LINE AND ROPE SYSTEM AND METHOD FOR MOVEMENT OF AN OBJECT THROUGH THREE-DIMENSIONAL SPACE
Uses line(s) to enable movement of an object through three-dimensional space having clearance limitations or obstructions over an area. Does not require large nearby support structures. The object coupled with the movement line(s) is/are supported by at least three support lines that are arranged about a perimeter of the area. The support system can enclose any area size or shape. Uses motorized line movement device to displace the lines in a direction determined by the rotation of the line movement devices. The lines are reeved through pulleys attached to the support rope system which direct the lines to the appropriate line movement devices. By appropriate reeving, the object can be controllably moved in three axes that are not required to be orthogonal using one or two lines.
This application claims benefit of U.S. Provisional Patent application 60/893,362 filed Mar. 6, 2007 and further is a continuation in part of U.S. patent application Ser. No. 11/556,264 filed on Nov. 3, 2006; which is a continuation in part 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, now U.S. Pat. No. 6,975,089; which is a continuation in part of U.S. patent application Ser. No. 10/708,158, filed on Feb. 12, 2004, now U.S. Pat. No. 7,088,071; which is a continuation in part of U.S. patent application Ser. No. 10/604,525 filed on Jul. 28, 2003, now U.S. Pat. No. 6,809,495, the specifications of which are incorporated herein by this reference.
BACKGROUND OF THE INVENTION1. Field of the Invention
The invention relates to a system and method for moving an object through three-dimensional space by lines supported on a rope assembly and is more particularly, but not by way of limitation, directed to a system and method by which an object is controllably moved through three-dimensional space with obstructions and limited clearance with a adaptable rope support system.
2. Description of the Related Art
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 or complex control systems in order to facilitate the movement of objects. Such systems are impractical or difficult to use in applications that require both a steady platform during movement and do not have, or cannot utilize, large supporting structures that would obstruct the view of customers or fans say, for example, at an indoor sporting event. The conventional systems typically fail to satisfactorily achieve the full spectrum of ease of control, ease of transport, speed and adaptability for demanding applications.
In U.S. Pat. No. 4,625,938, an invention is disclosed in which a camera payload can be moved within three-dimensional space. However, this patent also shows four large support structures that are used to support the payload in the invention. Thus, this system does not provide adaptability to venues where such support structures are not available or cannot be used.
In U.S. Pat. No. 5,585,707, a system is shown in which a robot or person can be moved within a three-dimensional space. The payload is limited and the support structure is of a small scale. If the structure were to be scaled up, obstacles such as scoreboards, goal posts or light poles would inhibit the motion of the payload through a path between two points defined within the cube shown in this patent, since there are so many 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 for use in stadiums, convention centers or arenas and would obstruct views of patrons at these events.
In U.S. Pat. No. 5,568,189, another system is disclosed for moving cameras in three dimensional space. The problems with the system disclosed become apparent when the scale of the system is enlarged. FIG. 4 of U.S. Pat. No. 5,568,189 shows how two parallel highline cables sag inward when the payload is in the middle of the X, Y space. Since the system does not use strong rails to support the Y-axis rope, the weight bearing of the system 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 system were modified for outdoor use. Moreover, the size of the motors limits the payload that can be carried, and further limits the speed at which the payload can be carried.
Thus, a need exists for an improved system and method for controlling movement of an object through a three-dimensional space having obstructions and limited clearance without using close-in, view obstructing structures to support the object and its related equipment.
BRIEF SUMMARY OF THE INVENTIONOne or more embodiments of the invention are directed to a system and method for moving an object through a three-dimensional space using lines and a rope support system. Embodiments of the invention, for example, may be used for sporting events, concerts or any other activity that benefits from movement of a camera or other object to any position within a three-dimensional space. Further objects are directed to a system and method for moving an object through a three-dimensional space with minimal clearances or obstacles located in the space that are to be avoided while also maintaining minimum heights for the object and its control lines. Additional objects of the invention are directed to a system and method for moving an object through a three-dimensional space without using large support structures that can obstruct or block views of customers particularly at sporting events. Movement of the object using embodiments of the invention includes displacement of the object in the horizontal X and Y directions and displacement in the vertical or Z direction.
In one embodiment, an object is moved through a three-dimensional space over an area by lines attached to the object and coupled to line movement devices. Support is provided by at least a first support rope, a second support rope and a third support rope that are arranged about the perimeter of the area to provide a flexible support system for the object. The support system is adapted to enclose any area size or shape and can be adapted so that the object and its control lines do not contact obstructions during movement within the three-dimensional space of interest. The lines are coupled to the object and appropriate motorized line movement devices to displace the lines in a direction determined by the rotation of the line movement devices. The flexible lines are reeved through pulleys attached to the support rope system which direct the lines to the appropriate line movement devices. By appropriate reeving, the object can be moved in three orthogonal directions with two lines and motorized line movement devices so the object is controllably moved within an entire three-dimensional space of interest. In another embodiment, the two movement lines are connected at the Z movement device yielding a system that is configured to move an object in three dimensions via one line.
