U.S. patent application number 11/772752 was filed with the patent office on 2008-03-06 for system and method for facilitating fluid three-dimensional movement of an object via directional force.
Invention is credited to S. Alexander MacDonald, Jim Rodnunsky.
Application Number | 20080054836 11/772752 |
Document ID | / |
Family ID | 34119860 |
Filed Date | 2008-03-06 |
United States Patent
Application |
20080054836 |
Kind Code |
A1 |
Rodnunsky; Jim ; et
al. |
March 6, 2008 |
SYSTEM AND METHOD FOR FACILITATING FLUID THREE-DIMENSIONAL MOVEMENT
OF AN OBJECT VIA DIRECTIONAL FORCE
Abstract
A reeving system for filming movies, sporting events, or any
other activity that requires fluid movement of a camera or other
object to any position within a defined volume of space. To
accomplish positioning embodiments move an object throughout
three-dimensional space by relocating one or more lines that are
feed through a plurality of opposing sides of the object. These
line(s) (e.g., a cable, rope, string, cord, wire, or any other
flexible connective element) which support the object from above or
below the object within a volume of space are arranged in way that
allows the object to be rapidly moved to and from any location
within the defined volume of space. For instance, the system may be
arranged to perform dimensional movement using one line configured
as an endless loop, one line configured as a half loop, two lines
configured as endless loops or two lines configured as half loops.
Other embodiments which split the two lines at the X and Y
junctions may yield three and four rope embodiments which are in
keeping with the spirit of the invention.
Inventors: |
Rodnunsky; Jim; (Granada
Hills, CA) ; MacDonald; S. Alexander; (Porter Ranch,
CA) |
Correspondence
Address: |
DALINA LAW GROUP, P.C.
7910 IVANHOE AVE. #325
LA JOLLA
CA
92037
US
|
Family ID: |
34119860 |
Appl. No.: |
11/772752 |
Filed: |
July 2, 2007 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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11251439 |
Oct 15, 2005 |
7239106 |
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11772752 |
Jul 2, 2007 |
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10709944 |
Jun 8, 2004 |
6975089 |
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11251439 |
Oct 15, 2005 |
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10604525 |
Jul 28, 2003 |
6809495 |
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11772752 |
Jul 2, 2007 |
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10708158 |
Feb 12, 2004 |
7088071 |
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11772752 |
Jul 2, 2007 |
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Current U.S.
Class: |
318/649 |
Current CPC
Class: |
F16M 11/043 20130101;
F16M 11/18 20130101; F16M 11/12 20130101; F16M 11/425 20130101;
B66C 13/08 20130101; B25J 9/0078 20130101; B66C 21/00 20130101 |
Class at
Publication: |
318/649 |
International
Class: |
B64C 17/06 20060101
B64C017/06 |
Claims
1. A system for facilitating three-dimensional movement of an
object comprising: a non-empty set of line support elements coupled
with an object having at least one element for applying a
directional force; an X line and a Y line coupled with a plurality
of sides of said object and wherein said X line and said Y line are
configured to move via said non-empty set of line support elements;
an X junction configured to relocate said X line to effectuate X
movement of said object; a Y junction configured to relocate said Y
line to effectuate Y movement of said object; and, a Z movement
device configured to displace said X line and said Y line to
effectuate Z movement of said object.
2. The system of claim 1 wherein said X line and said Y line are
two line sides of a line.
3. The system of claim 1 further comprising: said X junction
comprising an X movement motor having an X movement device coupled
with said X line; said Y junction comprising a Y movement motor
having a Y movement device coupled with said Y line; and, a Z
movement motor coupled with said Z movement device.
4. A method for facilitating three-dimensional movement of an
object comprising: relocating an X line associated with an object
wherein said X line is reeved through a plurality of supports to
effectuate X-movement of said object; relocating a Y line
associated with said object wherein said Y line is reeved through
said plurality of supports to effectuate Y-movement of said object;
and, displacing said X line and Y line to effectuate Z-movement of
said object.
5. The method of claim 5 wherein said X line and Y line are two
line sides of a line.
Description
[0001] This application is a continuation of U.S. patent
application Ser. No. 11/251,439, filed on Oct. 15, 2005 which is a
continuation of U.S. patent application Ser. No. 10/709,944, filed
on Jun. 8, 2004 entitled "System and Method for Facilitating Fluid
Three-Dimensional Movement of an Object via Directional Force"
which is hereby incorporated herein by reference. This application
is a continuation in part of U.S. patent application Ser. No.
10/604,525, filed on Jul. 28, 2003 entitled "System and Method for
Moving Objects within Three-Dimensional Space", now U.S. Pat. No.
6,809,495 which is hereby incorporated herein by reference. This
application is a continuation in part of U.S. patent application
Ser. No. 10/708,158, filed on Feb. 12, 2004 entitled "Cabling
System and Method for Facilitating Fluid Three-Dimensional Movement
of a Suspended Camera" which is hereby incorporated herein by
reference.
BACKGROUND OF THE INVENTION
[0002] 1. Field of the Invention
[0003] Embodiments of the invention described herein pertain to the
field of aerial cable rail systems. More particularly, these
embodiments enable the movement of objects within three-dimensional
space.
[0004] 2. Description of the Related Art
[0005] An aerial cable rail system is a system based on an elevated
cable or rope, along which objects are transported. Existing cable
rail systems rely on large fixed structures and/or complex control
systems in order to facilitate the movement of objects. Many of
these systems are impractical or difficult to use in that such
systems typically fail to satisfactorily achieve the full spectrum
of platform stability, ease of control, a compact footprint, ease
of transport, speed, load bearing, extensibility, maintainability
and platform stability.
[0006] Objects have been supported and moved through
three-dimensional space via ropes and cables for various purposes
in the past. In U.S. Pat. No. 494,389 to Sherman granted in 1893, a
device is described allowing for movement of a hoist through three
dimensional space via a complex arrangement of cables and pulleys.
A logging system is described in U.S. Pat. No. 1,782,043 to Lawson
granted in 1926 employs large amounts of cable and extensive
reeving in order to suspend and move logs over large distances. A
similar rope crane is described in U.S. Pat. No. 3,065,861 to
Cruciani granted in 1960. These systems generally employ one or
more highlines which are tightly stretched and from which an object
is suspended. Other patents such as U.S. Pat. No. 3,043,444 to
Melton granted in 1962 and French patent 2,318,664 to Kennedy
granted in 1977 took a different approach to suspending and moving
objects through three dimensional space by using one cable per
support pulley per winch. The '444 and '664 patents minimize the
amount of cable in the system but do not allow for simple control
of the cables in the system since the speeds and lengths of each
cable must change non-uniformly depending upon the path of motion
of the supported object.
[0007] The cable movement systems previously mentioned were
generally used to haul equipment or material. Simple cable support
systems have also been used to support cameras in three-dimensional
space on ropes with varying degrees of success. In U.S. Pat. No.
367,610 to Fairman granted in 1887, a balloon moved with two guy
lines is described that allows a camera to take pictures from
locations high above the ground. In U.S. Pat. No. 578,980 to Eddy
granted in 1897, a group of cameras is hoisted on a kite string
attached to a reel in order to capture panoramic photographs. In
U.S. Pat. No. 894,348 to Seele granted in 1908, a camera is dropped
from a balloon in a sphere in order to eliminate the undesirable
pendulum effects and motion effects of wind from the resulting
photograph that is exposed when a shutter string is fully extended.
The '348 patent may possibly be the first patent that attempts to
isolate an airborne camera from the jarring effects of the vehicle
carrying the camera. In U.S. Pat. No. 1,002,897 to Brown granted in
1911, a camera is directly attached to a kite string with a timer
in the form of a propeller that takes a picture after a certain
period of time. In U.S. Pat. No. 1,301,967 to Parks granted in
1919, a kite string based camera is described that travels along
the kite string to a preset point takes a photograph and
automatically descends back down the kite string so that the kite
does not have to be lowered between photos.
[0008] During the 1920's work was begun on stabilizing cameras
carried in vehicles since the movement of the vehicles was limiting
the quality of the photographs obtained. In U.S. Pat. No. 1,634,950
to Lucian granted in 1927, a gyro-stabilized camera mount is
described that actively stabilizes a camera in the pitch and roll
axes in order to keep a camera actively isolated from the undesired
angular motion of the aerial, land or marine vehicle carrying the
camera through three-dimensional space. Many other gyro-stabilizer
patents were awarded after Lucian '950 and teach active
stabilization for equipment when that equipment is supported by a
moving vehicle.
[0009] In U.S. Pat. No. 4,710,819, a camera suspension system is
described that utilizes a minimum of at least three cables wherein
each cable has two ends with one end of each cable fixedly attached
to an equipment support member and the other end of each cable
fixedly attached to a winch. In between the fixedly attached
endpoints lies a pulley that is used as a support for the cable to
provide a vertical offset between the ground and the equipment
support member. Movement is achieved by reeling the cables in and
out to position the camera with motion between two points generally
requiring all cables to move simultaneously at different rates.
[0010] In U.S. Pat. No. 4,625,938, a camera support system is
disclosed in which a camera payload can be moved within
three-dimensional space in a way that allows for active
stabilization of velocity of the panning (vertical axis) of the
equipment support member.
[0011] In U.S. Pat. No. 5,440,476, a cable support system is
described for moving objects by extending and retracting
independent ropes that correspond one-to-one with the number of
winches and support pulleys supporting a central object. Even
simple one axis movement requires that all ropes in the system
change length in a coordinated fashion to prevent slack in the
other ropes supporting the object. The '476 device cannot be
operated in its best mode without a computerized control system as
is true for the '938 and '819 devices previously mentioned.
[0012] In U.S. Pat. No. 6,566,834, an invention is disclosed in
which a payload can be moved and angularly positioned within
three-dimensional space. The invention requires a computer control
system in order to calculate the change in lengths of the supports
ropes in order to move the payload between two points. The
invention appears to require power at the platform and locates the
winches for the system on the platform, further reducing the
payload capacity of the platform. Furthermore, the invention does
not provide simple X, Y and Z independence for control purposes and
it appears that complex sensing devices must be deployed in order
to keep the cables tensioned properly.
