KR102731109B1 - System and Method for dropping bomb - Google Patents

Abstract

A bomb launching system using a drone is provided in conjunction with a camera gimbal. The bomb launching system is characterized by including a drone body, a gimbal installed at one end of the drone body, a sensing device installed on the gimbal that measures a target from the drone body and generates measurement information, and a bomb launching device that launches a bomb according to control of the drone body based on the measurement information.

Description

{System and Method for dropping bomb using drone}

The present invention relates to a bomb launching technology, and more specifically, to a bomb launching system and method using a drone in conjunction with a camera gimbal.

The present invention also relates to a system and method for directing a shell/grenade launcher toward a direction viewed by a camera and launching the bomb at a speed greater than free fall.

Analyzing the recent Russian-Ukrainian war, drones are seen as a game changer. Drones are playing a big role in the battlefield, performing various missions such as surveillance/reconnaissance/attack.

Until now, military drones have been developed/mass-produced mainly in medium/large sizes, while civilian drones (hobby drones) have been developed/mass-produced in small sizes. However, in this Russia-Ukraine war, the boundary between military and civilian use has collapsed, and civilian drones have been used for military purposes through simple modifications. In particular, small drones are cheap and easy to fly, so even low-level soldiers can use them.

Small drones can be equipped with surveillance and reconnaissance cameras as well as small explosives, allowing them to directly attack soldiers and tanks. In light of this war pattern, consideration is being given to equipping small drones with weapons.

Small drones (quad-rotor drones) have a payload weight of less than 3 to 5 kg due to their size, which is less than that of medium/large drones. In order to use hobby drones for military purposes, they must be equipped with inexpensive, simple, and lightweight weapons.

When analyzing the Russo-Russian War, there are many scenes of small drones being loaded with mortar shells, grenades, etc. and then dropped on tanks or soldiers. This is because mortar shells and grenades are cheap, simple in structure, light in weight, and highly effective.

However, since the mortar shells and grenades used so far were weapons operated directly by soldiers, there are some areas where improvements are needed in order to mount them on drones and use them.

Small drones can fire shells or grenades (bombs) in a variety of ways. The most common method is to drop the shells/grenades on the target in a free-fall manner. This method has a simple structure, but has the disadvantage of being somewhat less accurate.

In contrast, when firing shells/grenades at a target, greater accuracy can be achieved by using a launcher such as a pipe and increasing the firing speed. In other words, if the launcher is aimed in the same direction as the camera mounted on the drone and the shell/grenades are fired at a specific speed, the target can be hit with high accuracy while minimizing the influence of the external environment.

When using a hollow launcher on a drone as described above, the launcher must be pointed in the same direction as the camera mounted on the drone is looking.

In summary, up until now, bombs have used the free-fall method, and the problem with this free-fall method is that it is difficult to improve accuracy.

1. Republic of Korea Publication Patent No. 10-2023-0013775

The present invention has been proposed to solve the problems according to the above background technology, and its purpose is to provide a bomb-launching system and method using a drone in conjunction with a camera gimbal.

In addition, the present invention has another purpose to provide a system and method for directing a shell/grenade launcher in the direction viewed by a camera and firing it at a speed faster than free fall.

In order to achieve the task presented above, the present invention provides a bomb launching system using a drone in conjunction with a camera gimbal.

The above bomb launching system,

drone aircraft;

A gimbal installed at one end of the above drone body;

A sensing device installed and driven on the gimbal and configured to measure a target from the drone body and generate measurement information; and

It is characterized by including a bomb launching device that launches a bomb according to the control of the drone body according to the above measurement information.

In addition, the sensing device and the bomb launching device are characterized in that they are mechanically synchronized.

In addition, for the mechanical synchronization, the sensing device and the bomb launching device are characterized in that they are physically connected through a four-section link consisting of the drone body and the gimbal as fixed links, the sensing device as a rotating link, the bomb launching device, and a load connecting the sensing device and the bomb launching device.

In addition, it is characterized in that four joints are hingedly connected for the above four-section link.

In addition, it is characterized in that the base link support points of the sensing device and the bomb launching device are on the same line so that the sensing device and the bomb launching device can maintain the same angle, and the upper link support points of the gimbal and the bomb launching device are designed to be on the same line.

