KR20190069801A - Device of driving camera, driving method thereof and jimbal apparatus - Google Patents

Abstract

The camera driving apparatus includes a camera module including a camera, a driving unit for rotating the camera module, a supporting module coupled to the driving unit, and a control unit for controlling the driving unit.
The controller calculates a compensation value for the X-axis, the Y-axis, and the Z-axis based on the acceleration from the first sensor provided in the camera module and the first angular velocity from the second sensor, When the second angular velocity is equal to or less than the set value, the driving unit can be controlled by keeping the compensation value of the Z axis among the calculated compensation values to be zero.

Description

Technical Field [0001] The present invention relates to a camera driving apparatus, a camera driving method, and a gimbal apparatus,

Embodiments relate to a camera driving device, a camera driving method, and a gimbals device.

The gimbal unit refers to a rotatable support frame that allows rotation about the longitudinal, longitudinal axes so that the equipment is horizontal and vertical regardless of the vibrations of the structure.

Recently, a gimbal apparatus equipped with a camera has been used in a drone, a robot, and an underwater photographing apparatus.

In order to implement such a gimbal device, a camera driving device for roll, pitch, and yaw driving that rotates with respect to each axis according to the degree of warpage of each axis is required.

Conventional camera driving devices cause signal drift and precise attitude control is impossible.

In order to suppress the signal drift, the attitude control is supplemented based on the inclined angle with respect to the gravity direction using the acceleration signal. However, since the gravity direction is not the reference point for the Z axis for the yaw drive, There is a problem that is impossible.

The embodiments are directed to solving the above problems and other problems.

Another object of the embodiments is to provide a camera driving device, a camera driving method, and a gimbals device capable of accurate attitude control.

Another object of the present invention is to provide a camera driving device, a camera driving method, and a gimbals device capable of improving reliability of a product by minimizing camera vibration.

According to an aspect of an embodiment for achieving the above or other objects, a camera driving apparatus includes: a camera module including a camera; A driving unit for rotating the camera module; A supporting module coupled to the driving unit; And a control unit for controlling the driving unit. The camera module may include a first sensing unit for sensing an acceleration and outputting a first signal, and a second sensing unit for sensing a first angular velocity and outputting a second signal. The supporting module may include a third sensing unit for sensing a second angular velocity and outputting a third signal. Wherein the control unit calculates the first signal to calculate the acceleration, calculates the first angular velocity by calculating the second signal, calculates the second angular velocity by calculating the third signal, The compensation value for the X-axis, the Y-axis, and the Z-axis is calculated based on the angular velocity, and when the second angular velocity is equal to or less than the set value, the compensation value of the Z- have.

According to another aspect of the embodiment, a camera driving apparatus mounted on a drone includes: a camera module including a camera; A driving unit for rotating the camera module; A supporting module coupled to the driving unit; And a control unit for controlling the driving unit. The control unit may select different gain values depending on whether a posture control mode is required, and control the driving unit based on the selected gain value.

According to another aspect of the embodiment, a method of driving a camera includes sensing an acceleration; Sensing a first angular velocity; Sensing a second angular velocity; Calculating a compensation value for the X axis, the Y axis, and the Z axis based on the acceleration and the first angular velocity; Controlling the driving unit with the compensation value if the second angular velocity is greater than a preset value; And controlling the driving unit to maintain the Z-axis compensation value of the compensation value at 0 when the second angular velocity is equal to or less than the set value.

According to another aspect of an embodiment, a flight device includes a camera module including a camera; A driving unit for rotating the camera module; A supporting module coupled to the driving unit; A body coupled with the support module; And a control unit for controlling the driving unit. The camera module may include a first sensing unit for sensing an acceleration and outputting a first signal, and a second sensing unit for sensing a first angular velocity and outputting a second signal. The supporting module may include a third sensing unit for sensing a second angular velocity and outputting a third signal. Wherein the controller calculates the first signal to calculate the acceleration, calculates the first angular velocity by calculating the second signal, calculates the second angular velocity by calculating the third signal, Axis, the Y-axis, and the Z-axis based on the first compensation value and the Z-axis compensation value of the compensation value when the second angular velocity is equal to or less than the set value, .

According to another aspect of an embodiment, a flight device includes a camera module including a camera; A driving unit for rotating the camera module; A supporting module coupled to the driving unit; A body coupled with the support module; And a control unit for controlling the driving unit. The control unit may select different gain values depending on whether a posture control mode is required, and control the driving unit based on the selected gain value.

