WO2010033096A1 - Gyro-stabilisateur télécommandé à trois axes pour caméras de cinéma ou de télévision - Google Patents

Gyro-stabilisateur télécommandé à trois axes pour caméras de cinéma ou de télévision Download PDF

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Publication number
WO2010033096A1
WO2010033096A1 PCT/UA2009/000043 UA2009000043W WO2010033096A1 WO 2010033096 A1 WO2010033096 A1 WO 2010033096A1 UA 2009000043 W UA2009000043 W UA 2009000043W WO 2010033096 A1 WO2010033096 A1 WO 2010033096A1
Authority
WO
WIPO (PCT)
Prior art keywords
roll
pitch
frame
gyrostabilizer
balancing
Prior art date
Application number
PCT/UA2009/000043
Other languages
English (en)
Russian (ru)
Inventor
Сэргий Олэксандровыч ТАРТЫШНИКОВ
Мыкола Лэонидовыч ДЭЙЫСОВ
Original Assignee
Tartyshnikov Sergij Olexandrov
Denysov Kykola Leonidovich
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 Tartyshnikov Sergij Olexandrov, Denysov Kykola Leonidovich filed Critical Tartyshnikov Sergij Olexandrov
Publication of WO2010033096A1 publication Critical patent/WO2010033096A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/02—Rotary gyroscopes
    • G01C19/04—Details
    • G01C19/30—Erection devices, i.e. devices for restoring rotor axis to a desired position
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation
    • H04N23/687—Vibration or motion blur correction performed by mechanical compensation by shifting the lens or sensor position

