KR102453860B1 - Apparatus for Unmanned Aerial Vehicle Control of Gimbal Structure Mountable with Cellphone and Controlling Unmanned Aerial Vehicle System Comprising the same - Google Patents

Abstract

According to the present invention, the gimbal includes a gimbal structure in which multiple types of terminals can be mounted, controls the rotation of the gimbal by receiving an external control command, and serves as a communication hub for transmitting flight information and flight commands. Disclosed is an apparatus for controlling an unmanned moving object of a structure.

Description

Apparatus for Unmanned Aerial Vehicle Control of Gimbal Structure Mountable with Cellphone and Controlling Unmanned Aerial Vehicle System Comprising the same

The present invention relates to an unmanned moving object control apparatus and an unmanned moving object control system including the same, and more particularly, to an unmanned moving object control apparatus having a gimbal structure that can be mounted on a terminal, and an unmanned moving object control system including the same.

In general, an unmanned mobile vehicle may refer to an aircraft that flies by radio wave guidance without a human being, or that autonomously flies by recognizing and judging the surrounding environment (obstacles, route) according to a pre-entered program or by itself.

These unmanned moving objects, equipped with optical sensors, infrared sensors, and radar sensors, can be used for military purposes such as surveillance, reconnaissance, precision attack weapon guidance, communication/information relay, etc. It is expanding to the private sector such as R&D, filming, logistics, and communication. In addition, as well as unmanned vehicles for commercial purposes, the fields of application of unmanned vehicles are diversifying, such as helicopter-shaped unmanned vehicles for leisure including a plurality of rotors or propellers are commercialized.

Existing unmanned vehicles have been operated by attaching a camera to the bottom to acquire images, and as the unmanned vehicle flies, the axis becomes unstable. there is In addition, when it is out of a range capable of performing wireless communication with an unmanned mobile device, there is a problem in that communication cannot be performed.

The present invention is an unmanned mobile body control device of a gimbal structure that can be mounted on a terminal, and includes a gimbal structure that can be mounted on a variety of terminals. Its purpose is to serve as a hub.

In addition, another purpose is to eliminate the limitation of the drone's control distance and to utilize the various shooting functions of the smartphone to the drone by using the smartphone for image acquisition and drone control without using a separate control device and imaging device. have.

Other objects not specified in the present invention may be additionally considered within the scope that can be easily inferred from the following detailed description and effects thereof.

In order to solve the above problems, the apparatus for controlling an unmanned moving object having a gimbal structure that can be mounted on a terminal according to an embodiment of the present invention is a device for controlling an unmanned moving object having a gimbal structure, and is connected to the unmanned moving object, and receives a control command. a gimbal driving unit for driving a multi-axis gimbal; a mounting unit on which a terminal is mounted at a lower end of the gimbal driving unit; a link unit connecting the gimbal driving unit and the mounting unit; and a control unit for transmitting an attitude control command for controlling the attitude of the multi-axis gimbal to the gimbal driving unit and transmitting a flight command to the unmanned moving unit.

Preferably, the link unit is connected to the terminal through a terminal to exchange the posture control command and the flight command by wire or wirelessly, and transmits the image obtained from the terminal to the control unit.

Preferably, the gimbal driving unit includes an angle measuring unit that measures an angle of rotation with respect to the direction axis of the gimbal driving unit, and the gimbal driving unit compares the rotating angle measured by the angle measuring unit with a preset angle. It is driven according to the posture control command to maintain the preset angle and rotates about the direction axis.

Preferably, the gimbal driving unit drives around a first axis connected to the unmanned moving object and a second axis and a third axis perpendicular to the first axis, and includes a three-axis sensor, and the first axis is the center of the first axis. and a first driving unit rotatably coupled to each other, a second driving unit rotating based on the second axis, and a third driving unit rotating based on the third axis.

Preferably, the first driving unit rotates a part connected to and fixed to the unmanned moving body based on the first axis, and the second driving unit rotates a part connected to the link unit and the mounting unit with respect to the second axis. rotated, and the third driving unit rotates the mounting unit based on the third axis.

Preferably, the control unit comprises: a communication unit provided to be able to communicate with an external remote control device; a flight control unit for generating the flight command for controlling the unmanned moving object according to a movement path to a destination to which the unmanned moving object wants to move; and a gimbal control unit generating the posture control command for driving the gimbal driving unit.

Preferably, the gimbal control unit sets a target angle for each moving position as the unmanned moving object moves according to the flight command, and receives a deformation angle changed by an external environment when the unmanned moving object is flying from the gimbal driving unit. , by using the target angle and the deformation angle to calculate a control angle for controlling the gimbal control unit to the target angle according to the deformation of the unmanned moving object to generate the posture control command according to the control angle .

Preferably, the target angle is set based on a target photographed through the terminal and is set based on a moving position of the unmanned mobile body, and the terminal is preset while avoiding obstacles displayed on a pre-stored obstacle map. It is set to face an angle, and the target is set in advance before flight of the unmanned moving object, or is set in the external remote control device through an image captured by the terminal.

Preferably, the control unit predicts that the unmanned moving object control device of the gimbal structure will collide with an obstacle by the flight speed and flight direction of the unmanned moving object, and transmits an avoidance signal to the gimbal driving unit. Further comprising, the accident occurrence prediction unit, when the flight speed exceeds a preset threshold, a first accident occurrence prediction unit for predicting the occurrence of a first accident; and a second accident occurrence prediction unit for predicting the occurrence of a second accident when the distance between the unmanned moving object control device having the gimbal structure and the obstacle is less than a preset threshold.

Preferably, the second accident occurrence prediction unit measures a distance between the unmanned moving object control device having the gimbal structure and the obstacle with a distance measuring sensor, and when the measured distance to the obstacle is less than a preset threshold, the second 2 In order to predict the occurrence of an accident and avoid the obstacle, an avoidance driving signal predicting the distance to the obstacle in three dimensions is transmitted to the gimbal driving unit, and the gimbal driving unit is predicted in three dimensions by the avoidance driving signal. When the distance from the obstacle is received, a first axis connected to the unmanned moving object and a second axis and a third axis perpendicular to the first axis are respectively controlled.

