DE3918471A1 - Method and device for storing and controlling the movement sequence of a camera - Google Patents

Abstract

In controlling the movement sequence of a camera there is the difficulty that the cameraman must specify a specific movement curve between a start position and a finish position by hand. A method and a device are demonstrated for storing and controlling the movement sequence of a camera, which can carry out movements by means of a motor-adjustable mounting device, especially a camera trolley or the like, at least one start point and finish point being able to be stored and the camera being movable from the start point to the finish point in an automatic travel. In this case it is proposed to store the position values between start point and finish point during a learning or sample travel together with associated time intervals from the beginning of the movement from the start point, and to repeat the stored location/time curve during the automatic travel, at least in sections.

Description

The invention relates to a method for storing and controlling the Sequence of movements of a camera by means of a motor adjustable holding device is movable. This movement can ne lifting movement of a camera carriage on which the camera is mounted is tiert, but it can also be a swivel or rotary movement be carried out as well as a driving movement.

When it comes to filming, especially in the area of advertising, it turns about changing the angle of the camera from an initial setting change to a second (or subsequent ones), the Cameraman usually controls the movement of the camera by hand.  

From DE-PS 33 22 852 is an adjustment device for a height-adjustable tripod column of a camera dolly knows the cameraman during a test run can lead to the speed of movement sampled and ge at predetermined time intervals is saved. Is the cameraman with the tried Movement sequence satisfied, so he gives a save command signal and controls the arrangement successive series of samples in a memory. The cameraman can now follow the sequence he has specified Repeat automatically using a command signal. The problem with this known device is that the cameraman always runs perfectly between the must have two (or more) settings, which can then be repeated as often as required. To one such a perfect trial run during the learning process Getting the plant done is a great experience and a lot of tact of the cameraman is necessary.

A control is known from DE-OS 29 12 755 with a dentist places the dental chair between two or more preprogrammed positions with one of the arrangement predetermined speed back and forth can drive.

Based on the prior art mentioned above, it is Object of the present invention, method and device to continue training of the type mentioned above that facilitate the adjustment of the movement is tert.

This task is solved procedurally in that Position values between start and end points during a learning and test run together with the corresponding ones Time intervals from the start of the movement from the starting point (hereinafter referred to as time values) are saved and the saved location / time curve during the automatic  Trip is repeated at least in sections. Basie rend on the way the well-known dental chair Adjustment device is therefore not a speed profile, but it will be next to the starting point also the end points during the learning cycle fes saved. This means that the cameraman can also "search" the endpoint slowly, if necessary can drive back even after passing the end point and only then saves it. This process is with the arrangement known from DE-PS 33 22 852 not by feasible because a speed profile is saved there and the cameraman chooses this speed profile must specify during the learning run.

Preferably only those position values (natural saved together with the associated time values) that differs from the previously saved position values differentiate. This represents the easiest way to ensure that the cameraman during a Test run, i.e. before reaching the end point, without white teres can also stop several times during the automatic Drive these interruptions "hidden" will.

The method according to the invention is particularly advantageous when the cameraman first begins and ends Searches for a point (and stores it) and then one conducts a second learning run between the two points, the optimization of the acceleration curve is aimed. This can be accomplished in that Save movements between previously set times start and end points only that section of the location / Time curve is saved, within which an acceleration movement takes place while braking the Movement automatically essentially according to the (inv tiert) acceleration course is regulated. This be indicates that the Ab  braking phase is automatically controlled (or regulated). This process becomes particularly easy when with Er range from the middle position between the start and end value until then by the cameraman using a hand control given location / time curve in reverse order (in vertiert) is driven. To safely slow down to the end point (without going beyond it) reach, it is advantageous if the self-reliant apply the braking process at the latest when half of it is reached Position difference between end and start point is leading.

In terms of the device, the task at the outset is accomplished by solved a device of the type mentioned at the control device has at least one timer such as random access memory and the is formed that output values of the position encoder together with output values of the timer under various which memory addresses of the memory can be stored and how which are readable. So here it comes up again storing the location / time curve, which is due to the possible interruptions is completely different from the storage of a Ge known from DE-PS 33 22 852 speed curve.

