CA1218259A - Improved suspension system for supporting and conveying equipment, such as a camera - Google Patents

Abstract

ABSTRACT OF THE DISCLOSURE

An improved suspension system for supporting and conveying equipment, such as a camera assembly, which equipment is capable of being panned and tilted. The system comprises of a first elongated support means positioned in the direction of the panning axis of the equipment; a second support means arranged concentric with the panning axis of the equipment and which is rotatable about said axis with respect to said first support means; and suitably arranged attaching means for said equipment and drive means to cause rotation between the support means about the axis and controllable to maintain a pre-selected rate of rotation.
The equipment is capable of taking pictures and views in situations where the traditional camera system are inadequate.

Description

~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
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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 .. ~.. ~.,.~. I

~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, .

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 _ ~, 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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~ 7 --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~

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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 1, i, .
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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~

- 10 ~-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 i ~zlsess 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 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 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 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 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 - ~3 -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).

- ~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~

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~

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~

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 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 .

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 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 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 ~ ~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 , .

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.

,, 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 ) O SWAP !
O SWAP 2 ~ !
O SWAP 4 + !
O SWAP 6 -t !
O SWAP ~ ~ !

: LOAD3 ( ARRAY LOAD VTI~ITY ) 4 ROLL !

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

O VARIA~LE LINE
5 ARRAY ALINE ..

5 ARRAY CLI~1E

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

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 !

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

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 /

~OOP
ELSE VBV e ~ ENDIF
END:[F
ENDIF
ENDIF

: PREP
O VECTOR

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

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

6 ROLL 6 ROLL 6 ROLL

;

: ZVC

;

: 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 ;;

,;, . .
~ij.~j ,~, 3~

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 ) DUP
SWAP

ROT ROT
SWAP
;

: ATEST ( TEST FOR END OF SQ ROOT ) ABS
>=
i : BTEST ( TEST FOR END OF SQ ROOT ) SWAP
DUP +
ROT ROT

.
: TEST ( TEST CONTROL FOR END OF SQRT ) DUP

SWAP DUP
ROT

ATEST
DUP

ELSE DROP
BTEST

i ~ .

., ~æ~z~

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

DUP ~ ROT
DUP * ROT
DUP ~
+
SQRT
;

: VADD ( ADDS VECTOR ARRAY TO ONE ) DUP LINE ! ( OF LINES, AND CALCULATES ) LSET3 ( LENGTH AND DIFFERENCE

O Vl~C'rOR

&ET3 LINE Q

LOhD3 LINE @ DUP DUP
LENGTH
DIJP ROT
6 + @
- 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

DUP

' : @VLEN
DUP DUP
LENGTH DUP
ROT 6 + @ SWAP -ROT DUP ROT SllAP 8 + !
6 ~ I
i : @LCALC
@VADD
. @VLEN

: ~ALCLINES
O ALINE 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

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

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

: BRIDIS
lB COUT

;

zs~

November 5~ 19~32 . Pag~ 2 Ll~ting ~: DISPl66.~7OS

: DIMDIS
lB COUT

;

: }IOMEC
lE COUT
' : GR
GRMODY

DUP
COUT
1 ~
- LOOP
GRMODN
C.
;

: GRI~
CR

DUP DUP

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~
~yP~66~09 November 5, 1982 Page 3 Liæt1ng DIJP 0< IF

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

ENDI~
#~.
i DECIMAL

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 ~.~18~S~

November 5, 1982 P~ge 4 Llstin~ Or: DISP166.~0S

DUP COUT
LOOP
DROP
~'JRMODN
;

: YLINE
~HC @

O DO

CURPOS
ROT DUP
GRMODY COUT GRMODN
ROT l +
ROT
LOOP

: 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

-: 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

DMOTD
DTEXTD
HOMEC
BRIDIS
O W LEN I
.

