JP6213968B2 - Shooting unit - Google Patents

Description

  The present invention relates to a photographing unit that photographs an object from a position away from a photographer's hand.

  In recent years, drones called unmanned aerial vehicles with propellers (rotary wings) have been put into practical use, and it seems that a drone is equipped with a camera and a variety of aerial images are taken from flying drones. It is becoming. If this photographing technique is used, for example, it is possible to easily investigate and check a dangerous place where a person cannot enter.

  Conventional general drones flew by radio control, but skill is necessary for this radio control, and if a person unfamiliar with radio control tries to perform aerial photography using drone, drone crash There is a risk of accidents such as collisions.

  Recently, drones that automatically fly the specified flight route while estimating the position of the aircraft with GPS and compass magnets have been developed, and even with those who do not have a lot of experience in radio operation, it is easy Can be handled. However, even a drone equipped with an automatic flight function must be maneuvered wirelessly in places where GPS position information cannot be obtained (for example, indoors, tunnels, behind bridges, etc.). If you want to take a picture, you still need the hands of a person skilled in the drone radio control.

For example, Patent Document 1 discloses a technique for safely performing aerial photography using a rotary wing aircraft. Here, the rotary wing machine body 10, the first support rod 21, the camera mounting portion 25, and the second support rod 22 are connected in this order, and are arranged on the ground at the lower end of the second support rod 22. One end of a tether rope 31 extending from the reel 32 is tied.
According to this configuration, since the rotary wing machine main body 10 is tied to the ground by the tether rope 31, the moving range of the rotary wing machine main body 10 is limited to the length range of the tether rope 31. Therefore, the danger that the rotorcraft main body 10 flies in an unexpected direction due to the operator's mistake and causes a collision accident is avoided.

JP 2013-079034 JP 2003-274397

  When performing aerial photography using a drone equipped with a camera, the position and orientation of the camera must be controlled by controlling the position of the drone. Therefore, in order to control the position and orientation of the camera as desired, it is necessary to have a technique that allows the drone to be operated as desired. This situation is the same in the photographing method described in Patent Document 1.

  On the other hand, a camera is connected to the tip of a stick and a subject is photographed from a position away from the photographer's hand (so-called crane camera). According to this photographing technique, if the photographer moves the stick, the camera moves in conjunction with this, so that the position and orientation of the camera can be easily controlled.

  However, in this shooting method, if you want to shoot an object far away from the photographer's hand, the rod to which the camera is connected must be long and difficult to bend (that is, highly rigid), When this happens, the force required for the photographer to support the stick also increases, making photographing difficult.

  The problem to be solved by the present invention is to provide a technique that enables a photographer to perform desired photographing with a light burden.

The photographing unit according to the present invention, which has been made to solve the above problems,
A grip region is formed on one end side, the force applied from the one end side can be transmitted to the other end side, and has a flexibility that can be deformed in an arc shape according to the position of the one end side and the other end side. A bar member;
An imaging unit coupled to the other end of the bar member;
A lifting device comprising one or more propellers connected to the other end of the bar member;
Is provided.

According to this aspect, the photographer can, for example, grasp the grip region of the bar member, place the imaging unit connected thereto at a position away from his / her hand, and photograph the target from that position. it can.
Here, a lifting device is connected to the rod member, and the lifting force can reduce the weight between the rod member and the imaging unit on the photographer's hand. This greatly reduces the burden on the photographer.
In this aspect, the imaging unit is held by the photographer via the bar member that can transmit the force applied from one end side to the other end side. For example, when the imaging unit is held by a photographer via a string, even if the photographer moves one end of the string, the imaging unit does not move in conjunction with this (no controllability), but the imaging unit is a stick According to this aspect, which is held by the photographer via the member, if the photographer moves one end of the rod member, the force is transmitted to the other end side, and the imaging unit moves in conjunction with the rod member (the controllability is increased). is there). Therefore, the photographer can easily control the position, orientation, posture, and the like of the imaging unit.
Thus, according to this aspect, the photographer can perform photographing as desired with a light burden.