In addition, the bomb launching device is characterized in that it is rotatably connected to a fixed part formed on the lower surface of the drone body.

In addition, the rotation angle of the sensing device rotated by the gimbal is characterized in that it is calculated using the measurement information.

In addition, the rotation angle of the sensing device is characterized in that it is corrected to be eccentric to a preset range rather than the exact center of the entire image screen within a range in which the target does not go beyond the entire image screen.

In addition, the bomb is characterized by including: a shock fuse; high explosive powder detonable by the shock fuse; a fragmentation projectile surrounding the high explosive powder and forming fragments due to the explosion of the high explosive powder; a propellant that pushes the fragmentation projectile from the inside of the barrel to the outside; and a primer that ignites the propellant.

In addition, the propellant is characterized in that it is ignited by an electric spark.

In addition, the measurement information is characterized by including temperature information and acceleration information.

Additionally, the launch speed of the bomb is characterized by being 100 to 200 m/s.

On the other hand, another embodiment of the present invention provides a bomb launching method using a drone, characterized by including: (a) a step in which a sensing device driven by a gimbal installed on one end of a drone body measures a target from the drone body and generates measurement information; and (b) a step in which a bomb launching device launches a bomb according to control of the drone body according to the measurement information.

According to the present invention, since the bomb is launched with a certain level of initial velocity, it can be launched accurately with almost no external influence, thereby increasing the effectiveness of the weapon.

In addition, as another effect of the present invention, since a four-section link is used, the design of the launching device is simple and the weight can be reduced. Accordingly, the launching accuracy can be improved, the mass production cost can be reduced, the weight can be reduced, and the weapon effectiveness can also be increased.

Figure 1 is a block diagram of a bomb launching system using a drone according to an embodiment of the present invention.
Figure 2 is a conceptual diagram showing the state of launching a bomb in Figure 1.
Figure 3 is a circuit block diagram of the bomb launching system illustrated in Figure 1.
Fig. 4 is an example of the sensing device illustrated in Fig. 1.
Figure 5 is a drawing showing a state in which a bomb is loaded into the bomb launching device illustrated in Figure 1.
Figure 6 is a flow chart showing a bomb launching process according to one embodiment of the present invention.
Figure 7 is a conceptual diagram showing before and after correction for a bomb hitting a target according to one embodiment of the present invention.
Figure 8 is the external shape of the bomb shown in Figure 5.

The present invention can have various modifications and various embodiments, and specific embodiments are illustrated in the drawings and specifically described in the detailed description. However, this is not intended to limit the present invention to specific embodiments, but should be understood to include all modifications, equivalents, or substitutes included in the spirit and technical scope of the present invention.

When describing each drawing, similar reference numerals are used to refer to similar components.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only to distinguish one component from another.

For example, without departing from the scope of the present invention, the first component could be referred to as the second component, and similarly, the second component could also be referred to as the first component. The term "and/or" includes any combination of a plurality of related listed items or any item among a plurality of related listed items.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and should not be interpreted in an idealized or overly formal sense, unless expressly defined in this application.

Hereinafter, with reference to the attached drawings, a bomb launching system and method using a drone according to an embodiment of the present invention will be described in detail.

FIG. 1 is a block diagram of a bomb launching system (100) using a drone according to an embodiment of the present invention. Referring to FIG. 1, the bomb launching system (100) may be configured to include a drone body (110), a gimbal (120) installed at one end of the drone body (110), a sensing device (130) installed on the gimbal (120) and measuring a target from the drone body (110) to generate measurement information, a bomb launching device (140) that launches a bomb under the control of the drone body (110) according to the measurement information, etc.

The drone body (110) can be a body with performance equivalent to that of the DJI Mavic 3. In general, small drones are equipped with a camera as a basic feature, and altitude values, outside temperature, etc. are measured by internal sensors. In other words, small drones can obtain various conditions at the altitude at which they are flying as digital values.

The drone body (110) has a propeller directly connected to each motor corresponding to the engine, and moves forward, backward, or rotates according to the rotation speed of each motor. If the output of all motors is increased equally, it will rise vertically, and to move forward, the output of the rear motor is increased. Since the structure of the drone is widely known, further explanation will be omitted.

