WO2019208889A1

WO2019208889A1 - Motion compensation device for adjusting center of gravity of imaging device

Info

Publication number: WO2019208889A1
Application number: PCT/KR2018/013314
Authority: WO
Inventors: 임배석; 이우성; 김승년
Original assignee: 삼성전자 주식회사
Priority date: 2018-04-25
Filing date: 2018-11-05
Publication date: 2019-10-31
Also published as: KR20190123933A

Abstract

A motion compensation device or electronic device for an imaging device according to various embodiments of the present invention includes: a first driving device forming a first rotational axis; a first frame rotatable about the first rotational axis by the first driving device; a second driving device mounted to the first frame and forming a second rotational axis perpendicular to the first rotational axis; a second frame mounted to the first frame and capable of rotating about the second rotational axis by the second driving device; a third driving device mounted to the second frame and forming a third rotational axis perpendicular to the first rotational axis or the second rotational axis; and a mounting member mounted to the second frame and rotatable about the third rotational axis by the third driving device, the mounting member on which the imaging device is mounted, wherein the second frame may include: a fixed frame mounted to the first frame to be rotatable about the second rotational axis and extending in a direction crossing the second rotational axis; a moving frame coupled to the fixed frame and capable of sliding along the extending direction of the fixed frame; and a fourth driving device for sliding the moving frame. The motion compensation device or the electronic device as described above may vary according to embodiments.

Description

Motion compensation device to adjust the center of gravity of the imaging device

Various embodiments of the present disclosure relate to an electronic device. For example, the present disclosure relates to a motion compensation device that may be equipped with another electronic device and interoperate with the mounted electronic device.

As electronic, information, and communication technologies develop, various functions are integrated into one electronic device. For example, a smart phone includes a communication function, a sound reproducing device, an imaging device, an electronic notebook, and the like, and further various functions may be implemented in the smart phone through additional installation of an application.

Early image sensors mounted in mobile communication terminals had limitations in performance, and users needed imaging devices such as low-end digital cameras or high-end digital cameras (eg, digital single lens reflex (DSLR)). Has been purchased separately. With the development of image sensors and optical technologies, electronic devices such as mobile communication terminals are gradually eroding the market for low-end digital cameras, and are expected to affect the high-end camera market in the future.

In taking an image or a moving picture, a user may secure a convenient shooting environment by using an auxiliary device, which is commonly referred to as a “selfie stick”. Recently, assistive devices using gimbal-mounted motion compensation devices (eg, shake correction devices) or unmanned aerial vehicles (eg drones) have been introduced, allowing individual users to take more convenient and various shots. The gimbal-mounted motion compensation device is low in purchasing cost so that individual users can consider purchasing. Furthermore, the same imaging device (eg, mobile communication terminal or action cam, etc.) can significantly improve the ease of use and quality of the captured image or video before and after using the motion compensation device. For example, the motion compensator may be an auxiliary electronic device or an external electronic device interlocked with another electronic device (for example, an imaging device), and may provide a better photographing environment.

The gimbal-mounted motion compensation device, which is held in the hands of the user, is more comfortable for the user as the weight is reduced. The motion compensation device may be selectively mounted with other electronic devices of various types, for example, a mobile communication terminal or an action cam, and may have different centers of gravity according to the size or shape of the mounted electronic device. When the center of gravity is not properly positioned with the electronic device mounted, the load applied to the driving device for driving the gimbal may increase. This increase in load may cause durability of the driving apparatus, increase in power consumption, and the like. In one embodiment, the weight can be mounted to align the center of gravity or to improve the load on the drive, but this can increase the weight of the motion compensation device, which in turn increases the user's fatigue and uses Convenience can be reduced.

Various embodiments of the present disclosure may provide a motion compensation device that can reduce the weight and appropriately adjust the center of gravity in a state where other electronic devices are mounted.

Various embodiments of the present disclosure may provide a motion compensation device capable of improving a load applied to a driving device for gimbal driving by automatically adjusting a center of gravity in a state where another electronic device is mounted.

Various embodiments of the present invention can provide a motion compensation device that is light in weight and easy to use by automatically adjusting the center of gravity even without using an additional weight or the like.

According to various embodiments of the present disclosure, a motion compensation device or electronic device for an imaging device includes: a first driving device forming a first rotational shaft; A first frame rotatable about the first pivotal axis by the first driving device; A second driving device mounted to the first frame, the second driving device forming a second rotation shaft perpendicular to the first rotation shaft; A second frame mounted to the first frame and capable of rotating about the second pivot by the second driving device; A third driving device mounted to the second frame and forming a third rotating shaft perpendicular to the first rotating shaft or the second rotating shaft; And a mounting member mounted to the second frame and rotatable about the third pivot by the third driving device, wherein the mounting member is mounted to the imaging device. The frame may include a fixed frame mounted to the first frame to rotate about the second rotational axis and extending in a direction crossing the second rotational axis; A moving frame coupled to the fixed frame and capable of sliding along the extending direction of the fixed frame; And a fourth driving device for sliding the moving frame.

According to various embodiments of the present disclosure, a motion compensation device or electronic device for an imaging device may include: a grip member; A drive device for providing pivot axes aligned in at least three different directions; And a mounting member that can rotate, rotate, or pivot about each of the rotational shafts by the driving device, wherein the driving device extends in a direction crossing with respect to any one of the rotational shafts. Fixed frame; A moving frame coupled to the fixed frame and capable of sliding along the extending direction of the fixed frame; And a drive motor capable of sliding the moving frame.

According to various embodiments of the present disclosure, an electronic device may include a communication interface; Mounting unit for mounting the external electronic device; A first driving unit capable of controlling the movement of the mounting unit with respect to a first rotational axis; A second driving unit capable of controlling the movement of the mounting unit with respect to a second rotational axis; A third driving unit capable of controlling the movement of the mounting unit with respect to a third rotational axis; And a processor, wherein the processor is configured to receive information related to performing a specified operation using the external electronic device through the communication interface, and based at least on the received information, the first driver and the second driver. Or by moving the mounting portion on which the external electronic device is mounted to a position corresponding to a specified condition by using at least one of the third driving units, checking the position of the mounting portion, and when the position of the mounting portion satisfies the specified condition. It may be configured to transmit information related to the satisfaction of the specified condition to the external electronic device through the communication interface.

According to various embodiments of the present disclosure, an electronic device may include an image sensor; display; Communication interface; And a processor, wherein the processor receives information related to the movement of the electronic device from an external electronic device capable of adjusting the movement of the electronic device using the communication interface, and the received information satisfies a specified condition. In this case, it may be set to start a specified operation using the image sensor.

According to various embodiments of the present disclosure, the motion compensation device may easily adjust the position of the center of gravity on the driving device through the slide of the moving frame while the image capturing device is mounted. The slide of the moving frame may be automatically implemented by the drive motor based on the measurement result of the inertial measurement unit and may be convenient to use. According to one embodiment, since the center of gravity can be automatically adjusted by the drive motor or the moving frame, there is no need to install a separate weight. For example, in actual use, the weight of the motion compensation device can be reduced, thereby improving the fatigue of the user and the like. According to another embodiment, by automatically adjusting the center of gravity in the state that the other electronic device is mounted, it is possible to improve the load on the driving device for driving the gimbal to improve the durability or power consumption of the driving device.

1 is a block diagram illustrating an electronic device in a network environment for adjusting a center of gravity of an imaging device according to various embodiments of the present disclosure.

2 is a block diagram illustrating an electronic device or a motion compensation device for adjusting a center of gravity of an imaging device, according to various embodiments of the present disclosure.

3 is a perspective view illustrating a motion compensation apparatus according to various embodiments of the present disclosure.

4 is a perspective view illustrating a motion compensation device viewed from different directions according to various embodiments of the present disclosure.

5 is an exploded perspective view illustrating a part of a motion compensation device according to various embodiments of the present disclosure.

6 is a perspective view illustrating a center of gravity adjustment structure of a motion compensation device according to various embodiments of the present disclosure.

7 is a perspective view illustrating a projection of the center of gravity adjusting structure of the motion compensation device according to various embodiments of the present disclosure.

FIG. 8 is a cross-sectional view of the second frame of the motion compensation device along the line A-A of FIG. 7;

FIG. 9 is a cross-sectional view of the second frame of the motion compensation device along the line B-B of FIG. 7;

10 to 12 are diagrams illustrating a center of gravity adjustment operation in a motion compensation apparatus according to various embodiments of the present disclosure.

13 and 14 are views illustrating a state before and after adjusting the center of gravity in the motion compensation apparatus according to various embodiments of the present disclosure, respectively.

15 to 17 are diagrams illustrating examples of outputting a center of gravity adjustment state on a screen through an electronic device mounted in a motion compensation apparatus according to various embodiments of the present disclosure.

18 is a flowchart illustrating a method of adjusting a center of gravity in a motion compensation apparatus according to various embodiments of the present disclosure.

19 is a flowchart illustrating an operation of a motion compensation device according to various embodiments of the present disclosure.

20 is a flowchart illustrating an operation of an electronic device mounted in a motion compensation device according to various embodiments of the present disclosure.

