WO2009145401A1 - Appareil de panoramique et de basculement - Google Patents

Appareil de panoramique et de basculement Download PDF

Info

Publication number
WO2009145401A1
WO2009145401A1 PCT/KR2008/006814 KR2008006814W WO2009145401A1 WO 2009145401 A1 WO2009145401 A1 WO 2009145401A1 KR 2008006814 W KR2008006814 W KR 2008006814W WO 2009145401 A1 WO2009145401 A1 WO 2009145401A1
Authority
WO
WIPO (PCT)
Prior art keywords
pan
driving unit
tilt
rotary body
axis
Prior art date
Application number
PCT/KR2008/006814
Other languages
English (en)
Inventor
Young-Dae Kim
Hyung-Yeob Lee
Kyung-Pyo Hong
Dae-Chul Shin
Original Assignee
Piezoelectric Technology Co., Ltd.
Darimvision Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Piezoelectric Technology Co., Ltd., Darimvision Co., Ltd. filed Critical Piezoelectric Technology Co., Ltd.
Publication of WO2009145401A1 publication Critical patent/WO2009145401A1/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
    • H02N2/06—Drive circuits; Control arrangements or methods
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/58—Means for changing the camera field of view without moving the camera body, e.g. nutating or panning of optics or image sensors

Definitions

  • the present invention relates to a pan/tilt apparatus, and more specifically, a pan/tilt apparatus which is low-noise generating, low-power consuming and miniaturized for providing pan and tilt rotations by converting linear motions of a small piezoelectric linear motor to rotary motions.
  • Piezoelectric ultrasonic motor is a type of electric motor driven by using piezoelectric effect of piezoelectric materials. Electricity is generated when stress is applied to crystals such as Rochelle salt. It is called direct piezoelectric effect. On the other hand, certain crystals change their shapes when electric field is applied to the crystals. It is called reverse piezoelectric effect. Both direct and reverse piezoelectric effects are called piezoelectric effects.
  • piezoelectric materials Some materials which show piezoelectric effect are called piezoelectric materials.
  • piezoelectric ceramics PZT
  • PZT piezoelectric ceramics
  • Piezoelectric ultrasonic motors have beneficial effects, such as bigger torque, smaller noise, lower power requirement for driving in comparison to conventional magnetic motors.
  • Piezoelectric motors are used for driving lens such as auto focusing and zooming of medical cameras or mobile device cameras which require miniaturized sizes. Because of recent trend that most electric products require smaller sizes, piezoelectric ultrasonic motors have been developed continuously.
  • piezoelectric linear motors have been used for lens driving module of micro cameras.
  • Such piezoelectric linear motors equip moving axis, parallel to moving direction of piezoelectric material, to move the moving axis forward and backward. It enables linear movement of an object which is combined with the moving axis.
  • Such piezoelectric linear motors have advantageous effects of simple structure and a simple manufacturing process.
  • pan/tilt apparatus is capable of simultaneous pan motion and tilt motion so it is usually used for the movement of visual cameras.
  • visual cameras are usually used for surveillance in security systems.
  • visual cameras use pan/tilt apparatuses. By panning(horizontal rotation) and tilting(vertical rotation) the visual camera of the pan/tilt apparatus in random direction, the pan/tilt apparatus enables a visual camera to have a wider range of surveillance than a fixed visual camera.
  • a conventional pan/tilt apparatus uses a motor (a magnetic motor or a stepper motor) and an actuator to gain driving force for horizontal and vertical rotation.
  • conventional pan/tilt apparatuses have actuators for providing driving force for tilting motion and actuators for providing driving force for panning motion.
  • the present invention has been created to reduce size, noise and power consumption of pan/tilt apparatus by using piezoelectric linear motors having simple structure and simple production process. Disclosure of Invention Technical Problem
  • the purpose of the present invention is to provide a pan/tilt apparatus of simple structure having piezoelectric linear motors for linear motions.
  • a further objective of the present invention is to provide a miniaturized pan/tilt apparatus by using small piezoelectric linear motors as actuators for panning and tilting motions.
  • the present invention provides a quiet and low-power consuming pan/ tilt apparatus by using piezoelectric motors that are quiet and low-power consuming.
  • the present invention provides a pan/tilt apparatus which has increased panning and tilting torque by combining only small piezoelectric linear motors.
