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Claims  |
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We claim:
1. A motorized pan/tilt unit, for releasable connection to a support
surface that is provided with one half of an electrical connector
connected to a power source for providing electrical power to said
pan/tilt unit, said pan/tilt unit for the mounting of a video camera and
the like, which comprises:
a support member having a first end carrying a complementary half of an
electrical connector to mate with said electrical connector of said
support surface when said support member is attached to said support
surface to receive said power from said power source, and a second end
defining an axis of rotation, said support member provided with a
passageway extending from said first end to said second end;
a substantially hollow pan/tilt head rotatably mounted on said second end
of said support member, said pan/tilt head being substantially U-shaped
with a hollow base cross member and a pair of parallel hollow legs each
having a first ends attached at opposite ends of said base cross member,
and second ends, said pan/tilt head further provided with mounting means
for said video camera and the like pivotally supported between said legs
proximate said second ends, with first electrical drive means connected
between said head and said support member and mounted within said base
cross member for panning motion of said pan/tilt head around said axis of
said second end of said support member, and with second electrical drive
means connected between said head and said pivotal mounting means and
mounted within one of said legs for tilting of said mounting means for
said video camera and the like; and
electrical leads extending form said first and second drive means of said
pan/tilt head through said passageway of said support member to said
complementary half of an electrical connector at said first end of said
support member.
2. The pan/tilt unit of claim 1 wherein said first drive means comprises:
a first electric motor adapted for rotation in either direction; and
first gear means connected between said first electric motor and said
second end of said support member whereby rotation of said first motor
results in rotation of said pan/tilt head around said axis of said second
end of said support member.
3. The pan/tilt unit of claim 1 wherein said mounting means for said video
camera and the like is a pivotable housing for enclosing said video camera
and the like, and wherein said second drive means comprises:
a second electric motor adapted for rotation in either direction; and
second gear means connected between said second motor and said pivotable
housing whereby rotation of said second motor results in tilting motion of
said housing.
4. The pan/tilt unit of claim 2 further comprising a first position sensing
element associated with said first drive means, said first position
sensing element providing a signal related to the rotational position of
said pan/tilt head relative to said axis of said second end of said
support member, said first position sensing element provided with
electrical leads extending through said passageway in said support member
to said electrical connector at said first end of said support member.
5. The pan/tilt unit of claim 3 further comprising a second position
sensing element associated with said second drive means, said second
position sensing element providing a signal related to the tilting
position of said housing with respect to said legs, said second position
sensing element provided with electrical leads extending through said
passageway in said support member to said electrical connector at said
first end of said support member.
6. The pan/tilt unit of claim 3 further comprising illumination means
attached to said housing whereby as said housing is moved said
illumination means is also moved to illuminate areas viewed by said video
camera and the like, said illumination means provided with electrical
leads extending through said legs, said base cross member and said
passageway in said support member to said electrical connector at said
first end of said support member.
7. The pan/tilt unit of claim 1 further comprising:
means for reciprocatively moving said pan/tilt in a direction along said
axis of said second end of said support member; and
a proximity member supported at said second ends of said legs and
mechanically coupled to limit switches whereby said means for
reciprocatively moving said pan/tilt head is disabled when said proximity
member encounters an object, said limit switches provided with electrical
leads extending through said legs, said base cross member and said
passageway in said support member to said electrical connector at said
first end of said support member.
8. A pan/tilt unit for supporting a video camera and for releasable
connection to a surface provided with one half of an electrical connector,
said unit adapted for remote operation to aim said video camera in
selected directions, which comprises:
a support member having a first end carrying one half of an electrical
connector which is complementary to said one half electrical connector on
said surface, and a second end defining an axis, said support member
provided with a passageway extending from said first end to said second
end;
a pan/tilt head, being substantially U-shaped, having a hollow base cross
member pivotally mounted on said second end of said support member at a
midpoint of said base cross member, and a pair of parallel hollow leg
members, each said leg members having a first end attached at opposite
ends of said base cross member, and second ends, said pan/tilt head
further provided with a housing for mounting said video camera, said
housing pivotally supported between said leg members proximate said second
ends;
first electrical drive means positioned within said base cross member for
providing panning motion of said pan/tilt head around said axis of said
second end of said support member;
second electrical drive means positioned within one of said leg members for
providing pivotal tilting motion of said housing for said video camera;
a first position sensing element associated with said first drive means for
producing an electrical signal related to a rotational position of said
pan/tilt head with respect to said axis of said second end of said support
member;
a second position sensing element associated with said second drive means
for producing an electrical signal related to a rotational tilting
position of said housing with respect to said leg members;
means for reciprocatively moving said pan/tilt head in a direction along
said axis of said second end of said support member;
a proximity sensing member supported proximate said second ends of said leg
members;
at least one electrical limit switch connected between said proximity
sensing member and said second ends of said leg members whereby said means
for reciprocative moving said pan/tilt head is disabled when said
proximity sensing member encounters a foreign object; and
electrical leads within said pan/tilt head and extending through said
passageway in said support member connecting said first and second drive
means, said first and second position sensing elements and said limit
switch to said electrical connector half at said first end of said support
member.
