KR102472035B1 - Gimbal device having stabilizer - Google Patents

Abstract

The present invention is a gimbal device having a stabilizer capable of mitigating vibration transmitted to the camera and more accurately correcting a change in the field of view of the camera due to bending that occurs differently for each support rod supporting the camera according to the flight direction of the unmanned aerial vehicle. Regarding, a gimbal device having a stabilizer according to an embodiment of the present invention includes a support rod having camera fixing parts formed at both ends; a driving unit for driving the support bar in multi-axis directions; a gyro sensor unit that detects, as an inclination value, a degree of deflection that occurs differently for each part of the support rod according to the flight direction of the unmanned aerial vehicle; Receiving different tilt values for each part of the support rod from the gyro sensor unit, calculating one approximate tilt value using the received different tilt values to generate a control command for controlling a driving motor that drives the driving unit includes a control unit.

Description

Gimbal device having a stabilizer {GIMBAL DEVICE HAVING STABILIZER}

The present invention relates to a gimbal device, and more specifically, to mitigate vibrations transmitted to a camera and more accurately detect changes in the camera's field of view due to bending that occurs differently for each support rod supporting the camera according to the flight direction of the unmanned aerial vehicle. It relates to a gimbal device with a calibrated stabilizer.

In general, aerial imaging is carried out with manned aircraft and pilots, and expensive imaging equipment specially manufactured for aerial photography is mounted, so it is very expensive and requires a separate airfield. On the other hand, aerial imaging by an unmanned aerial vehicle such as a drone can be operated with relatively little equipment and manpower, so it is widely used for small-scale aerial imaging.

However, in aerial imaging by an unmanned aerial vehicle, for example, a drone or a helicam, the quality of the image varies depending on the pilot's control ability on the ground, and above all, there is a limit to the payload that can be loaded. There is a disadvantage that it is difficult to mount and utilize high-quality video equipment. In order to take aerial images with a drone, a camera gimbal device capable of mounting a drone and a camera is required, and the manipulation of the gimbal device also occupies an important factor in acquiring aerial images.

Aerial photographing methods using unmanned aerial vehicles so far require a ground pilot who controls a gimbal mounted on the unmanned aerial vehicle separately from the unmanned aerial vehicle pilot. The eyes of the camera mounted on the gimbal of the unmanned aerial vehicle are manually controlled by the gimbal pilot on the ground to track and photograph the object to be photographed. In order to adjust the shooting angle of the camera, the ground gimbal pilot mounts a separate small camera so that the camera can view the captured image from the current camera's line of sight, transmits the camera's image to the ground, and transmits the image displayed on the liquid crystal display to the ground. The pilot adjusts the shooting angle while watching.

On the other hand, when a camera is mounted on a gimbal and an aerial image is taken using an unmanned aerial vehicle such as a drone, the vibration generated by the movement of the propeller of the unmanned aerial vehicle and the vibration transmitted to the unmanned aerial vehicle by air movement such as wind are unmanned. It is transmitted to the camera through the gimbal coupled to the aircraft. Therefore, there is a disadvantage in that a high-quality video image is not obtained because the shaking caused by the vibration is reflected in the video image obtained by the camera.

In addition, when a VR (Virtual Reality) shooting camera is placed up and down in the vertical direction of an unmanned aerial vehicle, the support rod supporting the camera according to the flight of the unmanned aerial vehicle is bent due to external forces such as inertia, air resistance, and wind. this can happen If the support bar supporting the upper camera and the support bar supporting the lower camera are bent to the same extent, the fields of view of the two cameras change substantially the same, so there is no problem in VR shooting, but if they are bent to different degrees, the fields of view of the two cameras Since it is changed differently, the captured VR image has a problem of deteriorating image quality due to inconsistency in focus.

The present invention is a gimbal device having a stabilizer capable of mitigating vibration transmitted to the camera and more accurately correcting a change in the field of view of the camera due to bending that occurs differently for each support rod supporting the camera according to the flight direction of the unmanned aerial vehicle. It aims to provide

A gimbal device having a stabilizer according to an embodiment of the present invention includes a support rod having camera fixing parts formed at both ends; a driving unit for driving the support bar in multi-axis directions; a gyro sensor unit that detects, as an inclination value, a degree of deflection that occurs differently for each part of the support rod according to the flight direction of the unmanned aerial vehicle; Receiving different tilt values for each part of the support rod from the gyro sensor unit, calculating one approximate tilt value using the received different tilt values to generate a control command for controlling a driving motor that drives the driving unit includes a control unit.

