JP3527160B2 - Imaging instruction system, imaging instruction method, and recording medium - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a photographing instruction system and the like for transmitting a photographing instruction to a photographing device mounted on a flying object such as a helicopter for photographing a remote image.

[0002]

2. Description of the Related Art Conventionally, in the event of a disaster, it is possible to quickly and accurately grasp the situation of the disaster by taking an aerial image with a helicopter equipped with an image capturing device such as a video camera and take appropriate measures. Has been done.

[0003]

In the above cases, whether or not a disaster can be appropriately dealt with depends on how accurately and quickly the situation of the disaster can be grasped. Therefore, disaster countermeasures should be taken. An image that matches the requirements of the person is required. For this reason, it may be possible to wirelessly instruct the shooting position and the like from the ground, but it is difficult to convey the shooting request, such as what kind of image is to be taken at which position from the ground, using only words. is there.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a photographing instruction system and the like that can easily issue a photographing instruction in remote photographing. Another object of the present invention is to provide a photographing instruction system and the like that can efficiently give an accurate photographing instruction.

[0005]

In order to achieve the above object, a photographing instruction system according to a first aspect of the present invention is provided with a flying instruction system .
The on-board imaging device mounted on the line body and the on- board imaging device
Photographing operation and a photographing instruction device for instructing shooting from the ground
In the pointing system , the photographing pointing device includes a storage unit that stores the map data in association with the position information, and a designated unit.
Patterns centered on selected points, multiple specified points
Specified by a pattern to be photographed along with, a figure such as a rectangle
The pattern for shooting a predetermined area, the specified shooting point
At least one of the patterns of shooting around the center
Pattern selection means for receiving a selection input of any one of a plurality of shooting patterns including one, a shooting position specifying means for displaying the map data and receiving a position specified on a map as a shooting position, Based on the means for reading out the position information corresponding to the designated shooting position from the storage means, the selected shooting pattern, and the position information corresponding to the shooting position, the shooting pattern.
A setting means for setting shooting parameters for shooting, including a shooting range, a shooting range, and a shooting target altitude; and shooting instruction transmitting means for generating a shooting instruction including the shooting parameters and transmitting the shooting instruction to the onboard shooting device. The on- board photographing device is
Position acquisition means for acquiring the current position of the flying object,
Means for receiving the photographing instruction from the shadow instruction device,
The flight route, the image shooting position, and the turtle that meet the received shooting instructions.
A calculating means for calculating a shooting plan for the LA setting;
Position information acquired by the position acquisition means and the calculation means
Based on the shooting plan calculated by
Shooting when it is detected that the shooting position is approached
The control means and the image information captured by the image capturing control means.
The shooting information is generated from the information and the incidental data, and the shooting instruction device is generated.
And a means for transmitting to the device,
And a means for receiving the photographing information from the upper photographing device.
That, characterized in that.

According to such a configuration, for example, a pattern for photographing around a designated point, a pattern for photographing along a plurality of designated points, and a predetermined region specified by a figure such as a rectangle are photographed. It is only necessary to select a pattern that meets the request of the instructor from a plurality of shooting patterns prepared in advance, such as a pattern, and also the shooting position that is the base point of the shooting can be visually specified using a map. Therefore, it is possible to quickly issue a complicated shooting instruction by an easy operation.

[0007]

[0008]

[0009]

[0010]

[0011] The photographing instruction method according to a second aspect of the present invention, the ground for the machine imaging device mounted on the aircraft
A shooting instruction method of instructing the shooting from, photographing instruction instrumentation
Is a pattern that captures images around a specified point.
Patterns, rectangles, etc. taken along multiple points
A pattern for shooting a predetermined area specified by
Of the pattern that circles around the shooting point as the center of the circle,
Accepting a selection input either shooting pattern of a plurality of shooting pattern containing at least one, and displays the map data receives the location specified on the map as a shooting position, corresponding to the designated photographing positions Position information is acquired, and based on the selected shooting pattern and the position information, shooting parameters for shooting including a shooting pattern, a shooting range, and a shooting target altitude are set, and the shooting parameters are included. Generate a shooting instruction and send it to the onboard shooting device
Then , the onboard image capturing device displays the current position information of the flying object.
Obtain, receive the shooting instruction from the shooting instruction device,
Flight route and image shooting position that satisfy the received shooting instruction
Calculate the shooting plan for the camera and camera settings, and obtain the above
Based on the current position information of the
Then, it is detected that the aircraft is near the shooting position.
Then, the picture is taken, and the picture information and incidental data taken
And is generated as photographing information and transmitted to the photographing instruction device,
The photographing instruction device controls the photographing information from the on-board photographing device.
Receiving information .

According to such a configuration, for example, a pattern for photographing around a designated point, a pattern for photographing along a plurality of designated points, and a predetermined area specified by a figure such as a rectangle are photographed. It is only necessary to select a pattern that meets the request of the instructor from a plurality of shooting patterns prepared in advance, such as a pattern, and also the shooting position that is the base point of the shooting can be visually specified using a map. Therefore, it is possible to quickly issue a complicated shooting instruction by an easy operation.

