Camera control and stabilization system

Abstract

Embodiments of the inventive subject matter relate to PCB stator motors having radially disposed wheeled bearings for the rotor, including PCB stator motors included in camera stabilization and control systems. The PCB stator motor of the subject matter of the present invention features a rotor forming a slot in which a PCB stator is disposed. A set of wheels is provided around the rotor, which has, for example, grooves in which the outer edge of the rotor can be provided. The set of wheels enables smooth rotation of the rotor as the motor controller activates the PCB stator. In some embodiments, an annular rolling motor is used in conjunction with one or more pitch motors to form a camera system that can, for example, actively stabilize a camera disposed at least partially within the interior space of the rolling motor.

Description

Technical Field

[0001] The field of the invention is camera stabilization and control systems. Background Art

[0002] This background description includes information that may be helpful 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 disclosure explicitly or implicitly referenced is prior art.

[0003] In the field of camera control and stabilization, it is advantageous to configure a system in which the axis of rotation is substantially coincident with the camera image sensor. Existing camera systems that attempt to address this problem include overly complex mechanical systems that use, for example, belt or chain drives to transfer mechanical energy to an endless rotating mechanism. The added complexity not only increases the likelihood of component failure, but also increases the overall weight of the system.

[0004] Many such systems are operated by a single operator who wears the system as part of a larger camera rig. Therefore, the overall weight of the system affects operator fatigue. Reducing the weight of the system can therefore extend shooting time and reduce fatigue, and make it possible for operators with less physical strength to operate such systems.

[0005] By configuring the camera system so that the axis of rotation roughly coincides with the camera's image sensor, the image can be more easily stabilized and the camera's motion can be more precise. Existing systems have failed to envision a solution to implement a printed circuit board (PCB) motor that allows the camera to be mounted within the motor itself. This reduces weight, reduces complexity, and brings the desired effect without any of the traditional tradeoffs.

[0006] Therefore, there remains a need in the art for improved camera operation and stabilization systems. Summary of the invention

[0007] The present invention provides apparatus, systems and methods related to printed circuit board (PCB) stator motors and camera systems implementing the same. In one aspect of the subject matter of the present invention, the camera system includes: a roll motor, which includes a roll motor housing, a first printed circuit board (PCB) stator coupled to the roll motor housing, and a roll rotor, wherein the roll rotor is rotated by a set of bearings arranged circumferentially around the roll rotor; at least one pitch motor, which includes a pitch motor housing, a second PCB stator coupled to the pitch motor housing, and a pitch rotor; and wherein the pitch rotor is coupled to the roll motor housing.

[0008] In some embodiments, the pitch rotor is coupled to the roll motor housing via a pitch motor mount. At least one pitch motor may be coupled to the pitch motor mount at a position such that the pitch rotation axis passes substantially through an image sensor of a camera mounted within the roll motor. The roll motor may also be configured as a ring body such that a camera may be mounted within an open center portion of the ring body. In some embodiments, the roll rotor has a mounting feature configured to facilitate mounting of a camera within a center portion of the roll motor.

[0009] Each bearing in the set of bearings can be a track wheel sized and dimensioned to receive an outer edge of the rolling rotor. In some embodiments, each bearing in the set of bearings is attached to a rolling motor housing.

[0010] In another aspect of the inventive subject matter, a printed circuit board (PCB) stator motor comprises: a motor housing, a PCB stator coupled to the motor housing, and a rotor, wherein the rotor is rotated by a set of bearings arranged circumferentially around the rotor; wherein the rotor comprises an open center portion; wherein each bearing in the set of bearings comprises a track wheel having a groove sized and dimensioned to receive an outer edge of the rotor; and wherein each bearing in the set of bearings is attached to an inner portion of the rotating motor housing.

[0011] In some embodiments, the rotor includes a slot into which the PCB stator extends. The PCB stator may be configured as a first ring, and wherein the rotor is configured as a second ring to enable a camera to be mounted within an open center portion of the rotor. In some embodiments, the rotor has a mounting feature configured to facilitate mounting a camera within the open center portion of the rotor.

[0012] Each bearing in the set of bearings may be configured as a track wheel sized and dimensioned to receive an outer edge of the rotor, and each bearing in the set of bearings may also be attached to the roller motor housing.

[0013] In another aspect of the inventive subject matter, a printed circuit board (PCB) stator motor comprises: a PCB stator and a rotor, wherein the PCB stator is configured to rotate the rotor, and the rotor is rotated by a set of bearings arranged circumferentially around the rotor; and wherein each bearing in the set of bearings is configured to interact with an outer edge of the rotor.

