CN110621580B

CN110621580B - Camera driving device, photographing device and flying device

Info

Publication number: CN110621580B
Application number: CN201780090866.8A
Authority: CN
Inventors: 李准泽; 李旷宰
Original assignee: LG Innotek Co Ltd
Current assignee: LG Innotek Co Ltd
Priority date: 2017-05-17
Filing date: 2017-11-29
Publication date: 2023-05-26
Anticipated expiration: 2037-11-29
Also published as: CN110621580A; WO2018212419A1; KR102358694B1; KR20180126178A

Abstract

The present embodiment relates to a camera driving apparatus, a photographing apparatus, and a flying apparatus, the camera apparatus including: a base; a support portion spaced downwardly from the base; an elastic part arranged between the base and the supporting part; and a driving part disposed between the base and the supporting part, and spaced apart from the elastic part and positioned, wherein the driving part includes a magnet part disposed on the supporting part and a coil part disposed on the base to face the supporting part.

Description

Camera driving device, photographing device and flying device

Technical Field

The teachings according to the exemplary and non-limiting embodiments of this invention relate generally to camera drives, cameras, and flying devices.

Background

This section provides background information related to the invention, which is not necessarily prior art.

The unmanned aerial vehicle is an unmanned flying device equipped with a camera module, a sensor, a communication system, and the like. Recently, with various and diversified demands of consumers, unmanned aerial vehicles are widely used for aerial photographing, measurement, and Tong Cheng (kidult) products by being coupled with camera modules and sensor modules.

However, the unmanned aerial vehicle suffers from a disadvantage of degradation of photographing (photography) quality due to the camera moving or rotating by vibration generated during the flight of the unmanned aerial vehicle.

Disclosure of Invention

Technical purpose

Exemplary embodiments of the present invention will provide a camera driving apparatus configured to place a camera in a proper position during vibration of a flying apparatus, a photographing apparatus, and a flying apparatus.

Technical proposal

The camera driving apparatus according to an exemplary embodiment of the present invention includes: a base; a support portion spaced downwardly from the base; an elastic part arranged between the base and the supporting part; and a driving part disposed between the base and the supporting part, and spaced apart from the elastic part and positioned, wherein the driving part includes a magnet part disposed on the supporting part and a coil part disposed to face the supporting part on the base.

The first main board is arranged on the base and is electrically connected with the coil part.

The magnet portion includes a first magnet and a second magnet symmetrically disposed based on a vertical central axis of the support portion, and a third magnet and a fourth magnet symmetrically disposed based on a vertical central axis of the support portion and having a gap from the first magnet and the second magnet, wherein the coil portion includes a first coil facing the first magnet in the vertical direction, a second coil facing the second magnet in the vertical direction, a third coil facing the third magnet in the vertical direction, and a fourth coil facing the fourth magnet in the vertical direction.

The first magnet and the second magnet are spaced apart from each other in the left-right direction and extend in the front-rear direction, the third magnet and the fourth magnet are spaced apart from each other in the front-rear direction and extend in the left-right direction, wherein polarities of the first magnet, the second magnet, the third magnet and the fourth magnet are disposed in the up-down direction, polarities of the first magnet and the second magnet are disposed the same, polarities of the third magnet and the fourth magnet are disposed the same, polarities of the first magnet and the fourth magnet are disposed different, wherein the first coil and the second coil are spaced apart from each other in the left-right direction, coil cores of the first coil and the second coil extend in the front-rear direction, the third coil and the fourth coil are spaced apart from each other in the front-rear direction, and coil cores of the third coil and the fourth coil extend in the front-rear direction.

The elastic portion includes first and second elastic members symmetrically disposed based on a central axis in a vertical direction of the support portion, and third and fourth elastic members symmetrically disposed based on a central axis in the vertical direction of the support portion and having a gap with the first and second elastic members, wherein the support portion is elastically supported in the vertical direction by the first, second, third and fourth elastic members.

The rotary part is provided on the support part and rotates based on the up-down direction axis, the front-back direction axis, and the left-right direction axis.

The rotating part includes: a first motor portion, a second motor portion, and a third motor portion; a first connecting member rotatably connected to the first motor part at one side and provided with a second motor part at the other side; and a second connection member rotatably connected with the second motor part at one side and provided with a third motor part at the other side, wherein the first motor part is provided on the support part to be spaced apart from the magnet part, and wherein the camera is rotatably connected with the third motor part.

The first motor part includes a first rotating member rotating based on an up-down direction axis, and the first connecting member rotates by being connected to the first rotating member, wherein the second motor part includes a second rotating member rotating based on a front-back direction axis, and the second connecting member rotates by being connected to the second rotating member, wherein the third motor part includes a third rotating member rotating based on a left-right direction axis, and the camera rotates by being connected to the third rotating member.

The photographing apparatus of the present embodiment includes: a base; a support spaced downwardly from the base; a camera connected to the support portion; an elastic part arranged between the base and the supporting part; and a driving part disposed between the base and the supporting part and spaced apart from the elastic part and positioned, and wherein the driving part includes a magnet part disposed on the supporting part and a coil part disposed to face the supporting part on the base.

The flying device of the present embodiment includes: a main body; a motor part arranged at one side of the main body for lifting the main body; and a photographing device provided at the other side of the main body, wherein the photographing device includes: a base; a support spaced downwardly from the base; a camera connected to the support portion; an elastic part arranged between the base and the supporting part; and a driving part disposed between the base and the supporting part, spaced apart from the elastic part, and positioned, wherein the driving part includes a magnet part disposed on the supporting part and a coil part disposed to face the supporting part on the base.

Technical effects

The elastic part and the driving device in the camera driving device according to the exemplary embodiment of the present invention can compensate for x, y, and z-direction movements generated by vibration of the flying device. In addition, the rotation section may compensate for x, y, z axis rotation generated by the vibration of the flying device. Thus, the image quality of the camera can be improved by photographing the camera at an appropriate position regardless of the vibration of the flying device.

Drawings

Fig. 1 is a perspective view illustrating a flying apparatus according to an exemplary embodiment of the present invention.

Fig. 2 is a perspective view illustrating a photographing device according to an exemplary embodiment of the present invention.

Fig. 3 is a perspective view illustrating an elastic part and a driving part according to an exemplary embodiment of the present invention.

Fig. 4 is an exploded perspective view illustrating a flying apparatus according to an exemplary embodiment of the present invention.

Fig. 5 is an exploded perspective view illustrating a first connection member, a second motor plate, and a second motor part according to an exemplary embodiment of the present invention.