Further features essential to the invention result from the subclaims and the description below preferred embodiments of the invention, the fol is explained in more detail with the help of illustrations. It is expressly pointed out that the enclosed Flow chart to explain the inventive method rens or to explain the operation of the Invention according to the device steps essential to the invention tert and is therefore to be understood as part of the description.

Here show:

Figure 1 is a graphical representation of the relationship between actual movement and stored position and time values.

2 shows a sequence of movements in the learning operation and for automatically repeating the ride.

Fig. 3 is a block diagram of a preferred exporting approximate shape of the inventive device;

FIG. 4 shows a block diagram of an engine control according to FIG. 3; and

Fig. 5A-C is a flow chart that is part of the description.

In the following description, the same and similar parts or steps with the same reference numbers records and explains only once.

In the following description is used as an example ter movement process the height adjustment of a camera described, the method and apparatus of be here claimed type for swivel or Fahrbe movements or the like individually and in combination are reversible.

The method according to the invention is described in more detail below with reference to FIGS. 1 and 2.

If a cameraman wants to move the camera from a position Pr as a starting position to another position Pe 1 and from this to a third position Pe 2 , the sequence of movements can look relatively irregular, as shown in FIG. 1a. This is particularly the case if the cameraman does not yet know where the end points Pe 1 and Pe 2 should be. It is quite possible that the cameraman occasionally interrupts the run (in Fig. 1a, this time period is denoted by H ), noting that the setting is not yet optimal and then continues to the final end point Pe 1 . If a further setting should then be started, this new learning trip will only be carried out at a later time. In the current film recording, the cameraman does not want to have the above-mentioned stopping time during the first learning trip reproduced, nor does he want to be bound to the pattern that he specified during the learning trip between the end of the first trip and the start of the second trip.

According to the method according to the invention, the position values are now stored in different addresses of a memory ( FIG. 1b), on the other hand, associated time values for each position value are stored in corresponding memory addresses from the start of the corresponding run ( FIG. 1c). As can be seen from FIG. 1b, the position values are only stored if the position value to be stored differs from the position value which has just been stored. This means that holding periods H are not saved. Furthermore, the method according to the invention does not require that the position values are sampled in equidistant time steps. In this way, it is possible, as is provided in a preferred embodiment of the invention, which is not shown in detail here, to record the position values with a large resolution (that is to say a high sampling rate) if the speed of movement is never critical, while at high speed of movement one lower sampling rate is selected.

If both a first reference point Pr and a (first) end point Pe have been defined, as shown in FIG. 2 with the broken line, the camera operator can now determine the movement process with regard to the acceleration of the movement in a second learning trip Here, the cameraman specifies a setpoint for the local / time curve according to the inventive method, as indicated by the dash-dotted line in FIG. 2. However, this setpoint is - and this is a significant point - only followed up to a certain position value, after which the movement process is slowed down in such a way that the previously stored end position value Pe is safely reached and is not exceeded. This automated braking process takes place in the preferred embodiment of the method shown in FIG. 2 in such a way that the setpoints given by the cameraman via a manual control are carried out or carried out up to the position value which is essentially in the middle between the end position B of the End point Pe and the starting position A of the starting point Pr lies. As soon as this position value ( BA ) / 2 is reached, the exact location / time curve "backwards" or inverted, which was given manually by the camera operator during the acceleration process, is followed. In a preferred embodiment of the invention, this automated section of a learning trip is only continued as long as the camera man specifies a non-zero setpoint. If, during the automated section of the learning trip, an obstacle unexpectedly gets into the movement path of the camera, the cameraman can simply stop the movement by setting the speed controller to zero.

In the following a preferred embodiment of the inventive arrangement with reference to FIGS. 3 and 4 he explains.

As shown in Fig. 3, the arrangement comprises a Steuerein unit 10 which is connected to a speed controller 20 . The speed controller 20 comprises an operating element 21 for setting the desired speed, this preferably being designed as a potentiometer which can be actuated via a rocker switch starting from a middle position in two directions. In this way, proportional control of the speed in two directions is possible. Of course, a corresponding joystick or a trackball can be provided here, for example, for preprogramming two axes.

The cruise control 20 further includes a push button 22 , when actuated, a program run is carried out between two points. A key 23 is provided, upon actuation of which a current position value is stored as the end point. When the button 24 is pressed, a stored first reference point is moved to in an automatic drive (preferably at maximum speed).

