WO2018101893A1 - Cardan de caméra et unité centrale de commande fournissant une commande et une stabilisation intuitives de l'angle de pointage de caméra - Google Patents

Cardan de caméra et unité centrale de commande fournissant une commande et une stabilisation intuitives de l'angle de pointage de caméra Download PDF

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Publication number
WO2018101893A1
WO2018101893A1 PCT/TR2016/050482 TR2016050482W WO2018101893A1 WO 2018101893 A1 WO2018101893 A1 WO 2018101893A1 TR 2016050482 W TR2016050482 W TR 2016050482W WO 2018101893 A1 WO2018101893 A1 WO 2018101893A1
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WO
WIPO (PCT)
Prior art keywords
controller
camera
set forth
transfer system
camera head
Prior art date
Application number
PCT/TR2016/050482
Other languages
English (en)
Inventor
Onur EFE
Erman URET
Semih ERDEN
Fatih OZKUL
Aykut GULALANLAR
Okan HALIS
Original Assignee
Medialab Tasarim Teknoloji Sanayi Ve Ticaret Ltd. Sti.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by Medialab Tasarim Teknoloji Sanayi Ve Ticaret Ltd. Sti. filed Critical Medialab Tasarim Teknoloji Sanayi Ve Ticaret Ltd. Sti.
Priority to PCT/TR2016/050482 priority Critical patent/WO2018101893A1/fr
Publication of WO2018101893A1 publication Critical patent/WO2018101893A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/681—Motion detection
    • H04N23/6812—Motion detection based on additional sensors, e.g. acceleration sensors

Definitions

  • the present invention relates to a system providing intuitive camera pointing angle control and stabilization at the same time.
  • Pointing angle control is generally achieved by use of a joystick which requires expertise in the field.
  • US2016171330 disclosing a system and apparatus for controlling a camera pivoting device (e.g., mechanical gimbal).
  • the system comprises a main computing device, a gimbal stabilizer controller, and a computer vision camera, and/or a user camera.
  • the system is able to track a target object using the computer vision camera even while the target object is moving, the base of the pivoting device is moving (e.g., when a user controlling the camera moves), or a combination of thereof.
  • the camera pivoting device is mounted on to a device/object that can provide mobility and/or transportation.
  • a further prior art document in the field of the present invention can be referred to as US2016201847, disclosing stabilization system or gimbal having a mounting arrangement for a camera providing for rotation about pan, roll, and tilt axes where tilt and roll axis position can be independently adjusted.
  • the arrangement can be configured so that when adjusting the stabilization frame relative to the roll axis, adjustment of the camera COG relative to the tilt axis is inhibited.
  • the system can further be arranged such that when adjusting the roll axis, adjustment relative to the tilt axis is inhibited. Similarly, when adjusting the pan axis, adjustment to the tilt or roll axes may be inhibited.
  • the present invention provides a control center unit which sends control signals to the camera head which is composed of actuators to control camera orientation. Besides these, motion resolution and accuracy is increased because the system is capable of retrieving feedback signals regarding its current physical state in terms of angular positionment of rotation axes.
  • the camera head is configured such that all axes of rotation can rotate continuously and product of their angular positions is the desired camera orientation.
  • Camera pointing angle control is achieved by applying human gesture controls on the camera orientation while stabilizing the camera simultaneously.
  • the invention is further advantageous in that it stabilizes angular vibrations and unwanted movements of its attached surface.
  • the invention can eliminate any angular error caused by the position of the camera head with respect to the ground changing when a recorded movement loop is repeated.
  • the processor can calculate the current state of the camera.
  • the invention provides stabilization by coordinating synchronization of changes in motion acceleration. More precisely, the present invention particularly provides that angle control is offered by using a control center at a hand-held camera level while stabilizing angular vibrations and unwanted movements at the surface where the camera head is attached is automatically possible.
  • the invention further allows motion data to be recorded with respect to time and replayed.
  • the present invention therefore addresses problems not eliminated by the prior art references; particularly, the system of the invention operates in a closed loop, knowing the positions of the motors relative to each other, which increases resolution and prevent gimbal-lock.
  • the invention provides that transfer of orientation data produced by the user is instinctively effectuated, as well as ensuring absolute angle is in the same compass direction so as to pair the user-held control center and the camera head, therefore simultaneously providing stabilization and pointing angle control.
