Note: Descriptions are shown in the official language in which they were submitted.
~IZ18ZS9
IMPROV~D SUSPENSION SYST~M FOR SUPPORT:[NG AND CONVEYING
EQI]IPMENT, SUCH AS A CAMERA
lnvenkor: Garrett W. Brown
MICROEICHE ~PPENDI~
A microfiche appendix containing a total o 1
microfiche and 32 frames has been submitted with the
application..
A
PIE~D OF T~E INVENTION
This invention relates generally to an improved
suspension system, and more specifically to a suspension system
for supporting and conveying equipment, such as photographic
and video equipment, throughout larye yolumes of space with the
requisite stabilization to achieve high quality images.
BACKGROUND ART
: I
A major concern in the motion pic-ture and video
production fields has b en to provide for the mobility of the
camera, not only la-terally or horizontally along the ground,
: but aIso vertically in space as well. A number OL systems have
been~devised to achieve this objective, each providing the Il
: cameraman with its own particular llmited degree of ~nobility in
terms of speed and range. :Obviously, an equally :important
;~ consideration in each case has been to maintain a high quality
ima~e which is not excessively degraded by unwanted an~ular or
spatlal motions or vibraLions of the camera~ l~at is to say,
either motions ln an~r of the three perpendicular de~rees o~
: angula~ deviatiotl, or in any of the three directions of motion
in sl~ace (the x and y a~es of lateral motion and the z axis of
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~L2~13ZS91
vertical Inotion). The hand-held camera, for instance, is
highly mobile, but affords an often unaccep-table amount of
jittering when the operator moves at anything above a slow walk.
In the simplest and earliest forms, camera
transportin~ mechanisms involved wheeled conveyances ~dollies)
which could be pushed or driven along, ancl ~1hich were oEten
provided with smooth rails, or the like, upon w'hich to travel
if the selected path was too bumpy. Dollies then acquired jib
arms, and cranes were invented which added a degree of vertical
travel. N'umerous versions with more or less sophisticated
suspensions, in all sizes, had been the state of the art up
until the middle 1970's. At that time, the cameraman's arsenal
of techniques was expanded by the invention of a stabilizer for
the hand-held camera by the present applicant (U.S. Patent ~o.
~,017,168) ~hich provides a high-quality image along with an
unprecedented degree of Ereedom for the hand-held camera. The
operator ~an walk, run, climb stairs, ride horseback, etc. and
still achieve high quality images. In addition, there have
a:lways been various forms of camera mounts on or in
conventional vehicles, some of which have been stabiiized,
which meant that the camera could be transported within the
particular limitations of each vehicle. Cameras on cars,
trucks and motorcycles, have expanded the range and speed of
the moving shot, and cameras on helicopters and airplanes and
blimps have provided coverage~from high an~les above the
earth. Unfortunately, each is restricted by design and
prudence to its own particular area of safe and effective '
operation. The motorcycle cannot rise up with the camera, and
t~e helicopter cannot work close to ground level without
considerable peril.
~ This has left an important area of coverage almost
entirely without an effective means oE camera transport, The
problem which has remained unsolved i5 mainly one of scale, ana
the area referred to is that in which a great deal of mankind's
e~tertainment takes place. Directors, particularly in video,
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121~Z59
are constantly faceA wit~ the nee~ to deploy cameras in order
to shoot events that take place within huge more-or less
enclosed spaces. Everything from the Acaaemy Awards to the
~lympics, from the concert stage to the athletic stadium.
Hundreds of such spectacles end up on network air time yearly
in ',his country alone. It is relatively easy to arrange any
n~mber of ground-based or balcony-mounted camera positions, but
as it is frequently difficult to move these cameras, they
usually end up as static shots, zooming in and out near the
telephoto end of the lens. It is obviously highly desirable to
be abLe to move the camera in an unrestricted manner without
worrying about obstacles on the ground, and without inhibiting
the enjoyment of spectators on the scene. The camera should be
capable of moving rapidly, even at ground level and close to
the participants, without danger, and ideally should then be
a~le to fly hundreds of feet up and away to hold completely
~till for any o~ the spectacular high-angle shots o~ which
d;rectors dream.
Such shots have been unobtainable heretofore. For
example, consider a televised NFL football game. They employ
dozens of fixed cameras high up in the stands and at positions
on the ground. They also employ a camera dolly or two, which
can run up and down the sidelines, and at times even a crane
with perhaps a thirty foot arc to shoot down upon the players'
bench and the coaches from-the sidelines. This leaves
approximately 99.9% of the volume of a stadium in which it is
currently impossible or impractical to deploy a camera. Recent
experiments with an overhead mounted camera in some stadiums
have ~een tantalizing because the angle is spectacular, but
once mounted, the camera is stuck in its spot and can only do
approximately what the "press-box" cameras do if a closer shot
i5 desired - zoom in. Since zooming is an optical
magnification of the image, one loses the sense of immediacy
that a closer camera would provide, not to mention the
e~citement of an actual move in to this close position.
~,~1L8Z~;9
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In order to provide for camera mobility, prior worl;ers
in the art have mounted camera systems on rails, cables, an~
the like, as is evidenced by the disclosures in V.S. Patent
~os. 2,538,9]0 (Miller), 2,633,054 (Blac~), 3,437,7~a (Latady
et al.), 3,935,3~0 (Coutta) and ~,027,329 (Coutta). Although
the above systems do provide a certain degree oE mobillty they
ohviously are limited to movement along the predetermined path
of travel that is established by the prearranged configuration
of the track.
It also has been suggested to provide mounting
structures for attaching camera systems to aircraEt, such as
helicopters, as is evidenced by the disclosure in U.S. Pa-tent
No. 3,638,502 (Leavitt et al). Although cameras mounted in
this fashion hav~ a high degree of mobility, they obviously can
not be employed close to ground level, such as is often desired
in photographin~ athletic events. Moreover, these systems
clearly cannot be utilized to photograph indoor events.
From the above discussion it should be appaxent that
existing camera support systems lack versatility, thereby
inherently imposing restrictions, or lil~litations, in
photographing many events. I
SUM~Y OF THE INV~TIO~ ¦
I '
~¦ ~ I The present invention relates generally to the fielcl
of suspension systems, and more particularl~, is directed to a
cable suspension system -for supporting and conveying
photographic, video or other equipment to a selec-ted position
within a defined space. In the case o~ photographic and video
; ~ equipment, stabilization means as required to achieve high
qu~lity images are included.
In accordance with a simple embodiment of this
invention, the camera equipment i5 susp2nded vertically from a
tubular member, or spar, that in turn is attached to the
respective ends of a plurality of at least thres flexible
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cab:les. If the maC;s of the assembly is predominantely below
the support member, it can be quite bottom-heavy, thereby
having a quick pendular ra-te depending upon its degree of
bottom heaviness. In such a bo-ttom heavy system, undesired
pendular motion is easily imparted to the camera assembly by
merely accelerating or dçcelerating i-t close to or in pha~e
with its p~ndular rate. Altllough e~ploying a bottom-lleavy
~ystem is within the purview of this invention, and can
betolerated when the camera assembly is to be moved at slow
speeds, or alternatively, when su~ficient time is available for
the camera assembly to come to rest prior to being used, the
more prefecred embodiments are not significantly bot-tom-heavy~
In a simple embodiment, the supported assembly, which
may be a camera assembly including remote control e~uipment,
batteries, etc., is statically balanced to be slightly bottom
heavy, so that its pendular period of swinging is extremely
slow. Therefore, if its rate o~ movement is changed at a speed
which is considerably outside this pendular rate, it can then
be moved around and stopped and started without serious angular
deviations. Such an arrangement might be suitable for use
within enclosed spaces or even outside spaces on days in which
there was no wind.
In this simple embodiment, the pan axis remains
directly connected to the supporting cables, theref~re a fast
acceleration of the camera's mass in the pan axis may produce a
slight backlash and indeed precession of the entire assembly,
since it will be opposed only by the lateral force of the
connecting cables. Also, vibrations in the connecting cables
may produce a corresponding vibration in the camera p~n a~is.
Although this simple embodiment could be e~tremely useEul
within confined spaces, it is apparent that the invention will
be greatly more advantageous if a higher degree of isolation
rom the supporting cables can be obtained, and if the vertical
axis is stabilized against the eEfects of wind and lateral
accelera ions.
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L8~S9
The PreEerred Structure
._
In a preferred embodiment, the present invention
combines four computer-controlled cable drums with cables
deployed throu~h pulleys moun-ted upon four of the highest
availabler wides-t apart, and roughly equidistant posi-t:ions, the
cables running to and supporting a camera assembly. By
selectively extendin~ and retracting the various flexible
cables in a predetermined manner, the camera assembl~ can be
made to move in virtually any horizontal path, vertical path,
o.r a combination of the two, limited only by the location of
the spaced-apart mounting means for the cables~ l'he camera
assembly is connected to the cables by means that.prçEerably
provide the equivalent. angular isolation o~ at least a two-axis
gimbal, and preferably is divided into at least two statically
and dynamically balanced masses, with the gimbal roughly at the
center of gxavity of said masses.
The camera assembly includes a camera of known ~-
construction that is remotely controlled by conventional mean~,
and its video image (either the actual output of a video
camera, or the reerence video assist image of a film camera)
is sent by wireless means to the remote operators' position.
The computer .interprets the directiona.l commands of the
operator~s) and actuates the motions of the camera in
three-dimensional space by calculatin~ the speed a~d amoun~ oE
cable required to be taken in or let out by each o~ the motors
in order that the camera move in space according to the
operators' intention. Further, the compu-ter will produ~e this .
result even though the separa-te mounting positions are o.
different heights, and spaced apart at irregular intervals.
Each of the masses of equipment, both above and below
t'he ~irnbal, must in addition, be statically balanced around the
a~is perpendicular to the earth, so that upQn acceleration in
any lateral direction, no rotational impetus is imparted to the
I
~amera components. For purposes o clarification, as herein
employed, the said exis shall be referred to as the vertical
.
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axis. The camer~ assembly, which is preferably located below
the gimbal connections, rotates about this vertical axis by
remote control, at the will of the operator, which shall be
called herein, the camera pan axis, when referring to the
camera's motions. In acldi-tion, the camera assembly can be made
to rotate about an axis which is perpendicular to the vertical
axis and parallel to the earth which also is ninety de~rees
offset ~rom a line drawn through the center of the camera's
taXing lens, and which is designated the camera tilt axis.
Of course, it is seldom desirable that the camera
assembly deviate from vertical in terms of what is called
herein the camera roll axis, that isj an axis parallel to the
line drawn through the center o~ the taXing lens. Only the
camera pan a~is maintains a fixed relationship to the overall
vertical axis deined above. Obviously, as the camera pans
around, a deviation in this vertical axis would be at one
moment a deviation in tilt, and at another moment a deviation .
in roll, and in between, a combination of the two. It is
therefore clear that it is desirable to maintain this vertical
axis erect always with respect to the plane oE the earth.
The preferr~d embodiment includes means to ~aintain
the verticality o~ the camera assembly by controlling the
functioning of the gimbal. Undesired anyular deviations which
would be apparent in the tilt and/or roll axes of the camera
can quickly be compensated for by powered gimbal means employed
to~move the inner and outer sec-tions~of the equipment support
member relative to each other, most preferably under the .
~influence oE a level-sensing device or sensing means.
erefore, in the event of uneven wind shear forces or
~pendular forces induced by the lateral accelerations o~ the
device, the verticality of the camera assembly of this
preferred embodiment can be preserved by intermittently or
continously functioning the powered gimbal means to overpower
the~angular freedom of the gimbal means as required~
~ ' . I
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In this embodiment, the sensing means, which may be
based upon bending crys-tal, gyro or Eiber optic technology, is
of known construction and will not be described herein. The
sensing device is employed for automatically sensing, or
detecting any angular deviation oE the supporked equipment Erom
a desired orientation, such as level, and then automatically
operating the powered gimbal means to ef~ect the necessary
relative rotation between the inner and outer sections of the
equipment support member, in order that the camera assembly is
returned immediately to the desired orientation. In addition
the inputs to the drive system are automatically feathered to
prevent the equipment's inertia from causing a pendular action
beyond the desired orientation.