Fig. 6 is an exploded perspective view illustrating a second connection member, a third motor plate, and a third motor part according to an exemplary embodiment of the present invention.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

Some exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In describing the reference numerals of each element, the same reference numerals will be assigned to the same elements if possible, although they are differently shown in other drawings.

In addition, if understanding of the exemplary embodiments of the present invention is hindered, detailed description of some elements will be omitted when described in the exemplary embodiments of the present invention.

In describing elements in exemplary embodiments of the present invention, the terms first, second, A, B, (a), (b), etc. may be used. These terms may be only used to distinguish one element from another element and are not limited in nature, order, or sequence by these terms. When an element is referred to as being "accessed," "coupled to," or "connected to" another element, it should be understood that the element can be directly accessed, connected, or coupled to the other element or intervening elements may be present therebetween.

Hereinafter, for convenience, the "first direction" is defined as the "Z-axis direction" or the "up-down direction" described in the drawings. Further, "the second direction" is defined as "the x-axis direction" or "the front-rear direction" described in the drawings. Further, "third direction" is defined as "y-axis direction" or "left-right direction" described in the drawings. That is, the "first direction", "second direction", and "third direction" may be disposed mutually and perpendicularly based on an orthogonal coordinate system.

In this case, the "first direction" and the "second direction" may be perpendicular to each other, and the "third direction" may be disposed perpendicular to the "first direction" and the "second direction" all.

However, it should be clear that the above arrangement is an example for ease of explanation, and thus does not mean that the "first direction", "second direction" and "third direction" must be arranged vertically. That is, the "first direction" and the "second direction" may be disposed at an angle inclined to each other instead of 90 °, and the "third direction" may be disposed at an angle inclined to each other instead of 90 ° with respect to the "first direction" and the "second direction".

Hereinafter, a flying apparatus according to an exemplary embodiment of the present invention will be described with reference to the accompanying drawings.

Fig. 1 is a perspective view showing a flying apparatus 1 according to an exemplary embodiment of the present invention.

The flying device 1 may be an unmanned aerial vehicle. The user may control the flying device 1 using a wireless (radio) terminal (not shown). The flying apparatus 1 may include a main body 10, a motor part 20, and a photographing apparatus 1000.

The main body 10 may be an external member, wherein one side of the main body 10 may be provided with the motor part 20, and the other side (lower side) of the main body 10 may be provided with the photographing device 1000. Further, the main body 10 may be provided therein with an ECU (electronic control unit, not shown).

The motor part 20 may be a plurality of propeller units, each of which is disposed symmetrically to each other about a vertical central axis. The body 10 may fly by rotation of the propeller.

The photographing device 1000 may be disposed under the main body 10. The photographing device 1000 may control the posture of the camera 600 regardless of the vibration of the main body 10. Thereby, the camera 600 can take a picture in a state where the posture is proper.

The ECU may perform wireless communication with a radio terminal controlled by a user. The ECU may be electrically connected with the respective electronic components of the flying apparatus 1 and the photographing apparatus 1000. The ECU may receive various control signals by wireless communication with a wireless terminal controlled by a user, and these control signals may then be transmitted to the electronic component and the photographing device 1000, so that the electronic component and the photographing device 1000 may be controlled.

Hereinafter, a photographing apparatus 1000 according to an exemplary embodiment of the present invention will be described with reference to the accompanying drawings.

Fig. 1 is a perspective view illustrating a flying apparatus according to an exemplary embodiment of the present invention, fig. 2 is a perspective view illustrating a photographing apparatus according to an exemplary embodiment of the present invention, fig. 3 is a perspective view illustrating an elastic part and a driving part according to an exemplary embodiment of the present invention, fig. 4 is an exploded perspective view illustrating a flying apparatus according to an exemplary embodiment of the present invention, fig. 5 is an exploded perspective view illustrating a first connection member, a second motor plate, and a second motor part according to an exemplary embodiment of the present invention, and fig. 6 is an exploded perspective view illustrating a second connection member, a third motor plate, and a third motor part according to an exemplary embodiment of the present invention.

The photographing device 1000 may be a "camera driving device" to which the camera 600 is mounted. That is, when the camera 600 is separated from the photographing device 1000, it may be referred to as a "camera driving device".

The photographing device 1000 according to an exemplary embodiment of the present invention may cancel out the "first direction (z-axis)" motion, the "second direction (x-axis)" motion, the "third direction (y-axis)" motion, the "first direction" rotation (z-axis, roll), "second direction" rotation (x-axis, pitch), and the "third direction" rotation (y-axis, yaw) generated by the vibration of the flying device 1. Thereby, the camera 600 can perform shooting (camera attitude control) in a properly positioned state.

The photographing device 1000 may include: the base 100, the supporting part 200, the elastic part 300, the driving part 400, the rotating part 500, the camera 600, the first main board 710, the second main board 720, the first connection board 730, the second connection board 740, the third connection board 750, the second motor board 760, the third motor board 770, the motion detecting part 800, and the rotation detecting part 900.

The base 100 may be an external member and may be disposed under the body 10. The base 100 may be coupled with the body 10 or may be integrally formed with the body 10. Accordingly, vibrations generated during the flight of the main body 10 may be transmitted to the base 100. That is, the base 100 may vibrate integrally with the body 10. The base 100 may take the shape of a square plate.

The first main board 710 may be disposed inside the base 100 or on the base 100. That is, the inside of the base 100 may be provided with an inner space for accommodating the first main board 710.

Meanwhile, when the first main board 710 is disposed on the base 100, the main body 10 may be provided with an inner space whose bottom side is opened. The first main board 710 may be received into the inner space of the main body 10, and a lower bottom opening of the main body 10 may be covered by the base 100. Thus, the first main board 710 may be embedded in the closed space to be protected from external influences.

The base 100 may be provided at its lower side with a support 200 across the gap. The elastic part 300, the driving device 400, and the motion detection part 800 may be disposed between the base 100 and the support part 200.

The support 200 may be an external member and may be spaced downward from the base 100. The support part 200 may be connected to the camera 600 through the rotation part 500. The support 200 may support the camera 600. The support 200 may take the shape of a hollow cube.

Hereinafter, the elastic part 300 will be described with reference to fig. 3. The photographing device 1000 according to an exemplary embodiment of the present invention may counteract a "first direction (z-axis)" motion of the camera generated by the flying vibration through the elastic driving of the elastic part 300.

The elastic part 300 may be interposed between the base 100 and the support part 200. The elastic part 300 may elastically support the support part 200 by being coupled to the base 100 and the support part 200. The elastic part 300 may counteract a "first direction (z-axis)" movement of the support part 200 generated by the vibration by elastically supporting the support part 200. The elastic part 300 may include a first elastic member 310, a second elastic member 320, a third elastic member 330, and a fourth elastic member 340.

