CN107054677B - Unmanned aerial vehicle and control method thereof - Google Patents
Unmanned aerial vehicle and control method thereof Download PDFInfo
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- CN107054677B CN107054677B CN201611053991.5A CN201611053991A CN107054677B CN 107054677 B CN107054677 B CN 107054677B CN 201611053991 A CN201611053991 A CN 201611053991A CN 107054677 B CN107054677 B CN 107054677B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT 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
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Abstract
Provided are an unmanned aerial vehicle and a control method thereof, which can limit aerial photography of an imaging device when the imaging device is not a regular device satisfying a predetermined aerial photography requirement. An unmanned aerial vehicle (101) is provided with: an imaging device mounting unit (102) for mounting an imaging device (201); an imaging device communication unit (307) for communicating with an imaging device (201); and an authentication processing unit (308) that authenticates the imaging device (201) using the imaging device communication unit (307) and determines whether the imaging device (201) is a normal device that satisfies a predetermined condition required for aerial photography, wherein the authentication processing unit (308) imposes operational restrictions on a predetermined function of the unmanned aerial vehicle (101) so that the imaging device (201) cannot take aerial photography if it is determined that the imaging device (201) is not a normal device.
Description
Technical Field
The present disclosure relates to an unmanned aerial vehicle for aerial photography having a mounting portion for an imaging device and a control method thereof, and more particularly, to a technique for controlling aerial photography by an imaging device mounted on a mounting portion by an unmanned aerial vehicle.
Background
As a conventional technique for controlling aerial photography by remote operation, a camera unit that performs shooting during a descent is disclosed (see patent document 1). The camera unit in patent document 1 includes a posture stabilizer at the time of descent and throwing and a camera module as a shooting unit, and is capable of remote control from a control unit by authenticating with an external control unit.
Documents of the prior art
Patent document
Patent document 1: japanese laid-open patent publication No. 2007-104254
Disclosure of Invention
Problems to be solved by the invention
Although the above-described prior art discloses authentication of the camera unit and the control unit, there is no description of authentication of the camera module (imaging device) and the camera unit, and further improvement is required for aerial photography by the imaging device mounted to the mounting portion of the unmanned aerial vehicle.
The present disclosure is made to solve the above conventional problems, and an object of the present disclosure is to provide an unmanned aerial vehicle capable of restricting aerial photography by an imaging device when the imaging device is not a regular device that satisfies a predetermined condition required for aerial photography, and a control method for the unmanned aerial vehicle.
Means for solving the problems
In order to solve the above conventional problems, an unmanned aerial vehicle according to an aspect of the present disclosure performs flight according to remote operation from a manipulator or autonomous flight, and includes: a mounting portion for mounting a photographing device; a communication unit for communicating with the imaging device; and an authentication processing unit that performs authentication of the imaging device using the communication unit and determines whether or not the imaging device is a normal device that satisfies a predetermined condition required for aerial photography, wherein the authentication processing unit restricts operation of a predetermined function of the unmanned aerial vehicle such that the imaging device cannot perform aerial photography when determining that the imaging device is not a normal device.
ADVANTAGEOUS EFFECTS OF INVENTION
According to the present disclosure, when the imaging device is not a regular imaging device that satisfies the predetermined conditions required for aerial imaging, operation restriction can be applied to a predetermined function of the unmanned aerial vehicle, and aerial imaging by an irregular imaging device can be restricted.
Drawings
Fig. 1 is an external view showing an example of an unmanned aerial vehicle according to embodiment 1 of the present disclosure.
Fig. 2 is an external view showing an example of the imaging device mounting section shown in fig. 1.
Fig. 3 is a block diagram showing an example of the configuration of the unmanned aerial vehicle shown in fig. 1.
Fig. 4 is a block diagram showing an example of the structure of the manipulator shown in fig. 3.
Fig. 5 is a block diagram showing an example of the configuration of the imaging apparatus shown in fig. 3 in the case where the imaging apparatus is a normal imaging apparatus.
