WO2017069320A1

WO2017069320A1 - Free-fall type aerial photographing device using free rotation of helicopter

Info

Publication number: WO2017069320A1
Application number: PCT/KR2015/012050
Authority: WO
Inventors: 배효길
Original assignee: 한국항공우주연구원
Priority date: 2015-10-19
Filing date: 2015-11-10
Publication date: 2017-04-27
Also published as: KR20170045525A

Abstract

According to the present invention, disclosed is an aerial photographing device comprising: a body part (110) having a streamlined appearance and having a rotation shaft (111) arranged upright on an upper part thereof; a head part (120) axially coupled to the rotation shaft (111) so as to be rotatably provided independently of the body part (110); blades (130) foldably mounted to be spaced from each other at predetermined intervals along the circumference of the head part (120), and generating lift while rotating together with the head part (120); and a camera (140) arranged at a lower part of the body part (110) and driven to photograph while being directed downward or sideways.

Description

Free-falling aerial photographing device using free rotation of helicopter

The present invention relates to an aerial photographing apparatus, and more particularly, such as a helicopter's free-rotating method, descending from the air and lifting freely in the air at low speed in the air with the lifting force of a blade rotating by air flowing from the bottom, the ground object, The present invention relates to a free-fall aerial photographing apparatus using free rotation of a helicopter for photographing facilities and terrain.

Recently, a drone (multi-copter) that was developed for military use with a camera mounted in the air shooting method is widely used for leisure and broadcasting.

However, aerial photography using drones should be equipped with all kinds of accessories such as expensive aircraft, control equipment, communication equipment, and a large amount of batteries. Because of the necessity, the preparation for the shooting was very cumbersome and the general public was not easily used.

In addition, it is not necessary to use expensive equipment equipped with maneuverability when not raising the drone at high altitude or moving the drone linearly while not photographing a wide range. Therefore, the development of low-cost imaging device capable of taking a limited range of aerial photography at a low altitude while simplifying the accessories of the equipment is on the rise.

(Prior art literature)

(Patent literature)

Japanese Laid-Open Patent Publication No. 2015-10911 (2015.1.19), aerial photography surveying method and apparatus

The present invention was created in order to solve the above problems, the object of the present invention is to simplify the accessories of the equipment can be easily taken without a separate training training and helicopters that can be used for the purpose of aerial photography in a limited range at low altitude An object of the present invention is to provide a free fall aerial photographing apparatus using free rotation.

A free-fall aerial photographing apparatus using a free rotation of the helicopter according to the present invention for achieving the above object, has a streamlined appearance and the upper portion of the rotating shaft 111 is arranged upright body 110; A head portion 120 coupled to the rotation shaft 111 and rotatably mounted independently of the body portion 110; Blades 130 that are spaced apart at regular intervals along the circumference of the head portion 120 is mounted foldable and rotates with the head portion 120 to generate a lift; And a camera 140 disposed under the body part 110 to drive the camera 140 in a downward direction or a lateral direction.

Here, the blade groove 112 extending from the upper portion to the lower portion is formed around the body portion 110, and the blade 130 is foldably mounted to the head portion 120 through the hinge portion 133. The blade groove 112 may be inserted into the blade groove 112 to be in close contact with the body 110 or open to be horizontally opened.

In addition, the blade groove 112 is in a twisted form along the circumference of the body portion 110 so that the body portion 110 rotates in a direction opposite to the rotational direction of the blade 130 in the air flow according to the descending. Can be formed.

In addition, the plurality of cameras 140 may be disposed in each blade groove 112 to acquire a photographed image in a state in which the blade 130 is opened.

In addition, the top of the head portion 120 is equipped with a firing ring 121 is bent to form a portion of the firing means using the elastic, the body portion 110 on the outer surface of the body portion 110 Friction protrusion 113 may be formed to increase the friction between the skin of the user gripping the).

In addition, the blade 130 is foldably mounted around the head portion 120 through a hinge spring 133 of the hinge spring form, a ring-shaped fixing ring 131 is provided at the end of the blade 130 And, it is mounted to be pulled out of the lower portion of the body portion 110 and the lower end is placed upright to be exposed downward through the withdrawal hole 115 of the body portion 110, the fixing ring 131 is inserted into each blade 130 Take-out rod 151 for fixing a), an actuator 152 for providing a driving force necessary for the take-out rod 151 to take out, and a sensor unit 153 for detecting a fall of the body unit 110 launched into the air. And, if the falling through the sensor unit 153 is detected by driving the actuator 152 to drive the exposed lower end of the withdrawal rod 151 into the body portion 110, each blade 130 Automatic opening means 150 including a control unit 154 for automatically opening the; Can.

