KR20200137322A - Drone for photographing image - Google Patents

Abstract

The present invention relates to a drone, which is formed in a structure having stability due to a propeller guard and a pipe frame in which a plurality of cameras are radially installed around a drone body, wherein the propeller guard absorbs vibration and external impact caused by winds or rotation of a propeller, thereby obtaining a clear image in front, rear, left and right directions from the cameras.

Description

Drone for photographing image}

The present invention relates to an omnidirectional shooting drone, and more particularly, a plurality of cameras form a structure having stability by a propeller and a propeller guard radially installed around a drone body, and a plurality of cameras or sensors It relates to an omnidirectional shooting drone that can secure an image.

In the early days, drones were developed and used as unmanned aerial vehicles for military purposes to reconnaissance of enemy camps, but these drones have been widely used in recent years with continuous technological developments, and thus weather observation, environment and forest fire monitoring, border, coastal, road monitoring, and disaster It is used for support, communication relay, and remote sensing.

However, unlike a car that has a driving direction, it is difficult to shoot in all directions through a camera due to the nature of a drone that can travel in all directions: straight, backward, up, down, left and right.

In addition, drones are difficult to secure visibility due to their own structures such as frames, propulsion units, guards, antennas, GPS receivers, etc. in the body of the drone or the cameras placed above and below it. Research is in progress.

To solve this problem, Korean Patent Publication No. 10-2019-0054755 (name of the invention: camera system for drones) (hereinafter referred to as “conventional technology”) was developed.

1 is a perspective view of the prior art.

The prior art 100 is a drone body 101, a plurality of arms 102 that are installed to extend from the side of the drone body 101 at an equal angle to the outside, and a rotor blade 103 installed on the arms 102. ), and side cameras 104 installed at the ends of the arms 102, and an upper camera 105 installed on the upper surface of the drone body 101.

In the prior art 100 configured as described above, since the side cameras 104 are installed at the ends of the arms 102, images are imaged by their own structures such as the drone body 101, the arms 102, and the rotor blades 103. This non-acquisition dead zone does not occur.

In addition, in the prior art 100, since the arms 102, the rotor blades 103, and the side cameras 104 are installed at an equal angle from the drone body 101, the center of gravity is constant so that stable flight is possible, and the side Images in all directions, front, back, left and right may be photographed through the cameras 104.

However, in the prior art 100, one end of the arms 102 is coupled with the drone body 101, but the other end of the arms 102 is not fixed by a separate support means, so the wind or rotor blades 103 The arms 102 are vibrated by vibrations generated by rotation, and the side cameras 104 installed at the ends of the arms 102 are vibrated, making it difficult to obtain a clear image.

In addition, in the prior art 100, since the side camera 104 is exposed to the outermost side, when the drone hits an obstacle due to carelessness of a manipulator, the camera is damaged.

The present invention is to solve this problem, and the problem of the present invention is that the end of the frame radially installed from the body of the drone is coupled with a circular frame-shaped guard whose outer circumferential surface is combined with the drone body, thereby occurring by wind or propeller. It is to provide an omnidirectional shooting drone that can absorb the vibration of the frame through a guard.

In addition, another problem of the present invention is that a through hole is formed in the guard that is in contact with the end of the frame, and a camera or sensor is installed inside the through hole to allow the optical axis of the camera or sensor to pass through the through hole. The objective is to provide an omnidirectional shooting drone capable of securing an image in all directions by sensors and protecting the camera or sensor from external shock by installing a camera or sensor inside the guard.

In addition, another problem of the present invention is to provide an omnidirectional photographing drone that can apply autonomous driving technology based on technologies such as evasive driving and recognizing surrounding conditions through sensor interlocking with an omnidirectional image secured through a camera or sensor.

The solution means of the present invention for solving the above problem is a drone body; A plurality of pipe frames radially installed from the side of the drone body; Propeller guards formed in the shape of a circular frame, the outer circumferential surface of one side is coupled to the side surface of the drone body and installed so that the pipe frames pass through the central axis, and the insertion hole is formed on an extension line of the end of the pipe frame; Sensing means respectively installed at ends of the pipe frames and inserted into insertion holes of the propeller guard; It includes propellers installed above the pipe frames.