Fig. 6 is a flowchart showing an example of the flow of the authentication process of the unmanned aerial vehicle shown in fig. 3.
Fig. 7 is a flowchart showing an example of the flow of the connection confirmation process of the unmanned aerial vehicle shown in fig. 3.
Fig. 8 is an external view showing an example of the unmanned aerial vehicle according to embodiment 2 of the present disclosure.
Fig. 9 is a block diagram showing an example of the configuration of the unmanned aerial vehicle shown in fig. 8.
Fig. 10 is a block diagram showing an example of the structure of the manipulator shown in fig. 9.
Fig. 11 is a block diagram showing an example of the configuration of the imaging apparatus in the case where the imaging apparatus shown in fig. 9 is a normal imaging apparatus.
Fig. 12 is a flowchart showing an example of the flow of the connection confirmation processing of the unmanned aerial vehicle shown in fig. 9.
Description of the reference numerals
101. 101 a: unmanned aerial vehicle
102. 102 a: imaging device mounting section
103: body part
104: supporting part
105: propeller
201. 201 a: image capturing apparatus
202: servo motor
203: fixing frame
204-207: arm part
301. 301 a: manipulator
302: manipulator communication section
303: propeller control unit
304: acceleration sensor
305: motor control unit
306: individual number recording unit
307: communication unit of imaging device
308. 308 a: authentication processing unit
310: autonomous navigation control unit
401: flight instruction input unit
402: shooting direction input unit
403: authentication request input unit
404: unmanned aerial vehicle communication section
405: autonomous navigation switching instruction input unit
501: unmanned aerial vehicle communication section
502: authentication request unit
503: individual number acquisition unit
504: image pickup unit
505: individual number insertion part
506: recording unit
507: image analysis unit
508: image processing unit
Detailed Description
(insight underlying the present disclosure)
In recent years, along with the cost reduction and the popularization of unmanned aerial vehicles, it has become easier to perform aerial photography using an imaging device mounted on an unmanned aerial vehicle than ever before. On the other hand, since aerial photography by an imaging device mounted on an unmanned aerial vehicle can be easily performed even in a place where imaging is conventionally difficult, such as a land of a private house, the necessity of privacy protection of a photographed image or the like is being discussed.
Particularly, when a captured image is disclosed on a network, consideration is required to be made such that a part which may damage privacy is blurred, and a policy is being made. Here, the parts that may invade privacy refer to faces of people, license plates of automobiles, houses, and the like.
Further, there are also problems associated with dangerous aerial photography, such as aerial photography in flight-prohibited areas such as densely populated areas, and aerial photography in places where a plurality of people gather, such as sacrifice and field meetings. Such an aerial act and an act of disclosing an aerial image on a network are in violation.
As described above, the camera unit in patent document 1 includes the posture stabilizing unit at the time of descent and throwing and the camera module as the photographing unit, and the camera unit can realize remote control from the control unit by authenticating with the external control unit. The technique of patent document 1 involves authentication between the camera and the control unit, but can still perform shooting from above when a camera module used for aerial photography is attached, which does not comply with the above-described violation of privacy protection or the like.
As a method of the privacy protection, a function of automatically blurring a position where there is a possibility of invasion of privacy by an image recognition process by an imaging device that performs aerial photography may be considered. In this method, it is possible to perform blurring processing on a specific image area such as a human face, a license plate of an automobile, and a house, and to realize privacy protection.
As a means for controlling and restricting illegal aerial photography, a method of embedding information such as an individual number of the unmanned aerial vehicle that can ensure traceability of a photographed image is conceivable. In this method, when the aerial image is disclosed on the network, the surveying organ can specify the supplier of the unmanned aerial vehicle and/or the individual number of the unmanned aerial vehicle, and thus the photographer, and can give a warning and/or a plan to the photographer.
