CN103248826A - T-type two-dimensional cableway camera system - Google Patents
T-type two-dimensional cableway camera system Download PDFInfo
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- CN103248826A CN103248826A CN2013101887198A CN201310188719A CN103248826A CN 103248826 A CN103248826 A CN 103248826A CN 2013101887198 A CN2013101887198 A CN 2013101887198A CN 201310188719 A CN201310188719 A CN 201310188719A CN 103248826 A CN103248826 A CN 103248826A
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Abstract
The invention belongs to a T-type two-dimensional cableway camera system, which comprises a cableway system and a camera unit. The cableway system comprises a main cableway (1), a bearing pulley (4), a circulating traction rope (2), a lifting traction rope (3) and a movable block (7); the lifting traction rope (3) and the main bearing cableway (1) are parallel, the movable block (7) is arranged between two crown blocks of the bearing pulley (4) and bears a camera unit (8) in a suspending mode, the lifting traction rope (3) penetrates through the two crown blocks of the bearing pulley (4) and the movable block (7), and the up-and-down moving of the camera unit (8) is realized by changing the length of the lifting traction rope (3). The T-type two-dimensional cableway camera system realizes the horizontal and vertical moving of the camera unit in a large range, the non-oscillation translation of a hoisting system under the large-pendulum length condition and the complex upright face curve motion of the camera in the space by adopting a control method of service related linkage. The invention also provides a simplified method for flexibly and manually controlling the camera to ascend and descend.
Description
Technical field
The present invention relates to the photographic/camera technology, particularly relate to the cableway camera system that the ken is taken in a kind of motion than the large space range of movement, can be widely used in travelling shot shooting field.
Background technology
The adjustment that the photographic/camera machine moves in the position in space with shooting angle is to finish the important step that motion is taken, and the means that motion is at present taken have the Si Tannikang vibration absorber, the photography rocking arm, and railcar and cableway are taken, aircraft aviation shooting etc.T type two dimension cableway camera system is flexibility and the very strong a kind of technological means of practicality in the cableway shooting means.The cableway camera system that prior art adopts is simple when adopting the technology, particularly span of general transportation cableway big, produces to disturb and unfavorable factor such as translation vibration, and the stationarity of shooting is interfered, and has greatly influenced shooting effect.
Summary of the invention
The purpose of this invention is to provide a kind of video camera that makes in space realization level and vertical direction smooth motion, and exclude realizing the noisy unfavorable factor of shooting stationarity, realize the level and smooth cableway camera system of shooting picture.
In order to realize purpose of the present invention, following technical proposals is proposed:
A kind of T type two dimension cableway camera system comprises cableway system and image unit, and described cableway system comprises:
Article one, main rope road 1 carries the weight of described image unit 8 and the moving surface of definite image unit 8;
One carrying coaster 4 is installed on the described main rope road 1, and described carrying coaster 4 tops arrange roller, can be in the main rope road 1 rolls, and the bottom arranges two fixed pulleys;
One circulation pull rope 2, described carrying coaster 4 is fixed in circulation pull rope 2, by changing the circulation distracted position of circulation pull rope 2.Described carrying coaster 4 is moved forward and backward along main rope road 1;
One lifting pull rope 3 and movable pulley 7, described lifting pull rope 3 is arranged on and is lower than described main rope road 1 and circulation pull rope 2 and is parallel to 1 place, main bearing rope road, and described movable pulley 7 is arranged between two fixed pulleys of described carrying coaster 4 and the described image unit 8 of carry; Described lifting pull rope 3 passes two fixed pulleys and the described movable pulley 7 of carrying coaster 4, changes the length of lifting pull rope 3, realizes moving up and down of image unit 8.
Moving through of described circulation pull rope 2 and lifting pull rope 3 uses servo system to coordinate control, described servo system comprises circulating driving box 5 and winding type driving box 6, wherein use moving horizontally of the described image unit 8 of described circulating driving box 5 controls, use the vertical movement of described winding type driving box 6 control image units 8.
Weights such as the driving mechanism of the vertical movement of described control image unit 8 comprises circulating driving box 5 and balance weight mechanism 9, and the counterweight of described image unit 8 and balance weight mechanism 9 is approximate make the lifting of described system be in poised state.
The driving mechanism of the vertical movement of described control image unit 8 comprises a closed loop cableway 11 and balance weight mechanism 9, and described closed loop cableway 11 uses the mode of manpower 12 to spur, and directly draws described balance weight mechanism 9, realizes the manually lifting of the described image unit 8 of control.