In addition, in the present invention, the sensing means is a camera, and the omnidirectional photographing drone further includes a camera holder for coupling the camera to an end of the pipe frame, and the camera includes a camera body in which a photographing unit including a lens is installed on one surface; A connection bracket including insertion portions protruding from both sides of the camera body, the camera holder being formed in a hollow cylindrical shape, and into which the pipe frame is inserted into a hollow inside to be coupled; One side is respectively coupled to the opposite outer circumferential surfaces of the connection bracket, extending in a direction from the drone body toward the end of the pipe frame, cross-sections including fixing brackets coupled to the inner circumferential surface of the propeller guard, the fixing bracket In the cross-sections of each of the insertion grooves formed inward, extending to the inner surface opposite to each other, the insertion portions of the camera are formed to correspond to the shape and size of the insertion grooves of the fixing brackets, so that the insertion portions are When assembling, it is preferable that each of the fixing brackets slide into the insertion grooves, and the photographing part of the camera is inserted into the insertion hole of the propeller guard and exposed to the outside during assembly.

In addition, in the present invention, the camera body is formed to have the same size as the distance between the inner surfaces of the fixing brackets, so that when inserted into the space between the fixing brackets, the camera body is pressed by the inner surfaces of the fixing brackets, and the fixing It is preferable that the ends of the brackets are bolted to the side of the propeller guard.

In addition, in the present invention, the sensing means is preferably a sensor that detects surrounding objects.

According to the present invention having the above problems and solutions, frames in which cameras or sensors are installed absorb vibrations and external shocks generated by wind or propellers by guards, thereby preventing the cameras or sensors from shaking or being damaged. You will be able to.

In addition, according to the present invention, it is possible to apply autonomous driving technology and various technologies based on technologies such as avoidance driving and recognition of surrounding situations by linking an omnidirectional image captured by drone cameras with a sensor.

1 is a perspective view of the prior art.
Figure 2 is a perspective view showing the omnidirectional photographing drone of the present invention.
3 is a diagram illustrating an example of a field of view of a camera image of the camera of FIG. 2.
4 is a diagram illustrating a recognition range of the obstacle recognition sensor of FIG. 2.

Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

Figure 2 is a perspective view showing the omnidirectional photographing drone of the present invention.

The omnidirectional shooting drone 1 includes a drone body 11, four pipe frames 12 radially installed on the outer surface of the drone body 11, and a propeller installed on top of the pipe frames 12, respectively. 13), the image acquisition units 14 installed at the ends of the pipe frames 12, respectively, and the propeller guards 15 installed outside the propeller 13 by being coupled to each pipe frame 12 And, it consists of an obstacle recognition sensor 16 installed on the upper portion of the drone body (11).

The drone body 11 is formed as a housing, and an obstacle recognition sensor 16 is installed on the upper surface, and the pipe frames 12 are radially vertically coupled to the outer surface.

In addition, the drone body 11 includes a transceiver (not shown), a control unit (not shown), and a battery (not shown).

The pipe frames 12 are formed in a pipe shape having a length, and one end is vertically coupled to the side of the drone body 11, and is installed radially around the drone body 11, but is installed at an equal angle to each other.

In addition, image acquisition units 14 are installed at the other end of the pipe frames 12, respectively.

In this case, in FIG. 2, for convenience of description, it has been described for example that four pipe frames 12 are installed, but the number of pipe frames 12 is not limited thereto, and may be configured in various quantities.

In addition, in the pipe frame 12, the wires related to the propeller 13 and the image acquisition unit 14 are connected to the drone body 11 through the inner space of the pipe frame 12, so that the wires are outward. It is prevented from being exposed and damaged, and the length of the wires can be reduced by arranging the wires between the propeller 13 and the image acquisition unit 14 and the drone body 11 in a straight line.

The propeller 13 is installed on the upper part of the pipe frame 12 between the drone body 11 and the image acquisition unit 14, and rotates by a motor (not shown) to flow air, thereby taking an omnidirectional photographing drone (1). It generates thrust or lift to make it fly.

At this time, the propellers 13 are installed to be located in the center of the propeller guards 15.

The image acquisition unit 14 is installed at the end of the pipe frame 12 and includes a camera holder 141 and a camera 142 installed on the camera holder 141.

