Camera head with integrated PCB stator motor

Abstract

Embodiments of the inventive subject matter relate to a camera head having up to three axes of rotation (e.g., roll, pitch, roll). Each rotation axis coincides with a rotation output of the PCB stator motor. The PCB stator motor is used to prevent cogging and mitigate weight while providing haptic feedback to the user that allows the camera head to mimic the physical characteristics of various mechanical camera heads. For example, despite light weight, embodiments of the subject matter of the invention can mimic the feeling of heavier mechanical systems.

Description

Technical Field

[0001] The field of the invention is motor-controlled camera devices. Background Art

[0002] The background 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.

[0003] Cinematography is constantly evolving with new technology, and as technology continues to evolve, some important aspects of the art may be lost. For example, cinematographers in the past used heavy equipment. This was partly because the only equipment available was itself heavy (e.g., heavier cameras, heavier camera heads, etc.), but there are advantages to using heavy equipment.

[0004] Heavy equipment can help produce smooth movement. When a camera operator pans, tilts, or rolls a camera mounted to a camera head, the mass of that mechanical system contributes to smooth movement. But as technology has improved, cameras and associated equipment have become lighter. Lighter systems have some important advantages, including increased portability, which makes it easier for filmmakers to transport equipment. However, as mass decreases, smooth movement can be more difficult to achieve.

[0005] Historically, cinematography has used a range of devices to control the rotation of the camera. Typically, a two-axis pan / tilt head is used to smoothly pan and tilt the camera. These systems typically have only a friction adjustment or counterbalance system based on the pivot point of the tripod and the center of gravity of the payload. These traditional systems are operated directly by the camera operator, and they do not allow the camera operator to adjust certain physical properties of the system, such as the inertia of the payload.

[0006] Thus, there remains a need for a lightweight camera device that still maintains the feel of a heavier system.It should also be understood that such a system may be electromechanically generated and may be configured to mimic the feel of any type of mechanical system. Summary of the invention

[0007] The present invention provides apparatus, systems and methods related to a motorized camera head configured to provide tactile feedback to a user. In one aspect of the inventive subject matter, a camera head is contemplated, the camera head comprising: a roll motor including a roll motor printed circuit board (PCB) stator; a tilt motor including a tilt motor PCB stator; a pan motor including a pan motor PCB stator; wherein the roll motor is annular with a through hole, and a camera mount is coupled to the roll motor so that a mounted camera can be at least partially disposed in the through hole; wherein the roll motor is coupled to the tilt motor via a roll motor mount; and wherein the tilt motor is coupled to the pan motor via a tilt motor mount.

[0008] In some embodiments, the roll motor and the pitch motor may be annular. The roll motor PCB stator may be a partial stator, and when formed as a partial stator, the roll motor PCB stator may be shaped according to an arc segment. In some embodiments, the camera mount may additionally have a set of mounting rods. The roll motor may include an annular roll rotor having an inwardly facing surface, and the camera mount may be coupled to the inwardly facing surface.

[0009] In another aspect of the inventive subject matter, another camera head is contemplated, comprising: a first motor comprising a first motor PCB stator; a second motor comprising a second motor PCB stator; wherein the first motor is coupled to the second motor via a first motor mount; wherein the first motor is configured to cause rotation about a first axis and the second motor is configured to cause rotation about a second axis; and wherein the first axis is orthogonal to the second axis.

[0010] In some embodiments, the first motor and the second motor may be annular. In some embodiments, the camera mount is coupled to the first motor, and in some embodiments, the camera mount is coupled to the second motor.

[0011] In some embodiments, another camera head is contemplated, the camera head comprising: a first motor comprising a first motor printed circuit board (PCB) stator, wherein the first motor PCB stator is a partial stator; a second motor comprising a second motor PCB stator; a third motor comprising a third motor PCB stator; wherein the first motor is coupled to the second motor via a first motor mount; wherein the second motor is coupled to the third motor via a second motor mount; wherein the first motor is configured to cause rotation about a first axis, the second motor is configured to cause rotation about a second axis, and the third motor is configured to cause rotation about a third axis; and wherein the first axis is orthogonal to the second axis, and the second axis is orthogonal to the third axis. In some embodiments, the first motor, the second motor, and the third motor may be annular.

