KR102672046B1 - Aerial photography system linked to GPS - Google Patents

Abstract

The present invention relates to an aerial photography system linked to GPS. More specifically, when the flight route of an aircraft is set in advance according to GPS coordinates and aerial photography is taken using a camera mounted on the aircraft, the aerial photography camera mounted on the aircraft is at one point. It is not fixed in a fixed state, but can move up and down and rotate, so it has a fixed structure that allows interference avoidance maneuver and height adjustment maneuver, as well as a buffering function against vibration, enabling more accurate, clearer, and stable video shooting. This is about an aerial photography system linked to GPS that has been improved to make it possible.

Description

Aerial photography system linked to GPS {Aerial photography system linked to GPS}

The present invention relates to an aerial photography system linked to GPS in the field of aerial photography technology, and more specifically, when the flight route of an aircraft according to GPS coordinates is set in advance and aerial photography is taken using a camera mounted on the aircraft, the aerial photography system installed on the aircraft is used. The filming camera is not fixed at one point, but can move up and down and rotate, so it has a fixed structure that allows interference avoidance maneuver and height adjustment maneuver, as well as a buffering function against vibration, making it more accurate and clearer. It is about an aerial filming system linked to GPS, which has been improved to enable stable video filming.

A digital map is a map produced in digital form by interpreting various numerical information obtained from survey maps, aerial photographs, satellite images, etc. and numerically editing it.

Therefore, in a digital map, the numerical geographic information about the point must be accurately applied to the graphical terrain image so that the user can easily obtain geographical/topographical information while looking at the map. In addition, the graphical terrain image must also be aligned with the geographical information. It must be depicted accurately and is mainly used as various cadastral maps and topographic maps.

These digital maps are created from images collected through aerial photography and ground photography, and the images collected in this way are completed into a complete image through interconnection between neighboring images and produced as a digital map.

However, in order to interconnect the images collected in this way, a standard for accurate connection between images is required, and in order to accurately establish the standard, accurate aerial video images and ground video images according to GPS coordinates must be captured first.

In other words, aerial photography and ground photography must be accurately performed for each GPS coordinate to collect accurate aerial video images and ground video images for each GPS coordinate.

To achieve this, a reference point is required to serve as a standard for shooting, and a device capable of displaying the reference point externally is also required.

Meanwhile, during aerial photography, the photographer sets the aircraft's flight route according to GPS coordinates in advance, attaches a camera to the aircraft, and takes pictures of the desired target area while flying.

At this time, the conventional camera tilting unit installed on the aircraft uses a motor and a link mechanism to rotate the ground at a certain angle, usually 90°, to capture the ground. In this case, the camera remains fixed, so there is a limit to the position variation, so it cannot be used on the ground. There are restrictions on maneuvering shooting to avoid interference or height-adjusting shooting.

Republic of Korea Patent No. 10-1942450 (2019.01.21.) ‘High-precision video image aerial photography system using multiple GPS’

The present invention was created to solve the problems in the prior art in consideration of the problems in the prior art as described above. When the flight route of the aircraft is set in advance according to GPS coordinates and aerial photography is taken using a camera mounted on the aircraft, the aerial view mounted on the aircraft is The filming camera is not fixed at one point, but can move up and down and rotate, so it has a fixed structure that allows interference avoidance maneuver and height adjustment maneuver, as well as a buffering function against vibration, making it more accurate and clearer. The main purpose is to provide an aerial photography system linked to GPS, which has been improved to enable stable video recording.