  • the pan/tilt apparatus comprises a tilt driving unit for tilting a first rotary body by a first piezoelectric driving unit which moves linearly according to the physical displacement of piezoelectric material generated by applied electric field; a pan driving unit for panning a second rotary body by a second piezoelectric driving unit which moves linearly according to the physical displacement of piezoelectric material generated by applied electric field; a tilt frame of which bottom is combined perpendicularly with said pan driving unit and top is combined with said tilt driving unit, for supporting tilting rotation of said tilt driving unit and panning; a supporting axis, combined along rotary axis of said pan driving unit, for supporting panning according to the rotation of said pan driving unit; and a supporting board, combined perpendicularly with said supporting axis, for supporting the entire pan/tilt apparatus.
  • the size of the pan/tilt apparatus is able to be reduced, and the structure of the pan/tilt apparatus may be able to be simplified by using quiet and low-power consuming piezoelectric linear motors as actuators for panning and tilting motions. Furthermore, there is an advantage that low-power consuming, low-noise generating, and low cost pan/tilt apparatus could be produced.
  • the pan/tilt apparatus may further comprises a line winding unit for winding control signal transmission lines connected to driving actuators according to the panning and tilting of the pan/tilt apparatus so that the pan/tilt apparatus may prevent the panning and tiling limitations of the pan/tilt apparatus caused by the shortness or the twist of the control signal transmission lines.
  • the pan/tilt apparatus may comprise more than one piezoelectric driving unit to increase rotary torque for each rotary body.
  • the pan/tilt apparatus may comprise a pressing board for pressing one or more driving axes, attached tightly on rotary bodies of pan driving unit and tilt driving unit, to rotary body tightly so as to increase rotary torque and supports rotation through increasing contact area.
  • the pan/tilt apparatus may comprise rotary body groove in which driving axis is partially inserted so as to increase rotary torque by increasing friction between driving axis and rotary body.
  • the rotary bodies of pan driving unit and tilt driving unit may comprise sensors for sensing rotary angle so as to control panning and tilting more accurately.
  • the size of the pan/tilt apparatus is able to be reduced, and the structure of the pan/tilt apparatus may be able to be simplified by using quiet and low-power consuming piezoelectric linear motors as actuators for panning and tilting motions.
  • the pan/tilt apparatus of the present invention has advantageous features that line winding unit providing control signal transmission lines that are connected to actuators eliminates panning and tilting problems caused by the shortness or the twist of the control signal transmission lines and prevents damage of the pan/tilt apparatus.
  • the pan/tilt apparatus of the present invention has advantageous features of increased rotary torque and pan/tilt driving power by connecting piezoelectric driving units to rotary body or pressing driving axis of the piezoelectric driving units to the rotary body tightly.
  • the pan/tilt apparatus of the present invention has advantageous feature of accurate control of the pan/tilt apparatus by using sensors connected to the rotary bodies of the pan driving unit and the tilt driving unit for sensing rotary angle of the pan/tilt apparatus.
  • FIG. 1 is a view showing a pan/tilt apparatus in accordance with a preferred embodiment of the present invention
  • FIG. 2 is a front view showing a pan/tilt apparatus in accordance with a preferred embodiment of the present invention
  • FIG. 3 is a brief view showing piezoelectric driving unit 1 in accordance with a preferred embodiment of the present invention.
  • FIG. 4 is a cross section view showing the line winding unit of a pan/tilt apparatus in accordance with another embodiment of the present invention.
  • FIG. 5 is a view showing a groove of the rotary body of rotary body 1 and a pressing board in accordance with another embodiment of the present invention.
  • pan/tilt supporting unit 410 supporting axis
  • FIG. 1 is a view showing a pan/tilt apparatus in accordance with a preferred embodiment of the present invention
  • FIG. 2 is a front view showing a pan/tilt apparatus in accordance with a preferred embodiment of the present invention. As shown in FIG. 1 and FIG.
  • the pan/tilt apparatus of the present invention comprises tilt driving unit 100 which is tilted by a first piezoelectric driving unit 110 which is linearly movable due to the physical displacement caused by electric field, pan driving unit 200 which is panned by a second piezoelectric driving unit 210 which is linearly movable due to the physical displacement caused by electric field, tilt frame 300 of which the bottom is combined perpendicularly with pan driving unit 200 for panning and the top is combined with tilt driving unit 100 for supporting tilt motion of tilt driving unit 100, supporting axis 410 combined with the rotary axis of pan driving unit 200 for supporting the panning of pan driving unit 200, and supporting board 420 combined perpendicularly with supporting axis 410 for supporting entire pan/tilt apparatus.
  • Tilt frame 300 is the supporting structure of pan/tilt apparatus.