Definitions

  • the invention relates to instrumentation, namely to a triaxial remotely controlled gyrostabilizer for movie cameras or for television cameras.
  • instrumentation namely to a triaxial remotely controlled gyrostabilizer for movie cameras or for television cameras.
  • the constructive solution of this invention is aimed at improving the accuracy of stabilization of the camera, improving the accuracy of ensuring the horizontalness of the received image, simplifying the design, increasing the reliability of the gyro stabilizer, as well as improving access to the camera, which makes it possible to control the horizontal panorama in a vertical circle regardless of the dynamics of camera control and the movement of the camera carrier .
  • this solution does not allow to increase the stabilization efficiency and ease of use of the gyrostabilizer system with a movie camera or a television camera during pre-commissioning and when shooting movie - or television - material.
  • the technical solution - the prototype is a triaxial remotely controlled gyrostabilizer for movie cameras or for television cameras, containing in series connected between a course module, roll module, pitch module, and the course module contains a half-fork course frame, a course drive with at least one engine, a course shaft rotating inside the course drive, a roll drive with at least one engine, a shaft the roll rotating inside the roll drive, the roll module contains a roll frame in the form of a half-fork, the pitch drive with no less than one engine, the pitch shaft rotating inside the pitch drive, and the roll balancing system, and the pitch module contains the pitch frame in the form of a half-fork and balance system pitch, as well as electronic modules, three angular velocity sensors, no less than one accelerometer, and no less than one pivot angle sensor, and a remote control (US patent N ° 7 209 176, class CL H04N 5 / 225, F16M 11/04, GOPB 17/00, E04G 5/00, pub
  • This invention is aimed at improving the performance of the device, it has such advantages: the possibility of its operation in any weather, when shooting under water, adaptability to work with cameras of various shapes, sizes and weights. But the design of this invention provides for the location of the roll balancing system as part of the pitch module, which significantly complicates the roll balancing of the system, which, together with the existing arrangement of angular velocity sensors and accelerometers, does not improve the stabilization efficiency and ease of use of the gyrostabilizer system with a movie camera or a television camera during pre-adjustment and while shooting film or television material.
  • the objective of the proposed invention is the creation of a triaxial remotely controlled gyrostabilizer for movie cameras or for television cameras, which would be due to the implementation of the course frame, roll frame, pitch frame in the form of half forks rigid, connecting the roll frame with the roll balancing system with the possibility of movement of this roll frame in the plane, perpendicular to the horizon, due to the roll balancing system as a roll frame retainer relative to the roll shaft, the presence of not less than one serial exchange channel, t ex accelerometers two sensors turning angle sensor arrangement of three angular velocity on the frame pitch angle 90 ° to each other, the location of the three accelerometers on the pitch frame at an angle of 90 ° to each other, the location of the first sensor of the angle of rotation on the roll shaft, and the location of the second sensor of the angle of rotation - on the pitch shaft would improve the stabilization efficiency and ease of use of the gyrostabilizer system with a movie camera or a television camera during pre-commissioning and when shooting film or television material,
  • the three-axis remote-controlled gyrostabilizer for movie cameras or for television cameras contains a heading module, a roll module, a pitch module connected in series, and the heading module contains a heading frame in the form of a half fork, heading drive with at least one motor, shaft the course, rotating inside the course drive, the roll drive, with not less than one engine, the roll shaft rotating inside the roll drive, the roll module contains a roll frame in the form of a half fork, pitch drive with no less than one aji, the pitch shaft rotating inside the pitch drive, and the roll balancing system, and the pitch module contains a half-pitch pitch frame and pitch balancing system, as well as electronic modules, three angular velocity sensors, not less than one accelerometer, and not less than one flip angle sensor, and a remote control.
  • the heading frame, roll frame and pitch frame in the form of half forks are rigid, and the roll frame is connected to the roll balancing system with the possibility of movement of the roll frame in a plane that is perpendicular to the horizon, while the roll balancing system it is a latch of the roll frame relative to the roll shaft, in addition, as electronic modules, the gyrostabilizer contains at least one serial exchange channel, and it also contains three accelerometers and two angle angle sensors gates; three angular velocity sensors are located on the pitch frame at an angle of 90 ° to each other, and three accelerometers are also located on the pitch frame at an angle of 90 ° to each other, in addition, the first pivot angle sensor is located on the roll shaft, and the second pivot angle sensor is located on pitch shaft.
  • the proposed gyrostabilizer is additionally characterized by the following additional features.
  • the roll frame in the form of a semi-fork, which is rigid, contains a main pipe with two parallel roll pipes, which are located at an angle of 90 ° to the main pipe and are connected to the roll balancing system.
