WO2020036388A1 - Damping device, fixing device for image sensing and image sensing device - Google Patents

Abstract

Disclosed are a damping device and a fixing device for image sensing including same. The present invention includes: a first case; a second case disposed to face the first case and spaced apart from an external object; a first damping part for connecting the first case and the second case; and a second damping part disposed in both the external object and the second case.

Description

Damping device, fixture for image sensing and image sensing device

The present invention relates to a device, and more particularly, to a damping device, a fixing device for image sensing and an image sensing device.

Various devices may be used to sense the surrounding image. For example, in order to sense the surrounding image, a lidar, an imaging device, or the like may be provided, and the surrounding image may be sensed based on the obtained data. At this time, since the imaging device has an angle of view, it is difficult to photograph the entire surrounding and only a part of the surrounding can be photographed. In addition, in order to photograph various places through one imaging apparatus, the imaging apparatuses should be fixed at various places. In order to solve this problem, a plurality of imaging apparatuses may be installed in various directions to acquire peripheral image data.

However, in such a case, various structures are required to fix the plurality of imaging devices, and these structures occupy a lot of space or interfere with each other, so it may be very difficult to fix the plurality of imaging devices. In addition, the images photographed by the plurality of imaging apparatuses may acquire only images viewed from different points because the optical axes of the respective imaging apparatuses do not meet at one point. In this case, it may be very difficult to process the image data acquired by each image pickup device in conjunction with each other.

In addition, when the above-described imaging apparatus is disposed on the movable body and moved, the imaging apparatus may be shaken due to the movement of the movable body. In this case, the imaging apparatus may vibrate at a certain frequency due to vibration generated by the movement of the moving object or vibration caused by external force applied to the moving object. This phenomenon may be difficult to obtain a clear image in the image pickup device by vibrating the image pickup device significantly.

The apparatus for fixing a conventional scratching device is not only formed to fix one imaging device in one direction, but also when fixing a plurality of imaging devices, the optical axis of each imaging device does not pass through the same point, It is difficult to obtain image data in various directions as viewed. In addition, in the case of acquiring image data by placing the image pickup device on a moving unit, it may not be possible to obtain clear image data due to shaking.

The present invention is to solve the various problems including the above problems, it is possible to fix the image pickup device in various directions, a damping device capable of obtaining a clear image, a fixing device for image sensing and an image sensing device To provide. However, these problems are exemplary, and the scope of the present invention is not limited thereby.

According to an aspect of the present invention, a first case, a second case disposed to face the first case, spaced apart from an external object, and a first damping unit connecting the first case and the second case; And a second damping unit disposed in the external object and the second case, respectively.

Embodiments of the present invention make it possible to fix various imaging devices. Further, embodiments of the present invention can arrange a plurality of imaging devices such that the optical axes of the plurality of imaging devices pass through the same point. Embodiments of the present invention make it possible to fix the imaging device in various directions.

Embodiments of the present invention can minimize shaking of the imaging device. In addition, embodiments of the present invention make it possible to obtain a clear image from the imaging device.

1 is a perspective view showing a fixing device for image sensing according to an embodiment of the present invention.

FIG. 2 is a perspective view illustrating a part of the first base and a part of the fixing frame of FIG. 1.

3 is a perspective view showing the fixing bracket shown in FIG.

4 is a perspective view showing the damping device shown in FIG.

5 is a perspective view showing an image sensing device according to an embodiment of the present invention.

6 is a cross-sectional view illustrating a part of the image sensing device shown in FIG. 5.

7 is a cross-sectional view illustrating an image sensing device according to another exemplary embodiment of the present invention.

According to an aspect of the present invention, a first case, a second case disposed to face the first case, spaced apart from an external object, and a first damping unit connecting the first case and the second case And a second damping part disposed on the external object and the second case, respectively.

The apparatus may further include a displacement limiting unit connecting the second case and the external object and limiting displacement of the second case.

The first damping unit may include a core unit connecting the first case and the second case, and a first elastic unit disposed on the core unit and disposed between the first case and the second case. Can be.

In addition, the first damping part may further include a second elastic part disposed outside the first elastic part.

In addition, the first damping unit may be disposed to be inclined to the first case and the second case.

In addition, the second damping unit is disposed between the second case and the external object, and generates a repulsive force to apply a force to at least one of the second case and the external object so as to space the second case and the external object. It may include wealth.

In addition, the second damping unit may be disposed between the second case and the external object to generate a attraction force to apply at least one of the second case and the external object to bring the second case and the external object into close proximity. It may further include wealth.

Another aspect of the present invention includes a fixing assembly to which the imaging device is fixed, and a damping device disposed between an external object and the fixing assembly, wherein the damping device is disposed to face the first case and the first case. And a second case disposed to be spaced apart from an external object, a first damping part connecting the first case and the second case, and a second damping part disposed on the external object and the second case, respectively. It is possible to provide a fixing device for image sensing.

The apparatus may further include a displacement limiting unit connecting the external object to the second case and limiting the displacement of the second case.

The first damping unit may include a core unit connecting the first case and the second case, and a first elastic unit disposed on the core unit and disposed between the first case and the second case. Can be.

In addition, the first damping part may further include a second elastic part disposed outside the first elastic part.

In addition, the second damping unit is disposed between the external object and the second case, the repulsive force for applying a force to at least one of the external object and the second case to space the external object and the second case from each other. It may include a generation unit.

In addition, the second damping unit is disposed between the external object and the second case, the attraction force to apply at least one of the external object and the second case to bring the external object and the second case in close proximity. It may further include wealth.

In still another aspect of the present invention, there is provided a fixing apparatus for image sensing comprising a fixing assembly to which an imaging device is fixed, wherein the fixing assembly comprises a first base, a second base disposed to face the first base, A fixing device for image sensing connected to the first base and the second base, the curved fixing frame, and the fixing bracket disposed on the fixing frame and fixing the imaging device, can be provided.

In addition, the fixing frame is formed to be flat, and may have a seating surface that one surface of the fixing bracket is in contact.

In addition, a straight line passing through the center of the seating surface and perpendicular to the seating surface may pass through the center of the fixing device for image sensing.

In addition, the fixing bracket may include a fixing bracket body portion to which the imaging device is fixed, and a protrusion portion protruding from the fixing bracket body portion to the fixing frame and surrounding a side of the fixing frame.

According to another embodiment of the present invention, a movable assembly, a fixed assembly having at least one imaging device disposed thereon, and the fixed assembly and the movable body are connected to each other to prevent the posture of the fixed assembly from varying according to the posture of the movable body. And a posture maintaining part, wherein the posture maintaining part may include a support part connected to the movable body and a rotation part rotatably connected to the support part and connected to the fixing assembly.

According to another embodiment of the present invention, a movable body, a fixed assembly having at least one imaging device disposed thereon, a support unit connecting the movable body and the fixed assembly, a portion of which is rotatably connected to the movable body, and the support unit It is possible to provide an image sensing device including a rotary connector disposed to be linearly movable.

In addition, the load may further include a load connected to the support.

The invention will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various forms, and only the present embodiments make the disclosure of the present invention complete, and those of ordinary skill in the art to which the present invention belongs. It is provided to fully convey the scope of the invention to those skilled in the art, and the present invention is defined only by the scope of the claims. Meanwhile, the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” and / or “comprising” refers to the presence of one or more other components, steps, operations and / or elements. Or does not exclude additions. Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are only used to distinguish one component from another.

1 is a perspective view showing a fixing device for image sensing according to an embodiment of the present invention. FIG. 2 is a perspective view illustrating a part of the first base and a part of the fixing frame of FIG. 1. 3 is a perspective view showing the fixing bracket shown in FIG. 4 is a perspective view showing the damping device shown in FIG.

1 to 4, the image sensing fixing device 10 may be disposed at various places. For example, the fixing device 10 for image sensing may be disposed in a building or a desk. In another embodiment, the image sensing fixing device 10 may be disposed on the moving body M and move together as the moving body M moves. In this case, the image sensing fixing device 10 may be rotatably disposed on the moving body M. FIG. Hereinafter, for convenience of description, the image sensing fixing device 10 will be described in detail with reference to a case where the moving object M is disposed.