It is characterized in that, described circulation pull rope 2 also comprises a strainer 10, described strainer 10 comprises two fixed pulleys, movable pulley and spring, and described circulation pull rope 2 passes fixed pulley-movable pulley-fixed pulley successively, and described movable pulley is fixed by described spring and ground.
Described cableway camera system also comprises from shifting balance suspension centre pulley mechanism, described suspension centre pulley mechanism comprises main friction pulley 13, assembly pulley 14, two hinged support arms 16 and spring 15, described main friction pulley 13 is fixed between main rope road 1 and the circulation pull rope 2, this assembly pulley 14 is under the spring 15 tightening force effects of spring 15, provide normal pressure to make main friction pulley 13 close contact in above-mentioned cableway to main rope road 1 and circulation pull rope 2, described suspension centre pulley system below arranges vertical peg 17 and pulley 18, provokes lifting pull rope 3 by described pulley 18.
Described circulating driving box comprises three-wheel balance Winder 19, servomotor 24 and controlling organization 25, realizes speed and the position of the accurate movement of each control usefulness rope; Described three-wheel balance Winder 19 comprises first regulating wheel 21 and second regulating wheel 22 at intermediate driving wheel 20 and two ends.
Install position coder 24 additional on the inertia wheel shaft of described first regulating wheel and/or second regulating wheel, formed the secondary position feedback control, eliminated the site error of bringing because of slippage between driving wheel and corresponding rope rope.
The invention has the beneficial effects as follows:
1. utilize that system wiring mode flexibly is non-coupling have been solved the large-scale level of image unit and move both vertically.
2. use the precise speed of servo system, especially the control of acceleration has realized putting on the dead-beat translation of the hangar system under the elongate member.
3. adopt the control method of servo related interlock to realize that video camera carries out complicated facade curvilinear motion in the space.
4. the method for simplifying and manually control flexibly camera lifting is provided.
5. provide solve excessive or because of the excessive solution that causes image unit can't hang down and fall of self proportion because of the halyard span.
Description of drawings
Fig. 1 is T type two dimension cableway camera system structure chart of the present invention;
Fig. 2 shows that native system is provided with the structure chart of counterweight and strainer;
Fig. 3 shows the structure chart of hand-operated lifting mode;
Fig. 4 shows the structure chart from shifting balance suspension centre mechanism of native system;
Fig. 5 shows the three-wheel balance Wound-rotor type circulation driving box structure chart of native system.
1 main rope road, 14 assembly pulleys
2 rope circuit messengers, 15 springs
3 halyard messengers, 16 hinged support arms
4 carrying coasters, 17 vertical pegs
5 circulating driving box 18 pulleys
6 winding type driving box, 19 three-wheel balance Winders
7 movable pulleys, 20 intermediate driving wheels
8 image units, 21 first regulating wheels
9 balance weight mechanisms, 22 second regulating wheels
10 strainers, 23 position coders
11 closed loop cableways, 24 servomotors
12 manpowers, 25 controlling organizations
13 main friction pulleys
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with the drawings and specific embodiments, the present invention is described in more detail.
Fig. 1 is T type two dimension cableway camera system structure chart of the present invention; With reference to accompanying drawing 1, the realization of camera motion at first is the main rope road 1 of building a load-bearing, the weight of main carrying image unit 8 and the moving surface of definite image unit (along the direction in main rope road 1 and constitute the moving surface of image unit along gravity direction vertically downward), install carrying coaster 4 additional in this main rope road 1, the roller of carrying coaster 4 is 1 rolling in the main rope road, in order to finish the movement of image unit 8 horizontal levels; Carrying coaster 4 moves forward and backward along main rope road 1 by installing circulation pull rope 2 additional and realizes.Simultaneously, another lifting pull rope 3 is set being lower than above-mentioned all cableways and being parallel to main bearing rope road 1, lifting pull rope 3 passes between two fixed pulleys of carrying coaster 4 bottoms and above-mentioned two fixed pulleys and a movable pulley 7 is set, movable pulley 7 carry image units 8.The length of the circulation distracted position by changing circulation pull rope 2 and the lifting pull rope 3 of responsible lifting just can realize the level of image unit 8 and movement up and down.
As the concrete enforcement of technical scheme, use servo system to coordinate described two drag ropes of control, wherein use moving horizontally of circulating driving box 5 control image units 8, use the vertical movement of winding type driving box 6 control image units 8.Described circulating driving box 5 adopts servo-control system, optimizes speed, acceleration, the acceleration of motion, so that moving forward and backward of image unit is unlikely to vibrate back and forth.Described winding type driving box 6 also adopts servo-control system, and the upright position can relatedly be carried out prefabricated programming or manual teaching storage with horizontal level and be called at any time.