  • the present invention allows the user to shoot professional footage without being an operator by providing camera pointing angle control and stabilization simultaneously while being apart from the camera in wireless connection distance. Therefore the system allows user to shoot any scene without actually being in the camera view.
  • the invention can stabilize vibrations and unwanted movements of its attached surface while providing pointing angle control at the hand-held camera level.
  • the system comprises an angler to which the camera is attached, a leader by which wireless control of angle and movement is provided and other side components depending on the intended use of the system. Distinctive movement filters and motor control system provide ease of shooting cinematic footage. Camera movements can be controlled simultaneously and be saved to a database and recreated repeatedly in an unmanned fashion.
  • the invention can be used by itself or in coordination with other equipment in studio and location shooting.
  • the invention can be used as hand-held, as a camera angle controller or time-lapse controller on a tripod, as a camera angle controller on a jimmy jib or as a camera angle controller or controller mounted on cars, motorcycles, boats or any surface that is suitable for mounting.
  • Fig. 1 demonstrates an isometric view of a camera head configuration according to the present invention.
  • Fig. 2 demonstrates a flow diagram of the operation of the interpolator module according to the present invention.
  • the interpolator module processes absolute orientation data from the controller and absolute orientation data from the camera head to obtain intermediate data which will then be synthesized, calculated and converted to link angles.
  • Fig. 3 demonstrates an isometric view of the hollow shaft slip ring configuration of the motor units according to the present invention.
  • Fig. 4 demonstrates a lateral view of the configuration of Fig. 3 according to the present invention.
  • Fig. 5 demonstrates a flow diagram of the core stages in the motor control operation according to the present invention.
  • Fig. 6 demonstrates a flow diagram of the orientation read task according to the present invention.
  • Fig. 7 demonstrates a flow diagram of the packet received event handler according to the present invention.
  • Fig. 8 demonstrates a detailed flow diagram of the motor control procedure indicating separate tasks performed by the controller and the camera head.
  • Fig. 9 demonstrates rotation vector (V) with its components in the x, y and z axes.
  • Fig. 10 demonstrates a schematic diagram of the synthesis operation based on quaternion number system according to the present invention.
  • Fig. 11 demonstrates an isometric view of an alternative hollow shaft slip ring configuration of the motor units according to the present invention.
  • Fig. 12 demonstrates an isometric exemplary view of a controller unit with an interaction surface according to the present invention.
  • the present invention proposes a motion transfer system and control center unit (controller (1) as seen in Fig. 12) as will be delineated hereinafter.
  • Controller (1) and camera head (2) are typically two separate systems in signal communication with each other.
  • the collected gesture control data by the controller (1) is sent to the camera head (2) by means of the wireless connection transmitter of the controller (1).
  • the camera head (2) hardware according to the present invention is designed as will be delineated hereinafter.
  • three motors (respectively first, second and third motors (4, 5 and 6)) provide rotation in three axes.
  • the range of motion is determined by the sizes and placements of the motors and the camera.
  • the size and weight of the camera with and without a protective case and the thicknesses and centers of rotation of the three motors are designated to be the determining factors according to the present invention.
  • moment of inertia increases with the distance of the mass from the axis of rotation.
  • increasing motor thickness can be considered advantageous as it increases the power of the motor.
  • the present invention proposes a camera head (2) design which utilizes the weight of the camera (payload) as a stabilizing component for the system. In other words, the system is designed to work in a stable fashion once the camera is attached to it.
  • a second orientation sensor is used in the camera head (2) in the manner that motor control is performed relative orientation with respect to the camera head ground frame. It is advantageous in that consistence between motor angle control and pointing angle control is ensured because the three dimensional position information of the camera is also obtainable by combination of motor link angles. As a result, the orientation of the camera with respect to the system and the orientation of the system with respect to the ground is evaluated. Using an algorithm based on quaternions, it is possible for the processor to determine camera orientation based on link angles of individual motors. For this calculation, system applies angular position measurements for each rotation axes and applies kinematic equations. According to the invention, magnetic rotary (angular) position sensors are used as angular measurement sensors on account of their sensitivity and efficiency.
  • the present invention proposes an embedded system where the processor calculates how motion acceleration changes and provides a smooth transition.
  • Orientation data from the controller (1) are transferred to the processor in the camera head (2). Controller (1) orientation data and camera head (2) ground frame orientation data is processed to obtain relative orientation data.