The sensing devices preferably provide several outputs
which indicate rate and direction of rotation, rate and
direction of acceleration and average position of its internal .
damped pendulum. These outputs can be mixed to provide the
proper instructions to the powered gimbal means so that the
equipment will be qulcXly restored to vertical without
overshooting and pendular swinging.
In the preferred embodiment, the powered gimbal means
comprises sector gears located within the outer two gimbal
rings and servo or torque motors which can be driven to oppose
the above named wind shear and acceleration forces by exerting
~torque against the tension forces of the connecting cables.
This arrangement provides for a built-in degree of shock
absorption, sincè the arcuate force required to move each
glmba1~ring is negligible withiD the -first few degrees and
builds rapidly as the connection point's position approaches a
tangential relationship to the currently prevalent direction of
the tensioned cables.
The preferred embodiment of the invention includes
means to render appro~imately equal any wind loading upon the
separate masses above and below the point of connection to the
cables. This can include housings or enclosures sized so that
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the mass which is ~artller from the said point, is housed in a
ball whose cross-sectional area i5 smaller proportionate to
this relative separation, thus producing equal leverage upon
the vertical spar to that produced by the closer but larger
ball. Preferably these enclosures are spherical, and thereby
also prevent the imposition of non-uniEorm wind shear ~orces
which would tend to cause undesired ro-tational movement in the
pan axis.
In order to eliminate another source of such movement,
the preferred embodiment includes means to produce the
isolating effect of a three-axis gimbal, which means more
completely isolates the camera pan axis from angular deviations
induced by the mo~ions of the cables~
Therefore, this embodiment further includes means by
which the force needed to move the camera portion of the
assembly in the camera pan axis is opposed by the
counter-rotation of another mass of components remote from the
camera within the assembly. This eliminates the backlash in
the camera's pan a~is produced by opposing the camera's
rotational inertia with only the resilient force o~ the
tensioned cables. The entire camera assembly can operate as i
within a closed system with respect to the accelerations of its
camera comp~nents, and no force is required rom without the
system in order to pan the camera. This arrangement requires a
high degree of precision in the placement o~ the components
with respect to their mutual dynamic balance around their
common axis of rotation, in order that sudden lateral
accelerations do not impart an arbitrary tendency to rotate.
Since the camera, as well as the drive means for
rota-ting the camera a~out its pan axis are both rotatably
movable relative to the equipment support member (i.e.
rotatably isolated ~rom said support member) undesired
movement, or forces imparted to the equipment support member
will not be rotatably transmitted to thé camera. The system is
designed so that the rotatable member which does not support
~825~
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the camera includes means ~or opposing the rotational inertia
o~ the camera, thereby permitting the drive means to
effectively rotate the camera about its pan axis. In one
embodiment of this invention, the means for opposing the
rotational inertia of the camera includes inert masses that are
statically and dynamically balanced relative to the pan axis,
and which are attached to the rotational member that does not
support the camera. In an alternative embodiment,
air-resistant vanes such as utilized by prior workers in the
art, may be positioned on this latter rotatable member so that
the air encountered b~ them provides the necessary resistance
to oppose the rotational inertia of the camera.
In yet another preferred embodiment, the masses above
and below the gimbal which comprise the entire camera assembly
are rigidly connected with respect to the pan axis, and the
entire assembly is permitted to rotate in the pan axis by means .
of the bearing which provides the third axis of rotational
~reedom between the gimbal and the central spar.
In order to induce and control this rotation of the
entire mass of the camera assembly as required when the
operator wishes to "Panl' the camera, a torque motor attached
to, for instance, the outer race of the gimbal rotational
bearing opposes a gear attached to the spar (or vice versa). A
xate sensor, again of either bending crystal, ~yro, or
fiberoptic construction, as are well-known in the art, is
employed to sense the rotation of the spar, and thus to
regulate the pracise rate and smoothness o-E panning according
to the intention o~ the operator, by means oE a Eeedback
circuit that applies power to the said torque motor so that the
rate of panning conforms to the decoded signal from the
operator's control. This encoding and decoding is within the
routine art of remote control.
In the event of slight vibrations in the pan axis
transmitted by the wires and the outer two sections of the
gimbal to the inner "Pan" bearing, t~é torque motor rotates
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Ereely when unpowered and permlts this Lnner bearing to ahsorb
said vibrations. Even when powered, during a "Pan" the torque
motor's speed will Ereely vary to accommodate these outside
in~luences, so tha-t the rate sensor sees a smooth rate of "Pan".
Trimmin~, Set~up an~ ration
In accordance with the preEerred embodimen~ of this
invention, the trimming and set~up operation might proceed as
follows:
Each element in the camera assembly which is distinct
from any othex elements by virtue of the fact that it either
rotates relative to said other elements, or is isolated from
the position of the outer gimbal ring in at least one axis of
motion, must itself be statically balanced around the vertical
axis. When all such elements are statically balanced, then the
entire camera assembly will be in a condition of dynamic
balance throughout. Therefore, when any such element rotates,
the vertical axis will not depart from plumb due to the new
orientation of any unbalanced component.
In practical operation, each such element must be
either manufactured so as to be balanced, or more probably,
adjusted prior to use, by moving at least one oE its components
in the x and y axes (those p~rpendicular to the vertical axis),
until said element is balanced. In practice, it would be
helpful to provide for a small "tuning gimbal" with gimballed
rod and adjustable weight, so that each element cou]d be placed
thereon individually, and so adjusted. If this is done, the
assembly of all of the elements will remain in static and
dynamic balance.
Mow the spherical enclosures can be mounted over the
masses at the top and bottom of the camera assembly. The sizes
of the spheres have been selected so that their respective
cross-sectional areas are directly proportional to the relative
weights of the masses at opposite ends of the main spar. When
the gimbal is properly positioned at approximately the center
~82~
of gravity of the camera assembly, an additional small, but
virtually weightless foam sphere (no-t shown) can be slid up and
down on the main spar to correct -Eor any error in the selection
of diameters, to compensate for the wind resistance of the
sections of spar exposed above and below the gimbal, and also
to correct for a theoretical slight change in the relative wind
resistance of the spheres as the wind speed increases. This
sliding ball should be adjusted after the following balancing
operation has been completed, and with the assembly hanging
from its cables in a steady wind oE approximately the speed
that will prevail during operation.
Finally, the position o-E the sliding gimbal assembly
should be adjusted so that it is within approximately 1/2"
above the center of balance of the two large masses - Eor
example, the camera equipment below~ and the battery and
transmitter assembly above~ This operation provides the
correct degree of bottom heaviness for the entire ca~era .
assembly portion of the invention.
Upon arriving at the location of operation, the
pulleys for each of the four cables are pulled up to the high
positions chosen, with the appropriate cable already threaded
through them, and secured with the camera end of the cable held
down at the ground, and with the motor drum unwinding the cable
as required. (Obviously, the ~lotor and drum sets are secured
at any convenient level belo~ the position for their respective
pulleys.) The four cable ends are led out to the chosen start
position of the camera and attached to the gimbal ring. Each
motor is then run in by hand, until the four cables are taken
up to the point that they are taut at the camera assembly
sufficient to float it ~ust above the ground.
The computer program is booted up, and upon cue from
the computer, the program is inputed with the positions of the
four suspension poînts, relative to the start position of the
camera, which is considered "0" in all three axes. The
computer is instructed to recognize the boundaries of àny area
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not considered "sa~e" for the camera assembly to enter. (Such
as any area below ground level.) Control of the camera
assembly is then turned over to the position operator's
joystick and elevator controls. O course, ~he actual camera
operator is in control oE the camera's pan, tilt, zoom, focus,
etc. by conventional wireless means.
~ s the camera assembly is hanging from the gimbal and
four supporting cables, the automatic level sensing mechanism
is turned on, after a final check that the camera assembly does
in fact hang upright, barring the influence of any outside
phenomenon, such as wind.
The sensor, preEerably a conventional bending crystal
inclinometer, detects displacement ~rom vertical, and provides
an exact voltage in linear correspondence to the angular
deviation o~ the sensor. This is accomplished by continuously
updating the output of a rate sensor with the output of an
internal pendulum which provides an average (integrated over
time) reading of the sensors attitude. In practice, however,
the tension of the cables on the outer section of the gimbal
still allows a degree of resillience when this force is used as
a base ~rom which to drive the sector gears and restore the
massive camera assembly to an upright condition. Merely using
the inclinometer output, therefore results in a pendular
oscillation of the equipment, as it accelerates toward
verticality and o~ course swings on through.
In order to dampen this oscillating effect, a system
must be employed which exerts a decreasing force which is
opposed to the restoring force (as called ~or by the
inclinometer) before the equipment reaches vertical - much as
you would exert braking force on a child's swing in order to
stop it and its rider smoothly. This opposite force is
provided by an accelerometer output which resists any
acceleration on the way back to vertical, and is adjusted to
~eed the circuit with the appropriate voltage to oppose this
motion. Finally, a rate sensor output alone, is similarly
I
adjusted and mixed in to oppose any hi~h frequency movement
which may be imparted to the outer gimbal ring by the
connecting cables. In practice, most of these adjustments can
be preset, however it may be necessary to fine tune ths
accelerometer and rate outputs for particular conditions, such
as an extramely windy day, or for operation in huge spaces that
require exceptionall~ long runs o cable from the pulleys to
the camera equipment.
Intermittent clutching of the servo or torque motors
driving the gimbal sector gears, as discussed in the summary,
(not shown) can be considered an additional reEinement of the
practice as described in connection with the preferred
embodiment. These clutches would be functionally connected
betwean the motors and their driven gears, and powered so as to
clutch-in or connect said motors and gears only upon
instructions fro~ the level-sensing system which indicate that .
the spar needs to be returned to vertical. In the absence of
such signals, or upon arriving at vertical, the clutches would
become inoperative, or disconnected, and in this condition the
gimbal would be free to rotate in one or both of its operative
axes, and would therefore, serve to virtually isvlate the
camera assembly from the more or less minute vibrations that
might come from any of the supporting cables~ In general, it
is contemplated that the leverage applied against the vertical
axis Erom these vibrations would be so slight compared to the
mass and size of the camera assembly, that the clutches as
described above would be unnecessary. However, if the very
maximum effectiveness is required oE the invention,
particularly during high winds, or if the use of the longest
telephoto lenses is required, then the intermittent powering of
the vartical assembly relative to the outer gimbal ring could
be advantageous particularly since even a free-wheeling torque
motor as described above ofEers a slight rasistance to the
rotation of the gimbal rings with respect to each other and the
central spar.
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The torque motors are direct drive with no gearing and
they are driven by a constant current type of amplifier. This
allows the gimbal system to mGve freely without imparting
unwanted forces to the camera while also allowing the motors to
act against this moving support system with a consistent force,
much like a tightrope walker must work against the swaying high
wire.
The "Pan" axis i9 also controlled with a
sensor/amplifier/motor system, but there is, in this case, no
pendulum, only a rate sensor. The rate sensor endeavors to
keep the camera pointing consistently in one direction when
there is no signal coming from the pan/tilt control box
(thereby cancelling out any inertia or wind effects on the
camera); it also maintains a constant and smooth pan when a
constant pan is asked for~
The pan/tilt control box consists typically of a box .
with controls similar to a motion picture type geared head,
connected to two DC tachometers such that increasing the speed
of the cont~ol wheels results in an increasing DC voltage.
This voltage is then applied to a typical radio control
encoder, as i5 well known in the art.
~ le power of the large motors required to extend and
retract th~ cable connections to the camera assembly, can be
roughly calculated, and depends of course upon a number of
variables, including the weight of the camera assembly, the
speed of motion required, the height desired for the camera
relative to the positions of the support points, and the length
and weight of cable deployed. Although a rough idea ~f the
power required can be useful, there is no practical point in
attempting to make the above calculations e~act, since the
number of variables renders the excercise tedious beyond all
usefulness. For example, in any four-cable arrangement, a
sli~ht change in the leng-th of one of the cables, can cause it
to be slack or can slacken yet another cable, resulting
effectively in a three-point suspension, with the slack cable
- 16 .
providin~ little or no lifting component. Therefore the
following rough ~ormula provides for such a worst case
si.tuation, and also considers that the camera is placed in the
exact center o the working area, and that all cable suspension
points are oE even hei~ht above mean ground level. We also
assume that the maximum practical camera altitude is the point
at the convergence of lines drawn from the four suspension
points toward the camera, each of which is depressed an angular
five degrees below the common horizontal plane of all four
suspension points. In addition, we will consider that the
maximum horizontal camera speed over the ground is twenty miles .
per hour within a working area of ~00 feet by 600 feet by 200
feet high, and that the total weight of all cable deployed is
no greater than the total wèight of the camera assembly.
