WO2013186675A1 - A motion-controlled platform for electro-optical devices - Google Patents

A motion-controlled platform for electro-optical devices Download PDF

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Publication number
WO2013186675A1
WO2013186675A1 PCT/IB2013/054666 IB2013054666W WO2013186675A1 WO 2013186675 A1 WO2013186675 A1 WO 2013186675A1 IB 2013054666 W IB2013054666 W IB 2013054666W WO 2013186675 A1 WO2013186675 A1 WO 2013186675A1
Authority
WO
WIPO (PCT)
Prior art keywords
platform
electro
motion
optical devices
controlled
Prior art date
Application number
PCT/IB2013/054666
Other languages
French (fr)
Inventor
Ihsan Ozsoy
Hayri Kerem BAYKENT
Ali Murtaza DALGIC
Original Assignee
Aselsan Elektronik Sanayi Ve Ticaret Anonim Sirketi
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aselsan Elektronik Sanayi Ve Ticaret Anonim Sirketi filed Critical Aselsan Elektronik Sanayi Ve Ticaret Anonim Sirketi
Publication of WO2013186675A1 publication Critical patent/WO2013186675A1/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F16M11/105—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis the horizontal axis being the roll axis, e.g. for creating a landscape-portrait rotation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19617—Surveillance camera constructional details
    • G08B13/1963—Arrangements allowing camera rotation to change view, e.g. pivoting camera, pan-tilt and zoom [PTZ]

