TW200527105A - Mechanism for controlling independent motion of a video camera in three axes and method for controlling same - Google Patents

Abstract

This invention provides a mechanism for controlling independent motion of a video camera in three axes and a method for controlling same. The mechanism includes three degrees of freedom, is of low inertia, high stability and allows highly dynamic operation. The mechanism allows the video camera to perform motion like an eyeball so as to allow faster and wider applications. The objects are to be implemented in applications of instantaneous tracking, isometric visions or active visual servers. In addition to the mechanism for controlling independent motion of a video camera in three axes, this invention further discloses a method for controlling such mechanism for controlling independent motion of a video camera in three axes, so as to feature the video camera that is mounted on the mechanism for controlling independent motion of a video camera in three axes, with the functions of visual tracking and active motion control. If the video camera is replaced with a mirror, a laser, and tools alike, it can also be implemented in different fields of applications.

Description

200527105 V. Description of the invention (1) [Technical field to which the invention belongs]… The present invention relates to a kind of three kinds of freedoms, including, ancient stability, and high-activity bears. Turn 4 features' and can be applied to the camera control mechanism of three-axis independent flat-rod motion in the related application fields of real-time tracking, Rich Vision or active vision service M + ^ Stereo, 也 also 笛 service 4 related applications. Flat Light [Previous Technology] Because of the rapid development of computer hardware in the past f years, it has made rapid observations of factory processes, national defense technology, and full-time approval: the application examples of vision, vision = the system has shifted from traditional passive visual servo to active vision Servo development. As an example, you can set the camera rack at a fixed point in the camera frame and observe the robot arm in passive mode. This is the fixed camera coordinate; you can also set the camera frame at the end of the 3 arm or other On a movable mechanism, the state of the robotic arm is observed according to the fixed movement mode, which is called dynamic photography: it two systems illustrate the difference between active visual servoing and passive visual servoing of the camera. The degree of freedom (Degree of Freedom, D0F) of the camera movement mechanism that controls the active visual servoing can be divided into: freedom of movement and freedom of rotation 'These two degrees of freedom each include three independent variables, which means that The camera can move in six dimensions in three dimensions. Unfortunately, due to the limitation of the photography frame setting mechanism, the general mechanism is usually less than six dof, or in order to retain the DOF, the operating space and driving force of other DOF are reduced.

m page 5 200527105 V. Description of the invention (2) At present, most DOFs can be manipulated freely. 2-D0F motion mechanism requires equation or singular point analysis. The camera's angle of view can be rotated by the horizontal and boresight direction. The mechanism, the intuitive method, will be incorporated into the rotation mechanism, so that the wiring of the mechanism can reduce the mechanism of the parallel motion mechanism and the production cost of the active camera. The appropriate angle and vertical angle can be produced. DOF will cause a controlled turning space, and its control method has less visual servo vertical direction, which need not be controlled to define. There is a motor load of the boresight-side movement mechanism. Therefore, it can be solved that the mechanism has only 2 movements. In general, a complex motion system is derived. The lens of such a mechanism will not and cannot move the internal or external load of the 3-D0F motion too much, or the above-mentioned disadvantages and limitations of the three-axis alone of the present invention

& Cost of clothing and ease of operation, although 2 — D0F kinematic mechanism is more inflamed ', but in terms of application, it is far less than the three-axis independent parallel motion machine. In order to reduce the delay problem of real-time tracking, it is necessary to make good use of this structure. In order to improve the quality of dynamic image capture, it is necessary to make good use of the high stability of the structure. Make good use of the sufficient assembly space of the structure; in order to simulate the human visual system, it is necessary to make good use of the spin characteristics of the structure, such as these advantages, are not available for 2_DOF motion mechanism or general 3-D0F motion mechanism. The invented three-axis independent parallel motion mechanism has the above-mentioned basic characteristics. [Summary of the invention] The main purpose of the present invention is to propose a high-performance and three-axis independent parallel motion mechanism capable of real-time feeding control. This mechanism allows the camera to have