Each of the first, second, third and fourth

elastic members

310, 320, 330 and 340 may take the form of a vertically extending cylinder. Each of the first, second, third, and fourth

elastic members

310, 320, 330, and 340 is elastically deformable in a "first direction (z-axis)". The upper ends of the first, second, third and fourth

elastic members

310, 320, 330 and 340 may be coupled with the lower surface of the base 100, and the lower end may be coupled with the upper surface of the support part 200 to elastically connect the base 100 and the support part 200 in the up-down direction. Thus, the supporting part 200 may be elastically supported by the first, second, third and fourth

elastic members

310, 320, 330 and 340 in the "first direction (z-axis, up-down direction)".

The first and second

elastic members

310 and 320 may be symmetrically disposed across the gap around the vertical central axis of the support 200. The third and fourth

elastic members

330 and 340 may be symmetrically disposed across the gap around the vertical central axis of the support 200. In this case, the first and second

elastic members

310 and 320 may be spaced apart from the third and fourth

elastic members

330 and 340 across a gap.

The first, second, third and fourth

elastic members

310, 320, 330 and 340 may be disposed on each corner of the support 200, respectively. In this case, the first elastic member 310 may be disposed on the corner between the first coil 410 and the third coil 430 and the corner between the first magnet 450 and the third magnet 470. The second elastic member 320 may be disposed on a corner between the second coil 420 and the fourth coil 440 and on a corner between the second magnet 460 and the fourth magnet 480. The third elastic member 330 may be disposed on a corner between the second coil 420 and the third coil 430 and on a corner between the second magnet 460 and the third magnet 470. The fourth elastic member 340 may be disposed on a corner between the first coil 410 and the fourth coil 440 and on a corner between the first magnet 450 and the fourth magnet 480.

The "first direction (z axis)" movement of the support part 200 generated by the flying vibration can be prevented by the elastic member 300 according to the exemplary embodiment of the present invention. This is because the supporting portion 200 is elastically supported in the "first direction (z-axis, up-down direction)" by the elastic portion 300. Thus, the camera 600 can perform shooting in a stable state in the "first direction (z-axis, up-down direction)".

Hereinafter, the driving device 400, the first main board 710, and the motion detecting portion 800 will be described with reference to fig. 3 and 4. The photographing apparatus 1000 according to an embodiment of the present invention may cancel the "second direction (x-axis)" movement and the "third direction (y-axis)" movement of the camera 600 generated by the flying vibration in response to the electromagnetic driving of the driving apparatus 400, the first main board 710, and the movement detecting part 800.

Now, the driving part 400 will be described first.

The driving part 400 may be interposed between the base 100 and the supporting part 200. The driving part 400 may be electrically connected to the first main board 710. The driving part 400 may counteract the "second direction (x-axis)" movement and the "third direction (y-axis)" movement of the camera 600 generated by the flying vibration by moving the supporting part 200 in response to the electromagnetic interaction with the coil part and the magnet part. The driving part 400 may include a coil part and a magnet part.

The coil part may be disposed at the lower surface of the base 100. The coil part may be disposed to face the magnet part. The coil part may be disposed to face the upper surface of the support part. The coil part may be electrically connected to the first main board 710. The coil part may move the support part 200 in the "second direction (x-axis)" and the "third direction (y-axis)" in response to electromagnetic interaction with the magnet part. The coil part may include a first coil 410, a second coil 420, a third coil 430, and a fourth coil 440.

Each of the first, second, third and

fourth coils

410, 420, 430 and 440 may be formed using a lead cable (not shown) and extend to the second main board 720. Lead cables respectively extending from the first, second, third and

fourth coils

410, 420, 430 and 440 may be mounted on the second main board 720. Accordingly, each of the first, second, third and

fourth coils

410, 420, 430 and 440 may be electrically connected to the second main board 720.

The first coil 410 and the second coil 420 may be symmetrically disposed across the mutual gap based on the vertical central axis of the support 200. The third coil 430 and the fourth coil 440 may be symmetrically disposed across the mutual gap based on the vertical central axis of the support 200. The first coil 410 and the second coil 420 may be disposed across a mutual gap with the third coil 430 and the fourth coil 440.

The first coil 410 may be disposed along the right side of the lower surface of the base 100. The second coil 420 may be disposed along the left side of the lower surface of the base 100. The third coil 430 may be disposed along a front side of the lower surface of the base 100. The fourth coil 440 may be disposed along a rear side of the lower surface of the base 100.

The first coil 410 and the second coil 420 may be spaced apart from each other in the left-right direction. In this case, the coil cores of the first coil 410 and the second coil 420 may take a shape extending in the rear direction. The third coil 430 and the fourth coil 440 may be spaced apart from each other in the front-rear direction. In this case, the coil cores of the third coil 430 and the fourth coil 440 may take a shape extending in the left-right direction.

The first coil 410 may face the first magnet 450 in the up-down direction. The second coil 420 may face the second magnet 460 in the up-down direction. The third coil 430 may face the third magnet 470 in the up-down direction. The fourth coil 440 may face the fourth magnet 480 in the up-down direction.

The magnet portion may be disposed on an upper surface of the support portion 200. The magnet portion may be disposed to face the lower surface of the base. The magnet portion may be disposed to face the coil portion. The magnet portion may move the support portion 200 in the "second direction (x-axis)" and the "third direction (y-axis)" in response to electromagnetic interaction with the coil portion. The magnet portion may include a first magnet 450, a second magnet 460, a third magnet 470, and a fourth magnet 480.

The first magnet 450 and the second magnet 460 may be symmetrically disposed across the mutual gap based on the vertical central axis of the support 200. The third magnet 470 and the fourth magnet 480 may be symmetrically disposed across the mutual gap based on the vertical central axis of the support 200. The first magnet 450 and the second magnet 460 may be disposed across a gap with the third magnet 470 and the fourth magnet 480.

The first magnet 450 may be disposed along the right side of the lower surface of the support 200. The second magnet 460 may be disposed along the left side of the lower surface of the support 200. The third magnet 470 may be disposed along the front side of the lower surface of the support 200. The fourth magnet 480 may be disposed along a rear side of the lower surface of the support 200.

The first magnet 450 and the second magnet 460 may be spaced apart from each other in the left-right direction. The first magnet 450 and the second magnet 460 may take a shape extending in the front-rear direction. The third magnet 470 and the fourth magnet 480 may be spaced apart from each other in the front-rear direction. The third magnet 470 and the fourth magnet 480 may take a shape extending in the left-right direction.