The present invention is a means for achieving the above object, and includes a fixing bracket (10) that is assembled on a fixing base (BT) of the aircraft fuselage (A) so that its height can be adjusted through a height adjustment unit (100), and the fixing bracket A tilting bracket (30) installed to be rotatable around a first rotation axis (12) fixed to both left and right sides of (10), and a second rotation axis (14) fixed to one side of the tilting bracket (30). A first timing pulley 70 that rotates, a first link 50 that is fixed to the first timing pulley 70 and rotates interlockingly, and is fixed to a fixing bracket 10 and connected to the first link 50. A second link (80) that is bent and interlocked in a joint format to fold the tilting bracket (30) at 90°, and a second link (80) that is fixed to the tilting bracket (30) and rotates the first timing pulley (70). A motor 90, a second timing pulley 40 disposed between the tilting bracket 30 and the first link 50 and rotatably installed on the second rotation shaft 14, and the first timing pulley 70 ) and a timing belt 60 connecting the second timing pulley 40, a camera base 20 fixed to the tilting bracket 30, and a camera 22 installed on the camera base 20. In an aerial photography system linked to GPS;

The height adjustment unit 100 includes a guide rail 110 mounted on a fixed base (BT), slides along the guide rail 110, and is fixed to the fixing bracket 10. A 'ㅛ' shaped slider 120, a slide motor 130 fixed to one inner end of the slider 120, and a slider 120 that is rotated by the slide motor 130 to move the slider 120. It includes a ball screw 140 screwed with the slider 120;

The camera 22 is built into a camera housing (HJ), and a housing rotation axis (SF) protrudes from the top of the camera housing (HJ), and a pinion gear penetrating the tilting bracket 30 is attached to the housing rotation axis (SF). The gear shaft 172 of (170) is fixed with a pin, and a shaft hole 174 is formed in the tilting bracket 30 so that the gear shaft 172 can pass through, and the shaft hole 174 is formed on both sides based on the shaft hole 174. A pair of rack gears 180 are arranged in parallel to face each other, and a guider 182 protrudes from the lower end of the rack gear 180, and the guider 182 is connected to the tilting bracket 30. It is inserted into the guide groove 176 formed in and guides the movement of the rack gear 180, and a linear motor 190 is fixed on the outer tilting bracket 30 of any one of the rack gears 180. The rising and falling end 192 of the linear motor 190 is fixed to the rack gear 180, and the pinion gear 170 is placed between the rack gears 180 and engaged with each other. Provides a linked aerial photography system.

According to the present invention, when the flight route of the aircraft according to GPS coordinates is set in advance and aerial photography is taken using a camera mounted on the aircraft, the aerial photography camera mounted on the aircraft is not maintained fixed at one point, but is directed upward and downward. It has a fixed structure that is capable of floating and turning, enabling interference avoidance maneuver and height adjustment maneuver, as well as a buffering function against vibration, so that improved effects can be obtained to enable more accurate, clearer, and stable image shooting.

1 is an exemplary perspective view of a tilting unit constituting a system according to the present invention.
Figure 2 is an exemplary side view showing the camera in a folded state in the system according to the present invention.
Figure 3 is an exemplary side view showing the camera tilted at 90° in the system according to the present invention.
Figure 4 is an exemplary view seen from the rear of the tilting unit constituting the system according to the present invention.
Figure 5 is an exemplary diagram showing an example in which the tilting unit constituting the system according to the present invention is coupled to an aircraft.
Figures 6 and 7 are exemplary diagrams of a height adjustment unit constituting a system according to the present invention.
Figure 8 is an example diagram explaining the horizontal turning structure of the camera constituting the system according to the present invention.
Figure 9 is an enlarged example view of part "A" in Figure 6.

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

As shown in Figures 1 to 5, the basic configuration of the system according to the present invention includes a fixing bracket 10 fixed to the aircraft fuselage (A), and a first rotation axis fixed to both left and right sides of the fixing bracket 10. A tilting bracket (30) installed to be rotatable about (12), a first timing pulley (70) rotating about a second rotation axis (14) fixed to one side of the tilting bracket (30), It is fixed to the first link 50 and the fixing bracket 10, which are fixed to the first timing pulley 70 and rotate interlocked, and are connected to the first link 50 and are bent and linked in a joint form to form a tilting bracket ( A second link 80 that folds 30) to 90°, a rotation motor 90 fixed to the tilting bracket 30 and rotating the first timing pulley 70, and the tilting bracket 30 and a second timing pulley 40 disposed between the first link 50 and rotatably installed on the second rotation shaft 14, and connecting the first timing pulley 70 and the second timing pulley 40. It includes a timing belt 60, a camera base 20 fixed to the tilting bracket 30, and a camera 22 installed on the camera base 20.