In addition, the blade 130 is foldably mounted to the head portion 120 through the hinge portion 133 of the hinge spring form, and is inserted through the inside of the body portion 110 inside the blade 130. The engaging portion 132 is protruding, the support plate 161 is mounted so as to be liftable in the body portion 110 and supported by each engaging portion 132 to fix the folded state of the blade 130 and The actuator 162 provides driving force necessary for the support plate 161 to move up and down, a sensor unit 163 for detecting a fall of the body unit 110 launched into the air, and the sensor unit 163. An automatic opening means 160 including a control unit 164 for automatically opening each blade 130 while releasing the supported state of each locking unit 132 by controlling the driving of the actuator 162 when the falling is sensed; It may further include.

In addition, a space portion 116 is provided inside the body portion 110, and disposed in the space portion 116 and adjusting the position of the weight 176 according to a control signal in a falling direction of the body portion 110. Direction control unit 170 for controlling the; may further include.

On the other hand, the direction control unit 170, the horizontal ring 171 is supported on the inside of the space portion 116 is arranged horizontally rollable around the x-axis, and extends in the y-axis direction the horizontal ring 171 A horizontal bar 172 horizontally disposed across the center of the horizontal axis and rolled about the y axis so that both ends are hinged to the horizontal ring 171, and extend in a z-axis direction to a center of the horizontal bar 172. A vertical bar 173 having an upright position and having a weight 176 mounted thereon, a first driving part 174 that pushes or pulls an upper portion of the vertical bar 173 in the x-axis direction, and the horizontal bar 172. Or it may include a second driving unit 175 to lift or pull one side of the horizontal ring 171 in the z-axis direction.

According to the free-falling aerial photography apparatus using the free rotation of the helicopter according to the present invention,

First, it is launched into the air by a launch means such as a rubber band or a spring, and the aerial photography is performed while free-falling. This significantly reduces the manufacturing cost of the device and simplifies the preparation for shooting.

Second, since the blade 130 mounted on the upper portion of the body 110 after being launched into the air to fly by the lift generated by the rotation and free fall, it is possible to shoot a stable aerial image in a balanced state and to the user It is not necessary to maneuver in the air by the public, so it can be used easily by the general public without any professional maneuvering training.

Third, the blade groove 112 extending from the top to the bottom is formed around the body portion 110, the blade 130 is folded or horizontally in close contact with the body portion 110 through the hinge portion 133 Since the air can be expanded and opened, the blade 130 can be fired up to a higher position with the same firing power by minimizing air resistance when the air is launched by the launch means, and the blade 130 is folded during free fall while descending. ) To generate lift for balance.

Fourth, the blade groove 112 is formed in a twisted form along the circumference of the body portion 110 so that the body portion 110 rotates in the opposite direction to the rotation direction of the blade 130 in the air flow according to the falling, By the rotational force of the blade 130 to minimize the rotational force of the body portion 110 to be rotated together can take a still aerial image.

Fifth, the camera 140 disposed under the body part 110 and driving in a downward direction or a lateral direction is disposed in each blade groove 112 to capture a captured image in a state where the blade 130 is opened. Therefore, it is possible to minimize damage of the camera 140 when landing and effectively prevent foreign substances such as dust or moisture from entering the lens of the camera 140 when carrying or storing. In addition, by arranging the plurality of cameras 140 for each blade groove 112, an aerial image of a wider area may be obtained by dividing a photographing area of each camera 140.

Sixth, the upper end of the head portion 120 is axially coupled to the upper portion of the body portion 110 is equipped with a firing ring 121 of the bent shape, the elastic ring, such as a rubber band or spring to the firing ring 121 It is possible to provide a launch means at low cost because it can be launched into the air by walking a part of the launch means using. In addition, since the friction protrusion 113 protrudes from the outer surface of the body part 110 to increase the frictional force with the user's skin holding the body part 110, it is aimed while sliding due to sweat or dry skin condition. Misalignment or misfire can be prevented beforehand, resulting in more accurate firing.