The photographing unit is preferably ,
The lifting device moves in a direction crossing the vertical direction in response to an instruction from the outside.

  According to this aspect, since the bar member has flexibility and the lift device can move in a direction intersecting the vertical direction, for example, the lift device connected to the bar member while grasping the grip region of the bar member is provided. By disposing at an arbitrary position, the bar member can be deformed into an arbitrary arc shape. Therefore, the freedom degree of the position which can arrange | position an imaging part increases. For example, if you want to take a picture of the back side of the bridge from the top of the bridge, the photographer will fly the lifting device to the back side of the bridge while holding the grip area of the bar member on the bridge so that the bar member bypasses the bridge. The imaging unit can be arranged on the back side of the bridge by being deformed into an arc shape (U-shape). In this way, the back side of the bridge can be photographed without difficulty.

The photographing unit is preferably,
A power supply that supplies at least one of the lifting device and the imaging unit as a supply target, is connected to the supply target via an electric wire, and supplies power to the supply target;
Further comprising
The power source is disposed at a position away from the bar member, and a part of the electric wire extending from the power source is connected to the supply target along the bar member.

  According to this aspect, the power source that supplies power to at least one of the lifting device and the imaging unit is disposed at a position away from the bar member. According to this configuration, the burden on the photographer having the bar member becomes smaller than when the power source is integrated with the supply target and mounted on the bar member.

The photographing unit is preferably,
An operation panel that is arranged at a position away from the lift device and receives an instruction regarding a flight mode of the lift device;
Is provided.

  According to this aspect, the photographer can input an instruction regarding the flight mode of the lift device from the operation panel. For example, by attaching the operation panel near the grip area of the bar member or by keeping it close to the photographer, the photographer can easily give instructions regarding the flight mode to the lifting device. Can do.

The photographing unit is preferably,
The lifting device is
An attitude sensor for detecting the attitude of the lifting device;
A control unit that controls a rotation mode of the one or more propellers based on a detection value of the attitude sensor so that at least one of a moving speed and a moving direction of the lifting device is within a predetermined allowable range; ,
Is provided.

  According to this aspect, the moving speed (or moving direction, or both) of the lifting device is limited based on the detection value of the attitude sensor. For example, when the lift device starts to shake vigorously due to strong wind, this is detected by the attitude sensor, and the speed of the lift device (or the movement direction or both) is quickly limited by the control unit. Becomes difficult to move. As a result, the shaking of the imaging unit is suppressed, and it is possible to continue shooting as intended without causing the photographer to feel a burden.

The photographing unit is preferably,
A force sensor for detecting a force applied between the bar member and the lifting device;
Further comprising
The lifting device is
A control unit for controlling a rotation mode of the one or more propellers based on a detection value from the force sensor;
Is provided.

  According to this aspect, the rotation aspect of the propeller is controlled based on the detection value from the force sensor that detects the force applied between the bar member and the lifting device. For example, when the photographer moves the bar member and applies a force that causes a positional shift between the bar member and the lift device, the force is detected by the force sensor. In such a case, for example, the control unit controls the rotation mode of each propeller to move the lifting device in a direction in which the force detected from the force sensor is reduced (that is, the rod member and the lifting device). Move the lifting device so that the displacement between is close to zero). As a result, when the photographer moves the bar member, the lift device moves so as to follow it. Accordingly, the photographer can easily move the rod member with a small force and easily place the imaging unit at the intended position.

  A lifting device is connected to the rod member, and the lifting force can reduce the weight between the rod member and the imaging unit on the photographer's hand. In addition, since the force applied from one end of the rod member is transmitted to the imaging unit, a photographer having a grip area on one end side of the rod member can easily determine the position, orientation, posture, etc. of the imaging unit. Can be controlled. As described above, according to the present invention, the photographer can perform photographing as desired with a light burden.

The figure which shows the structure of the imaging | photography unit, and its use condition. The figure which shows the structure of the imaging | photography unit which concerns on other embodiment, and its use condition. The figure which shows a part of imaging | photography unit which concerns on other embodiment. The figure which shows a part of imaging | photography unit which concerns on other embodiment. The figure which shows a part of imaging | photography unit which concerns on other embodiment. The figure which shows a part of imaging | photography unit which concerns on other embodiment. The figure which shows a part of imaging | photography unit which concerns on other embodiment.