The gimbal (120) is installed at the front end of the drone body (110) to control the angle of the sensing device (130). The gimbal (120) is a one-axis gimbal and performs pitch rotation. For this purpose, a first joint (121) is formed. The gimbal (120) is fixedly assembled to the drone body (110) by a bolting method or the like.

The sensing device (130) is hinge-connected to the first joint (121) and performs the function of sensing a target on the ground or in the air, measuring the distance between the drone body (110) and the target, and generating measurement information. Of course, the sensing device (130) has an exterior, and a second joint (122) can be formed on this exterior.

The bomb launching device (140) is hinge-connected to a fixed part (160) formed on the lower surface of the drone body (110) by a fourth joint (161). Accordingly, the bomb launching device (140) can rotate 180° with the fourth joint (161) as the rotation axis.

A third joint (141) is formed in this bomb launching device (140), and a load (150) is hinge-connected. That is, the load (150) mechanically synchronizes the sensing device (130) and the bomb launching device (140). That is, the bomb launching device (140) rotates simultaneously with the rotation of the sensing device (130).

In detail, the camera of the sensing device (130) mounted on the gimbal (120) and the bomb launcher (140) are generally not physically connected. That is, the target seen by the camera and the target aimed by the bomb launcher may be different. To overcome this problem, the sensing device (130) and the bomb launcher (140) are physically connected through a 4-section link.

In detail, the drone body (110) functioning as a fixed link and the gimbal (120), the sensing device (130) functioning as a rotating link, the bomb launcher (140), and the load (150) connecting the sensing device (130) and the bomb launcher (140) can be physically connected through a four-section link. The load (150) is connected by the second joint (122) and the third joint (141).

A four-section link refers to a link consisting of three movable links, one fixed link, and four joints (121, 122, 141, 161). Accordingly, since a bomb launching device (140) that launches a bomb toward a target is mechanically linked with a sensing device (130), the bomb launching device can aim at a target without a separate motor device.

Figure 2 is a conceptual diagram showing a state of bomb launching in Figure 1. Referring to Figure 2, as the sensing device (130) rotates 90° counterclockwise, the bomb launching device (140) is also linked to the sensing device (130) and simultaneously rotates 90° counterclockwise.

To elaborate, Fig. 1 shows a state in which the bomb launching device (140) is also facing forward when the sensing device (130) is looking forward. In contrast, in the case of Fig. 2, when the sensing device (130) is facing downward, the bomb launching device (140) is also rotated downward.

As shown in FIG. 2, the base link support points (first joint (121), fourth joint (161)) of the sensing device (130) and the bomb launcher (140) are designed to exist on the same line so that the sensing device (130) and the bomb launcher (140) can maintain the same angle, and the upper link support points (second joint (122), third joint (141)) of the gimbal (120) and the bomb launcher (140) are designed to exist on the same line.

Figure 3 is a circuit block diagram of the bomb launching system (100) illustrated in Figure 1. Referring to Figure 3, the bomb launching system (100) may be configured to include circuit block diagrams of a sensor system (310), a control unit (320), a motor (330), a driving unit (340), etc.

The sensor system (310) is configured in the sensing device (130), and only the sensors necessary for viewing a target are built in. For example, it may be configured to include a gyro motion stabilization sensor that measures the stabilization posture of the drone body (110), an optical camera that takes images, an infrared camera for thermal imaging, an LRF (Laser Range Finder) that accurately measures the distance between the drone body (110) and the target, and a TssM gyroscope that can measure the rotational rotation of the camera. In general, an altitude sensor, a temperature sensor, and an acceleration sensor are included in the drone body (main body).

The control unit (320) uses the measurement information generated by the sensor system (310) to drive the direction of the gimbal (120) and performs the function of detonating the bomb. In addition, the control unit (320) can use the measurement information to correct the direction of the bomb launching device (140) to improve the hit rate.

In detail, the rotation angle of the sensing device (130) is changed by correcting the position of the gimbal (120) to hit the bomb on the target using temperature information, acceleration information, etc.