200527105 V. Description of the invention (3) 3-D0F steering control device. The mechanism designed by the present invention has a 3-Dop ball flat play motion, and has the best dynamic characteristic criterion (...) symmetry, maximum time, and (3) homogeneity. Considering the moment of inertia again to avoid the decrease of the overall agility, the spherical link is designed to be a quarter and good = Min 'and the actuation ability is good. This mechanism has the most agile: what parameters, if the structural materials and load components are reduced as much as possible, try to reduce the friction coefficient of the joint shaft, spherical degree =, you can get very excellent sports performance. This-three-axis independence :: Line 2 ίίΪΐΐ Ϊΐΐ and Ϊ's eyeballs are very close 'at plus or minus 3 °. Axis of range two == high; speed / due to this-the body has. The angular velocity of the reverse motion stability can reach 1000 / sec, and the angular acceleration can also reach 20000. Above / sec2, the motion control of the machine is an excellent servo mechanism. ^ The technology of the machine is used to make the control of this motion mechanism: ... using the micro-details [Embodiment] Combining the drawings, the preferred embodiment of this creation will be described in detail as follows: . f = 一 疋 ^ Invented three-axis independent parallel movement mechanism Figure Jiuda # A regular-diagonal base plate is used as the base of the assembling motor 20, which is referred to as ΐ, and another regular triangular base plate is used as the controlled base plate 30 Method 2 The controlled disc 31 of the camera, two 4 of the center point of this triangular base plate: the lens's central axis of the camera, so the trapezoidal cube of the camera frame indicates that the motor is placed at the point, which connects the two motors to the 20 axis of rotation. Yes, the same 200527105 V. Description of the invention (4) The spherical motion link with a radius is called outer link 41, and then a spherical motion link with a smaller radius is fixedly connected to the outer link 4 丨It is called the middle link 42, and then a half-twig smaller spherical motion link is used to connect the controlled base plate 30 at the end with the middle link 42. This link is called the inner link. , The three links 41, 42, 43 of one axis in the first figure are developed and shown, as shown in the second figure. Because the outer link 41 and the middle link 42 are connected in a fixed manner, they can be regarded as a whole, which is called a controlled link 4101. Similarly, the connection between the inner link 43 and the middle link 42 with a bearing can be called a movable The connecting rod 402, the joint shaft 40 in the figure is the connection point between the controlled link 401 and the movable link 402, and the inner link 43 and the controlled disc 31 are also connected via bearings. This mechanism has three fixed drive shafts and six movable shafts. The three motors 20 indirectly control the normal direction of the controlled substrate 3 by changing the rotation angles of the three controlled links 401, which means Invented camera perspective. Therefore, the meaning of 3_D0F of the present invention is to determine the horizontal, vertical, and spin motions of the camera's viewing angle by controlling the rotation angle of the three motors 20. The triangular controlled substrate 30 is mounted on the bottom of the controlled disc 3. To simplify the explanation of the geometric relationship of the three-axis independent parallel motion mechanism, the first figure is simplified as shown in the third figure. From this figure, you can observe the entire 3_ movement mechanism: the heart position, which means the hollow area of the first picture. If the center of this mechanism is regarded as the position of the center of the ball, the action space of the controlled link 401 and the movable link 402 is assembled into a ball shell of two concentric balls, and two base plates, 30 and 30. Imitate two triangular plates sliding along a spherical surface, and the axial direction vectors of three fixed driving shafts and six movable shafts are also set to extend outward with the same point on page 8 200527105 5. Invention Description (5). Therefore, it is called ability and does not move. Because of this definition, only the squareness of the joint axis 40. Therefore, the plate 10 is designed to have an isotropic vector angle and a vector angle. From the dependent variable, the most important feature of the entire mechanism of the two sins is the common spherical center structure design. The spherical parallel mechanism is also the main reason for this mechanism to have a full range of actuation singularities. The actual size of the composition can be scaled up or down according to the proportion. You must determine the three-dimensional structure angles of the substrates 10 and 30 and the vectors in each direction. You can determine the type and operation of this mechanism. It facilitates design and analysis, and controls the substrate. 30. The same three-dimensional angle parameter as the base. Y is the axis of two arbitrary motor shafts. The axial vector of any motor shaft and the center normal of the substrate and the substrate are regular triangles. The geometric relationship can be expressed by the following formula: ^ # ---------- (1) Next, the arc angles of the three controlled connecting rods opened and opened are represented by the center, and the arc angles of the three opened are represented by α2; Use 1 to represent each motor drive :: 3 early-position vectors, Wi represents the active joint of the controlled link and the movable link | the axial unit vector of the stern axis, referred to as the controlled link joint vector, ν-1 The axial unit ^ β of the movable link connected to the movable joint axis at the controlled substrate is not simply referred to as the movable link joint vector, i represents the axial single denier =, and the motor numbers 1, 2, and 3. At the end of the door connection, after setting the three angles of r, a, and%, you can determine a fixed vector Ui, and then match the rotation angle of the three motors, or start from the vector camera perspective vector, using the following geometric relationship, Come to find the value of R and Vi:

200527105 V. Description of the invention (6) Order 1% = ', = cos y — ^ i-cosa, ~ (2) Wi Vi = cos 〇; 2 _____ — ~ (3) Select r = 9. ·, ~ (4) ui ~ ^, a = 9CT iu ll Structure parameters of the mechanism. 2 The three-axis independent parallel motion is used as the control method. The camera control mechanism of u = vertical parallel motion is controlled by the camera > camera angle vector. This mechanism carries the relationship of controlling the angle of the camera's consumption to achieve the control. The relationship of the axes is as the 48th ^ 2 method. Camera angle of view and horse degree, P is the camera ’s pitch up and down, and P is the angle of photography and horizontal scanning. ”It is 2 degrees through the joint of the moving link; , 3, and the corresponding relationship between the controlled joint and the joint to the mechanism coordinates Γ and m3. The middle of the moving mechanism :: Fuji; the γ plane is parallel to the base substrate '〇 For this reason, the original transport capacity is (1 0 0). Point, the unit vector in the X direction is (.: 0, 1); Figure 5: the two-bit vector is (°, 1,0), the unit in the z direction, which extends the Z axis from 6 to 6 Z is the body The reference point of the world is the point where hemp H will intersect with the base substrate at a point 0, which is the center point of the base substrate. Figure / / The figure is the figure of the base substrate when viewed in the negative z-axis direction, a cylindrical π motor, and the base The center of the substrate 0 and the center of the organization 0 overlap at a point, "i is

200527105: 9〇. V. Description of the invention (7) The fixed geometric parameters of the projection onto the base substrate from SI and the projection from the X axis to the base substrate can be known: 1 ==-30- The vector K is replaced by the call Vi as shown below Γυ . — IX sin β cos η. ^ TJ. Ψ = sin β siii η. IJ. L iz J -cos β η3 = 210_ The included angle is as shown in the seventh figure. , (Pζ) represents a single bit vector of the camera's viewing direction, the normal vector of the X sound plane, "is the vector P and the positive z axis two g camera angle vector away from the Z axis, 0 is the camera ^ bias The shift angle is the vertical offset angle of the camera's viewing angle as follows: p P tan 0 = —tan φ = one Σ.Pl Pa (6) The relationship of the camera axis can be obtained from the geometric relationship of the seventh figure, which is the largest in this mechanism. If the operating space is at least ^ offset, 0 and few boundary bars' 2d can be pushed by / C. The relationship between the angle vector and the central axis of Z is given by the vector P (PX 7 controlled substrate, that is, the level of the perspective of the camera i). As shown:

: cos K

S⑺ Among them, cos70. < cos / c < 1 In the formula, the vector z represents the unit vector of the positive z-axis. After defining the direction of the camera's view vector, it is followed by the representation of rotation. Initial position of the center point of the controlled substrate ^ j > j Camera from world coordinates

Page 11

200527105 V. Description of the invention (8) The origin and the center point of the base substrate are aligned, as shown in the eighth figure, when the controlled substrate moves away from the initial position, the normal vector of the controlled substrate is always the camera view vector P , Controlled substrate plane at vertical viewing angle vector P

Above, you can get the unit vector L 'of the vertical Y axis and the unit vector P simultaneously. You can also get the unit vector Pγ of the vertical unit vector P and the unit vector at the same time. A unit vector parallel to the XZ plane, and Pγ is the vertical component on the plane, which means the unit vector projected by the Υ-axis to the plane. Combining the unit direction and Λ position / quantity Pγ as the coordinate base, a kinematic coordinate system on the plane of the controlled substrate can be constructed, which is expressed as follows: 十 面 Υ X ρ

0 (9) PVP.