At this time, in FIG. 2, for convenience of explanation, it has been described for example that the camera 142 is installed at the end of the pipe frame 12, but the end of the pipe frame 12 detects surrounding objects such as a laser sensor and a radar sensor. A variety of known sensors that can be installed can be installed.

The camera holder 141 is coupled to the outer peripheral surface of the hollow cylindrical connection bracket 1411 coupled to the end of the pipe frame 12 and the connection bracket 1411 to extend in a direction toward the other end of the pipe frame 12. It consists of a pair of fixing brackets 1412 for firmly fixing the camera 142.

In addition, at the ends of the fixing brackets 1412 of the camera holder 141, coupling plates 1413 that are coupled to the propeller guard 15 by bolting are formed, respectively, and the camera 142 on the inner side of the fixing brackets 1412 An insertion groove 1414 into which is inserted is formed.

At this time, the insertion groove 1414 is formed in the cross-section of the coupling plate 1413 and extends to the inner surface of the fixing bracket 1412, so that when assembling, the insertion portions 1422 of the camera body 1421 to be described later are sliding. Will be inserted.

The camera 142 has a rectangular parallelepiped camera body 1421 and an insertion portion protruding from both sides of the camera body 1421 and inserted into the insertion grooves 1414 of the fixing brackets 1412 of the camera holder 141, respectively. It consists of (1422) and a photographing portion (1423) protruding from the front of the camera body (1421). At this time, the photographing unit 1423 is made of a lens or the like.

In addition, the insertion portions 1422 are formed in a shape and size corresponding to the shape and size of the insertion grooves 1414 of the fixing brackets 1412, so that they are inserted into the insertion grooves 1414 of the fixing brackets 1412 during assembly. .

In addition, the camera body 1421 is formed to have the same size as the distance between the inner surfaces of the fixing brackets 1412, so that when assembling, when inserted into the space between the fixing brackets 1412, both sides of the fixing brackets 1412 By being pressed by the inner surfaces, even if external shocks and vibrations occur, the camera 142 can be firmly supported to prevent shaking of the camera 142, and thus a clear and accurate image can be obtained.

The image acquisition unit 14 configured as described above is inserted into the insertion groove 1414 formed on the inner surfaces of the fixing brackets 1412 of the camera holder 141, so that the insertion portions 1422 formed on the camera 142 are inserted into the camera 142 ) Is installed on the camera holder 141, and the coupling plates 1413 formed on the camera holder 141 and the propeller guard 15 are bolted together, so that the camera holder 141 and the propeller guard 15 are coupled.

At this time, the camera 142 is forcibly fitted with the fixing bracket 1412 so that both side surfaces and rear surfaces thereof are firmly supported by the fixing bracket 1412.

In addition, in the camera 142, the photographing unit 1423 of the camera 142 is inserted into the insertion hole 151 of the propeller guard 15 to be described later.

At this time, the camera 142 is pressed by the propeller guard 15 when the propeller guard 15 and the coupling plate 1413 of the camera holder 141 are coupled, so that the movement of the pipe frame 12 in the longitudinal direction is prevented. Is prevented.

The camera 142 installed in this way is installed so that it cannot be moved by the camera holder 141 and the propeller guard 15, so that it is not shaken by the wind or vibration caused by the rotation of the propellers 13, thereby obtaining a clear image. I can.

In addition, since the camera 142 is located inside the propeller guard 15, it can be protected from external impact.

The propeller guard 15 is formed in a circular frame shape, and the outer circumferential surface of one side is coupled to the side of the drone body 11.

In addition, the propeller guard 15 is installed so that the pipe frame 12 passes through the central axis of the propeller guard 15, and at this time, the camera holder 141 of the image acquisition unit 14 installed at the end of the pipe frame 12 is a propeller. It is coupled to the inner peripheral surface of the guard (15).

In addition, the propeller guard 15 has an insertion hole 151 into which the photographing part 1423 of the camera 142 is inserted at a position corresponding to the photographing part 1423 of the camera 142.