Therefore, it is necessary to regulate the aerial photography behavior of an imaging device using an imaging device that does not have the privacy protection function and/or the traceability securing function of the video as described above. Therefore, in the present disclosure, only the imaging device having the above-described functions is regarded as a legitimate device, and when the unmanned aerial vehicle fails to verify the regularity of the imaging device, the unmanned aerial vehicle imposes operation restrictions on the predetermined functions to regulate and restrict poor aerial photography.
An unmanned aerial vehicle according to an aspect of the present disclosure performs flight according to remote operation from a manipulator or autonomous flight, and includes: a mounting portion for mounting a photographing device; a communication unit for communicating with the imaging device; and an authentication processing unit that performs authentication of the imaging device using the communication unit and determines whether or not the imaging device is a normal device that satisfies a predetermined condition required for aerial photography, wherein the authentication processing unit restricts operation of a predetermined function of the unmanned aerial vehicle such that the imaging device cannot perform aerial photography when determining that the imaging device is not a normal device.
According to this configuration, the authentication processing unit communicates with the imaging device via the communication unit, and determines whether or not the imaging device mounted on the mounting unit of the unmanned aerial vehicle is a legitimate device. If the authentication fails, that is, if it is determined that the imaging device is not a legitimate device, the operation of the predetermined function of the unmanned aerial vehicle is restricted, and normal aerial imaging cannot be performed. As a result, when the imaging device is not a regular device that satisfies the predetermined conditions required for aerial photography, the operation restriction is imposed on the predetermined function of the unmanned aerial vehicle, and aerial photography by the irregular imaging device can be restricted.
The mounting unit may include a changing unit that changes an imaging direction of the imaging device in response to a remote operation from the manipulator, and the authentication processing unit may restrict the change of the imaging direction of the imaging device by the changing unit so that the imaging device cannot perform aerial photography, when it is determined that the imaging device is not a legitimate device.
According to this configuration, when an attempt is made to take an image by an unauthorized imaging device, the imaging direction cannot be changed by remote operation, and an image desired by the photographer cannot be taken.
The authentication processing unit may control the changing unit to fix the imaging direction of the imaging device to a specific direction in which the imaging device cannot perform aerial photography, when determining that the imaging device is not a legitimate device.
According to this configuration, when attempting an aerial photograph using an unauthorized imaging device, the imaging direction of the imaging device is fixed to a specific direction in which the imaging device cannot perform the aerial photograph, and therefore it is difficult for the photographer to capture a desired image.
The specific direction may also be a ground plane direction of the unmanned aerial vehicle.
According to this configuration, when an attempt is made to take an image by an aerial photography using an irregular imaging device, the imaging direction of the imaging device is fixed to the bottom surface of the unmanned aerial vehicle, and therefore the aerial image is not visually meaningful.
The attachment unit may include a stabilization unit that reduces a motion blur of a moving image when the imaging device takes an image by plane,
the authentication processing unit controls the stabilization unit so that the stabilization unit does not reduce motion blur of the moving image when the imaging device is determined not to be a normal device.
According to this configuration, when an attempt is made to take an aerial image using a non-authorized imaging device, the image taken contains a large amount of blur, and it is difficult for the photographer to take a desired image.
The authentication processing unit may restrict remote operation of the unmanned aerial vehicle from the manipulator when it is determined that the imaging device is not a legitimate device.
According to this configuration, when an attempt is made to take an image by an aerial photography using a non-authorized imaging device, it becomes impossible to fly the unmanned aerial vehicle by remote operation.
The authentication processing unit may change the flight of the unmanned aerial vehicle to an autonomous flight when it is determined that the imaging device is not a normal device.
According to this configuration, when it is determined that the imaging device is not authorized during flight, the guidance is provided to a safe state by autonomous flight.
The required conditions for aerial photography may be: the authentication processing unit controls the imaging device to embed the imaging condition information acquired from the unmanned aerial vehicle via the communication unit into the image data captured by the imaging device when it is determined that the imaging device is a legitimate device.