Definitions

  • the present invention relates to moveable platforms which are used for directing optical devices, laser devices, surveillance cameras, optical test and measurement devices and other similar devices and systems, which have to be remote controlled and directed, with precision towards the desired direction in horizontal and vertical axis.
  • the Chinese patent document no. CN101725803 (A) discloses a rotatable platform which comprises a base, a first motor, a first platform, a second motor, a rotary component and a second platform fixed relative to the first platform.
  • the first motor drives the first platform and the second motor drives the rotary component to rotate around a first and a second axis relative to the first and second platform.
  • the rotatable platform can rotate in a wider range in different directions.
  • the objective of the present invention is to provide a movable platform, which has a flexible mechanical interface, and which is easily compatible with many different devices, easy to use and remote controlled.
  • Figure 1 is the exploded view of the platform.
  • Figure 2 is a view of the actuators and the body.
  • Figure 3 is a view of the lower body.
  • Figure 4 is a view of the cover and the electronic unit.
  • Figure 5 is a view of the support lever.
  • FIG. 6 is the schematic view of the electronic unit.
  • the components in the figures are assigned reference numbers as follows:
  • a motion-controlled platform for electro-optical devices basically comprises
  • At least one single piece body (2) having a horizontal part (21) and a vertical part (22),
  • At least one elevation actuator (3) which is located in the vertical part (22) and which provides movement in vertical (elevation) axis
  • an electronic unit (4) which is adapted to generate the power required for operation of the platform (1) and to enable the platform (1) to be controlled and updated,
  • At least one lower body (6) which comprises at least one slip ring (61), at least one slip ring body (62) and at least one harmonic drive (63), and which is fixed to the horizontal part (21),
  • the inventive platform (1) additionally comprises in a preferred embodiment thereof
  • the body (2) is a single piece which mechanically holds together all parts of the platform. It comprises horizontal and vertical parts (21), (22) which are designed to be suitable for operation of the platform (1) with electro-optical devices.
  • the actuator units (3) (7) comprise at least one brushless torque motor, at least one gear set, at least one encoder, at least one coupling, a plurality of bearings and at least one connection surface (9).
  • the electronic unit (4) comprises at least one CPU board (41) that runs the loaded software, at least one motion control board (42) adapted to enable movement of the actuators (3), (7), at least one power board (43) adapted to enable operation of the platform at both 12 V and 24/28 V input voltages, and at least one PWM board (44) adapted to drive the brushless motors.
  • the electronic unit (4) is fixed on the cover (5).
  • the cover covers the vertical part (22) of the body (2) and protects the electronic unit (4) and the elevation actuator (3) against external factors.
  • the lower body (6) is mounted to the horizontal part (21).
  • the slip ring (61) of the lower body (6) and the connection surface (9) of the windage actuator (7) correspond to each other and are connected to each other.
  • Harmonic drive (63) is used for the rotary movement made in horizontal axis.
  • the brushless torque motor provided in the actuators (3), (7) receives the commands of the movement that it will make from the motion control board (42).
  • An electro-optical device is connected to the connection surface (9) of the elevation actuator (3). This way, rotary movement of the elevation actuator (3) is transmitted directly to the device.
  • Rotary movement of the windage actuator (7) is transferred, by means of the use of the slip ring, to the lower body, the body (2) that is connected thereto and thus to the entire platform (1).
  • the electro-optical device that will be used is located on the support lever (8). Connection of the device and the support lever (8) is provided by the shaft support arm (83). The other part of the shaft support arm (83), which is not connected to the electro-optical device, is mounted to the connection surface (9) of the elevation actuator (3). This way, rotary movement of the elevation actuator (3) is transmitted to the shaft support arm (83) and the bearing (82) and thus to the electro-optical device.
  • the bearing (82) and the end of the shaft support arm (83) are located within the hole (81).
  • the energy required for operation of the platform (1) is provided by the power board (43).
  • the electric energy coming to the power board (43) from an external supply via the connectors (not shown in the figures) on the platform (1) makes the platform (1) operational.
  • motion control and general adjustments e.g. motor speed control, motor limit values
  • the external control unit is a computer.
  • RS422 protocol is used in the connectors.
  • the transmission lines required for power distribution and command communication reach the platform (1) and the electro-optical device which will be used with the platform via the slip ring (61).
  • CPU board (41) runs the system software.
  • CPU board transmits commands to the motion control board (42) and the PWM board according to the parameters determined by the said software and external control unit.
  • the general adjustments and parameters include values such as PID (proportional-integral- derivative) control parameters, speed, acceleration, limit values, maximum speed that will be used in motor control.
  • CPU board (41) generates the commands according to the said information determined by the user.
  • PWM board (44) drives the brushless torque motors (3), (7) in the actuators and the motion control board (42) enables the desired movement to be made.
  • the boards (41), (42), (43), (44) constituting the electronic unit (4) are selected in accordance with PC 104 standard.
  • the power board (43) generates 5V and 48V DC voltages and can operate between 12 V and 30V DC.
  • a useful and ergonomic structure is obtained with the inventive motion-controlled platform for electro-optical devices (1). Since the boards (41, (42), (43), (44) integrated into the device are of a unique design, they are open to external programming and development. As a mechanical interface design is made compatible with the devices that will be used with the platform, a great mounting ease is provided. Within the framework of these basic concepts, it is possible to develop various embodiments of the inventive motion-controlled platform for electro-optical devices (1). The invention can not be limited to the examples described herein and it is essentially as defined in the claims.

Abstract

The present invention relates-to moveable platforms (1) which are used for directing optical devices, laser devices, surveillance cameras, optical test and measurement devices and other similar devices and systems, which have to be remote controlled and directed, with precision towards the desired direction in horizontal and vertical axis. The objective of the present invention is to provide a movable platform, which has a flexible mechanical interface, and which is easily compatible with many different devices, easy to use and remote controlled.