[0013]

[0014]

[0015]

Further, a recording medium according to a third aspect of the present invention is a recording medium on which the first computer is mounted on an aircraft.
To function as a shadow device, the second computer, the machine
A computer-readable recording medium having recorded thereon a program for causing an upper photographing device to function as a photographing instruction device for instructing photographing from the ground , wherein the first computer is used to store map data as position information. Storage means for storing in association with, a pattern for shooting around a designated point, designation
Of patterns, rectangles, etc., taken along a set of multiple points
A pattern to shoot a predetermined area specified by a shape, specified
A pattern that circles around the shooting point as the center of the circle and shoots,
Pattern selection means for receiving a selection input of any one of a plurality of shooting patterns including at least one of the following: a shooting position specifying means for displaying the map data and receiving a position specified on the map as a shooting position; A unit that reads out position information corresponding to the designated shooting position from the storage unit, the selected shooting pattern,
Based on the position information corresponding to the shooting position, shooting
Setting means for setting shooting parameters for shooting including a pattern, shooting range, and shooting target altitude, shooting instruction transmitting means for generating a shooting instruction including the shooting parameters and transmitting the shooting instruction to the second computer Function as ,
The second computer acquires the current position of the air vehicle.
Position acquisition means, the photographing finger from the first computer
Means for receiving an indication, a flight satisfying the received shooting instruction
Make a shooting plan about the route, image shooting position, and camera settings.
Calculation means for calculating, acquired by the position acquisition means
Position information and the shooting plan calculated by the calculating means
Detected that the aircraft approached the shooting position based on
The photographing control means for photographing when
Generate shooting information from the video information and additional data taken by
Functioning as a means for making and transmitting to the photographing instruction device.
The first computer and the second computer.
Function as a means for receiving the photographing information from the camera.
Record the program for

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION A photographing instruction system according to an embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a system schematic diagram of the photographing instruction system of the present embodiment. This shooting instruction system includes an on-board shooting device 2 mounted on a helicopter 3 and a shooting instruction device 1.

The photographing instruction device 1 creates a predetermined photographing instruction based on an input by a photographer or the like on the ground, and transmits it to the onboard photographing device 2 through a predetermined wireless channel L1. The on-board photographing device 2 mounted on the helicopter 3 sets a movement route of the helicopter 3 based on the photographing instruction received from the photographing instruction device 1 and controls a camera or the like to photograph an image. Then, the photographed image is transmitted to the photographing instruction device 1 through a predetermined wireless channel L2 together with predetermined incidental data including a photographing position, a camera parameter and the like. The shooting instruction device 1 stores and displays information received from the onboard shooting device 2 mounted on the helicopter 3.

Next, FIG. 2 shows a system configuration diagram of the photographing instruction system of the present embodiment. The photographing instruction device 1 includes a photographing request receiving unit 101, a photographing instruction generating unit 102, a parameter generating unit 103, a photographing instruction transmitting unit 104, a photographing information receiving unit 105, a photographing pattern unit 106, and map / terrain data. A unit 107 and a data storage unit 108 are provided.

The photographing request accepting unit 101 includes, for example, a display unit and an input unit, and displays an operation screen for accepting a photographing request on the display unit in accordance with an instruction from the photographing instruction creating unit 102 so that the user (imaging instructor) ) Input from the input unit.

The shooting instruction creating unit 102 receives a shooting request input by the user via the shooting request receiving unit 101.
Creates shooting instructions in response to requests. In accepting the image capturing request, the image capturing instruction creating unit 102 displays an image capturing instruction operation screen as shown in FIG. 3 via the image capturing request receiving unit 101. The image capturing instruction creating unit 102 includes the image capturing pattern unit 1
Information regarding the photographing pattern is read out from 06 and displayed as a menu in a predetermined area of the photographing instruction operation screen. Further, the map data is read from the map / terrain data section 107 and displayed in a predetermined area of the shooting instruction operation screen.

The shooting pattern displayed as a menu includes, for example, "point shooting" for shooting around a designated point, "line shooting" for shooting along a plurality of designated points, and a rectangular figure or the like. "Area shooting" for shooting a specified area, "Spotlight shooting" for orbiting around a specified shooting point around the center of a circle, and "Panorama" for shooting a specified area by turning from a specified point "Shooting" etc.

The shooting instruction creating unit 102 reads from the shooting pattern unit 106 a shooting parameter table (parameter table) corresponding to the shooting pattern selected and input on the shooting instruction operation screen. The photographing parameters include items such as “instruction number”, “instruction date”, “instruction time”, “imaging pattern”, “imaging range”, etc., as shown in FIG. Is the information needed for. A parameter table having parameter items corresponding to each shooting pattern is stored in the shooting pattern unit 106. After reading the parameter table, the shooting instruction creating unit 102 sets an initial value or a recommended value prepared in advance for a predetermined item (for example, sets an initial value “0 m” to the “shooting target altitude”).

The photographing instruction creating unit 102 reads the parameter table according to the photographing pattern, receives the designation of the photographing position through the photographing request receiving unit 101, obtains the latitude / longitude value of the photographing position, and photographs the photographing position. Set as a parameter. In addition to the designation of the position on the map displayed on the shooting instruction operation screen (FIG. 3), the previously shot image is read out to specify a predetermined area of the shooting instruction operation screen. It is also possible to specify the position on the captured image by displaying on the screen.

