Patent Publication Number: US-9413954-B1

Title: System for providing camera views

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of and claims the benefit of priority under 35 U.S.C. §120 to U.S. patent application Ser. No. 12/626,990, entitled “SYSTEM FOR PROVIDING CAMERA VIEWS,” filed on Nov. 30, 2009, which is hereby incorporated by reference herein in its entirety. 
     This application is related to U.S Patent Application entitled “Miniature Camera Module” and U.S. Patent Application entitled “Method of Providing Camera Views about an Object or Area”, both of which are assigned to the same assignee as the assignee herein, filed concurrently herewith and herby incorporated by reference. 
    
    
     BACKGROUND OF THE INVENTION 
     The present invention relates generally to systems for providing camera views and more particularly to camera systems having camera modules that provide camera views to locations remote from the modules. 
     SUMMARY OF THE INVENTION 
     A camera system having at least one self-contained, universally mountable camera module having a housing and a plurality of cameras disposed within the confines of the housing, each camera having a predetermined field of view to the exterior of the housing that when combined provide at least a 180 degree view about the housing. The system also includes communication elements within the housing to provide electrical communication between the plurality of cameras and a position external to the module and at least one receiver that receives the camera views from the module that is operable by a user to view one or more camera views at a time as individual views as well as a composite view of at least two or more camera views. 
    
    
     
       DESCRIPTION OF THE DRAWINGS 
       The following detailed description will be better understood when read in conjunction with the appended drawings, in which there is shown one or more of the multiple embodiments of the present disclosure. It should be understood, however, that the various embodiments of the present disclosure are not limited to the precise arrangements and instrumentalities shown in the drawings. 
         FIG. 1 . is a perspective view illustrating one embodiment of a camera module that may be utilized in the present invention; 
         FIG. 2 . is a front plan view illustrating the camera module of  FIG. 1  attached to an unmanned vehicle, such as a robot; 
         FIG. 3 . is a perspective view illustrating one or more of the camera modules of  FIG. 1  attached to another type of unmanned vehicle; 
         FIG. 4  is a is a perspective view of a head mounted display illustrating multiple camera modules of  FIG. 1  secured thereto; 
         FIG. 5  is a partial cross-sectional view of the camera module of the present invention substantially taken along lines  5 - 5  of  FIG. 1 ; 
         FIG. 6  is a diagram of one embodiment of the system of the present invention; 
         FIG. 7 . is a perspective view illustrating the camera module of the present invention utilized with multiple vehicles; and 
         FIG. 8  is a perspective view illustrating multiple camera modules of the present invention utilized with a head mounted display worn by a user. 
     
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     The present invention will be described in detail with reference to embodiments that represent examples of the present invention and are not intended to limit the scope of the invention. Although specific elements and configurations are described to provide an understanding of the invention, it is to be understood that the specific embodiments, elements and configurations provided are for illustrative purposes only. Other configurations will be recognized by those of ordinary skill in the art without departing from the teachings of the present invention or the scope of the appended claims. 
     Referring to  FIG. 1 , one embodiment of the camera module of the present invention is generally illustrated by reference numeral  10 . The module  10  is illustrated having a generally hemispherical shape, although the size and shape may vary, and may be a miniature module or the like as is illustrated in  FIG. 1  with respect to a United States quarter dollar  12 . 
     Although not illustrated, the module  10  may also be in the form of a hemispheroid, either oblate (earth shaped) or prolate (rugby football shaped), or in the form of a plurality of substantially flat or oblique surfaces joined together to form similar types of shapes. Although the module  10  preferably is formed as an oblique object, it is to be understood that the module  10  can have a variety of shapes and sizes without departing from the teachings of the present invention or the appended claims. 
     The unique shape and size of the module  10  itself enables a number of novel features to be realized by the present invention. These features, among others, include overlapping fields of view for multiple redundancy, a direct camera view for virtually every direction, unobtrusive and inconspicuous operation to resist or eliminate being blocked, detected and/or disabled, and substantially oblique surfaces that, combined with the material of the module  10 , can resist disablement from a foreign object or the like as will be described in more detail herein. 