In the V equation, a single binary quantity on the axis of ΓΛ ~ γ (. — 乂? In the eighth figure, P, V, and 丄, the center point of the controlled substrate; ν, and the vertical direction ip passing through the plane The intersection point, which is also the intersection of the controlled substrate plane, 'V2'% is the rotation angle centered on the unit vector I, V2, v3 through P. Base: Observe the party-controlled substrate on the ρ "plane at a moving angle or viewing rate around Γ The rotation of the turntable ... The angle of rotation can be obtained by 3 (l, 0. At this point, it is possible to fully express the camera's perspective to the ΪΡ 基

1ϋ ^ Page 12 200527105

V. Explanation of the invention (9) As shown in the ninth figure, the vector Ui is the axial unit vector of the i-th motor ′ ϋ is the intersection point of the plane where the Ui is perpendicular to the motor axis in the early position. Similarly, the Pxz vector and Pγ vector in Fig. 8 can be obtained on a plane perpendicular to the motor axis: two unit vectors UiXY and Uiz are obtained, and UiXY is the horizontal component on the plane perpendicular to the axis, that is, the plane and the XY plane A parallel unit vector is the vertical component on a plane perpendicular to the axis, which means that $ z is cast from the z-axis

The unit vector to this plane, combined with the unit vector UiXY and the unit vector U as the coordinate base, can construct a fixed 12 coordinate system on a plane perpendicular to the motor axis. Utilizing the geometric relationship between the third, sixth and ninth graphs, the expressions of UiXY and uiz can be obtained as follows: f

-sin η i cos η i

cos β cos η i cos / 3 sin η i — ”(12) In the formula, the vector Z represents a positive Z-axis unit vector (0, 〇, i).

In the present invention, A in the third figure is designed as 90. , Indicates that the vector% falls exactly on the UiXY-Uiz plane. Therefore, Wi varies with the motor shaft angle mi. In other words, the angle of the motor rotation in the ninth figure is called the swing angle of the controlled link. Get the size of the call. Considering the initial position of the mechanism, let iiii be represented by the angle between the vector Wi and UiXY:

200527105 V. Description of the invention (10) __m i = mi, + 4 5. --------- (13) So far, the world coordinates X — γ — z, the horse's eye view angle vectors p (PX, Py, Pz) and P (0 are the axial vectors Ui, taken by mi To make a clear definition, the following will introduce the tracking and tracking motion control of this mechanism by using the above-mentioned P determination ^) and the conversion method of the motor's rotating shaft angle wide motion control and autonomous motion control ... When the photography rack is set up in this three-axis independent After the three motors are made to point the camera at a certain motion mechanism of world coordinates, the control motion control is called tracking motion control. Point or a certain trajectory, this first explains the relationship between the equation A, Vt v V) in the fourth figure, ^. M ㊀, Ψ, τ, the method of conversion to (b, ν2, ν3 > ». Rudi As shown in Figure 7, the world temple 椤 rp ρ d, the seven master-office-machine perspective vector P can be represented by the world center (Px, Py, Pz). The unit vector P (Pχ, P can be obtained by photography. "Pz), the relationship is as follows: α φ lph + ι \ 2 = 1 After taking formula (6) into the above formula, we can get: 1 — (14) P. + tau 2β + tan 2φ '(15) tail 〇" One (16) + tan 2Θ + tan 2φ

P tan φ ________., 0 N (17) Where, because the camera's perspective vector always points in front of the base substrate, that is, in the positive Z axis direction, Pz is always greater than zero. Next, the two

Page 14 200527105 V. Explanation of the invention (11) Pxz, Pγ to determine the unit vector (18) P '= cos ψιΡχι + sin ψίργ ---- Substituting equations (9) and (l 〇) into the above equation may Obtain: P'v, (cosy. 0 + sin ψϊ Ρχ2 + Pa2 --A- -PyPa 2π. (19) where

Vi = T1 " y + r -------------- (20) Finally, through the geometric definition of the third figure and formula (l), the controlled substrate is a regular triangle and the specified 7 and point angles, the joint vector Vi of the movable link can be expressed in terms of camera angle vector P and vector as follows: cos β F -l · sin β P # v Substituting equation (1 9) into the above equation: (21) V .