When an arbitrary position on the map is designated as the photographing position, the photographing instruction creating unit 102 reads the latitude / longitude value corresponding to the photographing position from the map / terrain data unit 107. When an arbitrary position on the captured image is designated, the latitude / longitude value of the captured position calculated by the parameter creating unit 103 by a predetermined calculation method is acquired.

Further, the photographing instruction creating unit 102, via the parameter creating unit 103, responds to a request from the user.
The shooting parameters of the past shooting information are used as the shooting parameters of the current shooting. In this case, for example, all or some of the shooting parameters are selected from the past shooting information via the parameter creating unit 103, and the selected parameter value is set as the shooting parameter for the current shooting.

Further, after the photographing position is designated, the photographing instruction creating unit 102 accepts the input of the photographing range for one photographing through the photographing request accepting unit 101, and the item “imaging range” in the photographing parameters. Set to.

Further, if there is a change request from the user regarding the setting contents of the shooting parameters, the shooting instruction creating section 102 changes the setting contents of the parameters in response to the request.
The shooting instruction creating unit 102 displays a graphic corresponding to a shooting pattern on a map (or an image) according to the setting value of the shooting parameter, and the position of the graphic,
When the size, shape or the like is changed, the set value of the corresponding parameter is changed so as to correspond to the change of the figure. When changing the setting contents of the parameter, the user may directly input a numerical value in the corresponding item of the parameter table.

Further, the photographing instruction creating section 102 finally obtains and supplements the photographing parameters with parameters such as an angle of view and a camera direction, and further, flight routes, photographing positions, recommended flight altitudes, etc. The control information necessary for controlling the flying object is generated as a photographing instruction and transmitted to the on-board photographing device 2 via the photographing instruction transmitting unit 104.
In addition, the parameter creation unit 103 includes the shooting instruction creation unit 10
According to the instruction from 2, the shooting parameter is generated and set when the shooting information is used.

The parameter creating unit 103 calculates the latitude / longitude value by a predetermined calculation method for the position on the image designated as the shooting position according to the instruction from the shooting instruction creating unit. Details of this calculation processing will be described later.
The shooting instruction sending unit 104 sends the shooting instruction generated by the shooting instruction creating unit 102 to the onboard shooting apparatus 2 via the wireless channel L1. The image capturing information receiving unit 105 receives the image capturing information from the on-board image capturing apparatus 2 via the wireless channel L2, and stores it in the data storage unit 108. The accumulated photographed images are displayed via the photographing request receiving unit 101 in response to a display request from the outside, for example.

The photographing pattern section 106 stores information (parameter table etc.) relating to plural photographing patterns such as "point photographing", "line photographing", "area photographing", "spotlight photographing", "panoramic photographing" and the like. . The map / terrain data unit 107 stores map data, latitude / longitude values of each position on the map or a reference position, altitude information of the terrain, and the like. The data storage unit 108 stores and stores the shooting information and the like received from the on-board shooting device 2. This shooting information includes the shooting date, shooting time,
It includes various information (accompanying data) such as a shooting position, a shooting altitude, and an angle of view that accompany the shooting of the image.

Next, the structure of the on-board photographing device 2 will be described. The on-board image capturing device 2 is mounted on the helicopter 3 and includes an image capturing instruction receiving unit 201 and a position / orientation detecting unit 202.
A shooting control unit 203, a route instruction unit 204, a camera unit 205, and a shooting information transmission unit 206.

The photographing instruction receiving unit 201 is provided in the photographing instruction device 1
Receives a shooting instruction from. The position / orientation detection unit 202
Helicopter 3 has instruments, gyro, GPS (Globa
l Positioning System) Information on the altitude, attitude, direction, speed, position, etc. of the helicopter 3 at the present time is acquired from a receiving device or the like.

The photographing control unit 203 includes a photographing instruction receiving unit 20.
1, the received shooting instruction based on the shooting instruction received from No. 1, the position information of the helicopter 3 acquired by the position / orientation detection unit 202, and the map data including the altitude information read from the storage unit (not shown). A shooting plan for a flight route, an image shooting position, camera settings (direction, angle of view, etc.) to satisfy (shooting parameters) is calculated.

Further, the photographing control section 203 makes a photographing plan and
Shooting control is performed based on the current position and attitude information of the helicopter 3 acquired by the position and attitude detection unit 202. When it is detected that the helicopter 3 is approaching the shooting position, the shooting control unit 203 controls the direction and angle of view of the camera, and sets the field of view of the camera at the target point. Then, when the helicopter 3 reaches the shooting position, the shooting instruction is sent to the camera unit 205, and the shooting position, shooting altitude, shooting target position, shooting target altitude, camera parameter, and other data are shot information. Send to the transmission unit 206.

The route instructing unit 204 sequentially acquires the shooting plan and information such as the position of the helicopter 3 from the shooting control unit 203 and the position / orientation detecting unit 202, and a part of this information is used to control the helicopter 3. As information (control information) for this purpose, it is displayed by being superimposed on the map data and presented to the pilot. The flight information of the helicopter 3 includes flight information,
Flight altitude, flight speed, current position, etc.