  • the roll balancing system comprises a balancing roll frame that is rigidly attached to the roll shaft and connected to two parallel roll pipes, with the possibility of movement of the balancing roll frames along these two parallel roll pipes in an area that is perpendicular to the horizon, while the balancing roll frame contains two cam roll lock, roll stop element with roll adjusting screw.
  • the pitch frame in the form of a semi-fork, which is rigid, contains a camera platform with two parallel pitch pipes, which are located at an angle of 90 ° to the camera platform, and are connected to the pitch balancing system.
  • the pitch balancing system includes a pitch balancing frame that is rigidly attached to the pitch shaft and connected to two parallel pitch pipes, with the possibility of moving the pitch balancing frame along two parallel pitch pipes, and the pitch balancing frame contains two pitch cam locks, the pitch stop element with a regulating pitch pitch screw.
  • the gyrostabilizer contains three power amplifiers for drive motors, a microprocessor device, non-volatile memory and two serial communication channels, one of which is connected to a remote control, and the second is connected to external devices.
  • the serial exchange channel which is connected to the remote control, is made in the form of a radio communication module.
  • the remote control contains a microcontroller, a non-volatile memory unit, an information display screen, electromechanical controls.
  • the combination of all the features of the proposed invention improves the stabilization efficiency and ease of use of the gyrostabilizer system with a movie camera or a television camera during pre-adjustment and during shooting of film or television material, as well as expanding the range of triaxial remotely controlled gyrostabilizers for movie cameras or for television cameras.
  • Fast balancing the gyrostabilizer with the camera before or during the film or television shooting is an essential and important technical characteristic of such devices, since during shooting regularly there is a need to change the location or nature of the shooting, which requires moving or remounting the film or television camera. It is known that the process of film or television shooting is expensive, and therefore, saving time for film or television shooting, including saving time for setting up camera equipment, are important. Due to the fact that the course frame, roll frame and pitch frame are made with rigid half-forks, ease of use is achieved when preparing the gyro stabilizer for the robot and during operation, that is, the course frame, roll frame and pitch frame as a result of hard execution are integral structural elements that Do not require separate configuration and installation.
  • the presence, placement and connection system in the gyrostabilizer of not less than one serial communication channel with a remote control, three angular velocity sensors, three accelerometers and two reversal angle sensors provide an increase in the stabilization efficiency and operation of the gyrostabilizer system together with a movie camera or a television camera during shooting film or television material.
  • the pitch frame contains a platform for the camera and, accordingly, the camera is installed on this platform and the immediate proximity three angular velocity sensors and three accelerometers next to the camera on the pitch frame allows minimizing possible errors that may occur during gyro stabilizer operation, which significantly Witzlaus stabilization and maintenance of the whole device.
  • the sensor location system which is indicated above, is the most effective in terms of ensuring the quality of stabilization and control of the gyrostabilizer with the camera.
  • the location of the angular velocity sensors, which are mounted together on the roll frame makes it possible to most accurately measure the absolute values of the angular velocity of the stabilization object due to the fact that they take into account, among other things, deflections, which are caused by the fact that the general design of the gyrostabilizer also contains and not hard connections.
  • the roll frame in the form of a half-fork which is rigid, contains the main pipe with two parallel roll pipes, which are located at an angle of 90 ° to the main pipe and are connected to the roll balancing system;
  • the roll balancing system comprises a balancing roll frame that is rigidly attached to the roll shaft and connected to two parallel roll pipes, with the possibility of movement of the balancing roll frame along these two parallel roll pipes in an area that is perpendicular to the horizon, this balancing roll frame contains two cam latches of the roll, the thrust element of the roll with the adjusting screw of the roll;
  • the pitch frame in the form of a half-fork which is rigid, contains a camera platform with two parallel pitch pipes, which are located at an angle of 90 ° to the camera platform, and are connected to the pitch balancing system;
  • the pitch balancing system includes a pitch balancing frame that is rigidly attached to the pitch shaft and connected to two parallel pitch pipes, with the possibility of moving the pitch balancing frame along two parallel pitch pipes, and the pitch balancing frame contains two pitch cam locks, the pitch persistent element with pitch adjusting screw;
  • the gyrostabilizer contains three power amplifiers for drive motors, a microprocessor device, non-volatile memory and two serial communication channels, one of which is connected to a remote control, and the second is connected to external devices, such as a computer;
  • the remote control which is connected to the remote control, made in the form of a radio module;
  • the remote control contains a microcontroller, a non-volatile memory unit, an information display screen, electromechanical controls.