  • Tilt driving unit 100 is combined with the top of tilt frame 300 to be able to be tilted, and tilt frame 300 supports the tilt motion of tilt driving unit 100.
  • pan driving unit 200 is combined with the bottom of tilt frame 300, and tilt frame 300 enables tilt driving unit 100 to be panned according to the panning of pan driving unit 200.
  • Tilt driving unit 100 tilts inner objects - e.g. visual camera, mirror - by tilting itself due to the linear motion of a first piezoelectric driving unit 110 generated by piezoelectric effect caused by electric field. Tilt driving unit 100 will be described in detail with reference to FIG. 1 and FIG. 2.
  • Tilt driving unit 100 of the present invention comprises a first piezoelectric driving unit 110 having driving axis for moving linearly according to the physical displacement caused by electric field, a first rotary body 120 pressed tightly to a driving axis for rotating certain degrees due to friction generated by linear motion of the driving axis, and a first rotary axis 130 for connecting the first rotary body 120 to tilt frame 300.
  • tilt driving unit 100 may comprise more than one piezoelectric driving unit whose axes are pressed tightly on the outer surface of a first rotary body in order to improve the rotary motion of the first rotary body 120 and increase the rotary torque of the first rotary body 120.
  • more than one piezoelectric driving unit 110 may be combined with outer surface of the first rotary body 120 or both ends of the first rotary body 120.
  • a first piezoelectric driving unit 110 may comprise piezoelectric material 111 of which physical displacement is changing according to applied electric field, and piezoelectric linear motor having driving axis which is perpendicularly attached to piezo- electric material 111 and moved linearly by the displacement of piezoelectric material 111.
  • the first piezoelectric driving unit 110 will be described in detail with reference to FIG. 3.
  • FIG. 3 is a brief view showing piezoelectric driving unit 1 in accordance with a preferred embodiment of the present invention.
  • the first piezoelectric driving unit 110 of the present invention comprises piezoelectric material 111 of which physical displacement is changing according to applied electric field which takes the form of separation of electric charge, and elastic body 112 having piezoelectric material 111 on its one or both surfaces, wherein driving axis 113 is perpendicularly fixed on piezoelectric material 111 or elastic body 112.
  • Piezoelectric material 111 and elastic body 112 are disk- type unimorph or bimorph, and elastic body 112 may be composed of elastic metal having uniform thickness and transmitting vibration generated from piezoelectric material 111 without leakage or loss.
  • driving axis 113 is attached directly to elastic body 112, elastic body 112 may have supporting means for supporting driving axis 113. In respect of efficiency, it is preferred that driving axis 113 be installed in the middle of piezoelectric material 11 l(or electrostrictive substrate) and elastic body 112 to gain maximum displacement.
  • Piezoelectric material 111 generates electric polarization toward thickness direction, and induces bending displacement through vibrations generated from the internal diameter to the external diameter of piezoelectric material 111 or from the external diameter to the internal diameter of piezoelectric material 111 according to inputted driving signal.
  • driving axis 113 may be formed as a polygonal rod or a cylinder to be pressed tightly to rotary body.
  • Fixing unit 125 is installed to the surface of elastic body 112 for fixing the first piezoelectric driving unit 110, more particularly, for fixing the first piezoelectric driving unit 110 not to be moved by the vibration of piezoelectric material 111. It is preferred that driving axis be installed to propagate the vibration generated by piezoelectric material 111 effectively.
  • piezoelectric material 111 induces bending displacement due to piezoelectric effect and driving axis 113 moves linearly.
  • a first rotary body 120 comprises container 140 for containing an object such as visual camera and mirror to be panned or tilted by pan/tilt control at center of container 140, and a rotary disk for rotating by friction generated at the contact point due to the linear motion of driving axis 113. It is preferred that the rotary disk be made of materials which induce big friction easily by linear motion of driving axis 113. It is also preferred that the rotary disk be formed in one united body with the first rotary body 120 to simplify its structure. [58] Furthermore, driving axis 113 is pressed under constant pressure by rotary body 200, and the pressure increases the friction between driving axis 113 and rotary body 200 so that the rotary torque increases and the first rotary body 120 rotates well. Means for pressing driving axis 113 to the first rotary body 120 may be made of various elastic materials such as spring.