According to this configuration, when it is determined that the imaging device is a normal device, the imaging condition information for tracking the history of the image data captured by the imaging device is embedded in the image data captured by the imaging device, so that the history of the image data can be tracked. That is, since the image data includes the shooting condition information on specifying the photographer, it is helpful to restrict implementation of dangerous or illegal aerial shooting, and further to restrict disclosure of the image or the like shot thereby on the network.
The required conditions for aerial photography may be: the authentication processing unit controls the imaging device to embed the imaging condition information acquired from the unmanned aerial vehicle via the communication unit into the image data captured by the imaging device using an electronic watermark, when it is determined that the imaging device is a legitimate device.
According to this configuration, when it is determined that the imaging device is a normal device, the imaging condition information for tracking the history of the video data captured by the imaging device is embedded in the video data captured by the imaging device using the digital watermark, and therefore the history of the video data can be tracked without degrading the quality of the video data.
The imaging condition information may be individual information that enables the unmanned aerial vehicle to be uniquely identified, and the authentication processing unit may control the imaging device to embed the individual information acquired from the unmanned aerial vehicle via the communication unit into the image data captured by the imaging device when it is determined that the imaging device is a legitimate device.
According to this configuration, in order to complete the aerial photography, it is necessary to embed individual information that uniquely identifies the unmanned aerial vehicle into the image data, and since the image data contains information that specifies the photographer, it is helpful to restrict the implementation of the aerial photography at risk or in law, and further restrict the disclosure of the image and the like photographed thereby on the network.
The required conditions for aerial photography may be: the authentication processing unit controls the image pickup device to recognize the specific image area and perform image processing to make the specific image area less perceptible when it is determined that the image pickup device is a normal device.
According to this configuration, the image captured by the unmanned aerial vehicle is processed only as a specific image area, that is, an image that is difficult to perceive in an area where privacy may be violated, and privacy protection during aerial photography is achieved.
The present disclosure can be realized not only as an unmanned aerial vehicle having the above-described characteristic configuration but also as a control method for an unmanned aerial vehicle that executes characteristic processing corresponding to the characteristic configuration included in the unmanned aerial vehicle. Therefore, the same effects as those of the above-described unmanned aerial vehicle can be obtained in the following other aspects.
A control method for an unmanned aerial vehicle that includes a mounting unit for mounting a camera and that performs a flight according to a remote operation from a manipulator or an autonomous flight, according to another aspect of the present disclosure includes: the image capturing apparatus authentication method includes authenticating the image capturing apparatus using a communication unit for communicating with the image capturing apparatus, determining whether the image capturing apparatus is a normal apparatus that satisfies a predetermined condition required for aerial photography, and if it is determined that the image capturing apparatus is not a normal apparatus, restricting operation of a predetermined function of the unmanned aerial vehicle so that the image capturing apparatus cannot carry out aerial photography.
Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The embodiments described below are all embodiments showing a specific example of the present disclosure. The shapes, components, steps, and the order of the steps described in the following embodiments are merely examples, and the present disclosure is not limited thereto.
Among the components of the following embodiments, those not recited in the independent claims indicating the highest concept will be described as optional components. In all embodiments, the contents may be combined. Furthermore, various modifications of the embodiments of the present disclosure, which are within the scope of modifications of those skilled in the art, are also included in the present disclosure, as long as the modifications do not depart from the gist of the present disclosure.
(embodiment mode 1)
Fig. 1 is an external view showing an example of an unmanned aerial vehicle provided with a mounting portion of an imaging device according to embodiment 1 of the present disclosure. The unmanned aerial vehicle 101 shown in fig. 1 includes: an imaging device mounting portion 102, a main body 103, four support portions 104, and four propellers 105. The camera mounting portion 102 is a mounting portion of the camera 201 indicated by a broken line in the drawing, and is electrically connected to the main body portion 103 of the unmanned aerial vehicle 101 through a power supply line and a control signal line. The propeller 105 is attached to the tip of the support portion 104 extending in four directions from the body portion 103, and generates a propulsive force of the unmanned aerial vehicle 101. The configuration of the unmanned aerial vehicle 101 is not particularly limited to the above example, and various modifications such as a change in the number of the support portions 104 and/or the propellers 105 are possible.
