JPS586163B2 - Drive device of controlled device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a drive method for a controlled device, and particularly to a drive method for linearly responsively controlling a controlled device.

When a controlled device is adjusted and driven in a desired manner by the adjustment amount of different control elements, the adjustment amount of each control element and in some cases the speed of the motor etc. that drives each control element are different, so each control element are performed independently, discontinuously, and nonlinearly.

For example, in the case of a television camera as a non-control device, there are control elements for a television camera such as panning, tailing, zooming, focusing, and camera height. By applying an electrical signal to the servo device, it is possible to use the camera to capture a desired image, that is, a desired image.

Conventionally, in order to set a controlled device such as a television camera in a desired manner, the amount to be set for each of the control elements is set independently by setting a potentiometer. A method has been adopted in which each element is servo-driven by a separate servo circuit.

According to this method, since each control element is driven independently, it is difficult to set the control elements linearly and smoothly, and this method is extremely preferable for controlled devices such as television cameras that require a linear response. It wasn't something.

According to the above method, when there is only one control element, a linear response is possible, but when there are two or more quantities to be set, such as the control element of the television camera mentioned above, values of two or more dimensions are possible. It is theoretically impossible to cause a controlled device to respond linearly to a predetermined behavior.

In other words, in the case of a television camera, when the control element setting amount is set by a potentiometer, each control element is driven by a servo motor whose speed is regulated by the potentiometer, but due to the difference in the amount of each element, for example, panning, zooming, etc. are completed. Despite this, a situation in which tailing was still occurring occurred, and it was impossible for each control element to respond linearly to start and stop within a predetermined time.

A possible way to solve this problem is to calculate the driving speed per unit time for each member based on the controlled amount of each controlled member, and then drive each member at the calculated speed for each member. It will be done.

However, this method has the drawback that the linear response cannot be guaranteed if the calculated drive speed exceeds the maximum drive speed of the device.

The present invention has been made in view of this point, and calculates the driving speed (displacement rate) per unit time for each member based on the controlled amount of each controlled member, and also calculates the driving speed (displacement rate) per unit time for each member. If it exceeds the threshold, the transition time of the controlled member is increased and updated, thereby enabling constant linear response.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a specific embodiment of the present invention will be described with reference to the drawings, in which the present invention is applied to a television camera as a controlled device.

(I) External configuration FIG. 1 shows the overall configuration of the television camera remote control device and the television camera. 100 is an operation console, 200
1 and 2 show remote-controlled television cameras that are connected to a control console through electrical circuits.

The operation console 100 is provided with buttons shown in the second figure on an operation surface 101, a television monitor 102, a magnetic card forming part of an external storage device to be described later, and a reader part 103.

On the other hand, on the television camera 200 side, a television camera 201 and an imaging lens 202 are provided on a pan head 203 provided on a tri-boat 204.
Inside, servo motors for focusing, zooming, tailing, and panning of the lenses and potentiometers for detecting set positions are independently built in, respectively.

Therefore, when control element setting amounts such as focusing are sent as electric signals via the electric line Co, the servo motors start driving, and similarly, setting signals for the potentiometers in the camera and the pan head are sent via the electric line Co. Returned to the control console.

Note that CI is a signal transmission path for imaging such as video and synchronization signals.

Each button arranged on the operation surface of the operation console 100 has the following operation functions.

(See Figure 2) Numerals 1 to 4 are knobs for adjusting tailing, panning, focus, and zooming, respectively. A rotary encoder is provided on the rotation axis of each knob, and a digital signal is generated in accordance with the rotation of the knob and sent to the TV camera. Set control elements such as panning.

5 is a shot memory button, which is pressed when sequentially setting the camera to a desired mode and inputting the setting information of each knob 1 to 4 necessary for this mode into the storage device;
After suppressing this button, set each knob 1 to 4 so that the camera will take the desired shot, and press any of the shot buttons 61 to 616.The setting signal for each knob will be converted into a digital signal. The data is input to a predetermined address section of a storage device, which will be described later.

Symbols 71 to 116 are provided oppositely above each shot button, and are provided on the shot buttons with a cartoon-like description of what kind of shot the shot is in advance.

Reference numeral 8 denotes a time setting knob for selecting a cut transition time, which will be described later.This knob forms a control signal for adjusting a timer, which will be described later, and is input into the storage device together with the setting information 1 to 4.

The buttons 61 to 616 have built-in red and yellow indicator lamps, and the red lamps are turned on by pressing the button corresponding to the lamp when writing a desired mode into a storage device, which will be described later. When reproducing the desired mode stored in the storage device, the buttons 61 to 61 are turned on when they are lit.
6 or indicates that a change button, which will be described later, has been selected and pressed.

The yellow lamps in the buttons 61 to 616 sequentially indicate that the buttons 61 to 615 have already been selected and pressed and the writing operation has been completed when writing to the storage device, which will be described later. In this case, among the information read out sequentially by operating the change button described below,
The configuration is such that a yellow lamp in the button corresponding to the next shot position to be read out lights up.

9 is a cut memory button. When the presetting operation for each shot is completed by operating the shot memory button 5, press this button, and press the shot buttons 61 to 616 in the desired order of the shots to see the desired shot order. It is stored in a storage device, which will be described later, together with the time element set by the time setting knob 8.

This ranking is simultaneously displayed as the number of shots on the display devices 101 to 1020.

Reference numeral 11 denotes an operation button, and when the change button 12 is pressed, the information required for each shot mode is read out from the storage device in the order of the shots displayed by the shot order display devices 101 to 1020, and is activated by the servo motor on the television camera side via various circuits to be described later. drive

If the knob 8 is set to Auto, the next shot will be automatically shifted to the next shot at a preset time in the storage device, which will be described later.

