Pan and tilt unit

• US 6,027,257 A
• Filed: 03/26/1998
• Issued: 02/22/2000
• Est. Priority Date: 03/26/1998
• Status: Expired due to Term

• Current Assignee: Ip Ot Sub Ulc
• Original Assignee: Basic Telepresence, Inc.
• Inventors: Pimenta, Joseph R., Richards, William G., Honig, Lawrence M.
• Primary Examiner(s): Metjahic, Safet
• Assistant Examiner(s): HAN, JANG K
• Application Number:
  US09/048,645
• Time in Patent Office: 698 Days
• Field of Search: 396/20, 396/419, 396/427, 396/428, 248/176.1, 248/176.3, 248/178.1, 248/183.1, 248/186.2, 248/274.1, 248/282.1, 248/283.1, 352/243, 348/373
• US Class Current: 396/428
• CPC Class Codes: F16M 11/10 around a horizontal axis F16M11/12 takes precedence
• CPC Class Codes: F16M 11/18 with mechanism for moving the apparatus relatively to the stand
• CPC Class Codes: F16M 11/2014 around a vertical axis F16M11/2035 takes precedence
• CPC Class Codes: F16M 2200/022 by friction
• CPC Class Codes: G08B 13/1963 Arrangements allowing camera rotation to change view, e.g. pivoting camera, pan-tilt and zoom [PTZ]

Abstract

A pan-tilt unit for positioning or aiming a device requiring motion control, such as a videoconferencing or surveillance camera. The pan-tilt unit includes a base, a rotatable pan platform and a rotatable tilt bed for supporting and selectively orienting the device in a desired direction. The pan platform is rotatably supported on the base about a pan axis, and the tilt bed is rotatably supported on the pan platform about a tilt axis that is transverse to the pan axis. A pan motor and a tilt motor drive the pan platform and the tilt bed in response to control signals that may be provided to the unit across a communication network. The motors may be mounted on the unit to remain stationary relative to the base during panning and tilting operations. The motors may be controlled to rotate in opposite directions to maintain the tilt bed at a fixed tilt angle as the pan platform is rotated about the pan axis. The unit may include a drive shaft rotatably supported along the pan axis to couple the drive motor to the tilt bed.

Claims

1. A pan-tilt unit for panning and tilting a device, the pan-tilt unit comprising:

a base;

a pan platform rotatably supported on the base about a pan axis;

a tilt bed rotatably supported on the pan platform about a tilt axis that is transverse to the pan axis, the tilt bed being constructed and arranged to support a device thereon;

a pan motor mounted to the base and coupled to the pan platform to drive the pan platform about the pan axis during a panning operation; and

a tilt motor mounted to the base and coupled to the tilt bed to drive the tilt bed about the tilt axis during a tilting operation;

each of the pan motor and the tilt motor being stationary relative to the base during the panning and tilting operations, the pan and tilt motors to be operated in opposite directions to maintain the tilt bed at a fixed tilt angle about the tilt axis as the pan platform rotates about the pan axis during the panning operation.

2. The pan-tilt unit recited in claim 1, further comprising a drive shaft rotatably supported along the pan axis, the drive shaft coupling the tilt motor to the tilt bed.

3. The pan-tilt unit recited in claim 2, wherein the drive shaft is fixed against axial movement along the pan axis.

4. The pan-tilt unit recited in claim 1, further comprising a motor mount plate that is supported on the base perpendicular to the pan axis, the pan and tilt motors being mounted to the motor mount plate.

5. The pan-tilt unit recited in claim 4, wherein each of the pan and tilt motors has a motor shaft that lies parallel to the pan axis.

6. The pan-tilt unit recited in claim 1, wherein the pan and tilt motors are operated concurrently to maintain the tilt bed at the fixed tilt angle during the panning operation.

7. The pan-tilt unit recited in claim 1, wherein the pan axis intersects the tilt axis.

8. The pan-tilt unit recited in claim 1, further comprising a pan drive mechanism that includes a plurality of gears directly coupling the pan motor to the pan platform.

9. The pan-tilt unit recited in claim 8, wherein the plurality of gears includes a pan drive gear that is affixed to the pan platform.

10. The pan-tilt unit recited in claim 8, further comprising a tilt drive mechanism that includes a plurality of gears directly coupling the tilt motor to the tilt bed.

