WO2011147434A1 - Système destiné à déplacer un capteur ou un actionneur dans un espace tridimensionnel - Google Patents

Système destiné à déplacer un capteur ou un actionneur dans un espace tridimensionnel Download PDF

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Publication number
WO2011147434A1
WO2011147434A1 PCT/EP2010/003264 EP2010003264W WO2011147434A1 WO 2011147434 A1 WO2011147434 A1 WO 2011147434A1 EP 2010003264 W EP2010003264 W EP 2010003264W WO 2011147434 A1 WO2011147434 A1 WO 2011147434A1
Authority
WO
WIPO (PCT)
Prior art keywords
elements
devices
support element
cable
cables
Prior art date
Application number
PCT/EP2010/003264
Other languages
English (en)
Inventor
Harald Staab
Original Assignee
Abb Ag
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 Abb Ag filed Critical Abb Ag
Priority to PCT/EP2010/003264 priority Critical patent/WO2011147434A1/fr
Publication of WO2011147434A1 publication Critical patent/WO2011147434A1/fr

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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
    • F16M11/18—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
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • 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
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • 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
    • F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
    • F16M11/425—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels along guiding means
    • 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
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle

Definitions

  • the invention relates to an arrangement and a device for monitoring and inspection of a facility or of a section of an installation using surveillance devices, which are selected according to the current requirements and serve for the processing and transmission of information and provided with other devices, which effect those operations being recognized as necessary whereas sensors are being provided as monitoring equipment which detect the respective required information and submit to an at least one supervisory authority, and whereas more devices are provided as actuators, which initiate on behalf of corresponding signals transmitted by the at least one inspection point and considered as being necessary control measures and carry them out respectively.
  • the object of the invention is to provide an apparatus of that type which allows, to retrofit in existing facilities or parts the required monitoring and control devices at the smallest effort and at approximate equal reliability compared to the units that are equipped from the outset accordingly.
  • appliances can be installed rather easily, which means at reasonable effort, in that facility, thus control, monitoring, investigation and/or maintenance is feasible in an easy way, which do not impede the operation of the plant, but, on the contrary, are more secure, since any fault and/or damage are detected very early and necessary counter actions may be initiated immediately.
  • the means for movement of equipment and other equipment being provided are very pliable, tension resilient elements which may different function, such as supporting function, control function, adjusting function or support function whereas its design proposed for this purpose in mechanical manner is rather simple.
  • the elements are formed as supporting elements as well as control elements, as well as supply routes i.e. for example, only a few carrying elements are provided, on which the actuators for the control and positioning force are attached and where applicable the feed arranged for supply of the aforementioned devices.
  • the limp items are formed as ropes, cables or chains.
  • the chains and cables according to the invention are preferably made of material according to demand and load-selected, such as steel for the chains or plastic or rubber, where appropriate, with metal, e.g. steel, for cables.
  • the elements can be formed as ropes from fibrous material such as steel fibers, PA (polyamide), PE (polyethylene), PP (polypropylene) or aramid, which is adapted for the respective purpose.
  • fibrous material such as steel fibers, PA (polyamide), PE (polyethylene), PP (polypropylene) or aramid, which is adapted for the respective purpose.
  • such a cable or rope may be especially resistant against strain, i.e. a low extensibility, or on the contrary to be highly elastic, i.e. extensible in the longitudinal direction, like a rubber band.
  • the rope may be used with a circular cross section or as a belt with a flat ribbon-like, i.e. rectangular, cross section.
  • a rope may be monofilament or polyfil whereas in the latter case, the individual fibers of the rope either are rotated or intertwined.
  • Another feature of the invention is characterized in that the elements are configured as cable either for their supply of fluids, or intended to supply the equipment with electricity.
  • one embodiment of the device according to the invention is also characterized in that a support element mounted stationary in the spaces fastened to its structure, and that at least one actuating element of the support element is movable articulated or supported, in order to the introduce the forces in the supporting element.