~ rough rule of thumb derived from practical
experiment and from calculations based upon the above model, .
yields the following guideline:
For every five pounds of camera assembly weight,
approximately one horsepower for each cable motor will be
required.
By employing the present invention, a director can
specify a camera position virtually anywhere within the vast
spaces involved in today's entertainments. The camera can be
helA steadily at any height between ground level and the height .
attained when one or more of the cables is tensioned within
roughly five degrees of horizontal. The operator can then move
the camera to any other point along any path he chooses, curved .
or straight, at speeds limited only by the strength and speed
of the motors chosen to run the cable drums. The camera can,
for instance, move along the water in a swimming match, si~ I
inches above the surface ahead of the lead swimmer, and pull up
a hundred feet and look straight down in time for the finish.
It can fly fifteen feet above and twenty feet in front of a
: group of high hurdlers as they run around a track. It can
descend from two hundred feet and pursue the quarterback up the
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field on a running play, and then hover poised betwee~n the
goal-posts as the extra-point kick comes r;ght at it. The
camera can be held stationary twenty feet Erom the speaker at a
convention, and pull back five hundred feet, just above the
heads of the cheering conventioneers. Obviously, the
possibilities are endless.
Among other advantages, the invention provides this
unprecedanted mobility Eor the camera and yet does not involve
huge cranes or vast heavy rigs. It can arrive in a few cases
within a small vehicle and be set up and running in a hall
which has had the necessary support points installed, within
about a half an hour. In a continuing event, like the
Olympics, it can be dismantled ancl remounted in another hall
within a like short space of time. ~urther, it can be used in
proximity to humans and objects with complete safety, and with
the reliability of today's elevators.
The apparatus of the present invention may also be
employed to support other portable pieces of equipment wherein
mobility and stability may be desirable, for example, certain
types of military weapons, lasers, games, surveillance sensors,
lighting equipment and the like.
The present invention could also be employed for the
pickup, conveyance and release of materials within a lar~e
space. Equipped with a conventional remote-controlled hook,
grabbing jaws, or other manipulative member, the device could
move widely within an open area, lower itself and select a
specific item; grasp it, elevate and move to another location;
lower down again and release the item in the new location.
Adding a remote-controlled camera to the device would allow the
remote operator to visually search out, inspect and gràsp an
item and then deliver it to the new location with complete
control. ~pplications could include retrieving parts for
manufacturing, warehousing, dockage, unloading and
trans-shipment, or even construction applications using
appr~priately heavy dvty rigging and rotorc.
~2 ~ S~ '
~ nother appl:ication contemplatecl that is within the
scope of this invention would be its use to sim~l:ltaneously
light and photograph (or video record) medical opera~ions and
the like, for use as a teaching aide, or to provide a record oE
an operation (possibly even in three-dimensional video or film
technique). The xemote--controlled camera oE the invention
could be outitted with a high-intensity :Light. source, perhaps
surrounding the taking lens, and arranged to point along the
same axis as the taking lens, as the camera is panned and
tilted. The operator could cause the camera/light to hover
over the operation, and if the operator see.s the area oE the
operation through the lens, then he can be sure that the light
source is also reaching that area. If the surgeon moves to
obscure the view, the camera/light is easily repositioned, i~
three axes of space, to find another clear look at the area of
importance. One advantage oE this technique, is that the ].ight
source can be a more collimated "hard" light, which will .
provide greater contrast and clarity for the details of the
operation, as compared to the large "sot" sources that must be
broad enough not to be blocked by the interposition of the
surgeon's head or hands.
In addition to the above applications, it is
contemplated that this invention could be extremely useEul for
certain underwater operations, such as retrieval procedures and .
photography. In the event that a buoyant equipment assembly
was employed, the flexible cables could be trained about bottom
attached pulleys for extension and retraction in a a manner ¦ -
similar to above-ground practice.
As herein employed, the term "camera" is deEined as
any imaging or motion picture device such as a strip film fed
camera, a video camera or other device whose stability is
essential even when in motion.
Other objects and advantages oE this invention will .
become apparent by reEerring to the detailed description which
-Eollows, taken in conjunction with the accompan~ing drawinys,
1.
zs9
- 19 -
wherein like reEerence characters refer to similar parts
-throughout the several views.
BRIEF DESCRIPI'ION OF THE ~RAWINGS
Fig. 1 is a somewhat schema-tic isometric view of ~he
suspension system for supporting and conveying a camera assembly
in accordance with a preferred embodiment of this invention, and
with the spherical enclosures of the assembly being shown in
phantom;
Fig. lA is a schematic isometric view of a simplified
embodiment of the suspension system.
Fig. lB is an enlarged, schematic view of the connections
of the embodiment of Fig. lA.
Fig. 2 is a plan view of a motor assembly employed for
controlling the operation of cables in the suspension system;
Fig. 3 is an end elevational view of Fig. 2, with part
of the ball reversing mechanism removed;
Fig. 4 is a side elevational view of the motor assembly
shown in Fig. ~;
Fig. 5 is an end elevational view of a camera assembly
in accordance with this invention, with the spherical enclosures
removed to show details of construction;
Fig. 6 is an end elevational view of the camera assembly
taken along line 6-6 of Fig. 5;
Fig. 7 is a fragmentary isometric view of the camera assembly
in the region of the two-axis gimbal illustrated in Figs. 5 and 6;
Fig. 8 is an enlarged sectional view along line 8-8 of
Fig. 6;
Fig. 9 is a fragmentary end elevational view along line
9-9 of Fig. 8;
Fig. 10 located on the same sheet as Fig. 7 is an enlarged
sectional view along line 10-10 of Fig. 5;
Fig. 11 located on the same sheet as Fig 7 is an enlarged
~s;^,
~152~i9
- 20 -
sectional view aloncJ line 11--11 of Fig. 5;
Flg. 12 is a Eragmentar~ encl eleva-tional view showing an
a].-ternate emboclirnent of a camera assembly;
Fig. 12A located on the same sheet as Figs. lA and lB is
a fragmentary isometric view of the gimbal area illustrated
in Fig. 12.
Fig. 12B is a diagrammatic illustration, in isometric
view, of another embodiment of the camera assembly.
Figs. 13 and 14 are fragmentary elevational views of
opposed ends of the camera assembly, showing the manner in which
spherical enclosures are employed to enclose the ends thereof;
Figs. 15-17 illustrate, in block form, the electronic
hardware employed to control the operation of the suspension
system in accordance with this invention; Fig. 1~ illustrating
the digital processor, or computer; Fig. 16 illustrating the
computer-to-serial interface circuit and Fig. 17 illustrating
the motor control circuit; and
Fig. 18 is a block diagram illustrating the operation of
the software employed with the electronic hardware in accordance
~ith this invention.
DESCRIPTION OF THE PREFERRED EMBODIMENTS OF THE INVENTION
The suspension system of this invention can be employed to
support and convey various different types of equipment, and
is best suited for supporting and conveying equipment in an
environment wherein mobility and stability are important
factors. For example, certain types of military weapons, lasers,
surveillance sensors, lighting equipment, industrial retrieval
or assembl~ equipment, games and the like may be suitably
handled by the suspension system of this invention. However,
in the preferred embodiment of this invention, the suspension
system is employed to support and convey a camera assembly,
and it is in connection with this embodiment that the invention
will be described.
s~ l
~ 2~ ~
A4 the term is utilizecl herein, refererlce to "came~a
assembly" refers to the camera itself, as well as to associated
components, if employed. For example, the camera assembly in
accordance ~ith one embodiment of this invention can include
either a strip film Eed camera or a video camera, in
conjunction with battery packs, a video transmitter, support
structures, and associated drive means for ef~ecting movement
of the camera about the tilt, roll and pan axes thereof.
Reference throughout this application to "camera"
refers to the image receiving component of the assembly, and
preferably is either an electronic video type camera or a strip
film camera.
Referring to Fig. 1, the suspension system 10 includes
four cables 12, 14, 16 and 18, each of which is suspended over
a pulley 20 connected to a respective support structure 22.
Each of the cables has one of its ends attached to an equipment
support member 24 which, in the preferred embodiment of this
invention, is a ~ulti-axis gimbal. The gimbal 24 is, in turn,
attached to the camera assembly 25, details of which will be
described later in this application~
Referring to Figs. 1,2 and 3, individual motor
assemblies 26 are employed to control the movement of each of
the cables 12, 14, 16 and 18. Each motor assembly 26 includes
a motor-driven reel 27 for supporting one of the cables. Each
reel 27 is driven by a shaft 28 connected to a motor 30 through
a gearbox 32 ~Fig.2). The driven shaft 28, in addition to
driving the rotatably mounted reel 27, also includes two
pulleys 34 and 36 fixed to rotate with it. An endless belt 38
i5 trained about the pulley 34 and a pulley 40 attached to a
~double-helix, cylindrical shaft 42 of a ball reversi~g
mechanism, the helical shaft being rotatably mounted in bearing
supports 44 and 46. Ball reversing mechanlsms of the type that
can be used in this invention are well known in the art, and
need not be described in detail herein. Suffice it to state
that the ball reverslng mechanism feeds out, ^r rolls in cable
2S9
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in a uniform manner from one axial end to the opposite axial
end of its associated reel 27. A second belt 48 (Fig.3) is
trained about the pulley 36 and a pulley 50 associated with a
pulse generator S2. This pulse generator provides a pulse at
increments of each revolution oE the reel to provide a Eeedback
signal to assist in controlling the desired movement of the
camera assemkly 25. The motors 30 are computer-controlled, in
a manner to be described later in this application, for
operating reels 27 to extend and retract the cables in
accordance with the instructions from a remote operator.
Turning again to Fig. 1, the camera assembly 25
includes a remotely controlled video, or film-strip camera 54
located at one end thereof and associated components of the
camera which are located at the opposite end. The
remote-controlled camera 54 can be of any well Xnown design,
and does not constitute a part o-f the present invention. .
Accordingly, the structure of this camera, as well as the
remote control circuitry for tilting, panning and/or zooming
the camera, need not be described herein.
An elongate, vertically oriented hollow spar 56 of the
camera assembly 25 is attached to the gimbal 24 intermediate
its ends. Mo~t desirably, the attachment is made at the
center, or the approximate center of gravity of the camera
assembly 25 to prevent, or minimize, undesired pendular motion
of the assembly as it is being moved.
The opposed ends of the camera as`sembly are enclosed
within spherical members 6~ and 62r illustrated in phantom in
Fig. 1. The purpose of these enclosures, as well as further
details of their construction, will be described in greater
detail hereinafter in connection with Figs. 13 and 14.
However, it should be noted that these spherical enclosures can
be utilized with all variants of this invention, but will be
omitted from most of the figures so as not to obscure other
detalls of construction.
~21~Sg
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In the simpliEied embodiment of Figs. lA, lB, a
plurality oE three Elexible cables 14a, 16a, 18a are
illustrated. The flexible cables are endwardly affixed to
spring clips lla, llb, llc, which clips are attached to
substantially the same point, for example a small ring 21
through the openings 35a, 35b, 35c. A support spar 56a afEixes
to the ring 21 in suitable secure manner to carry the camera
assembly. A video or film camera 54 can then be suitably
supported from the spar through a yoke 64 for spatial movement
as the cables 14a, 16a, 18a are extended and retracted.
Referring to Figs. 5 and 6, the camera assembly 25
includes a remote-controlled camera 54 rotatably mounted on a
yoke 64 in a conventional manner so as to be movable about its
tilt axis, in the direction of double-headed arrow 66. A
vertically directed tubular member 68, integral with the yoke
64, extends upwardly through the tubular spar 56.