Reference numerals 131 to 1320 indicate display devices 141 for sequentially lighting up and displaying the next storage section corresponding to the address to be stored in the storage device, which will be described later, when the shot order is stored in the storage device;
- 1420 is a display device for displaying the current reproduction position during shot playback, 15 is a button for clearing the contents of the storage device, 16 is a power switch, 18.19 is for changing the shot setting order or playback order by one shot in the forward direction Or a shift button to move in the opposite direction, 20 is a button to press to restart the shot setting order and playback order from the beginning, 21
23 is a magnetic card operation button, a read button is used to read the information on the card to the internal storage device, and a write button 24 is used to transfer and store the information in the card from the internal storage device as a modification button. When it is desired to modify the camera mode, the user resets knobs 1 to 4 and presses a shot modification button to perform a modification operation.

Reference numeral 25 is a fine adjustment/coarse adjustment changeover switch, which is used to make fine adjustments by gradually changing the setting amount by decreasing the output signal of the rotary encoder when turning knobs 1 to 4 by switching to the fine side. be.

In addition, each of the above buttons 5, 9, 11, 12, 21, 22,
23 has all operation confirmation lamps built in, and is configured so that it lights up at the same time as the button is pressed, and when another button is pressed, the originally pressed button is unset and the light goes out.

Further, each button 15, 18, 19, 20 lights up only when the button is pressed.

Further, each button except the shot buttons 61 to 616 is configured so that even if it is pressed during execution of a calculation described below, no command will be accepted.

3A to 3E show the overall circuit configuration of the remote control device and the television camera control device, and FIG. 3 shows a schematic diagram of the connection circuits in each figure.

The configuration diagram of the electric circuit of each part will be explained below.

(I) Configuration of the TV camera control signal control circuit (see Figure 3A) In this circuit, the TV camera side control elements are servo controlled by the settings of the knobs 1 to 4, and by control signals from the arithmetic circuit section, which will be described later. It is something to control.

In the figure, 201 to 204 are knobs 1 to 4 for tailing, panning, focus, and zooming, respectively.
The angle-to-pulse number converter generates pulses with a number of pulses corresponding to the amount of rotation of the knob using a rotary encoder set by , and the polarity of the pulses generated is reversed depending on the direction of rotation of the knob.

201A to 204A are rotary encoders 201, respectively.
In the frequency dividing circuits connected to the outputs 204 to 204, each circuit is composed of a frequency divider 201a and a selection circuit forming switch 225a, as shown in the frequency dividing circuit 201A.

The switch 225a is the changeover switch 2 for coarse adjustment and fine adjustment.
5 and allows fine adjustment to be made when in the on state.

201B to 204B are gate circuits connected to the output of the frequency dividing circuit, and each gate input is set by a synchronous control signal GSM3 from the discrimination circuit 201C and the CPU circuit described later, as illustrated in the gate circuit 201B. The output of a gate circuit 201E is connected to AND-gate the output of the flip-flop 201D.

201F to 204F are up/down counters, A-
D shows the counting output of each up/down counter, respectively.

205 is a data organization circuit and each counter 201F~
The outputs A to D of 204F are connected to its inputs, and each output is time-divided and sent out from its output 206 in parallel.

A selection circuit 207 selects each of the counter outputs A to D using a sampling signal from a sampling signal generation circuit 208S, and sequentially sends one output of the outputs A to D to the DA converter 208.

209G to 212G are D-A in the sample hold circuit.
The analog signal from the converter 208 is sorted by the sampling signal from the sampling signal generation circuit 208S, and each output of each counter 201F to 204F is output to D.
- It is held in each circuit after A conversion.

Each sample and hold circuit has a comparison circuit 21 at its output.
The 2H and amplification drive circuit 216■ and the servo motor M1 are connected, and each servo motor adjusts the tailing, panning, focusing, and zooming operations of the television camera.

Each motor is associated with a respective potentiometer that is fed back to the comparator circuit 212H input to insert a regulated amount of each control element into the servo circuit.

The determination circuit 201C determines whether the count value of the counter 201F is within a certain value.
This is to adjust whether the adjustment amount is within the maximum tailing adjustment amount of the camera, and other counters 202
Each discrimination circuit (not shown) for F to 204F also has a similar function.

The tender forming circuit 205 is constituted by a multiplexer, and receives digital signals of control elements to be set from each manual input A to D, and transfers them to a shot memory to be described later.

The output digital signals of the rotary encoders 201 to 204 are sent to the gates 201B to 204 by control signals GSM3.
In the cycle in which B is open, each counter 201
F~204F, selection circuit 207, D-A converter 2
08. Motors M1, M2 to M4 (not shown) are servo driven via sampling and hold circuits 209G to 212G, and control elements on the TV camera side, ie tailing, panning, etc. Set focus and zoom.

Therefore, the operator sets the television camera to a desired mode while looking at the monitor 102 on the console side, and enables the camera to capture a predetermined shot.

The up-down counters 201F to 204F each have a preset input terminal
It is connected to a reference position digital signal generator, which will be described later, via a line 2291 via a line 2291, and an OR gate 22.
The other input of 0J is connected to the current location memory of the arithmetic and control circuit section, which will be described later, via an AND gate 224K.

Therefore, in the cycle in which the control signal GSB14 is input to the gate 224K, the counter 201F is set to a constant count value by the reference signal from the reference position digital signal generator, and the servo motor M1 for setting camera tailing is set to a predetermined position. be done.