  Hereinafter, the photographing unit according to the present invention will be described using examples.

<1. Configuration of Shooting Unit 100>
The configuration of the photographing unit 100 will be described with reference to FIG. FIG. 1 is a diagram illustrating a configuration of the photographing unit 100 and a usage state thereof.

  The photographing unit 100 includes a bar member 1, an imaging unit (camera) 2 connected to the bar member 1, and a lifting device 3 connected to the bar member 1. In addition, the photographing unit 100 includes a power source 4 that is disposed at a position away from the bar member 1.

<Bar member 1>
The rod member 1 is a rod-shaped member that can transmit a force applied from one end side to the other end side, and an area (grip area) 11 for a photographer to grip is formed on one end side thereof. Yes. For example, when the photographer 9 grasps the grip area 11 with his / her hand, the bar member 1 is supported by the photographer's 9 hand in the grip area 11. However, the grip area 11 does not necessarily have to be grasped by the photographer 9. For example, the grip region 11 may be supported by a universal rotary seat or a tripod stand installed on the ground or a wall surface. For example, the grip area 11 may be supported by a machine (so-called robot) having a manipulation function. That is, the grip area 11 is an area portion for receiving support from the outside (the photographer's 9 hand, ground, wall surface, robot, etc.).

The imaging unit 2 and the lifting device 3 are connected to the other end side of the bar member 1 (the end side opposite to the end side where the grip region 11 is formed). However, the imaging unit 2 and the lifting device 3 may be connected to the same position in the bar member 1 or may be connected to different positions. Further, the imaging unit 2 may be coupled to the lifting device 3 coupled to the rod member 1 (that is, the imaging unit 2 may be coupled to the rod member 1 via the lifting device 3). Further, the lifting device 3 may be coupled to the imaging unit 2 coupled to the rod member 1 (that is, the lifting device 3 may be coupled to the rod member 1 via the imaging unit 2).
In the example of FIG. 1, the imaging unit 2 is coupled to the other end of the bar member 1, and the lifting device 3 is coupled to a position closer to the grip region 11 than the imaging unit 2. Such a layout can be used when photographing an object that is above, obliquely above, or to the side of the photographer 9 (for example, photographing the ceiling wall or side wall in a tunnel, or Suitable for shooting).

The length of the bar member 1 can be arbitrarily defined. Moreover, the rod member 1 may be provided with the structure which can be expanded-contracted to an axial direction. Moreover, the rod member 1 does not necessarily need to be linear, and may be bent in the middle, or at least a part may be arcuate. The rod member 1 can be formed of various materials (specifically, for example, metal, fiber reinforced plastics (FRP), bamboo, etc.).
If the rod member 1 is formed of, for example, metal, the rod member 1 having relatively small flexibility can be obtained as illustrated in FIG. However, as will be described later, the bar member may have a relatively large flexibility (see the bar member 1a in FIG. 2). The rod member 1 having a relatively small flexibility and the rod member 1a having a relatively large flexibility each have an advantage, and it is preferable that the rod member 1a be used properly according to photographing conditions and the like. For example, when it is desired to take a picture of a side wall of a building in a windy place, if the rod member 1 has a relatively small flexibility, a situation in which the imaging unit 2 swings due to the influence of the wind is unlikely to occur. Therefore, when it is desired to perform such shooting, it is preferable to use the shooting unit 100 including the rod member 1 having relatively small flexibility.

<Imaging unit 2>
The imaging unit 2 is connected to the rod member 1 via a gimbal 21 or the like.
For example, an electric wire 41 extending from a power source 4 placed under the photographer 9 (that is, an electric wire 41 extending from the power source 4 and along which the rod member 1 is disposed) is connected to the imaging unit 2. Power is supplied from 4 through the electric wire 41. But the structure which supplies electric power to the imaging part 2 from the external power supply 4 is not essential, and the imaging part 2 may be supplied with electric power from a built-in battery.
Various instructions (imaging instruction, zoom instruction, etc.) to the imaging unit 2 can be given from a remote controller (not shown).