V £ = cos β pxpy I

Yil

OTO-RX sinvi ρχ αΤ P7 p * P * (22) So far, as long as Equations (15), (16), and (17) are substituted into the above equations, the movable link joint vector% and the camera perspective vector p (0, jealous, r). Next, the relationship B in the fourth figure will be described, from (V " y2, v3) to (I,%, wo). From the defined structural geometric parameters & = 3α2 = 90. Substitute into the formula (3 ), (4), the following expressions can be used to obtain the unit 1 vector ^ expression (see the appendix for details): 1

Page 15 200527105 V. Description of the invention (12)

After obtaining the unit vector Wi, finally explain the relationship c in the fourth figure, and convert (Wi, W2, W3) to (, in2, m3). Because 9 0. The vector% is exactly on the UiXY-Uiz plane. As shown in the ninth figure, the angle can be obtained from the inner product of% and UiXY and Uiz. It is called as follows:, = tan Ua) mi Wi Uixr ------- (24 ) Substituting the above formula into the formula (1 3), the rotation angle mi of the control motor can be obtained as follows:

\\ V-) + 45- (25) Among them, after substituting equations (11), (12), and (23) into the above equation, the relationship between the controlled link joint vector I and the rotation angle of the control motor (detailed See Appendix). Based on the above description, if the camera is to track the target located at the world coordinates (χ, y, z), the angle of the rotation axis of the control motor can be obtained by formulas (22), (23) and (25). Conversely, because equations (22), (23), and (25) cannot be directly reversed, if you want to know where the camera is pointing when the angle of the motor shaft is called, you must also establish a reverse relationship. This relationship is called autonomous motion Control is explained later. Autonomous motion control The autonomous motion of this mechanism means how the camera moves after the three control motors are turned. First, the method of converting from (to (Wi, W2, W3)) in the relational expression C in the fourth diagram is described. According to the ninth diagram, the relational expression of the vector Wi, which is reversely pushed from the motor shaft angle nii, is as follows:

---- (26) 200527105 Five 'invention description (13) ^^ = 003 (111 ^ 45) UOT + sin (m 45β) υ .. Substituting formula (11) and formula (1 2) into the above formula can be obtained Cos (n ^ ~ 45 °) -sirnii cosqi + sinCrrii-45 °) cos ^ co ^ T οοεβεΐηη. _ 0 _ sinjg --- (27) Next, we will explain the relationship 6 in the fourth figure. Wi, W2, W3) to (%, V2, V3) method: iterative solution. This mechanism designs 6¾2 and γ in the second figure as g0. Has the following relationship ’is tentatively determined as an unknown constant: therefore the vectors Vi and 1

Vi = ki (W, > ^ v2) v2 = k 2 2, V3) V3 = k3 丨 (W 3 ^ V,) (28), the range of the angle between W1 and V2 is fixed as ◦. ~ 180. When the camera 9. . At this time, the -Dan mechanism moves away. At the time of opening and closing, the vector product with the angle v2 is strange to the vector, the same direction and the absolute value u < immediately, the weights W1 and η are equal to 丄, 丄, and the value of τ is less than 1, which means that h is always greater than 1, same, k2 and k3 conditions in the other two formulas are the same. Jie Pu, Jiang Yan (the following relationship can be obtained after substituting for each other: 'V1 = k (X (w2 X (Wf x Y,))) V2 = k (W2 x (W3 x (W, x V2))) V , = k (W3 x (Wj x (W2 x V3))) (29) where equation (29) forms a homogeneous equation, although v lacks a unique solution, you can unitize vector 1 to replace equation (29) The solution \ Therefore, the equation (29) can be expressed in an iterative form as follows · ΙΒΙΊβ · Page 17 200527105