9. The pan/tilt unit of claim 8 further comprising:
electrical illuminating means attached to said pivotally mounted housing
whereby said illuminating means are directed to areas to be viewed by said
video camera when said camera is mounted within said housing; and
electrical leads within said pan/tilt head and extending through said
passageway in said support member connecting said illuminating means to
said electrical connector half at said first end of said support member.
10. The pan/tilt unit of claim 8 wherein said first end of said support
member is provided with connector means adapted for remote connection to,
or disconnection from, said surface, and wherein said drive means are
adapted for remote replacement.
11. The pan/tilt unit of claim 8 wherein said support member and said
pan/tilt head are sealed against ingress of fluids.
12. The pan/tilt unit of claim 8 wherein;
said first drive means is a first electrical motor having a shaft adapted
for rotation in either direction, and a first gear means connected between
said said shaft of said first motor and said second end of said support
member whereby rotation of said first motor results in rotation of said
pan/tilt head around said axis of said second end of said support member;
said housing is pivotally supported on shafts extending to said leg means;
said second drive means is a second electrical motor having a shaft adapted
for rotation in either direction, and a second gear means connected
between said shaft of said second motor and said housing support shafts
whereby rotation of said second motor results in tilting motion of said
housing; and
said first and second position sensing elements are potentiometers driven
by said first and second gear means, respectively.
13. The pan/tilt unit of claim 8 wherein said proximity sensing member is a
circular disk carried by said at least one limit switch above said
pan/tilt head.
14. The pan/tilt unit of claim 10 wherein said connector means comprises at
least two captive bolts extending through said first end of said support
means for threadable engagement with threaded receptors in said surface
whereby said electrical connector halves are drawn together or separated
during connection and disconnection, respectively.
15. The pan/tilt unit of claim 14 further comprising a gasket member
surrounding said electrical connector at said first end of said support
member to seal against said surface when said first end of said support
member is fastened to said surface with said bolts.
16. A motorized pan/tilt unit, for releasable connection to a surface that
is provided with one half of an electrical connector, for the mounting of
a video camera and the like, which comprises:
a support member having a first end carrying a complementary half of an
electrical connector to mate with said electrical connector of said
surface, and a second end defining an axis, said support member provided
with a passageway extending from said first end to said second end;
a pan/tilt head rotatably mounted on said second end of said support
member, said pan/tilt head being substantially U-shaped with a hollow base
cross member and a pair of parallel hollow legs each having first ends
attached at opposite ends of said base cross member, and a second ends,
said pan/tilt head further provided with mounting means for said video
camera and the like pivotally supported between said legs proximate said
second ends, with electrical drive means within said head for panning
motion of said pan/tilt head around said axis of said second end of said
support member and for tilting of said mounting means for said video
camera and the like;
means for reciprocatively moving said pan/tilt in a direction along said
axis of said second end of said support member;
a proximity member supported at said second ends of said legs and
mechanically coupled to at least one limit switch associated with said
further ends of said legs whereby said means for reciprocatively moving
said pan/tilt head is disabled when said proximity member encounters an
object; and
electrical leads from said electrical drive means and said limit switch
threaded through said head and said passageway in said support member and
connected to said complimentary half of an electrical connector at said
first end of said support means.
17. The pan/tilt unit of claim 16 wherein said drive means for panning
motion of said head comprises:
a first electric motor adapted for rotation in either direction; and
first gear means connected between said first electric motor and said
second end of said support member whereby rotation of said first motor
results in rotation of said pan/tilt head around said axis of said second
end of said support member.