Each polarity of the first, second, third and

fourth magnets

450, 460, 470 and 480 may be disposed in the up-down direction. That is, the upper and lower polarities of the first, second, third and

fourth magnets

450, 460, 470 and 480 may be different from each other. The polarity arrangement of the first magnet 450 and the polarity arrangement of the second magnet 460 may be the same. The polarity arrangement of the third magnet 470 and the polarity arrangement of the fourth magnet 480 may be the same. The polar arrangement of the first magnet 450 and the polar arrangement of the second magnet 460 may be different from each other. For example, the upper surface of the first magnet 450 and the upper surface of the second magnet 460 may be N poles, and the lower surface of the first magnet 450 and the lower surface of the second magnet 460 may be S poles. In this case, the upper surface of the third magnet 470 and the upper surface of the fourth magnet 480 may be S-poles, and the lower surface of the third magnet 470 and the lower surface of the fourth magnet 480 may be N-poles.

Hereinafter, the first main board 710 will be described. The first main board 710 may be disposed inside the base 100. Conversely, the first main board 710 may be provided at the upper surface of the base 100 to allow it to be provided inside the main body 10 when the flying device 1 is mounted with the gimbal device 1000. In this case, the lower surface of the first main board 710 may be covered by the base 100.

The first main board 710 may be electrically connected with the ECU of the flying apparatus 1. The first motherboard 710 may be electrically connected to the second motherboard 720. The first main board 710 may be electrically connected to the driving device 400. The first main board 710 may be electrically connected to the first, second, third and

fourth coils

410, 420, 430 and 440. The first main board 710 may be electrically connected to the motion detection part 800. In this case, the first main board 710 and the motion detection part 800 may be electrically connected via separate wires. Alternatively, the first main board 710 may be directly soldered through the motion detecting part 800.

The first main board 710 may be mounted with various control units in a chip shape to allow various control functions to be performed. The first main board 710 may receive current from the ECU of the flying device 1. The first main board 710 may receive an image signal of the camera 600 from the second main board 720. The first main board 710 may transmit an image signal to the ECU of the flying apparatus 1. The ECU may convert the image signal and display the converted image signal on the mobile terminal of the user.

The first main board 710 may receive the "motion information signal" from the motion detection part 800. The first main board 710 may apply current to the first, second, third and

fourth coils

410, 420, 430 and 440 by determining a "motion information signal". In this case, the first main board 710 may control the driving apparatus 400 by adjusting the direction, intensity, and wavelength of the current so as to correspond to the "motion information signal".

Hereinafter, the motion detecting section 800 will be described. The motion detection part 800 may output a "motion information signal" by detecting the motion of the support part 200. The "motion information signal" may be a signal related to the motion direction and the motion distance of the support 200 based on the "second direction (x-axis)" and the "third direction (y-axis)". The motion detection part 800 may transmit the "motion information signal" to the first main board 710.

The motion detection part 800 may be mounted on the first main board 710. Alternatively, the motion detecting part 800 may be interposed between the base 100 and the supporting part 200. In this case, the motion detecting part 800 may be disposed across a gap with the elastic part 300 and the driving part 400.

When the motion detecting part 800 is interposed between the base 100 and the supporting part 200, the motion detecting part 800 may be electrically connected to the first main board 710 via a separate wire (not shown).

The motion detection portion 800 may be a plurality of "hall sensors". The movement detecting part 800 may detect the movement of the support part 200 by detecting the magnetic forces of the first magnet 450, the second magnet 460, the third magnet 470, and the fourth magnet 480. The plurality of "hall sensors" may be formed to correspond to the first magnet 450, the second magnet 460, the third magnet 470, and the fourth magnet 480 on a one-to-one basis. Each of the plurality of "hall sensors" may be disposed to correspond to each of the first magnet 450, the second magnet 460, the third magnet 470, and the fourth magnet 480 based on the up-down direction, the front-back direction, or the left-right direction.

When the flight vibration is generated in the second direction (x-axis) and the third direction (y-axis), the motion detecting part 800 may detect the second direction (x-axis) and the third direction (y-axis) of the supporting part 200, and may output a "motion information signal" corresponding thereto. The first main board 710 may control the driving part 400 by receiving the "motion information signal". The driving part 400 may counteract the vibration by moving the supporting part 200 in a direction opposite to the moving direction of the supporting part 200 detected by the motion detecting part 800. Thus, the camera 600 can perform photographing while maintaining an appropriate stable state.

More specifically, when the flying vibration is generated in the second direction (x-axis), the first magnet 450 and the second magnet 460 may move the support 200 in the second direction (x-axis) in response to the electromagnetic interaction between the first coil 410 and the second coil 420 under the control of the second main board 710. Thereby, the flight vibration can be canceled, and the camera 600 can take a picture in the second direction (x-axis) in a stable state.

Further, when the flying vibration is generated in the third direction (y-axis), the third magnet 470 and the fourth magnet 480 may move the support 200 in the third direction (y-axis) in response to the electromagnetic interaction between the third coil 430 and the fourth coil 440 under the control of the second main board 710. Thereby, the flight vibration can be canceled, and the camera 600 can take a photograph in the third direction (y-axis) in a stable state.

Hereinafter, the rotation part 500, the camera 600, the second main board 720, the first connection board 730, the second connection board 740, the third connection board 750, the second motor board 760, the third motor board 770, and the rotation detecting part 900 will be described with reference to fig. 4, 5, and 6.

Although the "first direction (z axis)" movement, "the" second direction (x axis) "movement, and the" third direction (y axis) "movement of the camera 600 caused by the vibration of the flying apparatus 1 can be prevented by the elastic part 300 and the driving part 400, the problems of the" first direction (z axis) "rotation," the "second direction (x axis)" rotation, and the "third direction (y axis)" rotation of the camera 600 remain.

In order to prevent these problems, the flying apparatus 1000 according to the exemplary embodiment of the present invention has offset the "first direction (z-axis)" rotation, "second direction (x-axis)" rotation, and "third direction (y-axis)" rotation of the camera 600 by using the electromagnetic drive of the rotating part 500, the second main board 720, the first connecting board 730, the second connecting board 740, the third connecting board 750, the second motor board 760, the third motor board 770, and the rotation detecting part 900.