     The module  10  substantially includes a hemispherical housing  14  having a plurality of apertures  16  therethrough and a substantially flat surface  18  for mounting of the module  10  against a desired article (generally illustrated in  FIGS. 2-4 ). The module  10  also includes a plurality of cameras  20 , each camera  20  being preferably secured within the confines of the housing  14  so that a lens  22  of each camera  20  provides a desired field of view through a respective aperture  16 . Although the module  10  is illustrated with seven cameras  20 , the number of cameras  20  and their position with respect to the housing  14 , the fields of view and the lenses provided, among other features, may vary. 
     The housing  14  is designed as a substantially hollow, hemispherical member with a desired thickness and can be formed from any desired material such as plastic or metal (including steel or titanium, for example) or the like as well as a variety of composite materials, including any type of bullet resistant or bullet proof materials such as Kevlar, Lexan or the like so long as the module  10  functions as desired. The housing  14  may also be used in outdoor environments by making it water resistant or waterproof by making it completely sealed against the environment and may be protected by any type of desired armor. It is to be understood, however, that the material of the housing  14 , or any other elements or features of the housing  14 , may vary without departing from the teachings of the present invention or the appended claims. 
     If desired, the module  10  may be designed to be completely self-contained with all electronics included inside the housing  14  such as microprocessor(s), data storage, power and external communications such as by any wireless method including Bluetooth, for example. With such a design, all processing of the videos from the various cameras  20  can be accomplished by the module  10  itself, including stitching together all the various views of the cameras  20  into one data stream to be stored within, or transmitted to the exterior of, the module  10 . 
     Although the flat surface  18  of the housing  14  is not illustrated in detail, the flat surface  18  may allow for access to the interior of the housing  14  for mounting or replacement of the cameras  20  therein such as by the use of an openable or removable plate, door or the like or any other type of access. The housing  14  may also include a mounting structure or element (not illustrated) either as part of the flat surface  18  or any other part of the housing  14  including, but not limited to, such mounting methods as screws, brackets, clips, adhesives, and hook-and-loop fasteners, for example. 
     The apertures  16  of the housing  14  may be through-apertures having the same diameter through the housing  14 , may be tapered or take on any other desired size, shape or configuration. Alternatively, the apertures  16  may be replaced with pockets (not illustrated) formed in the housing  14  to accept the cameras  20  therein. 
       FIG. 2  illustrates one embodiment of the module  10  mounted to an unmanned vehicle such as a robot  24  or the like where the module  10  and cameras  20  can be used in a “visual odometry” type of application where the position, operation and/or orientation of the robot  24  is determined by analyzing images from one or more cameras  20 . If desired, multiple modules  10  (not illustrated) may also be used with the robot  24  to provide multiple views from a variety of positions about the robot  24 . 
     As  FIG. 3  illustrates, one or more modules  10  may also be mounted to an unmanned transport vehicle  26  intended for transporting items or the like. When the transport vehicle  26  is in the form of a substantially rectangular object as illustrated, the views of the modules  10  enable multiple overlap between modules  10  as described below with regard to  FIG. 5 . 
     As  FIG. 4  illustrates, one or more modules  10  may also be used in conjunction with a head mounted display  28  illustrated in the form of a helmet. It is to be understood, however, that the number and position of modules  10  utilized at any time can vary and the module  10  may be utilized in a variety of applications other than those illustrated. 
     The use of a module  10  along with multiple cameras  20  and/or multiple modules  10  and the design and shape of the modules  10  themselves represents a dramatic shift away from current remote camera design and application. For example, by providing multiple cameras  20  in a module  10  arranged according to the teachings of the present invention a new level of redundancy in camera views is achieved in the event of a malfunction of one or more of the cameras  20  as will be described further below. Intentional or unintentional disablement of the module  10  can also be more difficult since, due to the overlapping views, each camera  20  in each module  10  must be disabled to prevent a desired view and access to each camera  20  or module  10  may be difficult or too time consuming, for example. 
     By using multiple modules  10 , an additional level of redundancy in camera views can be provided according to the teachings of the present invention by providing multiple sets of cameras  20  in multiple, separate locations selected to provide a heightened level of view redundancy or overlap. This not only can be beneficial in the event of the malfunction or disablement of one or more cameras  20 , but in the malfunction or disablement of one or more modules  10 . 