18. The pan/tilt unit of claim 16 wherein said mounting means for said
video camera and the like is a pivotable housing for enclosing said video
camera and the like, and wherein said drive means for tilting said
mounting means comprises:
a second electric motor adapted for rotation in either direction; and
second gear means connected between said second motor and said pivotable
housing whereby rotation of said second motor results in tilting motion of
said pivotable housing.
19. The pan/tilt unit of claim 17 further comprising a first position
sensing element associated with said first gear means, said first position
sensing element providing a signal related to the rotational position of
said pan/tilt head relative to said axis of said second end of said
support member, said first position sensing element provided with
electrical leads extending through said passageway in said support member
to said electrical connector at said first end of said support member.
20. The pan/tilt unit of claim 18 further comprising a second position
sensing element associated with said second gear means, said second
position sensing element providing a signal related to the tilting
position of said housing with respect to said legs, said second position
sensing element provided with electrical leads extending through said
passageway in said support member to said electrical connector at said
first end of said support member. |
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Claims |
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Description |
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DESCRIPTION
1. Technical Field
This invention relates generally to an apparatus that provides for the
rotating and tilting of devices attached thereto, known as a pan/tilt
head, and more particularly to a pan/tilt head adapted to provide motion
over an extensive scan area and for remote control, ease of replacement
and other parameters necessary for use in restricted/hazardous
environments.
2. Background Art
Remotely-controlled video camera monitors are utilized extensively to
provide surveillance of stores, warehouses and many other installations
where previously this was performed by individuals. These devices are also
used in areas where hazardous conditions exist, such as in chemical
processing areas. Typical of the latter type of installation is in the
field of nuclear reactor fuel reprocessing. An analogous use is in
installations where apparatus containing (or contaminated with)
radioactive material is being used, assembled, disassembled or
decontaminated. In these applications the video camera monitor not only is
used for surveillance, but it is used to provide a video picture of
operations within the hazardous area where direct viewing is impossible.
These monitors are typically mounted on walls and more often are mounted
on moving equipment such as remotely operated manipulators, robots, etc.
In order that a maximum amount of "information" can be obtained with a
video camera, the camera is usually mounted upon a pan/tilt head which is
designed to rotate about a vertical axis (i.e. pan the camera), as well as
about a horizontal axis (i.e., tilt the camera). These pan/tilt heads are
often motorized, with one motor for each of the movements. One such unit
is manufactured by Motorola. The motors can be operated continuously or
for set times to provide routine scanning, or can be operated upon demand.
A pan/tilt head for use with apparatus associated with a radioactive
environment must have some characteristics that may not be required for
the normal pan/tilt head. For example, it must be sufficiently waterproof
such that the exterior can be decontaminated with appropriate liquids.
Furthermore, the unit must be easily and remotely replaced if damage
should occur. In this connection, the head should be self-aligning when
installed. Other desired characteristics are: compact in size; sturdy; no
external wires; and an essentially unlimited scan region. A major
characteristic is the ability to accurately aim the video camera and to
provide information as to that direction. No known device fully meets all
these characteristics.
Accordingly, it is an object of the present invention to provide a pan/tilt
head for mounting a video camera which can be remotely moved to accurately
aim the camera.
It is another object to provide a completely waterproof motorized pan/tilt
assembly of compact but durable construction.
It is another object of the present invention to provide a pan/tilt head
that is modular such that the head can be totally and remotely replaced,
with the replaced head being automatically aligned.
It is a further object of the present invention to provide a motorized
pan/tilt head that can be controlled via a closed loop, as with a
computer.
It is still another object to provide a pan/tilt head that does not have
any external wiring, is automatically wired by placement on a support
surface or object containing a mating electrical connector, and can be
mounted in any horizontal or vertical plane.
These and other objects of the present invention will become more apparent
upon consideration of the drawings identified below, and the detailed
description which follows.
DISCLOSURE OF THE INVENTION
In accordance with various features of the present invention there is
provided a motorized pan/tilt head mounted upon a suitable support member,
typically a tube. This support member is configured for specific
applications of the invention, and is releasably mounted from a suitable
surface. The interface between the support member and the mounting surface
contains the mating components of an electrical plug whereby placement of
the support member upon the mounting surface automatically connects
circuits in the pan/tilt head (or elements attached thereto) to external
circuits. Alignment means, such as pins and captive bolts are used, for
example, at the interface in order to facilitate remotely-operated
replacement of the pan/tilt head and support member.