  • encoders (13) receive motor link angles from the sensors and transfer this data to the processor.
  • Processor models the system using algorithm developed based on quaternions, calculates which motor needs to rotate and how much to obtain previously calculated absolute angle. This calculation is applied to the motor drivers which is controlled by the PID controllers.
  • Motor control task is performed such that data received from an "Orientation Read Task” and "Packet Received Event Handler” are buffered and passed through linear interpolation and low pass filter by an interpolation module.
  • a synthesizing step is performed in the manner that quaternions are normed and intermediate output quaternion data from an equation suitable for the physical system are obtained. Subsequently, link angles are obtained by plugging output quaternions into the inverse kinematic equations.
  • Orientation Read Task is preferably carried out by the 9-axis absolute orientation sensor driver module (for instance BNO055) and data is loaded to said interpolation module.
  • the Racket Received Event Handler includes update of synchronization delay and norming of received data.
  • controller (1) and camera head (2) are two different systems run by different processors that communicate, their system times are different.
  • Bluetooth 4.0 is typically configured to send asynchronous data packages. Timestamp, definable as the time information independent of delay, allows "queue” and "time” of these transmissions to communicate in the same language.
  • System time of the controller (1) and the system time of the camera head (2) are related. As a specific example, the time difference between production of data in the controller (1) and production of data in the camera head (2) is variable. Received data cannot be used as is because the motion-time graph changes due to differences in data transfer times. Timestamp allows the accurate transfer of motion time graph generated in the controller by queue and time data.
  • Quaternions are a number system. Every quaternion is a linear combination of four basis elements. Quaternions were first described by Hamilton. This number system is used in calculations involving 3D rotations. i [ 1.0 w X y z
  • Rotation vector is denoted as “V” as in Fig. 9 and rotation angle is denoted "Q”.
  • the rotation direction of the rotation angle is determined by the right-hand rule. When right fingers are pointed in the direction of the rotation vector, the direction of the thumb gives the direction of the rotation angle.
  • Rotation vector (V) is a vector in 3-dimensional space. Therefore it has three components in the x, y and z axes (Vx, Vy, Vz).
  • Product of "A” rotation and “B” rotation (“C” rotation) is equivalent to "A” rotation followed by “B” rotation.
  • the product is determined by the products of four basis elements of the rotation quaternions and is unique to the number system.
  • Norming is the process of converting a quaternion to a unit quaternion. Data coming from the sensors are normed.
  • a mount system suitable for effecting attachment with a communication device such as a smartphone or a tablet computer or a glove suitable for providing control by gesturing is proposed.
  • a drive attachable to a variety of hardware where control data is produced is proposed to ensure that the controller (1) is robust and can be used in different applications. It is advantageous to have a port for mounting to a communication device, as they are widely used.
  • the glove allows the controller to sit in the palm of the user's hand, which provides effortless and more instinctive control compared to control systems using joysticks.
  • the pointing angle of the camera can be controlled by the user turning their hand to the desired position.
  • the embedded system fulfills two functions.
  • the embedded system software module assumes the role of a system stabilizer when the controller (1) and the camera head (2) are not remotely paired by a signal connection. To achieve this, the orientation head at the camera head (2) monitors motions of the camera head (2) and in case of a change or jolt, the camera is smoothly moved to the opposite direction. This control is performed at 100 times per second so all disruptive influences can be dampened.
  • Lithium-ion batteries of varying size and capacity (10-16 V, 3-4 cells) can be used as a power source for the system. Battery level is monitored and when battery level falls below a critical threshold value, the user is notified by a warning LED. In this case, system shuts down power to the motors to protect the battery.
  • System of the present invention uses dynamic power control to control the actuators of the system. This makes system performance independent from the supply voltage in the given range (10-16V) and more resistant to the unbalanced loads or any mechanic anomaly. Addition to this, dynamic power control algorithm decreases power consumption dramatically.
  • the system when wireless communication can be established, the system becomes suitable for jimmy jib applications as well as others.
  • the levers are connected by cables is not suitable for applications requiring responsiveness to different scenarios or horizontal versatility.
  • Jimmy jibs have control systems unique to them because of their dependence on the carrier system, specifically the use of cables.
  • the present invention is devised under the recognition that the controller (1) and the camera head (2) should be physically separated from each other but should still work together.