The switch 25 is an on / off switch, the Be actuation of the automatic mode is switched on, an indicator lamp 26 is provided in the cruise control 20 , which lights up when the switch 25 is turned on . At the same time, when the switch 25 is switched on, the current position value is stored as the reference point Pr . Finally, in the speed controller 20 or a warning signal generator 27 is provided to write a Sig nalton in exceptional cases, in particular sondere case of faulty operation of the speed controller 20th

The controller 10 includes an I / O interface that is connected to a central processing unit CPU, which in turn is connected to a read-only memory ROM and a random access memory RAM. Furthermore, a controllable timer 11 is provided, which is connected to the interface in United States.

The analog data of the speed controller 21 are transferred via an A / D converter ADC to the I / O interface, in a preferred embodiment of this converter without a sample-hold amplifier sampling the potentiometer voltage and controlled by a clock generator according to the counting method C 1 works. In this case, if the speed value set on the control element 21 changes, only a rate of change of the digital output signals of the A / D converter, which is predetermined by the clock frequency of the clock generator, is permitted, where in this corresponds to the least significant bit, the step size from the previous to the new set value up or down and therefore no accelerations that overload the motor can occur.

In the exemplary embodiment shown in FIG. 3, the motor M is connected to a spindle 16 on which the holding device 17 can be moved back and forth with the camera. The movement of the spindle 16 is sensed by a rotary encoder I , the output signal of which is fed to a motor controller 12 as the actual value. The motor controller 12 controls the motor M via a power amplifier 13 in accordance with the deviation from the actual value to a target value, which is transmitted from the I / O interface to the motor controller 12 . The actual position value is also transmitted to the I / O interface. Furthermore, limit switches 14 , 15 , which are connected to the motor controller 12 , are provided in the movement path of the holding device 17 . Here, the arrangement is such that when one of the limit switches 14 or 15 has been actuated and since it is also indicated that the holding device 17 has reached an end position on the spindle 16 , rotation of the motor in one direction is prevented would lead to a movement beyond the corresponding limit switch 14 or 15 .

The motor controller 12 (and with it the power amplifier 13 ) can be commercially available devices which form a unit in connection with the motor M and the position transmitter I. In a preferred embodiment of the invention, which is shown in Fig. 4 in the block diagram, the motor controller 12 comprises a clock generator 32 , the output pulse train via an AND gate 27 and an adjustable divider 31 are given in the counter input of a counter 33 . The divider 31 can be controlled via output signals from the interface I / O in such a way that the clock frequency entering the counter 33 is adjustable. The connecting lines between the adjustable counter 31 and the I / O interface, on which data words representing the part ratio are transmitted, the data words being inverted via inverters 37 , are also connected via a NAND gate 30 to the second input of the AND Gate 27 connected. Then, when a data word representing zero speed is transmitted from the I / O interface to the counter 31 , all outputs of the inverters 37 are thus at a high level, the output of the NAND gate 30 is brought to a low level, so that the AND gate 27 blocks.

The counter 33 is also connected via a command line to the I / O interface in such a way that counting up (adding) or down (subtracting) is carried out according to the desired direction of movement.

Furthermore, the counter 33 is designed such that when a high level is present at its SET input, a data word is taken over into the counter as a default value, which is present at the inputs labeled S. Q denotes the outputs which represent the current content of counter 33 . These outputs Q are fed to the inputs A of a comparator 34 which compares the data word located at its input A with another data word located at its input B. Depending on whether the data word A is larger than the data word B or vice versa, the comparator 34 outputs signals at corresponding outputs.

The input B of the comparator 34 is connected to the output of a buffer memory 35 which is at the same time on the S input of the counter 33 . The buffer memory 35 it holds its input signals from the position sensor I on the motor M.

The output signals of the comparator 34 are transmitted to a motor controller 36 with the subsequent power amplifier 13 , on the other hand, these outputs are from the inputs of an OR gate 29 . The output of the OR gate 29 is at an input of a NAND gate 28 , the output of which is at the SET input of the counter 33 . The second input of the NAND gate 28 is at the output of the NAND gate 30 .