The same is true for the other control elements, and OR gates and AND gate circuits (not shown) are connected to the preset inputs of each of the counters 202F to 204F, and perform similar operations.

(Self) Arithmetic control circuit configuration (see Figure 3B) This circuit unit sets and stores the desired time (time required for cutting) for transitioning the television camera from a desired mode (shot) to the next mode. , during playback, based on this set time,
It is provided to change the setting time to a time that allows each control element of the television camera to move linearly, and to linearly perform the setting operation of the camera-side control element.

This necessity is due to the fact that the servo motors M1 (~M4) that drive each control element of the television camera require maximum speed, that is, the minimum time necessary to adjust each control element, and the control elements In the case of this embodiment, in which the drive is controlled separately and independently, the setting amounts of each control element are different, so each control element operates separately, resulting in an image that is extremely difficult to see when captured by a television camera. be.

In order to eliminate this drawback, this circuit section calculates the set amount of each control element using the maximum speed of the servo motor as a function based on the required cutting time, and calculates the set amount of cassette required time as necessary. It is used to modify and configure the adjustment of each control element to be performed linearly.

In FIG. 3B, reference numeral 8 denotes a second time setting knob, which is used to set the required cutting time, and by rotating the knob, a pulse signal corresponding to the time is generated.

The time set by the time setting knob is adjusted to a possible integer value that is an integral multiple of the pulse repetition time To generated from the update pulse generation circuit, which will be described later.

Sw1 is a switch that is switched in conjunction with the knob, and is selectively switched between the Auto position and the M position.

The "Auto" and "M" position display indexes are displayed on the knob 8 and are selectively switched in conjunction with adjustment of the knob.

A timer register 301 receives a time coded signal corresponding to the time set by a time setting knob via an AND gate 302 and temporarily stores it.

Reference numeral 303 denotes a time reference value signal generation circuit which generates a reference timing signal To.

A multiplication circuit 304 multiplies (n-To) the output, To, of the reference value signal generation circuit 303, which is input to its inputs IA and IB, by the output n of the timer register 301.

When each servo motor is driven at its maximum speed, this multiplication result is applied to the time code n set by the time setting knob 8.
The amount by which each control element is driven is shown.

Note that the multiplication circuit receives a control signal GSB1 from the CPU circuit, which will be described later.
8 to execute an arithmetic cycle.

Reference numerals 305 and 306 are AND gates whose gates are opened by control signals GSB2 and GSB3 from a CPU circuit, which will be described later.

Reference numeral 307 denotes an OR circuit that calculates the logical sum of the gate outputs of both gates 305 and 306.

Mp, Md, and Mc are memories each constituted by a group of storage circuits such as registers, where Mp is a current location memory, Md is a destination memory, and Mc is an updated data memory.

In the current location memo J-Mp, when a control signal GSB2 from a CPU circuit, which will be described later, is input to the gate 305, the respective count values of the counters 201F to 204F are calculated via the line 206.
Since this corresponds to the amount by which the servo motors M1 to M4 should be driven immediately, each control element on the television camera side has a current position adjusted in accordance with the count values of the counters 201F to 204F.

The destination memory Md receives transfer information from the shot memory (described later) via the gate 308, and temporarily stores part of the information stored in the shot memory in a cycle in which a control signal GSB9 from the CPU circuit (described later) is applied. It is something to do.

The shot memory will be explained in detail later, but when setting the TV camera in the desired mode in advance and setting the shot, the values stored in the counters 201F to 204F necessary for the setting mode are transferred via lines 2061 (-2064). The control element setting amount required for each setting mode of each shot is stored and held in advance.

Therefore, when the gate 308 is opened and the stored information from the shot memory is stored in the memory Md, the control element settings needed for the next shot or destination will be held in the memory Md.

Mc indicates an update data memory for holding the calculation results of the calculation circuit described later.

A subtraction circuit 309 subtracts the information stored in the current location memo J-Mp and the information stored in the destination memory.

Now, on the TV camera side, the setting values from the reference position (center) of the control elements, namely tailing, panning, focusing, and zooming, are expressed as t, p, f, and z, respectively, and the current position setting values are expressed as tm, Pm, fm. , zm, and the destination setting values are tm+1, Pm+1, fm+1, zm+1,
In the subtraction circuit, tm+1-tm, Pm+1-"myfm+
1-fm, zm+l-zm are sequentially calculated.

Reference numeral 310 denotes a magnitude determination circuit, which determines whether the output is greater than or equal to the output of the multiplication circuit 304.

ANSI is the discrimination signal of the discrimination circuit 310 and the multiplication circuit 3
If the 04 output is greater than the output of the subtraction circuit 309, it is generated and applied to a CPU circuit, which will be described later, to activate the control circuit GSB12 and start execution of the arithmetic circuit.

Note that when the output of the multiplication circuit 304 is smaller than the output of the subtraction circuit 309, the output of the size discrimination circuit 310 is
h (the same circuit for digital code signals consists of a right shift circuit) to the amplifier input of the timer register 301, so that the content of the timer register 301 is doubled; Multiplier circuit 3
04 is input.

The calculation steps of the subtraction circuit 309, the magnitude discrimination circuit 310, and the calculation circuit 311 are shown in FIG.

In Figure 5, the destination is captured in the destination memo J-Md (Ar+1={tm+1tpm+1jfm+1t
zm+1}) Also, the current location (An-{
tmjpmlfmjzm}) is taken in, and the subtraction circuit 3
After distance calculation ([)=Am+t-'m) is performed in step 09, when human power is applied to the discrimination circuit 310, the discrimination circuit 31
Since nto is applied to the input other than 0, determination of the size of both is started.