As an improvement of technique scheme, Fig. 2 shows that native system is provided with the structure chart of counterweight and strainer; As shown in the figure, elevator driving box 6 can be with the mode of setting up balance weight mechanism 9, and directly uses circulating driving box 5 as an alternative, and image unit 8 and counterweight are approximate like this waits heavyly, and system's lifting is in poised state, and control can be more reliably and low energy consumption.
As further improvement in the technical proposal, Fig. 3 shows the structure chart of hand-operated lifting mode; , as shown in the figure, this programme uses a closed loop cableway 11, directly draw the balancing counterweight mechanism 9 in above-described embodiment, closed loop cableway 11 can directly use the mode of manpower 12 to spur, and realizes the manually lifting of control image unit 8, the stability and the flexibility that have further improved system.
As further improvement in the technical proposal, shown in 3 figure, use strainer 10 at circulation pull rope 2, this strainer 10 comprises two fixed pulleys and a movable pulley, circulation pull rope 2 passes from fixed pulley-movable pulley-fixed pulley successively, and movable pulley is fixed by a spring and ground.Use the strainer 10 can tensioning circulation pull rope 2, and its certain damping action of vibration in distraction procedure, producing.
As further improvement in the technical proposal, Fig. 4 shows the structure chart from shifting balance suspension centre mechanism of native system; As shown in the figure, in order to reduce the sag of halyard when the large span before and after the coaster, set up the dynamic mobile suspension centre pulley system of halyard, can make system be used in the more occasion of large span; Described suspension centre pulley system has main friction pulley 13, uses one group of assembly pulley 14, is fixed between main rope road 1 and the circulation pull rope 2 by two hinged support arms 16; This assembly pulley 14 provides normal pressure to make main friction pulley 13 close contact in above-mentioned cableway to main rope road 1 and circulation pull rope 2 under the tightening force effect of spring 15, and suspension centre pulley system below arranges vertical peg 17 and pulley 18, and pulley 18 will be provoked lifting pull rope 3.
Fig. 5 shows the three-wheel balance Wound-rotor type circulation driving box structure chart of native system.As the servo-drive part of technique scheme, mainly comprise three-wheel balance Winder 19, servomotor 24 and controlling organization 25, finish speed and position that the accurate movement of rope is used in each control.The three-wheel balance Winder 19 that the design of circulation driving box is used comprises first regulating wheel and second regulating wheel at intermediate driving wheel 20 and two ends, three-wheel balance Winder 19 has reduced the radially moment of intermediate driving wheel 20 drive motors output shafts to greatest extent, has realized the rope friction-type circulation traction in very little space.In order to realize Position Control accurately, inertia wheel shaft at first regulating wheel (or second regulating wheel) has installed position coder 24 additional, be provided with one and be enclosed within the main secondary position feedback control that drives beyond the servo closed-loop control ring, eliminated the very big site error of bringing because of slippage between driving wheel and corresponding rope rope of harm.
Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect have been carried out further detailed description; institute is understood that; the above only is specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a T type two dimension cableway camera system comprises cableway system and image unit, it is characterized in that described cableway system comprises:
Article one, main rope road (1) carries the weight of described image unit (8) and the moving surface of definite image unit (8);
One carrying coaster (4) is installed on the described main rope road (1), and described carrying coaster (4) top arranges roller, can roll in main rope road (1), and the bottom arranges two fixed pulleys;
One circulation pull rope (2), described carrying coaster (4) is fixed in circulation pull rope (2), by changing the circulation distracted position of circulation pull rope (2).
2. described carrying coaster (4) is moved forward and backward along main rope road (1);
One lifting pull rope (3) and movable pulley (7), described lifting pull rope (3) is arranged on to be lower than described main rope road (1) and circulation pull rope (2) and to be parallel to main bearing rope road (1) and locates, and described movable pulley (7) is arranged between two fixed pulleys of described carrying coaster (4) and the described image unit of carry (8); Described lifting pull rope (3) passes two fixed pulleys and the described movable pulley (7) of carrying coaster (4), changes the length of lifting pull rope (3), realizes moving up and down of image unit (8).
3. cableway camera system according to claim 1, it is characterized in that, moving through of described circulation pull rope (2) and lifting pull rope (3) uses servo system to coordinate control, described servo system comprises circulating driving box (5) and winding type driving box (6), wherein use described circulating driving box (5) to control moving horizontally of described image unit (8), use the vertical movement of described winding type driving box (6) control image unit (8).
4. cableway camera system according to claim 2, it is characterized in that, the driving mechanism of the vertical movement of described control image unit (8) comprises circulating driving box (5) and balance weight mechanism (9), weights such as the counterweight of described image unit (8) and balance weight mechanism (9) is approximate make the lifting of described system be in poised state.