Preferably, the control unit includes a three-axis angle and a vector value according to the three-axis angle at which the unmanned moving object including the three-axis sensor of the moving object is inclined, and a 3 for controlling the target angle through the gimbal three-axis sensor of the gimbal driving unit. A control angle implemented as an axis and a vector value according to the control angle are compared to control the output of the plurality of propellers of the unmanned moving object and the gimbal driving unit, and the control unit is at a portion where the unmanned moving object is inclined among the plurality of propellers. It is characterized in that the positioned propeller is controlled with a higher output.

An unmanned moving object control system according to another embodiment of the present invention includes: a gimbal driving unit connected to an unmanned moving object and driving a multi-axis gimbal according to a control command; a mounting unit on which a terminal is mounted at a lower end of the gimbal driving unit; a link unit connecting the gimbal driving unit and the mounting unit; and a control unit configured to transmit a posture control command for controlling the posture of the multi-axis gimbal to the gimbal driving unit and transmit a flight command to the unmanned moving unit; and a remote control device for receiving the image data acquired by the terminal mounted on the gimbal-structured unmanned moving object control device and controlling the movements of the unmanned moving object and the gimbal driving unit.

Preferably, the gimbal driving unit includes a first axis connected to the unmanned movable body and a second axis and a third axis perpendicular to the first axis, the first axis being rotatably coupled around the first axis. a first driving unit, a second driving unit rotating based on the second axis, and a third driving unit rotating based on the third axis, wherein the first driving unit is connected to and fixed to the unmanned moving body with respect to the first axis to rotate, and the second driving unit rotates a portion where the link unit and the mounting unit are connected based on the second axis, and the third driving unit rotates the mounting unit based on the third axis. .

Preferably, the control unit comprises: a communication unit provided to be able to communicate with an external remote control device; a flight control unit for generating the flight command for controlling the unmanned moving object according to a movement path to a destination to which the unmanned moving object wants to move; and a gimbal control unit generating the posture control command for driving the gimbal driving unit, wherein the gimbal control unit sets a target angle for each movement position as the unmanned moving object moves according to the flight command, and the flight of the unmanned moving object At the time, the gimbal driving unit receives a deformation angle that is changed by the external environment, and the gimbal control unit according to the deformation of the unmanned moving object using the target angle and the deformation angle calculates a control angle for controlling the target angle. The posture control command is generated according to the control angle.

As described above, according to the embodiments of the present invention, the communication hub includes a gimbal structure in which multiple types of terminals can be mounted, controls the rotation of the gimbal by receiving an external control command, and transmits flight information and flight commands. can play a role.

In addition, by using a smartphone for image acquisition and drone control without using a separate control device and imaging device, it is possible to eliminate the restriction of the drone's control distance and utilize various shooting functions of the smartphone for the drone.

Even if effects not explicitly mentioned herein, the effects described in the following specification expected by the technical features of the present invention and their potential effects are treated as described in the specification of the present invention.

1 is a block diagram schematically illustrating an apparatus for controlling an unmanned moving object having a gimbal structure capable of being mounted on a terminal according to an embodiment of the present invention.
2 is a block diagram illustrating a control unit of an apparatus for controlling an unmanned moving object having a gimbal structure on which a terminal can be mounted according to an embodiment of the present invention.
3 is a diagram illustrating an unmanned moving body system to which an unmanned moving body control apparatus of a gimbal structure capable of mounting a terminal according to an embodiment of the present invention is applied.
4 is a diagram showing the configuration of an unmanned moving object control apparatus having a gimbal structure that a terminal can mount according to an embodiment of the present invention.
5 is a diagram illustrating in detail the configuration of an unmanned moving object control apparatus having a gimbal structure capable of being mounted on a terminal according to an embodiment of the present invention.
6 is a diagram illustrating the movement of an unmanned moving body system to which an unmanned moving body control device having a gimbal structure capable of mounting a terminal according to an embodiment of the present invention is applied.
7 is a view showing an unmanned moving object control system according to an embodiment of the present invention.

Hereinafter, an apparatus for controlling an unmanned moving object having a gimbal structure capable of being mounted on a terminal according to the present invention will be described in more detail with reference to the drawings. However, the present invention may be embodied in several different forms, and is not limited to the described embodiments. In addition, in order to clearly explain the present invention, parts irrelevant to the description are omitted, and the same reference numerals in the drawings indicate the same members.

When a component is referred to as being “connected” or “connected” to another component, it may be directly connected or connected to the other component, but it is understood that other components may exist in between. it should be

The suffixes "module" and "part" for components used in the following description are given or mixed in consideration of only the ease of writing the specification, and do not have distinct meanings or roles by themselves.

Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

The present invention relates to an apparatus for controlling an unmanned moving object having a gimbal structure that can be mounted on a terminal, and an unmanned moving object control system including the same, and more particularly, to an apparatus for controlling a drone and acquiring an image using a smartphone.

1 is a block diagram schematically illustrating an apparatus for controlling an unmanned moving object having a gimbal structure capable of being mounted on a terminal according to an embodiment of the present invention.

Referring to FIG. 1 , the apparatus 10 for controlling an unmanned moving object having a gimbal structure on which a terminal can be mounted according to an embodiment of the present invention includes a gimbal driving unit 100 , a link unit 110 , a mounting unit 120 and a control unit 130 . includes The apparatus 10 for controlling an unmanned moving object having a gimbal structure capable of being mounted on a terminal may omit some components or additionally include other components among various components illustrated by way of example in FIG. 1 .

The gimbal driving unit 100 is connected to the unmanned moving body 20 and may drive a multi-axis gimbal according to a control command.

The unmanned moving body 20 is not controlled by a person on board, and refers to an air vehicle that is moved by remote control.

The gimbal driving unit 100 may include an angle measuring unit that measures an angle of rotation with respect to the direction axis. The gimbal driving unit 100 may be driven according to a posture control command to maintain a preset angle by comparing the rotational angle measured by the angle measuring unit with a preset angle to rotate about the direction axis.

The gimbal driving unit 100 drives around a first axis connected to the unmanned moving body 20 and a second axis and a third axis perpendicular to the first axis, and a first driving unit rotatably coupled around the first axis; It may include a second driving unit rotating based on the second axis and a third driving unit rotating based on the third axis.

Here, the first driving unit 102 rotates a portion connected and fixed to the unmanned moving body 20 with respect to a first axis, and the second driving unit 104 rotates a portion where the link unit 110 and the mounting unit are connected to the second The rotation is based on the axis, and the third driving unit 106 may rotate the mounting unit 120 based on the third axis.