  • Wireless and Bluetooth Low Energy protocol are the main choices for establishing wireless communications. Compared to Bluetooth Low Energy protocol, wireless data transfer speed is higher; however, Bluetooth Low Energy protocol is more energy efficient.
  • Bluetooth Low Energy protocol speed is sufficient for data transfer in view of the signal densities produced by Pan, Tilt and Dutch moves in the controller (1). In this manner, battery life was extended and it was found that current consumption of the Bluetooth Low Energy module is in the range of 10-20 mA.
  • Bluetooth Low Energy provides wireless and independent data transfer from up to 10 m.
  • the user may desire to repeat the use of certain camera movements with a certain mise-en-scene. For this reason, recording and replaying of motion data with respect to time is desirable to facilitate unmanned use of the system.
  • the present invention proposes a kinetic motion sensor or button activation instead of a screen based approach, which necessitates upgrade of motion control software.
  • One potential issue with this system to repeat the recorded motion is the angling error in the case where the angle of the camera head (2) with respect to the ground is changed.
  • a queue layer is developed within the system so that data collected from labeled hardware can be processed in order of response time. This queue layer makes the processor work more efficiently by parallelizing response times of electronic components without linearly ordering the same and facilitates separate processing of dependent and independent data while recorded movement is in operation. In this manner, motion control system and unmanned system can work in an integrated way and dependent/independent variables from the software and angle data from the position of the camera relative to the ground do not cause any problems.
  • any slip in the motor can be controlled in the closed loop.
  • motors do not count steps but instead are controlled by PID controller until the required angle is reached.
  • the PID control keeps power applied to motors at minimum to maintain correct link angles.
  • power is applied to compensate for the difference and if needed, power is increased. Therefore, in order to save power, instead of driving motors at maximum power to maintain the correct link angles, power is increased only when needed, ensuring a more efficient power profile. While repeating the recorded motion, motion can be slowed down or speeded up.
  • time lapse videos with preferred orientations by three motors in three axes can be recorded.
  • the motion is typically recorded in real time and the system then reproduces the same motion in slow motion in one-hour time span, for example to be repeated continuously throughout the day, such as in security applications.
  • manipulated orientation as an alternative to absolute orientation is possible in the manner that synchronized manipulation is applicable to change the specific angles of the camera head (2) not in conformance with the specific angles of the controller (1) but in proportion therewith.
  • changing the orientation of the camera head (2) in a certain axis with a modified orientation with respect to the orientation of the controller (1) is possible so that each time a certain rotation around a certain axis is reached, the camera head (2) turns to a modified orientation, for instance two times of the rotation angle about the rotation axis but still in synchronization with the overall motion of the controller.
  • This operational scheme can be simultaneously applied to some or all of the axes.
  • brushless DC motors are used, whose control is performed in the following manner: Each motor is driven by three channel Pulse Width Modulation technique based proprietary control algorithm and with the help of an integrated motor drivers. Control of the brushless motor with no feedback mechanism is eliminated by monitoring motor rotation by magnetic encoder. In this manner, targeted angular position and actual angular position of the motor are subtracted to retrieve the difference. The difference is smoothly and swiftly removed by the PID controller. As the system may be used with different cameras, the payload on the motors may be different and different controller parameters may be needed. The parameters are brought to their optimum values by monitoring the system by the system software.
  • retrieving angular position data of each axis by using magnetic encoders while a wire is passed within the motor can be effectuated by a hollow shaft (14) where a slip ring is used. All three motors have power and signal cables passing therethrough. Three power cables for each axis extend from the motor driver circuit outputs in the circuit board to the respective motors. Further, to carry motor angular position information, four cables exit from magnetic encoders (such as AS5048B) attached to the rear side of each motor.
  • magnetic encoders such as AS5048B
  • At least one of the motors provides a cable passageway to allow motor cables to reach to the circuit board, while at the same time not interfering with free rotation of the motors. Therefore, all of the cables in the form of a cable bundle (11) pass through a hollow shaft (14) where a slip ring is used.
  • the axially extending hollow shaft (14) integral with a shaft frame (7) having a shaft hole (9) and magnet holes (8) for receiving magnets
  • the cable bundle (11) extends through the hollow shaft (14) centrally between the two magnets (10).
