초록 ▼

A robotic camera dolly system includes a motorized dolly which rolls freely across a studio floor under computer control, the dolly carrying a camera. Targets are provided on the floor at various locations from which camera shots are to be taken. The dolly is moved from one target to the vicinity of

A robotic camera dolly system includes a motorized dolly which rolls freely across a studio floor under computer control, the dolly carrying a camera. Targets are provided on the floor at various locations from which camera shots are to be taken. The dolly is moved from one target to the vicinity of another target according to a learned sequence of movements controlled by a remote dolly computer. The learned sequence of movements is taught with the aid of a joystick, and the motions are replayed based on dead reckoning. In order to correct translational and angular errors in the position of the dolly at the destination target, optosensors are provided on the dolly for use in detecting and reorienting the dolly relative to the destination target. The open loop control of dolly movement can be taught with a control stick and the motions replayed based on dead reckoning.

대표청구항 ▼

A positioning system for moving a dolly member between first and second positions in a plane, said dolly member having an axis of rotation normal to the plane and a reference direction normal to said axis of rotation, said dolly member further including first means for the translation thereof in the

A positioning system for moving a dolly member between first and second positions in a plane, said dolly member having an axis of rotation normal to the plane and a reference direction normal to said axis of rotation, said dolly member further including first means for the translation thereof in the plane and second means for the rotation thereof about said axis of rotation, the system comprising: first and second target means having fixed locations relative to the first and second positions on said plane respectively, each of said target means having an origin defining its respective position and reference means defining a given direction in the plane; first control means coupled to said first means for translating said dolly member, said first control means controlling the translation of said dolly member along a predetermined path from said first position to a position at which the axis of rotation of said dolly member is in the vicinity of said second position; detecting means for generating first and second control signals, said first control signal corresponding to the noncoincidence of the axis of rotation of said dolly member with the origin of said second target means and said second control signal corresponding to the non-coincidence of the reference direction of said dolly member with the given direction defined by said second target means; and second control means coupled to said first and second means for translating and rotating respectively said dolly member, said second control means being responsive to said first and second control signals for controlling the translation of said dolly member to bring the axis of rotation thereof into coincidence with the origin of said second target means and controlling the rotation of said dolly member to bring the reference direction thereof into coincidence with the given direction defined by said second target means.