[0014] In some embodiments, the PCB stator motor further includes an annular motor housing having an inner portion, wherein at least a portion of the rotor is disposed within the inner portion. Each bearing in the set of bearings is attached to the inner portion of the annular motor housing. In some embodiments, the rotor is annular and includes a radially outward groove into which the PCB stator extends. The rotor may have a front side and a rear side, the front side including a first set of magnets, the rear side including a second set of magnets, and the first and second sets of magnets may then be disposed relative to each other across the groove formed by the front and rear sides of the rotor. Finally, each bearing in the set of bearings may further include a groove configured to interact with the outer edge of the rotor.

[0015] It will be appreciated that the disclosed subject matter provides many advantageous technical effects, including minimized form factor, direct drive motor in a compact package, high torque output, and a large space in the center of the motor that can accommodate, for example, a camera.

[0016] Various objects, features, aspects and advantages of the subject matter of the present invention will become more apparent from the following detailed description of preferred embodiments taken in conjunction with the accompanying drawings, in which like parts are numbered the same. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A main stereoscopic view of the camera system which is the subject of the invention.

[0018] Figure 2 This is a main perspective view after removing a portion of the roller motor housing.

[0019] Figure 3 Detail view of the roller motor bearing.

[0020] Figure 4 A detailed view of the different bearings of the roller motor. The printed circuit board (PCB) stator is also shown.

[0021] Figure 5 A detailed view with the stator PCB hidden to show a set of magnets on the rotor.

[0022] Figure 6 This is an internal view of the pitch motor.

[0023] Figure 7 This is an external view of the pitch motor.

[0024] Figure 8 This is an external view after removing part of the pitch motor housing.

[0025] Fig. 9 This is the external view after removing the control PCB.

[0026] Fig.10 Shows the external view of the PCB stator.

[0027] Fig.11 A drawing showing the exterior of a pitch rotor with a set of magnets attached to one side.

[0028] Fig.12 Alternative bearing arrangements are shown.

[0029] Fig.13 Alternative bearing arrangements are shown from different perspectives. DETAILED DESCRIPTION

[0030] The following provides exemplary 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 deemed 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 deemed to include other remaining combinations of A, B, C, or D, even if not explicitly disclosed.

[0031] As used in this specification and the claims that follow, the meanings of "a", "an", and "the" include plural references unless the context clearly dictates otherwise. In addition, as used in this specification, the meaning of "in..." includes "in..." and "on..." unless the context clearly dictates otherwise.

[0032] Furthermore, as used in this application, unless the context dictates otherwise, the term "coupled to" is intended to include 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). Therefore, the terms "coupled to" and "coupled with..." are used synonymously.

[0033] In certain embodiments, numbers that are used to describe and claim certain embodiments of the present invention, such as amounts of ingredients, properties such as concentrations, reaction conditions, etc., should in some instances be understood to be modified by the term "about". Thus, in certain embodiments, the numerical parameters recited in the written description and the appended claims are approximations that can vary depending upon the desired properties sought to be obtained by a particular embodiment. In certain embodiments, the numerical parameters should be construed in accordance with the number of significant figures that are published and by applying ordinary rounding techniques. Although the numerical ranges and parameters setting forth the broad scope of certain embodiments of the present invention are approximations, the numerical values set forth in the specific examples are reported as precisely as possible. The numerical values given in certain embodiments of the present invention may include certain errors that are necessarily caused by the standard deviation found in their respective testing measurements. Further, unless the context dictates otherwise, all ranges recited in this application are to be construed as including their endpoints, and open-ended ranges are to be construed to include only commercially practical values. Similarly, all lists of numerical values should be considered to include intermediate values, unless the context indicates otherwise.

[0034] It should be noted that any language directed to a computer 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 alone or in cooperation. 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 (such as a hard disk, solid state drive, random access memory, flash memory, read only memory, etc.). The software instructions preferably configure the computing device to provide the roles, responsibilities, or other functions discussed herein with respect to the disclosed apparatus. In particularly preferred embodiments, various servers, systems, databases, or interfaces exchange data using standardized protocols or algorithms, possibly based on HTTP, HTTPS, encryption algorithms, public-private key exchanges, web service application programming interfaces, known financial transaction protocols, or other methods of electronic information exchange. The data exchange preferably occurs over a packet-switched network, the Internet, a local area network, a wide area network, a virtual private network, or other types of packet-switched networks. The following description includes information that may be helpful in understanding the present invention. This does not mean that any of the information provided in this application is prior art or relevant to the currently claimed invention, or that any of the disclosures expressly or implicitly referenced is prior art.

