KR20170070627A - System for controlling radio-controlled flight vehicle and its carmera gimbal for aerial tracking shot - Google Patents

System for controlling radio-controlled flight vehicle and its carmera gimbal for aerial tracking shot Download PDF

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Publication number
KR20170070627A
KR20170070627A KR1020150178392A KR20150178392A KR20170070627A KR 20170070627 A KR20170070627 A KR 20170070627A KR 1020150178392 A KR1020150178392 A KR 1020150178392A KR 20150178392 A KR20150178392 A KR 20150178392A KR 20170070627 A KR20170070627 A KR 20170070627A
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KR
South Korea
Prior art keywords
camera
wireless
photographed
altitude
gyro sensor
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KR1020150178392A
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Korean (ko)
Inventor
조진연
Original Assignee
주식회사 하우앳
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Priority to KR1020150178392A priority Critical patent/KR20170070627A/en
Publication of KR20170070627A publication Critical patent/KR20170070627A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • H04M1/7253—
    • H04N5/232—
    • B64C2201/127—
    • B64D2700/62184—

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Studio Devices (AREA)

Abstract

Disclosure of the Invention The present invention relates to a control system of a wireless navigational body and a camera gimbals for capturing an aerial tracking image of a specified object to be photographed and is provided with the camera gimbals to measure a photographing direction of a camera mounted on the camera gimbals A first gyro sensor; A first GPS sensor mounted on the wireless air vehicle for sensing a position and an altitude of the wireless air vehicle; A second gyro sensor provided at the object to be photographed, for measuring a three-dimensional attitude change of the object to be photographed; A second GPS sensor provided at the object to be photographed and sensing a changing position and an altitude of the object; And a second gyro sensor that senses information received from the second gyro sensor and the second GPS sensor and wirelessly transmits the sensed information to the first gyro sensor and the first GPS sensor, And a control module for correcting a photographing direction of the camera and a position and an altitude of the wireless navigating object such that the camera gimbals are positioned at a set relative position and a relative altitude with respect to an object, A gimbals control system is provided as a first invention.

Description

TECHNICAL FIELD [0001] The present invention relates to a system and a method for controlling a gimbal of a radio flying body and a camera,

Disclosure of the Invention The present invention relates to a camera gimbals control system for a wireless air vehicle, and more particularly, to a wireless air vehicle and a camera gimbals control system for capturing an aerial image of a specific object.

Herein, the background art relating to the present invention is provided, and they are not necessarily referred to as known arts.

In order to obtain the aerial movie image, it is very expensive and requires an additional aerodrome, because it is carried out with manned aircraft, pilots, and expensive imaging equipment specially designed for aerial photography.

On the other hand, the aerial photographing by the wireless flying body can be operated with a relatively small amount of equipment and manpower, so that it is widely used in a small aerial photographing.

However, there is a disadvantage that the aerial photographing by wireless flying body is difficult to use high quality video equipment because of the difference in image quality depending on the piloting ability of the ground pilots, and above all, the mounting weight that can be mounted is limited.

In order to capture the aerial image with the wireless flying object, a camera gimbal that can install the wireless flying object and the camera is necessary. The gimbal control also plays an important role in acquiring the aerial image.

Korean Patent Laid-Open Publication No. 10-2001-0002221 discloses a method of aerial photographing by a wireless air vehicle, but requires manual operation of a wireless air vehicle and a gimbals separately.

Since the aerial image capturing method depends on the judgment and mastery of the radio pilot, the quality of the image depends on the user, and there is a disadvantage that a separate image must be transmitted.

In addition, when the position and posture change rapidly such as a moving vehicle or an aircraft in which the object to be photographed is moving, it is very expensive to shoot such an image because trained pilots are limited to photographing the object.

Recently, a small gyro sensor is mounted on a gimbal mounted on an unmanned helicopter, and a device for correcting the shaking of the camera line according to the attitude change of the unmanned helicopter is used.

