WO2018221798A1 - Dispositif de commande de caméra, dispositif de prise de vues et appareil de vol - Google Patents

Dispositif de commande de caméra, dispositif de prise de vues et appareil de vol Download PDF

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Publication number
WO2018221798A1
WO2018221798A1 PCT/KR2017/013744 KR2017013744W WO2018221798A1 WO 2018221798 A1 WO2018221798 A1 WO 2018221798A1 KR 2017013744 W KR2017013744 W KR 2017013744W WO 2018221798 A1 WO2018221798 A1 WO 2018221798A1
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WO
WIPO (PCT)
Prior art keywords
driving member
axis
wire
disposed
substrate
Prior art date
Application number
PCT/KR2017/013744
Other languages
English (en)
Korean (ko)
Other versions
WO2018221798A8 (fr
Inventor
이준택
안영주
이광재
Original Assignee
엘지이노텍 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020170068592A external-priority patent/KR102371337B1/ko
Priority claimed from KR1020170109854A external-priority patent/KR102422322B1/ko
Priority claimed from KR1020170109852A external-priority patent/KR102411121B1/ko
Application filed by 엘지이노텍 주식회사 filed Critical 엘지이노텍 주식회사
Priority to CN201780091515.9A priority Critical patent/CN111032513B/zh
Publication of WO2018221798A1 publication Critical patent/WO2018221798A1/fr
Publication of WO2018221798A8 publication Critical patent/WO2018221798A8/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • This embodiment relates to a camera driving device, an imaging device, and a flying device.
  • Drones are unmanned aerial vehicles equipped with camera modules, sensors, and communication systems.
  • drones have been expanded to use in combination with camera modules and sensor modules according to various needs of consumers, such as aerial photography, measurement and kidult products.
  • the shooting range can be easily changed or the vibration generated by the drone's flight can be canceled. .
  • the camera driving device is a device for changing the shooting range or control the posture by driving the camera mounted on the drone. Recently, research has been conducted on a driving device that rotates a camera module (pitch, yaw, roll control) using a shape memory alloy (SMA).
  • a driving device that rotates a camera module (pitch, yaw, roll control) using a shape memory alloy (SMA).
  • SMA shape memory alloy
  • the first embodiment provides a camera driving apparatus capable of controlling a posture of a camera module, an imaging apparatus equipped with the camera driving apparatus, and a flying apparatus equipped with the imaging apparatus.
  • a camera driving device capable of rotationally driving a camera module with a minimum amount of deformation of a shape memory alloy and a flying device including the same are provided.
  • the camera driving device of the first embodiment includes a movable part; And a first driving member and a second driving member disposed symmetrically with respect to the center of the movable part, wherein the first driving member includes a first wire extending in a first axial direction, and the second driving member includes: And a third wire extending in a first axial direction, wherein the first wire and the third wire are shape memory alloys, and the movable portion is formed by deformation of the first driving member or the second driving member. It may rotate about a second axis perpendicular to one axis.
  • the movable part includes a first catching part and a second catching part that face each other, and the first driving member is spaced apart from the first wire from the first ring part and the first ring part caught by the first catching part. And a second wire extending in the first axial direction, wherein the second driving member is spaced apart from the second wire by a second ring portion caught in the locking portion and the third wire from the second ring portion. And a fourth wire extending in a direction, wherein the second wire and the fourth wire may be a shape memory alloy.
  • the apparatus may further include a substrate part electrically connected to the first driving member and the second driving member.
  • the temperature of the first driving member and the second driving member may be controlled by a power applied to the first driving member and the second driving member.
  • a third driving member disposed between the first driving member and the second driving member; And a fourth driving member spaced apart from the third driving member and disposed between the first driving member and the second driving member, wherein the third driving member and the fourth driving member are connected to each other by the temperature.
  • the shape is controlled in the axial direction, and the movable part may rotate a third axis inclined to both the first axis and the second axis by the shape of the at least one of the third driving member and the fourth driving member to the rotation axis. Can be.
  • the third axis may be perpendicular to both the first axis and the second axis.
  • the first shaft may be rotated by a rotation axis by controlling the shape of at least one of the fifth driving member and the sixth driving member.
  • the fifth driving member and the sixth driving member may be spaced apart from each other in the second axis direction.
  • the photographing apparatus of the first embodiment includes a movable part in which a camera module is disposed; And a first driving member and a second driving member spaced apart from each other in the movable part, wherein the shape of the first driving member and the second driving member is controlled in a first axis direction by a temperature, and the movable part is The second axis perpendicular to the first axis may be rotated as the rotation axis by controlling the shape of at least one of the first driving member and the second driving member.
  • the flight apparatus of the first embodiment includes a main body; A driving unit disposed on one side of the main body and supporting the main body; And a driving photographing apparatus disposed at the other side of the main body, wherein the photographing apparatus comprises: a movable part in which a camera module is disposed; And a first driving member and a second driving member spaced apart from each other in the movable part, wherein the shape of the first driving member and the second driving member is controlled in a first axial direction by a temperature, and the movable part is The second axis perpendicular to the first axis may be rotated as the rotation axis by controlling the shape of at least one of the first driving member and the second driving member.
  • the camera driving apparatus of the second embodiment includes a movable member; A support member disposed on the movable member; A substrate spaced apart from the support member; A first driving member connecting the support member and the substrate; And a second driving member connecting the support member and the substrate and spaced apart from the first driving member, wherein the first driving member and the second driving member are controlled in shape according to temperature,
  • the distance between the point at which the first driving member is connected and the point at which the support member is connected to the second driving member is the distance between the point at which the substrate and the first driving member are connected and the point at which the substrate and the second driving member are connected. It can be longer.
  • the first driving member and the second driving member may be disposed to be inclined with the supporting member such that a distance between the first driving member and the second driving member is closer to the supporting member from the substrate.
  • An inclination angle of the first driving member and the second driving member with the support member may be 15 ° to 20 °.
  • the support member and the substrate are spaced apart in a first axial direction, the first drive member and the second drive member are spaced apart in a second axis direction perpendicular to the first axis, and the movable member is disposed in the first drive.
  • the shape of at least one of the member and the second driving member may be rotated based on a third axis perpendicular to both the first axis and the second axis.
  • a third driving member and a fourth driving member which connect the supporting member and the substrate and whose shape is controlled according to a temperature, wherein the supporting member and the substrate are spaced apart in a first axial direction, and the first driving is performed.
  • the member and the second driving member are spaced apart in a second axis direction perpendicular to the first axis, and the third driving member and the fourth driving member are respectively perpendicular to both the first axis and the second axis.
  • the movable member may be rotated about the second axis by controlling the shape of the third driving member and the fourth driving member.
  • the third driving member and the fourth driving member may be disposed to be inclined with the supporting member such that a distance between the third driving member and the fourth driving member is closer to the supporting member from the substrate.
  • a fifth driving member and a sixth driving member which connect the supporting member and the substrate and whose shape is controlled according to a temperature, wherein the supporting member is formed of the first driving member and the second driving member;
  • a first support part, a second support part on which the fifth driving member and the sixth driving member are disposed, and the substrate includes a first substrate part and the fifth driving part on which the first driving member and the second driving member are disposed.
  • the second support portion and the second substrate portion are spaced apart in the second axial direction, and the fifth driving member and the sixth driving member are spaced apart from each other in the second axis direction. Spaced in the direction of the third axis perpendicular to both axes The distance between the point at which the second support part is connected to the fifth driving member and the point at which the second support part is connected to the sixth driving member is equal to the point at which the second substrate part is connected to the fifth driving member and the second substrate. Longer than the distance between the part and the point where the sixth driving member is connected, the movable member may be rotated with respect to the first axis by the shape control of the fifth driving member and the sixth driving member.
  • the rotary joint includes a ball disposed inside the movable member, and a support column extending from the ball to the first substrate portion,
  • the movable member may be rotatably coupled to the ball.
  • the first support part may be spaced apart from the rotation center of the movable member in a first axial direction, and the second support part may be disposed at the same position in the first axial direction as the rotation center of the movable member.
  • the flying device of the second embodiment includes a main body; A driving unit disposed on one side of the main body and supporting the main body; A camera driving device disposed on the other side of the main body, wherein the camera driving device comprises: a movable member; A support member disposed on the movable member; A substrate spaced apart from the support member; A first driving member connecting the support member and the substrate; And a second driving member connecting the support member and the substrate and spaced apart from the first driving member, wherein the first driving member and the second driving member are controlled in shape according to temperature,
  • the distance between the point at which the first driving member is connected and the point at which the support member is connected to the second driving member is the distance between the point at which the substrate and the first driving member are connected and the point at which the substrate and the second driving member are connected. It can be longer.
  • the camera driving apparatus of the second embodiment includes a movable member; A support member disposed on the movable member; A substrate spaced apart from the support member; A first driving member connecting the support member and the substrate; And a second driving member connecting the support member and the substrate and spaced apart from the first driving member, wherein the first driving member and the second driving member are controlled in shape according to temperature, It may have a three-dimensional spiral shape having a spiral central axis in a direction connecting the substrate.
  • the electronic device may further include a first conductive member disposed on the support member, wherein one side of the first driving member and the second driving member may be electrically connected to the substrate, and the other side may be electrically connected to the first conductive member.
  • a second fixing member including a first coupling member coupled to the support member and including a hole in which the first driving member is disposed, and a second coupling member coupling the support member and a hole in which the second driving member is disposed.
  • the support member and the substrate are spaced apart in a first axial direction, the first drive member and the second drive member are spaced apart in a second axis direction perpendicular to the first axis, and the movable member is disposed in the first drive.
  • the shape of at least one of the member and the second driving member may be rotated based on a third axis perpendicular to both the first axis and the second axis.
  • a third driving member and a fourth driving member having a spiral shape having a spiral central axis in a direction connecting the supporting member and the substrate and having a shape controlled according to a temperature, and connecting the supporting member and the substrate.
  • the support member and the substrate are spaced apart in a first axis direction
  • the first drive member and the second drive member are spaced apart in a second axis direction perpendicular to the first axis
  • the third drive member and the third drive member are spaced apart from each other.
  • the fourth driving member is spaced apart in the third axis direction perpendicular to both the first axis and the second axis
  • the movable member is referred to the second axis by the shape control of the third driving member and the fourth driving member. Can rotate.
  • the electronic device may further include a first conductive member disposed on the support member, wherein one side of the third driving member and the fourth driving member may be electrically connected to the substrate, and the other side may be electrically connected to the first conductive member. .
  • the support member may include a first support portion on which the first driving member and the second driving member are disposed, and a second support portion on which the fifth driving member and the sixth driving member are disposed, and the substrate may include the first driving member.
  • first driving member and the second driving member are spaced apart in a second axis direction perpendicular to the first axis, the second support part and the second substrate part are spaced apart in the second axis direction,