The link unit 110 may connect the gimbal driving unit 100 and the mounting unit 120 .

The link unit 110 is connected to the terminal 30 and the terminal 140 through a wired or wireless transmission of posture control commands and flight commands, and an image obtained from the terminal 30 can be transmitted to the control unit 130 . . Specifically, the terminal 30 may send and receive communication through the terminal 140 to enable control and data transmission with the unmanned moving object control device 10 of a gimbal structure that the terminal can mount, but is not necessarily limited thereto, Communication may also be performed wirelessly.

The mounting unit 120 may have a terminal mounted on the lower end of the gimbal driving unit 100 .

The controller 130 may transmit a posture control command for controlling the posture of the multi-axis gimbal to the gimbal driving unit 100 , and may transmit a flight command to the unmanned moving object. The control unit 130 will be described in detail with reference to FIG. 2 .

2 is a block diagram illustrating a control unit of an apparatus for controlling an unmanned moving object having a gimbal structure on which a terminal can be mounted according to an embodiment of the present invention.

The control unit 130 includes a communication unit 132 , a flight control unit 134 , and a gimbal control unit 136 . The controller 130 may omit some of the various components exemplarily illustrated in FIG. 2 or may additionally include other components.

The communication unit 132 may be provided to communicate with the external remote control device 40 .

The flight controller 134 may generate a flight command for controlling the unmanned mobile body 20 according to a movement path to a destination to which the unmanned mobile body 20 wants to move.

The gimbal control unit 136 may generate the posture control command for driving the gimbal driving unit 100 .

The gimbal control unit 136 sets a target angle for each moving position as the unmanned mobile body 20 moves according to a flight command, and sets a deformation angle that is changed by the external environment when the unmanned mobile body 20 flies. can be delivered from

The gimbal control unit 136 calculates a control angle for controlling the gimbal control unit 100 to the target angle according to the deformation of the unmanned moving object 20 by using the target angle and the deformation angle, and generates a posture control command according to the control angle. can do.

The target angle is set based on the target photographed through the terminal 30 and is set based on the moving position where the unmanned mobile body 20 moves, while avoiding the obstacle displayed on the pre-stored obstacle map, the terminal 30 is preset It can be set to face an angle.

The target may be set in advance before flight of the unmanned moving object 20 , or may be set by an external remote control device 40 through an image captured by the terminal 30 .

The control unit 130 predicts that the unmanned moving object control device 10 having a gimbal structure will collide with an obstacle according to the flight speed and the flight direction of the unmanned moving object 20, and transmits an avoidance signal to the gimbal driving unit 100. It may further include an occurrence prediction unit.

The accident occurrence prediction unit when the flight speed exceeds a preset threshold, when the distance between the first accident occurrence prediction unit predicting the first accident occurrence and the unmanned moving object control device 10 of the gimbal structure and the obstacle is less than the preset threshold , may include a second accident occurrence prediction unit for predicting the second accident occurrence.

The second accident occurrence prediction unit measures the distance between the gimbal-structured unmanned moving object control device 10 and the obstacle with a distance measuring sensor, and when the measured distance to the obstacle is less than a preset threshold, predicts the occurrence of the second accident to prevent the obstacle An avoidance driving signal obtained by predicting a distance from an obstacle in three dimensions may be transmitted to the gimbal driving unit 100 to avoid . At this time, when the gimbal driving unit 100 receives the distance from the obstacle predicted in three dimensions by the avoidance driving signal, the first axis connected to the unmanned moving object 20 and the second axis and the third axis perpendicular to the first axis Each axis can be controlled individually. Through the above-described process, the apparatus 10 for controlling the unmanned moving object of the gimbal structure can avoid obstacles without moving the unmanned moving object 20 , and fuel of the unmanned moving object 20 can be saved.

The control unit 130 controls the three-axis angle and the three-axis angle at which the unmanned moving object 20 including the three-axis sensor is inclined to a target angle through a vector value according to the three-axis angle and the gimbal three-axis sensor of the gimbal driving unit 100 . The output of the plurality of propellers of the unmanned moving object 20 and the gimbal driving unit 100 may be controlled by comparing the control angle implemented as an axis and the vector value according to the control angle. In this case, the control unit 130 may control the propeller positioned at the inclined portion of the unmanned moving body 20 among the plurality of propellers to a higher output.

The unmanned moving object control device 10 having a gimbal structure capable of being mounted on the terminal compares the weight of the unmanned moving object 20 and the unmanned moving object control device 10 with the weight according to the amount of accumulated obstacles. may include more. When the deformed weight is equal to or greater than a preset weight, the control unit 130 may transmit an obstacle removing signal to the unmanned moving object 20 to perform an obstacle removing operation as the unmanned moving object moves left or right.

3 is a diagram illustrating an unmanned moving object to which an unmanned moving object control apparatus of a gimbal structure capable of being mounted on a terminal according to an embodiment of the present invention is applied.

Referring to FIG. 3 , the unmanned moving body system 1 to which the unmanned moving object control apparatus of a gimbal structure capable of mounting a terminal according to an embodiment of the present invention is applied is an unmanned moving object control apparatus 10 having a gimbal structure on which the terminal 30 can be mounted. ) and an unmanned moving body 20 .

Referring to FIG. 3 , the unmanned moving object control apparatus 10 having a gimbal structure on which the terminal 30 can be mounted is illustrated as being connected to the lower end of the unmanned moving object 20 , but is not limited thereto.

The unmanned moving object control apparatus 10 having a gimbal structure on which the terminal can be mounted is connected to the unmanned moving object 20 and may rotate about a direction axis to form a horizontal plane.

The unmanned moving object control apparatus 10 having a gimbal structure capable of being mounted on a terminal includes a gimbal driving unit 100 , a link unit 110 , a mounting unit 120 , and a control unit 130 , which will be described in detail with reference to FIG. 5 .

The gimbal driving unit 100 may maintain the posture of the terminal mounted on the mounting unit 120 even when the unmanned moving object shakes. Accordingly, unlike the image photographing device mounted on the unmanned moving object and the unmanned moving object, it is possible to acquire an image without shaking even when the environment changes.

Conventional products or 4G/5G communication modules under development require drone FC control, image processing, and gimbal processing, so there is a load on the module. This happens. In addition, delay due to processing of large amounts of data makes remote control of the drone difficult.