Effects of the camera driving device, the camera driving method, and the gimbals device according to the embodiments will be described as follows.

According to at least one of the embodiments, when the angular velocity is equal to or less than the set value based on the second angular velocity signal output from the third sensing unit installed in the supporting module, the Z axis compensation value is maintained at 0 It is possible to prevent the occurrence of signal drift and to prevent the malfunction of rotating and driving based on the Z axis due to accumulation of signal drift.

According to at least one of the embodiments, since different gain values are selectively applied depending on whether a posture control mode is required, vibration caused by not being driven with a desired output torque when the posture control mode is required is prevented, There is an advantage that reliability of the product can be improved by preventing screen shaking.

Additional ranges of applicability of the embodiments will be apparent from the following detailed description. It should be understood, however, that various changes and modifications within the spirit and scope of the embodiments will become apparent to those skilled in the art, and that specific embodiments, such as the detailed description and the preferred embodiments, are given by way of example only.

1 is a perspective view showing a flight device according to an embodiment.
2 is a perspective view showing a gimbal apparatus according to an embodiment.
3 is a block diagram showing a camera driving apparatus according to the first embodiment.
4 is a flowchart for explaining a camera driving method according to the first embodiment.
5 is a flowchart for explaining a camera driving method according to the second embodiment.
6 is a block diagram showing a camera driving apparatus according to the second embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, It is to be understood that the invention includes equivalents and alternatives.

1 is a perspective view showing a flight device according to an embodiment.

Referring to FIG. 1, the flight device 1 according to the embodiment may be a drone. In one example, the flight device 1 may be controlled, for example, by a wireless terminal (not shown). In another example, the flight device 1 may be autonomous.

The flight apparatus 1 may include a main body 10, a driving unit 20, and a gimbal apparatus 30. [ The airfield device may further include an ECU (Electric Control Unit) (not shown) for controlling the flight of the flight device 1 and the gimbal device 30. [ An ECU may be disposed inside the main body 10.

The main body 10 is an outer appearance member and the driving unit 20 can be disposed on one side of the main body 10. The gimbal apparatus 30 can be disposed on the other side of the main body 10. [

The driving unit 20 may be a member disposed on the main body 10 to fly the flight device 1. [ The driving unit 20 may be a plurality of propeller units arranged symmetrically with respect to the vertical axis of the main body 10. The main body 10 can fly by the rotation of the propeller.

The gimbal apparatus 30 may be disposed below the flight apparatus 1 to allow the camera mounted on the gimbal apparatus 30 to be placed horizontally and vertically irrespective of the swinging of the flight apparatus 1. Accordingly, the photographing can be performed with the camera in a standing state.

The ECU can perform wireless communication with the wireless terminal. The ECU can be electrically connected to various electronic components of the flight device 1 and the gimbal device 30. [ The ECU can wirelessly communicate with the wireless terminal, receive various control signals, transmit the various control signals to various electronic components and the gimbal device 30, and control the electronic components and the gimbal device 30. [ For example, the ECU can control the gimbal device 30 to rotate the camera with respect to each axis (X axis, Y axis, Z axis) by a user's command through the wireless terminal. As a result, the shooting range of the camera can be changed to a point desired by the user.

The ECU is electrically connected to the gimbal device 30, receives various signals, analyzes and determines the signals, and controls the gimbal device 30. [ For example, the ECU can control the driving unit to rotate the camera in the opposite direction in which the camera shake occurs (shake cancellation) when the camera shakes due to flying. As a result, the camera can perform photographing while maintaining an erect posture irrespective of shake, thereby improving the photographing quality.

Hereinafter, the gimbal device 30 according to the embodiment will be described in detail.

2 is a perspective view showing a gimbal apparatus according to an embodiment.

Referring to FIG. 2, the gimbal apparatus 30 according to the embodiment may include a support module 310. The support module 310 may be disposed, for example, between the flight device 1 and the drivers 320, 330, The support module 310 may be coupled to one side of the body of the flight device 1. [ The support module 310 may be coupled to one side of the drivers 320, 330, and 340. The camera module 310 may be coupled to the other side of the driving units 320, 330, and 340. The camera module 310 may include a camera 359 capable of acquiring images.

The supporting module 310 can stably support the driving units 320, 33, 340 coupled with the camera module 310.