The fixing device 10 for image sensing as described above may include a fixing assembly 300 and a damping device 400. In this case, at least one scratch device C may be disposed in the fixing assembly 300. In addition, the damping device 400 may be connected to an external object to reduce or block propagation of vibration generated from the external object to another part connected to the damping device 400. In this case, the damping device 400 may be disposed between the fixed assembly 300 and another fixed assembly 300 that is an external object or between the fixed assembly 300 and the external object. In this case, the external object may include the desk, the outer wall of the building, the moving body M, and the like described above. Hereinafter, for convenience of description, the external object will be described in detail with reference to a case where the moving object M is used. The moving body M may be autonomous running. In another embodiment, the movable body M may include an internal combustion engine, or include a motor and a wheel, and operate according to an external signal. At this time, the moving body (M) is not limited to the above, and the fixing assembly 300 and the damping device 400 is mounted to all the devices and structures capable of moving the fixing assembly 300 and the damping device 400 to various places It may include. Hereinafter, the damping device 400 will be described in detail with reference to a case where the damping device 400 is disposed between the fixing assemblies 300 adjacent to each other.

The fixing assembly 300 may be provided in plurality, and the plurality of fixing assemblies 300 may be arranged to be stacked on each other. In this case, the plurality of fixing assemblies 300 includes a first fixing assembly 200 connected to the moving body M, a second fixing assembly 100 connected to the first fixing assembly 200, and a damping device 400. can do. In this case, the damping device 400 may include various damping elements. In this case, since the first fixing assembly 200 and the second fixing assembly 100 are the same or similar to each other, the second fixing assembly 100 will be described in detail with respect to the convenience of the description.

The scratch device C may be disposed in the first fixing assembly 200 and the second fixing assembly 100 as described above. In this case, the scratch device C may include various forms. For example, the scratching device C may include an imaging device including a rolling shutter. In addition, the scratching device C may include an imaging device including a global shutter. In this case, the imaging device including the rolling shutter may be disposed in the second fixing assembly 100. In addition, the image pickup device including the global shutter may be disposed in the first fixing assembly 200. In addition to the above case, a lidar R may be disposed in at least one of the first fixing assembly 200 and the second fixing assembly 100. At this time, since the lidar R is not affected by vibration according to the movement of the moving body M, it may be disposed in the first fixing assembly 200.

The second fixing assembly 100 as described above may include a first base 110, a second base 120, a fixing frame 130, and a fixing bracket 140.

The first base 110 and the second base 120 may be disposed to face each other. At this time, since the first base 110 or the second base 120 is formed in the same or similar to each other will be described in detail below with respect to the first base 110 for convenience of description.

The first base 110 may be formed in an annular ring shape. In this case, a hole may be formed in the center of the first base 110, and a part of the fixing frame 130 may be seated on one surface thereof. One surface of the first base 110 may be provided with a first seating groove 111 on which at least a portion of the fixing frame 130 is seated. In this case, the first seating groove 111 may be formed to be drawn from one surface of the first base 110 to accommodate at least a portion of the fixing frame 130. In particular, the bottom surface of the first seating groove 111 may be lower than one surface of the first base 110. In this case, the depth of the first mounting groove 111 may be smaller than the thickness of the first base 110. A plurality of first seating grooves 111 may be provided, and the plurality of first seating recesses 111 may be disposed to be spaced apart from each other along one surface of the first base 110.

The fixed frame 130 may be disposed between the first base 110 and the second base 120. The fixed frame 130 may be combined with the first base 110 and the second base 120. In this case, the fixing frame 130 may be coupled to at least one of the first base 110 and the second base 120 through a separate coupling member such as a screw and a bolt. In another embodiment, the fixing frame 130 may be coupled to at least one of the first base 110 and the second base 120 by welding or the like.

The fixing frame 130 may be provided in plurality, and the plurality of fixing frames 130 may be disposed to be spaced apart from each other. For example, the plurality of fixing frames 130 may be arranged to be spaced apart from each other by a predetermined interval on the surfaces of the first base 110 and the second base 120.

The fixed frame 130 as described above may include a fixed frame body 131 and a seating portion 132. The fixed frame body 131 may be disposed between the first base 110 and the second base 120. In this case, the fixing bracket 140 may be disposed on one surface of the fixed frame body 131. Particularly, one surface of the fixed frame body 131 may be provided with a seating surface 131a in contact with one surface of the fixed bracket 140. In this case, the seating surface 131a may be formed flat. The seating surface 131a may be provided in plural along the surface of the fixed frame body 131. The plurality of seating surfaces 131a may be connected to each other. At this time, each scratching device (C) may be disposed on each seating surface (131a). In this case, each of the scratch devices C may be the same kind or a different kind. In addition, an arbitrary straight line L perpendicular to the seating surface 131a while passing through the center CE1 of each seating surface 131a may pass through the center CE2 of the second fixing assembly 100. In addition, any straight line L perpendicular to the seating surface 131a while passing through the center CE1 of each seating surface 131a may pass through the same point. For example, an arbitrary straight line L perpendicular to one of the plurality of seating surfaces 131a while passing through the center CE1 of one of the seating surfaces 131a and the other of the seating surfaces 131a. Any straight line perpendicular to the other one of the plurality of seating surfaces 131a while passing through the center of, and another center of the other seating surface 131a while passing through the center of another one of the plurality of seating surfaces 131a Any vertical straight line may intersect at the same point. This point may be the center CE2 of the second fixing assembly 100 described above. In addition to the above, any straight line perpendicular to each of the seating surfaces 131a while passing through the center CE1 of each seating surface 131a is the same as or parallel to the optical axis of the scratching device C disposed on the fixing bracket 140. can do. In this case, since the optical axis of the scratching device C disposed on each seating surface 131a has the same centripetal point, it is possible to capture image data of various directions at the same point. In addition, since the image data acquired by each scratch device (C) is photographed around the same point, it is possible to combine the image data with each other or to use as a basis for judgment. In addition, since the image data acquired by each of the scratch devices (C) are photographed around the same point, it is necessary to remove the overlapping images from the image data photographed by the adjacent scratch devices (C) to generate image data connected to each other. It is possible.

The other surface of the fixed frame body 131 as described above may be formed into a curved surface. At this time, the other surface of the fixed frame body 131 may have a constant radius of curvature. For example, the other surface of the fixed frame body 131 may be a curved surface having one radius of curvature.

The seating portion 132 may be bent from the fixed frame body portion 131. In this case, the mounting part 132 may be disposed in parallel with one surface of one of the first base 110 or the second base 120. In addition, the mounting portion 132 may be inserted into at least one first mounting groove 111 of the first base 110 and the second base 120. In this case, the seating part 132 may be disposed at both ends of the fixed frame body 131 and connected to the fixed frame body 131.

At least one of the first base 110 and the second base 120 as described above or one of the seating portions 132 may include a first guide 151. In addition, at least one of the first base 110 and the second base 120 or one of the seating portions 132 is connected to the first guide 151 and the second guide 152 for guiding the first guide 151. ) May be included. In this case, one of the first guide 151 or the second guide 152 may have a protrusion shape, and the other of the first guide 151 or the second guide 152 may have a groove shape that receives the protrusion. . In another embodiment, one of the first guide 151 or the second guide 152 includes a bent projection, and the other of the first guide 151 or the second guide 152 is bent in combination with the bent projection. It is also possible to include bent projections that guide the resulting projections. In another embodiment, one of the first guide 151 or the second guide 152 includes a rail, and one of the first guide 151 or the second guide 152 includes a groove in which the rail is accommodated. It is also possible. In this case, the first guide 151 and the second guide 152 are not limited to the above, and are connected to each other to couple the fixed frame 130 to at least one of the first base 110 and the second base 120. When it may include all structures and configurations to guide the movement of the fixed frame 130. Hereinafter, for convenience of description, the first guide 151 includes a protrusion, the second guide 152 includes a groove in which the protrusion is accommodated, and the first guide 151 includes the first base 110 and the first guide. 2 is disposed on the base 120, the second guide 152 will be described in detail with respect to the case of being disposed on the fixed frame 130.

The fixing bracket 140 may be disposed on the seating surface 131a to be coupled to the fixing frame 130. At this time, the fixing bracket 140 may be fixed to the fixing frame 130 through pins, bolts, screws, and the like.