<Lift device 3>
The lifting device 3 is connected to the rod member 1 via, for example, a universal joint.
The lifting device 3 includes one or more (two in the illustrated example) propellers 31. Each propeller 31 is connected to a motor 32 that rotates the propeller 31. An electric wire 41 extending from the power source 4 and extending along the rod member 1 is also connected to the motor 32. The shaft portion of the motor 32 rotates by receiving electric power supplied from the power supply 4 via the electric wire 41, and this rotational force is transmitted to the propeller 31, so that the propeller 31 rotates. However, the configuration in which electric power is supplied to the motor 32 from the external power source 4 is not essential, and the motor 32 may be supplied with electric power from a battery provided in the lifting device 3 (for example, the battery 34 is mounted in FIG. 7). A lifting device 3f is illustrated.)

The lifting device 3 includes a control unit 33 that independently controls the rotation mode (rotation direction and rotation speed) of each propeller 31. The control unit 33 controls the flight mode (flight direction, flight speed, flight altitude, etc.) of the lift device 3 by controlling the rotation mode of each propeller.
For example, the control unit 33 moves the lifting device 3 up and down by controlling the rotation mode of each propeller 31. Specifically, the lifting device 3 is lifted straight by rotating each propeller 31 in the same direction at the same rotational speed. Further, the lifting device 3 is lowered straight by uniformly reducing the rotation speed of each propeller 31.
In addition, for example, the control unit 33 controls the rotation mode of each propeller 31 to move the lifting device 3 in a direction intersecting the vertical direction (for example, a direction along a horizontal plane). Specifically, for example, the lifting device 3 is advanced by making the rotational speed of the propeller 31 on the rear side larger than the rotational speed of the propeller 31 on the front side.

The control unit 33 is connected to the operation panel 30 that receives various instructions via the electric wire 301 (or wirelessly). The photographer 9 can give various instructions regarding the flight mode of the lifting device 3 to the control unit 33 through the operation panel 30, and the control unit 33 follows the instructions given through the operation panel 30. The flight mode of the lift device 3 is controlled.
The operation panel 30 is disposed at a position away from the lifting device 3. For example, as illustrated in FIG. 1, a wristband may be attached to the operation panel 30 so that the operator 9 can wear the operation panel 30 on the wrist. Alternatively, the operation panel 30 may be configured to be fixed near the grip region 11 of the bar member 1.

  Here, a method in which the control unit 33 controls the flight mode of the lifting device 3 will be described. In the following, three types of control methods are exemplified, but the control unit 33 controls the flight mode of the lift device 3 by at least one of these control methods. For example, the photographer 9 may be able to switch the control method from a selection button or the like arranged on the operation panel 30.

  In the first control method, the control unit 33 rotates the propeller 31 at the rotation speed designated by the operator 9 via the operation panel 30. The lift of the lift device 3 increases as the rotation speed of the propeller 31 increases. Therefore, the photographer 9 inputs, for example, the number of rotations such that the weight of the photographing unit 100 is offset by the lift of the lifting device 3 from the operation panel 30, thereby setting the weight of the imaging unit 100 on his / her hand. It can be almost zero.

  In the second control method, the control unit 33 rotates the propeller 31 so that the lift device 3 is maintained at a constant altitude. Specifically, the control unit 33 is electrically connected to an altimeter (not shown) mounted on the lift device 3, and a detection signal from the altimeter is transmitted through a predetermined altitude (for example, via the operation panel 30). If the altitude is lower than the altitude specified in advance by the operator 9, the rotational speed of the propeller 31 is increased, and if higher than the predetermined altitude, the rotational speed of the propeller 31 is decreased. The altitude of the lifting device 3 is maintained at the predetermined altitude.