The driving unit may include a first driving unit 320, a second driving unit 330, and a third driving unit 340. For example, the first driver 320 has the X axis as the rotation axis and can rotate the camera 359 about the X axis. For example, the second driving unit 330 has the Y axis as a rotation axis and can rotate the camera 359 about the Y axis. For example, the third driving unit 340 has the Z axis as a rotation axis and can rotate the camera 359 about the Z axis.

The support module 310 may include a first housing and a second housing. The first housing is an upper housing, and its upper surface may have a flat surface. The second housing may be a lower housing, and its lower surface may have a flat surface. Although not shown, the first board may be provided in the inner space formed by the first housing and the second housing. The first board can be mounted on the inner surface of the first housing or the inner surface of the first housing. The third sensing unit 312 may be provided on the first board, but the present invention is not limited thereto. The third sensing unit 312 may include an angular velocity sensor. The angular velocity sensor may include a gyro sensor. The gyro sensor may be a one-axis gyro sensor. That is, the single-axis gyro sensor can output the second angular velocity signal for each of the Z-axes. The Z axis may be a direction perpendicular to the horizontal plane of the support module 310. Alternatively, the gyro sensor may be a three-axis gyro sensor.

Conventionally, when an angular velocity sensor is installed in a camera module, there is a signal drift in the case where there is no motion or a small motion, thereby causing a continuous error increase in the estimated posture.

However, when the supporting module 310, that is, the third sensing part 312, is installed as in the embodiment, the Z-axis compensation value is maintained at zero so that no signal drift occurs.

The gimbal apparatus 30 according to the embodiment may include a first driver 320. The first driving part 320 may be coupled to the supporting module 310 to rotate about the Z-axis rotation axis with the Z-axis as a rotation axis. The camera module 350 may be coupled to the first driving unit 320 and rotated together with the first driving unit 320 with reference to the Z-axis rotation axis.

The gimbal apparatus 30 according to the embodiment may include a second driving unit 330. FIG. The second driving unit 330 is coupled to the first driving unit 320 and can rotate about the X-axis rotation axis with the X-axis as the rotation axis.

As another example, the camera module 350 may be directly coupled to the second driving part 330 and rotated about the X-axis rotation axis.

The gimbals device 30 according to the embodiment may include a third driver 340. The third driving part 340 is coupled to the second driving part 330 and can be rotated about the Y axis with the Y axis as a rotation axis.

As another example, the camera module 350 may be directly coupled to the third driving part 340 and rotated about the Y axis.

The fastening relationship between the camera module 350 and the first to third driving parts 320, 330 and 340 and the fastening relationship between the first to third driving parts 320, 330 and 340 can be various embodiments. May also be included in the technical scope of the present invention.

In summary, the first to third driving units 320, 330, and 340 and the camera module 350 may be provided under the support module 310. In this case, the first driving unit 320 is rotated about the Z axis, the second driving unit 330 is rotated about the X axis about the X axis, and the third driving unit 340 is rotated about the Y axis .

For this rotation driving, each of the first to third driving units 320, 330, and 340 may include a shaft groove, a driving shaft coupled to the shaft groove, and a motor for driving the driving shaft to rotate in a forward and reverse direction.

The gimbal apparatus 30 according to the embodiment may include a camera module 350. One side of the camera module 350 may be fixed to at least one of the first, second, third, and fourth driving units 320, 330, and 340.

The camera module 350 may include a camera 359. The camera 359 can acquire an image. The camera 359 may be, but is not limited to, a security camera or a network camera. The camera 359 can be wirelessly connected to an external device based on IP. Accordingly, the image obtained by the camera 359 can be transmitted to an external device using wireless communication. In addition, the camera 359 can be driven or controlled in response to an instruction or a control signal transmitted by an external device using wireless communication.

The camera module 350 may include a first sensing unit 352 and a second sensing unit 355. The first sensing unit 352 may include an acceleration sensor. The acceleration sensor may be a three-axis acceleration sensor. That is, the three-axis acceleration sensor can detect the acceleration of each of the first to third axes, that is, the X-axis, the Y-axis, and the Z-axis, and output an acceleration signal. The second sensing unit 355 may include an angular velocity sensor. The angular velocity sensor may include a gyro sensor. The gyro sensor may be a three-axis gyro sensor. That is, the three-axis gyro sensor can detect the first angular velocity of each of the X axis, the Y axis, and the Z axis and output the first angular velocity signal.

