JP2010278876A - Universal head - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To link motion of a support such as a crane with the angle of a photographing apparatus. <P>SOLUTION: A rotating angle sensor 306a and position sensors 306b, 306c detect motion of a winding part 102 of a crane with respect to a turn instruction part 103. A control part 130 calculates variation in the turning angle of the winding part 102 of the crane with respect to a turn supporting part 103 from the result of the detection. Furthermore, the control part 130 calculates the turning angle of a second driving part 120 so as to offset the calculated variation in the turning angle. Moreover, on the basis of the detection result of a horizontal sensor 121, the second driving part 120 is driven. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a pan head for attaching an imaging device to a movable support such as a crane.

  The photographing apparatus is attached to a support such as a tripod or a crane. For example, the case where an imaging device is attached to a movable support such as a crane will be described. The imaging device is attached to the tip of the crane arm via a pan head. The arm is moved up and down and left and right according to the angle desired by the photographer and the movement of the subject. A camera attached to the tip of the arm is required to shoot an image that does not shake even if the arm moves suddenly. Therefore, a shock absorber is provided between the imaging device and the arm to prevent the vibration of the arm from being transmitted to the imaging device (Patent Document 1).

  The photographing device attached to the tip of the arm is configured such that panning, tilting, rolling, etc. can be freely operated by the cameraman.

JP 2008-263514 A (FIGS. 3 and 13)

  The shock absorber shown in Patent Document 1 can prevent the horizontal vibration of the photographing apparatus caused by the movement of the crane in the horizontal direction (X axis, Y axis). However, the shock absorber disclosed in Patent Document 1 has an effect of preventing vibration of the photographing apparatus, but the movement of the crane and the movement of the photographing apparatus are not linked. For this reason, there is a problem that the angle of the photographing device changes when the crane starts to move up and down while the photographing device is fixed at a certain angle.

  Such a problem between the crane angle and the angle adjustment of the photographing apparatus may be caused by an artificial operation, or may be caused by unnecessary movement or shaking caused by the bending of the crane that occurs when the crane is extended.

  Therefore, the present invention provides a pan head in which unnecessary movement of the support does not adversely affect the angle of the photographing apparatus during photographing by linking the movement of the support body such as a crane and the angle of the photographing apparatus. The purpose is to do.

  In order to achieve the above-described object, the present invention is characterized in that an arm part (multi-joint arm part 104) that expands and contracts in the longitudinal direction and one end part of the arm part are connected, and the tip part of the arm part is at least perpendicular. A pan head (head 1) having a support portion (arm winding portion 102) that is movably supported in a direction, and mounting a photographing device (camera 200) on a tip portion of the arm portion. Are attached to a support part side drive part (servo motor 301, linear motor 305) that drives the support part at least in a vertical direction, and to a tip part (motor attachment part 105) of the arm part, at least in a vertical direction. A distal end side drive unit (second drive unit 120) that changes the angle of the imaging device, and a detection unit (rotation angle sensor) that detects a displacement of a vertical rotation angle of the arm unit with respect to the support unit. 06a, sensors 306b, 306c) and a control unit (control unit 130) for controlling the distal end side drive unit so as to cancel the displacement of the rotation angle detected by the detection unit. To do.

  In the pan head 1 of the present invention, the angle of the photographing device is changed in a direction that cancels out the displacement of the angle of the arm portion, so the photographing device can photograph a predetermined angle regardless of the change of the arm portion.

  Therefore, according to the present invention, unnecessary movement of the support part that supports the arm part does not adversely affect the angle of the photographing apparatus during photographing.

  A feature of the present invention relates to the first feature of the present invention, and includes a horizontal detection unit (horizontal sensor 121) that detects the level of the imaging apparatus, and the control unit receives a detection signal from the horizontal detection unit. Accordingly, the distal end side drive unit is controlled so that the photographing apparatus is always horizontal.

  Therefore, the pan head 1 can absorb unnecessary movement and shaking due to the bending of the arm portion that occurs when the arm portion is extended.

  According to the present invention, a platform is provided in which unnecessary movement of the support does not adversely affect the angle of the photographing apparatus during photographing by linking the movement of the support body such as a crane and the angle of the photographing apparatus. can do.

