CN100568079C - The remote camera positioning system - Google Patents
The remote camera positioning system Download PDFInfo
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- CN100568079C CN100568079C CNB2004800066323A CN200480006632A CN100568079C CN 100568079 C CN100568079 C CN 100568079C CN B2004800066323 A CNB2004800066323 A CN B2004800066323A CN 200480006632 A CN200480006632 A CN 200480006632A CN 100568079 C CN100568079 C CN 100568079C
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Abstract
Disclose a kind of remote camera location and control system, it allows the single operation person to use and be bearing in the outer video camera of arm reach.The various features of this remote camera location and control system are disclosed.Steady arm can comprise one or more beam module, and beam module has the cross section flexural stiffness, and rigidity is by with for example strengthening the relatively low stable web of crossbeam, fixed support and density and along the length variations of (one or more) beam module.Video camera is installed on the beam module by front end assemblies, and front end assemblies is configured to the barycenter of video camera and the front end assemblies neutral axis along beam module is placed in the big as far as possible range of movement.This system also comprises handle module, and this module for example comprises can be axially and the handle of rotational motion and proximal handle becket and be used for control frame around video camera control piece (for example, operating rod).The user utilizes support garment (for example, vest) can select to wear backup system, for example monitor, video recorder and electric battery.
Description
Technical field
The present invention relates to camera supports.More specifically, the present invention relates to be used for the supporting member of long range positioning video camera.
Background technology
In the trial of film image and other visual art, usually hope can increase the scope in the visual field, thereby obtains various special-effect and from a plurality of angles with highly catch can not be by video camera on the tripod or the scene that is obtained by the video camera that photographer controls.In the video recording of athletic competition especially like this.Developed multiple systems and reached these targets, comprised that the suspension rod arm that promotes and pivot is (as for example in U.S. Patent No. 4,849, shown in 778), and the stable Cam rest (as for example in U.S. Patent No. 4,156, shown in 512) that is used for aircraft.
Though these methods have increased angular field of view and height really, they generally include complicated componentry, and photographer operates relatively difficulty of this componentry separately usually, and this componentry all too can not be controlled separately and be moved greatly by photographer.The size of equipment and weight limit obtaining required visual angle and posting field usually.
Therefore, preferably provide a kind of remote camera positioning system, this system can be supported separately, operate and be moved by photographer.
Summary of the invention
Theme of the present invention proposes various features, and these features can make up with different array modes and have in various degree a details, thereby provides improvement for remote camera location and control system.Different characteristics combination preferably provides a kind of remote camera steady arm, and this steady arm can be used by independent operator and support and not have outside structure or personnel to support.In some characteristics combination, the remote camera steady arm can so be arranged, so that it is in backup system, for example power supply, video monitor and video recorder are contained under user's state on one's body, only control and physical support by user's hand.
For the remote camera positioning system of feature, wish that its weight is enough light so that carry and moved by independent operator easily with aspect according to the present invention; Wish that also it has enough flexural stiffnesies, thus load that opposing is produced by camera motion and external force and the distortion that causes.The various combination of feature can provide balance between in light weight and flexural stiffness in accordance with the principles of the present invention, thereby makes independent operator to use independently and to control.
The remote camera positioning system that independent operator uses and supports of serving as reasons of an embodiment with characteristics combination of the aspect according to the present invention, it comprises the camera positioner with the distally camera mount that is used to support video camera, this camera positioner has the nearside operator interface, thereby make the operator can support camera positioner and spatially operate video camera that wherein this steady arm comprises at least one elongated beam module (beam module) by this camera positioner.The beam module of this embodiment is positioned at the distally of operator interface and the nearside of camera mount, and has a plurality of crossbeams that separate, and these crossbeams radially depart from the neutral axis of beam module and are roughly parallel to this neutral axis extension.In this embodiment, the cross section flexural stiffness of beam module is along with towards the distally of video camera and be reduced to the second cross section flexural stiffness from the first cross section flexural stiffness.
In another embodiment, the cross section flexural stiffness of described beam module increases to the 3rd cross section flexural stiffness greater than the described second cross section flexural stiffness in the distally, is decreased to the 4th cross section flexural stiffness then in the distally.In another distortion of assemblage characteristic, described first cross section flexural stiffness and the 3rd cross section flexural stiffness can be roughly the same, and the second cross section flexural stiffness and the 4th cross section flexural stiffness can be about equally.The possibility that also has other, that is, the first cross section flexural stiffness is greater than the 3rd cross section flexural stiffness, and randomly, the second cross section flexural stiffness is greater than the 4th cross section flexural stiffness simultaneously.
Among another embodiment of feature aspect having according to the present invention, described beam module can comprise a plurality of beam module, rather than beam module only, for example the near-end beam module and the distal beam of separating.In such structure, the first cross section flexural stiffness and the second cross section flexural stiffness can produce along the length of near-end beam module, and the 3rd cross section flexural stiffness and the 4th cross section flexural stiffness can produce along the length of distal beam.
Another feature of aspect is according to the present invention, and at least one in described a plurality of beam module can have anchor brace region and stable web region.This anchor brace region can comprise at least one fixed support, this fixed support is a longitudinal extension and a horizontal adjacent crossbeam that connects in described a plurality of crossbeams roughly, and stable web region can comprise at least one stable web, and this stable web is a longitudinal extension and a horizontal adjacent crossbeam that connects in described a plurality of crossbeams roughly.In this possible structure, the fixed support that the first cross section flexural stiffness can be passed the near-end beam module produces, the stable web that the second cross section flexural stiffness can be passed the near-end beam module produces, the 3rd cross section flexural stiffness can produce on the fixed support of distal beam, and the 4th cross section flexural stiffness can produce on the stable web of distal beam.
Can be by reducing towards the position for video camera to reduce support bracket fastened flexural stiffness in support bracket fastened thickness than remote location.Equally, can reduce to stablize the thickness and the density of web material, be in cross section flexural stiffness than remote location thereby reduce towards video camera.Another kind may be, adopts separately or in conjunction with these two kinds of technology, reduces diameter or other cross section of crossbeam.
Among another embodiment of feature aspect having according to the present invention, crossbeam can roughly extend on the whole length of beam module.Perhaps, crossbeam can removably connect between the beam module that links to each other.But crossbeam and relevant beam module even can removably connect by the web member of manual adjustments are to avoid the demand of instrument and the ability that crossbeam is finely tuned along being arranged in parallel of steady arm length is provided.
Among another embodiment of feature aspect having according to the present invention, each anchor brace region comprises at least three fixed supports that couple together, thereby provides polygonal cross-section for corresponding anchor brace region.Another possible feature is, each stable web region comprises at least three plates of being made by low density material, stablizes web region for corresponding low-density polygonal cross-section is provided thereby these plates link together.This polygonal cross-section can be a triangle.
Another kind of possibility is that each fixed support and each stable web are arranged away from the neutral longitudinal axis of beam module.
Fixed support can be constructed in many ways, as long as this mode helps in the cross section of given position beam module flexural stiffness, and helps to keep described crossbeam with interval and parallel structure.A possible fixing rack structure can be included in the laminated timber web that extends and connect the special shape of these crossbeams between the contiguous crossbeam.Similarly, can provide stable web by low-density plank, it is for example made by expanded polypropylene (EPP), but also can use other can help to keep in the mode of interval and collimation the web material of crossbeam.Among the embodiment of the feature aspect some have according to the present invention, the stable web of low density material is configured to a plurality of plates, and each plate has than the thickness of adjacent anchor braces and low density.
Each crossbeam can constitute pultrusion (pull-truded) carbon fiber composite tube.According to aspects of the present invention, other structure can also be arranged, be used for reinforcement material (for example, carbon fiber) is arranged as parallel axial flow (axis stream) or groove, and depart from neutral axis.
Other embodiment with one or more features of aspect according to the present invention can comprise the camera mount with the form of front-end module, is used for video camera is installed to distal beam movably.This front-end module can comprise pan-tilt assembly and pan-tilt bearing assembly.The pan-tilt bearing assembly can be connected on the distal beam and support the pan-tilt assembly.Pan-tilt assembly supporting video camera, and allow of longitudinal axis translation and the inclination of the optical axis of video camera with respect to distal beam.
In a preferred structure, the pan-tilt bearing assembly comprises pan drive platform, and this driving platform is connected with the distal-most end of beam module, and roughly extends longitudinally to translation shaft from this distal-most end and take the lead.The pan-tilt assembly can hang on translation shaft rotationally then and take the lead, and transverse to the longitudinal axis of steady arm.One or more support foots can also be set, they are linked to each other with beam module and extend, thereby roughly link to each other with pan drive platform near the translation shaft place that takes the lead from beam module.
In the situation of triangular beam module, the pan-tilt bearing assembly can be connected from being connected the one that changes into translation shaft is taken the lead with 3 of beam module.Translation shaft is taken the lead can choose wantonly and preferably include and is used for support lug that translation shaft is taken the lead and linked to each other with pan drive platform.Another distortion of present embodiment can provide lateral support struts, and this bar hangs on pan drive platform and extends along the length of this pan drive platform.Such pan-tilt bearing assembly can comprise angle support and fixed head, is used for pan drive platform is connected with the corresponding crossbeam of beam module with support foot.For the horizontal reinforcement of crossbar or linear formula can also extend between two or more pan drive platform and support foot.