~' .

z~

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

ENDIF
ENDIF

SWAP 100 ~ SWAP / ABS DUP TAN l 20 <= IF 4 ELSE TAN ~ 65 < IF 3 ELSE TAN @ 150 <= IF 2 ELSE TAN @ 500 <

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 ;;
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Claims (31)

THE EMBODIMENTS OF THE INVENTION IN WHICH AN EXCLUSIVE
PROPERTY OR PRIVILEGED IS CLAIMED ARE DEFINED AS FOLLOWS:

1. A suspension system for supporting and conveying equipment, said system comprising:
at least three elongate, flexible members;
mounting means spaced-apart from each other for extendably and retractably supporting said flexible members; and an equipment support member attached to each of the flexible members, wherein the support member is adapted to be moved in three directions in response to movement of the flexible members, and wherein the equipment is operatively associated with said equipment support member so that said equipment is isolated from said equipment support member.

2. The suspension system of claim 1 including power means for extending and retracting each of the flexible members, and control means for the power means for selectively extending or retracting one or more of said flexible members to move the equipment along a predetermined path, said power means including computer-controlled motors.

3. The suspension system of claim 1 including four elongate flexible members.

4. A suspension system for supporting and conveying equipment, said system comprising:
at least three elongate, flexible members;
mounting means spaced-apart from each other for extentably and retractably supporting said flexible members; and an equipment support member attached to each of the flexible members, the support member being adapted to be moved in response to movement of the flexible members, said support member comprising an inner section to which the equipment is attached and an outer section connected to said flexible members, said inner and outer sections being rotatable relative to each other about at least two separate axes of rotation which are oriented ninety degrees to each other, and drive means for independently rotating the inner and outer sections of the equipment support member relative to each other about at least two of the axes of rotation.

5. The suspension system of claim 4 including sensing means for detecting angular deviation relative to a desired orientation of equipment attached to the equipment support member, said sensing means being adapted to actuate the drive means in response to the detected deviation to positively rotate the inner and outer sections of the support member relative to each other to move the equipment into its desired orientation.

6. The suspension system of claim 1 wherein the equipment includes a camera assembly which extends through the equipment support member so as to have sections thereof at opposed ends of the support member.

7. The suspension system of claim 6 wherein the camera assembly includes a rotatably mounted camera support, a Camera-attaching section located adjacent one end of the camera assembly and a camera attached to the camera-attaching section, the camera support being rotatable relative to said equipment support member, and drive means for rotating the camera support to pan the camera attached thereto.

8. The suspension system of claim 7 wherein the camera assembly is attached at its center, or approximate center of gravity. to the equipment support member to minimize undesired pendular motion of said camera assembly when it is being moved.

9. The suspension system of claim 8 comprising a first enclosure around the camera adjacent one end of the assembly and a second enclosure around other camera assembly elements adjacent the opposite end of the assembly, the dimensions of the enclosures being chosen so as to substantially equalize the wind loading upon the opposed ends of the assembly to thereby produce substantially equal leverage on the assembly above and below its area of attachment to the equipment support member.

10. A suspension system for supporting and conveying a camera assembly above a given plane, the system comprising:
at least three cables, each of which has two ends, one end of each cable being connected to a common member;
spaced-apart, rotatable drums adapted to engage respectively the second ends of the cables for extendably and retractably mounting the cables; and an equipment support suspended from the common member to carry the camera assembly;
wherein said equipment support is operatively associated with said common member so that said camera assembly is isolated from said common member.

11. The suspension system of claim 10 wherein the inner and outer sections are rotatable relative to each other about at least two separate axes of rotation.

12. The suspension system of claim 10 and elevated means to mount the drums above the said plane, the second ends of the cables being always positioned above the respective first ends of the cables.

13. A support system for equipment which is to be capable of being panned and tilted by remote control, said support system comprising:

first support means elongated in the direction of the panning axis of said equipment;
means for attaching said equipment tiltably adjacent one end of said support means;
second support means concentric with said axis, rotatable about said axis with respect to said first support means, and mounted along said first support means spaced from said equipment attaching means; and drive means coupling said first and second elongated support means, said drive means being adapted to be energized to product relative rotation between said support means about said axis, and controllable to maintain a predetermined rate of such rotation.