In the gimbal device having a stabilizer according to an embodiment of the present invention, an upper plate and a lower plate having a through-hole formed in the center and disposed at corresponding positions vertically, and disposed in the through-hole and the support rod and the driving unit It may include a gimbal structure that includes. The drive unit has an insertion hole into which the support bar is inserted, and a first drive unit that rotates the support bar about a first axis, and is connected to the first drive unit, and the support bar and the first drive unit are formed based on a second axis. It may include a second driving unit for axially rotating, and a third driving unit formed connected to the second driving unit and axially rotating the support bar, the first driving unit, and the second driving unit with respect to a third axis.

In the gimbal device having a stabilizer according to an embodiment of the present invention, a gimbal connection body formed between the upper plate and the lower plate to fix and support the gimbal structure and to alleviate vibration of the gimbal structure may be further included. can

In the gimbal device having a stabilizer according to an embodiment of the present invention, the gimbal connection body includes a connection member extending in the third axial direction from one side of the third drive unit, and the connection member is disposed at the center, A plurality of buffer frames spaced apart in the third axial direction, a first buffer member for buffering and supporting the upper and lower surfaces of the connecting member and the buffer frame in the first axial direction, both side surfaces of the connecting member and the buffer frame A second buffer member for buffering and supporting in the second axial direction may be included.

In the gimbal device having a stabilizer according to an embodiment of the present invention, the buffer frame includes an elastic adjusting member formed on at least one surface of the buffer frame, and the first shock absorbing member and the second shock absorbing member while being inserted into the elastic adjusting member. An elastic adjusting member including a screw member that changes the degree of elasticity by pressing at least one of the members may be further included.

In the gimbal device having a stabilizer according to an embodiment of the present invention, the gyro sensor unit includes a first gyro sensor formed on an upper portion of the support rod (S) and sensing an inclination of an upper portion of the support rod (S); A second gyro sensor that is formed below the support rod (S) and detects an inclination of a lower portion of the support rod (S) may be included.

In the gimbal device having a stabilizer according to an embodiment of the present invention, the controller may include the first gyro sensor and the second gyro when an angle formed between a moving direction of the unmanned aerial vehicle and a vertical direction of the support rod is 90°. A control command for controlling a driving motor for driving the driving unit may be generated using an inclination value detected by any one of the gyro sensors.

In the gimbal device having a stabilizer according to an embodiment of the present invention, the control unit may, in the first gyro sensor, when the angle between the moving direction of the unmanned aerial vehicle and the vertical direction of the support bar is greater than 0° and less than 90°. One approximate tilt value may be calculated using the detected first tilt value and the second tilt value detected by the second gyro sensor.

Other specific details of implementations according to various aspects of the present invention are included in the detailed description below.

According to an embodiment of the present invention, the gimbal structure may adjust the field of view of the camera in a desired direction by multi-axially driving the support bar for fixing the camera through operation control of the first to third driving units.

In addition, while the connecting member is connected to the gimbal structure, the first buffer member and the second buffer member elastically support the buffer frame, and a plurality of buffer frames are spaced apart in the longitudinal direction of the connecting member, so that the gimbal structure vibrates in the multiaxial direction. absorption can be alleviated.

In addition, it is possible to more accurately correct a change in the field of view of the camera due to bending that occurs differently for each part of the support bar supporting the camera according to the flight direction of the unmanned aerial vehicle.