An embodiment with a plurality of features with aspect according to the present invention can comprise the driven in translation assembly, this assembly comprises: be installed in the pan drive motor on the pan drive platform, pan drive sprocket by the pan drive motor rotation, pan drive chain by the pan drive chain wheel drive, pan axle gear disk by the pan drive chain driving, be rotatably installed in the take the lead translation shaft going up and rotate by pan axle gear disk and be connected to the translation-tilt hanger plate that is used to install the pan-tilt assembly on the translation shaft of translation shaft.In addition, driven in translation can also be set install and tensioning plate, it is installed on the pan drive platform movably to regulate the tension force in the pan drive chain.
Another embodiment with feature of the aspect according to the present invention comprises the pan-tilt assembly, and it comprises: pan carriage, and it is installed in rotation on translation shaft takes the lead; Tilting rack, it is supported by described pan carriage; And the pitch drives assembly, it comprises the tilt drive motor that is positioned on the tilting rack, tilt drive sprocket, and tilt drive chain and tilt drive gear disk, thus they are connected to each other tilting rack and electric machine assembly are rotated.This embodiment can also have the tilt drive motor installing plate, is used to support tilt drive motor and tilt drive sprocket, and wherein tilt drive motor installing plate adjustable ground is connected on the tilting rack, is used to regulate the tension force of tilt drive chain.
Another embodiment with feature of the aspect according to the present invention can comprise pan carriage, and this pan carriage is configured as the flute profile with bottom and two horizontal expansion flanges.Described bottom is connected on translation shaft takes the lead, and described tilting rack is installed in rotation between these two flanges.Tilting rack also can be configured with the bottom and the flute profile of two horizontal expansion flanges, and wherein video camera is installed on the bottom and these two flanges are installed in rotation on the flange of pan carriage.Described can be made of laminated timber, and tilting rack is selectively thin than pan carriage.
Another embodiment with feature of the aspect according to the present invention can comprise user's interface, and this interface provides handle module.This handle module can comprise the Handle axis of extending from the beam module nearside and be installed in handle on the Handle axis movably.This handle slidably or rotationally is installed on the Handle axis, and perhaps both all can.Handle module can also comprise the becket of installing near the Handle axis proximal end, is used for swing stop.
Handle module can also comprise manual control piece at its near-end, and this control piece is encapsulated at least one that is used for controlling video camera inclination and video camera translation motion in the control frame.This control frame can provide hollow interior, and wherein the video camera control piece is placed in the hollow interior of control frame, but operator's hand can get at when being connected with steady arm.This video camera control piece can be an operating rod.The control frame can limit by circumferentially spaced rib, and these ribs are operationally connected on the Handle axis, and these ribs provide the gap between they and opening proximal end.
Another embodiment with feature of the aspect according to the present invention can comprise beam module, and this beam module is provided with at least one base plate in the proximal end of its anchor brace region, and has the handle end plaste than the distally in anchor brace region.Described handle is fixed by base plate and handle end plaste.Beam module can comprise bottom deck assembly, and wherein bottom deck assembly comprises nearside base plate and distally base plate, and their compression foam pads are with by resisting translation along Handle axis with the frictional fit of this foam pad, thus fixing described base plate.In another structure of feature aspect having according to the present invention, one in nearside base plate and the distally base plate bigger one is provided with the quality lightening hole greater than another, and this hole also provides additional operator interface surfaces.
Handle module can also comprise: the second manual video camera control piece is used for controlling translation and banking motion one; With adjustable video camera control piece support, it is connected on the bottom deck assembly, and wherein the second manual video camera control piece is installed on the video camera control piece support and with respect to the Handle axis adjustable ground and locatees.
But another embodiment with feature of the aspect according to the present invention can be included in the connector of the manual adjustments between each adjustable and decomposable element of steady arm, to allow not having to carry out Field adjustment and assembling and decomposition under the situation of instrument.Most (if not all) but the securing member of manual adjustments can be nylon, to alleviate the quality of steady arm.Nylon fasteners also can be provided with " weakness ", and they were separated from before more expensive element damages because of collision when being clashed into by exterior object.
Another embodiment with feature of the aspect according to the present invention can comprise various backup systems, VCR for example, be contained in operator's monitor (being preferably the monitoring oscilloscop form) on one's body, camera motion control module and camera control unit and electric battery, all elements all are set to store and be installed on one's body the user by support garment (for example vest).Various unit can be connected to each other and are connected with video camera, control piece and actuator on the steady arm by different wiring.
Description of drawings
Fig. 1 has represented to have the nearside stereographic map of the example of the whole remote camera location of feature of the aspect according to the present invention and control system, and shows the supporting vest near this system;
Fig. 2 A is the example with beam module of the feature of aspect according to the present invention;
Fig. 2 B is the decomposition view with beam module of the feature of aspect according to the present invention;
Fig. 3 is the cut-open view of the beam module example cut open along Fig. 1 center line 3-3;
Fig. 4 A is the example that is in the connected system of isolating construction, and this connected system is used for the exemplary crossbeam shown in Fig. 2;
Fig. 4 B is the example that is in the connected system of syndeton, and this connected system is used for the exemplary crossbeam shown in Fig. 2;
Fig. 5 is the distally stereographic map of the example of front end assemblies, has represented according to the present invention the feature of aspect;
Fig. 6 is the exploded perspective view of the example of pan-tilt assembly, and this assembly is combined with the feature of the aspect according to the present invention;
Fig. 7 A is the nearside stereographic map of the example of Handleset, and this Handleset is used to have the remote camera location and the control system of feature in accordance with the principles of the present invention;
Fig. 7 B is the distally stereographic map of Handleset, and this Handleset is used to have the remote camera location and the control system of feature in accordance with the principles of the present invention;
Fig. 8 is the synoptic diagram that cable laying reaches relevant control subsystem, and this system can be used in the feature that the aspect according to the present invention is provided; And
Fig. 9 is the schematic isometric of controlling elements forward, and this assembly can be used in the feature that the aspect according to the present invention is provided.
Embodiment
The theme of aspect is a camera supports according to the present invention.The camera supports of aspect can be controlled by independent operator, moved and control according to the present invention.Such camera supports can be handed, and is perhaps being supported by operator's body part ground in hand-held.Disclose camera supports here, the remote placement of video camera at distance operator distant location can be provided, point to thereby allow optical axis to be positioned to from very high height and very wide lateral attitude as the different structure of example.
In addition, the long range positioning that is provided by camera supports provides large-scale motion and has not been subjected to the obstruction of equipment (for example, fixing or mobile restricted tripod or dolly).Method as an alternative, camera supports has and the movability and the operability that support and control their user's same degree in accordance with the principles of the present invention.In addition, with regard to the camera supports structure itself, the motion control (for example translation or inclination) of video camera in range of movement that is provided by camera supports and degree can provide the video camera of expansion to settle the degree and the visual field, thereby obtains the increased dynamic image.
Before the embodiment of the feature of description aspect having according to the present invention, some linguistic notes are described earlier.Run through this instructions all the time, the reference of embodiment and various structure and operation is called as " exemplary ", this is intended to simply theme feature be turned to example or explanation, but might not be its best type.Only be used for illustrative purposes below with reference to the open of accompanying drawing, subject area of the present invention be not restricted to disclosed example.
Substantially with reference to accompanying drawing, Fig. 1 especially shows the illustrative examples of the part of the remote camera location of the feature with aspect of the present invention and control system.Usually, system 10 comprises the steady arm 12 of the video camera that is used to support remote placement, and this steady arm has handle module 14, beam module 16 and front-end module 18.For example can also using, vest 20 provides the backup system of being dressed by the operator.Assistant subsystem 22 can connect and utilize cable 24 to be connected with related elements on the steady arm each other.To more fully descriptive system parts more details below.
As shown in Figure 1, exemplary Camera Positioning and control system 10 generally include a series of interconnected parts or module 14,16,18, they have formed suspension rod 12 together, this suspension rod is used for hanging camera lens and detector 26 at far-end, and is used for positioning and controlling by the handle module 14 that is positioned at near-end.Between video camera 26 and Handleset 14, suspension rod 12 is made of one or more beam module 16, and this beam module can comprise near-end beam module 28 and distal beam 30.Though show two beam module 16, length that can be required according to suspension rod 12 is utilized a beam module or is utilized three or more beam module.For this reason, the beam module of being close to handle module 14 is called near-end beam module 28, and will be called distal beam 30 near the beam module of the front end assemblies 18 that supports video camera 26.
Beam module refers to the collective beam structure between handle module 14 and front-end module 18, and can be implemented as single all-in-one-piece girder construction, perhaps can be arranged to a plurality of beams, these beams or be connected to each other in a fixed manner or removably and partly be connected so that use with other suspension rod.Shown example shown two beam module (exemplary near-end beam module 28 and exemplary distal beam 30), nearside and distally refer to them 10 near operation person hold the relative position of length of the camera end of dolly-out,ing dolly-back of system 10 along steady arm 12 from system.Can add additional beam module or use single beam module, but for convenience of explanation and describe, will use the example of two beam module.
Front end assemblies 18 hangs on the far-end of distal beam 30, and this front end assemblies can be made of pan-tilt supporting member 32, and pan-tilt assembly 34 hangs on this supporting member and video camera 26 is installed on this pan-tilt assembly.