  • the sixth driving member is spaced apart in the third axis direction perpendicular to both the first axis and the second axis, and the movable member is controlled by the shape control of the fifth driving member and the sixth driving member. Can rotate around the axis.
  • the rotary joint includes a ball disposed inside the movable member, and a support column extending from the ball to the first substrate portion,
  • the movable member may be rotatably coupled to the ball.
  • the first support part may be spaced apart from the rotation center of the movable member in a first axial direction, and the second support part may be disposed at the same position in the first axial direction as the rotation center of the movable member.
  • the flying device of the second embodiment includes a main body; A driving unit disposed on one side of the main body and supporting the main body; A camera driving device disposed on the other side of the main body, wherein the camera driving device comprises: a movable member; A support member disposed on the movable member; A substrate spaced apart from the support member; A first driving member connecting the support member and the substrate; And a second driving member connecting the support member and the substrate and spaced apart from the first driving member, wherein the first driving member and the second driving member are controlled in shape according to temperature, It may be in the form of a spiral having a spiral central axis in a direction connecting the substrate.
  • the camera module may be pitch, yaw, and roll controlled. Furthermore, the camera driving apparatus of the first embodiment has an advantage of controlling three-axis rotation with a simple and light structure by using a shape-memory alloy (SMA).
  • SMA shape-memory alloy
  • the camera drive device of the second embodiment is disposed between the support member and the substrate and rotationally drives the camera module by a pair of drive members whose shape is controlled in accordance with temperature.
  • the pair of drive members are disposed inclined such that the spacing in the support member is longer than the spacing in the substrate. According to the inclined arrangement of the drive member, the amount of deformation of the drive member during rotation of the camera module is minimized, which is advantageous in terms of electronic control and structural design.
  • the camera drive device of the second embodiment can secure the maximum “change amount of length” according to "change amount of shape” by a spiral drive member.
  • FIG. 1 is a perspective view of a flight apparatus of the first embodiment.
  • FIG. 2 is a perspective view of a photographing apparatus of the first embodiment.
  • FIG 3 is a perspective view of the photographing apparatus of the first embodiment with the cover member removed.
  • FIG 4 to 6 are perspective views showing the driving of the camera driving apparatus of the first embodiment.
  • Fig. 7 is a graph showing the change in length depending on the temperature of the shape memory alloy used in the first embodiment.
  • FIG. 8 is a perspective view showing the flight device of the second embodiment.
  • FIG. 9 is a perspective view of the photographing apparatus of the second embodiment.
  • Fig. 10 is an exploded perspective view showing the imaging device of the second embodiment.
  • Fig. 11 is a sectional view showing the drive device of the second embodiment.
  • FIG. 12 is an exploded perspective view showing the supporting member, the conductive member, and the fixing member of the second embodiment.
  • Fig. 13 is a perspective view showing the photographing apparatus of the second embodiment without a cover and a substrate.
  • FIG. 14 is a conceptual view showing that the driving member of the second embodiment is disposed to be inclined.
  • Fig. 15 is a conceptual diagram showing the effect of the inclined arrangement of the drive member of the second embodiment.
  • first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms.
  • first axis is defined as “x axis” shown in the drawing.
  • first axis direction may be defined as “front and rear direction”, and the direction in which “x” is located in the rectangular coordinate system on the drawing may be “forward”.
  • second axis is defined as the “y axis” shown in the figure.
  • the “second axis direction” may be defined as an “up and down direction”, and the direction in which “y” is located in the rectangular coordinate system on the drawing may be “up side”.
  • third axis is defined as "z-axis” shown in the figure. In this case, the “third axis direction” may be defined as the “left and right directions”, and the direction in which “z” is located in the rectangular coordinate system on the drawing may be “right”.
  • first axis”, “second axis”, and “third axis” may be disposed perpendicular to each other along the Cartesian coordinate system. That is, the “first axis” and the “second axis” may be perpendicular to each other, and the “third axis” may be disposed perpendicularly to both the “first axis” and the “second axis”.
  • this arrangement is only an example for convenience of description, and does not mean that the “first axis”, “second axis”, and “third axis” must be vertically disposed.
  • first axis and “second axis” are disposed to be inclined with each other at an angle other than 90 °, and the “third axis” is inclined at an angle other than 90 ° with both the "first axis” and the second axis. It may be arranged.
  • the flying device 1 of this embodiment is demonstrated with reference to drawings.
  • 1 is a perspective view showing a flight device of the present embodiment.
  • the flight device 1 may be an unmanned drone.
  • the user can control the flight device 1 by a wireless terminal (not shown).
  • the flight device 1 may include a main body 10, a driving unit 20, and a photographing device 1000.
  • the main body 10 may be an exterior member, and the driving unit 20 may be disposed at one side of the main body 10, and the imaging apparatus 1000 may be disposed at the other side (below) of the main body 10.
  • an electronic control unit ECU, Electric Control Unit, not shown
  • ECU Electric Control Unit
  • the driving unit 20 may be a plurality of propeller units disposed symmetrically with respect to the vertical axis of the main body 10.
  • the main body 10 can fly by the rotation of the propeller.
  • the photographing apparatus 1000 may be disposed under the main body 10.
  • the photographing apparatus 1000 may change the posture of the camera module 910. Accordingly, the camera module 910 may cancel the vibration generated when the flight device 1 is flying. As a result, the camera module 910 may perform imaging while maintaining the upright state. In addition, the camera module 910 may change the shooting range.
  • the electronic control unit can communicate wirelessly with a wireless terminal controlled by the user.
  • the electronic control unit may be electrically connected to various electronic components and the photographing apparatus 1000 of the flying device 1.
  • the electronic control unit may wirelessly communicate with a wireless terminal controlled by a user, receive various control signals, transmit the same to the electronic component and the photographing apparatus 1000, and control the electronic component and the photographing apparatus 1000. For example, when the electronic control unit receives a signal for changing the photographing range of the camera module 910 from the wireless terminal, the electronic control unit may control the photographing apparatus 1000 to rotate the camera module 910. As a result, the photographing range of the camera module 910 may be changed.
  • the electronic control unit determines the shaking of the camera module 910 caused by the flight of the flying device 1 and, accordingly, controls the photographing apparatus 1000 to rotate the camera module 910 to cancel the shaking. Can be.
  • the camera module 910 may perform imaging in an established state.
  • a gyro sensor (not shown), an acceleration sensor (not shown), or the like may be embedded in the camera module 910 or may be mounted on the substrate 920 of the photographing apparatus 1000.
  • the electronic control unit may be electrically connected to the gyro sensor or the acceleration sensor to determine the shaking of the camera module 910.
  • the position of the electronic control unit is not limited to the flying device 1. That is, the electronic control unit may be embedded in the flight device 1 or may be mounted in the form of a chip on the substrate 920 of the imaging apparatus 1000.
  • the photographing apparatus 1000 may be a “camera driving apparatus” on which the camera module 910 is mounted. That is, the photographing apparatus 1000 in which the camera module 910 is released may be referred to as a "camera driving apparatus.”
  • the photographing apparatus 1000 includes a cover member 100, a movable part 200, a first driving member 300, a second driving member 400, and a third driving member 500. ), A fourth driving member 600, a fifth driving member 700, a sixth driving member 800, a camera module 910, and a substrate unit 920.
  • the cover member 100 is an exterior member of the photographing apparatus 1000.
  • the cover member 100 is provided with a movable part 200, a first driving member 300, a second driving member 400, and a third driving member inside the cover member 100.
  • 500, a space for accommodating the fourth driving member 600, the fifth driving member 700, the sixth driving member 800, and the camera module 910 may be provided.
  • the substrate 920 bent or curved at 90 degrees may be disposed on the right side and the rear side of the cover member 100.
  • the movable part 200 may be accommodated in the cover member 100.
  • the camera module 910 may be disposed inside the movable unit 200.
  • the movable part 200 may include a first driving member 300, a second driving member 400, a third driving member 500, a fourth driving member 600, a fifth driving member 700, and a sixth driving member ( 800 can be driven to rotate.
  • the movable part 200 may rotate the second axis (y axis) to the rotation axis (yaw control).
  • the movable part 200 may rotate the third axis (z axis) to the rotation axis (roll control).
  • the movable part 200 may rotate the first axis (x axis) to the rotation axis (pitch control).
  • the camera module 910 may be disposed inside the movable unit 200.
  • the camera module 910 may be accommodated in the movable part 200.
  • the camera module 910 may rotate together when the movable unit 200 rotates. In this case, the attitude of the camera module 910 may be controlled.
  • the camera module 910 may perform shooting.
  • the camera module 910 may be referred to as a "camera.”
  • the substrate 920 may include a first driving member 300, a second driving member 400, a third driving member 500, a fourth driving member 600, a fifth driving member 700, and a sixth driving member. And may be electrically connected to 800.
  • the substrate 920 may include a first driving member 300, a second driving member 400, a third driving member 500, a fourth driving member 600, a fifth driving member 700, and a sixth driving member. Power may be applied to the 800.
  • the first driving member 300, the second driving member 400, the third driving member 500, the fourth driving member 600, the fifth driving member 700 and the sixth driving member 800 The temperature of is changed so that the shape can be controlled.
  • the camera module 910 may be electrically connected to the substrate 920 or the electronic control unit of the flying device 1 through a drawn conductive line (not shown) or wireless communication.
  • the image signal output from the camera module 910 may be stored in the camera module 910 or transmitted to a separate display device or an image signal storage device (eg, USB) through the substrate 920 or the electronic control unit.
  • the photographing apparatus 1000 in which the camera module 910 is excluded may be referred to as a "gimbal apparatus.”
  • FIG. 3 is a perspective view of the photographing apparatus of this embodiment with the cover member removed.
  • the movable unit 200 may be hollow, and a camera module 910 may be disposed therein.
  • the movable part 200 may have a spherical shape with a front cut off.
  • the front surface of the movable unit 200 may be provided with a space in which the camera module 910 is mounted.
  • the movable unit 200 may include an elastic pillar connected to the substrate unit 920 at the rear portion.
  • the movable part 200 may be elastically supported by the substrate part 920 by an elastic pillar.
  • the movable part 200 can be driven to rotate by elastic deformation.
  • the movable part 200 may rotate by the driving member.
  • the camera module 910 may be driven to rotate integrally with the movable part 200.
  • the movable part 200 includes a first ring part 211, a second ring part 212, a third ring part 213, a fourth ring part 214, a fifth ring part 215, and a sixth ring part ( 216).
  • the first ring portion 211 and the second ring portion 212 may be symmetrically disposed with respect to the first axial center axis (front and rear direction central axis) of the movable part 200.
  • the first ring portion 211 and the second ring portion 212 may be disposed on the left side and the right side of the front surface of the movable portion 200, respectively. In this case, the first ring portion 211 may be disposed on the left side, and the second ring portion 212 may be disposed on the right side.
  • the first driving member 300 may be caught by the first ring portion 211 to apply a tension.
  • the second driving member 400 is caught by the second ring portion 212, and tension may be applied.
  • the third ring portion 213 and the fourth ring portion 214 are spaced apart from the first ring portion 211 and the second ring portion 212, so that the first axis in the first axis direction of the movable portion 200 (fore and aft center) Axes) can be arranged symmetrically with respect to one another.
  • the third ring portion 213 and the fourth ring portion 214 may have the same phase with the first ring portion 211 and the second ring portion 212 in the first axis direction (front and rear directions).
  • the third ring portion 213 and the fourth ring portion 214 may be disposed above and below the front surface of the movable portion 200, respectively.
  • the third ring portion 213 may be disposed below, and the fourth ring portion 214 may be disposed above.
  • the third driving member 500 may be caught by the third ring portion 213 to apply tension.
  • the fourth driving member 600 is caught by the fourth ring portion 214, and tension may be applied.
  • the first ring portion 211, the second ring portion 212, the third ring portion 213, and the fourth ring portion 214 are disposed in a flat ring-shaped frame, which is separately provided on the front surface of the movable portion 200. Can be.
  • the fifth ring portion 215 and the sixth ring portion 216 include the first ring portion 211, the second ring portion 212, the third ring portion 213, and the fourth ring portion 214 and the first ring portion 214. Spaced apart in the axial direction (front and rear direction), it can be disposed symmetrically with respect to the first axis direction central axis (front and rear direction central axis) of the movable part 200.