14. The system of claim 13 further comprising:
gimbal supports attached to said second support means for enabling rotation of said system about each of two axes perpendicular to each other and to said support means axis, and means for attaching suspension members of controllable lengths to the outer one of said gimbal supports, whereby said support system is held aloft in three-dimensionally adjustable positions.

15. The system of claim 13 further comprising:
means for attaching adjacent the other end of said first support means counterbalancing means for statically counterbalancing the weight of said equipment, said first elongated support means being substantially free of twisting movement about its own axis between said equipment and counterbalancing means, whereby said equipment and counterbalancing means are rotatable about the panning axis as a unit.

16. A support system for equipment which is to be capable of being panned and tilted by remote control, said support system comprising:
first support means elongated in the direction of the panning axis of said equipment;
means for attaching said equipment tiltably adjacent one end of said support means;
second support means concentric with said axis, rotatably about said axis with respect to said first support means, and mounted along said first support means spaced from said equipment attaching means; and drive means coupling said first and second elongated support means, said drive means being adapted to be energized to produce relative rotation between said support means about said axis.

17. The system of claim 1 wherein said equipment is a camera.

18. In a suspension system for supporting equipment in three-dimensionally adjustably positions by means of at least three cables which are attached to said equipment and which extend away from said equipment in different directions, the combination of:
at least three elevated support means, one for each of said cables, spaced from said equipment and defining the corners of a three-dimensional space above the surface over which they are elevated;
means for adjusting the lengths of the cables between the respective support means and the equipment in such relationships as to move said equipment in three directions to place the equipment in any desired position within said three-dimensional space; and means for isolating said equipment from the cables which support said equipment.

19. The suspension system of claim 19, wherein the adjusting means comprises means for reeling said cables in or out with respect to said elevated support means.

20. The suspension system of claim 20, wherein the adjusting means further comprises means for coordinating said cable reeling to that one or more cables are reeled in while the remaining cable or cables are reeled out by amounts sufficient to displace said equipment from a given position to another desired position within said three-dimensional space.

21. The suspension system of claim 21 wherein the adjusting means includes computer-controlled motors.

22. The suspension system of claim 19 wherein said equipment isolated from angular movements of said equipment support member.

23. The suspension system of claim 23 wherein said equipment is operatively associated with said equipment support member for stabilized stationary support and for stabilized movement in said three directions in response to extension and retraction of said flexible cables.

24. The suspension system of claim 24 wherein said camera assembly includes a camera and is adapted to provide stabilized panning, tilting and rolling of said camera.

25. The suspension system of claim 25 wherein said camera assembly is adapted to provide stabilized panning, tilting and rolling of said camera while said camera assembly is held stationary by said equipment support member and while said camera assembly is being moved in said three directions by said equipment support member.

26. The suspension system of claim 10 wherein said equipment is isolated from angular movements of said common member.

27. The suspension system of claim 27 wherein said equipment is operatively associated with said common member for stabilized stationary support of said camera assembly and for stabilized movement of said camera in response to extension and retraction of said cables by said rotatable drums.

28. The suspension system of claim 19 wherein said isolating means isolates said equipment from angular movements of said cables.

29. The suspension system of claim 29 wherein said isolating means maintains said equipment in stabilized orientation with respect to the surface over which it is suspended, while stationary and during the movement of said equipment in said three directions.

30. A suspension system for supporting and conveying equipment, said system comprising:
at least three elongate, flexible members;
mounting means spaced-apart from each other for extendably and retractably supporting said flexible members;
an equipment support member attached to each of the flexible members, the support member being adapted to be moved in response to movement of the flexible members by drive means associated therewith; and control means operatively associated with said drive means to coordinate selective extension and retraction of one or more of said flexible membPrs to move the equipment along a desired path.

31. The suspension system of claim 31 wherein said mounting means include computer-controllable motors.