The unmanned moving object control apparatus 10 having a gimbal structure that can be mounted on a terminal according to an embodiment of the present invention allows a smartphone to be used for image acquisition and drone control without using a separate adjustment device and an imaging device, so the control distance of the drone This will remove the limitations of the drone and utilize the various shooting functions of the smartphone to the drone.

The link unit 110 is connected to the unmanned moving body 20 , and may connect the gimbal driving unit 100 and the mounting unit 120 to each other.

Also, the link unit 100 may transmit an image obtained from the terminal 30 to the remote control device 40 .

The gimbal driving unit 100 may include an angle measuring unit. The angle measuring unit may be included in the gimbal driving unit 100 and located at the lower end of the unmanned moving body 20 , and may be assembled to the unmanned moving body 20 or installed at one end of the link unit 110 to measure temperature, sunlight, and wind direction. It is possible to additionally sense the flight environment of the unmanned moving object 20 including the

In addition, the angle measuring unit includes a plurality of sensors positioned on the side of the unmanned mobile body 20 to measure the bow, vertical and lateral sway of the unmanned mobile body deformed in the wind direction. Specifically, the wind direction and wind speed are estimated using sensors such as ADCP, and the Yaw, Roll, and Pitch of the unmanned moving object deformed by the wind are converted into sensors (IND, etc.) measure

The control unit 130 transmits a control command for controlling the posture of the gimbal driving unit 100 to the gimbal driving unit 100 , and transmits a flight command to the unmanned moving object 20 .

The control unit 130 calculates a movement path for the destination to which the unmanned mobile body 20 wants to move, and transmits a flight command for the movement path.

The control unit 130 processes the detection signal detected by the angle measurement unit. Specifically, a control loop is used to control the gimbal driving unit 100 , and a flight command for moving the unmanned moving object to a destination is transmitted by generating a movement path of the unmanned moving object.

The gimbal driving unit 100 operates the 3-axis gimbal according to the control command received from the controller 130 to compensate for the bow, longitudinal and lateral motion according to the change in the posture of the unmanned moving object to control the posture. That is, the 3-axis gimbal is operated to compensate for the deformed angle of the unmanned moving object.

The control command signal for operation can be received by communicating with the LBS server on the network.

The control unit 130 includes a communication unit 132 , a flight control unit 134 , and a gimbal control unit 136 .

The communication unit 132 is provided to be able to communicate with an external remote control device.

The communication unit 132 may include a wireless communication module, and may include a GPS receiver and a transmission/reception antenna. The communication unit 132 may be controlled by an external controller, and a smart terminal may be used as the controller.

The communication unit 132 transmits an image photographed from the terminal mounted on the mounting unit 120 to the outside. In addition, infrared (IR), Bluetooth (BLUETOOTH), Zigbee (ZIG-BEE), Wi-Fi (WI-FI) and radio frequency (RF) communication methods can be used as a method of transmitting a wireless signal.

As the controller, an electronic device using a touch screen other than a smart phone or a terminal may be used.

The unmanned movable body 20 includes a shaft frame 21 , a movable body support 24 , and a frame center 25 .

The shaft frame 21 is disposed on the upper end of the unmanned moving body control device 10 , and a plurality of shaft frames are located in a direction extending from the center of the frame 25 connected to the unmanned moving body control device 10 . Specifically, it is located in the direction corresponding to the east, west, south, and north from the frame center (25).

Each shaft frame 21 includes a rotor 22 connected to one end and a rotor blade 23 connected to the rotor 22 and generating thrust when the rotor 22 rotates.

The movable body support 24 is connected to the frame center 25 to support the unmanned movable body so as not to fall when it lands on the ground. In addition, when the unmanned moving object falls, it is possible to prevent and protect the unmanned moving object 20 from damage. Specifically, the movable body support 24 is symmetrically connected to the frame center 25 of the unmanned movable body 20 and may have the same shape.

The movable body support 24 may further include an anti-slip member at the bottom to prevent slipping, and the anti-slip member may be made of rubber or silicone, but is not necessarily limited thereto.

In addition, the battery may include a power supply that can be embedded, the battery can be replaced and charged. If the battery is low or when a return command is received, the unmanned moving object 20 may automatically return and return to the stopped point when flying again.

4 is a diagram showing the configuration of an unmanned moving object control apparatus having a gimbal structure that a terminal can mount according to an embodiment of the present invention.

The terminal 30 may control the gimbal driving unit 100 through an application installed in the terminal, and control the camera of the terminal mounted on the unmanned moving body 20 to control the image capturing setting, and to control the image capturing angle. can do.

According to an embodiment of the present invention, the terminal 30 performs communication through 4G, 5G, etc., controls a multi-axis gimbal, controls the camera of the terminal 30, controls the unmanned mobile body 20, Unmanned moving object data information can be transmitted and received. Here, the unmanned moving object data information may include a target position, speed, moving direction, image captured by a camera, etc., to which the unmanned moving object moves, and represents all data generated by the unmanned moving object.

In addition, by manipulating the unmanned moving object 20 , the movement path of the unmanned moving object 20 may be controlled or the posture may be controlled.

In addition, it is also possible to transmit and receive data information through a separate sensor installed in the unmanned moving object 20 and an image capturing device.

According to an embodiment of the present invention, the unmanned moving object control apparatus 10 having a gimbal structure on which a terminal can be mounted may be formed in a structure in which multiple types of terminals 30 are detachable, and the terminal 30 through the terminal 140 . It may perform communication between the control unit 130 and receive a control command to control the rotation of the multi-axis gimbal, and may serve as a communication hub for transmitting flight information and flight commands to the FC.

The mounting unit 120 is provided so that various types of mobile phones can be attached and detached. In addition, the link unit 110 is connected to the unmanned moving object 20 using a separate connection unit 140 to receive data from the unmanned moving object 20 and transmit and receive a control command signal.

The connection unit 140 is preferably implemented as a USB port, but is not necessarily limited thereto.

The controller 130 receives a control command from the mobile phone to control the gimbal rotation, and serves as a communication hub for transmitting flight information and flight commands with a flight controller (FC).

Referring to FIG. 4 , the control unit 130 includes a communication unit 132 , a flight control unit 134 , and a gimbal control unit 136 .

According to an embodiment of the present invention, the communication unit 132 may be implemented as the RC 1320 and the DATA LINK 1322, but is not necessarily limited thereto.