Description

DESCRIPTION
A MOTION-CONTROLLED PLATFORM FOR ELECTRO-OPTICAL
DEVICES Field of the Invention
The present invention relates to moveable platforms which are used for directing optical devices, laser devices, surveillance cameras, optical test and measurement devices and other similar devices and systems, which have to be remote controlled and directed, with precision towards the desired direction in horizontal and vertical axis.
Background of the Invention Ease of use provided in the similar platforms used in present time is low. The mechanical interfaces do not have sufficient flexibility for use with a plurality of devices; difficulties of integration and assembly are experienced. Furthermore, in these systems, which do not have flexible programming capability, software update and external intervention cannot be implemented at a desired level.
The Chinese patent document no. CN101725803 (A) discloses a rotatable platform which comprises a base, a first motor, a first platform, a second motor, a rotary component and a second platform fixed relative to the first platform. The first motor drives the first platform and the second motor drives the rotary component to rotate around a first and a second axis relative to the first and second platform. The rotatable platform can rotate in a wider range in different directions. Summary of the Invention
The objective of the present invention is to provide a movable platform, which has a flexible mechanical interface, and which is easily compatible with many different devices, easy to use and remote controlled.
Detailed Description of the Invention
A motion-controlled platform for electro-optical devices developed to fulfill the objective of the present invention is illustrated in the accompanying figures, wherein
Figure 1 is the exploded view of the platform.
Figure 2 is a view of the actuators and the body.
Figure 3 is a view of the lower body.
Figure 4 is a view of the cover and the electronic unit.
Figure 5 is a view of the support lever.
Figure 6 is the schematic view of the electronic unit. The components in the figures are assigned reference numbers as follows:
1. Platform
2. Body
21. Horizontal part
22. Vertical part
3. Elevation actuator
4. Electronic unit
41. CPU board
42. Motion control board
43. Power board 44. PWM (Pulse Width Modulation) board
Cover
Lower body
61. Slip ring
62. Slip ring body
63. Harmonic drive
Windage actuator
Support lever
81. Hole
82. Bearing
83. Shaft support arm
Connection surface
"A motion-controlled platform for electro-optical devices" (1) of the present invention basically comprises
at least one single piece body (2) having a horizontal part (21) and a vertical part (22),
- at least one elevation actuator (3) which is located in the vertical part (22) and which provides movement in vertical (elevation) axis,
- an electronic unit (4) which is adapted to generate the power required for operation of the platform (1) and to enable the platform (1) to be controlled and updated,
- at least one cover (5), on which the electronic unit is fixed, and which is fixed to the vertical part (22),
- at least one lower body (6), which comprises at least one slip ring (61), at least one slip ring body (62) and at least one harmonic drive (63), and which is fixed to the horizontal part (21),
- at least one windage actuator (7) which is provided in the horizontal part (21) and which provides movement in horizontal (windage) axis. The inventive platform (1) additionally comprises in a preferred embodiment thereof
- at least one support lever (8) which, by increasing its carrying capacity, enables the platform (1) to be used with electro-optical devices that are heavier than the ones used with its basic form.
In the inventive motion-controlled platform for electro-optical devices (1), the body (2) is a single piece which mechanically holds together all parts of the platform. It comprises horizontal and vertical parts (21), (22) which are designed to be suitable for operation of the platform (1) with electro-optical devices.
There are provided actuator units (3) (7) in the horizontal and vertical parts (21) (22) of the body (2). The actuator units (3) (7) comprise at least one brushless torque motor, at least one gear set, at least one encoder, at least one coupling, a plurality of bearings and at least one connection surface (9).
The electronic unit (4) comprises at least one CPU board (41) that runs the loaded software, at least one motion control board (42) adapted to enable movement of the actuators (3), (7), at least one power board (43) adapted to enable operation of the platform at both 12 V and 24/28 V input voltages, and at least one PWM board (44) adapted to drive the brushless motors.
The electronic unit (4) is fixed on the cover (5). The cover covers the vertical part (22) of the body (2) and protects the electronic unit (4) and the elevation actuator (3) against external factors.
The lower body (6) is mounted to the horizontal part (21). The slip ring (61) of the lower body (6) and the connection surface (9) of the windage actuator (7) correspond to each other and are connected to each other. Harmonic drive (63) is used for the rotary movement made in horizontal axis. The brushless torque motor provided in the actuators (3), (7) receives the commands of the movement that it will make from the motion control board (42). An electro-optical device is connected to the connection surface (9) of the elevation actuator (3). This way, rotary movement of the elevation actuator (3) is transmitted directly to the device. Rotary movement of the windage actuator (7) is transferred, by means of the use of the slip ring, to the lower body, the body (2) that is connected thereto and thus to the entire platform (1). These rotary movements enable the electro-optical device to be directed towards the desired target.
In the preferred embodiment of the invention, the electro-optical device that will be used is located on the support lever (8). Connection of the device and the support lever (8) is provided by the shaft support arm (83). The other part of the shaft support arm (83), which is not connected to the electro-optical device, is mounted to the connection surface (9) of the elevation actuator (3). This way, rotary movement of the elevation actuator (3) is transmitted to the shaft support arm (83) and the bearing (82) and thus to the electro-optical device. The bearing (82) and the end of the shaft support arm (83) are located within the hole (81).
The energy required for operation of the platform (1) is provided by the power board (43). The electric energy coming to the power board (43) from an external supply via the connectors (not shown in the figures) on the platform (1) makes the platform (1) operational. When the platform (1) is operational, motion control and general adjustments (e.g. motor speed control, motor limit values) are made by the external control unit which is connected to the platform (1) via the connectors. In the preferred embodiment of the invention, the control unit is a computer. Preferably RS422 protocol is used in the connectors. The transmission lines required for power distribution and command communication reach the platform (1) and the electro-optical device which will be used with the platform via the slip ring (61). CPU board (41) runs the system software. CPU board transmits commands to the motion control board (42) and the PWM board according to the parameters determined by the said software and external control unit. The general adjustments and parameters include values such as PID (proportional-integral- derivative) control parameters, speed, acceleration, limit values, maximum speed that will be used in motor control. CPU board (41) generates the commands according to the said information determined by the user. In accordance with these commands, PWM board (44) drives the brushless torque motors (3), (7) in the actuators and the motion control board (42) enables the desired movement to be made.
In a preferred embodiment of the invention, the boards (41), (42), (43), (44) constituting the electronic unit (4) are selected in accordance with PC 104 standard. In a preferred embodiment of the invention, the power board (43) generates 5V and 48V DC voltages and can operate between 12 V and 30V DC.
A useful and ergonomic structure is obtained with the inventive motion-controlled platform for electro-optical devices (1). Since the boards (41, (42), (43), (44) integrated into the device are of a unique design, they are open to external programming and development. As a mechanical interface design is made compatible with the devices that will be used with the platform, a great mounting ease is provided. Within the framework of these basic concepts, it is possible to develop various embodiments of the inventive motion-controlled platform for electro-optical devices (1). The invention can not be limited to the examples described herein and it is essentially as defined in the claims.

