KR20210062324A - Apparatus for Aerial Photo using 3-axis Gimbal and Control Method Using the Same - Google Patents

Abstract

The present embodiments relate to an aerial photography device comprising an unmanned aerial vehicle flying in the air by radio control, and an environment photographing device attached to the unmanned aerial vehicle to photograph the surrounding environment. The environment photographing device includes: a multi-axis gimbal connected to the unmanned aerial vehicle and rotating about a directional axis to form a level; a photo shooting unit which is connected to the multi-axis gimbal and creates environmental information by capturing the surrounding environment during flight; and a control unit which controls the multi-axis gimbal according to the surrounding environment. Accordingly, it is possible to photograph without shaking while flying via the aerial photography device.

Description

Aerial photographing device using a 3-axis gimbal structure and its control method {Apparatus for Aerial Photo using 3-axis Gimbal and Control Method Using the Same}

The present invention relates to an aerial photographing apparatus and a control method thereof, and more particularly, to an aerial photographing apparatus using a three-axis gimbal structure and a control method thereof.

The content described in this section merely provides background information on the present embodiment and does not constitute the prior art.

Due to the recent increase in average temperature on the Korean peninsula and the increase in drought periods due to a decrease in the number of rainy days, the risk of forest fires is increasing in terms of weather and fuel than in the past. In fact, large-scale forest fires are occurring simultaneously in a number of areas, and there is a problem that forests and property are damaged.

Recently, unmanned aerial vehicles that can be used for fire suppression have been proposed. Unmanned aerial vehicles are capable of unmanned flight, so if they can be used in the field of wildfires, it is possible to detect fires and residual fires through the spread of wildfires in the event of a wildfire.

The camera attached to the unmanned aerial vehicle becomes unstable as the unmanned aerial vehicle flies, and the image acquired through the unmanned aerial vehicle is also deformed so that the exact topography or location of the actual forest fire occurrence is changed. Since a problem occurs, a structure that can compensate for this is required.

The present invention is an aerial photographing device using a three-axis gimbal structure and a method of controlling the same, by using a three-axis gimbal structure attached to the unmanned aerial vehicle to eliminate distortion of the image captured by the image capture unit during the flight of the unmanned aerial vehicle. The main purpose of the invention is to operate so as to operate.

Other objects not specified of the present invention may be additionally considered within a range that can be easily deduced from the following detailed description and effects thereof.

In order to achieve the above object, the present invention is attached to the unmanned aerial vehicle and the unmanned aerial vehicle flying in the air by radio control to photograph the surrounding environment, connected to the unmanned aerial vehicle, and rotated about the direction axis to form a horizontal An aerial photographing apparatus comprising a multi-axis gimbal that is connected to the multi-axis gimbal, an image photographing unit that is connected to the multi-axis gimbal and generates environmental information by photographing the surrounding environment during flight, and a controller that controls the multi-axis gimbal according to the surrounding environment Provides.

Preferably, the multi-axis gimbal is a gimbal that connects a plurality of gimbal fixing units and a plurality of gimbal fixing units positioned to connect the unmanned aerial vehicle and the image capturing unit, and holds the shaking of the image capturing unit through rotation. Including a driving unit, wherein the gimbal fixing unit is connected to the unmanned aerial vehicle and fixed a bow agitation (Yaw) fixing part, a pitch fixed part connected to and fixed to the yaw fixed part, and the driven swing ( Pitch) is fixed by being connected to the fixing unit, and includes a roll fixing unit for fixing the image capturing unit.

Preferably, the gimbal driving unit is driven around a first axis connected to the unmanned aerial vehicle and a second axis and a third axis perpendicular to the first axis, and the gimbal driving unit includes the yaw fixing unit The pitch fixing part is connected, and the yaw driving part rotatably coupled around the first axis, the pitch fixing part and the roll fixing part are connected, and , A pitch driving unit that rotates about the second axis, and a roll driving unit that connects the roll fixing unit and the image capture unit, and rotates about the third axis.

Preferably, the control unit is a target angle setting unit for setting a target angle according to the flight path and the flight target posture of the unmanned aerial vehicle, and the deformation angle of the image photographing unit that changes due to the influence of external environment when the unmanned aerial vehicle is flying Based on the angle measurement unit for measuring, a control angle calculation unit for calculating a control angle for controlling the image capture unit to the target posture using the target angle and the deformation angle measured by the angle measurement unit, and the control angle And a gimbal driving control unit that controls the multi-axis gimbal.

Preferably, the influence of the external environment is estimated based on the wind direction according to the moving direction of the unmanned aerial vehicle and the speed of the unmanned aerial vehicle, and the control unit repeatedly adjusts the deformation angle according to the change of the influence of the external environment. It is characterized in that the multi-axis gimbal is controlled through the gimbal driving control unit by measuring and calculating the control angle using the deformation angle.

Preferably, the target angle setting unit sets a target angle using a shooting direction of the image capturing unit, and the shooting direction of the image capturing unit is set based on a target to be photographed by the image capturing unit, and the target angle setting unit As the position of the target object changes, the target angle is changed and set.

Preferably, the unmanned aerial vehicle transmits the environmental information generated by the image photographing unit and receives a control signal for controlling the unmanned aerial vehicle, and the unmanned aerial vehicle or the environment photographing device during long-distance flight of the unmanned aerial vehicle It further comprises a computing device for performing communication for controlling, wherein the computing device is characterized in that transmitting the communication to the unmanned aerial vehicle without limitation on a communication distance through the base station.

Preferably, the transceiver unit controls the unmanned aerial vehicle and communicates with the environment photographing device within a preset distance, and the computing device controls the unmanned aerial vehicle through the base station when the unmanned aerial vehicle deviates from the preset distance. And communicating with the environment photographing device.

