Method and Device For Moving a Camera Disposed on a Pan/Tilt Head Long a Given Trajectory
The invention relates to a method for moving a camera that is disposed on a pan/tilt head along a given trajectory especially in a set or studio as well as an associated camera robot. In order to be able to move a camera with repeated accuracy along a given trajectory, an associated trajectory is determined for the spatial positions and orientations of a basic reference system of the pan/tilt head from the given trajectory for the camera, and associated control variables for shafts of a robot that can be moved in Cartesian coordinates are generated from the determined trajectory for the basic reference system of the pan/tilt head and are transmitted to the shafts, thus allowing camera movements to be made that are not possible with previously known systems.
1 . Method for moving a camera ( 3 ) disposed on a pan/tilt head ( 5 ) along a defined trajectory ( 2 ), in particular on a set or in a studio ( 1 ),
characterized in that
an associated trajectory for the spatial positions and orientations of a basic reference system ( 4 ) of the pan/tilt head ( 5 ) is determined from the defined trajectory ( 2 ) for the camera ( 3 ), and associated control variables for shafts (A 1 -A 6 ) of a robot ( 8 ) movable in Cartesian coordinates, on whose receiving flange ( 7 ) the pan/tilt head ( 5 ) is attached, are generated from the determined trajectory of the basic reference system ( 4 ) of the pan/tilt head ( 5 ) and are transmitted to the shafts (A 1 -A 6 ).
2 . Method according to claim 1 ,
characterized in that an articulated-arm robot is employed as the robot ( 8 ).
3 . Method according to claim 1 or 2 ,
characterized in that the trajectory ( 2 ) for the camera ( 3 ) or for the basic reference system ( 4 ) of the pan/tilt head ( 5 ) is traversable in real time by a manual control system ( 15 ).
4 . Method according to one of claims 1 through 3 ,
characterized in that the trajectory ( 2 ) for the camera ( 3 ) or for the basic reference system ( 4 ) of the pan-tilt head ( 5 ) is fed from a simulation system ( 16 ) of a virtual set or studio ( 1 ) to a controller ( 9 ) of the robot ( 8 ).
5 . Method according to one of claims 1 through 4 ,
characterized in that the trajectory ( 2 ) for the camera ( 3 ) or for the basic reference system ( 4 ) of the pan-tilt head ( 5 ) is stored in a controller ( 9 ) of the robot ( 8 ) as a pre-programmed trajectory model ( 19 ).
6 . Method according to claim 5 ,
characterized in that a large number of pre-programmed trajectory models are stored in the controller ( 9 ), and that a trajectory model that is to be executed is activatable by being selected on a control device ( 17 ) that is coupled with the controller ( 9 ).
7 . Method according to claim 5 ,
characterized in that the pre-programmed trajectory models are stored in a memory ( 19 ) that is detachable from the controller ( 9 ).
8 . Method according to one of claims 1 through 7 ,
characterized in that the control variables for shafts (A 1 -A 6 ) of a first robot ( 8 ) are synchronized with control variables of at least one second robot ( 13 ) by means of a synchronous control ( 14 ).
9 . Method according to one of claims 1 through 8 ,
characterized in that the control variables for shafts (A 1 -A 6 ) of the at least one robot ( 8 , 13 ) and for shafts (A 7 , A 8 ) of the pan-tilt head ( 5 ) of the camera ( 3 ) are synchronized by means of a synchronous control ( 14 ) with control variables for traveling drives ( 31 ) of a movable platform ( 32 ) on which the robot ( 8 , 13 ) is mounted.
10 . Method according to claim 9 ,
characterized in that the movable platform ( 32 ) is an automatically movable traveling stand or a platform with omnidirectional drives ( 33 ).
11 . Method according to claim 10 ,
characterized in that the omnidirectional drives ( 33 ) preferably have Mecanum wheels.
12 . Method according to one of claims 9 through 11 ,
characterized in that the position of the movable platform ( 32 ) in the plane of travel is calibrated by means of markers with known positions.
13 . Method according to claim 12 ,
characterized in that one or more optical targets ( 33 ) affixed in the plane of travel of the movable platform ( 32 ) and/or systems that enable orientation with the aid of laser scanners or a GPS are used as markers.
14 . Method according to one of claims 9 through 13 ,
characterized in that the position and/or orientation of the camera ( 3 ) in space is determined based in part on the position of a movable platform or a stand.
15 . Method according to one of claims 1 through 14 ,
characterized in that the shafts (A 1 -A 6 ) of the robot ( 8 ) are provided with different drive types and or transmission types, depending on different usage profiles.
16 . Method according to claim 15 ,
characterized in that in the case of a usage profile for camera movements at low speeds and with very little noise electric motors are employed, in particular servo motors.
17 . Method according to claim 16 ,
characterized in that the servo motors are driven by frequency converters at a frequency of over 15 kilohertz.
18 . Method according to claims 15 through 17 ,
characterized in that in the case of a usage profile for camera movements at low speeds and with very little noise preferably harmonic drive transmissions are employed.
19 . Camera robot having a pan/tilt head ( 4 ) designed to carry a camera ( 3 ), which is disposed on a receiving flange ( 7 ) of a robot ( 8 ),
characterized in that the robot ( 8 ) has at least four axes of rotation (A 1 -A 4 ).
20 . Camera robot according to claim 19 ,
characterized in that the robot ( 8 ) has six axes of rotation (A 1 -A 6 ).
21 . Camera robot according to claim 19 or 20 ,
characterized in that the camera robot ( 8 ) is connected to a controller ( 9 ) that is designed for controlling additional positioning drives for at least the pan and tilt functions of the pan/tilt head ( 5 ).
22 . Camera robot according to claim 21 ,
characterized in that the controller ( 9 ) is additionally designed to actuate positioning drives for roll, camera, zoom, focus and/or iris.
23 . Camera robot according to one of claims 19 through 22 ,
characterized in that the camera robot ( 8 ) is disposed on a linear drive ( 30 ) that is actuatable by the controller ( 9 ).
24 . Camera robot according to one of claims 19 through 23 ,
characterized in that the camera robot ( 8 ) is disposed on a movable platform ( 32 ).
25 . Camera robot according to claim 24 ,
characterized in that the movable platform ( 32 ) is an automatically or manually movable traveling stand or a platform with omnidirectional drive ( 33 ).
26 . Camera robot according to claim 25 ,
characterized in that the omnidirectional drive preferably has Mecanum wheels.