The camera unit 205 is provided with, for example, a visible camera and an infrared camera, shoots an image in accordance with an instruction from the shooting control unit 203, and sends the shooting result to the shooting information transmission unit 20.
Send to 6.

The photographing information transmitting section 206 is connected to the photographing control section 20.
Predetermined incidental data is created from the data such as the photographing position and the photographing altitude at the time of photographing received from 3, and the photographing information is generated by associating the incidental data with the video information obtained from the camera unit 205. The incidental data is, for example, "request number",
It includes data such as "shooting date", "shooting time", "shooting pattern", "shooting position", and "shooting altitude". The shooting information transmitting unit 206 sends the generated shooting information to the wireless channel L2.
Is transmitted to the photographing instruction device 1.

Next, the process of calculating the photographing position in the photographing instruction device 1 when an arbitrary position on the photographed image is designated as the photographing position will be described. First, as a first example, a process of calculating a latitude / longitude value of a designated position when a designated position is imaged as the center of an image will be described with reference to FIGS. 5 and 6. For example, it is assumed that the user has designated the point T on the image I shown in FIG.

As shown in FIG. 6, the parameter creating section 103 determines the position PC on the plane P (altitude above sea level) specified by the latitude / longitude of the flying body (camera) at the time of capturing the image I. As the origin, the Z axis is in the upward direction and the Y is in the position PO direction.
Set the world coordinate system in which the axes and the left-handed system and the X-axis perpendicular to the YZ plane are placed. It should be noted that the position PO is on the plane P, and the camera center direction and the ground surface H when the image I is captured are taken.
It is a photographing position specified by the latitude and longitude of the intersection with (P).

Next, from the latitude / longitude of the position PC and PO, 2
The distance L between the points is obtained, and based on this, the direction vector Vz in the camera center direction in the world coordinate system is calculated as shown in Formula 1.

[0042]

## EQU1 ## Vz = (0, L,-(AC-HO)) (AC is the altitude above sea level of the flying object (camera) at the time of shooting, HO
Indicates the altitude above sea level at the position PO on the ground surface H (P))

Let ψ be a rotation angle at the time of photographing around the camera center direction (z axis) (0 in the upward direction, positive in the right-hand screw direction). In this case, first rotate the camera coordinate system (x, y, z) around the z axis, and move upward in the world coordinate system (Z axis).
And a new coordinate system (x ′, y ′, z) in which the upper direction of the image (y-axis) is matched. In this coordinate system, the point T (Tx, Ty) is the point T '(Tx', T
y ′), and Tx ′ and Ty ′ are represented as shown in Equation 2.

[0044]

## EQU00002 ## Tx '= Tx.cos .psi. + Ty.sin .psi. Ty ′ = Ty · cos ψ−Tx · sin ψ

T '(Tx', T expressed in the world coordinate system
The direction vector passing through y ′) is obtained by rotating the vector in the Y-axis direction by the angle ξX about the X-axis and then by the angle ξZ about the Z-axis. ΞX at this time
And ξZ are shown as in Equation 3.

[0046]

## EQU00003 ## .xi.Z = -arctan (2.Tx '/ Wx.t
an (θX / 2)) ξX = arctan (2 · Ty ′ / Wy · tan (θY
/ 2))-arctan ((AC-HO) / L) (θX is the angle of view in the x direction when the image is captured, θY is the angle of view in the y direction when the image is captured, and Wx is the x direction of the image. Number of pixels,
Wy indicates the number of pixels in the y direction of the image)

Therefore, the direction vector VT passing through T '(Tx', Ty ') is expressed by the equation 4, and a straight line from the camera position (0, 0, AC) to the direction of the direction vector VT. The coordinates of the position PT 'at which the point intersects the plane P are represented by the equation 5 in the world coordinate system.

[0048]

VT = (-sin ξZ · cos ξX, cos ξ
Z · cos ξX, sin ξX)

(5) (AC · sin ξZ / tan ξX, −AC · c
osξZ / tanξX, 0)

Considering a new world coordinate system with the position PC as the origin and X ′ in the north direction and Z ′ in the east direction, the coordinate system (X, Y, Z) is Z. Angle Θ = -arctan (LX / L
Only Y) is rotating. Note that LX is the distance in the longitude direction of the position PC and the position PO (positive in the east direction), and LY is the distance in the latitude direction (positive in the north direction). Position P expressed in this new world coordinate system (X ', Y', Z)
The coordinates of T'are as shown in Equation 6.

[0050]

## EQU6 ## PT '= (AC / tan ξX ・ (cos Θ ・ s
in ξZ-sin Θ · cos ξZ), -AC / tan ξ
X ・ (sin Θ ・ sin ξZ + cos Θ ・ cos ξ
Z), 0)

Of the coordinates shown in equation 6, AC / ta
nξX ・ (cosΘ ・ sinξZ-sinΘ ・ cosξ
Z) represents the distance from the position PC to the position PT ′ in the east-west direction (the east direction is positive), and is −AC / tan ξX · (sin
Θ · sin ξZ + cos Θ · cos ξZ) is the position PC
To the position PT 'in the east-west direction (north direction is positive). From these distance values and the latitude and longitude of the position PC,
Find the latitude and longitude of the point PT '.