  • the fifth ring portion 215 and the sixth ring portion 216 include the first ring portion 211, the second ring portion 212, the third ring portion 213, and the fourth ring portion 214 and the first ring portion 214. It may have unequal phases in the axial direction (front and rear).
  • the fifth ring portion 215 and the sixth ring portion 216 may be disposed above and below the side surface of the movable portion 200, respectively. In this case, the fifth ring portion 215 may be disposed below, and the sixth ring portion 216 may be disposed above.
  • the fifth driving member 700 may be caught by the fifth ring portion 215 to apply tension.
  • the sixth driving member 800 may be caught by the sixth ring portion 216 to apply tension.
  • the first driving member 300 and the second driving member 400 may be disposed parallel to each other in the movable part 200.
  • the first driving member 300 and the second driving member 400 may be spaced apart from each other in the third axis direction (left and right directions).
  • the first driving member 300 may be disposed on the left side
  • the second driving member 400 may be disposed on the right side.
  • the first driving member 300 and the second driving member 400 may be symmetrically disposed based on the first axis direction (front and rear direction) of the movable part 200.
  • the first driving member 300 and the second driving member 400 may extend to the substrate portion 920.
  • the first driving member 300 and the second driving member 400 may extend in the first axis direction (front and rear directions) to be electrically connected to the substrate 920.
  • the first driving member 300 and the second driving member 400 may extend or contract in the first axis direction (front and rear directions).
  • the first driving member 300 and the second driving member 400 may be shape memory alloys whose shape is controlled in a first axial direction (front and rear direction) by temperature.
  • the temperature of the first driving member 300 and the second driving member 400 may be controlled by a power applied by the substrate unit 920.
  • the first driving member 300 may include a first catching part 310, a first wire 320, a second wire 330, and a first connector 340.
  • the first locking portion 310 may be hooked to the first ring portion 211 in an arc shape (center angle is 180 degrees) (hook coupling, stiffness).
  • the first wire 320 and the second wire 330 may be disposed in parallel to each other.
  • the first wire 320 and the second wire 330 may be spaced apart in the second axis direction (up and down direction).
  • the first wire 320 may be disposed above and the second wire 330 may be disposed below.
  • the first wire 320 may extend from one end of the first catching part 310 to the substrate 920 or the first connector 340.
  • the first wire 320 may extend in the first axial direction (front and rear direction).
  • the second wire 330 may extend from the other end of the first catching part 310 to the substrate part 920 or the first connector 340.
  • the second wire 330 may extend in the first axis direction (rear direction).
  • the first wire 320 and the second wire 330 may extend or contract in the first axis direction (front and rear directions).
  • the first wire 320 and the second wire 330 may be shape memory alloys whose shape is controlled in a first axis direction (front and rear direction) by temperature.
  • the temperature of the first wire 320 and the second wire 330 may be controlled by a power applied by the substrate 920.
  • the first connector 340 may be disposed between the substrate 920 and the first wire 320, and may be disposed between the substrate 920 and the second wire 330.
  • the first connector 340 may electrically connect the substrate 920 and the first wire 320.
  • the first connector 340 may electrically connect the substrate 920 and the second wire 330.
  • the first connector 340 may stably fix the first wire 320 and the second wire 330 to the substrate 920 like a support.
  • the second driving member 400 may include a second catching part 410, a third wire 420, a fourth wire 430, and a second connector 440.
  • the second locking portion 410 may be hooked to the second ring portion 212 in the form of an arc (center angle of 180 degrees) (hook coupling, stiffness).
  • the third wire 420 and the fourth wire 430 may be arranged in parallel with each other.
  • the third wire 420 and the fourth wire 430 may be spaced apart from each other in the second axis direction (up and down direction).
  • the third wire 420 may be disposed above and the fourth wire 430 may be disposed below.
  • the third wire 420 may extend from one end of the second catching portion 410 to the substrate portion 920 or the second connector 440.
  • the third wire 420 may extend in the first axial direction (front and rear direction).
  • the fourth wire 430 may extend from the other end of the second catching part 410 to the substrate part 920 or the second connector 440.
  • the fourth wire 430 may extend in the first axis direction (rear direction).
  • the third wire 420 and the fourth wire 430 may extend or contract in the first axis direction (front and rear directions).
  • the third wire 420 and the fourth wire 430 may be shape memory alloys whose shape is controlled in a first axis direction (front and rear direction) by temperature.
  • the temperature of the third wire 420 and the fourth wire 430 may be controlled by a power applied by the substrate 920.
  • the second connector 440 may be disposed between the substrate 920 and the third wire 420, and may be disposed between the substrate 920 and the fourth wire 430.
  • the second connector 440 may electrically connect the substrate 920 and the third wire 420.
  • the second connector 440 may electrically connect the substrate 920 and the fourth wire 430.
  • the second connector 440 may stably fix the third wire 420 and the fourth wire 430 to the substrate 920 like a support.
  • the third driving member 500 and the fourth driving member 600 may be disposed in parallel with each other on the movable part 200.
  • the third driving member 500 and the fourth driving member 600 may be spaced apart from each other in the second axis direction (up and down direction). In this case, the third driving member 500 may be disposed below, and the fourth driving member 600 may be disposed above.
  • the third driving member 500 and the fourth driving member 600 may be symmetrically disposed with respect to the first axis direction (front and rear direction) of the movable part 200.
  • the third driving member 500 and the fourth driving member 600 may extend to the substrate portion 920.
  • the third driving member 500 and the fourth driving member 600 may extend in the first axis direction (front and rear direction) to be electrically connected to the substrate 920.
  • the third driving member 500 and the fourth driving member 600 may be spaced apart from each other and parallel to the first driving member 300 and the second driving member 400. In this case, the third driving member 500 and the fourth driving member 600 have the same phase as the first driving member 300 and the second driving member 400 with respect to the first axis direction (front and rear direction). Can be.
  • the third driving member 500 and the fourth driving member 600 may extend or contract in the first axis direction (front and rear directions).
  • the third driving member 500 and the fourth driving member 600 may be shape memory alloys whose shape is controlled in a first axial direction (front and rear direction) by temperature.
  • the temperature of the third driving member 500 and the fourth driving member 600 may be controlled by a power applied by the substrate unit 920.
  • the third driving member 500 may include a third locking portion 510, a fifth wire 520, a sixth wire 530, and a third connector 540.
  • the third locking portion 510 may be hooked to the third ring portion 213 in the form of an arc (center angle of 180 degrees) (hook coupling, stiffness).
  • the fifth wire 520 and the sixth wire 530 may be disposed in parallel to each other.
  • the fifth and sixth wires 520 and 530 may be spaced apart from each other in the third axis direction (left and right directions).
  • the fifth wire 520 may be disposed on the left side and the sixth wire 530 may be disposed on the right side.
  • the fifth wire 520 may extend from one end of the third catching portion 510 to the substrate portion 920 or the third connector 540.
  • the fifth wire 520 may extend in the first axis direction (rear direction).
  • the sixth wire 530 may extend from the other end of the third catching part 510 to the substrate part 920 or the third connector 540.
  • the sixth wire 530 may extend in the first axis direction (rear direction).
  • the fifth and sixth wires 520 and 530 may extend or contract in the first axis direction (front and rear directions).
  • the fifth wire 520 and the sixth wire 530 may be shape memory alloys whose shape is controlled in a first axis direction (front and rear direction) by temperature.
  • the temperature of the fifth wire 520 and the sixth wire 530 may be controlled by a power applied by the substrate 920.
  • the third connector 540 may be disposed between the substrate 920 and the fifth wire 520, and may be disposed between the substrate 920 and the sixth wire 530.
  • the third connector 540 may electrically connect the substrate 920 and the fifth wire 520.
  • the third connector 540 may electrically connect the substrate 920 and the sixth wire 530.
  • the third connector 540 may stably fix the fifth wire 520 and the sixth wire 530 to the substrate 920 like a support.
  • the fourth driving member 600 may include a fourth locking part 610, a seventh wire 620, an eighth wire 630, and a fourth connector 640.
  • the fourth locking portion 610 may be hooked to the fourth ring portion 214 in the form of an arc (center angle of 180 degrees) (hook coupling, stiffness).
  • the seventh wire 620 and the eighth wire 630 may be disposed in parallel to each other.
  • the seventh wire 620 and the eighth wire 630 may be spaced apart in the third axis direction (left and right directions). In this case, the seventh wire 620 may be disposed on the left side, and the eighth wire 630 may be disposed on the right side.
  • the seventh wire 620 may extend from one end of the fourth locking portion 610 to the substrate portion 920 or the fourth connector 640. In this case, the seventh wire 620 may extend in the first axis direction (rear direction).
  • the eighth wire 630 may extend from the other end of the fourth catching portion 610 to the substrate portion 920 or the fourth connector 640. In this case, the eighth wire 630 may extend in the first axis direction (rear direction).
  • the seventh wire 620 and the eighth wire 630 may extend or contract in the first axis direction (front and rear directions).
  • the seventh wire 620 and the eighth wire 630 may be shape memory alloys whose shape is controlled in a first axis direction (front and rear direction) by temperature.
  • the temperature of the seventh wire 620 and the eighth wire 630 may be controlled by a power applied by the substrate 920.
  • the fourth connector 640 may be disposed between the substrate portion 920 and the seventh wire 620 and may be disposed between the substrate portion 920 and the eighth wire 630.
  • the fourth connector 640 may electrically connect the substrate 920 and the seventh wire 620.
  • the fourth connector 640 may electrically connect the substrate 920 and the eighth wire 630.
  • the fourth connector 640 can stably fix the seventh wire 620 and the eighth wire 630 to the substrate unit 920, like a post.
  • the fifth driving member 700 and the sixth driving member 800 may be disposed parallel to each other on the movable part 200.
  • the fifth driving member 700 and the sixth driving member 800 may be spaced apart from each other in the second axis direction (up and down direction). In this case, the fifth driving member 700 may be disposed below, and the sixth driving member 800 may be disposed above.
  • the fifth driving member 700 and the sixth driving member 800 may be disposed symmetrically with respect to the first axis direction (front and rear direction) of the movable part 200.
  • the fifth driving member 700 and the sixth driving member 800 may extend to the substrate unit 920.
  • the fifth driving member 700 and the sixth driving member 800 may extend in the third axis direction (left and right directions) to be electrically connected to the substrate 920.
  • the fifth driving member 700 and the sixth driving member 800 are spaced apart from the first driving member 300, the second driving member 4000, the third driving member 500, and the fourth driving member 600. Can be arranged.
  • the fifth driving member 700 and the sixth driving member 800 may extend or contract in the third axis direction (left and right directions).
  • the fifth driving member 700 and the sixth driving member 800 may be shape memory alloys whose shape is controlled in a third axis direction (left and right directions) by temperature.
  • the temperature of the fifth driving member 700 and the sixth driving member 800 may be controlled by a power applied by the substrate unit 920.
  • the fifth driving member 700 may include a fifth locking portion 710, a ninth wire 720, a tenth wire 730, and a fifth connector 740.
  • the fifth locking portion 710 may be hooked to the fifth ring portion 215 in an arc shape (center angle is 180 degrees) (hook coupling, stiffness).
  • the ninth wire 720 and the tenth wire 730 may be disposed in parallel to each other.
  • the ninth wire 720 and the tenth wire 730 may be spaced apart in the first axis direction (front and rear direction). In this case, the ninth wire 720 may be disposed at the rear and the tenth wire 730 may be disposed at the front.
  • the ninth wire 720 may extend from the one end of the fifth catching portion 710 to the substrate portion 920 or the fifth connector 740. In this case, the ninth wire 720 may extend in the third axis direction (left and right directions).
  • the tenth wire 730 may extend from the other end of the fifth locking portion 710 to the substrate portion 920 or the fifth connector 740. In this case, the tenth wire 730 may extend in the third axis direction (left and right directions).
  • the ninth wire 720 and the tenth wire 730 may extend or contract in the third axis direction (left and right directions).
  • the ninth wire 720 and the tenth wire 730 may be shape memory alloys whose shape is controlled in a third axis direction (left and right directions) by temperature.
  • the temperature of the ninth wire 720 and the tenth wire 730 may be controlled by a power applied by the substrate unit 920.
  • the fifth connector 740 may be disposed between the substrate portion 920 and the ninth wire 720, and may be disposed between the substrate portion 920 and the tenth wire 730.
  • the fifth connector 740 may electrically connect the substrate 920 and the ninth wire 720.
  • the fifth connector 740 may electrically connect the substrate 920 and the tenth wire 730.
  • the fifth connector 740 may stably fix the ninth wire 720 and the tenth wire 730 to the substrate unit 920, like a post.
