CN107054677A - Unmanned vehicle and its control method - Google Patents
Unmanned vehicle and its control method Download PDFInfo
- Publication number
- CN107054677A CN107054677A CN201611053991.5A CN201611053991A CN107054677A CN 107054677 A CN107054677 A CN 107054677A CN 201611053991 A CN201611053991 A CN 201611053991A CN 107054677 A CN107054677 A CN 107054677A
- Authority
- CN
- China
- Prior art keywords
- filming apparatus
- unmanned vehicle
- plane
- authentication processing
- case
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
Abstract
A kind of unmanned vehicle and its control method are provided, taking photo by plane for filming apparatus can be limited in the case where filming apparatus is not the regular device for meeting predetermined required condition of taking photo by plane.Unmanned vehicle (101) possesses：Filming apparatus installation portion (102), it is used to install filming apparatus (201)；Filming apparatus communication unit (307), it is used to be communicated with filming apparatus (201)；And authentication processing portion (308), it carries out the certification to filming apparatus (201) using filming apparatus communication unit (307), whether judge filming apparatus (201) is the regular device for meeting predetermined required condition of taking photo by plane, authentication processing portion (308) is in the case where being judged as that filming apparatus (201) is not regular device, predetermined function implementation limitation to unmanned vehicle (101), make it that filming apparatus (201) can not be taken photo by plane.
Description
Technical field
This disclosure relates to possess the unmanned vehicle taken photo by plane and its control method of the installation portion of filming apparatus, especially relate to
And the technology taken photo by plane for controlling to carry out by the filming apparatus for being installed on installation portion by unmanned vehicle.
Background technology
As the technology of the conventional control taken photo by plane realized according to remote operation, disclose and shot during declining
Camera unit (with reference to patent document 1).The posture that camera unit in patent document 1 possesses in decline and throwing is steady
Determine portion and the camera module as shoot part, camera unit by with outside control unit each other certification and can realize
Remote control from control unit.
Prior art literature
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2007-104254 publications
The content of the invention
Problems to be solved by the invention
Although certification of the above-mentioned prior art to camera unit and control unit is disclosed, to camera module
The certification of (filming apparatus) and camera unit does not have any record, for the bat of the installation portion by being installed on unmanned vehicle
Take the photograph the taking photo by plane, it is necessary to which further improve of device progress.
The disclosure is to solve the invention of the conventional problem, it is therefore intended that it can be full in filming apparatus to provide one kind
The unmanned vehicle taken photo by plane and its control of filming apparatus are limited in the case of the regular device of the predetermined required condition of taking photo by plane of foot
Method processed.
Technical teaching for solving the problem was
In order to solve the conventional problem, the unmanned vehicle of a scheme of the disclosure is carried out according to from manipulation
The remote-operated flight of device or autonomous flight, possess：Installation portion, it is used to install filming apparatus；Communication unit, it is used for and institute
Filming apparatus is stated to be communicated；And authentication processing portion, it carries out the certification to the filming apparatus using the communication unit,
Whether be the regular device that meets predetermined take photo by plane required condition, the authentication processing portion is judging if judging the filming apparatus
In the case of not being regular device for the filming apparatus, the predetermined function implementation to the unmanned vehicle is limited
To prevent the filming apparatus from being taken photo by plane.
The effect of invention
According to the disclosure, in the case where filming apparatus is not to meet the regular device of predetermined required condition of taking photo by plane,
The predetermined function implementation of unmanned vehicle can be limited, limitation passes through taking photo by plane that non-normal filming apparatus is carried out.
Brief description of the drawings
Fig. 1 is the outside drawing of one of the unmanned vehicle for showing embodiment of the present disclosure 1.
Fig. 2 is the outside drawing of one for showing the filming apparatus installation portion shown in Fig. 1.
Fig. 3 is the block diagram of one of the composition for showing the unmanned vehicle shown in Fig. 1.
Fig. 4 is the block diagram of one of the composition for showing the executor shown in Fig. 3.
Fig. 5 is the structure for showing the filming apparatus in the case of the filming apparatus that the filming apparatus shown in Fig. 3 is regular
Into the block diagram of one.
Fig. 6 is the flow chart of one of the flow for the authentication processing for showing the unmanned vehicle shown in Fig. 3.
Fig. 7 is the flow chart of one of the flow for the connection confirmation process for showing the unmanned vehicle shown in Fig. 3.
Fig. 8 is the outside drawing of one of the unmanned vehicle for showing embodiment of the present disclosure 2.
Fig. 9 is the block diagram of one of the composition for showing the unmanned vehicle shown in Fig. 8.
Figure 10 is the block diagram of one of the composition for showing the executor shown in Fig. 9.
Figure 11 is the structure for showing the filming apparatus in the case of the filming apparatus that the filming apparatus shown in Fig. 9 is regular
Into the block diagram of one.
Figure 12 is the flow chart of one of the flow for the connection confirmation process for showing the unmanned vehicle shown in Fig. 9.
Description of reference numerals
101、101a：Unmanned vehicle
102、102a：Filming apparatus installation portion
103：Body
104：Supporting part
105：Propeller
201、201a：Filming apparatus
202：Servo motor
203：Fixed frame
204~207：Arm
301、301a：Executor
302：Executor communication unit
303：Propeller control unit
304：Acceleration transducer
305：Motor control part
306：Individual number record portion
307：Filming apparatus communication unit
308、308a：Authentication processing portion
310：Autonomous navigation control unit
401：Flight indicates input unit
402：Shooting direction input unit
403：Authentication requesting input unit
404：Unmanned vehicle communication unit
405：Autonomous navigation switching indicates input unit
501：Unmanned vehicle communication unit
502：Authentication requesting portion
503：Individual numbering obtaining section
504：Shoot part
505：Individual numbering embedded division
506：Record portion
507：Image analysis section
508：Image processing part
Embodiment
(being used as the basic opinion of the disclosure)
In recent years, the low price along with unmanned vehicle and popularization, it becomes able to than ever more easily using taking
The filming apparatus of unmanned vehicle is loaded in be taken photo by plane.On the other hand, because being filled by the shooting for being equipped on unmanned vehicle
Put taking photo by plane for progress waits the place for shooting difficulty in the past also can easily to be shot in the land used of private residence, so just
In the necessity of the secret protection of the image captured by discussion etc..