  • a first rotary axis 130 connects the first rotary body and tilt frame so that the first rotary body may rotate and be supported by tilt frame 300. It is preferred that the first rotary axis be formed at the centers of one or more rotary disks. Both ends of the first rotary axis are inserted into tilt frame 300 in order to support and rotate the first rotary body 120.
  • container 140 of rotary axis 130 may contain mirror.
  • fixed cameras have limited area of surveillance. It is, thus, the pan/tilt apparatus of the present invention which contains a mirror is installed at a proper location in accordance with the location of a fixed camera. Through the movement of the mirror in the pan/tilt apparatus, broader area can be photographed with a fixed camera.
  • Pan driving unit 200 rotates tilt driving unit 100 horizontally through rotating itself by using linear motion, caused by piezoelectric effect, of a second piezoelectric driving unit 210 combined with the bottom of tilt frame 300 supporting tilt driving unit 100.
  • pan driving unit 200 of the present invention comprises a second rotary body 220 combined with the bottom of tilt frame 300, and the second piezoelectric driving unit 210 having driving axis, pressed tightly to the second rotary body 220, for rotating the second rotary body 220 through linear motion caused by physical displacement generated by applied electric field.
  • the second rotary body 220 can be implemented as cylinder type. One side of the second rotary body 220 is combined with the bottom of tilt frame 300, and the opposite side of the second rotary body 220 is combined with the driving axis of the second piezoelectric driving unit 210.
  • the second rotary body 220 rotates horizontally by friction generated on the contact point between the driving axis of the second piezoelectric driving unit 210 and the second rotary body 220 according to linear motion of the driving axis the second piezoelectric driving unit 210.
  • the second rotary body 220 be made of materials which induce big friction easily by linear motion of the driving axis of the second piezoelectric driving unit 210.
  • the second piezoelectric driving unit 210 has the same structure and functions with the above mentioned the first piezoelectric driving unit 110, the description of the second piezoelectric driving unit 210 will be omitted.
  • Pan/tilt supporting unit 400 comprises supporting axis 410, combined with the horizontal rotary axis of pan driving unit 200, for rotating according to the horizontal rotation of pan driving unit 200, supporting board 420, combined perpendicularly with supporting axis 410, for supporting tilt driving unit 100, tilt frame 300, and pan driving unit 200.
  • Supporting board 420 combined with the bottom of pan driving unit 200 supports the entire pan/tilt apparatus and fixes the pan/tilt apparatus to installation spot.
  • supporting board 420 may further comprise a fixing means for fixing the second piezoelectric driving unit 210 of pan driving unit 200.
  • Supporting axis 410, combined with supporting board 420, rotates itself due to horizontal rotation of pan driving unit 200 and helps tilt driving unit 100 combined with pan driving unit 200 to rotate horizontally.
  • a user inputs values of panning degree and tilting degree through the controller connected to pan/tilt apparatus to expand detection area by panning and tilting visual camera of the pan/tilt apparatus or mirror which is installed according to the location of a fixed camera.
  • the controller inputs driving signals to the first piezoelectric driving unit 110 in tilt driving unit 100 and the second piezoelectric driving unit 210 in pan driving unit 200 according to the angle values of panning degree and tilting degree, and piezoelectric materials 111 in the first piezoelectric driving unit 110 and the second piezoelectric driving unit 210 form bending displacements.
  • Driving axis 113 attached to piezoelectric materials 111 or elastic body 112 moves linearly according to the bending displacement of piezoelectric materials 111, and driving axes 113 rotate the first rotary body 120 and the second rotary body 220 the angle values of the user input through the friction generated by linear motion of driving axes 113.
  • the pan/tilt apparatus of the present invention can be miniaturized.
  • the structure of the pan/tilt apparatus can be simplified by using quiet and low-powered piezoelectric linear motors as driving actuators for panning and tilting the pan/tilt apparatus.
  • the present invention has advantageous effects of miniaturization, low- power consuming, quiet, and low cost.
  • supporting axis 410 of the pan/tilt apparatus forms a penetration hole 500 for penetrating control signal transmission lines to tilt driving unit 100 or pan driving unit 200. Furthermore, the control signal transmission lines connected to tilt driving unit 100 or pan driving unit 200 are winded at the bottom of supporting board 420 which has line winding unit 600 for winding lines according to the rotations of tilt driving unit 100 or pan driving unit 200.
  • FIG. 4 is a cross section view showing the line winding unit of a pan/tilt apparatus in accordance with another embodiment of the present invention.