11. A pan-tilt unit for panning and tilting a device, the pan-tilt unit comprising:

a base;

a pan platform rotatably supported on the base about a pan axis;

a tilt bed rotatably supported on the pan platform about a tilt axis that is transverse to and intersects the pan axis, the tilt bed being constructed and arranged to support a device thereon;

a pan motor mounted to the base;

a tilt motor mounted to the base;

a pan drive mechanism coupling the pan motor to the pan platform to rotate the pan platform about the pan axis during a panning operation; and

a tilt drive mechanism coupling the tilt motor to the tilt bed to rotate the tilt bed about the tilt axis during a tilting operation, the tilt drive mechanism including a drive shaft that is rotatably supported along the pan axis and coupled to the tilt bed.

12. The pan-tilt unit recited in claim 11, wherein the tilt axis is perpendicular to the pan axis.

13. A pan-tilt unit for panning and tilting a device, the pan-tilt unit comprising:

a base;

a pan platform rotatably supported on the base about a pan axis;

a tilt bed rotatably supported on the pan platform about a tilt axis that is transverse to the pan axis, the tilt bed being constructed and arranged to support a device thereon;

a pan motor mounted to the base;

a tilt motor mounted to the base;

a pan drive mechanism coupling the pan motor to the pan platform to rotate the pan platform about the pan axis during a panning operation; and

a tilt drive mechanism coupling the tilt motor to the tilt bed to rotate the tilt bed about the tilt axis during a tilting operation, the tilt drive mechanism including a drive shaft that is rotatably supported along the pan axis and coupled to the tilt bed, the drive shaft being fixed against axial movement along the pan axis.

14. A pan-tilt unit for panning and tilting a device, the pan-tilt unit comprising:

a base;

a pan platform rotatably supported on the base about a pan axis;

a tilt bed rotatable supported on the pan platform about a tilt axis that is transverse to the pan axis, the tilt bed being constructed and arranged to support a device thereon;

a pan motor mounted to the base;

a tilt motor mounted to the base;

a pan drive mechanism coupling the pan motor to the pan platform to rotate the pan platform about the pan axis during a panning operation, the pan drive mechanism including a pan pinion mounted to a shaft of the pan motor and a pan drive gear mounted to the pan platform coaxial with the pan axis, the pan pinion being coupled to the pan drive gear; and

a tilt drive mechanism coupling the tilt motor to the tilt bed to rotate the tilt bed about the tilt axis during a tilting operation, the tilt drive mechanism including a drive shaft that is rotatable supported along the pan axis and coupled to the tilt bed.

15. The pan-tilt unit recited in claim 14, wherein the tilt drive mechanism includes a tilt pinion mounted to a shaft of the tilt motor and a tilt drive gear coaxially secured to the drive shaft, the tilt pinion being coupled to the tilt drive gear to rotate the drive shaft about the pan axis.

16. The pan-tilt unit recited in claim 15, wherein the pan drive gear and the tilt drive gear are spur gears directly engaged by the pan pinion and the tilt pinion, respectively.

17. The pan-tilt unit recited in claim 15, wherein the tilt drive mechanism further comprises a tilt cluster gear coupling the tilt pinion to the tilt drive gear.

18. The pan-tilt unit recited in claim 15, wherein the pan drive mechanism further includes a pan cluster gear coupling the pan pinion to the pan drive gear.

19. A pan-tilt unit for panning and tilting a device, the pan-tilt unit comprising:

a base;

a pan platform rotatably supported on the base about a pan axis;

a tilt bed rotatably supported on the pan platform about a tilt axis that is transverse to the pan axis, the tilt bed being constructed and arranged to support a device thereon;

a pan motor mounted to the base;

a tilt motor mounted to the base;

a pan drive mechanism coupling the pan motor to the pan platform to rotate the pan platform about the pan axis during a panning operation; and

a tilt drive mechanism coupling the tilt motor to the tilt bed to rotate the tilt bed about the tilt axis during a tilting operation, the tilt drive mechanism including a drive shaft that is rotatably supported along the pan axis and coupled to the tilt bed, the tilt drive mechanism further including a drive pinion mounted to the drive shaft and a tilt gear mounted to the tilt bed, the drive pinion driving the tilt gear to rotate the tilt bed.

20. The pan-tilt unit recited in claim 19, wherein the tilt gear is coaxial with the tilt axis.

21. The pan-tilt unit recited in claim 20, the drive pinion and the tilt gear are bevel gears.

22. A pan-tilt unit for panning and tilting a device, the pan-tilt unit comprising:

a base;

a pan platform rotatable supported on the base about a pan axis;

a tilt bed rotatably supported on the pan platform about a tilt axis that is transverse to the pan axis, the tilt bed being constructed and arranged to support a device thereon;

a pan motor mounted to the base;

a tilt motor mounted to the base;

a pan drive mechanism coupling the pan motor to the pan platform to rotate the pan platform about the pan axis during a panning operation; and

a tilt drive mechanism coupling the tilt motor to the tilt bed to rotate the tilt bed about the tilt axis during a tilting operation, the tilt drive mechanism including a drive shaft that is rotatably supported along the pan axis and coupled to the tilt bed, the drive shaft including a lead screw and the tilt drive mechanism further including a cam link that threadedly engages the lead screw so that rotation of the drive shaft drives the cam link along the pan axis, the cam link being pivotally connected to the tilt bed to rotate the tilt bed as the cam link moves along the pan axis.

