JP2005109832A - Moving photographing device and control method therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a suitable moving photographing device used for various television programs and concert photographing. <P>SOLUTION: A multi-wheel driving vehicle capable of multi-direction moving is set as a truck, and a orientation of a camera and an operation of the vehicle are made independent. Thus, both free moving photographing and the orientation of the camera are realized. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

The present invention relates to a vehicle control method capable of multi-directional movement and a mobile photographing device using the same.

Conventionally, as this type of moving device, there are a normal four-wheeled vehicle (Japanese Patent Application No. 6-204579), a track running, and a device suspended on a wire.

However, the above-described mobile photographing apparatus has a drawback that when the direction of the vehicle is changed, the photographing direction of the camera is also changed.

An object of the present invention is to provide a photographing apparatus that is a vehicle that can move in multiple directions and that can freely move around without changing the direction of the camera.

The mobile imaging device of the present invention enables free mobile imaging without the need for wheel direction steering (handle mechanism) by using a multi-wheel drive vehicle with wheels with rollers as a camera carriage.

Operate the vehicle in the direction of tilting the joystick (tilt), and operate the camera on the turntable with the joystick twist (Z-axis) so that the vehicle and camera can be operated with one hand. I made it.

As described above, a comfortable mobile photographing device can be realized by using a multi-wheel drive vehicle capable of multi-directional movement as a trolley part and simultaneously controlling the direction of the trolley part and the mounted camera by operating a joystick.

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 illustrates the wheels of a vehicle constituting the carriage part of the mobile photographing apparatus of the present invention from the front and side.
The wheel 1 rotates about the rotation shaft 2, and the roller 5 having the rotation shaft 3 and the free roller 4 is attached to the entire circumference of the ground contact surface of the wheel 1. The rotating shaft 2 of the wheel 1 and the rotating shafts of all the free rollers are configured to intersect three-dimensionally at 90 degrees.

2, 4, and 5 are constituted by wheels with rollers of FIG. 1, as viewed from above to explain the arrangement of the wheels of a multi-wheel drive vehicle that is a carriage part of the mobile imaging device of claim 1. It is the conceptual diagram drawn. FIG. 2 shows wheels arranged in at least two directions, and FIGS. 4 and 5 are conceptual diagrams of a multi-wheel drive vehicle capable of multi-directional movement by wheels arranged in three different directions.

FIGS. 2A and 2B are examples of a multi-wheel drive vehicle capable of multi-directional movement, which is composed of wheels arranged in two directions that intersect at right angles.
The wheel 6 and the wheel 7 in FIG. 2A are a four-wheeled vehicle in which the wheels 8 and 9 are arranged in the same direction and orthogonal to this.

For example, if only the wheels 6 and 7 are rotated so that the driving force works upward in the drawing, the grounded free roller will rotate and the friction will be released even if the wheels 8 and 9 do not rotate. The vehicle moves as it is on the drawing. On the contrary, if only the wheels 8 and 9 rotate and the driving force works to the left in the drawing, the grounded free roller rotates and rubs even if the wheels 6 and 7 do not rotate. The vehicle moves to the left as it is.

Further, when all four wheels rotate, for example, if the wheels 6, 7, 8, and 9 rotate as described above, they move in the diagonally upper left direction in the drawing without changing the direction of the vehicle.
In this way, if the rotation of each wheel is controlled, the vehicle can be moved in a total of eight directions, that is, four directions of up and down, left and right and oblique angles on the drawing without changing the direction of the vehicle.

FIG. 2B shows a six-wheeled vehicle in which the wheels 10, 11, 12, and 13 are arranged in the same direction and the wheels 14 and 15 are arranged in a direction orthogonal to the wheels. As in the case of the four-wheel vehicle in FIG. 2A, if only the wheels arranged in the same direction are rotated, it moves in the vertical and horizontal directions on the drawing, and if all the wheels arranged in the two directions are rotated, the wheels are inclined. Is also possible.

The graph of FIG. 3 represents the complicated operation of the vehicle of FIG. 2 by the synthesis of mechanical vectors in two directions. The center of gravity of the vehicle is at the intersection of the X axis and the Y axis, and the driving force and direction of the wheel in two directions are represented by vectors of the X axis and the Y axis, respectively.

If a vector 20 and a vector 21 having the same length (driving force) are combined, a vector 22 is obtained. this is,

2A, the leftward driving force of the wheels 8 and 9 on the drawing and the upper driving force of the wheels 6 and 7 on the drawing are combined to indicate that the wheel 8 and 9 move in the diagonally upward left direction on the drawing. ing.

Similarly, the vector 24 is obtained by combining the vector 21 and the vector 23 having different lengths. This means that if the driving force of wheels 6 and 7 is doubled without changing the driving force of wheels 8 and 9, the distance between the upper left direction and the upper direction on the drawing is Represents the direction of movement. That is, if the driving force of the wheel is replaced with the number of rotations (rotational speed) of the wheel and controlled, the vehicle can move in multiple directions without being caught in eight directions.

4A is a three-wheeled vehicle in which the rotational axes of the wheels are gathered at the center of gravity 26 of the vehicle at intervals of 120 degrees, and FIG. 4B is a three-wheeled vehicle in which the rotational directions of the wheels are gathered at the center of gravity 27 of the vehicle at intervals of 120 degrees. A and B in FIG. 5 are three-wheeled vehicles in which the rotation axis or the rotation direction is shifted from the gravity centers 28 and 29 of the vehicle in FIG.

