Cameras typically include a limited field of view. In many situations, it is desirable to change the physical positioning of the camera so as to extend and/or change the field of view. Electromechanical camera motion control systems are used to physically adjust the positioning of the camera at least for this purpose.
An electromechanical camera motion control system will often incorporate a multichannel controller. For example, a multichannel controller can be used to control a pan-and-tilt camera motion control mechanism. In this case, one channel of the multichannel controller is used to control a pan motion of the mechanism based on user input, and another channel is used to control tilt motion also based on user input. In the case of a pan-tilt-and-roll camera motion control mechanism, a third channel is added to enable user control of roll motion.
Many known camera motion control systems provide a multichannel control scheme wherein the user selects desired camera motion by manipulating physical joysticks, sliders, knobs, or some other mechanical input device. These mechanical inputs are translated into electronic motion control signals that are directed through the various channels, thereby effectuating corresponding changes to the physical positioning of the camera motion control mechanism and therefore changes to the physical positioning of the camera itself. Unfortunately, the provided mechanical user input mechanisms are typically not very flexible in terms of providing the user with selectively configurable motion control options.
An aspect of the disclosure relates to variable autonomy control systems. In one embodiment, a control system includes an analog communications support component, a digital communications support component, a processing component, and a motor controller. The processing component synthesizes inputs received from the analog and the digital communications support components to generate an output. The motor controller utilizes the output from the processing component to generate a control signal for a motor. In certain embodiments, the input from the digital communications support component includes an indication of an autonomy level, and the processing component synthesizes the inputs by applying the autonomy level to the input received from the analog communications support component.
These and various other features and advantages that characterize the claimed embodiments will become apparent upon reading the following detailed description and upon reviewing the associated drawings.
I. Camera Motion Control Mechanism
It is to be understood that the scope of the present invention is not limited to a pan-and-tilt motion control mechanism. The concepts described herein could just as easily be applied to a different type of camera motion control mechanism having any number of channels and corresponding ranges of motion. For example, the concepts described herein could just as easily be applied to mechanisms including, but not limited to, a pan-tilt-and-roll mechanism (three channels and ranges of motion), a simple cable cam mechanism (one channel and range of motion), or a cable cam mechanism with an integrated pan-tilt-and-roll mechanism (four channels and ranges of motion). The pan-and-tilt mechanism 100 is provided herein as a specific example for illustrative purposes only.
Further,
Still further, it is to be understood that the scope of the present invention is not even necessarily limited to a camera motion control system per se. Those skilled in the art will appreciate that, instead of a camera, any other device could be attached to the types of motion control systems described herein and moved in the same manner as a camera is moved. For example, not by limitation, a spotlight, a colored light, a laser, sensor, a solar panel, a robot head, or anything else can be moved around within the motion control system.
As can be seen in
II. Camera Motion Control System
Just as the scope of the present invention is not limited to the mechanism and camera shown in
As is indicated by arrow 360, a motor controller 306 illustratively provides signals to motors 302 and 304. These signals, which are for the purpose of controlling the motors, are provided by any known means including but not limited to changes in current, voltage variations, pulse width modulation signals, etc. Notably, controller 306 is at least a two channel control but is illustratively but not necessarily equipped with additional unused control channels. For example, a roll motion control device could be added to mechanism 100 and one of the unused control channels could be utilized to control the motor responsible for the roll motion.
By providing the signals to motors 302 and 304, the controller 306 initiates changes in the mechanical output of the motors, thereby causing corresponding changes in the rotation of camera 150 around axis 201 and/or axis 251. Controller 306 is therefore configured to start, stop, change the speed of, reverse, or otherwise affect rotation of the camera about the axes 201 and 251. Those skilled in the art will appreciate that controller 306 can be simple or complex in terms of the precise set of functions that it provides. The controller can be, in one embodiment, configured for more sophisticated management functions such as but not limited to regulation of the speed of rotation, regulation or limiting of the torque of the motors, protection against overloads and faults, etc. The scope of the present invention is not limited to any one particular controller or precise set of functions performed by the controller.