As the inventive concept allows for various changes and numerous embodiments, some embodiments will be described in detail with reference to the accompanying drawings. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

In connection with the description of the drawings, similar reference numerals may be used for similar or related components. The singular form of the noun corresponding to the item may include one or more of the items, unless the context clearly indicates otherwise. In this document, "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C" and "A, Phrases such as "at least one of B, or C" may include all possible combinations of items listed together in the corresponding one of the phrases. Terms including ordinal numbers such as 'first' and 'second' may be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. The term 'and / or' includes any combination of a plurality of related items or any of a plurality of related items. Some (eg, first) component may be referred to as "coupled" or "connected" to another (eg, second) component, with or without the term "functionally" or "communicatively". When mentioned, it means that any component can be connected directly to the other component (eg, by wire), wirelessly, or via a third component.

In addition, relative terms described based on what is shown in the drawings such as 'front', 'back', 'top', and 'bottom' may be replaced with ordinal numbers such as 'first', 'second', and the like. In ordinal numbers such as 'first' and 'second', the order is the order mentioned or arbitrarily set, and may be arbitrarily changed as necessary.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present invention, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art, and are not construed in ideal or excessively formal meanings unless expressly defined herein. Do not.

In the present invention, the electronic device may be any device having a touch panel, and the electronic device may be referred to as a terminal, a mobile terminal, a mobile terminal, a communication terminal, a portable communication terminal, a portable mobile terminal, a display device, or the like.

For example, the electronic device may be a smartphone, a mobile phone, a navigation device, a game machine, a TV, a vehicle head unit, a notebook computer, a laptop computer, a tablet computer, a personal media player (PMP), a personal digital assistant (PDA), and the like. have. The electronic device may be implemented as a pocket size portable communication terminal having a wireless communication function. Also, the electronic device may be a flexible device or a flexible display device.

The electronic device may communicate with an external electronic device such as a server or perform a task through interworking with the external electronic device. For example, the electronic device may transmit the image photographed by the camera and / or the location information detected by the sensor unit to the server through a network. Networks include, but are not limited to, mobile or cellular networks, local area networks (LANs), wireless local area networks (WLANs), wide area networks (WANs), the Internet, and small area networks. (Small Area Network: SAN) or the like.

1 is a block diagram illustrating an electronic device 101 in a network environment 100 that adjusts a center of gravity of an imaging device according to various embodiments of the present disclosure.

Referring to FIG. 1, in the network environment 100, the electronic device 101 communicates with the electronic device 102 through a first network 198 (eg, a short range wireless communication network), or the second network 199. The electronic device 104 may communicate with the server 108 through a long range wireless communication network. According to an embodiment, the electronic device 101 may communicate with the electronic device 104 through the server 108. According to an embodiment, the electronic device 101 may include a processor 120, a memory 130, an input device 150, an audio output device 155, a display device 160, an audio module 170, and a sensor module ( 176, interface 177, haptic module 179, camera module 180, power management module 188, battery 189, communication module 190, subscriber identification module 196, or antenna module 197. It may include. In some embodiments, at least one of the components (for example, the display device 160 or the camera module 180) may be omitted or one or more other components may be added to the electronic device 101. In some embodiments, some of these components may be implemented in one integrated circuit. For example, the sensor module 176 (eg, fingerprint sensor, iris sensor, or illuminance sensor) may be implemented embedded in the display device 160 (eg, display).

The processor 120, for example, executes software (eg, the program 140) to execute at least one other component (eg, hardware or software component) of the electronic device 101 connected to the processor 120. It can control and perform various data processing or operations. According to one embodiment, as at least part of the data processing or operation, the processor 120 may send instructions or data received from another component (eg, the sensor module 176 or the communication module 190) to the volatile memory 132. Can be loaded into, processed in a command or data stored in volatile memory 132, and stored in the non-volatile memory (134). According to an embodiment, the processor 120 may include a main processor 121 (e.g., a central processing unit or an application processor) and a coprocessor 123 (e.g., a graphics processing unit, an image signal processor; Sensor hub processor, or communication processor). Additionally or alternatively, the coprocessor 123 may be configured to use lower power than the main processor 121 or to be specialized for its designated function. The coprocessor 123 may be implemented separately from or as part of the main processor 121.

The coprocessor 123 may, for example, replace the main processor 121 while the main processor 121 is in an inactive (eg, sleep) state, or the main processor 121 may be active (eg, execute an application). At least one of the components of the electronic device 101 (eg, the display device 160, the sensor module 176, or the communication module 190) together with the main processor 121 while in the) state. Control at least some of the functions or states associated with the. According to one embodiment, the coprocessor 123 (eg, an image signal processor or communication processor) may be implemented as part of other functionally related components (eg, camera module 180 or communication module 190). have.

The memory 130 may store various data used by at least one component (eg, the processor 120 or the sensor module 176) of the electronic device 101. The data may include, for example, input data or output data for software (eg, program 140) and instructions related thereto. The memory 130 may include a volatile memory 132 or a nonvolatile memory 134.

The program 140 may be stored as software in the memory 130, and may include, for example, an operating system 142, middleware 144, or an application 146.

The input device 150 may receive a command or data to be used for a component (for example, the processor 120) of the electronic device 101 from the outside (for example, a user) of the electronic device 101. The input device 150 may include, for example, a microphone, a mouse, or a keyboard.

The sound output device 155 may output a sound signal to the outside of the electronic device 101. The sound output device 155 may include, for example, a speaker or a receiver. The speaker may be used only for receiving a call with the speaker used for general purposes such as multimedia playback or recording playback, and the receiver may be used for receiving an incoming call. According to one embodiment, the receiver may be implemented separately from or as part of a speaker.

The display device 160 may visually provide information to the outside (eg, a user) of the electronic device 101. The display device 160 may include, for example, a display, a hologram device, or a projector and a control circuit for controlling the device. According to an embodiment, the display device 160 may include a touch circuitry configured to sense a touch or a sensor circuit (eg, a pressure sensor) set to measure the strength of a force generated by the touch. .

The audio module 170 may convert sound into an electric signal or, conversely, convert an electric signal into a sound. According to an embodiment, the audio module 170 acquires sound through the input device 150, or an external electronic device (eg, electronically connected directly or wirelessly to the sound output device 155 or the electronic device 101). Sound may be output through the device 102 (eg, speakers or headphones).

The sensor module 176 detects an operating state (eg, power or temperature) or an external environmental state (eg, a user state) inside the electronic device 101, and detects an electrical signal or data value corresponding to the detected state. Can be generated. According to an embodiment, the sensor module 176 may include, for example, a gesture sensor, a gyro sensor, an air pressure sensor, a magnetic sensor, an acceleration sensor, a grip sensor, a proximity sensor, a color sensor, an infrared sensor, a biometric sensor, It may include a temperature sensor, a humidity sensor or an illuminance sensor.

The interface 177 may support one or more designated protocol (s) that may be used for the electronic device 101 to be directly or wirelessly connected to an external electronic device (eg, the electronic device 102). According to an embodiment, the interface 177 may include, for example, a high definition multimedia interface (HDMI), a universal serial bus (USB) interface, an SD card interface, or an audio interface.

The connection terminal 178 may include a connector through which the electronic device 101 may be physically connected to an external electronic device (eg, the electronic device 102). According to an embodiment, the connection terminal 178 may include, for example, an HDMI connector, a USB connector, an SD card connector, or an audio connector (eg, a headphone connector).

The haptic module 179 may convert an electrical signal into a mechanical stimulus (eg, vibration or movement) or an electrical stimulus that can be perceived by the user through tactile or kinesthetic senses. According to one embodiment, the haptic module 179 may include, for example, a motor, a piezoelectric element, or an electrical stimulation device.

The camera module 180 may capture still images and videos. According to one embodiment, the camera module 180 may include one or more lenses, image sensors, image signal processors or flashes.

The power management module 188 may manage power supplied to the electronic device 101. According to one embodiment, the power management module 188 may be implemented, for example, as at least part of a power management integrated circuit (PMIC).

The battery 189 may supply power to at least one component of the electronic device 101. According to one embodiment, the battery 189 may include, for example, a non-rechargeable primary cell, a rechargeable secondary cell or a fuel cell.

The communication module 190 may establish a direct (eg wired) communication channel or wireless communication channel between the electronic device 101 and an external electronic device (eg, the electronic device 102, the electronic device 104, or the server 108). Establish and perform communication over established communication channels. The communication module 190 may operate independently of the processor 120 (eg, an application processor) and include one or more communication processors supporting direct (eg, wired) or wireless communication. According to one embodiment, the communication module 190 is a wireless communication module 192 (eg, a cellular communication module, a near field communication module, or a global navigation satellite system (GNSS) communication module, etc.) or a wired communication module 194 (eg, A local area network (LAN) communication module or a power line communication module). The corresponding communication module of these communication modules may be a first network 198 (e.g., a short range communication network such as Bluetooth, WiFi direct, or infrared data association (IrDA)) or a second network 199 (e.g., cellular network, Internet, or computer It may communicate with an external electronic device through a network (for example, a telecommunication network such as a LAN or WAN). These various types of communication modules may be integrated into one component (eg, a single chip) or implemented as a plurality of components (eg, a plurality of chips) that are separate from each other.