1 is a perspective view illustrating an unmanned aerial vehicle including a gimbal device having a stabilizer according to an embodiment of the present invention.
2 is a perspective view showing a gimbal structure that is part of a gimbal device having a stabilizer according to an embodiment of the present invention.
Figure 3 is a plan view of Figure 2;
4 is an enlarged perspective view of a part of a gimbal device having a stabilizer according to an embodiment of the present invention.
5 is a diagram for explaining a process of controlling first to third driving units by a control unit of a gimbal device having a stabilizer according to an embodiment of the present invention.
6 is an exemplary view illustrating that different sizes of bending occur in the upper and lower portions of the support bar.
7 is a view for comparing the magnitude of bending occurring in a support rod when an unmanned aerial vehicle flies in various directions while maintaining a horizontal position with respect to the ground.
8 is a view for comparing the size of deflection occurring in a support bar when an unmanned aerial vehicle flies in a horizontal direction while tilting at a predetermined angle with respect to the ground.

For the embodiments of the present invention disclosed in the text, specific structural or functional descriptions are only exemplified for the purpose of explaining the embodiments of the present invention, and the embodiments of the present invention may be implemented in various forms and the text It should not be construed as being limited to the embodiments described above.

Since the present invention can have various changes and various forms, specific embodiments will be illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to a specific form disclosed, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms may be used for the purpose of distinguishing one component from another. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element, without departing from the scope of the present invention.

It is understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no other element exists in the middle. Other expressions describing the relationship between elements, such as "between" and "directly between" or "adjacent to" and "directly adjacent to", etc., should be interpreted similarly.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "comprise" or "having" are intended to indicate that the described feature, number, step, operation, component, part, or combination thereof exists, but that one or more other features or numbers are present. However, it should be understood that it does not preclude the presence or addition of steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in this application, they are not interpreted in an ideal or excessively formal meaning. .

Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described in more detail. The same reference numerals are used for the same components in the drawings, and redundant descriptions of the same components are omitted.

1 is a perspective view illustrating an unmanned aerial vehicle including a gimbal device having a stabilizer according to an embodiment of the present invention.

As shown in FIG. 1, an unmanned air vehicle including a gimbal device (hereinafter referred to as a “gimbal device”) having a stabilizer according to an embodiment of the present invention includes an upper plate P1 and a lower plate P2 A plurality of arms 11 are provided with a plurality of arms 11 extending radially from a plate-shaped body including, and a rotor 12 operated by a motor is formed at the end of each arm 11, and each rotor 12 has A propeller 13 is formed. The arm 11 may be connected to the main body by an arm fastening means (not shown) fixedly formed between the upper plate P1 and the lower plate P2.

A through hole OP through which the gimbal structure 100 can be disposed is formed in the center of the upper plate P1 and the lower plate P2. The upper plate P1 and the lower plate P2 may have substantially the same shape, and each through hole OP is formed at a corresponding position vertically.

A gimbal connection body 200 capable of fixing and supporting the gimbal structure 100 and mitigating vibration of the gimbal structure 100 is formed at a position between the upper plate P1 and the lower plate P2.

A camera rig (not shown) capable of holding a camera C or a plurality of cameras may be formed at both ends of the support rod S, which is one component of the gimbal structure 100. The camera rig may mount cameras corresponding to the number of cameras determined according to the type and quality of images to be photographed.

In addition, a gyro sensor unit (140: 141, 142, see FIG. 2) for detecting the inclination of the support rod (S) is formed at predetermined positions of the upper and lower portions of the support rod (S), which is one component of the gimbal structure 100. .

In addition to this, currently known configurations of unmanned aerial vehicles may be additionally formed, but descriptions of known configurations are omitted for clarity.

Next, a gimbal device having a stabilizer according to an embodiment of the present invention will be described in detail with reference to FIGS. 2 to 4 . Figure 2 is a perspective view showing a gimbal structure that is part of a gimbal device having a stabilizer according to an embodiment of the present invention, Figure 3 is a plan view of Figure 2, Figure 4 is provided with a stabilizer according to an embodiment of the present invention It is a perspective view in which a part of a gimbal device is enlarged.

2 to 4, a gimbal device having a stabilizer according to an embodiment of the present invention includes a gimbal structure 100 and a gimbal connection body 200. In addition, the through-hole OP is formed in the center and includes an upper plate P1 and a lower plate P2 disposed at corresponding positions in the upper and lower directions.

The gimbal structure 100 is inserted into the through hole OP formed in the upper plate P1 and the lower plate P2. The through-hole OP may be formed to a size that does not interfere with the multi-axis motion of the gimbal structure 100 .