[0012] It should be appreciated that the disclosed subject matter provides a number of advantageous technical effects, including a lightweight camera head that reproduces the feel of a heavier mechanical system by using a PCB stator motor associated with one or more motor controllers.

[0013] Various objects, features, aspects, and advantages of the inventive subject matter will become more apparent from the following detailed description of preferred embodiments and the accompanying drawings, in which like reference numerals represent like components. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A camera head with a mounted camera is the subject of the invention.

[0015] Figure 2 It is its side view.

[0016] Figure 3 is its isometric view.

[0017] Figure 4 It is a cross-sectional view of the rolling motor.

[0018] Figure 5 It is a cross-sectional view of the pitch motor.

[0019] Figure 6 It is a cross-sectional view of the pan motor.

[0020] Figure 7 is an isometric view which shows the motor controller.

[0021] Figure 8 is an isometric view which shows the handle without the camera.

[0022] Fig. 9 is an isometric view of an embodiment with two control axes and a handle. DETAILED DESCRIPTION

[0023] The following discussion provides example embodiments of the subject matter of the present invention. Although each embodiment represents a single combination of inventive elements, the subject matter of the present invention is considered to include all possible combinations of disclosed elements. Thus, if one embodiment includes elements A, B, and C, and a second embodiment includes elements B and D, the subject matter of the present invention is also considered to include other remaining combinations of A, B, C, or D, even if not explicitly disclosed.

[0024] As used in the specification and subsequent claims of this application, the meanings of "a", "an", and "the" include plural references unless the context clearly indicates otherwise. Also, as used in the description of this application, the meaning of "in" includes "in" and "on", unless the context clearly indicates otherwise.

[0025] Furthermore, as used in this application, and unless the context indicates otherwise, the term "coupled to" is intended to include both direct coupling (where two elements coupled to each other are in contact with each other) and indirect coupling (where at least one additional element is located between the two elements). Thus, the terms "coupled to" and "coupled with..." are used synonymously.

[0026] It should be noted that any language for a computer or computing device should be interpreted as including any suitable combination of computing devices, including servers, interfaces, systems, databases, agents, peers, engines, controllers, or other types of computing devices that operate alone or together. It should be understood that the computing device includes a processor configured to execute software instructions stored on a tangible non-transient computer-readable storage medium (e.g., a hard drive, a solid-state drive, RAM, flash memory, ROM, etc.). The software instructions preferably configure the computing device to provide the roles, responsibilities, or other functions discussed below about the disclosed device. In a particularly preferred embodiment, various servers, systems, databases, or interfaces use standardized protocols or algorithms to exchange data, which may be based on HTTP, HTTPS, AES, public key-private key exchange, network service API, known financial transaction protocols, or other electronic information exchange methods. Data exchange is preferably carried out through a packet switching network, the Internet, a LAN, a WAN, a VPN, or other types of packet switching networks. The following description includes information that can be used to understand the present invention. It is not an admission that any information provided in this application is prior art or is related to the invention currently claimed, or that any specific or implicitly cited public documents are prior art.

[0027] Embodiments of the inventive subject matter are directed to a camera control system that facilitates manual interaction with a camera while incorporating tactile feedback and introducing adjustable mechanical properties through an electromechanical system. In some embodiments, the camera is mounted to the control system, while in other embodiments, a handle may be mounted to the control system to facilitate control of a head with a mounted camera. The control system of the inventive subject matter incorporates a printed circuit board (PCB) stator motor that helps facilitate a desired form factor and also helps eliminate motor cogging, a side effect of other motor technologies that can negatively impact the user experience.