In addition, according to another aspect of the present embodiment, the present invention is attached to the unmanned aerial vehicle and the unmanned aerial vehicle flying in the air by radio control to photograph the surrounding environment, connected to the unmanned aerial vehicle, and the direction axis to form a horizontal An environment photographing device including a multi-axis gimbal that rotates relative to, an image photographing unit that is connected to the multi-axis gimbal and generates environmental information by photographing the surrounding environment during flight, and a control unit that controls the multi-axis gimbal according to the surrounding environment. It provides an aerial photographing control system including an aerial photographing device and a ground control unit for controlling the aerial photographing device.

Preferably, the aerial photographing device transmits the environmental information generated by the image photographing unit and receives a control signal for controlling the aerial photographing device, and the unmanned aerial vehicle or the environment during long-distance flight of the unmanned aerial vehicle It further comprises a computing device for performing communication for controlling the photographing device, wherein the computing device is characterized in that transmitting the communication to the unmanned aerial vehicle without limitation on a communication distance through the base station.

Preferably, the ground control unit includes an information receiving unit for receiving environmental information transmitted from the transmitting and receiving unit and a control signal transmitting unit for transmitting a control signal for controlling the aerial photographing device, and the ground control unit uses the environment information By setting a target position for the unmanned aerial vehicle to move and a target for photographing by the image photographing unit, and transmitting as a control signal to control the unmanned aerial vehicle and the aerial photographing device based on the target position and the target, the It is characterized in that communication with the unmanned aerial vehicle and the aerial photographing device is performed by the computing device without limitation on a communication distance through a base station.

In addition, according to another aspect of the present embodiment, in the control method of the aerial photographing apparatus, the present invention comprises the steps of setting a target angle according to the flight path and the flight target posture of the unmanned aerial vehicle in the target angle setting unit, and When the unmanned aerial vehicle is in flight, measuring the deformation angle of the image photographing unit of the aerial photographing apparatus that changes due to the influence of the external environment, using the target angle and the deformation angle measured by the angle measuring unit in a control angle calculation unit And calculating a control angle for controlling the image photographing unit to the target posture, and controlling a multi-axis gimbal of the aerial photographing apparatus using the control angle in a gimbal driving control unit. Suggest.

Preferably, the multi-axis gimbal connects a plurality of gimbal fixing units and a plurality of gimbal fixing units positioned to connect the unmanned aerial vehicle and the image capturing unit, and a gimbal driving unit that holds the shaking of the image capturing unit by rotation. Including, the gimbal driving unit is driven around a first axis connected to the unmanned aerial vehicle and a second axis and a third axis perpendicular to the first axis, and the gimbal driving unit is rotatably coupled around the first axis A yaw driving unit, a pitch driving unit rotating with respect to the second axis, and a roll driving unit rotating with respect to the third axis, wherein the controlling of the multi-axis gimbal includes the Based on a control angle calculated through a control angle calculation unit, the yaw driving unit, the pitch driving unit, or the roll driving unit are controlled.

Preferably, the step of measuring the deformation angle estimates the influence of the external environment based on the wind direction according to the moving direction of the unmanned aerial vehicle and the speed of the unmanned aerial vehicle, and the control method of the aerial photographing apparatus comprises the The multi-axis gimbal is controlled through the gimbal driving control unit by repeatedly measuring a deformation angle according to a change in an influence of an external environment and calculating the control angle using the deformation angle.

As described above, according to the embodiments of the present invention, the present invention has the effect of accurately detecting the exact topography or location of an actual forest fire occurrence site such as a fire line or residual fire through the spread of a forest fire when a forest fire occurs.

In addition, according to the embodiments of the present invention, the present invention has the effect of being able to take a picture or video so that there is no shaking when flying in turbulence and strong wind by mounting a 3-axis gimbal on the unmanned aerial vehicle.

Even if it is an effect not explicitly mentioned herein, the effect described in the following specification expected by the technical features of the present invention and the provisional effect thereof are treated as described in the specification of the present invention.

1 is a view showing an aerial photographing apparatus according to an embodiment of the present invention.
2 is a block diagram showing in detail the configuration of an aerial photographing apparatus according to an embodiment of the present invention.
3 is a diagram illustrating an image photographing unit of an aerial photographing apparatus according to an embodiment of the present invention.
4 is a diagram showing a shape of an aerial photographing apparatus according to an embodiment of the present invention.
5 is an exemplary view showing a shape of an environment photographing device attached to an unmanned aerial vehicle of an aerial photographing apparatus according to an embodiment of the present invention.
6A is a diagram illustrating a computing device of an aerial photographing apparatus according to an embodiment of the present invention, and FIG. 6B is a block diagram illustrating an aerial photographing control system according to an embodiment of the present invention.
7 is a flowchart illustrating a method of controlling an aerial photographing apparatus according to an embodiment of the present invention.
8 is a flowchart illustrating in detail multi-axis gimbal control of a method for controlling an aerial photographing apparatus according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments to be posted below, but may be implemented in a variety of different forms, and only these embodiments make the posting of the present invention complete, and common knowledge in the technical field to which the present invention pertains. It is provided to completely inform the scope of the invention to the possessor, and the invention is only defined by the scope of the claims. The same reference numerals refer to the same elements throughout the specification.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used with meanings that can be commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not interpreted ideally or excessively unless explicitly defined specifically.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention, and expressions in the singular include plural expressions unless the context clearly indicates otherwise. In the present application, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof does not preclude in advance.

Terms including ordinal numbers such as second and first may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another component. For example, without departing from the scope of the present invention, the second element may be referred to as the first element, and similarly, the first element may be referred to as the second element. The term and/or includes a combination of a plurality of related listed items or any of a plurality of related listed items.

The present invention relates to an aerial photographing apparatus using a 3-axis gimbal structure and a control method thereof.

1 is a view showing an aerial photographing apparatus according to an embodiment of the present invention.

Referring to FIG. 1, an aerial photographing apparatus 30 using a three-axis gimbal structure according to an embodiment of the present invention includes an environment photographing apparatus 10 and an unmanned aerial vehicle 20. The aerial photographing apparatus 30 may omit some of the various components exemplarily illustrated in FIG. 1 or may additionally include other components.

