Stabilized camera platform system

Abstract

A stabilized camera system has a roll frame formed as a parallelogram linkage and pivotably attached to a pan frame. A tilt frame is pivotably attached to the roll frame. Control circuits are provided to compensate for drift, to allow manual aiming of the camera during stabilized camera operation, and for providing rapid leveling. The stabilized camera system is compact with low moments of inertia to allow rapid movements.

1 . A stabilized camera system, comprising: 
 a pan frame;    a dutch frame pivotably attached to the pan frame, with the dutch frame comprising a parallelogram linkage; and    a tilt frame pivotably attached to the dutch frame.    
   
   
       2 . The system of  claim 1  wherein the pan frame comprises an arcuate box section.  
   
   
       3 . The system of  claim 1  further comprising a dutch collar at a first end of the parallelogram linkage, and first and second dutch motors linked to the dutch collar.  
   
   
       4 . The system of  claim 3  further comprising a tilt collar at a second end of the parallelogram linkage, and first and second tilt motors linked to the tilt collar.  
   
   
       5 . The system of  claim 1  further comprising a pan shaft joined to the pan frame and first and second pan motors linked to the pan shaft.  
   
   
       6 . The system of  claim 1  further comprising locking means for locking the parallelogram linkage into a fixed position.  
   
   
       7 . A stabilized camera system, comprising: 
 a control device linked to first summator;    a camera platform sensor linked to the first summator;    a switch having a first position and a second position;    an amplifier linked to the summator when the switch is in the first position to provide a first mode of stabilization; and    a manual camera aiming mode circuit linked to the summator and to the amplifier, when the switch is in a second position.    
   
   
       8 . The system of  claim 7  wherein the manual camera aiming mode circuit includes divider for providing adjustable dampening and a differentiator for providing an adjustable amount of inertia feel to manual aiming movement of the camera platform, with the divider and differentiator linked to a second summator connecting to the amplifier.  
   
   
       9 . The system of  claim 7  wherein the control device comprises a member selected from the group consisting of a joystick, a mouse, a memory device; control wheels and control foot pedals.  
   
   
       10 . A stabilized camera platform system, comprising: 
 a control device linked to a summator;    a rate sensor on the camera platform linked to the summator;    an amplifier linked to the summator;    a motor for moving the platform, linked to the amplifier; and    a position sensor on the camera platform linked to the summator, for controlling drift by providing feedback.    
   
   
       11 . The system of  claim 10  further including a trim potentiometer linked to the summator.  
   
   
       12 . A stabilized camera platform system, comprising: 
 a first control device linked to a first summator;    a first sensor on the camera platform linked to the first summator;    a first amplifier linked to the first summator;    a first motor linked to the first amplifier, for moving the platform about a first axis;    a second control device linked to a second summator;    a second sensor on the camera platform linked to the second summator;    a second amplifier linked to the second summator;    a second motor linked to the second amplifier, for moving the platform about a second axis;    a third control device linked to a third summator;    a third sensor on the camera platform linked to the third summator;    a third amplifier linked to the third summator;    a third motor linked to the third amplifier, for moving the platform about a third axis;    a sine angle sensor associated with the roll frame and pan frame and first and the third summators, to compensate the output of the first sensor when the camera platform is moved out of a zero degree level position.    
   
   
       13 . The system of  claim 12  wherein the second sensor is a dutch axis level sensor.  
   
   
       14 . A stabilized camera platform system, comprising: 
 a dutch axis control circuit including a switch having first, second and third positions;    a dutch axis level sensor on the camera platform linked to the dutch axis control circuit;    a first summator linked to the dutch axis control circuit and to a manual control device;    a second summator linked to a dutch axis rate sensor and to the first summator;    an amplifier linked to the second summator;    a dutch axis drive motor linked to the amplifier for moving the camera platform about the dutch axis; and    the dutch axis control circuit providing a fast-to-horizon mode, when the switch is in the first position, for rapidly moving the camera platform to horizontal; and providing a normal speed-to-horizon mode, when the switch is in the second position and the dutch axis manual control device is providing a zero output; and for providing an off mode, where the output from the dutch axis level sensor is not used in controlling camera platform movement.    a dutch axis level sensor on the camera platform linked to the summator;    an amplifier linked to the summator;    a motor for moving the platform, linked to the amplifier; and    a position sensor on the camera platform linked to the summator, for controlling drift by providing feedback.