Especially when filmed image is open on network, it is desirable to make the position for making it possible to encroach on privacy fuzzy etc.
Consideration, carrying out the formulation of policy.Herein, it is possible to encroach on privacy position refer to the face of people, the car plate of automobile,
And house etc..
In addition, densely waiting the place taken photo by plane, assembled in many people such as sacrifice, field rallies of flight prohibited area in house
Take photo by plane etc. and also to turn into problem with dangerous taking photo by plane.It is such take photo by plane behavior and by aerial images on network it is open
Behavior there is a situation where it is illegal.
As described above, the camera unit in patent document 1 possesses stable posture unit and the work in decline and throwing
For the camera module of shooting unit, camera unit by with outside control unit each other certification and can realize come automatic control
The remote control of unit processed.In the technology of patent document 1, although be related to the certification of camera and control unit, but in peace
Remained in the case of having filled the illegal used camera module of taking photo by plane in order to do not observe above-mentioned secret protection etc.
It is enough to be shot from overhead.
Be used as the method for above-mentioned secret protection, it is contemplated that make the filming apparatus taken photo by plane by image recognition processing come
It is determined with the position that may encroach on privacy and makes its fuzzy function automatically.In the method, can be to face, the automobile of people
Fuzzy processing is implemented in the specific image such as car plate and house region, can realize secret protection.
In addition, being used as the means of control and the illegal behavior of taking photo by plane of constraint, it is contemplated that the individual volume of embedded unmanned vehicle
Number etc. be able to ensure that taken image traceability information method.In the method, by aerial images in net
In the case of being disclosed on network, investigatory apparatus can determine the supplier of unmanned vehicle and/or the individual volume of unmanned vehicle
Number so photographer, the warning to photographer can be carried out and/or put on record.
Therefore, for ensuring work(using the traceability without privacy protection function as described above and/or image
The behavior of taking photo by plane of the filming apparatus of energy needs to implement control.Therefore, in the disclosure, only by the bat with function as described above
Device is taken the photograph as regular device, in the case where unmanned vehicle could not authenticate the normality of filming apparatus, is flown by nobody
Row device carrys out control to predetermined function implementation limitation and constrains bad behavior of taking photo by plane.
Unmanned vehicle involved by one scheme of the disclosure, is carried out according to the remote-operated flight from executor
Or autonomous flight, possess：Installation portion, it is used to install filming apparatus；Communication unit, it is used to be led to the filming apparatus
Letter；And authentication processing portion, it is carried out the certification to the filming apparatus using the communication unit, judges the filming apparatus
Whether it is the regular device for meeting predetermined required condition of taking photo by plane, the authentication processing portion is being judged as the filming apparatus not
In the case of being regular device, the predetermined function implementation to the unmanned vehicle is limited, to cause the shooting
Device can not be taken photo by plane.
According to this composition, authentication processing portion communicates via communication unit with filming apparatus, and judgement is installed on unmanned vehicle
The filming apparatus of installation portion whether be regular device.In authentification failure, i.e. it is not regular device to be judged as filming apparatus
In the case of, the predetermined function implementation to unmanned vehicle is limited, and becomes unable to normally be taken photo by plane.As a result, exist
In the case that filming apparatus is not the regular device for meeting predetermined required condition of taking photo by plane, to the predetermined work(of unmanned vehicle
Energy implementation limitation, can be limited by taking photo by plane that non-normal filming apparatus is carried out.
Can also be that the installation portion includes changing the filming apparatus according to the remote operation from the executor
Shooting direction changing unit, the authentication processing portion in the case where being judged as that the filming apparatus is not regular device,
The change of the shooting direction of the filming apparatus carried out by the changing unit is limited, to prevent the filming apparatus from entering
Row is taken photo by plane.
According to this composition, in the case where attempting to be taken photo by plane using non-normal filming apparatus, it is impossible to by long-range
Operate to change shooting direction, it is impossible to photograph the desired image of photographer.
Can also be that the authentication processing portion is being judged as that the filming apparatus controls in the case of not being regular device
The changing unit, the certain party that the filming apparatus can not be taken photo by plane is fixed as by the shooting direction of the filming apparatus
To.
According to this composition, in the case where attempting to be taken photo by plane using non-normal filming apparatus, because being filled shooting
The shooting direction put is fixed as the specific direction that filming apparatus can not be taken photo by plane, thus photographer be difficult to photograph it is desired
Image.
The specific direction can also be the bottom surface direction of the unmanned vehicle.
According to this composition, in the case where attempting to be taken photo by plane using non-normal filming apparatus, because being filled shooting
The shooting direction put is fixed to the bottom surface of unmanned vehicle, so the image taken photo by plane is visually nonsensical.
Can also be that the installation portion includes reducing the stabilisation of the shake of the dynamic image when filming apparatus is taken photo by plane
Portion,
The authentication processing portion is being judged as that the filming apparatus controls the stabilization in the case of not being regular device
Change portion, to cause the stabilisation portion not reduce the shake of the dynamic image when filming apparatus is taken photo by plane.
According to this composition, in the case where attempting to be taken photo by plane using non-normal filming apparatus, captured image
Containing more shake, photographer is difficult to photograph desired image.
Can also be that the authentication processing portion is in the case where being judged as that the filming apparatus is not regular device, limit
Make the remote operation to the unmanned vehicle from the executor.
According to this composition, in the case where attempting to be taken photo by plane using non-normal filming apparatus, become unable to pass through
Remote operation makes the unmanned vehicle fly.
Can also be that the authentication processing portion makes in the case where being judged as that the filming apparatus is not regular device
The flight of the unmanned vehicle is changed into autonomous flight.
According to this composition, in the case of being awing judged as that filming apparatus is non-normal, by autonomous flight to safety
State guiding.
Can also be that the required condition of taking photo by plane is：By for following the trail of the image data taken by the filming apparatus
The shooting condition information of historical record be embedded in image data taken by the filming apparatus, the authentication processing portion is being sentenced
It is to control the filming apparatus in the case of regular device to break as the filming apparatus, will be via the communication unit from described
The shooting condition information that unmanned vehicle is obtained is embedded in the image data taken by the filming apparatus.