The propeller guard 15 configured as described above is coupled to the coupling plate 1413 of the camera holder 141 so that the pipe frame 12 and the camera holder 141 installed at the ends of the pipe frame 12 are provided with the propeller guard 15 ) Is supported by the wind or the vibration generated by the rotation of the propeller 13, and thus, the camera 142 installed in the camera holder 141 is also not shaken by the vibration. You can get the video.

In addition, since the camera 142 is installed inside the propeller guard 15, even if a collision with an obstacle occurs, the shock is absorbed by the propeller guard 15 to prevent damage to the camera 142.

3 is a diagram illustrating an example of a field of view of a camera image of the drone of FIG. 2.

As shown in FIG. 3, the cameras 142 of the omnidirectional shooting drone 1 overlap the camera shooting range A so that images corresponding to the front, rear, left and right directions based on the drone body 11 can be acquired. do.

At this time, the camera 142 is inserted into the insertion hole 151 of the propeller guard 15 to photograph the outside, so that the camera 142 has its own field of view without interference from its own structure of the omnidirectional photographing drone 1 You can secure images of all areas.

4 is a diagram illustrating a recognition range of the obstacle recognition sensor of FIG. 2.

The obstacle recognition sensor 16 emits a laser to a target and measures the time and intensity it takes for light to return, and detects distance, direction, speed, temperature, material distribution, and concentration characteristics. , Lidar) sensor with high precision and resolution, and it is possible to grasp objects in three dimensions.

In this case, in FIG. 4, for convenience of explanation, the obstacle recognition sensor 16 is described as using a lidar sensor, but the obstacle recognition sensor is not limited thereto, and may be configured of a radar sensor, an ultrasonic sensor, or the like.

This obstacle recognition sensor 16 is installed on the top of the drone body 11, and has a sensing range (B) shown in FIG. At this time, the sensing range (B) of the obstacle recognition sensor 16 overlaps with the camera shooting range (A) of the camera 142 shown in FIG. 3, and through this, the omnidirectional shooting drone 1 is photographed through the camera 142 Autonomous driving technology and various technologies can be applied based on technologies such as avoidance driving and recognition of surrounding situations by interlocking the recorded image with the obstacle recognition sensor 16.

1: drone
11: drone body 12: pipe frame
13: propeller 14: image acquisition unit
15: propeller guard 16: obstacle recognition sensor

Claims (4)

Drone body;
A plurality of pipe frames radially installed from the side of the drone body;
Propeller guards formed in the shape of a circular frame, the outer circumferential surface of one side is coupled to the side surface of the drone body and installed so that the pipe frames pass through the central axis, and the insertion hole is formed on an extension line of the end of the pipe frame;
Sensing means respectively installed at ends of the pipe frames and inserted into insertion holes of the propeller guard;
Omnidirectional shooting drone, characterized in that it comprises propellers installed on the upper portion of the pipe frames. The method of claim 1, wherein the sensing means is a camera,
The omnidirectional shooting drone
Further comprising a camera holder coupling the camera to the end of the pipe frame,
The camera
A camera body in which a photographing unit including a lens is installed on one surface;
Includes insertion portions protruding from both sides of the camera body,
The camera holder
A connection bracket formed in a hollow cylindrical shape and into which the pipe frame is inserted into and coupled to the inner hollow;
One side is coupled to each of the opposite outer circumferential surfaces of the connection bracket, extending in a direction from the drone body toward the end of the pipe frame, cross-sections including fixing brackets coupled to the inner circumferential surface of the propeller guard,
Cross-sections of the fixing brackets are formed inwardly, and insertion grooves extending to inner surfaces opposite to each other are formed, respectively,
The insertion portions of the camera are formed to correspond to the shape and size of the insertion grooves of the fixing brackets, so that the insertion portions slide into the insertion grooves of the fixing brackets respectively during assembly,
When assembling the photographing unit of the camera, it is inserted into the insertion hole of the propeller guard and exposed to the outside. The method of claim 2, wherein the camera body is formed to have the same size as the spacing between the inner surfaces of the fixing brackets, so that when inserted into the space between the fixing brackets, the camera body is pressed by the inner surfaces of the fixing brackets. ,
Ends of the fixing brackets are omnidirectional shooting drone, characterized in that bolted to the side of the propeller guard. The drone of claim 1, wherein the detection means is a sensor that detects surrounding objects.

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