The mode of operation of the controller just described is as follows: If the speed zero is first specified by the I / O interface, the AND gate 27 blocks the pulse sequence coming from the clock generator 32 . Assuming that the motor M has reached the target value during its last journey, the two outputs of the comparator 34 are at a low level, so that on the one hand the motor M receives no input signal via the amplifier 13 or the motor controller 36 , on the other hand, there is a low level at the output of the OR gate 29 . Thus, the level of the output of the NAND gate 28 is high and the position value in the buffer memory 35 is transferred to the counter 33 . If a certain speed is now specified by the I / O interface, the output of the NAND gate 30 goes to a high level and the AND gate 27 lets the pulse sequence coming from the clock generator 32 into the input of the adjustable divider 31 . Depending on the specified data word, the divider 31 divides the incoming pulse sequence, so that the counter 33 increases or decreases the previously adopted data word faster or slower, depending on the specification via the up / down input. Since the first, in the count of the counter input 33 of the incoming value of its content changes, the value A thus does not coincide more with the value B in the comparator 34 to go the respective outputs of the Kom comparator is 34 to high level, so that the motor M is supplied with energy via the motor actuator 36 and the amplifier 13 and rotates in a direction which serves to reduce the deviation. The instantaneous value is given via the rotary encoder I and the buffer memory 35 in the comparator 34 . The motor M therefore always runs "behind" the data word at the output Q of the counter 33 .

The method according to the invention and the mode of operation of the control device 10 are explained in more detail below with reference to FIG. 5.

If the cameraman switches on the switch 25 and thus starts the automatic system (step S 1 ), an end position counter is set to n = 1 in a step S 2 . Then the instantaneous position (according to the output of the rotary encoder I ) is stored as a reference point Pr in the end position memory at an address n = 0. Then, in a step S 4, a query is made as to whether the speed controller specifies a speed (via the operating element 21 ) that is not equal to zero. As long as the operating element 21 is at zero, that is to say is not actuated, step S 4 is repeated repeatedly in a loop. As soon as the cameraman begins a (first) learning phase and thus specifies a speed other than zero, the timer 11 is set to zero in a step S 5 and counts from now on. Then it is queried whether (in a previous run) an end position Pe has already been set at the address ( n +1) (step S 6 ). If not, the current position value Pm and the associated value of the timer are stored in a step S 7 . In a step S 8 there is then a query as to whether the cruise control is now at zero. If not, a query is made in a step S 11 as to whether the timer was stopped before. If not, step S 7 is repeated until the cameraman has set the speed to zero. If this was recognized in step S 8 , the timer is stopped in step S 9 and an engine stop signal is emitted. There is then a query in step S 10 as to whether the engine is still running. If the engine is still running or the values output by the rotary encoder I are still changing, a query is made in a step S 11 as to whether the timer has been stopped. Since this was done in step S 9 , the timer is now started again in step S 12 and the instantaneous value now present and the associated value of the timer are stored in step S 7 . This loop is traversed as long as the engine is still running. As soon as it has been recognized in step S 10 that the engine is now stationary, a step S 13 asks whether the operating element 24 has been actuated and whether a return trip to the reference point is now to take place. If not, it is queried in a step S 14 whether the operating element 23 has been actuated to store an end position. If not, it is queried again in step S 8 whether the cruise control is still at zero. This loop is run through until the cameraman gives either the command to return to the reference point, the command to save the current position as the end position or the command to continue (via an actuation of the control element 21 ). If the cameraman wants to continue driving, step S 8 goes via steps S 11 and S 12 back to step S 7 and the loop is then repeated via steps S 8 , S 11 and S 7 until the journey is stopped again .

If it was determined in step S 14 that the instantaneous value should now be stored as the end position, the end position counter is increased by one in step S 15 , the current position value is stored at address N in step S 16 and then in step S 17 asked whether the end position counter is full. When this is the case is determined by the storage capacity of the arrangement. If the end position counter is full, a warning signal is emitted in a step S 19 and the system swings back again to step S 13 . The control now runs through a loop via steps S 13 to S 17 and S 19 , so that the cameraman can only put the motor M back into motion by actuating the operating element 24 to return to the reference point.