Finally, by finding the intersection of the straight line connecting the camera position and PT 'and the ground surface H (P) from the latitude / longitude of the position PT', the latitude / longitude of the point PC and the camera altitude AC. , The latitude / longitude of the position PT and its altitude above sea level HT can be obtained. By controlling the camera using the latitude / longitude of this position PT and the sea level altitude HT,
It is possible to shoot with the position T specified on the image and the center of the image.

When only the shooting direction is designated,
Direction vector VT = (-sin ξZ · cos ξX, co
sξZ · cosξX, sinξX) is newly expressed in the newly set world coordinate system (X ′, Y ′, Z) as shown in Formula 7, and this (X ′, Y ′) direction is set to the photographing position point P.
Specify a new shooting direction from C.

[0054]

(7) (-(sin Θ · cos ξZ-cos Θ · si
nξZ) / tanξX, − (cosΘ · cosξZ + s
in Θ · sin ξZ) / tan ξX, -1)

Next, an arbitrary direction (line) on a plurality of images
Is specified, and a process of calculating the latitude / longitude value of a specific position when the position (intersection of the line) specified by those lines is taken as the center of the image will be described with reference to FIGS. 7 and 8. For example, it is assumed that the two images I1 and I2 shown in FIG. 7 are taken in a camera direction horizontal to the ground surface, and the user has designated the lines T1 and T2 on each screen.

As shown in FIG. 8, the parameter creating section 103 uses the position PC1 specified by the latitude / longitude of the flying body (camera) at the time of photographing the image I1 as the origin, and moves Y in the north direction.
Set the two-dimensional world coordinate system with the X axis on the axis and east direction. Next, the position specified by the latitude / longitude of the flying object (camera) at the time of capturing the image I2 is determined by the PC2, the images I1, I
PO is the position where the camera center direction at the time of shooting of 2 intersects, and each distance to the positions PC2 and PO with the position PC1 as the origin is obtained from the latitude and longitude of each position, and the coordinates of the positions PC2 and PO on the world coordinates Is expressed as shown in Equation 8.

[0057]

[Formula 8] PC2 = (XC2, YC2) PO = (XO, YO) (PC1 = (0,0) because PC1 is the origin)

As a result, the direction vectors V1 and V2 of the camera center in each of the images I1 and I2 are expressed as in Equation 9, respectively.

[0059]

[Formula 9] V1 = (XO, YO) V2 = (XO-XC2, YO-YC2)

Next, the line T1 designated on the image I1
The direction vector V1 ′ specified by is the direction vector V1 rotated clockwise by the angle ξ1. At this time, ξ1 is expressed as in Equation 10.

[0061]

[Equation 10] ξ1 = arctan (2 · Tx1 / Wx · t
an (θX1 / 2)) (θX1 is the angle of view in the x direction when the image I1 is captured, and Wx is
Indicates the number of pixels in the x direction of the image)

Therefore, the direction vector V1 'specified by the line T1 is expressed by the equation 11.

[0063]

[Expression 11] V1 ′ = (V1X ′, V1Y ′) = (XO ·
cos ξ1 + YO · sin ξ1, −XO · sin ξ1 +
YO ・ cos ξ1)

Similarly, assuming that the direction vector V2 ′ specified by the line T2 is obtained by rotating the direction vector V2 clockwise by an angle ξ2, the angle ξ2 and the direction vector V2 ′ are respectively expressed by the following equation 12. expressed.

[0065]

[Equation 12] ξ2 = arctan (2 · Tx2 / Wx · t
an (θX2 / 2)) (θX2 is the angle of view in the x direction when the image I2 is captured, and Wx is
V2 '= (V2X', V2Y ') = ((XO-XC2)
・ Cos ξ2 + (YO-YC2) ・ sin ξ2,-(X
O-XC2) ・ sin ξ2 + (YO-YC2) ・ cos
ξ2)

The specific position PT obtained in this second example is a straight line passing through the position PC1 (0,0) and parallel to the direction vector V1 ', and the position PC2 (XC2, YC2).
The position of PT = (PTX, PTY) is as shown in Expression 13 because it is an intersection of a straight line passing through and parallel to the direction vector V2 ′.

[0067]

[Equation 13] PTX = (V1x ′ · V2y ′ · XC2-V
1X '・ V2X' ・ YC2) / (V1X '・ V2y'-
V1y '・ V2x') PTY = (V1y '・ V2y' ・ XC2-V1Y '・ V
2X '・ YC2) / (V1X' ・ V2y'-V1y '・
V2x ')

Position PT obtained according to the formula shown in Expression 13
(Corresponding to the child distance in the longitude / latitude direction from PC1)
Then, the latitude / longitude of the position PT can be obtained from the latitude / longitude of the position PC1. By controlling the camera using the latitude / longitude of the position PT, it is possible to shoot with the position specified by the azimuth (line) specified on the plurality of screens as the center of the image.