The wireless communication module 192 uses subscriber information (e.g., international mobile subscriber identifier (IMSI)) stored in the subscriber identification module 196 within a communication network such as the first network 198 or the second network 199. The electronic device 101 may be checked and authenticated.

The antenna module 197 may transmit or receive a signal or power to an external (eg, an external electronic device) or from the outside. According to one embodiment, the antenna module 197 may comprise one or more antennas, from which at least one suitable for a communication scheme used in a communication network, such as the first network 198 or the second network 199. May be selected by the communication module 190, for example. The signal or power may be transmitted or received between the communication module 190 and the external electronic device through the selected at least one antenna.

At least some of the components are connected to each other and connected to each other through a communication method (eg, a bus, a general purpose input and output (GPIO), a serial peripheral interface (SPI), or a mobile industry processor interface (MIPI)). (Command or data) can be exchanged with each other.

According to an embodiment, the command or data may be transmitted or received between the electronic device 101 and the external electronic device 104 through the server 108 connected to the second network 199. Each of the

electronic devices

102 and 104 may be a device of the same or different type as the electronic device 101. According to an embodiment of the present disclosure, all or some of the operations executed in the electronic device 101 may be executed in one or more external devices of the external

electronic devices

102, 104, or 108. For example, when the electronic device 101 needs to perform a function or service automatically or in response to a request from a user or another device, the electronic device 101 instead of executing the function or service itself. In addition to or in addition, one or more external electronic devices may be requested to perform at least a part of the function or the service. The one or more external electronic devices that receive the request may execute at least a part of the requested function or service, or an additional function or service related to the request, and transmit a result of the execution to the electronic device 101. The electronic device 101 may process the result as it is or additionally and provide the result as at least part of a response to the request. To this end, for example, cloud computing, distributed computing, or client-server computing technology may be used.

2 is a block diagram illustrating an electronic device or a motion compensation device 200 for adjusting a center of gravity of an imaging device, according to various embodiments of the present disclosure.

Referring to FIG. 2, the electronic device or the motion compensation device 200 may include some or all of the components constituting the

electronic devices

101, 102, and 104 of FIG. 1. For example, although not shown in FIG. 2, the motion compensation device 200 may include the processor 120 or the memory 130 of FIG. 1, and the processor may correct the motion by an application mounted in a memory. At least one other component (eg, hardware or software component) of the apparatus 200 may be controlled and various data storage, processing, or operations may be performed. In one embodiment, the motion compensation device 200 may be controlled by a signal received from another electronic device through the communication module 290.

According to various embodiments, the motion compensation device 200 may include an input device 250, a battery 289, a communication module 290, a sensor module 276, and a plurality of driving

devices

201, 202, 203, and 204. It may include. The input device 250 may be a command to be used for the components of the motion compensator 200 or another electronic device mounted on the motion compensator 200 (for example, a mobile communication terminal equipped with an image sensor or an action cam). Command or data to be used in the imaging device) can be received from an external user, for example. The input device 250 may include, for example, a microphone, a button or rotary key, a touch pad, and the like.

According to various embodiments, the battery 289 may supply power to at least one component of the motion compensation device 200. In one embodiment, the battery 289 may comprise a non-rechargeable primary cell, a rechargeable secondary cell or a fuel cell.

According to various embodiments of the present disclosure, the communication module 290 may be an electronic device different from the motion compensation device 200 (eg, another electronic device mounted on the motion compensation device or the

electronic devices

101, 102, 104 of FIG. 1). It may support the establishment of a direct (eg wired) communication channel or a wireless communication channel between the two) and through the established communication channel. The communication module 290 may include at least one communication processor operating independently of a processor (for example, the processor 120 of FIG. 1). The communication module 290 may include a wireless communication module or a wired communication module to communicate with an external electronic device through the first network 198 or the second network 199 of FIG. 1. When performing wireless communication through the communication module 290, the motion compensation device 200 may include the antenna module 197 of FIG. 1.

According to various embodiments of the present disclosure, the sensor module 276 detects an operating state (eg, power or temperature) or an external environmental state (eg, a user state) of the motion compensation device 200, and detects the detected state. An electrical signal or data value corresponding to the state can be generated. According to an embodiment, the sensor module 276 may include, for example, a gesture sensor, a gyro sensor, an air pressure sensor, a magnetic sensor, an acceleration sensor, a grip sensor, a proximity sensor, a color sensor, an infrared sensor, and a biometric sensor. It may include a temperature sensor, a humidity sensor or an illuminance sensor. In one embodiment, the sensor module 276 may include an inertial measurement unit (IMU) in which a three-axis gyroscope (eg, a gyro sensor), a three-axis accelerometer (eg, an accelerometer) is combined. have.

According to various embodiments, the

drive devices

201, 202, 203, 204 may include a first drive device 201, a first drive device 201, each of which provides a pivot axis that extends (or is aligned) in different directions, respectively; The second driving device 202 or the third driving device 203 and the fourth driving device 204 for generating linear motion may be included. The first driving device 201 forms or provides a first rotating shaft (eg, the first rotating shaft Y of FIG. 3 to be described later) extending in a first direction, and the second driving device 202 A third rotating shaft extending in a second direction (eg, the second rotating shaft R of FIG. 3 to be described later) is formed or provided, and the third driving device 203 has a third rotating shaft extending in a third direction. For example, the third rotation shaft P of FIG. 3 to be described later may be formed or provided. The second pivotal shaft R may be provided substantially perpendicular to the first pivotal shaft Y, and may be rotated about the first pivotal shaft Y or around the first pivotal shaft Y. You can turn. The third pivot P may be provided substantially perpendicular to the second pivot R, rotate about the second pivot R, or rotate around the second pivot R. You can turn. In one embodiment, the third pivot P may be vertically aligned with respect to the first pivot Y, but the first pivot may be rotated or pivoted about the second pivot R. It may be aligned in an inclined or parallel direction that is not perpendicular to the coaxial Y.

According to various embodiments, the first driving device 201 may include a controller 211, an angle sensor 213, a driver 215, or a driving motor 217. According to an embodiment of the present disclosure, the controller 211 may be, for example, a part or the whole of the processor 120 of FIG. 1, and the application or the communication module 290 mounted in the motion compensation device 200. According to the command received through or according to the angle information provided from the angle sensor 213 may generate a signal for driving the driver 215. The driver 215 may drive the driving motor 217 based on the signal received from the controller 211. The driving motor 217 may rotate or rotate a first frame (for example, the first frame 371 of FIG. 3) to be described about the first rotational axis Y. FIG. In one embodiment, since the second driving device 202 and the third driving device 203 may include substantially the same components as the first driving device 201, detailed description thereof will be omitted. Shall be. However, each component (for example, the angle sensor in consideration of specifications or an operating environment required for the first driving device 201, the second driving device 202, and / or the third driving device 203). Details or settings of the 213 or the driving motor 217 may be different.

According to various embodiments, the fourth driving device 204 may include a driver 241 and a driving motor 243. The driver 241 of the fourth driving device 204 may receive a driving signal from one of the controllers of the first to

third driving devices

201, 202, and 203, and the driving signal may be applied according to the applied driving signal. The drive motor 243 of the four drive device 204 can operate to generate linear motion. The linear motion generated by the fourth driving device 204 may extend or contract the length of the second frame (eg, the second frame 373 of FIG. 3) to be described later. According to an embodiment, the angle information provided from at least one of the angle sensors 213 of the first to

second driving devices

201, 202, and 203 or the sensor module 276 (for example, the inertial measurement unit described above). According to the information on the exercise state or the alignment state provided from the one of the controller 211 of the first to

third drive unit

201, 202, 203 to the driver 241 of the fourth drive unit 204 It can generate a drive signal to be applied. In some embodiments, a signal for driving the first to

fourth driving devices

201, 202, 203, and 204 may be provided from an external electronic device, for example, an imaging device mounted to the motion compensating device. .

In the following description, various terms such as 'rotate', 'rotate' or 'swivel' may be used with regard to the relative movement or movement of the structures relative to the axis of rotation or the axis of rotation. In describing various embodiments of the present invention, 'rotation' refers to a structure (eg, a circular or polygonal flat plate structure) along a rotation axis or rotation axis direction. Located in the center (for example, the center of gravity), it can mean a movement made while maintaining a point (for example, the center) of the structure is located on the axis of rotation or rotation. 'Rotating' means a motion in which a point of a structure is maintained in a state of being positioned on a rotating shaft or a rotating shaft, similar to 'rotating', or, if different from 'rotating', a rotating shaft or a rotating shaft on a structure It may be located adjacent to the edge portion of the structure. For example, when looking at a structure along a rotation axis or rotation axis direction, a motion that is formed while the structure is generally extended in one direction and one end of the structure is positioned on the rotation axis or rotation axis is defined as 'rotation'. can do. The term 'orbiting' may be located at a point where the rotational axis or the rotational axis is substantially outside the structure, and may mean that the structure moves along the circle trajectory around the rotational or rotational axis. According to each type of motion, the term 'rotation axis' or 'spinning axis' which is the center of the motion may be more appropriate, but in describing various embodiments of the present invention, 'rotation' and 'rotation' for the sake of brevity. Note that the 'axis of rotation' will be described for the axis that is the center of each of the 'turning'.