     With reference to  FIG. 5 , when multiple modules  10  are used on a rectangular object such as the transport vehicle  26  significant portions about the transport vehicle  26  are covered by two modules  10 . In this embodiment, coverage by two modules  10  is illustrated by the four single lined sections  48  while coverage by just one module  10  is illustrated by the four unlined sections  50 . Of course, for each module  10  seven cameras  20  provide the desired hemispherical view with overlapping fields of view as described above. 
     With multiple modules  10 , intentional or unintentional disablement of one or more modules  10  is more difficult or unlikely. This is particularly important when the modules  10  are used in a security surveillance setting or in conjunction with a robot or other type of unmanned vehicle or craft and even more so in a combat environment. Specifically, when used in a robot or the like, when the camera viewing system is inoperable or disabled the robot is unable to function and if remotely controlled the user is unable to continue to “see” where the robot is and/or needs to be moved. 
     When used in a hostile environment, such as a surveillance setting or combat zone, an entity who may be interested in disabling the robot can merely take measures to attempt to disable a the camera  20 , such as with a projectile, cover, spray paint, implement or other member. With multiple modules  10 , while an entity may disable one or more modules  10  the operator may still be able to utilize an existing module  10  not discovered or disabled by an entity to move the robot out of the area. 
     The design of the module  10  itself also adds to the ability of an operator to maintain control over a robot. The small size of the module  10  provides an extremely low profile making the module  10  unobtrusive and relatively inconspicuous compared to existing modules. If desired, the module  10  can also be camouflaged to blend in with a particular background as illustrated in  FIG. 1  to make it even more difficult to spot and potentially disable. 
     The hemispherical, hemispheroid or other oblique design of the module  10  aids in preventing disabling the module  10  by providing oblique surfaces that may deflect a projectile or implement. This shape also makes breaking off of the module  10  from a surface it is attached to more difficult, particularly if some type of security resistant mounting is employed. When the oblique surfaces of the module  10  are combined with the module  10  being formed from a strong material, such as metal or a bullet resistant or bullet proof material or the like, disabling of the module  10  from a projectile or implement is less likely. 
     As readily can be understood from  FIG. 1 , due to the positioning of the cameras  20  about the module  10 , when the video of each camera  20  is combined a hemispherical, panoramic or “panospheric” view (hereinafter “view” or “hemispherical view”) about the module  10  is provided. The view may extend up to at least 180 degrees in any direction about the periphery of the module  10  but may vary depending on the types of cameras  20  and lenses  22  utilized and the positions about the housing  14 . 
     When multiple modules  10  are used, such as shown with the head mounted display  28  of  FIG. 4 , for example, the view about the periphery of the display  28  extends well beyond 180 degrees. Although four modules  10  are illustrated, any number of modules  10  can be positioned on the robot  24  or transport vehicle  26  so that a full 360 degree view is provided about the robot  24  or transport vehicle  26 . 
     The cameras  20  can be any type of camera, video or still, so long as they function as desired, including, but not limited to cameras having a micro lens, miniature and subminiature cameras, fiber optic cameras, CCD cameras, active pixel or CMOS image sensors, or the like including future camera types and styles. Additionally, various software required to “stitch” the various views together is readily available or can be independently developed to fit the particular application. 
     Preferably, the cameras  20  are not high level resolution cameras, rather, lower resolution cameras  20  are utilized the resolution of which depends on the particular application. In many applications, the quality of the image being captured is not necessarily an important criteria, rather, capturing a desired image with an acceptable level of quality is all that is necessary. 
     The use of a plurality of lower resolution cameras  20  represents an important shift in the art that enables the desired views in a more economical package to enable applications that previously were cost prohibitive. The cost of modules  10  with lower resolution cameras  20  can be low enough to enable modules  10  to be disposable if desired. 
     A variety of electronics and power supply (not illustrated) may be used along with the cameras  20  to provide the desired view. The electronics and power supply may be contained within the confines of the housing  14  or outside the housing  14  such as within a portion of the robot  24 , transport vehicle  26 , or head mounted display  28  or in a separate unit utilized in conjunction with the robot  24 , transport vehicle  26  or head mounted display  28 . The electronics may be hard wired to the cameras  20  and other peripheral devices or be connected wirelessly, if desired. 