  • the control signal transmission lines such as cable are connected to the first piezoelectric driving unit 110 and the second piezoelectric driving unit 210 through penetrating hole 500 and used for transmitting driving signals to the first piezoelectric driving unit 110 and the second piezoelectric driving unit 210.
  • Line winding unit 600 having the control signal transmission lines unwinds the winded lines and rewinds the unwinded lines according to the rotations of tilt driving unit 100 or pan driving unit 200.
  • Line winding unit 600 may comprises an elastic rotation unit such as a spiral spring for rotating line winding unit 600.
  • Pan/tilt apparatus of the present invention has advantageous effects, prevention of damage and pan/tilt limitation caused by twist or shortness of the control signal transmission lines through line winding unit 600 for providing the control signal transmission lines which is connected to actuators.
  • tilt driving unit 100 of the present invention comprises the first piezoelectric driving unit 110 and pan driving unit 200 of the present invention comprises the second piezoelectric driving unit 210.
  • Driving axes of the first piezoelectric driving unit 110 and the second piezoelectric driving unit 210 are pressed tightly to the surfaces of the first rotary body 120 and the second rotary body 220. It is, therefore, first rotary body 120 and the second rotary body 220 can be rotated by the frictions generated by the linear motions of the driving axes.
  • tilt driving unit 100 and pan driving unit 200 may have more than one piezoelectric driving unit to make the rotations effective and increase rotary torques.
  • FIG. 5 is a view showing a groove of the rotary body of the first rotary body and a pressing board in accordance with another embodiment of the present invention.
  • tilt driving unit 100 and pan driving unit 200 further comprise pressing board 150 for pressing more than one driving axes 113 to one or both sides of the first rotary body 120 and the second rotary body 220 in order to make the rotations effective and increase rotary torques.
  • the second rotary body 220 has the same rotary body groove and pressing board. Therefore, description of reference numerals of the second rotary body structure in the drawings will be identical to that of the first rotary body.
  • pressing board 150 be formed in one united body with the first rotary body 120(or the second rotary body 220). Pressing board 150 presses driving axis 113 to one or both sides of the first rotary body 120(or the second rotary body 220) effectively and increases the rotation efficiency of the first rotary body(or the second rotary body) and rotary torques by increasing contact area.
  • the surface of the first rotary body 120 of tilt driving unit 100 have rotary body groove 160 for inserting a part of driving axis 113 of the first piezoelectric driving unit 110
  • the surface of the second rotary body 220 of pan driving unit 200 have rotary body groove 160 for inserting a part of driving axis 113 of the second piezoelectric driving unit 210.
  • Rotary body groove 160 increases the friction between the first rotary body 120(or the second rotary body 220) and driving axis 113 so that the rotation efficiency of the first rotary body(or the second rotary body) and rotary torque increase.
  • Rotary body groove 160 is formed as certain depth on the surfaces of the first rotary body 120 and the second rotary body 220, and driving axis 113 is inserted in rotary body groove 160.
  • Rotary body groove 160 increases the contact area between the first rotary body 120(or the second rotary body 220) and driving axis 113 to increase friction. It is, therefore, even a small linear motion can induce the rotation of the rotary body and increase rotary torque of the rotary body.
  • rotary body groove 160 of the present invention may be inserted with more than one driving axes 113.
  • tilt driving unit 100 and pan driving unit 200 may comprise sensors for sensing rotation angle in order to enhancing accurate control of the pan/tilt apparatus.
  • Pan driving unit 200 further comprise pan rotation sensor for sensing rotation angle of pan driving unit 200
  • tilt driving unit 100 further comprise tilt rotation sensor for sensing rotation angle of tilt driving unit 100.
  • the pan rotation sensor senses the rotation angle of pan driving unit 200, transforms the rotation angle into an electrical signal, and transmits the electrical signal to the controller of the pan/tilt apparatus.
  • the tilt rotation sensor senses the rotation angle of tilt driving unit 100, transforms the rotation angle into an electrical signal, and transmits the electrical signal to the controller of the pan/tilt apparatus.
  • the controller calculates and amends pan angle and tilt angle through transmitted electrical signals from sensors, thus more accurate control is possible.
  • pan/tilt apparatus can be used in security system, because the camera of the pan/tilt apparatus can be rotated horizontally and vertically.

