Patent ID: 12259643

DETAILED DESCRIPTION

The following discussion provides example embodiments of the inventive subject matter. Although each embodiment represents a single combination of inventive elements, the inventive subject matter is considered to include all possible combinations of the disclosed elements. Thus, if one embodiment comprises elements A, B, and C, and a second embodiment comprises elements B and D, then the inventive subject matter is also considered to include other remaining combinations of A, B, C, or D, even if not explicitly disclosed.

As used in the description in this application and throughout the claims that follow, the meaning of “a,” “an,” and “the” includes plural reference unless the context clearly dictates otherwise. Also, as used in the description in this application, the meaning of “in” includes “in” and “on” unless the context clearly dictates otherwise.

Also, as used in this application, and unless the context dictates otherwise, the term “coupled to” is intended to include both direct coupling (in which two elements that are coupled to each other contact each other) and indirect coupling (in which at least one additional element is located between the two elements). Therefore, the terms “coupled to” and “coupled with” are used synonymously.

It should be noted that any language directed to a computer or computing device should be read to include any suitable combination of computing devices, including servers, interfaces, systems, databases, agents, peers, Engines, controllers, or other types of computing devices operating individually or collectively. One should appreciate the computing devices comprise a processor configured to execute software instructions stored on a tangible, non-transitory computer readable storage medium (e.g., hard drive, solid state drive, RAM, flash, ROM, etc.). The software instructions preferably configure the computing device to provide the roles, responsibilities, or other functionality as discussed below with respect to the disclosed apparatus. In especially preferred embodiments, the various servers, systems, databases, or interfaces exchange data using standardized protocols or algorithms, possibly based on HTTP, HTTPS, AES, public-private key exchanges, web service APIs, known financial transaction protocols, or other electronic information exchanging methods. Data exchanges preferably are conducted over a packet-switched network, the Internet, LAN, WAN, VPN, or other type of packet switched network. The following description includes information that may be useful in understanding the present invention. It is not an admission that any of the information provided in this application is prior art or relevant to the presently claimed invention, or that any publication specifically or implicitly referenced is prior art.

Embodiments of the inventive subject matter are directed to camera control systems that facilitate manual interaction with a camera while simultaneously incorporating haptic feedback and introducing adjustable mechanical properties via electromechanical systems. In some embodiments, a camera is mounted to a control system, while in other embodiments a handle can be mounted to a control system to facilitate control of a head having a mounted camera. Control systems of the inventive subject matter incorporate printed circuit board (PCB) stator motors, which are instrumental in facilitating desirable form factors and also in eliminating motor cogging, a side effect of other motor technologies that can negatively impact user experience.

The stators of PCB stator motors have no slotted iron core. Thus, cogging torque—which is defined as the interaction of the permanent magnets on the rotor with a slotted iron stator structure in a no-load condition—is zero. Cogging torque can lead to torque ripple as well as speed ripple, which impacts performance and feel. To eliminate cogging in any other type of motor would dramatically increase mass and size, which is not ideal and eliminates the advantage of low weight that comes from embodiments of the inventive subject matter. Traditional electric motors are unable to fit the specific needs of embodiments of the inventive subject matter where, e.g., cogging must be eliminated.

Haptic feedback contemplated in this application includes using motors to give a control system a heavier or lighter feel than the actual mechanical system. In addition to mass, other physical attributes of a control system can be adjusted such as friction, rotational inertia, and any other physical quality that the motors of systems described in this application could affect. Systems of the inventive subject matter allow for a camera operator to have the experience of operating, e.g., a heavy, purely mechanical system without all the mass and parts associated with such a system.

Increasingly, “remote heads” are used for panning, tilting, and rolling cameras when the operator cannot be physically next to the camera or would like to employ gyro stabilization to the camera. Electromechanical heads of the inventive subject matter can facilitate remote camera head control while nevertheless giving all the advantages of a lightweight system that uses PCT stator motors (e.g., no cogging) while providing haptic feedback to a camera operator working remotely. Moreover, systems of the inventive subject matter can be configured as all-in-one systems, allowing for panning, tilting, and rolling all in a single lightweight and small package.

FIG.1shows control system100having a camera102mounted therein. Control system100features three axes of control, including roll, tilt, and pan. Thus, control system100incorporates roll motor104, tilt motor106, and pan motor108. Because each of these motors is configured as a PCB stator motor, they are thin in comparison to traditional electric motors. PCB stator motors also feature annular rotors (e.g., the rotating output portion of the motor) instead of rotors formed as a shaft, which makes configurations described in this application possible. Pan motor108and tilt motor106are oriented such that their axes of rotation are orthogonal to one another (and tilt motor106and roll motor104are oriented such that their axes of rotation are orthogonal to one another), and roll motor104is configured such that camera102can be disposed as least partially inside a hole formed by roll motor104. This configuration ensures the lens of camera102is at the center of the axis of rotation for roll motor104, which can improve quality of a shot while recording.