First, the rotating part 500 will be described. The rotation part 500 may be interposed between the support part 200 and the camera 600. The rotation part 500 may connect the support part 200 and the camera 600. The rotation part 500 may rotatably support the camera 600. The rotating section 500 may rotate the camera 600 based on the "first direction (z-axis, up-down direction axis)", "second direction (x-axis, front-rear direction axis)", and "third direction (y-axis, left-right direction axis)", to cancel out the "first direction (z-axis, up-down direction axis)", the "second direction (x-axis, front-rear direction axis)", and the "third direction (y-axis, left-right direction axis)". The rotating part 500 may include a first motor part 510, a second motor part 520, a third motor part 530, a first connection member 540, and a second connection member 550.

Hereinafter, the first motor part 510 will be described with reference to fig. 4.

The first motor part 510 may be disposed at a lower surface of the support part 200. At least a portion of the first motor part 510 may be disposed inside the support part 200. The first motor part 510 may be connected to the first connection member 540. The first motor part 510 may be electrically connected to the second main board 720. The first motor part 510 may rotate the camera 600 by rotatably driving the camera in a "first direction (z-axis, up-down direction axis)". The first motor part 510 may include a first motor 511, a first rotary member 512, and a first motor housing 513.

The first motor 511 may be disposed inside the support part 200 by being electrically connected to the second main board 720. The first motor 511 may be housed in a first motor housing 513. The first motor housing 513 may be provided at a lower surface of the support part 200 and extend downward to take a hollow cylindrical shape with an open bottom. The first motor housing 513 may be integrally formed with the support 200.

The first motor 511 may include a first shaft 511-1 that rotates about a "first direction (z-axis, up-down direction axis)".

The first rotation member 512 may be rotated in a "first direction (z-axis, up-down direction axis)" by being connected to the first shaft 511-1. The first rotary member 512 may be accommodated into the first motor housing 513. The first rotating member 512 may be provided therein with a first motor 511 having a hollow cylindrical shape extending vertically. The first rotary member 512 may be open at an upper side and formed with a lower surface at a lower side. An inner side of a lower surface of the first rotation member 512 may be connected to the first shaft 511-1. An outer side of the lower surface of the first rotary member 512 may be exposed to the outside through a lower side opening of the first motor housing 513. An outer side of the lower surface of the first rotating member 512 may be connected to a first rotating bracket 541 of the first connecting member 540.

The driving of the first motor 511 may be transmitted to the first connection member 540 through the first rotation member 512. By the rotation of the first connection member 540, the camera 600 can be rotated about a "first direction (z-axis, up-down direction axis)".

Now, the second motor part 520 will be described with reference to fig. 4 and 5.

The second motor part 520 may be disposed on the first connection member 540. The second motor part 520 may be connected to the second connection member 550. The second motor part 520 may be electrically connected to the second motor plate 760. The second motor part 520 may rotate the camera 600 by rotating in a "second direction (x-axis, front-rear direction axis)". The second motor part 520 may include a second motor 521, a second rotary member 522, and a second motor housing 523.

The second motor 521 may be disposed on the first connection member 540 by being electrically connected to the second motor plate 760. The second motor 521 may be accommodated in the second motor housing 523. The second motor housing 523 may be provided on the first motor bracket 543 of the first connection member 540, and extend in a forward direction, and may take the shape of a hollow cylinder with an open front. To facilitate the assembly process, the second motor housing 523 may be divided into a first portion 523-1 and a second portion 523-2. The first portion 523-1 and the second portion 523-2 may employ a sectional shape of the second motor housing 523 based on a horizontal surface.

The second motor 521 may include a second shaft 521-1 rotating about a "second direction (x-axis, front-rear direction axis)".

The second rotation member 522 is rotatable in a "second direction (x-axis, front-rear direction axis)" by being connected to the second shaft 521-1. The second rotary member 522 may be accommodated in the second motor housing 523. The second rotating member 522 may be provided therein with a second motor 521 having a hollow cylindrical shape extending forward/backward. The rear side of the second rotation member 522 may be open, and a front side surface may be formed at the front side. An outer side of the front side surface of the second rotary member 522 may be exposed to the outside through a front opening of the second motor housing 523. An outer side of the front side surface of the second rotating member 522 may be connected to a second rotating bracket 551 of the second connecting member 550.

The driving of the second motor 521 may be transmitted to the second connection member 550 through the second rotation member 522. By the rotation of the second connection member 550, the camera 600 can be rotated around the "second direction (x-axis, front-rear direction axis)".

Now, the third motor part 530 will be described with reference to fig. 4 and 6.

The third motor part 530 may be disposed on the second connection member 550. The third motor part 530 may be connected to the camera 600. The third motor part 530 may be electrically connected to the third motor plate 770. The third motor part 530 may rotate the camera 600 by rotating in a "third direction (y-axis, left-right direction axis)". The third motor part 530 may include a third motor 531, a third rotating member 532, and a third motor case 533.

The third motor 531 may be disposed on the second connection member 550 by being electrically connected to the third motor plate 770. The third motor 531 may be accommodated in the third motor housing 533. The third motor housing 533 may be provided on the second motor bracket 553 of the second connection member 550, extend leftwards, and may take the shape of a hollow cylinder having an open left side. For convenience of the assembly process, the third motor housing 533 may be divided into a third portion 533-1 and a fourth portion 533-2. The third portion 533-1 and the fourth portion 533-2 may take the shape of a cut-out of the third motor housing 533 based on a vertical surface.

The third motor 531 may include a third shaft 531-1 rotated around a "third direction (y-axis, left-right direction axis)".

The third rotating member 532 may be rotated in a "third direction (y-axis, left-right direction axis)" by being connected to the third axis 531-1. The third rotating member 532 may be accommodated in the third motor housing 533. The third rotating member 532 may be provided therein with a third motor 531 having a hollow cylindrical shape extending left/right. The right side of the third rotating member 532 may be open and the left side may be formed at the left surface. An outer side of the left side surface of the third rotating member 532 may be exposed to the outside through a left side opening of the third motor housing 533. An outer side of the left side surface of the third rotating member 532 may be connected to the camera 600.

The driving of the third motor 531 may be transmitted to the camera 600 through the third rotating member 532. The camera 600 is rotatable about a "third direction (y-axis, left-right direction axis)".

Now, the first connection member 540 will be described with reference to fig. 4 and 5.

The first connection member 540 may connect the first motor part 510 and the second motor part 520. One side of the first connection member 540 may be rotatably connected with the first motor part 510. The other side of the first connection member 540 may be provided with the second motor part 520. The first connection member 540 may perform a function of transmitting the driving of the first motor part 510 to the camera 600 and a function of supporting the second motor part 520. The first connection member 540 may include a first rotation bracket 541, a first extension member 542, and a second motor bracket 543.