In detail, the angle of the sensing device (130) is corrected to hit the bomb on the target using altitude information, temperature level, etc. For example, when a drone launches a bomb while it is in hovering flight at a high altitude, the launch trajectory of the bomb bends downward due to gravity, so this can be corrected to correct the initial launch angle of the bomb.

Additionally, if the drone is flying at a certain altitude and speed, the launch angle of the bomb can be adjusted to take into account the drone's movement speed.

For this purpose, the control unit (320) may be configured to include a microcomputer, a microprocessor, a memory, an electronic circuit, etc.

The memory may include at least one type of storage medium among a flash memory type, a hard disk type, a multimedia card micro type, memory of card type (e.g., Secure Digital (SD) or eXtreme Digital (XD) memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, and an optical disk.

The motor (330) is connected to a propeller (not shown) to enable the drone body (110) to fly. Of course, the motor (330) is composed of multiple units, and a propeller is connected to each motor.

The driving unit (340) performs a function of driving the sensing device (130) in the gimbal (120) to adjust the orientation. For this purpose, a motor (not shown) is installed on the reference axis. Of course, an encoder (not shown) is configured on the shaft of the motor to calculate the rotation angle. Through this, it is possible to control at an accurate rotation angle. The control unit (320) and the motor (330) are configured inside the drone body (110).

Of course, in addition, a communication device (not shown) is configured to perform external communication. The communication device mainly performs communication using wireless communication. Wireless communication may use IrDA (Infrared Data) communication, ZigBee, Bluetooth, LiFi (Light Fidelity), WiFi (Wireless Fidelity), NFC (Near Field Control), etc.

FIG. 4 is an example of a sensor system (310) configured in the sensing device (130) illustrated in FIG. 1. Referring to FIG. 4, the sensor system may include an infrared camera (410) for thermal imaging, an optical camera (420) for capturing images, a gyro motion stabilization sensor (430) for measuring the stabilization posture of the drone body (110) and the acceleration of the drone body (110), an LRF (Laser Range Finder) (440) for accurately measuring the distance between the drone body (110) and a target, etc.

The infrared camera (410) performs the function of capturing thermal images using infrared rays. In addition, the infrared camera has a resolution of 640x480 and digital zoom (e.g., 4x zoom, 12x zoom, etc.).

The optical camera (420) can be a full HD (High Definition) color camera and can have optical zoom and digital zoom.

The gyro motion stabilization sensor (430) can perform built-in tests (BIT) and be equipped with a GPS (Global Positioning System) function and a digital compass function.

LRF (440) has a maximum range of approximately 3.4 km and has a safe-eye function.

Figure 5 is a drawing showing a state in which a bomb (520) is loaded into the bomb launcher (140) illustrated in Figure 1. Referring to Figure 5, a bomb (520) is loaded into the barrel (510) of the bomb launcher (140). Of course, a triggering device (not illustrated) is configured to trigger the bomb (520).

A bomb (520) is composed of a shock fuse (521), high explosive powder (522) that can be detonated by the shock fuse (521), a fragmentation projectile (523) that creates fragments due to the explosion of the high explosive powder and surrounds the high explosive powder, a propellant (524) that pushes the fragmentation projectile (523) from the inside of the gun barrel to the outside, and a primer (525) that ignites the propellant (524) by an electric gun (not shown).

Electric ignition means igniting the propellant by using an electric ignition. Therefore, the electric ignition is operated by the pilot's command, the primer (525) is detonated by the ignition, and the propellant (524) is ignited.

Pressure is created inside the barrel (50), which is shaped like a pipe, by the propellant (524), and the bomb (520) is launched by this pressure. When the launched bomb (520) comes into contact with the target, the impact fuse (521) is activated by this contact impact, and the high-explosive gunpowder (522) explodes and fragments are formed by the operation of the impact fuse (521).

To elaborate, we want to drop bombs accurately from drones, but the existing free-fall method is affected by external disturbances (atmospheric influences) and initial conditions (drone shaking). Therefore, it is difficult to improve accuracy using the free-fall method.

If a portion of the bomb is changed to a propellant (= the bomb is dropped with a weak launch concept rather than a free fall), the accuracy can be greatly improved. That is, since there is a large difference in accuracy between dropping an object to the ground in free fall and dropping an object to the ground by being thrown by an external force, a bomb is constructed that contains a small amount of propellant (524).