According to this composition, in the case where being judged as that filming apparatus is regular device, it will be used to follow the trail of filming apparatus institute
The shooting condition information of the historical record of the image data photographed is embedded into the image data taken by filming apparatus, so
The historical record of image data can be followed the trail of.That is, believe because containing the shooting condition relevant with determining photographer in image data
Breath, so help to enter the dangerous or illegal implementation taken photo by plane row constraint, and then to image for thus photographing etc. in network
On disclosure enter row constraint.
Can also be that the required condition of taking photo by plane is：The shooting condition information is embedded in described clap using eletric watermark
The image data taken by device is taken the photograph, the authentication processing portion is being judged as that the filming apparatus is the situation of regular device
The lower control filming apparatus, with the bat that will be obtained using eletric watermark via the communication unit from the unmanned vehicle
Take the photograph the image data taken by the conditional information insertion filming apparatus.
According to this composition, in the case where being judged as that filming apparatus is regular device, it will be used to chase after using eletric watermark
The shooting condition information of the historical record of image data taken by track filming apparatus is embedded into taken by filming apparatus
Image data, so the grade of image data can not be made to follow the trail of the historical record of image data with reducing.
Can also be that the shooting condition information is can to uniquely identify out the individual information of the unmanned vehicle,
The authentication processing portion is being judged as that the filming apparatus controls the filming apparatus in the case of being regular device, will be through
The individual information obtained as the communication unit from the unmanned vehicle is embedded in the image taken by the filming apparatus
Data.
According to this composition, in order that completion of taking photo by plane is, it is necessary to be possible to uniquely identify out the individual information of unmanned vehicle
Embedded image data, because contributing in image data containing the information for being related to determine photographer to dangerous or illegal
Row constraint is entered in the implementation taken photo by plane, and then enters row constraint to the disclosure on network such as image for thus photographing.
Can also be that the required condition of taking photo by plane is：For the image data taken by the filming apparatus, to meeting
The specific image region of predetermined condition is identified, and goes forward side by side and exercises the image procossing that the specific image region is difficult to perceive,
The authentication processing portion is being judged as that the filming apparatus controls the filming apparatus in the case of being regular device, to recognize
The specific image region, which is gone forward side by side, exercises the image procossing that the specific image region is difficult to perceive.
According to this composition, the image shot by unmanned vehicle be changed into being processed into specific image region has can
The region that privacy can be encroached on is difficult to the image perceived, realizes secret protection when taking photo by plane.
In addition, the disclosure can not only be realized as the unmanned vehicle that characteristic as possessing the above is constituted,
The control for performing the unmanned vehicle that characteristic corresponding with the characteristic composition that unmanned vehicle possesses is handled can be used as
Method and realize.Therefore, the effect same with above-mentioned unmanned vehicle can also be obtained in other following schemes.
The control method of unmanned vehicle involved by other schemes of the disclosure, the unmanned vehicle possesses for installing
The installation portion of filming apparatus, and carry out according to the remote-operated flight from executor or autonomous flight, this method includes：Make
With the certification to the filming apparatus is carried out for the communication unit communicated with the filming apparatus, judge described to shoot dress
Whether be the regular device that meets predetermined take photo by plane required condition, be judged as that the filming apparatus is not regular device if putting
In the case of, the predetermined function implementation to the unmanned vehicle is limited, to prevent the filming apparatus from carrying out
Take photo by plane.
Hereinafter, embodiment of this disclosure is illustrated referring to the drawings.Embodiments described below is all to represent this
The embodiment of a disclosed concrete example.The shape that shows in the following embodiments, inscape, step, step it is suitable
Sequence etc. is one, its purport and the non-limiting disclosure.
In addition, for being wanted without the independent right in expression upper concept in the inscape of following embodiment
Inscape described in asking, is illustrated as arbitrary inscape.In addition, in whole embodiments,
Respective content can also be combined.And then, without departing from the purport of the disclosure, each embodiment of this disclosure is real
The various modifications example for having applied the change in the range of those skilled in the art expect also is contained in the disclosure.
(embodiment 1)
Fig. 1 is one of the unmanned vehicle for the installation portion for possessing filming apparatus for showing embodiment of the present disclosure 1
Outside drawing.Unmanned vehicle 101 shown in Fig. 1 possesses：Filming apparatus installation portion 102, body 103, four supporting parts 104
And four propellers 105.Filming apparatus installation portion 102 is the installation portion for the filming apparatus 201 being represented by dotted lines in figure, is passed through
Power supplying line and control signal wire and electrically connected with the body 103 of unmanned vehicle 101.Propeller 105 is installed on from this
Body portion 103 produces the propulsive force of unmanned vehicle 101 to the top of the supporting part 104 of four directions extension.In addition, unmanned vehicle
101 composition is not specially limited in above-mentioned example, can be supported the change of the quantity of portion 104 and/or propeller 105
Etc. a variety of changes.
Fig. 2 is to show one that the situation of filming apparatus 201 is provided with the filming apparatus installation portion 102 shown in Fig. 1
Outside drawing.Filming apparatus installation portion 102 possesses three servo motors 202, fixed frame 203 and arm 204~207.
Filming apparatus 201 is fixed on fixed frame 203, and body 103 is fixed in one end of arm 207.Fixed frame 203 is connected
In one end of arm 204, the other end of arm 204 is connected with the state for the direction of rotation rotation that can be represented by dotted lines into figure
In one end of arm 205, the other end of arm 205 is connected with the state for the direction of rotation rotation that can be represented by dotted lines into figure
In one end of arm 206, the other end of arm 206 is connected with the state for the direction of rotation rotation that can be represented by dotted lines into figure
In the other end of arm 207.
Servo motor 202 is installed on arm 204,205,207, and its spinning movement is based on the sheet from unmanned vehicle 101
The control signal in body portion 103 is controlled.According to above-mentioned composition, it can carry out with the front and rear up and down of filming apparatus 201
Three axles are the control of the posture of the filming apparatus 201 of rotary shaft.
Fig. 3 is the block diagram of one of the composition for showing the unmanned vehicle 101 shown in Fig. 1.In addition, although in Fig. 3 institutes
Four propellers 105 and three servo motors 202 have been used in the unmanned vehicle 101 shown, but in order that diagram simplification, divides
Do not illustrated with a frame, Fig. 9 described later is similarly.
As shown in figure 3, unmanned vehicle 101 is except servo motor 202 shown in the propeller 105 and Fig. 2 shown in Fig. 1 etc.