3 is a perspective view illustrating a motion compensation device 300 according to various embodiments of the present disclosure. 4 is a perspective view illustrating a motion compensation device 300 viewed from different directions according to various embodiments of the present disclosure.

3 and 4, an electronic device, for example, a motion compensation device 300 according to various embodiments of the present disclosure may include a first driving device 301 (eg, the first driving device 201 of FIG. 2). ), The first frame 371, the second drive device 302 (eg, the second drive device 202 of FIG. 2), the second frame 373, the third drive device 303 (eg, the figure). Second drive device 203) and / or mounting member 305. According to an embodiment, the second frame 373 may include a fixed frame 373a, a moving frame 373b, and a fourth driving device 304 (eg, the fourth driving device 204 of FIG. 2). The length of the second frame 373 may be adjusted by moving the moving frame 373b with respect to the fixed frame 373a according to the operation of the fourth driving device 304. The first driving device 301, the second driving device 302, or the third driving device 303 may include rotational shafts each extending or aligned in different directions (eg, the first rotational shaft Y, The second rotation axis (R) or the third rotation axis (P) may be provided, the rotation or pivoting movement around the three rotation axis (Y, R, P) in the motion compensation device 300 Can implement gimbal operation.

3 and 4, although different portions of the motion compensation device 300 are indicated with respect to positions of the first to

fourth driving devices

301, 302, 303, and 304, FIGS. 3 and 4 are illustrated. A driving motor is mounted at the portion indicated by 4, and the controller 211, the angle sensor 213, and the driver 215 of FIG. 2 may be disposed at another portion of the motion compensation device 300. For example, in the embodiment of the present invention, while the controller and the like are described as some components of the driving device, the circuit components (e.g., controller, driver, etc.) and mechanical components (e.g., driving motor) constituting the driving device are The motion compensation device 300 may be disposed in a space separated from each other.

According to various embodiments of the present disclosure, in a state in which another electronic device 399, for example, a mobile communication terminal or an action cam on which an image sensor is mounted, is mounted on the mounting member 305, the user may perform the motion compensation device 300. ) Can be used. For example, the motion compensation device 300 may provide a photographing assistance function. When photographing using the motion compensator 300 and the electronic device 399, the gimbal motion of the motion compensator 300 adjusts a photographing direction, or adjusts the photographing direction. The quality deterioration can be prevented.

According to various embodiments, the first driving device 301 forms or provides the first rotational shaft Y, and includes a driving motor, for example, the driving motor 211 of FIG. It is possible to generate a rotational force or a driving force about the single rotating shaft Y. One end of the first frame 371 may be mounted on the first driving device 301 and rotate about the first rotational axis Y by a driving force provided by the first driving device 301. have. For example, one end of the first frame 371 is rotatably coupled to the grip member 306, which will be described later, about the first rotational axis Y, and the first driving device 301 (eg, The first frame 371 may be rotated with respect to the grip member 306 by a driving motor installed in the grip member 306. In some embodiments, a driving motor of the first driving device 301 is installed at one end of the first frame 371 and a driving force for rotating or rotating the grip member 306 with respect to the first frame 371. Can be generated.

According to various embodiments of the present disclosure, the second driving device 302 is mounted to the first frame 371 and is perpendicular to the first pivot axis Y. R) can be formed. In describing various embodiments of the present disclosure, it is illustrated that the second rotating shaft R is arranged or formed perpendicular to the first rotating shaft Y, but the present invention is not limited thereto. . For example, if the condition for implementing the gimbal motion of the motion compensation device 300 can be satisfied, the second pivotal axis R is in an inclined direction that is not perpendicular to the first pivotal axis Y. It can be arranged or formed. According to an embodiment, the second driving device 302 may be implemented in a different installation position and substantially similar to the first driving device 301. Therefore, a detailed description of the second driving device 302 will be omitted.

According to various embodiments, one end of the second frame 373 may be mounted on the second driving device 302 so that the second rotation shaft R may be driven by a driving force provided by the second driving device 302. Can rotate around. For example, one end of the second frame 302 may be coupled to the other end of the first frame 371 to rotate about the second pivotal axis R, and the second driving device 302 may be rotated. The second frame 373 can rotate. In some embodiments, the driving motor of the second driving device 302 may be installed at one end of the first frame 371 or one end of the second frame 373.

According to various embodiments, the third driving device 303 may be formed on the second frame 373 and form a third rotational axis P perpendicular to the second rotational axis R. In describing various embodiments of the present disclosure, it is illustrated that the third rotating shaft P is arranged or formed perpendicular to the second rotating shaft R, but the present invention is not limited thereto. . For example, if the condition for implementing the gimbal operation of the motion compensation device 300 can be satisfied, the third pivot P is in an inclined direction that is not perpendicular to the second pivot R. FIG. It can be arranged or formed. According to an embodiment of the present disclosure, the third driving device 303 may have a different installation position and may be substantially similar to the first driving device 301 or the second driving device 302. Therefore, a detailed description of the third driving device 303 will be omitted.

According to various embodiments, the motion compensation device 300 may be designed or manufactured on the premise that the first rotational axis Y is disposed in the same (or parallel) direction of gravity. However, the alignment state of the first rotational axis Y may vary according to the movement of the user in the actual use environment. In one embodiment, the first rotational axis Y may be referred to as a yaw-axis. In another embodiment, the second pivot axis R may be called a roll-axis. In another embodiment, the third pivot axis P may be referred to as a pitch-axis. According to an embodiment of the present disclosure, the user may use the motion compensation device 300 in a state in which the second rotational axis R or the third rotational axis P is aligned with the gravity direction. The second rotating shaft R or the third rotating shaft P may be referred to as a yaw axis.

According to various embodiments, the second rotation shaft R may be provided perpendicular to the first rotation shaft Y, and the third rotation shaft P may be the second rotation shaft ( It may be provided perpendicular to R). In some embodiments, depending on the operation of the second driving device 302, the alignment state of the third rotating shaft P with respect to the first rotating shaft Y may vary. For example, the third pivot P may be aligned in a state substantially parallel to or perpendicular to the first pivot Y, and may be inclined with respect to the first pivot Y. . In another embodiment, when the first rotational axis Y, the second rotational axis R, and the third rotational axis P are all aligned perpendicular to each other, the rotational axis Y, R, P) can intersect at one point.

According to various embodiments, the mounting member 305 may be rotatably or rotatably mounted on the other end of the second frame 373, and may be mounted on the third rotation shaft by the third driving device 303. It can rotate or turn around (P). According to an embodiment, the mounting member 305 may include a fixed support member 351a and an elastic support member 351b that are formed or installed to face each other, and the electronic device 399 may include the fixed support member ( It may be mounted and fixed between the 351a and the elastic support member 351b. For example, the elastic support member 351b is provided with an elastic force from an elastic body embedded in the mounting member 305 to press both sides of the electronic device 399, thereby supporting the elastic support member 351a together with the fixed support member 351a. The electronic device 399 may be fixed to the mounting member 305. In the embodiment shown in FIG. 3 or FIG. 4, an example in which the longitudinal direction of the electronic device 399 is mounted in parallel with the third rotation axis P direction is disclosed, but the present invention is not limited thereto. Be careful. For example, a part of the mounting member 305, for example, the fixed support member 351a or the elastic support member 351b rotates or rotates around the second pivotal shaft R so that the electronic device ( The electronic device 399 may be aligned in a state in which the length direction of the 399 is parallel to the first rotational axis Y. FIG.

The electronic device 399 is mounted on or fixed to the mounting member 305, wherein the first rotating shaft Y, the second rotating shaft R, and / or the third rotating shaft P are mounted. You can rotate, rotate or pivot about each one. For example, according to the operation of the first driving device 301, the second driving device 302, or the third driving device 303, the electronic device 300 may rotate the rotational axes Y, R, and P. Can rotate or rotate around each. According to one embodiment, when the electronic device 399 is mounted, the position of the center of gravity of the electronic device 399 with respect to the second driving device 302 or with respect to the second pivotal shaft R is It may vary depending on the shape or size of the electronic device 399. Here, the term "center of gravity of the electronic device with respect to the second drive device" or "center of gravity of the electronic device" means that the second drive device 302 is rotated or rotated with respect to the second rotational axis Y when the second drive device 302 is operated. It may mean the center of gravity of the entire rotating components. For example, in describing various embodiments of the present disclosure, the term “center of gravity of the electronic device” refers to the second frame 373, the third driving device 303, the mounting member 305, and / or It may mean a center of gravity obtained by adding up the weights of all of the electronic devices 399 mounted on the mounting member 305.