In the camera module 350, the second board 357 is fastened to the housing 358, and a camera 359 can be mounted on one side of the housing 358, that is, the front side. The first sensing unit 352 and the second sensing unit 355 may be installed on the second board 357, but the present invention is not limited thereto. In this case, the X-axis can be set along the front and rear directions of the camera module 350.

The second board 357 may be referred to as a first board and the first board mounted to the supporting module 310 may be referred to as a second board 357. [

At least one damper 305 may be installed on the upper side of the supporting module 310. The damper 305 can absorb vibrations and shocks transmitted to the camera 359, thereby preventing the camera 359 from being vibrated or impacted.

The gimbal apparatus 30 may be mounted on one side of the air vehicle shown in FIG. 1, for example, the lower side.

3 is a block diagram showing a camera driving apparatus according to the first embodiment.

Referring to FIGS. 2 and 3, the camera driving apparatus according to the embodiment may include a camera 359. FIG. The camera 359 may be a camera 359 included in the camera module 350 shown in Fig. The camera 359 may acquire an image and transmit the acquired image to the control unit 315.

The camera driving apparatus according to the embodiment may include first to third sensing units 352, 355, and 312. [ The first sensing unit 352 and the second sensing unit 355 may be installed in the camera module 350 and the third sensing unit 312 may be installed in the supporting module 310.

The first sensing unit 352 may include an acceleration sensor, and the second sensing unit 355 and the third sensing unit 312 may include an angular velocity sensor. Both the second sensing unit 355 and the third sensing unit 312 may be three-axis angular velocity sensors. Or the second sensing unit 355 may be a three-axis angular velocity sensor, and the third sensing unit 312 may be a one-axis (Z-axis) angular velocity sensor.

The first sensing unit 352 and the second sensing unit 355 may be configured as a single module of the six-axis sensing unit. In this case, the six-axis sensing unit may include three-axis sensing of the first sensing unit 352 and three-axis sensing of the second sensing unit 355.

The first sensing unit 352 provided in the camera module 350 can transmit an acceleration signal output based on the three-axis acceleration to the control unit 315. [ The second sensing unit 355 installed in the camera module 350 may sense the three-axis angular velocity and transmit the first angular velocity signal to the controller 315. [ The third sensing unit 312 provided in the support module 310 may sense the angular velocity of three or one axis and may transmit the second angular velocity signal to the controller 315.

The camera 359, the first sensing unit 352, and the second sensing unit 355 may be installed in the camera module 350. For example, the first sensing unit 352 and the second sensing unit 355 may be installed on the second board 357 of the camera module 350. The camera 359 may be installed on the front surface of the camera module 350.

The camera driving apparatus according to the embodiment may include the first to third driving units 320, 330, and 340. The first to third driving units 320, 330, and 340 may correspond to the first to third driving units 320, 330, and 340 shown in FIG.

The first driving unit 320 is rotated about the Z axis, the second driving unit 330 is rotated about the X axis, and the third driving unit 340 is rotated about the Y axis.

Each of the first to third driving units 320, 330, and 340 may be rotationally driven under the control of the control unit 315. Each of the first to third driving units 320, 330 and 340 receives the acceleration signal of the first sensing unit 352 transmitted to the controller 315, the first angular velocity signal of the second sensing unit 355, The camera 359 can be rotated based on the second angular velocity signal of the third sensing unit 312.

The acceleration signal may be referred to as a first signal, the first angular velocity signal may be referred to as a second signal, and the second angular velocity signal may be referred to as a third signal.

The camera driving apparatus according to the embodiment may include a control unit 315. [ The control unit 315 receives signals input from the first to third sensing units 352, 355 and 312, that is, an acceleration signal of the first sensing unit 352, a first angular velocity signal of the second sensing unit 355, The first to third driving signals are generated based on the second angular velocity signal of the third sensing unit 312 and the first to third driving units 320, 330, and 340 are driven in response to the first to third driving signals The camera 359 can be driven to rotate.

The control unit 315 maintains the Z axis compensation value at 0 when the second angular velocity signal of the third sensing unit 312 is equal to or lower than the set value and outputs the acceleration signal of the first sensing unit 352 Axis compensation value and the Y-axis compensation value based on the first angular velocity signal of the second sensing unit 355. The X axis compensation value and the Y axis compensation value are respectively transmitted as a first driving signal and a second driving signal to the second driving unit 330 and the third driving unit 340 and the second driving unit 330 and the third driving unit 340 may be rotated with respect to each of the X axis and the Y axis in response to the X axis compensation value and the Y axis compensation value. The second driving unit 330 may rotate based on the X axis based on the X axis compensation value and the third driving unit 340 may rotate based on the Y axis based on the Y axis compensation value.