2 and 3, the gimbal structure 100 includes a support bar S, a first driving unit 110, a second driving unit 120, a third driving unit 130, and a gyro sensor unit 140 (141, 142). ). In addition, it may optionally include a control unit 150. The control unit 150 may be formed as one component of the gimbal structure 100 or as one component of the unmanned aerial vehicle body.

The support bar (S) is disposed in a vertical direction, and camera fixing parts (not shown) are formed at both ends. The camera fixing unit may be a means for fixing a single camera or may be a camera rig (not shown) capable of holding a plurality of cameras. The support bar (S) is inserted into the first driving unit (110).

The first drive unit 110 has an insertion hole into which the support rod S is inserted, and a driving motor is provided therein to pivot the support rod S with respect to the first axis. The first axis may be a vertical direction, that is, a Z-axis direction.

The second driving unit 120 is connected to the first driving unit 110 through the first connector 121 . The first connector 121 is formed so that the rotational axis of the first driving unit 110 and the rotational axis of the second driving unit 120 are perpendicular to each other. A drive motor is provided inside the second drive unit 120 to rotate the first drive unit 110 about the second axis. The second axis may be in the Y-axis direction. When the first driving unit 110 is axially rotated by the second driving unit 120, the support bar S inserted into the first driving unit 110 may also be axially rotated with respect to the second shaft.

The third driving unit 130 is connected to the second driving unit 120 through the second connector 131 . The second connector 131 is formed so that the rotational axis of the second driving unit 120 and the rotational axis of the third driving unit 130 are perpendicular to each other. A driving motor is provided inside the third drive unit 130 to axially rotate the second drive unit 120 based on the third axis. The third axis may be in the X-axis direction. When the second driving unit 120 is axially rotated by the third driving unit 130, the first driving unit 110 connected to the second driving unit 120 and the support rod S inserted therein are also axial with respect to the third axis. can be rotated

The gyro sensor unit 140 (141, 142) detects, as an inclination value, the degree of deflection that occurs differently for each part of the support rod (S) supporting the camera according to the flight direction of the unmanned aerial vehicle. The gyro sensor units 140 (141, 142) may be formed at predetermined positions above and below the support rod (S), respectively. The gyro sensor units 140 : 141 and 142 include a first gyro sensor 141 and a second gyro sensor 142 . The first gyro sensor 141 is formed on the upper part of the support rod (S) and detects the inclination of the upper part of the support rod (S). The second gyro sensor 142 is formed below the support bar S and detects the inclination of the lower portion of the support bar S. The gyro sensor units 140 (141, 142) detect tilts of the top and bottom of the support bar (S), respectively, and transmit the detected tilt values to the control unit 150.

The control unit 150 corrects a change in the field of view of the camera due to bending that occurs differently for each part of the support bar S supporting the camera according to the flight direction of the unmanned aerial vehicle. The control unit 150 receives a tilt value from the gyro sensor unit 140 (141, 142), and calculates a correction value of a driving motor that drives the first to third driving units 110 to 130 using the received tilt value. And, based on the calculated correction value, a control command for controlling the driving motors of the first to third driving units 110 to 130 is transmitted to each driving motor. This will be described later with reference to FIGS. 5 and 6 .

The gimbal connector 200 fixes and supports the gimbal structure 100 to the body of the unmanned aerial vehicle, and can mitigate vibration transmitted to the gimbal structure 100 or generated by the gimbal structure 100 itself.

Referring to FIG. 4 , the gimbal connection body 200 includes a connection member 210, a buffer frame 220, a first buffer member 230, and a second buffer member 240.

The connecting member 210 may extend from one side of the third driving unit 130 in the third axial direction. The connection member 210 may have a length corresponding to the width of the upper plate P1 and the lower plate P2. The shape of the connecting member 210 is not particularly limited, and in the drawing, a rectangular parallelepiped shape extending in the longitudinal direction is illustrated.