In one embodiment, the object includes a camera which includes a live video camera, a wireless camera and other electrical, mechanical and optical equipment, including a still camera, audio recording equipment and other types of recording or sensing devices in addition to live feed cameras used to capture live images. In further embodiments, the object includes a power source and may include a battery, a generator or other sources of power as required for particular applications. In one embodiment, the object includes a self-leveling apparatus so that in certain uses, such as for a camera or other equipment, the object remains substantially level during movement of the object so picture image and quality are not adversely impacted by unwanted swaying or unwanted movement of the camera. The self-leveling apparatus may be active, meaning that power is utilized to actively stabilize the camera. Conversely, the self-leveling apparatus may be passive, meaning that non-powered dampening devices configured to provide resistance to movement are utilized to limit or prevent swinging of the camera.
In one embodiment, tension is applied to one or more of the anchor ropes and thus the entire system of support ropes by a tensioning device that is either manually operated or in one or more embodiments, is operated by any known powered means. In an embodiment, the movement of the object and the lines coupled to the object is controlled to substantially avoid contact with obstructions located within the three-dimensional space of interest, such as, for example, a scoreboard at an indoor arena.
In one or more embodiments, the type of line embodiments of the invention that are 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 and include ⅛ inch Tech 12 synthetic rope. In one or more embodiments, the support ropes are ¼ inch Tech 12 support rope. Other and further advantages will appear to persons skilled in the art from the figures and description provided herein.
BRIEF DESCRIPTION OF THE DRAWINGSThe above and other aspects, features and advantages of the invention will be more apparent from the following more particular description thereof, presented in conjunction with the following drawings wherein:
A system for movement of an object throughout a three-dimensional space by lines and a rope support system will now be described. Embodiments of the invention move the object throughout a three-dimensional space by using one or two lines. Embodiments that utilize two lines may be converted to embodiments that utilize one line by coupling the two lines at the Z movement device for example. As all embodiments may utilize one or two lines, for ease of illustration the two line embodiments will be described. The two lines are moved by rotating drum winches that are driven by motors in one or more embodiments. One line controls the X-axis motion of the object and the second line controls the Y-axis motion of the object. The object is moved in the Z-axis direction in one embodiment by rotation of a Z-axis drum winch that controls movement of both the X-axis line and Y-axis line to raise and lower the object. 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 and well known features have not been described in detail so as not to obscure the invention. For example, in a one line embodiment, the first and second lines that control movement in the X and Y axis are coupled at Z movement device 84 as shown in
Anchor ropes 20, 22, 24 and 26 are further attached to a selected series of anchor points 30, 32, 34 and 36 as shown schematically in
In one embodiment, support rope 12, support rope 14, support rope 16 and support rope 18 are positioned in a substantially planar configuration in the X-axis and Y-axis plane as shown in
As shown in
X-movement line 52 is reeved through a series of pulleys located as indicated in
By rotating X-axis drum winch 80, object 50 can be moved in the X direction for example, toward support rope 14 or toward support rope 18 as shown in
In further embodiments, Z-axis drum winch 84, as shown in
For purposes of this disclosure, the motor or motors and drive pulleys that move X-axis drum winch 80, Y-axis drum winch 82 and Z-axis drum winch 84 are not shown for ease of illustration. The parent applications incorporated by reference at the beginning of this disclosure provide alternative reevings that may be utilized with embodiments of the invention described herein for example. Motors along with their associated drive pulleys and drum winches that minimize rope wear and provide anti-derailing features can be used to drive the lines. The motors may comprise stepping motors or standard motors with brake systems in order to lock motion when the motors have stopped operating. The control of the motors for drum winches 80, 82 and 84 can be in the form of simple switches or a computer system that takes into account the Z-axis position of object 50 to keep object 50 in a substantially constant Z-axis position while traversing the X-axis and or the Y-axis such as shown in
In one or more embodiments, X-movement line 52 and Y-axis movement line 54 comprise ⅛ inch Tech 12 synthetic rope and other line sizes, dimensions and materials are within the scope of the invention. In other embodiments, support ropes 12, 14, 16 and 18 comprise ¼ inch Tech 12 rope and other materials, sizes and dimensions of lines or ropes are within the scope of the invention. The invention is not limited to a system with a rectangular configuration or to a set number of support ropes or anchor ropes. The invention can be adapted to surround areas of various shapes, including triangular embodiments as shown in
As illustrated in
X-movement line 52 is reeved through sheave 102 attached to plate 100 by shackle 108a as shown in
During movement of self-leveling apparatus 132 by X-movement line 52 or Y-movement line 54, apparatus 132 can pivot about connector pin 142, for X-axis movement, and can pivot about connector pin 144, for Y axis movement. Such pivoting motion allows camera 130 to remain substantially level and without unwanted swaying motion that could adversely impact picture quality from the camera. In one or more embodiments, the weight of camera 130 aids in maintaining the self-leveling apparatus 132 in a substantially level arrangement by the downward or Z direction weight of camera 130.
