WO2016153329A1 - Video cameras linear oscillation stabilizer - Google Patents

Video cameras linear oscillation stabilizer Download PDF

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Publication number
WO2016153329A1
WO2016153329A1 PCT/LT2015/000008 LT2015000008W WO2016153329A1 WO 2016153329 A1 WO2016153329 A1 WO 2016153329A1 LT 2015000008 W LT2015000008 W LT 2015000008W WO 2016153329 A1 WO2016153329 A1 WO 2016153329A1
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WO
WIPO (PCT)
Prior art keywords
oscillations
camera
video camera
stabilized
servo drive
Prior art date
Application number
PCT/LT2015/000008
Other languages
French (fr)
Inventor
Aleksej ZAICEVKIJ
Original Assignee
My Research, Uab
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 My Research, Uab filed Critical My Research, Uab
Publication of WO2016153329A1 publication Critical patent/WO2016153329A1/en

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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
    • F16M11/06—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
    • 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
    • F16M11/2021—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a horizontal axis
    • F16M11/2028—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a horizontal axis for rolling, i.e. for creating a landscape-portrait rotation
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
    • G02B27/644—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image compensating for large deviations, e.g. maintaining a fixed line of sight while a vehicle on which the system is mounted changes course
    • 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
    • H04N23/681—Motion detection
    • H04N23/6812—Motion detection based on additional sensors, e.g. acceleration sensors
    • 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