For example, if the wheel 30 and the wheel 31 of the three-wheeled vehicle in FIG. 4A rotate and the driving force works in the directions 32 and 33, respectively, the vehicle is seen from the center of gravity 26 even if the wheel 34 does not rotate. It moves without changing the direction of the vehicle in the direction of the upper direction 35. This time, if the wheel 31 rotates without rotating, and the wheel 30 rotates in the direction 32 and the wheel 34 rotates in the direction 36, the vehicle changes its direction in the direction 37 as seen from the center of gravity 26. Without moving.

That is, the three-wheeled vehicle shown in FIG. 4A can move in six directions at intervals of 60 degrees as seen from the center of gravity 26 of the vehicle without changing the direction of the vehicle. The three-wheeled vehicle in FIG. 4B can move in six directions at 60 ° intervals without changing the direction of the vehicle, as in the three-wheeled vehicle in FIG. 4A. In both cases, driving force works in the moving direction. The three-wheeled vehicle shown in FIGS. 5A and 5B can move in six directions at intervals of 60 degrees without changing the direction of the vehicle based on the same principle as the vehicles shown in FIGS.

The graphs of FIGS. 6 and 7 represent the complex operation of the vehicle of FIGS. 4 and 5 by the synthesis of mechanical vectors in two directions. The center of gravity of the vehicle is at the intersection of the X axis and the Y axis, and the driving force and direction of the wheel in two directions are represented by vectors of the X axis and the Y axis, respectively.

When the vector 38 and the vector 39 in FIG. this is,

When the wheels 30 and 31 in FIG. 4A rotate and drive force in the direction 35 corresponding to the upward direction on the drawing works, when the drive force acts in the direction 36 corresponding to the right direction on the drawing by rotating the wheel 34, The direction in which this vehicle moves will be described. In other words, it indicates that movement in multiple directions is possible in addition to movement in six directions at intervals of 60 degrees.

If the vector 47 and the vector 48 in FIG. This is because the wheels 41, 42, and 43 of the three-wheeled vehicle in FIG. 4B exert driving force in the directions 44, 45, and 46, respectively, and when the vehicle is moving in the direction 46, the rotational speed of the wheels 42 is adjusted. This is an explanation of the direction in which the vehicle moves when a new vector 48 is generated by doubling. That is, the three-wheeled vehicle in FIG. 4B and the vehicle in FIG. 4A can move in multiple directions, not just in six directions, at intervals of 60 degrees. This can be applied to the vehicle shown in FIGS. 5A and 5B and controlled.

A mobile photographing apparatus using the multi-wheel drive vehicle capable of multi-directional movement described above as a carriage part will be described with reference to FIG. FIG. 8A is viewed from above, and FIG. 8B is viewed from the side.

There is a turntable 52 with a camera 50 and a monitor panel 51 mounted on the upper part, and the lower part of the carriage is composed of a multi-wheel drive vehicle 53 capable of multi-directional movement. The turntable 52 includes a rotation motor 54, a support shaft 55, and a support roller 56.

FIG. 9 is an example of a console that can simultaneously operate the moving direction of the vehicle of the mobile photographing apparatus and the direction of the camera of the photographing apparatus. The vehicle is controlled by capturing the tilt of the joystick 60 with two potentiometers (difference between currents of variable resistors) on the X-axis and the Y-axis, and reflecting them in the rotation speed and rotation direction of each wheel based on the numerical values. Alternatively, the vehicle is controlled by reflecting the number of rotations and the direction of rotation of each wheel by a plurality of contact sensors (pressure sensors) provided around the tilt of the joystick 60.

The turntable 52 of the mobile photographing device shown in FIG. 8 can be controlled and the orientation of the camera 50 can be changed by an operation 62 that rotates the Z-axis (twist direction) 61 of the joystick 60. Since the operation of the Z-axis 61 can be performed independently of the control of the vehicle and the tilting of the joystick 60, the joystick 60 is held with one hand, and the operation of the vehicle and the direction of the camera mounted thereon can be operated simultaneously or separately. it can.

For example, when this mobile shooting device is used as a TV studio floor camera, a cameraman with a handy camera will not run around the studio and will not be reflected in other cameras. It is possible to continue shooting while moving sideways.

Wheel with roller Conceptual diagram of a multi-wheel drive vehicle with wheels in two directions Graph showing the direction of movement of the vehicle in FIG. Conceptual diagram of a multi-wheel drive vehicle with wheels attached in three directions Conceptual diagram of a multi-wheel drive vehicle with wheels attached in three directions shifted from the center of gravity The graph showing the moving direction of the vehicle of FIG. 4A 4B is a graph showing the moving direction of the vehicle Top view / side view of mobile camera Side / top view of the console

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Wheel with roller 2 Rotation axis of wheel with roller 3 Rotation axis of roller 4 Roller 5 Other roller 6-15 Wheel 20-24 Vector 26-29 Center of gravity 30/31 Wheel 32/33 direction 34 Wheel 35-37 direction 38 to 40 Vector 41 to 43 Wheel 44 to 46 Direction 47 to 49 Vector 50 Camera 51 Monitor panel 52 Turntable 53 Multi-wheel drive vehicle 54 Turntable motor 55 Turntable support shaft 56 Turntable support roller 60 Joystick 61 Joystick Z-axis (twist direction)
62 Joystick twisting operation

Claims (2)

A multi-wheel drive vehicle that can move in multiple directions using wheels with rollers that are fitted together with the rotating shafts of several rollers so that it intersects the rotating shaft of the wheels 90 degrees on the ground contact surface of the wheel. Multi-directional movement characterized by having a photographic device that operates the direction of movement of the carriage in the direction of tilting the joystick (tilting) and the direction of the camera mounted on the turntable by twisting the joystick (Z-axis) Possible mobile imaging device 2. The vehicle control method according to claim 1, wherein the moving direction is determined by providing a deviation in the rotational speed of each wheel.

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