KR100702558B1 - Tracking system for watching pilotless airplane - Google Patents

Abstract

The present invention provides a tracking system that enables observation equipment such as telescopes and digital cameras to track an unmanned aerial vehicle. The tracking system comprises a fixed part, a support part, a first shaft, a head part, a second shaft, a brake unit, and an observation instrument support part, which are fixed in position with respect to the ground. The tracking system for observing such an unmanned aerial vehicle has a servo motor installed in a head part in which observation instruments such as a telescope and a digital camera are installed so that the observation mechanism is moved up and down, and the head part is driven by a stamping motor and a servo motor. By adjusting the speed to move from side to side, and by installing a brake unit to allow the left and right movement of the head manually, it is possible to quickly and accurately track the drone flying at high speed.

Description

Tracking system for observing unmanned aerial vehicles {TRACKING SYSTEM FOR WATCHING PILOTLESS AIRPLANE}

1 is a view for explaining a tracking system for observing an unmanned aerial vehicle according to the present invention;

2 is a view for explaining the main configuration of a tracking system for observing an unmanned aerial vehicle according to a preferred embodiment of the present invention;

3 is a perspective view of a tracking system for observing an unmanned aerial vehicle according to a preferred embodiment of the present invention;

4 is a view for explaining the main driving elements of the tracking system for observing the unmanned aerial vehicle according to the preferred embodiment of the present invention.

Explanation of symbols on the main parts of the drawings

10: tracking system (to observe the drone)

20: fixed part 22: fixed frame

24: tripod 30: first shaft

34, 46, 72, 74, 94: bearing

36, 52, 62, 78, 112, 118: pulley

40: support portion 42: support frame

44 shaft holder 50 stepping motor

54, 64, 124: belt 60: left and right rotation servo motor

70: second shaft 90: head portion

92: head frame 100: brake unit

102: brake disc 104: disk pad

110: observation instrument support portion 114: support plate

116: side supporter 120: vertical rotation servo motor

140: telescope 150: digital camera

160: display

The present invention relates to a tracking system for observing an unmanned aerial vehicle, and more specifically, a servo motor is installed in a head unit in which observation instruments such as a telescope and a digital camera are installed so that the observation mechanism is moved up and down. The parts can be moved by adjusting the speed from side to side by the stamping motor and the servo motor, and the brake unit can be installed to allow the left and right movement of the head part to be done manually so that the drone flying at high speed can be tracked quickly and accurately. The present invention relates to a tracking system for observing an unmanned aerial vehicle.

As the importance of unmanned aircraft is increasing, techniques and control techniques for understanding the dynamic characteristics of the aircraft are rapidly developing. The technology related to the control method of such an unmanned aircraft includes the Republic of Korea Patent Publication No. 10-0324581 "control method of the unmanned aircraft and a system for performing the same". This paper proposes a control method of an unmanned aerial vehicle which expands the utilization of the unmanned aerial vehicle by controlling the unmanned aerial vehicle through two-way communication with the unmanned aerial vehicle using a general radio controller, a computer, and a satellite positioning system. . Such a technique includes a flight step of flying at least one unmanned aerial vehicle in an automatic mode by a specific program; After the flight phase, the command data packet generated from the ground control system is delivered to the unmanned aerial vehicle using the UHF channel, and the command data packet is processed by the FIFO method to send the response data packet corresponding to the command data packet to the ground control system. A data delivery step of delivering using; In addition, if the flight control signal output from the radio controller is transmitted during the flight phase and the data transfer step, the driving motor may be controlled according to the flight control signal. Because of the available altitude and latitude data, it is hoped that the drone's flight radius can be extended and the altitude can be controlled immediately.

On the other hand, the tracking system for observing the drone starts with tracking from the in-flight watch and tracks it with high-performance telephoto equipment from the out-of-watch flight, which cannot be recognized by the pilot's eyes, and transmits the aircraft status to the pilot and co-pilot. In addition, it is to provide the status of the aircraft stably in the event of failure of the in-transmission / reception modem during flight or test flight as well as manual flight. In addition, all flights such as mission performance and test flight are provided in real time, and stored in the image storage device so that the flight process can be slowly reviewed after the flight. In this regard, the proposed technology includes Korean Patent Application Publication No. 10-2005-0119514 "Telescope Angle Adjusting Device for Unmanned Observation System". It proposes a telescope angle control device that can precisely control the angle of observation telescope up and down and left and right in the unmanned observation system that can observe or monitor a specific object or terrain from a few kilometers away. This technology uses a timing belt to attach the video camera to the rear of the casing and to independently power the step motor and the step motor to move each telescope assembly with high and low magnification precision up, down, left and right. The worm rotates along the circumference of the worm gear while the worm is engaged with the worm gear attached to the fixed shaft to move the telescope mounted on the main body to the left and right (horizontal direction). In addition, while the rotating shaft rotatably coupled to the main body rotates, the telescope assembled at the end of the rotating shaft can be moved up and down (vertical direction). In addition, it is expected that each worm is always engaged with the worm gear in a pressurized state, so that the clearance between the gears is in close contact with each other when the power is connected, so that the backlash generated between the gear groups can be suppressed as much as possible.

However, the tracking system for observing such an unmanned aerial vehicle has a very limited tracking range, it is impossible to accurately track an object flying at high speed, and there is a problem in that it is inconvenient to check the tracking image in real time outdoors. That is, according to the prior art, the worm gear is used to accurately move up and down and left and right of the telescope or video camera, but there is a problem in that it is impossible to quickly and accurately track the freedom in tracking an unmanned aerial vehicle flying at high speed. will be.

Therefore, the present invention improves the problems of the prior art and can quickly and accurately track the unmanned aerial vehicle flying at high speed, and provides a tracking system for observing a new type of unmanned aerial vehicle that can be checked in real time in the field. For the purpose of

In particular, the present invention is to install the servo motor in the head portion is installed telescope and digital camera, etc. to improve the problem in the prior art to move the telescope and digital camera in the vertical direction, the head portion by the stamping motor and servo motor By adjusting the speed from side to side, and installing the brake unit to allow the left and right movement of the head part manually, it is possible to observe a new type of drone that can quickly and accurately track a drone flying at high speed. The purpose is to provide a tracking system.

According to a feature of the present invention for achieving the above object, the present invention provides a tracking system for observing an unmanned aerial vehicle for observing an unmanned aerial vehicle by allowing observation instruments such as telescopes and digital cameras to track the unmanned aerial vehicle. A fixed part fixed in position with respect to the ground; A support part supported on the fixed part so as to be rotatable on the fixed part and having a support frame in which a stepping motor and a left and right rotation servo motor are coupled to the fixed part; A vertically disposed on a central axis of the support, the lower side of which is fixed to the fixing unit, and the upper side of the support unit is rotatably coupled, and connected to the stepping motor to rotate the support unit by rotation of the stepping motor. With 1 shaft; A head portion supported by the support portion to be rotatable from side to side on the support portion; A second shaft disposed vertically on a central axis of the support portion, the upper side of which is rotatably coupled to the head portion, and the lower side of the support portion rotatably coupled to the support portion, the second shaft being connected to the left and right rotating servo motors; It is fixed to the second shaft and is in close contact with the head portion to rotate the head portion by the rotation of the second shaft, to be separated from the head portion so that the head portion is separated from the rotation of the second shaft Brake unit; It has a support plate is installed on the head portion to be rotatable on the observation mechanism is installed on the upper portion, and includes an observation instrument support portion in which the support plate is angularly moved up and down by a vertically rotating servo motor provided on the head portion.

In such a tracking system for observing an unmanned aerial vehicle according to the present invention, the head portion may be provided with a display showing an image input from the observation instrument.

In the tracking system for observing the unmanned aerial vehicle according to the present invention, the brake unit is fixed to the second shaft and the brake disc, and coupled to the lower side of the head portion is arranged above and below the brake disc by the brake disc It may be provided with a disk pad in close contact with the falling.

In the tracking system for observing the unmanned aerial vehicle according to the present invention, the observing apparatus supporting part is provided vertically spaced apart from the head part and has a side supporter for supporting both sides of the supporting plate to be rotatable, and the vertical rotation Servo motors may be installed at both outer sides of the side supporters, respectively, and connected to both sides of the supporting plate protruding outwards through the side supporters.

The tracking system for observing an unmanned aerial vehicle according to the present invention is configured to be able to track a long distance of about 7km at a close range of about 1km by configuring a complex observation mechanism. In addition, the observation mechanism allows the left and right rotation of the constant speed by the stepping motor and the high speed left and right rotation by the left / right rotation servo motor to be simultaneously or selectively performed, and at the same time, the brake unit can be used to manually operate the left and right feed of the observation device. This allows accurate tracking of objects flying at high speeds and facilitates tracking. In addition, the tracking system according to the present invention facilitates confirmation of the tracking situation by allowing the administrator to immediately check the image of the drone tracked by the observation instrument to the display.

1 is a diagram illustrating a tracking system for observing an unmanned aerial vehicle according to the present invention.

Referring to FIG. 1, the tracking system 10 for observing an unmanned aerial vehicle according to the present invention observes an unmanned aerial vehicle by allowing an observation instrument such as a telescope 140 and a digital camera 150, a CCD camera to track an unmanned aerial vehicle. A tracking system 10 is provided to allow for this.

Such a tracking system 10 according to the present invention is fixed part 20, the support 40, the first shaft 30, the head 90, the second shaft 70, the brake unit 100 and observation It is provided with a mechanism supporting portion 110. Fixing portion 20 is fixed to the ground position, consisting of a fixed frame 22 and the tripod 24 so that the overall tracking system 10 is fixed to the ground position. Such fixing part 20 may be generally applied in various forms in the form of a frame supporting the entire apparatus.

Meanwhile, the tracking system 10 according to the present invention allows the support part 40 to be rotated left and right by the stepping motor 50, and the head unit 90 is rotated to the left and right by the left and right rotation servo motor 60. By using the 100, the rotation by the stepping motor 50 is also transmitted to the head 90, thereby ultimately causing the observation mechanism to be rotated left and right at a constant speed by the stepping motor 50 and at the same time rotating the left and right servo motors 60. By rotating the left and right at a desired angle of rotation quickly, and if necessary, the head unit 90 by the brake unit 100 to be free from the rotational force transmitted from the stepping motor 50 by the brake unit 100 ) To rotate left and right. At this time, the support part 40 is supported by the fixing part 20 so as to be rotatable from side to side on the fixing part 20, and a support frame 42 in which the stepping motor 50 and the left and right rotation servo motors 60 are coupled and installed therein. Has The first shaft 30 is vertically disposed on the central axis of the support part 40 so that the lower part is fixed to the fixing part 20, and the support part 40 is rotatably coupled to the upper part and connected to the stepping motor 50. The support 40 is rotated by the rotation of the stepping motor 50. The head portion 90 is supported by the support portion 40 so as to be rotatable from side to side on the support portion 40. The second shaft 70 is disposed vertically on the central axis of the support 40 so that the upper side is rotatably coupled to the head 90, the lower side is rotatably coupled to the support 40, and the left and right rotation servo motors. It is connected to 60 and rotated.

On the other hand, the brake unit 100 is fixed to the second shaft 70 and is installed in close contact with the head 90 so that the head 90 is rotated by the rotation of the second shaft 70, and the head portion ( Off 90 so that the head 90 is separated from the rotation of the second shaft 70. Although not shown in detail, such a brake unit 100 may apply a brake device that is commonly used. For example, the brake disk 102 is fixed to the second shaft 70 to be rotated with the second shaft 70 and coupled to the head 90 as in the preferred embodiment of the present invention (see FIG. 2). Since the disk pad 104 is in close contact with the brake disk 102, the head 90 can be subjected to the rotational force transmitted from the bottom.

On the other hand, the observation mechanism supporting unit 110 has a supporting plate 114 installed on the head unit 90 so that the observation mechanisms 140 and 150 are installed on the upper side thereof, and is installed on the head unit 90. The supporting plate 114 is angularly moved up and down by the vertical rotation servo motor 120. In particular, the tracking system 10 according to the present invention displays the image captured by the remote telescope 140 and the digital camera 150 on two displays 160 through a computer (not shown) to simultaneously observe the medium and long distances. Make it possible.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Meanwhile, in the drawings, a description and detailed description of the configuration, operation and effects thereof, which can be easily understood from a tracking system for observing a general unmanned aerial vehicle, various equipment, apparatuses, materials required and related technologies therefor will be briefly or omitted. The parts related to the present invention are illustrated.

2 is a view for explaining the main configuration of a tracking system for observing an unmanned aerial vehicle according to a preferred embodiment of the present invention, Figure 3 is a perspective view of a tracking system for observing an unmanned aerial vehicle according to a preferred embodiment of the present invention 4 is a view for explaining the main driving elements of the tracking system for observing the unmanned aerial vehicle according to the preferred embodiment of the present invention. In the drawings, the motor is fixed to each frame, the structure for the strength and support of the main elements, and the combination with the bearings and the shafts, which are usually used for rotating elements, and the like. The illustration of the technical configuration and operation that can be easily applied by workers in the country is omitted.

2 to 4, the tracking system 10 for observing an unmanned aerial vehicle according to a preferred embodiment of the present invention is a fixing part for supporting the support part 40 and the head part 90 on a tripod 24. The 20 is made of a fixed frame 22 supported by a tripod 24, so that the entire system can be leveled while reducing the condition of the ground to be installed.

The tracking system 10 according to the present embodiment is a main body which separates the support part 40, the head part 90, and the observation instrument supporting part 110, as shown in FIG. 4 on the fixing part 20. It is provided with a configuration. Here, the fixing frame 22 of the fixing part 20 supports the support frame 42 of the supporting part 40 while being in a rotatable state, and the supporting part 40 supports the head frame 92 of the head part 90. Support while maintaining a rotatable state. And on the head portion 90, an observation instrument supporting portion 110 for pivoting up and down observation instruments such as the telescope 140 and the digital camera 150 is provided, and a display 160 is provided.

As described above, the tracking system 10 according to the present embodiment uses the stepping motor 50 and the left and right rotation servo motor 60 to uniformly move the head 90 to the left and right (the operation of the stepping motor 50). , Constant speed + speed {operation of the stepping motor 50 and the left and right rotation servo motor 60 in the state in which the brake unit 100 is operated}, rapid (right and left rotation servo motor 60 in the state in which the brake unit 100 is operated) ) And manual (the brake unit 100 is in a stopped state) can be rotated. In general, the stepping motor can obtain a rotational force of constant velocity motion, and the servo motor can obtain a fast rotational force at a predetermined angle. Therefore, in the present embodiment, the observation mechanism of the tracking system 10 is rotated at the same speed from side to side according to a predetermined speed by using the stepping motor 50, and the maximum left and right sides 90 are instantaneously using the left and right rotation servo motor 60. Allow yourself to do left and right exercises. Control of the stepping motor 50 and the left and right rotation servo motor 60 and the like is adjusted using a joystick, a control switch, and the like.

To this end, the support part 40 is supported by the fixing part 20 so as to be rotatable from side to side on the fixing part 20, and a support frame in which the stepping motor 50 and the left and right rotating servo motors 60 are installed in combination. 42). In addition, the first shaft 30 is vertically disposed on the central axis of the support part 40, and the lower side is fixed to the fixing part 20. The first shaft 30 is inserted into the shaft holder 44 of the support frame 42 on the upper side thereof and is rotatably coupled by the bearing 34, and the stepping motor 50, the pulleys 36, 52 and the belt are And the support 40 is rotated by the rotation of the stepping motor 50. The head portion 90 is supported by the support portion 40 so as to be rotatable from side to side on the support portion 40. The second shaft 70 is disposed vertically on the central axis of the support portion 40 so that the upper side is rotatably coupled to the head portion 90 through the bearing 74, and the lower side is the bearing 72 on the support portion 40. It is coupled so as to be rotatable, and is connected to the left and right rotation servo motor 60, the pulleys 62 and 78, and the belt 64 to be rotated.

In addition, the brake unit 100 is coupled to the brake disc 102 which is fixed to the second shaft 70 and is installed below the head frame 92 of the head portion 90 so as to be disposed above and below the brake disc 102. And a disk pad 104 in close contact with the brake disk 102 and falling off. The brake unit 100 is such that the disk pad 104 is in close contact with the brake disk 102 to transmit the rotational force of the stepping motor 50 and / or the front and rear rotation servo motor 60 to the head portion 90, The disk pad 104 is separated from the brake disk 102 to perform a function of a clutch that allows the operator to manually operate the head 90. Thus, the head 90 is set when the initial position is set or when a reset is required. ) To be able to operate again. For example, when observing an unmanned aerial vehicle, when it comes off the screen of the display 150, it may be necessary to hold it again while rotating it to the left or right by hand. At this time, the brake unit 100 is released and the head unit 90 is rotated to rotate the drone. It is used to catch.

In the present embodiment, the observation instrument supporting unit 110 has a supporting plate 114 which is installed on the head unit 90 so that the observation mechanisms 140 and 150 are installed on the upper side, and on the head unit 90. The supporting plate 114 is angularly moved up and down by the vertical rotation servo motor 120 installed in the upper and lower rotation servo motors. The observation instrument supporting unit 110 has a side supporter 116 which is vertically spaced apart on the head frame 92 of the head unit 90 and supports both sides of the supporting plate 114 so as to be rotatable. In addition, the vertical rotation servo motor 120 is installed at both sides of the side supporter 116, respectively, and pulleys 118 and 122 and the belt 124 are provided at both sides of the support plate 114 protruding outwardly through the side supporter 116. Is connected.

As described above, the tracking system 10 according to the present embodiment combines a digital camera (CCTV, CCD camera, etc.) which is a near field tracking device, a field scope and a telescope which is a medium and long distance tracking device, and has an altitude of 50 to 300 m and a distance of 1. Covers ~ 7km and uses a pen-tilt for accurate tracking at low speeds and a servo motor for tracking at high speeds to track a drone in flight at a speed of 40-300 km / h. The tracking system 10 according to the present exemplary embodiment enables real-time monitoring of an image of an unmanned aerial vehicle through a portable computer.

As described above, a tracking system for observing an unmanned aerial vehicle according to a preferred embodiment of the present invention has been shown in accordance with the above description and drawings, but this is merely an example and is within the scope not departing from the technical spirit of the present invention. It will be understood by those skilled in the art that various changes and modifications are possible in the art.

According to the tracking system for observing the unmanned aerial vehicle according to the present invention, the observation mechanism such as a telescope, a digital camera, and the like, such that the left and right rotation of the constant speed by the stepping motor and the high speed left and right rotation by the left / right rotation servo motor are simultaneously or selectively performed. At the same time, the brake unit can be used to manually control the left and right transport of the observation instrument, enabling accurate tracking of objects flying at high speed and easy tracking. In addition, the tracking system according to the present invention facilitates confirmation of the tracking situation by allowing the administrator to immediately check the image of the drone tracked by the observation instrument to the display.

Claims (4)

In a tracking system for observing an unmanned aerial vehicle to allow observation equipment such as telescopes and digital cameras to track the unmanned aerial vehicle, A fixing part whose position is fixed with respect to the ground; A support part supported on the fixed part so as to be rotatable on the fixed part and having a support frame in which a stepping motor and a left and right rotation servo motor are coupled to the fixed part; A vertically disposed on a central axis of the support, the lower side of which is fixed to the fixing unit, and the upper side of the support unit is rotatably coupled, and connected to the stepping motor to rotate the support unit by rotation of the stepping motor. With 1 shaft; A head portion supported by the support portion to be rotatable from side to side on the support portion; A second shaft disposed vertically on a central axis of the support portion, the upper side of which is rotatably coupled to the head portion, and the lower side of the support portion rotatably coupled to the support portion, the second shaft being connected to the left and right rotating servo motors; It is fixed to the second shaft and is in close contact with the head portion to rotate the head portion by the rotation of the second shaft, to be separated from the head portion so that the head portion is separated from the rotation of the second shaft Brake unit and; It has a support plate which is installed on the head portion so that the observation mechanism is rotatable on the head portion, and includes an observation mechanism support portion in which the support plate is angularly moved up and down by a vertical rotation servo motor installed on the head portion A tracking system for observing an unmanned aerial vehicle. The method of claim 1, The head unit has a tracking system for observing an unmanned aerial vehicle, characterized in that the display is installed to show the image input from the observation mechanism. The method according to claim 1 or 2, The brake unit is a brake disc fixedly installed on the second shaft, And a disk pad coupled to a lower side of the head and disposed above and below the brake disc to be in close contact with the brake disc and falling. The method of claim 3, wherein The observation mechanism supporting unit has a side supporter which is vertically spaced apart from the head portion to support both sides of the supporting plate so as to be rotatable, and the vertical rotation servo motor is installed on both sides of the side supporter, respectively, to the side Tracking system for observing the unmanned aerial vehicle, characterized in that connected to both sides of the supporting plate protruding outward through the supporter.

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