KR102040146B1 - Multi-axis gimbal device with self-adjusting function - Google Patents

Abstract

An embodiment of the present invention provides a multi-axis gimbal device with a self-adjusting function, which comprises: a frame portion providing a handle portion which can be gripped by a user; a first housing formed by bending at a predetermined angle and having a photographing device mounted on one side thereof; a second housing formed by bending at a predetermined angle and having one side coupled to the other side of the first housing; a first adjustment portion formed on one side of the first housing to mount the photographing device, and formed to allow the photographing device to move in a first axis direction; a second adjustment portion formed on the other side of the first housing to be coupled to one side of the second housing, and formed to allow the first housing to move in a second axis direction; a third adjustment portion formed on the other side of the second housing to be coupled to one end of the frame portion, and formed to allow the second housing to move; an acceleration sensor which detects a gravitational acceleration of the mounted photographing device and measures an inclination; and a control unit which controls the first adjustment portion, the second adjustment portion and the third adjustment portion to correct the rotational direction or inclination of the photographing device. The first axial direction, the second axial direction, and a third axial direction are formed in directions perpendicular to each other.

Description

MULTI-AXIS GIMBAL DEVICE WITH SELF-ADJUSTING FUNCTION}

The present invention relates to a gimbal device, and more particularly, to a multi-axis gimbal device having a three-axis or more self-adjusting function, including an acceleration sensor for detecting the tilt and rotation direction of the image pickup device and a motor for providing a rotational force.

Gimbal is a structure that reduces the shaking by allowing an object to rotate about one axis. Gimbal is widely used in areas where momentary shaking is a big problem, such as navigation or rocket engines used in ships, submarines, and the like.

In addition, with the recent increase in video recording with a camera, gimbals are widely used in the shooting area. Gimbal is evolving with the development of smartphones and action cams. With the increasing use of smartphones and action cams, which are easy to carry and use, gimbals that add stability to shooting have begun to gain popularity. Gimbal is also used in conjunction with drone cameras as well as video cameras.

The gimbal rotates around three axes: pitch, roll, and yaw. According to the movement of this component axis, the gimbal adjusts the movement to catch the shake. The gimbal's performance depends on calibrating all three axes. The three-axis gimbal is a gimbal with three motors. The roll axis, pitch axis, and yaw axis can be corrected, so that the image is very stable. In order to effectively utilize such a three-axis gimbal device, a technique for adjusting the direction or the inclination with respect to the inclination of the imaging device is essential.

The existing gimbal according to Korean Patent Laid-Open Publication No. 10-2017-0090973 (name: image photographing gimbal mechanism with a three-axis shake correction device) is equipped with a gyro sensor or a driving motor. In other words, by measuring the rotation direction and tilt of the camera through the gyro sensor, and by adjusting the torque and force of the motor to adjust the rotation and tilt so that it can always be kept horizontal.

However, when the above technique is used, there is a problem that the adjustable balance width of the mounted image pickup device is very limited. In addition, since a separate electronic control method is required, user's hassle is caused, and repeated adjustments may negatively affect the performance or life of the equipment.

Republic of Korea Patent Publication No. 10-2017-0090973 (2017.08.31.)

The present invention is to solve the above problems of the prior art, an object of the present invention is to provide a gimbal device having a self-adjusting function based on three or more axes, including an acceleration sensor.

One aspect of the invention provides a frame portion for providing a handle portion that can be gripped by the user; A first housing formed by bending at a predetermined angle and having an imaging device mounted on one side thereof; A second housing formed by bending at a predetermined angle and having one side coupled to the other side of the first housing; A first adjustment unit formed to mount the imaging device on one side of the first housing, and configured to move the imaging device along a first axis direction; A second adjustment part formed to be coupled to one side of the second housing at the other side of the first housing, and configured to move the first housing along a second axis direction; A third adjustment part formed to be coupled to one end of the frame part at the other side of the second housing, and configured to move the second housing; An acceleration sensor that detects a gravitational acceleration of the mounted imaging device and measures an inclination; And a control unit for controlling the first adjusting unit, the second adjusting unit, and the third adjusting unit to correct the rotation direction or the inclination of the imaging device, wherein the first axis direction, the second axis direction, and the third axis are included. The direction provides a multi-axis gimbal device having a self-adjusting function, which is formed in directions perpendicular to each other.