Claims

A motion-controlled platform for electro-optical devices (1) that is used for directing optical devices, laser devices, surveillance cameras, optical test and measurement devices and other similar devices and systems, which have to be remote controlled and directed, with precision towards the desired direction in horizontal and vertical axis; comprising
- an electronic unit (4) which is adapted to generate the power required for operation of the platform (1) and to enable the platform (1) to be controlled and updated, and characterized by
at least one single piece body (2) having a horizontal part (21) and a vertical part (22),
- at least one elevation actuator (3) which is located in the vertical part (22) and which provides movement in vertical (elevation) axis,
- at least one cover (5), on which the electronic unit is fixed, and which is fixed to the vertical part (22),
at least one lower body (6), which comprises at least one slip ring (61), at least one slip ring body (62) and at least one harmonic drive (63), and which is fixed to the horizontal part (21),
- at least one windage actuator (7) which is provided in the horizontal part (21) and which provides movement in horizontal (windage) axis.
A motion-controlled platform for electro-optical devices (1) according to Claim 1, characterized by at least one support lever (8) which, by increasing its carrying capacity, enables the platform (1) to be used with electro-optical devices that are heavier than the ones used with its basic form.
A motion-controlled platform for electro-optical devices (1) according to any one of the preceding claims, characterized by the actuators (3) (7) which comprise at least one brushless torque motor, at least one gear set, at least one encoder, at least one coupling, a plurality of bearings and at least one connection surface (9).
A motion-controlled platform for electro-optical devices (1) according to any one of the preceding claims, characterized by the electronic unit (4) which comprises at least one CPU board (41) that runs the loaded software, at least one motion control board (42) adapted to enable movement of the actuators (3), (7), at least one power board (43) adapted to enable operation of the platform at both 12 V and 24/28 V input voltages, and at least one PWM board (44) adapted to drive the brushless motors.
A motion-controlled platform for electro-optical devices (1) according to any one of the preceding claims, characterized by the slip ring (61) which enables the transmission lines required for power distribution and command communication to reach the platform (1) and the electro-optical device which will be used with the platform.
A motion-controlled platform for electro-optical devices (1) according to any one of the preceding claims, characterized by the CPU board (41) which enables the motion control and the general adjustments to be managed by an external control unit.
A motion-controlled platform for electro-optical devices (1) according to any one of the preceding claims, characterized by connectors which enable connection of external supplies and external control units.
A motion-controlled platform for electro-optical devices (1) according to any one of the preceding claims, characterized by the boards (41), (42), (43), (44) which operate in accordance with PC 104 standards.
9. A motion-controlled platform for electro-optical devices (1) according to any one of the preceding claims, characterized by the power board (43) which generates 5V and 48V DC voltages and operates between 12 V and 30V DC.
10. A motion-controlled platform for electro-optical devices (1) according to any one of the preceding claims, characterized by the support lever (8) comprising a hole (81) into which the end of the shaft support arm (83) and the bearing (82) fit.
PCT/IB2013/054666 2012-06-13 2013-06-06 A motion-controlled platform for electro-optical devices WO2013186675A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
TR2012/06920 2012-06-13
TR201206920 2012-06-13