FIG. 1 is a schematic diagram illustrating the overall configuration of a crane according to an embodiment of the present invention. FIG. 2 is a perspective view of the distal end portion of the articulated arm portion with the camera attached. FIG. 3 is an exploded view of the periphery of the shock absorber according to the embodiment of the present invention. FIG. 4 is an exploded view of the shock absorber according to the embodiment of the present invention. FIG. 5 is a diagram illustrating another crane to which the shock absorber according to the embodiment of the present invention can be applied. FIG. 6 is a diagram illustrating a vehicle-mounted camera mount to which the shock absorber according to the embodiment of the present invention can be applied.

  Next, an embodiment of a pan head according to the present invention will be described with reference to the drawings. Specifically, (1) the configuration of the pan head, (2) the configuration of the tip of the crane, (3) the configuration of the shock absorber, (4) the configuration of the crane winding portion and the rotation support portion, (5) control The apparatus, (6) control processing, (7) operation and effect, and (8) other embodiments will be described.

(1) Configuration of pan head With reference to FIG. 1, a schematic configuration of the entire crane will be described. As shown in FIG. 1, a pan head 1 shown as an embodiment includes a crane 100. The crane 100 includes a crane base 101 and an arm winding unit 102. The crane 100 includes a rotation support unit 103 that supports the arm winding unit 102 so as to be rotatable with respect to the crane base 101. The crane 100 includes a first drive mechanism 110 that rotates the arm winding unit 102 with respect to the rotation support unit 103.

  The crane 100 includes an articulated arm unit 104. The camera 200 constitutes a photographing device. The multi-joint arm unit 104 is configured by connecting a plurality of arm blocks to each other. The unlocked state is a state in which only a part is connected to each other. The arm block is wound around the arm winding unit 102 in an unlocked state. The arm block is locked when in use. The arm blocks are fed out from the arm winding portion 102 and engaged with each other to form an arm. A camera 200 is attached to the tip of the articulated arm 104.

(2) Configuration of the Tip of the Crane FIG. 2 is a perspective view of the tip of the articulated arm 104 with the camera 200 attached. As shown in FIG. 2, a motor attachment portion 105 is coupled to the tip portion of the articulated arm portion 104. A second drive unit 120 that rotates the camera in the tilt direction is attached to the motor attachment unit 105. A shock absorber mounting portion 107 is attached to the motor mounting portion 105 via the second drive portion 120. The shock absorber 108 is attached to the shock absorber attachment portion 107. A horizontal sensor 121 for detecting the level is attached to the shock absorber attachment portion 107.

  A camera mounting portion 201 is attached to the shock absorber 108. A camera base 202 is attached to the camera attachment portion 201. The camera 200 is attached to the camera base 202. In this embodiment, the 2nd drive part 120 comprises the tip part side drive part. The second drive unit 120 is controlled by the control unit 130 described later.

(3) Configuration of Buffer Device FIG. 3 is an exploded view of the buffer device 108. As shown in FIG. 3, the shock absorber 108 includes a first base 11 fixed to the crane 100 side, a second base 12 to which the camera 200 is attached, a first base 11 and a second base 12. And a connecting mechanism 13 for connecting the two.

  The first base 11 has a flat plate shape. The first base 11 is attached to the shock absorber attachment portion 107. The 1st base 11 has the 1st connection part 21 which protrudes in the horizontal direction H from the surface of a flat plate. The first connecting portion 21 is connected to an end portion 15a of the telescopic portion 15 described later.

  The second base 12 has a flat plate shape. The 2nd base 12 has the 2nd connection part 22 projected in the perpendicular lower part of the lower side of a flat plate. The second connecting portion 22 is connected to an end portion 15b of the telescopic portion 15 described later. The second base 12 has an opening 12a through which the first connecting portion 21 is inserted. The 2nd base 12 is provided with the engaging part which is not illustrated, and is engaged with the below-mentioned guide part 14a and guide part 14b. The second base 12 is not fixed to the guide part 14a and the guide part 14b, and can move along the vertical direction V. In this embodiment, the up-down direction V coincides with the vertical direction.

  The coupling mechanism 13 includes a guide part 14a, a guide part 14b, and an extendable part 15. The guide part 14 a and the guide part 14 b are disposed on the surface of the first base 11. The guide part 14 a and the guide part 14 b are arranged along the vertical direction V, and guide the second base 12 along the vertical direction V with respect to the first base 11.

  The expansion / contraction part 15 expands and contracts along the vertical direction V. The expansion / contraction part 15 is an elastic member that expands and contracts along the vertical direction V. In this embodiment, the expansion / contraction part 15 is a coil spring. The elastic part 15 has an end part 15 a and an end part 15 b, and the end part 15 a is connected to the first connection part 21. Further, the end portion 15 b is connected to the second connecting portion 22. The expansion / contraction force of the expansion / contraction part 15 is preferably balanced with the sum of the weight of the member disposed on the second base 12 including the camera 200 and the weight of the second base 12.