According to various embodiments of the present disclosure, the center of gravity of the electronic device 399 may be positioned on the second rotational axis Y or on a straight line parallel to the direction of gravity while passing through the second rotational axis Y. Can be. For example, even if the second driving device 302 does not operate, the electronic device 399 is parallel to the ground (eg, a plane perpendicular to the direction of gravity) on the motion compensation device 300 (hereinafter, 'horizontal' State '). In an embodiment, if the center of gravity of the electronic device 399 is out of a straight line parallel to the direction of gravity while passing through the second rotation axis Y or through the second rotation axis Y, the electronic device 399. 399 may be maintained in an inclined state without maintaining a horizontal state on the motion compensator 300, and the second driving device 302 (eg, a driving motor) may operate to maintain the horizontal state. have. For example, considering that it is common to keep the electronic device 399 in a horizontal state in an actual use environment, the center of gravity of the electronic device 399 may be continuously maintained to maintain the horizontal state when the center of gravity of the electronic device 399 is not properly aligned. The driving signal or power may be supplied to the second driving device 302, or a load may be applied to the second driving device 302 to maintain a horizontal state. For example, if the center of gravity of the electronic device 399 is not properly aligned, the power consumption of the motion compensation device 300 is increased or the operation of the second driving device 302 is maintained in order to maintain a horizontal state. An increase in time or a load applied to the second driving device 302 may reduce the life of the second driving device 302.

According to various embodiments of the present disclosure, in order to align the center of gravity with the electronic device 399 mounted, for example, the electronic device 399 may be held in a horizontal state even when the second driving device 302 is not operated. In order to maintain the weight, a weight may be mounted on the motion compensation device 300. In some embodiments, the weight attached to the motion compensation device 300 may be located on the third pivot shaft P. However, when the weight is mounted, the weight of the motion compensation device 300 increases, which may cause a user's fatigue. According to various embodiments of the present disclosure, the second frame 373 may include a fixed frame 373a and a moving frame 373b that slides on the fixed frame 373a. The slide frame 373b can be slid by using. For example, the length of the second frame 373 may be extended or contracted, and as the length of the second frame 373 is extended or contracted, the center of gravity of the electronic device 399 may move.

According to various embodiments, the fixed frame 373a may be rotatably coupled to the first frame 371 (or the second driving device 302), and the second pivotal shaft R It may extend in a direction inclined or perpendicular to the. The movable frame 373b may be coupled to the fixed frame 373a to slide S in the direction in which the fixed frame 373a extends by the fourth driving device 304. The fourth driving device 304 may be provided as part of the second frame 373, and may be disposed on the fixed frame 373a or the moving frame 373b.

According to various embodiments, the direction in which the moving frame 373b slides S may be parallel to the third rotational axis P. In one embodiment, if the second rotation axis (R) and the third rotation axis (P) are arranged to cross at one point, the direction in which the moving frame 373b moves is the second rotation axis (R) ) And the third rotational axis P may be parallel to the plane. In another embodiment, the direction in which the moving frame 373b moves is parallel to a plane including the second rotating shaft R and the third rotating shaft P, and the second rotating shaft R or It may be in a direction inclined with respect to at least one of the third rotating shaft (P). For example, as the moving frame 373b slides S, the center of gravity of the electronic device 399 may move in a direction parallel to the third pivot axis P. As illustrated in FIG. The structure of the second frame 373 as described above will be described in more detail with reference to FIG. 5.

According to various embodiments of the present disclosure, since the motion compensation device 300 further includes the grip member 306, the user may conveniently use the motion compensation device 300. For example, a user may use the motion compensation device 300 by holding the grip member 306 directly in his hand. In one embodiment, the input device 250 of FIG. 2 may include a keypad 361 provided on the grip member 306. The keypad 361 may include a shutter button, a zoom-in / zoom-out button, a scroll key, a touch pad, and the like. The configuration of the keypad as described above may be implemented in various ways in consideration of the size and shape of the grip member 306, the user's ease of operation. In another embodiment, the battery 289, communication module 290, sensor module 276, etc. of FIG. 2 may be embedded within the grip member 306. In some embodiments, if the sensor module includes a sensor for sensing a user's movement or relative position or inclination of the electronic device 399, such as an inertial measurement unit, the sensor may be substantially adjacent to the electronic device 399. May be placed in position. For example, a sensor that detects a movement or a relative position of the electronic device 399 mounted on the mounting member 305 may have a structure having substantially the same movement as the electronic device 399 (eg, the mounting member 305). Can be placed).

According to various embodiments, the motion compensation device 300 may be linked to the electronic device 399 mounted on the mounting member 305. For example, information detected through a sensor module (eg, the sensor module 276 or the inertial measurement unit of FIG. 2) built in the motion compensation device 300 may be a communication module (eg, the communication module 290 of FIG. 2). It may be provided to the electronic device 399 through)). In another embodiment, the electronic device 399 uses information detected through a sensor module built in itself (for example, the sensor module 176 of FIG. 1) or a sensor module embedded in the motion compensating device 300. Based on the detected information, a control signal, for example, a driving signal for operating the first driving device 301 may be provided to the motion compensation device 300.

Hereinafter, the structure of the second frame 373 will be described in more detail with reference to FIGS. 5 to 7. In the structure of the second frame 373, a partial structure of FIG. 8 or FIG. 9 may be further referenced.

5 is an exploded perspective view illustrating a part of the motion compensation device 300 (eg, the motion compensation device 300 of FIG. 3 or 4) according to various embodiments of the present disclosure. 6 is a perspective view illustrating a center of gravity adjustment structure of the motion compensation device 300 according to various embodiments of the present disclosure. 7 is a perspective view illustrating a projection of the center of gravity adjusting structure of the motion compensation device 300 according to various embodiments of the present disclosure.

FIG. 8 is a cross-sectional view of the second frame 373 of the motion compensation device along the line A-A of FIG. 7. FIG. 9 is a cross-sectional view illustrating the second frame 373 of the motion compensation device along the line B-B of FIG. 7.

5 to 7, the second frame 373 or the fourth driving device 304 may include a driving motor 421 (eg, the driving motor of FIG. 2) embedded in the fixed frame 373a. 243), a pinion gear 413 rotated by the drive motor 421, a gear rack 415 meshing with the pinion gear 413 and linearly moving on the fixed frame 373a. ) May be included.

According to various embodiments of the present disclosure, the fixed frame 373a includes a rotating part 411a rotatably coupled to the other end of the first frame 371 and a guide part 411b extending from an outer circumferential surface of the rotating part 411a. It may include. In one embodiment, the fixed frame 373a, for example, the guide part 411b may extend in a direction parallel to the third rotation axis P while being perpendicular to the second rotation axis R. Can be. For example, the movable frame 373b may slide along the direction in which the fixed frame 373a extends, and the sliding S direction of the movable frame 373b may be extended to the second pivot shaft R. FIG. It may be perpendicular to and parallel to the third rotational axis P. In another embodiment, the guide portion 411b may extend in a direction inclined with respect to the second rotation shaft R or the third rotation shaft P. As described above, the movement frame ( The moving direction of 373b or the longitudinal direction of the second frame 373 may be substantially parallel to the direction in which the center of gravity of the electronic device 399 moves. For example, the direction in which the moving frame 373b slides (S) is parallel to a plane including the second rotating shaft (R) and the third rotating shaft (P), and the second rotating shaft (R) or It may be in a direction inclined with respect to at least one of the third rotating shaft (P).

According to various embodiments of the present disclosure, the fixing frame 373a may include a guide recess 417a formed in the guide part 411b, and the guide groove 417a may move the moving frame 373b. The slide S of the movable frame 373b can be guided at least partially. For example, the moving frame 373b may slide (S) with respect to the fixed frame 373a while maintaining a state at least partially accommodated in the guide groove 417a. According to an embodiment, the drive motor 421 and the pinion gear 413 are mounted in the fixed frame 373a, and the pinion gear 431 is on the guide groove 417a or the rotating part 411a. It may be disposed adjacent to.

According to various embodiments, the gear rack 415 may be mounted to the moving frame 373b to be engaged with the pinion gear 413. According to an embodiment, in a state in which the movable frame 373b is accommodated in the guide groove 417a at the maximum, the gear rack 415 may be partially positioned on the rotating part 411a. In another embodiment, when the drive motor 421 is operated, the pinion gear 413 may rotate to linearly move the gear rack 415. For example, the gear rack 415 includes a structure in which gear teeth engaging with the pinion gear 413 are arranged in a linear manner, and thus on or fixed to the guide groove 417a according to the operation of the drive motor 421. Linear movement over frame 373a.

According to various embodiments of the present disclosure, the second frame 373 further includes a cover member 419 or a guide screw 417c to guide the slide of the movable frame 373b, or the movable frame 373b may be Departure from the fixed frame 373a can be prevented. When viewed from the direction of the second pivotal axis R, the cover member 419 has a flat plate shape corresponding to the fixed frame 373a, for example, the rotating part 411a and the guide part 411b. It may have, and may be coupled to the fixed frame 373a. For example, the cover member 419 is coupled to the fixing frame 373a to close at least a part of the guide groove 417a and at least partially cover the pinion gear 413, the gear rack 415, and the like. Can be concealed. In some embodiments, the cover member 419 guides the slide S or linear movement of the gear rack 415 while the gear rack 415 moves in the direction of the second pivot axis R. You can limit it. The structure in which the cover member 419 conceals the gear rack 415 is illustrated in more detail with reference to FIG. 8.