Outside, it is also equipped with：It is executor communication unit 302, propeller control unit 303, acceleration transducer 304, motor control part 305, individual
Body number record portion 306, filming apparatus communication unit 307 and authentication processing portion 308.For example, executor communication unit 302, spiral
Oar control unit 303, acceleration transducer 304, motor control part 305, individual number record portion 306 and authentication processing portion 308
Configuration is in the body 103 shown in Fig. 1, and filming apparatus communication unit 307 is configured at the fixed frame 203 shown in Fig. 2.
Executor 301 is user for the executor for carrying out remote control to unmanned vehicle 101 and using, unmanned flight
Device 101 is carried out according to the remote-operated flight from executor 301 or autonomous flight.
Executor communication unit 302 is wirelessly connected with executor 301, is received the operation from executor 301 and is referred to
Show.Executor communication unit 302 indicates the manipulation from executor 301 to input to propeller control unit 303.Propeller control unit
303 change rotating speed of propeller 105 etc. according to the operation instruction inputted, realize and are manipulated according to rising, decline, mobile etc.
The flight of instruction.
In addition, executor communication unit 302 indicates the manipulation from executor 301 to input to motor control part 305.Motor
Control unit 305 is connected with the servo motor 202 of filming apparatus installation portion 102.Motor control part 305 is based on from executor communication unit
The operation instructions of 302 inputs drive the servo motor 202 of filming apparatus installation portion 102, can become shooting direction and turn to behaviour
Direction indicated by author.That is, filming apparatus installation portion 102 has as changing filming apparatus 201 according to remote operation
Shooting direction, it is capable of the function of electronically controlled head.
In addition, motor control part 305 is also connected with acceleration transducer 304.Motor control part 305 is based on passing from acceleration
The sensor information that sensor 304 is obtained, filming apparatus is pacified on the direction of the acceleration produced by eliminating unmanned vehicle 101
The servo motor 202 in dress portion 102 changes.Thus, motor control part 305 suppresses shake when dynamic image is shot.That is, dress is shot
Putting installation portion 102 also has as the shake for reducing dynamic image when filming apparatus 201 is shot, can be electronically controlled steady
Determine the function of device.
In addition, the composition of filming apparatus installation portion 102 is not specially limited in above-mentioned example, can as long as can be used as
Electronically controlled head (changes the change of the shooting direction of filming apparatus 201 according to the remote operation from executor 301
Portion) and/or being capable of electronically controlled stabilizer (the stabilisation portion of the shake of dynamic image when reduction filming apparatus 201 is taken photo by plane)
And function, it just can carry out a variety of changes.
Filming apparatus communication unit 307 is communicated with being installed on the filming apparatus 201 of filming apparatus installation portion 102.As
Communication means, filming apparatus communication unit 307 for example uses the Bluetooth (registrars as wireless near field communication standard
Mark).
Authentication processing portion 308 carries out the certification to filming apparatus 201 using filming apparatus communication unit 307, judges to shoot
Whether device 201 is the regular device for meeting predetermined required condition of taking photo by plane.Here, condition needed for taking photo by plane is to reach shadow
As the traceability of data ensures and defined the condition for the action that filming apparatus 201 should be performed when taking photo by plane.For example, the institute that takes photo by plane
Needing condition is：The shooting condition information of historical record for following the trail of the image data taken by filming apparatus 201 is embedded in
Image data taken by filming apparatus 201.
In addition, condition needed for taking photo by plane is not specially limited in the example, it can carry out：Using eletric watermark by above-mentioned shooting
Image data taken by conditional information insertion filming apparatus 201, as shooting condition information use and can uniquely identify
Go out a variety of changes such as individual information of unmanned vehicle 101.
Specifically, authentication processing portion 308 establishes the logic with filming apparatus 201 via filming apparatus communication unit 307
The communication lines (speech channel) of property.And then, authentication processing portion 308 performs defined agreement using the speech channel, attempts to carry out shooting dress
Put 201 certification.In the authentication fails, authentication processing portion 308 makes the function of motor control part 305 invalid.Recognizing
In the case of having demonstrate,proved successfully, authentication processing portion 308 maintains speech channel.In addition, in physical communication or speech channel because of some reason
In the case of being cut off, authentication processing portion 308 makes the function ineffective treatment of motor control part 305.
The individual record of number record portion 306 has as the individual information that can uniquely identify out unmanned vehicle 101
Individual numbering.Individual number record portion 306 can respond from filming apparatus 201 via filming apparatus communication unit 307
The acquirement requirement of body numbering, individual via filming apparatus communication unit 307 numbered and sent to filming apparatus 201.
Fig. 4 is the block diagram of one of the composition for showing the executor 301 shown in Fig. 3.Executor 301 shown in Fig. 4 has
It is standby：Flight indicates input unit 401, shooting direction input unit 402, authentication requesting input unit 403 and unmanned vehicle communication unit
404。
Fly and indicate that input unit 401 is operated by user, the flight such as input rising, decline and movement is indicated.Shooting direction
Input unit 402 is operated by user, and input is installed on the change of the shooting direction of the filming apparatus 201 of filming apparatus installation portion 102
Indicate.The input of authentication requesting input unit 403 makes the instruction that the authentication processing of unmanned vehicle 101 starts.Unmanned vehicle communicates
Portion 404 will indicate that the instruction that input unit 401, shooting direction input unit 402 and authentication requesting input unit 403 are inputted is led to by flight
Radio communication is crossed to send to unmanned vehicle 101.
(detailed content of unmanned vehicle 101 and the communication means of filming apparatus 201)
The filming apparatus communication unit 307 of unmanned vehicle 101 and the unmanned vehicle communication unit 404 of filming apparatus 201
Communication means can be the radio communication beyond wire communication or Bluetooth (registration mark) via electrical connection.
But, it is necessary to note " pretending to be " of filming apparatus 201 when using radio communication.
Here, " pretending to be " refers to being led between the regular filming apparatus and unmanned vehicle 101 that can be authenticated
Believe and be authenticated and after relieving function restriction, by the way that the non-normal filming apparatus that can not be authenticated is installed on into shooting dress
Put the behavior or the behavior suitable with the behavior of installation portion 102 and make unmanned vehicle 101 by non-normal filming apparatus misidentification
For the behavior of regular filming apparatus.