Referring specifically to Fig. 8, the spar 56 is
inserted through, and attached to the inner annular hub 72 of
the gimbal 24. The annular hub 72 includes a clamping
mechanism 73 for frictionally tightening it about the spar to
retain the camera assembly 25 in its desired position relative
to the gimbal. More particularly, the camera assembly 25 is
attached to the annular hub 72 at the center, or approximate
center of gravity of said assembly.
Referring to Figs. 7-9, additional details oE the
two-a~is gimbal 24 will be described. In addition to including
the inner hub 72, the gimbal includes an outer annular section
74 and an intermediate annular section 76. A pair of linearly
aligned pins 78 define a linear rotational axis between the
outer section 74 and the intermediate section 76. Likewise, a
pair of linearly aligned pins 80 deEine a linear rotational
~axis between the intermediate section 76 and the inner hub
section 72 that is oriented at ninety degrees to the rotational
axis provided by the pins 78. The effect of this two-axis
arrangement is to provide for relative rotational movement
.'12~825~
- 2~ -
be-tween the inner centra] hub 72, includin~ the camera assembly
25 attached thereto, and the annular outer section 74, to which
the individual cables 12, 14, 16 and 18 are attached. This
latter attachment can be achieved by any suitable ~astening
means. For example the cables can be provided with suitable
hooks (not shown) for engaging with the eyelets oE hooks 82
attached to the outer annular section 74 o~ the gimbal.
Still xeferring to Figs. 7-9, a pair of curved sector
gears 84 and 86 are attached to the inner hub 72 and the
intermediate section 76 respectively of the gimbal 24. In
particular, these sector gears are oriented at ninety degrees
to each other, and are in linear alignment with the ~otational
axes defined by the pins 78 and pins 80, respec-tively. Motor
driven gears 88 and 90 are provided to drive the sector gears
for preserving, or establishing verticality of the camera
assembly 25. The servo or torque motors 92 and 94 for driving
the gears 88 and 90 are secured to the outer annular section 74
and intermediate annular section 76 respectively of the gimbal.
In operation, the movement and/or acceleration of the
camera assembly 25 by the suspension system 10 may impart
pendular movement to said assembly and thereby cause it to
deviate from its desired vertical oriPntation. In order to
preserve, or reestablish the desired verticality of the
assembly, the motors 92 and 94 are actuated to oppose the
undesired movement by exerting an opposing toxque againsk the
tension force applied to the gimbal 24 by the connecting cables
12, 14, 16 and 18. Although the motors 92 and 94 could be
remotely controlled by an operator, it is pxeferred to employ
sensing means for automatically actuating the motors in
response to a detected, undesired angular deviation of the
camera assembly from a desired orièntation.
Referring specifically to Figs. 7 and 9, sensing
means, in the form of bending crystal type, pendulum referenced
inclinometers 96 and 98, are retainea on a supporting shelf 100
that is secured in vertically-spaced relationship to the ginbal
l8~
- ~5 -
24 by an upstanding rod 102. ~he inclinometers are employed to
detect a deviation of the camera assembly relative to a desired
orientation (i.e. relative to an axis perpendicular to the
earth), and for actuatiny the servo or torque motors 92 and 94
in response to the detected deviation to positively rotate the
camera assembly back into its deqired vertical orientation. It
should be noted that actuation of the motor 92 will cause
relative rotational movement between the annular outer section
74 and the inner annular hub section 72 about the rotation axis
provided by the aligned pins 78. In a like manner, actuation
of the motor 94 will cause relative rotational movement between
the intermediate section 76 and annular inner hub section 72
about the rotational axis provided by pins 80. Note that both
the annular outer section 74 and the intermediate section 76
will rotate as a single unit relative to the inner hub section .
72 about the axis defined by the pins 80.
Referring to Figs. 5, 6, 10 and 11, the manner in
which the various masses associated with the camera assembly
are located will be described in detail. Although specific
camera-related elements will be described in connection with
the preferred embodiment of this invention, it should be
understood that the specific elements constituting the
transported equipment can be varied widely, depending upon the
particular components that one desires to include in the
assembly. The most important factor in the preferred
embodiment of this invention is that the components be both
statically and dynamically balanced so that, during use,
uncontrolled, or unpredictable moti~ns of the camera 54 will be
avoided.
Referring specifically to Fig. 5, a remote video
transmitter 104 is connected to the elongate rod 68 to rotate
therewith. A motor 106 is attached to the transmitter and has
a drive gear 108 for cooperating with a disc~shaped driven gear
110. This driven gear is attached to a shelf 112, and is
adapted to rotate with the shelf abou-t a bearing support 114
which is concentric with the tubular member 68 (Fig. 11).
S9
- ~6 -
I'he horizonta] shelf 112 iæ generally rectangular, andincludes two 6-volt batteries 116 and 118 attached at opposite
ends thereof. These batteries provide the necessary power to
operate the remote video transmitter 104, the remote-controlled
camera S4 and the servo motors 92 and 94.
Referring specifically to Figs. 5 and 11, the
batteries 116 and 118 are connected to each other in series by
a conductor 120, and in turn, are connected by conductive leads
122 and 124 to conductive annular discs 126, 128 secured to the
upper surface of the driven gear 110. A power transmitting
member 130 is connected to the elongate rod 68 to rotate
therewith, and includes, as part of its structure, A .
spring-loaded conductive pins 131 and 133 for engaging the disc
126 and 128 to transmit power from the batteries to both the
transmitter 104 and to the remote controlled camera 54.
Referring specifically to Figs. 5 and 10, a second
power transmitting member 132 is connected to the bottom oE the
rectangular shelf 112 to rotate therewith. This member also
has conductive leads (not shown) electrically connected to the
conductive annular discs 126, 128 associated with the driven
gear 110. Conductive brushes 134 and 136 oE the power
transmitting member 132 cooperate with a slip ring 138 to
transmit power through leads 140 and 142 to the gyros 96 and 98
respectively. These gyros are, in turn, connected via an
appropriate amplifier/mixer to the motors 92 and 94 to actuate
said motors in response to a detected angular deviation from a
desired orientation preferably from an axis perpendicular to
the earth.
Still referring to Figs. 5 and 6, the batteries 116
and 118, in addition to providing the power to operate various
components of the camera assembly 25, also constitute
spaced-apart, inert masses that have sufficient rotational
inertia to oppose the rotational inertia of the camera 54 when
the motor 106 is operated to pan the camera about the
rotational axis of rnember 68. When this takes place, the shelf
.
- 27 ~
112, as well as the various components mounted thereon, will be
rotated in an opposite direction, relative to the direction of
rotation of the member 68. This arrangement of counter
rotating masses tends to eliminate backlash when the rotational
panning of the camera is stopped suddenly, or when the
direction of panning is reversed.
As can be seen best in Fig. 5, a brake 144 is attached
to the bottom of shelf 112 to permit adjustment of the
rotational drag of the shelf, and its associated structura,
about the spar 56. The drag is varied by controlling the
amount of force imposed by the brake member 145 on the outer
surface of the slip ring 138. The purpose of this brake is to
balance the rotational drag between the shelf 112 and the spar
56~ on the one hand, with the rotational drag between member 68
and two thrust bearings tha-t are employed to rotatably mount it
to the lower and upper ends of the tubular spar 56. Note that. .
in the illustrated embodiment only a single bearing is .
interposed between the shelf 112 and the elongate tubular
member 68, and in this embodiment, the brake 144 is actuated to
impart an additional rotational drag equivalent to that
provided by the additional bearing between the member 68 and .
the lower end of the spar 56. If the rotational drag forces
were not so balanced, the horizontal shel~ 112, and the
components attached thereto, would tend to accelerate as
panning o~ the camera continued. Of course, in camera
assemblies where the rotational drag is balanced at the outset, .
a separate brake member will not need to be employed.
The above~described arrangement for rotatably mounting
and driving the camera 54 isolates the camera, and in
particular the pan axis thereof, from the effects of angular
deviations transmitted to the gimbal 24 and vertical spar 56 by
motiGn of the supporting cables 12, 14, 16 and 18. -¦
Specifically, this is achieved because the cooperating drive .
means for rotatably moving the camera 54 about its pan axis is
associated with two rotatably mounted members (horizontal shelf
~z~s~
- 28 -
112 and elongate member 68) that are rotatable relative to each
other as well as to the supporting gimbal 24. Note that the
elongate member 6~ rotatably supports the motor 106 and its
associated drive gear. The cooperating driven gear 110 is
fixably suppoxted on -the counter-rotating shel 112. In view
of this arrangernent, the camera 54, which is secured to the
member 68 through the yoke 64, as well as the remaining battery
components, which are attached to the rotatably mounted shel~
112, are rotationally isolated from the vertical tubular spar
56 and its attached gimbal 24.
Referring to Figs~ 12, and 12~, an alternative
arrangement for connecting a camera assembly 25a to a
supporting gimbal 24a in a manner which virtually isolates the
camera from the gimbal will be described. Elements which are
identical, or similar to those described in connection with the
embodiment of the invention depicted in Figs. 5 and 6 will ~e .
referred to by the same reference numerals, but with a suffix
"a" t~ereafter.
Referring specifically to Fig. 12, a camera assembly
25a can include the same yoke and remote control camera as
disclosed earlier. Accordingly, these elements are not
illustrated in Fig. 12. The yoke is connected to a tubular
member ~8a that is rota~ably mounted on suitable bearings
within the interior of an outer tubular spar 56a. The
embodiment illustrated in Figs. 12 and 12A differs most
significantly from the embodiment illustrated in Fig5. 5 and 6
in that the outer tubular spar 56a is rotatably mounted by a
bearing support 143 within the annular inner hub 72a of the
gimbal 24a. In the embodiment disclosed in Figs. 5 and 6, the
spar 56 is secured to the gimbal 24, and i5 not rotatable
relative to it.
Since the outer tubular spar 56a is rotatable relative
to the gimbal 24a, a horizontal shelf 112a, supporting the same
components as illustrated in Fig. 5 (if desired), is secured
directly to the outer tubular sp~r 56a to rotate as a unit
,
.
5~
- 29 -
therewith. Spaced-apart ba~teries 116a and 118a are connected
in series, as described earlier, and in turn, are elec-trically
connected to a slip ring 138a attached to the spar 56a to
rotate therewith. AccordincJly, the batteries and slip rings
will rotate together. Power is transmitted through the slip
rings to a power transmitting member l32a through conductive
brushes 134a, 136a that cooperate with conductive bands on the
slip rings. Power taken by the member 132a is then ~ed
directly to gyroscopes (96a and 98a) for controlling the
operation of the motors 92a and 94a in exactly the same manner
as described earlier in connection with the embodiment
illustrated in Fig. 5. In the embodiment illustrated in Fig.
12, the gyroscopes can be secured to the platform lOOa
supported by the rod upon which the power transmitting member
132a likewise is attached. The gimbal 24a, except for its
rotational mounting to the tubular spar 56a, can be identical
to the gimbal 24, including the appropriate sector gears 84a,
86a and cooperating motor driven gears 88a, 90a.
As shown in the embodiment illustrated in Fig. 2, a
remote video transmitter 104a can be secured to the upper end
of the upstanding rod 68a, and also can support a motor 106a
for driving the ~ear 108a. Gear 108a cooperates with gear
llOa, which in turn, is attached to the shelf 112a to rotate
the camera ~not shown) about the pan axis provided by the
vertical tubular member 68a. The spaced-apart masses 116a and
118a provide sufficient rotational inertia to oppose the
rotational inertia of the camera when the motor 106a is
operated to pan the camera~ In this embodiment the shelf 112a,
as well as the tubular spar 56a to which it is attached, will
rotate in a direction opposite to the direction in which the
camera is being panned. Also, as in the case o the embodiment
illustrated in Fig. 5, the rotational pan axis provided by the
upstanding tubular member 68a is rotationally isolated from the
gimbal 24a. In particular, one of the cooperating drive gears
108a is associated with the rotatable member 68a, and the other
.
~Z~8~S~
- 30 -
cooperating dr;ven gear 110 is associatecl with the rotatable
outer spar 56. Bo-th the rod 68a and the spar 56h are rotatable
relative to each other, and also to the gimbal 24a to thereby
establish the desired ro-tational isolation o~ the camera.