Accordingly, when the second angular velocity signal of the third sensing unit 312 is equal to or lower than the set value, the Z axis compensation value is maintained at 0 so that the first driving unit 320 is not rotated about the Z axis, A malfunction that is rotated based on the Z axis due to accumulation of signal drift can be prevented.

When the second angular velocity signal of the third sensing unit 312 is equal to or greater than the predetermined value, the controller 315 controls the first sensing unit 352 and the second sensing unit 355 so that the acceleration signal of the first sensing unit 352 and the first angular velocity signal of the second sensing unit 355, The compensation value for each of the X-axis, the Y-axis, and the Z-axis can be calculated. The X-axis compensation value, the Y-axis compensation value, and the Z-axis compensation value are respectively transmitted as first to third driving signals to the first to third driving units 320, 330 and 340, 330, and 340 may be rotated by the camera 359 based on the X axis, the Y axis, and the Z axis, respectively, according to the X axis compensation value, the Y axis compensation value, and the Z axis compensation value.

Accordingly, when the second angular velocity signal of the third sensing unit 312 is equal to or greater than the set value, it is regarded that the normal movement for the rotation driving about the Z axis is generated, and the first driving unit 320 normally rotates the camera 359 Can be rotated.

The setpoint can be set to the highest value that is considered to cause signal drift, even if there is no or little motion to rotate about the Z axis through repeated experiments. Therefore, when the second angular velocity signal of the third sensing unit 312 is equal to or lower than the predetermined value, it is regarded that a drift is generated and the signal drift thus generated is prevented from being generated. The third sensing unit 312 ) Is equal to or greater than the set value, it is considered that normal motion is generated, and the camera 359 can be normally rotated with respect to the Z axis.

The control unit 315 according to the embodiment drives the first to third driving units 320, 330 and 340 by applying different gain values according to the degree of motion of the gimbal unit 30 (or the camera module 350) It is possible to prevent defects such as screen shake due to vibration of the camera module 350 due to insufficient output torque.

The gain value can be used for PID control. The output torque output by the PID control can be determined according to the gain value.

In the embodiment, gain values different from each other can be set. For example, a first gain value and a second gain value larger than the first gain value may be set.

Accordingly, the first gain value or the second gain value is selected depending on whether the mode is the attitude control mode, and the output torque by the PID control can be determined according to the selected gain value.

For example, when the attitude control mode is required, the second gain value is selected and accordingly, the first to third driving units 320, 330 and 340 can be driven with the output torque according to the second gain value.

Specifically, the control unit 315 can determine whether the current posture control mode is set. For example, a signal relating to the attitude control mode may be inputted from an operator of the flight device 1 through an input unit (not shown), or the camera 359 may be provided in advance to the flight device 1 The posture control mode may be set so that the posture control is performed so as to be directed in a constant direction.

As a result of the determination, if the flight device 1 is not set in the attitude control mode or a signal related thereto is not input, that is, if the attitude control is not performed, the controller 315 selects the first gain value, The first to third driving units 32, 330, and 340 can be driven with the first output torque according to the value.

If it is determined that the flight device 1 is set in the attitude control mode or a signal related thereto is input, the controller 315 selects the second gain value and outputs the first gain value to the first output torque corresponding to the selected second gain value The third driving unit 320, the third driving unit 330, and the third driving unit 340 can be driven.

The first gain value and the second gain value can be selected in the control unit 315 or a memory (not shown). The second gain value may be greater than the first gain value. The gain value is proportional to the output torque. That is, the larger the gain value, the larger the output torque can be. Accordingly, when it is required to drive in the attitude control mode, the first gain value is selected so that the output torque is comparatively small, and the first to third driving units 320, 330, and 340 are driven based on the selected first gain value. . When it is not required to drive in the attitude control mode, the second gain value having a relatively large output torque is selected, and the first to third driving units 320, 330, and 340 can be driven based on the selected second gain value have. As described above, since the gain value set according to the attitude control mode is selectively applied, it is possible to prevent the vibration generated because the attitude control mode is required, The reliability of the product can be improved.