Fig. 2 is an external view showing an example of a case where the imaging device 201 is mounted on the imaging device mounting portion 102 shown in fig. 1. The imaging device mounting section 102 includes three servo motors 202, a fixed frame 203, and arm sections 204 to 207.
The imaging device 201 is fixed to the fixing frame 203, and one end of the arm 207 is fixed to the main body 103. The fixed frame 203 is connected to one end of the arm 204, the other end of the arm 204 is connected to one end of the arm 205 in a rotatable state in a rotation direction indicated by a broken line in the figure, the other end of the arm 205 is connected to one end of the arm 206 in a rotatable state in a rotation direction indicated by a broken line in the figure, and the other end of the arm 206 is connected to the other end of the arm 207 in a rotatable state in a rotation direction indicated by a broken line in the figure.
The servo motor 202 is attached to the arm portions 204, 205, and 207, and the rotation operation thereof is controlled based on a control signal from the main body 103 of the unmanned aerial vehicle 101. According to the above configuration, the posture of the imaging device 201 can be controlled with the three axes of the imaging device 201 as the rotation axes.
Fig. 3 is a block diagram showing an example of the configuration of the unmanned aerial vehicle 101 shown in fig. 1. In the unmanned aerial vehicle 101 shown in fig. 3, four propellers 105 and three servomotors 202 are used, but for simplification of the illustration, each of them is illustrated as a single frame, and the same applies to fig. 9 described later.
As shown in fig. 3, the unmanned aerial vehicle 101 includes, in addition to the propeller 105 shown in fig. 1 and the servo motor 202 shown in fig. 2: a manipulator communication unit 302, a propeller control unit 303, an acceleration sensor 304, a motor control unit 305, an individual number recording unit 306, an imaging device communication unit 307, and an authentication processing unit 308. For example, the manipulator communication unit 302, the propeller control unit 303, the acceleration sensor 304, the motor control unit 305, the individual number recording unit 306, and the authentication processing unit 308 are disposed in the main body 103 shown in fig. 1, and the imaging device communication unit 307 is disposed in the fixed frame 203 shown in fig. 2.
The manipulator communication unit 302 is wirelessly connected to the manipulator 301, and receives an operation instruction from the manipulator 301. The manipulator communication unit 302 inputs a manipulation instruction from the manipulator 301 to the propeller control unit 303. The propeller control unit 303 changes the rotation speed or the like of the propeller 105 in accordance with the input operation instruction, and realizes flight in accordance with a manipulation instruction such as ascending, descending, or movement.
Further, the manipulator communication unit 302 inputs a manipulation instruction from the manipulator 301 to the motor control unit 305. The motor control unit 305 is connected to the servomotor 202 of the imaging device mounting unit 102. The motor control unit 305 can change the shooting direction to the direction instructed by the operator by driving the servomotor 202 of the imaging device mounting unit 102 based on the operation instruction input from the manipulator communication unit 302. That is, the imaging device mounting section 102 has a function as an electronically controllable pan/tilt head that changes the imaging direction of the imaging device 201 by remote operation.
The motor control unit 305 is also connected to the acceleration sensor 304. The motor control unit 305 changes the servo motor 202 of the imaging device mounting unit 102 in a direction to cancel the acceleration generated by the unmanned aerial vehicle 101, based on the sensor information obtained from the acceleration sensor 304. Thus, the motor control unit 305 suppresses the shake during the moving image capturing. That is, the image pickup device mounting unit 102 also has a function as an electronically controllable stabilizer that reduces the blur of a moving image when the image pickup device 201 picks up an image.