     The module  10  preferably is designed as a self-contained readily replaceable unit to assist in initial mounting and subsequent repair by merely replacing the module  10 . In this respect, the module  10  can be used substantially as an interchangeable platform for use with multiple vehicles or other objects as is more frequently being requested in military or other operations to reduce costs incurred from the use of multiple platforms. 
     Additionally, a minimal amount of electronics may be included with the cameras  20  or within the housing  20  for wireless communication with a variety of external peripheral devices. Such devices may include, for example, remote displays, microprocessor controlled devices, various user input/output devices or the like. External viewing can be a composite view of all of the cameras  20 , the view of any individual camera  20  or any combination of two or more video cameras  20  if desired. 
     In one preferred embodiment, the view provided by the cameras  20  may be fed to an operator or other individual or individuals at a location proximate to or remote from the module(s)  10 . This view can, for example, be used to manipulate the robot  24  or transport vehicle  26  about various terrain and environments or to accomplish various tasks. It is to be understood that to manipulate the robot  24  or transport vehicle  26  discrete electronic and power systems separate from the electronics of the module  10  may be employed. 
     Additionally, the head mounted display  28  of  FIG. 4  may be used by a wearer to provide a full view about the viewer to both the viewer as well as one or more individuals at remote locations. Although the head mounted display  28  is illustrated with four modules  10  positioned on the front, rear and two sides respectively, it is to be understood that the number and position of the modules  10  can vary. 
     One of the many important features of the module  10  is the ability to simultaneously capture and display all data with regard to all views of each camera  20  in real time or substantially real time. This enables viewers at remote locations to choose one or more cameras  20  to select the view or composite view they are interested in viewing regardless of the direction the wearer is facing. This may enable the remote viewers to draw the attention of the wearer to another direction that may be of interest to them or to watch one or more directions for the safety of the wearer, such as in a military, police or similar applications. 
     Additionally, since various camera views from multiple cameras  20  are simultaneously captured or “pre-loaded”, delays in changing views with the head mounted display  28  upon turning of the wearer&#39;s head or turning of the robot  24  or transport vehicle  26  is reduced or eliminated. When using a single camera rather than multiple cameras  20  as in the present invention there will be a lag or delay in views when the camera is moved which is undesirable and perhaps dangerous in certain applications. 
     Similarly, when multiple modules  10  are utilized providing various views from multiple cameras  20  from each module  10 , the various camera views from multiple cameras  20  are simultaneously captured or “pre-loaded” to eliminate delays in views. This is an important feature for not only the head mounted display  28  but also the robot  24  and transport vehicle  26 . 
     For example, with a head mounted display  28  if only one module  10  is used the views provided by the multiple cameras  20  is more of a panoramic or “panospheric” view that extends in a hemispherical direction substantially in the direction the module is facing. As the wearer turns his/her head say to the left, the view that previously was on the left periphery of the wearer now becomes the front view with respect to the wearer. At the same time, a new left periphery view is provided to the wearer or remote viewer. 
     When using multiple modules  10 , the wearer is always provided with a clear view of the direction he/she is facing. It also enables a wearer to more quickly move his/her head back and forth without losing the view of the direction he/she is facing. 
     Another important feature of the module  10  is the ability to enable more placement positions with respect to an object, such as the robot  24  or transport vehicle  26 . This is not only due to the substantially small size of the module  10  but due to the use of multiple modules  10  that break up the 360 degree view into several hemispherical views that may overlap each other to provide redundant or overlapping views. Typically, in existing applications if single or multiple cameras are provided in a central location (not illustrated) for fixed position or rotation to provide a wide view up to 360 degrees, that view readily can be blocked during operation of the robot  24  or transport vehicle  26  by components of the robot  24  or transport vehicle  26 . 
     The relatively small sizes capable of the module  10  enable more placement positions on an object to provide increased number of views or placement where a camera system typically may not fit. Additionally, due to the small size of the module  10  it can be placed closer to an object or surface to reduce the size of any potential blind spot that may occur near the object or surface itself. 
     When multiple modules  10  are used with a robot  24  or other unmanned transport vehicle  26  since the robot  24  or vehicle  26  can typically move in multiple directions, when one module  10  is broken or disabled the robot  24  or vehicle  26  can still function. In this situation, an operator can merely switch views to another module or modules  10  and merely direct the robot  24  or vehicle  26  to move in another direction while the operator can still manipulate the robot  24  or vehicle  26  as desired. 
