Remote tracking system particularly for moving picture cameras and method

A method of tracking a movable object by repetitively calculating the angular displacement of the object with respect to a reference angle and moving a movable means to track the object in response thereto comprising the steps of:

• A. transmitting at the location of the object a signal from a source of radiant energy of the electromagnetic spectrum into an area;
• B. repetitively scanning an area containing the object for the transmitted signal by varying the view angle through which the signal can be received during successive time intervals;
• C. repetitively detecting at the receiver the transmitted signal;
• D. providing a data signal indicative of the time at which the transmitted signal was received at the receiver;
• E. determining the point in each time interval at which each angular position of the signal occurs with respect to a reference position during that time interval;
• F. repetetively computing the angular displacement of the object with respect to the reference position by repetitively comparing the point in each of a series of time intervals at which the receiver received the signal with the angular position of the view angle with respect to the same point in the corresponding time interval;
• G. computing the direction of movement of the object by successively comparing the calculated angular displacements of the object during the series of time intervals;
• and
• H. moving the movable means to track the object in response to the results obtained in step G.

A method of tracking a movable object with a camera mounted on a movable means for moving the camera by repetitively determining the location of the object with respect to a reference position comprising the steps of:

• A. transmitting at the position of the object a signal from a source of radiant energy of the electromagnetic spectrum into an area;
• B. repetitively scanning an area containing the object, independently of moving the camera, by varying the position of the view angle through which the signal can be received through the area in substantially the horizontal plane and in substantially the vertical plane and each through a series of time intervals;
• C. repetitively detecting by horizontal and vertical receivers the transmitted signal which is transmitted from the object;
• D. providing a first and second data signal indicative of the time at which the signal was received by the respective receivers;
• E. determining the point in each time interval at which the angular position of each view angle occurs with respect to a reference position during each time interval;
• F. repetitively computing the angular displacement of the object with respect to the reference position in the horizontal and vertical planes by repetetively comparing the results of steps D and E;
• G. computing the direction of movement of the object in the horizontal and vertical planes by successively comparing the calculated angular displacements of the object in each plane;
• and
• H. operating the movable means and the camera attached thereto independently of scanning an area in accordance with the results obtained in step G.

A system for calculating angular displacement of two objects with respect to a reference position comprising a base unit and a remote unit, said remote unit having a transmitter means for transmitting a transmitted signal, said base unit having receiver means including reception direction control means for varying the angular displacement of the signal direction at which said transmitted signal can be received by said receiver means during a time interval with respect to a reference angle as established by said reception direction control means, said reception direction control means including means including position detecting means for providing a position output signal representative of said signal direction with respect to said reference angle during said time interval, said receiver means being responsive to said transmitted signal and providing a receiver output signal in response to receiving said transmitted signal at said signal direction, said receiver means further providing a first output signal in response to said receiver output control signal, said base unit further including control circuit means responsive to said position output signal and said first output signal for determining the angular displacement of said signal direction of said transmitted signal from said reference angle and for determining the angular displacement between said reference angle and said signal direction at the time said transmitted signal was receive by said receiver means and providing an error output signal indicative of said angular displacement, said base unit further including movable means responsive to said error output signal for moving said base unit in response to said error output signal, said reception direction control means being movable while varying said angular displacement of the signal direction independently of moving said movable means.

A method of recording pictures by a camera mounted on a tracking unit having a movable portion comprising the steps of:

• A. providing a camera and tracking unit movable in at least one plane;
• B. providing a device detectable by the tracking unit by the emission of radiant energy of the electromagnetic spectrum by the device;
• C. employing the device by a user who will be in the picture frame of the camera;
• D. detecting the device by a receiver of the tracking unit as the user moves with such device to operate the movable portion of the tracking unit which correspondingly moves the camera to maintain the device in the picture frame;
• and
• E. providing a means for varying the view angle of the receiver, independently of the movable portion of the tracking unit and the field of view of the camera, through which the receiver can detect the radiant energy from the device.

In a system for determining the location of an object relative to a reference position and moving a movable means to track an object in response thereto;

• transmitter means co-located with said object for producing a radiant energy signal of the electromagnetic spectrum;
• receiver means located at said reference position and having a narrow angle of reception for producing a detection signal in response to irradiation of said receiver means by said radiant energy signal;
• scanning means, movable independently of said movable means, for moving said angle of reception of said receiver means through a predefined area in which said object is located;
• and
• sensing means responsive to said detection signal for sensing the position of said angle of reception in said predefined area, thereby establishing the location of said object and producing a sensing output signal in response to the sensed position, and moving said movable means, independently of said scanning means, in response thereto to track said object.