The fixing bracket 140 may also include a first fixing bracket 140A and a second fixing bracket 140B that can be separated from each other. The first fixing bracket 140A may be coupled to the fixing frame 130. The second fixing bracket 140B may be connected to the first fixing bracket 140A to hold the scratch device C. In detail, the second fixing bracket 140B may be formed in the shape of a gripper to grip the scratch device C. As another embodiment, it is also possible to hold the scratch device C by forming a member having a 'c' shape and changing the size of the internal space. At this time, the second fixing bracket 140B is not limited to the above, and may include any structure for holding and fixing the scratch device (C). Although the first fixing bracket 140A is connected to the second fixing bracket 140B to fix the scratch device C, it is also possible to fix the scratch device C by the first fixing bracket 140A itself. Do.

The first fixing bracket 140A may include a first fixing bracket body 141-1, a second fixing bracket body 142-1, and a protrusion 143-1. The first fixing bracket body 141-1 and the second fixing bracket body 142-1 may be integrally formed with each other. In this case, the first fixing bracket body 141-1 and the second fixing bracket body 142-1 may be connected to form a predetermined angle with each other. For example, the first fixing bracket body 141-1 and the second fixing bracket body 142-1 may form a right angle with each other. The first fixing bracket body 141-1 may be disposed on the seating surface 131a to be in close contact with the seating surface 131a, and the second fixing bracket body 142-1 may be provided with the scratch device C. It can be connected to support the scratch device (C). In this case, the second fixing bracket body 142-1 may be provided with a coupling groove 145-1 into which a screw, a bolt, or the like can be inserted. One side of the coupling groove 145-1 may be opened, and may be elongated to change a position of a screw, a bolt, or the like. The protrusion 143-1 may protrude from one surface of the first fixing bracket body 141-1. The protrusion 143-1 may be provided in plural, and the plurality of protrusions 143-1 are disposed to be spaced apart from each other so that the adjacent protrusion 143-1 is an insertion groove into which the fixed frame body 131 is inserted ( 144-1). In detail, the plurality of protrusions 143-1 may be arranged to be spaced apart from each other in the longitudinal direction of the first protrusion 143a-1, the first protrusion 143a-1, and the fixed frame body 131. -1). In addition, the plurality of protrusions 143-1 are disposed to be spaced apart from each other in the longitudinal direction of the fixed frame body 131, and the fixed frame body is separated from the first and second protrusions 143a-1 and 143b-1. The third protrusion 143c-1 and the fourth protrusion 143d-1 may be disposed to be spaced apart from each other in the width direction of the 131. In this case, the distance between the first protrusion 143a-1 and the second protrusion 143b-1, the distance between the third protrusion 143c-1 and the fourth protrusion 143d-1, and the first protrusion 143a- The distance between 1) and the third protrusion 143c-1 and the distance between the second protrusion 143b-1 and the fourth protrusion 143d-1 are the same as or similar to the width of the fixing frame 130, thereby fixing the first fixing. The bracket 140A may be fixed to the fixed frame 130 by switching in various directions. That is, an insertion groove 144-1 may be formed between the first protrusion 143a-1 and the second protrusion 143b-1 and between the third protrusion 143c-1 and the fourth protrusion 143d-1. Can be.

On the other hand, looking at the assembly method of the second fixing assembly 100 as described above, after the fixing frame 130 is disposed between the first base 110 and the second base 120, the fixed frame 130 and the first The base 110 may be connected, and the fixing frame 130 and the second base 120 may be connected to each other. In this case, the method of connecting the fixed frame 130 and the first base 110 and the method of connecting the fixed frame 130 and the second base 120 to each other are the same or similar to each other, so that the following description is fixed for convenience of description. A method of connecting the frame 130 and the first base 110 will be described in detail.

The mounting part 132 of the fixing frame 130 may be inserted into the first mounting groove 111 of the first base 110. In this case, the first guide 151 may be inserted into the second guide 152, and the fixing frame 130 may move in the center direction of the first base 110. In this case, when the first guide 151 and the second guide 152 couple the fixed frame 130 to at least one of the first base 110 and the second base 120, the coupling of the fixed frame 130 is prevented. I can guide you. In addition, the first guide 151 and the second guide 152 is applied to the fixed frame 130 after the fixed frame 130 is coupled to at least one of the first base 110 and the second base 120. The fixing frame 130 may be prevented from being separated from at least one of the first base 110 and the second base 120 by an external force.

After the seating portion 132 is completely inserted into the first seating recess 111, the fixing frame 130 may be fixed to the first base 110. When the fixed frame 130 is coupled to the first base 110, the fixed frame 130 may be coupled to the second base 120 at the same time. In addition, the plurality of fixed frames 130 are disposed between the first base 110 and the second base 120 to each of the fixed frames 130 as described above the first base 110 and the second base ( 120).

When the plurality of fixing frame 130, the first base 110, the second base 120 is coupled as described above, the fixing bracket 140 is disposed on the seating surface (131a) of the fixing frame 130 Can be fixed In this case, the fixing bracket 140 may be arranged in various directions based on the fixing frame 130. That is, in one embodiment, the fixing frame 130 is disposed between the first protrusion 143a-1 and the second protrusion 143b-1 and between the third protrusion 143c-1 and the fourth protrusion 143d-1. Can be arranged. In another embodiment, the fixing frame 130 may be disposed between the first protrusion 143a-1 and the third protrusion 143c-1 and between the second protrusion 143b-1 and the fourth protrusion 143d-1. Can be. In this case, the positions of the second fixing bracket body 142-1 of the fixing bracket 140 may be different from each other. In particular, according to the position of the second fixing bracket body 142-1, the scratch device C may be arranged in different directions with respect to the first base 110.

As described above, after the fixing bracket 140 is disposed on the fixing frame 130, the fixing bracket 140 may be fixed to the fixing frame 130. In this case, the method of arranging the fixing frame 130 on the fixing bracket 140 may be fixed by screws, bolts, welding, or the like.

The fixing bracket 140 as described above may be disposed in a plurality of fixing frames 130. In addition, a plurality of fixing brackets 140 may be disposed in different fixing frames 130. At this time, the user can arrange the scratch device (C) in a desired place of the fixed frame (130).

At least one scratch device C may be disposed in the image sensing fixing device 10 manufactured as described above. In this case, the image sensing fixing device 10 may be arranged in a building or on the ground as described above. In another embodiment, the image sensing fixing device 10 may be disposed on the movable body M. FIG. When the image sensing fixing device 10 is disposed on the moving body M, the moving body M may move in various places in a state where the image sensing fixing device 10 is seated. In this case, the scratch device C attached to the image sensing fixing device 10 may acquire image data in various directions.

Accordingly, the image sensing fixing device 10 may fix various scratching devices C in various directions. Also, the image sensing fixing device 10 may acquire image data in various directions viewed from the same point through the plurality of scratch devices C.

The image sensing fixing device 10 may increase space utilization by securing various spaces inside the plurality of fixing frames 130 and arranging various devices in the internal space. In addition, the fixing device 10 for the image sensing, it is possible to provide a certain degree of elastic force to the external impact by each fixing frame 130 is formed in an arch shape.

The image sensing fixing device 10 can be easily assembled, and it is possible to fix the scratching device C firmly. In addition, the image sensing fixing device 10 is a scratching device (C) by preventing the fixing bracket 140 from moving after the fixing bracket 140 is fixed to the fixing frame 130 through the projection of the fixing bracket 140 It is possible to prevent the optical axis of or to change the scratching device (C).

The damping device 400 may include a first case 410, a second case 420, a first damping part 430, a second damping part 440, and a displacement limiting part 450.

The first case 410 and the second case 420 may be disposed to face each other. In this case, the first case 410 may be fixed to the second fixing assembly 100, and the second case 420 may be fixed to the first fixing assembly 200 or the moving body M through the displacement limiting part 450. Can be connected. In this case, the positions of the first case 410 and the second case 420 are not limited to the above, and the first fixing assembly 200 may be the same as the second case 420 described above. Alternatively, the moving body M may be connected, and the first case 410 may be connected to the second fixing assembly 100. However, hereinafter, the first case 410 is coupled to the second fixing assembly 100 for convenience of description, and the second case 420 will be described in detail with reference to the case where it is connected to the first fixing assembly 200. Let's do it.

