Camera head with integrated PCB stator motor

Abstract

Embodiments of the present subject matter relate to camera heads with up to three axes of rotation (e.g., pan, pitch, and roll). Each axis of rotation coincides with the rotational output of a PCB stator motor. The PCB stator motor is used to prevent cogging and reduce weight while providing tactile feedback to the user. This tactile feedback allows the camera head to mimic the physical characteristics of various mechanical camera heads. For example, despite being lightweight, embodiments of the present subject matter can mimic the feel of heavier mechanical systems.

Description

Technical Field

[0001] The field of the invention is motor-controlled camera equipment. 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 constantly evolves with new technologies, 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 available equipment was heavy (e.g., heavier cameras, heavier camera heads, etc.), but using heavy equipment has advantages.

[0004] Heavy equipment can help create smooth movement. When a camera operator pans, tilts, or rolls a camera mounted to a camera head, the mass of this mechanical system contributes to smooth movement. However, as technology improves, cameras and associated equipment have become lighter. Lighter systems offer some important advantages, including increased portability, making it easier for filmmakers to transport equipment. However, with this reduction in mass, smooth movement can be more difficult to achieve.

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

[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 can be electromechanically generated and can 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, comprising: a roll motor including a roll motor printed circuit board (PCB) stator; a tilt motor including a pitch motor PCB stator; and 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 such that a mounted camera can be at least partially disposed within the through hole; wherein the roll motor is coupled to the tilt motor via the roll motor mount; and wherein the tilt motor is coupled to the pan motor via the tilt motor mount.

[0008] In some embodiments, the roll motor and tilt motor can be annular. The roll motor PCB stator can be a partial stator, and when formed as a partial stator, the roll motor PCB stator can be shaped according to arc segments. In some embodiments, the camera mount can additionally include a set of mounting rods. The roll motor can include an annular roll rotor having an inward-facing surface, and the camera mount can couple to this inward-facing surface.

[0009] In another aspect of the present 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 can 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, 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; and 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, second, and third motors may be annular.

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

[0013] Various objects, features, aspects, and advantages of the present 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 This is a cross-sectional view of the rolling motor.

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

[0019] Figure 6 This 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 showing the handle without the camera.

[0022] Figure 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 the 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 claims that follow 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 dictates otherwise, the term "coupled to" is intended to include both direct coupling (where two elements coupled to each other contact 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 referring to a computer or computing device should be interpreted to include any suitable combination of computing devices, including servers, interfaces, systems, databases, agents, peers, engines, controllers, or other types of computing devices operating individually or collectively. It should be understood that a computing device includes a processor configured to execute software instructions stored on a tangible, non-transitory computer-readable storage medium (e.g., a hard drive, solid-state drive, RAM, flash memory, ROM, etc.). The software instructions preferably configure the computing device to provide the roles, responsibilities, or other functionality discussed below with respect to the disclosed apparatus. In particularly preferred embodiments, the various servers, systems, databases, or interfaces exchange data using standardized protocols or algorithms, perhaps based on HTTP, HTTPS, AES, public-private key exchange, web service APIs, known financial transaction protocols, or other electronic information exchange methods. Data exchange is preferably performed over a packet-switched network, the Internet, a LAN, a WAN, a VPN, or other type of packet-switched network. The following description includes information useful for understanding the present invention. It is not an admission that any information provided in this application is prior art or relevant to the presently claimed invention, or that any specific or implicitly referenced publications are prior art.

[0027] Embodiments of the present subject matter relate to a camera control system that facilitates manual interaction with the 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 can be mounted to the control system to facilitate control of a head with a mounted camera. The subject matter control system incorporates a printed circuit board (PCB) stator motor, which 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, cogging torque, defined as the interaction of the permanent magnets on the rotor with the slotted iron stator structure under no-load conditions, is zero. Cogging torque can cause torque ripple as well as speed ripple, which affects performance and feel. Eliminating cogging in any other type of motor would significantly increase mass and size, which is not ideal and eliminates the low weight advantage of embodiments of the present subject matter. Conventional electric motors cannot meet the specific needs of embodiments of the present subject matter, such as the necessity to eliminate cogging.

[0029] The tactile feedback contemplated in this application involves using motors to give the control system the 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 qualities that can be affected by the motors of the systems described in this application. The system that is the subject of this invention allows photographers 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 camera operator cannot be physically close to the camera or wants to gyro-stabilize the camera. The subject electromechanical head can facilitate remote camera head control while still offering all the advantages of a lightweight system using PCT stator motors (e.g., no cogging), while providing tactile feedback to the remote camera operator. Furthermore, the subject system 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 mounted. The control system 100 features three control axes: roll, pitch, and pan. To this end, 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 relatively thin compared to conventional electric motors. PCB stator motors also feature an annular rotor (e.g., the motor's rotating output portion) rather than a rotor formed as a shaft, which makes the configuration described herein 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 positioned within the aperture formed by the roll motor 104. This configuration ensures that the lens of the camera 102 is centered on the rotation axis of the roll motor 104, which can improve the quality of the recorded footage.