As described above, both the embodiments of E'ig. 5 and
Fig. 12 employ inert masses in the form oE spaced-apart
batteries, to provide the necessary rotational inertia to
oppose the rotational inertia of the camera. It is envisioned
that in addition to, or in place of the inert masses,
upstanding vanes could be provided at opposite ends of the
shelf 112 (or 112a) to therèby provide air resistant mèans,
rather than inert masses, to oppose the rotational inertia of
the camera. In other words, as the motor 106 (or 106a) is
being operated to rotate the camera about its pan axis, the
vanes would be driven in an opposite rotational direction with
this latter motion being opposed by air resistance against them.
Another preferred embodiment of the camera assembly is
shown in Fig. 12B. Because this embodiment is, with only a ~ew
exception3 similar to those previously discussed, it is shown
in Fig. 12B in somewhat diagrammatic form, with only those
features and components which are peculiar to it shown in
detail. Also, those components illustrated in Fiy, 12B which
coxrespond to ones shown in Figs. 5 and 12 are designated by
the same reference numerals, but ~ollowed by the letter b.
The embodiment of Fig. 12B is characterized by having
a single, central support means for both the camera and the
counterweight means. This is constituted by spar 68b, which
supports at its lower end the camera 54b and at its upper end
the batte~ies 116b, 118b and the electronics 104b. Thus, any
rotational movement, whether intentional or unintentional,
about the axis of spar 68b is transmitted equally to the camera
and the counterweight means.
Central spar 68b is concentric with a second support
means, formed by outer spar 56b in Fig. 12B, which encircles
spar 68b along a portion of the length of the latter, and which
~21H~$g
- 31 -
has bearings such as shown ak 200 permitting it to rotate about
spar 68b buk not ~ove lengthwise relative thereto.
Means are provided for rotating outer spar 56b
relative to cen-tral spar 68b. These means include a spur gear
201 on the outer sur~ace of outer spar 56b which opposes a
pinion 202 rotatable by a motor 203 fixedly attached to central
spar 68b. A rotational rate sensor 204 is also mounted on
central spar 204.
In order to pan camera 54b, the motor 203 is energized
and, since outer spar S6b i5 substantially immobilized against
rotation about the panning axis by the restraint of the cables
(nok shown) attached to hooks 82b, the turning movement
imparted to pinion 202 by the motor i5 translated into panning
movements of central spar 68b and, of course, camera 54b.
Preferably, motor 203 is a torque motor. This means
that, when it is energized, undesired vibrations (e.g. from the
suspension cables) which might cause panning vibrations in .
outer spar 56b transmitted via gimbals 74b and 76b will simply
be absorbed by the "play" in the unenergized torque motor and
will not be transmitted to camera 54b. When the motor 203 i9
energized and is actively panning the camera, the rate of such
panning will be sensea by rate sensor 204, compared
electronically with the desired rate determined by the
operator, and the motor torque controlled to substantially
cancel out any deviations due to the undesired vibrations. The
specific means utilized for rate sensing, and motor control
may, o course, take any of various conventional forms well
known to those skilled in the art.
It is evident that this embodiment of Fiy. 12B is
exceptionally simple in construction, and yet also very
effective in its intended operation, particularly with xespect
to preventing undesired vibrations from affecting the panning
position or panning movement of the camera.
It will also be understood that the positions of
torque motor-and-pinion 203, 202, on the one hand, and gear
ilZS9
3~ -
201, on the other hand, can be essentially interchanged. In
other words, the gear can be mounted on the central spar 68b
and the motor on the outer spar. Again, relative rotation oE
the spars will be produced by the motor.
It should be understood that the various components
employed in the camera assembly may be varied. However, in the
preferred embodiment, the various masses should be distributed
along the length of the assembly so that the gimbal can be
attached intermediate the ends of the assembly at the center,
or the approximate center of gravity thereof. By attaching the
camera assembly at its center of gravity to the gimbal,
undesired pendular motion o~ the assembly is minimized as the
assembly is being moved by the extension and/or retraction of
one or more of the supporting cables. Moreover, to avoid
undesired rotational deviations, or excursions about either the
tilt, roll or pan axes of the camera, all of the masses should .
be both statically and dynamically balanced about these axes.
Another way to describe this condition is that each mass which
is capable of rotation independent of another mass must itsel
be in static balance around the exact vertical axis.
Therefore, as the various components, including the camera,
rotate about one another, the entire camera assembly will not
then yaw as the unbalanced heavy sides o~ two masses come into
conjunction.
Due to the various dif~erent masses employed in the
camera assembly, the center of gravity of the assembly may not
be in the middle thereof. Therefore, when the camera assembly
is attached at its center of gravity to the gimbal, the camera
5~, which is supported at one end of the assembly, may be
supported at a dif~erent distance from the gimbal than
components attached at the opposite end of said assembly. When
such a system is exposed to wind loading, which can occur even
during indoor use at high speed, the torque applied to the
assembly above and below the gimbal may be different, the
torque being dependent upon both the lengtA of the ass-mbly
1 .
- 33 -
above ancl below the gimbal, and the ~urface area~ at opposite
ends of the assembly that are exposed to the wind loading. If
the lengths oE the assembly above and below the gimbal are
diEferent, it is entirely possible that the wind will impart an
uneven torque to the assemb]y, thereby causing undesired
angular movement of the camera about the tilt and/or roll axis.
Referring to Figs. 13 and 14, a preferred arrangement
for avoiding uneven wind loading upon the assembly is
illustrated. It should be no-ted that this arrangement can be
employed în connection with all embodiments in which the mass
is distributed along the camera assembly, on opposite sides of
the attaching gimbal. In particular, spherical balls 60 and 62
enclose the masses at oppo~ite ends oF the camera assembly.
Assuming that the gimbal is correctly positioned at the
approximate center of gravity if the camera assembly, the balls
60, 62 are sized so that the end of the assembly that is
furthest from the point of connection to the gimbal 24 is .
housed in the smaller sphere, so that the cross sectional areas
of the two spheres are inversely proportional to the relative
sepaxations between the gimbal and the opposed centers of the
masses at the opposed ends of the assembly, and direct]y
proportional to the relative weights oE the said masses. In
this manner the wind loading will produce equal leverage upon
the vertical spar on opposite sides of its attachment to the
gimbal to thereby prevent, or miniminze undesired angular
movement of the assembly due to wind loading thereon. Even if
some slight angular deviation does take place due to uneven
wind shear, it is relatively easy to reestablish proper
orientation of the assembly through operation of the motor
controlled gears 88 and 90 which are associated with the gimbal
24. In fact, the actual force required to rotatably move the
sections of the gimbal to reorient the camera assembly is
negligible when only a few degrees of movement are required,
but the available force builds up rapidly as the connection
points of the cables to the gimbal approach a tangential
.
Jll J
- 3~ ~
relatiollship to the then prevailing direction oE the tensioned
cables~ ThereEore, by designing the system so that, at the
worst, only slight unwanted deviations in the tilt and roll
axes may occur, low-powered motors for operating the control
gears 88 and 90 can be employed.
~ eerring to Fig. 13, the spherical ball 60 is
illustrated in its attached position over the yoke 64 of the
camera assembly 25. The ball 60 includes a circular opening 61
to pexmit the ball to be inserted over the yoke. An inturned
annular flange 146 about this opening is snapped into grooves
148 associated with spaced-apart globe mounting members 150
that, in turn, are fastened to the yoke 64. A metalL or
plastic canopy 152 is secured to an annular clamping member 154
that is slidably mounted along the elongate rod 68, to which
the yoke 64 is attached. The clamp member 154 can be secured
to the rod 68 with the canopy 152 being closely positioned in
overlying relationship with the opening 61 to thereby protect .
the interior of the globe from rain, dirt and other inclement
conditions. The spherical ball 60 also includes an optically
clear section (not shown), preferably made oE a suitable
plastic, such an optical grade of "Lexan" plastic. This clear
section is located along the tilt axis, in alignment with the
camera lens so as not to interfere with the photographic
process.
Reerring to Fig. 14, the spherical ball 62 is
employed to enclose the masses (i~e. batteries 116, 118, shelf
112, etc.) at the end of the assembly opposite the camera 54.
This ball is formed Erom two hemispherical sections 158 and
160. The lower section 160 is secured to an annular clamp 161,
which in turn, is secured to the outer tubular spar 56. The
upper hemispherical section 158 has an annular edge that is
frictionally retained in an annular groove, or seat 164 formed
about the margin of the lower hemispherical section. In this
manner the upper hemispherical section 158 can be removed, in a
relatively easy fashion, to permit battery replacements,
J~ r k
~2 lLt~;~59
- 35 -
ad~ustments, maintenance or other operations that need to be
employed in connection with the enclosed masses.
The spherical enclosures 60 and 62 are appropriately
sized, ~aking into account their relative distances from the
connecting gimbal 24, to substantially equalize the wind
loading upon the opposed ends of the camera assembly 25 so that
substantially equal torques are imposed upon the assembly by
the wind above and below its area of attachment to the gimbal.
In this manner undesired angular deviations of the assembly
resulting from wind loading are avoided, or at least greatly
minimized.
~ lso, as indicated earlier in this application,
although the preferred embodiment o~ this invention relates to
a camera assembly wherein the masses are distributed along the
length thereof, it is within the scope of this invention to
employ a camera assembly which is bottom heavy. That is, where
the mass is not distributed to establish the center o~ gravity
at, or near the assembly's point of attachment to the gimbal.
See Fig. lA. Although a bottom heavy arrangement is clearly
less preEerred then the embodiments specifically illustrated
herein, such an assembly may be usable in environments where
the camera can be employed satisfactorily while being moved at
a sufficiently slow speed, that is significantly less than the
pendular rate o~ the assembly. In this manner, unwanted
pendulous motion of the assembly may be avoided. However, in
many environments, the effects of wind, or air, on the assembly
may cause undesired pendulous movement, and thus mitigate
against the use of a bottom heavy construction. In these
latter situations, the assembly should have its mass
distributed in a manner to permit its attachment to the gimbal
24 at its center, or approximate center, of gravity.
It also should be noted that, for some applications,
it may not be necessary to completely isolate the pan axis of
the camera from the gimbal 24, as is achieved by the
constructions illustrated in Figs. 5 and 12. For example, it
sg
- 36 -
is po~sible that the assembly of Fig. 5 could be employed with
the horizontal she]f 112, and components thereon, secuxed
directly to the outer tubular spar 56, so tha-t the shelf and
its components would not be rotatable. In such an arrangement,
jolting forces imposed upon the system by the motions of the
various cables would be transmitted to the camera 54. In
particular t~lese forces would be transmitted through the gimbal
24, the vertical spar 56 connected thereto, the driven gear 110
fixed to the spar, the drive gear 108 engaging the driven gear
110, the elongate rod 68 operatively connected to the drive
gear 108 through attachment of motor 106 to the remote video
transmitter 104, and then to the yoke 64 which supports the
camera. Clearly this is not a preferred arrangement. However,
in environments wherein undesired jolting forces are slight, or
virtually non-existent, such an arrangement might be utilizable.
The suspension system of this invention preferably is .
computer-controlled, with the computer interpreting the
directional commands of the operator, and actuating the motions
of the camera in three dimensional space by calculating the
cable speed and the amount of cable required to be taken in or
let out by each of the motors 28. Moreover, the computer can
be made to produce this result even if the saparate mounting
positions for the respective cables are at different heights
and/or are spaced-apart at irregular intervals.
The design of electronic hardware ~or achieving
computer-controlled operation of the suspension system 10 is
well within the skill of the art, but will be described
generally herein for purposes of completeness. Specifically,
the electronic hardware comprises three major components,
namely: a digital processor or computer (Fig. 15), a
computer-to-serial interface (Fig. 16) and a motor control
circuit [Fig~ 17).
Referring specifically to Fig. 15, a computer utilized
in this invention includes a processing unit 170 that runs the
control pro~rams and both recei~es data from, and transmits
~ 37 -
~lata to other devices, such as an external storage device 172.
This latter component contains a copy oE the control programs
and data, and also func-tions to both receive ancl send the
processing unit data. The processing unit 170 also transmits
information to a video displ~y unit 174 to display the
informcltion in a format that is usable by the operator. A
keyboard 176 is employed to actually send data to the
processing unit. In the preferred embodiment of -this
invention, the operator uses the keyboard 176 to define the
original position of the suspension point for each of the
cables 12, 14, 16 and 18, and also to define any other
parameters that will restrict, or pre-define the motlcn of the
suspended camera.