The configuration of the imaging device mounting portion 102 is not particularly limited to the above-described example, and various modifications may be made as long as the configuration can function as an electronically controllable pan/tilt head (a changing portion that changes the imaging direction of the imaging device 201 in response to a remote operation from the manipulator 301) and/or an electronically controllable stabilizer (a stabilizing portion that reduces the motion blur of the moving image when the imaging device 201 is aerial-photographed).
The imaging device communication unit 307 communicates with the imaging device 201 mounted on the imaging device mounting unit 102. As a communication method, the imaging device communication unit 307 uses, for example, Bluetooth (registered trademark) which is a short-range wireless communication standard.
The authentication processing unit 308 authenticates the imaging device 201 using the imaging device communication unit 307, and determines whether or not the imaging device 201 is a proper device that satisfies a predetermined condition required for aerial photography. Here, the conditions required for aerial photography are conditions that specify operations to be executed by the imaging device 201 during aerial photography in order to ensure traceability of the image data. For example, the conditions required for aerial photography are: imaging condition information for tracking a history of image data captured by the imaging device 201 is embedded in the image data captured by the imaging device 201.
The conditions required for aerial photography are not particularly limited to this example, and: the above-described imaging condition information is embedded in the image data captured by the imaging device 201 using an electronic watermark, and various changes such as individual information that can uniquely identify the unmanned aerial vehicle 101 is used as the imaging condition information.
Specifically, the authentication processing unit 308 establishes a logical communication path (speech path) with the imaging apparatus 201 via the imaging apparatus communication unit 307. Further, the authentication processing unit 308 executes a predetermined protocol using the session, and attempts authentication of the imaging device 201. When the authentication fails, the authentication processing unit 308 disables the function of the motor control unit 305. When the authentication is successful, the authentication processing unit 308 maintains the session. When the physical communication or the speech path is cut for some reason, the authentication processing unit 308 invalidates the function of the motor control unit 305.
The individual number recording section 306 records an individual number as individual information that can uniquely identify the unmanned aerial vehicle 101. The individual number recording unit 306 can transmit the individual number to the image pickup device 201 via the image pickup device communication unit 307 in response to an acquisition request of the individual number from the image pickup device 201 via the image pickup device communication unit 307.
Fig. 4 is a block diagram showing an example of the configuration of the manipulator 301 shown in fig. 3. The manipulator 301 shown in fig. 4 includes: a flight instruction input unit 401, an imaging direction input unit 402, an authentication request input unit 403, and an unmanned aerial vehicle communication unit 404.
The flight instruction input unit 401 is operated by a user to input flight instructions such as ascending, descending, and moving. The imaging direction input unit 402 is operated by a user to input an instruction to change the imaging direction of the imaging device 201 attached to the imaging device attachment unit 102. The authentication request input unit 403 inputs an instruction to start the authentication process of the unmanned aerial vehicle 101. The unmanned aerial vehicle communication unit 404 transmits the instruction input by the flight instruction input unit 401, the shooting direction input unit 402, and the authentication request input unit 403 to the unmanned aerial vehicle 101 by wireless communication.
(details of the communication method of the unmanned aerial vehicle 101 and the photographing device 201)
The communication method between the imaging device communication unit 307 of the unmanned aerial vehicle 101 and the unmanned aerial vehicle communication unit 404 of the imaging device 201 may be wired communication via electrical connection, or may be wireless communication other than Bluetooth (registered trademark). However, when wireless communication is used, attention needs to be paid to "masquerading" of the photographing device 201.
Here, "masquerading" refers to a behavior in which the unmanned aerial vehicle 101 mistakenly recognizes a non-authorized imaging device as a proper imaging device by a behavior of attaching a non-authorized imaging device to the imaging device attachment unit 102 or a behavior corresponding to the behavior after communication and authentication are performed between an authorized imaging device capable of authentication and the unmanned aerial vehicle 101 and the functional restriction is removed.
