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1. WO2010031486 - DEVICE AND METHOD FOR THE POSITION STABILIZATION OF CAMERAS, AND FOR PRODUCING FILM RECORDINGS FROM UNMANNED AIRCRAFT

Publication Number WO/2010/031486
Publication Date 25.03.2010
International Application No. PCT/EP2009/006151
International Filing Date 25.08.2009
IPC
G03B 15/00 2006.1
GPHYSICS
03PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
BAPPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
15Special procedures for taking photographs; Apparatus therefor
G01C 21/18 2006.1
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
10by using measurement of speed or acceleration
12executed aboard the object being navigated; Dead reckoning
16by integrating acceleration or speed, i.e. inertial navigation
18Stabilised platforms, e.g. by gyroscope
F16M 11/12 2006.1
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
MFRAMES, CASINGS, OR BEDS, OF ENGINES OR OTHER MACHINES OR APPARATUS, NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS OR SUPPORTS
11Stands or trestles as supports for apparatus or articles placed thereon
02Heads
04Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
06allowing pivoting
12in more than one direction
F16M 11/18 2006.1
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
MFRAMES, CASINGS, OR BEDS, OF ENGINES OR OTHER MACHINES OR APPARATUS, NOT SPECIFIC TO AN ENGINE, MACHINE, OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS OR SUPPORTS
11Stands or trestles as supports for apparatus or articles placed thereon
02Heads
18with mechanism for moving the apparatus relatively to the stand
G08B 13/196 2006.1
GPHYSICS
08SIGNALLING
BSIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
13Burglar, theft or intruder alarms
18Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
189using passive radiation detection systems
194using image scanning and comparing systems
196using television cameras
CPC
F16M 11/18
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
11Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
02Heads
18with mechanism for moving the apparatus relatively to the stand
F16M 11/2071
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
11Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
20Undercarriages with or without wheels
2007comprising means allowing pivoting adjustment
2035in more than one direction
2071for panning and rolling
F16M 13/02
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
13Other supports for positioning apparatus or articles
02for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
F16M 2200/042
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
MFRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
2200Details of stands or supports
04Balancing means
041for balancing rotational movement of the head
042for panning movement
G01C 21/18
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
10by using measurements of speed or acceleration
12executed aboard the object being navigated; Dead reckoning
16by integrating acceleration or speed, i.e. inertial navigation
18Stabilised platforms, e.g. by gyroscope
G03B 15/006
GPHYSICS
03PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
BAPPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
15Special procedures for taking photographs; Apparatus therefor
006Apparatus mounted on flying objects
Applicants
  • REICH, Stefan [DE]/[DE]
Inventors
  • REICH, Stefan
Priority Data
10 2008 039 468.825.08.2008DE
Publication Language German (de)
Filing Language German (DE)
Designated States
Title
(DE) VORRICHTUNG UND VERFAHREN ZUR LAGESTABILISIERUNG VON KAMERAS, UND ZUR HERSTELLUNG VON FILMAUFNAHMEN AUS UNBEMANNTEN FLUGKÖRPERN
(EN) DEVICE AND METHOD FOR THE POSITION STABILIZATION OF CAMERAS, AND FOR PRODUCING FILM RECORDINGS FROM UNMANNED AIRCRAFT
(FR) DISPOSITIF ET PROCÉDÉ DE STABILISATION DE LA POSITION DE CAMÉRAS ET DE RÉALISATION DE SÉQUENCES VIDÉO À PARTIR DE DRONES
Abstract
(DE) Eine Lagestabilisierung für eine in einer motorbetriebenen Schwenkvorrichtung um mehrere Achsen (6, 7, 8) schwenkbar aufgehängte Kamera (1), mit Drehsensoren oder Drehratensensoren (14, 41, 42, 43) und einer Regelung, wobei mittels einer Überblendschaltung (50) die Zuordnung, der Kopplungsgrad und/oder die Wirkrichtung der Signale im Regelungs-Pfad von Drehsensoren oder Drehratensensoren zu den Motoren (11, 12, 13) in Abhängigkeit der relativen Ausrichtung der gemessenen zu den angetriebenen Rotationsachsen variabel steuerbar sind. Eine Vorrichtung zur Lagestabilisierung einer Kamera (1), bei der im Antriebspfad eines der Motoren ein nachgiebiges Kopplungsglied vorgesehen ist. Eine Vorrichtung zur Lagestabilisierung einer Kamera (1), bei der der gemeinsame Schwerpunkt der bewegten Teile der Vorrichtung ausserhalb der Kamera (1) liegt und bei der im mechanischen Kopplungspfad ein für zumindest zwei Rotationsachsen gemeinsam wirkendes, nachgiebiges Kopplungsglied eingefügt ist, welches im gemeinsamen Schwerpunkt angeordnet ist oder zumindest dort wirkt.
(EN) A position stabilization system for a camera (1) suspended in a motor-driven pivot device so as to be able to pivot about several axes (6, 7, 8), having rotary sensors or yaw rate sensors (14, 41, 42, 43) and a control, wherein by means of a cross-fade circuit (50), the association, the degree of coupling, and/or the effective direction of the signals in the control path from rotary sensors or yaw rate sensors to the motors (11, 12, 13) can be variably controlled according to the relative orientation of the measured rotational axes to the driven rotational axes. The invention further relates to a position stabilization device for a camera (1), which comprises an elastic coupling element in the drive path of one of the motors and to a position stabilization device for a camera (1), wherein the common center of gravity of the moving parts of the device lies outside the camera (1), an elastic coupling element being inserted in the mechanical coupling path which element is effective for at least two rotational axes at the same time and which is arranged or at least effective in the common center of gravity.
(FR) L'invention concerne un dispositif de stabilisation pour une caméra (1) suspendue de façon à pivoter autour de plusieurs axes (6, 7, 8) dans un dispositif de pivotement motorisé, comportant des capteurs de rotation ou des capteurs de la vitesse de rotation (14, 41, 42, 43) et un dispositif de régulation. Un circuit de fondu (50) permet de commander de façon variable l'affectation, le degré de couplage et/ou la direction d'effet des signaux dans la voie de régulation de capteurs de rotation ou de capteurs de la vitesse de rotation par rapport aux moteurs (11, 12, 13), en fonction de l'orientation relative des axes de rotation mesurés par rapport aux axes de rotation entraînés. L'invention concerne également un dispositif de stabilisation pour une caméra (1) comportant un élément de couplage élastique disposé dans la voie d'entraînement d'un moteur. L'invention concerne également un dispositif de stabilisation pour une caméra (1), le centre de gravité commun des parties mobiles du dispositif étant situé en dehors de la caméra (1), et un élément de couplage élastique, agissant communément pour au moins deux axes de rotation, disposé dans le centre de gravité commun ou agissant du moins dans celui-ci, étant inséré dans la voie de couplage mécanique.
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