In addition to the initial data setup, the keyboard
176 is employed to actually instruct the processing unit to
retrieve the control programs and data from the external
storage device 172, and to commence execution of those .
programs. An interface device, indicated at 178, transfers
data (both input and output~ between the processing unit 170
and other components of the ~ystem. In the preferred
embodiment of the ;nvention, the interface 178 consists of an
IEEE-488 interface circuit, which ~onforms to the IEEE-488
standard for parallel data interfacing. Given the proximity of
the components herein, a parallel data transfer device i8 .
preferred due to its speed of data transmissionJ although a
serial interEace, such as the RS-232C or a different parallel
interface, could provide the same interface function.
Referring to Fig. 16, the computer-to-serial interface
includes four primary circuits. One of these circuits is an
IEEE-488 interface circuit 180, similar to the interface 178
referred to in Fig. 15. This interface circuit 180 receives
data sent by interface circuit 178 over an IEEE bus 182. As
indicated earlier, this interface circuit 180 was selected for
its standardization and the speed of parallel data
transmission, but could be replaced with a diffeLent parallel
interface or a serial interface to provide the same ~unction.
.
,
- 3~ -
The circuit 180 receives two signals for each
suspension point/motor. Both signals are proportional to the
desired motor speed, and both signals are sent to a motor speed
transmitter circuit (i.e. 184, 186, 188 or 190) associated with
a respective motor 28.
The IEEE-488 interEace circuit 180, in addition to
receiving data ~rom interface circuit 178, also sends three
signals to the computer over the bus 182, each one includiny
the desired speed of the camera assembly 25 in one oE the three
coordinate directions (x, y and z). The interEace circuit 180
receives these three signals from the speed input digitizer
cixcuit, schematically illustrated at 192. This latter circuit
digitizes signals provided by the operator through joysticks or
other physical input devices. The computer-to-serial interface
further includes an interface control and master clock circuit,
schematically illustrated at 194, for exchanging control data .
with the inter~ace circuit 180 and with other circuits Eor
ensuring synchronization o~ the various components.
The inter~ace control and master clock circuit 194
serves two major purposes. The first is to provide a master
clock to the ele~tronic hardware, so that all components
function in a synchronized fashion. The second is to control
the flow of activity in the different circuits. 5peci~ically,
the interface control and master clock circuit 19~ activates
and deactivates the electronic elements in the sequence
required for proper operation. The interface control and
master cIock circuit 194 preferably is a hardwired pxocessing
unit. However, this circuit may also be i~lplemented as a
microprocessor with the control loyic stored in ROM, in known
manner.
The speed input digitizer circuit 192 receives x, y
and ~ speed-proportional signals and sends those signals to the
IEEE interface circuit 180 under the direction of the inter-Eace
control and master clock circuit 194. The three input signals
are directly pxoportional to the desired speed o~ the
~8;~Y~
- 3~ -
suspension system along its designated coordinates. Each
signal activates and deactivates a counter and the output from
this counter is read into a digital latch, or register, during
a quiescent stage. The latched signal is then sent to the
IEEE-48~ interface circuit 180. The counters are c~pable of
working simultaneously, but the latched siynals are sent
sequentially to the interface circuit 180 over the same
parallel data bus 196. The sequence of operation of the
elements is controlled, as indicated earlier, by the interface
control and master clock circuit 194.
Each of the motor speed transmitter circuits 184, 186,
188 and 190, receives parallel signals from the interface
circuit 180, converts these signals to serial signals and
transmits them to the motor control circuit to be described
hereinafter (Fig. 17), all under the control of the interface
control and master cloc~ circuit 194. The parallel data comes
in signal pairs, as described above, and the same process i5
followed or each signal pair, i.e. it is latched fro~ the data
bus 196 by the input latch 198. After all data pairs are
latched by latch 198, the parallel signals are sequentially
passed to the parallel-to-serial converter element 200 which
converts the parallel signals into a serial data stream. This
serial transmission can occur concurrently in circuits 184,
186, 188 and 190. The serial data goes through a frequency
shift keying tFSK) encoder 202, where it is mixed wth a clock
signal from the interface control and master clock circuit
194. ThereEore, the output from the encoder 202 includes both
data and clock signals, mixed and encoded. Although this
enbodinant uses FSK encoding, different serial transmission
approaches could provide the same function.
This signal then is sent to the motors 28, or more
specifically, to the motor control circuit component to be
described hereinafter in connection with Fig. 17. This can be
done, in a well known manner, through wireless transmission, or
over wires. The alternative shown in the diagram illustrates
32S9
~ ~o --
transmission over wires using a line driver: element 204. The
seq~ence of operation of all elements in each of the ~otor
speed transmitte~ circuits is con-trolled b~ the interface
control and master clock circuit 194. As indicated above, the
computer-to-serial interface shown in Fig. 16 has a separa-te
motor speed tranr,mitter circuit ~or each motor 28 employed to
control the movement of a cable. Each of the motor speed
transmitter circuits operates under a slight phase shift when
reading the parallel data, as necessitated by the transmission
o~ signal pairs o~er a common data bus 196. The serial
transmission to the mo~or control circuit on Fig. 17 can
proceed concurrently.
Referring to Fig. 17, a motor control circuit
component of the type employed in connection with each of the
motors 28 i5 depicted. This motor control circuit component
consists o three primar~ circuits, namely a motor control .
logic and master clock circuit 210, a motor driver circuit 212
and a feedback sensor circuit 214.
The motor control logic and master clock circuit 210
receives a clock signal from the FSK decoder 216 in the motor
driver circuit 212. This is the clock signal originated by the
interface control and master clock circuit 194 illustrated in
Fig. 16, and ensures that the operation of all devices is
synchroni~ed. The motor control logic and master clock circuit
210 controls and sequencas the operation of all circuits in
this component.
The motor driver circuit 212 receives the signals sent
by an asæociated motor speed transmitter circuit 184, 186, 188
or 190 (Fig. 16), this transmission being wireless or over
wires, as desired. The specific diagram illustrates a line
receiver 218 which receives signals sent over wires. The
serial ~ignals go to the FSK bi-phase decoder 216 where they
are decoded and decomposed into two data signals and a clock
signal. The first data signal continues to flow through this
circuit while the second data signal is sent to the feedback
, .
- 41 -
sensor circuit 214. The clock signal i8 sent to the motor
control logic and master clock circuit 210. The first data
s.ignal goes through a serial-to-parallel converter 220, whose
parallel output is stored .in a latch or regi~ter 222, which in
turn provides the input to a digital-to-analog convert~r 224.
The output from this latter converter is a voltage which is
proport.ional to the desired motor speed.
The feedback sensor circuit 214 receives the second
data si~nal from the FSK decoder 216, and this signal also goes
through a serial-to-parallel converter 226 and is stored in a
latch 228. The feedback sensor circuit 214 also receives a
chopper signal proportional to the direction and extent of
rotation of the shaft of motor 28, and the chopper signal
either increases or decreases a counter 230 (depending on the
direction of rotation). The output from this counter and the
outpu~ from the latched data are input to a digital .
comparator/arithmatic unit 232, the counter signal being
proportional to the desired rotation. The output from the
comparator/arithmatic unit 232 drives a digital-to-analog
converter 234 to provide a voltage proportional to the
difference between the actual and desired motor rotation. The
analog signal from the motor driver circuit ~12, representing
the desirea speed, and the analoy signal from the feedback .
sensor circuit 214, proportional to the de~iation from the
aesired spe~d, are input to a difference amplifier 236, which
in turn drîves the motor circuitry. .
It should be noted that the sequence of operation of
all elements in motor driver circuit 212 and feedback sensor
circuit 214 is controlled by the motor control logic and master
clock circuit 210.
; Turning now to Fig. 18, the manner in which the
software program is employed in this invention will be
described. A main control module 300 functions to display its
menu, and then, at the instruction of the operator, transfer
control to either a setup mode module indicated at 302, a trim
module indicated at 308, or a run mode module, indicated at 304.
- ~2 -
The se-t: up module 302 instructs -the operator to enter
the x, y and z coordinates of each motor. This data is
utilized to initialize the position, or line vector for each
motor.
The trim module 308 func-tions to advise the operator
to enter identification letters oE the desired motor, and then
allows manual control of that motor from the keyboard.
The run mode moclule 304 is the outer processing loop
~or the run mode. This module responds to an external timing
cycle, acquires and preprocesses control input, performs
calculations, refxeshes the control display and sends control
outputs to the motors.
An input preprocessor module 312 starts the processing
cycle. Specifically, three control vector values (x, y and z)
are read from the communications bus and are converted into
coordinate values of a motion vector, the desired motion being .
chec~ed by the module for boundary violations, and modified if
necessary.
A calculation module 314 uses the motion vector to
calculate the new values of each of the four line vectors~
Also the new length of each line vector is calculated, and
substracted from the old length to find the change in length.
A display driver module 316 refreshes the status
information display~d on the CRT during the run mode.
Specifically, the information displayed includes the x, y and z
position of the camera assembly from the origin in meters, the
velocity in tenths of a meter per second and a gxaphic display
indicating direction and velocity of motion.
An output driver module 318 takes the change in length
for each line vector, converts the length to a value between
~128 and +128, and puts the hexidecimal repre~entation of the
value on the communication~ bus, along with a counter value to
facilitate motor speed control.
Included in the microfiche appendix is a computer
program listing which has been developed for operation of the
~2~8f~59
- ~3 -
electronic hardware set forth in Figs. 15, 16, 17, when
considering the software illustrated in Fig. 18. It is
contemplated that the program as designed will be suitable for
the purpose and is being set forth to indicate the best made
known to applican-t at the time the application was filed.
However, it will be appreciated that modifications or even
complete revisions may prove necessary when actual working
models oE the invention are developed.
Although the present invention has been described with
reference to the preferred embodiment herein set forth, it is
understood that the present disclosure has been made only by
way o~ example and the numerous changes in the details of
construction may be resorted to without departing ro~ the
spirit and scope of the invention~ Thus, the scope o~ the
invention should not be limi~ed by the foregoing speci~ication,
but rather only by the scope of the claims appended hereto.
Referring again to the embodiment of Fig. 12B, those
aspects and features thereof which are not specifically
described and shown herein are similar to those in the
embodiment of Fig. 5 and Fig. 12. In particular, the gimbal
system 74b, 76b is shown only diagrammatically in Fig. 12B, but
is a~tually o~ a ~onstruction and controllable by apparatus as
described with reference to Figs. 5 and 12, so as to keep the
pan axis of the assembly vertical when suspended by four cables
via attachments 82b. It is also noted that electric power from
batteries 116b and 118b can be supplied directly, e.g. through
cables in the hollow interior of central spar 68b, to all the
compon2nts mounted on that spar. To the components mounted on
the outer spar 56b, power can again be supplied through
conventi onal s 1 ip ring connections.
It will be understood that, with respect to all the
embodiments disclosed, any equivalent means for performing
their functions, or those of their components, are also within
the scope of the invention.
,,
ZS9
November 5, lQ82 Pa~e 1 Li~;tln~; of: SI~YClOO.POS
~ THIS FILE: I.O/IDS ALL SKYCAM Fû,'3 FILE~S )
FLOAD BASVO 10 . FOS
`
.
~ .
~2~
Novemb~r 5, 1982 Page 1 Li~tlng Or: BASVOlO.POS
'Y~ * 'X Yi '~ 'X '~ 'X' '~ t J~ X ~ 'X * ~ # ';rf ~ * * * ~ 'X' ~t # .~ * '~ *BASE VOCABULARY ~' 010 ~ .~ ',t Y )
* ~J ~ i * * * ,y y !~X~ X ~ * * :~ * ~ ~ # ~ ~ * !A~ .~ X ~ X
~Copyright ~rrett W. Brown 1982
HEX
: CS 1~ COUT ;
: MOTORS ( CS PLUS DISPL~ MOTORS )
C100 F000 !
C2 ~03~ 1
C300 FAOO !
C4 FA32 !