If it was recognized in step S 17 that the end position counter is not yet full, the timer is set to zero in a step S 18 and in step S 8 it is queried again whether the operating element 21 specifies a speed other than zero. Now the control runs again in the loop S 8 , S 9 , S 10 , S 13 , S 14 , S 8 ... and waits there whether either a return trip to the reference point is commanded in step S 13 , or whether in Step S 8 the approach to a further end position is specified.

If it has been determined in step S 13 that a return trip to the reference point is now to take place, then in step S 20 it is queried whether the current position value Pm matches the reference value Pr stored in step S 3 . If this is not the case, then in a step S 21 the motor is controlled in a direction which leads to the difference between the stored position reference value and the instantaneous value being reduced. This loop from steps S 20 and S 21 will run through until it is determined in step S 20 that the momentary position now coincides with the stored reference point Pr . Once this coincidence Festge is assumed is scanned in a step S 22 whether the control member 22 has been actuated to initiate a program ride be. If this is not the case, step S 4 is repeated and in step S 5 the timer is set to zero. If the end position counter has now been increased by one in step S 15 , a step S 32 is carried out after step S 6 and a query is made as to whether the control element 22 was actuated to initiate a program run. If not, it is clear that the cameraman now wants to carry out a learning trip between the reference point Pr and the first end point to store a new location / time curve. It is now queried in a step S 34 whether the instantaneous value greater than or equal to half the difference between the end position n and the end position ( n − 1) lying before it has been reached. As long as this is not the case, and also the control element 21 is actuated to specify a speed, a loop is carried out via steps S 39 and S 40 and step S 34 , the current position values and the associated values of the values being shown in step S 39 Timer are saved. Then, when the cameraman releases the operator 21 and thus a speed of zero is specified, step S 7 is initiated again. As soon as the instantaneous value has reached half the difference between the starting point and the end point, a query is made in a step S 35 as to whether the speed has now been specified. If so, the motor is stopped in a step S 36 and a query is made in a step S 37 as to whether it is desired to return to the reference point. As long as this is not the case, the loop, consisting of steps S 35 , S 36 and S 37, is passed through again and again. Can man the camera so in such an "emergency" only one operation of the operating organ 24 to back drive to the reference point.

But if - which will be the case in general - it was determined in step S 35 that no speed zero had yet been specified, in step S 38 the journey over an inverted location / time curve according to the course from the reference point to the position controlled at half the difference between the end position and the start position. Here it is repeatedly asked (this is indicated by a broken line) whether the camera man gave the command to stop (emergency stop) or released the control element 21 so that it can return to the zero position.

As soon as it was recognized in step S 38 that the given end position had now been reached and the motor had been stopped, a query is made in step S 41 as to whether the control element 21 was actuated to set a non-zero speed. As soon as this is the case, step S 4 is carried out again. If the speed specification is still zero, a query is made in a step S 42 as to whether a return trip to the reference point should now take place. If this is also not the case, steps S 41 and S 42 are repeated until either the operator gate 21 or the operator element 24 have been actuated.

If it was determined in step S 22 that the operating device 22 had been actuated and now a program-controlled journey is to take place, the motor is controlled in a step S 23 , similarly to step S 38 , so that the first half of the route between the (currently specified) end points are traversed according to the saved location / time curve, the second half distance with the inverted stored location / time curve. After this drive has been carried out (an interrupt by releasing the operating element 22 is advantageous), the end position counter is increased by one in a step S 24 . In a step S 25, it is then queried whether the control element 22 has now been released. If not, step S 25 is carried out until the camera man has released the control element 22 . As soon as the control element 22 has been released, a step S 26 asks whether a return trip to the reference point should now take place. If so, step S 20 is repeated. If no, it is queried in step S 27 whether the control element 22 has been pressed (again) to initiate a program run. As long as this is not the case, a loop is repeated via steps S 26 and S 27 . The cameraman can only go either to the reference point (via step S 20 ) or to another programmed end point. If in step S 27 he knows that the control element 22 has now been actuated again to initiate a program run, then in step S 28 a query is made as to whether the last stored end position has been reached. If this is the case, then in a step S 31, a warning is given and queried in egg nem step S30 whether now the return trip to be introduced to the reference point. As long as this is not the case, the signal is output in a loop through steps S 30 and S 31 31st As soon as this is the case, the process jumps back to step S 20 .