In order to avoid "spoofing", it is desirable to use a communication standard assuming a sufficiently short transmission distance when wireless communication is used, or to limit the wireless propagation distance of the imaging device communication unit 307 to a sufficiently short value. Thus, when the distance between the authorized imaging device for "impersonation" and the imaging device mounting unit 102 is sufficiently separated (for example, when the authorized imaging device is detached from the imaging device mounting unit 102 or when the unmanned aerial vehicle 101 is shifted to the flight state in a state where the authorized imaging device is placed on the ground), the communication connection between the imaging device and the unmanned aerial vehicle 101 is disconnected, and the connection confirmation process described later fails. Examples of Communication standards based on a short transmission distance include NFC (Near Field Communication) and TransferJet (registered trademark).
(details of the photographing device that the unmanned aerial vehicle 101 can authenticate)
Fig. 5 is a block diagram showing an example of the configuration of the imaging apparatus in the case where the imaging apparatus 201 shown in fig. 3 is a normal imaging apparatus. When the imaging device 201 is a normal imaging device, as shown in fig. 5, the imaging device 201 includes: the unmanned aerial vehicle communication unit 501, the authentication request unit 502, the individual number acquisition unit 503, the imaging unit 504, the individual number embedding unit 505, and the recording unit 506.
The unmanned aerial vehicle communication unit 501 establishes physical connection with the imaging device communication unit 307, and performs communication with the unmanned aerial vehicle 101. The authentication request unit 502 establishes a session with the authentication processing unit 308 via the unmanned aerial vehicle communication unit 501, and authenticates the imaging device 201 according to a predetermined protocol.
The individual number acquisition unit 503 establishes a speech path with the individual number recording unit 306 via the unmanned aerial vehicle communication unit 501, and acquires the individual number of the unmanned aerial vehicle 101. The image pickup unit 504 is configured by a lens, an image sensor, and the like, and acquires and outputs captured image data. The individual number embedding unit 505 performs processing of embedding the individual number of the unmanned aerial vehicle 101 input from the individual number acquiring unit 503 into the image data input from the imaging unit 504. The video data in which the individual number is embedded is output from the individual number embedding unit 505 to the recording unit 506 and recorded.
As a method of embedding the individual number in the video data, the individual number embedding unit 505 uses, for example, a hard-to-perceive digital watermark (digital watermark). In this case, the individual number can be embedded in the video data while suppressing degradation of the visual image quality of the video data.
In the present embodiment, only if the imaging device 201 having the above-described configuration is regarded as a normal imaging device by the unmanned aerial vehicle 101, the unmanned aerial vehicle 101 can perform authentication and can aerial-photograph the image data of the individual number in which the unmanned aerial vehicle 101 is embedded.
The information to be embedded in the video data and the embedding method are not particularly limited to the above examples, and various modifications are possible. For example, the embedded information in the video data may include imaging conditions such as an imaging location and an imaging date in addition to the individual number of the aircraft. In addition, when information that can uniquely identify a photographer who is a user using the imaging device 201 can be secured by some method, the information may be embedded, and as the embedding method, a method of forming an image of the embedded information and superimposing the image on video data may be used.
(details of authentication processing)
Fig. 6 is a flowchart showing an example of the flow of the authentication process of the unmanned aerial vehicle 101 shown in fig. 3. This process is started by performing a predetermined input with the manipulator 301 when the power supply of the unmanned aerial vehicle 101 is turned on or in a state where the unmanned aerial vehicle 101 is stationary.
First, the authentication processing unit 308 tries to establish a speech path with the authentication requesting unit 502 (step S601). Next, the authentication processing unit 308 determines whether or not a session with the authentication requesting unit 502 is established (step S602).
When the session establishment is successful (yes in step S602), the authentication processing unit 308 communicates with the authentication requesting unit 502 according to a predetermined protocol to try the authentication of the imaging apparatus 201 (step S603). Next, the authentication processing unit 308 determines whether or not the authentication of the imaging device 201 has succeeded (step S604). If the authentication is successful (yes in step S604), the authentication processing unit 308 ends the authentication process.