  • the sixth driving member 800 may include a sixth locking portion 810, an eleventh wire 820, a twelfth wire 830, and a sixth connector 840.
  • the sixth locking portion 810 may be hooked to the sixth ring portion 216 in the form of an arc (center angle of 180 degrees) (hook coupling, stiffness).
  • the eleventh wire 820 and the twelfth wire 830 may be disposed in parallel to each other.
  • the eleventh wire 820 and the twelfth wire 830 may be spaced apart from each other in the first axis direction (front and rear directions). In this case, the eleventh wire 820 may be disposed at the rear and the twelfth wire 830 may be disposed at the front.
  • the eleventh wire 820 may extend from one end of the sixth catching portion 810 to the substrate portion 920 or the sixth connector 840. In this case, the eleventh wire 820 may extend in the third axis direction (left and right directions).
  • the twelfth wire 830 may extend from the other end of the sixth catching part 810 to the substrate 920 or the sixth connector 840. In this case, the twelfth wire 830 may extend in the third axis direction (left and right directions).
  • the eleventh wire 820 and the twelfth wire 830 may extend or contract in the third axis direction (left and right directions).
  • the eleventh wire 820 and the twelfth wire 830 may be shape memory alloys whose shape is controlled in a third axis direction (left and right directions) by temperature.
  • the temperature of the eleventh wire 820 and the twelfth wire 830 may be controlled by a power applied by the substrate 920.
  • the sixth connector 840 may be disposed between the substrate portion 920 and the eleventh wire 820, and may be disposed between the substrate portion 920 and the twelfth wire 830.
  • the sixth connector 840 may electrically connect the substrate 920 and the eleventh wire 820.
  • the sixth connector 840 may electrically connect the substrate 920 and the twelfth wire 830.
  • the sixth connector 840 can stably fix the eleventh wire 820 and the twelfth wire 830 to the substrate 920 like a support.
  • the substrate 920 may be a printed circuit board (PCB).
  • the substrate 920 may be formed to be bent or curved at 90 degrees.
  • the substrate unit 920 may include a first surface and a second surface.
  • the first surface of the substrate 920 may be disposed such that each surface faces a first axis direction (front and rear direction).
  • the first driving member 300, the second driving member 400, the third driving member 500, and the fourth driving member 600 may be connected to the first surface of the substrate 920.
  • the first connector 340, the second connector 440, the third connector 540, and the fourth connector 640 are mounted on the first surface of the substrate 920, and the first driving member 300 and the first connector 640 are mounted.
  • Each of the second driving member 400, the third driving member 500, and the fourth driving member 600 includes a first connector 340, a second connector 440, a third connector 540, and a fourth connector 640.
  • Each of the first and second substrates may be electrically connected to the first surface of the substrate 920.
  • the first surface of the substrate 920 may be exposed from the cover member 100 to form a rear surface of the photographing apparatus 1000.
  • the photographing apparatus 1000 or the flight apparatus 1 is provided with a separate exterior member (not shown) surrounding the first surface of the substrate 920 to prevent the first surface of the substrate 920 from being exposed to the outside. can do.
  • the second surface of the substrate 920 may be disposed such that each surface faces a third axis direction (left and right directions).
  • the fifth driving member 700 and the sixth driving member 800 may be connected to the second surface of the substrate 920.
  • the fifth connector 740 and the sixth connector 840 are mounted on the second surface of the substrate 920, and each of the fifth driving member 700 and the sixth driving member 800 is the fifth connector 740.
  • the second surface of the substrate 920 may be exposed from the cover member 100 to form a right surface of the photographing apparatus 1000.
  • the imaging device 1000 or the flying device 1 is provided with a separate exterior member (not shown) surrounding the second surface of the substrate 920 to prevent the second surface of the substrate 920 from being exposed to the outside. can do.
  • the substrate unit 920 may be electrically connected to the electronic control unit of the flying device 1.
  • the substrate 920 may include a first driving member 300, a second driving member 400, a third driving member 500, a fourth driving member 600, a fifth driving member 700, and a sixth driving member. Power may be applied to the 800.
  • the first driving member 300, the second driving member 400, the third driving member 500, the fourth driving member 600, and the first driving member 300 are controlled by the control signal of the electronic control unit of the flying device 1.
  • the direction, magnitude, intensity, etc. of the currents applied to the fifth driving member 700 and the sixth driving member 800 may be adjusted.
  • the drive (drive principle of a camera drive device) of the imaging device 1000 of this embodiment is demonstrated.
  • the camera module 910 rotates about the second axis (the up and down axis) (yaw control) will be described.
  • 4 is a conceptual view from above of the camera module 910 rotating about a second axis (up-down direction axis).
  • the photographing apparatus 1000 of the present embodiment when the photographing apparatus 1000 is to be rotated about the second axis to change the photographing range, or when the oscillation occurs to be offset by the second axis, the photographing apparatus 1000 refers to the movable part 200 based on the second axis. Rotate to change the shooting range, or to establish the camera module 910.
  • the movable part 200 may rotate the second axis to the rotation axis.
  • the first driving member 300 is applied to the first driving member 300 and the second driving member 400 by applying a power source having a reverse direction or voltage to each other.
  • the movable part 200 can be rotated forward with the second axis.
  • power may be applied to only one of the first driving member 300 and the second driving member 400 to reduce the first driving member 300 or to increase the second driving member 400.
  • the driving member to which power is not applied may be reduced or increased by elastic deformation caused by tension.
  • the first driving member 300 and the second driving member 400 are supplied with a power source having an opposite direction or voltage to the current to increase the first driving member 300.
  • the second driving member 400 may be extended to rotate the movable part 200 in the second axis to the rotating shaft.
  • power may be applied to only one of the first driving member 300 and the second driving member 400 to increase the first driving member 300 or reduce the second driving member 400.
  • the driving member to which power is not applied may be reduced or increased by elastic deformation caused by tension.
  • FIG. 5 is a conceptual view when the camera module 910 rotates about a third axis (left and right directions) from the right side.
  • the photographing apparatus 1000 of the present embodiment when the rotation range is changed based on the third axis, or when the oscillation occurs to offset the third axis, the photographing apparatus 1000 sets the movable part 200 based on the third axis. Rotate to change the shooting range, or to establish the camera module 910.
  • the movable part 200 may rotate the third axis to the rotation axis.
  • the third driving member 500 may be applied to the third driving member 500 and the fourth driving member 600 by applying a power source having a reverse direction or voltage to each other.
  • the movable part 200 can be rotated forward to the third axis.
  • power may be applied to only one of the third driving member 500 and the fourth driving member 600 to reduce the third driving member 500 or to increase the fourth driving member 600.
  • the driving member to which power is not applied may be reduced or increased by elastic deformation caused by tension.
  • the third driving member 500 and the fourth driving member 600 are applied with a power source having opposite directions or voltages to the third driving member 500 to increase the third driving member 500, and
  • the fourth driving member 600 may be extended to rotate the movable part 200 in the third axis to the rotation axis.
  • power may be applied to only one of the third driving member 500 and the fourth driving member 600 to increase the third driving member 500 or to reduce the fourth driving member 600.
  • the driving member to which power is not applied may be reduced or increased by elastic deformation caused by tension.
  • the camera module 910 rotates (pitch control) about the first axis (front and rear direction axis).
  • 6 is a conceptual view of a rear view of the camera module 910 rotating about a first axis (front and rear direction axis).
  • the photographing apparatus 1000 according to the present embodiment rotates the first axis based on the first axis, or the oscillation occurs to offset the first axis to offset the moving part 200 based on the first axis. Rotate to change the shooting range, or to establish the camera module 910.
  • the movable part 200 may rotate the first axis to the rotation axis.
  • the fifth driving member 700 is applied by applying a power source having opposite directions or voltages to the fifth driving member 700 and the sixth driving member 800, respectively.
  • the movable part 200 can be rotated forward with the first axis.
  • power may be applied to only one of the fifth driving member 700 and the sixth driving member 800 to reduce the fifth driving member 700 or to increase the sixth driving member 800.
  • the driving member to which power is not applied may be reduced or increased by elastic deformation caused by tension.
  • the fifth driving member 700 and the sixth driving member 800 are supplied with a power source having a reverse direction or voltage of current, so that the fifth driving member 700 is extended and By increasing the six driving member 800, the movable portion 200 can be rotated back to the first axis.
  • power may be applied to only one of the fifth driving member 700 and the sixth driving member 800 to increase the fifth driving member 700 or reduce the sixth driving member 800.
  • the driving member to which power is not applied may be reduced or increased by elastic deformation caused by tension.
  • the eighth wire 630, the ninth wire 720, the tenth wire 730, the eleventh wire 820, and the twelfth wire 830 are shape memory alloys, which are shaped according to temperature (length). Can be controlled.
  • Fig. 7 is a graph showing the change in length depending on the temperature of the shape memory alloy used in this embodiment. Referring to the graph of FIG. 7, it is preferable that the shape memory alloy of this embodiment is controlled at a temperature range of 33.2 ° C or more and 34.8 ° C or less. This is because the amount of change in length is linear in the temperature range of 33.2 ° C. or higher and 34.8 ° C. or lower, thereby enabling precise driving.
  • first axis may be defined as “x-axis” shown in the drawings
  • second axis may be defined as “z-axis” shown in the drawings
  • third axis may be defined as “ y-axis ".
  • the “first axis” may extend from front to back, the “second axis” may extend from top to bottom, and the “third axis” may extend from right to left.
  • the photographing direction of the camera module 900 may be forward.
  • first axis may be disposed perpendicular to each other to form a rectangular coordinate system. That is, the “first axis” and the “second axis” may be perpendicular to each other, and the “third axis” may be disposed perpendicularly to both the “first axis” and the “second axis”.
  • first axis “second axis”, and “third axis” must be vertically disposed.
  • first axis and “second axis” are inclined to each other at an angle other than 90 °
  • the "third axis” is at an angle other than 90 ° with both the "first axis” and the second axis. It may be arranged to be inclined.
  • the flight device 2001 may be an unmanned drone.
  • the user may control the flight device 2001 by a wireless terminal (not shown).
  • the flight device 2001 may include a main body 2010, a driving unit 2020, and a photographing device 2000.
  • the main body 2010 is an exterior member, and a driving unit 2020 may be disposed on one side of the main body 2010, and the driving device 2000 may be disposed on the other side (below) of the main body 2010.
  • an electronic control unit ECU, Electric Control Unit, not shown
  • ECU Electric Control Unit
  • the driving unit 2020 may be a plurality of propeller units disposed symmetrically with respect to the vertical center axis of the main body 2010.
  • the main body 2010 can fly by the rotation of the propeller.
  • the photographing apparatus 2000 may be disposed below the main body 2010.
  • the photographing apparatus 2000 may rotate the camera module 2900 based on the “first axis”, “second axis”, and “third axis”. As a result, the photographing range of the camera module 2900 can be changed, and the posture of the camera module 2900 can be controlled (shaking offset effect due to flight vibration).
  • the electronic control unit can communicate wirelessly with a wireless terminal controlled by the user.
  • the electronic control unit may be electrically connected to various electronic components and the photographing apparatus 2000 of the flying device 2001.
  • the electronic control unit may wirelessly communicate with a wireless terminal controlled by a user, receive various control signals, transmit the same to the electronic component and the photographing apparatus 2000, and control the electronic component and the photographing apparatus 2000. For example, when the electronic control unit receives a signal for changing the photographing range of the camera module 2900 from the wireless terminal, the electronic control unit may control the photographing apparatus 2000 to rotate the camera module 2900.
  • the electronic control unit determines the shaking of the camera module 2900 caused by the flight of the flying device 2001 and, accordingly, controls the photographing apparatus 2000 to rotate the camera module 2900 to cancel the shaking. Can be.
  • the camera module 2900 may perform imaging in an established state.
  • a gyro sensor (not shown) or an acceleration sensor (not shown) may be embedded in the camera module 2900 or mounted on the substrate 2400 of the photographing apparatus 2000.
  • the electronic control unit may be electrically connected to the gyro sensor or the acceleration sensor to determine the shaking of the camera module 2900.
  • FIG. 9 is a perspective view showing the photographing apparatus of the second embodiment
  • FIG. 10 is an exploded perspective view showing the photographing apparatus of the second embodiment
  • FIG. 11 is a sectional view showing the photographing apparatus of the second embodiment