[0028] The stator of a PCB stator motor does not have a slotted iron core. As a result, the cogging torque is zero, which is defined as the interaction of the permanent magnets on the rotor with the slotted iron stator structure under no-load conditions. Cogging torque can cause torque pulsation as well as speed pulsation, which affects performance and feel. Eliminating the slot effect in any other type of motor would significantly increase mass and size, which is not ideal and eliminates the advantages of low weight from the embodiments of the present subject matter. Conventional electric motors cannot meet the specific needs of the embodiments of the present subject matter, such as the need to eliminate the slot effect.

[0029] The tactile feedback contemplated in this application includes the use of motors to give the control system a feeling of being heavier or lighter than an actual mechanical system. In addition to mass, other physical properties of the control system can be adjusted, such as friction, moment of inertia, and any other physical quality that the motors of the systems described in this application can affect. The system that is the subject of the present invention allows the photographer to have the experience of operating, for example, a heavy purely mechanical system without all the mass and parts associated with such a system.

[0030] "Remote heads" are increasingly used to pan, tilt and roll cameras when the cameraman cannot be physically close to the camera or wants to gyro-stabilize the camera. The electromechanical head of the present subject matter can facilitate remote camera head control while still giving all the advantages of a lightweight system using PCT stator motors (e.g., no cogging) while providing tactile feedback to the cameraman working remotely. Moreover, the system of the present subject matter can be configured as an all-in-one system, allowing pan, tilt and roll in a single lightweight and small package.

[0031] Figure 1 A control system 100 is shown in which a camera 102 is installed. The control system 100 features three control axes, including roll, pitch, and pan. Thus, the control system 100 incorporates a roll motor 104, a pitch motor 106, and a pan motor 108. Because each of these motors is configured as a PCB stator motor, they are thinner than conventional electric motors. The PCB stator motor is also characterized by an annular rotor (e.g., the rotating output portion of the motor) rather than a rotor formed as an axle, which makes the configuration described in the present application possible. The pan motor 108 and the pitch motor 106 are oriented so that their rotation axes are orthogonal to each other (and the pitch motor 106 and the roll motor 104 are oriented so that their rotation axes are orthogonal to each other), and the roll motor 104 is configured so that the camera 102 can be at least partially arranged in the hole formed by the roll motor 104. This configuration ensures that the lens of the camera 102 is located at the center of the rotation axis of the roll motor 104, which can improve the quality of the shot when recording.

[0032] 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 could be coupled to the pan motor, which could then be coupled to the tilt motor, without departing from the present subject matter. Moreover, orienting the embodiments of the present subject matter differently while also changing the way the camera is mounted to the embodiments of the present subject matter can result in the reuse of motors (e.g., the pan motor could become a tilt motor, etc.). Such reorientation or reconfiguration is expressly contemplated in this patent application.

[0033] Behind the camera 102 is a handle coupled to a plurality of mounting poles 112 that hold the camera 102 in place. By including a handle, the cameraman can directly manipulate the orientation of the camera 102, and the roll motor 104, tilt motor 106, and pan motor 108 can provide tactile feedback to the cameraman while manipulating the orientation of the camera.

[0034] Figure 2 The control system 100 is shown from a side view (without the camera 102 or handle 110), which shows the tilt motor 106 from the front. From this view, the tilt motor 106 can be seen as having an annular configuration. Thus, the tilt rotor 114 is an annular component, and the roll motor mount 116 is coupled to the tilt rotor 114, so that rotation of the tilt motor 106 causes the roll motor 104 (and thus the camera) to tilt. The tilt motor 106 is coupled to the pan motor 108 through the tilt motor mount 118, so that rotation of the pan motor 108 causes the tilt motor 106 (and thus the roll motor 104 and the camera) to pan.

[0035] Figure 3 Control system 100 is shown from a different angle to show the front of roll motor 104. Roll motor 104 includes only a partial PCB stator (roll stator 124). In some embodiments, a full PCB stator (e.g., a PCB stator that extends over the entire circumference of the rotor) may be implemented. A PCB stator motor does not require a full stator, and including a partial PCB stator is advantageous, for example, to reduce energy consumption or when less torque is required than a full PCB stator can produce. The partial PCB stator may be formed according to an arc that is a segment of a circle (e.g., greater than 0 radians but less than 2π radians).