A plurality of buffer frames 220 are spaced apart from each other in the longitudinal direction of the connecting member 210 . A connecting member 210 is disposed at the center of the buffer frame 220 . The buffer frame 220 may be formed in, for example, a rectangular frame shape, and its upper surface may be fixed to the lower surface of the upper plate P1 and its lower surface may be fixed to the upper surface of the lower plate P2. The buffer frame 220 may be made of an elastic material such as silicon. Two or more buffer frames 220 are formed in the third axial direction (X-axis) to partially absorb and alleviate vibrations in the third axial direction among vibrations generated in the gimbal structure 100 or transmitted to the gimbal structure 100. have.

A first buffer member 230 extending in the first axial direction and fixed to the buffer frame 220 is formed on the upper and lower surfaces of the connecting member 210 . The first buffer member 230 cushions and supports the connection member 210 in the first axial direction. In addition, a second buffer member 240 is formed on both side surfaces of the connection member 210 to extend in the second axial direction and is fixed to the buffer frame 220 . The second buffer member 240 cushions and supports the connecting member 210 in the second axial direction. The first buffer member 230 and the second buffer member 240 may be made of an elastic material such as silicon or a spring.

The first buffer member 230 and the second buffer member 240 buffer and support the connection member 210 with respect to the buffer frame 220 in the first axis (Z axis) and second axis (Y axis) directions, Among the vibrations generated in the gimbal structure 100 or transmitted to the gimbal structure 100, vibration in the first and second axial directions may be partially absorbed and alleviated.

In this way, the connection member 210 is connected to the gimbal structure 100 and is elastically supported by the buffer frame 220 by the first buffer member 230 and the second buffer member 240, and a plurality of buffer frames ( 220 are spaced apart from each other in the longitudinal direction of the connecting member 210, so that the vibration of the gimbal structure 100 can be absorbed and alleviated in multiaxial directions.

On the other hand, it is necessary to adjust the buffering and supporting force according to the type of camera. To this end, in one embodiment of the present invention, it may optionally further include an elastic control member.

The elasticity adjusting member may be adjusted by changing the degree of elasticity of at least one of the first buffering member 230 and the second buffering member 240 . The elastic adjusting member may include the elastic adjusting member 250 and a screw member. The elastic adjuster 250 may be formed on at least one surface of the buffer frame 220 . A screw member (not shown) presses the buffer members 230 and 240 while being inserted into the elasticity adjusting device, and the elasticity of the pressed buffer members 230 and 240 may change while the volume thereof changes.

Next, with reference to FIGS. 5 to 8 , a process of correcting a change in the field of view of the camera according to the bending of the support bar by the control unit will be described. 5 is a view for explaining a process of controlling first to third driving units by a control unit of a gimbal device equipped with a stabilizer according to an embodiment of the present invention, and FIG. It is an example diagram illustrating the occurrence of bending, and FIG. 7 is a diagram for comparing the size of the bending that occurs in the support rod when the unmanned aerial vehicle flies in various directions while remaining horizontal to the ground. It is a drawing for comparison of the size of the bending that occurs in the support bar when flying in a horizontal direction while tilted at a predetermined angle with respect to the ground.

When the support rod (S) supporting the camera is tilted at a certain angle or vibration occurs in the support rod (S) according to the flight of the unmanned aerial vehicle, the gyro sensor unit (140: 141, 142) detects the inclination value of the support rod (S). It detects and transmits it to the control unit 150. The control unit 150 transmits a control command for controlling the driving motors of the first to third driving units 110 to 130 to each driving motor in a direction compensating for the received slope value.

For example, as shown in FIG. 5 , when the support bar S is tilted by θ in a counterclockwise direction with respect to the third axis, the X axis, or vibration occurs, the control unit 150 drives the third driving unit 130. The motor is controlled so that the support rod S rotates clockwise by θ, so that the original position of the support rod S is maintained while maintaining the viewing direction of the camera constant.

On the other hand, the support bar (S) is designed to secure a sufficient length for shooting. Accordingly, as shown in FIG. 6, different external forces (inertia, air resistance, wind, etc.) act on each part of the support bar S according to the flight direction of the unmanned aerial vehicle, and each part of the support bar S Different magnitudes of bending may occur, so that the inclination value θ1 of the upper part of the support bar S and the inclination value θ2 of the lower part of the support bar S may be different. In particular, when the cameras for VR shooting are arranged vertically in the vertical direction of the unmanned aerial vehicle, the fields of view of the two cameras change differently, and thus the captured VR images are out of focus, resulting in deterioration in image quality.

