动。
CN2009801133949A 2008-04-11 2009-04-09 用于光学设备的全景摇摄云台 Pending CN102027736A (zh)

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GBGB0806663.1A GB0806663D0 (en) 2008-04-11 2008-04-11 A pan and tilt head for optical apparatus
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PCT/GB2009/000939 WO2009125194A1 (en) 2008-04-11 2009-04-09 A pan and tilt head for optical apparatus

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CN105864600A (zh) * 2016-05-26 2016-08-17 李兴好 一种编辑器云台
CN105889716A (zh) * 2016-05-26 2016-08-24 李兴好 一种编码器云台
CN105909931A (zh) * 2016-05-26 2016-08-31 李兴好 一种带有编码器的云台
WO2019100462A1 (zh) * 2017-11-23 2019-05-31 张伟雄 一种具有行走机构的感应式多目虚拟现实全景摄录平台

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