Remote camera location and control system be by a plurality of backup systems 22 supportings, and this backup system can be contained on one's body the operator by use support garment (for example vest 20).Backup system 22 preferably includes electric battery 36, VCR38 or other vision signal video recording system, kinetic control system 40 and camera control unit 42.Can monitor the vision signal of obtaining by video camera by the monitor on vest 20.Preferably, this monitor is arranged on the monitoring oscilloscop of being worn by the operator 44, so that video image always is in operator's the visual field.The cable 24 that is used to connect various backup systems can be connected to each element of suspension rod 12 by one or more umbilical cable, will more fully describe this umbilical cable below.Therefore, shown embodiment with feature of aspect according to the present invention provide a kind of fully independently, by operator supported system, this system is used for remotely locating and be controlled at the video camera outside the scope that the operator can get at.Thereby suspension rod 12 is designed to have enough light weight and is controlled and move under the situation that does not have ground support or other auxiliary equipment by the operator, the distortion that provides enough flexural stiffness to be caused by the motion of suspension rod 12 or other external force (for example wind and light structural impact) with opposing simultaneously.
The further feature of the embodiment of aspect comprises the structure of handle module 14 according to the present invention.Preferably, handle module 14 is equipped with Handle axis 46, and handle 48 slidably and be installed in rotation on this Handle axis.In the proximal end of Handle axis, be provided with proximal handle assembly or back handle assembly 50, this Handleset comprises handle ring 52 at its near-end.Handle ring 52 is provided with and leads to the opening of controlling frame 54, and this control frame is formed by a series of ribs 56 around video camera control piece (for example joy stick unit 58).Handle ring 52 makes the operator to rotate suspension rod 12 freely along with the related rotation of video camera 26.For this reason, handle 48 preferably is installed in rotation on the Handle axis 46, thereby can make with a hand under the static situation of handle 48 maintenances, and Handle axis 46 and suspension rod 12 relevant, that be connected can be rotated with respect to static handle 48.Similarly, if handle 48 preferably is mounted to slip, then handle ring 52 can be used in suspension rod 12 is moved axially with respect to stationary grip 48, thereby moving axially of video camera 26 is provided.
The video camera control piece, for example operating rod 58, can be used for controlling the translation and the inclination of video camera 26.By the rotation of suspension rod and the translation and the banking motion that move axially motion and video camera 26 are superposeed, can realize the camera motion that synthesizes and obtain dynamic image.By Camera Positioning and the further expansion by such ability of the conversion in the motion that these suspension rods location and pan-tilt control realize, this ability can make suspension rod 12 rotate in complete 360 scopes with respect to handle 48 and arm and body kinematics (such as walking or even running) by the operator make suspension rod 12 transversal displacements, vertical displacement and angular displacement.
Make the minimized while of camera review instability by the girder construction that but has relatively large cross section flexural stiffness in light weight is set, can realize the structure and the relevant camera motion and the dynamic image of suspension rod 12.Each beam module 16 all is equipped with and the isolated rigidity of the neutral axis in beam module cross section concentrated area.Preferably, these rigidity lines of concentrating are provided by the crossbeam 60 that extends on beam module 16 length.In shown embodiment, each place in three angles of this triangular-section, triangular-section has axially extended crossbeam 60.The cross section of other geometric configuration also is possible, comprises square and other polygon, and is provided with crossbeam or other rigidity concentrating structure along this polygonal bight.
In each beam part, crossbeam 60 preferably is reinforced by fixed support 62 at proximal end region, and this fixed support is configured to be used for increasing the cross section flexural stiffness of crossbeam 16.Each beam module 16 also preferably is configured to provide stablizes web 64 zones, though this stable web provides less cross section flexural stiffness, is used to keep the interval and the collimation of crossbeam 60.
With reference to Fig. 2 A and 2B, Fig. 2 A has represented near-end beam module 28 together, and it is equipped with the part of Handle axis fixed thereon 46.Fig. 2 B provides the decomposition view of the various piece of near-end beam module 28.Because it engages with handle module, so near-end beam module 28 is provided with bottom deck assembly 68, this will describe in the aft section of this instructions.
Each crossbeam 60 is along the location, summit of triangular-section.Each crossbeam 60 extends along the length of beam module 28.Each crossbeam 60 preferably constitutes " pultrusion type " carbon fiber composite tube, and its external diameter is approximately 1/8 inch to 1/4 inch, and has heavy wall with respect to external diameter.In anchor brace region, three crossbeams 60 laterally connect by fixed support 62.Fixed support 62 can be constructed with different ways, as long as they provide enough flexural stiffnesies for beam 28.In an illustrated embodiment, fixed support 62 is made of three layers of wooden substrate 70, and the main texture of wooden substrate (primary grain) is parallel to the longitudinal axis extension of beam module 28.Each fixed support 62 is partly cut, thereby forms a series of X-shapeds with connection of curved edge.In the center section of this X-shaped on surfaces externally and internally, utilization be used to be adhered on the wooden substrate 70 epoxy resin with very thin (for example, be 0.007 inch) presulfurization carbon fiber hard board 72 stacked, this thin plate 72 is provided with the principal fiber axis transverse to beam module length.Fixed support 62 combines with the conformal applied layer (conformal applied layer) of plain weave carbon cloth and epoxy resin complex 74 in the zone of longerons 60 on the outer surface.The principal fiber axle of the cloth that conformal applies is used to make shear resistance and stability through bonding agent maximum with respect to the longitudinal axis skew 45 of beam part 28.Between the central area of the front portion of X-shaped or far-end is the handle tube end plate 76 that is preferably formed by laminated timber, and 3/32 inch five layers of thick wooden gusset 78 is ground to form the supporting member shape of frustum of a cone, and wherein the external diameter of gusset 78 is approximately big 1/2 inch than the external diameter of handle tube 34.Handle end plate 76 uses hardwood spill room model (hardwood cove dollhouse molding) 80 and epoxy bond to fixed support 62.The triangular-section of beam 28 bonds on circumference at handle end plate 76 places and carbon fiber bundle 82 and epoxy resin.In the stable web region (this stable web region extends to the long three-to-four-fold than anchor brace region length usually) of beam module 28, crossbeam 60 (for example uses low density material, expanded polypropylene (EPP)) web 64 connects, and this web 64 has than thick thickness of fixed support 62 and the density lower than this fixed support.
Thereby the EPP plate 64 of illustrated embodiment is provided with beveled edge and connects and composes triangular structure, and fluting has passage 84 to hold tubular girder 60.EPP plate 64 can use epoxy resin to connect.Stable web region preferably is configured to along its length even.
With reference to Fig. 3, the cross section of the stable web region of beam module 28 comprises that pultrusion synthetic heavy wall tubular girder 60 and EPP plate stablize web 64 and hollow center part 86, system's bunch (not shown) preferably passes through this core, further describes in detail subsequently as this instructions.
With reference to Fig. 4 A and 4B, near-end beam module and distal beam preferably by in three corresponding crossbeams each joint and removably be connected.The crossbeam of each beam module can utilize any in a plurality of end rod connectors and removably be connected to each other.According to an embodiment of the feature with aspect according to the present invention, crossbeam 60 can utilize hook 88, and 70 configurations are connected with eyelet.For example, each crossbeam of near-end beam module can hold the annular knurl axle head (not shown) of end connector insert 92 in its hollow tubular end, this end connector insert 92 is bonded in suitable position by the epoxy resin (not shown), and described crossbeam also has near the Kevlar screw thread lashing (Kevlar thread lashing) 94 big beam end outside, preferably near the mid-length zone of the binding part of end connector 92.End connector 92 can be equipped with adjustable swivel nut 96, and this swivel nut has a series of setting nut 98 and associated end connectors that are used to change the length of swivel nut 96.The end connector 92 of near-end beam module crossbeam can form flexible hook 88, and this hook has the pin 100 between the flange 102 of hook 88, and this pin 100 also removably is assembled to the recess 104 of second flange from a flange extension.The crossbeam of distal beam can be equipped with the end connector with scalable swivel nut 98 similarly.
The end connector that is used for the distal beam crossbeam can be provided with the eyelet connector 90 that matches, and is used to hold the pin 100 of flexible hook 88 and engage pivotly.Shown in Fig. 4 B, match with eyelet connector 90 in case link up with 88 pin 100, then can guarantee this connection by slip collar 106, remain on make-position thereby will link up with 88 flexible flange 102.Because the stability of beam module depends primarily on the structure that crossbeam 60 is remained almost parallel, so can regulate the continuous scope of length process of crossbeam 60 by swivel nut 96, thereby the parallel construction of the relative length of crossbeam 60 and formation is thus carried out " fine setting ".Though disclose the syndeton of hook-eyelet, also can use other rod end connector.Crossbeam can also be continuously through whole beam length.But, have separable beam module and make it possible to select the length of suspension rod and can decompose suspension rod to be used for storage, transportation and to repair.In this respect, thereby connector is preferably the demand minimum that can manual adjustments makes to instrument, is using in the occasions that might need to regulate and repair during the Camera Positioning system at some especially.