     Another embodiment of the invention of the present disclosure is illustrated in  FIG. 6  where a system is generally illustrated implementing the modules  10  of the present invention. Typically, the modules  10 , shown here with the transport vehicle  26 , transmit one or more composite video signals or a plurality of video signals, one each for each camera view, to a remote location generally illustrated by the reference numeral  60 . 
     The remote location  60  can be any desired distance and the modules  10  can communicate directly with the location  60 , as illustrated by dashed lines  62 , or indirectly as illustrated by dashed lines  64  via ground based transmission systems  66  or even by one or more satellites  68 . Although a wireless type of transmission system is illustrated in  FIG. 6 , it is to be noted that any type of transmission system, wired or wireless, can be employed without departing from the teachings of the present invention. 
       FIG. 7  illustrates the modules  10  utilized along with a robot  24  in a military application. In this embodiment, the robot  24  is removeably secured to a military vehicle  70 . It is to be understood, however, that the vehicle  70  as well as the robot  24  associated with the vehicle  70  can vary, and the vehicle  70  can be a manned or unmanned vehicle (such as a “drone”) or an aerial vehicle such as a helicopter or airplane, for example, if desired. 
     In this type of application the vehicle  70  serves to transport the robot  24  from one area to another for deployment of the robot  24  where needed. This helps conserve the power on the robot  24 , among other advantages. 
     The robot  24  may be connected to the vehicle  70  both mechanically and electronically to maintain the robot  24  attached to the vehicle  70  till needed along with providing communication signals from the robot  24  to a position on the vehicle  70  if desired. The communication signals can be forwarded directly by the robot  24  to a remote location  60  or from the vehicle  70  to a remote location  60 , with or without amplification or other processing, or can be received on the vehicle  70  by an operator to control the robot  24 . 
     While secured to the vehicle  70  if the robot  24  has any batteries or any other type of power source that needs recharging or refilling such recharging or refilling can be accomplished during that time. This will enable the robot  24  to be ready for deployment when the vehicle  70  reaches the area when the assistance of the robot  24  is needed. 
     It is to be noted that the robot  24  may attach and detach itself from the vehicle  70  without the need for any other type of human or machine to assist. For example, when the robot  24  generally illustrated in  FIG. 2  is utilized the robot  24  is capable of being manipulated to disengage itself from the vehicle  70  by an operator or even autonomously if desired due to the unique design of the robot  24  and engagement mechanism with the vehicle  70 . It is to be understood, however, that a variety of different types of robots or other devices other than the robot  24  can be utilized in this manner with the vehicle  70 . 
       FIG. 8  illustrates another use of the system of the present invention where the head mounted display  28  of  FIG. 4  is shown attached to a user such as a soldier  72 . This so called “soldier of the future” can be provided with 360 degree views about his position to dramatically increase his situational awareness as well as provide assistance to the solider  72  in a hostile environment by a user of the system remote from the solder  72  as described above. If desired, the cameras  20  may also be capable of low light or night vision, such as an infrared or other type of camera without departing from the teachings of the present invention. 
     The embodiments of the present disclosure may be implemented with any combination of hardware and software. If implemented as a computer-implemented apparatus, the embodiments of the present disclosure are implemented using means for performing all of the steps and functions described above. 
     The embodiments of the present disclosure can be included in an article of manufacture (e.g., one or more computer program products) having, for instance, computer useable media. The media has embodied therein, for example, computer readable program code means for providing and facilitating the mechanisms of the embodiments of the present disclosure. The article of manufacture can be included as part of a computer system or sold separately. 
     Although the description above contains many specific examples, these should not be construed as limiting the scope of the embodiments of the present disclosure but as merely providing illustrations of some of the presently preferred embodiments of this disclosure. Thus, the scope of the embodiments of the disclosure should be determined by the appended claims and their legal equivalents, rather than by the examples given. 
     It will be appreciated by those skilled in the art that changes could be made to the embodiments described above without departing from the broad inventive concept thereof. It is understood, therefore, that this disclosure is not limited to the particular embodiments disclosed, but it is intended to cover modifications within the spirit and scope of the embodiments of the present disclosure.