  • each actuator is used for the adjustment of the position of a unit affiliated herewith and the resulting weight is passed into the load bearing element, which is connected with the actuator or to which it is arranged.
  • each support element a device is being positioned by which the at least one actuator is connected to the support element and passes its load into the support element.
  • each support element is connected to the carrying structure of the relevant facility or the respective system part stationarily whereas for the introduction of load from the bearing element into the respective structure as well as for the introduction of load from the adjusting element into the dedicated bearing element rollers are provided for absorbing load or movements respectively.
  • the devices typically are sensors and actors. Their functions typically are to transmit and record data from sensors located in the respective area and/or to interact with other objects in said space.
  • the supporting elements essentially consist of cables which are provided in said area and optionally of one or more elements running in parallel.
  • the load-bearing part may be made in different ways, e.g. stiff or stretchable in longitudinal direction (rubber cable), band-like or with round profile, monofil or fibred, braided or twisted.
  • the elements running in parallel are in particular power cables provided for supplying energy to the devices or to the drives for the pulleys, cables for data transmission or hoses for carrying fluids. They may be located within or outside the supporting element respectively the load-bearing part.
  • the purpose and function of the load-bearing part is to carry elements running in parallel and to pull the devices attached to it in one or in either direction. Likewise their function is to support the devices against gravity. If it doesn't have the latter function then there is an additional apparatus, supporting the devices against gravity.
  • This apparatus may be similar to the mounting of a curtain. It consists of a lengthy guide which is mounted to a stationary structure and to which the devices are attached with a floating bearing. Generally these devices, i.e. the sensors and the actuators, are connected with guide ropes which are provided for guiding and adjusting their positions by means of pulleys or roller devices.
  • the pulleys are used to coil and uncoil the ropes and to change direction of the respective device while the roller devices are connected to the supporting structure of the system and that the roller devices serve as fixed points of deflection where the support element is looped around.
  • guides or bearings they are attached to another structure which is movable with respect to the cord.
  • This structure may be stationary, e.g. fixed to a pole, or movable, e.g. by means of another rope or cable.
  • the actuator either is permanently attached to the supporting element, i.e. quasi-stationary, or on the carrying-element is another roller means in the form of a rope or pulley fastened, through which the actuating element is guided, and by means of which connected to the actuator device in its position and/or function is adjustable.
  • a further object of the invention is related to the prevention or at least the control of oscillations due to the fact that any construction based on limp means needs additional support in order to avoid undesired oscillations in any direction.
  • Low-stretch ropes are essential to avoid up-down oscillations. These ropes are available from e.g. yachting sports, even for demanding outdoor and marine environments.
  • Oscillations may cause the device to hit the solid structure of the plant or building. This would result in damage and in unsafe operation. Ways of how to avoid this are alternatively or additionally: a. add soft padding around the device and allow soft collision that results in no damage b. apply more tension to the cables c. control the tension of the cables to actively compensate oscillation; more driving pulleys are needed
  • Oscillations may also be eliminated additionally by mechanical guidings, such as bars and rods or other kind of dampers, which keep the respective device in a rigid position.
  • a further preferred embodiment of the invention provides that the cable being provided as supply route is arranged in parallel to the carrier and actuators.
  • the cables can be trained as a cable feed either in the interior of the support elements or actuators, or being arranged outside, for example by mechanical means, such as hooks or brackets, appended to it or are connected to the support element by means of bonding, are. Which type of connection is chosen in each case depends on local conditions. This may well be advantageous to provide a detachable variant, that is to attach the feeds only, and not permanently connect with the relevant element in one piece.
  • the cables may be provided as hollow cable to supply fluids or as power cable having mutually insulated conductors.
  • drives can be provided in accordance with another embodiment of the invention for acting upon the carrier and actuators, which are used for moving the actuators if desired and possible.
  • Another problem to be solved by this embodiment is the charging of actuators in order to move the devices being fastened to the respective actuators towards the dedicated location of operation, respectively to move the feed towards a pre-specified position.