The remote control (RC) 1320 may be remotely controlled within a certain range using radio waves or infrared rays. The RC 1320 may be formed of a transmitter that transmits radio waves and a receiver that receives a signal.

The data link (DATA LINK) 1322 is a device for communication, and may receive remote control and mission control. The DATA LINK 1322 is a connection medium that connects devices for transmitting and receiving data, and refers to a communication path, and a system connected by the link is generally called a node.

The flight control unit 134 and the gimbal control unit 136 may be implemented as a flight controller (F.C.), but is not necessarily limited thereto. The F.C. is connected between the communication unit 132 and the ESC 1362, and according to a control command sent from a remote control device and an input such as a gyro sensor, it serves to send a signal to control the motor unit 1364 to the ESC 1362. do. That is, the motor unit 1364 is controlled to make the aircraft fly stably.

The control unit 130 may further include an ESC 1362 , a motor unit 1364 , and a power supply unit 1366 .

The electronic transmission (Electronic Speed Controls, ESC) 1362 is a board that receives power from the power supply unit 1366 and generates a three-phase frequency to control the motor. For the rotation of the motor, it continuously generates high-frequency signals of different phases to the motor. can be authorized to In addition, the ESC 1362 may provide power from the power supply unit 1366 to the motor unit 1364 .

According to an embodiment of the present invention, the electronic transmission 1362 is connected to one motor unit 1364 , respectively, to adjust the speed and direction of the unmanned moving body 20 , and to control the driving of the gimbal driving unit 100 . can

The motor unit 1364 may be implemented as a brushless motor. Specifically, a brushless motor can control the rotation of the motor by embedding a magnetic sensor in the motor to detect a rotating magnetic field generated by a rotor and transmit this electrical signal to a coil of a stator. Because brushless motors have to use three-phase current, ESC (Electronic Speed Controls) is required. Accordingly, the ESC 1362 may continuously generate high-frequency signals of different phases for rotation of the motor and apply them to the motor.

The power supply unit 1366 may apply power to the ESC 1362 and the motor unit 1364 .

In addition, the method for controlling an unmanned moving object having a terminal mountable gimbal structure by the apparatus for controlling an unmanned mobile object having a terminal mountable gimbal structure according to an embodiment of the present invention includes computer program instructions executable by a processor. Transitory) It is recorded in a computer-readable storage medium and provides a storage medium in which a computer-readable program for performing an unmanned moving object path control method in a computer is recorded.

5 is a diagram illustrating in detail the configuration of an unmanned moving object control apparatus having a gimbal structure capable of being mounted on a terminal according to an embodiment of the present invention.

According to an embodiment of the present invention, the apparatus 10 for controlling an unmanned moving object of a gimbal structure capable of mounting a terminal is equipped with a terminal 30 instead of an expensive LTE communication module for an unmanned mobile object, so that long-distance flight control through LTE is possible.

The terminal 30 is an electronic device and may be implemented as a computing device, and may include, but is not limited to, a smart phone, a personal digital assistant (PDA), a laptop, and the like. .

The gimbal driving unit 100 may be driven around a first axis connected to the unmanned moving object and a second axis and a third axis perpendicular to the first axis. Here, the gimbal driving unit 100 includes a first driving unit 102 that is rotatably coupled about a first axis, a second driving unit 104 that rotates about the second axis, and a third driving unit that rotates about a third axis ( 106) may be included.

The gimbal driver 100 may be controlled by the gimbal controller 136 . The gimbal control unit 136 may set a target angle for each moving position as the unmanned moving object moves according to a flight command, and may receive a deformation angle that is changed by the external environment when the unmanned moving object is flying from the gimbal driving unit 100 .

The target angle may be set using a shooting direction that the terminal 30 shoots, and may be set based on a target that the terminal 30 shoots. Here, the target angle may be set based on a right angle from the center of the unmanned moving body 20 to a right angle below the center of the unmanned moving body 20 as 0 degrees, and when moving to the left, based on 0 degrees - angle, If you move to the right, you can see it at a + angle. Specifically, when the target angle is set to 30 degrees, the unmanned moving object control apparatus 10 having a gimbal structure that can be mounted on the terminal maintains 30 degrees when the unmanned moving object 20 is shaken by an external environment. can be driven Also, the target angle may be continuously reset as the unmanned mobile body 20 moves.

According to an embodiment of the present invention, the apparatus 10 for controlling an unmanned moving object having a gimbal structure on which a terminal can be mounted may further include a weight measuring unit (not shown) for measuring a weight. Here, the weight measuring unit may measure the weight of the unmanned moving object control device 10 and the unmanned moving object 20 having a gimbal structure on which the terminal can be mounted, and through this, the flight of the unmanned moving object 20 and the driving of the gimbal driving unit 100 . factors that interfere with it can be identified. Specifically, the weight measurement unit may measure the weight of the obstacle accumulated on the unmanned moving object control device 10 or the unmanned moving object 20 having a gimbal structure on which the terminal can be mounted, and transmit the measured weight to the controller 130 . In this case, the controller 130 may perform a task of removing the obstruction when the obstruction is accumulated by more than a preset weight. At this time, the obstruction removal operation may remove the obstruction by moving the unmanned moving body 20 left or right. .

The deformation angle means an angle that is changed by the influence of the external environment when the unmanned mobile body 20 is flying. The influence of the external environment may include the direction, wind direction, speed, etc. in which the unmanned mobile body 20 moves, and the terminal connected to the lower part of the unmanned mobile body 20 is mounted on the unmanned mobile body control device 10 having a gimbal structure. It may include factors that may affect the photographing by the mounted terminal 30 .

The target photographed by the terminal 30 may be set by the remote control device 40 , but is not limited thereto, and may be set by the controller 130 .

According to an embodiment of the present invention, the gimbal driving unit 100 can precisely control the terminal 30 mounted on the mounting unit 120 along three axes to a target angle.

The gimbal driving unit 100 may measure a bow motion, a vertical motion, and a side motion. Here, the first axis, the second axis, and the third axis are a bow axis, a pitch axis, and a roll axis, respectively.

The first driving unit 102 may be fixedly connected to the unmanned moving body 20 .

Referring to FIG. 5 , the first driving unit 102 may rotate in the X direction with respect to the first axis A1 . Here, the first driving unit 102 may be rotatably coupled to the first axis of the bow yaw (Yaw) axis.