The third sensing unit 312 and the control unit 315 may be installed in the support module 310. That is, the third sensing unit 312 and the control unit 315 may be installed on the first board of the supporting module 310.

4 is a flowchart for explaining a camera driving method according to the first embodiment.

3 and 4, the controller 315 can receive the acceleration signal, the first angular velocity signal, and the second angular velocity signal (S111, S115, and S119). The acceleration signal may be a signal output by the first sensing unit 352 installed in the camera module 350. The first angular velocity signal may be a signal output by the second sensing unit 355 provided in the camera module 350. [ The second angular velocity signal may be a signal output by the third sensing unit 312 provided in the supporting module 310. The acceleration signal may be, for example, an acceleration signal for each of the X, Y, and Z axes. The first angular velocity signal may be, for example, an angular velocity signal for each of the X, Y, and Z axes. The second angular velocity signal may be, for example, an angular velocity signal with respect to the Z axis, but it is not limited thereto.

The control unit 315 calculates the acceleration based on the acceleration signal (S113), calculates the first angular velocity via the LP (low pass) filter of the first angular velocity signal (S116 and S117), and outputs the second angular velocity signal to the LP The second angular velocity can be calculated via the filter (S120, S121). Each of the acceleration and the first angular velocity is calculated for each of the X-axis, the Y-axis, and the Z-axis, and the second angular velocity can be calculated for the Z-axis.

The control unit 315 compares the second angular velocity with the set value to determine whether the second angular velocity is equal to or less than the set value (S123).

If it is determined that the second angular velocity is less than the set value, the controller 315 can maintain the Z axis compensation value at 0 (S125). Since the Z-axis compensation value is 0, the first driving unit 320, which is rotationally driven with respect to the Z-axis, is not driven.

If it is determined that the second angular velocity is less than the set value, the controller 315 may calculate the X-axis compensation value and the Y-axis compensation value based on the acceleration and the first angular velocity (S127).

The controller 315 transmits the X axis compensation value and the Y axis compensation value to the second and third drivers 330 and 340 and outputs the X axis compensation value and the Y axis compensation value to the X axis and the Y axis (S129). ≪ / RTI >

If it is determined that the second angular velocity is greater than the predetermined value, the controller 315 may calculate the Z-axis compensation value, the X-axis compensation value, and the Y-axis compensation value based on the acceleration and the first angular velocity (S127).

The control unit 315 transmits the Z-axis compensation value, the X-axis compensation value, and the Y-axis compensation value to the first to third driving units 320, 330, and 340 to output the first to third driving units 320, Axis, the Y-axis, and the Z-axis, respectively (S129).

5 is a flowchart for explaining a camera driving method according to the second embodiment.

As shown in FIGS. 3 and 5, the control unit 315 can determine whether the mode is the attitude control mode (S140).

It can be determined that the posture control mode is set to the posture control mode related signal input through the input unit or the posture control mode in the memory.

If it is determined that the attitude control mode is required, that is, when the attitude control is not required, the controller 315 selects the first gain value (S141), and selects the first gain value as the first output torque corresponding to the selected first gain value The third to the third driving units 320, 330, and 340 (S143).

If it is determined that the attitude control mode is not required, that is, if the attitude control is required, the control unit 315 selects the second gain value (S147) and outputs the first output torque corresponding to the first output torque corresponding to the selected second gain value The third to the third driving units 320, 330, and 340 may be driven (S149).

6 is a block diagram showing a camera driving apparatus according to the second embodiment.

6, in the camera driving apparatus according to the second embodiment, the control unit 315 may not be provided in the support module 310. [

For example, the third sensor 312 may be installed in the support module 310. The control unit 315 may be a processor responsible for overall management and / or control of the flight device 1. Accordingly, the control unit 315 can be installed on the main board of the flight device 1. [ Accordingly, the acceleration signal, the first angular velocity signal, and the second angular velocity signal output from each of the first to third sensors 352, 355, and 312 can be input to the control unit 315 through the main board of the flight device 1 have. The compensation value output from the control unit 315 is transmitted to the first to third driving units 320, 330 and 340 through the supporting module 310 or directly to the first to third driving units 320, The camera 359 can be rotated about the X axis, the Y axis, and the Z axis.