Such a device has a function of correcting the camera shake due to the engine vibration and the shake due to the disturbance such as wind to some extent, but it does not adjust the angle of view of the gimbal in the tracking aerial photographing according to the movement and attitude change of the shooting object can not do it.

In addition, an apparatus such as MTI (Moving Target Indicator) used for military purposes to track a moving object can track the movement of the object by image processing of the captured image. However, Can not track the three-dimensional rotation and posture changes of the body.

1. Patent Document 0001) Korean Patent Laid-Open Publication No. 10-2001-0002221

The present invention relates to a method and a system for mounting a gyro of a wireless flying object, a small gyro sensor and a GPS sensor on an object to be photographed, and real-time linking of information to each other so as to control the position of the wireless flying object, The object of the present invention is to provide a wireless flying object and a camera gimbal control system for photographing.

An object of the present invention is to provide a wireless flying object and a camera gimbal control system for capturing an aerial tracking image in which the position of a wireless air vehicle and the attitude and gaze angle of the camera can be controlled in real time by checking the captured image in real time .

The present invention is not intended to be exhaustive or to limit the scope of the present invention to the full scope of the present invention. of its features).

In order to solve the above-described problems, the present invention provides a wireless flying object and a camera gimbals control system for capturing an aerial tracking image in which a wireless flying object and a camera gimbals are interlocked with a designated object to be photographed, A first gyro sensor for measuring a photographing direction of the mounted camera; A first GPS sensor mounted on the wireless air vehicle for sensing a position and an altitude of the wireless air vehicle; A second gyro sensor provided at the object to be photographed, for measuring a three-dimensional attitude change of the object to be photographed; A second GPS sensor provided at the object to be photographed and sensing a changing position and an altitude of the object; And a second gyro sensor that senses information received from the second gyro sensor and the second GPS sensor and wirelessly transmits the sensed information to the first gyro sensor and the first GPS sensor, And a control module for correcting a photographing direction of the camera and a position and an altitude of the wireless navigating object such that the camera gimbals are positioned at a set relative position and a relative altitude with respect to an object, A gimbals control system is provided as a first invention.

The present invention relates to a wireless navigational body and a camera gimbals control system for photographing an aerial tracking image of the first invention, wherein the object to be photographed is a CDMA or a CDMA camera which is in wireless communication with the second gyro sensor, A wireless air vehicle and a camera gimbals control system for photographing aerial tracking images carried by a wireless terminal having an LTE wireless communication module are provided as a second invention.

The present invention is a wireless air vehicle and camera gimbals control system for shooting aerial tracking images according to the second invention, wherein the control module receives an interlocking start and interlocking end command from the imaging target wireless terminal, And the relative position and the relative altitude of the wireless navigational body and the posture of the camera gimbals are started or released according to the third aspect of the present invention.

The wireless terminal and the control module of the photographing target identify the opponent on the basis of the unique address information and perform a 1: 1 connection The fourth aspect of the present invention provides a wireless flying object and a camera gimbals control system for capturing an aerial image.

The present invention is a wireless flying object and a camera gimbals control system for photographing the aerial tracking image of the fourth invention, wherein the control module controls the image information photographed by the camera to be transmitted to the wireless terminal The present invention also provides a wireless navigation system and a camera gimbals control system for capturing an aerial image.

According to the present invention, the position and posture of a wireless flying object and a camera gimbals to an object to be photographed can be interlocked in real time, and the quality of a photographed image can be enhanced.

According to the present invention, the position and attitude of the wireless flying object and the camera gimbals are controlled by interlocking with the change of the position due to the movement of the object to be photographed, so that the quality of the photographed image can be improved.