Abstract

La présente invention concerne un appareil de panoramique et de basculement et, plus spécifiquement, un appareil de panoramique et de basculement qui est silencieux, économe en énergie et miniaturisé pour fournir des rotations de panoramique et de basculement en convertissant des mouvements linéaires d'un petit moteur linéaire piézoélectrique en mouvements de rotation. Selon les aspects de la présente invention mentionnés ci-dessus, l'appareil de panoramique et de basculement comprend une unité de commande de basculement, destinée à commander le basculement du premier élément rotatif par la première unité piézoélectrique d'entraînement qui se déplace linéairement en fonction du déplacement physique d'un matériau piézoélectrique généré par le champ électrique appliqué ; une unité de commande de panoramique, destinée à commander le mouvement de panoramique du second élément rotatif par la seconde unité piézoélectrique d'entraînement qui se déplace linéairement en fonction du déplacement physique d'un matériau piézoélectrique généré par le champ électrique appliqué ; un cadre de basculement dont le fond est combiné perpendiculairement sur ladite unité de commande de panoramique et dont le sommet est combiné avec ladite unité de commande de basculement, afin de permettre la rotation de basculement de ladite unité de commande de basculement et le mouvement de panoramique ; un axe de support, combiné le long de l'axe de rotation de ladite unité de commande de panoramique, afin de permettre un mouvement de panoramique en fonction de la rotation de ladite unité de commande de panoramique ; et une plaque de support, combinée perpendiculairement audit axe de support, pour supporter la totalité de l'appareil de panoramique et de basculement.
PCT/KR2008/006814 2008-05-26 2008-11-19 Appareil de panoramique et de basculement WO2009145401A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2008-0048594 2008-05-26
KR20080048594 2008-05-26

Publications (1)

Publication Number Publication Date
WO2009145401A1 true WO2009145401A1 (fr) 2009-12-03

Family

ID=41377254

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2008/006814 WO2009145401A1 (fr) 2008-05-26 2008-11-19 Appareil de panoramique et de basculement

Country Status (2)

Country Link
KR (1) KR101023819B1 (fr)
WO (1) WO2009145401A1 (fr)

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7866900B2 (en) * 2009-06-04 2011-01-11 Securion 24. Co. Ltd. Camera control apparatus, shooting direction control method and camera apparatus
CN103523241A (zh) * 2013-10-15 2014-01-22 江苏艾锐泰克无人飞行器科技有限公司 无人机无刷云台
WO2016168780A1 (fr) * 2015-04-17 2016-10-20 The Lightco Inc. Procédés de dispositif de caméra, appareil et éléments
CN107438807A (zh) * 2016-06-17 2017-12-05 深圳市大疆灵眸科技有限公司 固持装置控制方法、固持装置、手持云台及无人机
US9955082B2 (en) 2013-10-18 2018-04-24 Light Labs Inc. Methods and apparatus for capturing images using optical chains and/or for using captured images
US9967535B2 (en) 2015-04-17 2018-05-08 Light Labs Inc. Methods and apparatus for reducing noise in images
US9998638B2 (en) 2014-12-17 2018-06-12 Light Labs Inc. Methods and apparatus for implementing and using camera devices
US10003738B2 (en) 2015-12-18 2018-06-19 Light Labs Inc. Methods and apparatus for detecting and/or indicating a blocked sensor or camera module
US10009530B2 (en) 2013-10-18 2018-06-26 Light Labs Inc. Methods and apparatus for synchronized image capture using camera modules with different focal lengths
US10051182B2 (en) 2015-10-05 2018-08-14 Light Labs Inc. Methods and apparatus for compensating for motion and/or changing light conditions during image capture
US10091447B2 (en) 2015-04-17 2018-10-02 Light Labs Inc. Methods and apparatus for synchronizing readout of multiple image sensors
US10129483B2 (en) 2015-06-23 2018-11-13 Light Labs Inc. Methods and apparatus for implementing zoom using one or more moveable camera modules
US10205862B2 (en) 2013-10-18 2019-02-12 Light Labs Inc. Methods and apparatus relating to a camera including multiple optical chains
US10225445B2 (en) 2015-12-18 2019-03-05 Light Labs Inc. Methods and apparatus for providing a camera lens or viewing point indicator
US10365480B2 (en) 2015-08-27 2019-07-30 Light Labs Inc. Methods and apparatus for implementing and/or using camera devices with one or more light redirection devices
US10491806B2 (en) 2015-08-03 2019-11-26 Light Labs Inc. Camera device control related methods and apparatus
CN110545050A (zh) * 2019-08-29 2019-12-06 西安爱生技术集团公司 压电执行器驱动的目标图像跟踪云台及其驱动控制方法
US10516834B2 (en) 2015-10-06 2019-12-24 Light Labs Inc. Methods and apparatus for facilitating selective blurring of one or more image portions
US10670858B2 (en) 2017-05-21 2020-06-02 Light Labs Inc. Methods and apparatus for maintaining and accurately determining the position of a moveable element
US10931866B2 (en) 2014-01-05 2021-02-23 Light Labs Inc. Methods and apparatus for receiving and storing in a camera a user controllable setting that is used to control composite image generation performed after image capture
EP3751324A3 (fr) * 2019-06-14 2021-03-31 Tdk Taiwan Corp. Mécanisme de commande d'élément optique
CN113932118A (zh) * 2021-09-27 2022-01-14 中国科学院长春光学精密机械与物理研究所 一种小型压电陶瓷驱动空间二维指向装置
US11683589B2 (en) * 2018-04-24 2023-06-20 Eth Zurich Automatic camera head and operation method