In order to avoid " pretending to be ", it is desirable to use the communication premised on fully short transmitting range when using radio communication
Standard, or by the radio transmission distance of filming apparatus communication unit 307 be defined to fully it is short.Thus, regular for " pretending to be "
Filming apparatus and filming apparatus installation portion 102 distance be sufficiently separated in the case of (for example, in regular filming apparatus quilt
Make nothing in the case that filming apparatus installation portion 102 has been unloaded, or in the state of regular filming apparatus is placed on the ground
In the case that people's aircraft 101 changes for state of flight) because the communication link between filming apparatus and unmanned vehicle 101
Connect cut-off, so connection confirmation process described later fails.As the communication standard premised on short transmitting range, for example, it can lift
Go out NFC (Near Field Communication：Near-field communication), the example such as TransferJet (registration mark).
(detailed content for the filming apparatus that unmanned vehicle 101 can be authenticated)
Fig. 5 is to show the filming apparatus in the case of being regular filming apparatus in the filming apparatus 201 shown in Fig. 3
The block diagram of one constituted.In the case of the filming apparatus that filming apparatus 201 is regular, as shown in figure 5, filming apparatus 201
Possess：Unmanned vehicle communication unit 501, authentication requesting portion 502, individual numbering obtaining section 503, shoot part 504, individual numbering are embedding
Enter portion 505 and record portion 506.
Unmanned vehicle communication unit 501 establishes physical connection with filming apparatus communication unit 307, carries out and unmanned flight
The communication of device 101.Authentication requesting portion 502 establishes the speech channel with authentication processing portion 308 via unmanned vehicle communication unit 501,
The certification of filming apparatus 201 is carried out according to the agreement of regulation.
Individual numbering obtaining section 503 is established via unmanned vehicle communication unit 501 with individual number record portion 306 to be talked about
Road, obtains the individual numbering of unmanned vehicle 101.Shoot part 504 is made up of lens and/or imaging sensor etc., is obtained and defeated
Go out taken image data.Individual 505 pairs of image datas inputted from shoot part 504 of numbering embedded division enter to be about to from individual
The processing of the individual numbering insertion for the unmanned vehicle 101 that numbering obtaining section 503 is inputted.It is embedded with the image data of individual numbering
Exported and be recorded to record portion 506 from individual numbering embedded division 505.
As by the method for the embedded image data of individual numbering, individual numbering embedded division 505 is for example using being difficult to sensing type
Eletric watermark (digital watermarking).In this case, the deterioration of visual image quality caused to image data can be suppressed simultaneously
By the embedded image data of individual numbering.
In the present embodiment, only the filming apparatus 201 with above-mentioned composition be considered as by unmanned vehicle 101 it is regular
Filming apparatus, unmanned vehicle 101 can be authenticated, and can take photo by plane and be embedded with the individual numbering of unmanned vehicle 101
Image data.
In addition, being not specially limited to the embedding information and embedding grammar of image data in above-mentioned example, Neng Goujin
The a variety of changes of row.For example, as the embedding information to image data, in addition to the individual numbering of aircraft, can also also wrap
The shooting conditions such as the place containing shooting, shooting date moment.In addition, can someways guarantee to uniquely identify out work
In the case of using the information of the photographer of the user of filming apparatus 201, the information can also be embedded in, as embedding grammar,
The method for image data being overlapped in after embedding information image conversion can also be used.
(detailed content of authentication processing)
Fig. 6 is the flow chart of one of the flow for the authentication processing for showing the unmanned vehicle 101 shown in Fig. 3.This place
Reason in the plant-grid connection of unmanned vehicle 101 or in the state of unmanned vehicle 101 is static using executor 301 by being entered
Input to start as defined in row.
First, (step S601) is established in the tentative speech channel with authentication requesting portion 502 in authentication processing portion 308.Next, certification
Processing unit 308 judges whether the speech channel with authentication requesting portion 502 establishes (step S602).
(the step S602 in the case where speech channel has been established successfully：It is), authentication processing portion 308 is according to the agreement of regulation with recognizing
Card requires that portion 502 is communicated, and tries the certification (step S603) of filming apparatus 201.Next, authentication processing portion 308 judges
Whether the certification of filming apparatus 201 has succeeded (step S604).(the step S604 in the case of successful authentication：It is), certification
Processing unit 308 terminates authentication processing.
On the other hand, (step S604 in the authentication fails：It is no), the cut-out of authentication processing portion 308 speech channel (step
S605)。
In addition, speech channel establish have failed in the case of (step S602：It is no), or cut off speech channel in authentification failure
In the case of (step S605), authentication processing portion 308 implement unmanned vehicle 101 function restriction, i.e. motor control part 305 work(
Can ineffective treatment (step S606), end authentication processing.
In addition, for the certification of the filming apparatus 201 in step S603, by with HDCP (High-bandwith
Digital Content Protection:HDCP) the same formality of substandard 1st device authentication
Realize.In this device authentication, filming apparatus 201 and unmanned vehicle 101 respectively need with independent private key and openly
Key.
Above-mentioned private key and public-key cryptography are when filming apparatus 201 and unmanned vehicle 101 are manufactured, or quilt before shipment
Being stored in the predetermined anti-tamper region of filming apparatus 201 and unmanned vehicle 101 (prevents the circuit to software and/or hardware
Deng the region for carrying out wrongful internal parsing and/or changing, for example, located at individual number record portion 306 and record portion 506
Anti-tamper region).For making the successful private key of certification and public-key cryptography needs be generated according to regular algorithm.Regular
Private key and public-key cryptography are issued by defined formality and examination, and filming apparatus 201 is only true by examination
It is recognized with the case of the specification of required condition for meeting defined, can receive the distribution of regular key.Here, because
To be known in the substandard certification formalities of HDCP, so omitting the description.
In addition, the method on device authentication, is not limited to utilize above-mentioned HDCP standards.For example, it is also possible to using by SSL
(Security Sockets Layer：SSL) in client certificate structure be used for verify in filming apparatus 201
Anti-tamper region in the digital certificate that stores whether be the certificate issued with regular formality method.
Fig. 7 is the flow chart of one of the flow for the connection confirmation process for showing the unmanned vehicle 101 shown in Fig. 3.
Present treatment is to be confirmed whether the processing for having carried out " pretending to be " of filming apparatus 201 and periodically having been implemented by authentication processing portion 308.