The first to third driving units 320, 330, and 340 described above may be referred to as third to first driving units. That is, the first driving unit 320 may be referred to as a third driving unit, the second driving unit 330 may be referred to as a second driving unit 330 as it is, and the third driving unit 340 may be referred to as a first driving unit.

The foregoing detailed description should not be construed in all aspects as limiting and should be considered illustrative. The scope of the embodiments should be determined by rational interpretation of the appended claims, and all changes within the equivalents of the embodiments are included in the scope of the embodiments.

30: Gimbal unit
305: Damper
310: Support module
312, 352, and 355:
315:
320:
330:
340:
350: Camera module
357: Second board
358: Housing
359: Camera

Claims (12)

A camera module including a camera;
A driving unit for rotating the camera module;
A supporting module coupled to the driving unit; And
And a control unit for controlling the driving unit,
The camera module includes a first sensing unit for sensing an acceleration and outputting a first signal, and a second sensing unit for sensing a first angular velocity and outputting a second signal,
Wherein the supporting module includes a third sensing unit for sensing a second angular velocity and outputting a third signal,
Wherein,
Calculates the acceleration by calculating the first signal,
Calculating the first angular velocity by calculating the second signal,
Calculates the second angular velocity by calculating the third signal,
Calculates a compensation value for the X-axis, the Y-axis, and the Z-axis based on the acceleration and the first angular velocity,
And controls the driving unit to maintain the compensation value of the Z-axis among the compensation values to be 0 when the second angular velocity is equal to or less than a set value. The method according to claim 1,
And controls the driving unit based on the compensation value if the second angular velocity exceeds a set value. The method according to claim 1,
Wherein the first sensing unit includes acceleration sensors of the X-axis, Y-axis, and Z-axis,
And the second sensing unit includes the gyro sensor of the X axis, the Y axis, and the Z axis,
And the third sensing unit includes the Z-axis gyro sensor. The method according to claim 1,
The driving unit
A first driving unit having the X axis as a rotation axis, a second driving unit having the Y axis as a rotation axis, and a third driving unit having the Z axis as a rotation axis. The method according to claim 1,
Wherein the first sensing unit and the second sensing unit are disposed in a six-axis sensing unit,
And the third sensing unit is disposed in the one-axis sensing unit. The method according to claim 1,
And the third sensing unit is disposed in the support module. A camera driving apparatus mounted on a drone,
A camera module including a camera;
A driving unit for rotating the camera module;
A supporting module coupled to the driving unit; And
And a control unit for controlling the driving unit,
Wherein,
Selects a gain value different from each other depending on whether an attitude control mode is required, and controls the driving unit based on the selected gain value. 8. The method of claim 7,
Wherein the posture control mode is a mode for controlling the driving unit such that the camera is directed in a predetermined direction despite the movement of the drones. 8. The method of claim 7,
Wherein the gain value comprises a first gain value and a second gain value greater than the first gain value,
And controls the driving unit by selecting the second gain value when the attitude control mode is required. Sensing an acceleration;
Sensing a first angular velocity;
Sensing a second angular velocity;
Calculating a compensation value for the X axis, the Y axis, and the Z axis based on the acceleration and the first angular velocity;
Controlling the driving unit with the compensation value if the second angular velocity is greater than a preset value; And
And controlling the driving unit to maintain the Z-axis compensation value of the compensation value at 0 when the second angular velocity is equal to or less than a set value. A camera module including a camera;
A driving unit for rotating the camera module;
A supporting module coupled to the driving unit;
A body coupled with the support module; And
And a control unit for controlling the driving unit,
The camera module includes a first sensing unit for sensing an acceleration and outputting a first signal, and a second sensing unit for sensing a first angular velocity and outputting a second signal,
Wherein the supporting module includes a third sensing unit for sensing a second angular velocity and outputting a third signal,
The control unit
Calculates the acceleration by calculating the first signal,
Calculating the first angular velocity by calculating the second signal,
Calculates the second angular velocity by calculating the third signal,
Calculates a compensation value for the X-axis, the Y-axis, and the Z-axis based on the acceleration and the first angular velocity,
And maintains the compensation value of the Z-axis among the compensation values to be 0 when the second angular velocity is equal to or less than a set value. A camera module including a camera;
A driving unit for rotating the camera module;
A supporting module coupled to the driving unit;
A body coupled with the support module; And
And a control unit for controlling the driving unit,
Wherein,
Selects a gain value different from each other depending on whether an attitude control mode is required, and controls the driving unit based on the selected gain value.

Images