  • the proposed gyrostabilizer is made and has undergone extensive testing under its operating conditions. These tests confirmed its high technical and operational characteristics - in real-life conditions it allowed to increase the stabilization efficiency and ease of use of the gyrostabilizer system with a movie camera or a television camera during presetting, commissioning, and when shooting film or television material, while there was an increase in the efficiency, convenience and speed of balancing roll.
  • FIG. 1 is a schematic representation of a triaxial remotely controlled gyrostabilizer for movie cameras or for television cameras.
  • FIG. 2 is an image of a triaxial remote-controlled gyrostabilizer for movie cameras or for television cameras.
  • FIG. 3 is a structural diagram of a remote control.
  • the triaxial remote-controlled gyrostabilizer for movie cameras or for television cameras (Fig. 1, Fig. 2) contains a course module 1, a roll module 2 and a pitch module 3 connected in series.
  • the course module 1 contains the course 4 drive, the course frame 5 in the form of a rigid half-forks, as well as the shaft of the course 6, which rotates inside the drive of the course 4.
  • the module of the course 1 also contains the drive of the roll 7 and the roll of the roll 8, which rotates inside the drive of the roll 7 (Fig. 1, Fig. 2).
  • the roll module 2 (Fig. 1, Fig. 2) comprises a roll frame 9 in the form of a half-plug made rigid, a pitch drive 10, a pitch shaft 11 that rotates inside the pitch 10 drive, and a roll balancing system 12.
  • the roll frame 9 is connected to the roll balancing system 12 with the possibility of movement of this roll frame 9 in a plane perpendicular to the horizon, while the roll balancing system 12 is the lock of the roll frame 9 relative to the roll shaft 8.
  • the roll frame 9 contains the main pipe at 13 with two parallel tubes 14 and roll 15, which are arranged at an angle of 90 ° to the main pipe 13 and connected to the system balancing roll 12 (Fig. 2).
  • the roll balancing system 12 contains a balancing roll frame 16, which is the structural basis of the roll balancing system 12, and which is rigidly attached to the roll shaft 8 and is connected to two parallel roll pipes 14 and 15, with the possibility of movement of the balancing roll frame 16 along these two parallel roll pipes 14 and 15 in a plane perpendicular to the horizon.
  • the balancing roll frame 16 contains two cam latches of the roll 17 and 18, the thrust element of the roll 19 with the adjusting screw of the roll 20 (Fig. 2).
  • the pitch module 3 comprises a pitch frame 21 in the form of a semi-fork made of a rigid pitch and a pitch balancing system 22.
  • the pitch balancing system 22 is connected to the pitch frame 21, and this pitch frame 21 is movable relative to pitch 11 and the pitch balancing system 22 is the pitch frame clamp 21 relative to the pitch shaft 11.
  • the implementation of the proposed gyrostabilizer pitch frame 21 comprises a camera platform 23 with two parallel pitch pipes 24 and 25, which are located at an angle of 90 ° to the platform measures 23, and connected to the pitch balancing system 21.
  • the pitch balancing system 21 includes a pitch balancing frame 26, which is the structural basis of the pitch balancing system 21 and which is rigidly attached to the pitch shaft 11 and connected to two parallel pitch pipes 24 and 25 , with the ability to move the balancing pitch frame 26 along two parallel pitch pipes 24 and 25.
  • the balancing pitch frame 26 also contains two cam pitch locks 27 and 28, the pitch stop element 29 with the adjusting screw t Angage 30 (FIG. 2).
  • the course drive 4 comprises an engine 31, the roll drive 7 comprises an engine 32, and the pitch drive 10 comprises an engine 33 (FIG. 1).
  • each of the drives has a heading drive 4, a roll drive 7 and a pitch drive 10, depending on operational needs, one motor with a backlashless gearbox or a gearbox with two backlash motors, or one direct drive motor (“momentary" motor) can be installed .
  • Three-axis remote-controlled gyrostabilizer for movie cameras or for television cameras also contains electronic modules: three amplifiers 34, 35, 36 power of the drive motors, microprocessor device 37, non-volatile memory 38 and two serial communication channels 39 and 40.
  • one serial communication channel 39 is connected to the remote control 41 and to the electronic modules, and the other serial communication channel 40 is connected to electronic modules and with external devices, such as a computer.
  • the serial exchange channel 39 which is connected to the remote control 41 and to the electronic modules, is implemented as a radio communication module 42.
  • the proposed gyrostabilizer (Fig.
  • the angular velocity sensors 43 (gyroscopes) are located on the pitch frame 21 at an angle of 90 ° to each other.
  • Three accelerometers 44 are also located on the pitch frame 21 at an angle of 90 ° to each other.
  • the first pivot angle sensor 45 is located on the roll shaft 8, and the other pivot angle sensor 46 is located on the pitch shaft 11.
  • the remote control (Fig. 3) is an electronic-mechanical device that contains a microcontroller 47, a non-volatile memory unit 48, a graphic indicator 49, and electromechanical controls 50 with a triaxial remote controlled gyrostabilizer for movie cameras or television cameras.
  • control panel The basis of the control panel is a microcontroller 47, which is installed in a single unit with electromechanical control elements 50 in the form of joysticks, buttons, switches, incremental rotation sensors.
  • a three-axis remote-controlled gyrostabilizer for movie cameras or for television cameras is attached to the carrier with a course 6 shaft (Fig. 1).