  • the configuration advantageously provides that the hollow shaft (14) is not blocked by the on- axis magnetic encoder (13), thereby allowing passage of the cable bundle
  • Fig. 11 demonstrates an alternative hollow shaft slip ring configuration of the motor units according to the present invention.
  • Said cable bundle (11) also passes through a hollow shaft (14) where the slip ring is used.
  • the axially extending hollow shaft (14) cooperates with a pulley mechanism (17) having a drive belt (18).
  • the pulley mechanism (17) is connected to a connection disc (19) fixedly attached to the motor (4, 5, 6) through a bearing (20) in the manner that rotation of the motor (4, 5, 6) is transferred to the pulley mechanism (17) which also has a magnet (10) whose angular orientation is monitored by the magnetic encoder (13).
  • This configuration also advantageously provides that the hollow shaft (14) is not blocked by the on-axis magnetic encoder (13) and allows passage of the cable bundle (11).
  • the camera head (2) is configured to take a certain position by three link elements connected to each other through the actuators (brushless DC motor).
  • the camera is mounted in connection with the third innermost motor.
  • the outermost motor is connectible with additional connection or control mechanisms such as tripod or handling device.
  • the present invention ensures production and collection of angular position data for each axis while a wire is passed within the motor.
  • the controller (1) can be mounted on cars, motorcycles, boats or any surface that is suitable for mounting. Various configurations such as vacuum mount to glass or metallic surfaces or adhesive mount to desired surfaces such as head guards are possible. Further, use of flexible portable designs (guerilla pod designs) attachable to metal profiles or use of any other suitable attachment elements such as clips for attaching the controller (1) to a vehicle such as bicycle are also possible.
  • the controller (1) unit of the present invention is preferably provided with an interaction surface, which can be a touch-sensitive button performing different tasks such as starting/pausing controller (1) function or activating respective modes such as mirroring, recording or replaying modes.
  • the interaction surface may have different portions to trigger specified functions.
  • the present invention proposes a motion transfer system comprising a controller (1) and a camera head (2) in remote signal communication with said controller (1), said camera head (2) being configured such that a camera is fixedly attached to be rotatable in three separate axes by three motors in the manner that a first intermediate arm (15) is rotatably connected to a first motor (4), a second intermediate arm (16) is rotatably connected to a second motor (4), and a camera arm is rotatably connected to a third motor (6), said second motor (5) and third motor (6) are respectively attached to said first and second intermediate arms (15, 16).
  • the controller (1) and the camera head (2) comprise separate orientation sensors in the manner that three dimensional orientation information of the camera is obtained by combination of information on motor link angles and from controller (1) orientation data whereby control of motors is performed by way of calculating the differences between orientation data from different orientation sensors.
  • the physical center and the center of mass of the three motors are eccentric in that rotation axis of the camera is determined by the center of mass of the three motors.
  • orientation data from the controller (1) are transferred to the camera head (2), orientation data of the camera head (2) with respect to the ground are also transferred to the camera head (2) and data from the controller (1) are processed with data from the camera head (2) to obtain a mutual reference frame in the manner that change in the orientation data of the camera head (2) relative to the ground can be compensated and the controller's orientation data can be correctly replicated by the camera head (2) irrespective of its changeable orientation data with respect to the ground.
  • magnetic rotary position sensors are used to determine camera orientation based on link angles.
  • angle measurements for each link are taken with a frequency in the range of 0,75 to 1,5 KHz.
  • orientation data produced by orientation sensor of the controller (1) is filtered and motion data produced during closed loop control is scaled and oversampled up to 2.5 kilosamples per second before driving the motors.
  • information as to link angles used as a reference signal is transmitted to PID controllers which control motor drivers of each motor.
  • derivative and integral coefficients of the PID controller are configured to provide smooth transition between incremental positions of the motor.
  • encoders (13) are used as sensors to obtain link angles which transfer the obtained data to a processor of the camera head (2).
  • said camera head (2) comprises an interpolation module receiving data from a motor control task is performed such that data received from orientation sensors of the controller (1) and camera head are buffered and passed through linear interpolation and low pass filter.
  • system time of the controller (1) and the system time of the camera head (2) are synchronized such that data received from accelerometer of the controller (1) is transmitted with timestamps which contain controller system time at the orientation measurement instance.
  • camera orientation based on link angles of individual motors is determined by an algorithm based on quaternions in the manner that quaternions are normed and intermediate output quaternion data are obtained.