With reference to Fig. 5, show the embodiment of front end assemblies, it is used to have the Camera Positioning system of the feature of the aspect according to the present invention.Front end assemblies 18 preferably includes pan-tilt supporting member 32, and this supporting member is from connecting with the one that being connected of a plurality of crossbeams 60 that provided by beam module 16 changes contiguous pan-tilt assembly 34 into.In addition, pan-tilt supporting member 32 is configured such that preferably pan-tilt assembly 34 and video camera (not shown, as to see Fig. 1) mounted thereto roughly move as far as possible along the neutral axis of beam 16 in the whole range of movement of video camera.For this reason, the illustrated embodiment that is used for the pan-tilt supporting member 32 of front end assemblies 18 comprises that the structure of similar tripod, this structure comprise pan drive platform 108 and two pan/tilt support leg 110.Pan/tilt support leg 110 is extended from the interface with two corresponding crossbeams 60, and is connected with driven in translation supporting member 108 near pan-tilt bearing head 66.Pan/tilt support leg 110 is preferably constructed by 3 layers of reel of low-density of 1/8 inch and is formed, and the direction of the main grain of wood is roughly parallel to length direction.Each support foot 110 can be taper, and is provided with the notch portion of a series of minimizing quality.Each pan/tilt support leg 110 is preferably strengthened by the stacked top layer of glass-epoxy, satin and low-viscosity " Z-Poxy " laminated resin of 1/2 ounce every square yard 45 biasings (bias) used on this top layer, and these materials can obtain from Pei Sier company (Pacer Technologies).Other laminated material can be used for the top layer to gain in strength and rigidity.Support foot 110 in the pan-tilt supporting member 32 and their layout provide the supporting of firm relatively and rigidity for weight, thereby flexible bending and the distortion energy that absorbed whole plane before apparent damage takes place also is provided.
Pan drive platform 108 preferably is set to extend to joint with pan/tilt support leg 110 and bearing head 66 from the maintenance crossbeam 60 of distal beam.Pan drive platform 108 provides the surface of general planar, and each element of driven in translation can be installed on this surface, following more fully description.Pan drive platform 108 is preferably formed by three layers of reel structure of low-density and strengthens by lateral support struts 112.Lateral support struts 112 preferred parallel are in the sidepiece plane of triangle distal beam 16, and each cramp bar roughly becomes 60 to stretch out with the plane of pan drive platform 108.Transverse bar 112 in the platform 108 be approximately 1/8 inch thick, this provides good stable and has been avoided relevant with thin plate unwanted flexible.Can also utilize the reinforcement lamination.
For when preparing rotation, translation and banking motion, in the zone of neutral axis, need make pan-tilt assembly 34 hang on supporting member 32 pan-tilt assembly 34 and Camera Positioning mounted thereto.Therefore, the pan-tilt assembly 34 of illustrated embodiment preferably includes the translation shaft that connects pan drive platform 108 and support foot 110 and takes the lead 66, and this assembly provides the rotation of approximate vertical orientation in the structure of suspension rod, as shown in Figure 5.Translation shaft is taken the lead and 66 preferably is configured to, and utilizes mounting flange 114 by the reel composite shell and connect support foot 110 and pan drive platform 108.Translation shaft is taken the lead and 66 is provided with the axially open that diameter is preferably 3/4 inch, and being used for external diameter is that 3/4 inch bearing engages in the mode of press fit.Vertically the light wood core of texture is a preferred material, and wherein the timber panel uses epoxy bond on light wood core about 3/32 inch five layers.Formed structure is formed and machining, use flat carbon fabric cloth and " Z-Poxy " laminated resin of 1.4 ounces every square yard to carry out the conformal lamination then.The quality of the mechanism of Xing Chenging is approximately 10 grams like this, but the supporting power of but having born whole basically pan-tilt assemblies, and keep substantially rigid.This provides the pivot structure that is used for load is delivered to from pan-tilt assembly 34 pan drive platform 108 and pan/tilt support leg 110.
The translation shaft support lug 114 of taking the lead can be taken the lead with translation shaft and 66 formed individual unit, perhaps can separately make and be connected to translation shaft and take the lead on 66.The translation shaft support lug 114 of taking the lead is preferably formed by 3/32 inch five layers of wood structure, and wherein part is laminated with the synthetic conformal lamination of 1.4 ounces every square yard the carbon fiber that begins to cover from the bearing head end and " Z-Poxy " laminated resin.The translation shaft support lug 114 of taking the lead also can be provided with the annular incision that is used to reduce quality.Be used for being installed on the pan-tilt bearing assembly 32 and by its supporting, and especially be installed on the pan drive platform 108 with respect to the take the lead translation actuators of 66 rotational translation/tilt component 34 of translation shaft.Translation actuators comprises pan drive motor assembly 116.Preferably, pan drive motor assembly 116 comprises FauIhaber/MicroMo 1524 brush rectification centreless motors, and it has 152 to 1 wheel boxes and IE-512 quadruple scrambler (quad encoder).Can utilize other electric machine assembly, but the every output shaft revolution of high encoder to count, height programmability, compact size and lightweight are preferred the requirements, this can obtain to be used to smoothly make the motion control of pan-tilt assembly translation, and need not sacrifice the operability of steady arm.
Electric machine assembly 116 can be positioned on the platform 108, thereby makes its driving shaft approximate vertical.Pan drive sprocket 118 can be set to be used for by pan drive chain 120 and pan drive gear disk 122 motion of drive motor being passed to the pan-tilt assembly.
Pan drive sprocket 118 is preferably the molded six spoke gears (6-spoke gear) of Delran, and its internal diameter is 1/4 inch, the number of teeth be 32 and pitch diameter be 1.24 inches.Pan drive chain 120 is preferably " Serve-O-LLink " chain C1227 that is made by Dupont Delran 500 acetyl resin (acetyl resin).For shown in embodiment, chain 120 preferred pitches are approximately 1/8 inch, and it is long to be approximately 92 chain links.Other chain structure also is fine; but the key character of Que Dinging comprises that the plastics of light weight are to avoid increasing the inertia of Camera Positioning motion; with the relative chain link that locks together that is connected deficiently, this chain link can be used as the over torque protection of expensive driven unit.The chain link that locking tightens together for example externally allows not have the disengaging that damages under the situation of object strikes.
Pan axle gear disk 122 can be constructed in many ways, but preferably central treucher is provided with the plastics gear ring.Pan axle gear disk 122 preferably has the Delran gear ring of 32 teeth, and it is round 1/8 inch three layers of thick low-density reel dish, and this dish friction fit is on pan axle tube.Also can utilize other condensate or complex molded, that cast or cut, or the parts of otherwise making.Under the situation that the over torque that causes owing to for example foreign body bump drives, the treucher structure is as the failure safe clutch coupling.The plastics of light weight and wooden toothed disc 122 can't enlarge markedly the inertia of pan-tilt motion, and the plate core of laminated timber can enough cuies or alternate manner manufacture and have very good tolerance and repeatability.The driven in translation assembly preferably also comprises along the installation at the top of pan drive platform 108 and tensioning plate (not shown).This plate can constitute the complex of laminated timber core and carbon fibers/fiberglass/epoxy skins.In one embodiment, utilize 1/31 inch three layers of thick reel, and carbon cloth is the plain weave of 1.4 ounces every square yard 45 biasings, and second top layer is 3.5 ounces every square yard a unidirectional carbon fiber dimension, this carbon fiber be 0.006 inch thick and be arranged so that fiber pattern is parallel to the main texture axis of laminated timber core.Also can utilize the 3rd top layer of glass fabric, the satin weave of 1/2 inch every square yard 45 biasings is used on this top layer.Binding material can be " Z-Poxy " laminated resin.
Driven in translation is installed tensioning plate and can be utilized screw and wing nut assembly 124 adjustable grounds to be installed on the pan drive platform 108, slides with respect to the translated axis line that is used for tensioning pan drive chain 120 thereby make translation motor 116.Nylon screw is because its lightweight and can manual adjustments and be preferred.
The proximal end of each in pan drive platform 108 and two support foots 110, angle support 126 can be set may mode as pan-tilt supporting member 32 being connected to a kind of on the distal beam 16.Each angle support 126 can have roughly trapezoidal shape and have the side flange of inclination, is used for being installed to support foot 110 and pan drive platform 108 by for example nylon bolt and nut.In addition, by preferred use nylon bolt and wing nut 128, a series of smooth fixed heads can and be provided with the end that additional holes is used to be installed to crossbeam 60 from 126 extensions of angle support.Each crossbeam 60 can be provided with screw tip for fastening purpose, and this end can be comprised the swivel nut that for example has set nut 130 by any one covering in the various fixed part.Support foot 110 can also further be supported by strengthening structure, and for example transverse reinforced bar 132, and this bar preferably is made of 3 layers of timber, but also can use the plate and the material of different-thickness.The triangular structure of shown pan-tilt bearing assembly 32 can be further strengthened by thin carbon fiber wire 134 at the joint of itself and distal beam 16, this carbon fiber wire is fixed on the angle support 126 by thin gusset and titanium installing plate, has the hole that the bolt hole basal plane with angle support 126 matches in each bight of this gusset.Carbon fiber wire 134 preferably diameter is 0.035 inch a carbon fiber ring epoxy resins pultrusion silk, the vinyl cyanide bonding agent that this utilizes 1/2 ounce every square chi the 45 satin weave glass fabrics (satin weave fiberglass cloth) of setovering and fills the space is adhered on 1/32 inch 3 layers of thick timber gusset.Alternatively, can adopt the bar of various diameters, a large amount of low-density reinforcement materials in the plate of all thickness and various cross sections, for example light wood.This reinforcement structure helps to keep the dimensional stability of beam section, thereby has reduced the unnecessary deflection of video camera.
Refer again to translation shaft and take the lead 66, axial component 136 can be set be used to allow relatively rotating of pan-tilt assembly 34.To more fully describe the preferred element of axial component 136 in detail below.