The first case 410 may be coupled to the second fixing assembly 100. In this case, the first case 410 may include a first case body portion 411 coupled to the second fixing assembly 100, and a first support portion 412 protruding from the first case body portion 411. have. In this case, the first case body 411 may be formed in an annular ring shape. In addition, the first support part 412 may protrude in the circumferential direction of the first case body part 411. In this case, the first support part 412 may be connected to the first damping part 430 by coupling a part of the first damping part 430 or by contacting a part of the first damping part 430. In this case, one surface of the first support part 412 may be inclined. For example, one surface of the first support part 412 on which a portion of the first damping part 430 is seated may be increased toward the outer circumferential direction of the first case body part 411. The first support part 412 as described above may be provided in plurality. In this case, the plurality of first support parts 412 may be disposed to form the same angles with respect to the center of the first case body part 411.

The second case 420 is formed of a second case body 421 and a second case body 421 connected to the first fixing assembly 200 or the moving body M, which are different from the second fixing assembly 100 to which the first case 410 is coupled. Second case body 421 may include a second support portion 422 protruding from. In this case, the second case body 421 may be formed in an annular ring shape. The second support part 422 may be disposed to correspond to the first support part 412. In this case, the inclination direction of the second support part 422 may be the same as the inclination direction of the first support part 412. In this case, the distance between one surface of the second support part 422 and one surface of the first support part 412 may be constant in the longitudinal direction of the second support part 422. In addition, some of the side surfaces of the second support part 422 may be bent. In this case, the second support part 422 may accommodate a part of the first damping part 430. In this case, a plurality of second support parts 422 may be provided in the same manner as the first support part 412, and the plurality of second support parts 422 may have the same angle with respect to the center of the second case body part 421. It is disposed to form and may be connected to the second case body portion 421.

The first damping part 430 may be disposed between the first support part 412 and the second support part 422. In this case, the first damping unit 430 may be disposed to have a predetermined angle with respect to any straight line passing through the centers of the first case 410 and the second case 420. A plurality of first damping units 430 may be provided. Each first damping part 430 may be disposed to correspond to each of the first support part 412 and the second support part 422. In this case, each of the first damping units 430 may be inclined in a direction away from the center of the first case 410. In particular, the first damping unit 430 may absorb a portion of the force applied to the second fixing assembly 100 in a direction in which the second fixing assembly 100 is shaken.

The first damping part 430 may include at least one of the core part 431, the first elastic part 432, and the second elastic part 433. For example, the first damping part 430 may include only the core part 431. In another embodiment, the first damping part 430 may include a core part 431 and a first elastic part 432. In another embodiment, the first damping part 430 may include a core part 431, a first elastic part 432, and a second elastic part 433. In another embodiment, the first damping part 430 may not include the core part 431 and may include at least one of the first elastic part 432 and the second elastic part 433. In another embodiment, some of the plurality of first damping units 430 may include a core unit 431 and a first damping unit 430, and another portion of the plurality of second damping units 440 may include a core unit ( 431, the first damping unit 430, and the second damping unit 440 may be included. In another embodiment, some of the plurality of first damping portions 430 may include a core portion 431, and another portion of the plurality of first damping portions 430 may include a core portion 431 and a first elastic portion ( It is also possible to include either 432 or the second elastic portion 433. In another embodiment, some of the plurality of first damping units 430 may include a first elastic unit 432 or a second elastic unit 433, and another portion of the plurality of first damping units 430 may be a core. It is also possible to include the portion 431, the first elastic portion 432 and the second elastic portion 433. Hereinafter, for convenience of description, some of the plurality of first damping parts 430 include a core part 431 and a first elastic part 432, and other parts of the plurality of first damping parts 430 may be cores. The case including the portion 431, the first elastic portion 432, and the second elastic portion 433 will be described in detail.

The core part 431 may be disposed between the first support part 412 and the second support part 422, and may be connected to the first support part 412 and the second support part 422. In this case, the core part 431 may be coupled to the first support part 412 and the second support part 422. In addition, the core part 431 may be disposed to be inclined like the first support part 412 and the second support part 422. The first support part 412 and the second support part 422 may move a predetermined distance along the core part 431.

The first elastic part 432 and the second elastic part 433 may be disposed between the first support part 412 and the second support part 422. In this case, the second elastic portion 433 may be disposed outside the first elastic portion 432. In addition, the elastic modulus of the first elastic part 432 and the elastic modulus of the second elastic part 433 may be the same or different from each other. In this case, the first elastic portion 432 and the second elastic portion 433 may be the same elastic member. In another embodiment, the first elastic portion 432 and the second elastic portion 433 may be different elastic members. At least one of the first elastic portion 432 and the second elastic portion 433 may include at least one of a rubber bar, a silicon bar, a damper, and a spring. Hereinafter, for convenience of description, the first elastic portion 432 is a rubber bar or silicon bi, and the second elastic portion 433 will be described in detail with reference to the case of a coil spring. At least one of the first elastic portion 432 and the second elastic portion 433 may be fixed to or separated from at least one of the first case 410 and the second case 420. Hereinafter, for convenience of description, the first elastic part 432 and the second elastic part 433 will be described in detail with reference to a case where both the first case 410 and the second case 420 are disposed in a separated form. Shall be.

The second damping unit 440 may be disposed between the second case 420 and the moving body M. In this case, the second damping unit 440 may be formed in various forms. In an embodiment, the second damping unit 440 may be formed to be the same as or similar to the first damping unit 430. In another embodiment, the second damping unit 440 may be disposed between the second case 420 and the movable body M to adjust the distance between the second case 420 and the movable body M through magnetic force. . Hereinafter, for convenience of description, the second damping unit 440 is disposed between the second case 420 and the movable body M to adjust the distance between the second case 420 and the movable body M through a magnetic force. The case will be described in detail.

The second damping unit 440 may include at least one repulsive force generating unit 440-1. The repulsive force generating unit 440-1 is disposed between the second case 420 and the first fixing assembly 200 to separate the second case 420 and the first fixing assembly 200 in a direction to separate the second case 420 from the second case 420. Force may be applied to at least one of the 420 and the first fixing assembly 200. The repulsive force generating unit 440-1 may include the first magnetic force generating unit 441-1 disposed in the second case 420 and the second magnetic force generating unit 442-1 disposed in the first fixing assembly 200. It may include. In this case, the first magnetic force generating unit 441-1 and the second magnetic force generating unit 442-1 may include a magnet or an electromagnet. In this case, one surface of the first magnetic force generation unit 441-1 and one surface of the second magnetic force generation unit 442-1 facing each other may have the same polarity. In this case, the first magnetic force generating unit 441-1 and the second magnetic force generating unit 442-1 may be arranged such that at least a portion thereof overlaps with each other when viewed from a plane. The repulsive force generating unit 440-1 as described above is not limited thereto, and is disposed between the second case 420 and the first fixing assembly 200, so that the second case 420 and the first fixing assembly 200 are provided. May include all structures and all devices capable of exerting repulsion on at least one of However, hereinafter, for convenience of explanation, the repulsive force generating unit 440-1 will be described in detail with reference to a case including the first magnetic force generating unit 441-1 and the second magnetic force generating unit 442-1. do.

Repulsive force generation unit 440-1 may be provided in plurality. The plurality of repulsive force generating units 440-1 may be arranged to be spaced apart from each other on the outer surface of the second case 420. In this case, the repulsive force generating units 440-1 adjacent to each other among the plurality of repulsive force generating units 440-1 may form a predetermined angle with respect to the center of the second case 420.

The second damping part 440 may further include at least one attraction force generating part 440-2 disposed between the second case 420 and the first fixing assembly 200. At this time, the attraction force generating unit 440-2 is applied to at least one of the second case 420 and the first fixing assembly 200 so that the distance between the second case 420 and the first fixing assembly 200 becomes smaller. Can be added. In this case, the manpower generation unit 440-2 may be formed in various forms. For example, as an example, the attraction force generation unit 440-2 may include the third magnetic force generation unit 441-2 and the second case disposed in one of the second case 420 or the first fixed assembly 200. The fourth magnetic force generating unit 442-2 may be disposed on the other of the 420 or the first fixing assembly 200. In this case, one surface of the third magnetic force generation unit 441-2 and one surface of the fourth magnetic force generation unit 442-2 facing each other may have different polarities. In this case, at least one of the third magnetic force generating unit 441-2 and the fourth magnetic force generating unit 442-2 may include at least one of a magnet and an electromagnet, and the third magnetic force generating unit 441-2 and The fourth magnetic force generating unit 442-2 may be arranged to overlap at least a portion when viewed from the plane. In another embodiment, the attraction force generating unit 440-2 may include the third magnetic force generating unit and the second case 420 or the first fixing assembly disposed in one of the second case 420 or the first fixing assembly 200. It is also possible to include a magnetic material disposed on the other one of the 200). In this case, the third force generating unit may include at least one of a magnet and an electromagnet. In another embodiment, the attraction force generating unit 440-2 may include an elastic body connected to the second case 420 and the first fixing assembly 200. In this case, the elastic body may be formed of an elastic material such as a rubber bar, a silicon bar, etc., and both ends of the elastic body may be fixed to the second case 420 and the first fixing assembly 200 in an extended state than the initial length. The attraction force generating unit 440-2 as described above is not limited to the above, and is disposed between the second case 420 and the first fixing assembly 200 to be the second case 420 and the first fixing assembly 200. It may include any structure that provides a manpower to at least one of).