[0013] In U.S. Pat. No. 5,585,707, an invention is disclosed in
which a robot or person can be readily moved within
three-dimensional space. The payload is limited and the support
structure is small scale. If the structure were to be scaled up,
obstacles such as goal posts or light poles would inhibit the
motion of the payload through a path between two points defined
within the cube, since there are numerous wires required to
practice the invention. Also, the invention would not appear to
allow the Z-axis to vary beneath the cube, and the size of the cube
support structure to service a large volume of space would be
extremely expensive to build on the scale required. Again, complex
control is required to keep the tension in all of the ropes at the
correct level during movement of the supported equipment.
[0014] In U.S. Pat. No. 5,568,189, an invention is disclosed for
moving cameras in three-dimensional space. The problems with the
'189 invention become apparent when attempting to enlarge the scale
of the system. FIG. 4 clearly shows how the two parallel highline
cables sag inward, when the payload is in the middle of the X, Y
space. Since the invention does not use strong rails to support the
Y-axis rope, the weight bearing of the invention is dependent upon
the strength of the building or structure in which it is mounted
and the springs in its weight bearing X-axis connectors. The motors
for the various axes are mounted up in the rigging, which would
require multiple extremely long power cables to traverse the volume
of space along with the payload if the invention were modified for
outdoor use. The power cables would total over 3 times the length
of the longest axis to drive the far X-axis motor, the Y-axis motor
and the Z-axis motor. Mounting heavy motors high in the rigging
presents a major safety issue given that suspension lines can
break. The size of the motors limits the payload that can be
carried, and further limits the speed at which the payload can be
carried. The invention is also fixed in size, not allowing for
modular addition of X travel, or increasing the Y or Z-axis travel
without mounting the structure in a bigger studio or building a
bigger hanger. The system requires four ropes to move an object in
three dimensions.
BRIEF SUMMARY OF THE INVENTION
[0015] Embodiments of the invention are ideally suited for moving
objects through three-dimensional space using one or more lines.
For instance, various embodiments of the invention provide
mechanisms for positioning an object such as a human, mining
implement, logging implement, manufactured object or any other
useful object such as a camera. Thus it is possible to use
embodiments of the invention to shoot footage for film and
television productions as well as, sporting events, or any other
activity that benefits from fluid movement of a camera or other
object to any position within a defined volume of space.
[0016] To accomplish such positioning, embodiments of the invention
are configured to move an object throughout three-dimensional space
by relocating one or more lines that are feed through a plurality
of sides of the object. These line(s) (e.g., a cable, rope, string,
cord, wire, or any other flexible connective material) which
support the object within a volume of space are arranged in way
that allows the object to be rapidly moved to and from any location
within the defined volume of space. For instance, the system may be
arranged to perform three-dimensional movement using one line
configured as an endless loop, one line configured as a half loop,
two lines configured as endless loops or two lines configured as
half loops.
[0017] The exact arrangement of the line(s) depends upon which
embodiment of the invention is implemented. However, in each
instance a set of one or more lines suspend an object by passing
through a set of line support elements (e.g., one or more pulleys,
sheaves, or any other support assembly configured to redirect line)
and around a motorized push-pull wheel. The line support elements
can comprise free wheeling elements or may be controlled elements,
for example providing emergency brake components for automatically
halting line travel in the event of a line break, or components to
monitor or control vibrations. The motorized push-pull wheel is
configured to relocate line to move the object and maintain
suspension of the object in a given position. The line is moved via
the push-pull wheel in way that enables movement of the object
through the transferal of line between a plurality of sides of the
object. The line is reeved in such a manner as to provide three
junctions (for example in one embodiment two push-pull wheels and
one winch) where the line can be subjected to force thereby moving
an object in three dimensions. Movement in each of the three
dimensions are substantially independent, with the X line allowing
X-axis motion of the supported object and the Y line allowing
Y-axis motion of the platform. In one embodiment of the invention X
line and Y line may be joined to form sides of the same contiguous
line. The X and Y axes are not required to orthogonally intersect.
Displacing equal lengths of the X and Y line via a junction (for
example a winch, push-pull wheel, hydraulic device, screw device or
other mechanism for displacing or relocating line) allows the
Z-axis of the platform to be traversed. The Z axis is not required
to project orthogonally from the plane created by the intersection
X and Y axes and all support areas are not required to lie in the
same plane.
[0018] The system can be scaled to any size by employing longer
lines and moving the supports. The supports themselves may be
dynamically repositioned as well. Embodiments may be configured in
scalene triangle or convex or concave quadrilateral arrangements
where no two sides are required to have the same length nor equal
distances or heights between any two supports. This holds for
single line or two line embodiments of the invention or any
variation of these embodiments. For simplicity of description of
three-dimensional movement, the separate axes that a supported
object may be moved are termed the X-axis, Y-axis and Z-axis
wherein each of these axes are not required to project orthogonally
from a plane formed by the other two axes.
[0019] In an embodiment of the invention configured for example in
a rectangular configuration with four regions having any
appropriate number of line support elements, the supported object
is moved along the X-axis independently of movement along the
Y-axis and therefore requires no complex control system. In this
example, the Z-axis movement follows an ellipsoidal path (four foci
ellipsoidal where the foci are the supports) that can be as flat or
circular as desired depending on the shape of the area of coverage
desired. In the case of an area of coverage over a physical
potential well, for example a stadium or open pit mine that is
deeper in the middle than on the sides, the X-axis and Y-axis
motion can be configured with more or less line in the system to
create a flatter or rounder elliptical shape in order to avoid the
surface below since the Z-axis automatically traverses vertically
when the object moves towards the sides of the area of coverage of
the invention. The ellipsoidal path can be as flat or circular as
desired depending upon the amount of line deployed in the system
and the relative height of the supports. Displacing equal lengths
of line into a plurality of sides of the supported object allows
the Z-axis of the platform to be traversed which results in trivial
control of the object. This technique of relocating line without
the need for a control system in order to move an object in three
dimensions provides many advantages over the prior art that
requires complex control software and active stabilization.
[0020] Embodiments of the invention can also use a three support
triangular configuration where no two sides are required to be the
same length. For any topology that embodiments of the invention are
configured, there is no ratcheting movement at the object since the
same line supports an object on a plurality of sides with the
object freely moving to the point of minimal potential energy based
on the amount of line transferred from one side to another side of
the supported object. In addition, the lengths of the line do not
require adjustment in way that requires complex calculations and
computer control since the junctions effecting movement of each
axis are independently operated.
[0021] In an embodiment of the invention line may be relocated from
one area comprising X, Y and Z motors, and therefore distantly
located motors and electrical cables are not required although they
may be utilized if desired. Other advantages of embodiments of the
invention utilizing collocated motors and junctions for relocating
line include allowing motors to be large, power cables to be short
and located near a large generator and maintenance to be performed
in one location. The line support elements (e.g., pulleys, sheaves,
or any other mechanism that can redirect line) employed in the
system may contain high speed bearings and may be configured to
capture the line in order to prevent derailing thereby providing an
added degree of safety to the system. The push-pull wheels may
optionally comprise grooves that grip the line in order to prevent
slippage. Any mechanism for driving or displacing line may be
substituted for the push-pull wheels. Embodiments of the invention
can utilize a push-pull wheel, reel or any mechanism for effecting
movement of line to multiply Z-axis travel. The location of the
various components in the system may be altered including
modifications to the reeving while keeping with the spirit of the
invention.
[0022] The supported object may comprise many types of useful
devices, and the object may then be further attached to a platform
that may comprise passive or active stabilization. For instance,
the terms object may refer, but is not limited to, a camera,
mechanical claw, hoist or loader, mining scoop or any other
equipment where three-dimensional movement may be desired. It is
also possible to use embodiments of the invention to effectuate
three-dimensional movement of one or more persons. The word
platform as used herein refers to any vehicle to which an object
may be coupled for the purposes of movement through three
dimensional space in any environment subject to a force, for
example the force of gravity. For example, the platform itself
could be supported and moved through the air or water with supports
in the air or water so long as the platform is forced away from the
supports. In one or more embodiments of the invention there may be
more than one force at work on the platform, for example buoyancy
and gravity. The platform may comprise an element that allows for
the application of a directional force. The element could be a
balloon, a sail, a counterweight, a buoyant counterweight, a
ferromagnetic material, or any other element that would allow the
platform or object being moved to become the subject of the
directional force. The net force may provide a basis to move the
platform in any direction, for example but not limited to the
positive or negative direction with respect to the Z-axis, e.g.,
the force provided by wind. The Z-axis is not necessarily
orthogonal to the face of the earth. The force could be magnetic or
inertial for space based embodiments, or gravity for example, or
the result of activation of a propeller, a thruster, positive
buoyancy either under water or in the air via an element less dense
than water or air respectively, such as a balloon, or any other
means by which the platform is forced away from the associated
supports. The supports in some embodiments may at ground or seabed
level and have positive, negative or zero height. The supported
object may utilize an electrical or fiber optic cable festooned to
a support along at least one line or may travel to a non support
area and may be used for the transmission of video images or other
data from the supported object to the ground or data may be
transmitted from the platform via wireless technologies.
Alternatively the platform may send and receive video or image data
via a wireless connection such as a microwave or any other suitable
transport protocol.
[0023] The platform may comprise a structure which has a center of
gravity well below the region where the lines pass through or
couple with the platform. Movement of the platform is so stable
that passive stabilization may be utilized in bottom heavy
embodiments. Alternatively the lines may couple with the platform
at approximately the center of gravity of the supported object.
(Objects with center of mass above the platform may be used with
active control analogously to balancing a broom in one's hand.)
Objects may include, but are not limited to devices that require
external power or devices that possess their own power and are
operated via wireless signals. Supported objects that may be moved
comprise any camera system including but not limited to camera
systems with vertical spars such as those found in Austrian Patent
150,740 with or without the combination of two-axis active
stabilizers as found in U.S. Pat. No. 2,446,096, U.S. Pat. No.
1,634,950, U.S. Pat. No. 2,523,267 (also comprises a three axis
active embodiment), U.S. Pat. No. 1,731,776 and Great Britain
Patent 516,185 all of which provide active control in the two
horizontal axes in order to maintain a camera support in a vertical
position. The camera system of U.S. Pat. No. 4,625,938 which
comprises a vertical spar and a means for stabilizing the spar may
be supported and moved via using embodiments of the invention
rather than the support technique described in the '938 patent.
Helicopter or airplane mounted cameras such as U.S. Pat. No.
3,638,502 may be supported and moved in embodiments of the
invention utilizing passive or active stabilization whether mounted
at the center of gravity or not, which is not possible using prior
art techniques since embodiments of the present invention move
objects in a more stable manner.
