KR101932930B1 - Air craft gimbal - Google Patents

Abstract

The present invention relates to a gimbal to mount an unmanned aerial vehicle (UAV) for photographing an image, capable of being easily and conveniently mounted on a gimbal mounting part of the UAV. According to the present invention, the gimbal to mount the UAV for photographing an image comprises: a first frame detachably received in a mounting part of the UAV; a second frame installed in the first frame to be able to rotate through a Y-axial member; a third frame installed in the second frame to be able to rotate through an X-axial member; a first rotating means disposed between the first and second frames to rotate clockwise/anticlockwise the second frame on the Y-axial member by a rotation signal; a second rotating means disposed between the second and third frames to rotate clockwise/anticlockwise the third frame on the X-axial member by a rotation signal; a gyro sensor to measure the posture of the third frame mounting a photographing means thereon; and a shutter transmitter installed in an installation plate and transmitting a photographing signal wirelessly to control operation of the photographing means. Accordingly, the gimbal is easily mounted in the mounting part of the UAV, and helps the photographing means photograph an object in a state horizontal and vertical to the object while detachably fixing the photographing means, thereby providing an advantage of acquiring a clear and correct distortion-free image.

Description

{Air craft gimbal}

The present invention can be easily and easily mounted on a gimbal mount of an unmanned aerial vehicle, and can be mounted on an unmanned aerial vehicle for image capture capable of acquiring clear and accurate image without distortions, It is about gimbal.

In the past, unmanned aerial vehicles were used only for the purpose of flight, but in recent years, electronic devices have been installed in unmanned aerial vehicles to reach a level of technology capable of performing various purposes other than flight.

These unmanned aerial vehicles can be used to acquire the DB necessary for constructing the 3D space beyond the scope of the flight function that glides through the sky. In addition, the military can use the attack weapon to destroy the enemy weapon, It can also be used as an application, and various roles can be performed.

As such various functions can be performed, the unmanned airplane is more preferably used as an unmanned aerial vehicle system. In this case, it is preferable to use an electronic device Because they are building on-board.

In recent years, the term unmanned aerial vehicle system refers to a system in which pilots are not routed directly to an airplane, but are autonomously piloted on the ground, remote piloted, auto-piloted, or semi-auto- (Ground Control Station / System), communication equipment, and supporting equipment, which carry out mission according to their own environment judgment by carrying out flight or artificial intelligence.

Drone, RPV, Unmanned / Uninhabited / Unhumanized Aerial Vehicle (UAV), Unmanned Aircraft System (UAS), Remote Piloted Air / Aerial (RPAV) Vehicle), and Robot Aircraft.

Particularly, Drone is used to emphasize unmanned flying according to the pre-programmed program. RPV is used to emphasize unmanned aerial vehicle flying on the ground by remote control through wireless communication, and UAS is used for unmanned As the aircraft enters the civil airspace as well as the constant airspace, it is used to emphasize that it is an aircraft that has secured safety as an Aircraft (aircraft), not as a vehicle. Robot Aircraft is used in the same concept as a ground- Is used to emphasize robots.

This unmanned aerial vehicle is classified as a radio controlled model aircraft, a small UAV, and a large UAV depending on the weight. Fixed Wing unmanned aerial vehicles, Rotary Wing unmanned aerial vehicles, tilt rotor type -Rotor Unmanned aircraft and coaxial unmanned airplane. Depending on the flight radius, they are classified as near unmanned airplane, short-range unmanned airplane, medium-range unmanned airplane, long-distance unmanned airplane, Depending on flight time, flight / mission performance can be variously classified.

Especially, in Korea, smart unmanned aerial flight systems have been developed more and more because of the Internet of things, and vertical takeoff and landing is possible together with fixed wing / Forest fire and traffic surveillance, reconnaissance, and national disaster disaster.

However, such an unmanned aerial vehicle system performs image capturing for constructing a 3D spatial information DB through the process of flying in the window. In this image capturing operation, the image capturing means is constructed by using the gimbals below the unmanned airplane , Installation work was troublesome and uncomfortable.

1. Korean Patent Publication No. 10-2012-0082728 2. Korean Patent No. 10-1610802

The present invention can be easily and easily mounted on a gimbal mount of an unmanned aerial vehicle, and can be mounted on an unmanned aerial vehicle for image capture capable of acquiring clear and accurate image without distortions, It is intended to provide gimbal.