The second driving unit 104 may be located at the end of the link unit 110 connected to the first driving unit 1022 , and specifically, to be fixed by being connected between the link unit 110 and the mounting unit 120 . can

Referring to FIG. 5 , the second driving unit 104 may rotate in the Y direction with respect to the second axis A2 . Here, the second driving unit 104 may be rotatably coupled around a pitch axis, which is a second axis.

The third driving unit 106 may be fixed to the mounting unit 120 , and specifically, it may be connected to and fixed to a rear end on which the terminal 30 is mounted.

Referring to FIG. 5 , the third driving unit 106 may rotate in the Z direction based on the third axis A3 . Here, the third driving unit 106 may be rotatably coupled around a second axis, a roll axis.

Therefore, the gimbal driving unit 100 accurately estimates and fed back final position information (latitude, longitude, altitude, etc.) and posture information (forward direction (Roll axis direction), the right direction of the forward direction (Pitch axis) from the control unit 130 ). direction) and the direction of gravity (Yaw axis direction) can be driven based on rotation angle information.

The angle representing the posture may be expressed as roll, pitch, and yaw. Yaw means first axial rotation, and roll means left and right rotation. Pitch refers to the direction in which you lean when leaning forward. That is, a value indicating how much it is inclined with respect to the direction of gravity is roll and pitch, and sensors used to measure the roll and pitch may be an acceleration sensor and a gyro sensor.

The axis of rotation of the yaw is the same as the direction of gravity. Therefore, it is preferable to additionally use a magnetometer, that is, a geomagnetic sensor, which measures the value of the first axis of the gyro sensor rather than the acceleration sensor, calculates the yaw value using this value, and compensates the drifting error. The yaw direction can be measured by applying a 3-axis geomagnetic sensor.

According to an embodiment of the present invention, the first driving unit 102 rotates in the x-axis direction at the lower end connected to the unmanned moving body 20 , and the second driving unit 104 includes the link unit 110 and the mounting unit 120 . Rotates the link unit 110 of the portion to which is connected in the Y-axis direction, and the third driving unit 106 may rotate the mounting unit 120 on which the terminal 30 is mounted in the Z-axis direction.

According to one embodiment of the present invention, the unmanned mobile body control device 10 having a gimbal structure on which the terminal can be mounted is provided and operated at the lower end of the unmanned mobile body 20 , and may collide with an obstacle during flight by the unmanned mobile body 20 . If predicted, the gimbal driving unit 100 may be driven. Specifically, the control unit 130 predicts that the unmanned mobile body control device 10 having a gimbal structure on which the terminal can be mounted according to the flight speed, flight direction, etc. of the unmanned mobile body 20 collides with an obstacle or is damaged by external influences. and an accident occurrence prediction unit (not shown) for transmitting an avoidance signal to the gimbal driving unit 100 . The accident occurrence prediction unit includes a first accident occurrence prediction unit that predicts the occurrence of a first accident when the speed of the unmanned moving object 20 exceeds a preset threshold, and the unmanned moving object control device 10 having a gimbal structure in which the terminal can be mounted and an obstacle and a second accident occurrence prediction unit for predicting the occurrence of a second accident when the distance to the target is less than a preset threshold.

The first accident occurrence predicting unit may predict the occurrence of the first accident according to the speed of the unmanned moving object 20 to control the speed of the unmanned moving object 20 or transmit a return command. For example, when the first accident occurrence predicting unit predicts the occurrence of the first accident based on the speed of the unmanned moving object 20 itself, the first accident occurrence predicting unit controls the speed of the unmanned moving object 20 and controls the speed of the unmanned moving object 20 according to the external environment. When the moving speed is increased, it is possible to prevent damage to the unmanned moving object 20 and the unmanned moving object control device 10 having a gimbal structure by sending a return command.

The second accident occurrence predicting unit may control the gimbal driving unit 100 by predicting the second accident occurrence according to a distance between the unmanned moving object control device 10 having a gimbal structure and an obstacle. For example, when the second accident occurrence predicting unit predicts the occurrence of the second accident based on the distance between the gimbal-structured unmanned moving object control device 10 and the obstacle, the Check the distance on the X-axis, Y-axis, and Z-axis, respectively, calculate the distance to the X-axis, the distance to the Y-axis, and the distance to the Z-axis to avoid obstacles, and control the gimbal driving unit 100 to avoid obstacles can do. Accordingly, as only the unmanned moving object control device 10 having a gimbal structure moves without moving the unmanned moving object 20 , obstacles can be avoided, thereby saving fuel for the unmanned moving object 20 .

6 is a diagram illustrating the movement of an unmanned moving body system to which an unmanned moving body control device having a gimbal structure capable of mounting a terminal according to an embodiment of the present invention is applied.

When the unmanned mobile body 20 changes directions, such as a left turn, a right turn, or a U-turn, the axis of the unmanned mobile body 20 may be inclined in the movement direction. Therefore, the present invention includes a three-axis sensor in each of the unmanned moving object 20 and the unmanned moving object control device 10 having a gimbal structure on which the terminal can be mounted, and compares the result values of the three-axis sensor with each other for each of the unmanned moving object 20 . By controlling the propeller and the gimbal driving unit 100 of the unmanned moving object 20, it is possible to control the gimbal while maintaining the horizontal while moving smoothly.

According to an embodiment of the present invention, the three-axis sensor may be provided in each of the gimbal structure of the unmanned moving object control apparatus 10 and the unmanned moving object 20 . The controller 130 may control the propeller and the gimbal driving unit 100 of the unmanned moving object 20 by comparing each of the three axes of the unmanned moving object control device 10 and the unmanned moving object 20 with each other through the three-axis sensor. Specifically, as the remote control device 40 transmits a flight command to the unmanned mobile body 20, the unmanned mobile body 20 moves, and the 3-axis vector value of the unmanned mobile body 20 and the gimbal driving unit ( 100) to adjust the output of each of the plurality of propellers by comparing the three-axis vector values, or to return the unmanned moving object 20 . Here, the 3-axis vector value may be based on the first axis indicating the central axis below the center of the unmanned moving object control device 10 and the unmanned moving object 20 .