Further, those skilled in the art will appreciate that motor controller 306 will include a connection to a power source 316 (e.g. a battery pack or power supply). Controller 306 may also included integrated control circuitry that processes analog or digital input signals from one or more input mechanisms (e.g. analog input mechanism(s) 308 and/or digital input mechanism(s) 310) for use as a basis for controlling motors 302 and 304. In one embodiment, as is reflected in
In one embodiment, processing component 320 is configured to also factor feedback 362 and 364 into the selection of motor control commands provided to motor controller 306. Alternatively, the motor controller can be configured to adjust motor commands itself (e.g. based on a feedback signal received directly rather than being channeled through component 320). It is within the scope of the present invention, in terms of feedback, for system 300 to be closed loop or open loop depending upon the requirements of a given implementation or control scheme.
In one embodiment, motors 302 and 304 are hobby servo motors each having an internal potentiometer (e.g. a small potentiometer functionally integrated within the motor casing) from which controller 306 and/or processing component 320 receives positional feedback data that is factored into the control of motors 302 and 304. In another embodiment; however, motor 302 and/or motor 304 does not include its own integrated internal feedback mechanism, but instead a feedback mechanism (e.g. an external potentiometer, an encoder, etc.) is attached to a component driven by the motor. In this case, it is the external feedback mechanism that provides the feedback data 362 and 364 to be factored into the motor control scheme. For example, in one embodiment, a potentiometer is connected to a shaft that is rotated (e.g. by way of a geared, belt-driven, or sprocket driven mechanical relationship) whenever an output shaft of the motor is rotated. This external feedback signal is factored into the subsequent control signals provided to the motor.
As shown in
Finally with respect to
At block 408, an input from a digital control input mechanism(s) is received. In an embodiment, the input received at block 408 is a real-time user input. For instance, a user could be using the digital control input mechanism(s) as a controller for a pan-and-tilt system, and the input includes an indication from the user for the pan-and-tilt system to rotate one or both of the motors. Also for instance, the input could include an indication from a user to switch a control mode of the pan-and-tilt system. A user could for example switch control of the pan-and-tilt system from being controlled by an analog control input mechanism to being controlled by a digital control input mechanism, or vice versa. A user could also switch the autonomy level of a control mode (e.g. from manual control to semi-autonomous or fully autonomous control).
At block 410, an input from an analog control input mechanism(s) is received. In an embodiment, the input received at block 410 is a real-time user input. For instance, a user could be using the analog control input mechanism(s) as a controller for a pan-and-tilt system, and the input includes an indication from the user for the pan-and-tilt system to rotate one or both of the motors. The analog control input mechanism(s) could be for example a joystick, and the input would include an indication of left/right or up/down motion of the joystick.
At block 412, a processor such as processing component 320 in
At block 414, the motor controller receives the output from the processor, and utilizes that output in generating one or more signals that are sent to the motors of a system. These signals, which are for the purpose of controlling the motors, are provided by any known means including but not limited to changes in current, voltage variations, pulse width modulation signals, etc. At block 416, one or more motors (e.g. pan, tilt, roll, and/or zoom motors) are actuated in accordance with the signals received from the motor controller. For instance, the signals could indicate a particular position or rotation at a certain speed, and the motors move to that position or rotate at that speed.
At block 418, motors of a system and/or sensor(s) associated with a system collect or otherwise generate data or information, which is sent back to the processing unit to be optionally incorporated in its synthesis. For example, the motors could be part of a closed-loop servo system, and the feedback would indicate positions of the motors. Alternatively, the system could be in a fully-autonomous motion tracking mode, and the feedback could include video from one or more cameras that is utilized in tracking the motion of an object. In yet another embodiment, the information includes GPS information from a GPS receiver that is utilized by the processor in controlling a position of a pan-and-tilt system. The feedback/information collected or generated at block 418 is not limited to any particular type of feedback/information and includes any type or combination of feedback/information.
Processing/synthesis unit 502 also receives an indication of an autonomy level 508. The system illustratively includes a spectrum of autonomy levels from fully autonomous operation (e.g. automated motion tracking) to fully manual operation (e.g. joystick operation). Although the figure only shows one semi-autonomous level, the system can include any number of semi-autonomous levels between fully autonomous and fully manual operations. Additionally, the figure shows arrows between the autonomy levels indicating that the system can switch between autonomy levels during operation. The system is illustratively able to switch to go from any one autonomy level to another. For instance, the system could go from fully manual operation directly to fully autonomous operation. Also, the indication of autonomy level 508 is illustratively received from controller(s) 504 and stored to a memory component associated with the processing/synthesis unit 502. However, embodiments are not limited to any particular configuration and include any devices or methods necessary for receiving an indication of an autonomy level.