First, authentication processing portion 308 sends confirmation signal (step S701) to the authentication requesting portion 502 of filming apparatus 201.
Next, authentication processing portion 308 judges whether the response (step from filming apparatus 201 for confirmation signal
S702)。
(the step S702 in the case of not for the response from filming apparatus 201 of confirmation signal：It is no), authentication department
Reason portion 308 makes the function restriction of unmanned vehicle 101 effectively (step S703), cut-out and the speech channel (step of filming apparatus 201
S704), connection confirmation process is terminated afterwards.On the other hand, there is the response from filming apparatus 201 for confirmation signal
In the case of (step S702：It is), authentication processing portion 308 terminates connection confirmation process.
(detailed content of the function ineffective treatment of motor control part 305)
By above-mentioned authentication processing and connection confirmation process, in certification of the unmanned vehicle 101 in filming apparatus 201
(filming apparatus 201 is not regular in the case that because of some reason, speech channel has been cut off in the case of have failed or after certification
In the case of device), authentication processing portion 308 makes filming apparatus by making as according to the remote operation from executor 301
A part of ineffective treatment of the function of the motor control part 305 of one of the changing unit of 201 shooting direction change fills shooting
The electronic control function for putting the head of installation portion 102 is invalid, limits the change of the shooting direction of filming apparatus 201.Thus, shoot
The change instruction for the shooting direction that person inputs to executor 301 becomes invalid, and photographer is difficult to photograph desired image.
In addition, not only making the change instruction of above-mentioned shooting direction invalid, authentication processing portion 308 can also be also to motor control
The input of portion 305 shooting direction processed indicates and fixes the shooting direction of filming apparatus 201 to predetermined position, is filled with to shoot
Putting 201 can not be taken photo by plane.Especially, by the way that shooting direction is fixed in the state of the bottom surface towards unmanned vehicle 101,
The image for making captured image be only the bottom surface that have taken unmanned vehicle 101, becomes visually nonsensical.
And then, as the variation of the function ineffective treatment of motor control part 305, the stabilization of motor control part 305 can be made
Device function is invalid.In this case, the stabilisation portion of the shake of dynamic image when making to take photo by plane as reduction filming apparatus 201
The electronic stabilizer function of the motor control part 305 of one is invalid, taken in the state of electronic stabilizer function is invalid
Dynamic image contain more shake, become visually nonsensical.
As described above, the electronic control function and electronic stabilizer of the filming apparatus installation portion 102 by making composition head
At least one party in function is invalid, can substantially limit the filming apparatus 201 for having used unmanned vehicle 101 to authenticate
Take photo by plane.
(effect)
As described above, unmanned vehicle 101 can be only to the filming apparatus that certification is regular device, such as with should
Filming apparatus 201 shown in the Fig. 5 for the function that the individual numbering of unmanned vehicle is embedded in filmed image as eletric watermark is permitted
Take photo by plane.On the other hand, for it is without the function, be not regular device filming apparatus, the not certification of unmanned vehicle 101 should
Filming apparatus, passes through appointing in the electronic control function and electronic stabilizer function of the head for implementing filming apparatus installation portion 102
One side or the function restriction of two sides, can substantially limit and take photo by plane.
In addition, in the case where the filming apparatus for being installed on unmanned vehicle 101 is regular device, using the shooting
When device is to implement to take photo by plane, it is possible to uniquely identify out the embedded image data of individual numbering of unmanned vehicle 101.Namely
Say, containing the information for being related to determine photographer in the image taken photo by plane, so the unsuitable implementation taken photo by plane can be suppressed, enter
And suppress the disclosure of this image photographed etc..
(embodiment 2)
Fig. 8 is one of the unmanned vehicle for the installation portion for possessing filming apparatus for showing embodiment of the present disclosure 2
Outside drawing.Unmanned vehicle 101a shown in Fig. 8 possesses：Filming apparatus installation portion 102a, body 103, four supporting parts
104 and four propellers 105.In addition, in fig. 8, pair identical reference is used with inscape common Fig. 1, saved
Slightly illustrate.
Filming apparatus installation portion 102a composition is different from the filming apparatus installation portion 102 of embodiment 1, is fixed on body
Portion 103, without servo motor 202 etc., does not possess the function as head and/or stabilizer.
Fig. 9 is the block diagram of one of the composition for showing the unmanned vehicle 101a shown in Fig. 8.As shown in figure 9, nobody flies
Row device 101a is also equipped with addition to the grade of propeller 105 shown in Fig. 8：Executor communication unit 302, propeller control unit 303,
Filming apparatus communication unit 307, authentication processing portion 308a and autonomous navigation control unit 310.In addition, in fig .9, pair it is total to Fig. 3
Logical inscape uses identical reference, omits the description.
Autonomous navigation control unit 310 realizes that the autonomous of unmanned vehicle 101a flies by controlling propeller control unit 303
OK.Unmanned vehicle 101a autonomous flight is implemented based on the autonomous navigation program stored in autonomous navigation control unit 310.
As autonomous navigation program, for example including：Make according to the flight plan being previously set unmanned vehicle 101a fly program,
Maintain unmanned vehicle 101a horizontal level and carry out the program of landing operation and unmanned vehicle 101a is returned automatically
Return program of position when taking off etc..Because related to the autonomous navigation of unmanned vehicle is known technology, omit
Explanation.Switching from from the manual state of flight using executor 301a to autonomous flight state is according to via executor communication unit
302 instruction from executor 301a is carried out.
In the present embodiment, authentication processing portion 308a is connected to propeller control unit 303.Authentication processing portion 308a is used
Filming apparatus communication unit 307 carries out the certification to filming apparatus 201a, judges whether filming apparatus 201a meets predetermined
The regular device of condition needed for taking photo by plane.Here, condition needed for taking photo by plane is that the secret protection of image data is advised in order to reach
The condition for the action that filming apparatus 201a should be performed when taking photo by plane is determined.For example, condition needed for taking photo by plane is：For filming apparatus
The identification that image data taken by 201a carries out the specific image region for meeting predetermined condition is gone forward side by side enforcement specific image
Region is difficult to the image procossing perceived.In addition, condition needed for taking photo by plane is not specially limited in the example, a variety of changes can be carried out.