In one embodiment, the control unit may receive a measurement value of the acceleration sensor at regular intervals, and may self-correct the rotational direction or inclination of the imaging device.

In an embodiment, the first adjustment unit may include: a first fastening unit engaged with the image capturing apparatus and moving integrally with the image capturing apparatus along the first axial direction; A first guide part for guiding movement along the first axial direction of the first fastening part; A first belt part coupled to one side of the first fastening part and moving along the first guide part; And a first motor part configured to include one or more motors to transmit power to the first belt part.

In one embodiment, the second adjustment portion, the second guide portion for guiding the movement along the second axial direction of the first housing; A second belt part formed to move along the second guide part; A second fastening part coupled to one side of the second belt part and fastened to one side of the second housing; And a second motor unit configured to include one or more motors to transmit power to the second belt unit.

In one embodiment, the third adjustment portion, the third guide portion for guiding the movement in the third axial direction of the second housing; A third belt part formed to move along the third guide part; A third fastening part coupled to one side of the third belt part and fastened to one end of the frame part; And a third motor unit configured to include one or more motors to transmit power to the third belt unit.

In one embodiment, the third housing is formed bent at a predetermined angle, one side is coupled to the other side of the second housing, the other side is coupled to one end of the frame portion; And a fourth adjusting part which is formed to be coupled to one end of the frame part at the other side of the third housing and is formed to be movable in the fourth axial direction.

In one embodiment, the fourth adjustment unit, the fourth guide portion for guiding the movement of the third housing in the fourth axis direction; A fourth belt part formed to move along the fourth guide part; A fourth motor part formed of at least one motor to transfer power to the fourth belt part; And a fourth fastening part coupled with one side of the fourth belt part and fastened to one end of the frame part.

According to an aspect of the present invention, since the inclination and the rotation direction of the imaging device can be adjusted based on the multi-axis of three or more axes, accurate correction of the imaging device can be realized.

In addition, since the self-adjusting the image pickup device at regular intervals, the user has to check and correct the gimbal directly, and there is an effect of maintaining the performance and extending the life of the gimbal device.

It is to be understood that the effects of the present invention are not limited to the above effects, and include all effects deduced from the configuration of the invention described in the detailed description or claims of the present invention.

1 is a perspective view of a multi-axis gimbal device according to the present invention.
2 is a perspective view from another angle of the multi-axis gimbal device according to the present invention.
3 is a perspective view and a side view of the first adjustment unit according to the present invention, respectively, at various angles.
4 is a perspective view and a side view of the second, third and fourth adjustment units according to the present invention, respectively, at various angles.
5 is a perspective view showing the front and rear of the acceleration sensor according to the present invention.

Hereinafter, with reference to the accompanying drawings will be described the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is "connected" to another part, it includes not only "directly connected" but also "indirectly connected" with another member in between. . In addition, when a part is said to "include" a certain component, this means that it may further include other components, without excluding the other components unless otherwise stated.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 and 2 are perspective views showing the multi-axis gimbal device having a self-adjusting function according to an embodiment of the present invention from different angles.

As shown, the multi-axis gimbal device of the present invention, the frame portion 10 for providing a handle portion that can be gripped by the user; A first housing 20 which is bent at a predetermined angle and equipped with an imaging device on one side; It is formed to be bent at a predetermined angle, and one side includes a second housing 30 coupled to the other side of the first housing 20, it is configured to enable three-axis adjustment of the tilt and rotation direction of the mounted imager. .

The frame part 10 provides a handle part, that is, a handle part, in which the user can grip the gimbal device according to the present invention. The number of handles of the gimbal device is determined depending on whether it is used with a relatively small image pickup device such as a smartphone or an action cam, or a relatively medium-large image pickup device such as an advanced camera for image capturing.

