# US 8,540,438 B1 · Systems and methods for positioning a camera crane

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- Number: US 8,540,438 B1
- Document ID: US8540438B1
- Status: Granted
- Kind: B1
- Application number: 13/070,666
- Filed: 2011-03-24
- Granted: 2013-09-24
- Earliest claimed: 2011-03-24
- Assignees: CamMate Systems, Inc.
- Applicants: Matthew J. Cronin; Pablo Tovar; Michael Kay Pack; Ron K. Keys; Richard A. Laitinen
- Inventors: Matthew J. Cronin; Pablo Tovar; Michael Kay Pack; Ron K. Keys; Richard A. Laitinen
- Web page: https://patentgrep.com/patent/US8540438B1

## CPC

- F16M 11/18: with mechanism for moving the apparatus relatively to the stand
- B66F 11/048: {Mobile camera platform}
- F16M 11/10: around a horizontal axis {(F16M11/12 takes precedence)}
- F16M 11/2014: {around a vertical axis (F16M11/2035 takes precedence)}
- F16M 11/2021: {around a horizontal axis (F16M11/2035 takes precedence)}
- F16M 11/28: Undercarriages for supports with one single telescoping pillar
- F16M 11/42: with arrangement for propelling the support {stands on wheels}
- F16M 2200/044: for balancing rotational movement of the undercarriage
- G03B 17/561: {Support related camera accessories}
- F16M: FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- B66F: HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00)
- G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR (optical parts of such apparatus G02B; photosensitive materials or processes for photographic purposes G03C; apparatus for processing exposed photographic materials G03D)

## Abstract

Systems and methods for positioning a camera crane include maintaining the position of a camera head in accordance with the inclination and rate of change of inclination of the arm of the crane. The inclination and rate of change are detected by an inclination detector and an angular detector respectively. The camera head may be positioned in accordance with the inclination as detected by the inclination detector. The rate of changing the position of the camera head may be in accordance with the rate of change detected by the angular detector.

## Claims

### Claim 1

A system for positioning a camera head, the camera head coupled to a provided camera crane, the camera crane includes a base, an arm pivotally coupled to the base at a proximate end-portion of the arm, and the camera head pivotally coupled to a distal end-portion of the arm, the system comprising:
a first detector that detects a magnitude of a first angle between the arm and the base;
a second detector that detects a magnitude of a second angle of the arm with respect to a direction of gravity;
an actuator mechanically coupled between the camera head and the arm; and
a processing circuit;
the processing circuit detects a rate of change of the magnitude of the first angle; and
the processing circuit moves the actuator a linear distance in accordance with the magnitude of the second angle at a rate that corresponds to the rate of change to position a camera mount of the camera head parallel to a plane.

### Claim 2 (depends on 1)

The system of claim 1 wherein the first detector detects the first angle between the proximate end-portion of the arm and the base.

### Claim 3 (depends on 1)

The system of claim 1 wherein the second detector detects the second angle without reference to the first angle.

### Claim 4 (depends on 1)

The system of claim 1 wherein the actuator mechanically couples to the arm at a position offset from the centerline of the arm.

### Claim 5 (depends on 1)

The system of claim 1 wherein the plane is perpendicular to a force of gravity.

### Claim 6 (depends on 1)

The system of claim 1 wherein the first detector comprises a rotary encoder positioned at a pivot between the proximate end-portion of the arm and the base.

### Claim 7 (depends on 1)

The system of claim 1 wherein the second detector comprises an inclinometer mechanically coupled to the proximate end-portion of the arm.

### Claim 8 (depends on 1)

The system of claim 1 wherein the actuator comprises a linear actuator.

### Claim 9 (depends on 1)

The system of claim 1 further comprising the camera crane.