[0036] From this view, mounting ring 120 is shown coupled to roll rotor 122. Mounting ring 120 includes a plurality of collars that may be tightened to hold mounting pole 112 in position relative to roll rotor 122. Thus, a camera mounted to the system may be rolled by roll motor 104 when the camera is coupled to mounting pole 112.

[0037] Figure 4 A closer cross-sectional view of roll motor 104 is shown. From this view, it can be seen that roll stator 124 extends into a slot on roll rotor 122. Roll rotor 122 interacts with roll motor body 126 in several areas. Roll motor body 126 features a set of grooves 128 and a set of tongues 130 that are sized and dimensioned to interact so that roll rotor 122 does not shift relative to roll motor body 126 (e.g., movement of the roll rotor relative to the roll motor body should be rotational about a central axis shared by the two components).

[0038] Roll motor bearing 132 is shown positioned between roll motor body 126 and roll rotor 122. Although only one roll motor bearing is shown, the space in which roll motor bearing 132 exists extends radially through roll motor 104, and multiple roll motor bearings may be arranged throughout the roll motor. Dust shield 134 is also visible, which prevents debris from entering the space in which the roll motor bearing is arranged. Dust shield 134 may be made of, for example, a flexible material such as rubber, plastic, etc. Dust shield 134 improves device performance and life by preventing dust from entering the bearing space. The dust shield may be incorporated into any of the motors described in this application.

[0039] Roll motor 104 additionally includes an integrated optical rotation sensor 136, which is fixed to the inner surface of roll motor body 126 so that it faces an optical track 138 arranged on a portion of roll rotor 122 located near a set of tongues 130. Optical rotation sensor 136 thus measures the rotation of roll rotor 122, 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 physical parameters can be used as feedback in the control system, which will be described in more detail below. Although the rotation sensor is described as optical in this application, any type of rotation detector can be implemented without departing from the subject matter of the present invention.

[0040] Figure 5 A closer cross-sectional view of the pitch motor 106 is shown. The pitch motor 106 features an annular pitch stator 140. The pitch stator 140 is disposed within a slot so that it can rotate the pitch rotor 114. A roll motor mount 116 is coupled to the pitch rotor 114. The pitch stator 140 is coupled to an exterior of a pitch motor body 142. By coupling to the exterior, the pitch stator 140 can extend into a slot formed by the pitch rotor 114. The pitch motor 106 further includes a pitch motor bearing 144 that serves as an interface between the pitch motor body 142 and the pitch rotor 114. As shown in FIG. Figure 5 As shown, the pitch motor bearings 144 are all ball bearings, but in some embodiments, roller bearings, magnetic bearings, fluid bearings, and slide bearings may also be used without departing from the subject matter of the present invention. The pitch motor 106 is coupled to the pitch motor mount 118, and the pitch motor mount 118 is coupled to the pan motor 108, as described below.

[0041] As with roll motor 104, pitch motor 106 features a pitch rotation detector 152 that facilitates measuring and deriving various physical parameters associated with pitch motor 106. Relative roll rotation detector 152 is an optical track disposed on the inner surface of pitch rotor 122. The physical parameters may be used, for example, by a computing device and motor controller to induce desired effects as described in more detail below.

[0042] Figure 6 A closer cross-sectional view of the pan motor 108 is shown. The pan motor 108 is configured similarly to the pitch motor 106. The pan motor includes a pan motor body 146 and a pan rotor 148. The pan motor bearing 162 is disposed between the pan motor body 146 and the pan motor rotor 148 and is configured to reduce friction between these components. The pan rotor 148 is caused to rotate by the pan motor stator 158. Figure 6 As shown, the pan motor body 146 is coupled to the tilt motor mount 118, which allows the pan rotor 148 to face downward. Thus, the pan rotor 148 can be coupled to, for example, a fixed surface, a tripod, a camera crane, a camera dolly, a tracking vehicle, a body-mounted vest, a stabilizing arm, etc.