  In the third control method, the control unit 33 keeps the lift device 3 at a constant front and rear position while maintaining the altitude of the lift device 3 at a predetermined altitude by the same method as the second control method, for example. Then, the propeller 31 is rotated. That is, in the third control method, the control unit 33 rotates the propeller 31 so that the lifting device 3 is maintained at a constant altitude and a constant front-rear position. A specific control mode for keeping the front-rear position of the lifting device 3 constant is, for example, as follows. That is, the control unit 33 is electrically connected to a position sensor (not shown) mounted on the lifting device 3, and a detection signal from the position sensor is transmitted via a predetermined position (for example, via the operation panel 30). In the case of the rear side from the position designated in advance by the operator 9, the rotational speed of the propeller 31 on the rear side is relatively increased, and the lifting device 3 is advanced. Further, in the case of the front side of the determined position, the lift device 3 is moved backward by relatively increasing the rotational speed of the propeller 31 on the front side.

<2. Usage>
The usage mode of the photographing unit 100 will be described with reference to FIG.

The photographer 9 grasps the grip region 11 of the bar member 1 and arranges the imaging unit 2 connected thereto toward the target to be photographed. Since the bar member 1 can transmit the force applied from one end side to the other end side, if the photographer 9 moves the grip region 11, the force is transmitted to the image pickup unit 2 side, and the image pickup unit 2 moves to the bar member. It moves in conjunction with 1 (there is controllability). Therefore, the photographer 9 can arrange the imaging unit 2 in a desired position, orientation, and posture by a hand operation. When the imaging unit 2 is arranged at a desired position, the photographer 9 may perform imaging by giving an imaging instruction or the like to the imaging unit 2 with a remote controller.
On the other hand, the photographer 9 gives an instruction to the lift device 3 from the operation panel 30 at hand (for example, the operation panel 30 attached to the wristband wound around the wrist), and causes the lift device 3 to fly. With the lift of 3, the weight of the rod member 1 and the imaging unit 2 applied to the hand of the photographer 9 can be reduced. Thus, the photographer 9 can easily shoot with a light burden.

  Further, since the lifting device 3 is connected to the bar member 1, the movement range of the lifting device 3 is limited to the range that the bar member 1 can reach. Therefore, it is possible to avoid the danger that the lifting device 3 flies in an unexpected direction and causes a collision accident during photographing. Further, even when the propeller 31 is stopped due to a failure of the lifting device 3 or the like during photographing, if the photographer 9 supports the rod member 1, the lifting device 3 can be prevented from falling.

  Further, since the power source 4 that supplies power to the lifting device 3 and the imaging unit 2 is disposed at a position (specifically, for example, on the ground) away from the bar member 1, the power source is integrated with the supply target. Therefore, the burden on the photographer 9 holding the bar member 1 is smaller than that when mounted on the bar member 1. Moreover, since the large-sized power supply 4 can be adopted without worrying about weight, it is possible to easily ensure sufficient power supply to the lifting device 3 and the imaging unit 2.

  Further, the photographer 9 can input an instruction regarding the flight mode of the lift device 3 from the operation panel 30 located at a position away from the lift device 3 (for example, attached to a wristband wound around the wrist). it can. Therefore, the photographer 9 can easily give an instruction regarding the flight mode to the lift device 3 during photographing.

<3. Other embodiments>
A photographing unit according to another embodiment will be described. In the following, the same elements as those included in the photographing unit 100 according to the above embodiment are denoted by the same reference numerals and description thereof is omitted.

<3-1. Flexible Bar Member 1a>
An imaging unit 100a including a relatively large flexible rod member 1a will be described with reference to FIG. FIG. 2 shows a configuration of the photographing unit 100a and a usage state thereof.

  The bar member 1a included in the photographing unit 100a is formed of, for example, fiber reinforced plastic, bamboo, or the like, and has flexibility that can be deformed in an arc shape according to the positions of one end side and the other end side. Therefore, the photographer 9 places the lift device 3 connected to the bar member 1a while holding the grip region 11 of the bar member 1a at an arbitrary position, so that the bar member 1a (specifically, in the bar member 1a). The region portion between the grip region 11 and the lifting device 3) can be deformed into an arbitrary arc shape.