One-hand gimbals are gimbals that users use with one hand and are the most popular gimbals. One-hand gimbals are mainly used in connection with smartphones, action cams, etc., and are suitable for easy shooting alone, such as personal broadcasting. A two-handed gimbal is a gimbal that is held with two hands and shoots with two handles. Two-hand gimbals will be equipped with video cameras or DSLRs. It has the advantage of relatively high stability because it is held by two hands, but it is difficult to use long and expensive due to the weight. Of course, one-hand gimbal can also be used with a DSLR.

1 and 2, the handle portion provided by the frame part 10 may be implemented in the shape of a one-hand gimbal. However, this does not limit the handle portion of the frame portion 10, it is natural that the shape or more of the two-handed gimbal may be applied according to the needs of the user or the use environment.

The first housing 20 is bent at a predetermined angle, and the imaging device to be used is mounted on one side. The imaging device used for the gimbal can be largely classified into a smartphone, an action cam, a camera, and the like according to compatible devices. The general gimbal is used by detaching the above-described smartphone, an action cam, a camera, etc., but if necessary, the gimbal integrated camera may be mounted.

In more detail, the self-adjusting function of the present invention, the multi-axis gimbal device of the present invention is formed so that the imaging device is mounted on one side of the first housing 20, so that the imaging device is movable along the first axis direction A first adjusting unit 100 formed; The second adjusting unit 200 is formed to be coupled to one side of the second housing 30 on the other side of the first housing 20, the second housing 200 is formed to be movable along the second axis direction. ; A third adjusting part 300 formed to be coupled to the frame part 10 at the other side of the second housing 30 and configured to move the second housing 30; An acceleration sensor 500 which detects a gravitational acceleration of the mounted imaging device and measures an inclination; And a controller 600 which controls the first adjusting unit 100, the second adjusting unit 200, and the third adjusting unit 300 to correct the tilt and rotation direction of the imaging device.

In this case, the first axial direction, the second axial direction and the third axial direction is characterized in that formed in a direction perpendicular to each other. That is, the first axial direction, the second axial direction, and the third axial direction constitute three axes of pitch, roll, and yaw, respectively, and are mounted on the center. Calibrate the tilt and direction of rotation.

5 is a perspective view showing in detail the acceleration sensor 500 of the present invention.

Unlike conventional gimbals, the gimbal device of the present invention is applied to the acceleration sensor 500, not a gyro sensor. The gyro sensor and the acceleration sensor 500 are basically used to measure a posture of a moving object. Recently, the gyro sensor and the acceleration sensor 500 are mounted on a smart phone to detect a user's moving motion and perform various reactions. The sensor is also commercially available.

Accelerometer 500, an accelerometer, is a sensor for measuring acceleration. When the acceleration sensor 500 is three axes, it means that the acceleration can be measured in three axes when the sensing object moves in three dimensions. In contrast, a gyro sensor is a sensor for measuring an angular velocity, which means an angle of rotation per hour. The acceleration sensor 500 may obtain a relatively accurate value by estimating the angle only through the components of gravity acceleration after a certain motion occurs and time, and the gyro sensor generates a cumulative error.

The acceleration sensor 500 of the present invention is a sensor for measuring the acceleration of three axes. The three-axis acceleration sensor 500 is a method of returning the amount of gravity acceleration to the image pickup device in the magnitude of the gravity acceleration applied to each axis, measuring the rotation direction or tilting of the image pickup device with only one sensor Thus, the above information may be transmitted to the controller 600.

The controller 600 receiving the inclination and the rotation direction information by the acceleration sensor 500, the first adjustment unit 100, the second adjustment unit 200 and the second adjustment unit 200 to offset the security of the rotation and inclination of the imaging device; The third adjusting unit 300 is controlled to allow the image pickup apparatus to always be horizontal or to face the desired direction.

The control unit 600 of the present invention is characterized by receiving a measurement value of the acceleration sensor 500 at a predetermined interval, and self-correcting the rotation direction or inclination of the imaging device. That is, since the controller 600 self-calibrates the image pickup device, the user can directly check the rotation direction or the inclination of the image pickup device at regular intervals and be free from the trouble of correcting the gimbal device.