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7263566B2 (ja) * 2017-06-02 2023-04-24 キヤノン株式会社 撮像装置及び移動体
KR102051136B1 (ko) 2017-11-30 2020-01-08 주식회사 라스테크 클라우드서버를 기반을 하는 인공지능 대쉬보드로봇을 이용한 사용자 상태인식시스템

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20010073888A (ko) * 2000-01-22 2001-08-03 김영정 압전소자를 갖는 각회전장치
JP2005037724A (ja) * 2003-07-16 2005-02-10 Canon Inc 雲台および雲台制御システム
JP2007189777A (ja) * 2006-01-11 2007-07-26 Canon Inc 駆動装置、電子機器、制御方法、及びプログラム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20010073888A (ko) * 2000-01-22 2001-08-03 김영정 압전소자를 갖는 각회전장치
JP2005037724A (ja) * 2003-07-16 2005-02-10 Canon Inc 雲台および雲台制御システム
JP2007189777A (ja) * 2006-01-11 2007-07-26 Canon Inc 駆動装置、電子機器、制御方法、及びプログラム

Cited By (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI393435B (zh) * 2009-06-04 2013-04-11 Securion 24 Co Ltd 攝影機控制裝置、攝影方向控制方法以及攝影機裝置
US7866900B2 (en) * 2009-06-04 2011-01-11 Securion 24. Co. Ltd. Camera control apparatus, shooting direction control method and camera apparatus
CN103523241A (zh) * 2013-10-15 2014-01-22 江苏艾锐泰克无人飞行器科技有限公司 无人机无刷云台
US10009530B2 (en) 2013-10-18 2018-06-26 Light Labs Inc. Methods and apparatus for synchronized image capture using camera modules with different focal lengths
US10120159B2 (en) 2013-10-18 2018-11-06 Light Labs Inc. Methods and apparatus for supporting zoom operations
US10205862B2 (en) 2013-10-18 2019-02-12 Light Labs Inc. Methods and apparatus relating to a camera including multiple optical chains
US9955082B2 (en) 2013-10-18 2018-04-24 Light Labs Inc. Methods and apparatus for capturing images using optical chains and/or for using captured images
US10048472B2 (en) 2013-10-18 2018-08-14 Light Labs Inc. Methods and apparatus for implementing and/or using a camera device
US10038860B2 (en) 2013-10-18 2018-07-31 Light Labs Inc. Methods and apparatus for controlling sensors to capture images in a synchronized manner
US10274706B2 (en) 2013-10-18 2019-04-30 Light Labs Inc. Image capture control methods and apparatus
US10931866B2 (en) 2014-01-05 2021-02-23 Light Labs Inc. Methods and apparatus for receiving and storing in a camera a user controllable setting that is used to control composite image generation performed after image capture
US9998638B2 (en) 2014-12-17 2018-06-12 Light Labs Inc. Methods and apparatus for implementing and using camera devices
US9967535B2 (en) 2015-04-17 2018-05-08 Light Labs Inc. Methods and apparatus for reducing noise in images
US9857584B2 (en) 2015-04-17 2018-01-02 Light Labs Inc. Camera device methods, apparatus and components
US10091447B2 (en) 2015-04-17 2018-10-02 Light Labs Inc. Methods and apparatus for synchronizing readout of multiple image sensors
WO2016168780A1 (fr) * 2015-04-17 2016-10-20 The Lightco Inc. Procédés de dispositif de caméra, appareil et éléments
US10129483B2 (en) 2015-06-23 2018-11-13 Light Labs Inc. Methods and apparatus for implementing zoom using one or more moveable camera modules
US10491806B2 (en) 2015-08-03 2019-11-26 Light Labs Inc. Camera device control related methods and apparatus