Processing/synthesis unit 502 generates an output that is transmitted to a motor controller 510. In an embodiment, motor controller 510 can include any various type or configuration of motor controller, and processing/synthesis unit 502 is able to generate output that is in a correct format/protocol for the motor controller 510 to process. Accordingly, the variable autonomy level system can be used with any motor controller 510. The motor controller 510 processes the output that it receives and generates one or more signals that cause an actuation (e.g. rotation) of one or more motors 512. As shown in the figure, the motors optionally generate feedback that is transmitted to the processing/synthesis unit 502. The optional feedback is illustratively combined or otherwise synthesized with the other inputs 504, 506, and 508 to generate output for the motor controller 510.
Digital controller 604 is illustratively communicatively coupled to control circuit board 608 utilizing either a wired or a wireless (e.g. ad-hoc WiFi network) connection. In one embodiment, analog controller 602 is directly communicatively coupled to digital controller 606 and not to control circuit board 608. In such a case, inputs from analog controller 602 are indirectly communicated to control circuit board 608 utilizing digital controller 604. Embodiments are not however limited to any particular configuration, and analog controller 602 could in other embodiments be directly communicatively coupled to control circuit board 608.
Control circuit board 608 receives user inputs or other information/data from digital controller 604 and/or analog controller 602, and utilizes those inputs to generate signals for controlling controlled systems 610. Controlled systems 610 are not limited to any particular type of system and include any systems. Some examples of controlled systems 610 include, for illustration purposes only and not by limitation, pan-and-tilt systems, pan-tilt-and-roll systems, pan-tilt-roll-and-zoom systems, lighting systems, robots, laser systems, etc. For instance, each of the systems 610 shown in
III. Cloud Computing Environment
System 700 illustratively includes a plurality of content developers 702. The figure shows that there are N content developers 702, where N represents any number. In an embodiment, content developers 702 write or develop content (e.g. applications, extensions, other computer executable instructions, etc.). For example, a content developer 702 could write the code for a smart phone application that can be used to control a pan-and-tilt camera system. Content developers 702 upload or otherwise transmit their content to a content provider 704. Some examples of content providers include, for illustration purposes only and not by limitation, Apple's iTunes, Microsoft's Zune Marketplace, and Google's Android Market. Content provider 704 illustratively includes any number N of content servers 706. Content provider 704 utilizes content servers 706 in storing, receiving, and sending content. Content provider 704 and content servers 706 are optionally part of a cloud computing network 708. Cloud computing network 708 enables the on-demand provision of computational resources (e.g. data, software, other content, etc.) via a computer network, rather than from a local computer. Additionally, cloud computing network 708 provides computation, software, data access, storage services, other content, etc. that do not require end-user knowledge of the physical location and configuration of the system that delivers the services or content.
Content provider 704 is illustratively directly or indirectly communicatively coupled to any number N of network servers 710. Network servers 710 optionally include servers from any number and type of network. Some examples of networks include, but are not limited to, internet service providers, cellular phone services providers, mobile telecommunication providers (e.g. 3G or 4G services), and Wi-Fi networks. As shown in the figure, network servers 710 may optionally be partially or fully included within the cloud computing network 708.
End users 712 (e.g. people that are customers, businesses, government agencies, etc.) are illustratively able to communicate with the cloud computing network 708 by utilizing computing devices 714. In one embodiment, end users 712 communicate with cloud 708 by forming a direct or indirect communications link between their computing devices 714 and network servers 710. It should be mentioned that computing devices 714 include any type of computing device such as, but not limited to, a personal computer, a server, a laptop, a notebook, a netbook, a tablet, a personal digital assistant, a smart phone, a cellular phone, a music player (e.g. MP3 player), a portable gaming system, a console gaming system, etc. Additionally, computing devices 714 are optionally able to form a secure link or connection to network servers 710 utilizing encryption (e.g. SSL) or any other method. Accordingly, computing devices 714 are able to securely communicate private information (e.g. user names, addresses, passwords, credit card numbers, bank account numbers, etc.) to network servers 710 and/or content provider 704.