Figure 6 is a flow chart showing a bomb launching process according to one embodiment of the present invention. Referring to Figure 6, first, a bomb (520) is mounted on the barrel (510) of the bomb launching device (140). At this time, the barrel (510) is designed/manufactured so that the end of the bomb propellant case is caught on the end of the barrel. This is to prevent the bomb (520) from being ejected outside the barrel by gravity and to secure the propellant (524) case inside the barrel.

The control unit (320) configured in the drone body (110) generates measurement information such as altitude value, outside temperature, etc. for the drone body (110) and/or the target using the sensor system (310) installed in the sensing device (130) (step S610). In other words, the flight altitude, outside temperature, etc. are measured using the self-sensor configured in the sensor system (310). Since the drone already knows the initial speed of the high-explosive gunpowder ammunition (bomb), the flight altitude, the distance to the target, etc., it can calculate the rotation angle of the sensing device (1320) driven by the gimbal (120) for the bomb to accurately hit the target.

Thereafter, the positions of the drone body (110) and the target (not shown) are calculated, and the rotation angle of the gimbal (120) is calculated using this position information (steps S620 and S630). That is, the camera of the drone body (110) points to the target, and at the same time, the bomb launching device (140) connected to the sensing device (130) driven by the gimbal (120) by a mechanical link is also pointed in the same direction.

At this time, the drone body (110) can calculate the optimal rotation angle of the sensing device (130) to hit the target in the current flight state by utilizing various sensor data collected inside. At this time, the target can be corrected to be caught by slightly eccentrically rather than at the exact center of the entire image screen within a range that does not exceed the entire image screen. In other words, the rotation angle of the sensing device (130) can be corrected so that the target is set by eccentrically within a preset range. A drawing showing this is illustrated in FIG. 7, which will be described later.

By this correction, not only the rotation angle of the sensing device (130) but also the bomb launching device (140) that is linked to the sensing device (130) rotates by the rotation angle.

Referring to FIG. 6 further, it is checked whether there is a launch command from the pilot (step S640). In detail, the launch command can be transmitted to the drone body (110) using a control device (not shown) wirelessly connected to the drone body (110).

In step S640, if there is a launch command as a result of the verification, the propellant (524) is ignited by an electric trigger (not shown) to launch the bomb (520) (step S650). In other words, the trigger operates to strike the primer (525) of the propellant (524). When the trigger strikes the primer of the propellant, the propellant (524) begins to combust.

Since this propellant occupies a considerably smaller volume than the high explosive, it propels the high explosive projectile at a low speed. For reference, in the case of 5.56mm or 7.62mm bullets, the propellant occupies a considerable volume of the ammunition, so the speed of the projectile is very fast. However, in the case of one embodiment of the present invention, since the amount of propellant is relatively small, the speed is somewhat slowed down.

In general, drone bombs are heavy, so the recoil force when they are fired cannot be large according to the law of action/reaction. Therefore, firing the bomb at high speed can cause mechanical shock to the drone, so the firing speed needs to be limited.

Therefore, the launch speed of the bomb should be designed considering the weight of the bomb (520) and the shock resistance of the drone. When launching a bomb, considering the path (parabola), accuracy, and bullet rebound force (shock resistance), the launch speed of the bomb is appropriate at around 100 to 200 m/s.

Meanwhile, in step S640, if there is no launch command, steps S610 to S640 are performed again.

FIG. 7 is a conceptual diagram showing before and after correction for a bomb according to an embodiment of the present invention to hit a target. Referring to FIG. 7, the direction of the launching device can be corrected using various sensors mounted on the drone to improve the accuracy. In other words, the target can be corrected to be caught slightly eccentrically (i.e., slightly eccentric to the left) rather than at the exact center of the entire image screen within a range that does not exceed the entire image screen.

Figure 8 is an external shape of the bomb illustrated in Figure 5. Referring to Figure 8, a fuse (521) is positioned at the front, an obturating band is present in the middle, and a primer (524) and pin (801) are positioned at the tail side.

