Camera stabilization

Describes the stabilization and mounting system for the Elphel 353 camera, including details of the design, photos, and a description of how it all works

Camera Mount Mechanics

The camera is a Elphel 353 digital camera and is a fairly fragile component of the robot. The Camera mount is designed to limit the forces and shock that the camera can experience while moving across uneven terrain like grass. For this reason the camera is suspended from springs on the front and back. The springs nearly eliminate jerk, the change in the acceleration, and thereby eliminate the sudden change in force that can damage the camera.

The design is derived from a shock mount that is used for holding microphones as seen below:

Mount Materials and Components

The camera mount is made from:

- 8 metal springs that hold the camera
- 1 PVC tube that holds the mount high above the robot called the mast
- 1 "T" shaped PVC connector that contains the camera and allows the mast to connect
- 1 threaded PVC flange that holds the mast to the frame of the robot
- 1 PVC connector that links the mast with the flange
- 1 PVC connector that links the "T" shape part with the mast

Mount Position

The camera mount sits atop tall mast that holds the camera at a slight downward angle. The camera position affords a complete view of oncoming obstacles and the course boundaries. The mast is located directly over the pivot point of the robot, centered between the drive wheels. Since the drive wheels operate independently (tank steering) when the robot turns within its own radius the camera can view 360 degrees without moving off center.