  • FIG. 13 is an exploded perspective view showing a supporting member, a conductive member and a fixing member of the second embodiment
  • FIG. 13 is a perspective view showing the photographing apparatus of the second embodiment without a cover and a substrate
  • FIG. 14 shows a driving member of the second embodiment.
  • Fig. 15 is a conceptual diagram showing an oblique arrangement
  • Fig. 15 is a conceptual diagram showing the effect of the inclined arrangement of the drive member of the second embodiment.
  • the cover member 2100, the movable member 2200, the support member 2300, the substrate 2400, the driving member 2500, the first conductive member 2600, and the second It may include a conductive member (not shown), a rotary joint 2700, a fixing member 2800, and a camera module 2900.
  • the photographing apparatus 2000 may drive the camera module 2900.
  • the photographing apparatus 2000 may be a “camera driving apparatus” on which the camera module 2900 is mounted. That is, the photographing apparatus 2000 in which the camera module 2900 is released may be referred to as a "camera driving apparatus.”
  • the cover member 2100 may be an exterior member of the photographing apparatus 2000.
  • the material of the cover member 2100 may include a non-conductive material.
  • the material of the cover member 2100 may include plastic.
  • the cover member 2100 may be manufactured by plastic injection.
  • the cover member 2100 may include a rear surface and a side surface extending forward from the edge of the rear surface. Accordingly, the cover member 2100 may be in the form of a hollow hexahedron having an approximately (substantially) open front surface.
  • the movable member 2200 Inside the cover member 2100, the movable member 2200, the supporting member 2300, the driving member 2500, the first conductive member 2600, the second conductive member (not shown), the rotary joint 2700, and the fixing member 2200 are fixed.
  • the member 2800 and the camera module 2900 may be disposed.
  • the substrate 2400 may be disposed outside the cover member 2100.
  • the first substrate part 2410 may be disposed on the rear surface of the cover member 2100.
  • the second substrate portion 2420 may be disposed on a side surface of the cover member 2100 that is disposed below the cover member 2100.
  • the first substrate part 2410 may be disposed such that one side thereof contacts the rear surface of the cover member 2100.
  • the second substrate part 2410 may be bent or bent forward from the first substrate part 2410 so that one side thereof may be in contact with a side surface of the cover member 2100.
  • An outer side of the cover member 2100 may be provided with a separate case for preventing at least a portion of the substrate 2400 is exposed to the outside.
  • the substrate 2400 may be disposed between the cover member 2100 and the case.
  • the cover member 2100 may include a plurality of first cover holes 2110 and one second cover hole 2120 (see FIG. 10).
  • the plurality of first cover holes 2110 may include six first cover holes 2110.
  • first cover holes 2110 may be formed on the rear surface of the cover member 2100 (only two are shown in FIG. 3). The other two of the six first cover holes 2110 may be formed on the side surface of the cover member 100.
  • Each of the four first cover holes 2110 positioned at the rear of the cover member 2100 may include a first driving member 2510, a second driving member 2520, a third driving member 2530, and a fourth driving member 2540. ) May be overlapped in the "first axis direction".
  • first cover holes 2110 disposed on the rear surface of the cover member 2100 include a first driving member 2510, a second driving member 2520, a third driving member 2530, and a fourth driving member 2540. Can be inserted (arranged) respectively.
  • the first driving member 2510, the second driving member 2520, the third driving member 2530, and the fourth driving member 2540 are respectively provided with four first cover holes 2110 disposed on the rear surface of the cover member 100. ) May extend through the first substrate portion 2410.
  • Each of the two first cover holes 2110 disposed on the lower side of the cover member 2100 may be disposed to overlap the fifth driving member 2550 and the sixth driving member 2560 in the “first axial direction”.
  • the fifth driving member 2550 and the sixth driving member 2560 may be inserted (arranged) into the two first cover holes 2110 disposed on the lower side of the cover member 2100, respectively.
  • the fifth driving member 2550 and the sixth driving member 2560 may extend to the second substrate part 2420 through two first cover holes 2110 positioned on the lower side of the cover member 2100, respectively. have.
  • the second cover hole 2120 may be formed at the center of the rear surface of the cover member 2100.
  • the second cover hole 2120 may be disposed to overlap the support pillar 2720 of the rotary joint 2700 in the “first axial direction”.
  • the support pillar 2720 of the rotary joint 2700 may be inserted into the second cover hole 2120.
  • the movable member 2200 may be disposed inside the cover member 2100.
  • the ball 2710 of the rotary joint 2700 and the camera module 2900 may be disposed inside the movable member 2200.
  • the camera module 2900 may be mounted on the movable member 2200.
  • the movable member 2200 may be rotatably coupled to the ball 2710.
  • the movable member 2200 may rotate based on the “first axis”, “second axis”, and third axis ”by the rotary joint 2700.
  • the camera module 2900 may move the movable member 2200.
  • Rotate integrally with, and the center of rotation of the movable member 2200 and the camera module 2900 may be a centripet (center of the sphere) of the ball 2710.
  • the front part of the movable member 2200 may be provided with a space for accommodating the camera module 2900. That is, the camera module 2900 may be disposed at the front portion of the movable member 200.
  • the rear portion of the movable member 2200 may be provided with a space for accommodating the ball 2710 of the rotary joint 2700. That is, the ball 2710 may be disposed at the rear portion of the movable member 2200.
  • the support member 2300 may be a member that supports the driving member 2500.
  • the material of the support member 2300 may include a non-conductive material.
  • the material of the support member 2300 may include plastic.
  • the support member 2300 may be a plastic injection molding.
  • the support member 2300 may be disposed on the movable member 2200.
  • the support member 2300 may be integrally formed with the movable member 2200.
  • the support member 2300 may be spaced apart from the substrate 2400.
  • the first conductive member 2600 may be disposed on the support member 2300.
  • One end of the driving member 2500 may be disposed on the support member 2300.
  • the support member 2300 may be disposed between the first conductive member 2600 and the movable member 2200.
  • the support member 2300 may include a first support part 2310 and a second support part 2320.
  • the first support part 2310 and the second support part 2320 may be spaced apart from each other.
  • the first driving member 2510, the second driving member 2520, the third driving member 2530, and the fourth driving member 2540 may be disposed on the first support part 2310.
  • the fifth driving member 2550 and the sixth driving member 2560 may be disposed on the second support part 2320.
  • the first support part 2310 may be disposed behind the first conductive member 2600.
  • the first support part 2310 may be disposed in front of the movable member 2200.
  • the first support part 2310 may be disposed between the first conductive member 2600 and the movable member 2200.
  • the first support part 2310 may be spaced apart from the rotation center of the movable member 2200 and the camera module 2900 in the "first axial direction".
  • the first support part 2310 may have a rectangular ring shape having an opening formed at a center thereof.
  • the first support 2310 may have a plate shape.
  • the first support part 2310 may be disposed perpendicular to the “first axis”. Through the opening of the first support 2310, the lens of the camera module 2900 may be exposed to the outside.
  • the first supporter 2310 may include a first protrusion 2311, a second protrusion 2312, a third protrusion 2313, and a fourth protrusion 2314.
  • the first protrusion 2311 may protrude upward from the center of the side positioned above the first support part 2310.
  • the second protrusion 2312 may protrude downward from the center of the side positioned below the first support 2310.
  • the third protrusion 2313 may protrude from the center of the side positioned at the right side of the first support 2310 to the right.
  • the fourth protrusion 2314 may protrude from the center of the left side of the first support portion 2310 to the left side.
  • the first protrusion 2311, the second protrusion 2312, the third protrusion 2313, and the fourth protrusion 2314 may have a plate shape.
  • the first protrusion 2311, the second protrusion 2312, the third protrusion 2313, and the fourth protrusion 2314 may be disposed perpendicularly to the “first axis”.
  • the first protrusion 2311 may protrude upward from a side positioned above the first support part 2310.
  • the first driving member 2510 may be disposed (inserted or penetrated) in the first protrusion 2311.
  • the second driving member 2520 may be disposed (inserted or penetrated) in the second protrusion 2312.
  • the third driving member 2530 may be disposed (inserted or penetrated) in the third protrusion 2313.
  • the fourth driving member 2540 may be disposed (inserted and penetrated) in the fourth protrusion 2314.
  • the first protrusion 2311 and the second protrusion 2312 may be spaced apart in the “second axis direction”.
  • the third protrusion 2313 and the fourth protrusion 2314 may be spaced apart in the “third axis direction”.
  • First and second blades protruding to the left and the right may be formed at the upper end of the first protrusion 2311.
  • the first protrusion 2311 may have a first hole 2311-1 and two second holes 2311-2.
  • the first hole 2311-1 may be positioned at the center of the upper end of the first protrusion 2311.
  • One of the two second holes 2311-2 may be located in the first blade, and the other may be located in the second blade.
  • the first driving member 2510 may be disposed (inserted and penetrated) in the first hole 2311-1.
  • the second hole 2311-2 is a hole provided to rivet the first fixing member 2810.
  • a third blade and a fourth blade protruding to the left and the right may be formed at the lower end of the second protrusion 2312.
  • a third hole 2312-1 and two fourth holes 2312-2 may be formed in the second protrusion 2312.
  • the third hole 2312-1 may be located at the center of the lower end of the second protrusion 2312.
  • One of the two fourth holes 2312-2 may be located in the third blade, and the other one may be located in the fourth blade.
  • the second driving member 2520 may be disposed (inserted or penetrated) in the third hole 2312-1.
  • the fourth hole 2312-2 is a hole provided to rivet the second fixing member 2820.
  • a fifth hole 2313-1 and two sixth holes 2313-2 may be formed in the third protrusion 2313.
  • the fifth hole 2313-1 may be located at the center of the right end of the third protrusion 2313.
  • One of the two sixth holes 2313-2 may be located in the fifth blade, and the other one may be located in the sixth blade.
  • the third driving member 2530 may be disposed (inserted or penetrated) in the fifth hole 2313-1.
  • the sixth hole 2313-2 is a hole provided to rivet the third fixing member 2830.
  • a seventh blade and an eighth blade protruding upward and downward may be formed at the left end of the fourth protrusion 2314.
  • a seventh hole 2314-1 and two eighth holes 2314-2 may be formed in the fourth protrusion 2314.
  • the seventh hole 2314-1 may be located at the center of the left end of the fourth protrusion 2314.
  • One of the two eighth holes 2314-2 may be located in the seventh blade, and the other may be located in the eighth blade.
  • the fourth driving member 2540 may be disposed (inserted and penetrated) in the seventh hole 2314-1.
  • the eighth hole 2314-2 is a hole provided to rivet the fourth fixing member 2840.
  • the second support part 2320 may be disposed on the movable member 2200.
  • the second support part 2320 may be disposed behind the first support part 2310.
  • the second support part 2320 may be in the form of a plate.
  • the second support part 2320 may be disposed perpendicular to the “second axis”.
  • the fifth driving member 2550 and the sixth driving member 2560 may be disposed on the second support part 2320.
  • the second support part 2320 may be disposed at the same position in the “first axial direction” as the center of rotation of the movable member 2200 and the camera module 2900.
  • the substrate 2400 may be a printed circuit board (PCB) or a flexible printed circuit board (FPCB).
  • the driving member 2500 may be disposed on the substrate 2400.
  • the substrate 2400 may be electrically connected to the driving member 2500.
  • the substrate 2400 may be electrically connected to the electronic control unit of the flying device 2001.
  • the substrate 2400 may receive power from the electronic control unit to apply a current to the driving member 2500. In this case, the intensity, direction, wavelength, etc. of the current applied to the driving member 2500 may be controlled.
  • the substrate 2400 may be spaced apart from the movable member 2200 and the support member 2300.
  • the substrate 2400 and the support member 2300 may be connected by the driving member 2500.
  • the substrate 2400 may include a first substrate portion 2410, a second substrate portion 2420, and a connection substrate portion 2430.
  • the first substrate portion 2410, the second substrate portion 2420, and the connection substrate portion 2430 may be a single substrate integrally formed, or three different substrates may be electrically connected to each other.
  • the first substrate portion 2410 may have a plate shape.
  • the first substrate part 2410 may be disposed perpendicularly to the “first axis”.
  • the first driving member 2510, the second driving member 2520, the third driving member 2530, and the fourth driving member 2540 may be disposed on the first substrate 2410.
  • the first substrate part 2410 may be electrically connected to the first driving member 2510, the second driving member 2520, the third driving member 2530, and the fourth driving member 2540.
  • the first substrate 2410 may apply current to the first driving member 2510, the second driving member 2520, the third driving member 2530, and the fourth driving member 2540.
  • the first substrate portion 2410 may be spaced apart from the first support portion 2310 in the “first axial direction”.
  • the first substrate portion 2410 may be disposed in parallel with the first support portion 2310.
  • the first substrate part 2410 and the first support part 2310 may be connected by the first driving member 2510, the second driving member 2520, the third driving member 2530, and the fourth driving member 2540. have.
  • the second substrate portion 2420 may have a plate shape.