23. The pan-tilt unit recited in claim 22, wherein the cam link is connected to the tilt bed at a location spaced from the tilt axis.

24. The pan-tilt unit recited in claim 23, wherein the cam link is connected to the tilt bed with a pin that extends through a slot in the cam link.

25. A pan-tilt unit for panning and tilting a device, the pan-tilt unit comprising:

a base;

a pan platform rotatably supported on the base about a pan axis;

a tilt bed rotatably supported on the pan platform about a tilt axis that is perpendicular to the pan axis, the tilt bed being constructed and arranged to support a device thereon;

a pan motor mounted to the base;

a tilt motor mounted to the base;

a pan drive mechanism coupling the pan motor to the pan platform to rotate the pan platform during a panning operation, the pan drive mechanism including a pan pinion mounted to a shaft of the pan motor and a pan drive gear mounted to the pan platform coaxial with the pan axis, the pan pinion being coupled to the pan drive gear; and

a tilt drive mechanism coupling the tilt motor to the tilt bed to rotate the tilt bed during a tilting operation, the tilt drive mechanism including a tilt pinion mounted to a shaft of the tilt motor, a drive shaft rotatably supported along the pan axis, and a tilt drive gear coaxially secured to the drive shaft, the tilt pinion being coupled to the tilt drive gear to rotate the drive shaft about the pan axis, the drive shaft being coupled to the tilt bed to rotate the tilt bed about the tilt axis;

each of the pan motor and the tilt motor being stationary relative to the base during the panning and tilting operations, the pan and tilt motors to be operated in opposite directions to maintain the tilt bed at a fixed tilt angle about the tilt axis as the pan platform rotates about the pan axis during the panning operation.

26. The pan-tilt unit recited in claim 25, wherein the base includes a generally cylindrical housing with a circular sidewall, the pan platform being supported on an upper edge of the sidewall.

27. The pan-tilt unit recited in claim 26, further comprising a pan bearing adjacent the upper edge of the sidewall.

28. The pan-tilt unit recited in claim 27, wherein the pan bearing includes a pair of thrust washers disposed between the upper edge of the sidewall and the pan platform.

29. The pan-tilt unit recited in claim 26, wherein the pan platform has a generally conical shape with an outer periphery that is disposed adjacent the upper edge of the sidewall.

30. The pan-tilt unit recited in claim 29, wherein the pan platform includes a tilt bed mount that is coaxially located along the pan axis, and an angled wall extending radially outward from the tilt bed mount toward the outer periphery of the pan platform, the tilt bed being rotatably mounted to the tilt bed mount.

31. The pan-tilt unit recited in claim 25, further comprising an adapter plate that is constructed and arranged to be attached to the tilt bed to mount the device to the tilt bed.

32. The pan-tilt unit recited in claim 31, wherein the adapter plate includes a fastener that is adjustable along the adapter plate to selectively position the device relative to the pan axis.

33. The pan-tilt unit recited in claim 32, wherein the fastener is slidable along a slot in the adapter plate.

34. The pan-tilt unit recited in claim 33, wherein the adapter plate includes indicia arranged adjacent the slot to position the device relative to the pan axis.

35. The pan-tilt unit recited in claim 25, further comprising a mounting plate that is supported on the base perpendicular to the pan axis, the pan and tilt motors being mounted to the mounting plate.

36. The pan-tilt unit recited in claim 25, further comprising a first bearing and a second bearing, the first bearing being mounted to the base to rotatably support a first portion of the drive shaft, the second bearing being mounted to the pan platform to rotatably support a second portion of the drive shaft.

37. The pan-tilt unit recited in claim 25, further comprising a tilt stop that is constructed and arranged to limit the rotation of the tilt bed about the tilt axis.

38. The pan-tilt unit recited in claim 37, wherein the tilt stop includes a pair of pins attached to the tilt bed on opposing sides of the pan axis that engage the drive shaft when the tilt bed is rotated to a predetermined angle about the tilt axis.

39. The pan-tilt unit recited in claim 25, further comprising a zoom controller that is constructed and arranged to communicate with a camera that is to be mounted on the tilt bed, the zoom controller to adjust camera zoom in response to an input control signal.