Although the configuration described in this application shows the roll motor coupled to the tilt motor which is coupled to the pan motor, it is contemplated that the roll motor can be coupled with the pan motor which can then be coupled with the tilt motor without deviating from the inventive subject matter. Moreover, orienting an embodiment of the inventive subject matter differently while also changing how a camera mounts thereto can bring about repurposing of the motors (e.g., the pan motor can become a tilt motor, etc.). Such reorientations or reconfigurations are expressly contemplated in this patent application.

Behind camera102is a handle that couples with a plurality of mounting rods112that hold camera102in place. By including a handle, a camera operator can directly manipulate the orientation of camera102, and, while manipulating the camera's orientation, roll motor104, tilt motor106, and pan motor108can provide haptic feedback to the operator.

FIG.2shows control system100from a side view (without camera102or handle110), showing tilt motor106head-on. From this view, tilt motor106can be seen as having an annular configuration. Tilt rotor114is therefore an annular component, and a roll motor mount116is coupled with tilt rotor114so that a rotation of tilt motor106causes the roll motor104(and thus a camera) to tilt. Tilt motor106is coupled with pan motor108by tilt motor mount118so that a rotation of pan motor108causes tilt motor106(and thus roll motor104and a camera) to pan.

FIG.3shows control system100from a different angle to show the front of roll motor104. Roll motor104includes only a partial PCB stator (roll stator124). In some embodiments, a full PCB stator (e.g., a PCB stator extending the full circumference of the rotor) can be implemented. PCB stator motors do not require a full stator and it can be advantageous to include a partial PCB stator, e.g., to reduce energy consumption or when less torque is required than a full PCB stator could produce. The partial PCB stator can be formed according to an arc that is a segment of a circle (e.g., greater than 0 radians but less then 2π radians).

From this view, mounting ring120is shown coupled with roll rotor122. Mounting ring120includes a plurality of collars that can be tightened to hold mounting rods112in place relative to roll rotor122. Thus, when a camera is coupled with mounting rods112, a camera mounted to the system can be rolled by roll motor104.

FIG.4shows a closer, cutaway view of roll motor104. From this view, roll stator124can be seen extending into a slot on roll rotor122. Roll rotor122interacts with roll motor body126in several areas. Roll motor body126features a set of grooves128and a set of tongues130that are sized and dimensioned to interact such that roll rotor122does not shift relative to roll motor body126(e.g., roll rotor's movement relative to roll motor body should be rotational about a center axis shared by both components).

A roll motor bearing132is shown positioned between roll motor body126and roll rotor122. Although only one roll motor bearing is shown, the space that roll motor bearing132exists in extends radially through roll motor104, and multiple roll motor bearings can be disposed throughout. Dust shield134is also visible, which prevents detritus from entering the space where roll motor bearings are disposed. Dust shield134can be made from, e.g., a flexible material such as rubber, plastic, or the like. Dust shield134improves device performance and longevity by preventing dust from entering the bearing space. Dust shields can be incorporated into any of the motors described in this application.

Roll motor104additionally includes an integrated optical rotation sensor136which is fixed to an interior surface of roll motor body126such that it faces an optical track138disposed on a portion of roll rotor122that is located near the set of tongues130. Optical rotation sensor136thus measures rotation of roll rotor122, which can be used to measure angular position, angular velocity, angular acceleration, and any other metric that can be derived using time and angular position. These measured and derived physics parameters can be used as feedback in a control system, which will be described below in more detail. Although rotation sensors in this application are described as being optical, any type of rotation detector can be implemented without deviating from the inventive subject matter.

FIG.5shows a closer, cutaway view of tilt motor106. Tilt motor106features an annular tilt stator140. Tilt stator140is disposed within a slot such that it can cause tilt rotor114to turn. Roll motor mount116is coupled to tilt rotor114. Tilt stator140couples with an outer portion of tilt motor body142. By coupling with an outer portion, tilt stator140can extend into a slot created by tilt rotor114. Tilt motor106additionally include tilt motor bearings144that act as an interface between tilt motor body142and tilt rotor114. As shown inFIG.5, tilt motor bearings144are both ball bearings, though in some embodiments, roller bearings, magnetic bearings, fluid bearings, and plain bearings can also be used without deviating from the inventive subject matter. Tilt motor106is coupled to tilt motor mount118, and tilt motor mount118couples with pan motor108, as described below.

As with roll motor104, tilt motor106features tilt rotation detector152, which can facilitate measuring and deriving a variety of physics parameters related to tilt motor106. Opposite roll rotation detector152is an optical track disposed on an internal surface of tilt rotor122. Physics parameters can be used by, e.g., a computing device and motor controller to bring about desirable effects described below in more detail.