Although the redirection sheaves at the top of the scoreboard and the various movement devices and bull wheels are shown coupled to the scoreboard, they may be place absolutely anywhere available in three-dimensional space. For example, running the lines up to a cat walk or other support structure for collocation of the various motors, drives and movement devices is in keeping with the spirit of the invention.
Thus, a system for movement of an object through a three-dimensional space has been disclosed and described. While embodiments and alternatives have been disclosed and discussed, the invention herein is not limited to the particular disclosed embodiments or alternatives and the invention need not include all of the features described herein. The claims herein are what define the metes and bounds of the invention and include the full breadth and scope of all equivalents.
Claims
1. A system for controlling movement of an object through three-dimensional space comprising:
- an object adapted for three-dimensional movement over an area, said area comprising a perimeter, said perimeter defined by at least a first support rope and a second support rope wherein said at least said first and said second ropes are arranged to define at least a first corner, a second corner and a third corner adjacent said perimeter;
- a first line coupled with said object and with a first motorized line movement device configured to displace said first line in a direction determined by rotation of said first motorized line movement device;
- a first pulley attached to a first location proximate to said first corner and configured to redirect said first line as said first line passes through said first pulley to said third corner and said first motorized line movement device;
- a second line coupled with said object and with a second motorized line movement device configured to displace said second line in a direction determined by rotation of said second motorized line movement device;
- a second pulley attached to a second location proximate to said second corner and configured to redirect said second line as said second line passes through said second pulley to said third corner and said second motorized line movement device; and
- a Z movement device configured to displace said first line and said second line and move an object vertically as determined by rotation of said Z movement device.
2. The system of claim 1 where said object comprises a camera.
3. The system of claim 1 wherein said first line and said second line are two sides of a single line.
4. The system of claim 1 where said object comprises a power source.
5. The system of claim 1 wherein said second pulley is released to allow for storage of said first line and said second line.
6. The system of claim 1 where said object comprises a self leveling apparatus.
7. The system of claim 1 where tension is applied to one or more of said first support rope, said second support rope and said third support rope.
8. The system of claim 7 where said tension is applied by a tensioning device.
9. The system of claim 1 where movements of said object, said first line and said second line are controlled to avoid contact with one or more obstructions within said three-dimensional space.
10. A system for controlling movement of an object through three-dimensional space comprising:
- an object adapted for three-dimensional movement over an area comprising a perimeter, said perimeter defined by support ropes, said support ropes arranged to define at least a first corner, a second corner and a third corner adjacent said perimeter;
- an X movement line coupled with said object and with an X movement device;
- a first pulley attached to a first location proximate to said first corner and configured to redirect said X movement line as said X movement line passes through said first pulley to said third corner and said X movement device;
- a Y movement line coupled with said object and with a Y movement device;
- a second pulley attached to a second location proximate to said second corner and configured to redirect said Y movement line as said Y movement line passes through said second pulley to said third corner and said Y movement device; and
- a Z movement device configured to move said X movement line and said Y movement line in unison, said Z movement device configured to control vertical movement of said object.
11. The system of claim 10 where said object comprises a camera.
12. The system of claim 10 wherein said first line and said second line are two sides of a single line.
13. The system of claim 10 where said object comprises a power source.
14. The system of claim 10 wherein said second pulley is released to allow for storage of said first line and said second line
15. The system of claim 10 where said object comprises a self leveling apparatus.
16. The system of claim 10 where tension is applied to said support rigging.
17. The system of claim 16 where said tension is applied by a tensioning device.
18. The system of claim 10 where said X movement, said Y movement and said Z movement of said object are controlled to avoid contact with one or more obstructions within said three-dimensional space.
19. A method for controlling movement of an object through three-dimensional space comprising:
- arranging support ropes about the perimeter of an area, said support ropes comprising at least a first corner, a second corner and a third corner adjacent said perimeter;
- coupling an X movement line to said object and to an X movement device;
- attaching a first pulley to a first location proximate to said first corner of said support ropes, said first pulley configured to redirect said X movement line as said X movement line passes through said first pulley to said third corner and said X movement device;
- coupling a Y movement line to said object and to a Y movement device;
- attaching a second pulley to a second location proximate to said second corner of said support ropes, said second pulley configured to redirect said Y movement line as said Y movement line passes through said second pulley to said third corner and said Y movement device; and
- configuring a Z movement device to move said X movement line and said Y movement line in unison to control vertical displacement of said object.
20. The method of claim 19 further comprising providing video images by a camera coupled to said object.
Type: Application
Filed: Mar 7, 2007
Publication Date: Jul 5, 2007
Inventor: Jim Rodnunsky (Los Angeles, CA)
Application Number: 11/683,411
International Classification: G06M 7/00 (20060101);