[0024] The term stabilization as used herein comprises any
mechanism for stabilizing an object about its axes. Passive
stabilization may utilize struts or damping agents that limit the
pendulum motion of a suspended object. Active stabilization
utilizes sensors to provide feedback to a powered axis in order to
controllably stabilize an axis in a given direction, velocity,
acceleration, jerk or any other derivative of space over time.
[0025] The term line as used herein refers to a continuous and
unbroken length of line that can bend and be directed through any
number of passive or powered or active line support elements or any
other redirection mechanism. In one embodiment of the invention
line breakage causes components associated with the line to become
non-functional. To avoid this issue and thereby enhance system
safety, the invention contemplates the use of a limiting mechanism
to keep a supported object from making contact with the area of
coverage. By supporting an object on a plurality of sides with a
single line, there is a built in safety characteristic not found in
the prior art whereby one line may break without causing the
supported object to contact the ground below. For example, if an
object is supported on four sides, with one line reeved and coupled
with two of the four opposing sides, and the other line (or line
side in a one line embodiment) coupled with the other two of the
four opposing sides whether ninety degrees apart or not with
respect to the first line, then breakage of one line (or line side
wherein the other line side is coupled for example on a winch
whereby half of the line breaking does not release tension in the
other half), does not allow for the platform to contact the ground
below. In buoyant embodiments, a break in a line does not allow the
platform to escape vertically to the sea surface or in a balloon
embodiment to float away or damage a stadium ceiling for example.
Zero-G environments with magnetic direction force elements would
not escape into space for example if one line were to break.
[0026] A drum winch is a device that operates on a
last-in-first-out basis for storing line and controlling the length
of deployed line that is coupled with the drum. Thus a drum winch
operates in much the same way that a reel (e.g., a fishing reel)
does. A push-pull wheel works in a completely different way from a
drum winch and is functionally a motorized pulley that operates on
a first-in-first-out basis for relocating line without storing the
line for later extension. The push-pull wheel does not change the
amount of line deployed, but rather relocates line from the intake
side to the outlet side of the device.
[0027] The word motor as used herein refers to a motor which may
comprise a drive pulley or drum winch or any other device that can
relocate line or cable. This definition is provided for purposes of
ease of illustration since a motor must drive some type of device
to relocate line. In addition, in certain embodiments motors may be
substituted with hydraulics, electric actuators or any other method
of moving line and keeping within the scope and spirit of the
invention.
[0028] Some examples of the type of line embodiments of the
invention that may be utilized include synthetic rope fibers such
as but not limited to HMDPE (High Molecular Density Polyethylene)
fibers such as Spectra, or improved fibers such as Vectran. Line of
this length, strength and weight allows the platform to be deployed
over large distances. Synthetic line is 90 percent as strong as
metal cable while having 10 percent of the weight.
[0029] Embodiments of the invention may be nested in order to
support and move multiple independent or dependent objects.
Dependent objects may for example comprise a pole coupled with a
plurality of reevings that may keep a pole aligned vertically or
may be moved independently in order to angle the pole with respect
to any axis. Rigid couplings with a fixed distance between a
plurality of reevings coupled to the pole may be utilized or
non-rigid dependent couplings may also be utilized including
telescoping poles or elastic bands for example. A plurality of
lines irrespective of reeving may be coupled with a pole in order
to provide a platform for a microphone for example.
[0030] Independent objects may moved independent of one another and
may also for example be controlled by one computer in order to
avoid collisions between the independent objects. Collision sensors
may be coupled with any element in the system in order to provide
for collision avoidance with another object suspended and moved by
another reeving instance, or with a stationary or moving object not
associated with an embodiment of an invention as long as the
position of the object is known to the system. Acoustic, optical or
radar sensors, i.e., collision sensors, may be coupled anywhere
within the system in order to reposition the supported object
and/or line(s) in order to avoid a collision with a soccer ball,
baseball, football or other sporting implement such as a javelin,
hammer, shot put, or any other object that is capable of being
detected. In pre-planned movements involving simulation, collision
detection may be utilized in order to avoid a collision with an
object that is sensed during actual movement of the physical
embodiment followed by either exiting the pre-planned flight path
or returning to the pre-planned flight path after avoidance.
BRIEF DESCRIPTION OF THE DRAWINGS
[0031] FIG. 1 is a perspective view of the overall system.
[0032] FIG. 1A is a perspective view of the overall system without
line travel between supports.
[0033] FIG. 1B is a perspective view of the overall system without
line travel between supports showing a buoyant aerial or buoyant
aquatic embodiment.
[0034] FIG. 1C is a perspective view of a nested embodiment showing
two independent systems.
[0035] FIG. 1D is a perspective view of a nested embodiment with an
articulated arm or boom platform.
[0036] FIG. 1E is a perspective view of a nested embodiment
employing a pair of non-buoyant embodiments and a buoyant
embodiment.
[0037] FIG. 1F is a perspective view of a recursively nested
embodiment showing a rectangular embodiment supporting a triangular
independent embodiment.
[0038] FIG. 1G is a perspective view of a nested dependent
embodiment with a rod coupling each platform.
[0039] FIG. 1H is a perspective view of a nested dependent
embodiment supporting an articulated arm or boom platform.
[0040] FIG. 1I is a perspective view of a nested dependent
embodiment showing the ability to rotate the rod out of the
vertical.
[0041] FIG. 1J is a perspective view of a nested dependent
embodiment with a passively or actively stabilized platform
enabling level support and movement of the platform.
[0042] FIG. 1K is a perspective view of a nested dependent
embodiment showing a telescoping rod and rotational capabilities of
the rod and/or platform.
[0043] FIG. 1L is a perspective view of a nested dependent
embodiment showing dependence of lines in Z movement device
allowing for one line total configured to support and move the
platform.
[0044] FIG. 1M is a perspective view of a nested dependent
embodiment showing dependence of X line side and Y line side with
respective bull wheels thereby configured to always align the rod
with the vertical independent of position and with use of a minimum
of one line total in the system.
[0045] FIG. 1N is a perspective view of a nested dependent
embodiment comprising a Y reeving nested above an X reeving with a
passively or actively stabilized platform enabling level support
and movement of the platform.
[0046] FIG. 2 is a perspective view of the X-axis reeving.
[0047] FIG. 3 is a perspective view of the Y-axis reeving.
[0048] FIG. 4 is a top view of a rectangular embodiment of the
system.
[0049] FIG. 5 is a top view of a quadrilateral embodiment of the
system where no two sides are required to have the same length.
[0050] FIG. 6 is a perspective view of an embodiment of the
platform.
[0051] FIG. 7 is a perspective view of an embodiment of the
platform.
[0052] FIG. 8 is a perspective view of an embodiment of the
platform utilizing a passive or active stabilized platform.
[0053] FIG. 8A is a perspective view of an embodiment of the
platform utilizing a passive or active stabilized platform and
counterweight.
[0054] FIG. 9 is a top view of a scalene triangular embodiment of
the system where no two sides are required to have the same
length.
[0055] FIG. 10 is a close up view of the reeving comprising line
support elements.
[0056] FIG. 11 is a perspective view of an embodiment of the
platform comprising two line support elements per side.
[0057] FIG. 12 shows reeving of a single line embodiment.
[0058] FIG. 13 is a perspective view of a nested dependent
embodiment comprising a nested dependent embodiment utilizing a tag
line.
[0059] FIG. 14 shows a logical reeving diagram.
[0060] FIG. 14A shows a logical reeving diagram without line travel
between supports employing two lines.
[0061] FIG. 14B shows a logical reeving diagram without line travel
between supports employing one line total.
[0062] FIG. 14C shows a logical reeving diagram without line travel
between supports employing two lines wherein both lines terminate
without returning to the Z movement device.
[0063] FIG. 14D shows a logical reeving diagram without line travel
between supports employing two lines with an alternate reeving in
relation to FIG. 14A.
[0064] FIG. 14E shows a logical reeving diagram without line travel
between supports employing one line total with an alternate reeving
in relation to FIG. 14B.
[0065] FIG. 14F shows a logical reeving diagram without line travel
between supports employing two lines in a triangular
embodiment.
[0066] FIGS. 15A-D show two line embodiments at an embodiment of
the Z movement device.
[0067] FIGS. 16A and 16B show one line embodiments at an embodiment
of the Z movement device.
[0068] FIG. 17 shows a side view of one embodiment of the Z
movement device having at least one eyelet.
[0069] FIGS. 18A and 18B show an embodiment of the Z movement
device employing a block and tackle for multiplication of the
Z-axis traversal of the supported object.
[0070] FIG. 19A shows reeving at the Z movement device for a
dependent nested embodiment employing two lines in the system, one
line for the upper embodiment and one for the lower embodiment,
wherein each line is for into a half-loop thereby yielding two
pairs of line ends coupled to the Z movement device.
[0071] FIG. 19B shows reeving at the Z movement device for a
dependent nested embodiment employing two lines in the system, each
line formed into a continuous loop.
[0072] FIG. 19C shows reeving at the Z movement device for a
dependent nested embodiment employing two lines in the system, one
line forming a half loop with two line ends, and the other forming
a continuous loop with no line ends.
[0073] FIG. 20A shows reeving at the Z movement device for a
dependent nested embodiment employing one total line in the system
formed into a half loop with two line ends.
[0074] FIG. 20B shows reeving at the Z movement device for a
dependent nested embodiment employing one total line in the system
formed into a continuous loop having no ends.
DETAILED DESCRIPTION OF THE INVENTION
[0075] Embodiments of the invention are ideally suited for moving
objects through three-dimensional space using one to more lines.
Various embodiments of the invention are capable of positioning an
object such as a human, animal, mining implement, logging
implement, manufactured object or any other useful object.
Embodiments of the invention may, for example, be used in filming
movies, sporting events, or any other activity that benefits from
fluid movement of a camera or other object to any position within a
defined volume of space.
[0076] In the following description, numerous specific details are
set forth to provide a more thorough description of embodiments of
the invention. It will be apparent, however, to one skilled in the
art, that the invention may be practiced without these specific
details. In other instances, well known features have not been
described in detail so as not to obscure the invention. However, in
each instance the claims and the full scope of any equivalents are
what define the metes and bounds of the invention.