The first rotating bracket 541 may be disposed at an upper side of the first connection member 540. The first rotating bracket 541 may take the shape of a disk having two surfaces vertically facing each other. The first rotating bracket 541 may be connected to the first rotating member 512. The driving force of the first motor 511 may be transmitted to the first rotating bracket 541 through the first rotating member 512. Thus, the first connection member 540 is rotatable about the "first direction (z-axis, up-down direction axis)". In this case, the camera 600 may be integrally rotated with the first connection member 540.

The first extension member 542 may connect the first rotating bracket 541 and the second motor bracket 543. The first extension member 542 may extend downward from the first rotation bracket 541. An upper end of the first extension member 542 may be connected to the first rotation bracket 541, and a lower end of the first extension member 542 may be connected to the second motor bracket 543.

The second motor bracket 543 may be disposed at the lower side of the first connection member 540. The second motor bracket 543 may take the shape of a disk horizontally having two surfaces facing each other. The second motor bracket 543 may be mounted with the second motor part 520.

The second connection member 550 will now be described with reference to fig. 4 and 6.

The second connection member 550 may connect the second motor part 520 and the third motor part 530. One side of the second connection member 550 may be rotatably connected with the second motor part 520. The other side of the second connection member 550 may be provided with a third motor part 530. The second connection member 550 may perform a function of transmitting the driving of the second motor part 520 to the camera 600 and a function of supporting the third motor part 530. The second connection member 550 may include a second rotation bracket 551, a second extension member 552, and a third motor bracket 553.

The second rotating bracket 551 may be disposed at the left side of the second connection member 550. The second rotating bracket 551 may take the shape of a disk having two surfaces horizontally facing each other. The second rotating bracket 551 may be connected to the second rotating member 522. The driving force of the second motor 521 may be transmitted to the second rotating bracket 551 through the second rotating member 522. Thus, the second connection member 550 is rotatable about the "second direction (x-axis, front-rear direction axis)". In this case, the camera 600 may be integrally rotated with the second connection member 550.

The second extension member 552 may connect the second rotating bracket 551 and the third motor bracket 553. The second extension member 552 may extend from the second rotating bracket 551 to the right side. The left end of the second extension member 552 may be connected to the second rotating bracket 551, and the right end of the second extension member 552 may be connected to the third motor bracket 553.

The third motor bracket 553 may be disposed at the right side of the second connection member 550. The third motor bracket 553 may take the shape of a disk horizontally having two surfaces facing each other. The third motor bracket 553 may be mounted with a third motor part 530.

Now, the second main board 720 will be described.

The second main board 720 may be disposed inside the support part 200. The second motherboard 720 may be electrically connected to the first motherboard 710. The second main board 720 may be electrically connected to the first motor 511. In this case, the first motor 511 may be mounted on the second main board 720.

The second main board 720 may be electrically connected to the first connection board 730. The second main board 720 may be electrically connected to the second motor board 760 through the first connection board 730. The second main board 720 may be electrically connected to the third connection board 750 through the second motor board 760. The second main board 720 may be electrically connected to the third motor board 770 through the third connection board 750. The second main board 720 may be electrically connected to the third connection plate 750 and the rotation detecting part 900 through the third motor board 770. The second main board 720 may be electrically connected to the camera 600 through the third connection board 750.

The second main board 720 may be mounted with various control units in a chip shape to perform various control functions. The second main board 720 may turn on or off the power of the camera 600, or receive an image signal of the camera 600 and transmit the received image signal to the first main board 710.

The second main board 720 may receive the "rotation information signal" from the rotation detecting section 900. The second main board 720 may recognize the "rotation information signal" and may apply current to the first motor 511, the second motor 521, and the third motor 531. In this case, the second main board 720 may control the first motor 511, the second motor 521, and the third motor 531 by adjusting the direction, intensity, and wavelength of the current in response to the "rotation information signal".

Now, the first connection plate 730 will be described with reference to fig. 4.

The first connection board 730 may be an FPCB (flexible printed circuit board). The first connection plate 730 may include a first rolling portion 731, a first terminal portion 732, and a second terminal portion 733.

The first rolling part 731 may be a flexible board that rolls (winds) around the "first direction (Z-axis, up-down direction)". The first rolling portion 731 may be accommodated in the inside of the first motor housing 513. In this case, the first rotating member 512 may be disposed inside the first rolling portion 731. That is, the first rotary member 512, the first rolling portion 731, and the first motor housing 513 may be disposed in order from the radially inner side.

The distal end of the first rolling portion 731 may be provided with a first terminal portion 732. The first terminal portion 732 may extend upward from the distal end of the first rolling portion 731 to be electrically connected with the second main board 720.

The other distal end of the first rolling portion 731 may be provided with a second terminal portion 733. The second terminal part 733 may extend downward from the other distal end of the first rolling part 731 to be electrically connected with the second motor plate 760. In this case, the second terminal part 733 may be received into the inside of the first extension member 542 to extend to the second motor bracket 543 where the second motor plate 760 is disposed.

When the first connection member 540 rotates, the first terminal part 732 may be fixed and the second terminal part 733 may rotate. Thereby, the first rolling portion 731 may twist due to a rotational phase difference between the first terminal portion 732 and the second terminal portion 733. However, in the present exemplary embodiment of the present invention, since the first rolling part 731 is wound or rewound like a clockwork when the first connection member 540 rotates, no torsion is generated. Accordingly, although there is torsion of the first connection plate 730, frictional resistance increases.

The second connection plate 740 will now be described with reference to fig. 4.

The second connection board 740 may be an FPCB (flexible printed circuit board). The second connection plate 740 may include a second rolling portion 741, a third terminal portion 742, and a fourth terminal portion 743.

The second rolling part 741 may be a flexible plate that rolls (winds) around the "second direction (x-axis, front-rear direction)". The second rolling part 741 may be accommodated into the inside of the second motor housing 523. In this case, the second rotating member 522 may be disposed inside the second rolling portion 741. That is, the second rotating member 522, the second rolling portion 741, and the second motor housing 523 may be disposed in order from the radially inner side.

The distal end of the second rolling part 741 may be provided with a third terminal part 742. The third terminal portion 742 may extend rearward from the distal end of the second rolling portion 741 to be electrically connected to the second motor plate 760.

The other distal end of the second rolling part 741 may be provided with a fourth terminal part 743. The fourth terminal portion 743 may extend forward from the other distal end of the second rolling portion 741 to be electrically connected to the third motor plate 770. In this case, the fourth terminal portion 743 may be received into the interior of the second extension member 552 to extend to the third motor bracket 553 provided with the third motor plate 770.