The aerial photographing apparatus 30 using the 3-axis gimbal structure may acquire an image through the image photographing unit 200 by controlling the multi-axis gimbal 100 using a control loop.

The aerial photographing device 30 using the 3-axis gimbal structure can detect caustics, residual fires, etc. through the spread of wildfires in the event of a wildfire at night, and when flying in turbulence and strong winds using a 3-axis gimbal that is difficult to mount on a general unmanned aerial vehicle. You can take pictures without shaking.

According to an embodiment of the present invention, the aerial photographing apparatus 30 using a 3-axis gimbal structure can control long-distance flight through LTE by mounting a computing device instead of an expensive LTE communication module for an unmanned aerial vehicle. Here, the computing device may be a smartphone, but is not limited thereto. In addition, the communication network used for long-distance flight control is not limited to LTE, and long-distance flight can be controlled by various communication networks.

According to an embodiment of the present invention, the environment photographing apparatus 10 is specifically mounted under the unmanned aerial vehicle 20 to obtain environmental information while driving along the terrain to be photographed.

Aerial photographing device 30 using a 3-axis gimbal structure is a bow shake, horizontal shake, and vertical shake of the image photographing unit 200 of the environmental photographing device 10 attached to the unmanned aerial vehicle 20 due to the influence of turbulence or strong wind. It becomes unstable, and as a result, the image acquired by the image capturing unit 200 is also deformed, so that it may be corrected to be different from the actual environment.

Hereinafter, components of the aerial photographing apparatus will be described in detail with reference to FIG. 2.

2 is a block diagram showing in detail the configuration of an aerial photographing apparatus according to an embodiment of the present invention.

Referring to FIG. 2, the aerial photographing device 30 includes an environmental photographing device 10, an unmanned aerial vehicle 20, a transmission/reception unit 400, and a computing device 500. The aerial photographing apparatus 30 may omit some of the various components exemplarily illustrated in FIG. 2 or may additionally include other components.

The unmanned aerial vehicle 20 can fly in the air by radio control.

The environment photographing device 10 may be attached to the unmanned aerial vehicle to photograph the surrounding environment. The environment photographing apparatus 10 includes a multi-axis gimbal 100, an image photographing unit 200, and a control unit 300, and some elements are omitted or other elements are additionally included among the various elements shown by way of example. Can include.

The multi-axis gimbal 100 is connected to the unmanned aerial vehicle 20 and can rotate about a directional axis to form a horizontal.

The multi-axis gimbal 100 may include the gimbal fixing unit 110 and the gimbal driving unit 120, but is not limited thereto and may further include some components.

The gimbal fixing unit 110 may be located in multiple locations to connect the unmanned aerial vehicle 20 and the image capturing unit 200.

The gimbal fixing part 110 may include a yaw fixing part 112, a pitch fixing part 114, and a roll fixing part 116.

The bow swing fixing part 112 may be connected to and fixed to the unmanned aerial vehicle.

The driven swing fixing part 114 may be connected to and fixed with the bow swing fixing part 112.

The horizontal swing fixing part 116 is connected to and fixed to the vertical swing fixing part 114 and may fix the image capturing part 200.

The gimbal driving unit 120 connects between the plurality of gimbal fixing units 110, and may prevent shaking of the image capturing unit 100 through rotation.

The gimbal driver 120 may be driven around a first axis connected to the unmanned aerial vehicle 20 and a second axis and a third axis perpendicular to the first axis.

The gimbal driving unit 120 includes a yaw driving unit 122, a pitch driving unit 124 and a roll driving unit 126, but is not limited thereto, and some components are added. It may further include as.

The bow swing drive unit 122 connects the bow swing fixing portion 112 and the driven swing fixing portion 114, and may be rotatably coupled around a first axis.

The vertical swing driving unit 124 connects the vertical swing fixing unit 114 and the horizontal swing fixing unit 116, and may rotate based on a second axis.

The roll driving unit 126 connects the roll fixing unit 116 and the image capturing unit 200 and may rotate about a third axis.

The controller 300 may control the multi-axis gimbal 100 according to the surrounding environment.

The control unit 300 includes a gimbal drive control unit 310, a target angle setting unit 320, an angle measurement unit 330, and a control angle calculation unit 340, but is not limited thereto, and some components are added. It may contain more.

The gimbal driving control unit 310 may control a multi-axis gimbal.

The gimbal driving control unit 310 may control the bow swing driving unit 122, the vertical swing driving unit 124, or the lateral swing driving unit 126 based on the control angle calculated by the control angle calculation unit 340.

The target angle setting unit 320 may set a target angle according to the flight path and the flight target posture of the unmanned aerial vehicle 20. The target angle setting unit 320 may change and set the target angle as the position of the target object changes.

The target angle setting unit 320 may set a target angle using the photographing direction of the image capturing unit 200. The photographing direction of the image photographing unit 200 may be set based on a target for photographing by the image photographing unit 200. For example, the photographing direction of the image photographing unit 200 may be a direction forming an angle of 90 degrees, 180 degrees, or 270 degrees with the unmanned aerial vehicle 20 in a downward direction, a left direction, or a right direction, and is limited thereto. no.

According to an embodiment of the present invention, the photographing direction of the image photographing unit 200 may be set based on a target to be photographed through the image photographing unit 200. For example, when the image capture unit 200 wants to take a first peak located under the unmanned aerial vehicle 20, the photographing direction can be set based on the first peak, and the unmanned aerial vehicle 20 moves Or, when the image capture unit 200 is shaken by the influence of the external environment, the target angle is reset based on the above-described shooting direction, and the multi-axis gimbal 100 is measured by measuring the angle through the angle measurement unit 330. Can be adjusted.

According to an embodiment of the present invention, the target to be photographed through the image capturing unit 200 may be set by the ground control unit 42 by monitoring environmental information generated through the image capturing unit 200.