With reference to Fig. 6, show the decomposition view of embodiment of the pan-tilt assembly 34 of feature with aspect according to the present invention.Pan-tilt assembly 34 preferably hangs on translation shaft and takes the lead 66, thereby makes the combined center of mass away from this all parts of system of distal beam far-end be positioned on the neutral axis of beam in the big as far as possible range of movement of beam.Pan-tilt assembly 34 can be installed on the pan-tilt hanger plate 146, and this boatswain chair is installed to translation shaft and takes the lead on 60 the pan axle tube 136.Pan-tilt hanger plate 146 preferably is set to have four X-shapeds that the wing is installed, and each is installed the wing and all has at least one fixed orifice.Boatswain chair 146 can be made of 1/32 inch 3 layers of thick reel, and is laminated with the synthetic lamination of three layers of carbon fiber-glass fiber-epoxy resin on each face.
Ground floor is at the plain weave lightweight carbon cloth with respect to the main grain of wood direction angled bias of laminated timber core.The second layer is the unidirectional carbon fiber tow that is parallel to main grain of wood direction orientation.The 3rd layer of very light satin weave glass fabric that is preferably with respect to the main grain of wood direction biasing of core.Skin lamination overlay order on the both sides of boatswain chair 146 is identical.Binding material can be an E-Z-Lam low-viscosity layer pressurizing resin, and this resin for example can pass through U.S. markon's welfare Asia, and the space flight joint product in Sheng Lianzhu city obtains.The carbon cloth of ground floor can be into 1.4 ounces every square yard plain weave of 45 biasings.The second layer can utilize 3.5 ounces every square yard and be 0.006 inch thick carbon fiber one-way cloth, and this cloth is aimed at the main texture shaft line parallel of laminated timber core.Glass fabric can be into 1/2 ounce every square yard satin weave of 45 biasings.The plain weave carbon fiber of Different Weight and glass fibre will produce intensity in various degree, the finished product structure of rigidity and quality.Can add Kevlar to be used to increase toughness and make and more to be difficult to cutting.
Pan axle tube 136 preferable configuration are thin-walled glass fibrous epoxy resin complex, its external diameter is 1/2 inch, and having a series of optional placement holes that are used for the spring clamp (not shown), this spring clamp allows to be parallel to translated axis line and regulates boatswain chair 146 with respect to take the lead 66 spacing of translation shaft.Axle 136 can be installed to translation shaft by translation shaft bearing (not shown) and take the lead on 66.
Aforesaid pan carriage 140 preferably is set to flute profile, and it is formed with the bottom 150 that has two lateral flange 152.Pan carriage 140 can preferably can be installed on the pan-tilt hanger plate 146 with nylon screw and the wing nut (not shown) that finger unclamps by a series of.The bottom 150 of pan carriage 140 has slotted hole, this hole is used for pan-tilt assembly 34 is regulated with respect to the center of beam or the lateral attitude of neutral axis, for example the barycenter of pan-tilt assembly 34 roughly is provided with translated axis line with overlapping with mobile equilibrium ground, thereby cause greatly owing to be applied on the pan-tilt supporting member 32, and therefore owing to translation motion is applied to the unwanted dynamic reaction forces minimum that produces on the girder construction of positioning system.3 layers of wooden flange 152 of the standard density that the core of pan carriage is preferably installed by low-density 3 layers of wooden bottom 150 with perpendicular to bottom 150 constitute, wherein said flange uses the hardwood spill room model of epoxy bond and is installed on the bottom, and grinds the interface of bottom 150 and flange 152 smooth.The main texture axis of bottom 150 and flange 152 is preferably aimed on the circumferential direction of slotted shape.The size of the radius of the surfaces externally and internally of core flute profile thickness makes core at the thickness at the bight place thickness greater than bottom 150 or flange plate 152.Laminated timber bottom 150 be preferably along the bottom 1/8 inch thick, and on flange 152 be 1/6 inch thick.Slotted shape has increased the bending strength and the rigidity of the compound bathtub construction of finished product at the big thickness at place, bight, and the use of laminated timber core allows to carry out cut and other computer numerical control (CNC) manufacturing technology, to keep the repeatability of close tolerance and height.Pan carriage 140 can be provided with above-mentioned about the similar reinforcement skin lay-up of pan-tilt hanger plate 146.
Pan carriage 140 can be equipped with circular buffer 150, is not subjected to the bump of exterior object with the video camera of protection pan-tilt assembly 34 and interior dress.Impact damper 156 can be made by the titanium silk, and is preferably covered by heat-shrinkable tube at the place, end, and described end is installed on the pan carriage 140 by plastic pallet 158.Install carriage 158 preferred bottoms 150 near pan carriage 140, thereby impulsive force is passed to the root of flange 152, and reduced consequent moment of flexure and, or make risk and the difficulty that is contained in the element in the pan carriage 140 to the hurtful possibilities of flange 152 itself.
Axillare 160 hangs on the flange 152 of pan carriage 140, and it has perpendicular to plate 160 towards the pan carriage 140 inner central siphons 162 that are provided with.This central siphon 162 has bearing angle fagging ring on the side relative with central siphon of plate.Axillare 160 utilizes the securing member of available hand adjustment joint to install, and this securing member passes hole bigger slightly in this plate, axially aligns by the inclination bearing on the opposing flanges of pan carriage to allow axillare and central siphon.Central siphon 162 is passed in hole bigger in the pan carriage flange 152 and supports tilt drive gear disk 164, this toothed disc after central siphon 162 and plate 160 are installed on the pan carriage flange 152 friction fit on central siphon 162, and after central siphon 162 and plate 160 were installed on the pan carriage flange 152, one in two inclination bearings also was applied on the central siphon 162.Central siphon 162 allows connector and cable to pass through in use, and this connector and cable are used for the electronic component in the tilt component, for example camera detector and tilt drive unit, and be used for camera lens sharpness and illumination or microphone arrangement.On the relative flange of pan carriage 140 and axillare 160 is another inclination bearing, and it is press fitted in the hole of this flange, and this flange is also strengthened by the 3/32 inch 5 layers of thick treucher that is bonded on the flange.
And the element between two flanges 152 of pan carriage 140 is continuous, to be fitted on around the sloping shaft pressure-bearing of fixing central siphon of pan carriage and plate in its oneself the plate 166, this plate also has the bonding dicyclo of being made up of 3/32 inch 5 layers of thick timber (doubler ring).But this sloping shaft board 166 also utilizes the securing member of manual adjustments to be installed on the flange of inclination or camera pedestal 142, and this securing member passes hole bigger slightly in the plate, to allow regulating shaft board axially aligning with respect to camera pedestal 142.Particularly, sloping shaft board 166 is being parallel to adjusting slidably on the optical axis direction of camera optics/detector module, thereby allow sloping shaft in use roughly with the element mobile along with banking motion (for example, camera optics spare and detecting device, tilt drive 144 and camera lens sharpness element and light fixture) barycenter overlap.Pitch drives installing plate 168 also is installed on the opposite side of same flange of camera pedestal, will be further described below.
Tighten intrinsic central siphon and plate 170 at camera pedestal 142 and the sloping shaft board flange relative with tilt drive, this is similar about the description of pan carriage 140 to the front.This central siphon 170 passes the bearing of aforementioned fixation in pan carriage flange 152.But this central siphon and board component 170 also are installed on the camera pedestal 142 by the securing member of manual adjustments, and this securing member passes bigger slightly hole in central siphon and the plate 170, to allow regulating shaft board axially aligning with respect to camera pedestal 142.The characteristic of the scalable of this mounting means location combines with similar characteristic on another bearing of camera pedestal 142, thereby allow inclined element about tilt axis mobile equilibrium, this helps to make the unwanted dynamic reaction forces that is applied on the more proximal structure of fixture system owing to banking motion roughly to minimize.Such mobile equilibrium makes the disturbance of the camera positioner structure that caused by pan-tilt motion roughly minimize, thereby realizes than the minor structure and the therefore steady arm of less quality, and this is for the operability of steady arm and the therefore key feature of practicality.
In order to help to make the compact dimensions of translation-tilt component 34, pitch drives assembly 144 is preferably mounted on the tilting rack 142, and drive tilting rack 142 by sprocket chain bar assembly 172 and rotate with respect to pan carriage 140, this sprocket chain bar assembly itself rotates by tilting rack 142.But camera/tilt carriage 142 is configured to flute profile comprises the hole that is used for the camera lens (not shown).Camera/tilt carriage 142 preferably forms about pan carriage 140 described rhythmo structure by reel with above being similar to, but utilizes 1/16 inch relatively thin thick 3 layers of wooden bottom and 1/32 inch 3 layers of thick wooden flange.
Tilt drive motor assembly 144 can use the DC motor with scrambler and gear case.Preferably, Faulhaber/MicroMo type 1516A and the IE512 scrambler with 152:1 gear ratio provides driving force.Preferred performance characteristic and top identical about the pan drive motor component description, but about the required torque of the motion of tilt axis usually less than the required torque of translation, because banking motion element size physically is less and be provided with more compactly around its axis of movement.Tilt drive motor assembly 114 preferably is fixed on the installing plate 168, and this installing plate adjustable ground again is installed in the flange inside of tilting rack 142.Tilt drive motor unit installing board 168 can form with the 45mm thin plate that is used for the arcuate slots of chain tension set screw by having drive shaft openings.End texture lightweight core or the carbon fiber complex with glass fibre laminated layer also can be used for pitch drives installing plate 168.But set screw is preferably manual adjustments, and can elect nylon screw and wing nut as.The output of motor is rotated tilt drive sprocket, and this sprocket wheel is similar to pan drive sprocket (see figure 5) structure recited above, but has 24 teeth.Two sprocket wheels can randomly be equipped with nave collar and the hub sleeve of regulating with two dog screw (not shown).This structure that is used for sprocket wheel inside can play the effect of the slip-clutch of opposing over torque protection.