The attraction force generating unit 440-2 may be provided in plural. In this case, the attraction force generation unit 440-2 adjacent to each other among the attraction force generation units 440-2 may be disposed at the same angle with respect to the center of the second case 420. In addition, each attraction force generation unit 440-2 and each repulsion force generation unit 440-1 may be disposed in the second case 420 so as to alternate with each other.

The displacement limiter 450 may connect the second case 420 and the first fixing assembly 200. In this case, the displacement limiter 450 may be fixed to the first fixing assembly 200, and the second case 420 may be disposed to linearly move. The displacement limiter 450 may limit the moving range of the second case 420 during the movement of the second case 420 by forming an end portion of the portion inserted into the second case 420 larger than the cross-sectional area of the other portion. have. In addition, the displacement limiter 450 may prevent the second case 420 from being separated by the repulsive force generated by the repulsive force generating unit 440-1.

Meanwhile, the damping device 400 as described above may be disposed between the first fixing assembly 200 and the second fixing assembly 100. In this case, the image sensing fixing device 10 may be connected to the moving body M in an assembled state. In this case, the image sensing fixing device 10 may be provided with various types of scratching devices (C). In this case, as described above, the scratch device C including the global shutter is disposed in the first fixing assembly 200, and the scratch device C including the rolling shutter is disposed in the second fixing assembly 100. Can be. After the scratch device C is disposed as described above, the image sensing fixing device 10 may acquire image data while moving various places according to the movement of the moving object M. FIG.

In this case, vibration may occur in the image sensing fixing device 10 according to the movement of the mobile body M, the ground or the floor on which the mobile body M moves. A specific frequency of the vibration generated as described above may resonate at least one of the components of the fixing device 10 for image sensing. In particular, due to such resonance, the second fixing assembly 100 may be excessively shaken, and the image data acquired by the scratch device C disposed on the second fixing assembly 100 may not be clear or shake to identify information. It can be difficult.

When the vibration occurs as described above, the damping device 400 may not only absorb the vibration but also change the period of the frequency of the vibration. In particular, the damping device 400 absorbs vibrations of different frequencies from the first elastic portion 432, the second elastic portion 433, and the repulsive force generating portion 440-1, or changes the period of the frequency of the vibrations different from each other. By performing this, not only various vibrations can be reduced but also vibrations can be prevented from overlapping each other. Accordingly, the second fixing assembly 100 may not be affected by the vibration of the first fixing assembly 200. In particular, the first elastic part 432 and the second elastic part 433 may reduce or absorb vibrations transmitted from the first case 410 to the second case 420. In addition, the repulsive force generating unit 440-1 may reduce the vibration transmitted between the second case 420 and the first fixing assembly 200. In addition, the manpower generation unit 440-2 may prevent the second case 420 from being excessively spaced apart from the first fixing assembly 200 during the above process. In addition, the attraction force generation unit 440-2 may reduce vibrations of the damping device 400 by providing a attraction force when the second case 420 and the first fixing assembly 200 are separated from each other.

Accordingly, the image sensing fixing device 10 may prevent the vibration generated from at least one of the moving body M and the first fixing assembly 200 through the damping device 400 from being transmitted to the second fixing assembly 100. Can be. In addition, since the image sensing fixing device 10 can reduce vibration of various frequencies, the scratching device C can obtain clear image data.

5 is a perspective view showing an image sensing device according to an embodiment of the present invention. 6 is a cross-sectional view illustrating a part of the image sensing device shown in FIG. 5.

5 to 6, the image sensing device 10-1 may include a moving body M, a fixing assembly 100-1, and a posture maintaining part 500-1.

The movable body M is connected to the housing M-1, the wheel M-2 rotatably disposed in the housing M-1, and the wheel M-2 to rotate the wheel M-2. It may include a driving unit (not shown). At this time, as an embodiment, the wheel driving unit may be connected to the wheel M-2 to rotate the wheel M-2. In another embodiment, the wheel driving unit may be integrally formed with the wheel M-2 and disposed inside the wheel M-2. In this case, the wheel driving unit may include a motor.

In addition to the above, the movable body M may include a separate control unit (not shown) and a power supply unit (not shown). The controller may include a circuit board disposed inside the housing M-1. In another embodiment, the controller may include various devices such as a portable terminal, a mobile phone, a notebook, and the like disposed outside the housing M-1. The power supply unit may include a rechargeable battery that can be charged. In this case, the power supply unit may be electrically connected to the control unit, the wheel driving unit, and the like. In this case, the moving body M may operate according to a control signal transmitted from the outside. In another embodiment, the moving object M may autonomously travel based on at least one of data sensed by at least one of the imaging device C and the lidar 600-1 and preset data to be described later.

At least one scratch device C may be disposed in the fixing assembly 100-1. In this case, the scratch device C may include various forms. For example, the imaging device C may include an imaging device including a rolling shutter. In addition, the scratching device C may include an imaging device including a global shutter.

The fixing assembly 100-1 as described above may include a first base 110-1, a second base 120-1, a fixing frame 130-1, and a fixing bracket 140-1.

The first base 110-1 and the second base 120-1 may be disposed to face each other. In this case, since the first base 110-1 or the second base 120-1 is the same or similar to each other, the following description will be made with reference to the first base 110-1 for convenience of description. .

The first base 110-1 may be formed in an annular ring shape. In this case, a hole may be formed in the center of the first base 110-1, and a portion of the fixing frame 130-1 may be seated on one surface thereof. One surface of the first base 110-1 may be provided with a first mounting groove (not shown) in which at least a portion of the fixing frame 130-1 is seated. In this case, the first seating groove is pulled from one surface of the first base 110-1 to accommodate at least a portion of the fixing frame 130-1 in the same or similar manner as the first seating groove 111 shown in FIG. 2. It may be formed to. In particular, the bottom of the first seating groove may be lower than one surface of the first base 110-1. In this case, the depth of the first mounting groove may be smaller than the thickness of the first base 110-1. The first seating grooves may be provided in plural, and the plurality of first seating grooves may be disposed to be spaced apart from each other along one surface of the first base 110-1.

The fixed frame 130-1 may be disposed between the first base 110-1 and the second base 120-1. The fixed frame 130-1 may be coupled to the first base 110-1 and the second base 120-1. In this case, the fixing frame 130-1 may be coupled to at least one of the first base 110-1 and the second base 120-1 through a separate coupling member such as a screw and a bolt. In another embodiment, the fixing frame 130-1 may be coupled to at least one of the first base 110-1 and the second base 120-1 by welding or the like.

The fixing frame 130-1 may be provided in plural, and the plurality of fixing frames 130-1 may be disposed to be spaced apart from each other. For example, the plurality of fixing frames 130-1 may be disposed to be spaced apart from each other by a predetermined interval on the surfaces of the first base 110-1 and the second base 120-1. In particular, the plurality of fixed frames 130-1 may be connected to be spaced apart from each other as shown in FIG. 1.

The fixed frame 130-1 as described above may include a fixed frame body part (not shown) and a seating part (not shown). In this case, since the fixed frame body portion and the seating portion may be the same as those described with reference to FIGS. 1 and 2, a detailed description thereof will be omitted.