[0077] Embodiments of the invention move an object throughout
three-dimensional space by relocating line coupled with a plurality
of sides of the object. In an embodiment utilizing two lines, once
the displacement height of the platform is set to a minimum value
for a coverage area, if one line breaks, the supported platform
maintains its elevation over the ground via the unbroken line and
travels to the middle of the broken line axis. The lowest the
platform can descend is to the preset minimum value since opposing
sides of the platform are still coupled with the remaining unbroken
line. In buoyant embodiments such as air or sea based embodiments
where the platform is generally above the supports, the highest the
platform can ascend is to the preset maximum value since opposing
sides of the platform are still coupled with the remaining unbroken
line.
[0078] Embodiments of the invention may comprise one line
configured as an endless loop, one line configured as a half loop,
two lines configured as endless loops or two lines configured as
half loops. Each of these embodiments comprise two line sides
designated the X line side and the Y line side, and may be termed
the X line and Y line for short. In the embodiment comprising one
line configured as an endless loop, approximately half of the loop
is configured to effect movement of the X axis while the remaining
line is configured to control the Y axis. The axes are for
descriptive purposes and do not limit embodiments to orthogonal
configurations. In the embodiment comprising one line configured as
a half loop, approximately half of the loop is termed the X line
side while the remaining line is termed the Y line side, although
they may be called the X line and Y line for short. In the
embodiment comprising two lines configured as endless loops, one
line is termed the X line side and the other line is termed the Y
line side. In the embodiment comprising two lines configured as
half loops, one line is termed the X line side and the other line
is termed the Y line side, again X line side and Y line side may be
termed the X line and Y line for short. FIGS. 15A-D show two line
embodiments while FIGS. 16A, B show one line embodiments and will
be explained in detail below. More lines may be utilized to support
an object for extra safety but are not required and may pair up
with the existing lines, or may use separate supports of unequal
numbers with regards to the primary supports, and which may be
separated from the primary supports by any distance or height.
[0079] Regardless of the embodiment, line is reeved in such a
manner as to provide three junctions where the line can be
subjected to force thereby moving an object in three dimensions
that are substantially independent. Relocation of line on the X
line side moves the object independent of the Y axis, while
relocation of Y line side moves the object independent of the X
axis. The X and Y axes are not required to orthogonally intersect.
Displacing equal lengths of the line allows the Z-axis of the
platform to be traversed. The Z axis is not required to project
orthogonally from the plane created by the intersection X and Y
axes.
[0080] FIG. 1 shows a perspective view of an embodiment of the
system. The three axes are shown in the figure with the X-axis
shown left to right, the Y-axis shown into the page and the Z-axis
shown bottom to top of the page. The X-axis, Y-axis and Z-axis are
not required to orthogonally project from the plane formed by the
intersection of other two axes (meaning that each of the axes may
project at angles other than 90 degrees with respect to the plane
formed by the other two axes). In this configuration, support
structures 110, 112, 114 and 116 surround the areas within which
platform 124 is to move and separate platform 124 from the ground.
Support structures may include passive or active line support
elements and can comprise any structure that allows these line
support elements to be distantly located to define an area of
space. For instance, any structure that allows line to be
redirected can serve as a support structure. A few examples of such
structures include, but are not limited to buildings, trees,
canyons, or any other structure with a height differential above
the ground to which line support elements may be placed. Other
examples comprise ground mounted supports which may have zero or
negative height with respect to the volume in which the platform is
to travel in, which may be used in embodiments employing buoyant
platforms. Each of the support structures or support points may be
at the same vertical height or may comprise different heights.
[0081] Platform 124 provides a mobile support for any object or
piece of equipment that would benefit from having the ability to
move in three-dimensions. For example, platform 124 may comprise a
structure which has a center of gravity well below the region where
the lines pass through, about or couple with the platform.
Alternatively the lines may couple with the platform at
approximately the center of gravity of the supported object.
Objects may include, but are not limited to devices that require
external power or devices that possess their own power and are
operated via wireless signals. Supported objects that may be moved
comprise any camera system and include, but are not limited to,
camera systems with vertical spars such as those found in Austrian
Patent No. 150,740 with or without the combination of two-axis
active stabilizers as found in U.S. Pat. No. 2,446,096, U.S. Pat.
No. 1,634,950, U.S. Pat. No. 2,523,267 (also comprises a three axis
active embodiment), U.S. Pat. No. 1,731,776 and Great Britain
Patent No. 516,185 all of which provide active control in the two
horizontal axes in order to maintain a camera support such as '740
in a vertical position. The camera system of U.S. Pat. No.
4,625,938 which comprises a vertical spar and a stabilizer may be
supported and moved using embodiments of the invention rather than
the cable support mechanism described in the '938 patent.
Helicopter or airplane mounted cameras such as U.S. Pat. No.
3,638,502 may be supported and moved in embodiments of the
invention utilizing passive or active stabilization whether mounted
at the center of gravity or not, which is not possible using prior
art techniques since embodiments of the present invention move
objects in a more stable manner.
[0082] Platform 124 is supported and is moved in three dimensions
by one or two lines depending upon the embodiment of the invention
utilized. Each line is reeved to form a pair of "V" shapes when
platform 124 is centered within the system and when viewed from
above with the points of the "V" nearest platform 124. In
embodiments utilizing two rope sides to support the platform, the
total amount of each of the rope line sides has the same length as
measured from supports 110, 112, 114 and 116 to platform 124. This
result is independent of the topology used, i.e., independent of
the number of supports and allows for trivial Z-axis displacement.
By displacing the line (either one or two lines depending upon the
embodiment) from the system via Z movement device 104, platform 124
is raised. Conversely, by deploying the two line sides, platform
124 is lowered. In FIG. 1, the line on the right side of X-axis
motor 103 is designated 18a while the line on the left side of
X-axis motor 103 (e.g., an X push-pull wheel) is designated 18b.
Sides 18a and 18b are different sides of the same continuous line
where the designation changes at the motor for description purposes
only. The line on the right side of Y-axis motor 102 (e.g., a Y
push-pull wheel) is designated 19a while the line on the left side
of Y-axis motor 102 is designated 19b. Sides 19a and 19b are
different sides of the same line where the designation changes at
the motor. Therefore, line designations beginning with 18 signify
the X line and line designations beginning with 19 signify Y line.
Depending upon the embodiment of the invention implemented there is
a total of one or two lines. Control of X, Y and Z-axis motors can
be in the form of simple switches, potentiometers, or a computer
system that takes into account the position of the platform in
order to adjust Z-axis traversal to keep platform 124 at the same Z
position while traversing the X and/or Y axis, although this is not
required but may be utilized for repeatability of movement
sequences or any other purpose. Z-axis motor 101 and/or Z movement
device 104 can be replaced by a screw or hydraulic device or any
other actuator or device capable displacing line.
[0083] In a two line embodiment employing two half loops of line, Z
movement device 104 may be coupled with opposing ends of X line,
side 18a and side 18b and opposing ends of Y line, side 19a and
side 19b. In a two line embodiment employing two endless loops, the
X line for example can be hooked into an eyelet of a winch or
coupled with a non-rotating pulley that may be displaced vertically
without a winch (hydraulics or screw for example) in order to
displace X line in the system in order to adjust the vertical
placement of platform 124. This means that not only is there a two
line embodiment comprising two half loops each with a pair of ends,
but there is a two line embodiment where each line is in an endless
loop with no ends. Although both lines may be formed into half
loops, one or the other line may be formed into a half loop while
the other line is formed into an endless loop. For example the X
line could be an endless loop coupled with Z movement device 104
with a winch eyelet while the Y line could be a half loop with both
ends coupled with a different portion of the winch. These
embodiments are shown in FIGS. 15A-D.
[0084] Regardless of the number of line ends (zero or two) for each
line in the two line embodiment, line support element 120 is
coupled with Y line side 19a. These line support elements may be
passive (e.g., pulleys or sheaves), however if control software is
utilized to coordinate movement may also be active (e.g., motorized
push-pull wheels or pulleys). Active components may be utilized to
further stabilize platform 124 during movement or acceleration.
Line support element 122 is coupled with Y line side 19b. Line
support element 121 is coupled with X line side 18a and line
support element 123 is coupled with X line side 18b. By rotating
X-axis motor 103 clockwise in the figure, thereby decreasing the
amount of line on X line side 18a, which increases the amount of
line on X movement side 18b, the platform moves in the positive X
direction, to the right in the figure. By rotating Y-axis motor 102
clockwise in the figure, thereby decreasing the amount of line on Y
line side 19a, which increases the amount of line on Y movement
side 19b, the platform moves in the positive Y direction, into the
figure. Line support elements 120, 121, 122 and 123 may freely
rotate or may comprise active components to further aid in
stabilizing platform 124.
[0085] FIG. 10 shows an embodiment of the reeving in support
structure 110 and line support assembly 105 detailed with each line
redirected through therein. As this is a logical pattern for
purposes of illustration, one skilled in the art will recognize
that the various line support elements may be rearranged and
realigned to minimize the space taken up by line support assembly
105 and line may be redirected to alternate supports in other
embodiments of the invention. FIG. 10 shows one possible embodiment
with screw 1000 driving Z movement device 104 upward and downward
in order to displace line into and out of the system. Any type of
device capable of displacing line may be used in place of Z
movement device 104.
[0086] Generator and electronic drive units 100 may be utilized to
power Z-axis motor 101 and or Z movement device 104, X-axis motor
103 and Y-axis motor 102. Any other source of power may be used for
the motors. Z-axis motor 101 may drive Z movement device 104
configured as a drum winch with separate areas for holding line
sides. Z movement device 104 displaces line into and out of the
system. For ease of illustration, other possible Z movement device
104 embodiments are not shown, such as but not limited to
electronic actuator components. X-axis motor 103 and Y-axis motor
102 drive bull wheels, push-pull wheels or powered pulleys, and are
also not shown for ease of illustration. Push-pull wheels move line
in a first-in-first-out manner without engaging a line end and act
to transfer line without storing line while drum winches move line
in a last-in-first-out manner and store line that is later reeled
back out. Push-pull wheels (e.g., drive pulleys) and drum winches
that minimize line wear and provide anti-derailing features may be
employed to drive the line in the system.