Authentication processing portion 308a to filming apparatus 201a authentication processing in the case where have failed, to propeller control unit
303 are controlled, to cause propeller control unit 303 to be not bound by the operation instruction from executor 301a.Pass through authentication processing
The authentication processing that portion 308a is carried out is same with embodiment 1, starts in unmanned vehicle 101a plant-grid connection.Or authentication department
Reason is started by carrying out defined input to executor 301a in the state of unmanned vehicle 101a is static.Therefore, nobody
The operation that aircraft 101a is just not bound by carrying out by executor 301a as long as no certification filming apparatus 201a, it is impossible to be changed into
State of flight.
In addition, authentication processing portion 308a is also connected to autonomous navigation control unit 310, also can be according to from authentication processing portion
308a instruction and be changed into autonomous navigation state.
Figure 10 is the block diagram of one of the composition for showing the executor 301a shown in Fig. 9.As shown in Figure 10, executor
301a possesses：Flight indicates input unit 401, authentication requesting input unit 403, unmanned vehicle communication unit 404 and autonomous navigation
Switching indicates input unit 405.In addition, in Fig. 10, pair identical reference is used with inscape common Fig. 4, omitted
Explanation.
Autonomous navigation switching indicates that input unit 405 is operated by user, inputs：The selection of autonomous navigation program indicates, from hand
Dynamic operational configuration is indicated to the switching of autonomous navigation state and referred to from autonomous navigation state to the switching of manual operational configuration
Show.But, in authentication processing portion, 308a makes unmanned vehicle 101a operational configuration change from manual operational configuration in order to autonomous
In the case of operational configuration, it is impossible to make unmanned vehicle 101a by switching the input of instruction input unit 405 to autonomous navigation
It is changed into manual operational configuration from autonomous navigation state.
(detailed content for the filming apparatus that unmanned vehicle 101a can be authenticated)
Figure 11 is to show the filming apparatus in the case of being regular filming apparatus in the filming apparatus 201a shown in Fig. 9
Composition the block diagram of one.As shown in figure 11, in the case of the filming apparatus that filming apparatus 201a is regular, filming apparatus
201a possesses：Unmanned vehicle communication unit 501, authentication requesting portion 502, shoot part 504, record portion 506, image analysis section 507,
And image processing part 508.In addition, in fig. 11, pair identical reference is used with inscape common Fig. 5, omitted
Explanation.
Authentication processing portion 308a is in the case where being judged as that filming apparatus 201a is regular device, when being taken photo by plane to protect
Privacy and control image analysis section 507 and image processing part 508, meet the specific image region of predetermined condition simultaneously to recognize
Enter to exercise the image procossing that specific image region is difficult to perceive.
Specifically, image analysis section 507 implements face recognition processing to the image data taken by shoot part 504,
Judge whether include face-image in the image data.In addition, because relevant with the identifying processing of the face-image is known
Technology, so omitting the description.
In the case where being judged to there is face-image in image data, the output of image analysis section 507 represents face-image
Position rectangle coordinate information.In the case where there are multiple face-images, image analysis section 507 exports quantity with being known
The group of the quantity identical coordinate information of other face-image.The coordinate that image processing part 508 is exported to image analysis section 507
Face-image region represented by information carries out Fuzzy Processing.
In the present embodiment, only the filming apparatus 201a with above-mentioned composition is considered as just by unmanned vehicle 101a
The filming apparatus of rule, unmanned vehicle 101a can be authenticated, to facial image-region carry out Fuzzy Processing, can take photo by plane to
Face-image region is set to be difficult to the image data perceived.
In addition, the image recognized in image analysis section 507 is not limited to face-image, it can also be configured to recognize automobile
Car plate and/or house etc. are possible to encroach on the image of privacy.In this manual, by such image for being possible to encroach on privacy
Region is referred to as specific image region.In addition, the shape in specific image region is not limited to rectangle, can be arbitrary shape.In addition,
The image procossing of image processing part 508 is not limited to Fuzzy Processing, is that specific image region can be made to be difficult to the processing perceived.
For example, it is also possible to be by the processing of specific image region blacking.
Next, the authentication processing to the authentication processing portion 308a progress by present embodiment is illustrated.Because logical
The authentication processing for crossing the authentication processing portion 308 shown in the authentication processing and Fig. 6 of authentication processing portion 308a progress is substantially same
, so omitting the detailed description of diagram and common processing.That is, in addition to step S606, authentication processing portion 308a is passed through
The authentication processing of progress is identical with the authentication processing portion 308 shown in Fig. 6.But, in step S606, it is used as unmanned vehicle
101a function restriction, authentication processing portion 308a makes the function of propeller control unit 303 invalid, is not bound by coming from executor 301a
Operation instruction, make unmanned vehicle 101a flight be changed into by autonomous navigation control unit 310 carry out autonomous flight.
Figure 12 is the flow of one of the flow for the connection confirmation process for showing the unmanned vehicle 101a shown in Fig. 9
Figure.In fig. 12, pair identical reference is used with processing common Fig. 7, omitted the description.
In the present embodiment, the processing of step S701, S702 is performed in the same manner as Fig. 7, not for confirmation signal
The response from filming apparatus 201a in the case of (step S702：It is no), in step S703, authentication processing portion 308a is carried out
Control, so that the function of propeller control unit 303 is invalid, is not bound by the operation instruction from executor 301a.
After following step S704 processing, whether authentication processing portion 308a judges unmanned vehicle 101a in winged
In row (step S705).(the step S705 in the case where being determined as that unmanned vehicle 101a is in state of flight：It is), authentication department
Reason portion 308a makes autonomous navigation control unit 310 effectively, is changed into autonomous navigation state (step S706), afterwards, terminates connection true
Recognize processing.Now, auto-returned program is performed in autonomous navigation control unit 310, flight extremely rises unmanned vehicle 101a automatically
Position and landing when flying.
In addition, exist for confirmation signal the response from filming apparatus 201a in the case of (step S702：It is),
Or in the case where being determined as that unmanned vehicle 101a is not at state of flight (step S705：It is no), authentication processing portion 308a knots
Beam connection confirmation process.
In addition, the autonomous navigation program performed in step S706 is not limited to auto-returned program, make because above-mentioned
Function restriction and the unmanned vehicle 101a that no longer accepts operation instruction is safely static and be changed into the autonomous boat of landing state
Line program, for example, it is also possible to horizontal level will be maintain and implement the program landed instead.