According to various embodiments, the guide screw 417c may be mounted to the fixed frame 373a by passing through the moving frame 373b. The mounting structure or guide structure of the guide screw 417c will be described with reference to FIG. 9. In one embodiment, the moving frame 373b may include a guide hole 417b extending along the slide S direction, and the guide screw 417c may move the guide hole 417b. It may be penetrated and fixed to the fixing frame 373a. Although not shown, the fixing frame 373a may include a fastening boss corresponding to the guide screw 417c, and the fastening boss may be partially accommodated in the guide hole 417b. In one embodiment, a portion of the guide screw 417c may be wrapped with a lubricity synthetic resin member. For example, when the movable frame 373b slides, a part of the friction part with the inner wall of the guide hole 417b may be provided with a lubricated synthetic resin member to surround the guide screw 417c. It can reduce friction and noise.

According to various embodiments, the guide screw 417c may be used as a fastening member for fixing the cover member 419 to the fixing frame 373a. For example, the head of the guide screw 417c may be located outside of the cover member 419 (eg, outside of the second frame 373), and the guide screw 417c may be positioned on the cover member 419. ) And the guide hole 417b may be sequentially fastened to the fixed frame 373a. In some embodiments, the guide screw 417c may include a guide boss 419a that is recessed from the outer side and protrudes from the inner side. The guide screw 417a may be fastened to the fixed frame 373a by passing through the guide boss 419a, and the guide boss 419a may be partially accommodated in the guide hole 417b to allow the moving frame ( Slide 373b).

10 to 12 are diagrams illustrating a center of gravity adjustment operation in the motion compensation apparatus 300 according to various embodiments of the present disclosure, respectively.

10 to 12, the moving frame 373b may move the center of gravity of the electronic device (eg, the electronic device 399 of FIG. 4) while moving with respect to the fixed frame 373a. As the center of gravity of the electronic device 399 is closer to the second pivotal axis P, the driving force required by the second driving device 302 may be reduced to maintain a horizontal state. For example, if the center of gravity of the electronic device 399 is located on the second pivotal shaft R, the electronic device 399 may be maintained in a horizontal state even when the second driving device 302 is not operated. . For example, the motion compensation device (eg, the motion compensation device 300 of FIG. 4) or the electronic device mounted on the motion compensation device 300 (eg, the electronic device 399 of FIG. 4) may measure the inertial measurement unit or the like. Based on the result (e.g., a measurement result regarding an exercise state or an alignment state), the fourth driving device 304, for example, the driving motor 421 of FIG. 7, is operated to adjust the center of gravity of the electronic device. The second rotation shaft (R) may be positioned.

13 and 14 are views illustrating a state before and after adjusting the center of gravity in the motion compensation device 300 according to various embodiments of the present disclosure, respectively. 15 to 17 are diagrams illustrating examples of outputting a center of gravity adjustment state on a screen through an electronic device 399 mounted in a motion compensation apparatus according to various embodiments of the present disclosure.

Referring to FIG. 13, in a state where the electronic device 399 is mounted, the center of gravity W of the electronic device 399 is from the second rotation shaft (eg, the second rotation shaft R of FIG. 4). If away, the electronic device 399 (or the second frame 373, etc.) may rotate about the second rotation axis R. For example, if the center of gravity W is out of the second pivotal axis R, the portion where the center of gravity W is located is more than the second pivotal axis R by gravity G. You can move to a lower position. For example, the electronic device 399 may be rotated or rotated to be inclined with respect to the direction of gravity G to a position where the weights of both sides of the second rotation shaft R, for example, the left and the right are balanced. have.

According to various embodiments, a sensor module (eg, a gyro sensor, an acceleration sensor, etc. of the sensor module 176 of FIG. 1) embedded in the electronic device 399, or a sensor module embedded in the motion compensating device 300 ( For example, the inertial measurement unit of the sensor module 276 of FIG. 2 may measure or detect an alignment state (eg, an angle inclined with respect to the direction of gravity G) of the electronic device 399. According to an embodiment of the present disclosure, the electronic device 399 or the motion compensation device 300 may be configured to perform the fourth driving device (eg, the driving motor 421 of FIG. 6) based on a result detected or measured through a sensor module. ) Can be activated. According to an embodiment, when the driving motor 421 is operated, the moving frame 373b may slide as shown in FIGS. 10 to 12.

Referring to FIGS. 15 and 17 together with FIG. 13, the electronic device 399 may display an alignment state through the display 511. For example, while the moving frame 373b slides, the sensor module of the electronic device 399 or the motion compensation device 300 continuously measures or detects the alignment state of the electronic device 399, and the alignment is performed. The measurement result or the detection result regarding the state may be displayed on the display 511. As illustrated in FIG. 15, the alignment state information displayed on the display 511 may be a combination of a horizontal reference line 513 and a bar 515 that simulates an alignment state of the electronic device 399. have. According to an embodiment, the inclination angle of the bar 515 with respect to the horizontal reference line 513 may be an inclination angle of the electronic device 399 (for example, with respect to a plane perpendicular to the direction of gravity G or the direction of gravity G). Angle of inclination). In another embodiment, the bar 515 may include a first region 515a indicating an inclination with respect to the horizontal state, and a second region 515b indicating an alignment degree with the horizontal state, and the like. The first region 515a and the second region 515b may be divided into colors or blinks (eg, periodic color inversion). According to an embodiment of the present disclosure, the larger the first region 515a, the greater the deviation from the horizontal state.

According to various embodiments of the present disclosure, the alignment state of the electronic device 399 may be displayed on the display 511 in the form of a circular gauge 615 illustrated in FIG. 17, similar to that of FIG. 15. The gauge 615 may include an area 615a indicating an alignment state in a manner such as color or blinking. According to an embodiment, some areas of the gauge 615 (for example, the central area 615b) may be displayed in texts such as an estimated time or inclined direction for alignment in a horizontal state.

14 and 16, when the moving frame 373b slides so that the center of gravity W is positioned on the second pivot shaft R, the electronic device 399 may be aligned in a horizontal state. have. The electronic device 399 may be aligned in a horizontal state when the center of gravity W is aligned with a straight line aligned with the second rotational axis R in the direction of gravity G. . When the electronic device 399 is aligned in a horizontal state, the display 511 displays the bar 515 in a state consistent with a horizontal reference line (for example, the horizontal reference line 513 of FIG. 15), and the bar 515. ) May be displayed in a single color, for example, only the second region 515b of FIG. 15.

The center of gravity adjustment method 700 will be described with reference to the configuration and drawings of the previous embodiment. Referring to FIG. 18, the method for adjusting the center of gravity 800 is an operation of mounting a device, for example, the electronic device 399 of FIG. 4 to the motion compensation device 300 (hereinafter, referred to as “mounting operation”). 701 '), an operation of detecting an alignment state (hereinafter,' detection operation 702 '), an operation of determining an alignment state (hereinafter,' determination operation 703 '), an operation of adjusting an alignment state (hereinafter, , 'Adjustment operation 704').

According to various embodiments of the present disclosure, the mounting operation 701 is substantially performed by a user, and in the mounting operation 701, the electronic device 399 performs the motion compensation device 300, for example, FIG. 4. It may be mounted to the mounting member 305. When the motion compensation device 300 is activated while the electronic device 399 is mounted, the motion compensation device 300 may request communication with the electronic device 399. According to an embodiment, in response to a communication request of the motion compensation device 300, the electronic device 399 performs authentication of an external electronic device (eg, the motion compensation device 300), and according to a stored setting or According to a user's selection, communication with the motion compensation device 300 may be approved or established, and an operation mode may be automatically selected and activated. For example, if the electronic device 399 identifies a state mounted on the motion compensation device 300, the electronic device 399 may recommend or drive an application (eg, a camera app) suitable for the mounting state to the user. have. In some embodiments, the application may be driven or executed after the alignment of the electronic device 399 is completed through the determination operation 703 and the adjustment operation 704 to be described later.

According to various embodiments of the present disclosure, the detection operation 702 is an operation of detecting an alignment state of the electronic device 399, and includes a sensor module (eg, an acceleration sensor or a gyro sensor, etc.) built in the electronic device 399. Alternatively, the sensor may be performed through a sensor module (eg, an inertial measurement unit, etc.) built in the motion compensation device 300. Here, the 'alignment state of the electronic device' may refer to the degree to which the center of gravity of the electronic device 399 (for example, the center of gravity W of FIG. 13) deviates from the second rotation shaft R. If the center of gravity W is not properly aligned, the electronic device 399 may be inclined with respect to the direction of gravity G as shown in FIG. 13.

According to an embodiment, if the center of gravity of the electronic device 399 is located on the second pivotal axis R, the electronic device 399 may be aligned in a horizontal state as shown in FIG. 14. In another embodiment, when the longitudinal direction of the electronic device 399 is mounted in parallel with the first rotational axis Y of FIG. 3 or 4, the 'horizontal state' is the longitudinal direction of the electronic device 399. It may mean a state aligned in parallel with the direction of gravity (G).

In another embodiment, the first frame 371 or the grip member, if the center of gravity (W) is located on the second pivot shaft (R) and the second drive device 302 is not in operation. Even if 306 moves inclined with respect to the direction of gravity G, the electronic device 399 may maintain a horizontal state. In some embodiments, the second frame 373 may be shaken by inertia according to a change in the moving speed or the moving direction of the user while the second driving device 302 is not operated. The electronic device 399 or the motion compensation device 300 detects an alignment state, a movement speed and a direction of the electronic device using a sensor module, and shakes or moves the second frame 373 due to inertia. Can be suppressed.