;
: BOOP
07 COUT ;
: BOOP3
BOOP BOOP BOOP
;
DECIMAL
: LS~T3 ~ ARRAY ADDRESS UTII.ITY )
DUP DUP
4 + ROT
2 -~ ROT
;
: CLR5 ( ARRAY CJ.EAR UTILITY )
DUP 2DUP DUP
O SWAP !
O SWAP 2 ~ !
O SWAP 4 + !
O SWAP 6 -t !
O SWAP ~ ~ !
: LOAD3 ( ARRAY LOAD VTI~ITY )
4 ROLL !
3 ROLL I
SWAP !
: Gf~:T3 ( ARRAY ACCESS UTILITY )
@ Ro~r
@ ROT
'.~b~
1~18ZS9
NOVember 5~ 19B2 Pa~e 2 L1E~t1n~ Or: BAS~O10.~0S
@ ROT
: ADD3 ( ADDS 'rHRE,E PAIRS OF VALUES )
4 ROLL t
ROT 5 ROLL +
ROT IJ ROLL +
ROT
5 ARRAY VECTOR
5 ARRAY RESULT
O VARIA~LE LINE
5 ARRAY ALINE ..
5 ARRAY BLINE
5 ARRAY CLI~1E
5 ARRAY DLINE
5 ARRAY POSRAY
5 ARRAY VECRAY
FLOAD CALC164.FOS
,
.
,
~ ' :- ' ' ` -:`' ` - -
.
.`.( ~
~Z~
Novernber 5, 19~2 Pa~ 1 Listing o~: S~TM120.POS
X '.~ X ~ 35 * Y; )S ;~ * # ~ X~ * J.~ ;~ X ~ * :t )
( #~**~ SETUP MODE # 120 ~*-~
( * )~ * ~ * ~ * * * X ;~ * ~ * * * 3~ ~ * ~ :~ * * ~ * '~ ~ * ~ S X ;~
O VARIABLL XMAX
O VARIABLE YMAX
O VARIABLE ZMAX
VARIABLR MPOSX
1~5 VARIABLE MPOSY
VARIABI.E MPOSZ
: --l *
: LLIN ( INITIALIZES LINE ARRAY )
DUP DUP
LENGTH
SWAP 6 ~ !
O SWAP 8 -~ !
;
: $SETUP
MPOSX @ 5 - XMAX !
MPOSY @ 5 ~ YMAX I
MPOSZ @ 5 - ZMAX !
O MPOSX @ 2DUP
SWAP ALINE ! 2DUP
-1* SWAP BLINE I 2DUP
SWAP CLINE !
-1~ SWAP DLINE !
1 MPOSY @ 2DUP
-1* SWAP ALINE I 2DUP
-1* SWAP BLINE ! 2DUP
SWAP CLINE !
SWAP DLINE !
MPOSZ @ -1* 2 2DUP
~LINE ! 2DVP
BLINE I 2DUP
CLINE !
DLINE !
;
: SETUP
$SETUP
O Al.INE LLIN
O BLINE LLIN
O CLINE LLIN
O DLINE LLIN
: .
~ Z11~2$9
November S, 1982 Page 2 Lls'cing o~: SErM120.~0S
:fil,OAD DIsP166.~0S
.
~ .
.
.
November 5, 1982 Page 1 Listlng Or: INP~16~.POS
~ INPUT PREPROCESSOn t~ 162 *~** )
*~**~x~*~*~ *x%~x~**~x*-~x~ *`k )
O VARIABLE VSS
O VARIABLE VBD
O VARIABLE VBV
O VARIABLE V~S
: SIGNOF
DUP O< IF
-1 VSS !
ABS
ELSE 1 VSS !
ENDIF
: SIGNON
VSS @ *
: X10
SIGNOF
5 + 10 /
SIGNON
: RX10
10 *
: XBOUND ( COMPARES X WITH BOUNDS )
( AND MODIFIES VECTOR AND )
- ( VECRAY W~EN NECESSARY
DUP O POSRAY @ DUP ROT
ABS SWAP ABS > IF
DUP O< IF -1 VBS !
ELSE 1 VBS
EMDIF
DUP VBV !
O POSRAY @ ~ ABS DUP VBD !
XMAX @ > IF XMAX @ O POSRAY ~ ABS
VBS @
DUP RX10 O VECRAY ! BOOP3
EJ,SE VBD ~ XMAX @ 5 ~ > IF
VBV @ ABS
10 * 2 / ~ ~ 10 /
VBS @ *
DUP RX10 O VECRAY !
BOOP
.. . .
.
.~
November 5~ 1982 Pflge 2 Listing Or: INPRl62.POS
EI,SE VBV
ENDIF
ENDI~'
ENDXF
;
: YBOUND ( COMPARES Y W~TH BOUNDS )
AND MODIFIES VECTOR AND )
( VECRAY ~IEN NECESSARY )
DUP l POSRAY 8 DUP ROT
ABS SWAP ABS > IF
DUP 0< IF -l VBS I
ELSE 1 VBS I
ENDIF
DUP VBV !
1 POSRAY @ + ABS DUP VBD I
YMAX @ > IF YMAX Q 1 POSRAY @ ABS -
VBS @ *
DUP RX10 1 VECRAY ! BOOP3
ELSE VBD @ YMAX ~ 5 - > IF
VBV @ ABS
10 * 2 / 5 + lO /
YBS @ ~
DUP RXlO 1 VECRAY !
BOOP
ELSE VBV @
ENDIF
ENDIF
ENDIF
: ZBOUND ( COMPARES Z WITH BOUNDS )
( AND MODI~IES ~ECTOR AND )
( VECRAY I~EN NECESSARY )
DUP O> IF
DUP VB~ !
2 POSRAY @ -~ DUP VBD ~
ZMAX @ > IF Z~AX @ 2 POSRAY @ -
DUP RX10 2 VECRAY ! BOOP3
ELSE VBD @ ZMAX @ 5 - > IF
VBV @
10 ~ 2 / 5 + 10 ~
DUP RXlO 2 VECRAY !
BOOP
ELSE VBY @
ENVIF
ENDIF
RLSE DUP 0~ IF
DUP V~V !
2 POSRAY ~ ~ DUP VBD !
, . . . .
; ~ L ~ .
November 5, 1982 Page 3 Listlng of: I~JPR162.~0S
O< IF O 2 POSRAY @ ~
DUP RX10 2 VECRhY I BOOP3
RLSE VBD @ 5 < I~
VBV @
.10 ~ 2 / 5 - 10 /
DUP RX10 2 VECRAY I
~OOP
ELSE VBV e
~ ENDIF
END:[F
ENDIF
ENDIF
: PREP
O VECTOR
LSET3 GET3
XBOUND O VECTOR !
YBOUND 1 VECTOR !
ZBOUND 2 VECTOR !
FLOAD INPR163.FOS
;2.59
November 5, 19~2 P~ge 1 Li~tlng of~ PR163.POS
( )~ X # )f 3~ X ~ * ~ * * ~ # ~ # '~ X * ~; # ~
~ INP~T PREPROCESSOR II /Y 163 **x~* )
( ~ ~ * ~ * ~ '~ * ~ * ~ ~ * ~ ~ ~ * ~ X * ~ * * * ~ * * * )
HEX
77 VARIABLE MOTVAL
77 VARIABLE OMVAL
O VARIABLE VEL
l VARIABLE MVEL
ARRAY VECRAY
: POUT CIS 5 CALLCPM DROP ;
: SPEED ( USES CIN TO CHANGE VEL )
CASE
5A =: VEL @ 1 ~ O VEL I 1 ;;
58 =: l ;;
43 =: VEL @ 1 - O VEL ! l ;;
NOCASE =: O ;;
CASEND
: LVC
O VECTOR LSET3
GET3 ADD3
O VECTOR LSET3
6 ROLL 6 ROLL 6 ROLL
LOAD3
;
: ZVC
O VECTOR CLR5
;
: INCHAR
CIN
;
: DIRCASE
CASE
30 =: -1 0 0 LVC O ;;
31 =: O -l -1 LVC O ;;
32 =: O -1 0 LVC O ;;
33 =: O -1 l LVC O ;;
34 =: O O -1 LVC O ;;
35 =: 1 0 0 LVC O ;;
36 =: O O l LVC O ;;
37 =: O 1 -1 LVC O ;;
,;, . .
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November 5, 1982 Pa~e 2 Listing o~: INPR163.FOS
38 --: O 1 0 LVC O ;;
39 =: O 1 1 LVC O ;;
2L~ t) O O LVC O ;;
OD =: ævc o ;;
NOCASE =: 1 ;;
CASEND
;
: GETVEC
INCHAR
DIRCASE
DECIMAL
FLOAD RUNM160.FOS
'` , - '' '
.
~ .
~ '~3
November 5~ 19~2 Page 1 L,isti.ng o~: ~A~C16l~.POS
* ')~ X 'X * '~ ' 'Y; ~ '~ 'X * 'X ;Y 3! * '~ * ~ * '~ * * * ~ ~ 'X 'X * 'X y !~ X ';~
~ CALCULATION ~ 164 ***~ )
* * * ~ y ~ * * * ~ ~ * * !, * ~ 7~ * * 7~ * 'X * * * Y ~ *
DECIMAL
: SQITER ( SQUARE ROO~r I'rER~TION )
2DUP ROT
DUP
SWAP
ROT ROT
SWAP
;
: ATEST ( TEST FOR END OF SQ ROOT )
ABS
>=
i
: BTEST ( TEST FOR END OF SQ ROOT )
2DUP
SWAP
DUP +
ROT ROT
.
: TEST ( TEST CONTROL FOR END OF SQRT )
2DUP
DUP
SWAP DUP
ROT
2DUP
ATEST
DUP
IF ROT ROT 2DROP
ELSE DROP
BTEST
i ~ .
.,
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November 5, 19~2 ~a~ 2 Li~tin~ Or: a~Lcl64~pos
DVP
IF SllAP 1 t SWAP
ENDI Ii
ENDIF
: SQRT ( SQUARE P.OOT RnUTINE )
BEGIN
SQITER
TEST
END
SWAP
DROP
;
: LENGTH ( CALCULATES LENGTH OF
LSET3 ( 3 VALUE VECTOR
GET3
DUP ~ ROT
DUP * ROT
DUP ~
+
SQRT
;
: VADD ( ADDS VECTOR ARRAY TO ONE )
DUP LINE ! ( OF LINES, AND CALCULATES )
LSET3 ( LENGTH AND DIFFERENCE
GET3
O Vl~C'rOR
LSET3
&ET3
ADD3
LINE Q
LSET3
6 ROLL 6 ROLL 6 ROLL
LOhD3
LINE @ DUP DUP
LENGTH
DIJP ROT
6 + @
- DUP
4 ROLL DUP
ROT S~lAP
ROT SllAP
6 ~ !
.. ~
November 5, 1982 Pag~ 3 I,i.s~ing Or: CALC164.~0S
O LINE I
;
: @VADD ( ADDS VRCTOR ARRAY TO ONE )
DUP ( OF LINES, AND CALCULATES )
LSET3 ( LENGTH AND DI~ 'ERENCE
, GET3
O VECTOR
LSET3
GET3
ADD3
DUP
LSET3
6 ROLL 6 ROLL 6 ROLL
LOAD3
'
: @VLEN
DUP DUP
LENGTH DUP
ROT 6 + @ SWAP -
ROT DUP ROT SllAP 8 + !
6 ~ I
i
: @LCALC
@VADD
. @VLEN
: ~ALCLINES
O ALINE VADD DROP
0 BLINE VADD DROP
O CLINE VADD DROP
O DLINE VADD DROP
'
FLOAD SETMl~O.FOS
.. . . .. _ _ .
.. ..