According to an exemplary embodiment of the present invention, a target to be photographed through the image photographing unit 200 may be set based on a flame, or may be set based on a color of a flame that appears differently depending on temperature. For example, the target may be set so that the flame fills the frame photographed by the image capturing unit 200 based on the flame, or the flame and the surrounding environment may be set to maintain a certain ratio. In addition, the target may take a portion representing a high temperature or a low temperature of the flame photographed by the image capturing unit 200 as a center point based on the color of the flame that appears differently depending on the temperature. Accordingly, the target angle setting unit 320 may set the target angle based on the position of the target object described above.

When the unmanned aerial vehicle 20 is in flight, the angle measuring unit 330 may measure a deformation angle of the image capturing unit 200 that changes due to the influence of an external environment. Here, the influence of the external environment may be estimated based on the wind direction according to the moving direction in which the unmanned aerial vehicle 20 moves and the speed of the unmanned aerial vehicle 20, but is not limited thereto.

The control angle calculation unit 340 uses the target angle set by the target angle setting unit 320 and the deformation angle measured by the angle measurement unit 330 to determine a control angle for controlling the image capture unit 200 to the target posture. Can be calculated.

The controller 300 may control the multi-axis gimbal 200 through the gimbal driving controller 310 by repeatedly measuring the deformation angle according to the change of the influence of the external environment and calculating the control angle using the deformation angle.

The unmanned aerial vehicle 20 may further include a transceiver 400 and a computing device 500.

The transmission/reception unit 400 may transmit environmental information generated by the image capturing unit and receive a control signal for controlling the unmanned aerial vehicle 20. According to an embodiment of the present invention, the transceiving unit 400 may further transmit the deformation angle of the image capturing unit 200 and may additionally transmit values calculated through the control unit 300.

The computing device 500 may perform communication for controlling the unmanned aerial vehicle 20 or the environment photographing device 10 during a long-distance flight of the unmanned aerial vehicle 20.

The computing device 500 may transmit communication from the ground control unit 40 to the unmanned aerial vehicle without any limitation on a communication distance through the base station 44. For example, the computing device 500 may be a smartphone, but is not limited thereto, and may be a device capable of performing communication through the base station 44.

The transmission/reception unit 400 may exchange communication with the unmanned aerial vehicle 20 and the environment photographing device 10 within a preset distance.

When the unmanned aerial vehicle 20 is out of a preset distance, the computing device 500 may control the unmanned aerial vehicle 20 and communicate with the environment photographing device 10 through the base station 44.

According to an embodiment of the present invention, when the aerial photographing device 30 is located within a preset distance, the ground control unit 40 performs communication through the transmission/reception unit 400, and In this case, communication with the computing device 500 may be performed through the base station 44. The preset distance is set based on the strength of the signal, and is not limited thereto.

According to an embodiment of the present invention, the ground control unit 40 measures the strength of the signal transmitted and received by the ground control unit 40 and the transmission/reception unit 400 or the computing device 500 so that the unmanned aerial vehicle 20 is When the strength of the signal with the transmitting and receiving unit 400 becomes smaller than the strength of the signal with the computing device 500 as the distance from the control unit 40 moves away from the communication through the transmitting and receiving unit 400, the communication through the computing device 500 is changed. You can send out a notification for conversion. The ground control unit 40 is manually switched based on the transmitted notification, or when the unmanned aerial vehicle 20 is further away from the ground control unit 40, it is switched to the computing device 500 and passed through the base station 44. You can send and receive communications. Switching from the above-described transmission/reception unit 400 to the computing device 500, and from the computing device 500 to the transmission/reception unit 400 is based on the strength of the signal according to the distance between the ground control unit 40 and the aerial photographing device 30. It may be made of, but is not necessarily limited thereto.

According to an embodiment of the present invention, the ground control unit 40 measures the strength of the signal transmitted and received by the ground control unit 40 and the transmission/reception unit 400 or the computing device 500 so that the unmanned aerial vehicle 20 is As the distance from the control unit 40 increases, the moment the strength of the signal with the transmission/reception unit 400 becomes smaller than the strength of the signal with the computing device 500 from communication through the transmission/reception unit 400 to communication through the computing device 500. You can send out a notification for conversion. The ground control unit 40 may manually switch the communication method based on the transmitted notification, or switch the communication method when the strength of the signal with the transmitting/receiving unit 400 becomes smaller than the strength of the signal with the computing device 500. have.

According to an embodiment of the present invention, when the signal strength between the transmitting/receiving unit 400 and the ground control unit 40 falls below a threshold value, the aerial photographing device 30 is the computing device 500 in the transmitting/receiving unit 400. You can switch the communication method with.

According to an embodiment of the present invention, the aerial photographing apparatus 30 may switch a communication method according to the size of data transmitted to the ground control unit 40. For example, the aerial photographing device 30 may transmit data through the transmission/reception unit 400 when the size of the data is less than or equal to a preset size, and when the size of the data is greater than or equal to the preset size, the computing device 500 Accordingly, data can be transmitted through the base station 44.

According to an embodiment of the present invention, after dividing the moving path of the unmanned aerial vehicle 20 into a plurality of zones, the aerial photographing apparatus 30 computes when the number of base stations 44 located in the above-described zone is more than a certain number. Communication is performed through the device 500. Accordingly, the aerial photographing apparatus 30 may set the communication method to the transmission/reception unit 400 or the computing device 500 according to the area, and may switch the communication method according to the number of base stations 44.

When the unmanned aerial vehicle 20 is further away from the ground control unit 40, it can be switched to the computing device 500 to exchange communication through the base station 44. Switching from the above-described transmission/reception unit 400 to the computing device 500, and from the computing device 500 to the transmission/reception unit 400 is based on the strength of the signal according to the distance between the ground control unit 40 and the aerial photographing device 30. It may be made of, but is not necessarily limited thereto.

3 is a diagram illustrating an image photographing unit of an aerial photographing apparatus according to an embodiment of the present invention.