Definitions

  • the invention relates to equipment for oscillation damping and reduction of unbalanced forces resulting from movements.
  • Utility model patent No. CN2G1834213 (U) describes a linear oscillation stabilizer for video camera.
  • the stabilizer comprises a base platform, a load platform, vibration suppressor, four double-parallelogram type connecting mechanisms, arranged between four edges of the base platform and the load platform.
  • Angular displacement is. converted into the linear displacement using these four double- parallelogram type connecting mechanisms.
  • the major flaw of this mechanism is that they can stabilize oscillations that have small amplitude.
  • Another fiaw is a free play in joints, which results in additional vibrations.
  • Patent No, US8882088 (B2) describes a horizontal axis shock and vibration isolators for camera platform.
  • the device comprises a bottom plate and a top plate attached the bottom plate using a universal joint that allows the top plate to pivot in an articulated manner about two mutually perpendicular axes relative to the bottom plate,
  • the camera is fixed to the universal joint.
  • the major flaw of this device is the fact that linear oscillations are converted into angular oscillations without balancing the latter, in addition, the load mass center point is located above the joint, which reduces stability and requires the use of stiffer dampers.
  • LT2014G12 describes angular oscillation stabilizer for video camera equipment.
  • the stabilizer is attached to a vertical stand.
  • the stand inclination is compensated by a rotary assembly on the level of center of mass of the equipment being stabilized.
  • Stabilization of linear oscillations is not described in this patent. Further description includes the attachment method of the stabilizer which allows reducing linear horizontal oscillations of unstable base.
  • Fig. 1 depicts a stabilizer for video camera which is to be attached to the boom of lifting crane. Marked positions: 1 - attachment to the boom of the crane; 2 - cardan joint with active dampers; 3 - mounting stand for the vertical stabilizer; 4 - camera rotation and angular stabilization assembly; 5 - camera; 6 - counterweight.
  • Fig. 2 depicts a motion diagram of stabilizer elements in case of horizontal swinging of the crane boom. Marked positions: 7 - cardan joint; 8 - vertical stand; 9 - camera rotation assembly attachment; 10 - assembly's position in case of shift to the left; 11 - assembly's position in case of shift to the right; 12 - crane boom oscillation amplitude; 13 - shift trajectory of the rotation assembly.
  • Fig, 3 depicts example of a stabilizer for linear oscillations in vertical direction. Marked positions: 14 - unstable base; 15 - joint axis; 18 ⁇ servo drive; 17 - Sever; 18 - gyro sensor; 19 - spring; 20 - stabilized equipment.
  • Fig, 4 depicts a composition of stabilizer axes. Marked positions: 21 - axis for compensation of vertical oscillations; 22 - axis for compensation of lateral swinging; 23 - axis for compensation of longitudinal swinging; 24 - axis for panoramic rotation and stabilization; 25 - axis for lateral tilt and stabilization; 26 - axis for longitudinal tilt and stabilization.
  • Fig. 5 depicts cardan joint for attaching video camera to the lifter; it comprises the housing, the fixture for attaching the joint to the lifter element (28), and the fixture for attaching the joint to the suspended platform of the video camera (29).
  • Fig. 8 depicts the arrangement of active dampers inside the housing of cardan Joint, comprising active first-axis damper (30), and active second-axis damper (31 ' ).
  • Fig. 7 depicts side view of the active damper, comprising shaft (32), support for attachment to the housing, motor (34), reducing gear (35), driving coupling (36), driven coupling (37), spring (38), and optica! sensor of displacement (39).
  • Fig. 8 depicts front view of the active sensor, comprising first motor with reducing gear (40), second motor with reducing gear (41 ), motor mounting frame (42), damper (43), frame for attachment to the frame (44), input belt (45), driving coupling (46), spring (47), driven coupling (48), and shaft (49).
  • Fig. 9 depicts rotation speed sensor, comprising the shaft or active damper (50), gear (51), belt (52), and DC generator (53),
  • Sen'omechanisms receive control signals from electronic gyro, which is located on the vertical stand (3). Operational speed of servomechanisms must be sufficient to respond to resonant frequency of oscillations. Thus the active damper eliminates swinging, but does not prevent stabilization of vibrations with higher frequency.
  • Unstable base (1) and rotation stabilization assembly (4) can be equipped with acceleration sensors (accelerorneters). Acceleration sensors allow the microcontroller to separate additional unstable base (1 ) oscillations from own resonant vibrations of rotation assembly (4). Such measurements allow further adjustment of control signal for servomechanism in order to improve the operation of the stabilizer in low frequency range,