Seventh, the locking portion 131 formed at the end of the blade 130 is inserted into the pull-out rod 151, which is arranged to be pulled upright in the lower portion of the body portion 110, or the engaging portion protruding in the blade 130 132 is supported on the support plate 161 which is placed up and down inside the body portion 110, so that each blade 130 can be launched in a fixed state in close contact with the body portion 110, and automatically Opening means (150, 160) when the falling of the aerial shooting device 100 is launched into the air is pulled in the withdrawal rod 151 into the interior of the body portion 110 or each engaging portion by the support plate 161 ( While operating to release the supported state of the 132, each blade 130 can be controlled to be automatically opened by the elastic force of the hinge portion 133 having a hinge spring form, so that the blade 130 does not open in the air and fall as it is. Effectively break the device It can be prevented.

Eighth, the direction control unit 170 is disposed in the space portion of the body 110 to adjust the position of the weight 176 according to the control signal to control the falling direction of the body 110 in the air Launched aerial cameras can be directed to designated drop points or can be easily positioned in the air.

1 is a perspective view and a bottom view showing the external configuration of the aerial shooting apparatus according to a preferred embodiment of the present invention,

Figure 2 is a perspective view and a bottom view showing the principle of operation of free-falling while the aerial shooting device is flying while the blade is opened in accordance with a preferred embodiment of the present invention,

Figure 3 is a partial cross-sectional side view and bottom view showing the configuration of the automatic opening means using the fixing ring and the pull-out rod according to an embodiment of the present invention,

Figure 4 is a side cross-sectional view showing the configuration of the automatic opening means using the engaging portion and the support plate according to a preferred embodiment of the present invention,

5 is a schematic view and a perspective view showing the configuration of the direction control unit according to a preferred embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the present specification and claims should not be construed as being limited to the common or dictionary meanings, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that it can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention.

Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

The free-falling aerial photographing apparatus 100 using the free rotation of the helicopter according to the preferred embodiment of the present invention is a shooting device that is launched into the air by the firing means free-falling and photographing objects, facilities and terrain of the ground, etc. As shown in FIG. 1 and FIG. 2, the body part 110, the head part 120, the blade 130, and the camera 140 are provided.

First, the body 110 is a member that forms a main body of the aerial photographing apparatus 100 and acts as a weight to allow the aerial photographing apparatus 100 to stand upright during free fall, and has a streamlined shape such as an egg shape. It has an external shape and is provided with a space portion 116 for mounting various components therein, and the rotary shaft 111 for mounting the head portion 120 is placed upright.

Here, the body portion 110 has a streamlined appearance to minimize the air resistance when firing can be launched to a higher position with the same firing power.

The head part 120 is a member for rotating the blade 130 and is axially coupled to the rotation shaft 111 so as to be independently rotatable with respect to the body part 110.

Here, the rotation shaft 111 is provided with a rotation support member for reducing the frictional force due to the relative rotational movement between the body 110 and the head 120, such as a ball bearing, the rotational force of the head portion 120 by the frictional force A portion of the body portion 110 is preferably provided to be able to reduce the force to be rotated together while the body portion 110.

In addition, the upper surface of the head portion 120 is preferably formed in a rounded streamline as shown in the figure to minimize the friction with air during launch or rotation.

The blade 130 is a member that provides lifting force so that the aerial shooting apparatus 100 maintains a balance, and the air flows from the lower portion as it descends while being mounted at a predetermined interval along the circumference of the head part 120. By rotating with the head portion 120 to generate a lift.

Here, the generated lift is used to increase the time that the aerial photographing apparatus 100 stays in the air and maintain the balance in the upright state of the body part 110, and the aerial photographing apparatus 100 is moved due to the tilt of the lifting axis. Used to steer.

The camera 140 is a photographing means for acquiring an aerial image. The camera 140 is disposed under the body 110 and drives the camera 140 in a lower direction and a side direction. Here, the captured image is stored in a separate memory or transmitted to the ground by wireless communication.

On the other hand, the upper end of the head portion 120 is equipped with a firing ring 121 of a shape bent to hang a portion of the firing means using the elastic, the firing ring 121 is elastic, such as a rubber band or a spring It is possible to provide a launch means at low cost because it can be launched into the air by walking a part of the launch means using.