[0087] An embodiment of the invention can run fiber optics cables
or power cables along X line side 18b or Y line side 19a from
support structure 110 to platform 124. Support structures 112, 114
and 116 can alternatively supply power to the platform via
identical means. Platform 124 may alternatively house devices with
collocated power supplies negating the need for external power
cables. Devices attached to platform 124 may include wireless or
other remote controlled devices and may comprise their own active
or passive stabilization. Lines comprising electrical transmission
characteristics may loop many times through a line support element
120 in order to inductively transfer power to platform 124 with the
number of coils about line support element 120 and the number of
coils on platform 124 effectively forming a transformer with the
ratio of coils determining the reduction or increase of
voltage.
[0088] FIG. 1A is a perspective view of the overall system without
line travel between supports. By redirecting line that could
optionally travel between supports such as 112 and 110 through
redirection sheaves coupled near platform 124, it is possible for
embodiments of the invention to eliminate the need for line to
travel between supports. Redirection sheave assemblies 117, 118 and
119 are shown spaced apart from platform 124 for ease of viewing.
It is feasible to modify the reeving using any number of redirects
or other mechanisms and stay within the scope and spirit of the
invention. For example, outermost sheave at redirection sheave
assembly 119 could be eliminated and moved to the opposing side of
platform 124 if line 19b was redirected via platform 116 to
platform 114 instead of via platform 112 to 114. This would give
rise to sheave assemblies comprising 3, 2, 2, and 1 redirection
sheaves for redirection sheave assemblies 119, 118, 117 and a new
sheave assembly near sheave 122 (not shown for brevity). FIGS. 14D
and 14E describe other embodiments with fewer sheaves in the sheave
assemblies. FIG. 14D shows travel of line between diagonally
opposed supports via sheaves 143 and 144 that allow travel of the
line between the support in the lower left of the figure housing Z
movement device 104 and the upper right support in the figure. This
would equate in FIG. 1 to reeving line directly between supports
110 and 114 above the platform, namely lines 18a and 19b. This is
not shown for brevity.
[0089] FIG. 1B illustrates a buoyant embodiment with counterweight
804 realized as a balloon. Rod 800 is shown elongated and not to
scale for ease of illustration. A buoyant embodiment may be
converted to a non-buoyant embodiment by allowing the gas from the
balloon to escape (or air to be replaced by water in an aquatic
embodiment). Conversion from a non-buoyant embodiment to a buoyant
embodiment could occur by filling a balloon with gas for example.
An embodiment may be converted from an aerial embodiment to an
aquatic embodiment by lowering the platform into the water and then
converted, for example, into a buoyant embodiment by filling
counterweight 804 with air and lowering any associated supports.
Conversion between aerial and aquatic and buoyant and non-buoyant
embodiments may be performed at any time or simultaneously. The
description of the movement of line through the system as per FIG.
1 is complemented with the additional movement of line through the
redirection sheave assemblies.
[0090] FIG. 2 shows an embodiment of the X-axis reeving. X movement
in the positive X direction, to the right in the figure, is
accomplished by rotating X-axis motor 103 clockwise in the diagram.
As X-axis motor 103 rotates clockwise, line 18a moves down support
structure 110 from line support assembly 105 from support structure
112 and hence out of line support element 121. Both lines shown
between support structures 110 and 112 are designated 18a, and they
are indeed the same line, although the top line only moves during
Z-axis traversal. As the line leaves line support element 121 to
support structure 112, it pulls platform 124 to the right in the
positive X-axis direction. At the same time, X line side 18b flows
upward from X-axis motor 103 to line support assembly 105 to
support structure 116 and into line support element 123. Since the
length of X line side 18a on the right side of platform 124 is
decreasing in length while the length of X line side 18b on the
left side of platform 124 is increasing, the platform moves to the
right, in the positive X-axis direction. The converse applies for
motion in the negative X-axis direction by rotation X-axis motor
103 in the other direction. Modifications to the reeving in the
system may be made such as switching the origination points of line
side 18b heading into line support element 123 from support 110 to
116 and visa versa. Other modifications can be made to the reeving
while keeping with the spirit of the invention. This includes
eliminating line travel between supports by terminating the line on
the support 114, and by running line from supports 112 and 116
through redirecting pulleys coupled with platform 124. The total
amount of line 18 in the system does not change in order to move
platform 124 in the X-axis, it is merely transferred from one side
of platform 124 to the other side of platform 124.
[0091] Rotating Z-axis motor 101 in one direction rotates screw
device 1000 which raises Z movement device 104, which increases the
length of deployed line in X line sides 18a and 18b. This lowers
the platform in the Z-axis direction. As Z movement device 104
rises, X line side 18a moves upward into line support assembly 105
to support structure 112, to support structure 114 and into line
support element 121. At the same time, X line side 18b, also
attached to Z movement device 104 moves upward into line support
assembly 105 and into line support element 123. Since both sides of
platform 124 have increased line length, the platform lowers.
Conversely, rotating Z-axis motor 101 in the other direction raises
platform 124.
[0092] Note that Z movement device 104 can comprise a sequence of
pulleys for multiplying the Z-axis traversal (see FIG. 18), and may
also utilize a block or other device for disabling travel in case
of line breakage in or around Z movement device 104. By placing a
backup means of limiting the upward travel of Z movement device 104
the platform can be configured to never reach the ground beneath it
even if a failure beneath Z movement device were to occur.
[0093] FIG. 3 shows an embodiment of the Y-axis reeving. Y movement
in the positive Y direction, into the figure, is accomplished by
rotating Y-axis motor 102 clockwise in the diagram. As Y-axis motor
102 rotates clockwise, line 19a moves down support structure 110
from line support assembly 105 and out of line support element 120.
As the line leaves line support element 120 to support structure
110, it pulls platform 124 into the figure, in the positive Y-axis
direction. At the same time, Y line side 19b flows upward from
Y-axis motor 102 to line support assembly 105 to support structure
116 and into line support element 122. Since the length of Y line
side 19a on the top side of platform 124 is decreasing in length
while the length of Y line side 19b on the bottom side of platform
124 is increasing, the platform moves into the figure, in the
positive Y-axis direction. Note that the Y line sides 19a and 19b
between support structures 110 and 112 only move during Z-axis
traversal. This is also true of line 19b between support structures
112 and 114. The total amount of line 19 in the system does not
change in order to move platform 124 in the Y-axis, it is merely
transferred from one side of platform 124 to the other side of
platform 124.
[0094] Rotating Z-axis motor 101 in one direction increases the
length of deployed line in Y line sides 19a and 19b. This lowers
the platform in the Z-axis direction. As Z movement device 104
(shown in FIG. 3 as a drum winch) rotates, Y line side 19a and 19b
moves upward into line support assembly 105. Both line sides travel
to support structure 112. Y movement side 19a travels into line
support element 120, and 19b travels to support structure 114 and
into line support element 122. Since both sides of platform 124
have increased line length, the platform lowers. Conversely,
activating Z-movement device to displace Y line 19 (both sides) in
the opposite direction causes the platform to rise. One skilled in
the art will recognize that line 19b may be reeved to bypass
support 112 and may travel directly from support 110 to support 114
or may be reeved through support 116 instead of 112 before
traveling to support 114.
[0095] Referring to FIG. 1, since all of the line supporting
platform 124 from line sides 18a and 18b travels directly next to
line sides 19a and 19b from each support, e.g., since each support
has a length of line 18 and 19 traveling to platform 124, the total
amount of line deployed from the supports of line 18 is equal to
the total amount of line deployed from the supports of line 19 to
the platform no matter where platform 124 is. This allows for
trivial control of Z-axis displacement since all of the line may be
moved in the same amount to effect Z-axis displacement. This is not
possible with one cable per support pulley per motor per winch
systems since all of the line lengths change unequally depending on
where the supported object is.
[0096] A one line embodiment of the invention is formed by
connecting one end of the X line to one end of the Y line, thereby
yielding one line with two ends total. Another embodiment of the
invention is created by connected the remaining two ends of line,
i.e., the other end of X line to the other remaining end of Y line
in order to form a single endless loop of line. See FIGS. 16A and
16B. Z-movement device 104 then may comprise two non-rotating line
support elements that are moved to or away from line support
assembly 105 in order to control the Z-axis displacement of the
system. The one line embodiment is therefore formed from the two
lines by connecting the two lines together to form a single strand
of line and either closing the loop or leaving two ends un-joined
(zero or two line ends total). Following the single length of line
through the system shows that indeed three-dimensions of travel can
be asserted on an object with one single continuous piece of line
with zero or two total ends. The single line may have four knots
tied somewhere along the stretch from Z movement device 104 to line
support element 105 that limit the travel of line in case of a
break, any other technique of limiting the line travel for a single
break may also be used including brake systems in at least one
support structure or on line support elements coupled with platform
124.
[0097] FIG. 12 shows an embodiment of Z movement device 104 for
example configured to use a hydraulic device with two non-rotating
line support elements connected to the top of Z movement device
104. As Z movement device 104 extends or contracts vertically in
the Figure, more or less line is deployed or displaced that
supports platform 124. As all line in the embodiment is one piece
of continuous line that has no ends, it is designated line 20,
however, line 20 comprises X line side 18 and Y line side 19 where
the designation changes at the Z movement device with X line side
18 designated as line 20 between Z movement device 104 that is
coupled with X-axis motor 103 and with Y line side 19 designated as
line 20 between Z movement device 104 that is coupled with Y-axis
motor 102. Z movement motor 101 in this embodiment comprises a
hydraulic system. Another embodiment of Z movement device 104 may
be a screw or electronic actuator or any other device that could
possibly move the two line support elements associated with the
device through a distance. One skilled in the art would recognize
that reeving in several more line support elements to form a block
and tackle between Z movement device 104 and line support element
105 in order to make a Z multiplication factor is readily possible
as per FIGS. 18A and 18B. Another embodiment of the invention
whereby only one line support element is used on Z movement device
104 exists where two of the line ends of line 20 are coupled with Z
movement device 104 and where the single line support element is
the designated dividing point for X line side 18 and Y line side 19
as per FIG. 16A. Coupling two line ends to Z movement device along
with a pulley allows for a single half loop of line 20 with two
line ends to move platform 124 in three-dimensional space. Coupling
the remaining two ends to form one endless loop of rope is shown in
FIG. 16B. The eyelets of Z movement device 104 shown in FIG. 17 may
allow free travel of line 20 through each eyelet until Z movement
device 104 is rotated until travel through the eyelets is not
possible. This allows the X and Y axis push-pull wheels to have
immobile junctions in which to pull against so that line does not
freely travel through the entire system. As the hydraulic device of
Z movement device 104 may be replaced by a single winch with
eyelets or separate areas for X line side 18 and Y line side 19 of
line 20, it should be clear to one skilled in the art that a
hydraulic device is not required to practice the invention and that
any mechanism which displace Z movement device 104 may be
substituted.