  • Acceleration and deceleration of the device causes oscillation. Furthermore outside installations are exposed to wind that causes oscillations. There is very little damping. There is low oscillation frequency if there is long distance between the supporting pulleys. This has no negative effect on applications such as an inspection system for offshore wind parks (Even high-zoom pictures will capture the targeted range. For even better precision the pan-tilt unit of the camera would be able to compensate swinging effects).
  • High accuracy with positioning the device can be achieved either by good forward accuracy, e.g. high resolution pulley drives as well as good controllers, which avoid position offsets by eliminating the stretch of the cables, or by sensor-based position control, e.g. by means of laser distance sensors in x and y direction.
  • Another option for high precision in repeatability at a designated position is to install stationary mechanical guides. These guides could be made of simple metal bars. When the device is to be positioned there, it just slides into the guides from one side. It may also hook or clamp itself onto the guide to reach a precise docking position. This is useful for e.g. capture optical or thermal snapshots of exactly the same part of a plant but only once an hour or once a day.
  • the base of the device needs to be fixed in order to take counterforce in all 6 directions. Obviously the cables cannot do this, but it can be achieved with mechanical guides plus clamps being used for precise positioning.
  • Fig. 1 shows a first plant with a support structure in lateral view, a support element means fixed to a supporting structure, and roller devices being fortified at the structure, and bearing a control element which is fixedly secured at a first end to the support element and accordingly a device is positioned in the distance by the other end of the adjusting element and coiled up and uncoiled by means of another roller unit;
  • Fig. 2 shows a section of a large complex in perspective with a support element guided by means of several rolling facilities and an actuating element attached with a device thereto;
  • Fig 3 shows one of three star-shaped elements facing one another connected with a load
  • Fig. 4 is a schematic representation of an irrigation arrangement in lateral view
  • Fig. 5 shows a schematic representation regarding the attachment of a supporting element
  • Fig. 6a shows a supporting element
  • Fig. 6b shows a supporting element with a feed element arranged in its interior
  • Fig. 6c shows a supporting element arranged with external supply
  • Fig. 7a shows a first arrangement of a support element for movability of a device attached thereon
  • Fig. 7b shows a second arrangement of a supporting element movably arranged with a device
  • Fig. 8 shows examples of different pulleys, which are either driven or passive
  • Fig. 8a shows a first embodiment of a pulley (driven)
  • Fig. 8b shows a second embodiment of a pulley (driven)
  • Fig. 8c shows a first embodiment of a storage role (passive)
  • Fig. 8d shows a second embodiment of a storage role (passive).
  • Fig. 1 shows an industrial facility 10 which is disposed within an area 14 supported by a framework 12 and is provided with a pulley or roller device as a supporting device 16, which is cooperating with a supporting element 18, whereat a control or actuating element 20 is fastened controlling a device 22 which is held by the actuating element 20.
  • the support device 16 in this example is formed by two roller devices which are fastened to the framework 12. Thereon a cable 18 is looped around forming supporting element 18 and being tied together and forming a double-barrelled cable.
  • control element 20 One end of the control element 20 is connected to the supporting element 18 at a first position while its other end is joint to a pulley 24 being fastened to the cable remote from the first position.
  • this arrangement may move vertically between two levels by coiling up or uncoiling the cable by means of the pulley 24 as well as horizontally by turning the support devices 16.
  • Fig. 2 shows an excerpt from an industrial plant 11 as presented, which is similar with an inventive supporting device 17 shown already in Fig 1.
  • the support device 17 is provided in a facility 11 equipped with supports 26, where the beginning and the end of the support element 18, being looped around a support device 17, are not shown.
  • roller devices 17 where the carrying cable as support element 18, is being looped around and by which it is lead across the area of the plant 11.
  • the pulleys 17 are provided as deflection devices where at each the carrying cable 18 is deflected into a different direction in order to reach to all important areas of the industrial plant 11 for the access of the respective device for sensing, monitoring and adjusting.
  • Fig. 3 shows an example of an arrangement is shown which is particularly intended for oscillation free or at least oscillation poor applications where the presence of oscillations has strictly to be avoided.
  • this example shows an apparatus comprising at least three carrying cables serving as control elements 20 which are arranged in star-like manner.