At this time, one end of the second link 80 is rotatably fixed on the fixing bracket 10 by the third rotation shaft 16, and the other end of the first link 50 and the second link 80 are connected to each other. The other ends are rotatably linked to each other by the fourth rotation axis 18.

Therefore, when an external force in the vertical direction is generated due to the weight of the camera 22, the second rotation axis 14 is located above the line connecting the center points of the fourth rotation axis 18 and the third rotation axis 16, so that the camera 22 ) generates a moment in the F direction about the center, which automatically locks the first and second links (50, 80).

In particular, the end of the first link 50 extends beyond the point where the second rotation shaft 14 is fixed, and the extended portion is connected to one side of the second timing pulley 40 through the fixed shaft FIX. It is configured to be fixed to the axis.

This is an important element that prevents the fixing shaft (FIX) from rotating the second timing pulley (40) and converts the rotational force of the timing belt (60) into a force that lifts the tilting bracket (30).

In this case, for smooth operation, a long hole-shaped locking hole (HOL, see FIG. 2) is formed by penetrating one side of the second timing pulley 40 in the thickness direction, and the fixing shaft (FIX) is connected to the second timing pulley 40. It is more desirable to configure it so that it is fixed by being inserted into the hanging hole (HOL) but has a gap.

In addition, the second timing pulley 40 is made to have a larger diameter than the first timing pulley 70 connected to the rotary motor 90, so that a significant reduction ratio can be obtained when the timing belt 60 is installed and rotated. It can induce accurate and smooth operation.

In addition, a tensioner (TS) is provided at the midpoint of the timing belt 60, and the tension of the timing belt 60 can be adjusted by being fixedly installed on the tilting bracket 30.

In addition, the camera base 20 is preferably configured to have electrical and electronic devices capable of processing images captured by the camera 22 mounted thereto to perform image processing.

The maintenance system according to the present invention including this configuration has the following operating relationship.

As shown in the examples of FIGS. 1 to 5 , when power is applied while the camera 22 is folded, the rotation motor 90 operates, and the first timing pulley 70 connected to the rotation motor 90 rotates.

At this time, the first timing pulley 70 rotates clockwise, and accordingly, the timing belt 60 also rotates in the same direction, attempting to rotate the second timing pulley 40 in the same direction.

However, since the second timing pulley 40 is connected and fixed to the first link 50 and the fixed shaft (FIX), the force ultimately acts in the direction of lifting the first link 50, resulting in The tilting bracket 30, which is coupled to the first link 50 through the second rotation axis 14, is also lifted.

When the tilting bracket 30 is rotated up to the maximum angle, that is, 90°, the state is as shown in Figure 2.

Conversely, if the above-described operation is performed in the reverse direction, the state shown in FIG. 3 will be maintained and the vertical state can be maintained accurately. Since the two links are hung in the unfolded state, it is not easily folded, preventing shaking of the camera 22. .

Meanwhile, the system according to the present invention is configured so that the height of the camera 22 can be freely adjusted by improving the fixing structure of the fixing bracket 10, so that the angle of view can be varied.

For this purpose, as shown in the examples of FIGS. 6 and 7, a 'ㄷ' shaped fixed base (BT) is provided on the aircraft fuselage (A), and the fixed base 10 is fixed through the height adjustment unit 100. It is mounted on the base (BT) so that the height can be adjusted.

At this time, the height adjustment unit 100 includes a guide rail 110 mounted on a fixed base (BT), and a 'ㅛ' shaped slider that slides along the guide rail 110 and on which the fixing bracket 10 is fixed. (120), a slide motor 130 fixed to one inner end of the slider 120, and a slider 120 to move the slider 120 while being rotated by the slide motor 130. It includes a screw-coupled ball screw (140).