[0035] The subject matter of the present invention relates to camera control and stabilization systems using a printed circuit board (PCB) stator motor. These systems are configured to operate with a camera mounted in the middle of a roll motor, where the roll motor is further coupled to two pitch motors and selectively coupled to a yaw motor.

[0036] Although this application focuses primarily on the use of PCB stator motors in camera systems, the PCB motors of the present invention may be used in a wide variety of applications that require motors that provide tactile feedback, benefit from a planar configuration, or utilize any other characteristics described in this application or inherent to the motor.

[0037] Figure 1 A camera system 100 is shown having a roll motor 102 and two tilt motors 104. The roll motor 102 and the tilt motor 104 are both PCB stator motors that are employed for their high torque generating capabilities and unique configurations. Specifically, the roll motor 102 is configured in a toroidal shape with an open center. The rotor 106 of the roll motor is shown with a set of camera mounting components 108. The mounting components 108 are configured, for example, to receive rods that enable the mounting components 108 to be tightened around them, which are then coupled to the cameras. The mounting components 108 can be configured in a variety of ways to facilitate coupling the cameras to the rotor 106, and the mounting components 108 are fixedly coupled to the rotor 106.

[0038] Thus, a camera mounted to rotor 106 may be caused to roll by roll motor 102. In embodiments where camera system 100 is handheld, roll motor 102 may ensure that the camera remains level along its roll axis or control roll while accounting for roll caused by camera operator movement, and in embodiments where camera system 100 is mounted to a fixed structure, roll motor 102 may be used to control roll.

[0039] Figure 1 A roll motor housing 110 is also shown. The roll motor housing 110 surrounds the rotor 106, and the roll motor housing 110 provides a structure to which the PCB stator can be fixedly coupled. Pitch motors 104 are disposed on opposite sides of the roll motor 102. Each pitch motor is mounted to a pitch motor mount 112 coupled to the roll motor housing 110. The pitch motor mount 112 provides a structure to which the pitch motor 104 can be attached, and each pitch motor mount 112 is configured so that each pitch motor 104 can slide along the pitch motor mount 112 before being secured in place. Sliding the pitch motor 104 along the pitch motor mount 112 allows the rotation axis of the pitch motor 104 to be moved to a desired position (e.g., approximately intersecting the position of an image sensor in a mounted camera).

[0040] exist Figure 2, the front of the tumble motor housing 110 is removed to show some of the internal components. This reveals the PCB stator 114, which is shown coupled to the rear of the tumble motor housing 110. When the front of the tumble motor housing 110 is attached, the PCB stator 114 is coupled to both the rear and the front. With the front removed, the bearings 116 are also visible. Four bearings 116 are shown, although in some embodiments as few as three bearings may be implemented, in other embodiments more than four bearings 116 may be implemented.

[0041] Unlike typical DC motor configurations, the tumble motor of the subject invention has external rotor bearings, which allows for a large open space in the middle of the motor, giving the motor a toroidal configuration. This configuration is only possible with PCB stator motors, as only PCB stator motors can have an externally mounted rotor driven by a large flat PCB stator. The end result is a motor with a low profile, creating a large space for the camera to be mounted in its center portion.

[0042] To drive or control the roll motor 102, a motor drive circuit board 118 is also included in the roll motor housing 110. A roll motor cable 120 is connected to the motor drive circuit board 118 and provides power to the roll motor 102 as well as any input / output required to control the roll motor 102. The motor drive circuit board 118 may include any electronic components required to control or drive the roll motor 102, including one or more microprocessors and the like.

[0043] Figure 3 A closer front view of the camera system 100 is shown, showing one of the bearings 116 after both the front and rear portions of the roll motor housing 110 are removed. This view more clearly shows that the bearing 116 is formed as a track wheel having, for example, grooves, slots, or similar features that allow the bearing 116 to interact with the outer edge of the rotor 106. The bearing 116 thus interacts with the rotor 106 in a manner that minimizes friction between the two components. Both the bearing 116 and the rotor 106 can be made of a hard material, such as metal, with minimal friction between the components in contact, and although only one of the bearings 116 is shown in this view, all of the bearings 116 are similarly configured. The bearings 116 are all mounted to an interior portion of the roll motor housing 110, allowing the rotor 106 to extend into the interior portion to interact with the bearings 116.