According to the present invention, since an image photographed through a portable terminal can be confirmed in real time, it is possible to obtain a high-quality photographed image by changing a relative position and a relative posture of a wireless navigational body and a camera gimbals based on a photographing object in real time.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a conceptual view of a wireless navigational system and a camera gimbals control system for photographing aerial tracking images according to an embodiment of the present invention. FIG.
Figure 2 is a control block diagram of Figure 1;

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, various embodiments in which a helical cam having a dustproof structure of a photographing module according to the present disclosure is implemented will be described with reference to the drawings.

It should be understood, however, that there is no intention to limit the scope of the present disclosure to the embodiments described below, and that those skilled in the art, having the benefit of the teachings of this disclosure, It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention.

In addition, the terms used below are selected for convenience of explanation. Therefore, in order to grasp the technical contents of the present disclosure, they should be interpreted appropriately in accordance with the technical idea of the present disclosure without being limited to the prior meaning.

FIG. 1 is a conceptual view of a wireless navigator and a camera gimbals control system for photographing aerial tracking images according to an embodiment of the present invention, and FIG. 2 is a control block diagram of FIG.

1 and 2, a wireless navigational body and camera gimbals control system 100 for capturing an aerial tracking image according to an embodiment of the present invention includes a wireless flying object 110 and a camera gimbals 120, The first and second gyro sensors 141 and 142, the first and second GPS sensors 142 and 142, and the control module 140.

The first gyro sensor 141 is provided on the camera gimbals 120 and measures a photographing direction of the camera 130 mounted on the camera gimbals 120.

The camera gimbals 120 are provided to be capable of driving three axes of X, Y, and Z axes orthogonal to each other with a rotation axis, and a camera is provided at one end of the camera gimbals. Thereby adjusting the shooting direction of the camera.

The first GPS sensor 142 is mounted on the wireless air vehicle 110 and detects the positions L1 and D1 of the wireless air vehicle 110 and the altitude H1. Here, the first GPS sensor 142 may be provided on the camera gimbals 120 mounted on one side of the wireless navigational body 110 and viewed integrally with the wireless navigational body 110.

The second gyro sensor T1 is provided on the photographing target P to measure a three-dimensional attitude change of the photographing target P. [ The three-dimensional posture change means that the object P is rotated or the shape is changed (for example, when the waist is leaned) while the position is fixed.

The second GPS sensor T2 is provided on the photographing target P and detects the changing positions L2 and D2 and the altitude H2 of the photographing target P. [

Here, the second gyro sensor T1 and the second GPS sensor T2 may be mounted directly on the object P, while the second gyro sensor T1, the second GPS sensor T2, The imaging device P may be provided so that the imaging target P can carry the wireless terminal T having the CDMA or LTE wireless communication module T3 wirelessly communicating with the control module 140. [

The control module 140 is installed in the wireless navigation device 110 and receives information sensed by the second gyro sensor T1 and the second GPS sensor T2 wirelessly in real time to receive the first gyro sensor 141 and the second gyro sensor 1 photographing direction of the camera 130 so that the camera gimbals 120 are located at a set relative position and a relative altitude with reference to the photographing target P as compared with the information sensed by the GPS sensor 142, ) And the altitude.

Here, the control module 140 receives the interlocking start and interlocking end commands from the wireless terminal T of the shooting object P and determines the relative position and the relative altitude of the wireless body 110 with respect to the shooting target P It is preferable that the interlocking of the posture of the camera gimbals 120 is started or released.

It is preferable that the wireless terminal T and the control module 140 of the object P to be photographed are connected to each other by identifying one another based on the unique address information.

The control module 140 may be configured to transmit the image information photographed by the camera 130 to the wireless terminal T of the photographing target P in real time through the 5 GHz wireless communication system.

According to this, since the image photographed through the portable terminal can be confirmed in real time, it is possible to obtain a high-quality photographed image by changing the relative position and the relative posture of the wireless flying object and the camera gimbals based on the photographing object in real time.

In recent years, the development of small MEMS (Micro Electronic Mechanical System) sensors has led to an increase in the use of small sensors in areas where weight and size are important, such as unmanned aerial vehicles. These small sensors are low power and lightweight, so they are small and light enough that they do not affect their dynamic motion even if they are attached directly to an unmanned helicopter and a moving object.

In the present invention, a three-axis gyro sensor and a small GPS sensor are mounted on a camera gimbal for image capturing of a wireless air vehicle, and a three-axis gyro sensor and a GPS sensor are mounted on the object to be shot, (Line Of Sight) angle, it is possible to capture the real-time tracking of the object to be photographed in the public movie image and the image of the object in which the three-dimensional rotation occurs. And to provide a wireless navigation system and a camera gimbal control system for capturing an aerial image of a trajectory.

Claims (5)

A wireless navigation system and a camera gimbal control system for capturing an aerial image of a wireless body and a camera gimbal interlocked with a designated object,
A first gyro sensor provided on the camera gimbal to measure a photographing direction of the camera mounted on the camera gimbal;
A first GPS sensor mounted on the wireless navigational body for sensing a position and an altitude of the wireless navigational body;
A second gyro sensor provided at the object to be photographed, for measuring a three-dimensional attitude change of the object to be photographed;
A second GPS sensor provided at the object to be photographed and sensing a changing position and an altitude of the object; And
Wherein the information received from the second gyro sensor and the second GPS sensor is wirelessly transmitted in real time and is compared with information sensed by the first gyro sensor and the first GPS sensor, And a control module for correcting a photographing direction of the camera and a position and an altitude of the wireless navigating object such that the camera gimbals are positioned at a set relative position and a relative altitude with reference to a distance Control system. The method according to claim 1,
Wherein the photographing object carries a wireless terminal including a CDMA or LTE wireless communication module that wirelessly communicates with the second gyro sensor, the second GPS sensor, and the control module. And a camera gimbals control system. The method of claim 2,
The control module may start or cancel interlocking of the relative position and the relative altitude of the wireless navigational object with the posture of the camera gimbals and the relative position of the wireless navigational object with respect to the object to be imaged, Wireless Vehicle and Camera Gimbal Control System for Aerial Tracking. 4. The method of claim 3,
Wherein the imaging target wireless terminal and the control module are connected in a one-to-one manner by identifying the opponent based on the unique address information. The method of claim 4,
Wherein the control module transmits, in real time, the image information photographed by the camera to the imaging target wireless terminal through the 5 GHz wireless communication system.
KR1020150178392A 2015-12-14 2015-12-14 System for controlling radio-controlled flight vehicle and its carmera gimbal for aerial tracking shot KR20170070627A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108869197A (en) * 2018-06-27 2018-11-23 上海扩博智能技术有限公司 Blower high precision measurement method and system are carried out by unmanned plane
KR101959366B1 (en) * 2018-04-10 2019-03-21 주식회사 아르고스다인 Mutual recognition method between UAV and wireless device
KR20190118486A (en) * 2018-04-10 2019-10-18 주식회사 아르고스다인 Mutual recognition method between UAV and wireless device

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101959366B1 (en) * 2018-04-10 2019-03-21 주식회사 아르고스다인 Mutual recognition method between UAV and wireless device
WO2019198868A1 (en) * 2018-04-10 2019-10-17 아르고스다인 Mutual recognition method between unmanned aerial vehicle and wireless terminal
KR20190118486A (en) * 2018-04-10 2019-10-18 주식회사 아르고스다인 Mutual recognition method between UAV and wireless device
US11815913B2 (en) 2018-04-10 2023-11-14 Argosdyne Co. Ltd. Mutual recognition method between unmanned aerial vehicle and wireless terminal
CN108869197A (en) * 2018-06-27 2018-11-23 上海扩博智能技术有限公司 Blower high precision measurement method and system are carried out by unmanned plane
CN108869197B (en) * 2018-06-27 2020-05-12 上海扩博智能技术有限公司 Method and system for accurately measuring height of fan through unmanned aerial vehicle

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