Here, the guide rail 110 includes a bottom plate 112 having a flat plate shape, a pair of vertical plates 114 integrally protruding from the upper surface of the bottom plate 112 at a distance from each other, and the number of It includes a guide groove 116 recessed in a semicircular shape on each outer surface of the direct plate 114, and a cutting groove 118 in which a portion of the guide groove 116 is further recessed into a square shape.

In this case, the guide groove 116 is a groove that guides the slider 120 to slide smoothly, and the cutting groove 118 reduces friction by reducing the contact area with the slider 120, thereby reducing the slider (120). 120) This is a groove formed to contribute to increasing the gliding ability.

Additionally, the slide motor 130 is fixed to the upper surface of the bottom plate 112.

In addition, one end of the ball screw 140 is coupled to the rotation axis of the sliding motor 130, and the other end is supported so that it can rotate in place by a support bearing (not shown) fixed to the bottom plate 112. do.

In addition, the slider 120 includes a sliding body 122 having a '∩' shape, which protrudes vertically from both ends of the sliding body 122 in a direction facing each other and is correspondingly inserted into the guide groove 116. It includes a semicircular sliding protrusion 124 and a screw assembly protrusion 128 that protrudes downward from the center of the width of the sliding body 122 and has a screw hole 126 so that the ball screw 140 can be screwed. .

Accordingly, as the slider 120 slides in accordance with the rotation direction of the slide motor 130, the fixing bracket 10 moves up and down, and the camera 22 moves along it, making it possible to adjust its height.

Here, the guide rail 110 and the slider 120 are made of EPDM (Ethylene Propylene diene monomer) and EVA (Ethylene vinyl Acetate) to achieve long life by having low friction, low noise characteristics, contamination resistance, and water resistance characteristics. For 100 parts by weight of mixed resin mixed at a weight ratio of 1:1, 3.5 parts by weight of sodium silicate (Na ₂ SiO ₃ ) powder, 7.5 parts by weight of disteardimonium hectorite, and nonylphenol ethoxylate (Nonylphenol) Mix 2.5 parts by weight of Ethoxylate, 7.5 parts by weight of CZ (N-cyclohexybenzothiazole-2-sulfenamide), 4.5 parts by weight of Nickel Titanate, 4.5 parts by weight of polyphosphate salts, and 5.5 parts by weight of Dimethylpolysiloxane. It is molded with the prepared resin composition.

At this time, EPDM (Ethylene Propylene diene monomer) and EVA (Ethylene vinyl Acetate) are base resins that enhance flow resistance and low noise characteristics.

In addition, sodium silicate (Na ₂ SiO ₃ ) powder penetrates and fills the pores, cracks, and cracks of concrete, gelling and densifying it, and maintains high waterproofness, tensile strength, and compressive strength to increase durability.

In addition, disteardimonium hectorite densifies the structure of the molded product, improving hardness, strength, durability, and moisture resistance while increasing the low friction and low noise characteristics of the molded product.

In addition, Nonylphenol Ethoxylate provides a surfactant function while increasing occlusion with the resin, and especially provides an antioxidant effect.

In addition, CZ (N-cyclohexybenzothiazole-2-sulfenamide) increases surface slip properties and strengthens waterproofness, thereby increasing stain resistance.

In addition, Nickel Titanate enhances durability and increases corrosion resistance, low noise, and low friction characteristics.

In addition, polyphosphate salts enhance durability by increasing the tear strength and tensile strength of the surface, and enhance corrosion resistance and water pressure resistance.

Additionally, dimethylpolysiloxane is composed of a heat-resistant siloxane bond (Si-O-Si) and an organic methyl group, and is added to increase anti-foaming properties, heat resistance, thermal oxidation stability, chemical resistance, and water repellency.

In addition, in the present invention, as shown in the example of FIG. 8, the camera 22 is configured to rotate and reciprocate within a certain angle in the horizontal direction, so that the ability to avoid interference can be further increased.