A seating surface (not shown) may be disposed on the seating part as shown in FIGS. 2 and 5. At this time, the imaging device C may be disposed on each seating surface. In this case, the scratch device C disposed on each seating surface has the same centripetal point, so that image data of various directions can be taken at the same point. In addition, since the image data acquired by each scratch device (C) is photographed around the same point, it is possible to combine the image data with each other or to use as a basis for judgment. In addition, since the image data acquired by each of the scratch devices (C) are photographed around the same point, it is necessary to remove the overlapping images from the image data photographed by the adjacent scratch devices (C) to generate image data connected to each other. It is possible.

Since the fixing bracket 140-1 is the same as or similar to that described with reference to FIG. 3, a detailed description thereof will be omitted.

Meanwhile, referring to the assembly method of the fixing assembly 100-1 as described above, the fixing frame 130-1 is disposed between the first base 110-1 and the second base 120-1. 130-1 and the first base 110-1 may be connected, and the fixed frame 130-1 and the second base 120-1 may be connected to each other. In this case, a method of connecting the fixed frame 130-1 and the first base 110-1 and a method of connecting the fixed frame 130-1 and the second base 120-1 to each other are described with reference to FIGS. 1 to FIG. Since it is the same as described in 4, detailed description thereof will be omitted.

As described above, when the coupling of the plurality of fixed frames 130-1, the first base 110-1, and the second base 120-1 is completed, the fixing bracket 140-1 is fixed to the frame 130-1. Can be fixed to the seating surface.

As described above, after the fixing bracket 140-1 is disposed on the fixing frame 130-1, the fixing bracket 140-1 may be fixed to the fixing frame 130-1. In this case, the method of arranging the fixing frame 130-1 on the fixing bracket 140-1 may be fixed by screws, bolts, welding, or the like.

The fixing bracket 140-1 as described above may be disposed in a plurality of fixing frames 130-1. In addition, a plurality of fixing brackets 140-1 may be disposed in different fixing frames 130-1. At this time, the user can arrange the scratch device (C) in a desired place of the fixed frame (130-1).

Therefore, the image sensing device 10-1 may fix various scratching devices C in various directions. In addition, the image sensing device 10-1 may acquire image data in various directions viewed from the same point through the plurality of scratches C. FIG.

The fixing assembly 100-1 may increase space utilization by securing various spaces inside the plurality of fixing frames 130-1 and arranging various devices in the internal space. In addition, the fixing assembly (100-1) can be provided with a certain degree of elastic force to the external impact by forming each fixing frame (130-1) in the shape of an arch.

The fixing assembly 100-1 can be easily assembled, and it is possible to fix the scratching device C firmly. In addition, the fixing assembly (100-1) is a fixed bracket 140-1 through the protrusion of the fixing bracket 140-1 is fixed to the fixed frame (130-1) after the fixed bracket 140-1 is moved By preventing, the optical axis of the scratching device C can be changed or the scratching device C can be prevented from shaking.

The posture maintaining part 500-1 may connect the fixed assembly 100-1 and the moving body M. FIG. At this time, the posture maintaining unit 500-1 may prevent the posture (or the position) of the fixing assembly 100-1 from being changed when the moving body M runs on a curved road or the ground. The posture maintaining part 500-1 may include a support part 510-1, a rotation part 530-1, a connection part 520-1, and damping parts 540-1, 550-1.

The support part 510-1 may be connected to the moving body M. In this case, the support 510-1 may be fixed to the movable body M in the form of a bar to perform the same movement as that of the movable body M. The support part 510-1 may be disposed to penetrate the fixing assembly 100-1, and a part of the supporting part 510-1 may be disposed in the fixing assembly 100-1.

The rotating part 530-1 may be rotatably connected to the support part 510-1 through the connecting part 520-1. In this case, the rotating part 530-1 may be formed in a plate shape, and may be formed in the same or similar manner as the first base 110-1 or the second base 120-1 of the fixing assembly 100-1. have. In this case, the rotating part 530-1 may be formed in a circular plate shape.

The connection part 520-1 may rotatably connect the rotation part 530-1 to the support part 510-1. In this case, the connection unit 520-1 may include various devices. For example, the connector 520-1 may include spherical bearings, link balls, universal joints, and the like. In this case, the connection part 520-1 is not limited to the above, and may include any device and structure capable of rotatably connecting the rotating part 530-1 to the support part 510-1. In this case, the connection part 520-1 may form a rotation center of the rotation part 530-1. In this case, the connection part 520-1 may be disposed at a position higher than the center of gravity of the fixing assembly 100-1. That is, the connection part 520-1 may be disposed to be further spaced apart from the moving body M than the center of gravity of the fixing assembly 100-1.

The damping parts 540-1 and 550-1 may be disposed between the rotating part 530-1 and the fixing assembly 100-1 to connect the rotating part 530-1 and the fixing assembly 100-1. In this case, the damping units 540-1 and 550-1 may be formed in various forms. For example, the damping units 540-1 and 550-1 may include damping bars formed of elastic materials such as rubber bars and silicon bars. In another embodiment, the damping parts 540-1 and 550-1 may include a spring. In another embodiment, the damping units 540-1 and 550-1 may include one of a magnet or an electromagnet disposed in the rotating unit 530-1 and one of a magnet or an electromagnet disposed in the fixing assembly. In another embodiment, the damping units 540-1 and 550-1 may include at least two or more of the damping units 540-1 and 550-1 described above. Hereinafter, for convenience of description, the damping units 540-1 and 550-1 will be described in detail with reference to a case in which different types of damping units 540-1 and 550-1 are included.

The damping units 540-1 and 550-1 may include a first damping unit 540-1 and a second damping unit 550-1. In this case, the first damping unit 540-1 and the second damping unit 550-1 may be provided in plural numbers, and the plurality of first damping units 540-1 may be disposed to be spaced apart from each other. The damping unit 550-1 may be disposed between the first damping units 540-1. In addition, some of the plurality of first damping units 540-1 may be disposed in a forward direction and a backward direction of the movable body M to reduce the force applied to the fixing assembly 100-1 when the movable body M is operated. Can be.

As described above, the first damping unit 540-1 may include at least one of a spring, a rubber bar, and a silicon bar. In this case, the first damping part 540-1 may also include a core part connected to the first base 110-1 so as to be linearly movable. In this case, at least one of a spring, a rubber bar, and a silicon bar may be disposed on an outer surface of the core part.

The second damping unit 550-1 may be formed in various forms. In an embodiment, the second damping unit 550-1 may be formed to be the same as or similar to the first damping unit 540-1. In another embodiment, the second damping part 550-1 is disposed between the second base 120-1 and the rotating part 530-1, and the second base 120-1 and the rotating part 530 through magnetic or electromagnetic force. It is also possible to adjust the distance between -1). Hereinafter, for convenience of description, the second damping unit 550-1 will be described in detail with reference to a case in which the distance between the second base 120-1 and the rotating unit 530-1 is adjusted by a magnetic force or an electromagnetic force. Shall be.

In one embodiment, the second damping unit 550-1 may include at least one repulsive force generating unit (not shown). The repulsive force generating part is disposed between the second base 120-1 and the rotating part 530-1 and is spaced apart from the second base 120-1 and the rotating part 530-1 in the direction of the second base 120-1. And at least one of the rotating unit 530-1. The repulsive force generation unit may include a first magnetic force generation unit 551-1 disposed on the second base 120-1 and a second magnetic force generation unit 552-1 disposed on the rotation unit 530-1. have. In this case, the first magnetic force generating unit 551-1 and the second magnetic force generating unit 552-1 may include a magnet or an electromagnet. In this case, one surface of the first magnetic force generation unit 551-1 and one surface of the second magnetic force generation unit 552-1 facing each other may have the same polarity. In this case, the first magnetic force generating unit 551-1 and the second magnetic force generating unit 552-1 may be arranged such that at least a portion thereof overlaps with each other when viewed from a plane. The repulsive force generating unit as described above is not limited to the above, and is disposed between the second base 120-1 and the rotating unit 530-1 and at least one of the second base 120-1 and the rotating unit 530-1. It may include all structures and all devices capable of repulsing one. However, hereinafter, the convenience of description will be described in detail with reference to a case where the repulsive force generating unit includes a first magnetic force generating unit 551-1 and a second magnetic force generating unit 552-1.