In addition, since the friction protrusion 113 protrudes from the outer surface of the body part 110 to increase the frictional force with the user's skin holding the body part 110, it is aimed while sliding due to sweat or dry skin condition. Misalignment or misfire can be prevented beforehand, resulting in more accurate firing.

The firing means uses elasticity of an elastic member such as a rubber band or a compression spring, and fixes one side of the elastic member, such as a slingshot, to a separate support gripped by the user or the firing ring 121 on the other side of the elastic member. By supporting and pulling the elastic member so as to be directed in a desired aiming direction, the aerial photographing apparatus 100 may be launched to a desired aerial position by using the force of the elastic restoring force of the elastic member by removing the pulling force.

In addition to the method using the elastic member, such as a signal firing device used for military purposes, such as a pistol-shaped muzzle is inserted into the air shooting device 100 and by pulling the trigger can be fired to the aerial position using the combustion power of gunpowder, flight It is also possible to drop the aerial shooting device 100 to the desired point in the aircraft in flight.

Meanwhile, as shown in FIG. 2, a blade groove 112 extending from the upper portion to the lower portion is formed around the body portion 110, and the blade 130 has a head portion through a hinge portion 133. 120 may be inserted into the blade groove 112 while being foldably attached to the blade groove 112 to be in close contact with the body portion 110 or to be horizontally opened.

Accordingly, when the air is launched by the launch means, the blade 130 can be folded to minimize the air resistance, so that it can be shot to a higher position with the same firing power, and when the free fall falls, the folded blade 130 is opened to balance. It can generate lift for.

At this time, the blade groove 112 is along the circumference of the body portion 110 so that the body portion 110 rotates in a direction opposite to the rotation direction of the blade 130 in the air flow according to the aerial shooting device 100 descends. It is preferably formed in a twisted form.

For example, when the blade 130 rotates in a clockwise direction as shown in the drawing, the blade groove 112 is formed in a twisted shape that rotates counterclockwise as it goes downward to the drawing reference, and is caused by the air flow generated while falling. The body 110 is to rotate in a counterclockwise direction.

As such, the blade groove 112 is formed in a twisted form along the circumference of the body portion 110 so that the body portion 110 rotates in a direction opposite to the rotational direction of the blade 130 in the air flow according to the falling By minimizing the rotational force of the body 110 to rotate together by the rotational force of the blade 130, it is possible to take a still aerial image.

In addition, the camera 140 is disposed below the body portion 110, a plurality of are disposed in each blade groove 112 is preferably provided so as to obtain a photographed image in the open state of the blade 130. Do. Therefore, it is possible to minimize the damage of the camera 140 when landing and effectively prevent the inflow of foreign matter such as dust or moisture into the lens of the camera 140 when carrying or storing. In addition, by arranging the plurality of cameras 140 for each blade groove 112, an aerial image of a wider area may be obtained by dividing a photographing area of each camera 140.

On the other hand, the blade 130 according to the preferred embodiment of the invention is mounted to the head portion 120 foldable through the hinge portion 133, by the automatic opening means 150, 160 shown in Figures 3 and 4 When firing, it may be provided to be in close contact with the body 110 and open automatically at the moment of descending from the highest point in the air.

First, referring to FIG. 3, the blade 130 is foldably mounted around the head portion 120 through a hinge portion 133 having a hinge spring shape, and a ring shape is fixed to an end portion of the blade 130. Ring 131 is provided. At this time, the hinge portion 133 has an elastic force acting outward so that the blade 130 is opened.

In addition, the automatic opening means 150 is mounted to be pulled out to the lower portion of the body portion 110 and the lower end is disposed upright so as to be exposed downward through the withdrawal hole 115 of the body portion 110 and the fixing ring ( 131 is inserted into the take-out rod for fixing each blade 130, the actuator 152 for providing the driving force required for the take-out rod 151 withdrawal operation, and the lowering of the body portion 110 launched into the air When the sensor unit 153 detects the fall through the sensor unit 153 and drives the actuator 152, the exposed lower end of the lead-out rod 151 is drawn into the body 110. It may be provided including a control unit 154 to automatically open each blade 130 while.