  • the second substrate portion 2420 may be disposed perpendicular to the “second axis”.
  • the fifth driving member 2550 and the sixth driving member 2560 may be disposed on the second substrate portion 2420.
  • the second substrate portion 2420 may be electrically connected to the fifth driving member 2550 and the sixth driving member 2560.
  • the second substrate portion 2420 may apply current to the fifth driving member 2550 and the sixth driving member 2560.
  • the second substrate portion 2420 may be formed to be curved forward or bent forward from the lower end of the first substrate portion 2410.
  • the second substrate portion 2420 may be spaced apart from the second support portion 2320 in the “first axial direction”.
  • the second substrate portion 2420 may be disposed in parallel with the second support portion 2320.
  • the second substrate portion 2420 and the second support portion 2320 may be connected by the fifth driving member 2550 and the sixth driving member 2560.
  • connection substrate portion 2430 may be in the form of a plate.
  • the connection substrate portion 2430 may be disposed perpendicular to the “first axis”.
  • the connection board unit 2430 may extend from an upper end of the first substrate unit 2410 to an upper side thereof.
  • the connection board unit 2430 may be electrically connected to the electronic control unit of the flying device 2001. Therefore, the current generated from the electronic control unit and various control signals can be transmitted to the first substrate portion 2410 and the second substrate portion 2420 through the connection substrate portion 2430.
  • the driving member 2500 may be disposed between the supporting member 2300 and the substrate 2400.
  • the driving member 2500 may connect the support member 2300 and the substrate 2400.
  • One end of the driving member 2500 may be disposed on the support member 2300, and the other end of the driving member 2500 may be disposed on the substrate 2400.
  • the driving member 2500 may extend from the supporting member 2300 to the substrate 2400.
  • the driving member 2500 may be electrically connected to the substrate 2400.
  • the driving member 2500 may be electrically connected to the first conductive member 2600.
  • the driving member 2500 may be electrically connected to a second conductive member (not shown).
  • the driving member 2500 may receive a current from the electronic control unit of the flying device 1 through the substrate 2400.
  • the drive member 2500 may be a "Shape Memory Alloy".
  • the length in the connecting direction or the extending direction may be increased or decreased (change in length). That is, the driving member 2500 may increase or decrease the length in the connection direction or the extension direction depending on the temperature.
  • the driving member 2500 may extend from one side to the other side.
  • the driving member 2500 may have a spiral shape having a spiral central axis in a connecting direction or an extending direction.
  • the driving member 2500 may be in the form of a three-dimensional Archimedes spiral.
  • the driving member 2500 may be in the form of a spring or a coil.
  • the reason why the drive member 2500 has a spiral shape is that the spiral shape has a larger "change in length” according to the "change in shape” than the general wire form (wire).
  • the original length of the drive member 2500 is used. It can take a short to have a compact structure and can stably support the movable member 2200.
  • the driving member 2500 may include a first driving member 2510, a second driving member 2520, a third driving member 2530, a fourth driving member 2540, a fifth driving member 2550, and a sixth driving member. 2560.
  • the first driving member 2510, the second driving member 2520, the third driving member 2530, the fourth driving member 2540, the fifth driving member 2550, and the sixth driving member 2560 are spaced apart from each other. Can be.
  • the first driving member 2510 and the second driving member 2520 may be disposed between the first support part 2310 and the first substrate part 2410.
  • the first driving member 2510 and the second driving member 2520 may connect the first support part 2310 and the first substrate part 2410.
  • the first driving member 2510 and the second driving member 2520 may extend from the first support part 2310 to the first substrate part 2410.
  • the first driving member 2510 and the second driving member 2520 may extend in the "first axis" direction.
  • Rear ends of the first driving member 2510 and the second driving member 2520 may be electrically connected to the first substrate 2424.
  • the front ends of the first driving member 2510 and the second driving member 2520 may be electrically connected to the first conductive member 2600. Since the first substrate portion 2410 and the first conductive member 2600 are electrically connected to the electronic control unit of the flying device 2001, respectively, the electronic control unit, the first substrate portion 2410, and the first driving member 2510. ) And the first conductive member 2600 may form one circuit.
  • the electronic control unit, the first substrate portion 2410, the second driving member 2520, and the first conductive member 2600 may form one circuit.
  • the first driving member 2510 and the second driving member 2520 may be spaced apart in the “second axis direction”.
  • the movable member 2200 may rotate based on the “third axis” by the shape control of at least one of the first driving member 2510 and the second driving member 2520 (Yaw control).
  • the movable member 2200 may rotate forward with respect to the “third axis”. Can be.
  • the first driving member 2510 is reduced in the connecting or extending direction and the second driving member 2520 is extended in the connecting or extending direction
  • the movable member 2200 is reversely rotated about the "third axis”. can do.
  • first driving member 2510 and the second driving member 2520 may have the first driving member 2510 and the second driving member 2520 from the first substrate portion 4210 to the first supporting portion 2310.
  • the distance between the first support part 2310 and the inclined part may be disposed to be far from each other.
  • the first driving member 2510 may be inclined from the first support part 2310 toward the first substrate part 2410 in the direction in which the second driving member 2520 is positioned.
  • the second driving member 2520 may be inclined from the first support part 2310 toward the first substrate part 2410 in the direction in which the first driving member 2510 is positioned.
  • the inclination angle formed by the first driving member 2510 and the first support part 2310 may be 65 ° to 80 °.
  • An inclination angle formed by the second driving member 2520 and the first support part 2310 may be 65 ° to 80 °.
  • the front end of the first driving member 2510 may be disposed on the first protrusion 2311 of the first support 2310.
  • the first driving member 2510 may be disposed (inserted and penetrated) in the first hole 2311-1 of the first support part 2310.
  • An internal thread portion corresponding to the shape of the first driving member 2510 may be formed on an inner surface of the first hole 2311-1 of the first support portion 2310.
  • the first driving member 2510 may be screwed with the first support 2310.
  • the front end of the first driving member 2510 may be disposed (inserted and penetrated) in the first fixing hole 2811 of the first fixing member 2810.
  • the first driving member 2510 may be fitted into the first fixing hole 2811. Accordingly, the first driving member 2510 may be stably fixed by the first fixing member 2810.
  • the first driving member 2510 may be electrically connected to the first fixing member 2810. In this case, the first driving member 2510 may be electrically connected to the first conductive member 2600 through the first fixing member 2810.
  • the front end of the second driving member 2520 may be disposed on the second protrusion 2312 of the first support 2310.
  • the second driving member 2520 may be disposed (inserted and penetrated) in the third hole 2312-1 of the first support part 2310.
  • An internal thread portion corresponding to the shape of the second driving member 2520 may be formed in the inner surface of the third hole 2312-1 of the first support portion 2310.
  • the second driving member 2520 may be screwed with the first support 2310.
  • the front end of the second driving member 2520 may be disposed (inserted and penetrated) in the second fixing hole 2812 of the second fixing member 2820.
  • the second driving member 2520 may be fitted into the second fixing hole 2827. Accordingly, the second driving member 2520 may be stably fixed by the second fixing member 2820.
  • the second driving member 2520 may be electrically connected to the second fixing member 2820. In this case, the second driving member 2520 may be electrically connected to the first conductive member 2600 through the second fixing member 2820.
  • the third driving member 2530 and the fourth driving member 2540 may be disposed between the first support part 2310 and the first substrate part 2410.
  • the third driving member 2530 and the fourth driving member 2540 may connect the first support part 2310 and the first substrate part 2410.
  • the third driving member 2530 and the fourth driving member 2540 may extend from the first support part 2310 to the first substrate part 2410.
  • the third driving member 2530 and the fourth driving member 2540 may extend in the "first axis" direction.
  • Rear ends of the third driving member 2530 and the fourth driving member 2540 may be electrically connected to the first substrate part 2410.
  • the front ends of the third driving member 2530 and the fourth driving member 2540 may be electrically connected to the first conductive member 2600. Since the first substrate portion 2410 and the first conductive member 2600 are electrically connected to the electronic control unit of the flying device 2001, respectively, the electronic control unit, the first substrate portion 2410, and the third driving member 2530. ) And the first conductive member 2600 may form one circuit. In addition, the electronic control unit, the first substrate portion 2410, the fourth driving member 2540, and the first conductive member 2600 may form one circuit.
  • the third driving member 2530 and the fourth driving member 2540 may be spaced apart in the “third axis direction”.
  • the movable member 2200 may rotate based on the “second axis” by shape control of at least one of the third driving member 2530 and the fourth driving member 2540 (Roll control).
  • the movable member 2200 may rotate forward with respect to the “second axis”. Can be.
  • the third driving member 2530 is reduced in the connecting or extending direction and the fourth driving member 2540 is extending in the connecting or extending direction
  • the movable member 2200 is rotated about the "second axis" in the reverse direction. can do.
  • the distance between the point at which the first support part 2310 and the third drive member 2530 are connected, and the point at which the first support part 2310 and the fourth drive member 2540 are connected (L2-1 in FIG. 14 (2)). Is the distance between the point where the first substrate portion 2410 and the third driving member 2530 are connected and the point at which the first substrate portion 2410 and the fourth driving member 2540 are connected (L2 in FIG. 14 (2)). It can be longer than -2).
  • the third driving member 2530 and the fourth driving member 2540 have the third driving member 2530 and the fourth driving member 2540 from the first substrate portion 2410 to the first supporting portion 2310.
  • the distance between the first support part 2310 and the inclined part may be disposed to be far from each other.
  • the third driving member 2530 may be inclined from the first support part 2310 toward the first substrate part 2410 in the direction in which the fourth driving member 2540 is located.
  • the fourth driving member 2540 may be inclined from the first supporting part 2310 toward the first substrate part 2410 in the direction in which the third driving member 2530 is positioned.
  • the inclination angle formed by the third driving member 2530 and the first support part 2310 may be 65 ° to 80 °.
  • the inclination angle formed by the fourth driving member 2540 and the first support part 2310 may be 65 ° to 80 °.
  • the front end of the third driving member 2530 may be disposed in the third protrusion 2313 of the first support 2310.
  • the third driving member 2540 may be disposed (inserted and penetrated) in the fifth hole 2313-1 of the first support part 2310.
  • An internal thread portion corresponding to the shape of the third driving member 2530 may be formed on an inner surface of the fifth hole 2313-1 of the first support portion 2310.
  • the third driving member 2530 may be screwed with the first support 2310.
  • the front end of the third driving member 2530 may be disposed (inserted and penetrated) in the third fixing hole 2831 of the third fixing member 2830.
  • the third driving member 2530 may be fitted into the third fixing hole 2831. Accordingly, the third driving member 2530 may be stably fixed by the third fixing member 2830.
  • the third driving member 2530 may be electrically connected to the third fixing member 2830. In this case, the third driving member 2530 may be electrically connected to the first conductive member 2600 through the third fixing member 2830.
  • the front end of the fourth driving member 2540 may be disposed at the fourth protrusion 2314 of the first support 2310.
  • the fourth driving member 2540 may be disposed (inserted and penetrated) in the seventh hole 2314-1 of the first support part 2310.
  • An internal thread portion corresponding to the shape of the fourth driving member 2540 may be formed on the inner surface of the seventh hole 2314-1 of the first support portion 2310.
  • the fourth driving member 2540 may be screwed with the first support 2310.
  • the front end of the fourth driving member 2540 may be disposed (inserted and penetrated) in the fourth fixing hole 2841 of the fourth fixing member 2840.
  • the fourth driving member 2540 may be fitted into the fourth fixing hole 2841. Therefore, the fourth driving member 2540 may be stably fixed by the fourth fixing member 2840.
  • the fourth driving member 2540 may be electrically connected to the fourth fixing member 2840. In this case, the fourth driving member 2540 may be electrically connected to the first conductive member 2600 through the fourth fixing member 2840.
  • the fifth driving member 2550 and the sixth driving member 2560 may be disposed between the second support part 2320 and the second substrate part 2420.
  • the fifth driving member 2550 and the sixth driving member 2560 may connect the second support part 2320 and the second substrate part 2420.
  • the fifth driving member 2550 and the sixth driving member 2560 may extend from the second support part 2320 to the second substrate part 2420.
  • the fifth driving member 2550 and the sixth driving member 2560 may extend in the "second axis" direction.
  • the fifth driving member 2550 and the sixth driving member 2560 may be electrically connected to the second substrate 2420.