Hereinafter, the first adjustment unit 100 of the present invention will be described in detail with reference to FIG. 3.

The first adjusting unit 100 is formed to be mounted on one side of the first housing 20 so as to be movable along the first axial direction. In more detail, the first adjustment unit 100 includes: a first fastening unit 110 which is engaged with the imaging device and moves integrally with the imaging device along the first axial direction; A first guide part 120 guiding movement of the first fastening part 110 in the first axial direction; The first fastening part 110 is coupled to one side, and is formed to move along the first guide part 120 and includes a first belt part 130; And a first motor unit 140 configured to include one or more motors to transfer power to the first belt unit 130.

The first fastening part 110 is configured to be directly fastened with the imaging device seated on one side of the first housing 20 to move integrally. As shown in FIG. 3, the first fastening portion 110 may further include a coupling hole 111 protruding from the main body and protruding to fix the image passing through the upper portion.

As shown in the drawing, the coupler 111 is formed in the form of a screw thread so that the main body portion of the screw thread penetrates the main body of the first fastening portion 110 so that the protruding portion after the penetration is fixedly coupled to the imaging device. The female screw may be fastened to the rear surface of the main body of the first fastening part 110 to achieve a more robust coupling. However, this does not limit the shape of the coupler 111, it is obvious that the coupler 111 can be applied in various forms as well as the form of a screw thread.

The first fastening part 110 directly coupled to the image capturing device through the coupler 111 may be connected to one side of the first belt part 130 and move integrally with the image capturing device.

As shown in FIG. 3, the first guide part 120 serves to guide the first fastening part 110 to move in the first axial direction as an integral part of the imaging device. Accordingly, the inside of the first guide portion 120 is formed to be hollow so that the first fastening portion 110 is accommodated, so that the first fastening portion 110 moves along the first axial direction. It is formed to extend.

The first belt portion 130 may be formed as a conveyor belt that moves to rotate in correspondence with the outer circumferential surface of the first guide portion 120. That is, the first belt part is coupled to the first fastening part 110 on one side, and serves to move the first fastening part 110 according to the guide of the first guide part 120.

Referring to FIG. 3, the first belt part 130 is formed in an uneven shape along an inner circumferential surface, and the first fastening part 110 is also fitted into an inner circumferential surface of the first belt part 130. It may be formed to include. Through the fitting coupling structure as described above, the first fastening part 110 may realize a more firm coupling with the first belt part 130, and may ensure the reliability of the movement along the first axial direction of the imaging device. have.

The first belt part 130 is configured to include one or more motors, and serves to transfer power to the first belt part 130. More specifically, the one or more motors are respectively formed on the inner circumferential surface of the first belt portion 130, and each of the motors is powered by the conveyor belt of the first belt portion 130 by providing torque, that is, rotational force. To provide.

As shown in FIG. 3, the first motor unit 140 may be formed to include four motors at each corner of the first belt unit 130. In addition, power may be applied to the first belt unit 130. It may be implemented in various forms that can be provided. However, the one or more motors may be formed to be spaced apart at a uniform distance for more precise direction and tilt correction.

Hereinafter, the second adjusting unit 200 and the third adjusting unit 300 of the present invention will be described in detail with reference to FIG. 4.

The second adjusting part 200 may include a second guide part 220 for guiding a movement in the second axial direction of the first housing 20; A second belt part 230 formed to move along the second guide part 220; A second fastening part 210 coupled to one side of the second belt part 230 and fastened to the second housing 30; And a second motor part 240 configured to include one or more motors to transmit power to the second belt part 230.

Unlike the first adjusting unit 100, in which an image capturing apparatus is fastened to one side of the first housing 20, and the image capturing apparatus is integrally formed, the second adjusting unit 200 is formed of the first housing 20. It is formed on the other side, and adjusts the movement along the second axial direction of the first housing (20).

The second fastening portion 210 may further include through holes 211, 311 and 411 through which the main body is formed, and one end of the second housing 30 is inserted through and fastened through the through holes 211, 311 and 411. One end of the second housing 30 penetrated into the through holes 211, 311 and 411 serves as a rotating shaft of the second motor part 240 in the second adjusting part 200.