For example, the 3-axis sensor calculates the 3-axis angle of the unmanned movable body 20 according to the inclination of the unmanned movable body 20 to the left when the unmanned movable body 20 moves to the left and rotates, and a 3-axis vector value , and the unmanned moving object control device 10 may also calculate a 3-axis angle and 3-axis vector value. Here, the unmanned moving object control device 10 may compensate for the inclined angle of the three axes to maintain the preset angle. The control unit 130 controls the output of each of the plurality of propellers by using the 3-axis angle and 3-axis vector value of the unmanned movable body 20, for example, the horizontal of the unmanned movable body 20 as it is tilted to the left. It can be controlled to give a higher output to the propeller located on the inclined side to maintain it. At this time, the control unit 130 calculates the angle at which the unmanned mobile body 20 is inclined to maintain the horizontal according to the output of the propeller over time, and according to the angle at which the unmanned mobile body 20 is inclined over time, the gimbal driving unit 100 ) is calculated to control the output of the propeller of the unmanned moving object 20 and at the same time control the angle of the gimbal driving unit 100 .

7 is a view showing an unmanned moving object control system according to an embodiment of the present invention.

The unmanned moving object control system 1000 includes an unmanned moving object control device 10 and a remote control device 40 having a gimbal structure. Specifically, in the unmanned moving object control system 1000 , the gimbal structure of the unmanned moving object control apparatus 10 and the remote control apparatus 40 are connected through a communication network 50 . The communication network 50 refers to a set of communication facilities connected for the purpose of enabling communication between the gimbal-structured unmanned moving object control device 10 and the remote control device 40 . The communication network 50 includes nodes, lines, trunk lines, and satellites, and these are connected and connected to each other.

The gimbal structure of the unmanned moving object control device 10 and the remote control device 40 are capable of wired and wireless communication. For example, various communication protocols such as short-range wireless communication, long-distance wireless communication, mobile communication, and wireless LAN communication may be used for wireless communication. Examples of wireless communication protocols include Near Field Communication (NFC), ZigBee, Bluetooth, Wi-Fi, WiMAX, GSM (Global System For Mobile Communication), 3G (Third Generation) There are mobile communication, Long Term Evolution (LTE), 4G, 5G, etc., but is not limited thereto.

Referring to FIG. 7 , the terminal 30 attached to the apparatus 10 for controlling an unmanned moving object having a gimbal structure may be implemented as a smartphone.

The smartphone receives the command of the GCS and acquires the shooting and video data through the App.

The remote control GCS (Ground Control System) controls the smartphone through 5G/4G communication and controls the movement of the gimbal.

The smartphone and gimbal are connected through the USB port.

The image data acquired through the smartphone is immediately transmitted using the communication network 50, and the 5G communication network can be utilized.

The terminal 30 may transmit and receive communication with the remote control device 40 through the base station, and through this, there may be no restriction on the communication distance.

The remote control device 40 receives the image data acquired by the terminal 30 mounted on the unmanned movable body control device 10 having a gimbal structure, and controls the movements of the unmanned movable body 20 and the gimbal driving unit 100 . can

The remote control device 40 may generate a movement path of the unmanned moving object 20 and transmit it to the terminal 30 , and control the posture of the gimbal driving unit 100 by receiving the image captured by the terminal 30 . A signal may be transmitted to the terminal 30 .

According to an embodiment of the present invention, the apparatus 10 for controlling an unmanned moving object having a gimbal structure may be equipped with a terminal 30 to enable control of long-distance flight through communication. The gimbal structure of the unmanned mobile body control device 10 is the unmanned mobile body 20 and the remote control device 40 by various mobile communication technologies such as 3G, 5G, etc. as well as communication through LTE, which is a 4G mobile communication technology, through the terminal 30. communication between them may be possible.

Such computer-readable media may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the recording medium may be specially designed and configured for the present invention, or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floppy disks. - includes magneto-optical media, and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

The above description is merely illustrative of the technical idea of the present invention, and various modifications, changes and substitutions are possible within the scope that does not depart from the essential characteristics of the present invention by those of ordinary skill in the art to which the present invention pertains. will be. Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are for explanation rather than limiting the technical spirit of the present invention, and the scope of the technical spirit of the present invention is not limited by these embodiments and the accompanying drawings. . The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

10: Gimbal structure unmanned moving object control device
100: gimbal driving unit
110: link unit
120: mount
130: control unit
132: communication department
134: flight control
136: gimbal control
20: unmanned vehicle
30: terminal
40: remote control device

Claims (13)