  • a movie camera or camera is attached to the pitch frame 21 using the platform that is included with the movie camera or camera (hereinafter - the camera). After that, the camera is statically balanced by pitch by moving the camera along the camera platform back and forth relative to pitch frame 21, and by using pitch balancing system 22 by moving pitch frame 21 relative to pitch shaft 11 up or down. Next, balancing the camera roll.
  • the roll balancing process is complicated, long and inconvenient.
  • camera roll balancing is carried out using a roll balancing system 12 by moving the roll frame 9 in the form of a rigid half fork relative to the roll shaft 8 left or right in a plane perpendicular to the horizon, which improves the efficiency, convenience and speed of balancing camera roll during pre-adjustment, device settings for work.
  • the frame 9 rolls which is an integral part of the roll module 2, that is, during the roll balancing, the entire roll module 2 and the pitch module 3 attached to it are moved, while any adjustment of pitch module 3 They are not violated and remain as they were before the roll balancing, including the pitch balance is not violated.
  • the three-axis remote-controlled gyrostabilizer for movie cameras or for television cameras is included in the power supply (mains).
  • Remote control of the gyrostabilizer movement along with the camera around each axis is carried out using the remote control 41 through a serial exchange channel 39, which connects the remote control 41 to the electronic modules in the form of three power amplifiers 34, 35 and 36 of the drive motor power, microprocessor device 37 and non-volatile memory 38.
  • the movement of the heading module 1, roll module 2 and pitch module 3 in space occurs due to the operation of engines 31, 32, 33 with shafts 6, 8 and 11, each of which rotates inside accordingly driving actuators 4, 7 and 10.
  • quick, sudden or arbitrary stops and a change of movement in the other direction are possible.
  • the angle sensors 45 and 46 are connected to the actuators 32 and 33, respectively, and the signals from these angle sensors 45 and 46 are fed to the microprocessor device 37.
  • the microprocessor device 37 which installed in the gyrostabilizer, receives on the serial exchange channel 39 from the remote control 41 the values of the angular control speeds specified from the electromechanical control elements 50 (from joysticks).
  • the microprocessor device 37 receives the values of the feedback angular velocities from the angular velocity sensors 43 and information from the angle sensors 45, 46.
  • the microprocessor device 37 based on these data, performs the calculation of the values of the control signals of the heading 4, roll 7 and pitch 10 according to algorithms well known in gyroscopy, and sends them to power amplifiers 34, 35, 36 of drive motor power. To eliminate the drift along each of the three axes of movement of the gyrostabilizer, information from three accelerometers 44 is additionally introduced into the microprocessor device 37.
  • the remote control 41 On the remote control 41, information from all controls goes to the microcontroller 47, encoding the received information for further transmission via the corresponding serial communication channel to the gyrostabilizer electronic modules.
  • the implementation of the proposed device with the goal of droneless control of the gyrostabilizer can be used radio module 42.
  • a serial communication channel 40 can be applied to connect external devices, such as wheels, pedals, control knobs. information recording devices, computers, etc.
  • a serial communication channel 40 can be applied to connect external devices, such as wheels, pedals, control knobs. information recording devices, computers, etc.
  • the encoding of information for transmission on a serial communication channel 40 is carried out directly in the above external devices.
  • the microcontroller 47 of the remote control 41 receives this information and, taking into account information about the actual settings of the remote control 41, issues it to the gyrostabilizer via a serial exchange channel 39. Information from the gyrostabilizer on the camera status (on or off) is received on the same serial
  • the change in the speed of rotation of the gyrostabilizer at the heading, roll, pitch, change in the smoothness of movement, change in the gyrostabilization coefficient of the proposed device and drift control on each axis is carried out using electromechanical controls 50 - incremental rotation sensors.
  • the state of the actual settings of the claimed device and camera is displayed on a graphic indicator 49, to save the settings when the power is turned off, non-volatile memory 48 is used on the remote control 41.
  • Control the operational modes of the triaxial remote-controlled gyro stabilizer for movie cameras or television cameras (turn on / off the gyrostabilizer, camera and other) is carried out directly using electromechanical controls 50, buttons and switches.
  • the proposed gyrostabilizer is made and has undergone extensive testing under its operating conditions. These tests confirm its high technical, operational characteristics.
  • the invention is the proposed triaxial remotely controlled gyrostabilizer for movie cameras or for television cameras, it is industrially applicable, it can be implemented in instrumentation and is widely used for its intended purpose.
  • An example of its specific industrial implementation and use is given above.
  • the proposed device is used during filming or shooting not only when the camera is in a stationary, rigidly fixed position, but also when shooting from various media that can move and can vibrate - aircraft, cars, water transport, special moving platforms, cameramen, camera cranes and the like.
  • the production of the proposed invention will expand the range of gyrostabilizers of this profile.