  • said controller (1) is a mount system attached with a communication device in the form of a portable computing device such as a smartphone or a tablet computer.
  • said controller (1) is head- mounted device or a hand-mounted device. In a further embodiment of the present invention, said controller (1) has a port for mounting to a communication device.
  • the controller (1) comprises a lighting device only activated in specific pointing angles.
  • the camera head (2) operates in stabilizing mode when the controller (1) and the camera head (2) are not remotely paired by a signal connection in the manner that the orientation sensor of said camera head (2) monitors motions of the camera and in case of a change or jolt, the camera is smoothly moved to the opposite direction.
  • stabilization control loop is performed at the frequency of 100 Hz.
  • the camera head (2) uses dynamic power control algorithm which uses the difference between calculated reference link angles and the instantaneous link angles as an input.
  • controller (1) motion data is prerecorded with respect to time to be replayed according to certain recorded camera movement pattern in a repeated manner.
  • motion data of the controller (1) is processed by the camera head (2) in accordance with calculated position of the camera head (2) with respect to the ground during production and transfer of said motion data whereby data dependent and independent to the repetition of the movement loop is labeled.
  • synchronized manipulation is applicable in that specific orientations of the camera head (2) as controlled by the controller (1) are changed in non-direct conformance with the specific orientations of the controller (1), in synchronization with the overall motion of the controller (1) and in proportion therewith.
  • motors are brushless DC motors which are driven by integrated motor drivers that uses three phase Pulse Width Modulation as control technique.
  • signal cables from the magnetic encoders and power cables supply and control the brushless dc motors coupled with a slip ring that resides inside a hollow shaft (14) of the motors enabling continuous rotation.
  • axially extending hollow shaft (14) integral with a shaft frame (7) having a shaft hole (9) and magnet holes (8) for receiving magnets (10) cooperates with an encoder enclosure (12) into a respective slot of which an on-axis magnetic encoder (13) is placeable to monitor angular orientation of the motor based on the position of the two 180-degree opposite magnets (10) rotatable together with said hollow shaft (14).
  • the camera is mounted in connection with the third motor being the innermost one and the outermost motor is connectible with connection or control mechanisms in the form of tripod or handling devices.
  • axially extending hollow shaft (14) cooperates with a pulley mechanism (17) having a drive belt (18) in the manner that rotation of the motor (4, 5, 6) is transferred to the pulley mechanism (17) having a magnet (10) whose angular orientation is monitored by the magnetic encoder (13).
  • said pulley mechanism (17) is connected to a connection disc (19) fixedly attached to the motor (4, 5, 6) through a bearing (20).
  • said controller (1) is provided with an interaction surface performing functions of starting/pausing said controller (1) and/or activating mirroring, recording or replaying modes.

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Abstract

La présente invention concerne un système fournissant une commande et une stabilisation intuitives de l'angle de pointage d'une caméra. Le système comprend un angle auquel est fixée la caméra, un guide par lequel la commande sans fil de l'angle de pointage de la caméra est assurée et d'autres composantes latérales en fonction de l'utilisation prévue du système. Des filtres de mouvement distinctifs et un système de commande de moteur fournissent une facilité de prise de vue cinématique. Les mouvements de la caméra peuvent être commandés simultanément et être sauvegardés dans une base de données et recréés de manière répétée sans intervention humaine.
PCT/TR2016/050482 2016-12-02 2016-12-02 Cardan de caméra et unité centrale de commande fournissant une commande et une stabilisation intuitives de l'angle de pointage de caméra WO2018101893A1 (fr)

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CN111699341A (zh) * 2019-06-10 2020-09-22 深圳市大疆创新科技有限公司 云台***的控制方法及云台***
CN113720982A (zh) * 2021-08-23 2021-11-30 中国水利水电科学研究院 一种水下生物量监测装置
WO2023027677A1 (fr) * 2021-08-27 2023-03-02 Sergii Tartyshnikov Système de stabilisation et de commande de caméra cinématographique

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CN113720982A (zh) * 2021-08-23 2021-11-30 中国水利水电科学研究院 一种水下生物量监测装置
WO2023027677A1 (fr) * 2021-08-27 2023-03-02 Sergii Tartyshnikov Système de stabilisation et de commande de caméra cinématographique

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