Next, the photographing instruction creating process by the photographing instruction device 1 will be concretely described with reference to the flow charts of FIGS. For example, a photographer on the ground (user) selects “shooting instruction input” from the initial menu displayed on the photographing instruction device 1 in order to send a shooting instruction to the on-board photographing device 2. In response to this, the photographing instruction creating unit 1 of the photographing instruction device 1
02 displays a shooting instruction operation screen including a shooting pattern menu and map data, and accepts a selection input of a shooting pattern by the user (step S1). Here, for example, it is assumed that “spotlight photography” is selected.

The photographing instruction creating section 102 reads out the parameter table corresponding to the selected "spotlight photographing" (step S2). The parameter table read in step S2 has parameter items according to the shooting pattern. In this case, as shown in FIG. 11, for example,
It has a parameter item (such as “imaging radius”) corresponding to “spotlight imaging”.

The photographing instruction creation unit 102 sets initial values, recommended values and the like prepared in advance for predetermined items in the parameter table (step S3). In this case, for example, in FIG.
As shown in 2, initial values and the like are set in predetermined items such as “used camera”, “filter”, and “imaging target altitude”.

Next, the photographing instruction creating section 102 determines whether or not to use past photographing information (photographed image, photographing parameter, etc.) or the like (step S4). Here, when a request not to use the past data is input, the shooting instruction creation unit 102 receives designation of the position on the map displayed on the shooting instruction operation screen (step S5). For example, at this time, the shooting instruction creation unit 102 displays a graphic corresponding to the shooting pattern on the map displayed on the shooting instruction operation screen in association with the designated position, the setting value of the parameter table, and the like. In this case, a circle centered on the designated position is displayed.

Next, the photographing instruction creating unit 102 reads the latitude / longitude value of the designated position from the map / terrain data unit 107 and sets it in the parameter table of "spotlight photographing" for this photographing ( Step S6). Then, the photographing instruction creating unit 102 receives the designation of the photographing range via the photographing request receiving unit 101 and sets it in the parameter table (step S7). FIG. 13 shows an example of the parameter table in which the latitude / longitude values, the photographing range, etc. are set in steps S6 and S7 in this manner.

When the parameter setting is completed, the photographing instruction creating section 102 displays the setting contents of each item of the parameter table in addition to the graphic corresponding to the setting value and determines whether the setting contents match the photographing request. Confirm with the user (step S8). If there is a mismatch between the setting content and the shooting request and it is necessary to respecify the position, the parameters are corrected (step S9). In this parameter correction, if the shooting position is different from the request, the process returns to step S5 to respecify the position. In this parameter correction, a numerical value may be directly input and changed for the corresponding item, or a set value can be changed by operating (moving, enlarging, reducing, etc.) a graphic on the map. For example, as shown in FIG. 14, by changing the center position of the graphic (circle) on the map, the latitude / longitude value of the photographing position is changed, and by widening the circumference, the photographing radius is changed widely.

If the setting contents are confirmed in step S8, or if the parameters are properly corrected, the photographing instruction creating unit 102 calculates the parameters necessary for photographing such as the angle of view and the camera direction. In addition, control information necessary for controlling the flying body such as a flight route, a shooting position, and a recommended flight altitude is added, and a shooting instruction is generated (step S10). The shooting instruction generated in this manner is automatically or in response to an instruction from the user, the on-board shooting device 2
Sent to.

Further, in step S4, when a request to use the past photographing information or the like is input, the photographing instruction creating unit 102 uses the past data and therefore is stored in the data storage unit 108. A list of past photographing information is displayed via the photographing request receiving unit 101, and desired photographing information is selected (step S11).

When the photographing information is selected, the photographing instruction creating unit 102 then determines whether or not the photographed image included in the photographing information is used to specify the photographing position (step S12). Here, when a request to use the photographed image is input, the photographed image is displayed and designation of the photographing position is accepted (step S13). Then, the latitude / longitude value of the designated position is calculated according to the above-described method of calculating the photographing position and the like (step S14).

Next, the photographing instruction creating unit 102 sets the latitude / longitude values calculated in step S14 in the parameter table (step S15). In addition, in the designation of the shooting position, as described above, one point on the image may be designated,
You may specify by a direction (line). Further, as described above, the latitude value and longitude value of the designated position as well as the altitude value of the designated position can be obtained.

In step S12, when a request not to use the photographed image is input, the photographing instruction creating unit 102 refers to the photographing parameter in the past photographing information without using the photographed image, and arbitrarily selects it. Regarding the parameter item of, the specification from the user is accepted (step S16). Then, the value of the designated parameter is set in the parameter table for this photographing (step S
15).

After the parameter setting in step S15 is completed, it is determined whether or not the latitude / longitude values necessary for photographing are set (step S17). If the latitude / longitude values are not set, on the map Specify the position of (step S
5) If set, the shooting range is set (step S7), and after confirming that the setting contents of the parameter table match the shooting request (step S8),
A shooting instruction is generated (step S10).

If it is determined in step S17 that the latitude / longitude values have not been set, for example, one of map designation and image designation is selected, and depending on the selection, the map or image is selected. You may make it specify a position.