The pan/tilt member is pivotally mounted from the support member and
principally consists of a yoke with a pair of arms. A video camera (and
any other equipment for being moved simultaneously with the camera) is
pivotally mounted between these legs. Drive means, such as electrical
motors and gears, are positioned within the legs to provide for the
rotation of the yoke and for the pivotal tilting of the camera. The shafts
driven by the motors are each provided with a position sensing means, such
as a potentiometer (or other suitable device), to provide signals as to
the orientation of the camera.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is an isometric drawing of one embodiment of a pan/tilt head of the
present invention. The embodiment shown therein has features in addition
to the basic pan/tilt head.
FIG. 2 is a front elevation of the pan/tilt head of FIG. 1 and a support
member partially cut away to show internal construction with regard to
drive mechanisms and position sensing means.
FIG. 3 is a drawing illustrating the face of a typical support means of the
pan/tilt head wherein one portion of an electrical plug is positioned to
automatically mate with a complimentary plug component on a mounting
surface.
FIG. 4 is a frontal view, in reduced size, of an embodiment of the present
invention wherein apparatus is provided for raising and lowering the
pan/tilt head.
BEST MODE
A pan/tilt head of the present invention is illustrated at 10 in the
isometric drawing of FIG. 1. The head is formed principally of a U-shaped
yoke formed of a cross-member 12 and a pair of upright legs 14, 16, one
each at opposite ends of the cross-member 12. These three components are
hollow, as is shown in FIG. 2. The cross-member 12 has a
downwardly-extending column 18 at a central position, this column provided
for connection to a support base (not shown in this figure). A video
camera enclosure 20 is mounted on a pair (one shown) of pivot housings 22
proximate an upper portion of the legs 14, 16. A transparent lens cover 24
is provided to maintain the enclosure water proof.
Although not essential to the pan/tilt head, but certainly of value in many
of its uses, are a plurality of high intensity lamp units 26, 28, 30, 32
or other illumination means. These are attached to the camera enclosure 20
so as to move with this enclosure. Mounted above the camera enclosure 20
and lamps 26, 32 is a "proximity member" or "crash plate" 34. The function
of this plate 34 (which could be of another configuration) is to limit
upward or horizontal travel when the pan/tilt head is attached to an
elevating support rod as described below. The plate 34 is supported upon a
pair of push rods 36, 38 which, in turn, operate at least one limit switch
39 (see FIG. 2) within the housings 40, 42 mounted atop the legs 14, 16.
It is again emphasized that the plate 34, the pushrods 36, 38 and the
limit switch housings 40, 42 are not required for all applications of the
invention.
As will be described in more detail hereinafter, the pan/tilt head is
provided with internal drive means so as to pan about axis 45, and to tilt
about axis 47.
Referring now to FIG. 2, shown therein is a front elevation of the pan/tilt
head and its support member with certain portions cut away to see internal
components. More specifically, the support member of this embodiment is a
tubular support 44 extending from a junction box/connector 46 to a top
spindle 48. The support member can have any selected length, can be
straight or angular, and can have associated therewith some means (see
FIG. 4) for raising or lowering the pan/tilt head 10. The junction
box/connector 46 is provided with one-half of an electrical connector 50
(see more detail in FIG. 3).
Typically, the junction box/connector 46 is releasably attached to other
equipment using a pair of captive bolts 52, 54 or the like. The surface or
the equipment (not shown) to which the box 46 attaches is provided with
the second half of the electrical connector, and typically includes
alignment pins for proper alignment of the two halves of the electrical
connector. Optionally the location of the bolts and alignment pins can be
reversed.
Mounted within the cross member 12 is a first drive means which typically
includes an electrical motor 56 used for effecting the pan motion around
axis 45. The direction of rotation is selectable. This motor drives a
bevel gear 58 which is meshed with a fixed bevel gear 60 on the end of the
spindle 48. Thus, rotation of gear 58 produces the pan motion. A second
bevel gear 62 is also meshed with gear 60. This gear 62 also rotates in
synchronous motion with gear 58. The gear 62 drives a potentiometer 64,
the output of which is proportional to the orientation of the pan/tilt
head during pan motion. It is within the scope of this invention to
substitute other position-sensing mechanisms for the potentiometer when
such position sensing is necessary or desired.