[0098] As shown in FIG. 12, line 20 is a single piece of line
comprising X line side 18 and Y line side 19 as per FIG. 1, which
may be termed X line and Y line for short since these sides of line
20 are utilized to move through the X axis and Y axis respectively
even though they are simply different sides of the same line 20.
Line 20, i.e., Y line side 19 (side 19b in FIG. 1) extends from the
far left side of Z movement device 104 up to line support element
105 to support structure 112 to support structure 114 to line
support element 122 to support structure 116 to line support
element 105 down to Y-axis motor 102 back up to line support
element 105 (now side 19a in FIG. 1) to line support element 120 to
support structure 112 to line support assembly 105 right line
support element on Z movement device 104 back up to line support
assembly 105 (now line 18, side 18b in FIG. 1) to line support
element 123 to support structure 116 to line support assembly 105
to X-axis motor 103 back up to line support assembly 105 (now side
18a in FIG. 1) to support structure 112 to line support element 121
to support structure 114 to support structure 112 to line support
assembly 105 to the left line support element on Z movement device
104, thereby completing the single loop of line reeved through this
embodiment of the invention. For the endless loop embodiment, one
or both of the two line support elements shown on top of Z movement
device 104 may be non-rotating so that X-axis motor 103 and Y-axis
motor 102 have a fixed point in which to pull against, otherwise
platform 124 would not move as all line support elements in the
system would free spin. The endless loop of line could be cut at
one of the non-rotating line support elements with both resulting
line ends attached to Z movement device 104 yielding a single piece
of line embodiment that is formed into a half loop of a single line
instead of an endless loop of line of a single line, this also
provides points at which to immobilize line so that the single line
with two ends embodiment does not freely spin. See FIG. 16A.
Although line 20 is one continuous piece of line it possesses X
line side 18 and Y line side 19 upon which forces may be applied in
order to relocate line onto each side of platform 124 in order to
move it.
[0099] FIG. 4 shows a top view of an embodiment of the system in a
rectangular configuration. Although line support assembly 105 has
been designated in the figure, each of the support structures may
have line support assemblies of lesser complexity. Support
structure 112 for example may have four line support elements while
support structures 114 and 116 may have two line support elements.
Each of the line support elements can comprise any device that can
guide the line into the line support element securely. Line support
element assembly 105 for example may have eight line support
elements, four for Z-axis traversal, two for X-axis movement and
two for Y-axis movement or any other number of line support
elements that allow X and Y line to move. See FIG. 10 for an
example close-up of support structure 110 and line support assembly
105. The exact layout of the support elements used can be varied
for space considerations or any other design requirement while
keeping with the spirit of the invention. Any element capable of
redirecting line may be used in place of a line support
element.
[0100] FIG. 5 shows a non-rectangular embodiment of the system. In
this embodiment, if lines were drawn between the four support
structures 110 to 112, 112 to 114, 114 to 116 and 116 to 110, a
convex quadrilateral would result. Concave quadrilateral
embodiments may be configured by moving support structure 114
across a line drawn between support structure 112 and 116. Since
the X-axis and Y-axis lines are equal length for each stretch
between support structures, it follows that the support structures
may be moved while maintaining full functionality of the system.
This means that the support structures may be mobilized and
physically moved before or during operation of the system.
[0101] FIG. 9 shows a triangular shape embodiment that is
constructed with three support structures instead of four for
example by eliminating support structure 112 and the four line
support elements in it. The length between support structure 110
and 116 is the shortest, the length between support structures 110
and 114 is longer and the length between support structures 114 and
116 is the longest stretch. Since the three sides of the triangle
are not required to be of the same length a scalene triangle is
formed although isosceles and equilateral triangular embodiments
may also be constructed by placing the support structures at the
required positions. Eliminating support structure 112 and the four
line support elements in it accomplished by coupling line support
assembly 105 lines to support structure 114 directly. Since the
total lengths of the X and Y line are the same within the system,
the same Z movement device may be utilized to raise and lower the
platform. That area of coverage is a three sided triangle where no
two sides are required to be of the same length.
[0102] FIG. 14 shows a logical diagram of a two line embodiment
with slightly different reeving in that there is no open side
without line. In addition, this embodiment shows that X axis motor
103 and Y axis motor 102 may be repositioned within the reeving.
This figure also shows that modifications to the reeving are
possible while keeping within the scope and spirit of the
invention. This embodiment also shows Z movement device 104 as a
winch attached to the two sets of line ends. One line is shown in
dashed lines for clarity. Movement of X axis motor 103 comprising a
push-pull wheel for example transfers line from the left side of
the diagram to the right side of the diagram and visa versa. The
transfer of line does not alter the amount of line in the system.
Line support elements 121 and 123 allow Y line to pass through as X
line is transferred out of line support element 120 and into line
support element 122 for example. This holds for independent
movement of Y line as well via Y axis motor 102 comprising a
push-pull wheel for example. Since the total amount of X line and Y
line remains the same as measured from the supports to the
supported object, X movement is independent from Y movement, while
Z movement may be performed by a single mechanism. Three and four
support arrangements also comprise equal lengths of line supporting
an object where no two sides are required to be equal length.
Activation of Z movement device 104 displaces equal amounts of line
via one side of each line support element 120, 121, 122 and 123 and
raises or lowers the platform.
[0103] FIG. 14A shows a logical reeving diagram without line travel
between supports employing two lines. FIG. 1 shows one open side
(the nearest side facing the reader) with no direct line travel
between supports 114 and 116, but with direct line travel between
supports 110 and 116, between 110 and 112, and between 112 and 114.
One skilled in the art will recognize that the basic mechanism of
transferring line from one side of the embodiment to the other is
independent of the reeving bypassing or allowing for direct travel
between supports. Therefore, any combination of direct and indirect
travel of line in the system while ensuring that the total amount
of X line and Y line as measured from the supports to the platform
is in keeping with the spirit of the invention. Redirection sheaves
140, 141, 142, 143, 144, 145, 146 and 147 redirect line that would
have traveled between supports to locations near the supported
platform. This embodiment shows X line 18 as solid and Y line 19 as
dashed for ease of viewing. Movement of the suspended platform is
as in the description of FIG. 14 with the additional redirection of
an equal length of X line 18 and Y line 19 as totaled from the
supports to the supported platform.
[0104] FIG. 14B shows a logical reeving diagram without line travel
between supports employing one line total. This embodiment shows
that one line with proper reeving can support and move an object
from four support points in three dimensions by applying for along
three locations of line 20.
[0105] FIG. 14C shows a logical reeving diagram without line travel
between supports employing two lines wherein both lines terminate
without returning to the Z movement device. By employing a
simplified reeving as shown in FIG. 14C, less line is used in the
system. Since only half of the system is elevated or pulled down by
Z movement device 104, X and Y axes motors 103 and 102 may be
adjusted in order to keep the X and Y position of a supported
object constant while adjusting the Z axis position of the
supported object whether buoyant or non-buoyant, aerial or aquatic.
The lines are shown terminated as "X" marks in the upper right hand
corner of FIG. 14C. The termination points may be tied to suitable
weights or anchor points or any fixed or moveable object that can
counteract the force applied to lines 18 and 19.
[0106] FIG. 14D shows a logical reeving diagram without line travel
between supports employing two lines with an alternate reeving in
relation to FIG. 14A. This embodiment is a shorter line length
embodiment that is shown in FIG. 14A in that Y line 19 does not
travel completely around the upper left portion of the figure but
rather travels directly near the supported object back to Z
movement device 104. Likewise, X line 18 bypasses the support in
the lower right portion of the figure and travels directly from
redirection sheave 144 to Z movement device 104. This embodiment
provides substantially independent X, Y and Z control with minimal
extra line compared to the embodiment depicted in FIG. 14C. In FIG.
1A, this would equate to eliminating the topmost sheave in
redirection sheave assembly 119, placing the eliminated sheave on
the opposing side of the platform and bypassing support 112 in the
reeving. The topmost sheave in redirection assembly 117 could
therefore be eliminated along with the third sheave down in
redirection sheave assembly 119 since the remaining redirection
sheave in redirection assembly 117 could be routed directly to
support 110 without traveling to support 112.
[0107] FIG. 14E shows a logical reeving diagram without line travel
between supports employing one line total with an alternate reeving
in relation to FIG. 14B. This embodiment is a one line embodiment
of the embodiment depicted in FIG. 14D.
[0108] FIG. 14F shows a logical reeving diagram without line travel
between supports employing two lines in a triangular embodiment.
Operation of the triangular embodiment is identical as the
operation of any rectangular embodiment in terms of control inputs
to X-axis motor 103, Y-axis motor 102 or Z movement device 104. The
difference in triangular and rectangular embodiments is the number
of support points and the volume covered. In addition, since there
is one less support, there are two less redirection sheaves
required to take the two lines or two line sides of one line to the
non-existent support.
[0109] FIGS. 15A-D show two line embodiment logical reevings that
may occur at the bottom left portion of FIG. 14 while FIGS. 16A-B
show one line embodiment logical reevings.
[0110] FIG. 15A shows an embodiment of the invention utilizing two
lines 18 and 19 wherein each line's ends are attached to Z movement
device 104. FIG. 15B shows an embodiment wherein line 18 has its
ends attached to Z movement device 104 while line 19 is configured
as a loop through an eyelet. The side view of Z movement device 104
is shown in FIG. 17 with eyelet 1700 shown on the left, with axle
1701 shown in the center. FIG. 15C shows line 18 configured as an
endless loop with line 19 having its ends attached to Z movement
device 104. FIG. 15D shows an embodiment wherein both lines 18 and
19 are configured as endless loops that loop through eyelet 1700 as
shown in FIG. 17. FIG. 15D may be configured to limit travel of
line 18 and/or 19 through the eyelets to provide the X and Y motors
with fixed locations to pull against. If there are no fixed
locations in the system at all, the line in the system will freely
spin. However, once a rotation of Z movement device 104 has
occurred, wherein for example Z movement device is configured as a
winch, then of course, lines 18 and 19 would not freely spin
through the eyelets once line was wound about the winch.