The multi-axis gimbal 100 may be connected to the lower portion of the unmanned aerial vehicle 20 to maintain the horizontal level so that the image photographing unit 200 can shoot, and connected to the image photographing unit 200, It is a device that maintains a horizontal posture.

In particular, the multi-axis gimbal 100 according to various embodiments is configured to be ultra-small and lightweight, and thus may be mounted under the unmanned aerial vehicle 20 of various sizes. In addition, the gimbal driving unit 120 of the multi-axis gimbal 100 according to various embodiments may precisely control the horizontal maintenance of the image capturing unit 200 along three axes.

The image capturing unit 200 may detect caustics, residual fires, etc. through the spread of forest fires generated on the ground surface in the air. According to an embodiment of the present invention, the image capturing unit 200 may be a thermal imaging camera, and is not limited thereto, and may be a device capable of detecting a caustic line, a residual fire, and the like.

According to an embodiment of the present invention, the external environment detected by the angle measurement unit 330 of the control unit 300 can be measured through a plurality of sensors, and is located in the unmanned aerial vehicle 20, and is transformed by the influence of the wind. It is possible to measure the bow shake, vertical shake, and horizontal shake of the image photographing unit 200.

The controller 300 controls a plurality of sensors and processes detection signals detected by the sensors. Specifically, the 3-axis gimbal driver 120 may be controlled using a control loop. The gimbal driving unit 120 operates the 3-axis gimbal according to the compensation command received from the control unit 300 to compensate for the forward, vertical and horizontal movement of the image photographing unit 200 according to the change of the posture of the unmanned aerial vehicle 20. Can be controlled.

The unmanned aerial vehicle 20 and the underwater detection device 10 are connected by a multi-axis gimbal 100 so that they can rotate in the direction of three axes during bow, lateral, and vertical. Accordingly, when the unmanned aerial vehicle 20 travels straight ahead, the image photographing unit 200 may acquire an image by looking ahead without shaking even under the influence of the wind.

According to an embodiment of the present invention, the driving direction of the unmanned aerial vehicle 20 is the same direction as the terrain photographing direction, and even if the posture of the unmanned aerial vehicle 20 is changed due to wind, the image photographing unit 200 maintains the same posture. By maintaining it, the direction of photographing the terrain can always be in the same direction.

The gimbal driving unit 120 operates the 3-axis gimbal according to the compensation command received from the control unit 300 to compensate for the forward, vertical and horizontal movement of the image photographing unit 200 according to the change of the posture of the unmanned aerial vehicle 20. It is possible to operate the unmanned aerial vehicle 20 even in turbulence, strong winds, etc., and correct distortion of the image acquired by the image capturing unit 200.

According to an embodiment of the present invention, the multi-axis gimbal 100 includes a 3-axis gimbal structure, and a gimbal fixing unit 110 and a first axis that connect and fix the unmanned aerial vehicle 20 and the image capture unit 200 And a gimbal driver 120 driving around a second axis and a third axis perpendicular to the first axis.

The gimbal driving unit 120 includes a bow swing driving unit 122, a vertical swing driving unit 124, and a horizontal swing driving unit 126. Here, the first axis A1, the second axis A2, and the third axis A3 are respectively a yaw axis, a pitch axis, and a roll axis.

The bow agitation (Yaw) driving unit 122 may be rotatably coupled to the unmanned aerial vehicle 20 about a bow agitation (Yaw) axis that is the first axis (A1). Here, the bow swing driving unit 122 may be coupled to and fixed with the unmanned aerial vehicle 20 through the bow swing fixing unit 112.

The pitch drive unit 124 is connected to the yaw drive unit 122 to enable rotation around a pitch axis, which is a second axis A2 perpendicular to the first axis A1. Can be combined. Here, the driven swing driving unit 124 may be connected to the bow swing driving unit 122 through the driven swing fixing unit 114. The driven swing fixing unit 114 may connect the bow swing driving unit 122 and the driven swing driving unit 124.

The roll driving unit 126 is connected to the pitch driving unit 124, and is a roll that is a third axis A3 perpendicular to the first axis A1 and the second axis A2. ) It can be coupled to be rotatable about the axis. Here, the horizontal swing driving unit 126 may be connected to the vertical swing driving unit 124 through the horizontal swing fixing unit 116. The horizontal swing fixing unit 116 may connect the vertical swing driving unit 124 and the image capturing unit 200.

Here, the first axis A1, the second axis A2, and the third axis A3 are respectively a yaw axis, a pitch axis, and a roll axis.

The gimbal driving unit 120 is precisely estimated and fed back from the control unit 300, final position information (latitude, longitude, altitude, etc.) and attitude information (forward direction (Roll axis direction), right direction in the advance direction (Pitch axis direction)) , It is possible to drive the gimbal by receiving a driving signal based on a control angle including rotation angle information such as gravity direction (Yaw axis direction) and receiving angle information related to a corresponding position or posture. The driving signal may be received by communication over a network through the computing device 500.

The aerial photographing apparatus 30 operates the 3-axis gimbal according to the compensation command received from the control unit 300 by the gimbal driving unit 120 to move the head and follow the movement of the underwater detection device according to the change of the posture of the image capturing unit 200. By controlling the posture by compensating for lateral shaking, the image photographing unit 200 can be operated even under the influence of wind, and distortion of the acquired image can be corrected.

4 is a diagram showing a shape of an aerial photographing apparatus according to an embodiment of the present invention.

4A is a diagram illustrating a straight travel of the unmanned aerial vehicle 20, and FIG. 4B is a compensation for the bow, vertical and horizontal motion of the image photographing unit 200 according to the change of the posture of the unmanned aerial vehicle 20 by the wind. It shows the case where the posture is corrected.

In the case of FIG. 4B, as the unmanned aerial vehicle 20 shakes due to turbulence, strong wind, etc., the bow shake, vertical shake, and horizontal shake of the image photographing unit 200 change, so that the image photographed in the image photographing unit 200 is distorted. So it is a situation where the posture is corrected with a 3-axis gimbal.