To is the set amount that each servo motor can drive within unit time To when driving each control element at the maximum speed when viewed from the servo motor M, (~M4) side, in other words, the limit speed t
vmax,pVmaX"VmaXlzVmaX, so the discrimination circuit 310 uses tm+1-tm and n, tvm.
aX, pm+1-pm and n, pvmax, fm+1-f
m and 0゜fvmax, zm11-zm and 0゜2vmax
The size is determined between the two.

If tm + 1 - tm > n - tVma ing.

In this case, change the time m set by time setting knob 8 to 2.
This determination and change of the setting time, which doubles (2n, R+1 in binary system) and performs the determination again, is as follows: tm+1-tm≦n-t
to vmax. It is repeated until

This determination and time change are sequentially performed for the other control elements p, f, and z as well.

As a result of the above determination for each control element t, p, f, z, if there is a time change in the set time n for the control element for which the difference between the destination and the current location is the largest, the amount of time changed is the largest. , other control elements are also adjusted according to this maximum change time.

As a result of the distance calculation D, the arithmetic circuit 311 calculates the set time n.
The calculation of D/n to determine the time update rate is performed to determine how much time change is necessary or not, and the determination circuit 310 performs the calculation operation on the control element that requires time change. Since the circuit executes calculations in binary notation, the calculations are performed by simply shifting the D signal by R bits.

Note that the calculation result is transferred to the update data memo (Mc) and stored in the memory, but according to the calculation output of the calculation circuit 311, the memory Me is updated when an input signal larger than the stored value is input, and the maximum value among the calculation results is The value is stored.

312 is an adder circuit, 313 is an update pulse oscillator, 314
(indicates the size discrimination circuit and updated data memo)
The data in Mc is updated every time a pulse is generated from the update pulse oscillator (which oscillates a pulse with period To), and the current location memo J-
The output of the adder circuit 312 is added to the stored value in the current location memo J-Mp during the cycle period in which the gate 306 is open by a control signal GSB13 from the CPU circuit, which will be described later.

Therefore, the inner answer of the current location memo J-Mp is updated sequentially, and the current location memo J-Mp is updated at the updated time every time an update pulse occurs.
is increasing.

This state is shown in the rightmost cycle of the fifth illustrated flowchart.

This execution cycle will be explained below with reference to FIG. 5 and FIG. 3B.

In FIG. 3B, the calculation result of the calculation circuit 311 is d=l/
n is stored in the update data memory = Mc, and is applied to the addition input of the addition circuit 312, so the arithmetic circuit 31
1 calculates an update value, and when the calculation result is given to the adder circuit via the update data memory Mc, the adder circuit 312 updates the current location memory every time a constant periodic pulse from the update pulse generator 313 is applied. - Update data d is added to the Mp value.

When j pulses are input to the adder circuit 312, the cycle at the right end of FIG. 5 is executed J times, and the output of the adder circuit 312 becomes Am.
+jd.

As a result, the current location register Mp is stored in the destination memory Mp after a time extended from the time set by the time setting knob 8.
This matches the contents of d.

During this time, gate 224K (~227K) was open,
Each counter 201F-204F drives each servo motor M1 (-M4) according to the contents of the current location register Mp.

The determining circuit 314 determines the size of the contents of both memos J-Mp and Md, and when they match, a match signal ANS2 is outputted, which is input to the CPU circuit described later, and the arithmetic operation is completed.

In the drawing, Ms is a shot memory, the address part of which is specified by a signal from a setting mode operation control circuit section to be described later, and setting digital signals formed by rotary encoders 201 to 204 are sent to line 206 and gate 3.
16, and are sequentially stored in the specified address section.

The shot memory Ms has a storage capacity of 16 shots, and stores control element setting values tm, pm, fm, zm required to obtain each shot formed by the rotary encoders 201 to 204 in the address portions of addresses 1 to 16, respectively.
is stored digitally.

316 and 317 are AND gates, respectively, which are opened by a control signal from a CPU circuit, which will be described later.

Reference numeral 318 denotes a reference position signal generating section, which applies a predetermined number of daily signal signals to the shot memo J-Ms when the gate 317 opens in an execution cycle, sets all addresses of the memory Ms to predetermined values, and at the same time, the line 2291 (~22
94), the counters 201F to 204F are set to the same value, and each control element of the camera is set to the median value.

Each of the above-mentioned memories Mp, Md, Mc, and Ms receives a signal PUC to clear the stored contents when the device is powered on, as described later.
is applied (not shown), so no previous history content remains at the start of the operation.

(5) Setting mode operation control circuit configuration (see Figure 3C) In Figure 3C, 401 and 402 are constant signal generation circuits 40
3 and 404 are AND gate circuits whose gates are controlled by control signals GCM2 and GRS1 from a CPU circuit, which will be described later.

405 is an OR gate, 406 is a current location address register having a counting function, 407 is a next address register having a counting function, and 408 to 412, 418, and 420 are AND gates, each of which is opened by a control signal from a CPU circuit, which will be described later.

Reference numeral 413 indicates a 1 addition circuit, 414 indicates a subtraction circuit, 415 indicates an OR gate circuit, and 416 indicates a cut register for storing a desired shot order.

When the cut memory button 9 (Fig. 2) is pressed, C
The gate 403 is opened by the control signal GCM2 from the PU circuit, and the address register 406 is set to "0" by the constant signal generation circuit 401 output.

Next, the gate 411 is opened by the control signal GCM3, and the contents '0' of the register 406 are transferred to the next address register 407 via the 1 adder circuit 413 and set in the address register '1''.

Next, when a desired shot button 61 to 66 is pressed, a coded signal KSMA corresponding to the number of the pressed shot button is transferred to the cut memory via a gate 418 via a line 417.