  • Prototype device operation data is provided below: Length of vertical stand (3): 0,5 m.
  • Period of own oscillations 1 ,5 s.
  • Amplitude of stabilized oscillations up to 0.3 m.
  • Fig. 2 depicts positional changes of stabilized object (9) in case of horizontal oscillations of unstable base (7) at the maximum amplitude (1.2),
  • Fig. 3 depicts an example of vertical-direction linear stabilizer.
  • Spring (19) balances the gravitation force of stabilized equipment (20)
  • Lever (17) functions in the same manner as the vertical stand (3) from the example given in Fig. 1
  • Gyro sensor (18) controls operation of servo drive (18)
  • Servo drive (18) is aligned with the joint axis (1.5).
  • the assembly is attached to the unstable basis (14).
  • Fig. 4 depicts a six-axis layout of linear (21-23) and angular (24-28) oscillation stabilizer.
  • the first axis (21 ) connects the stable base with the vertical vibration stabilizer arm.
  • the second and the third axis (22, 23) comprise a cardan joint, which ensures stabilization of horizontal swinging movements.
  • Vertical stand for load fixation is attached to the cardan joint.
  • Axis of rotation (24) in horizontal plane runs along the vertical stand.
  • the fifth axis (25) provides lateral tilt and stabilization.
  • the sixth axis (28) provides longitudinal tilt and stabilization.
  • Stabilized equipment is attached to the sixth axis (28). All axes are consistently arranged perpendicular to each other. All axes are equipped with servo drives for control and stabilization.
  • the advantage of the described solution is relative simplicity of construction and high vibration suppression factor over a wide frequency and amplitude range.
  • the main area of application of the invention - camera stabilizers. It can also be used for stabilization of other equipment mounted on movable platforms.
  • Figures 7-9 depict an active damper device located in the housing of the universal joint (27). Attachment of the stabilized platform with a video camera is attached to a shaft (32, 49, 50).
  • a servomechanism is fixed in a housing of the universal joint (27) on a frame (33, 44).
  • the servomechanism has two motors (34, 40, 41 ) and two reducers (35, 40, 41 ). Control signals for the motors (40, 41) are sent with an offset in an opposite direction.
  • the motor and reducer (40, 41 ) retain the mechanical tension in opposite directions. Maximum torque is achieved when both motors (40, 41 ) are working synchronously. [Such technical solution is described in patent No. LT5753J. When the generated force is often reversed, double engine runs smoother and quieter.
  • the motors are mounted on a separate frame (42) which is connected to the frame (44) through elastic dampers (43).
  • the torque on the shaft (32) is transmitted through a flexible coupling (36-38),
  • the driving coupling (36, 46) is connected to the reducers (35, 40, 41 ) of the motors via a drive belt (45).
  • the use of the belt reduces noise of the stabilizer.
  • the driven coupling (37, 48) is rigidly attached on the shaft (32, 49).
  • the driving coupling (36, 48) is mounted on a separate bearing.
  • the force is transmitted through springs (38, 47). At zero torque, the springs (38, 47) are oriented radially. With increase of torque the springs (38, 47) are deflected and the lever arm is increased. In this case the servomechanism controls the force more precisely at small loads and coarser at high loads.
  • Such technical solution is described in patent application PCT-LT2014-000016,
  • Torque is measured using an optical displacement sensor (3.9) which is placed between the driving coupling (36) and the driven coupling (37). The force produced by the motors (34, 35) and the load force on the shaft (32) are measured.
  • Servomechanism actively reduces mechanical resistance and does not hinder rotation of the load.
  • An electromagnetic velocity sensor (51-53) is mounted for the active dampers.
  • a pinion (51 ) is mounted on the shaft (32, 49, 50).
  • the belt (52) transmits rotation to the DC motor (53).
  • the motor (53) operates as a generator.
  • a voltage proportional to the rotational speed is generated by the motor (53).
  • the servomechanism generates a torque proportional to the measured velocity, but in opposite direction.
  • Pendulum in this case is a platform with a camera (3-8). Different forces are required for inhibition of different masses.
  • a microcontroller determines the rate of the reaction in the process of auto- calibration after powering up the device (27, 2). For calibration, the servo motor creates vibrations and increases the reaction to achieve the desired stability.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