V. Description of the invention (14) vi | 〇i = W.xCW.xCW 1 pull-1]>) W2x (W3x (WlXY2 | iil)》 W3x (W1x (W2xV ^ .11)) V. (30) where, η is the number of iterations. After each iteration calculation, the vector [η] must be unitized. After η iteration calculations, if it is very close to, then Vi [n] can be regarded as the solution of equation (29). Iteration The calculation process is based on 0 = P = τ = 0. Vi is the initial value. Vi⑷ The number of iterations to start iterative calculations should depend on the demand for precision. Finally, the relationship A in the fourth figure will be described. (V & quot V2, V3) to (Θ, p, r). From the geometric characteristics of the controlled substrate being a regular triangle, the relationship between the camera viewing direction vector p (px, py, PZ) and the moving link joint vector v is available The following formula is expressed: 1 V; As for iteration (31) to obtain the camera viewing direction vector P (Px, Py, Pz), you can use formula (6) to photograph the horizontal offset angle and vertical offset angle (0, less). From the knowledge of Eighth Field, the camera's spin angle 7 can be obtained from the slope of the vector Ϋ7ΫΤ on the χχ-ργ plane: Its relationship is as follows (V7-V2 > ρ ~ (32) Eight I, which is restricted Due to the limitation of the range of the inverse trigonometric function, it should be noted that 1: if kρχι is negative, the value of Γ must be added to 1 8 0. It is the < solution. The combination of the above conversion methods is shown in the fourth figure. Except for the conversion of the relationship B, the rest have accurate mathematical expressions, so you can get

Η

Page 18 200527105 V. Description of the invention (15) ----- For the correct control, the inverse operation of the conversion relation 6 can also be obtained by the foregoing iterative solution method to obtain the precise control amount. Examples of tracking motion control Figures 10 and 10 show an example of tracking motion control in which a camera's view vector moves along a square path in a counter-clockwise direction at a constant speed. The warp path is equally divided into two hundred sampling points for control calculation. The changes in the horizontal and straight viewing angles of this square path are shown in Figures 11 and 12, which represent how to control the camera's viewing vector. The horizontal and vertical dimensions are ± 20. . And the camera spin angle is set to 0. And ± 1 5. Calculate the control amount of the three-motor axis. The calculation results are as shown in Figures 13 to 15. ° Example of autonomous motion control. This control example of autonomous motion control can show the three-axis independent parallel motion mechanism. Uniformity. As shown in the sixteenth, seventeenth, and eighteenth drawings, the rotation paths of the three-axis motors are controlled to differ by 120. With the rotation of the three-axis motor, the changes in the camera's viewing angle vector 0,%, and r are shown in Figure 19, Figure 20, and Figure 21. This control uses two hundred equally spaced sampling points to calculate the entire control path. Conclusion The three-axis independent parallel motion mechanism of the present invention is different from the ordinary 3_d0f operation mechanism. The singularity of the structure does not exist in the operation space, and the motion space I is maximized. The symmetry of the structure makes the movement fully uniform. Sex. In addition to revolving speed and instant acceleration, it will also support sensitivity and stability.

Page 19 200527105 V. Description of the invention (16) The influence of the load is minimized, which is an excellent control mechanism. The method of controlling this three-axis independent parallel motion mechanism is to find out the correspondence between the rotation angle of the three-axis motor and the camera's viewing angle. As described in the text, there is a non-unique solution to the problem. The present invention uses an iterative solution to solve the problem, and uses tracking motion control and autonomous motion control as examples. It proves that this three-axis independent parallel motion mechanism is feasible in the set operation interval. And it can be controlled appropriately.

Page 20 200527105

Brief description of the drawings Brief description of the drawings First, second, third, fourth, fifth, sixth, seventh, eighth, tenth, tenth, tenth, tenth, tenth and tenth illustrations · Three-axis independent parallel movement mechanism of the present invention Figure: The three-axis independent parallel motion mechanism of the present invention ;: Structure diagram. Figure: Geometrical schematic diagram of the three-axis independent parallel motion mechanism of the present invention. Figure. The present invention is a block diagram showing the relationship between the camera angle of view and the angle of the motor control axis. Figure: Schematic diagram of world coordinates referenced by the organization of the present invention. Figure: Negative z-axis view of the base plate of the mechanism of the present invention. Figure · Camera perspective vector diagram. · Figure · Camera spin angle diagram. Figure · Schematic diagram of motor shaft angle. f i Schematic diagram of tracking motion control path. The horizontal angle of view Θ of the two tracking motion control camera. " • Tracking the change of the angle of view φ of the camera of motion control