At this time, the address register 40 is controlled by the control signal GCM5.
A command signal from Code 4 is applied to the cut memory via gate 408 and transferred via gate 418 or gate 419 to specify the storage address of the code 4 signal.

As a result, the KSMA signal is stored at address "0" in the cut memory.

At this time, a control signal GSB5 from the CPU circuit described later is applied to the gate 420, the gate opens, and the time setting knob 8
The time coded signal n set by is stored in the cut memo Jno+ address in parallel with the designated number of shots.

When this routine is completed, the control signal GSB6 from the CPU circuit is applied to the gate, and the address register 40
7 contents are transferred to address register 406.

As a result, both registers 406 and 407 are set to "1" state, and the next storage address is stored in the cut memory 416 as f.
This will give an instruction that it is address 11.

After this cycle, the gate 410 is opened by the control signal GSB7 from the CPU circuit and the contents of the address register 407 are set to 1.
Since the address register 407 is incremented by 1 via the adder circuit 413 and transferred to the register 407 again, the contents of the address register 407 are set to the "2" state.

Through the above routine, an address command signal is generated by the cooperation of both address registers 406 and 407, so when the shot button is pressed again, a coded signal corresponding to the next possible shot number to be reproduced during playback is generated. K.S.M.
Along with A, the time coded signal is cut memo J-416 j
It is stored at address No. 19.

The gate 410 is also opened by the control signal GSB7 from the CPU circuit when the change button 12 or forward skip button 19 in FIG. 1 is pressed, and the above-mentioned routine is performed.

452 is a shot address register that temporarily stores the shot NO coded signals sequentially stored in the cut memo J-416, and is opened by the control signal GSB1 from the CPU circuit when the shot buttons 61 to 610 are pressed. The KSMA signal is transferred through gate 451 and stored.

The shot memory MS receives a command signal from the shot address register 452 via the line 323, and the stored information in the designated address section stored in the shot memory MS is transferred to the destination memory Md by opening the gate 308.

After the above routine is completed, the arithmetic operation described in the above-mentioned (own) circuit component is executed by the control signal GSB11 from the CPU circuit, which will be described later.
GSB18, GSB12, GSB13, GSB15, etc. are applied to each circuit, calculations are executed, and each control element of the television camera is linearly driven based on the time set for the destination, that is, the next designated shot.

As a result, just by pressing the shot button, the cut memory 4
16, the number of reproduction shots of desired shots is sequentially stored.

Reference numerals 501 and 502 indicate decoder circuits for driving the first illustrated display devices 141 to 1420 and the display devices 131 to 1320 to light up.

The decoder circuit 502 decodes the contents of the address register 407, and the decoder circuit 501 decodes the contents of the address register 406, and lights up the lamps of each display device.

As described above, when the cut memory button 9 is pressed, the address 406 is set to "0" and the address 407 is set to "1", so that only the green lamps 131 of the display devices 131 to 1320 are lit.

Next, when a desired shot button is pressed, the green lamp 132 and the red lamp 141 light up, and both display devices can display the position of the next cut number and the current cut number.

As mentioned above, the shot buttons 6, ~61o, have yellow lamps 503A1...503A1... and red lamps 503B1...503B1...
・ is provided.

Reference numerals 504 to 507 are drive circuit elements provided in each lamp, and 504 is an OR gate, 505 and 506 are AND gates, and 507 is an inverter circuit.

(In the drawings, each button is indicated by a suffix.

) 508 is a flip-flop, 509 is a latch decoder circuit, which decodes and holds the digital signal applied through AND gate 512, and 510 is connected to shot address register through AND gate 513. A shot test circuit 452 detects whether a shot coded signal is stored, and 511 represents a decoder circuit.

(Each circuit 509 to 511 has a number of decode output lines corresponding to the lamps 503A and 503B, but these lines are omitted in the drawing.

) Note that LA-LH is the operation confirmation button built into each button shown in the second diagram, and LA is the shot memory button 5,
LB is cut memory button 9, LC is operation button 11
, LD is card operation button 21, LE is read button 2
2. LF is provided at the writing button 23.

LG is the warning lamp part AL, and LH is the malfunction lamp part AE.
The lamps installed in each are shown.

514 to 520 each lamp operating FF 521 represents an inverter circuit.

(■) Magnetic card circuit structure (see FIG. 3D) In FIG. 3D, 601 is a card reader part 602 schematically shows a magnetic card.

Reference numerals 603 and 604 indicate write circuits for the magnetic card, and read circuit 605 indicates a control OR gate.

When the write button 23 is pressed, the motor of the card reader section is activated by a control signal GCR4 from a CPU circuit, which will be described later, and the card 602 is fed and the control signal GCR4 is activated.
8, the write circuit 603 is activated and the third C gate G is activated.
Cut memory 416 via C and feed lamp 606
The cut information of all the addresses stored in the memory MS and the setting information of each shot in the shot memory MS shown in FIG. 3B are transferred and written into the magnetic card 602.

On the other hand, when the read button 22 is pressed, the read circuit is activated by GCR4 and GCR5 signals from the CPU circuit, which will be described later, and the cut information and shot setting information stored on the card can be transferred to each memory again and stored again. It is.

Therefore, if you store the setting information in each memory and then store the same information on a magnetic card, there is no need to reset the settings even if the power to the device is cut off and the contents of each memory volatize. Each shot can be easily reproduced by simply transferring information to the card and distributing it to each memory. Note that the gate 605 is connected to both circuits 603 and 604, and is for lighting an error lamp LH for performing a validity check and indicating a write failure.