As shown in FIG. 4, the second guide part 220 serves to guide the first housing 20 to move in the second axial direction. Accordingly, the inside of the second guide portion 220 is formed to be hollow so that the second fastening portion 210 is accommodated, so as to have a passage for allowing the first housing 20 to move along the second axial direction. It is formed to extend.

The second belt portion 230 may be formed as a conveyor belt that moves to rotate in correspondence with the outer circumferential surface of the second guide portion 220. That is, while the second belt part is coupled to the second fastening part 210 on one side, the second belt part serves to move the first housing 20 according to the guide of the second guide part 220.

Referring to FIG. 4, the second belt portion 230 is formed in an uneven shape along an inner circumferential surface, and the second fastening portion 210 is also fitted into an inner circumferential surface of the second belt portion 230. It may be formed to include. Through the fitting structure as described above, the second fastening portion 210 can realize a more firm coupling with the second belt portion 230, and the movement of the first housing 20 along the second axial direction. Reliability can be secured.

The second belt portion 230 is configured to include one or more motors, and serves to transfer power to the second belt portion 230. More specifically, the one or more motors are respectively formed on the inner circumferential surface of the second belt portion 230, and the conveyor belt of the second belt portion 230 moves by providing the torque, that is, the rotational force of each motor. Provides the power to

As shown in FIG. 4, the second motor part 240 may be formed to include four motors at each corner of the second belt part 230. In addition, the second motor part 240 may provide power to the second belt part 230. It may be implemented in various forms that can be provided. However, the one or more motors may be formed to be spaced apart at a uniform distance in order to precisely correct direction and tilt correction.

The third adjusting part 300 includes: a third guide part 320 for guiding a movement in the third axial direction of the second housing 30; A third belt part 330 formed to move along the third guide part 320; A third fastening part 310 coupled to one side of the third belt part 330 and fastened to the third housing 40; And a third motor unit 340 configured to include one or more motors to transfer power to the third belt unit 330.

The specific configuration of the third adjustment unit 300 of the present invention can be understood in the same manner as the specific configuration of the second adjustment unit 200 described above with reference to 4.

As described above, the first axial direction, the second axial direction, and the third axial direction are directions perpendicular to each other, respectively, such as pitch, roll, and yaw for adjusting the imaging device. ) Configure each axis.

Hereinafter, another embodiment of the present invention will be described with reference to FIGS.

The gimbal device of the present invention is bent at a predetermined angle, the third housing 40 is coupled to one side is coupled to the other side of the second housing 30, the other side is coupled to the frame portion 10 further. It may include. That is, the third housing 40 may be additionally configured between the second housing 30 and the frame unit 10.

In this case, the fourth adjusting part 400 is formed on the other side of the third housing 40 so as to be coupled to the frame part 10, and the third housing 40 is movable in the fourth axis direction. It may further include. In other words, by configuring the third housing 40, it is possible to further adjust one axis other than the above-described three axes.

Compared to the case where the tilt of the imaging device is measured through the existing three axes, the addition of one axis makes it possible to more accurately correct the rotation direction or the tilt of the imaging device. One embodiment as described above is more effective in the case where precise shooting is required in a relatively large shooting field.

The fourth adjusting unit 400 may include a fourth guide part 420 for guiding the movement of the third housing 40 in the fourth axial direction; A fourth belt part 430 formed to move along the fourth guide part 420; A fourth motor unit 440 formed of one or more motors to transfer power to the fourth belt unit 430; And a fourth fastening part 410 coupled to one side of the fourth belt part 430 and fastened to the frame part 10.

The detailed configuration of the fourth adjustment unit 400 of the present invention may be understood in the same manner as the detailed configurations of the second adjustment unit 200 and the third adjustment unit 300 described above with reference to FIG. 4.

The foregoing description of the present invention is intended for illustration, and it will be understood by those skilled in the art that the present invention may be easily modified in other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the invention is indicated by the following claims, and it should be construed that all changes or modifications derived from the meaning and scope of the claims and their equivalents are included in the scope of the invention.