November 5~ 1982 Page 1 Li~:lng o~: OUTD168.POS
( **#~'k'kk:k~Y~*'t*Y~*Y.**'.t*~ k**:~*r:~*~*ff:'A'ki~Xk~:k~Xk )
~ #*~* ou'rPU'r DRIV~.,R # 168 ~#~*X* )
( *~:***~*`k'k*'A*X***Y;*~:X*X*X`k:f:Y~*:~:'A:f::~ :*~ ***~f:**Y~ k )
HEX
O VARIABLE VELCVT
O VARIABLE CHOPS
77 VARIABLE ZPOINT
DECIMAL
: SENDMOT
8 ~ @ DUP
ZPOINT @ ~ POUT
CHOPS @ * POUT
;
: OUTDRIVER
O ALINE SENDMOT
O BLINE SENDMOT
O CLINE SENDMOT
- O DLINE SENDMOT
~z~
November 5, 19~2 Page 1 I,i.~tin~ Or: DISP166~POS
* * '~ * * '~ * * '~ 'X ~ * ~ X '~ '~ * * '~ '.. X 3~ # * * ~ * ~ )
( **~* DISPLAY DRIVER # 166 ****~ )
( *****~x*~ #~ x*!~** X * * J~ '~ * * * ~ * ~ * '~ )
HF.X
0041 VARIABLE ~A
0042 VARIABI.E $B
0043 VARIABLE $C
00~4 VARIABLE $D
0000 VARIABLE ~HO
0002 VARIABLE $H2
OOOC VARIABLE $HC
OOOD VARIABLE $HD
0016 VARIABLE $~16
0020 VARIABLE ~,H20
007F VARIABLE $H7F
~508 VARIABLE YPADDR
FBlA VARIABLE XPADDR
F52C VARIABLE ZPADDR
F2AC VARIABLE VPADDR
F519 VARIABLE VOPOS
F519 VARIABLE VPOS
O VARIABLE WLEN.
7 ARRAY ERARAY
O VARIABLE VPIJTAD
: CURPOS
lB COUT 3D COUT
SWAP 20 + COUT
20 + COUT
: GRMODY
lB COUT
67 COUT.
.;
: GRMODN
lB COUT
47 COUT
: BRIDIS
lB COUT
28 COUT
;
zs~
November 5~ 19~32 . Pag~ 2 Ll~ting ~: DISPl66.~7OS
: DIMDIS
lB COUT
29 COUT
;
: }IOMEC
lE COUT
'
: GR
GRMODY
10 0 DO
DUP
COUT
1 ~
- LOOP
GRMODN
C.
;
: GRI~
CR
4 0 DO
DUP DUP
20 COUT 20 COUT
GRMODY
COUT
GRMODN
1 +
CR
LOOP
: CPUT
VPUTAD @ B !
STPUTAD 1~ !
;
: %U.
>R CHECK R~ O BEGIN
1~ SWAP BASE ~ U/MOD ROT OVER O=
END
S~lAP DO
NASCII CPUT
LOOP
: %.
. . .
..
=~
. .
~ .
~18;~S~
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November 5, 1982 Page 3 Liæt1ng
DIJP 0< IF
MINUS 2D CPUT
ENDIF
%U .
i
: ~U.
>R CHECK R> O BEGIN
1+ SWAP BASE ~U/MOD ROT OVER (,-
END
SWAP DO
NASC,II COUT
LOOP
.
: ~.
DUP O< IF
MINUS 2D COUT
ENDI~
#~.
i
DECIMAL
112 BARRAY DIRRAY
O VARIABLE VI
O VARIABLE TAN
O VARIA~LE VL
O VARIABLE VSZ
O VARIABLE VSQ
: DMODED ( DISPLAYS MODE TEXT ~ TYPE )
DIMDIS
1 1 CURPOS C" MODE:"
BRIDIS
CASE
1 =: C" RUNI' ;;
2-=: C" SETUP" ;;
3 =: C" TP~IM" ;;
4 =: C" ADJUST" ;;
NOCASE =: Cl' EXIT" ;;
CASEND
: HLINE
ROT ROT CURPOS
$11C @ S~lAP
CRMOl)Y
O DO
. L~
~ ~ f,~7 o
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November 5, 1982 P~ge 4 Llstin~ Or: DISP166.~0S
DUP COUT
LOOP
DROP
~'JRMODN
;
: YLINE
~HC @
4 -ROLL
O DO
2DUP
CURPOS
ROT DUP
GRMODY COUT GRMODN
ROT l +
ROT
LOOP
2DROP DROP
: DMOTD ( DISPLAYS MOTORS AND VECTOR
( DISPLAY OUTLINES. )
BRIDIS
1 16 CURPOS $A @ COUT
1 34 CURPOS $B @ COUT
19 16 CURPOS $C @ COUT
19 34 CURPOS $D @ COUT
DIMDIS
0 17 17 HLINE
2 15 17 VLINE
2 35 17 VLINE
20 17 17 HLINE
-
: DTEXTD ( DISPLAYS LABELS FOR )
( NUMERIC DISPLAYS
DIMDIS
5 40 CURPOS Cl' VEL:"
lO 3 CURPOS C" YPOS:"
10 39 CURPOS C" ELEV."
22 21 CURPOS C" XPOS:"
i
: DCONV ( CONVEr~TS DIRECTION # AND )
( LOCATION INTO ~MM ~DDRESS )
CASE
1 =: 127 + ;;
2 =: 128 + ;;
.
.
. .
, ~/
~.
Novemb~r 5, 1982 Pa~e 5 Llstln~ Or: ~ISP166.FOS
3 -: 129 ~ ;;
5 =~
6 =: 1 ~
~ ~: 129 - ;;
8 =: ~28 - ,,
9 =: 127 - ;;
NOCASE =: O ~ ;;
CASEND
. .
: DDIRD ( OUTPUTS VECTOR DISPLAY )
( CHAR AND SAVES IN ERARAY ) .
DUP
O = IF
VOPOS @ VPOS !
ENDIF
SWAP VPOS @ SWAP
DCONV
DUP DUP $HD @ SWAP Bl
ROT ERARAY !
VPOS ~
: DSEQIT ( PULLS PROPER SEQUENCE O~ )
( DIRECTION #'S OUT OF DIRRAY )
( AND SENDS RACH TO DDIRD )
DUP O- IF
DROP DROP
ELSE
O VI I
1 - 7 ~ DUP ROT ~ SWAP
DO
I DIRRAY B@
VI @
DUP ROT ROT
DDIRD
1 -t VI !
LOOP
ENDIF
: DISRUN
CS
1 DMODED
DMOTD
DTEXTD
HOMEC
BRIDIS
O W LEN I
.
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November 5, 1982 Pa~e 6 Llstlng Or: DI~Plb6.P05
: DSEQC ( USES X,Y AND TANGE~T 'rABLE )
( TO COMPUTE DISPLA SEQUENCE ~ )
DUP
O= IF
DROP DUP VSQ I
O< IF 8
ELSE VSQ @ Oa ~IF O
ELSE 16
ENDIF
ENDIF
ELSE 2DUP
SWAP 100 ~ SWAP / ABS DUP TAN l
20 <= IF 4
ELSE TAN ~ 65 < IF 3
ELSE TAN @ 150 <= IF 2
ELSE TAN @ 500 <
IF 1
ELSE O
ENDIF
ENDIF
ENDIF
ENDIF
ROT ROT
O> IF
O> IF
CASE
O a: 16 ;;
1 =: 1 ;;
2 =: 2 ;;
3 -: 3 ;;
CASEND
ELSE
- CASE
1 - 7 ..
6 ,;
4 _ L~ ,,
CASEND
ENDIF
- ELSE
O~
CASE
O =: 16 ;;
l =: 15 ;;
.. .. . .
,
~L2~
Novemb~r 5, 1982 Page 7 I.i~tln~ or: DISP166~POS
2 -: 1l~ ;;
3 =: 13 ;;
1~ =: 12 ;;
CASEND
ELSE
CASE
O ~: 8 ;;
1 =: 9 ;;
~ -: 10 ;;
3 =: 11 ;;
4 =: 12 ;;
CASEND
ENDIF
ENDIF
ENDIF
: DLENC ( USES VECTOR TO CALCULATE )
( LENGTH OF DISPLAY LINE )
DUP VL !
O= IF O
EI.SE VL @ 2 <= IF 1
ELSE VL @ 5 <= IF 2
El,SE VL @ 11 <= IF 3
ELSE VL @ 23 <~ IF 4
- ELSE VL Q 47 <= IF 5
ELSE VL @ 95 <= IF 6
ELSE 7
ENDIF
ENDIF
ENDIF
ENDXF
ENDIF
ENDIF
ENDIF
:
: DHEID ( DISPLAYS CENTER CHARACTER )
( DEPENDING ON VERT MOVEMENT
DUP VSZ !
O= IF ~H7F @
ELSE VSZ @ O< IF $Ho @
ELSE $H16 @
ENDIF
ENDIF
VOPOS @ ~!
: DERAS ( ERASES PREVIOVS ~ECTOR )
( DISPLAY CHARACTERS )
~ . , . - . '
. - ~ - .- .
~'.' ~ , ' .
J~Z11~'~5i9 " . '
November 5, 1982 P~ge 8 Listing Or: DISP166~0$
VVLEN @ DUP
.0> IF
O DO
$H20 @
I ERARAY @
Bl
LOOP
ELSE DROP
ENDIF
;
: D4SP
VPUTAD !
$H20 @ 4 0 DO
DUP CPUT
LOOP
DROP
: DVALERA
GRMODY
YPADDR @ D4SP
XPADDR @ D4SP
ZPADDR @ D4SP
VPADDR @ D4SP
GRMODN
: DYPOS
YPADDR @ VPUTAD ! %.
: : DXPOS
XPADDR @ VPUTAD ! %.
.
: DZPOS
ZPADDR e VPUTAD I %,
;
: DVEL
VPADDR ~ VPUTAD ! %.
: DVALS
DVALER~
DVEL
: DUP 2 -~ @ DYPOS
DUP 4 ~ @ DZPOS
:
~bii.~.;~r-~t~
~ oe~
Novemb~r 5, 1982 Page 9 Ll~ln~ Or: DISP166.FOS
@ DXPOS
HOMEC
: DDIS
DERAS
2 VECTOR @
DHEID
3 VECTOR @
DLENC
DUP VVLEN !
1 VECTOR @ O VECTOR @
DSEQC
DSEQIT
O POSRAY
3 YECTOR @
DVALS
FLOAD INPR162.~0S
:. . ' ` ' . ;
,
.
6 ~ ~
$9
November 5, 1982 Pap,e 1 ~ ting Or: DISDA~'A.POS
( *~ *X~#*Y~**~:~*i~X*~****1~X~ *#*~*~**X~ *~
~ * DATA TO DRIVE VECTOR DISPLAY ****~ )
( ~*3~**:~X~*~*~**~***~*~*X~**~*~**~*********** )
9 8 9 8 9 8 9 1 DIRLOAD
9 9 9 9 9 9 9 2 DXRLOAD
6 9 6 9 6 9 6 3 DIRLOAD
6 6 6 6 6 6 6 4 DIRLOAD
6 3 6 3 6 3 6 5 DIRLOAD
3 3 3 3 3 3 3 6 DIRLOAD
3 2 3 2 3 2 3 7 DIRLOAD
2 2 2 2 2 2 2 8 DIRLOAD
1 2 1 2 1 2 1 9 DIRLOAD
1 1 1 1 1 1 1 10 DIRLOAD
4 1 4 1 4 1 4 11 DIRLOAD
l~ 4 4 4 4 4 4 12 DIRLOAD
Il 7 4 7 4 7 4 13 DIRLOAD
7 7 7 7 7 7 7 14 DIRLOAD
7 8 7 8 7 8 7 15 DIRLOAD
8 8 8 8 8 8 8 16 DIRLOAD
[END-OF-FILE]
.
Nov~mber 5J 1982 Pag~ 1 L1~ing o~: RU~IM160.~0S
( *~ *~##*~**~*#~*~*~ *~*~ *~*~# )
( *~*~* RUN MODE ~/ 160 ~*~
( *****~**~*#*~#**~*~#~*~*~*~ #*~**~***~ )
DECXMAI.
: DIRLOAD
7 * DIRRQY 7 0 DO
1 - DUP ROT SW~P Bl
LOOP
DROP
: ZEROZ
O POSRAY CLR5
O VEC~AY CLR5
O VECTOR CI,R5
: SXRUN
ZEROZ
DISRUN
GETVEC DROP
BEGIN
PREP
O VECTOR LENGTH
3 VECTOR I
O POSRAY VADD DROP
CALCLI~ES
DDIS
GETVEC
END
FLO~D DISDATA.~OS
.
.
: 6~