Therefore, in the present invention, each different inclination value due to the bending occurring for each part of the support rod (S) according to the flight direction of the unmanned aerial vehicle is calculated by approximating to one inclination value, and the calculated inclination value is adjusted in the direction of compensation A control command for controlling the driving motors of the first to third driving units 110 to 130 is transmitted to each driving motor to more accurately correct the change in the field of view of the camera due to the bending that occurs differently for each part of the support rod (S) do. This function can be defined as a stabilizer.

First, with reference to FIGS. 7 and 8 , the bending occurring for each part of the support bar S according to the flight direction of the unmanned aerial vehicle will be described. The degree of bending of the support rod (S) according to the flight direction of the unmanned air vehicle is actually minute, but in FIGS. 7 and 8, it is shown exaggeratedly for convenience of description.

As shown in (a) of FIG. 7, when the unmanned aerial vehicle moves in the horizontal direction while maintaining the level, the upper and lower portions of the support rod S generate an external force of substantially the same magnitude, resulting in bending The slope changes θ1 and θ2 are substantially the same. Therefore, in this case, by using the inclination value detected by any one of the gyro sensor units 140 (141, 142), the control unit 150 moves the first to third driving units 110 in the direction of compensating for the inclination value. ~ 130) transmits a control command for controlling the driving motor to each driving motor. Figure 7 (a) illustrates the movement to the right, but the movement to the left is also the same.

As shown in (b) of FIG. 7, when the unmanned aerial vehicle moves vertically upward while remaining horizontal, no external force is substantially generated on the upper and lower portions of the support bar S, so that no bending occurs. don't Therefore, in this case, the control unit 150 may not generate a control command. 7(b) illustrates upward movement, but downward movement is also the same.

On the other hand, as shown in (c) of FIG. 7, when the unmanned aerial vehicle moves in a diagonal upward direction at a predetermined angle while maintaining a level, the upper part of the support rod S exerts a greater external force (air pressure, inertia, etc.) θ1, which is a change in inclination of the upper portion of the support rod (S), is greater than θ2, which is a change in inclination of the lower portion of the support rod (S).

Conversely, as shown in (d) of FIG. 7, when the unmanned aerial vehicle moves in a diagonal downward direction at a predetermined angle while maintaining a horizontal position, the lower part of the support rod S exerts a greater external force (air pressure, inertia, etc.) As a result, θ2, which is a change in inclination of the lower portion of the support rod (S), is greater than θ1, which is a change in inclination of the upper portion of the support rod (S).

As shown in FIG. 8, when the UAV flies to the right in the horizontal direction while tilting at a predetermined clockwise angle with respect to the ground, the UAV removes some of the external force acting on the lower part of the support bar S As a result, the upper portion of the support rod (S) receives a greater external force (air pressure, inertia, etc.). Therefore, θ1, which is the change in inclination of the upper part of the support rod (S), is greater than θ2, which is the change in inclination of the lower part of the support rod (S). Conversely, when flying to the left with the same attitude, θ2 becomes greater than θ1.

7 (c) (d) and 8, when θ1 and θ2 are different, the control unit 150 calculates an approximate slope value by approximating each different slope value to one slope value, and calculates the approximate slope value. A control command for controlling the driving motors of the first to third driving units 110 to 130 in a direction of compensating the value is transmitted to each driving motor.

There may be several methods for approximating and calculating one slope value, but in the present invention, as an example, calculating the average value of two slope values as an approximate slope value is presented. That is, the controller 150 may calculate “(θ1+θ2)/2” as an approximate slope value.

Considering the angle formed by the moving direction of the unmanned aerial vehicle and the vertical direction of the support pole (S), it can be summarized as follows.

As shown in (a) of FIG. 7, when the angle formed by the moving direction of the unmanned aerial vehicle and the vertical direction of the support rod (S) is 90 °, the same bending occurs symmetrically at the top and bottom of the support rod (S), resulting in an approximate slope There is no need to calculate the value, and it may be corrected using a tilt value detected by any one of the gyro sensors of the gyro sensor units 140 : 141 and 142 .