Assembly that comprises cardan joint converts the linear oscillations of unstable base Into the angular oscillations of the camera base. To avoid resonance vibrations in the cardan joint, servo drives are provided that receive feedback from the active forces. Servo drives allow the unstable base to swing and vibrate without transmitting vibrations to the stabilized part. A sensor for measuring oscillations is mounted on the stabilized part. Signal from oscillation sensor controls the servo drives for compensation of active force that would make swinging of stabilized part. Thus the servomechanism performs the function of active dampers and prevents harmonic oscillations in the assembly. Both horizontal and vertical oscillations can be stabilized. Angular oscillations of the camera are stabilized by additional rotational assembly. While the design is relatively simple, it ensures high damping ratio in a wide range of vibration frequencies and amplitudes. Besides camera applications, it can be also used to stabilize other equipment on mobile platforms.

Description

VIDEO CAMERAS LINEAR OSCILLATION STABILIZER
Field of the invention
The invention relates to equipment for oscillation damping and reduction of unbalanced forces resulting from movements.
Background of the invention
Utility model patent No. CN2G1834213 (U) describes a linear oscillation stabilizer for video camera. The stabilizer comprises a base platform, a load platform, vibration suppressor, four double-parallelogram type connecting mechanisms, arranged between four edges of the base platform and the load platform. Angular displacement is. converted into the linear displacement using these four double- parallelogram type connecting mechanisms. The major flaw of this mechanism is that they can stabilize oscillations that have small amplitude. Another fiaw is a free play in joints, which results in additional vibrations.
Patent No, US8882088 (B2) describes a horizontal axis shock and vibration isolators for camera platform. The device comprises a bottom plate and a top plate attached the bottom plate using a universal joint that allows the top plate to pivot in an articulated manner about two mutually perpendicular axes relative to the bottom plate, In this invention the camera is fixed to the universal joint. The major flaw of this device is the fact that linear oscillations are converted into angular oscillations without balancing the latter, in addition, the load mass center point is located above the joint, which reduces stability and requires the use of stiffer dampers.
Common drawback of both above solutions is the use of passive dampers. Oil- filled dampers are widely used nowadays. The use of passive dampers results in reduced efficiency of a stabilizer and limited frequency range of oscillations being damped. In such cases additional technical solutions are required to limit high- frequency oscillations. Low-frequency oscillation stabilization capability is limited by mechanical limit of the stabilizer platform shift. Short description of the invention
Application No. LT2014G12 describes angular oscillation stabilizer for video camera equipment. The stabilizer is attached to a vertical stand. The stand inclination is compensated by a rotary assembly on the level of center of mass of the equipment being stabilized. Stabilization of linear oscillations is not described in this patent. Further description includes the attachment method of the stabilizer which allows reducing linear horizontal oscillations of unstable base.
Short description of the drawings Fig. 1 depicts a stabilizer for video camera which is to be attached to the boom of lifting crane. Marked positions: 1 - attachment to the boom of the crane; 2 - cardan joint with active dampers; 3 - mounting stand for the vertical stabilizer; 4 - camera rotation and angular stabilization assembly; 5 - camera; 6 - counterweight.
Fig. 2 depicts a motion diagram of stabilizer elements in case of horizontal swinging of the crane boom. Marked positions: 7 - cardan joint; 8 - vertical stand; 9 - camera rotation assembly attachment; 10 - assembly's position in case of shift to the left; 11 - assembly's position in case of shift to the right; 12 - crane boom oscillation amplitude; 13 - shift trajectory of the rotation assembly.
Fig, 3 depicts example of a stabilizer for linear oscillations in vertical direction. Marked positions: 14 - unstable base; 15 - joint axis; 18 ~ servo drive; 17 - Sever; 18 - gyro sensor; 19 - spring; 20 - stabilized equipment.
Fig, 4 depicts a composition of stabilizer axes. Marked positions: 21 - axis for compensation of vertical oscillations; 22 - axis for compensation of lateral swinging; 23 - axis for compensation of longitudinal swinging; 24 - axis for panoramic rotation and stabilization; 25 - axis for lateral tilt and stabilization; 26 - axis for longitudinal tilt and stabilization.
Fig. 5 depicts cardan joint for attaching video camera to the lifter; it comprises the housing, the fixture for attaching the joint to the lifter element (28), and the fixture for attaching the joint to the suspended platform of the video camera (29). Fig. 8 depicts the arrangement of active dampers inside the housing of cardan Joint, comprising active first-axis damper (30), and active second-axis damper (31').
Fig. 7 depicts side view of the active damper, comprising shaft (32), support for attachment to the housing, motor (34), reducing gear (35), driving coupling (36), driven coupling (37), spring (38), and optica! sensor of displacement (39).
Fig. 8 depicts front view of the active sensor, comprising first motor with reducing gear (40), second motor with reducing gear (41 ), motor mounting frame (42), damper (43), frame for attachment to the frame (44), input belt (45), driving coupling (46), spring (47), driven coupling (48), and shaft (49). Fig. 9 depicts rotation speed sensor, comprising the shaft or active damper (50), gear (51), belt (52), and DC generator (53),
Detailed description of the invention