Reference numeral 609 is a magnetic counter, which is of a type in which a stepping drum is mechanically stepped by activation of a plunger by application of a commercially available driving pulse.

610 is a drive circuit, and the third
The counter 609 is incremented according to the increment of the address register 406 shown in FIG.

613 is an output circuit that decodes and reads out the rest position of the counter, and is connected to a gate 614 which is opened by the PUC signal generated when the power switch is turned on as described later, and a gate input of the gate 405 (FIG. 3C) via a line 615. It is connected to the.

The magnetic counter 609 mechanically stores the contents of the address register 406 even in the event of a power cut or power outage, so when the device is restarted, the contents of the register 406 will be saved.
As described above, since the number of interrupted sets is set at the previous history position, the number of interrupted sets is immediately instructed to the cut memory 416.

(1) Power supply circuit configuration (see Figure 3E) The power supply circuit includes a power supply unit 702, servo motors M1 to M4
The power supply unit 702 includes a circuit unit 702R that generates a reset signal PUC that clears all memories and register counters when the power is turned on.

704 turns the motor circuit ON/OFF by the CPU circuit described later.
It is an EF for F.

(b) Central electronic process circuit configuration (see Figure 4) No. 4
As shown in the figure, the CPU circuit basically activates a designation circuit 801 that specifies the address of a built-in microprogram section 802 using a button input section 800 on the operation console 101, and responds to a button operated from the program section. A corresponding program is selected and transferred to the command register 803, and a series of command execution control signals GSM, GSB, GCM, KSMA, GOP, GOP,
GCA, GRS, and GCR are generated sequentially, and the timing will be described later.

Note that 806 indicates a clock pulse oscillator, and 807 indicates a timing distribution circuit.

Next, the operation based on the valley configuration described above will be explained.

A Desired mode setting operation (shot setting operation) Desired mode (
shot) setting operation is performed as follows.

■Press shot memory button 5 → ■Setting knobs 1 to 4
Operation → ■ Pressing of shot buttons 61 to 610 ■ Pressing shot memory button 5 causes the following control signals to be generated sequentially from the CPU circuit to execute cycle (2) shown on the right.

GSM1: Set FF704, turn on the motor circuit, and supply power to servo motors M1 to M4.

GSM2; Set FF514 and turn on the lamp L inside button 5.
Light up A.

GSM3; Set FF201D to 204D and gate 2
Open 01B-204B.

As a result, the outputs of rotary encoders 201-204 are counted by counters 201F-204F and servo-drive the servo motors M1-M4.

Therefore, each control element tm, pm, fm, z of the television camera
While watching the monitor 102, set the knobs 1 to 4 so that m becomes the desired setting value.

GSM4. Lamp 503B1, 503B2...
At this point, the GSM5'' light is prepared, the current location address register 406 and the next address register 407 are reset, and the FF 508 is set.

(2) When any one of the shot buttons 61 to 616 is pressed, the next control signal is generated from the CPU circuit, causing the cycle shown on the right to be executed.

KSMA: The coded signal corresponding to the pressed button is C
From the PU circuit, it is generated and applied to gate 451 via line 417.

GSB1: Open gate 451 and store KSMA signal in shot register 452.

The storage address input to the shot memory MS is designated by the output of the register 452.

GSB2: Transfer and store the counted values of the counters 201F to 204F to the current location memo J-Mp via the data organization circuit 205.

GSB3: Gate 316 is opened and counter 201F~
The 204F count value is transferred to the shot memory MS via the OR gate 315 and stored in the designated address section.

FF519 is reset and LG turns off, GSB4;
Open the gate 513, prepare to light the yellow lamp of the pressed shot button, and turn on the red lamp.

The decoder 5 uses the shot address register 452 output.
Shot button built-in lamp (50
3A1...503B1...) lights up.

At the same time, the output of the detection circuit 510 becomes high level.

The above operation, that is, setting knobs 1 to 4 while watching the motor 102, successively produces the desired shots.
Align the patterns on the monitor and press the shot button.

By this operation, the control element adjustment amount required to set each shot is stored in the shot memory MS as a daily signal.

In addition, the display lamp 503A in the shot buttons 61 to 616
1...503B1... When the button is pressed, the red lamp of the button lights up, and then when another shot button is pressed, the decoder 511 turns on only the button that was pressed. Since only the red lamp is lit, the red lamp that was lit will turn off.

This light-off signal is applied to the AND gate 5061 (~50616) via the inverter 5071...
The red lamp that was lit goes out and the yellow lamp of the button is turned on.

As a result, the color of the lighting lamp of the shot button changes to yellow, indicating that the required control element setting amount for the shot corresponding to the button is stored and held in the shot memo J-MS.

Therefore, if the yellow lamps on all of the shot buttons 61 to 616 turn on, it is displayed that the setting operations for all shots have been completed.

B. Cutter memory setting operation This operation is for determining the order of the cuts when reproducing each shot stored in the shot memo J-MS, and for storing them in the cut memory 416. Press the cut memory button 9 → ■ Use the time opening setting knob → ■ Press the shot button corresponding to the desired first shot → ■ Press the shot button you want to reproduce next → Repeat the following ■■.

- When the cut memory button 9 is pressed, the lamp of the previously pressed shot memory button 5 goes out, the next control signal is generated from the CPU circuit, and the cycle shown on the right is executed.

GSMI; Set FF704 and start motor starting circuit 703
Turn on.

GCM1: Set FF515 and turn on lamp LB.

GCM2; Open gate 403 and address register 406
Set to "0" state.

GCM3; Open gate 411 and address register 406
The contents are transferred through the gate 411 and added by 1 by the 1 addition circuit 413, and then transferred to the address register 407.