  • the fifth driving member 2550 and the sixth driving member 2560 may be electrically connected to the second conductive member (not shown). Since the second substrate portion 2420 and the second conductive member (not shown) are electrically connected to the electronic control unit of the flying device 2001, respectively, the electronic control unit, the second substrate portion 2420, and the fifth driving member ( 2550 and the second conductive member (not shown) may form one circuit.
  • the electronic control unit, the second substrate portion 2420, the sixth driving member 2560, and the second conductive member (not shown) may form one circuit.
  • the fifth driving member 2550 and the sixth driving member 2560 may be spaced apart in the “third axis direction”.
  • the movable member 2200 may rotate based on the “first axis” by shape control of at least one of the fifth driving member 2550 and the sixth driving member 2560 (Pitch control).
  • the movable member 2200 may rotate forward with respect to the “first axis”. Can be.
  • the fifth driving member 2550 is reduced in the connecting or extending direction and the sixth driving member 2560 is extending in the connecting or extending direction
  • the movable member 2200 is reversely rotated about the “first axis”. can do.
  • the fifth driving member 2550 and the sixth driving member 2560 move from the second substrate portion 2420 to the second support portion 2320 as the fifth driving member 2550 and the sixth driving member 2560.
  • the distance between the second support part 2320 and the second support unit 2320 may be inclined.
  • the fifth driving member 2550 may be inclined from the second supporting part 2320 toward the second substrate 2420 in the direction in which the sixth driving member 2560 is positioned.
  • the sixth driving member 2560 may be inclined from the second support part 2320 toward the second substrate part 2420 in the direction in which the fifth driving member 2550 is positioned.
  • An inclination angle between the fifth driving member 2550 and the second support part 2320 may be 65 ° to 80 °.
  • An inclination angle formed by the sixth driving member 2560 and the second support part 2320 may be 65 ° to 80 °.
  • Upper ends of the fifth driving member 2550 and the sixth driving member 2560 may be disposed (inserted and penetrated) into two holes formed in the second support part 2320, respectively.
  • a female thread part corresponding to the fifth driving member 2550 and the sixth driving member 2560 may be formed in the hole formed in the second support part 2320.
  • the fifth driving member 2550 and the sixth driving member 2560 may be screwed with the second support part 2320.
  • the fifth driving member 2550 and the sixth driving member 2560 may be electrically connected to the second conductive member (not shown).
  • FIG. 15 (1) shows a case in which the first driving member 2510 is disposed perpendicular to the first support part 2410 in a first comparative example
  • FIG. 15 (2) shows a first driving member in a second comparative example
  • the case 2510 is disposed at an obtuse angle with respect to the inner side direction of the first support part 2410
  • FIG. 15 (3) shows that the first driving member 2510 is the first support part 2410 and the inner side in this embodiment. This is the case when it is arranged at an acute angle based on the direction.
  • the length a1 and the elongated length a2 of the first driving member 2510 are reduced in the longitudinal direction.
  • the difference (amount of change in length) is 15.6 mm
  • the difference (amount of change in length) between the length b1 and the length b2 in which the first driving member 2510 is reduced in the longitudinal direction is 17.72.
  • the difference (amount of change in length) between the length c1 and the length c2 in which the first drive member 2510 is reduced in the longitudinal direction is 13 mm.
  • the first conductive member 2600 may be a printed circuit board (PCB) or a flexible printed circuit board (FPCB).
  • the first conductive member 2600 may include an electronic control unit of the first driving member 2510, the second driving member 2520, the third driving member 2530, and the fourth driving member 2540 and the flying device 2001. Can be electrically connected
  • the first conductive member 2600 may include a conductive portion 2610 and a connection portion 2620.
  • the conductive portion 2610 may be disposed in front of the first support portion 2310.
  • the conductive portion 2610 may be in the form of a plate.
  • the conductive portion 2610 may be disposed perpendicular to the “first axis”.
  • the conductive portion 2610 may have a rectangular ring shape.
  • the conductive part 2610 may include a first blade 2611, a second blade 2612, a third blade 2613, and a fourth blade 2614.
  • the first blade 2611 may protrude upward from an upper side of the conductive portion 2610.
  • the first blade 2611 may be disposed perpendicular to the “first axis” and may have a plate shape.
  • the first blade 2611 may be electrically connected to the first fixing part 2810.
  • the first blade 2611 and the first fixing part 2810 may be soldered, may be in direct contact, or may be electrically connected by a separate connector.
  • the first blade 2611 may be electrically connected to the first driving member 2510 through the first fixing part 2811.
  • the second blade 2612 may protrude downward from the lower side of the conductive portion 2610.
  • the second blade 2612 may be disposed perpendicular to the “first axis” and may have a plate shape.
  • the second blade 2612 may be electrically connected to the second fixing part 2820.
  • the second blade 2612 and the second fixing part 2820 may be soldered, may be in direct contact, or may be electrically connected by a separate connector.
  • the second blade 2621 may be electrically connected to the second driving member 2520 through the second fixing part 2820.
  • the third blade 2613 may protrude from the right side of the conductive portion 2610 to the right side.
  • the third blade 2613 may be disposed perpendicular to the “first axis” and may have a plate shape.
  • the third blade 2613 may be electrically connected to the third fixing part 2830.
  • the third blade 2613 and the third fixing part 2830 may be soldered, may be in direct contact, or may be electrically connected by a separate connector. Accordingly, the third blade 2613 may be electrically connected to the third driving member 2530 through the third fixing part 2830.
  • the fourth blade 2614 may protrude from the left side of the conductive portion 2610 to the left side.
  • the fourth blade 2614 may be disposed perpendicular to the “first axis” and may have a plate shape.
  • the fourth blade 2614 may be electrically connected to the fourth fixing portion 2840.
  • the fourth blade 2614 and the fourth fixing part 2840 may be soldered, may be in direct contact, or may be electrically connected by a separate connector. Therefore, the fourth blade 2614 may be electrically connected to the fourth driving member 2540 through the fourth fixing part 2840.
  • connection part 2620 may electrically connect the conductive part 2610 and the electronic control unit of the flight device 2001. Accordingly, the first driving member 2510, the second driving member 2520, the third driving member 2530, and the fourth driving member 2540 are electronically controlled by the flying device 2001 through the first conductive member 2600. It can be electrically connected to the unit.
  • the second conductive member may be a printed circuit board (PCB) or a flexible printed circuit board (FPCB).
  • the second conductive member may electrically connect the fifth driving member 2550 and the sixth driving member 2560 to the electronic control unit of the flying device 2001.
  • the first conductive member 2600 and the second conductive member, together with the electronic control unit of the flying device 2001 and the substrate 2400 and the driving member 2500, are a circuit for applying current to the driving member 2500. Can be formed.
  • the first conductive member 2600 and the second conductive member may be omitted.
  • one circuit may be formed by the driving member 2500 and the substrate 2400.
  • one end and the other end of the driving member 2500 may be electrically connected to the substrate 2400.
  • the driving current is transmitted to the substrate 2400 in the electronic control unit of the flying device 2001, and the driving current flows along the circuit formed by the driving member 2500 and the substrate 2400, and the driving force is applied to the driving member 2500. Can be provided.
  • the rotary joint 2700 may connect the first substrate part 2410 and the movable member 2200.
  • the rotary joint 2700 may connect the case 2100 and the movable member 2200.
  • the rotary joint 2700 may be coupled to the movable member 2200 such that the movable member 2200 is rotatable. As a result, the movable member 2200 can be supported by the rotary joint 2700 in a rotatable state.
  • the rotary joint 2700 may include a ball 2710 and a support column 2720.
  • the ball 2710 may be disposed inside the movable member 2200.
  • the ball 2710 may be coupled to the movable member 2200, like a spherical joint. As a result, the movable member 2200 may be rotatably coupled to the ball 2710.
  • the support pillar 2720 may extend from the ball 2710 to the first substrate portion 2410 to connect the ball 2710 and the first substrate portion 2410.
  • the support pillar 2720 may extend from the ball 2710 to the case 2100 to connect the ball 2710 and the case 2100.
  • the fixing member 2800 may be disposed in front of the first support part 2310.
  • the fixing member 2800 may be coupled to the support member 2300.
  • the fixing member 2800 may be coupled to the supporting member 2300 by riveting.
  • the fixing member 2800 may fix the driving member 2500.
  • the fixing member 2800 may include a first fixing member 2810, a second fixing member 2820, a third fixing member 2830, and a fourth fixing member 2840.
  • the first fixing member 2810 may be disposed in front of the first protrusion 2311.
  • the first fixing member 2810 may be coupled to the first protrusion 2311.
  • the first fixing member 2810 may be coupled to the first protrusion 2311 by riveting.
  • the first fixing member 2810 may include a first fixing hole 2811 and two first pin holes 2812.
  • the first fixing hole 2811 may be located between the two first pin holes 2812.
  • the first driving member 2510 penetrating the first hole 2311-1 of the first protrusion 2311 may be disposed (inserted or penetrated) in the first fixing hole 2811.
  • the first driving member 2510 may be fitted into the first fixing hole 2811.
  • the first fixing member 2810 may fix the first driving member 2510.
  • Two first pins 2811-1 may be disposed in the two first pin holes 2812, respectively.
  • the two first pins 2811-1 may be disposed in the two second holes 2311-2 of the first protrusion 2311 through the two first pin holes 2812, respectively.
  • the first fixing member 2810 may be coupled to the first protrusion 2311 by rivet joints.
  • the second fixing member 2820 may be disposed in front of the second protrusion 2312.
  • the second fixing member 2820 may be coupled to the second protrusion 2312.
  • the second fixing member 2820 may be coupled to the second protrusion 2312 by riveting.
  • the second fixing member 2820 may include a second fixing hole 2821 and two second pin holes 2822.
  • the second fixing hole 2821 may be located between the two second pin holes 2822.
  • a second driving member 2520 penetrating through the third hole 2312-1 of the second protrusion 2312 may be disposed (inserted and penetrated).
  • the second driving member 2520 may be fitted into the second fixing hole 2821.
  • the second fixing member 2820 may fix the first driving member 2520.
  • Two second pins 2821-1 may be disposed in the two second pin holes 2822, respectively.
  • Two second pins 2821-1 may be disposed in two fourth holes 2312-2 of the second protrusion 2312 through two second pin holes 2822, respectively.
  • the second fixing member 2820 may be coupled to the second protrusion 2312 by rivet joints.
  • the third fixing member 2830 may be disposed in front of the third protrusion 2313.
  • the third fixing member 2830 may be coupled to the third protrusion 2313.
  • the third fixing member 2830 may be coupled to the third protrusion 2313 by riveting.
  • the third fixing member 2830 may include a third fixing hole 2831 and two third pin holes 2832.
  • the third fixing hole 2831 may be located between the two third pin holes 2832.
  • a third driving member 2530 penetrating through the fifth hole 2313-1 of the third protrusion 2313 may be disposed (inserted or penetrated) in the third fixing hole 2831.
  • the third driving member 2530 may be fitted into the third fixing hole 2831.
  • the third fixing member 2830 may fix the third driving member 2530.
  • Two third pins 2831-1 may be disposed in the two third pin holes 2832, respectively.
  • Two third pins 2831-1 may be disposed in two sixth holes 2313-2 of the third protrusion 2313 through two third pin holes 2832, respectively.
  • the third fixing member 2830 may be coupled to the third protrusion 2313 by rivet joints.
  • the fourth fixing member 2840 may be disposed in front of the fourth protrusion 2314.
  • the fourth fixing member 2840 may be coupled to the fourth protrusion 2314.
  • the fourth fixing member 2840 may be coupled to the fourth protrusion 2314 by riveting.
  • the fourth fixing member 2840 may include a fourth fixing hole 2841 and two fourth pin holes 2842.
  • the fourth fixing hole 2841 may be located between two fourth pin holes 2842.
  • a fourth driving member 2540 passing through the ninth hole 2313-1 of the fourth protrusion 2314 may be disposed (inserted or penetrated) in the fourth fixing hole 2841.
  • the fourth driving member 2540 may be fitted into the fourth fixing hole 2841.
  • the fourth fixing member 2840 may fix the fourth driving member 2540.
  • Two fourth pins 2841-1 may be disposed in the two fourth pin holes 2842, respectively.
  • the two fourth pins 2841-1 may be disposed in the two tenth holes 2342-2 of the fourth protrusion 2314 through the two fourth pin holes 2842, respectively.
  • the fourth fixing member 2840 may be coupled to the fourth protrusion 2314 by rivet joints.
  • the camera module 2900 may be referred to as a "camera.”
  • the camera module 2900 may be disposed on the movable member 2200.
  • the camera module 2900 may be mounted on the movable member 2200.
  • the camera module 2900 may be integrally formed with the movable member 2200.
  • the camera module 2900 includes a lens holder disposed inside the cover and the cover, a lens mounted on the lens holder, a base disposed at the rear of the cover, a camera module substrate disposed at the rear of the base, and an image sensor mounted on the camera module substrate. It may include.
  • the camera module substrate may be electrically connected to the substrate 2400 to transmit a captured image to the electronic control unit of the flying device 2001 or may be controlled by the electronic control unit.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)
  • Adjustment Of Camera Lenses (AREA)

