• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.4
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• pp.409-415
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• 2011

A gimbal system in observation reconnaissance aircraft was fabricated by assembling many parts and bearings. This system consists of a camera module and a stabilization gimbal that supports the camera module. During the flight for recording images, the gimbal system experiences various accelerations with wide frequencies. Although base excitation of stabilization gimbal results in vibration of the camera module, the camera module must be able to capture the correct and clear image even while vibrating. Hence, it is important to know the natural frequencies and vibration modes of the gimbal system with the camera module. Considering bearings as spring elements, the vibration characteristic of the gimbal system was analyzed by finite element method. In addition, harmonic response analysis was performed to determine the correct transmissibility of acceleration for the camera module in the frequency range of 0-500 Hz.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.9 no.2
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• pp.20-25
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• 2010

A camera module is supported by a gimbal structure in collection equipment of image information. During flight, the gimbal system undergoes serious accelerations with wide frequencies. To get the correct images, the camera module must be stably vibrated under these conditions. If natural frequency unfortunately exists in a exciting frequency range, resonance occurs there. Hence, harmonic responses analysis is needed to know correct vibration characteristic of the gimbal system. Finite element analysis was performed to get an acceleration of the gimbal system by mode superposition after extracting mode shapes and natural frequencies. Considering damping ratio of 2%, the reponses of gimbal structure were calculated from excitations with a design frequency band. As results, a maximum acceleration transmissibility, which is the ratio of response to excitation, was obtained and it can be used to design the gimbal structure effectively.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.26 no.6
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• pp.890-896
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• 2022

In this paper, gimbal camera control through smart gloves was implemented to increase convenience and accessibility to the control of drones used in various fields. Smart gloves identify human gestures and transmit signals through Bluetooth. The received signal is converted into a signal suitable for the drone through a GCS (Gound Control Station). Signals from smart gloves are expressed in a quaternion method to prevent gimbal locks, but for gimbal cameras, conversion is required to use Roll, Pitch, and Yaw methods. The data conversion mission is performed in the GCS. The GCS transmits an input signal to the control board of the drone through Wi-Fi. The control board generates and outputs the transmitted signal in a PWM manner. The output signal is input to the gimbal camera through the SBUS method and controlled. The input signal of the smart glove averaged 0.093 s and up to 0.099 s to output to the gimbal camera, showing that there was no problem in real-time use.

• KEPCO Journal on Electric Power and Energy
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• v.5 no.3
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• pp.149-156
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• 2019

In the field of maintenance of power transmission lines, drones have been used for their patrol and inspection by KEPCO since 2017. This drone technology was originally developed by KEPCO Research Institute, and now workers from four regional offices of KEPCO have directly applied this technology to the drone patrol and inspection tasks. In the drone inspection system, a drone with an optical zooming camera and a thermal camera can fly automatically along the transmission lines by the ground control system developed by KEPCO Research Institute, but its camera gimbal has been remotely controlled by a field worker. Especially the drone patrol and inspection has been mainly applied for the transmission lines in the inaccessible areas such as regions with river-crossings, sea-crossings and mountains. There are often communication disruptions between the drone and its remote controller in such extreme fields of mountain areas with many barriers. This problem may cause the camera gimbal be out of control, even though the inspection drone flies along the flight path well. In addition, interference with the reception of real-time transmitted videos makes the field worker unable to operate it. To solve these problems, we have developed the auto-tracking camera gimbal system with deep learning method. The camera gimbal can track the transmission line automatically, even when the transmitted video on a remote controller is intermittently unavailable. To show the effectiveness of our camera gimbal system, its field test results will be presented in this paper.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.2
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• pp.73-80
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• 2014

A camera module that gathers visual information via aerial observation reconnaissance is equipped inside a gimbal structure. This gimbal structure system must reduce dynamic responses in order to obtain clear images under all circumstances. Among many design specifications for this system, there is MIL-STD-810G as a shock standard. This specification indicates a limitation of the acceleration of the camera module under a base shock excitation on the gimbal structure. The satisfaction of this condition can usually be proved by experiment, because it includes bearings and dynamic isolators made of rubber. Numerical analysis must be proposed for design improvement of the gimbal structure. To achieve this goal, transient response analysis for the base shock excitation was performed using the finite element method. Experimental results were compared with numerical solutions and it is shown that the present method is useful.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.5
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• pp.545-553
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• 2012

A Gimbal structure system in observation reconnaissance aircraft is made up of camera module and stabilization drive device supporting camera module. During flight for image recording, the aircraft undergoes serious accelerations with wide frequencies due to several factors. Though base excitation of stabilization drive device induces vibration of camera module, it must get the stable and clean images. To achieve this aim, acceleration of camera module must be reduced. Hence, vibration isolators were installed to stabilization drive device. Considering isolators and bearings in the stabilization drive device, vibration characteristics of gimbal structure system were analyzed by finite element method. For three translational direction, acceleration transmissibility of camera module was calculated by harmonic responses analysis in the frequency range of 5 ~ 500 Hz. In addition to, sine-sweep experiment were performed to prove correctness of present analysis.

• The Journal of the Korea institute of electronic communication sciences
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• v.11 no.8
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• pp.767-772
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• 2016

The purpose of this paper is to develop a gimbal system installed in the UFV(unmanned flight vehicles) for 360 degree VR video. In particular, even if the UFV rotated any direction the camera position is fiexd to minimize the shaking using the gyro sensor and the camera system is stable for taking $360^{\circ}$ panorama VR images.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.15 no.1
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• pp.102-108
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• 2016

A flying drone generates vibrations in a great variety of frequencies, and it requires a gimbal system stabilization loop design in order to obtain clean and accurate image from the camera attached to the drone under this environment. The gimbal system for drone comprises the structure that supports the camera module and the stabilization loop which follows the precise angle while blocking the vibration from outside. This study developed a dynamic model for one axis for the stabilization loop design of a gimbal system for drones and applied classical PID controller and intelligent PID controller. The Stabilization loop design was developed by using MATLAB/Simulink and compared the performance of each controller through simulation. Especially, the intelligent PID controller can be designed almost without the dynamic model and it demonstrates that the angle can be followed without readjusting the parameters of the controller even when the characteristics of the model changes.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.11
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• pp.2107-2112
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• 2016

This paper is designed to develop a Gimbal control stabilizer for drones Gimbal system control for drone for 3D image to make sure clean image in the shaking and wavering environments of drone system. The stabilizer is made of tools which support camera modules and IMU(Inertial Measurement Unit) sensor modules follow exact angles, which can brock vibrations outside of the camera modules. It is difficult for the camera modules to get clean image, because of irregular movements and various vibrations produced by flying drones. Moreover, a general PID controller used for the movements of rolling, pitching and yawing in order to control the various vibrations of various frequencies needs often to readjust PID control parameters. Therefore, this paper aims to conduct the Intelligent-PID controller as well as design the Gimbal control stabilizer to get clean images and to improve irregular movements and various vibrations problems referenced above.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.05a
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• pp.476-477
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• 2022

This study deals with rotation, which is one of the expression methods of motion used in the 3D development environment. Euler angle is a rotation method introduced by Leonhard Euler to display objects in three-dimensional space. Although three angles can handle all rotations in a three dimensional coordinate space, there are serious errors in this approach. If you rotate an object with Euler angles, you will face the problem of gimbal locks that cannot rotate under certain circumstances. In contrast to this, the method to rotate an object without a gimbal lock is the quaternion rotation with quaternion. Rather than a detailed mathematical proof of quaternion, it introduces what concept is used in the current 3D development environment, and applies it to camera rotation control to implement a rotating camera without a gimbal lock.