Abstract

L’invention concerne l’industrie des instruments et peut s’utiliser pour le tournage avec des caméras de cinéma ou de télévision. L’invention permet d’améliorer l’efficacité de stabilisation et de faciliter l’utilisation. Le gyro-stabilisateur télécommandé à trois axes pour caméras de cinéma ou de télévision comprend des modules de lacet, de roulis et de tangage branchés en série. Le module de lacet comprend un cadre, un entraînement avec un moteur, un arbre de lacet, un entraînement de roulis avec un moteur et un arbre de roulis. Le module de roulis comprend un cadre, un entraînement de tangage avec un moteur et un arbre de tangage. Le module de tangage comprend un cadre, et les cadres de lacet, de roulis et de tangage se présentent comme une demi-fourche rigide. Le gyro-stabilisateur télécommandé à trois axes comprend un canal d’échange de données sériel, une télécommande, des systèmes d’équilibrage de tangage et des systèmes d’équilibrage de roulis, qui fixe le cadre de roulis par rapport à l’arbre de roulis. On a monté sur le cadre de tangage trois capteurs de vitesse angulaire à un angle de 90° les uns par rapport aux autres ainsi que trois accéléromètres à un angle de 90° les uns par rapport aux autres, et deux capteurs de l’axe de retour sont disposés sur l’arbre de roulis et de tangage, respectivement.
PCT/UA2009/000043 2008-09-19 2009-09-09 Gyro-stabilisateur télécommandé à trois axes pour caméras de cinéma ou de télévision WO2010033096A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
UAA200811319 2008-09-19
UAA200811319A UA90942C2 (ru) 2008-09-19 2008-09-19 Трехосный дистанционно управляемый гидростабилизатор для кинокамер или для телекамер

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WO2010033096A1 true WO2010033096A1 (fr) 2010-03-25

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WO (1) WO2010033096A1 (fr)

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US8919476B2 (en) 2011-07-11 2014-12-30 Holland Moving & Rigging Supplies, Inc. Platform dolly system
WO2016015232A1 (fr) * 2014-07-29 2016-02-04 SZ DJI Technology Co., Ltd. Systèmes et procédés de stabilisation de charge utile
CN109668037A (zh) * 2019-02-01 2019-04-23 桂林智神信息技术有限公司 一种可折叠的手持稳定器
CN116006860A (zh) * 2023-03-24 2023-04-25 程宝数字科技(北京)有限公司 一种摄影测量装置及其使用方法

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US5868031A (en) * 1995-02-07 1999-02-09 Anatoliy Kokush Triaxial gyroscopic stabilizer for movie or television camera
US20050185089A1 (en) * 2004-02-19 2005-08-25 Chapman/Leonard Studio Equipment Three-axis remote camera head

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SU979855A1 (ru) * 1981-06-25 1982-12-07 Московское Ордена Ленина, Ордена Трудового Красного Знамени И Ордена Октябрьской Революции Высшее Техническое Училище Им.Н.Э.Баумана Трехосный гиростабилизатор киноаппарата
US5868031A (en) * 1995-02-07 1999-02-09 Anatoliy Kokush Triaxial gyroscopic stabilizer for movie or television camera
US20050185089A1 (en) * 2004-02-19 2005-08-25 Chapman/Leonard Studio Equipment Three-axis remote camera head

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8919476B2 (en) 2011-07-11 2014-12-30 Holland Moving & Rigging Supplies, Inc. Platform dolly system
WO2016015232A1 (fr) * 2014-07-29 2016-02-04 SZ DJI Technology Co., Ltd. Systèmes et procédés de stabilisation de charge utile
CN105659020A (zh) * 2014-07-29 2016-06-08 深圳市大疆创新科技有限公司 负载稳定系统及方法
JP6073532B1 (ja) * 2014-07-29 2017-02-01 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ プラットフォーム
US9765926B2 (en) 2014-07-29 2017-09-19 Sz Dji Osmo Technology Co., Ltd. Systems and methods for payload stabilization
CN109668037A (zh) * 2019-02-01 2019-04-23 桂林智神信息技术有限公司 一种可折叠的手持稳定器
CN109668037B (zh) * 2019-02-01 2023-07-04 桂林智神信息技术股份有限公司 一种可折叠的手持稳定器
CN116006860A (zh) * 2023-03-24 2023-04-25 程宝数字科技(北京)有限公司 一种摄影测量装置及其使用方法
CN116006860B (zh) * 2023-03-24 2023-05-16 程宝数字科技(北京)有限公司 一种摄影测量装置及其使用方法

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