  • Each of these control elements 20 are coiled on pulleys 24 and are provided in a triangle arrangement like a three-armed star, i.e. its arms are like the cables which draw an angle of 120°, whereas the sensor device 22 is connected to the free ends of the carrying cables 20.
  • the prior attachment of a support element 18, as shown in Fig. 1 or 2 is not necessary and may be dispensed.
  • the three actuators 20 being each connected to pulleys 24 which are fixed to the facilities, which may coil up or uncoil and thereby determine the position of the items related to the device 22.
  • Fig. 4 shows another example of a practical application of the inventive device, where at the side of an area, in the example shown, a flowerbed, supporting posts or columns 26 are arranged.
  • a supporting element 18 is connected via roller devices 16 at each end which devices are provided for coiling up respectively uncoiling the control cable 20 thus any device 30 fastened stationary to the cable may change its position.
  • the device 30 is for example a universal device, which is provided for both the supply of fluid for irrigation as well as to fertilize the plant 28 or for pest control through a controllable outlet opening 32, for example, a nozzle.
  • one or more device 34 for loosening of the soil, digging and possibly picking, plucking, cleaning or cutting plants is possible.
  • Fig. 5 shows an embodiment of a roller device 36, which comes as deflection element 36 and is attached to a structure more available for the considered location 38.
  • This deflection can be used for carrying cables 18 or for adjusting ropes 20, whereas each of them is provided for deflection of the concerned item.
  • a bearing elements which is provided preferably in the form of a cable with a circular cross section to land use.
  • Fig. 6a shows this section of such a suspension cables 18 from the side, where-in it is irrelevant here whether the rope is twisted or braided.
  • a section of a cable 19 is shown where in its center a feeder 40 is arranged for the supply of a device (not shown).
  • a feeder 40 is arranged for the supply of a device (not shown).
  • a suspension cable 18 as a supporting element 18 is shown, whereas the suspension cable 18 in this case similar to a cable car has a pure support function, and is provided with holding elements 42, such as brackets, hooks and eyelets.
  • Fig. 7a shows a first arrangement of a support element 18 for movability of a device attached to it.
  • the device is a loudspeaker 44 for acoustic irradiation of large areas of one to two as roll bodies 46 which are attached to a structure 38, connected suspension cable 18, on which is the speaker 44 connected rigidly to the carrying cable 18 and in this two directions can be moved.
  • a loudspeaker it may be any other device needed or required for the respective purpose.
  • Fig. 7b shows a second arrangement of a support cable 18 with a device, e.g. a loudspeaker 44 as before, too, attached to it.
  • a device e.g. a loudspeaker 44 as before, too, attached to it.
  • supporting cable 18 is clamped stationary between two points 47 fixed to the corresponding structure, such as columns, beams or surfaces arranged, wherein via a holding device 48 with eyelet the loudspeaker 44 is held and guided by a control cable 21.
  • This control cable 21 is to the holding device 48 and attached by means of which the speaker 44 can be moved along the support cable 18 in its two directions.
  • a first form of a pulley 50 is shown which particularly is intended for use for carrying cables 18 and is formed by a cylindrical drum 52.
  • the cable may be looped around the pulley 50 between 0-times to n times and may leave the rope deflection drum 52 in any direction.
  • the concrete example will show the drum 52 being rotatable in both directions of rotation, whereat it is charged by the supporting elements in the form of about 1 3 ⁇ 4 clasp, whereby the respective section of the cable is relieved, as the load for both is absorbed by the drum 52.
  • Fig. 8b a similar configuration of the pulley of FIG 8a is shown in Fig 8a, in contrast to the rope 18 in two full wraps applied to the cable drum 52 and back again, that is in the opposite direction.
  • Fig. 8c finally shows a designated role as a storage drum 54, which is also formed circular cylindrical and in which the respective rope 18 is wound up and embrace not only several times.
  • This drum 52 is called a storage role, winds up on her because the rope, or handles, that can be stored using multiple wraps.
  • One end of the rope 18 is on the outer surface of the drum in a fixed anchor 47, while the other end is not shown in more detail. Again, the drum 52 is rotated in either direction, but only as far as balance is still a wound on the drum.
  • Fig. 8d is an almost identical design as shown in Fig 8c, whereas, however, a cable section 56 of cable 18 is lead into the interior of the drum 52 and from there outwards as a non-rotating cable, for example for data transfer or for power supply, without getting in conflict with the rotating motion.
  • the devices are typically sensors and actuators, with their respective functions which is on the one hand the recording of information from the monitored area and on the other hand the information transmission and/or interaction with other objects in said area.
  • roller device pulley
  • roller device benchmark anchoring holding device holding device pulley