In addition, the steps of the method or algorithm described in connection with the embodiments disclosed herein may be implemented in the form of program instructions that can be executed by various computer means, such as a microprocessor, a processor, a CPU (Central Processing Unit), and the like, and recorded on a computer-readable medium. The computer-readable medium may include program (instruction) codes, data files, data structures, etc., alone or in combination.

The program (command) code recorded on the above medium may be specially designed and configured for the present invention, or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium may include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs, DVDs, and Blu-rays, and semiconductor memory devices specially configured to store and execute program (command) codes such as ROMs (Read Only Memory), RAMs (Random Access Memory), and flash memories.

Here, examples of program (instruction) code include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc. The above-mentioned hardware device can be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

100: Bomb Launch System
110: Drone body 120: Gimbal
121: 1st joint 122: 2nd joint
130: Sensing device 140: Bomb launching device
150: Load 141: 3rd joint
161: 4th joint
310: Sensor system 320: Control unit
330: Motor 340: Drive unit
510: Barrel 520: Bomb
521: Shock fuse 522: High explosive
523: Fragmentation 524: Propellant
525: Primer

Claims (13)

Drone body (110);
A gimbal (120) installed at one end of the above drone body (110);
A sensing device (130) installed and driven on the gimbal (120) and measuring a target from the drone body (110) to generate measurement information; and
It includes a bomb launching device (140) that launches a bomb (520) according to the control of the drone body (110) according to the above measurement information;
The rotation angle of the sensing device (130) rotated by the gimbal (120) is calculated using the measurement information.
A bomb launching system using a drone, characterized in that the rotation angle of the sensing device (130) is corrected to be eccentric to a preset range rather than the exact center of the entire image screen within a range where the target does not go beyond the entire image screen.
In paragraph 1,
A bomb launching system using a drone, characterized in that the sensing device (130) and the bomb launching device (140) are mechanically synchronized.
In the second paragraph,
A bomb launching system using a drone, characterized in that the sensing device (130) and the bomb launching device (140) are physically connected through a four-section link comprising the drone body (110) and the gimbal (120) as fixed links, the sensing device (130) as a rotating link, the bomb launching device (140), and a rod (150) connecting the sensing device (130) and the bomb launching device (140).
In the third paragraph,
A bomb launching system using a drone, characterized in that four joints (121, 122, 141, 161) are hinge-joined for the above-mentioned four-section link.
In the third paragraph,
A bomb launching system using a drone, characterized in that the base link support points (121, 161) of the sensing device (130) and the bomb launching device (140) are designed to exist on the same line so that the sensing device (130) and the bomb launching device (140) can maintain the same angle, and the upper link support points (122, 141) of the gimbal (120) and the bomb launching device (140) are designed to exist on the same line.
In paragraph 1,
A bomb launching system using a drone, characterized in that the bomb launching device (140) is rotatably connected to a fixed part (160) formed on the lower surface of the drone body (110).
delete delete In paragraph 1,
The above bomb (520) is,
Shock cleric (521);
High explosive powder (522) detonable by the above shock fuse (521);
A fragmentation projectile (523) that creates fragments due to the explosion of the high explosive powder (522) and surrounds the high explosive powder (522);
Propellant (524) that pushes the above-mentioned fragmentation projectile (523) from inside the gun barrel to the outside; and
A bomb launching system using a drone, characterized by including a primer (525) that ignites the propellant (524).
In Article 9,
A bomb launching system using a drone, characterized in that the above propellant (524) is ignited by an electric spark.
In paragraph 1,
A bomb launching system using a drone, characterized in that the above measurement information includes temperature information and acceleration information.
In paragraph 1,
A bomb launching system using a drone, characterized in that the launching speed of the above bomb (520) is 100 to 200 m/s.
(a) a step in which a sensing device (130) driven by a gimbal (120) installed on one end of a drone body (110) measures a target from the drone body (110) and generates measurement information; and
(b) a step in which the bomb launching device (140) launches a bomb (520) according to the control of the drone body (110) according to the above measurement information;
The rotation angle of the sensing device (130) rotated by the gimbal (120) is calculated using the measurement information.
A method for launching a bomb using a drone, characterized in that the rotation angle of the sensing device (130) is corrected to be eccentric to a preset range rather than the exact center of the entire image screen within a range where the target does not go beyond the entire image screen.