[0111] FIG. 16A shows an embodiment of the invention near the Z
movement device employing only one line configured as a half loop
wherein two ends of line 20 are attached to Z movement device and
line 20 passes through eyelet 1700. FIG. 16B shows an embodiment of
the invention employing line 20 as an endless loop throughout the
system with line 20 passing through a pair of eyelets 1700 on Z
movement device 104. FIG. 16B may be configured to limit travel of
line 20 through the eyelets to provide the X and Y motors with
fixed locations to pull against. If there are no fixed locations in
the system at all, the line in the system will freely spin.
However, once a rotation of Z movement device 104 has occurred,
wherein for example Z movement device is configured as a winch,
then of course, line 20 would not freely spin through the eyelets
once line was wound about the winch.
[0112] Although the embodiments shown in FIGS. 15A-D and 16A-B are
easily transformed near Z movement device 104, other arrangements
utilizing one line or two lines in the system may be accomplished
by separating the junctions where force is applied to line.
Additional insertion of two wheel winches that reel in one line and
reel out a separate line at the same rate can be inserted anywhere
in the system in order to create embodiments employing as many
lines as is possible, however, these embodiments can be replaced by
embodiments having fewer lines until only one or two lines are
utilized in the system. Regardless of the number of lines, if the
length of the two lines or two sides of one line between the
supports and the platform is the same, then Z movement is
accomplished with one Z movement device and X and Y movement is
substantially independent. By utilizing an embodiment where X, Y
and Z forces are applied in a centralized location, maintenance is
easily performed however embodiments of the invention relocating
various components are clearly within the scope of the
invention.
[0113] FIG. 18A shows an embodiment utilizing Z axis
multiplication. Embodiments of the invention may utilize a block
and tackle arrangement in the Z axis so that a limited amount of
travel of Z movement device 104 may displace a multiplied amount of
line into the system. The multiplication of Z axis travel may also
be utilized for coverage areas that are deeper than the distance
from the Z movement device to the supports, e.g., for an embodiment
with 30 meter supports, a 10 factor block and tackle can be
utilized yielding 300 meters as the maximum distance displaced in
the Z-axis. For example, in FIG. 18A, with Z movement device 104 in
the lowest position as shown, approximately three times the amount
of line exists as opposed to FIG. 18B when Z movement device is
raised, yielding in this example a multiplication factor of three.
Rod 1800 may be a hydraulically actuated rod in an embodiment of
the invention, while Z movement motor 101 may drive a hydraulic
pump. There is no requirement that Z movement motor must actually
be an electric motor, as any device capable of displacing line may
be used in place of an electric motor with the understanding that
motor as defined herein defines any mechanism capable of displacing
line.
[0114] FIG. 6 shows close up perspective of platform 124. This
embodiment of the platform is suspended beneath the crossbar 601.
Each of the line support elements 120, 121, 122 and 123 may be
hinged with universal joints. Line support element 120 may be
hinged to crossbar 601 by universal joint 620. Single axis
rotatable axles may be used in place of universal joint 620.
Platform 124 is suspended from crossbar 601 by platform post 600.
Any useful device or object may be mounted on the platform. For
example a winch with a harness for raising and lowering an actor
may be coupled with the platform. For aquatic embodiments, the
platform may be on the top of the diagram with a counterweight
below. The platform itself may comprise active or passive
stabilization in between crossbar 601 and post 600. Post 600 may or
may not extend above crossbar 601, and any extension above the
crossbar may or may not be balanced with regards to the center of
gravity of the total resulting mass attached to post 600. In other
words, the center of gravity may lie above, below or at the center
of gravity of the resulting object supported. When the center of
gravity lies above the support point care must be taken to place
the center of gravity close enough to the support point so that the
platform does not tip over, which can also be accomplished via
active control if desired. In general, placement at the center of
gravity or where the support point is above the center of gravity
allows passive or even pure free wheeling isolation to be employed.
Crossbar 601 may be substituted with any structure capable of
coupling with lines including but not limited to a circular or
rectangular object.
[0115] FIG. 7 shows a close up perspective of platform 700, another
embodiment of a platform. This platform is supported by line
support elements 120, 121, 122 and 123 via universal joints.
Platform 700 contains an isolator, for example at least a one axis
free spinning gimbal mount 702 with inner platform 701 which may
support any useful device and may be further comprise powered axes
which may be moved by direct or wireless command. The embodiment
may comprise an isolator with one or more axes of platform 701 are
isolated and free rotating, or passively stabilized with dampers or
actively stabilized in terms of pitch, roll and pan axis rotation.
The active stabilization may be position, velocity, acceleration,
jerk or any other order to distance per time derivative. Platforms
may be rotatable from the inside as shown or via the outside of
platform 700 (which would comprise a circular outer shape not shown
for brevity. FIG. 11 shows a variation of FIG. 7 with two line
support elements per side. In this embodiment, each side of
platform 700 couples with an opposing line via two pulleys per
side. Embodiments may employ line support elements of any number or
any size on the platform.
[0116] FIG. 8 shows a close up perspective of platform 124
supported by a passive or active stabilization system 803, which
may exist at crossbar 601 (not shown for brevity) or at platform
124 as shown, supported by rod 800 which may comprise a
counterweight (shown in FIG. 8A) at the top of rod 800 with rod 800
mounted on crossbar 601 slightly above the center of gravity of the
combination of platform 124, rod 800 and counterweight 804.
Crossbar 601 may be hinged with a universal joint or may comprise a
gimbal as shown in FIG. 7. Many more platform embodiments are
possible and the platforms shown in FIGS. 6, 7, 8 and 11 are merely
a small set of examples of the myriad of configurations possible.
Any camera assembly including but not limited to those with
vertical or horizontal orientations and with our without active or
passive stabilization may also be supported and moved with
embodiments of the invention. Since the X and Y line (in one or two
line embodiments) supports platform 124 from upward angles on each
of the platforms sides, there is no need for a tag line or gimbal
assembly to provide further stabilization although embodiments of
the invention may utilize such a device. In fact, the line support
elements on platform 124 act as tag lines for moving platform 124
through three dimensional space.
[0117] FIG. 1 shows an embodiment of the invention that uses single
line support elements at all line direction points. Other
embodiments may use multiple line support element arrangements
virtually anywhere where a single line support element is used in
order to change direction of a line and further prevent derailing.
Line support elements with groove shapes and rounded edges that
minimize the lateral friction on lines passing through the line
support elements may be utilized in order to minimize the amount of
wasted power in the system. Embodiments of the invention may use
any type of line support element that works with the line specified
for the system. Any linear connection device may be utilized in
place of line, such as but not limited to cable. A dynamometer may
be inserted in-line between Z-axis motor 101 and Z movement device
104 in order to provide tension readings.
[0118] Platform 124 can have many different apparatus attached to
it to perform a variety of functions including but not limited to
stabilization devices, gimbals, camera equipment, mining loaders,
ship-to-ship loaders, logging devices, ski lift seats, gondolas,
body sensing flight simulator suits for allowing a person to
simulate flying, reduced gravity simulator suits, lifting
harnesses, munitions depot bomb retrievers, digital video equipment
for security checks in railroad yards or nuclear facilities,
robotic agricultural harvest pickers for quickly picking and
storing grapes or other produce or any other device that benefits
from repeatable placement and motion in three dimensional space. In
another embodiment, platform 124 comprises a witness camera mounted
pointing down from the platform, providing a picture from the
viewpoint of the platform. Camera systems previously described may
be mounted at above or at approximately the center of gravity of
each device with active, passive or a combination of active and
passive stabilization in any number of axes, some of which may be
multiply actively or passively stabilized. Platform 124 may
comprise line support elements that may or may not be located on
opposing sides of the platform as long as a line supporting
platform 124 travels to supports that oppose each other in order to
prevent ground collision in the case of a break on another line
side.
[0119] In addition to moving platform 124 as per an operator input,
embodiments of the invention contemplate the use of a virtual
system simulation to pre-plan platform travel paths and thereby
determine a preferred camera angle or platform position. The system
stores the path information for subsequent use in a physical
environment. Once the physical structure implementing one or more
aspects of the invention is erected the path data provides a basis
for movement of the platform or any object coupled with the
platform (e.g., a camera). The simulation is typically performed in
a computer environment scaled to match or approximate a physical
location such as a football stadium or movie set. Thus, users of
the system described herein (or any other rigging system preferred
for the task at hand) can attempt various configurations without
having to undertake the expense of an actual system setup.
[0120] The virtual system (e.g., rigging) is accomplished in one or
more embodiments of the invention by approximating the location of
key rigging components (e.g., support structures, sheaves, etc . .
. ) and based on the present location of the platform, calculating
the effects of transferring line into the system via the Z movement
device or transferring line from one side of the system to the
other side of the system via the X junction and Y junction. In this
manner it is possible to simulate platform travel in a virtual
environment before implementing the actual travel sequence in a
physical environment. Adjustments or changes to the path of travel
to obtain an optimal angle can be made in the virtual environment
before undertaking the expense of making changes to the physical
environment. Each of the virtual systems (e.g., rigs) may possess a
different geometry, however, once the geometry is known, and the
starting position of the platform is known, control inputs are used
in order to calculate the resulting position of the platform. This
technique provides a method for determining a path of travel that
would avoid other virtual objects that have been measured and
entered into the simulation. In addition, since the locations of
the supports are known and the location of the platform is known,
the location of the lines may be calculated. In this way, buildings
or trees for example may be avoided by the platform and the lines
and a particular travel path may be performed over and over by
computer control without human intervention or variance. Having a
virtual system is advantageous in that it gives system operators
the ability to simulate various system configurations and thereby
determine whether it is possible to obtain specific camera
angles.
[0121] By selecting travel points to which the platform has
traveled and moving these points through a graphical user
interface, the control inputs can be recalculated in order to meet
the desired three-dimensional path and saved for later playback on
the physical embodiment. By simulating an embodiment by measuring
and entering the sizes and locations of supports, and entering the
sizes and locations of known obstacles or waypoints, a platform
travel path may be constructed before the physical embodiment is
completely assembled thereby saving time and effort in the coverage
area.
[0122] Embodiments of the invention may be nested in order to allow
more than one object to be moved within a given volume of space.