In FIG. 4A, the unmanned aerial vehicle 20 acquires an image of detecting a fire line, a residual fire, etc. through the spread of a forest fire by the image capture unit 200 while driving straight ahead. At this time, since there is no influence from the external environment, the aerial photographing apparatus 30 using a 3-axis gimbal structure can be driven straight ahead.

4B is an aerial photographing apparatus 30 using a 3-axis gimbal structure while driving while acquiring an image, which is shaken by an external environment. The image photographing unit 200 together with the unmanned aerial vehicle 20 is also inclined in the same direction, thereby distorting the photographed image. At this time, by receiving a control signal from the control unit 300, the gimbal driver 120 corrects the posture of the image capturing unit 200 to implement the posture of the image capturing unit 200 when performing straight driving.

Here, the driving direction is the same direction as the wildfire photographing direction, and even if the posture of the unmanned aerial vehicle 20 is changed due to the external environment, the image photographing unit 200 maintains the same posture, so that the photographing direction can always maintain the same direction. .

The gimbal driving unit 120 operates the 3-axis gimbal according to the compensation command received from the control unit 300 to change the position of the unmanned aerial vehicle 20 and the image capturing unit 200. The distortion of the acquired image can be corrected by controlling the posture by compensating for agitation and lateral shaking.

The angle, which means posture, is represented by Roll, Pitch, and Yaw. The yaw means rotation in the z-axis direction, and the roll means rotation left and right. Pitch refers to the direction in which it is tilted when it is pulled forward. That is, values indicating how inclined relative to the direction of gravity are roll and pitch, and sensors used to measure roll and pitch may be an acceleration sensor and a gyro sensor.

Yaw's axis of rotation is the same as the z-axis direction, that is, the direction of gravity. Therefore, it is preferable to additionally use a magnetometer, that is, a geomagnetic sensor, which measures the z-axis value of the gyro sensor rather than the acceleration sensor, calculates the Yaw value using this value, and compensates for drifted errors. Yaw direction can be measured by applying a 3-axis geomagnetic sensor.

The angle measurement unit 330 uses the attitude information of the gimbal driving unit 120 (rotation angle information such as forward direction (Roll axis direction), forward direction right direction (Pitch axis direction), and gravity direction (Yaw axis direction)). This allows you to measure the angle of deformation.

5 is an exemplary view showing a shape of an environment photographing device attached to an unmanned aerial vehicle of an aerial photographing apparatus according to an embodiment of the present invention.

5, a multi-axis gimbal 100 and an image capture unit 200 are attached to the lower part of the unmanned aerial vehicle 20, and a control unit 300 and a transmission/reception unit 400 are attached next to the multi-axis gimbal 100. ) Can be controlled.

The transmission/reception unit 400 may transmit/receive a signal for controlling the multi-axis symbol 100 or environment information captured by the image capturing unit 200 through an antenna.

According to an embodiment of the present invention, the transmission/reception unit 400 may manually change the camera angle by receiving a remote controller signal on the ground, and manually adjust the camera angle based on the environment image captured by the image capture unit 200. Can be changed to.

The transceiving unit 400 may convert an image photographed through the image capturing unit 200 into a wireless signal so that the screen can be viewed from the ground.

The aerial photographing apparatus 30 may further include a power module (not shown) to supply constant power for stable operation of each component by the power module.

The control unit 300 may sense the shaking of the unmanned aerial vehicle 20 and control it to maintain the horizontal level, and the gimbal driving unit 120 may prevent the shaking of the image capturing unit 200.

6A is a diagram illustrating a computing device of an aerial photographing apparatus according to an embodiment of the present invention, and FIG. 6B is a block diagram illustrating an aerial photographing control system according to an embodiment of the present invention.

Referring to FIG. 6A, the computing device 500 may be located at the upper end of the unmanned aerial vehicle 20. The location of the unmanned aerial vehicle 20 is not limited to the illustrated bar, and may be located at a location capable of communicating with the ground control unit 42 through the base station 44.

According to an embodiment of the present invention, the computing device 500 may be mounted instead of the expensive unmanned aerial vehicle 20 LTE communication module to enable control of long-distance flight through LTE. The computing device 500 may enable communication between the unmanned aerial vehicle 20 and the ground control unit 42 through various mobile communication technologies such as 3G and 5G as well as communication through LTE, which is a 4G mobile communication technology.

6B is a block diagram showing an aerial photography control system according to an embodiment of the present invention.

The aerial photography control system 40 may communicate with the ground control unit 42 through the computing device 500 of the unmanned aerial vehicle 20 shown in FIG. 6A. At this time, communication can be exchanged through the base station 44 so that the communication distance can be unlimited.

The aerial photographing control system 40 may include an aerial photographing device 30 and a ground control unit 42, and further includes a base station 44 for communication between the aerial photographing device 30 and the ground control unit 42. Can include.

The ground control unit 42 may control the aerial photographing device 30.

The aerial photographing apparatus 30 includes an unmanned aerial vehicle 20 flying in the air by radio control and an environmental photographing apparatus 10 attached to the unmanned aerial vehicle 20 to photograph the surrounding environment. The environment photographing device 10 is connected to the unmanned aerial vehicle 20, and is connected to the multi-axis gimbal 100 and the multi-axis gimbal 100 that rotates with respect to the direction axis to form a horizontal image to capture environmental information during flight. It may include a generating image capture unit 200 and a control unit for controlling the multi-axis gimbal 100 according to the surrounding environment.

The aerial photographing apparatus 30 transmits the environmental information generated by the image photographing unit 200 and the deformation angle of the image photographing unit 200, and receives a control signal for controlling the aerial photographing apparatus 30. ) And a computing device 500 for performing communication for controlling the unmanned aerial vehicle 20 or the environment photographing device 10 during long-distance flight of the unmanned aerial vehicle 20. The computing device 500 may transmit communication to the unmanned aerial vehicle 20 without limitation on a communication distance through the base station.

