DEVICE AND METHOD FOR THE POSITION STABILIZATION OF CAMERAS, AND FOR PRODUCING FILM RECORDINGS FROM UNMANNED AIRCRAFT
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Abstract
The invention relates to a device and a method for the stabilization of the position of cameras, and for the production of film recordings from unmanned airborne objects
An position stabilization system for a camera suspended in a motor-driven pivot device so as to be able to pivot the same about multiple axes, comprising rotary sensors or angular rate sensors and a closed-loop control, wherein the assignment, the coupling degree, and/or the effective direction of the signals in the control path from the angular rate sensors to the motors can be variably controlled by means of a cross-fade circuit as a function of the relative orientation of the measured rotational axes to the driven rotational axes. The invention further relates to special mechanical embodiments of the pivot device.
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Citations
36 Claims
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1-22. -22. (canceled)
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23. An electronic device for the stabilization of the position of a camera being rotatable suspended on a suspension comprising multiple rotational suspension axes and comprising motors for driving the rotational movements carried out about the rotational suspension axes, comprising:
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angular rate sensors for multiple camera-related rotational axes which may be attached to the camera or to a platform such that the sensors move conjointly, and their rotational movements are identical to those of the camera, a regulating circuit which, based on signals of the angular rate sensors, actuates the motors in such a manner that a closed-loop control circuit can be created, a cross-fade circuit, based on a measured or approximated signal rendering or approximating the relative orientation of the rotational axes to each other, variably controlling the assignment, the coupling degree, or the effective direction of the signals on the signal path from the angular rate sensors to the motors, as a function of the relative orientation of the rotational axes. - View Dependent Claims (24, 25, 26, 27, 32)
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28. Device for the stabilization of the position of a camera, comprising a bearing support that is pivotable about two rotational axes and by means of which the camera can be connected to the surroundings, in particular to a vehicle, comprising motors for driving the rotational movements occurring about the rotational axes, and comprising stabilizing electronics comprising rotational sensors,
wherein the rotational axes are arranged in proximity to the center of gravity of the camera along with the respective conjointly moving parts of the device, and comprising a plurality of motors for driving used the rotational movements occurring about the axes, characterized in that a yielding coupling link is provided on the drive path of a motor in the plurality of motors, allowing a differential rotation about axis related to the motor even without the movement of the motor.
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33. A method for the stabilization of the position of a camera being rotatable suspended about two rotational axes by means of a bearing support and which can be pivoted about the rotational axes by means of motors, comprising the following process steps:
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the angular rate of the camera is measured about more than one camera-related rotational axis by means of attaching angular rate sensors to the camera or to a body provided for receiving the camera such that the sensors follow at identical rotational movements; a closed-loop control circuit is formed, wherein the signals of the angular rate sensors actuate the motors via a regulating circuit connected thereto; the relative orientation of the rotational axes to each other is measured or represented by means of a signal serving for approximation; the assignment, coupling degree, or the effective direction of the signals on the signal path from the angular rate sensors to the motors are variably controlled as a function of the relative orientation of the rotational axes. - View Dependent Claims (34, 35)
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36. A method for the production of film recordings from unmanned airborne objects using a camera pivotable about two rotational axes by means of a bearing support which can be pivoted about the rotational axes by means of motors, comprising the following process steps to be accomplished on board of a remotely controllable airborne object:
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the angular rate of the camera is measured about more than one camera-related rotational axis by means of attaching angular rate sensors to the camera or to a body provided for receiving the camera such that the sensors follow at identical rotational movements; a closed-loop control circuit is formed, wherein the signals of the angular rate sensors actuate the motors via a regulating circuit connected thereto; the relative orientation of the rotational axes to each other is measured or represented by means of a signal serving for approximation; the assignment, coupling degree, or the effective direction of the signals on the signal path from the angular rate sensors to the motors are variably controlled as a function of the relative orientation of the rotational axes.
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Specification