Horizontal oscillations of unstable base (1) are converted into angular oscillations of the vertical stand (3) under the action of cardan joint (2), Movements of camera (5) are delayed from movements of boom (1 ) due to inertia. Oscillations of frequency higher than own swinging frequency of camera (5) on vertical stand (3) are effectively suppressed. To prevent resonance, servo drives are provided on cardan joint axis (2). Servo drives contain elastic elements and force sensors, which provide feedback to the servo drive controller. Such servo drives are described in patent LT61 13 and patent application LT2014013. Such servo drives have internal feedback that depends on applied force and do not interfere with rotation in case of neutral control signal. Servomechanisms perform a function of active dampers. Sen'omechanisms receive control signals from electronic gyro, which is located on the vertical stand (3). Operational speed of servomechanisms must be sufficient to respond to resonant frequency of oscillations. Thus the active damper eliminates swinging, but does not prevent stabilization of vibrations with higher frequency. Unstable base (1) and rotation stabilization assembly (4) can be equipped with acceleration sensors (accelerorneters). Acceleration sensors allow the microcontroller to separate additional unstable base (1 ) oscillations from own resonant vibrations of rotation assembly (4). Such measurements allow further adjustment of control signal for servomechanism in order to improve the operation of the stabilizer in low frequency range,
Prototype device operation data, as example, is provided below: Length of vertical stand (3): 0,5 m.
Period of own oscillations: 1 ,5 s.
Amplitude of stabilized oscillations: up to 0.3 m.
Mass of stabilized equipment (6, 7): 10 kg,
Max torque of servo drives: 10 N*m. Fig. 2 depicts positional changes of stabilized object (9) in case of horizontal oscillations of unstable base (7) at the maximum amplitude (1.2),
Fig. 3 depicts an example of vertical-direction linear stabilizer. Spring (19) balances the gravitation force of stabilized equipment (20), Lever (17) functions in the same manner as the vertical stand (3) from the example given in Fig. 1 , Gyro sensor (18) controls operation of servo drive (18), Servo drive (18) is aligned with the joint axis (1.5). The assembly is attached to the unstable basis (14).
Fig. 4 depicts a six-axis layout of linear (21-23) and angular (24-28) oscillation stabilizer. The first axis (21 ) connects the stable base with the vertical vibration stabilizer arm. The second and the third axis (22, 23) comprise a cardan joint, which ensures stabilization of horizontal swinging movements. Vertical stand for load fixation is attached to the cardan joint. Axis of rotation (24) in horizontal plane runs along the vertical stand. The fifth axis (25) provides lateral tilt and stabilization. The sixth axis (28) provides longitudinal tilt and stabilization. Stabilized equipment is attached to the sixth axis (28). All axes are consistently arranged perpendicular to each other. All axes are equipped with servo drives for control and stabilization.
The advantage of the described solution is relative simplicity of construction and high vibration suppression factor over a wide frequency and amplitude range. The main area of application of the invention - camera stabilizers. It can also be used for stabilization of other equipment mounted on movable platforms.
Most video cranes are using standard joints for attaching a suspension with a video camera. This allows installation of a universal joint with an active damper between a crane and a suspension device. Such a device Is shown in Figure 5 and Figure 8. Attachment to the crane (28) is located above the universal Joint (27), attachment to the stabilized platform with a camera (29) is located under the universal joint (27). Active dampers (30, 31) are located in the housing of the universal joint (27). The axes of the universal joint are located at different levels, and it is acceptable in this case. The center of mass stabilized equipment is much lower with respect to the universal joint (27).
Figures 7-9 depict an active damper device located in the housing of the universal joint (27). Attachment of the stabilized platform with a video camera is attached to a shaft (32, 49, 50). A servomechanism is fixed in a housing of the universal joint (27) on a frame (33, 44). The servomechanism has two motors (34, 40, 41 ) and two reducers (35, 40, 41 ). Control signals for the motors (40, 41) are sent with an offset in an opposite direction. When the shaft (32, 49, 50) is stationary, the motor and reducer (40, 41 ) retain the mechanical tension in opposite directions. Maximum torque is achieved when both motors (40, 41 ) are working synchronously. [Such technical solution is described in patent No. LT5753J. When the generated force is often reversed, double engine runs smoother and quieter.
To reduce noise, the motors are mounted on a separate frame (42) which is connected to the frame (44) through elastic dampers (43). The torque on the shaft (32) is transmitted through a flexible coupling (36-38), The driving coupling (36, 46) is connected to the reducers (35, 40, 41 ) of the motors via a drive belt (45). The use of the belt reduces noise of the stabilizer. The driven coupling (37, 48) is rigidly attached on the shaft (32, 49). The driving coupling (36, 48) is mounted on a separate bearing. The force is transmitted through springs (38, 47). At zero torque, the springs (38, 47) are oriented radially. With increase of torque the springs (38, 47) are deflected and the lever arm is increased. In this case the servomechanism controls the force more precisely at small loads and coarser at high loads. Such technical solution is described in patent application PCT-LT2014-000016,
Torque is measured using an optical displacement sensor (3.9) which is placed between the driving coupling (36) and the driven coupling (37). The force produced by the motors (34, 35) and the load force on the shaft (32) are measured. Servomechanism actively reduces mechanical resistance and does not hinder rotation of the load. An electromagnetic velocity sensor (51-53) is mounted for the active dampers. A pinion (51 ) is mounted on the shaft (32, 49, 50). The belt (52) transmits rotation to the DC motor (53). In this case, the motor (53) operates as a generator. A voltage proportional to the rotational speed is generated by the motor (53). The servomechanism generates a torque proportional to the measured velocity, but in opposite direction. High-speed performance of the servomechanism is sufficient to inhibit harmonic frequency oscillations of the pendulum. Pendulum in this case is a platform with a camera (3-8). Different forces are required for inhibition of different masses. A microcontroller determines the rate of the reaction in the process of auto- calibration after powering up the device (27, 2). For calibration, the servo motor creates vibrations and increases the reaction to achieve the desired stability.