5. cableway camera system according to claim 2, it is characterized in that, the driving mechanism of the vertical movement of described control image unit (8) comprises a closed loop cableway (11) and balance weight mechanism (9), described closed loop cableway (11) uses the mode of manpower (12) to spur, directly traction described balance weight mechanism (9) is realized the manually lifting of the described image unit of control (8).
6. according to claim 3 or 4 one of them described cableway camera system, it is characterized in that, described circulation pull rope (2) also comprises a strainer (10), described strainer (10) comprises two fixed pulleys, movable pulley and spring, described circulation pull rope (2) passes fixed pulley-movable pulley-fixed pulley successively, and described movable pulley is fixed by described spring and ground.
7. cableway camera system according to claim 5, it is characterized in that, described cableway camera system also comprises from shifting balance suspension centre pulley mechanism, described suspension centre pulley mechanism comprises main friction pulley (13), assembly pulley (14), two hinged support arms (16) and spring (15), described main friction pulley (13) is fixed between main rope road (1) and the circulation pull rope (2), this assembly pulley (14) is under spring (15) the tightening force effect of spring (15), provide normal pressure to make main friction pulley (13) close contact in above-mentioned cableway to main rope road (1) and circulation pull rope (2), described suspension centre pulley system below arranges vertical peg (17) and pulley (18), provokes lifting pull rope (3) by described pulley (18).
8. according to the described cableway camera system of claim (6), it is characterized in that, described circulating driving box comprises three-wheel balance Winder (19), servomotor (24) and controlling organization (25), realizes speed and the position of the accurate movement of each control usefulness rope; Described three-wheel balance Winder (19) comprises first regulating wheel (21) and second regulating wheel (22) at intermediate driving wheel (20) and two ends.
9. cableway camera system according to claim 7, it is characterized in that, install position coder (24) on the inertia wheel shaft of described first regulating wheel and/or second regulating wheel additional, formed the secondary position feedback control, eliminated the site error of bringing because of slippage between driving wheel and corresponding rope rope.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310188719.8A CN103248826B (en) | 2013-05-21 | 2013-05-21 | T-type two-dimensional cableway camera system |
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| CN201310188719.8A CN103248826B (en) | 2013-05-21 | 2013-05-21 | T-type two-dimensional cableway camera system |
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| CN103248826A true CN103248826A (en) | 2013-08-14 |
| CN103248826B CN103248826B (en) | 2017-01-18 |
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Cited By (9)
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| CN103685959A (en) * | 2013-12-18 | 2014-03-26 | 龚文基 | TV type two-dimension cableway camera system |
| CN104989920A (en) * | 2015-05-29 | 2015-10-21 | 中央电视台 | Cableway image pickup system and control method thereof |
| CN104994271A (en) * | 2015-05-28 | 2015-10-21 | 北京航天控制仪器研究所 | Cableway camera system and control and video signal transmission method thereof |
| JP2016102996A (en) * | 2014-11-27 | 2016-06-02 | デイヴィッド グレゴリー ウォッツ | Equipment suspension system |
| CN105668447A (en) * | 2016-03-29 | 2016-06-15 | 苏州市合叶精密机械有限公司 | Stamping die suspension mechanism |
| CN107356419A (en) * | 2017-07-18 | 2017-11-17 | 厦门大学 | A kind of experimental method for being used to measure rope damping parameter |
| CN107884416A (en) * | 2017-11-07 | 2018-04-06 | 中南大学 | Facade detection means and detection method based on machine vision |
| CN110552284A (en) * | 2019-08-22 | 2019-12-10 | 湖南桥康智能科技有限公司 | Bridge box structure |
| CN111632393A (en) * | 2019-03-01 | 2020-09-08 | 方忠民 | Device for moving rope suspended object in air |
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| CN107884416B (en) * | 2017-11-07 | 2020-03-31 | 中南大学 | Facade detection device and detection method based on machine vision |
| CN111632393A (en) * | 2019-03-01 | 2020-09-08 | 方忠民 | Device for moving rope suspended object in air |
| CN110552284A (en) * | 2019-08-22 | 2019-12-10 | 湖南桥康智能科技有限公司 | Bridge box structure |
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Effective date of registration: 20190626 Address after: 100000 Beijing Haidian District Zhongguancun South Street A 18 Courtyard 1-4 Building B Block 14-14B Patentee after: BIVILLAY YOUFU (BEIJING) VIDEO TECHNOLOGY CO., LTD. Address before: Room 1602, Block B, Beijing International, No. 18 South Avenue, Zhongguancun, Haidian District, Beijing, 100081 Patentee before: Gong Wenji |
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