10: frame part
20: first housing
30: 2nd housing
40: Third housing
100: first adjusting unit
110: first connection
111: coupler
120: first guide part
130: first belt portion
140: the first motor unit
200: second adjusting unit
210: second connection
211: through hole
220: second guide part
230: second belt portion
240: second motor unit
300: third adjustment unit
310: third connection
311: through hole
320: third guide part
330: third belt portion
340: third motor unit
400: fourth adjusting unit
410: fourth connection
411: through hole
420: fourth guide part
430: fourth belt portion
440: fourth motor unit
500: acceleration sensor
600: control unit

Claims (7)

A frame portion providing a handle portion that can be gripped by a user;
A first housing formed by bending at a predetermined angle and having an imaging device mounted on one side thereof;
A second housing formed by bending at a predetermined angle and having one side coupled to the other side of the first housing;
A first adjustment unit formed to mount the imaging device on one side of the first housing, and configured to move the imaging device along a first axis direction;
A second adjustment part formed to be coupled to one side of the second housing at the other side of the first housing, and configured to move the first housing along a second axis direction;
A third adjustment part formed to be coupled to one end of the frame part at the other side of the second housing, and configured to move the second housing along a third axial direction;
An acceleration sensor that detects a gravitational acceleration of the mounted imaging device and measures an inclination; And
And a controller for controlling the first adjusting unit, the second adjusting unit, and the third adjusting unit to correct a rotation direction or inclination of the imaging device.
The first axial direction, the second axial direction and the third axial direction are formed in a direction perpendicular to each other,
The control unit receives the measured value of the acceleration sensor at regular intervals, and self-corrects the rotation direction or inclination of the imaging device,
The first adjustment unit,
A first fastening part engaged with the imaging device and integrally moving with the imaging device along the first axial direction;
A first guide part for guiding movement along the first axial direction of the first fastening part;
A first belt part coupled to one side of the first fastening part to rotate the closed loop rotation path formed along an outer circumference of the first guide part; And
It is configured to include one or more motors, further comprising a first motor unit for transmitting power to the first belt portion,
And the first guide portion converts the rotational movement by the first belt portion into a linear movement along the first axial direction of the first fastening portion. delete delete The method of claim 1,
The second adjustment unit,
A second guide part for guiding a movement in the second axial direction of the first housing;
A second belt part which itself rotates a closed loop rotation path formed along an outer circumference of the second guide part;
A second fastening part coupled to one side of the second belt part and fastened to one side of the second housing; And
It is configured to include one or more motors, further comprising a second motor unit for transmitting power to the second belt portion,
And said second guide portion converts the rotational movement by said second belt portion into a linear movement along said second axial direction of said second fastening portion. The method of claim 4, wherein
The third adjustment unit,
A third guide part for guiding a movement in the third axial direction of the second housing;
A third belt part which itself rotates a closed loop rotation path formed along an outer circumference of the third guide part;
A third fastening part coupled to one side of the third belt part and fastened to one end of the frame part; And
It is configured to include one or more motors, further comprising a third motor unit for transmitting power to the third belt unit,
And the third guide portion converts the rotational movement by the third belt portion into a linear movement along the third axial direction of the third fastening portion. The method of claim 5,
A third housing formed by bending at a predetermined angle, one side of which is coupled to the other side of the second housing, and the other side of which is coupled to one end of the frame part; And
And a fourth adjustment unit formed to be coupled to one end of the frame unit at the other side of the third housing, and configured to move the third housing along the fourth axial direction. Multi-axis gimbal device. The method of claim 6,
The fourth adjustment unit,
A fourth guide part for guiding movement of the third housing in the fourth axial direction;
A fourth belt part which itself rotates a closed loop rotation path formed along an outer circumference of the fourth guide part;
A fourth motor part formed of at least one motor to transfer power to the fourth belt part; And
Combining with one side of the fourth belt portion, further comprising a fourth fastening portion fastened to one end of the frame portion,
And the fourth guide portion converts the rotational movement by the fourth belt portion into a linear movement along the fourth axial direction of the fourth fastening portion.

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