For this purpose, the camera 22 is built into the camera housing (HJ), and a housing rotation axis (SF) protrudes from the top of the camera housing (HJ), and a tilting bracket 30 penetrates the housing rotation axis (SF). The gear shaft 172 of one pinion gear 170 is pinned.

At this time, a shaft hole 174 is formed through the tilting bracket 30 so that the gear shaft 172 can pass through it.

In addition, a pair of rack gears 180 are arranged in parallel to face each other on both sides of the shaft hole 174, and a guider 182 protrudes from the lower surface of the rack gear 180. The guider 182 is inserted into the guide groove 176 formed in the tilting bracket 30 and guides the movement of the rack gear 180.

In addition, a linear motor 190 is fixed on the outer tilting bracket 30 of one of the rack gears 180, and the rising and retracting end 192 of the linear motor 190 is connected to the rack gear 180. It is fixed.

In addition, the pinion gear 170 is placed between the rack gears 180 and is tooth-coupled with each other.

In addition, the upper part of the tilting bracket 30 is covered by the camera base 20, which prevents the rack gear 180 from being separated and guides it to enable accurate operation.

Accordingly, when the horizontal rotation of the camera 22 is required, the linear motor 190, which is an actuator, operates and pushes the rack gear 180 fixed thereto, and the opposite rack gear moves in the opposite direction in a staggered manner, thereby rotating the pinion gear 180. ) is rotated by a certain angle, which causes the camera housing (HJ) to rotate and change to the horizontal imaging direction of the camera 22.

However, the present invention does not rotate the pinion gear 180 completely 360 degrees, but allows the pinion gear 180 to move horizontally and reciprocally within a certain angle.

Therefore, wires for processing captured images do not become twisted, fall off, or become damaged.

In addition, in the present invention, as shown in FIGS. 6 and 9, a shock absorbing unit 150 is further provided to bind the bottom plate 112 constituting the guide rail 110 and the fixed base BT.

The cushioning unit 150 penetrates the elastic silicon pad (SP) interposed between the bottom plate 112 and the fixed base (BT), and the bottom plate 112, the silicon pad (SP), and the fixed base (BT). A binding bar 152, a spring groove 154 recessed on opposing surfaces of the floor plate 112 and the fixed base BT through which the binding bar 152 penetrates, and the binding bar 152. The first and second springs (156a, 156b) are inserted into each end and one end is seated in the spring groove (154), and the first and second springs (156a) are screwed to each end of the binding bar (152). It includes first and second fixing discs (158a, 158b) that fix the other end of , 156b).

When configured in this way, the elastic silicone pad (SP) first buffers the flow between the bottom plate 112 and the fixed base (BT), and then the first spring 156a and the second spring 156b each cushion the flow. Therefore, when the bottom plate 112 is coupled to the fixed base (BT), the vibration transmitted from the fixed base (BT), which is integrated with the airship fuselage (A), is transmitted to the silicon pad (SP) and the two first and second It is completely cushioned and absorbed by the springs 156a and 156b, so that it does not interfere with the stereo camera 22's shooting.

In addition, the silicone pad (SP) contains 5 parts by weight of sodium alkylbenzenesulfonate and 8 parts by weight of PBAT (Poly-Butylene Adipate Terephthalate) for 100 parts by weight of silicone resin to ensure elasticity and enhance durability. , it is preferably formed by mixing 6.5 parts by weight of benzoic acid vinyl ester.

In this case, sodium alkylbenzenesulfonate strengthens acid resistance and prevents a decrease in elasticity due to changes in stretching, thereby maintaining a constant elasticity.

Additionally, PBAT (Poly-Butylene Adipate Terephthalate) increases elongation, providing flexibility, processability, and durability.

In addition, benzoic acid vinyl ester is a material corresponding to CAS number 769-78-8 and absorbs ultraviolet rays through photodeterioration of ultraviolet rays to protect the surface of the adherend and suppress cracking.