### Claim 10

A system for positioning a camera head, the camera head coupled to a provided camera crane, the camera crane includes a base, an arm pivotally coupled to the base at a proximate end-portion of the arm, and the camera head pivotally coupled to a distal end-portion of the arm, the system comprising:
a first detector that detects a magnitude of a first angle between the arm and the base;
a second detector that detects a magnitude of a second angle between the arm and a horizontal plane, the horizontal plane perpendicular to a direction of gravity;
an actuator mechanically coupled between the camera head and the arm; and
a processing circuit; wherein
the processing circuit determines an angular rate of change of the magnitude of the first angle;
the processing circuit determines a first length of the actuator in accordance with the magnitude of the second angle;
the processing circuit determines a second length of the actuator in accordance with the magnitude of the second angle plus an incremental value;
the processing circuit moves the actuator between the first length and the second length at a rate in accordance with the angular rate of change.

### Claim 11 (depends on 10)

The system of claim 10 wherein the processing circuit further:
detects a change in a magnitude of the first angle with respect to a threshold; and
responsive to detecting the change, determines the angular rate of change of the first angle.

### Claim 12 (depends on 10)

The system of claim 10 wherein the rate that the processor moves the actuator is in accordance with:
[|(the first length−the second length)/(the second angle−(the second angle+the incremental value))|]*(the angular rate of change).

### Claim 13 (depends on 10)

The system of claim 10 wherein the second detector detects the second angle without reference to the first angle.

### Claim 14 (depends on 10)

The system of claim 10 wherein the actuator mechanically couples to the arm at a position offset from the centerline of the arm.

### Claim 15 (depends on 10)

The system of claim 10 wherein the processor moves the actuator to position a camera mount of the camera head parallel to the horizontal plane.

### Claim 16 (depends on 10)

The system of claim 10 wherein the first detector comprises a rotary encoder.

### Claim 17 (depends on 10)

The system of claim 10 wherein the second detector comprises an inclinometer mechanically coupled to the proximate end-portion of the arm.

### Claim 18

A method for moving a camera head, the camera head coupled to a camera crane, the camera crane includes a base, an arm pivotally coupled to the base at a proximate end-portion of the arm, and the camera head pivotally coupled to a distal end-portion of the arm, the method comprising:
determining a rate of change in a magnitude of a first angle between the arm and the base in accordance with a first detector that detects the magnitude of the first angle between the arm and the base;
detecting a second angle in accordance with a second detector that detects a magnitude of an angle between the arm and a direction of gravity;
moving the actuator a linear distance in accordance with the second angle and at a rate that corresponds to the rate of change in the magnitude of a first angle, the actuator coupled between the arm and the camera head, wherein moving the actuator positions a camera mount of the camera head parallel to the plane.

### Claim 19 (depends on 18)

The method of claim 18 wherein determining the rate of change comprises determining a difference by subtracting a magnitude of a prior first angle from a magnitude of a present first angle.

### Claim 20 (depends on 19)

The method of claim 19 wherein determining the rate of change further comprises dividing the difference by a difference in time between the prior first angle and the present first angle.

### Claim 21 (depends on 18)

The method of claim 18 wherein determining the rate of change comprises:
receiving a plurality of respective magnitudes of the first angle detected at a respective time;
storing the plurality of respective magnitudes and times in a memory.

### Claim 22 (depends on 18)

The method of claim 18 wherein moving in accordance with the second angle comprises determining a linear rate.

### Claim 23 (depends on 18)

The method of claim 18 wherein moving at the rate that corresponds to the rate of change comprises multiplying the rate of change by a linear rate.

### Claim 24

A system for positioning a camera head, the camera head coupled to a provided camera crane, the camera crane includes a base, an arm pivotally coupled to the base at a proximate end-portion of the arm, and the camera head pivotally coupled to a distal end-portion of the arm, the system comprising:
a first detector that detects a first inclination of the arm relative to the base;
a second detector that detects a second inclination of the arm with respect to a direction of gravity;
a linear actuator mechanically coupled between the camera head and the arm; and
a processing circuit; wherein
the processing circuit determines a present length of the actuator and a next length of the actuator in accordance with a magnitude of the second inclination;
the processing circuit determines a rate of movement between the present length of the actuator and the next length of the actuator in accordance a rate of change of the first inclination; and
the processing circuit moves the actuator from the present length to the next length at the rate of movement to position a camera mount of the camera head parallel to a plane.