A device for controlling an unmanned moving object having a gimbal structure, the apparatus comprising:
a gimbal driving unit connected to the unmanned moving object and configured to drive a multi-axis gimbal according to a control command;
a mounting unit on which a terminal is mounted at a lower end of the gimbal driving unit;
a link unit connecting the gimbal driving unit and the mounting unit; and
and a control unit for transmitting an attitude control command for controlling the attitude of the multi-axis gimbal to the gimbal driving unit, and transmitting a flight command to the unmanned moving body,
The control unit may include: a communication unit provided to be able to communicate with an external remote control device; a flight control unit for generating the flight command for controlling the unmanned moving object according to a movement path to a destination to which the unmanned moving object wants to move; a gimbal control unit generating the posture control command for driving the gimbal driving unit; and an accident occurrence prediction unit for predicting that the unmanned moving object control device of the gimbal structure will collide with an obstacle by the flight speed and flight direction of the unmanned moving object, and transmitting an avoidance signal to the gimbal driving unit,
The accident occurrence prediction unit, when the flight speed exceeds a preset threshold, a first accident occurrence prediction unit for predicting the occurrence of a first accident; And when the distance between the unmanned moving object control device of the gimbal structure and the obstacle is less than a preset threshold, a second accident occurrence prediction unit for predicting the occurrence of a second accident,
The first accident occurrence prediction unit (i) controls the speed of the unmanned moving object when predicting the occurrence of the first accident by the speed of the unmanned moving object, and (ii) by the moving speed of the unmanned moving object due to the external environment When the occurrence of the first accident is predicted, a return command is transmitted to prevent damage to the unmanned moving object and the unmanned moving object control device of the gimbal structure,
When the second accident occurrence prediction unit predicts the occurrence of the second accident based on the distance between the gimbal-structured unmanned moving object control device and the obstacle, the X-axis, Check the Y-axis and Z-axis, respectively, calculate the distance to the X-axis, the distance to the Y-axis, and the distance to the Z-axis to avoid the obstacle, and control the gimbal driving unit to control only the unmanned moving object control device of the gimbal structure. An unmanned moving object control device of a gimbal structure, characterized in that it avoids the obstacle by using it. According to claim 1,
The link part,
It is connected to the terminal through a terminal to exchange the posture control command and the flight command by wire or wirelessly, and transmits the image obtained from the terminal to the control unit,
The gimbal driving unit includes an angle measuring unit for measuring an angle of rotation with respect to the direction axis,
The gimbal driving unit is driven according to the posture control command to maintain the preset angle by comparing the rotating angle measured by the angle measuring unit with a preset angle to rotate about the direction axis. Unmanned moving vehicle control device. According to claim 1,
The gimbal driving unit,
A first axis connected to the unmanned moving body and a second axis and a third axis perpendicular to the first axis are driven as the center, and a 3-axis sensor is included,
A gimbal structure unmanned moving body comprising a first driving unit rotatably coupled to the first axis, a second driving unit rotating based on the second axis, and a third driving unit rotating based on the third axis controller. 4. The method of claim 3,
The first driving unit rotates a portion connected to and fixed to the unmanned moving body with respect to the first axis,
The second driving unit rotates a portion where the link unit and the mounting unit are connected with respect to the second axis,
The third driving unit is an unmanned moving object control device of a gimbal structure, characterized in that for rotating the mounting unit based on the third axis. delete According to claim 1,
The gimbal control unit,
As the unmanned moving object moves according to the flight command, a target angle is set for each moving position, and the gimbal driving unit receives a deformation angle that is changed by the external environment when the unmanned moving object is flying,
Gimbal, characterized in that by calculating a control angle for controlling the gimbal control unit to the target angle according to the deformation of the unmanned moving object by using the target angle and the deformation angle to generate the posture control command according to the control angle Structured unmanned moving vehicle control device. 7. The method of claim 6,
The target angle is
It is set based on the target photographed through the terminal and is set based on the moving position of the unmanned mobile body, and the terminal is set to face a preset angle while avoiding the obstacle displayed on the pre-stored obstacle map,
The target is set in advance before the flight of the unmanned moving object, or is set in the external remote control device through the image taken by the terminal. delete According to claim 1,
The second accident occurrence prediction unit,
The distance between the unmanned moving object control device of the gimbal structure and the obstacle is measured by a distance measuring sensor, and when the measured distance to the obstacle is less than a preset threshold, the second accident is predicted to avoid the obstacle. Transmitting an avoidance driving signal that predicts the distance to the obstacle in three dimensions to the gimbal driving unit,
When the gimbal driving unit receives the distance from the obstacle predicted in three dimensions by the avoidance driving signal, it controls a first axis connected to the unmanned moving object and a second axis and a third axis perpendicular to the first axis, respectively. An unmanned moving object control device of a gimbal structure, characterized in that. According to claim 1,
The control unit is
The control angle and the control implemented in three axes for controlling the three-axis angle and the vector value according to the three-axis angle at which the unmanned moving object including the three-axis sensor is inclined and the target angle through the gimbal three-axis sensor of the gimbal driving unit Controls the output of the plurality of propellers of the unmanned moving object and the gimbal driving unit by comparing the vector values according to the angle,
The control unit is a gimbal structure of the unmanned moving object control device, characterized in that for controlling the propeller located at the inclined portion of the unmanned moving object among the plurality of propellers to a higher output. a gimbal driving unit connected to an unmanned moving object and driving a multi-axis gimbal according to a control command; a mounting unit on which a terminal is mounted at a lower end of the gimbal driving unit; a link unit connecting the gimbal driving unit and the mounting unit; and a control unit configured to transmit a posture control command for controlling the posture of the multi-axis gimbal to the gimbal driving unit and transmit a flight command to the unmanned moving unit; and
and a remote control device for receiving image data acquired by the terminal mounted on the unmanned moving object control device of the gimbal structure and controlling the movements of the unmanned moving object and the gimbal driving unit,
The control unit may include: a communication unit provided to be able to communicate with the remote control device; a flight control unit for generating the flight command for controlling the unmanned moving object according to a movement path to a destination to which the unmanned moving object wants to move; a gimbal control unit generating the posture control command for driving the gimbal driving unit; and an accident occurrence prediction unit for predicting that the unmanned moving object control device of the gimbal structure will collide with an obstacle by the flight speed and flight direction of the unmanned moving object, and transmitting an avoidance signal to the gimbal driving unit,
The accident occurrence prediction unit, when the flight speed exceeds a preset threshold, a first accident occurrence prediction unit for predicting the occurrence of a first accident; And when the distance between the unmanned moving object control device of the gimbal structure and the obstacle is less than a preset threshold, a second accident occurrence prediction unit for predicting the occurrence of a second accident,
The first accident occurrence prediction unit (i) controls the speed of the unmanned moving object when predicting the occurrence of the first accident by the speed of the unmanned moving object, and (ii) by the moving speed of the unmanned moving object due to the external environment When the occurrence of the first accident is predicted, a return command is transmitted to prevent damage to the unmanned moving object and the unmanned moving object control device of the gimbal structure,
When the second accident occurrence prediction unit predicts the occurrence of the second accident based on the distance between the gimbal-structured unmanned moving object control device and the obstacle, the X-axis, Check the Y-axis and Z-axis, respectively, calculate the distance to the X-axis, the distance to the Y-axis, and the distance to the Z-axis to avoid the obstacle, and control the gimbal driving unit to control only the unmanned moving object control device of the gimbal structure. An unmanned moving object control system, characterized in that it avoids the obstacle using 12. The method of claim 11,
The gimbal driving unit,
Driving around a first axis connected to the unmanned moving body and a second axis and a third axis perpendicular to the first axis,
A first driving unit rotatably coupled about the first axis, a second driving unit rotating about the second axis, and a third driving unit rotating about the third axis,
The first driving unit rotates a portion connected to and fixed to the unmanned moving body based on the first axis, and the second driving unit rotates a portion where the link unit and the mounting unit are connected based on the second axis, and An unmanned moving object control system, characterized in that the third driving unit rotates the mounting unit based on the third axis. 12. The method of claim 11,
The gimbal control unit sets a target angle for each movement position as the unmanned moving object moves according to the flight command, and receives a deformation angle that is changed by the external environment during flight of the unmanned moving object from the gimbal driving unit, the target angle and The unmanned moving object control system, characterized in that by using the deformation angle, the gimbal control unit according to the deformation of the unmanned moving object calculates a control angle for controlling the target angle to generate the posture control command according to the control angle.

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