Abstract

Le présent mode de réalisation de l'invention concerne un dispositif de commande de caméra, un dispositif de prise de vues et un appareil de vol. Le dispositif de commande de caméra comprend : une partie mobile ; et un premier élément de commande et un second élément de commande disposés symétriquement par rapport au centre de la partie mobile, le premier élément de commande comprenant un premier fil s'étendant dans la direction d'un premier axe, le second élément de commande comprenant un troisième fil s'étendant dans la direction du premier axe, le premier fil et le troisième fil étant constitués d'un alliage à mémoire de forme, et la partie mobile tournant par rapport à un second axe, qui est vertical par rapport au premier axe, par transformation de la forme du premier élément de commande ou du second élément de commande.
PCT/KR2017/013744 2017-06-01 2017-11-29 Dispositif de commande de caméra, dispositif de prise de vues et appareil de vol WO2018221798A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201780091515.9A CN111032513B (zh) 2017-06-01 2017-11-29 相机驱动装置、拍摄装置以及飞行设备

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
KR1020170068592A KR102371337B1 (ko) 2017-06-01 2017-06-01 짐벌 장치, 촬영 장치 및 비행 장치
KR10-2017-0068592 2017-06-01
KR1020170109854A KR102422322B1 (ko) 2017-08-30 2017-08-30 구동 장치 및 비행 장치
KR1020170109852A KR102411121B1 (ko) 2017-08-30 2017-08-30 구동 장치 및 비행 장치
KR10-2017-0109854 2017-08-30
KR10-2017-0109852 2017-08-30

Publications (2)

Publication Number Publication Date
WO2018221798A1 true WO2018221798A1 (fr) 2018-12-06
WO2018221798A8 WO2018221798A8 (fr) 2019-12-19

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Country Link
CN (1) CN111032513B (fr)
WO (1) WO2018221798A1 (fr)

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IT202100001775A1 (it) * 2021-01-28 2022-07-28 Innova S P A Attuatore di azionamento di un dispositivo di movimentazione di almeno una telecamera

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JP2016104893A (ja) * 2013-02-26 2016-06-09 ザ・ボーイング・カンパニーＴｈｅ Ｂｏｅｉｎｇ Ｃｏｍｐａｎｙ 形状記憶合金構造体のためのシステム及び方法
JP2016147519A (ja) * 2015-02-10 2016-08-18 八洲電業株式会社 飛行体

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WO2013121225A1 (fr) * 2012-02-16 2013-08-22 Cambridge Mechatronics Limited Appareil d'actionnement en alliage à mémoire de forme
CN103576414B (zh) * 2012-07-31 2018-04-20 深圳众赢时代科技有限公司 影像稳定器及取像装置
KR20150042681A (ko) * 2013-10-11 2015-04-21 삼성전기주식회사 카메라 모듈 및 이를 포함하는 휴대용 전자 기기

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KR20150141216A (ko) * 2014-06-09 2015-12-18 서울대학교산학협력단 소형 무인 비행체의 공력성능 향상장치
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KR101619836B1 (ko) * 2016-02-05 2016-05-11 (주)아세아항측 드론을 이용한 초분광 원격모니터링 시스템

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Publication number Priority date Publication date Assignee Title
IT202100001775A1 (it) * 2021-01-28 2022-07-28 Innova S P A Attuatore di azionamento di un dispositivo di movimentazione di almeno una telecamera
WO2022162706A1 (fr) * 2021-01-28 2022-08-04 Innova S.P.A. Actionneur, en particulier pour commander un dispositif de déplacement d'au moins une caméra vidéo

Also Published As

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CN111032513B (zh) 2023-08-08
WO2018221798A8 (fr) 2019-12-19
CN111032513A (zh) 2020-04-17

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