Any additional instance of the embodiment of the invention
comprising the line or lines reeved in the spirit of the invention
whether or not identically reeved as the primary reeving is reeved
is termed a nested reeving. FIG. 1C shows this arrangement. Nesting
may be accomplished with for example two non-buoyant embodiments in
air or water, or with two buoyant embodiments whether in air or
water, or with a non-buoyant embodiment above or below a buoyant
embodiment whether either embodiment is in air or water or space.
FIG. 1D shows an articulated arm or boom 1241 supported by
counterweight 1240 to offset the weight of platform 1242 possibly
comprising a camera for example. It is also possible to nest more
than two embodiments and with pre-planned simulation of flight
paths, users of the system can move a set of objects through a set
of complex paths. The ability to plan an object's path has
significant benefits including collision avoidance and
repeatability for example. When filming a movie for example, it is
beneficial to move cameras and actors in coordinated, repeatable
paths so that scenes may be filmed for a movie without separate
moving objects/actors colliding. Boom 1241 may telescope outward,
or to the right in the figure, with counterweight 1240
automatically moving to the left in the figure for example to keep
boom 1241 at a given angle with respect to any axis.
[0123] FIG. 1E shows a nested embodiment comprising two non-buoyant
embodiments with a buoyant embodiment beneath the two non-buoyant
embodiments. Platform 124 may comprise a human actor, while
platform 1242 at end of articulated arm or boom 1241 supported by
counterweight 1240 may be coupled with a camera and used for
example to film the human actor coupled with platform 124. The
articulated arm may comprise as many joints or degrees of freedom
as is desired. Counterweighting the platform allows the arm to
remain in a given position without oscillations, and active or
passive control systems may be applied in the system to compensate
for arm movement. A camera coupled with platform 1248 which is
coupled to the top of buoyant counterweight 8002 supported in the
vertical direction by non-buoyant counterweight 8001 with or
without passive or active control of any axis may be also used to
film the human actor or the view that the human actor would have
when flying through three-dimensional space.
[0124] Although the configuration in FIG. 1E shows a buoyant
embodiment on the bottom, the buoyant embodiment may be placed on
top of non-buoyant embodiments as well and in any combination.
Pre-planned simulation of flight paths may be utilized to control
the actual flight paths in a repeatable fashion. Although the
reeving of the two non-buoyant embodiments is shown in a parallel
configuration this is done for ease of illustration as the sheaves
in an actual realization in the supports may be closer or more
spread about than is shown. The generator and electronic drive
units 100 may be used to control the non-buoyant embodiments, while
a separate assembly with generator and electronic drive units 100a
is used to control the buoyant embodiment. With the reeving of the
buoyant embodiment switched 180 degrees so that the main sheave
assembly would lie in support 110 for the buoyant embodiment, then
generator and electronic drive units 100a may be eliminated and one
assembly of generator and electronic drive units may be used to
control all three embodiments in this example. Although the buoyant
embodiment is shown in a configuration wherein the lines do not
travel between supports, the non-buoyant embodiment may also employ
this configuration and the buoyant embodiment may employ a
configuration wherein some or all of the lines travel directly
between supports. (FIG. 1 shows a hybrid embodiment wherein some of
the line travels between supports and some does not. This is the
case since there is no direct line travel between supports 114 and
116 although line 19b traveling between supports 112 and 114 could
easily be reeved directly between supports 110 and 114 or 110 to
116 to 114. This would yield an embodiment with line travel between
all supports.)
[0125] Embodiments may also be recursively nested with one large
embodiment moving an object which actually comprises a small
embodiment which may be independently controlled for example to
provide fine tuning. FIG. 1F is a perspective view of a recursively
nested embodiment showing a rectangular embodiment supporting a
triangular independent embodiment. Control of the large embodiment
is separable from control of the recursively nested embodiment. One
embodiment may also for example house more than one nested
embodiment, either at the same level as the first recursively
nested embodiment or at a deeper level, however this is not shown
for brevity.
[0126] FIG. 1G is a perspective view of a nested dependent
embodiment with a rod coupling each platform. By moving each Z
movement device, X or Y junction, rod 800 may be positioned into
any angle with respect to the vertical. By allowing the lower
embodiment to lower the connection point, or upper embodiment to
raise rod 800 while allowing rod 800 to traverse vertically with
respect to the lower embodiment (sleeve mounting the lower
embodiment on rod 800), more or less lateral torque may be applied
to a given scenario. Rod 800 may be configured to rotate and may be
configured to telescope. Rod 800 may also comprise an articulated
arm or boom. FIG. 1H is a perspective view of a nested dependent
embodiment supporting an articulated arm or boom platform. In this
figure, rod 800 and boom 1241 may telescope or may be configured
with static lengths for example.
[0127] FIG. 1I is a perspective view of a nested dependent
embodiment showing the ability to rotate the rod out of the
vertical. FIG. 1J is a perspective view of a nested dependent
embodiment with a passively or actively stabilized platform
enabling level support and movement of the platform. FIG. 1K is a
perspective view of a nested dependent embodiment showing a
telescoping rod and rotational capabilities of the rod and/or
platform. As shown in the figure rod 800 has telescoped up, which
is another way in which more torque could be applied to a platform.
The application of more torque may be utilized in any situation,
for example when an embodiment of the invention is used in mining
as with a mining scoop. Platform 124 is also shown rotated with
respect to FIG. 1J. Platform 124 may comprise a boom as in FIG. 1H,
but is not shown for brevity.
[0128] FIG. 1L is a perspective view of a nested dependent
embodiment showing dependence of lines in Z movement device
allowing for one line total configured to support and move the
platform, or for two total lines reeved in the system. This
embodiment allows for simultaneous control of Z movement for both
embodiments. Simultaneous movement using one Z movement device 104a
keeps the distance between the two inner sheave assemblies constant
as long as the support offsets for the two reeving systems comprise
the same distance between reeving systems as is configured along
rod 800 (see distance L shown on one support and at rod 800 in FIG.
1M). Through use of one line embodiments for the upper and lower
nest embodiments, two total ropes may be used as per FIGS. 19A, 19B
and 19C (two half loops, two whole loops and one half and whole
loop respectively), or with one total line in the system as per
FIG. 20A configured as one total half loop and FIG. 20B configured
as one total loop of line in the system when the upper and lower
reevings are coupled together.
[0129] FIG. 1M is a perspective view of a nested dependent
embodiment showing dependence of X line side and Y line side
(whether independent lines or part of the same single line) with
respective bull wheels thereby configured to always align the rod
at a constant angle with the vertical independent of position. In
this configuration X movement device 103a and Y movement device
102a may be used to control the X and Y positioning of platform 124
wherein rod 800 remains vertical regardless of position without
requiring active control as in prior art devices.
[0130] FIG. 1N is a perspective view of a nested dependent
embodiment comprising a Y reeving nested above an X reeving with a
passively or actively stabilized platform enabling level support
and movement of the platform. This embodiment may be thought of as
a non-nested embodiment wherein half of the reeving is split apart
vertically from the other half. Sheaves coupled with rod 800 may
comprise braking components so that for example the upper reeving
may be pulled into the figure while the lower reeving is not
allowed to freely follow by halting the rotation of the lower
sheaves (121, 123) coupled with rod 800, thereby angling platform
124 in the negative Y direction (out of the figure). By using
powered sheaves coupled with rod 800 on for example the lower
portion of rod 800 namely sheaves 121 and 123, platform 124 may be
rotated in the positive Y direction (into the figure) when sheave
120 has line taken out of its respective side, (i.e., the rod has
been pulled into the positive y axis) by simultaneously rotating
the lower X-axis sheaves which would normally freely rotate. The
sheaves may loop line around them to gain more traction in some
embodiments. This embodiment is shown with two separate Z movement
devices, however one Z movement device may also be utilized,
meaning that the entire embodiment may comprise one line. Although
the embodiment shows two lines coupled with a pole comprising a
platform which may comprise a video or microphone device, any other
useful device may be coupled with platform 124 including but not
limited to a telescoping rod, ribbonlift, telescoping boom,
articulated arm or any other device. In embodiments with powered
sheaves 120, 121, 122 and 123 rotation of rod 800 may occur with
less line in the system than would normally be employed. Since
sheaves 120, 121, 122 and 123 would require power, the sheaves
could also be used to charge a battery coupled with rod 800 when
moving about the coverage area, i.e., the motors coupled with
sheaves 120, 121, 122 and 123 can double as generators. By
displacing line into the negative Y-axis, sheave 122 rotates while
line is being removed from the positive Y-axis side of the system,
thereby rotating sheave 120 and therefore sheave 120 and 122 can
charge a battery coupled with rod 800 which may be utilized to
power sheaves 121 and 123 or apply breaking pressure to sheaves 121
and 123.
[0131] FIG. 13 is a perspective view of a nested dependent
embodiment comprising a nested dependent embodiment utilizing tag
line 21. Although two lines are shown in this embodiment, there is
no limit to the number of tag lines that may be utilized with any
embodiment of the system. The tag line may be utilized to rotate
rod 800 with respect to the vertical axis when coupled with rod 800
at an offset from a second reeving system, here shown as an X-axis
reeving utilizing one rope. Any known reeving system may be
utilized as one reeving and any other known reeving system may be
utilized as a second reeving nested at an offset along rod 800 in
order to allow for rotation of rod 800. For example, tag device
102w may be a winch in this embodiment that is utilized to pull the
upper portion of rod 800 towards the support housing tag device
102w.
[0132] Whether nested or not, embodiments of the invention may
comprise radar, optical or acoustic sensors anywhere in the system,
for example at platform 124 in order to provide collision avoidance
with stationary or moving objects. Examples of stationary objects
may include trees or buildings while examples of moving objects may
comprise vehicles, sporting implements such as soccer balls,
baseballs, footballs, track and field implements or any other
object. By calculating the trajectory of the stationary or moving
object and calculating the position of platform 124 and supporting
line sides, platform 124 may be moved, thereby moving the line
sides and thereby avoiding a collision with either platform 124 or
line sides with an external stationary or moving object.
[0133] Uses of the device in space with thrusters on the platform,
or magnetic repulsion or attraction to provide the directional
force, i.e., without need for air or water or gravity is readily
achieved by adapting the platform or object being moved to comprise
a magnet or compound that is attracted or repulsed in response to a
magnetic field of a given direction.
[0134] Thus, a cabling system and method for facilitating fluid
three-dimensional movement of a suspended camera or other object
via a directional force has been described. The claims, however,
and the full scope of any equivalents are what define the metes and
bounds of the invention.
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