Secured within one of the upright arms (e.g. arm 14) is a second drive
means which typically includes an electrical motor 66. This motor is used
to rotate bevel gear 68 in a selectable direction, with this gear 68
meshed with gear 70 affixed to a first end of shaft 72 within pivot
housing 21. The second end of shaft 72 is affixed to the camera housing 20
so that rotation of the motor 66 causes a selected tilt of the camera
housing (and video camera therein). A corresponding shaft (not shown)
within pivot housing 22 has a first end attached to the camera housing,
and the second end thereof carries a bevel gear 74. This is meshed with
bevel gear 76 for transferring any rotational movement to a second
potentiometer 78 or other suitable position-sensing device. This
position-sensing device provides a signal corresponding to the tilt of the
camera.
In order that maintenance can be performed upon the components, a removable
cover 80 on the cross member 12 permits access to the motor 56, the
potentiometer 64, and their related gears 58, 60, 62. Similarly, removable
cover 82 permits access to motor 66 and gears 68, 70. A third removable
cover 84 permits access to the potentiometer 78 and gears 74, 76. These
plates are typically secured as with bolts 85.
In this FIG. 2 a microphone 86 is shown attached to the camera housing 20.
This arrangement is for those applications requiring sound pick-up as well
as a video signal.
All of the wiring required by the various components is carried internally
within the pan/tilt head 10. The wires 89 (see FIG. 3) are routed down
through a central passageway 87 of the spindle 48 and the remainder of the
support member 44 to the junction box connector 46. The ends of these
wires are joined therein to the electrical connector component 50.
A more detailed illustration of the junction box/connector can be seen in
FIG. 3. This shows a frontal view of a typical electrical connector. The
box 46 is provided with a plurality of holes, as at 88. Typically, two
holes are utilized for the afore-mentioned captive bolts (see FIG. 2), and
two holes receive alignment pins mounted upon equipment to which the box
is to be releasably attached. As stated above, these alignment pins could
also be carried by the junction box/connector.
The electrical connector 50 has an insulating base 90, and this base
carries a plurality of connecting pins 92 (or in the alternative,
receptors for pins). Surrounding the electrical connector 50 is a gasket
94 of a material suitable for the environment to make the electrical
connector impervious to liquids and any other deleterious materials.
The unit described in connection with FIGS. 1-3 can have numerous
applications. For example, this pan/tilt head and support member can be
releasably affixed to the torso of a servo-manipulator. In this manner the
unit can be used to visually follow operation of the servo-manipulator.
The video camera can be panned and/or tilted to provide the best view of
the operation. More than one such pan/tilt unit can be utilized for this
application. Because of the construction described above, remote
maintenance can be performed on the unit.
In still another application of the present invention, the pan/tilt head on
a support member can be attached to various types of remotely operated
vehicles such as used for "exploring" hazardous regions. For this
application the pan/tilt head can be mounted atop a vertically extendable
mast to view various levels. The "crash plate" for this application limits
upward or horizontal travel when an obstacle is encountered.
This application of the invention is illustrated in FIG. 4. All components
identical to those of the prior figures carry the same numerals, and
components that provide the same function but are differently configured
have primed corresponding numerals. In the illustrated construction the
connector box 46' at the end of the support member 44 is typically
releasably attached to a complementary box 96 with the captive bolts 52,
54. The box 96 is affixed to the top of an elevatable number 98 which is
moved with an appropriate mechanism 100. This mechanism, typically, can be
an extendable jack-like structure operated by a screw mechansim, a
hydraulic mechanism, etc. The mechanism 100 and the elevatable member 98
can be mounted, for example, on a remotely operated vehicle such as a
robot. It provides the means for moving the pan/tilt head in the
directions indicated by the arrow 102.
Of course, the unit in its most simple form can be mounted in a fixed
location for routine surveillance. For this application the lights may or
may not be necessary for proper viewing, particularly where there is
sufficient light from other sources.
From the foregoing, it will be understood by those versed in the art that a
pan/tilt head is provided having substantially spherical coverage. The
unit is compact, and is an easily replaceable module for those
applications where such is of value. Since position sensors are provided,
the pan/tilt head can have closed-loop control as through the use of a
computer program. The unit is liquid proof and thus can be used in
environments where liquid may be encountered. Although some components
have been described rather specifically, the invention is not to be
limited by those specific descriptions. Rather the invention is to be
limited only by the appended claims, or their equivalents, when taken in
combination with the description of the figures.
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