The repulsive force generating unit may be provided in plurality. The plurality of repulsive force generating units may be arranged to be spaced apart from each other on the outer surface of the second base 120-1. In this case, the repulsive force generating units adjacent to each other among the plurality of repulsive force generating units may form a predetermined angle with respect to the center of the second base 120-1. In another embodiment, the second damping unit 550-1 may further include at least one attraction force generating unit (not shown) disposed between the second base 120-1 and the rotating unit 530-1. . In this case, the attraction force generating unit may apply a force to at least one of the second base 120-1 and the rotating unit 530-1 so that the distance between the second base 120-1 and the rotating unit 530-1 is small. have. In this case, the attraction generation unit may be formed in various forms. For example, as an example, the attraction force generating unit may include a third magnetic force generating unit (not shown) and the second base 120-1 disposed on one of the second base 120-1 or the rotating unit 530-1. Or it may include a fourth magnetic force generating unit (not shown) disposed in the other one of the rotating unit (530-1). In this case, one surface of the third magnetic force generation unit and one surface of the fourth magnetic force generation unit which face each other may have different polarities. In this case, at least one of the third magnetic force generating portion and the fourth magnetic force generating portion may include at least one of a magnet and an electromagnet, and the third magnetic force generating portion and the fourth magnetic force generating portion are at least when viewed from a plane. The portions may be arranged to overlap each other. In another embodiment, the attraction force generating unit may include one of the third magnetic force generating unit and the second base 120-1 or the rotating unit 530-1 disposed on one of the second base 120-1 or the rotating unit 530-1. It is also possible to include a magnetic material disposed on the other. In this case, the third force generating unit may include at least one of a magnet and an electromagnet. In another embodiment, the attraction force generating unit may include an elastic body connected to the second base 120-1 and the rotating unit 530-1. In this case, the elastic body may be formed of an elastic material such as a rubber bar, a silicone bar, etc., and both ends of the elastic body may be fixed to the second base 120-1 and the rotating part 530-1 in an extended state than the initial length. The attraction force generating unit as described above is not limited to the above, and is disposed between the second base 120-1 and the rotating unit 530-1 and at least one of the second base 120-1 and the rotating unit 530-1. It can include any structure that provides workforce to one.

The attraction force generation unit as described above may be provided in plurality. In this case, the attraction force generation portions adjacent to each other among the attraction force generation portions may be disposed at the same angle with respect to the center of the second base 120-1. In addition, the attraction force generating unit and the repulsive force generating unit may be disposed on the second base 120-1 and the rotating unit 530-1 so as to alternate with each other.

The second damping unit 550-1 may include at least one of the repulsive force generating unit and the attraction force generating unit. Hereinafter, for convenience of description, the second damping unit 550-1 will be described in detail with reference to the case including only the repulsive force generating unit.

On the other hand, the image sensing device 10-1 as described above may obtain data about the surrounding environment while moving to various places. In this case, vibration may occur in the fixing assembly 100-1 according to the movement of the moving body M, the ground or the floor on which the moving body M moves. In addition, the fixing assembly 100-1 may be disposed to have a predetermined angle with respect to the load direction of the fixing assembly 100-1 (eg, Z-axis direction of FIG. 5). In particular, in such a case, it may be difficult to identify the information by the image data acquired by the scratching device C disposed in the fixing assembly 100-1 not being clear or shaking. In addition, the image data acquired by the imaging device C disposed in the fixed assembly 100-1 is different from each other due to the bending of the ground or the like, so that the angles of the optical axes of the imaging device C are different. Can be photographed.

In this case, the position of the fixing assembly 100-1 may be the same as or similar to that of the moving body M moving on a flat surface. Specifically, when the moving body M climbs or descends on a bend or inclination, the moving body M may be inclined in the same direction as the inclination. In this case, when the fixing assembly 100-1 is fixed so as not to move to the moving body M, the fixing assembly 100-1 may be inclined together with the moving body M. In particular, in this case, the optical axis of the imaging device C attached to the fixing assembly 100-1 may be arranged parallel to the inclination. In the above case, when the moving object M moves on a flat surface or the like, when the optical axis of the imaging device C is climbed up or down, the optical axes of the imaging device C are different from each other. The image of the direction can be taken.

In addition, when the moving body M passes through an area where the curvature ground or the like is not flat, vibration may occur while the moving body M travels on the ground. Such vibration may be transmitted to the fixing assembly 100-1 through the support part 510-1, and it may be difficult to obtain clear image data in the imaging device C due to the vibration.

However, the posture maintaining unit 500-1 is a fixed assembly when the movable body M moves on a flat surface, etc., even when the movable body M travels on an inclined surface. It can be kept the same or similar to the position of (100-1).

Specifically, the connection part 520-1 connects the support part 510-1 and the rotation part 530-1 so as to be rotatable, and the center of gravity of the fixing assembly 100-1 is lower than the connection part 520-1. By the arrangement, even when the moving body M travels on an inclined portion of the irregular ground or the like, the position of the fixing assembly 100-1 can be kept constant. That is, when the movable body M is climbing along the slope, the fixing assembly 100-1 may rotate about the connection part 520-1 due to the load of the fixing assembly 100-1. For example, the fixing assembly 100-1 may rotate clockwise or counterclockwise according to the inclined direction. In this case, the optical axis of the imaging device C may form an angle with respect to the inclination, and the optical axis of the imaging device C may be formed when the moving object M travels on a flat surface or the like. It can be the same or almost similar to the optical axis.

In addition, when the movable body M travels on an inclined portion of the irregular ground, the vibration transmitted from the movable body M to the support part 510-1 is fixed through the damping parts 540-1, 550-1. May not be delivered to 1). In particular, the damping parts 540-1 and 550-1 may reduce or completely eliminate vibrations transmitted through the support part 510-1.

In such a case, the imaging device C may acquire semantic data in a predetermined direction regardless of the movement of the moving object M. FIG. In particular, even when the imaging device C includes a rolling shutter, it is possible to obtain clear image data by eliminating vibrations transmitted to the imaging device C. FIG.

Therefore, the image sensing device 10-1 may acquire image data in a predetermined direction. The image sensing device 10-1 may acquire stable image data stably even on irregular ground.

7 is a cross-sectional view illustrating an image sensing device according to another exemplary embodiment of the present invention.

Referring to FIG. 7, the image sensing device 10-2 may include the moving object M, the fixing assembly 100-1, and the posture maintaining part 500-2. . In this case, since the moving body M and the fixing assembly 100-1 are the same as or similar to those described with reference to FIGS. 1 to 3, the detailed description will be omitted for convenience of description. The fixing assembly 100-1 may include a first base 110-2, a second base 120-2, a fixing frame 140-2, and a fixing bracket (not shown). In this case, since the first base 110-2, the second base 120-2, the fixing frame 140-2, and the fixing bracket are the same as or similar to those described with reference to FIGS. 1 to 3, a detailed description thereof will be omitted. Shall be.

The posture maintaining part 500-2 may connect the fixed assembly 100-1 and the moving body M. FIG. In this case, the posture maintaining part 500-2 may include a support part 510-2, a rotation connection part 530-2, damping parts 540-2, 550-2, and a load part 560-2.

The support part 510-2 may be disposed on the movable body M to linearly move. In this case, the support part 510-2 may be connected to the fixing assembly 100-1.

The rotary connector 530-2 is connected to the movable body M and may rotate the support 510-2 according to the movement of the movable body M. In this case, the support part 510-2 may be inserted into the rotation connection part 530-2 so as to be linearly movable. The rotary connector 530-2 may include a rotating body 531-2 inserted to support the linear movement 510-2. In this case, the rotating body 531-2 may have a plate shape, and the support 510-2 and the rotating body 531-2 may be connected through a bushing or the like. The rotary connector 530-2 may include a cloud 532-2 connected to the rotating body 531-2. The cloud portion 532-2 may be formed in a spherical shape. At this time, the end of the rotating body 531-2 in contact with the cloud portion 532-2 may be rounded. That is, the end of the rotating body 531-2 may be formed such that the central portion protrudes toward the cloud portion 532-2. The rotation connection part 530-2 may include a fixing part 533-2 fixed to the moving body M. At this time, the fixing portion 533-2 may be disposed to surround at least a portion of the cloud portion 532-2, and may rotatably support the cloud portion 532-2. In the case described above, although not shown in FIG. 5, a separate case (not shown) may be provided to surround the rotating body 531-2, the cloud portion 532-2, and the fixing portion 533-2. . In another embodiment, a portion of the fixing portion 533-2 may be disposed to shield a portion of the rotating body 531-2, and a cloud portion 532-2 may be disposed inside the fixing portion 533-2. Do. In this case, the angle at which the rotating body 531-2 is tilted may be limited, and the rotating body 531-2 and the cloud portion 532-2 may be prevented from being separated from each other. In this case, the structure for maintaining contact between the rotating body 531-2 and the cloud portion 532-2 is not limited to the above and may include various structures.