(effect)
As described above, unmanned vehicle 101a can be to certification for the filming apparatus of regular device, for example with to institute
The filming apparatus 201a that the image that photographs implements to make specific image region to be difficult to shown in Figure 11 of the function of processing for perceiving is permitted
It can take photo by plane.On the other hand, for it is without the function, be not regular device filming apparatus, unmanned vehicle 101a is not
The certification filming apparatus, can suppress to take photo by plane by limiting the flight of itself.
In addition, by the connection confirmation process periodically implemented, being judged as being installed on filming apparatus installation portion 102a bat
Taking the photograph device is in the case of non-normal device without above-mentioned function (be judged as carry out " pretending to be " in the case of), and
And in the case where unmanned vehicle 101a is in in-flight, because unmanned vehicle 101a is automatically changeb to autonomous navigation shape
State, is directed to inactive state, is taken photo by plane so forcibly interrupting.
In addition, in the case where the filming apparatus 201a for being installed on unmanned vehicle 101a is regular device, using
When the filming apparatus and implementing is taken photo by plane, it is the area that is possible to encroach on privacy that taken image, which turns into specific image region,
Domain has carried out the image of working process, can suppress the unsuitable implementation taken photo by plane, and protects privacy.
Industrial applicability
Unmanned vehicle involved by the disclosure has the filming apparatus that certification installed and carries out the function of work limit,
The unmanned vehicle of the person's of being manipulated remote control and/or based on the content programmed in advance come the unmanned vehicle of autonomous flight
In be useful.
Claims (12)
1. a kind of unmanned vehicle, according to the remote-operated flight from executor or autonomous flight, possess：
Installation portion, it is used to install filming apparatus；
Communication unit, it is used to be communicated with the filming apparatus；And
Authentication processing portion, it carries out the certification to the filming apparatus using the communication unit, judges that the filming apparatus is
No is the regular device for meeting predetermined required condition of taking photo by plane,
The authentication processing portion is in the case where being judged as that the filming apparatus is not regular device, to the unmanned vehicle
Predetermined function implementation limitation, to prevent the filming apparatus from being taken photo by plane.
2. unmanned vehicle according to claim 1,
The installation portion includes changing the shooting direction of the filming apparatus according to the remote operation from the executor
Changing unit,
The authentication processing portion is in the case where being judged as that the filming apparatus is not regular device, and limitation passes through the change
The change of the shooting direction for the filming apparatus that portion is carried out, to prevent the filming apparatus from being taken photo by plane.
3. unmanned vehicle according to claim 2,
The authentication processing portion is being judged as that the filming apparatus controls the changing unit in the case of not being regular device, with
The shooting direction of the filming apparatus is fixed as the specific direction that the filming apparatus can not be taken photo by plane.
4. unmanned vehicle according to claim 3,
The specific direction is the bottom surface direction of the unmanned vehicle.
5. unmanned vehicle according to claim 1,
The installation portion includes reducing the stabilisation portion of the shake of the dynamic image when filming apparatus is taken photo by plane,
The authentication processing portion controls the stabilisation portion in the case where being judged as that the filming apparatus is not regular device,
To cause the stabilisation portion not reduce the shake of the dynamic image when filming apparatus is taken photo by plane.
6. unmanned vehicle according to claim 1,
The authentication processing portion is in the case where being judged as that the filming apparatus is not regular device, and limitation is manipulated from described
The remote operation to the unmanned vehicle of device.
7. unmanned vehicle according to claim 6,
The authentication processing portion makes the unmanned vehicle in the case where being judged as that the filming apparatus is not regular device
Flight be changed into autonomous flight.
8. unmanned vehicle according to claim 1,
It is described take photo by plane needed for condition be：By the bat of the historical record for following the trail of the image data taken by the filming apparatus
The image data taken by the conditional information insertion filming apparatus is taken the photograph,
The authentication processing portion is being judged as that the filming apparatus controls the filming apparatus in the case of being regular device, with
The shooting condition information obtained via the communication unit from the unmanned vehicle is embedded in captured by the filming apparatus
The image data arrived.
9. unmanned vehicle according to claim 8,
It is described take photo by plane needed for condition be：The shooting condition information is embedded in taken by the filming apparatus using eletric watermark
Image data,
The authentication processing portion is being judged as that the filming apparatus controls the filming apparatus in the case of being regular device, with
The shooting condition information insertion bat that will be obtained using eletric watermark via the communication unit from the unmanned vehicle
Take the photograph the image data taken by device.
10. unmanned vehicle according to claim 8,
The shooting condition information is can to uniquely identify out the individual information of the unmanned vehicle,
The authentication processing portion is being judged as that the filming apparatus controls the filming apparatus in the case of being regular device, with
The individual information obtained via the communication unit from the unmanned vehicle is embedded in taken by the filming apparatus
Image data.
11. unmanned vehicle according to claim 1,
It is described take photo by plane needed for condition be：For the image data taken by the filming apparatus, the predetermined condition to meeting
Specific image region is identified, and goes forward side by side and exercises the image procossing that the specific image region is difficult to perceive,
The authentication processing portion is being judged as that the filming apparatus controls the filming apparatus in the case of being regular device, with
Recognize that the specific image region is gone forward side by side and exercise the image procossing that the specific image region is difficult to perceive.
12. a kind of control method of unmanned vehicle, the unmanned vehicle possesses the installation portion for installing filming apparatus, gone forward side by side
Remote-operated flight or autonomous flight of the row basis from executor,
This method includes：
Using the certification to the filming apparatus is carried out for the communication unit communicated with the filming apparatus, judge described
Whether filming apparatus is the regular device for meeting predetermined required condition of taking photo by plane,
In the case where being judged as that the filming apparatus is not regular device, the predetermined function to the unmanned vehicle is real
Construction is restricted, to prevent the filming apparatus from being taken photo by plane.
Applications Claiming Priority (4)
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| JP2015-250847 | 2015-12-24 | ||
| JP2015250847 | 2015-12-24 | ||
| JP2016170719A JP6687488B2 (en) | 2015-12-24 | 2016-09-01 | Unmanned aerial vehicle and control method thereof |
| JP2016-170719 | 2016-09-01 |
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Also Published As
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| JP6687488B2 (en) | 2020-04-22 |
| CN107054677B (en) | 2021-07-16 |
| JP2017119503A (en) | 2017-07-06 |
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