According to an aspect of the present invention,

A first frame detachably received in a mounting portion of the unmanned air vehicle, the first frame having an inner surface vertically penetrating therethrough and having a first guide portion formed on an outer surface thereof;

A second frame rotatably installed in the first frame through a Y-axis member, the second frame having an inner surface vertically penetrating therethrough and having a second guide portion formed on an outer surface thereof to communicate with the first guide portion;

Wherein the second frame is rotatably installed through an X-axis member, the interior of the second frame is vertically penetrated, and a seating portion supporting the photographing means is formed on the inner lower end portion to expose the lens of the photographing means downward, A third frame fixed to the nut of the photographing means to fix the photographing means and provided with a bolt exposed to the first and second guide portions,

A first rotating means disposed between the first frame and the second frame for rotating the second frame in a positive / negative direction about a Y-axis member by a rotation signal;

A second rotating means disposed between the second frame and the third frame for rotating the third frame about the X-axis member in a forward / reverse direction by a rotation signal;

A gyro sensor for measuring a horizontal posture of a third frame on which the photographing means is mounted;

And a shutter transmitter installed on the mounting table and wirelessly transmitting a photographing signal to control operation of the photographing means.

Here, the third frame is formed with a grip exposing portion so that the grip of the photographing means can be exposed toward the mounting table.

Here, the bolt is slidably mounted.

According to the present embodiment, since it can be easily mounted inside the mounting portion of the UAV, while the photographing means is detachably fixed, the photographing means helps the photographing of the target in a state where the photographing means is horizontally and vertically aligned with the target, There is an advantage that a clearer and more accurate image of the image can be obtained.

Further, there is an advantage that a bolt for fixing the photographing means can be slidably installed on the third frame, so that the photographing means of various sizes can be easily and easily fixed.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing a gimbals according to the present invention installed on a UAV;
2 is a perspective view of a gimbal for mounting an unmanned aerial vehicle for image capture according to the present invention;
3 is an exploded perspective view of a gimbal for mounting an unmanned airplane for image capture according to the present invention.
4 and 5 are a plan view and a bottom view of a gimbal for mounting an unmanned airplane for image capturing according to the present invention.
FIG. 6 is a perspective view illustrating an operation relationship of a gimbals for mounting an unmanned air vehicle for image capture according to the present invention. FIG.
FIG. 7 is a perspective view showing another embodiment of a gimbals for mounting an unmanned air vehicle for image capture according to the present invention. FIG.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

2 is a perspective view of a gimbals for mounting an unmanned airplane for image capturing according to the present invention, FIG. 3 is a perspective view of a gimbals according to an embodiment of the present invention, 4 and 5 are a plan view and a bottom view of a gimbal for mounting an unmanned airplane for image capturing according to the present invention. FIG. 6 is a plan view and a bottom view of an unmanned airplane mounting gimbal for photographing according to the present invention, Fig. 3 is a perspective view showing the operation relationship of the gimbal for mounting an aircraft. Fig.

1 to 6, the gimbals according to the embodiment of the present invention include first, second, and third frames 10, 20, and 30, first and second rotation units 40 and 50, a gyro sensor 60 And the shutter transmitter 70. This allows the photographing means SC to be mounted on the mounting portion 1a of the UAV 1 so as to detachably fix the photographing means SC while keeping the photographing means SC horizontally and vertically It is advantageous to obtain a clear and accurate image without distortion.

Meanwhile, the unmanned airplane 1 according to the present embodiment is a known flying object and has a mounting portion 1a on which a gimbal 100 according to the present invention can be installed.

For reference, the mounting portion 1a is provided inside the UAV 1.

Since the UAV 1 is well known in the art, a detailed description thereof will be omitted.

2 to 6, the first, second and third frames 10, 20 and 30 are arranged in a rectangular shape using a metal piece made of a lightweight material such as aluminum. Then, So as to be integrated with each other.

The first, second, and third molds 10, 20, and 30 may be formed of various known materials as needed.

A shaft hole 11 in which the Y-axis member 21 of the second frame 20 is rotatably fitted is integrally formed on the front surface of the first frame 10, and a first rotating means 40 is fixed A hole through which the threaded bolt is inserted is integrally formed.

In addition, a semicircular first guide part 12 is integrally formed at the upper end of the front surface of the first frame 10, and the first guide part 12 may not be applied if necessary.

The second frame 20 is rotatably installed inside the first frame 10.

A Y-axis member 21 rotatably fitted in the shaft hole 11 of the first frame 10 is formed on the front surface of the second frame 20 and a first rotation means 40 A hole through which the threaded bolt is inserted is formed integrally.

A second guide portion 22 is integrally formed at the upper end of the front surface of the second frame 10 so as to communicate with the first guide portion 12 of the first frame 10, The portion 22 may not be applied as needed.

On the left side of the second frame 20, there is formed a hole through which the screw bolt is inserted so that the second rotating means 50 can be fixed. On the right side of the third frame 30, A shaft hole 21 into which the member 31 is rotatably fitted is integrally formed.

As the bolt 35 is exposed through the first and second guide portions 12 and 22 of the first and second frames 10 and 20, the operator can easily and easily remove the bolt 35 using a tool such as a screwdriver It is easy to tighten or loosen.

The third frame 30 is rotatably installed inside the second frame 20, and the photographing means SC is detachably received.

The front surface of the third frame 30 is integrally formed with a fastening hole 37 in which a screw tab is formed on the inner circumferential surface and the first and second guide portions 12 and 22 are in communication with each other. A bolt 35 (screw bolt) is fastened to the nut portion c of the photographing means SC so that the photographing means SC can be firmly fixed to the inside of the third frame 30.

On the left side of the third frame 30, there is formed a hole through which the screw bolt is inserted so that the second rotating means 50 can be fixed, and on the right side, The X-axis member 31 rotatably fitted in the X-axis member 21 is integrally formed.

In addition, a seating part 32 is disposed on one side of the inner lower end of the third frame 30 so as to face each other, and a lens-exposed part 33 is formed between the seating parts 32.

For example, when the photographing means SC is disposed inside the third frame 30, the photographing means SC is supported on the seat portion 32, and the lens a of the photographing means SC Exposed downward through the lens-exposed portion 33, and is firmly fixed to the third frame 30 by the bolts 35. [

On the other hand, although not specifically shown, the inner surface of the third frame 30 and the upper surface of the seat portion 32 are provided with a shock absorber (not shown) to prevent vibrations from the UAV 1 from being transmitted to the photographing means SC A shock absorbing member (e.g., a rubber plate or the like) is installed.

A mounting table 36 having a hole is formed on the other side of the inner lower end of the third frame 30 and a shutter transmitter 70 for wirelessly transmitting a photographing signal to control the photographing means SC, Respectively.

For reference, the photographing signal is transmitted from the controller installed in the UAV 1, or the manager transmits the photographing signal through the remote controller.

The first and second rotating means (40, 50) are servo motors capable of rotating in a forward direction and a reverse direction by a rotation signal.

The first rotating means 40 is disposed between the first frame 10 and the second frame 20 and receives the rotation signal to rotate the second frame 20 about the Y axis member 21 To rotate in the forward / reverse direction.

The second rotating means 50 is disposed between the second frame 20 and the third frame 30 and receives the rotation signal to rotate the third frame 20 about the X axis member 31 To rotate in the forward / reverse direction.

The gyro sensor 60 is installed in the third frame 30 on which the photographing means SC is mounted to measure the horizontal posture of the third frame 30. [

The measured value of the gyro sensor 60 is transmitted to a controller (not shown) of the UAV 1 and a controller (not shown) receives the measured value, And to control the operation of the first and second rotating means 40 and 50 so as to be placed in the vertical state.

This will be described in more detail as follows.

As an example, if the UAV 1 is inclined at 30 ° with respect to the Y axis, it is clear that the third frame 30 of the gimbal installed in the UAV 1 will also be inclined at 30 °, The gyro sensor 60 continuously measures the tilted value of the gyro sensor 30 and transmits the measured value to the controller (not shown) of the UAV 1.

A controller (not shown) of the UAV 1 is connected to the second frame 20 connected to the third frame 30 by using the first rotation means 40 so that the third frame 30 can be placed in a horizontal state. The third frame 30 is placed in a horizontal and vertical state and thus the photographing means SC mounted on the third frame 30 is controlled to be rotated by -30 degrees around the Y axis, Since the target can be photographed in a state in which the target is horizontally and vertically aligned with the target, a clearer and more accurate image without distortion can be obtained.

As an example, if the unmanned airplane 1 is inclined at an angle of -10 with respect to the X axis, the third frame 30 of the gimbals installed on the UAV 1 will also be inclined by -10 degrees, The gyro sensor 60 continuously measures the inclined value of the same third frame 30 and transmits the measured value to the controller (not shown) of the UAV 1.

The controller (not shown) of the unmanned airplane 1 uses the second rotating means 50 to rotate the third frame 30 about the X axis by 10 degrees so that the third frame 30 can be placed in a horizontal state So that the third frame 30 is placed in a horizontal and vertical position so that the photographing means SC mounted on the third frame 30 is in a horizontal and vertical position with respect to the target It is possible to acquire a sharp and accurate image without distortion because the target can be photographed.

6, the gimbals according to the present invention are inclined at -10 DEG to the X-axis and -10 DEG to the Y-axis, as shown in Fig. 6 The gyro sensor 60 continuously measures the tilted value and transmits the measured value to the controller (not shown) of the UAV 1.

The controller (not shown) of the UAV 1 rotates the third frame 30 about the X axis by 10 degrees using the second rotating means 50 so that the third frame 30 can be placed in a horizontal state And controls the operation of the second frame 20 connected to the third frame 30 by the first rotating means 40 so that the second frame 20 is rotated by 10 degrees about the Y axis, Can be placed in a horizontal and vertical position.

The shutter transmission unit 70 is mounted on the mounting base 36 of the third frame 30 and wirelessly transmits a photographing signal to control the photographing unit SC to photograph the target.

For reference, the shutter transmission 70 may receive a photographing signal from a controller (not shown) provided in the UAV 1 and control the operation of the photographing means SC, (Not shown) and can control the operation of the photographing means SC.

On the other hand, it is not easy for the photographing means SC having the grip portion b to be installed inside the third frame 30.

3 and 4, the grip portion b of the photographing means SC is received and exposed toward the mounting table 36 at the other inner lower end of the third frame 30 The grip exposing portion 33 is further reinforced to solve the above problem.

As described above, the grip exposing portion 33 is reinforced, and the grip portion b can be easily and easily installed in the third frame 30 by the photographing means SC provided with the grip portion b, which is very convenient.

Meanwhile, the bolt (35) of the third frame (30) can be slidably installed to easily and easily fix the photographing means (SC) having various sizes.

The fastening hole 37 is formed in the shape of a long hole so that the bolt 35 is slidable as described above. The bolt 35 is slidably installed on the fastening hole 37 of the long hole shape.

According to the present embodiment, since the bolt 35 is slidably mounted on the third frame 30, the image taking means SC of various sizes can be easily and easily fixed, have.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.

1: unmanned aircraft 1a: gimbal mount JB: gimbal
SC: photographing means a: lens portion b: grip portion
c: nut portion 10: first frame 11:
12: first guide portion 20: second frame 21: Y-axis member
22: second guide portion 23: shaft hole 30: third frame
31: X-axis member 32: seat part 33: lens exposing part
34: grip exposed portion 35: bolt 36: mounting table
37: fastening hole 40: first rotating means 50: second rotating means
60: Gyro sensor 70: Shutter transmitter

Claims (3)

A first frame detachably received in a mounting portion of the unmanned air vehicle, the first frame having an inner surface vertically penetrating therethrough and having a first guide portion formed on an outer surface thereof;
A second frame rotatably installed in the first frame through a Y-axis member, the second frame having an inner surface vertically penetrating therethrough and having a second guide portion formed on an outer surface thereof to communicate with the first guide portion;
Wherein the second frame is rotatably installed in the second frame through an X-axis member and is vertically penetrated through the inside of the second frame, wherein a seating part for supporting the photographing means is formed on one side of the inner lower end part so as to face each other, A lens exposing portion is formed such that a lens of the means can be exposed downward, a grip exposing portion is formed on the other lower side of the inner lower portion so that the grip of the photographing means can be exposed downward, a mounting table is disposed below the grip exposing portion, A third frame fixed to the nut of the means to fix the photographing means and provided with a bolt exposed to the first and second guide portions;
A first rotating means disposed between the first frame and the second frame for rotating the second frame in a positive / negative direction about a Y-axis member by a rotation signal;
A second rotating means disposed between the second frame and the third frame for rotating the third frame about the X-axis member in a forward / reverse direction by a rotation signal;
A gyro sensor for measuring an attitude of a third frame on which the photographing means is mounted;
And a shutter transmitter installed on the mounting table for wirelessly transmitting a photographing signal to control operation of the photographing means.
The method according to claim 1,
Wherein the bolt is slidably mounted on the gimbals. delete

Images