[0043] Because the pan motor 108 is configured similarly to the pitch motor 106, it features an integrated pan rotation detector 154 that can facilitate measuring and deriving a variety of physical parameters associated with the pan motor 108. An opposing pan rotation detector 154 is an optical track 156 disposed on the inner surface of the pan rotor 148. The physical parameters can be used by, for example, a computing device and a motor controller to induce desired effects as described in more detail below.

[0044] Figure 7 The outer surface of the pitch motor mount 118 is shown, to which the controller 150 is coupled. The controller 150 may include electronics sufficient to drive and control the roll motor 104, the pitch motor 106, and the pan motor 108. In some embodiments, the motor controller 150 includes a microprocessor that is also capable of processing sensor information from all rotation detectors in the system of the present subject matter.

[0045] All of these components together form a system that can give the photographer the perception that the camera system has a heavy, mechanical feel, when in reality it is lightweight and easily transportable.The system that is the subject of the present invention is intended to be manipulated directly by the photographer.

[0046] The individual motors in the system of the subject matter of the present invention operate according to a closed-loop control system, in which information from the rotation detector of the motor (e.g., physical parameters as described above) is used in a feedback loop. The controller 150 may include, for example, a microprocessor, a computing device, a motor controller, a solid-state controller including prefabricated IC components, or any combination thereof implemented via hardware, software, or some combination thereof. The controller 150 is electronically and informationally connected to the individual motors and rotation detectors. In one example of use, when the photographer pans the camera 102, the pan motor 108 undergoes an angular position change. The rotation detector of the pan motor collects the angular position data and sends it to the controller 150, and the controller 150 uses this information to drive the pan motor 108 to change one or more of the physical properties of the system (e.g., mass, moment of inertia, friction, etc.).

[0047] The controller 150 thus interprets the information from the rotation detector of the pan motor to determine information about the movement of the pan motor 108 (e.g., angular position, angular velocity, angular acceleration, or changes in any of these terms). The controller 150 then sends a signal to the pan motor 108 to drive the pan motor 108 (e.g., directly or via a motor driver circuit) to cause the effect of simulating the physical mass of the system when the system pans. For example, the controller 150 may drive the pan motor 108 in the opposite direction of the change in the angular position of the pan motor to make it feel like the control system 100 is heavier than it actually is when panning. For example, if the pan motor 108 is subjected to angular acceleration, its rotation detector sends signals to the controller 150 that are sufficient for the controller 150 to determine the pan motor's angular position change over time, so that the angular acceleration can be derived, and the controller 150 then tells the pan motor 108 to "brake" (e.g., apply torque in the direction opposite to the pan motor's angular acceleration - in this case, apply negative angular acceleration), which opposes the pan motor's positive angular acceleration, thereby giving the control system 100 simulated behavior and the feel of a heavier mechanical system. When the pan motor 108 is turning, the controller 150 will cause the control system 100 to continue to pan as if it had a higher moment of inertia than it actually has.

[0048] Although the above examples refer to the pan motor 108, the roll motor 104 and the pitch motor 106 are configured to function according to the same principles. The individual motors may be configured to produce different apparent physical characteristics.

[0049] Figure 8Another possible configuration of the control system 100 is shown. Instead of mounting the camera, there is a handle 160 that can be used to manipulate the control system 100. This configuration facilitates control of the head with the camera attached while still maintaining the feel of a traditional heavy mechanical system. The cameraman can then control the head with the same feel as a directly controlled camera system.

[0050] Fig. 9 A 2-axis control system 200 is shown, which is an alternative embodiment of the control system 100. The 2-axis control system 200 does not have a roll motor, but rather features only a tilt and a pan motor. The tilt motor 202 is configured according to the description of the tilt motor 106 above, and the pan motor 204 is configured according to the description of the pan motor 108. The 2-axis control system 200 additionally features a handle 206 to facilitate manual manipulation by the photographer. The handle 206 is coupled to the tilt motor via a handle bracket 208.