The photographing instruction generated using the past photographing information and the like is the same as in the case of designating the photographing position on the map described above, automatically or in response to the instruction from the user. Sent to.

In this way, a desired pattern is selected from the prepared photographing patterns and the photographing position, the photographing range and the like are inputted using the map or the image.
A shooting instruction can be given by an easy operation. Further, since past shooting information and the like can be used for setting shooting parameters, shooting instructions can be given accurately and efficiently.

The method of calculating the photographing position is the same as the first method described above.
The calculation method is not limited to the second example and may be calculated by another calculation method. The map / terrain data unit 107 may also store information such as a no-fly area, and the shooting instruction creation unit 10
2 may display information such as the flight prohibited area on the shooting instruction operation screen.

The photographing instruction system of the present invention can be realized by using an ordinary computer system instead of a dedicated system. For example, by installing the program from a medium (a floppy disk, a CD-ROM, etc.) storing a program for executing the above-mentioned operation in a computer, the photographing instruction device 1 or the like for executing the above-described processing is configured. You can When the OS implements the above-mentioned functions in a shared manner or in cooperation with the OS and an application, only the part other than the OS may be stored in the medium.

It is also possible to superimpose a program on a carrier wave and distribute it via a communication network. For example, the program may be posted on a bulletin board (BBS) of a communication network and distributed via the network. Then, the above process can be executed by starting this program and executing it under the control of the OS in the same manner as other application programs.

[0087]

As described above, according to the present invention,
It is only necessary to select a pattern that matches the request of the instructor from a plurality of shooting patterns, and the shooting position that is the base point of the shooting can be visually specified using a map.
It is possible to quickly issue a complicated shooting instruction by an easy operation.

[Brief description of drawings]

FIG. 1 is a system schematic diagram of a shooting instruction system according to an embodiment of the present invention.

FIG. 2 is a system configuration diagram of a shooting instruction system according to an embodiment of the present invention.

FIG. 3 is a diagram showing an example of a shooting instruction operation screen.

FIG. 4 is a diagram for explaining shooting parameters.

FIG. 5 is a diagram for explaining a process of calculating a latitude / longitude value at a position designated on an image.

FIG. 6 is a diagram for explaining a process of calculating a latitude / longitude value at a position designated on an image.

FIG. 7 is a diagram for explaining a process of calculating a latitude / longitude value of a position specified by a line specified on an image.

FIG. 8 is a diagram for explaining a process of calculating a latitude / longitude value of a position specified by a line specified on an image.

FIG. 9 is a flowchart illustrating a shooting instruction creation process.

FIG. 10 is a flowchart illustrating a shooting instruction creation process.

FIG. 11 is a diagram showing a parameter table read as corresponding to a selected shooting pattern in a shooting instruction creation process.

FIG. 12 is a diagram showing a parameter table in which initial values and the like are set in the shooting instruction creation process.

FIG. 13 is a diagram illustrating a parameter table in which a latitude / longitude value of a shooting position, a shooting range, and the like are set in the shooting instruction creation process.

FIG. 14 is a diagram for explaining parameter correction using a graphic displayed on a map.

[Explanation of symbols]

1 Shooting instruction device 2 On-board shooting device 3 helicopter (aircraft) 101 Shooting request reception unit 102 Shooting instruction creation unit 103 Parameter creation part 104 Shooting instruction transmitter 105 Shooting information receiver 106 Shooting pattern section 107 Map / Topographic data section 108 data storage unit 201 Shooting instruction receiving unit 202 Position / orientation detector 203 Shooting control unit 204 Route designator 205 camera section 206 Shooting information transmission unit

─────────────────────────────────────────────────── --- Continuation of the front page (72) Inventor Akitoku Kosako 3-3-3 Toyosu, Koto-ku, Tokyo NTT DATA Corp. (72) Inventor Hatsuo Kimura 3-chome, Toyosu, Koto-ku, Tokyo No. 3-3 Incorporated NTT DATA (72) Inventor Toshiji Katsumata 3-3-3 Toyosu, Koto-ku, Tokyo Incorporated NTT DATA (72) Inventor Satoshi Nishiyama (3) 3-3 Toyosu Toyosu, Koto-ku, Tokyo (72) Inventor Yukio Tanaka 3-3-3 Toyosu Toyosu, Koto-ku, Tokyo Within NTT DATA (72) Inventor Hiroyoshi Ueno, 3-3-3 Toyosu, Koto-ku, Tokyo Within NTT DATA Corporation (72) Inventor Yoshikazu Nanomoto Toyosu, Koto-ku, Tokyo Item 3-3 In NTT DATA Corporation (72) Inventor Akio Komiya 3-3-3 Toyosu, Koto-ku, Tokyo NTT Data Incorporated (72) Inventor Shigehiko Watanabe 2-3 2-3 Marunouchi, Chiyoda-ku, Tokyo Mitsubishi Electric Corporation (72) Inventor Tetsuji Naoi 2-3-2, Marunouchi, Chiyoda-ku, Tokyo Mitsubishi Electric Corporation (56) Reference JP-A-11-18001 (JP, A) JP-A 11-102495 (JP, A) JP-A 8-65551 (JP, A) JP-A 11-331831 (JP, A) JP-A 2001-25002 (JP, A) JP-A 2000-341672 (JP, A) JP-A-11-187363 (JP, A) JP-A-11-187304 (JP, A) JP-A-10-42282 (JP, A) JP-A-10-257474 (JP, A) A) JP-A-10-210457 (JP, A) JP-A-4-363989 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) H04N 5/232 H04N 7/18