  If this imaging unit 100a is used, the imaging part 2 can be arrange | positioned in the position which could not be arrange | positioned with the imaging unit 100 which concerns on said embodiment. In other words, the photographing unit 100a has a higher degree of freedom in the position where the imaging unit 2 can be arranged compared to the photographing unit 100 according to the above-described embodiment. For example, when it is desired to photograph the back side of the bridge 90 from above the bridge 90, the photographer 9 moves the lifting device 3 to the back side of the bridge 90 while holding the grip region 11 of the bar member 1a on the bridge 90. The imaging unit 2 can be arranged on the back side of the bridge 90 by deforming 1a into an arc shape (U-shape) so as to bypass the bridge 90. In this way, the back side of the bridge 90 can be photographed without difficulty.

  Thus, in this embodiment, the lift device 3 has not only a function as a lift source for reducing the weight applied to the hand of the photographer 9, but also a function for attaching a weight for deforming the bar member 1a. Is also responsible.

<3-2. Layout of imaging unit 2 and lifting device 3>
A mode in which the imaging unit 2 and the lifting device 3 are laid out with respect to the bar member 1 is not limited to that illustrated in FIGS. 1 and 2. 3 to 7 illustrate other layouts, respectively.

  For example, like the photographing unit 100b illustrated in FIG. 3, the lifting device 3b is connected to the end of the rod member 1 (the end opposite to the grip region 11), and the lifting device 3b and the grip region 11 are connected. The layout may be such that the imaging unit 2 is connected between the two.

  Further, for example, like the photographing unit 100c illustrated in FIG. 4, the photographing unit 100d illustrated in FIG. 5, or the photographing unit 100e illustrated in FIG. A layout in which the lifting devices 3c, 3d, 3e and the imaging unit 2 are connected to the opposite end) may be used.

  In a layout or the like for connecting the lifting device 3 and the imaging unit 2 to the end of the bar member 1, as shown in FIGS. 4 and 5, the imaging unit 2 may be connected to the lower side of the lifting devices 3c and 3d. Alternatively, as illustrated in FIG. 6, the imaging unit 2 may be disposed on the upper side of the lifting device 3e. The layout (FIGS. 4 and 5) in which the image pickup unit 2 is arranged below the lifting devices 3c and 3d is suitable for shooting an object at the same horizontal height as the image pickup unit 2 or at a lower position. On the other hand, the layout (FIG. 6) in which the imaging unit 2 is arranged on the upper side of the lifting device 3e is suitable for shooting an object at the same horizontal height as the imaging unit 2 or higher.

  Further, for example, a layout in which the lifting device 3f is connected to the end of the rod member 1 and the imaging unit 2 is connected to, for example, the upper side of the lifting device 3f, as in the photographing unit 100f illustrated in FIG. . That is, the layout which connects the imaging part 2 to the rod member 1 via the lifting apparatus 3f may be sufficient. In this case, for the connection between the bar member 1 and the lifting device 3f, it is also preferable to use a connector (for example, a universal joint) 5 that allows free bending while transmitting rotation and force. The layout illustrated in FIG. 7 is also suitable for photographing an object at the same horizontal height as the imaging unit 2 or at a position higher than the imaging unit 2 because the imaging unit 2 is arranged above the lifting device 3f.

<3-3. Number and layout of propeller 31>
The number of propellers 31 included in the lifting device 3 is not limited to the number illustrated in FIGS. 1 and 2 (two). For example, the number of propellers 31 may be one as in the lift devices 3b, 3c, and 3e illustrated in FIGS. 3, 4, and 6, or as the lift device 3f illustrated in FIG. In addition, the number of propellers 31 may be four. Lifting devices 3b, 3c, and 3e (FIGS. 3, 4, and 6) each having one propeller 31 have a simple configuration, and thus have an advantage of low manufacturing costs. On the other hand, in the lift devices 3, 3a, 3d, and 3f (FIGS. 1, 2, 5, and 7) having a plurality of propellers 31, even if one propeller 31 breaks down, the remaining propeller 31 is used as the lift device Since 3,3a, 3d, 3f can continue to fly, there is an advantage that the risk of dropping the lifting devices 3,3a, 3d, 3f is reduced.