The damping parts 540-2 and 550-2 may be disposed between the rotating body 531-2 and the fixing assembly 100-1. That is, the damping parts 540-2 and 550-2 are disposed between the rotor 531-2 and the second base 120-2 to connect the rotor 531-2 and the fixed assembly 100-1. have. The damping parts 540-2 and 550-2 may be variously formed as described above. For example, the damping units 540-2 and 550-2 may include at least one of a spring, an elastic bar, an electromagnet, and a magnet. In this case, a plurality of damping units 540-2 and 550-2 may be provided, and the plurality of damping units 540-2 and 550-2 may be disposed to be spaced apart from each other. In this case, the damping units 540-2 and 550-2 may include a first damping unit 540-2 and a second damping unit 550-2. In this case, the first damping unit 540-2 and the second damping unit 550-2 may be formed in the same or similar manner as described with reference to FIGS. 1 to 4.

The load part 560-2 may be connected to the support part 510-2. In this case, the load part 560-2 may be disposed to face the fixed assembly 100-1 based on the rotation connection part 530-2. In addition, the load portion 560-2 may have various forms. For example, the load unit 560-2 may include a weight. In another embodiment, the load unit 560-2 may include a secondary battery. In another embodiment, the load unit 560-2 may include a part of the moving body M. In this case, the load of the load unit 560-2 may be greater than the load of the fixed assembly 100-1.

Meanwhile, referring to the operation of the image sensing device 10-2 as described above, the image sensing device 10-2 may acquire image data through the imaging device C while moving to various places. In this case, when the fixed assembly 100-1 is disposed on the movable body M, the image sensing device 10-2 may climb or descend an inclined portion such as an irregular ground when the image sensing device 10-2 moves an irregular ground. In this case, vibration may be transmitted to the fixing assembly 100-1, and the fixing assembly 100-1 may be inclined to one side together with the movable body M.

However, as described above, the fixing assembly 100-1 may allow the image pickup device C to face a certain direction regardless of the traveling position of the moving object M through the rotation connecting portion 530-2. Specifically, when the moving body M is running inclined as described above, when the moving body M forms a predetermined angle with respect to a flat surface (for example, the X direction or the Y direction in FIG. 4), the fixing assembly 100-1 ) May also be arranged in the same direction as the moving body (M). At this time, the load portion 560-2 may allow the support portion 510-2 to be arranged in the load direction of the load portion 560-2 (for example, in the Z-axis direction of FIG. 5). That is, by the load of the load portion 560-2, the load portion 560-2 exerts a force on the support portion 510-2 so that the support portion 510-2 is arranged in the load direction of the load portion 560-2. The support 510-2 may apply a force to the fixing assembly 100-1. At this time, the fixing portion 533-2 may form a predetermined angle with respect to the flat surface and the like along with the moving body (M), the rotating body 531-2 may form a predetermined angle with the fixing portion 533-2. have. The rolling part 532-2 may support the rotating body 531-2 so that the fixed part 533-2 and the rotating body 531-2 move relative to each other. In this case, the fixing assembly 100-1 may not rotate with the moving body M and maintain the initial state. In particular, the cloud portion 532-2 may perform a rotating motion when the rotation body 531-2 is rotated, and the rotation body 531-2 may rotate according to the rotation of the cloud portion 532-2. .

The optical axis of the imaging device C may be the same as or nearly similar to the case where the moving object M moves on the flat surface or the like with respect to the flat ground.

Even when the image sensing device 10-2 travels on an irregular ground or the like, the imaging device C disposed on the fixed assembly 100-1 may be shaken due to the irregular ground. In this case, the damping parts 540-2 and 550-2 may block such vibration transmitted from the moving body M to the fixing assembly 100-1.

Accordingly, the image sensing device 10-2 may obtain image data in a predetermined direction. The image sensing device 10-2 may acquire stable image data stably even on irregular ground.

Although the present invention has been described in connection with the above-mentioned preferred embodiments, it is possible to make various modifications or variations without departing from the spirit and scope of the invention. Accordingly, the appended claims will include such modifications and variations as long as they fall within the spirit of the invention.

According to an embodiment of the present invention, by providing a damping device, a fixing device for image sensing, and an image sensing device for fixing the imaging device to the moving object and minimizing the shaking during the imaging of the imaging device, the mobile robot is mounted and moved Embodiments of the present invention can be applied to a vehicle, a ship, a device for collecting information while driving autonomously.

Claims (20)

1. A first case;

   A second case disposed to face the first case and spaced apart from an external object;

   A first damping unit connecting the first case and the second case; And

   And a second damping part disposed on the external object and the second case, respectively.
2. The method of claim 1,

   And a displacement limiting unit connecting the second case and the external object and limiting displacement of the second case.
3. The method of claim 1,

   The first damping unit,

   A core unit connecting the first case and the second case; And

   And a first elastic part disposed on the core part and disposed between the first case and the second case.
4. The method of claim 3, wherein

   The first damping unit,

   And a second elastic part disposed outside the first elastic part.
5. The method of claim 1,

   The first damping unit is a damping device disposed inclined to the first case and the second case.
6. The method of claim 1,

   The second damping unit,

   And a repulsive force generating unit disposed between the second case and the external object and applying a force to at least one of the second case and the external object to space the second case and the external object.
7. The method of claim 6,

   The second damping unit,

   A damping device disposed between the second case and the external object and configured to apply a force to at least one of the second case and the external object to bring the second case and the external object into close proximity. .
8. A fixing assembly to which the imaging device is fixed; And

   A damping device disposed between an external object and the fixed assembly;

   The damping device,

   A first case;

   A second case disposed to face the first case and spaced apart from an external object;

   A first damping unit connecting the first case and the second case; And

   And a second damping part disposed on the external object and the second case, respectively.
9. The method of claim 8,

   And a displacement limiting unit connecting the external object to the second case and limiting displacement of the second case.
10. The method of claim 8,

    The first damping unit,

    A core unit connecting the first case and the second case; And

    And a first elastic part disposed on the core part and disposed between the first case and the second case.
11. The method of claim 10,

    The first damping unit,

    And a second elastic part disposed outside the first elastic part.
12. The method of claim 8,

    The second damping unit,

    And a repulsive force generator disposed between the external object and the second case and applying a force to at least one of the external object and the second case so as to space the external object and the second case from each other. Fixture for
13. The method of claim 12,

    The second damping unit,

    An image sensing device disposed between the external object and the second case and configured to apply a force to at least one of the external object and the second case to bring the external object and the second case into close proximity; Fixture for
14. In the fixing device for image sensing comprising a fixing assembly to which the imaging device is fixed,

    The fixing assembly,

    A first base;

    A second base disposed to face the first base;

    A curved fixed frame connected to the first base and the second base; And

    And a fixing bracket disposed on the fixing frame to fix the image pickup device.
15. The method of claim 14,

    The fixed frame,

    It is formed to be flat, the mounting surface is in contact with one surface of the fixing bracket; Image fixing device having a.
16. The method of claim 16,

    And a straight line passing through the center of the seating surface and perpendicular to the seating surface passes through the center of the image sensing fixing device.
17. The method of claim 14,

    The fixing bracket,

    A fixed bracket body to which the imaging device is fixed; And

    And a protrusion projecting from the fixing bracket body to the fixing frame and surrounding the side of the fixing frame.
18. Moving bodies;

    A fixed assembly in which at least one imaging device is disposed; And

    And a posture maintaining part connecting the fixed assembly and the movable body and preventing the posture of the fixed assembly from varying according to the posture of the movable body.

    The posture maintenance unit,

    A support part connected to the movable body; And

    And a rotating part rotatably connected to the support part and connected to the fixing assembly.
19. Moving bodies;

    A fixed assembly in which at least one imaging device is disposed;

    A support portion connecting the movable body and the fixed assembly; And

    A part rotatably connected to the movable body and the support part being rotatably disposed so as to linearly move the image sensing device.
20. The method of claim 19,

    An image sensing device further comprises; a load portion connected to the support portion.

Images