The ground control unit 42 may include an information receiving unit for receiving environmental information transmitted from the transmitting/receiving unit 400 and a control signal transmitting unit for transmitting a control signal for controlling the aerial photographing device 30, and is limited thereto. It is not.

The ground control unit 42 may set a target position for the unmanned aerial vehicle 20 to move by using environmental information, and transmit a control signal to control the aerial photographing device 30 to the target position.

The ground control unit 42 may perform communication with the aerial photographing device 30 through the computing device 500 without any limitation on a communication distance through the base station.

7 is a flowchart illustrating a method of controlling an aerial photographing apparatus according to an embodiment of the present invention. The method of controlling the aerial photographing apparatus may be performed by the aerial photographing apparatus 30, and detailed descriptions of operations performed by the aerial photographing apparatus 30 and overlapping descriptions will be omitted.

Referring to FIG. 7, the method of driving the aerial photographing apparatus includes receiving a control signal from the transmitting/receiving unit (S710), calculating a multi-axis gimbal driving angle (S720), driving the gimbal driver (S730), and environmental information. It may include generating (S740), storing in a memory card (S742), transmitting environmental information (S744), and transmitting environmental information from the transmitting/receiving unit (S750).

In the step of generating environment information (S740), the image capture unit maintains parallel by driving the gimbal driving unit in the step (S730) of driving the gimbal driving unit according to the driving angle calculated in the step of calculating the multi-axis gimbal driving angle (S720). Environment information can be generated without shaking.

In FIG. 7, it is described that each step is sequentially executed, but is not limited thereto. In other words, since it may be applicable to changing and executing the steps illustrated in FIG. 7 or executing one or more steps in parallel, FIG. 7 is not limited to a time-series order.

8 is a flowchart illustrating in detail multi-axis gimbal control of a method for controlling an aerial photographing apparatus according to an embodiment of the present invention. Multi-axis gimbal control of the method for controlling the aerial photographing apparatus may be performed by the aerial photographing apparatus 30, and a detailed description of the operation performed by the aerial photographing apparatus 30 and a description redundantly will be omitted.

The control method of the aerial photographing device is the step of setting the target angle according to the flight path and the flight target posture of the unmanned aerial vehicle in the target angle setting unit (S810), and when the unmanned aerial vehicle is flying in the angle measuring section, it is changed by the influence of the external environment. Measuring the deformation angle of the image photographing unit of the aerial photographing apparatus (S820), calculating a control angle for controlling the image photographing unit to the target posture by using the target angle and the deformation angle measured by the angle measuring unit in the control angle calculation unit A step (S830) and a step (S840) of controlling the multi-axis gimbal of the aerial photographing apparatus using a control angle in the gimbal driving controller.

The multi-axis gimbal connects a plurality of gimbal fixing units and a plurality of gimbal fixing units positioned to connect the unmanned aerial vehicle and the image capturing unit, and may include a gimbal driving unit that holds the shaking of the image capturing unit by rotation. The gimbal drive part connects the yaw fixing part and the pitch fixing part, and the yaw driving part, which is rotatably coupled around the first axis, the pitch fixing part and the lateral swing ( Roll) connects the fixing part, connects the pitch driving part rotating about the 2nd axis and the roll fixing part and the image capture part, and the roll driving part that rotates about the 3rd axis Can include.

In the step of controlling the multi-axis gimbal of the aerial photographing apparatus using the control angle in the gimbal driving control unit (S740), a yaw driving unit, a pitch driving unit, or a lateral gimbal is performed based on the control angle calculated through the control angle calculation unit. It is possible to control the roll drive.

The step of measuring the deformation angle of the image photographing unit of the aerial photographing device that changes due to the influence of the external environment when the unmanned aerial vehicle is flying in the angle measuring unit (S820) is the wind direction according to the moving direction in which the unmanned aerial vehicle moves. And it can be estimated based on the speed of the unmanned aerial vehicle.

The control method of the aerial photographing apparatus may control the multi-axis gimbal through a gimbal driving controller by repeatedly measuring a deformation angle according to a change in an influence of an external environment and calculating a control angle using the deformation angle.

In FIG. 8, it is described that each step is sequentially executed, but the present invention is not limited thereto. In other words, since the steps described in FIG. 8 may be changed and executed or one or more steps may be executed in parallel, FIG. 8 is not limited to a time-series order.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the technical field to which the present invention pertains can make various modifications, changes, and substitutions within the scope not departing from the essential characteristics of the present invention. will be. Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are not intended to limit the technical idea of the present invention, but to describe, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings. . The scope of protection 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: environmental shooting device
20: unmanned aerial vehicle
30: aerial photography device
40: aerial shooting control system

Claims (14)