  In the case of the lifting devices 3, 3a, 3d, 3f provided with a plurality of propellers 31, the plurality of propellers 31 may be arranged in the same horizontal plane (FIGS. 1, 2, and 7) or in the vertical direction. (Ie, up and down) may be arranged (FIG. 5).

  In the lift devices 3b, 3c, 3e including one propeller 31 and the lift device 3d including a plurality of propellers 31 arranged in the vertical direction, the control unit of each lift device 3b, 3c, 3d, 3e is: The flight mode of each lift device 3b, 3c, 3d, 3e is controlled by at least one of the first control method and the second control method described above. In particular, in the lift device 3d including a plurality of propellers 31 arranged in the vertical direction, even if one propeller 31 breaks down, the lift force (3) of the lift device 3d is adjusted by adjusting the rotation speed of the remaining propeller 31. In the case of the first control method) and the altitude (in the case of the second control method) can be kept constant, stable flight of the lift device 3d is ensured.

  In the lifting devices 3, 3a, 3d (FIGS. 1, 2, and 5) including two propellers 31, it is also preferable to rotate one propeller 31 and the other propeller 31 in opposite directions. That is, in this configuration, the repulsive force (the repulsive force in the second direction opposite to the first direction) generated by one propeller 31 (forward propeller) rotating in the first direction is the other propeller. Since 31 (reverse propeller) is offset by rotating in the second direction, the controllability of the lift devices 3, 3a, 3d (and hence the controllability of the position of the imaging unit 2) is enhanced.

  In the lift device 3f (FIG. 7) including the four propellers 31, it is preferable that the four propellers 31 are respectively arranged at positions corresponding to the vertices of a virtual quadrangle. According to this configuration, when one of the propellers 31 is stopped due to a failure or the like, stable flight of the lift device 3f can be continued by stopping the propeller 31 at a position diagonal to the stopped propeller 31.

<3-4. Control unit 33f with attitude sensor>
The imaging unit may further include a posture sensor-equipped control unit 33f that controls the flight mode according to the posture of the lift device (or instead of the control unit 33). FIG. 7 shows a part of the photographing unit 100f including the attitude sensor-equipped control unit 33f.

  The attitude sensor-equipped control unit 33f is electrically connected to a sensor (posture sensor) that detects the flight state of the lift device 3f (for example, the posture of the lift device 3f), and controls the flight mode of the lift device 3f. And a control unit that performs an integrated unit. However, the sensor portion and the control portion need not necessarily be unitized.

  The posture sensor-equipped control unit 33f includes at least one of an acceleration sensor, a gyro sensor, a direction sensor, and an atmospheric pressure sensor as the posture sensor. Based on the detected value of the sensor, the attitude sensor-equipped control unit 33f changes the rotation mode of each propeller 31 so that at least one of the moving speed and the moving direction of the lifting device 3f is within a predetermined allowable range. Control. That is, the movement of the lifting device 3f is limited.

  During shooting, for example, when the lifting device 3f starts to shake vigorously due to strong winds, the posture (specifically, acceleration, posture, orientation, height, etc.) of the lifting device 3f varies greatly. For example, when it is detected that the fluctuation range of the posture of the lifting device 3f exceeds a predetermined allowable range, the posture sensor control unit 33f limits the movement of the lifting device 3f. That is, when the lifting device 3f is struck by a strong wind and begins to shake vigorously, the posture sensor control unit 33f quickly limits the moving speed (or moving direction or both) of the lifting device 3f, and as a result, the lifting device 3f. 3f becomes difficult to move. As a result, the shaking of the imaging unit 2 is suppressed, and the photographer 9 can continue photographing as desired without feeling a burden.

<3-5. Force sensor 6>
The imaging unit may further include a force sensor 6 that detects a force applied between the bar member and the lifting device. FIG. 7 shows a part of the photographing unit 100f including the force sensor 6.