US10365480B2 (en) 2015-08-27 2019-07-30 Light Labs Inc. Methods and apparatus for implementing and/or using camera devices with one or more light redirection devices
US10051182B2 (en) 2015-10-05 2018-08-14 Light Labs Inc. Methods and apparatus for compensating for motion and/or changing light conditions during image capture
US10516834B2 (en) 2015-10-06 2019-12-24 Light Labs Inc. Methods and apparatus for facilitating selective blurring of one or more image portions
US10225445B2 (en) 2015-12-18 2019-03-05 Light Labs Inc. Methods and apparatus for providing a camera lens or viewing point indicator
US10003738B2 (en) 2015-12-18 2018-06-19 Light Labs Inc. Methods and apparatus for detecting and/or indicating a blocked sensor or camera module
US10766636B2 (en) 2016-06-17 2020-09-08 Sz Dji Osmo Technology Co., Ltd. Holding apparatus
CN107438807A (zh) * 2016-06-17 2017-12-05 深圳市大疆灵眸科技有限公司 固持装置控制方法、固持装置、手持云台及无人机
CN107438807B (zh) * 2016-06-17 2021-05-18 深圳市大疆灵眸科技有限公司 固持装置控制方法、固持装置、手持云台及无人机
US11365015B2 (en) 2016-06-17 2022-06-21 Sz Dji Osmo Technology Co., Ltd. Holding apparatus
US10670858B2 (en) 2017-05-21 2020-06-02 Light Labs Inc. Methods and apparatus for maintaining and accurately determining the position of a moveable element
US11683589B2 (en) * 2018-04-24 2023-06-20 Eth Zurich Automatic camera head and operation method
EP3751324A3 (fr) * 2019-06-14 2021-03-31 Tdk Taiwan Corp. Mécanisme de commande d'élément optique
CN110545050A (zh) * 2019-08-29 2019-12-06 西安爱生技术集团公司 压电执行器驱动的目标图像跟踪云台及其驱动控制方法
CN110545050B (zh) * 2019-08-29 2021-10-26 西安爱生技术集团公司 压电执行器驱动的目标图像跟踪云台及其驱动控制方法
CN113932118A (zh) * 2021-09-27 2022-01-14 中国科学院长春光学精密机械与物理研究所 一种小型压电陶瓷驱动空间二维指向装置

Also Published As

Publication number Publication date
KR101023819B1 (ko) 2011-03-22
KR20090122888A (ko) 2009-12-01

Similar Documents

Publication Publication Date Title
WO2009145401A1 (fr) Appareil de panoramique et de basculement
US7480109B1 (en) Piezoelectrically driven optical lens module
US20090127974A1 (en) Small piezoelectric or electrostrictive linear motor
KR20040027753A (ko) 소형 압전/전왜 초음파 리니어모터
US20100102674A1 (en) Piezoelectric linear motor offering enhanced displacement
KR100902923B1 (ko) 압전 초음파 모터
JP2010246277A (ja) リニア駆動装置
JP2004320980A (ja) 稼働装置および電気機器
KR101653826B1 (ko) 초음파 모터 및 그 제조 방법
US7923898B2 (en) Piezo drive system
KR101028881B1 (ko) 압전 리니어 모터
JP5316756B2 (ja) 駆動装置
JP2009050142A (ja) 駆動装置
US8520329B2 (en) Piezoelectric actuator, lens barrel and optical device
JP2017200357A (ja) 振動波モータおよび振動波モータが搭載された電子機器
JP2015105988A (ja) 駆動装置及びレンズユニット並びに撮像装置
JP2007114748A (ja) レンズモジュール
KR101090497B1 (ko) 회전 압전 모터
WO2016002917A1 (fr) Actionneur de type vibratoire, barillet de lentille, dispositif de capture d'images, et étage automatique
KR100904861B1 (ko) 캠을 이용한 회전 압전 모터
KR100683932B1 (ko) 초소형 압전 리니어 모터
JP2007033983A (ja) レンズモジュール
JP2009276422A (ja) 駆動装置
KR100728371B1 (ko) 초소형 압전 리니어 모터
JP2009086433A (ja) 小型ズームレンズ鏡筒ユニット

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 08874494

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 08874494

Country of ref document: EP

Kind code of ref document: A1