According to various embodiments of the present disclosure, the determining operation 703 may be performed by the electronic device 399 or the processor (eg, the processor 120 of FIG. 1) of the motion compensation device 300. It may be determined whether the alignment state of 399 matches the stored setting or the user's selection. If it is determined in the determination operation 703 that the alignment state of the electronic device 399 corresponds to the setting or the user's selection, the motion compensation device 300 terminates the adjustment of the center of gravity, and the mounted electronic device (eg The electronic device 399 of FIG. 4 may execute an application (eg, a camera app) linked to the motion compensation device 300. If it is determined in the determination operation 703 that the alignment state of the electronic device 399 does not correspond to the stored setting or the user's selection, the motion compensation device 300 may execute the adjustment operation 704.

According to various embodiments of the present disclosure, the adjustment operation 704 is an operation of moving the center of gravity (for example, the center of gravity W of FIG. 13), and the center of gravity W is located on the second rotational axis R. The movable frame 373b can be slid until the movement is performed. According to an embodiment of the present disclosure, the processor of the electronic device 399 or the motion compensation device 300 (for example, the processor 120 of FIG. 1) may be based on a measurement result of a sensor module, for example, an inertial measurement unit. It can generate a drive signal. In another embodiment, the driving signal may be a controller of the first to third driving devices (eg, the first to

third driving devices

201, 202, and 203 of FIG. 2) (eg, the controller 211 of FIG. 2). Can be generated by The generated driving signal is provided to the driver 241 of the fourth driving device (eg, the driving device 204 of FIG. 2) to operate the driving motor 243, for example, the driving motor 421 of FIG. 7. Can be. As the driving motor 421 operates, the movable frame 373b may slide with respect to the fixed frame 373a. As the moving frame 373a slides, the center of gravity W may move to be positioned on the second pivotal shaft R. As shown in FIG.

The detection operation 702, the determination operation 703, and the adjustment operation 704 may be sequentially or repeatedly performed until the center of gravity W is positioned on the second rotational axis R. FIG. . In some embodiments, the detection operation 702, the determination operation 703, and the adjustment operation 704 may be performed substantially simultaneously, and in the determination operation 703, the alignment state of the electronic device 399 may be changed. When it is determined to match the stored setting or the user's selection, the center of gravity adjustment of the motion compensation device 300 may be completed. In one embodiment, while the detection operation 702, the determination operation 703, or the adjustment operation 704 is executed, the electronic device 399 visually or audibly displays information regarding the alignment state. Can be provided to For example, the electronic device 399 may output the screen illustrated in FIGS. 15 to 17 through a display.

Operations of each of the electronic devices, for example, the motion compensation device 300 and the electronic device 399, will be described with reference to FIGS. 19 and 20.

19 is a flowchart illustrating an operation 1900 of a motion compensation apparatus according to various embodiments of the present disclosure. 20 is a flowchart illustrating an operation 2000 of an electronic device mounted in a motion compensation apparatus according to various embodiments of the present disclosure.

Referring to FIG. 19, an electronic device, for example, the motion compensation device 300 may be mounted on the mounting part (eg, FIG. 4) through a communication interface (eg, the

communication modules

190 and 290 of FIG. 1 or 2). Communication with an external electronic device (for example, the electronic device 399 of FIG. 4) mounted on the member 305 may be performed. In operation 1901, a processor, for example, a processor of the motion compensation apparatus 300, is associated with a designated operation (eg, an operation related to at least a part of image capturing) using the external electronic device 399 through a communication interface. Information can be received.

In operation 1902, the processor may further include the mounting unit on which the external electronic device 399 is mounted using at least one of the first driver, the second driver, or the third driver based on at least the received information. Example: The mounting member 305 of FIG. 4 may be moved to a position corresponding to a specified condition. For example, the processor moves the mounting member 305 by using the first to

third driving devices

301, 302, 303, etc., so that the mounted external electronic device is directed in a photographing direction or in a horizontal state. You can sort by.

In

operations

1903 and 1904, the processor may determine a location of the mounting member 305 or the mounted electronic device 399 and determine whether the identified location satisfies a specified condition. For example, the processor determines whether the information detected by the sensor module of the shake correction apparatus 300 (eg, the sensor module 276 of FIG. 2) matches the information received by the electronic device 399. can do.

If it is determined that the detected information satisfies the designated information, the motion compensation apparatus 300 (eg, a processor) may perform operation 1905. For example, the processor may be configured to transmit to an external electronic device, for example, the electronic device 399 through a communication interface (for example, the communication module 290 of FIG. 2). For example, the processor may detect an alignment state of the mounted electronic device and transmit the detected state to the mounted electronic device.

If it is determined that the detected information satisfies the designated information, the motion compensation apparatus 300 (for example, the processor) may perform operation 1902, operation 1903, or operation 1904 again.

Referring to FIG. 20, in operation 2001, a mounted electronic device (eg, the electronic device 399 of FIG. 4) may transmit information related to a movement (eg, alignment state) of the electronic device 399 to an external electronic device, For example, it may be received from the motion compensation device 300. The electronic device 399 determines whether the received information satisfies a specified condition (for example, whether the photographing direction or the horizontal state is aligned) (operation 2002). Execute (operate 2003). If the alignment state does not satisfy the specified condition, the mounted electronic device may transmit or request (operation 2004) information on the position and alignment state back to the motion compensation apparatus 300. According to an embodiment, the motion compensation device 300 may include a sensor module (eg, an inertial measurement unit) by itself to detect a position or alignment state of the mounted electronic device.

According to various embodiments, the mounted electronic device (eg, the electronic device 399 of FIG. 4) may include an image sensor (eg, the camera module 180 of FIG. 1) to perform a photographing operation. As shown in the examples described with reference to FIGS. 17 through 17, information regarding alignment or horizontal alignment in the photographing direction may be output (operation 2005) through a display (for example, the display device 160 of FIG. 1). For example, the electronic device 399 may include a communication interface (eg, the communication module 190 of FIG. 1) to communicate with an external electronic device (eg, the motion compensation device 300 of FIG. 4). .

According to various embodiments of the present disclosure, the processor of the mounted electronic device 399 (for example, the processor 120 of FIG. 1) may use the communication interface from the motion compensation device 300 to provide the electronic device 399 or the When receiving information related to the movement of the mounting member 305, and the received information (for example, information about the alignment or horizontal alignment in the photographing direction, etc.) meets a specified condition, the specified operation (for example, using the image sensor) Can be set).

As described above, the motion compensation device or electronic device (eg, the motion compensation devices 200 and 400 of FIG. 2 or 4) for an imaging device according to various embodiments of the present disclosure may be

A first driving device (eg, the first driving device 301 of FIG. 4) forming a first rotating shaft (eg, the first rotating shaft Y of FIG. 4);

A first frame (eg, the first frame 371 of FIG. 4) which can be rotated about the first pivot by the first driving device;

A second driving device (eg, FIG. 4) mounted to the first frame and forming a second pivotal shaft (eg, the second pivotal shaft R of FIG. 4) perpendicular to the first pivotal shaft; A second drive device 302 of 4;

A second frame (eg, the second frame 373 of FIG. 4) mounted to the first frame and capable of rotating about the second pivot by the second driving device;

A third driving device (eg, the third driving device 303 of FIG. 4) mounted to the second frame and forming a first rotating shaft perpendicular to the first rotating shaft or the second rotating shaft; And

A mounting member (eg, the mounting member 305 of FIG. 4) mounted to the second frame and rotatable about the third rotational axis by the third driving device, wherein the imaging device (eg, FIG. And the mounting member to which the electronic device 399 of 4 is mounted,

The second frame,

A fixed frame (eg, the fixed frame 373a of FIG. 5) mounted to the first frame to rotate about the second pivotal axis and extending in a direction crossing the second pivotal axis;

A moving frame (eg, the moving frame 373b of FIG. 5) coupled to the fixed frame and capable of sliding along the extending direction of the fixed frame; And

And a fourth driving device (eg,

fourth driving devices

204 and 304 of FIG. 2 or 4) for sliding the moving frame.

According to various embodiments, the motion compensation device may further include an inertial measurement unit (IMU) (eg, the sensor module 276 of FIG. 2),

By moving the moving frame based on the measurement result of the inertial measurement unit, the position of the center of gravity (eg, the center of gravity W of FIG. 13) of the imaging device mounted on the mounting member may be adjusted.

According to various embodiments of the present disclosure, the fixed frame extends in a vertical direction with respect to the second pivotal axis, and the movable frame may slide along a direction parallel to the third pivotal axis.

According to various embodiments, the second frame,

A pinion gear (eg, pinion gear 413 of FIG. 5) mounted to the fixed frame and rotatable by the fourth drive device; And

It may further include a gear rack (eg, gear rack 415 of FIG. 5) mounted to the moving frame and engaged with the pinion gear in the fixed frame.

According to various embodiments, the second frame,

A guide groove (eg, a guide groove 417a of FIG. 5) formed in the fixed frame to partially receive the movable frame and to guide the slide of the movable frame; And

The cover member may further include a cover member (eg, the cover member 419 of FIG. 5) mounted to the fixing frame to at least partially close the guide groove.