  In the photographing unit 100 f, the lifting device 3 f is connected to the end of the rod member 1 (the end opposite to the grip region 11) via the universal joint 5. Here, a force sensor 6 that detects a force (specifically, a direction and a magnitude of the force) applied between the rod member 1 and the lift device 3f is provided between the rod member 1 and the lift device 3f. Is provided. Specifically, the force sensor 6 includes a shaft portion 61 and a sensor portion 62 that detects a force applied thereto. The sensor unit 62 includes, for example, a strain gauge, a pressure sensor, and the like. Here, the shaft portion 61 is provided so as to connect the universal joint 5 and the lifting device 3 f, and the sensor portion 62 detects the force applied to the shaft portion 61.

  For example, when the photographer 9 moves the rod member 1 to move the tip of the rod member 1 to a position deviating from the current position of the lifting device 3f, or the lifting device 3f is swept by wind or the like. When an attempt is made to move to a position deviating from the current position of the tip of the member 1, a force that causes a displacement between the bar member 1 and the lifting device 3 f is applied. In such a case, the force (specifically, the magnitude and direction of the force) is detected by the force sensor 6.

  The force sensor 6 is electrically connected to the control unit of the lift device 3f (that is, the control unit with posture sensor 33f described above), and the control unit with posture sensor 33f uses the detection value of the force sensor 6 as a detection value. Based on this, the rotation mode of each propeller 31 is controlled. Specifically, for example, the attitude sensor-equipped control unit 33f controls the rotation mode of each propeller 31 to move the lift device 3f in a direction in which the force detected by the force sensor 6 is reduced (that is, The lift device 3f is moved so that the positional deviation between the bar member 1 and the lift device 3f approaches zero.)

Thereby, for example, when the photographer 9 moves the bar member 1, the lifting device 3f moves so as to follow it. Therefore, the photographer 9 can easily move the bar member 1 with a small force and easily place the imaging unit 2 at the intended position.
Further, for example, when a wind blowing up the lifting device 3f blows, the lifting device 3f floats independently so as not to leave the bar member 1 against the wind. Therefore, the photographer 9 can place the bar member 1 at a desired position with a small force without feeling the influence of the wind greatly.

DESCRIPTION OF SYMBOLS 1,1a Bar member 2 Imaging part 3, 3b, 3c, 3d, 3e, 3f Lifting device 4 Power supply 5 Universal joint 6 Force sensor 9 Photographer 21 Gimbal 30 Operation panel 31 Propeller 32 Motor 33 Control part 33f Control part with attitude sensor 34 Battery 41 Electric wire 61 Shaft part 62 Sensor part 100,100a, 100b, 100c, 100d, 100e, 100f Imaging unit

Claims (6)

A grip region is formed on one end side, the force applied from the one end side can be transmitted to the other end side, and has a flexibility that can be deformed in an arc shape according to the position of the one end side and the other end side. A bar member;
An imaging unit coupled to the other end of the bar member;
A lifting device comprising one or more propellers connected to the other end of the bar member;
A photographing unit comprising: The photographing unit according to claim 1 ,
The lifting device can move in a direction intersecting the vertical direction according to an instruction from the outside.
Shooting unit. The photographing unit according to claim 1 or 2,
A power supply that supplies at least one of the lifting device and the imaging unit as a supply target, is connected to the supply target via an electric wire, and supplies power to the supply target;
Further comprising
The power source is disposed at a position away from the bar member, and a part of the electric wire extending from the power source is connected to the supply target along the bar member.
Shooting unit. The photographing unit according to any one of claims 1 to 3,
An operation panel that is arranged at a position away from the lift device and receives an instruction regarding a flight mode of the lift device;
A photographing unit comprising: The photographing unit according to any one of claims 1 to 4,
The lifting device is
An attitude sensor for detecting the attitude of the lifting device;
A control unit that controls a rotation mode of the one or more propellers based on a detection value of the attitude sensor so that at least one of a moving speed and a moving direction of the lifting device is within a predetermined allowable range; ,
A photographing unit comprising: The photographing unit according to any one of claims 1 to 5,
A force sensor for detecting a force applied between the bar member and the lifting device;
Further comprising
The lifting device is
A control unit for controlling a rotation mode of the one or more propellers based on a detection value from the force sensor;
A photographing unit comprising:

Images