If it was recognized in step S 28 that the last stored end position had not yet been reached, the end position counter is increased by one in step S 29 and the process jumps again to step S 23 , so that a program trip between the first end position reached and the value next end position value can take place.

According to a further preferred embodiment of the invention dung, which are not shown here in detail the saved location / time curve is in front of a automatic program run smoothed, so it will be abrupt jumps in the course of movement reduced.

Claims (14)

1. A method for storing and regulating the movement sequence of a camera which can carry out lifting and / or swiveling and / or rotating and / or driving movements by means of a motor-adjustable holding device, in particular a camera dolly or the like, with at least one initial and an end point or end angle can be stored and the camera can be moved automatically from the start to the end point, characterized in that position values between the start and end point (s) during a learning or test drive together with associated time intervals ( Time values) from the beginning of the movement are saved from the starting point and the saved location / time curve is repeated at least in sections during the automatic drive. 2. The method according to claim 1, characterized, that only those position values together with Zeitwer ten that differ from the previous ge differentiate stored position values. 3. The method according to any one of the preceding claims, characterized, that when saving movements between previously festge put the start and end point (s) only that section the location / time curve is saved, within which an acceleration of the movement takes place while the Ab brake the movement automatically according to the (inverted) Acceleration curve is regulated. 4. The method according to claim 3, characterized, that the automatically controlled braking process at the latest when half the position difference between end is reached and starting point is initiated. 5. Device for performing the method according to one of the preceding claims, with a motor ( M ) for moving a camera holding device ( 17 ), with a position transmitter ( I ) for sensing the position of the holding device, with a speed controller ( 20 ) Operating organs ( 21-25 ) for manually specifying at least one target speed and command data, namely at least <program travel "," storing the momentary position "and with a control device ( 10 ) which is connected to the motor ( M ), the position transmitter ( I ) and the speed controller ( 20 ) are operatively connected, characterized in that the control device ( 10 ) comprises at least one timer ( 11 ) and a memory (RAM) with random access and is designed such that output values of the position transmitter ( I ) are combined with output values of the timer ( 11 ) under different memory addresses of the memory (RAM) can be stored and read out again. 6. The device according to claim 5, characterized in that the control device ( 10 ) comprises scanning means (ADC) for sampling the output signal of the target speed control element ( 21 ) and is designed ( S 9 ) that the timer ( 11 ) stopped is when the output signal is zero and the control element ( 22 ) "program run" is not actuated. 7. Device according to one of claims 5 or 6, characterized in that the control device ( 10 ) is designed such that output values of the position and timer are only stored in the memory (RAM) when the current position value from the previously stored separates. 8. Device according to one of claims 5 to 7, characterized in that the control device ( 10 ) is designed such that the motor ( M ) is always stopped when the target speed control element ( 21 ) and the loading control element ( 22 ) "Program run" cannot be operated. 9. Device according to one of claims 5 to 8, characterized in that the speed controller ( 20 ) has an on / off switch ( 25 ) which is connected to the control unit ( 10 ) in such a way that the output signals of all other loading fault data controls ( 22-24 ) are only passed on to the control unit ( 10 ) when the on / off switch is switched on. 10. The device according to claim 9, characterized in that the control unit ( 10 ) is designed such ( S 1 - S 3 ) that the output value of the position transmitter ( I ) as the reference point when the on / off switch ( 25 ) is switched on ( Pr ) is stored in memory (RAM). 11. Device according to one of claims 9 or 10, characterized in that the speed controller ( 20 ) comprises a preferably optical display member ( 26 ) which emits a signal when the on / off switch ( 25 ) is switched on. 12. Device according to one of claims 5 to 11, characterized in that the holding device ( 17 ) comprises limit switches ( 14 , 15 ) which are designed and arranged such that the motor ( M ) upon actuation of a limit switch ( 14 , 15 ) stopped and prevented from continuing to rotate in the previous direction. 13. Device according to one of claims 5 to 12, characterized in that the position transmitter ( I ) is coupled to the motor ( M ) and senses the angle of rotation thereof. 14. The apparatus according to claim 13, characterized in that the motor ( M ) can be controlled via a controller ( 12 ) to which the output signals of the position sensor ( I ) are supplied as setpoints.