  In the shock absorber 108, the second base 12 has the guide portion 14 a and the first connecting portion 21 provided in the first base 11 inserted in the opening 12 a formed in the second base 12. The guide 14b is movably engaged. The first connecting part 21 and the second connecting part 22 are connected by the extendable part 15.

  Thus, in the shock absorber 108, the movement of the first base 11 and the second base 12 in the horizontal direction H is restricted by the guide portion 14a and the guide portion 14b. That is, the 1st base 11 and the 2nd base 12 are connected by the connection structure with few blurrings in the horizontal direction H.

  In addition, the second base 12 (and the member disposed on the second base 12 including the camera 200) is suspended from the first base 11 by the stretchable portion 15, and the stretchable portion 15. It is in a state of being balanced by the expansion and contraction force. When force is applied to the first base 11, the force transmitted to the second base 12 is reduced by the expansion and contraction of the stretchable part 15.

  At this time, the distance between the outer surface of the first connecting portion 21 inserted through the opening 12a and the edge of the opening 12a is such that the second base 12 can move in the vertical direction with respect to the first base 11. It is a range.

  Based on the detection result of the horizontal sensor 121 attached to the shock absorber attachment portion 107, the second drive unit 120 vertically aligns the plane of the first base 11 of the shock absorber 108 regardless of the angle of the articulated arm portion 104. The angle between the motor mounting portion 105 and the shock absorber mounting portion 107 is controlled so as to always maintain the direction V.

(4) Configuration of Crane Winding Unit and Rotation Support Unit FIG. 4 is an exploded view of the periphery of a portion where the crane winding unit 102 is attached to the rotation support unit 103 according to the embodiment of the present invention.

  The first drive mechanism 110 includes a main rail 111 attached to the crane winding unit 102 and a sub rail 112. The main rail 111 and the sub rail 102 have an arc shape. A gear tooth row that engages with a gear 303 described later is formed at a predetermined position of the main rail 111.

  Moreover, the crane winding part 102 is rotatably attached to the rotation support part 103 by the rotation shaft 113. The rotation shaft 113 is attached to the rotation support portion 103 via a bearing 114.

  The rotation support unit 103 includes a servo motor 301, a speed reducer 302, and a gear 303. The gear 303 is covered by a gear case 304 and is attached to the rotation support portion 103 by the gear case 304. Although not shown, the rotation support portion 103 has a bearing portion that receives the rotation shaft 113. The rotation support unit 103 includes a linear motor 305.

  The gear 303 is engaged with a gear tooth row formed on the main rail 111. Therefore, when the gear 303 is rotated by the servo motor 301, the main rail 111 is sent out in the rotation direction. The linear motor 305 is engaged with the sub rail 112. The linear motor 305 can send out the sub rail 112 in the same direction as the rotation direction of the gear 303.

  The servo motor 301 is provided with a rotation angle sensor 306a that detects a rotation angle. Similarly, the linear motor 305 is provided with position sensors 306b and 306c for detecting the position where the sub rail 112 is sent out.

  The crane winding unit 102 can be rotated with respect to the rotation support unit 103 by a servo motor 301 and a linear motor 305. The servo motor 301 and the linear motor 305 are controlled by the control unit 130 described later.

(5) Control Device FIG. 5 is a configuration diagram illustrating a configuration for controlling the pan / tilt head in the present embodiment. That is, the second drive unit 120, the servo motor 301, the linear motor 305, the horizontal sensor 121, the rotation angle sensor 306a, the position sensors 306b and 306c, and the control unit 130 constitute a control device. Here, the 2nd drive part 120 comprises a tip part side drive part. The servo motor 301 and the linear motor 305 are configured as a support unit side drive unit. The rotation angle sensor 306a and the position sensors 306b and 306c constitute a detection unit that detects the displacement of the rotation angle of the arm unit in the vertical direction.

  The control unit 130 detects the displacement of the rotation angle of the servo motor 301 and the linear motor 305, and controls the second drive unit 120 so as to cancel the detected displacement of the rotation angle. In addition, the control unit 130 controls the second driving unit 120 so that the camera 200 is always leveled according to a detection signal from the horizontal sensor 121 that detects the level of the camera 200. Specifically, control is performed so that the vertical direction V of the shock absorber 108 always coincides with the vertical direction. Further, control is performed so that the horizontal direction H of the shock absorber 108 coincides with the plane on which the crane base 101 is grounded.