According to various embodiments, the second frame,

A guide hole (eg, the guide hole 417b of FIG. 5) formed in the moving frame and extending along the slide direction of the moving frame; And

A guide screw (for example, a guide screw 417c of FIG. 6 or 9) may be further included to sequentially pass through the cover member and the guide hole to be fastened to the fixing frame.

According to various embodiments, the second frame,

A rotating part (eg, the rotating part 411a of FIG. 5) rotatably mounted to the first frame as part of the fixed frame; And

As another part of the fixing frame, it may further include a guide portion (for example, the guide portion 411b of Figure 5) extending from the outer peripheral surface of the rotating portion,

The pinion gear may be mounted to the guide part while adjacent to the rotation part.

According to various embodiments of the present disclosure, the gear rack may be partially accommodated in the rotating part according to the slide of the moving frame.

According to various embodiments, the motion compensation device may further include a communication module (eg, the communication module 290 of FIG. 2) that communicates with the imaging device.

According to various embodiments, the motion compensation device may further include a grip member (eg, the grip member 306 of FIG. 4),

The first frame may be mounted on the grip member to be rotated by the first driving device.

According to various embodiments of the present disclosure, a motion compensation device or electronic device for an imaging device may include

Grip members;

A drive device for providing pivot axes aligned in at least three different directions; And

It may include a mounting member that can be rotated, rotated or pivoted about each of the rotating shafts by the drive device,

The drive device,

A fixed frame extending in a direction crossing with respect to any one of the pivot axes;

A moving frame coupled to the fixed frame and capable of sliding along the extending direction of the fixed frame; And

It may include a drive motor that can slide the moving frame.

According to various embodiments, the motion compensation device may further include an inertial measurement unit (IMU),

By moving the moving frame based on the measurement result of the inertial measurement unit, the position of the center of gravity of the imaging device mounted on the mounting member can be adjusted.

According to various embodiments of the present disclosure, the fixed frame extends in a vertical direction with respect to any one of the pivot shafts, and the movable frame may slide along a direction parallel to one of the pivot shafts.

According to various embodiments of the present disclosure,

A pinion gear mounted to the fixed frame and rotatable by the drive motor; And

The rack may further include a gear rack mounted to the movable frame and engaged with the pinion gear in the fixed frame.

According to various embodiments of the present disclosure,

A guide groove formed in the fixed frame to partially receive the moving frame and to guide the slide of the moving frame; And

It may further include a cover member mounted to the fixing frame to at least partially close the guide groove,

The gear rack may slide at least partially within the guide groove.

According to various embodiments of the present disclosure, the electronic device (eg, the motion compensation device 300 of FIG. 4) may be

A communication interface (eg, communication module 190 of FIG. 1);

A mounting portion (eg, the mounting member 305 of FIG. 4) capable of mounting an external electronic device;

A first driving unit (eg, the first driving device 301 of FIG. 4) capable of controlling the movement of the mounting unit based on a first rotational shaft (eg, the first rotational shaft Y of FIG. 4);

A second driving unit (eg, the second driving device 302 of FIG. 4) capable of controlling the movement of the mounting unit with respect to a second rotating shaft (eg, the second rotating shaft R of FIG. 4);

A third driving unit (eg, the third driving device 303 of FIG. 4) capable of controlling the movement of the mounting unit with respect to a third rotating shaft (eg, the third rotating shaft P of FIG. 4); And

A processor (eg, the processor 120 of FIG. 1), wherein the processor includes:

Receive information related to performing a designated operation (eg, a photographing operation) using the external electronic device through the communication interface,

Based on the received information, at least one of the first driver, the second driver, or the third driver moves the mounting part on which the external electronic device is mounted to a position corresponding to a specified condition (for example, : Align in the shooting direction or horizontal alignment),

The location of the holder may be determined, and if the location of the holder satisfies a specified condition, information related to the satisfaction of the specified condition may be transmitted to the external electronic device through the communication interface.

According to various embodiments of the present disclosure, the processor may be configured to transmit information related to moving the holder to a location corresponding to a specified condition to the external electronic device through the communication interface.

According to various embodiments of the present disclosure, the electronic device may further include a sensor module.

The processor is configured to designate the mounting part on which the external electronic device is mounted using at least one of the first driving part, the second driving part, or the third driving part based on at least information detected by the sensor module. It may be set to move to a position corresponding to.

According to various embodiments of the present disclosure, an electronic device (eg, the electronic device 399 of FIG. 4) may be

An image sensor (eg, camera module 180 of FIG. 1);

A display (eg, display device 160 of FIG. 1);

A communication interface (eg, communication module 190 of FIG. 1); And

A processor (eg, the processor 120 of FIG. 1), wherein the processor includes:

Receive information related to the movement of the electronic device from the external electronic device that can adjust the movement of the electronic device using the communication interface,

When the received information (for example, information about alignment in a photographing direction or horizontal alignment) satisfies a specified condition, it may be set to start a specified operation (for example, photographing) using the image sensor.

According to various embodiments of the present disclosure, the processor may be configured to output information (eg, information about a horizontal alignment state) related to the movement of the electronic device through the display.

In the foregoing detailed description of the present invention, specific embodiments have been described. However, it will be apparent to those skilled in the art that various modifications may be made without departing from the scope of the present invention.

Claims

In the motion compensation device for an imaging device,

A first driving device forming a first rotational shaft;

A first frame pivotable about the first pivot by the first drive device;

A second driving device mounted to the first frame, the second driving device forming a second rotation shaft perpendicular to the first rotation shaft;

A second frame mounted to the first frame and capable of rotating about the second pivot by the second driving device;

A third driving device mounted to the second frame and forming a third rotating shaft perpendicular to the first rotating shaft or the second rotating shaft; And

A mounting member mounted to the second frame and rotatable about the third pivot by the third driving device, the mounting member on which the imaging device is mounted;

The second frame,

A fixed frame mounted to the first frame to rotate about the second pivot, and extending in a direction crossing the second pivot;

A moving frame coupled to the fixed frame and capable of sliding along the extending direction of the fixed frame; And

And a fourth driving device capable of sliding the moving frame.
The method of claim 1, further comprising an inertial measurement unit (IMU),

And the motion compensation device adjusts the position of the center of gravity of the imaging device mounted to the mounting member by moving the moving frame based on the measurement result of the inertial measurement unit.
The motion compensation apparatus of claim 1, wherein the fixed frame extends in a direction perpendicular to the second rotation axis, and the movement frame is slidable along a direction parallel to the third rotation axis.
The method of claim 1, wherein the second frame,

A pinion gear mounted to the fixed frame and rotatable by the fourth drive device; And

And a gear rack mounted to the moving frame and engaged with the pinion gear in the fixed frame.
The method of claim 4, wherein the second frame,

A guide groove formed in the fixed frame to partially receive the moving frame and to guide the slide of the moving frame; And

And a cover member mounted to the fixing frame to at least partially close the guide groove.
The method of claim 5, wherein the second frame,

A guide hole formed in the moving frame and extending in a slide direction of the moving frame; And

And a guide screw sequentially passing through the cover member and the guide hole and fastened to the fixed frame.
The method of claim 4, wherein the second frame,

A rotating part rotatably mounted to the first frame as part of the fixed frame; And

As another part of the fixed frame, further comprising a guide portion extending from the outer peripheral surface of the rotating portion,

And the pinion gear is adjacent to the rotating part and mounted to the guide part.
The motion compensation device of claim 7, wherein the gear rack is partially accommodated in the rotation part in accordance with the slide of the moving frame.
The motion compensation device of claim 1, wherein the motion compensation device further comprises a communication module configured to communicate with the imaging device.
The method of claim 1, wherein the motion compensation device further comprises a grip member (grip member),

And the first frame is mounted to the grip member and can be rotated by the first driving device.
In the motion compensation device for an imaging device,

Grip members;

A drive device for providing pivot axes aligned in at least three different directions; And

A mounting member capable of rotating, rotating or pivoting about each of the pivotal shafts by the driving device,

The drive device,

A fixed frame extending in a direction crossing with respect to any one of the pivot axes;

A moving frame coupled to the fixed frame and capable of sliding along the extending direction of the fixed frame; And

And a drive motor capable of sliding the moving frame.
The method of claim 11, further comprising an inertial measurement unit (IMU),

And the motion compensation device adjusts the position of the center of gravity of the imaging device mounted on the mounting member by moving the moving frame based on the measurement result of the inertial measurement unit.
12. The motion compensation apparatus of claim 11, wherein the fixed frame extends in a vertical direction with respect to any one of the pivot axes, and the movable frame is capable of sliding along a direction parallel to one of the pivot axes. Device.
The method of claim 11, wherein the drive device,

A pinion gear mounted to the fixed frame and rotatable by the drive motor; And

And a gear rack mounted to the moving frame and engaged with the pinion gear in the fixed frame.
The method of claim 14, wherein the drive device,

A guide groove formed in the fixed frame to partially receive the moving frame and to guide the slide of the moving frame; And

A cover member mounted to the fixing frame to at least partially close the guide groove;

And the gear rack is at least partially slideable within the guide groove.