Unmanned aerial vehicle flying in the air by radio control; And
Attached to the unmanned aerial vehicle to photograph the surrounding environment, connected to the unmanned aerial vehicle, a multi-axis gimbal that rotates about a direction axis to form a horizontal, and connected to the multi-axis gimbal to photograph the surrounding environment during flight to generate environmental information. An aerial photographing apparatus comprising an image photographing unit and a control unit for controlling the multi-axis gimbal according to the surrounding environment. The method of claim 1,
The multi-axis gimbal,
A gimbal fixing unit positioned in a plurality to connect the unmanned aerial vehicle and the image capturing unit; And
A gimbal driving unit that connects between a plurality of the gimbal fixing units and holds the shaking of the image capturing unit through rotation,
The gimbal fixing part,
A yaw fixed part connected to and fixed to the unmanned aerial vehicle;
A pitch fixing part connected to and fixed to the bow agitation (Yaw) fixing part; And
An aerial photographing apparatus comprising a roll fixing part connected to and fixed to the pitch fixing part and fixing the image photographing part. The method of claim 2,
The gimbal driver is driven around a first axis connected to the unmanned aerial vehicle and a second axis and a third axis perpendicular to the first axis,
The gimbal drive unit,
A yaw driving unit connected to the yaw fixing part and the pitch fixing part and rotatably coupled around the first axis;
A pitch driving unit that connects the pitch fixing part and the roll fixing part and rotates about the second axis; And
An aerial photographing apparatus comprising a roll driving unit that connects the roll fixing unit and the image capturing unit and rotates about the third axis. The method of claim 2,
The control unit,
A target angle setting unit for setting a target angle according to the flight path and the flight target posture of the unmanned aerial vehicle;
When the unmanned aerial vehicle is in flight, an angle measuring unit that measures an angle of deformation of the image capturing unit that changes due to an influence of an external environment;
A control angle calculator configured to calculate a control angle for controlling the image capture unit to the target posture by using the target angle and the deformation angle measured by the angle measuring unit; And
Aerial photographing apparatus comprising a gimbal driving control unit for controlling the multi-axis gimbal based on the control angle. The method of claim 4,
The influence of the external environment is estimated based on the wind direction according to the moving direction in which the unmanned aerial vehicle moves and the speed of the unmanned aerial vehicle,
The control unit repeatedly measures the deformation angle according to the change of the influence of the external environment, calculates the control angle using the deformation angle, and controls the multi-axis gimbal through the gimbal driving control unit. Device. The method of claim 4,
The target angle setting unit sets the target angle using the photographing direction of the image capturing unit,
The photographing direction of the image photographing unit is set based on a target for photographing by the image photographing unit,
The aerial photographing apparatus, wherein the target angle setting unit changes and sets the target angle as the position of the target object changes. The method of claim 1,
The unmanned aerial vehicle,
A transmitting/receiving unit for transmitting the environment information generated by the image capturing unit and receiving a control signal for controlling the unmanned aerial vehicle; And
Further comprising a computing device for performing communication for controlling the unmanned aerial vehicle or the environment photographing device during a long-distance flight of the unmanned aerial vehicle,
The computing device is an aerial photographing apparatus, characterized in that transmitting the communication to the unmanned aerial vehicle without limitation on a communication distance through a base station. The method of claim 7,
The transceiver unit communicates with the unmanned aerial vehicle control and the environment photographing device within a preset distance,
The computing device is an aerial photographing apparatus, characterized in that when the unmanned aerial vehicle deviates from the preset distance, the unmanned aerial vehicle control and communication with the environment photographing apparatus are exchanged through the base station. An unmanned aerial vehicle flying in the air by radio control and a multi-axis gimbal that is attached to the unmanned aerial vehicle to photograph the surrounding environment, is connected to the unmanned aerial vehicle, and rotates about a direction axis to form a horizontal, and is connected to the multi-axis gimbal to fly An aerial photographing apparatus including an environment photographing device including an image photographing unit for photographing a surrounding environment and generating environmental information, and a control unit for controlling the multi-axis gimbal according to the surrounding environment; And
Aerial shooting control system comprising a ground control unit for controlling the aerial shooting device. The method of claim 9,
The aerial photographing apparatus includes: a transmission/reception unit that transmits environment information generated by the image photographing unit and receives a control signal for controlling the aerial photographing apparatus; And
Further comprising a computing device for performing communication for controlling the unmanned aerial vehicle or the environment photographing device during long-distance flight of the unmanned aerial vehicle,
The computing device is an aerial photographing control system, characterized in that transmitting the communication to the unmanned aerial vehicle without any limitation on a communication distance through a base station. The method of claim 10,
The ground control unit,
An information receiving unit for receiving environmental information transmitted from the transmitting and receiving unit; And
And a control signal transmission unit for transmitting a control signal for controlling the unmanned aerial vehicle or the environment photographing device,
The ground control unit,
A control signal for setting a target position for the unmanned aerial vehicle to move and a target for photographing by the image photographing unit using the environmental information, and controlling the unmanned aerial vehicle and the aerial photographing device based on the target position and the target And send to
An aerial photographing control system, characterized in that communication with the unmanned aerial vehicle and the aerial photographing apparatus is performed by the computing device without limitation on a communication distance through the base station. In the control method of the aerial photographing apparatus,
Setting a target angle according to the flight path and the flight target posture of the unmanned aerial vehicle in the target angle setting unit;
Measuring a deformation angle of the image photographing unit of the aerial photographing apparatus that changes due to an influence of an external environment when the unmanned aerial vehicle is flying by an angle measuring unit;
Calculating a control angle for controlling the image capturing unit to the target posture by using the target angle and the deformation angle measured by the angle measuring unit by a control angle calculation unit; And
Controlling a multi-axis gimbal of the aerial photographing apparatus using the control angle by a gimbal driving control unit. The method of claim 12,
The multi-axis gimbal includes a gimbal driver that connects a plurality of gimbal fixing units and a plurality of gimbal fixing units positioned to connect the unmanned aerial vehicle and the image capturing unit, and holds the shaking of the image capturing unit by rotation,
The gimbal driver is driven around a first axis connected to the unmanned aerial vehicle and a second axis and a third axis perpendicular to the first axis,
The gimbal driving unit is a yaw driving unit that is rotatably coupled about the first axis, a pitch driving unit that rotates about the second axis, and a roll that rotates about the third axis. It includes a driving part,
The controlling of the multi-axis gimbal comprises controlling the yaw driving unit, the pitch driving unit, or the roll driving unit based on the control angle calculated through the control angle calculation unit. How to control the aerial photographing device. The method of claim 13,
In the measuring of the deformation angle, the influence of the external environment is estimated based on a wind direction according to a moving direction in which the unmanned aerial vehicle moves and a speed of the unmanned aerial vehicle,
The control method of the aerial photographing apparatus is characterized in that the multi-axis gimbal is controlled through the gimbal driving control unit by repeatedly measuring a deformation angle according to a change in the influence of the external environment and calculating the control angle using the deformation angle. The control method of the aerial photographing device to be carried out.

Images