When the second connection member 550 rotates, the third terminal portion 742 may be fixed and the fourth terminal portion 743 may rotate. Thereby, the second rolling portion 741 may twist due to a rotational phase difference between the third terminal portion 742 and the fourth terminal portion 743. However, in the present exemplary embodiment of the present invention, since the second rolling part 741 is wound or rewound like a spring device when the second connection member 550 rotates, no torsion is generated. Accordingly, although there is torsion of the second connection plate 740, frictional resistance increases.

Hereinafter, the second connection plate 750 will be described with reference to fig. 4.

The third connection board 750 may be an FPCB (flexible printed circuit board). The third connection plate 750 may include a third rolling portion 751, a fifth terminal portion 752, and a sixth terminal portion 753.

The third rolling portion 751 may be a flexible sheet rolled (wound) around a "third direction (y-axis, left-right direction)". The third rolling portion 751 may be accommodated into the inside of the third motor housing 533. In this case, the third rotating member 532 may be disposed inside the third rolling portion 751. That is, the second rotating member 522, the second rolling portion 741, and the second motor housing 523 may be disposed in order from the radially inner side.

The distal end of the third rolling portion 751 may be provided with a fifth terminal portion 752. The fifth terminal portion 752 may extend rightward from the distal end of the third rolling portion 751 to be electrically connected with the third motor plate 770.

The other distal end of the third rolling portion 751 may be provided with a sixth terminal portion 753. The sixth terminal portion 753 may extend leftward from the other distal end of the third rolling portion 751 to be electrically connected with the camera 600. In this case, the sixth terminal portion 753 may be accommodated into the inside of the camera 600.

When the camera 600 rotates, the fifth terminal portion 752 may be fixed and the sixth terminal portion 753 may rotate. Thereby, the third rolling portion 751 may twist due to a rotational phase difference between the fifth terminal portion 752 and the sixth terminal portion 753. However, in the present exemplary embodiment of the present invention, since the third rolling part 751 is wound or rewound like a spring device when the camera 600 rotates, no torsion is generated. Therefore, although there is torsion of the third connecting plate 750, frictional resistance increases.

Now, the second motor plate 760 and the third motor plate 770 are described with reference to fig. 4, 5 and 6.

The second motor plate 760 may be disposed inside the second motor bracket 543 of the first connection member 540. The third motor plate 770 may be disposed inside the third motor bracket 553 of the second connection member 550. Each of the second motor bracket 543 and the third motor bracket 553 may be provided with an inner space for accommodating the first motor plate 760 and the third motor plate 770, respectively. The second motor plate 760 may be electrically connected to the second motor 521 to provide a driving force to the second motor 521. The third motor plate 770 may be electrically connected to the third motor 531 to provide driving power to the third motor 531. Meanwhile, the third motor plate 770 may be mounted with a rotation detecting part 900 in the form of a chip.

Hereinafter, the rotation detecting section 900 will be described with reference to fig. 6.

The rotation detection unit 900 outputs a "rotation information signal" by detecting the rotation of the camera 600. The "rotation information signal" may be a signal related to the rotation angle of the camera 600 based on "a first direction (z-axis, up-down direction axis)", "a second direction (x-axis, front-rear direction axis)", and "a third direction (y-axis, left-right direction axis)". The rotation detecting section 900 may transmit the "rotation information signal" to the second main board 720.

The rotation detecting part 900 may be mounted on the third motor plate 770. This is because the third motor plate 770 is the plate closest to the camera 600, and the rotation of the camera 600 can be precisely measured. Alternatively, the rotation detecting section 900 may be directly provided inside the camera 600. The rotation detecting section 900 may be a gyro sensor or an acceleration sensor.

When the rotation is generated by the flight vibration, the second main board 720 may receive the "rotation information signal" and may thereby control the rotation part 500. The rotation part 500 may rotate the camera 600 in a direction opposite to the rotation direction of the camera 600 detected by the rotation detection part 900, thereby canceling the vibration. Thereby, the camera 600 can continue shooting while maintaining an appropriate steady state.

More specifically, when rotation is generated based on the flying vibration in the first direction (z-axis, up-down direction), the first motor part 510 may reversely rotate in response to the control of the second main board 720. Thereby, the rotation of the camera 600 can be canceled, and the camera 600 can take a picture in a stable state with respect to the rotation based on the first direction (z-axis, up-down direction). Further, the rotation caused by the flight vibration may be canceled based on the second direction (x-axis, front-rear direction axis) and the third direction (y-axis, left-right direction axis) as well, so that the camera 600 may perform photographing in a stable state for all rotation directions.

In summary, based on the foregoing discussion, the flying device 1000 is capable of maintaining a proper steady state with respect to x, y, z axis motion and rotation during flight oscillations. That is, control of the 6-axis motion can obtain a stable photographed image.

Meanwhile, the camera 600 in the flying apparatus 1000 according to the exemplary embodiment of the present invention is a concept including all of various photographing apparatuses including a camera module, and may be replaced by various detecting apparatuses (e.g., a fine dust sensor) according to various objects (e.g., climate prediction).

Although the present disclosure has been explained by combining all constituent elements forming an exemplary embodiment of the present disclosure in one embodiment or operating in one embodiment, the present disclosure is not limited thereto. That is, all elements may be operated by allowing one or more elements to be selectively combined as long as they are within the object of the present invention. Furthermore, unless otherwise described, terms such as "include," "comprising," "having," "including," and/or "including" as used herein mean that the relevant element is embedded such that the recited element is not excluded but may be further included.

Unless defined otherwise, all terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein. The foregoing description is intended only to illustrate the technical idea of the present invention, and therefore, it should be understood by those skilled in the art that various changes and modifications can be made to the above examples without departing from the scope of the present invention.

Accordingly, the exemplary embodiments disclosed by the present invention are not to limit the technical concept of the present invention but to illustrate the present invention, and thus the technical concept of the present invention is not limited by the exemplary embodiments. The scope of the invention should be construed by the appended claims, and all technical ideas within the equivalent scope should be construed to be included in the scope of the claims of the invention.