The address register 407 turns on the lamp 13A.

GCM4; FF201D to 204D are reset and rotary encoders 201 to 204 and counter 201F
The transfer path between 204F and 204F is cut off.

(2) Next, when the shot button 6 is pressed, the next control signal is generated from the CPU circuit, and the cycle shown on the right is executed.

KSMA: A coded signal KSMA corresponding to the number of shots of the suppressed shot button is applied to a gate 418 via a line 417.

GCM5; Gate 408 opens and address register 406
A storage address designation signal for the cut memory 416 is sent from the cut memory 416.

GSB4: Open the gate 418 and store the KSMA signal in the specified address section of the cut memory 416 via the OR gate 419.

GSB5: Open the gate 420 and store the time coded signal n set by the time setting knob 8 together with the shot number coded signal KSMA of the specified address section.

GSB6; Open gate 406 and address register 407
Transfer the contents to address register 406.

As a result, a red lamp 141 indicating the current number of cuts lights up.

GSB7; Gate 410 opens and address register 407
The contents are incremented by 1 by the 1 addition circuit 413.

The contents of this address register 407 immediately turn on the green lamp 132, indicating that the next cut is the second one.

GSB8; Gate 450 opens, cut memory 416
Sends an addressing signal for the shot memory Ms from.

GSB9: Gate 308 opens, and the setting information stored in the specified address section from cut memo J-416 specified by shot address register 452 is transferred to destination memory Md.

GSB2; Open gate 305 and counter 201F~2
Transfer the count value within 04F to the current location memory Mp.

The contents of the counters 201F to 204F have count values corresponding to the mode in which the camera is set in advance, so the control element of the television camera can be transferred to the destination Md and stored within the set time. Servo motor M1~M4
An operation is then performed to determine whether it is possible to drive at the limit speed of , and if not, the possible extended update time.

GSB10; D=Am+1-Am by subtraction circuit 309
Execute the calculation.

GSB17; Open gate 302 and timer register 30
1, the time coded signal n set by the time setting knob is transferred and stored in the register.

GSB18: The multiplication circuit 304 executes multiplication with the reference signal To from the timer reference value signal generation section 303.

GSB11: The discrimination circuit 310 discriminates the size and sends a discrimination signal ANS1 to the CPU.

GSB12: The CPU circuit is set to ASB1 by the ANS1 signal.
When the 2 signals are generated, the arithmetic circuit 311 executes the arithmetic operation.

GSB13 Gate 306 opens and addition circuit 312GSB
The addition result of 14' is transferred to the current location memo U-Mp.

Every time there is an output pulse from the update pulse oscillation circuit 313, the output of the adder circuit 312 adds update data based on the update time coded signal to the contents of the current location memory Mp.
The current location memo has been transferred to JMp.

Therefore, when the gates 224K to 228K open at the same time and the contents of the current location memo J-Mp are transferred to the counters 201F to 204F, the servo motor is servo-controlled in accordance with the increment in the memo J-Mp, and the contents of the current location memo J-Mp are transferred to the destination memory Md. The television camera is remotely controlled according to the transferred setting mode information in the shot memory Ms.

When the contents of the current location memo +-Mp and the destination memo J-Md match, a match signal AMS2 is sent to the CPU circuit, the sending of each of the control signals described above is completed, and the above routine is completed.

By setting the time setting knob 8 as described above and then pressing the shot button 6 of the desired order, the TV camera is set to the desired mode as described above, and the shot memo is stored in Ms. While checking on the monitor 102 the control element settings necessary to set the television camera in a desired manner, it is possible to proceed with the recording operation of the shot order, that is, the cuts.

What is distinctive about this routine is that when the set time is short for possible destination modes set by pressing the shot button, the extension rate of the set time is calculated, and when the cut is memorized or reproduced. The point is that the actual linear movement of the television camera can be monitored.

C. Desired Mode Reproduction Operation To sequentially set the television camera to the desired mode in the order in which cuts are stored, the following operations are performed.

■Press operation button 11→■Press reset button 20→■
By pressing the change button 12, pressing the operation button 11, pressing the reset button 20, and pressing the change button 12, the following control signals are sequentially generated from the CPU circuit, and the cycle shown on the right is executed.

GSMI; Set FF704, motor starting circuit 70
Turn on 3.

GOP1: FF516 is set and lamp LC is lit.

GSM3; FF20lb is set, gate 201B
~204B opens.

GOP2: Reset FF508 and turn off all yellow lamps.

■Press the reset button 20 to return to the initial desired mode.

GRSI; Open gate 404 and cut current location address 4
Set 06 to "1".

As a result, the decoder 501 turns on the red lamp 141.

GRS2: Open the gate 611, drive the magnet counter with the drive circuit 610, and set cut 1.

GCM5: Open gate 408 and designate cut 1.

GSB8; data in cut memory 416 is sent to gate 450
is inputted to the shot memory address 452 via the decoder, and a red lamp is immediately turned on at a predetermined shot button by the decoder.

GSB9; Transfer the position data of the specified shot address from the memory Ms through the gate 308 to the destination memo JMd.
Enter.

GCM3; Cut current location address register 406 “1”
'' is added to 1 by a 1 adder 413 through a gate 411, and 2 is input to the cut next address register 407 through an OR gate 415.

This causes the decoder 502 to turn on the green lamp 132.

GSB2: Data of counters 201F to 204F passes through data organization circuit 205 to gate 305 and OR gate 3.
07 and is stored in the current location memory Mp.