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)

Abstract

La présente invention concerne un agencement et un dispositif destinés à surveiller et à inspecter une installation ou une section d'une installation au moyen de dispositifs de surveillance sélectionnés en fonction des exigences actuelles et servant au traitement et à la transmission d'informations et pourvus d'autres dispositifs, effectuant des opérations reconnues comme nécessaires, tandis que des capteurs servent d'équipement de surveillance détectant l'information requise respective et la soumettant à au moins une autorité de surveillance, et tandis qu'un plus grand nombre de dispositifs servent d'actionneurs se déclenchant en fonction des signaux correspondants transmis par le ou les points d'inspection et considérés comme étant des mesures de commande nécessaires, et les réalisant respectivement, des moyens (18, 20) permettant de déplacer l'équipement (22) destiné à collecter et transmettre toute information et déclenchant ou mettant en œuvre le déplacement de toutes les mesures nécessaires fournies pour d'autres dispositifs (22) sur des itinéraires spécifiés étant disposés au moins dans la partie surveillée et inspectée du système (10).
PCT/EP2010/003264 2010-05-28 2010-05-28 Système destiné à déplacer un capteur ou un actionneur dans un espace tridimensionnel WO2011147434A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2010/003264 WO2011147434A1 (fr) 2010-05-28 2010-05-28 Système destiné à déplacer un capteur ou un actionneur dans un espace tridimensionnel

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2010/003264 WO2011147434A1 (fr) 2010-05-28 2010-05-28 Système destiné à déplacer un capteur ou un actionneur dans un espace tridimensionnel

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WO2011147434A1 true WO2011147434A1 (fr) 2011-12-01

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2802938A4 (fr) * 2011-12-09 2015-11-18 Syrp Ltd Dispositif de commande de déplacement

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4710819A (en) * 1982-12-01 1987-12-01 Brown Garrett W Suspension system for supporting and conveying equipment, such as a camera
US5657075A (en) * 1993-02-05 1997-08-12 Teradyne, Inc. Method and apparatus for locating and facilitating the repair of defects on a printed circuit board
US20040120570A1 (en) * 2002-12-24 2004-06-24 Orbotech Ltd Automatic optical inspection system and method
US20050024004A1 (en) * 2003-07-28 2005-02-03 Cablecam International Inc. Cabling system and method for facilitating fluid three-dimensional movement of a suspended camera
US20090207250A1 (en) * 2008-02-20 2009-08-20 Actioncam, Llc Aerial camera system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4710819A (en) * 1982-12-01 1987-12-01 Brown Garrett W Suspension system for supporting and conveying equipment, such as a camera
US5657075A (en) * 1993-02-05 1997-08-12 Teradyne, Inc. Method and apparatus for locating and facilitating the repair of defects on a printed circuit board
US20040120570A1 (en) * 2002-12-24 2004-06-24 Orbotech Ltd Automatic optical inspection system and method
US20050024004A1 (en) * 2003-07-28 2005-02-03 Cablecam International Inc. Cabling system and method for facilitating fluid three-dimensional movement of a suspended camera
US20090207250A1 (en) * 2008-02-20 2009-08-20 Actioncam, Llc Aerial camera system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2802938A4 (fr) * 2011-12-09 2015-11-18 Syrp Ltd Dispositif de commande de déplacement

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