End users 712 are illustratively able to access (e.g. view, browse, download) applications or other content stored by content provider 704 through the direct or indirect communication links between computing devices 714, network servers 710, and content servers 706 discussed above. End users are also able to securely transmit private information to network servers 710 and/or content provider 704 using the same communication links. For example, an end user 712 could browse applications that are available for download from content provider 704. The end user 712 could then decide to buy one of the applications and securely submit his or her credit card information to content provider 704. Content provider 704 then verifies the credit card information (e.g. by performing an authorization or authentication process) and transmits the selected application to the end user 712 upon a successful verification.
Content provider 704 is illustratively able to provide any type or combination of types of access to end users 712. For instance, end users 712 can be provided with access to content stored by content provider 704 on a per use basis or on a subscription basis. In an example of a per use basis scenario, an end user 712 compensates (e.g. pays) content provider 704 for each item of content that he or she downloads. In an example of a subscription basis scenario, an end user 712 compensates content provider 704 a flat fee (e.g. a one-time payment or a series of periodic re-occurring payments) to have unlimited access (e.g. unlimited downloads) to all of or a portion of the content stored by content provider 704. In such a case or in any other case, the system shown in
Finally with respect to
IV. Example of One Specific Implementation of a Variable Autonomy Digital Control Input Mechanism
One of the icons 808 is illustratively an Analog Controller Selector icon. Upon the Analog Controller Selector icon being selected (e.g. by being touched), an Analog Controller Selector interface 820 is displayed in the main portion 804 of the touchscreen 802. Interface 820 includes a title or header section 822 and any number N of user selectable controller selection buttons 824. Title or header section 822 identifies the current user interface being displayed (e.g. the Analog Controller Selector interface). Controller selection buttons 824 represent different analog control input mechanisms that may be used in a system such as, but not limited to, motion control system 300 shown in
Number of channels section 1026 enables a user to manually enter the number of channels associated with the selected controller. Embodiments are not limited to any specific manner of receiving an indication of a number of channels from a user. In the specific embodiment shown in
Controller type section 1028 enables a user to manually select a type for the selected controller. Again, embodiments are not limited to any specific manner of receiving an indication of a type of controller from a user. In the specific embodiment shown in
Interface 1020, as well as the other interfaces shown in this application, also optionally includes a save button 1040 and/or a cancel button 1042. Selection of save button 1040 saves the information (e.g. number of channels, controller type, etc.) that a user has entered to memory. The saved information is illustratively associated with the particular controller selected using interface 820 in
Interface 1220 illustratively includes an inverted axis section 1224, a maximum rotation speed section 1226, a sensitivity section 1228, a position lock section 1230, and a rotation lock section 1232. Each of the sections optionally include a label (e.g. “inverted axis, “sensitivity,” etc.) that identifies the functionality associated with each section. Inverted axis section 1224 optionally includes a button 1234 that enables a user to invert control of the associated channel. Button 1234 can comprise an on/off slider, radio buttons, a user-editable field, a drop-down menu, etc. Turning inverted channel “on” illustratively reverses control of the channel. For example, if left on a joystick normally corresponds to clockwise rotation and right corresponds to counter-clockwise rotation, turning inverted channel “on” makes left on the joystick correspond to counter-clockwise rotation, and right on the joystick correspond to clockwise rotation.
Maximum rotation speed section 1226 includes a slider 1236 that enables a user to set the maximum rotational speed of the motor associated with the channel from 0 to 100%. For example, if a user sets slider 1236 at “50%,” the maximum rotational speed of the motor associated with the channel will be half of its maximum possible speed (e.g. 30 rpm instead of 60 rpm). Section 1226 is not however limited to any particular implementation, and may include other buttons or fields (e.g. a user-editable field) that enable a user to set a maximum rotational speed.