(6) Control Processing FIG. 6 is a flowchart for explaining the pan head control by the control unit 130.

In step S <b> 1, the rotation angle sensor 306 a and the position sensors 306 b and c detect the movement of the crane 100. Specifically, the rotation angle sensor 306 a and the position sensors 306 b and c detect the movement of the crane winding unit 102 with respect to the rotation instruction unit 103. In step S <b> 2, the control unit 130 calculates the amount of change in the rotation angle of the crane winding unit 102 relative to the rotation support unit 103 from the detection result.

  In step S3, the control unit 130 calculates the rotation angle of the second drive unit 120 so as to cancel the change in the calculated rotation angle. That is, the control unit 130 calculates a driving angle for driving the second driving unit 120 so that the angle of the camera 200 does not change due to the change in the rotation angle.

  In step S4, the detection result of the horizontal sensor 121 is input. In step S6, the second drive unit 120 is driven until the detection result of the horizontal sensor 121 becomes horizontal. In step S7, when the detection result of the horizontal sensor 121 becomes horizontal, the control unit 130 stops the second drive unit 120.

(7) Action / Effect In the camera platform 1, the angle of the camera 200 is changed in a direction that cancels out the angular displacement of the articulated arm unit 104. For this reason, the camera 200 can photograph a predetermined angle regardless of the change of the articulated arm unit 104. Therefore, unnecessary movement of the arm winding unit 102 that supports the multi-joint arm unit 104 does not adversely affect the angle of the camera 200 during shooting.

  The pan head 1 also includes a horizontal sensor 121 that detects the level of the camera 200, and the control unit 130 is configured to keep the camera 200 horizontal in accordance with a detection signal from the horizontal sensor 121. The drive amount of the drive unit 120 is controlled. Therefore, the camera platform 1 can absorb unnecessary movement and shaking due to the bending of the arm that occurs when the articulated arm 104 is extended.

(8) Other Embodiments As described above, the present invention has been described with reference to the embodiments. However, it should not be understood that the description and drawings constituting a part of this disclosure limit the present invention. . From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

  Although the crane 100 has been described as including the multi-joint arm unit 104, the structure of the crane is not limited to FIG. What is necessary is just the structure which has a drive part in the front-end | tip part of the arm of a crane, and the base part of an arm, respectively.

  As described above, it should be understood that the present invention includes various embodiments and the like not described herein. Therefore, the present invention is limited only by the invention specifying matters in the scope of claims reasonable from this disclosure.

  DESCRIPTION OF SYMBOLS 1 ... Pan head, 11 ... 1st base, 12 ... 2nd base, 12a ... Opening part, 13 ... Connection mechanism, 14a ... Guide part, 14b ... Guide part, 15 ... Telescopic part, 15a ... End part, 15b DESCRIPTION OF SYMBOLS ... End part, 21 ... 1st connection part, 22 ... 2nd connection part, 100 ... Crane, 101 ... Crane base, 102 ... Arm winding part, 103 ... Rotation support shaft, 104 ... Articulated arm part, 105 DESCRIPTION OF SYMBOLS ... Motor mounting part 106 ... Motor 107 ... Shock absorber mounting part 108 ... Shock absorber 200 ... Camera 201 ... Camera mounting part 202 ... Camera base 211 ... Support arm 212, 213 ... Arm mounting part

Claims (2)

An arm portion that expands and contracts in the longitudinal direction, and a support portion that is connected to one end portion of the arm portion and supports the tip portion of the arm portion so as to be movable at least in the vertical direction, are photographed at the tip portion of the arm portion. A head for mounting the device,
In a support body having an arm part that expands and contracts in the longitudinal direction and a support part to which one end part of the arm part is connected, and that supports the other end part of the arm part at least vertically in the support part. A pan head for attaching a photographing device to the tip of the arm part,
A support part side drive part for driving the arm part in at least a vertical direction with respect to the support part;
A tip-side drive unit that is attached to the tip of the arm and changes the angle of the photographing device at least in the vertical direction;
A detection unit for detecting a displacement of a rotation angle of the arm unit in a vertical direction with respect to the support unit;
A pan head comprising: a control unit that controls the tip side drive unit so as to cancel the displacement of the rotation angle detected by the detection unit. A horizontal detection unit for detecting the level of the imaging device;
2. The camera platform according to claim 1, wherein the control unit controls the tip end side drive unit so that the imaging apparatus is always leveled according to a detection signal from the horizontal detection unit.

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