In this way, in the present invention, when the flight route of the aircraft is set in advance according to GPS coordinates and aerial photography is taken using a camera mounted on the aircraft, the aerial photography camera mounted on the aircraft is not maintained fixed at one point, but rather up and down. It has a fixed structure that can move in any direction and rotate, enabling interference avoidance maneuver and height adjustment maneuver, as well as a buffering function against vibration, so that improved effects can be obtained to enable more accurate, clearer, and stable image shooting.

10: Fixed bracket 30: Tilting bracket
40: 2nd timing pulley 50: 1st link
60: Timing belt 70: First timing pulley
80: second link 90: rotation motor

Claims (2)

A fixing bracket (10) assembled on the fixing base (BT) of the aircraft fuselage (A) so that the height can be adjusted through the height adjustment unit (100), and a first rotation axis ( A tilting bracket 30 installed to be rotatable about 12), a first timing pulley 70 rotating about a second rotation axis 14 fixed to one side of the tilting bracket 30, and It is fixed to the first link 50 and the fixing bracket 10, which are fixed to the first timing pulley 70 and rotate interlocked, and are connected to the first link 50 and are bent and linked in a joint form to form a tilting bracket 30. ) a second link 80 that folds to 90°, a rotation motor 90 fixed to the tilting bracket 30 and rotating the first timing pulley 70, the tilting bracket 30, and Timing connecting the second timing pulley 40, which is disposed between the first link 50 and rotatably installed on the second rotation shaft 14, and the first timing pulley 70 and the second timing pulley 40. In an aerial photography system linked to GPS, including a belt 60, a camera base 20 fixed to the tilting bracket 30, and a camera 22 installed on the camera base 20;
The height adjustment unit 100 includes a guide rail 110 mounted on a fixed base (BT), slides along the guide rail 110, and is fixed to the fixing bracket 10. A 'ㅛ' shaped slider 120, a slide motor 130 fixed to one inner end of the slider 120, and a slider 120 that is rotated by the slide motor 130 to move the slider 120. It includes a ball screw (140) screw-coupled with the slider (120);
The camera 22 is built into a camera housing (HJ), and a housing rotation axis (SF) protrudes from the top of the camera housing (HJ), and a pinion gear penetrating the tilting bracket 30 is attached to the housing rotation axis (SF). The gear shaft 172 of (170) is fixed with a pin, and a shaft hole 174 is formed in the tilting bracket 30 so that the gear shaft 172 can pass through, and the shaft hole 174 is formed on both sides based on the shaft hole 174. A pair of rack gears 180 are arranged in parallel to face each other, and a guider 182 protrudes from the lower end of the rack gear 180, and the guider 182 is connected to the tilting bracket 30. It is inserted into the guide groove 176 formed in and guides the movement of the rack gear 180, and a linear motor 190 is fixed on the outer tilting bracket 30 of any one of the rack gears 180. The rising and falling end 192 of the linear motor 190 is fixed to the rack gear 180, and the pinion gear 170 is placed between the rack gears 180 and engaged with each other. Connected aerial photography system.
According to paragraph 1,
A buffer unit 150 is further provided to bind the bottom plate 112 constituting the guide rail 110 and the fixed base (BT), and the buffer unit 150 is connected to the bottom plate 112 and the fixed base (BT). ) an elastic silicon pad (SP) interposed between them, a binding bar 152 penetrating the bottom plate 112, the silicon pad (SP), and the fixed base (BT), and a binding bar 152 penetrating Spring grooves 154 recessed on opposing surfaces of the bottom plate 112 and the fixed base BT, respectively, are inserted into each end of the binding bar 152 and one end is seated in the spring groove 154. The first and second springs (156a, 156b) and the first and second fixing disks (158a) that are screwed to each end of the binding bar (152) and fix the other ends of the first and second springs (156a, 156b). 158b); The silicone pad (SP) contains 5 parts by weight of sodium alkylbenzenesulfonate, 8 parts by weight of PBAT (Poly-Butylene Adipate Terephthalate), and 6.5 parts by weight of benzoic acid vinyl ester, based on 100 parts by weight of silicone resin. An aerial imaging system linked to GPS, characterized by being formed by mixing parts.

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