In addition, referring to Figure 4, the inside of the blade 130, the engaging portion 132 is inserted through the interior of the space is formed protruding.

In addition, the automatic opening means 160, the support plate 161 is mounted so as to be elevated in the body portion 110 and supported by each engaging portion 132 to fix the folded state of the blade 130. And an actuator 162 providing driving force necessary for the support plate 161 to move up and down, a sensor unit 163 for detecting a fall of the body unit 110 launched into the air, and the sensor unit 163. When the fall is detected through the control unit 162 may be provided with a control unit 164 for automatically opening each blade 130 while releasing the supported state of each engaging portion 132 by driving control.

As such, the locking ring 131 formed at the end of the blade 130 is inserted into the pull-out rod 151 arranged to be pulled upright in the lower portion of the body 110 or the protrusion formed to protrude inside the blade 130. By supporting the portion 132 to the support plate 161 which is arranged to be elevated in the body portion 110, each blade 130 can be launched in a fixed state in close contact with the body portion 110, The automatic opening means (150, 160) is to detect the falling of the aerial shooting device 100 launched into the air to pull the withdrawal rod 151 into the interior of the body portion 110 or each engaging portion by the support plate 161 While operating to release the supported state of 132, each blade 130 can be controlled to be automatically opened by the elastic force of the hinge portion 133 having a hinge spring form, so that the blade 130 is not opened in the air. Falling as it is, effectively destroying the device Can be prevented.

On the other hand, the aerial shooting device 100 according to a preferred embodiment of the present invention may be provided to adjust the drop position during free fall.

To this end, as shown in (a) of FIG. 5, a space portion 116 is provided inside the body portion 110, and disposed in the space portion 116 and the weight of the weight 176 according to a control signal. It may further include a direction control unit 170 for adjusting the position to control the falling direction of the body portion 110.

More specifically, as illustrated in FIG. 5B, the direction adjusting part 170 is supported on the inner side of the space part 116 so that the horizontal ring 171 is horizontally arranged to be rolled around the x-axis. A horizontal bar 172 extending in the y-axis direction and horizontally disposed across the center of the horizontal ring 171 and having both ends hinged to the horizontal ring 171 so as to roll about the y axis; A vertical bar 173 extending in an axial direction and disposed upright in the center of the horizontal bar 172 and having a weight 176 mounted thereon, and pushing or pulling an upper portion of the vertical bar 173 in the x-axis direction. The first driving unit 174 and the horizontal bar 172 or the horizontal ring 171 includes a second driving unit 175 that lifts or pulls one side in the z-axis direction.

By controlling the driving unit of the direction control unit 170 through the control unit 154 by using a control means using a wireless communication disposed on the ground using the direction control unit 170 by moving the weight 176 to position The unbiased load in body 110 allows tilting the lift axis to move to the desired aerial position.

Alternatively, the position of the inertial navigation sensor is stored without using the control means, and the position of the inertial navigation sensor is stored by the inertial navigation sensor. It can be operated to move.

In addition, a battery (not shown) for supplying driving power required to drive the aerial photographing apparatus 100 is built in the body 110, and the battery itself is used as the weight 176 or the weight 176. By incorporating a battery inside the casing, the weight required to implement the weight function can be replaced with the weight of the battery, thereby miniaturizing the device.

Here, the battery is not used for forcibly rotating the blade like the conventional drone, but used for providing a driving power source for communication and control, driving of the automatic opening means 150 and the direction control unit 170. Therefore, a small battery that can be mounted in the body 110 is used.

By the respective configurations and functions of the aerial shooting apparatus 100 according to the preferred embodiment of the present invention as described above, the aerial shooting is carried out by free-falling by being released into the air by means of launching means such as rubber bands or springs, Since drones do not require motors, batteries, or complex control systems to forcibly rotate the blades, they simplify the equipment's accessories, greatly reducing the manufacturing cost of the device, and simplifying preparation for shooting.

In addition, since the blade 130 mounted on the upper portion of the body 110 after being launched into the air to fly by the lift generated by the rotation and free fall, it can take a stable aerial image while maintaining a balanced state to the user It is not necessary to maneuver in the air by the public, so it can be used easily by the general public without any professional maneuvering training.

As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto and is intended by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalents of the claims to be described.