A method for determining the location of an object relative to a reference position and moving a movable means to track the object in response thereto comprising the steps of:

• A. transmitting from the location of the object a radiant energy signal of the electromagnetic spectrum;
• B. providing a receiver at said reference position which has a narrow reception angle and which produces a detection signal in response to being irradiated by the radiant energy;
• C. moving the reception angle, independently of moving the movable means, through a predefined area in which the object is located;
• D. determining the location of the object in the predefined area in response to irradiation of said receiver by the radiant energy signal;
• and
• E. moving the movable means, independently of moving the reception angle, in response to the results obtained in step D to track the object.

A system for calculating angular displacement of two objects with respect to a reference position comprising a base unit and a remote unit, said remote unit having a first transmitter means for transmitting a first transmitted signal, said base unit having first receiver means including view angle control means for varying the angular displacement of the position of the view angle through which said first transmitted signal can be received by said receiver means during first time interval with respect to a reference angle as established by said view angle control means, said view angle control means including position detecting means for providing a position output signal representative of said position of said view angle with respect to a reference angle during said first time interval, said first receiver means further providing a first output in response to said receiver output signal, said base unit further including control circuit means responsive to said position output signal and said first output signal for determining the angular displacement between said reference angle and said view angle at the time said first transmitted signal was received by said first receiver means and providing an error output signal indicative of said angular displacement, said base unit further including movable means responsive to said error output signal for moving said base unit in response to said error output signal, said view angle control means being movable while varying the angular displacement of the position of the view angle independently of moving said movable means.

A system for calculating angular displacement of two objects with respect to a reference position comprising a base unit and a remote unit having a first transmitter means for transmitting a first transmitted signal, said base unit having first receiver means including view angle control means for varying the angular displacement of the position of the view angle through which said first transmitted signal can be received by said receiver means during a first time interval with respect to a reference angle as established by said view angle control means, said view angle control means including position detecting means for providing a position output signal representative of said position of said view angle with respect to a reference angle during said first time interval, said first receiver means being responsive to said first transmitted signal and providing a receiver output signal in response to having received said first transmitted signal through said view angle, said first receiver means further providing a first output signal in response to said receiver output signal, said base unit further including control circuit means responsive to said position output signal for determining the angular displacement between said reference angle and said view angle at the time said first transmitted signal was received by said first receiver means and providing an error output signal indicative of said angular displacement, said position detecting means produces said position output signal so that it is representative of an angular displacement of said view angle from a reference angle and said first receiver means is responsive to the strength of said first transmitted signal, said receiver circuit means including signal strength detection circuit means for determining the relative strength of said receiver output signal and providing said first output signal when said receiver output signal is at a predetermined level as established by said signal strength detection circuit means, said control circuit means determining said position of said view angle at the time when said first receiver means receives said predetermined level of signal strength of said first transmitted signal, said base unit further including movable means responsive to said error output signal for moving said base unit in response to said error output signal for moving said base unit in response to said error output signal, said view angle control means being movable while varying said angular displacement independently of moving said movable means.

A system for calculating angular displacement of two objects with respect to a reference position comprising a base unit and a remote unit, said remote unit having a first transmitter means for transmitting a first transmitted signal, said base unit having first receiver means including view angle control means for varying the angular displacement of the position of the view angle through which said first transmitted signal can be received by said receiver means during a first time interval with respect to a reference angle as established by said view angle control means, said view angle control means including position detecting means for providing a position output signal representative of said position of said view angle with respect to a reference angle during said first time interval, said first receiver means being responsive to said first transmitted signal and providing a receiver output signal in response to having received said first transmitted signal through said view angle, said first receiver means further providing a first output signal in response to said receiver output signal, said base unit further including control circuit means responsive to said position output signal and said first output signal for determining the angular displacement of the position of said first transmitted signal from said reference angle and for determining by calculation the angular displacement between said reference angle and said view angle at the time said first transmitted signal was received by said first receiver means and providing an error output signal indicative of said angular, said control circuit means including means for comparing one said error output signal indicative of one said angular displacement with a successive said error output signal indicative of a successive said angular displacement for determining the directional movement of said remote unit with respect to said base unit.

A method of recording pictures by a camera comprising the steps of:

• A. providing a means for moving the field of view of the camera in at least one plane for tracking an object to be recorded by the camera;
• B. providing a means for emitting radiant energy of the electromagnetic spectrum;
• C. locating the means for emitting the radiant energy in a known relationship to an object to be tracked by the camera;
• D. providing a receiver means for detecting the location of the radiant energy from the means for emitting;
• E. providing a means for varying the view angle of the receiver through which the receiver can detect the radiant energy from the means for emitting the energy;
• F. providing a means for determining the difference in position between the location of the radiant energy and the field of view;
• and
• G. moving the camera field of view independently of varying the view angle to eliminate any difference in position between the location of the radiant energy and the field of view.