As shown in (b) of FIG. 7, when the angle between the moving direction of the unmanned aerial vehicle and the vertical direction of the support bar S is 0°, bending does not substantially occur.

As shown in (c) (d) of FIG. 7, when the angle between the moving direction of the unmanned aerial vehicle and the vertical direction of the support bar S is greater than 0° and less than 90°, θ1 and θ2 are different and the control unit 150 controls one Approximate with the slope value to calculate the approximate slope value.

According to one embodiment of the present invention as described above, the gimbal structure 100 multi-axially drives the support rod (S) for fixing the camera through the operation control of the first to third driving units (110 to 130) to increase the field of view of the camera. You can adjust it any way you want.

In addition, while the connecting member is connected to the gimbal structure, the first buffer member and the second buffer member elastically support the buffer frame, and a plurality of buffer frames are spaced apart in the longitudinal direction of the connecting member, so that the gimbal structure vibrates in the multiaxial direction. absorption can be alleviated.

In addition, the quality of the captured VR image can be improved by correcting the change in the field of view of the camera according to the bending of the support rod according to the flight of the unmanned aerial vehicle and matching the focus.

As described above, although it has been described with reference to the preferred embodiments of the present invention, those skilled in the art can make the present invention various without departing from the spirit and scope of the present invention described in the claims below. It will be understood that it can be modified and changed accordingly.

The present invention can more accurately correct the change in the field of view of the camera due to the bending that occurs differently for each part of the support rod supporting the camera according to the flight direction of the unmanned aerial vehicle, so that it can be used in a drone for taking images.

P1: upper plate P2: lower plate
100: gimbal structure S: support bar
110: first driving unit 120: second driving unit
130: third driving unit
200: gimbal connection body 210: connection member
220: buffer frame 230: first buffer member
240: second buffer member 250: elastic adjuster

Claims (5)

A support rod with camera fixing parts formed at both ends;
a driving unit for driving the support bar in multi-axis directions;
a gyro sensor unit that detects, as an inclination value, a degree of deflection that occurs differently for each part of the support rod according to the flight direction of the unmanned aerial vehicle; and
Receiving different tilt values for each part of the support rod from the gyro sensor unit, calculating one approximate tilt value using the received different tilt values to generate a control command for controlling a driving motor that drives the driving unit Including; control unit;
The gyro sensor unit,
A first gyro sensor formed on an upper portion of the support rod (S) to detect an inclination of an upper portion of the support rod (S);
A second gyro sensor formed under the support rod (S) to detect an inclination of a lower portion of the support rod (S);
The control unit,
When the unmanned aerial vehicle moves in a horizontal direction while maintaining a horizontal position, and the angle between the moving direction of the unmanned aerial vehicle and the vertical direction of the support bar is 90°, one of the first gyro sensor and the second gyro sensor Generating a control command for controlling a driving motor for driving the driving unit using a tilt value detected by a gyro sensor;
A first inclination detected by the first gyro sensor when the unmanned aerial vehicle moves in a horizontal direction while maintaining a horizontal position, and an angle between the moving direction of the unmanned aerial vehicle and the vertical direction of the support bar is greater than 0° and less than 90° An approximate tilt value is calculated using the value and the second tilt value detected by the second gyro sensor,
A gimbal device having a stabilizer generating a control command for controlling a driving motor for driving the driving unit by calculating an average value of two slope values as an approximate slope value.
delete delete delete According to claim 1,
A gimbal structure including an upper plate and a lower plate in which a through hole is formed in the center and disposed at corresponding positions vertically, and a gimbal structure disposed in the through hole and including the support rod and the driving unit,
the driving unit,
A first driving unit having an insertion hole into which the support rod is inserted and pivoting the support rod with respect to a first axis, and formed in connection with the first driving unit and pivoting the support rod and the first driving unit with respect to a second axis A gimbal device having a stabilizer including a second driving unit and a third driving unit connected to the second driving unit and pivotally rotating the support bar, the first driving unit, and the second driving unit based on a third axis.

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