Claims

1. A camera driving apparatus comprising:

A base;

a support spaced downwardly from the base;

an elastic part arranged between the base and the supporting part;

a driving part disposed between the base and the supporting part, and spaced apart from and positioned with the elastic part; and

a rotating part which is provided on the supporting part and rotates based on an up-down direction shaft, a front-back direction shaft and a left-right direction shaft,

wherein the driving part includes a magnet part provided on the supporting part and a coil part provided to face the supporting part on the base,

wherein the rotating part includes: a first motor portion, a second motor portion, and a third motor portion; a first connecting member rotatably connected to the first motor part at one side and provided with a second motor part at the other side; a second connecting member rotatably connected to the second motor portion at one side and provided with a third motor portion at the other side,

wherein the first motor part is provided on the support part to be spaced apart from the magnet part,

wherein the camera is rotatably connected with the third motor part,

wherein the first motor part includes a first rotating member that rotates based on an up-down direction shaft, and the first connecting member rotates by being connected to the first rotating member,

Wherein the second motor part includes a second rotating member that rotates based on the front-rear direction shaft, and the second connecting member rotates by being connected to the second rotating member,

wherein the third motor part includes a third rotating member that rotates based on the left-right direction axis, and the camera rotates by being connected to the third rotating member,

wherein the first connection member includes a first rotary bracket provided on one side of the first connection member and connected with the first rotary member, a second motor bracket provided on the other side of the first connection member and mounted with the second motor part, and a first extension member extending from the first rotary bracket to the second motor bracket and connecting the first rotary bracket and the second motor bracket,

wherein the second connection member includes a second rotary bracket provided on one side of the second connection member and connected with the second rotary member, a third motor bracket provided on the other side of the second connection member and mounted with a third motor part, and a second extension member extending from the second rotary bracket to the third motor bracket and connecting the second rotary bracket and the third motor bracket,

the camera driving device further comprises a second main board arranged on the inner side of the supporting part, a second motor board arranged on the inner side of the second motor support and electrically connected with the second motor part, a third motor board arranged on the inner side of the third motor support and electrically connected with the third motor part, a first connecting board electrically connected with the second main board and the second motor board, a second connecting board electrically connected with the second motor board and the third motor board, and a third connecting board electrically connected with the third motor board and the camera.

2. The camera driving apparatus according to claim 1, comprising a first main board provided on the base and electrically connected to the coil portion.

3. The camera driving apparatus according to claim 1, wherein the magnet portion includes a first magnet and a second magnet symmetrically disposed based on a central axis in a up-down direction of the support portion, and a third magnet and a fourth magnet symmetrically disposed based on a central axis in a up-down direction of the support portion and having a gap with the first magnet and the second magnet,

wherein the coil part includes a first coil facing the first magnet in the up-down direction, a second coil facing the second magnet in the up-down direction, a third coil facing the third magnet in the up-down direction, and a fourth coil facing the fourth magnet in the up-down direction.

4. The camera driving apparatus according to claim 3, wherein the first magnet and the second magnet are spaced apart from each other in the left-right direction and extend in the front-rear direction, the third magnet and the fourth magnet are spaced apart from each other in the front-rear direction and extend in the left-right direction,

wherein the first magnet, the second magnet, the third magnet and the fourth magnet are arranged in the vertical direction, the polarities of the first magnet and the second magnet are arranged identically, the polarities of the third magnet and the fourth magnet are arranged identically, the polarities of the first magnet and the fourth magnet are arranged differently,

Wherein the first coil and the second coil are spaced apart from each other in the left-right direction, the coil cores of the first coil and the second coil extend in the front-rear direction, the third coil and the fourth coil are spaced apart from each other in the front-rear direction, and the coil cores of the third coil and the fourth coil extend in the left-right direction.

5. The camera driving apparatus according to claim 1, wherein the elastic portion includes first and second elastic members symmetrically disposed based on a central axis in a up-down direction of the supporting portion, and third and fourth elastic members symmetrically disposed based on a central axis in a up-down direction of the supporting portion and having a gap with the first and second elastic members,

wherein the support portion is elastically supported in the up-down direction by the first elastic member, the second elastic member, the third elastic member, and the fourth elastic member.

6. A camera driving apparatus according to claim 3, wherein the driving section includes: a first driving part including a first coil and a first magnet, a second driving part including a second coil and a second magnet, a third driving part including a fourth coil and a third magnet, and a fourth driving part including a fourth coil and a fourth magnet,

Wherein the first driving part is arranged between the first elastic member and the fourth elastic member,

wherein the second driving part is arranged between the second elastic member and the third elastic member,

wherein the third driving part is arranged between the first elastic member and the third elastic member, and

wherein the fourth driving part is disposed between the second elastic member and the fourth elastic member.

7. The camera driving apparatus according to claim 6, wherein when vibration in a front-rear direction acts on the support portion, the first driving portion and the second driving portion move the support portion in opposite directions of the vibration.

8. The camera driving apparatus according to claim 6, wherein when vibration in a left-right direction acts on the supporting portion, the third driving portion and the fourth driving portion move the supporting portion in opposite directions of the vibration.

9. The camera driving apparatus according to claim 5, wherein the supporting portion includes first to fourth side surfaces,

wherein the support portion includes a first corner formed between the first side surface and the second side surface, a second corner formed between the second side surface and the third side surface, a third corner formed between the third side surface and the fourth side surface, a fourth corner formed between the first side surface and the fourth side surface, and

Wherein each of the first to fourth elastic members is provided on the first to fourth corners.

10. A photographing apparatus comprising:

a base;

a support spaced downwardly from the base;

a camera connected to the support portion;

an elastic part arranged between the base and the supporting part;

a driving part disposed between the base and the supporting part, and spaced apart from the elastic part and positioned; and

wherein the camera is rotatably connected with the third motor part,

The shooting device further comprises a second main board arranged on the inner side of the supporting part, a second motor board arranged on the inner side of the second motor support and electrically connected with the second motor part, a third motor board arranged on the inner side of the third motor support and electrically connected with the third motor part, a first connecting board electrically connected with the second main board and the second motor board, a second connecting board electrically connected with the second motor board and the third motor board, and a third connecting board electrically connected with the third motor board and the camera.

11. A flying device, comprising:

a main body;

a motor part arranged at one side of the main body for lifting the main body; and

a shooting device arranged on the other side of the main body,

wherein, the shooting device includes:

a base;

a support spaced downwardly from the base;

a camera connected to the support portion;

an elastic portion provided between the base and the supporting portion; and

a driving part disposed between the base and the supporting part, spaced apart from the elastic part and positioned; and

wherein the camera is rotatably connected with the third motor part,

the flying device further comprises a second main board arranged on the inner side of the supporting part, a second motor board arranged on the inner side of the second motor support and electrically connected with the second motor part, a third motor board arranged on the inner side of the third motor support and electrically connected with the third motor part, a first connecting board electrically connected with the second main board and the second motor board, a second connecting board electrically connected with the second motor board and the third motor board, and a third connecting board electrically connected with the third motor board and the camera.