(Explanation of the sign)

100 ... aerial photography 110 ... body parts

111 Head 112 Blade groove

120 head 121 foot hook

130 ... blade 140 ... camera

150,160 ... automatic opening means 170 ... direction adjuster

Claims

Body portion 110 has a streamlined appearance and the rotary shaft 111 is disposed upright;

A head portion 120 coupled to the rotation shaft 111 and rotatably mounted independently of the body portion 110;

Blades 130 that are spaced apart at regular intervals along the circumference of the head portion 120 is mounted foldable and rotates with the head portion 120 to generate a lift; And

And a camera (140) disposed under the body unit (110) to drive the camera in a downward direction or in a lateral direction.
The method of claim 1,

Around the body portion 110 is formed a blade groove 112 extending from the top to the bottom,

The blade 130 is inserted into the blade groove 112 while being foldably mounted to the head portion 120 through the hinge portion 133 is in close contact with the body portion 110 or horizontally unfolded to operate to open Aerial shooting device.
The method of claim 2,

The blade groove 112 is formed in a twisted form along the circumference of the body portion 110 so that the body portion 110 rotates in a direction opposite to the rotation direction of the blade 130 in the air flow according to the descending Aerial shooting device characterized in that.
The method of claim 3, wherein

The plurality of cameras 140 is disposed in each blade groove 112, the aerial shooting device, characterized in that to obtain a photographed image in the state that the blade 130 is open.
The method of claim 1,

The upper end of the head portion 120 is equipped with a firing ring 121 is bent to be formed to hang a portion of the firing means using the elastic,

Aerial photographing device, characterized in that the outer surface of the body portion 110 is formed with a protruding friction projection 113 to increase the friction between the skin of the user holding the body portion 110.
The method of claim 1,

The blade 130 is foldably mounted around the head portion 120 through a hinge portion 133 of the hinge spring form,

An end portion of the blade 130 is provided with a ring-shaped fixing ring 131,

The lower end of the body portion 110 is mounted to be pulled out and the lower end is placed upright to be exposed downward through the outlet hole 115 of the body portion 110 so that the fixing ring 131 is inserted into each blade 130 A pull-out rod 151 for fixing, an actuator 152 for providing a driving force necessary for the pull-out rod 151 to pull out, a sensor unit 153 for detecting a fall of the body 110 fired into the air; When the lowering is sensed through the sensor unit 153, the actuator 152 is driven to control the actuator 152 to automatically guide each blade 130 while introducing the exposed lower end of the drawing rod 151 into the body 110. Aerial shooting device further comprises; automatic opening means 150 including a control unit 154 to open.
The method of claim 1,

The blade 130 is foldably mounted to the head portion 120 through the hinge portion 133 of the hinge spring form,

The inside of the blade 130, the engaging portion 132 is inserted through the interior of the body portion 110 is formed projecting,

The support plate 161 which is mounted to be liftable in the body part 110 and is supported by each locking part 132 to fix the folded state of the blade 130, and the support plate 161 is lifted and lowered. Actuator 162 for providing the driving force required to perform, the sensor unit 163 for detecting the falling of the body portion 110 launched into the air, and the actuator 162 when the fall is sensed through the sensor unit 163 The driving control to release the supported state of each engaging portion 132 and automatically opening means 160 including a control unit 164 for automatically opening each blade 130; aerial shooting further comprising Device.
The method of claim 1,

A space portion 116 is provided inside the body portion 110, and disposed in the space portion 116 and controlling the drop direction of the body portion 110 by adjusting the position of the weight 176 according to a control signal. Directional control unit 170; Aerial shooting device further comprising.
The method of claim 8,

The direction control unit 170,

A horizontal ring 171 supported inside the space part 116 and arranged horizontally so as to be rolled about an x-axis;

a horizontal bar 172 extending in the y-axis direction and horizontally disposed across the center of the horizontal ring 171, the both ends being hinged to the horizontal ring 171 so as to be rolled around the y-axis;

a vertical bar 173 extending in the z-axis direction and disposed upright in the center of the horizontal bar 172 and having a weight 176 mounted thereon;

A first driving part 174 that pushes or pulls the upper portion of the vertical bar 173 in the x-axis direction;

Aerial photographing apparatus comprising a second driving unit (175) for pulling or pulling one side of the horizontal bar (172) or the horizontal ring (171) in the z-axis direction.