Claims (3)

(57) [Claims] 1. An on-board photographing device mounted on an air vehicle, and a photographing instruction device for instructing the on-vehicle photographing device to photograph from the ground.
When, a shooting instruction system comprising a multi the imaging instruction device includes storage means for storing in association with the position information map data, the pattern to shoot around a specified point, designated
Identified by a pattern such as a pattern or rectangle that is photographed along a number of points
Pattern for shooting a specified area, specified shooting point
There are few patterns to shoot by circling around the center of the circle.
Pattern selecting means for receiving selection input of any one of a plurality of shooting patterns including one, and shooting position specifying means for displaying the map data and receiving a position specified on the map as a shooting position. , A unit for reading out position information corresponding to the specified shooting position from the storage unit, a shooting pattern, a shooting range, based on the selected shooting pattern and position information corresponding to the shooting position ,
A setting means for setting a shooting parameter for shooting including a shooting target altitude, and a shooting instruction transmission means for generating a shooting instruction including the shooting parameter and transmitting the shooting instruction to the on- board shooting device. The on- board image capturing device includes a position acquisition unit that acquires the current position of the flying object, a unit that receives the image capturing instruction from the image capturing instruction device , a flight route that satisfies the received image capturing instruction, and an image capturing position.
Calculation means for calculating the shooting plan for the camera and camera settings
And the position information acquired by the position acquisition means and the calculation
Based on the shooting plan calculated by means, the flight
Take a picture when it is detected that the body is close to the shooting position
Shooting control means, video information taken by the shooting control means, and incidental data
To generate shooting information from the camera and send it to the shooting instruction device.
Means for capturing image information from the on-board image capturing device.
An imaging instruction system , further comprising means for receiving information . Wherein for the airborne imaging device mounted on the aircraft
A shooting instruction method for instructing shooting from the ground , wherein the shooting instruction device takes a pattern centering on a specified point.
, A pattern to shoot along multiple specified points,
A pattern for shooting a predetermined area specified by a figure such as a shape,
A pattern that circles around the specified shooting point around the center of the circle and shoots.
Turn, or a plurality of shooting pattern including at least one of
Et accepts the selection input of any one of photographing patterns, view the map data receives the position specified on the map as a shooting position, obtains the positional information corresponding to the designated photographing positions, said selected Shooting pattern, shooting range, shooting target based on the shooting pattern and the position information.
A shooting parameter for shooting including altitude is set, a shooting instruction including the shooting parameter is generated and transmitted to the onboard shooting device, and the onboard shooting device acquires current position information of the flying object.
Receiving the shooting instruction from the shooting instruction device,
The flight route, the image shooting position, and the camera that meet the received shooting instructions.
Calculate the shooting plan for the camera settings and
Based on the current position information of the row body and the shooting plan calculated above,
When it is detected that the aircraft is near the shooting position,
A shadow is cast to capture the image information and incidental data
It is generated as shadow information and transmitted to the photographing instruction device, and the photographing instruction device receives the photographing information from the onboard photographing device.
A method for instructing shooting , which comprises receiving information. 3. A first computer mounted on an air vehicle
Made to function as an on-press imaging device, a second computer, a computer-readable recording medium recording a program for functioning as an imaging instruction device for instructing shooting from the ground to the airborne imaging device, wherein The first computer stores the map data in association with the position information, a storage unit, a pattern for capturing an image around a specified point, and a specified duplicate.
Identified by a pattern such as a pattern or rectangle that is photographed along a number of points
Pattern for shooting a specified area, specified shooting point
There are few patterns to shoot by circling around the center of the circle.
Pattern selection means for receiving selection input of any one of a plurality of shooting patterns including one, shooting position designating means for displaying the map data and receiving a position designated on a map as a shooting position, A unit for reading out position information corresponding to a designated shooting position from the storage unit, based on the selected shooting pattern and position information corresponding to the shooting position, a shooting pattern, a shooting range,
Including advanced imaging target, setting means for setting the imaging parameters for imaging, generating an imaging instruction including the imaging parameter, the second
Hand imaging instruction transmitting means for transmitting into the computer to function as, the second computer, the position acquiring means for acquiring the current position of the aircraft, that receives the imaging instruction from the first computer
Dan, flight route that satisfies the received shooting instruction, image shooting position
Calculator to calculate the shooting plan for camera and camera settings
Stage, the position information acquired by the position acquisition means and the calculation
Based on the shooting plan calculated by means, the flight
Take a picture when it is detected that the body is close to the shooting position
Shooting control means, video information taken by the shooting control means and incidental data
To generate shooting information from the camera and send it to the shooting instruction device.
Functioning as a means, the first computer is replaced by the second computer.
Further functions as a means for receiving the photographing information from
That, computer-readable recording a program for
Recording medium.