[0044] Figure 4A closer view of the rear of the camera system 100 is shown. The rear of the roll motor housing 110 is removed and the rear of the rotor 106 is hidden. Thus, this view shows the PCB stator 114 and another bearing 116. The dust cover 122 is also visible. The front of the rotor 106 includes a screw 124 and at least one alignment pin 126. The alignment pin 126 is used to align the two parts of the rotor 106 before they are coupled together by the screw 124. This view also shows that the PCB stator 114 includes a cutout portion to accommodate the bearing 116.

[0045] Figure 5 and Figure 4 Similarly, except that PCB stator 114 is also removed. This reveals the front portion of rotor 106, to which magnets 128 are fixed. Magnets 128 are positioned to interact magnetically with the induction in PCB stator 114 during operation of roll motor 102.

[0046] All of these components together form a rotor 106 having two parts (front and back) connected together. The two parts of the rotor 106 are connected together to form a circumferential slot into which the PCB stator 114 fits. Therefore, the rotor 106 can rotate relative to the roll motor housing 110. The above-described roll motor 106 configuration is different from other conventional motor configurations, and even other PCB stator motor configurations, because the rotor 106 is rotated by the bearing 116 surrounding the rotor 106, rather than by one or more bearings surrounded by the rotor.

[0047] Pitch motors 104 are also PCB stator motors and are more typically configured with bearings within their rotors. Figure 6 The pitch motor 104 is shown from an internal perspective, showing the pitch motor rotor 130 mounted around at least one internal ball bearing 132. The pitch motor rotor 130 is driven by a PCB stator, which fits into a slot formed by two parts of the rotor 130, wherein each part of the rotor 130 has a magnet fixed thereto, the magnet being configured to interact magnetically with an induction in the PCB stator during operation of the motor.

[0048] The tilt motor 104 is shown with a rotor 130 coupled to a tilt motor mount 112. Thus, operation of the tilt motor 104 causes the roll motor 102 to tilt, which in turn causes the camera mounted within the roll motor 102 to tilt. To achieve smooth tilting while minimizing torque on the roll motor 102, two tilt motors 104 may be implemented. Positioning the tilt motors 104 on each side of the roll motor 102, and each coupled to the roll motor via a separate tilt motor mount, the two tilt motors 104 working in concert may more easily cause the roll motor 102 to tilt without causing excessive stress by twisting the roll motor 102 when performing the tilt.

[0049] Figure 7 From the outside, it shows Figure 6 The same pitch motor. The pitch motor housing 134 is visible from this view. The pitch motor 104 is shown with two cables connected to it. These cables can carry power, data, serve as input / output, etc. For example, one or more cables can be connected to a control console, a power source, or both.

[0050] Figure 8 show Figure 7 1. The pitch motor is shown with the pitch motor housing 134 removed. Behind the pitch motor housing 134 is the pitch motor control PCB 136. The pitch motor control PCB 136 may include the electronics required to drive the pitch motor 104. The pitch motor bearing 132 is also visible from this view. The pitch motor magnets 138 are visible on the pitch motor rotor 130, and adjacent to these components is the pitch motor PCB stator 140.

[0051] Figure 8 show Figure 8 The pitch motor is shown with the pitch motor control PCB 136 removed. This shows the pitch motor rotor 130 and makes the pitch motor ball bearing 132 more visible. Fig. 9 The pitch motor 104 is shown with the outside of the pitch motor rotor 130 removed, more clearly showing the pitch motor PCB stator 140. Fig.10 , the pitch motor 104 is shown with the pitch motor PCB stator 140 removed, which shows the inner portion of the pitch motor rotor 130 and the magnets 138 associated therewith. The pitch motor PCB stator 140 is connected to the pitch motor housing 134 (including the outer and inner portions, wherein the pitch motor housing 134 is connected to the pitch motor housing 134 by screws 142, for example. Fig.10 Finally, in Fig.11 , the pitch motor 104 is shown with the PCB stator 140 hidden, which shows the distribution of the pitch motor magnets 138. Each magnet forms part of a ring and is arranged circumferentially around a center point. Any set of magnets coupled to a rotor described in this application can meet this description.