Claims

Claims
1. Video camera linear oseiiiation stabilizer transforming linear oscillations of unstable base into angular oscillations of camera attachment stand, characterized In that a servo drive is installed between the unstable base and the camera stand, containing an elastic element and a force sensor, providing feedback to the servo drive motor controller.
2. Video camera linear oscillation stabilizer according to Claim 1 , characterized Irs that camera attachment stand is equipped with gyro sensor, which sends control signals to the servo drive,
3. Video camera linear oscillation stabilizer according to Claim 1, characterized in that acceleration sensors are installed between the unstable base and stabilized part and the signals thereof are processed by microcontroller, which controls operation of the servo drive,
4. Video camera linear oscillation stabilizer according to Claim 1, characterized in that the servo drive has a position sensor and the active force of the servo drive is proportional to the speed of sensor data exchange.
5. Video camera linear oscillation stabilizer according to Claim 1 , characterized in that an electromagnetic generator is used instead of rotation speed sensor.
6. Video camera linear oseiiiation stabilizer according to Claim 1, characterized in that the servo drive causes the camera attachment stand to oscillate in order to automatically establish feedback ratio,
7. Video camera linear oscillation stabilizer according to Claim 1 , characterised in that the camera attachment stand is connected to the unstable base by means of a cardan joint, where axis of the joint of camera attachment stand is located above the center of mass of the stabilized part,
8. Video camera linear oscillation stabilizer according to Claim 1 , characterized In that there is a spring between the camera and the unstable base and the servomechanism acts on the stabilized part via a lever.
PCT/LT2015/000008 2015-03-20 2015-12-31 Video cameras linear oscillation stabilizer WO2016153329A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
LT2015020A LT6336B (en) 2015-03-20 2015-03-20 Stabilizer for linear vibrations of video camera
LT2015020 2015-03-20

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109668014A (en) * 2019-02-01 2019-04-23 桂林智神信息技术有限公司 A kind of four axis stabilizers having vertical vibration-damping function
CN113294670A (en) * 2018-08-31 2021-08-24 深圳市大疆创新科技有限公司 Cloud platform device

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US20110221900A1 (en) * 2008-08-25 2011-09-15 Stefan Reich Device and method for the position stabilization of cameras, and for producing film recordings from unmanned aircraft
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US8882088B2 (en) 2012-07-05 2014-11-11 Chapman/Leonard Studio Equipment, Inc. Camera platform horizontal axis shock and vibration isolator
LT2014016A (en) 2014-02-07 2015-04-27 Too "Mars-2" Recombined pasteurized 0.5 percent milk and its production method
LT2014013A (en) 2014-02-05 2015-08-25 My Research, Uab Servodrive with controllable action force
LT2014012A (en) 2014-02-05 2015-08-25 My Research, Uab A stabilized platform for a video camera

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Publication number Priority date Publication date Assignee Title
US3638502A (en) * 1969-12-01 1972-02-01 Westinghouse Canada Ltd Stabilized camera mount
US4989466A (en) * 1989-08-02 1991-02-05 Goodman Ronald C Gyroscopically stabilized sensor positioning system
US5897223A (en) * 1997-11-17 1999-04-27 Wescam Inc. Stabilized platform system for camera
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CN113294670B (en) * 2018-08-31 2022-08-16 深圳市大疆创新科技有限公司 Cloud platform device
CN109668014A (en) * 2019-02-01 2019-04-23 桂林智神信息技术有限公司 A kind of four axis stabilizers having vertical vibration-damping function

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