Figure 4 · A • Tracking motion change of motor control No. 2 motor rotation angle% Figure 5: Tracking motion control of motor control No. 3 motor rotation angle change Figure 16: Main motion control motor No. 1 motor rotation angle mi change. 200527105 Eighteenth figure Nineteenth figure Twentyth figure Twenty-first figure number description: The figure briefly explains the seventeenth figure ·· Autonomous motion control Autonomous motion control Autonomous motion photography Autonomous motion photography Figure: Autonomous motion photography number one Change of motor rotation angle m2. The change of motor angle m3. Movement result of machine level view 0. The result of the machine level view P. Motion results of the camera's horizontal viewing angle r Base plate — 10 motors. Controlled disc 1 -31 μ 2〇 Controlled substrate 1 — 30 movable link -40 2 — controlled link — 401 inner link — 43 Lianzi ----- 41 Middle Link——42 The axial direction of two arbitrary motor shafts to the axial direction of any one motor shaft Open arc angle-仏 Controlled link joint vector ~ Inwardly moving link joint vector ~ ~ Angle of the horizontal scanning of the Wi camera 7 2211-1-1 1 1 Camera tilt down X θ Camera spin Π drawing 1 angle of the movable link joint vector ~ r controlled link joint vector, V2, V3 control motor rotation axis angle production '' n cleverness ~ -nh, m2, m3

200527105 Appendix In the text, the expansion of '&1; 1 ^ in equation (23) is as follows:

VjxU ^

= cosiS px py sin pz osi p · / px -Pycos ^ -Pzsin ^ sin η. {P ^ iniScos ^ + Pxcos) S?% 8Ϊηβ5ΐηηί -P sin β cost ?. A n

I p_p '; py, Rv- + pz% p + pn 4 n, -ρχ2νβSi is called —issi * M ^ sinco'in 1p_sin, p.sz SISI + px + siny.)] X sin β cos ηι sin β sin η .χ -cos β sin ^ sinyj -Px 2cos ^-Pz cos ^ + Py Pzsin β sin -PyPzsin cos-PxPycos β -Px Pysin Cold sin% — Px2sin β cos%-Pz2sin Cold cos In the text, the formula (25) is in parentheses The simplification of numerator and denominator can be expanded as follows: wruiz N (px? Prpz)

Wi-Uixv D (Px, Py, Pz) where N (Px > PyJPz) =: cos ^ (Pxsin7? I ~ PyC0S 7? I) + — [PzCosvj / iSin " i-simj / i (Px2cos + Pz2cos% + PXP sin%)] »2 D (Px > Py» Pz) = °° δ (PXC0S β cos η {+ Pycos β sin η {+ Pzsin β) + sm $ — 一 ((X) SY. ( ~ Pxsin ^ + Pzcos) 8 cos + sin \ | / i [cos ^ sin% (Ρχ2 + Pz2) -PxPycos stone cos%-PyPzsin not]} Vpx2 + pz

Claims (1)

200527105 / Application for patent scope 1. A camera control mechanism and control method for a three-axis independent parallel movement 'includes: a base substrate is a regular triangle, and its three vertices are each equipped with a motor; Positive = angle-shaped controlled substrate, the = 1 substrate is installed on the bottom of a controlled disc; three spheres with the same radius outside ί t: don't connect to the shaft of the three motors; the three radii are smaller than those of the outer link The upper end of the spherical middle link is fixedly connected to the three outer one =: the bottom of the spherical inner link of the link is connected to the three middle respectively; the bottom is active and the upper end is ㈣ $ # / 迷 才干 盘 系 Representative photography ；; Outer connecting rod * in the middle, ® disk, the text control Yuanyuan pinch • You, You beat a ^ T Yuncai between the connection called A 俾:;! ; The connection between the inner links is called a movable link;: Connects to control the rotation angle of the normal direction of the controlled substrate, where: =, the vertical movement and the control mechanism of the video camera of the spin projector, among which: independent parallel 3, such as the camera control mechanism, A by, Da Zhi-axis independent parallel movement M structure, the inner link and the receiving center "page 23