Sensitivity section 1228 optionally includes three radio buttons 1238. Buttons 1238 enable a user to configure the sensitivity parameters of the associated channel. For instance, buttons 1238 may include buttons corresponding to linear, non-linear, and custom sensitivity. In one embodiment, section 1228 includes an edit button 1240 that allows a user to edit or set the customized sensitivity.
Returning to
Rotation lock section 1232 includes a slider 1244 to toggle the rotation lock from the off to the on position. Toggling rotation lock to the on position illustratively sets a rotational speed of the corresponding motor to one constant value. Section 1232 optionally includes radio buttons 1246 to indicate/set the direction of rotation (e.g. clockwise or counterclockwise) and a speed selector to set the rotational speed of the motor from 0 to 100% of its maximum rotation speed. For example, if a user selects “CW” and “50%,” the motor will rotate constantly in the clockwise direction at a speed that is half of its maximum speed.
Each category may include one or more specific profiles that belongs to that category. For example, in
Interface 2120 optionally enables a user to select one of the motions to download by selecting a download or buy button 2132. Selection of button 2132 illustratively begins a sequence in which a user can buy or download the motion from a content provider (e.g. content provider 704 in
V. Digital Control Input Mechanism
Touchscreen 2404 illustratively includes any type of single touch or multitouch screen (e.g. capacitive touchscreen, vision based touchscreen, etc.). Touchscreen 2404 is able to detect a user's finger, stylus, etc. contacting touchscreen 2404 and generates input data (e.g. x and y coordinates) based on the detected contact. Input keys 2406 include buttons or other mechanical devices that a user is able to press or otherwise actuate to input data. For instance, input keys 2406 may include a home button, a back button, 0-9 number keys, a QWERTY keyboard, etc.
Memory 2410 includes volatile, non-volatile or a combination of volatile and non-volatile memory. Memory 2410 may be implemented using more than one type of memory. For example, memory 2410 may include any combination of flash memory, magnetic hard drives, RAM, etc. Memory 2410 stores the computer executable instructions that are used to implement the control systems described above. Memory 2410 also stores user saved data such as programmed maneuvers, profile settings, and or content downloaded from a cloud network.
Controller/processor 2408 can be implemented using any type of controller/processor (e.g. ASIC, RISC, ARM, etc.) that can process user inputs and the stored instructions to generate commands for controlling systems such as, but not limited to, pan and tilt camera systems. The generated commands, etc. are sent to communications module/communications interface 2414 that transmits the commands to the controlled systems.
Finally with respect to input mechanism 2402, the controller housing 2414 can be any suitable housing. In one embodiment, housing 2414 has a form factor such that controller 2402 is able to fit within a user's hand. Housing 2414 may however be larger (e.g. tablet sized) and is not limited to any particular form factor.
VI. Conclusion
Embodiments of the present disclosure illustratively include one or more of the features described above or shown in the figures. Certain embodiments include devices and/or methods that can be used in implementing a variable autonomy level control system. In one particular embodiment, a control system includes both an analog control input mechanism (e.g. an analog controller) and a digital control input mechanism (e.g. a digital controller). The digital control input mechanism can be used in adjusting settings, parameters, configurations, etc. of the analog control input mechanism. In some embodiments, profiles, settings, applications, and other computer executable instructions can be downloaded or otherwise transferred to a digital control input mechanism from a cloud computing network. The downloaded content can be used by the analog and digital control input mechanism in generating signals for a motor controller or other device.
Finally, it is to be understood that even though numerous characteristics and advantages of various embodiments have been set forth in the foregoing description, together with details of the structure and function of various embodiments, this detailed description is illustrative only, and changes may be made in detail, especially in matters of structure and arrangements of parts within the principles of the present disclosure to the full extent indicated by the broad general meaning of the terms in which the appended claims are expressed. In addition, although certain embodiments described herein are directed to pan and tilt systems, it will be appreciated by those skilled in the art that the teachings of the disclosure can be applied to other types of control systems, without departing from the scope and spirit of the disclosure.
The present application is based on and claims the priority of provisional application Ser. No. 61/495,569 filed on Jun. 10, 2011, the content of which is hereby incorporated by reference in its entirety.
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Number | Date | Country | |
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20120313557 A1 | Dec 2012 | US |
Number | Date | Country | |
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61495568 | Jun 2011 | US |