Rotating sprocket is connected with tilt drive gear disk by tilt drive chain.Tilt drive chain can with as above constitute similarly with reference to the described drive chain that is used for translation actuators of Fig. 3.Similarly, tilt drive gear disk can be similar to pan drive gear disk and constitute, but has 24 teeth.Interior wood disk can be press fitted in the plastic gear ring gear, so that another failure safe clutch coupling to be provided under over torque driving situation.
With reference to Fig. 7 A and 7B, the near-end of handle module 14 preferably includes hadle bracelet 52, and this hadle bracelet can constitute the annulus that hangs on handle tube 46 ends.This ring also can be other geometric configuration, but preferably use circular configuration, so that the operator operates easily, and does not engage (this understands generation under polygonal situation) with bight or other non-curvilinear surface when rotating suspension rod and grip this ring near its whole periphery.
Becket 52 preferably hangs on the end of handle tube 46 by a series of ribs 56, these ribs have formed the control frame 54 that is used for centering on and protecting camera control unit (for example joy stick unit 58).The rib of arbitrary number can be set; but it is the same as shown; four equally spaced ribs 56 can provide fender bracket for operating rod 58; the transverse opening that is used to control rib 56 is provided simultaneously, and this opening also is used for being used to lead to the central opening of operating rod 58 alternative means of leading to operating rod 58 being provided except encircling 52.Operating rod 58 can be installed in the control shell 174, this shell is made of the vertical web of the mutual biasing in diagonal angle, and the ring up and down that this vertical web is formed by three layers of timber of 1/4 inch Nominal Width, 1/16 inch thickness and 4 segments between the support ribs of the 1/64 inch three layers of thick timber that forms with alternately 45 grain cutting constitute.These segments can be completely fixed with the bonding location of alpha-cyanoacrylate fat bonding agent and by epoxy resin against ring and supporting rib.The operating rod control piece can be included in the Electronic Control part in the bottom enclosure (not shown), and this control piece is encapsulated in the control supporting shell 174 and the control installing plate 176 of the rear aperture by coverage control supporting shell 174 and removably fixing.Control installing plate 176 can be provided with four grooves, and frame rib 56 preferably passes this groove with friction matching relation and extends.
Operating rod 58 with respect to handle ring 52 and put the ergonomics relation be provided, make the user can control easily suspension rod axially and rotational motion, and manipulation bar 58 is used to control camera motion or the control of other video camera simultaneously.Operating rod 58 can constitute the others that the control video camera is selected in control translation and inclination or conduct, for example iris ring and focal point control electronically.Operating rod 58 can be equipped with button actuator 178 in its end, and this actuator plays for example effect of the time-out/record controls of video recorder, will more fully describe below.
Specifically with reference to Fig. 7 B, handle tube 46 can be fixed on the proximal handle assembly by a series of locating rings (comprising prelocalization ring 180 and back locating ring 182).Each locating ring 180,182 can have the otch that alleviates quality, and these otch also provide additional grip for the operator.Each locating ring 180,182 is provided with central opening, and handle 46 passes this opening and final close control shell 174.The element of each proximal handle assembly is made by 1/4 inch five layers of thick timber of individual low-density, except the end handle ring of preferably being made by two low-density, 1/4 five layers of thick timber, thereby obtains to be preferably 1/2 inch thick end loops.
With reference to Fig. 8, show the construction of cable and the interconnected various cardinal principle synoptic diagram that is used to support the backup system of camera boom and video camera and control piece.
The auxiliary supporting system that is used for suspension rod and video camera comprises being used to receive from the video signal information of video camera 26 and with it and is stored in video recording system on the recording medium (for example tape, DVD etc.), for example VCR38.VCR38 preferably can become video signal recording miniature DV form, for example GV-D900 of Sony.Many other video recording systems also can be used, as long as they support the output format of selected video camera.Backup system can also comprise the motion control subsystem 40 of the translation and the inclination that are used to control the motor-driven assembly.Preferably, kinetic control system 40 comprise have a joystick interface circuit can digital programmed motor controller, for example MicroMo-Faulhaber MCDC2805.This controller card can be packaged with other Electronic Control part that is used for operating rod, and can realize improving by various custom switches, pilot lamp and connector, thereby makes backup system further complete.This backup system also preferably includes camera control unit 42, Toshiba IK-TU 40A CCU for example, it is provided with header board control piece and detecting device connector, back plate control linkage device, and the propagation quality control piece of camera review signal and technical parameter can be set.
Supervision to camera review preferably realizes by being contained in operator's monitor on one's body, thus the independent performance of maintenance Camera Positioning and control system.Though less monitor can be assemblied on user's health, preferably use for example monitoring oscilloscop 44 of the PLM-A35 of Sony, because they directly provide camera review in user's the visual field always.Though preferably by their reserve battery power supply, other element can be by 36 power supplies of electric battery subsystem for some elements (for example, monitoring oscilloscop 44 and VCR38).Other 12 volts of the regulations because some elements need 24 volts of voltages, thus can 24 volts of electric battery with suitable fuse be arranged wiring, thus be provided for to the 12V terminal of the correct wiring of backup system.
Various backup systems preferably utilize supporting system overcoat (for example, vest 20) to be contained on one's body the user.Vest 20 can have a plurality of pockets, and each pocket fixed size is to hold respective element.Electric battery 36 preferred orientation in the pocket at vest 20 rear portions, each element is connected each other and by umbilical cable be connected to cable line on the suspension rod 12 can route by vest 20.Alternatively, vest 20 can be furnished with a plurality of openings in pocket inside, and preferably has the circuit sleeve pipe along the inside of vest 20 holding cable, thereby avoids cable to tangle and infringement and to the potential infringement of operator.
Various assistant subsystem on the camera boom 12 and related elements can be connected to each other by various cables.Near-end operating rod control piece 58 preferably is connected to this assistant subsystem by 9 bundle conductors, and this bundle conductor terminal has one group of three Fatuba-J insert and RS232 9-lead IDC Canon D connector.Cable extends and (break out junction) is connected on the umbilical cable in the leading point along the near-end beam module inside along the hollow handle pipe from near-end operating rod 58.This operating rod umbilical cable can also be provided with the additional outlet (break out) that is used for to the optional connection of distally operating rod control piece, will more fully describe below.In the beam junction, the motion control cable can be connected with backup system by umbilical cable on vest, and this umbilical cable preferably constitutes RS232 9-conductor extension, and it extends to motion control case 40.
From motion control case 40 to translation and the motion control of tilt drive drive cable and preferably constitute 15-lead flat cable, it is terminated with RS232 15-lead IDC technology Canon-D type connector.Tilt drive motor extension cable can be extended from the joint that motion control drives between cable and the tilt drive motor assembly.Pitch drives umbilical cable extension also can form the flat cable with 6 leads, and this lead is terminated with paired Fatuba-J connector.
Be used for video camera control and vision signal are preferably provided by Hirosi thread connection cylindrical connector from the camera detector wiring (cabling) that camera unit 26 passes to camera control unit 42, this connector is provided with 20 stitch and provides continuous wiring along the length of suspension rod, and is extended to camera control unit on operator's vest 20 as the video camera umbilical cable.The electric battery wiring preferably is used to provide ground connection and positive 24 volts of taps and positive 12 volts center tap.The Airtronics connector is preferred so that the fault secure that prevents the incorrect electrical connection of auxiliary element to be provided, this connector connects and is used for 12 and 24 volts of outlets, and voltage branch point connects (key) by the second or the 3rd stitch of three stitch connectors respectively.For fear of the user being caused damage and potential grievous injury, battery 36 is preferably causing battery to transship or other jeopardizes under operator's the situation and melts owing to erroneous transmissions electric power.
24 volts of motion control case power extension cables can be set, it preferably constitutes 22-gauge (gauge) lead that has the power connector that is connected at motion control backboard place, and this backboard has protective cover and has the Airtronics connector with ground connection and in the battery end.Other wiring construction also is fine, but must preferably can handle 4 amperes persistent current.
12 volts of camera control unit power extension also can be set, and it is configured to have the Airtronics connector in the battery end, and has Hirosi 4 stitch power connectors in the camera control unit end.Other wiring also is fine.
The vision signal of preferably using the S-video wiring will transfer to camera control unit passes to VCR38 then.Vision signal also is fed to monitoring oscilloscop 44, and preferably transmits by the RCA video wiring with suitable breakout box.
Monitoring oscilloscop 44 preferred fit have the signal light of the time-out/recording status that monitors VCR.If the monitoring oscilloscop preferred fit has two look light emitting diodes, to indicate different VCR states, then 3 lead AWG# 26 jacketed cables are preferred, its backboard by the motion control case is located in the monitoring oscilloscop end and two red and green look light emitting diode terminations, and this light emitting diode is connected with the Fatuba-J connector.
Can for example utilize the motion control case by operating rod 58, control record and the time-out of VCR.Motion control board can provide control signal by the LANC wiring for VCR38 according to the LANC agreement of having set up.
With reference to Fig. 9, handle module 14 (perhaps substitutes this control piece) except near-end operating rod control piece 58, can randomly be equipped with far-end or front end operating rod control piece 184.The motion of video camera or the operation of video camera can demarcate between front and back operating rod control piece 184,58.For example, an operating rod can be controlled inclination, and another operating rod control translation.Alternatively, one can be specifically designed to translation and the control of tilting, and another is specifically designed to focus and aperture control.This operating rod can be elected the available operating rod control piece of arbitrary number as, but preferably includes by obtainable miniature 23 passages of CH product (2 ratios and 1 switch (2 proportional and1 switch)) lever system.The far-end lever assembly can comprise a control rod double installation bracket, this carriage for example hangs on described subsequently bottom deck assembly in this instructions, each carriage constitutes by a series of planks, this plank comprises five laminates of 1/8 inch thick standard density, 1/4 inch thick low-density five laminate, five laminates with the 1/8 inch thick standard density that has groove, these planks are bonding with the right angle with epoxy resin, and carriage in surface level with respect to the outermost side plate of crossbeam perpendicular to translated axis line and have 1/4 inch wide groove of the longitudinal axis that is parallel to beam, thereby allow nylon thumbscrew by 1/4 inch and wing nut to carry out lengthwise position and regulate to overhanging the formed structure of leveling board.Second pair of horizontal adjustable laminated timber preferably is made of five laminates of 1/8 inch standard density in surface level, each laminate all has ternary 1/4 inch parallel slot, these grooves constitute along horizontal direction with respect to the length axes of beam, hang on above-mentioned installation bracket and allow to carry out in surface level laterally to regulate with rotating.The second pair of plate has the operating rod sectional fixture between them.These anchor clamps also preferably are made of five layers of timber of 1/8 inch standard density, and the plate by 1/4 inch nylon thumbscrew and wing nut process vertical orientation hangs on horizontal adjustable plate, also can constitute by five laminates of 1/8 inch standard density, it is preferably placed at each end of operating rod sectional fixture, to allow the tilt adjustment of operating rod sectional fixture.
Bottom deck assembly can comprise a pair of plate.Shown near-end base plate preferably is made of five layers of timber and three thin-wall stainless steel inserts of 1/4 inch standard density of one deck, each insert has the internal diameter that is used for No. 8 fishbolts, this bolt is with the center pit of circumferential isolated mode around 7/8 inch diameter of the close tolerance frictional fit that is used for handle tube, and by binding material of the high thermal insulation low emissivity glass of plain weave (E-glass) glass fibre top layer and " Z-Poxy " laminated resin and hardening agent reinforcement with 1 to 1 cold curing, this glass fibre top layer becomes 45 biasings to carry out lamination with respect to the vertical center line of the part on two faces, and these materials can obtain by Pei Sier company.The bigger base plate in the place ahead is preferably made by five layers of timber and three thin-walled steel inserts, three heavy wall aluminium matter inserts of 1/8 inch thick standard density, wherein three thin-walled steel inserts cooperate with those inserts than platter in the mode in hole, and three heavy wall aluminium matter inserts hole of having with respect to the excessive interval internal diameter of beam module threaded rod and being used for matching with beam module end insert.Noseplate also comprises: the hole that is used for handle tube close tolerance, frictional fit, 7/8 inch diameter; With six bigger, even isolated, quality lightening holes; Three spacer holes that are used for 1/4 inch diameter securing member, these holes are evenly spaced apart around periphery (be preferably in the center of distance panel edges 16 millimeters), are used to install control element, for example the front operating lever assembly; And the binding material of plain weave E-glass glass fibre top layer and " Z-Poxy " laminated resin, this top layer becomes 45 biasings to carry out lamination with respect to the vertical center line of the part on two faces.
Though in above-mentioned instructions, described the operation of various elements of the feature aspect having according to the present invention and the detail of structure, but such disclosing is intended to that those skilled in the art can be made and use is relevant with theme of the present invention various elements and assembly, and the various optimal ways that the inventor is had when proposing patented claim are disclosed.The disclosure does not limit the scope of the invention, and the alternative of various element and assembly all is conspicuous in the disclosure.Therefore, scope of the present invention should not be subjected to the above-mentioned restriction that specifies, and should be limited various qualification of theme of the present invention by following claim and this claim.
Claims (58)
1. a remote camera positioning system is used for being used and being supported by the single operation person, and it comprises:
Camera positioner, it has the distally camera mount that is used to support described video camera, described camera positioner has the nearside operator interface, thereby makes the operator can support described camera positioner and spatially operate described video camera by described camera positioner;
Described steady arm comprises the beam module that at least one is elongated, and described beam module is positioned at the distally of operator interface and the nearside of camera mount;
Described beam module has a plurality of crossbeams that separate, and described crossbeam radially departs from the neutral axis of beam module and is parallel to this neutral axis extension;
The cross section flexural stiffness of wherein said beam module is decreased to the second cross section flexural stiffness from the first cross section flexural stiffness towards the distally.
2. the system as claimed in claim 1 is characterized in that, described crossbeam extends on the whole length of described beam module.
3. the system as claimed in claim 1 is characterized in that, the cross section flexural stiffness of described beam module increases to the 3rd cross section flexural stiffness greater than the described second cross section flexural stiffness in the distally, is decreased to the 4th cross section flexural stiffness then in the distally.
4. system as claimed in claim 3 is characterized in that, described first cross section flexural stiffness and described the 3rd cross section flexural stiffness equate, and the wherein said second cross section flexural stiffness is equal with described the 4th cross section flexural stiffness.
5. system as claimed in claim 3 is characterized in that, the described first cross section flexural stiffness is greater than described the 3rd cross section flexural stiffness.
6. system as claimed in claim 3 is characterized in that, the described second cross section flexural stiffness is greater than described the 4th cross section flexural stiffness.
7. system as claimed in claim 3, it is characterized in that, described beam module comprises nearside beam module and separated distal beam, and wherein the first cross section flexural stiffness and the second cross section flexural stiffness produce along the length of nearside beam module, and the 3rd cross section flexural stiffness and the 4th cross section flexural stiffness are along the length generation of distal beam.
8. system as claimed in claim 7 is characterized in that, each in described nearside beam module and the described distal beam also comprises a plurality of crossbeams separately, and described crossbeam is arranged away from the neutral axis of each beam module.
9. system as claimed in claim 7 is characterized in that the crossbeam of described nearside beam module has first area of section, and the crossbeam of described distal beam has second area of section littler than this first area of section.
10. system as claimed in claim 7 is characterized in that, the crossbeam of described nearside beam module removably is connected with the respective end place of the crossbeam of distal beam at them.
11. system as claimed in claim 10 is characterized in that, described nearside beam module and distal beam are by can removably being connected with in hand and the instrument at least one.
12. system as claimed in claim 7, it is characterized in that, in described nearside beam module and the distal beam at least one has anchor brace region and stable web region, described anchor brace region comprises at least one fixed support, this fixed support longitudinal extension and laterally connect adjacent crossbeam in described a plurality of crossbeam, described stable web region comprises at least one stable web, this stable web longitudinal extension and laterally connect adjacent crossbeam in described a plurality of crossbeam.
13. system as claimed in claim 12 is characterized in that, each anchor brace region comprises at least three fixed supports, thereby these fixed supports couple together and provide polygonal cross-section for corresponding anchor brace region.
14. system as claimed in claim 13 is characterized in that, each stable web region comprises at least three by stablizing the plate that web material is made, thereby these plates couple together and provide polygonal cross-section for stablizing web region accordingly.
15. system as claimed in claim 14 is characterized in that, the polygonal cross-section of each anchor brace region and each stable web region is a triangle.
16. system as claimed in claim 15 is characterized in that, each fixed support and each stable web are arranged away from the neutral axis of respective beam module.
17. system as claimed in claim 12 is characterized in that, the described first cross section flexural stiffness produces in the anchor brace region of nearside beam module; The second cross section flexural stiffness produces in the stable web region of nearside beam module; The 3rd cross section flexural stiffness produces in the anchor brace region of distal beam; And the 4th cross section flexural stiffness produces in the stable web region of distal beam.
18. system as claimed in claim 12, it is characterized in that, the anchor brace region of described nearside beam module has at least one nearside fixed support, it has first thickness, and the anchor brace region of described distal beam has at least one distally fixed support, and it has second thickness littler than first thickness.
19. system as claimed in claim 12, it is characterized in that, the stable web region of described nearside beam module has at least one nearside and stablizes web, it has first thickness, and the stable web region of described distal beam has at least one distally and stablizes web, and it has second thickness littler than this first thickness.
20. system as claimed in claim 12 is characterized in that, described at least one fixed support is made of the laminated wood substrate, and this substrate lamination at least in part has carbon fiber ring epoxy resins complex top layer.
21. system as claimed in claim 20 is characterized in that, the main texture of described plank substrate is parallel to the neutral axis orientation of beam module.
22. system as claimed in claim 21 is characterized in that, the principal fiber axle of described carbon fiber complex is transverse to the neutral axis of beam module.
23. system as claimed in claim 12 is characterized in that, the conformal layer of described fixed support by carbon cloth and epoxy resin complex is connected with adjacent crossbeam, and wherein the principal fiber axle of this conformal layer is with respect to neutral axis biasing 45 degree of beam module.
24. system as claimed in claim 12 is characterized in that, described fixed support has otch, thereby forms the flat shape with one or more X-shaped parts.
25. system as claimed in claim 12 is characterized in that, the density of the material of described stable web is lower than the density of support bracket fastened material.
26. system as claimed in claim 25 is characterized in that, described stable web material comprises expanded polypropylene.
27. system as claimed in claim 12 is characterized in that, described stable web constitutes a plurality of plates, and the thickness of each plate is greater than at least one support bracket fastened thickness.
28. system as claimed in claim 12 is characterized in that, the length of described stable web region is longer than the length of anchor brace region along the longitudinal direction of beam module.
29. the system as claimed in claim 1 is characterized in that, at least one crossbeam is configured to the carbon fiber drawing and extruding section bar.
30. the system as claimed in claim 1 is characterized in that, described nearside operator interface comprises handle module, and described handle module comprises the Handle axis of extending from the beam module nearside and is installed in handle on the Handle axis movably.
31. system as claimed in claim 30 is characterized in that, described handle is slidably mounted on the described Handle axis.
32. system as claimed in claim 30 is characterized in that, described handle is installed in rotation on the described Handle axis.
33. system as claimed in claim 30 is characterized in that, described handle slidably and be installed in rotation on the described Handle axis.
34. system as claimed in claim 30 is characterized in that, described handle module also comprises becket, and this becket is installed near the nearside terminal of described Handle axis, is used to make described steady arm to rotate.
35. system as claimed in claim 34 is characterized in that, described handle module also comprises the handle that is installed in rotation on the Handle axis, and is static thereby this handle can keep when Handle axis is rotated by becket.
36. system as claimed in claim 35 is characterized in that, described handle also is slidably mounted on the Handle axis, thereby allow to select steady arm with respect to the rotation by described becket of the axial translation of handle and steady arm.
37. system as claimed in claim 36, it is characterized in that, described handle module comprise be used for that video camera tilts and the video camera translation motion at least one manual control piece and be positioned at the control frame of its near-end, described control is set up and is equipped with hollow interior, described manual control piece is arranged in the hollow interior of this control frame, but described manual control piece can be got at by operator's hand when being connected with steady arm.
38. system as claimed in claim 37 is characterized in that, described video camera control piece comprises operating rod.
39. system as claimed in claim 37 is characterized in that, described control frame is limited by the circumferential isolated rib that is operatively connected with Handle axis, and described rib is formed with the gap between the proximal open end of described rib and described control frame.
40. system as claimed in claim 39 is characterized in that, described becket covers and connects the near-end of described rib, and defines the opening in becket inside, and this opening allows to lead to the proximal open end of controlling frame.
41. system as claimed in claim 30 is characterized in that, described Handle axis is fixed on the described beam module reliably.
42. system as claimed in claim 41, it is characterized in that, described beam module be included in anchor brace region the proximal end at least one base plate and in anchor brace region than the handle end plaste in distally, described Handle axis is fixed by described base plate and described handle end plaste.
43. system as claimed in claim 41, it is characterized in that, described beam module comprises bottom deck assembly, described bottom deck assembly comprises nearside base plate and distally base plate, their compression foam pads are with by resisting translation along Handle axis with the frictional fit of this expanded foam pad, thereby fixing described base plate, described bottom deck assembly is by being compressed by adjustable ground with in hand and the instrument at least one.
44. system as claimed in claim 43 is characterized in that, one in described nearside base plate and the distally base plate bigger one is provided with the quality lightening hole greater than another, and this hole also provides additional operator interface surfaces.
45. system as claimed in claim 43 is characterized in that, described handle module also comprises: the manual control piece in distally, and it is used to control one of translation and banking motion; With adjustable video camera control piece support, it is connected on the described base plate, and the manual control piece in described distally is installed on this video camera control piece support, and by locating with respect to the Handle axis adjustable ground with in hand and the instrument at least one.
46. the system as claimed in claim 1, it is characterized in that, also comprise camera control unit, this camera control unit has control circuit, be used for controlling at least one of following group, this group comprise white balance, amplification, synchronously, black balance, document scene selection, shading correction, gray scale and shutter operation.
47. the system as claimed in claim 1 is characterized in that, also comprises: pan drive motor and tilt drive motor, they are operatively connected between camera mount and video camera; With the camera motion control piece, it has the Electronic Control part, is used for the processing controls input to operate described pan drive motor and tilt drive motor.
48. the system as claimed in claim 1, it is characterized in that, also comprise: camera control unit, it has control circuit, be used for controlling at least one of following group, this group comprise white balance, amplification, synchronously, black balance, document scene selection, shading correction, gray scale and shutter operation; Pan drive motor and tilt drive motor, they are operatively connected between camera mount and video camera; With the camera motion control piece, it has the Electronic Control part, is used for the processing controls input to operate described pan drive motor and tilt drive motor.
49. the system as claimed in claim 1 is characterized in that, also comprises register, this register is used to store the image that is generated by video camera, and described register is operationally connected on the video camera, thereby receives picture signal from video camera.
50. system as claimed in claim 49 is characterized in that, described register is apart from the video camera long range positioning.
51. system as claimed in claim 50 is characterized in that, also comprises the register annex, is used for register is installed on one's body the operator.
52. the system as claimed in claim 1, it is characterized in that, also comprise the supporting system coat, this coat provides and has been used for video recorder, battery, in camera control unit and the camera motion control module at least one leaves operator's pocket on one's body in, the output format compatibility of described video recorder and video camera, described battery is at least the video camera power supply, described camera control unit has control circuit, be used to control white balance, amplify, synchronously, black balance, document scene is selected, shading is proofreaied and correct, in the group of gray scale and shutter operation at least one, and described camera motion control module has circuit, is used to control the motion of video camera with respect to camera mount.
53. system as claimed in claim 52 is characterized in that, described supporting system coat is provided with the pocket that is used to deposit battery at the operator back.
54. system as claimed in claim 52 is characterized in that, described supporting system coat is a vest.
55. system as claimed in claim 54 is characterized in that, described vest provides pocket at least one user's manual operation.
56. the system as claimed in claim 1, it is characterized in that, also comprise the inclination central siphon, this sloping shaft pipe is used for rotationally camera mount being connected to steady arm, to allow video camera and to extend to the banking motion of the wiring of operator interface from video camera, described wiring is by the wiring of this inclination central siphon and comprise at least one cable in the group of camera power supply wiring, video camera control wiring and picture signal wiring, and the interference thereby described wiring is connected up to the camera motion scope and the visual field minimizes.
57. system as claimed in claim 56, it is characterized in that, also comprise pan axle tube, this pan axle tube is used for rotationally camera mount being connected to steady arm, to allow the translation motion of video camera, described wiring is by this pan axle tube wiring, and the interference thereby described wiring is connected up to the camera motion scope and the visual field minimizes.
58. the system as claimed in claim 1, it is characterized in that, also comprise pan axle tube, this pan axle tube is used for rotationally camera mount being connected to steady arm, to allow video camera and to extend to the translation motion of the wiring of operator interface from video camera, described wiring is by the wiring of this pan axle tube and comprise at least one cable in the group of camera power supply wiring, video camera control wiring and picture signal wiring, and the interference thereby described wiring is connected up to the camera motion scope and the visual field minimizes.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US38873203A | 2003-03-11 | 2003-03-11 | |
| US10/387,192 | 2003-03-11 | ||
| US10/388,732 | 2003-03-11 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1759347A CN1759347A (en) | 2006-04-12 |
| CN100568079C true CN100568079C (en) | 2009-12-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004800066323A Expired - Fee Related CN100568079C (en) | 2003-03-11 | 2004-03-11 | The remote camera positioning system |
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| Country | Link |
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| CN (1) | CN100568079C (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8730316B2 (en) * | 2011-02-24 | 2014-05-20 | General Electric Company | Cable apparatus |
| DE102015000077A1 (en) * | 2015-01-12 | 2016-07-14 | Fagus-Grecon Greten Gmbh & Co. Kg | traverse |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1645060A (en) * | 1925-07-11 | 1927-10-11 | Goodyear Tire & Rubber | Truss construction |
| GB2200668A (en) * | 1987-02-09 | 1988-08-10 | Colin John Freeman | Elongate hollow structural supporting members |
| US4849778A (en) * | 1986-09-23 | 1989-07-18 | Panavision, Inc. | Camera support systems |
| US5065249A (en) * | 1988-09-26 | 1991-11-12 | Vicon Industries, Inc. | Portable video camera/monitor support |
| US6045272A (en) * | 1997-06-17 | 2000-04-04 | Philips Electronics N.A. Corporation | Positioning system for an observation device using a tensioned filament and locator ball |
| CA2314776A1 (en) * | 2000-07-31 | 2002-01-31 | Mormile Giovanni | Portable video surveillance device |
-
2004
- 2004-03-11 CN CNB2004800066323A patent/CN100568079C/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1645060A (en) * | 1925-07-11 | 1927-10-11 | Goodyear Tire & Rubber | Truss construction |
| US4849778A (en) * | 1986-09-23 | 1989-07-18 | Panavision, Inc. | Camera support systems |
| GB2200668A (en) * | 1987-02-09 | 1988-08-10 | Colin John Freeman | Elongate hollow structural supporting members |
| US5065249A (en) * | 1988-09-26 | 1991-11-12 | Vicon Industries, Inc. | Portable video camera/monitor support |
| US6045272A (en) * | 1997-06-17 | 2000-04-04 | Philips Electronics N.A. Corporation | Positioning system for an observation device using a tensioned filament and locator ball |
| CA2314776A1 (en) * | 2000-07-31 | 2002-01-31 | Mormile Giovanni | Portable video surveillance device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1759347A (en) | 2006-04-12 |
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