Publications (1)

Publication Number Publication Date
WO2013186675A1 true WO2013186675A1 (en) 2013-12-19

Family

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PCT/IB2013/054666 WO2013186675A1 (en) 2012-06-13 2013-06-06 A motion-controlled platform for electro-optical devices

Country Status (1)

Country Link
WO (1) WO2013186675A1 (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5852754A (en) * 1997-08-27 1998-12-22 Videolarm, Inc. Pressurized housing for surveillance camera
WO1999018385A1 (en) * 1997-10-03 1999-04-15 Autonomous Effects, Inc. Apparatus and method for positioning a payload about multiple axes
US6354749B1 (en) * 1998-09-09 2002-03-12 Videolarm, Inc. Housing for surveillance camera
US20030103770A1 (en) * 2001-11-30 2003-06-05 Pelco Slip ring assembly and method
WO2006065892A2 (en) * 2004-12-13 2006-06-22 Optical Alchemy, Inc. Multiple axis gimbal employing nested spherical shells
EP1912015A2 (en) * 2006-10-10 2008-04-16 Honeywell International, Inc. Methods and systems for attaching and detaching a payload device to and from, respectively, a gimbal system without requiring use of a mechanical tool
US20090207250A1 (en) * 2008-02-20 2009-08-20 Actioncam, Llc Aerial camera system
CN101725803A (en) 2008-10-17 2010-06-09 德昌电机(深圳)有限公司 Rotatable platform

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5852754A (en) * 1997-08-27 1998-12-22 Videolarm, Inc. Pressurized housing for surveillance camera
WO1999018385A1 (en) * 1997-10-03 1999-04-15 Autonomous Effects, Inc. Apparatus and method for positioning a payload about multiple axes
US6354749B1 (en) * 1998-09-09 2002-03-12 Videolarm, Inc. Housing for surveillance camera
US20030103770A1 (en) * 2001-11-30 2003-06-05 Pelco Slip ring assembly and method
WO2006065892A2 (en) * 2004-12-13 2006-06-22 Optical Alchemy, Inc. Multiple axis gimbal employing nested spherical shells
EP1912015A2 (en) * 2006-10-10 2008-04-16 Honeywell International, Inc. Methods and systems for attaching and detaching a payload device to and from, respectively, a gimbal system without requiring use of a mechanical tool
US20090207250A1 (en) * 2008-02-20 2009-08-20 Actioncam, Llc Aerial camera system
CN101725803A (en) 2008-10-17 2010-06-09 德昌电机(深圳)有限公司 Rotatable platform

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