[0052] Fig.12 and 13 A camera system 200 is shown having an alternative bearing configuration. This configuration features a ball bearing formed by a ball bearing element 202 introduced between an outer edge on one side of a rotor 204, wherein the outer edge features a groove 206 configured to engage the bearing element 202, such as Fig.12 shown. Fig.13 The inner edge of the housing member 208 is also shown configured to interact with the bearing element 202 to form a ball bearing that allows the rotor 204 to rotate relative to the housing member 208. Fig.13As shown, the inner edge of the housing 208 also includes a groove 210 into which the bearing element 202 is embedded to form a ball bearing. As described in other embodiments of the present application, the rotor 204 is configured to have two halves so that the PCB stator can be disposed therebetween. The PCB stator does not move relative to the housing 208, which allows the rotor 204 to rotate relative to the PCB stator. These elements are shown in other figures of the present application and are also applicable to Fig.12 and Fig.13 , differing only in the type of bearing elements implemented to enable the rotor 204 to rotate.

[0053] Thus, specific systems and methods for camera control and stabilization systems have been disclosed. However, it will be apparent to those skilled in the art that many more modifications are possible, in addition to those already described, without departing from the inventive concepts of the present application. Therefore, the subject matter of the present invention should not be limited except in the essential spirit of the disclosure. Moreover, in interpreting the disclosure, all terms should be interpreted in the broadest possible manner consistent with the context. In particular, the terms "include" 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 exist, or be utilized, or be combined with other elements, components or steps not expressly mentioned.

Claims

1. A printed circuit board (PCB) stator motor, include: A motor housing, a PCB stator coupled to the motor housing, and a rotor, wherein the rotor is rotated by a set of bearings arranged circumferentially around the rotor; wherein each bearing in the set of bearings comprises a track wheel having a groove sized and dimensioned to receive an outer edge of the rotor; and Each bearing in the set of bearings is attached to an interior portion of the roller motor housing.

2. The PCB stator motor of claim 1, wherein the rotor comprises a slot into which the PCB stator extends.

3. The PCB stator motor of claim 1, wherein the PCB stator is configured as a first ring body, and wherein the rotor is configured as a second ring body having an open center portion.

4. The PCB stator motor of claim 1, wherein each bearing in the set of bearings is configured as a track wheel sized and dimensioned to receive an outer edge of the rotor.

5. The PCB stator motor of claim 1, wherein each bearing in the set of bearings is attached to the roller motor housing.

6. The PCB stator motor of claim 1, wherein the rotor is configured as a ring having an open center portion.

7. A printed circuit board (PCB) stator motor, include: A PCB stator and a rotor, wherein the PCB stator is configured to rotate the rotor, and the rotor is rotated by a set of bearings disposed circumferentially around the rotor; and Each bearing in the set of bearings is configured to interact with an outer edge of the rotor.

8. The PCB stator motor of claim 7, further comprising an annular motor housing having an inner portion, wherein at least a portion of the rotor is disposed within the inner portion.

9. The PCB stator motor of claim 8, wherein each bearing in the set of bearings is attached to an inner portion of the annular motor housing.

10. The PCB stator motor according to claim 7, wherein the rotor comprises slots facing radially outward, and the PCB stator extends into the slots.

11. The PCB stator motor of claim 7, wherein the rotor comprises a front side and a rear side, the front side comprising a first set of magnets, the rear side comprising a second set of magnets, and wherein the first set of magnets and the second set of magnets are disposed opposite to each other across a slot formed by the front side and the rear side of the rotor.

12. The PCB stator motor of claim 7, wherein each bearing in the set of bearings includes a groove configured to interact with an outer edge of the rotor.

13. A printed circuit board (PCB) stator motor, include: a rotor forming slots, wherein the slots face radially outward; A PCB stator extends into the slot, wherein the PCB stator is configured to rotate the rotor, and the rotor is rotated by a set of bearings arranged circumferentially around the rotor.

14. The PCB stator motor of claim 13, further comprising a motor housing having an inner portion, wherein at least a portion of the rotor is disposed within the inner portion.

15. The PCB stator motor of claim 14, wherein each bearing in the set of bearings is attached to an inner portion of the annular motor housing.

16. The PCB stator motor of claim 13, wherein the rotor is annular with an open center portion.

17. The PCB stator motor of claim 13, wherein the rotor comprises a front side and a rear side, the front side comprising a first set of magnets, the rear side comprising a second set of magnets, and wherein the first set of magnets and the second set of magnets are disposed opposite to each other across the slot formed by the front side and the rear side of the rotor.

18. The PCB stator motor of claim 14, wherein each bearing in the set of bearings comprises a wheel having a groove configured to interact with an outer edge of the rotor.

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