Below, in the same way as described in B■ above, the control signals GSB10, GSB17, GSB18, GSB11, G
The SB12, GSB13, and GSB14 signals cause the CPU circuit to execute a calculation routine, causing the television camera to respond linearly in the desired manner.

■Press the change button 12 GSB6; cut the contents of the next address register 407 by opening the gate 406' and cutting the current location address register 4
Enter 06.

This output causes the decoder 501 to turn on the red lamp 142.

GRS2: Open the gate 611 and advance the magnet count one time using the drive circuit 610.

GCM5: Open the gate 408 and specify the current location in the cut memory 416 GSB8: Open the gate 450 and specify the current location shot address via the OR gate This output lights up a predetermined shot button in the decoder 511 GSB9: Open the gate 308 and save the data to the destination memory The above-mentioned calculation routine input to Md is executed to set the television camera to the next desired mode.

D. Shot change operation during reproduction operation If you wish to modify the television camera while reproducing a shot, all you have to do is reset the settings of each knob 1 to 4 and press the modification button 24.

Suppression of the correction button causes the next control signal to be generated from the CPU circuit to execute the cycle described on the right.

GSB3: Open the gate 316 and transfer the correction information based on Umami 1 to 4 to the current location memory Mp.

At the same time, counters 201F to 204F are operated by servo motor M1.
~M4 is driven by the amount of correction to correct the mode of the camera.

However, if you want to temporarily correct the camera without correcting the stored values in the shot memo J-Ms, use each knob 1 to 4.
This can be done by simply rotating the button.

Note that when the forward skip button 19 or the reverse skip button 18 is pressed, the gate to the addition circuit 413 or the subtraction circuit 414 is opened, and the contents of the address register 407 are modified to modify the designated address number.

E. Writing and reading of a card To write and read a magnetic card, first press the card reader preparation button 21 to reset the GCR2; FF 704 for cutting off the main drive motor line.

GCR1: Operates the lamp lighting circuit 517 to light the display lamp LD.

GCM4; Low-resolution encoder counter 201F~
In order to inhibit input to 204F, FF 201D is reset and gates 201B to 204B are inhibited.

After the above operations, perform the following operations.

When the write button 23 is pressed, the next control signal is generated from the CPU circuit to execute the cycle described on the right.

OCR7: Set FF518B and turn on lamp LF.

GCR4: Start the motor of the reader section 601 and read the card 6.
02 is sent.

GCR8: Activates the write circuit 603 to transfer the contents of the shot memo (shot memo)-Ms to the cut memory 416 via the line 606, and magnetically stores the contents on the card.

GCR6; Stop the motor.

Next, when the readout box 22 is pressed, the following occurs.

GCR3: FF518A is set and lamp LE lights up.

GCR4; Start the motor.

GCR5; Transfer card information to cut memory and shot memory.

GCR6; Motor stops.

As for the other buttons, the clear button CL generates the GCA1 signal from the CPU circuit and clears the contents of the shot memory Ms.

In the above embodiment, the case where a television camera is used as the controlled device is explained, but the present invention is not limited to the television camera, but can be applied to various other devices that can be remotely controlled, such as industrial robots, NC machine tools, etc. Of course, it is applicable.

As described above, in the present invention, when a controlled device is driven by a drive device such as a servo motor, the desired setting mode (destination) of the controlled device is set based on the allowable set speed (limit speed) of the drive device. The amount of control elements for is calculated, the response is performed linearly to the desired setting mode, and the response time is updated as necessary for this purpose,
In particular, it is extremely effective as a drive method for controlled devices such as the above-mentioned television camera in which linear response is essential.

[Brief explanation of drawings]

FIG. 1 is an overall configuration diagram of a television camera remote control device to which the present invention is applied, FIG. 2 is a layout diagram of the operation panel of the operation console illustrated in FIG. 1, FIG. 3A
3E to 3E show each electric circuit configuring the connection diagram in FIG. 3, FIG. 3A is a block diagram of the camera control signal control circuit, and FIG. 3B is a block diagram of the camera control signal control circuit. The figure is a block diagram of the arithmetic control circuit section, 3C.
The figure is a block diagram of the operation control circuit, Figure 3D is a block diagram of the magnetic card circuit, and Figure 3E is a block diagram of the power supply circuit.
4 is a block diagram of the central electronic process circuit forming the electrical circuit control signals of FIG. 3, and FIG. 5 is a flowchart of the operations in the block diagram shown in FIG. 3B. Ms, Mp, Md, Mc, 416 are storage devices, respectively.
; Shot memory, Mp; Current location memory, Md: Destination memory, Mc; Update data memory, 416; Cut memory, 101; Operation panel, 301-320,
450-452; reading circuit of memory Ms, 416;
201 to 216; TV camera drive control circuit 2
01~204; Rotary encoder, 201A~204
A: Joint circuit, 201F to 204F; Up-down counter, 207; Selection circuit, 208; DA converter, 209G to 212G; Sample and hold circuit, 212
Comparison amplification circuit, 216; Drive circuit, M1 to M4; Servo motor, 800 to 807; CPU circuit, 311; Arithmetic circuit, 601; Magnetic card reader section, 609; Magnet counter.

Claims (1)

[Scope of Claims] 1. An arithmetic circuit that calculates a displacement rate per unit time for each controlled member from current position data of a plurality of controlled members and desired target position data of each controlled member,
In a drive control device for a controlled device that drives each controlled member at the displacement rate and simultaneously ends the movement of each controlled member to each target position in a predetermined transition time, the current position data and the target position data are provided. and a detection means that generates a detection output when the difference value is larger than a predetermined value based on the difference value between the detection means and an update means that updates and increases the transition time in response to the output of the detection means. A driving device for a controlled device characterized by: