KR102174826B1 - Overlapping photoflight system for acquiring precise image - Google Patents

Abstract

The present invention relates to an aerial photography system and, more specifically, to a duplicate aerial photography system for acquiring a precise image. The duplicate aerial photography system comprises: a first camera installed on an aircraft to photograph a first area; at least one second camera installed on the aircraft at a predetermined distance from the first camera to photograph at least one second area adjacent to the first area; a control unit connected to the first camera and the second camera and controlling the photographing operation of the first camera and the second camera; and a relative altitude measurement device connected to the control unit and transmitting and receiving radio waves to each of the first area and the second area to measure the relative altitude of the aircraft in each of the first area and the second area. The aerial photography system can take an aerial photograph with a small projection distortion and a high resolution by duplicate photography using multiple cameras and can adjust the tilt of the cameras even when the aircraft is circling.

Description

Overlapping aerial photography system for acquiring precise images {OVERLAPPING PHOTOFLIGHT SYSTEM FOR ACQUIRING PRECISE IMAGE}

The present invention relates to an aerial photographing system, and more particularly, to a redundant aerial photographing system for obtaining a precise image capable of photographing an aerial photograph having a small projection distortion and a high resolution by overlapping photographing with a plurality of cameras.

Aerial photography technology is largely manned photography in which pilots and photographers sit in the cockpit and next to the camera to take pictures, and unmanned aerial vehicles in which a wireless transmission/reception controller is attached to a non-carryable aircraft such as a model helicopter or airship while controlling the airplane wirelessly. It is classified by shooting technique.

The aerial photographing system uses an airplane equipped with a photographing device to the plane, photographing equipment, and automatic navigation so that the photographer can acquire data using the photographing device when the pilot moves the plane along the path of the filming area to the filming plan area. Consists of a device.

The airship imaging system is a method to solve the high cost, excessive time consuming, and complexity of data acquisition procedures of aerial surveying methods or remote sensing techniques, and is equipped with airships that can fill light gases such as hydrogen and helium, propulsion and controllers, and engines. It consists of a mounted gondola, a filming system that can acquire images, a ground control system, and a remote controller.

The aerial photograph photographed in this way is applied by numerically applying the GPS coordinate information of the terrain feature, and inputting various additional information based on the obtained numerical information to be used for digital map production. In particular, recent advances in computer and software, photographic technology and aircraft technology, and precision optical machinery and measuring instruments have had a great influence on the production of realistic maps.

1 is an exemplary diagram for explaining the principle of a map produced by an orthogonal projection method and a digital aerial photograph of a center projection method.

As shown, in the case of a general map, it is produced using an orthogonal projection method that projects (looks down) from an infinite distance in a vertical direction with respect to the plane, and a general digital aerial photograph is a central ray spreading from a point due to the focus of the lens. It is produced using a central projection method that obtains the shadows of the points and lines of the object obtained by

FIG. 2 is an exemplary view for explaining a state in which an aircraft photographs a digital aerial photograph, and FIGS. 3 and 4 are exemplary diagrams for explaining an orthogonal mosaic image produced by collecting multiple orthogonal images according to a conventional central projection method. to be.

As shown, in the digital aerial photograph, as shown in a map, in the form of a normal shape, that is, the front, rear, left and right walls of the building are not visible, but only the plane is visible from the center point of the lens. There is a problem in that projection distortion occurs in which only a specific wall surface is visible because the building lies in the same direction at the center point (circle) as shown in FIG. 4.

In addition, in the prior art for solving such projection distortion, when the vehicle is kept horizontal and flying in a straight line, the area can be photographed by a preset wide angle to obtain a precise image, but when the vehicle is turning, the vehicle is tilted. There is a problem in that it is not possible to accurately photograph a corresponding area with a preset wide angle because the horizontal state of the camera cannot be maintained.

The matters described as background art above are only for improving understanding of the background of the present invention, and should not be taken as acknowledging that they correspond to the prior art already known to those of ordinary skill in the art.

The present invention is to solve the problems of the prior art described above, it is possible to take an aerial photograph with a small projection distortion and high resolution by overlapping photographs with a plurality of cameras, and a precise image capable of adjusting the tilt of the camera even when the aircraft is turning. Its purpose is to provide a redundant aerial photography system for acquiring.

In addition, another object of the present invention is to provide a redundant aerial photographing system for obtaining a precise image capable of preventing the camera from shaking due to external shock or vibration using a buffer unit.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned will be clearly understood by those of ordinary skill in the art from the description of the present invention. .

The configuration of the present invention for achieving the above object, the first camera is installed in the aircraft to photograph a first area; At least one second camera installed at a predetermined distance from the first camera in the vehicle to photograph at least one second area adjacent to the first area; A control unit connected to the first camera and the second camera and controlling a photographing operation of the first camera and the second camera; And a relative altitude measuring device connected to the control unit and transmitting and receiving radio waves to and from the first area and the second area, respectively, to measure the relative altitudes of the aircraft with respect to the first area and the second area. It characterized in that it comprises a.

In the redundant aerial photography system for obtaining a precise image according to an embodiment of the present invention, the control unit corrects the height of the aircraft by using the relative altitudes for the first area and the second area, respectively, so that the first camera and the second The camera controls to adjust the resolution of the picture taken, and when the heights of the first area and the second area are different from each other, the height of the part in which the first camera is installed and the part where the second camera is installed in the vehicle is adjusted to the first area and the second area. 2 It is desirable to adjust according to the height of the area, generate the left and right rotation value of the vehicle, and transmit it to the navigation device of the vehicle connected to the control unit.

In the redundant aerial photographing system for obtaining a precise image according to an embodiment of the present invention, it is preferable that the vehicle is provided with a leveling mechanism for maintaining the horizontal state of the first camera and the second camera, respectively.

In the overlapping aerial photographing system for obtaining a precise image according to an embodiment of the present invention, the leveling mechanism is installed in a mounting groove formed in the aircraft, and a hinge pin coupled to one end is rotatably coupled to the aircraft; A fixing bracket mounted on the bottom of the horizontal control plate; A rotational detachable portion inserted to be detachably attached to the lower portion of the fixing bracket; A buffer unit coupled to the lower surface of the rotational detachable unit; A connecting member positioned in the mounting groove and having a screw hole formed on the inner circumferential surface and a cylindrical shape having a corrugated portion formed on the outer circumferential surface, and coupled to the inner surface of the horizontal control plate; A sector gear in which a screw hole of the connecting member and a fixing screw provided at one side are screwed and connected, a guide hole formed in an arc direction, and a gear part formed on an outer circumferential surface; A drive gear installed by being rotated on a guide rod inserted into a guide hole of the sector gear and engaged with the gear portion of the sector gear; A worm gear that is fixed on the drive gear and coaxially and rotates together; A worm that is rotated and supported by the vehicle and engaged with the worm gear; A driven gear fixed on the worm and coaxially to rotate together; A prime mover geared to the driven gear; An electric motor installed in the aircraft and controlled by a control unit for rotating the prime mover; One end is fixedly installed in the center of the inner side of the horizontal control plate, the other end is installed through the aircraft support shaft; And a position detection sensor comprising a light-receiving unit installed on the horizontal control plate and a light-emitting unit installed on the aircraft at a position opposite to the light receiving unit. It is preferable to include.

In the overlapping aerial photographing system for obtaining a precise image according to an embodiment of the present invention, the buffer unit includes: a buffer top plate coupled to a lower surface of the rotation and detachment unit; A buffer lower plate that is spaced apart from the buffer upper plate at a predetermined interval; And a buffer elastic part mounted between the buffer upper plate and the buffer lower plate to provide an elastic restoring force in the vertical direction. Including, the four upper plate extensions protruding toward a lower portion forming a'U'-shaped groove at the four corners of the buffer upper plate, and four lower plate extensions forming a'U'-shaped groove at the four corners of the buffer plate It protrudes and extends toward the top, and the upper plate extension part is disposed relatively inside the lower plate extension part, so that a predetermined space is formed in the portion where the upper plate extension part and the lower plate extension part face each other, and a predetermined space formed by the upper plate extension part and the lower plate extension part. It is preferable that the left and right elastic parts are inserted to provide elastic restoring force in the front and rear, left and right directions to the buffer upper plate and the lower buffer plate.

In the redundant aerial photographing system for obtaining a precise image according to an embodiment of the present invention, the rotation and detachment unit is coupled to the upper portion of the buffer unit and a detachable body made of a hard material; And a detachable fastening part coupled to the upper part of the detachable body part and made of an elastic material. Including, the detachable body portion, a detachable lower plate coupled to the upper portion of the buffer top plate; A detachable rotary shaft extending from the central portion of the detachable lower plate toward the upper part; And a rotation control unit mounted on an upper end of the detachable rotary shaft to control rotation of the detachable rotary shaft. Including, the detachable fastening portion, a detachable upper plate coupled to the upper portion of the detachable lower plate; A detachable telescopic part formed in a hemispherical shape on the upper part of the detachable top plate and disposed to surround the detachable rotary shaft; Detachable external force units formed on both sides of the detachable and retractable unit and capable of applying an external force so that the detachable and expandable unit can be retracted or unfolded; A rotation guide portion protruding from the side of the detachable external force portion; And a detachable perforation portion which is perforated in a shape of a cross on the upper portion of the detachable and elastic portion. It is preferable to include.

In the redundant aerial photographing system for obtaining a precise image according to an embodiment of the present invention, the rotation control unit includes: a rotation control body coupled to an upper end of the detachable rotation shaft and having an empty inside; A first spring coupled to an inner end of the rotation control body; A first slider coupled to an end of the first spring; A first sphere coupled to an end of the first slider and exposed to the outside of the rotation control body or accommodated in the rotation control body; A second spring coupled to the other end of the rotation control body; A second slider coupled to the end of the second spring; And a second sphere coupled to an end of the second slider and exposed to the outside of the rotation control body or accommodated in the rotation control body. Including, in one side of the first slider is equipped with an electromagnet that is magnetized when current flows, a magnetic material is mounted on one side of the second slider facing one side of the first slider, and when current flows in the electromagnet It is preferable that the first slider and the second slider are fixed in contact with each other so that the first sphere and the second sphere are exposed to the outside of the rotation control body.

In the overlapping aerial photographing system for obtaining a precise image according to an embodiment of the present invention, the fixing bracket is coupled to the bottom surface of the horizontal control plate, and an insertion space formed so that the detachable and detachable part of the rotational detachable part can be inserted; And a rotation receiving unit disposed at an upper end of the inner insertion space of the fixed body and accommodated so that the rotation control unit is rotatable. Including, a guide groove is formed in the central portion of the insertion space along the circumference thereof to accommodate the rotation guide portion, and a plurality of locking grooves are recessed in the inner surface of the rotation receiving portion to form the first sphere and the second sphere It is desirable that it is acceptable.

The present invention having the above configuration can take an aerial photo with a small projection distortion and high resolution even though the photo size is in a large format, and even in areas with different heights, the camera is installed in consideration of the relative altitude of the aircraft to the area. There is an effect of minimizing the deviation of the resolution of aerial photographs by adjusting the altitude and taking aerial photographs.

In addition, the present invention adjusts the leveling mechanism to maintain the level of the camera even if the vehicle is inclined due to orbiting flight, so that the relevant area can be accurately photographed at a preset wide angle while pre-flighting, and the horizontal adjustment of the camera by the leveling mechanism There is an effect of minimizing the camera shake by absorbing the flow of the camera due to the vibration of the vehicle or the vehicle by the connection member made of silicon installed between the vehicle and the camera.

In addition, the present invention has the effect of smoothly adjusting the leveling mechanism by minimizing the load by the weight of the camera and the leveling mechanism when the camera is horizontally adjusted by the coil spring installed between the aircraft and the camera.

Further, according to the present invention, since it is possible to prevent the camera from shaking due to external shock or vibration by using the buffer unit, the accuracy of the photographing image acquisition operation is remarkably improved.

1 is an exemplary view for explaining the principle of a map produced by an orthogonal projection method and a digital aerial photograph of a center projection method.
2 is an exemplary view for explaining a state in which the aircraft photographs a digital aerial photograph.
3 and 4 are exemplary views for explaining an orthogonal mosaic image produced by collecting multiple orthogonal images according to a conventional central projection method.
5 is a block diagram showing each configuration of a redundant aerial photographing system for obtaining a precise image according to an embodiment of the present invention.
6 is an exemplary view for explaining a state of photographing an aerial photograph using a conventional camera.
7 is an exemplary view for explaining a state of photographing an aerial photograph using a plurality of cameras according to an embodiment of the present invention.
FIG. 8 is an exemplary view for explaining the appearance of an overlapping area between a photo of a first area and a photo of a second area when an aerial photograph is taken using a plurality of cameras according to an embodiment of the present invention.
9 is a view showing a cross-sectional view of a leveling mechanism according to an embodiment of the present invention.
10 is a plan view showing a leveling mechanism according to an embodiment of the present invention.
11 is a view showing the overall appearance of the buffer unit according to an embodiment of the present invention.
12 is a view showing the overall appearance of the rotation and detachment unit according to an embodiment of the present invention.
13 is a view showing a view from above of the rotation and detachment unit according to an embodiment of the present invention.
14 is a cross-sectional view showing an interior view of a rotation control unit according to an embodiment of the present invention.
15 is a longitudinal sectional view showing a state of a fixing bracket according to an embodiment of the present invention.
16 is a view showing a view from below a fixing bracket according to an embodiment of the present invention.
17 is a view showing an exploded view of each configuration of the windshield according to an embodiment of the present invention.
18 is a cross-sectional view illustrating an exemplary operation of a windshield according to an embodiment of the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art can easily implement the present invention. However, the present invention may be implemented in various different forms and is not limited to the embodiments described herein.

In order to clearly describe the present invention, parts irrelevant to the description have been omitted, and the same reference numerals are assigned to the same or similar components throughout the specification.

In addition, terms or words used in this specification and claims should not be construed as being limited to their usual or dictionary meanings, and the inventors should appropriately explain the concept of terms in order to explain their own invention in the best way. Based on the principle that it can be defined, it should be interpreted as a meaning and concept consistent with the technical idea of the present invention.

5 is a block diagram showing each configuration of a redundant aerial photographing system for obtaining a precise image according to an embodiment of the present invention.

As shown, the present invention includes a first camera 12, a second camera 14, a control unit 16, a relative altitude measuring device 18, and the like.

The first camera 12 is installed on the wing part of one side of the aircraft and photographs parts of the first area at regular time intervals while the aircraft is flying. Here, the first camera 12 should be able to take pictures in a large format while reducing the projection distortion of the first area, thereby improving the quality of the picture and taking a small number of pictures, thereby reducing the cost.

Accordingly, in order for the first camera 12 to reduce the projection distortion for the first area, the shooting wide angle must be reduced, and in order to take a large format photo while reducing the shooting wide angle, the height of the aircraft must be increased.

Here, if the height of the vehicle is increased, the resolution of the photo is lowered and the quality of the picture is degraded. For this, it is preferable that the first camera 12 employs a lens having a shooting wide angle (angle of view) of less than 15° and a pixel size of 6 μm or less to reduce projection distortion.

The second camera 14 is installed on the wing portion of the other side of the vehicle and is provided with the same camera as the first camera 12. In addition, the second camera 14 is installed at a predetermined interval from the first camera 12 to capture portions of at least one second area adjacent to the first area being photographed by the first camera 12.

6 is an exemplary view for explaining a state of photographing an aerial photograph using a conventional camera, and FIG. 7 is a diagram illustrating a state of photographing an aerial photograph using a plurality of cameras according to an embodiment of the present invention It is an exemplary diagram for.

As shown in FIG. 6, in the related art, a digital aerial photograph was photographed using a lens having a shooting wide angle (angle of view) of about 30°. However, the present invention, as shown in FIG. 7, is generated according to the shooting wide angle by reducing the shooting wide angle to less than half while photographing the same area by arranging a plurality of preferably two lenses having a shooting wide angle (angle of view) within 15° Projection distortion can be minimized.

Here, the second camera 14 may be provided as one and simultaneously photograph the first area being photographed by the first camera 12 and one second area adjacent (eg, left), and the second camera 14 It is also possible to simultaneously shoot multiple areas (front, rear, left, right, etc.) adjacent to the first area.

Meanwhile, as shown in FIG. 7, the controller 16 controls the photographing operation of the first camera 12 and the second camera 14, but the first camera 12 and the second camera 14 The first area and the second area are respectively photographed at a preset wide angle in which projection distortion can be minimized, and an altitude value of the aircraft is determined to obtain a picture of a preset size.

Here, the control unit 16 determines the altitude value of the vehicle by calculating a preset wide angle and a preset size value of the photo using a trigonometric function. Here, it is preferable that the control unit 16 determine the altitude value of the vehicle so that the preset wide angle is set to 15°.

In this way, the altitude value of the vehicle calculated by the control unit 16 is transmitted to the navigation device 20 of the vehicle, so that the vehicle navigation device 20 can operate the vehicle using the altitude value of the vehicle.

FIG. 8 is an exemplary view for explaining the appearance of an overlapping area between a photo of a first area and a photo of a second area when an aerial photograph is taken using a plurality of cameras according to an embodiment of the present invention.

As shown, the control unit 16 includes the first camera in the aircraft so that the overlapping area between the photos for the first area and the second area exists within a preset range, so that image bonding by the image bonding method is possible. 12) and the second camera 14 to determine a distance value.

In other words, if the overlapping area between pictures is too large, a lot of pictures must be taken, and if the overlapping area between pictures is too small, it is difficult to join the image by the image bonding method. Accordingly, the controller 16 determines a distance value between the first area and the second area such that the overlapping area exists within 5% in order to secure the minimum overlapping area that can be overlapped by the image bonding method.

To this end, the control unit 16 includes a first value of 1/2 of the preset photo size value for the first area and a second size of 1/2 of the preset photo size value for the second area. The size (ratio) corresponding to the preset range of the overlapping area is subtracted from the value, and the sum of the subtracted first value and second value is determined as the distance value between the first camera 12 and the second camera 14 .

The relative altitude measurement device 18 transmits radio waves to the first and second areas, respectively, and then receives them and measures the relative altitudes of the aircraft with respect to the first and second areas.

For example, if the altitude of a specific area is lower or higher than the altitude above sea level, even if the altitude of the aircraft is constant, only the photo resolution of a specific area may differ from that of other areas.

Accordingly, the control unit 16 may adjust the altitude value of the aircraft using the relative altitude of the aircraft and adjust the resolution of pictures taken by the first camera 12 and the second camera 14 to be constant.

Meanwhile, when the first area is lower or higher in altitude than the second area, an altitude difference may occur between the first area and the second area. Accordingly, if the vehicle is traveling horizontally, the photo resolution for the first area and the second area may be different from each other even if the flying vehicle operates at a relative altitude of the measured vehicle.

Accordingly, the control unit 16 is configured to adjust the elevation of the first region and the second region in order to make the first region with different altitudes and the relative altitudes between the first camera 12 and the second region and the second camera 14 equal to each other. It is possible to calculate the left and right rotation value of the wing of the vehicle according to the difference of.

That is, among the first and second regions, the right wing portion of the aircraft in which the first camera 12 is installed, which is photographing the low altitude region, is lowered, and the region with a high altitude among the first region and the second region is photographed. The left wing portion of the vehicle in which the second camera 14 is installed is raised to make the relative altitude between the first area and the first camera 12 and the second area and the second camera 14 the same.

The control unit 16 transmits the calculated left and right rotation value of the vehicle to the navigation device 20 of the vehicle to provide a relative altitude between the first camera 12 and the first region and the second camera 14 and the second region. Keep the relative altitude of the liver equal to each other.

9 is a view showing a cross-sectional view of a leveling mechanism according to an embodiment of the present invention, Figure 10 is a view showing a plan view of the leveling mechanism according to an embodiment of the present invention.

The leveling mechanism 30 for maintaining the level of the camera is provided in each of the aircraft in which the first camera 12 and the second camera 14 are installed, and the installation configuration is the same, so that the first camera 12 Only the case will be described as an example.

The leveling mechanism 30 is installed in the mounting groove 41 formed in the aircraft 40, and includes a leveling plate 31 formed in a plate shape. The horizontal adjustment plate 31 is rotatably coupled to a hinge pin 31a provided at one end to the aircraft 40 so as to be rotatable at a predetermined angle around the horizontal axis of the hinge pin 31a.

A fixing bracket 300 is mounted on the bottom of the horizontal control plate 31, a rotational detachable part 200 is inserted into the lower part of the fixing bracket 300 so as to be detachable, and a buffer part is provided on the lower surface of the rotational detachable part 200. 100 is coupled, and the first camera 12 is fixed under the buffer unit 100. The specific configuration of the fixing bracket 300, the rotational detachable part 200, and the buffer part 100 will be described in detail below.

The sector gear 33 is installed on the inner side of the horizontal adjustment plate 31 through the connecting member 32. A fixing screw 31b for connecting with the connecting member 32 is provided on the inner side of the horizontal adjustment plate 31. The connecting member 32 is made of a silicone material having elasticity, and is located in the mounting groove 41 of the aircraft 40 and forms a screw hole 32a for screwing with the fixing screw 31b on the inner circumferential surface. It is formed in a cylindrical shape in which a corrugated portion 32b for bending deformation is formed on the outer circumferential surface.

The sector gear 33 is provided with a fixing screw (33a) that is screwed with the screw hole (32a) of the connection member (32) is provided on one side, and has an arc shape centered on the hinge pin (31a) of the horizontal adjustment plate (31). It is formed and a guide hole (33b) is formed along the arc direction in the middle portion.

Therefore, by screwing the fixing screw (31b) of the horizontal adjustment plate (31) and the fixing screw (33a) of the sector gear (33) on both sides of the screw hole (32a) of the connection member (32), the connection member (32) Through the horizontal adjustment plate 31 and the sector gear 33 are connected.

On the other hand, the guide rod 34 installed in the aircraft 40 is inserted into the guide hole 33b of the sector gear 33, and the guide rod 34 has a sector gear 33 centered on the hinge pin 31a. When rotated in a direction, the sector gear 33 is guided so that it can move in a predetermined rotation direction without shaking.

Further, the sector gear 33 has a gear portion 33c formed on its outer circumferential surface. The drive gear (35a), which is installed by rotation support on the aircraft 40, is meshed with the gear part (33c) of the sector gear (33), and the worm gear (35b) is fixed on the coaxial of the drive gear (35a) and rotates together. It is supposed to be.

The worm gear 35b is engaged with the worm 35c, which is rotated and supported by the aircraft 40, and the driven gear 35d is fixed and rotated coaxially with the worm 35c.

In addition, the driven gear (35d) is meshed with the driving gear (35e), the driven gear (35d) is installed on the aircraft 40 to the axis of the electric motor 36 controlled by the control unit 16 It is fixed and rotates by driving the electric motor 36.

Therefore, the rotational force by the driving of the electric motor 36 is transmitted to the worm 35c and the worm gear 35b by the prime mover 35e and the driven gear 35d, and then the worm 35c and the worm gear 35b ) Is transmitted to the gear portion 33c of the sector gear 33 through the drive gear 35a, so that the sector gear 33 is driven by the hinge pin ( With the horizontal axis of 31a) as the center, the horizontal adjustment plate 31 can rotate at a predetermined angle in the vertical direction.

In addition, one end of the support shaft 37a is fixedly installed in the center of the inner surface of the horizontal control plate 31, and the other end of the support shaft 37a passes through the aircraft 40 and protrudes to the inside of the aircraft 40. . The stopper (37b) is fixed at the end of the support shaft (37a), the coil spring (37c) is elastically installed between the stopper (37b) and the aircraft 40, the elastic force of the coil spring (37c) is the horizontal control plate (31 ) Is pulled toward the aircraft 40, that is, the horizontal control plate 31 is to be rotated upward.

In addition, a position detection sensor 38 for providing the position of the horizontal control plate 31 to the control unit 16 is installed between the horizontal control plate 31 and the aircraft 40. The position detection sensor 38 includes a light receiving unit 38a installed on the horizontal control plate 31 and a light emitting unit 38b installed on the aircraft 40 at a position opposite to the light receiving unit 38a. Accordingly, the distance between the light-receiving part 38a and the light-emitting part 38b can be detected by the optical signal transmitted between the light-receiving part 38a and the light-emitting part 38b.

The control unit 16 detects the horizontal position of the level control plate 31 as the distance between the light-receiving unit 38a and the light-receiving unit 38a during horizontal flight of the aircraft 40 and presets it as a reference value. By adjusting the rotation angle of the horizontal control plate 31 by calculating the distance between the light-receiving part 38a and the light-emitting part 38b as much as the inclination angle of the aircraft 40 during the turning flight of 40), the horizontal control plate 31 is always Program it to be in a horizontal position.

According to the leveling function of the camera made in such a configuration, during aerial photography, when the aircraft is inclined to the left due to the turning flight of the aircraft, for example, the controller 16 is a leveling mechanism ( By driving the electric motor 36 of 30), the horizontal control plate 31 is rotated clockwise, and at the same time, the light-receiving part 38a and the light-emitting part 38b of the position detection sensor 38 are as much as the tilt angle of the aircraft 40. ) It is possible to adjust the horizontal control plate 31 to a horizontal position by calculating the distance between them and determining the rotation angle of the horizontal control plate 31 and rotating it.

That is, when the electric motor 36 is driven, the rotational force is transmitted to the worm 35c and the worm gear 35b by the prime mover 35e and the driven gear 35d, and the worm 35c and the worm gear 35b The rotational force reduced by the driving gear 35a and the sector gear 33 is transmitted to the sector gear 33 through the gear unit 33c so that the horizontal control plate 31 rotates around the hinge pin 31a. , When the distance between the light-receiving unit 38a and the light-emitting unit 38b reaches the distance calculated by the control unit 16 due to the rotation of the horizontal control plate 31, the driving of the electric motor 36 is stopped.

For example, even when the vehicle 40 is inclined to the right, the control unit 16 drives the electric motor 36 of the leveling mechanism 30 to rotate the horizontal control plate 31 counterclockwise. At the same time, the distance between the light-receiving part 38a and the light-emitting part 38b of the position detection sensor 38 is calculated as much as the inclination angle of the aircraft 40, and the rotation angle of the horizontal control plate 31 is determined and rotated. 31) can be adjusted to the horizontal position.

On the other hand, according to the guide hole 33b of the sector gear 33 and the guide rod 34 penetrating therethrough, when the sector gear 33 rotates around the hinge pin 31a, the guide rod 34 is guided. Since the hole 33b is guided and rotated, the shaking of the sector gear 33 can be minimized, and thus, the rotational operation of the horizontal holding mechanism 30 can be smoothly performed.

And the connection member 32 made of silicon connected between the horizontal control plate 31 and the sector gear 33, the vibration transmitted to the level control plate 31 through the sector gear 33 from the aircraft 40 side by its own elasticity. Is absorbed and alleviated, so it is possible to minimize the shake of the camera installed on the horizontal control plate 31, thereby maintaining the resolution of the aerial photographed image, and connecting by the wrinkle part 32b of the connecting member 32 By inducing force deformation of the member 32, the absorption efficiency of shock or vibration transmitted from the aircraft 40 to the camera may be further increased.

In addition, according to the support shaft (37a) and the coil spring (37c) provided between the horizontal control plate 31 and the aircraft 40, the coil spring (37c) in the direction of pulling the horizontal control plate 31 toward the aircraft 40 Since it is installed to act on an elastic force, when the horizontal adjustment plate 31 is rotated downward, the coil spring 37c is compressed, and when the horizontal adjustment plate 31 is rotated upward, the coil spring 37c is elongated.

Therefore, the horizontal control plate 31 is always a load to rotate downwards by the total weight and gravity of the horizontal control plate 31, the connecting member 32 and the sector gear 33 on which the camera is installed, but the coil spring (37c) Since the elastic restoring force of is partially offset the load, when the horizontal control plate 31 is rotated upward, the load of the electric motor 36 is reduced, so that the electric motor 36 can be smoothly driven.

Conversely, when the horizontal control plate 31 is rotated downward, the load of the level control plate 31 is added, but since the coil spring 37c is compressed and supports the load, the rotational force of the level control plate 31 can be reduced. There can be prevented that the horizontal adjustment plate 31 is excessively rotated downward.

11 is a view showing the overall appearance of the buffer unit according to an embodiment of the present invention.

As shown, the buffer unit 100 includes a buffer upper plate 110 coupled to the lower surface of the rotational detachable unit 200, a buffer lower plate 130 spaced apart from the buffer upper plate at a predetermined distance, and a buffer It includes a cushioning elastic portion 120 mounted between the upper plate and the lower buffer plate to provide an elastic restoring force in the vertical direction.

In the illustrated embodiment, the buffer upper plate 110 and the buffer lower plate 130 are formed in the shape of a square panel, but are not limited thereto, and may be formed in various shapes, and the buffer elastic part 120 is also a coil spring. It is formed in a shape, but is not limited thereto.

The cushioning elastic part 120 attenuates shocks or vibrations applied to the camera from the aircraft by providing an elastic restoring force in the vertical direction, thereby improving the accuracy of the camera.

In addition, four upper plate extensions 111 forming a'U'-shaped groove are protruded toward the bottom at the four corners of the buffer upper plate 110, and a'U'-shaped groove is provided at the four corners of the buffer lower plate 130. Four lower plate extensions 131 forming a protrude extend toward the top.

That is, the upper plate extension part 111 and the lower plate extension part 131 are formed to protrude to face each other like a tooth, and the upper plate extension part 111 is disposed relatively inside the lower plate extension part 131, so that the upper plate extension part ( A predetermined space is formed in a portion where 111 and the lower plate extension 131 face each other.

The left and right elastic parts 140 are inserted in a predetermined space formed by the upper plate extension part 111 and the lower plate extension part 131. The left and right elastic parts 140 have one side in contact with the'U'-shaped groove of the upper plate extension 111 and the other side with the'U'-shaped groove of the lower plate extension 131 to buffer the buffer upper plate 110 It provides an elastic restoring force to the lower plate 130 in the front-rear, left-right direction.

In other words, the upper and lower vibrations of the lower buffer plate 130 and the camera coupled thereto are attenuated by the cushioning elastic unit 120 and the vibrations in the front and rear, left and right directions by the left and right elastic units 140.

Among the four upper plate extensions 111, the rest of the two upper plate extensions 111 and four upper plate extensions 111 disposed on one side of the buffer top plate 110 are disposed on the other side of the buffer top plate 110 Between the two upper plate extensions 111 are connected through the upper plate support portions 112, respectively.

The upper plate support part 112 and the buffer lower plate 130 are connected through a height fixing part 150, and as the height fixing part 150 is adjusted, the separation distance between the buffer upper plate 110 and the buffer lower plate 130 is variable. Can be.

That is, the user can tighten or loosen the height fixing unit 150 in consideration of the operating speed of the flight vehicle and the weight of each part, and accordingly, the separation distance between the buffer top plate 110 and the buffer bottom plate 130 is varied to buffer The stiffness of the elastic portion 120 may be adjusted.

At this time, the distance between the lower surface of the buffer upper plate 110 and the uppermost end of the lower plate extension part 131 is preferably adjusted to be relatively narrower than the length of the left and right elastic parts 140, and accordingly The churn is prevented.

12 is a view showing an overall appearance of a rotational detachable unit according to an embodiment of the present invention, and FIG. 13 is a view showing a view from above of the rotational detachable unit according to an embodiment of the present invention.

As shown, the rotation and detachment part 200 is coupled to the upper portion of the buffer unit 100, the detachable body 210 made of a hard material and the detachable body part 210 made of a hard material and a detachable fastening part made of an elastic material ( 220).

The detachable body 210 is made of a hard material having sufficient rigidity to support the buffer unit 100 coupled to the lower part such as metal and wood, and the detachable and fastening part 220 is made of a flexible material having elasticity such as silicone. Done.

In the present invention, since the detachable body 210 and the detachable fastening part 220 are made of different materials, the camera can be stored separately when not in use, and can be attached and utilized when using.

The detachable body part 210 is a detachable lower plate 211 coupled to the upper part of the buffer top plate 110, a detachable rotary shaft 212 extending from the central part of the detachable lower plate toward the top, and a detachable rotary shaft mounted on the upper end of the detachable rotary shaft. It includes a rotation control unit 230 for controlling the rotation of.

In this way, since the detachable body part 210 is rotatable with respect to the detachable rotation shaft 212, the viewing angle of the camera can be freely adjusted. Such rotation may be performed manually by a user, or may be automatically performed using a known configuration such as a motor or gear.

The detachable fastening part 220 is a detachable upper plate 221 coupled to the upper part of the detachable lower plate 211, a detachable elastic part 222 formed on the upper part of the detachable upper plate in a hemispherical shape and disposed to surround the detachable rotary shaft 212, A detachable external force part 223 that is formed on both sides of the detachable elastic part and can apply an external force so that the detachable expandable part can be retracted or unfolded, a rotation guide part 224 protruding from the side of the detachable external force part, and a ten( It includes a detachable perforation part 225 that is perforated in the form of a 十) shape.

The user can hold the detachable external force part 223 and apply a force so that the detachable external force part 223 enters into the detachable stretch part 222, and at this time, the protruding rotation guide part 224 is also removed and the detachable stretch part 222 ) It is possible to separate the detachable body part 210 from the fixing bracket 300 to be described later while coming in.

When inserting the detachable body part 210 into the fixing bracket 300, the above process is reversed and the rotation guide part 224 is applied to the fixing bracket 300 while applying a force so that the detachable body part 210 enters the inside of the detachable extension part 222. Insert and release the detachable external force portion 223 so that the rotation guide portion 224 can protrude.

14 is a cross-sectional view showing an interior view of a rotation control unit according to an embodiment of the present invention.

As shown, the rotation control unit 230 is coupled to the upper end of the detachable rotation shaft 212 and the inside is empty rotation control body 231, a first spring 232 coupled to the inner left end of the rotation control body, 1 The first slider 233 coupled to the end of the spring, the first sphere 234 coupled to the end of the first slider and exposed to the outside of the rotation control body or accommodated inside the rotation control body, the inside of the rotation control body The second spring 236 coupled to the right end, the second slider 237 coupled to the end of the second spring, and the end of the second slider are exposed to the outside of the rotation control body or can be accommodated inside the rotation control body. It includes a second sphere (238).

Since the first spring 232 provides an elastic force to push the first slider 233 to the right, the first sphere 234 is partially or entirely exposed to the outside of the rotation control body 231 unless an external force is applied. Has been.

Likewise, since the second spring 236 provides an elastic force to push the second slider 237 to the left, the second sphere 238 is partially or completely outside the rotation control body 231 unless an external force is applied. It is exposed.

Meanwhile, an electromagnet portion 235 that is magnetized when current flows is mounted on one side of the first slider 233, and on one side of the second slider 237 facing one side of the first slider 233 The magnetic body 239 is mounted.

When a current flows through the electromagnet part 235, the first slider 233 and the second slider 237 are fixed in contact, so that the first sphere 234 and the second sphere 238 are outside the rotation control body 231. Can be fixed while exposed.

In other words, the first sphere 234 and the second sphere 238 are normally accommodated in the rotation control body 231 by the first spring 232 and the second spring 236 or exposed to the outside. However, when a current flows through the electromagnet part 235, the first slider 233 and the second slider 237 become hard like a single rod as the electromagnet part 235 and the magnetic body 239 are fixed in the attached state. Accordingly, the first sphere 234 and the second sphere 238 may be fixed in a state exposed to the outside.

FIG. 15 is a longitudinal sectional view showing a fixing bracket according to an embodiment of the present invention, and FIG. 16 is a view showing a fixing bracket viewed from below according to an embodiment of the present invention.

As shown, the fixing bracket 300 is coupled to the lower portion of the horizontal adjustment plate 31, and the fixing body 311 having an insertion space 311 so that the detachable fastening part 220 of the rotary detachable part 200 can be inserted. 310) and a rotation receiving unit 320 disposed at the top of the inner insertion space of the fixed body and accommodated so that the rotation control unit 230 is rotatable.

That is, the fixing bracket 300 is coupled to the lower surface of the horizontal control plate 31, and the rotation and detachment part 200 is detachably and rotatably fastened to the fixing bracket 300, and the lower part of the rotation and detachment part 200 The buffer unit 100 is coupled to the buffer unit 100, and the first camera 12 is coupled to the lower portion of the buffer unit 100.

A guide groove 312 is formed in the center of the insertion space 311 along its periphery. The above-described rotation guide part 224 is accommodated in the guide groove 312, and accordingly, the detachable body part 210 can rotate in a certain track without being separated from the fixing bracket 300.

On the other hand, a plurality of locking grooves 321 are recessed along the periphery of the inner surface of the rotation receiving part 320. The first sphere 234 and the second sphere 238 are accommodated in the locking groove 321 to have a certain fixing force.

In other words, as the detachable body 210 rotates, the detachable rotary shaft 212 rotates, and the rotation control unit 230 at the upper end thereof also rotates, and the first sphere 234 and the second sphere 238 are caught. When accommodated in the groove 321, it temporarily has a slight fixing force, and after the first sphere 234 and the second sphere 238 cross over the locking groove 321, it will be accommodated in the other locking groove 321 again. At times, it is possible to clearly recognize whether or not to rotate by forming a sense of moderation with the feeling of'clicking'.

If the angle of view of the camera is adjusted and there is no need to rotate the detachable body part 210 any more, the first slider 233 and the second slider 237 are formed with a single rod by passing a current through the electromagnet part 235 As such, the first sphere 234 and the second sphere 238 are fixed while being accommodated in the locking groove 321, so that the detachable body 210 does not rotate any more.

Although not shown, the electromagnet part 235 may be electrically connected to a general control unit of the aircraft, a battery, etc., and may operate so that current flows or does not flow depending on circumstances. In addition, rotation of the detachable body 210 may also be automatically performed using a known configuration such as a motor or gear.

17 is a view showing an exploded state of each configuration of a windshield according to an embodiment of the present invention, and FIG. 18 is a cross-sectional view illustrating an exemplary operation of the windshield according to an embodiment of the present invention.

As shown in FIG. 9, the windshield 400 is mounted on the bottom of the aircraft 40, and is disposed in front of the first camera 12 to prevent excessive wind from being injected into the camera when the aircraft is operated. do.

Specifically, the windshield part 400 is a wind case 430 having an empty interior and a perforated entry hole 431 at the bottom, and a lower part that is installed to be movable up and down in the wind case and protrudes to the outside or can be accommodated inside. The wind body 410, a plurality of locking jaws 411 protruding from the top of the front surface of the lower wind body, are disposed in front of the lower wind body and are installed to be movable up and down so that they can protrude to the outside or be accommodated inside. It includes a plurality of rails 421 recessed in the upper wind body 420 and the rear surface of the upper wind body and receiving a plurality of locking projections 411.

The end of the lower wind body 410 is connected to the wind rotation motor 440 and can rotate upward or downward, and a plurality of locking jaws 411 are accommodated in a plurality of rails 421 to slide up and down. I can.

As shown, a plurality of locking projections 411 are formed in a'T' shape so that they are not separated from the rail 421, and the lower wind body 410 is in a state in which the locking projections 411 are located at the lowest end of the rail 421. When is further moved toward the lower side, the upper wind body 420 is moved toward the lower side together with the lower wind body 410 while the locking jaw 411 is caught on the rail 421.

Conversely, when the lower wind body 410 is further moved toward the upper side while the locking protrusion 411 of the lower wind body 410 is located at the top of the rail 421, the upper wind body 420 becomes the lower wind body 410 ) Is stacked in front of and stacked.

The present invention is configured by dividing the lower wind body 410 and the upper wind body 420 in this way, and configuring the upper wind body 420 to move downward according to the downward movement of the lower wind body 410 At the same time, the effect of preventing wind entry can be maximized.

In addition, the present invention can freely adjust the degree of spreading of the lower wind body 410 and the upper wind body 420 in consideration of the speed of the wind.

Meanwhile, in the lower wind body 410, a plurality of vent holes 412 are disposed to be spaced apart in the transverse direction, and a plurality of air grooves 413 are disposed between the plurality of vent holes 412.

The plurality of ventilation holes 412 are formed in a long elliptical shape in the longitudinal direction, and by allowing some wind to pass through the lower wind body 410 and naturally flow backward, when strong wind occurs, the lower wind body 410 There is an effect of preventing it from being broken or excessive vibration is generated and transmitted to the vehicle and the camera.

The plurality of air grooves 413 are formed in a'V' shape with a low center portion and high both ends, and four air grooves 413 spaced apart in the longitudinal direction form a set. The plurality of air grooves 413 guide and flow the wind striking the lower wind body 410 in the direction of the vent hole 412.

The present invention described above is not limited by the above-described embodiments and the accompanying drawings, and it is common in the technical field to which the present invention pertains that various substitutions, modifications, and changes can be made without departing from the technical spirit of the present invention. It will be obvious to those with knowledge

10: aerial photography system 12: first camera 14: second camera
16: control unit 18: relative altitude measurement device 20: navigation device
30: leveling mechanism 31: leveling plate 32: connecting member
33: sector gear 34: guide rod 36: electric motor
37a: support shaft 38: position detection sensor 40: aircraft
100: buffer unit 110: buffer upper plate 111: upper plate extension
112: upper plate support 120: buffer elastic portion 130: buffer lower plate
131: lower plate extension 140: left and right elastic parts 150: height fixing
200: rotation and detachment 210: detachable body 211: detachable lower plate
212: detachable rotary shaft 220: detachable fastening part 221: detachable top plate
222: detachable extension part 223: detachable external force part 224: rotation guide part
225: detachable perforation 230: rotation control unit 231: rotation control body
232: first spring 233: first slider 234: first sphere
235: electromagnet part 236: second spring 237: second slider
238: second sphere 239: magnetic body 300: fixing bracket
310: fixed body 311: insertion space 312: guide groove
320: rotation receiving portion 321: locking groove 400: windshield
410: lower wind body 411: locking jaw 412: ventilation hole
413: air groove 420: upper wind body 421: rail
430: wind case 431: entry hole 440: wind rotating motor

Claims (1)

A first camera installed on the aircraft to photograph a first area; At least one second camera installed at a predetermined distance from the first camera in the vehicle to photograph at least one second area adjacent to the first area; A control unit connected to the first camera and the second camera and controlling a photographing operation of the first camera and the second camera; And a relative altitude measuring device connected to the control unit and configured to transmit and receive radio waves to the first and second areas, respectively, and measure relative altitudes of the aircraft with respect to the first and second areas. Including,
The control unit,
By correcting the altitude of the aircraft by using the relative altitudes for the first area and the second area, respectively, the first and second cameras are controlled to adjust the resolution of the photos taken, and the height of the first area and the second area In the case where is different from each other, the height of the part where the first camera is installed and the part where the second camera is installed are adjusted according to the height of the first area and the second area, and the left and right rotation value of the aircraft is generated to be connected to the control unit. To the navigation device of the
Each of the aircraft is provided with a leveling mechanism for maintaining the horizontal state of the first camera and the second camera,
The leveling mechanism,
It is installed in the mounting groove formed in the aircraft, a hinge pin coupled to one end is a horizontal control plate rotatably coupled to the aircraft; A fixing bracket mounted on the bottom of the horizontal control plate; A rotational detachable portion inserted to be detachably attached to the lower portion of the fixing bracket; A buffer unit coupled to the lower surface of the rotational detachable unit; A connecting member positioned in the mounting groove and having a screw hole formed on the inner circumferential surface and a cylindrical shape having a corrugated portion formed on the outer circumferential surface, and coupled to the inner surface of the horizontal control plate; A sector gear in which a screw hole of the connecting member and a fixing screw provided on one side are screwed and connected, a guide hole formed in an arc direction, and a gear part formed on an outer circumferential surface; A drive gear installed by being supported by rotation on a guide rod inserted into the guide hole of the sector gear and engaged with the gear portion of the sector gear; A worm gear that is fixed on the drive gear and coaxially and rotates together; A worm that is rotated and supported by the vehicle and engaged with the worm gear; A driven gear fixed on the worm and coaxially to rotate together; A prime mover geared to the driven gear; An electric motor installed in the aircraft and controlled by a control unit for rotating the prime mover; One end is fixedly installed in the center of the inner side of the horizontal control plate, the other end is installed through the aircraft support shaft; And a position detection sensor comprising a light-receiving unit installed on the horizontal control plate and a light-emitting unit installed on the aircraft at a position opposite to the light receiving unit. Including,
The buffer unit,
A buffer top plate coupled to the lower surface of the rotation and detachment unit; A buffer lower plate that is spaced apart from the buffer upper plate at a predetermined interval; And a buffer elastic part mounted between the buffer upper plate and the buffer lower plate to provide an elastic restoring force in the vertical direction. Including,
Four upper plate extensions forming a'U'-shaped groove protrude toward the bottom at the four corners of the buffer top plate, and four lower plate extensions forming a'U'-shaped groove protrude upward at the four corners of the buffer plate. It is extended, and the upper plate extension part is disposed relatively inside the lower plate extension part, so that a predetermined space is formed in the part where the upper plate extension part and the lower plate extension part face each other, and the left and right elastic parts are in a predetermined space formed by the upper plate extension part and the lower plate extension part. It is inserted to provide elastic restoring force to the buffer upper plate and the buffer lower plate in the front and rear, left and right directions,
The rotational detachable part,
A detachable body part that is coupled to the upper part of the buffer part and made of a hard material; And a detachable fastening part coupled to the upper part of the detachable body part and made of an elastic material. Including,
The detachable body portion, a detachable lower plate coupled to the upper portion of the buffer upper plate; A detachable rotary shaft extending from the central portion of the detachable lower plate toward the upper part; And a rotation control unit mounted on an upper end of the detachable rotary shaft to control rotation of the detachable rotary shaft. Including,
The detachable fastening part, a detachable top plate coupled to the upper part of the detachable lower plate; A detachable telescopic part formed on the upper part of the detachable top plate in a hemispherical shape and disposed to surround the detachable rotary shaft; Detachable external force units that are formed on both sides of the detachable and expandable part and can apply an external force so that the detachable and expandable part is constricted or unfolded; A rotation guide portion protruding from the side of the detachable external force portion; And a detachable perforation portion which is perforated in a shape of a cross on the upper portion of the detachable and elastic portion. Including,
The rotation control unit,
A rotation control body coupled to the upper end of the detachable rotation shaft and having an empty inside; A first spring coupled to an inner end of the rotation control body; A first slider coupled to an end of the first spring; A first sphere coupled to an end of the first slider and exposed to the outside of the rotation control body or accommodated in the rotation control body; A second spring coupled to the other end of the rotation control body; A second slider coupled to the end of the second spring; And a second sphere coupled to an end of the second slider and exposed to the outside of the rotation control body or accommodated in the rotation control body. Including,
One side of the first slider is equipped with an electromagnet that becomes magnetized when current flows, a magnetic body is mounted on one side of the second slider facing one side of the first slider, and when current flows in the electromagnet, the first slider and The second slider is fixed in contact so that the first sphere and the second sphere are fixed in a state exposed to the outside of the rotation control body,
The fixing bracket,
A fixed body coupled to the bottom of the horizontal control plate and having an insertion space formed therein so that the detachable and detachable part of the rotation and detachment may be inserted; And a rotation receiving unit disposed at an upper end of the inner insertion space of the fixed body and accommodated so that the rotation control unit is rotatable. Including,
A guide groove is recessed along the periphery of the insertion space to accommodate the rotation guide, and a plurality of locking grooves are recessed on the inner surface of the rotation receiving part to accommodate the first sphere and the second sphere. An overlapping aerial photography system for obtaining a precise image, characterized in that.

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