FIG.6shows a closer, cutaway view of pan motor108. Pan motor108is configured similarly to tilt motor106. It includes pan motor body146and pan rotor148. Pan motor bearings162are disposed between pan motor body146and pan motor rotor148and are configured to reduce friction between those components. Pan rotor148is caused to turn by pan motor stator158. As shown inFIG.6, pan motor body146couples with tilt motor mount118, which leaves pan rotor148facing downward. Pan rotor148can thus couple to, e.g., a stationary surface, a tripod, a camera crane, camera dolly, tracking vehicle, body-mounted vest, stabilization arm, etc.

Because pan motor108is configured similarly to tilt motor106, it features an integrated pan rotation detector154, which can facilitate measuring and deriving a variety of physics parameters related to pan motor108. Opposite pan rotation detector154is an optical track156disposed on an internal surface of pan rotor148. Physics parameters can be used by, e.g., a computing device and motor controller to bring about desirable effects described below in more detail.

FIG.7shows an outer surface of tilt motor mount118with controller150coupled thereto. Controller150can include electronics sufficient to drive and control roll motor104, tilt motor106, and pan motor108. In some embodiments, motor controller150comprises a microprocessor that is additional capable of processing sensor information from all rotation detectors in a system of the inventive subject matter.

All these components together create a system that can give a camera operator the feel that a camera system has a heavy, mechanical feel while in reality it is lightweight and easy to transport. Systems of the inventive subject matter are intended to be manipulated directly by a camera operator.

Each motor in a system of the inventive subject matter operates according to a closed-loop control system, where information (e.g., physics parameters, as described above) from a motor's rotation detector is used in a feedback loop. Controller150can include, for example, a microprocessor, a computing device, a motor controller, a solid-state controller comprising prefabricated IC components, or any combination thereof implemented via hardware, software, or some combination thereof. Controller150is electronically and informationally coupled with each motor and rotation detector. In one use example, as a camera operator pans camera102, pan motor108undergoes an angular position change. Pan motor's rotation detector collects angular position data and sends that to controller150, and controller150uses that information to drive the pan motor108to change one or more of the system's physical qualities (e.g., mass, rotational inertia, friction, etc.).

Controller150thus interprets information from pan motor's rotation detector to determine information about the movement of pan motor108(e.g., angular position, angular velocity, angular acceleration, or a change in any of those terms). Controller150then sends signals to pan motor108to drive pan motor108(e.g., directly or via a motor driver circuit) to bring about the effect of simulated physical qualities for the system when it pans. For example, controller150can drive pan motor108in the opposite direction of the pan motor's angular position change to make it feel like control system100is heavier while panning than it actually is. For example, if pan motor108undergoes an angular acceleration, its rotation detector sends signals to controller150sufficient for controller150to determine pan motor's angular position change over time so that angular acceleration can be deduced, and controller150then tells pan motor108to “brake” (e.g., apply torque in a direction opposite of the pan motor's angular acceleration—in this case, applying a negative angular acceleration) resisting the pan motor's positive angular acceleration, giving control system100a simulated behavior and feel of a heavier mechanical system. When pan motor108is turning, controller150will cause control system100to continue to pan as if it has a higher rotational inertia than it actually has.

Although the example above relates to pan motor108, roll motor104and tilt motor106are configured to function according to the same principles. Each motor can be configured to create different apparent physical properties.

FIG.8shows another possible configuration of control system100. Instead of having a camera mounted, there is instead handle160, which can be used to manipulate control system100. This configuration facilitates control of a head with a camera attached while still maintaining the feel of a traditional, heavy mechanical system. The camera operator can then control the head with the same feel as if it were a directly controlled camera system.

FIG.9shows 2-axis control system200, which is an alternative embodiment of control system100. 2-axis control system200does not have a roll motor, instead featuring only tilt and pan motors. Tilt motor202is configured according to the description of tilt motor106, above, and pan motor204is configured according to the description of pan motor108. 2-axis control system200additionally features handle206to facilitate manual manipulation by an operator. Handle206couples with tilt motor by handle bracket208.

An advantage of control systems of the inventive subject matter is that camera operators can configure a system to mimic whatever existing system they like. For example, if a camera operator is accustomed to using a specific gear setup, a control system of the inventive subject matter can mimic that system. In some embodiments, an operator can select a specific camera and a specific rig, and the control system can then mimic that setup. Operators can similarly configure a control system to function as a fictional system having custom physical properties (e.g., custom mass and friction).

Thus, specific systems and methods directed to electromechanical camera heads have been disclosed. It should be apparent to those skilled in the art that many more modifications besides those already described are possible without departing from the inventive concepts in this application. The inventive subject matter, therefore, is not to be restricted except in the spirit of the disclosure. Moreover, in interpreting the disclosure all terms should be interpreted in the broadest possible manner consistent with the context. In particular the terms “comprises” and “comprising” should be interpreted as referring to the elements, components, or steps in a non-exclusive manner, indicating that the referenced elements, components, or steps can be present, or utilized, or combined with other elements, components, or steps that are not expressly referenced.