[0032] While 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 invention. Furthermore, orienting an embodiment of the present invention differently while also changing how the camera is mounted to the embodiment of the present invention can result in the reuse of motors (e.g., the pan motor could become the 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 Control system 100 is shown from a side view (without camera 102 or handle 110), showing tilt motor 106 from the front. From this view, tilt motor 106 can be seen as having an annular configuration. Thus, pitch rotor 114 is an annular component, and roll motor mount 116 is coupled to pitch rotor 114, such that rotation of pitch motor 106 causes roll motor 104 (and thus the camera) to tilt. Tilt motor 106 is coupled to pan motor 108 via tilt motor mount 118, such that rotation of pan motor 108 causes tilt motor 106 (and thus roll motor 104 and the camera) to pan.

[0035] Figure 3 Control system 100 is shown from a different angle to illustrate 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., one that extends around 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 can be advantageous, for example, to reduce energy consumption or when less torque is required than a full PCB stator can produce. The partial PCB stator can 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 can be tightened to hold mounting rod 112 in position relative to roll rotor 122. Thus, a camera mounted to the system can be rolled by roll motor 104 when the camera is coupled to mounting rod 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 requires rotation 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 resides extends radially through roll motor 104, and multiple roll motor bearings may be arranged throughout the roll motor. A dust shield 134 is also visible, which prevents debris from entering the space in which the roll motor bearings are located. Dust shield 134 can be made of, for example, a flexible material such as rubber or plastic. By preventing dust from entering the bearing space, dust shield 134 improves device performance and lifespan. A dust shield may be incorporated into any of the motors described herein.

[0039] Roll motor 104 also 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 may be implemented without departing from 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 arranged 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 the exterior of the pitch motor body 142. By being coupled to the exterior, the pitch stator 140 can extend into the slot formed by the pitch rotor 114. The pitch motor 106 further includes a pitch motor bearing 144, which serves as an interface between the pitch motor body 142 and the pitch rotor 114. 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 present subject matter. 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] Like 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. The opposite roll rotation detector 152 is an optical track disposed on the inner surface of pitch rotor 122. The physical parameters can be used, for example, by a computing device and a 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, pan motor body 146 is coupled to tilt motor mount 118, which allows pan rotor 148 to face downward. Thus, 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, or the like.

[0043] Because pan motor 108 is configured similarly to tilt motor 106, it features an integrated pan rotation detector 154 that can facilitate measuring and deriving various physical parameters associated with pan motor 108. An opposing pan rotation detector 154 is an optical track 156 disposed on the inner surface of pan rotor 148. The physical parameters can be used, for example, by a computing device and 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 is coupled a controller 150. 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, while in reality it is lightweight and easily transportable.The system that is the subject of this invention is intended to be manipulated directly by the photographer.

[0046] The individual motors in the system of the present invention operate according to a closed-loop control system, in which information from the motor's rotation detector (e.g., the physical parameters described above) is used in a feedback loop. 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. Controller 150 is electronically and informationally coupled to the individual motors and rotation detectors. In one example of use, when a camera operator pans camera 102, pan motor 108 experiences a change in angular position. The pan motor's rotation detector collects angular position data and sends it to controller 150, which uses this information to drive pan motor 108 to change one or more of the system's physical properties (e.g., mass, moment of inertia, friction, etc.).

[0047] The controller 150 thus interprets the information from the pan motor's rotation detector 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 induce the effect of simulating the physical mass of the system when the system pans. For example, the controller 150 can drive the pan motor 108 in the opposite direction of the change in the pan motor's angular position to make it feel like the control system 100 is heavier when panning than it actually is. For example, if the pan motor 108 is subjected to angular acceleration, its rotation detector sends signals to the controller 150 sufficient to allow the controller 150 to determine the change in the pan motor's angular position over time, so that the angular acceleration can be deduced. 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, negative angular acceleration), which resists the pan motor's positive angular acceleration, thereby giving the control system 100 the simulated behavior and feel of a heavier mechanical system. As the pan motor 108 rotates, the controller 150 will cause the control system 100 to continue panning as if it had a higher moment of inertia than it actually does.

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

[0049] Figure 8Another possible configuration for control system 100 is shown. Instead of mounting the camera, a handle 160 is provided that can be used to manipulate control system 100. This configuration facilitates control of the head with the attached camera 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] Figure 9 A 2-axis control system 200 is shown, which is an alternative embodiment to control system 100. 2-axis control system 200 does not have a roll motor, but instead features only tilt and pan motors. Tilt motor 202 is configured according to the above description of tilt motor 106, and pan motor 204 is configured according to the description of pan motor 108. 2-axis control system 200 also features a handle 206 to facilitate manual manipulation by the photographer. Handle 206 is coupled to the tilt motor via a handle bracket 208.

[0051] An advantage of the control system of the present invention 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 invention can mimic that setup. 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. Similarly, the photographer can configure the control system to function 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 further modifications besides 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 to be limited except within the spirit of the present disclosure. Moreover, in interpreting this 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 referenced 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 including 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 rolling 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 rolling motor PCB stator is a partial stator.

5. The camera head according to claim 4, wherein: The stator of the rolling motor PCB 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 roll motor includes an annular roll rotor having an inwardly 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 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.

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 motor 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: The 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 via a first motor mount; Wherein, the second motor is connected 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 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 motor 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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