[0051] An advantage of the control system of the present subject matter is that photographers can configure the system to mimic any existing system they like. For example, if a photographer is accustomed to using a specific gear setup, the control system of the present subject matter can mimic that system. In some embodiments, the photographer can select a specific camera and a specific piece of gear, and the control system can then mimic that setup. The photographer can similarly configure the control system to act as a fictional system with customized physical properties (e.g., customized mass and friction).

[0052] Thus, specific systems and methods for electromechanical camera heads have been disclosed. It should be apparent to those skilled in the art that many more modifications, in addition to those already described, are possible without departing from the inventive concepts of the present application. The subject matter of the present invention is therefore not limited except within the spirit of the present disclosure. Moreover, in interpreting the present 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 elements, components, or steps in a non-exclusive manner, indicating that the mentioned elements, components, or steps may be present, used, or combined with other elements, components, or steps not expressly mentioned.

Claims

1. A camera head, comprising: A roll motor, comprising a roll motor printed circuit board (PCB) stator; A pitch motor, comprising a pitch motor PCB stator; A pan motor, comprising a pan motor PCB stator; wherein the roll motor is annular with a through hole, and the camera mount is coupled to the roll motor so that the mounted camera can be at least partially disposed in the through hole; Wherein, the roll motor is connected to the pitch motor via a roll motor mount; and Wherein, the pitch motor is connected to the pan motor via a pitch motor mount.

2. The camera head according to claim 1, wherein: The roll motor is ring-shaped.

3. The camera head according to claim 1, wherein: The pitch motor is ring-shaped.

4. The camera head according to claim 1, wherein: The roller motor PCB stator is a partial stator.

5. The camera head according to claim 4, wherein: The roller motor PCB stator is formed according to an arc segment.

6. The camera head according to claim 1, wherein: The camera mount includes a set of mounting rods.

7. The camera head according to claim 1, wherein: The roller motor includes an annular roller rotor having an interior-facing surface.

8. The camera head according to claim 7, wherein: The camera mount is coupled to the interior facing surface.

9. The camera head of claim 1, further comprising a motor controller configured to cause the roll motor, the tilt motor, and the pan motor to provide tactile feedback.

10. A camera head, comprising: A first motor, comprising a first motor PCB stator; A second motor, comprising a second motor PCB stator; Wherein, the first motor is connected to the second motor through a first motor mount; wherein the first motor is configured to cause rotation about a first axis and the second motor is configured to cause rotation about a second axis; and Wherein, the first axis is orthogonal to the second axis.

11. The camera head according to claim 10, wherein: The first motor is ring-shaped.

12. The camera head according to claim 10, wherein: The second electric machine is ring-shaped.

13. The camera head according to claim 10, wherein: A camera mount is coupled to the first motor.

14. The camera head according to claim 10, wherein: A camera mount is coupled to the second motor.

15. The camera head of claim 10, further comprising a motor controller configured to cause the first motor and the second motor to provide tactile feedback.

16. A camera head, comprising: A first motor including a first motor printed circuit board (PCB) stator; Wherein, the first motor PCB stator is a partial stator; A second motor, comprising a second motor PCB stator; A third motor, comprising a third motor PCB stator; Wherein, the first motor is connected to the second motor through a first motor mount; Wherein, the second motor is connected to the third motor through a second motor mount; wherein the first motor is configured to cause rotation about a first axis, the second motor is configured to cause rotation about a second axis, and the third motor is configured to cause rotation about a third axis; and Wherein the first axis is orthogonal to the second axis, and wherein the second axis is orthogonal to the third axis.

17. The camera head according to claim 16, wherein: The first motor is ring-shaped.

18. The camera head according to claim 16, wherein: The second electric machine is ring-shaped.

19. The camera head according to claim 16, wherein: The third electric machine is ring-shaped.

20. The camera head of claim 16, further comprising a motor controller configured to cause the first motor, the second motor, and the third motor to provide tactile feedback.

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