On the other hand, when the authentication fails (NO in step S604), the authentication processing unit 308 disconnects the speech path (step S605).
When the speech path establishment fails (no in step S602), or when the speech path is cut due to a failure in authentication (step S605), the authentication processing unit 308 performs function restriction of the unmanned aerial vehicle 101, that is, invalidates the function of the motor control unit 305 (step S606), and ends the authentication processing.
The authentication of the imaging apparatus 201 in step S603 is performed by the same procedure as the authentication of the 1 st device under the HDCP (High-bandwidth Digital Content Protection) standard. In the present apparatus authentication, the camera 201 and the unmanned aerial vehicle 101 each need to have a separate private key and public key.
The private key and the public key are stored in a predetermined tamper-proof area (an area for preventing unauthorized internal analysis and/or alteration of a circuit or the like of software and/or hardware, for example, a tamper-proof area provided in the individual number recording unit 306 and the recording unit 506) of the imaging device 201 and the unmanned aerial vehicle 101 at the time of manufacturing the imaging device 201 and the unmanned aerial vehicle 101 or before shipment. The private key and the public key for successful authentication need to be generated according to a regular algorithm. The authorized private key and the public key are issued through a predetermined procedure and examination, and the imaging apparatus 201 can accept the authorized key issuance only when it is confirmed through the examination that the imaging apparatus has a specification that satisfies a predetermined required condition. Here, since the authentication procedure under the HDCP standard is well known, the description thereof is omitted.
Further, the method of device authentication is not limited to the use of the HDCP standard described above. For example, a method may be used in which a configuration of client authentication in SSL (Security Sockets Layer) is used to verify whether or not a digital certificate stored in a tamper-resistant area of the imaging apparatus 201 is a certificate issued in a regular procedure.
Fig. 7 is a flowchart showing an example of the flow of the connection confirmation process of the unmanned aerial vehicle 101 shown in fig. 3. This process is a process periodically performed by the authentication processing unit 308 to check whether or not the "masquerading" of the imaging device 201 is performed.
First, the authentication processing unit 308 transmits a confirmation signal to the authentication requesting unit 502 of the imaging device 201 (step S701). Next, the authentication processing section 308 determines whether or not there is a response from the imaging device 201 to the confirmation signal (step S702).
If there is no response from the imaging device 201 to the confirmation signal (no in step S702), the authentication processing unit 308 validates the function restriction of the unmanned aerial vehicle 101 (step S703), cuts off the speech path with the imaging device 201 (step S704), and then ends the connection confirmation processing. On the other hand, when there is a response from the imaging device 201 to the confirmation signal (yes in step S702), the authentication processing section 308 ends the connection confirmation processing.
(details of invalidation of function of motor control unit 305)
Through the authentication process and the connection confirmation process described above, when the unmanned aerial vehicle 101 fails in authentication of the imaging device 201 or when the speech path is cut for some reason after authentication (when the imaging device 201 is not a legitimate device), the authentication processing unit 308 invalidates a part of the functions of the motor control unit 305, which is an example of a changing unit that changes the imaging direction of the imaging device 201 by remote operation from the manipulator 301, invalidates the electronic control function of the pan/tilt head of the imaging device mounting unit 102, and restricts the change of the imaging direction of the imaging device 201. This makes the instruction to change the shooting direction input to the manipulator 301 by the photographer ineffective, making it difficult for the photographer to take a desired image.
In addition to invalidating the above-described instruction to change the imaging direction, the authentication processing unit 308 may also input an imaging direction instruction to the motor control unit 305 to fix the imaging direction of the imaging device 201 to a predetermined position so that the imaging device 201 cannot perform aerial imaging. In particular, by fixing the imaging direction in a state of facing the bottom surface of the unmanned aerial vehicle 101, the captured image is only the image in which the bottom surface of the unmanned aerial vehicle 101 is imaged, which is not visually significant.
Further, as a modification of the function invalidation of the motor control unit 305, the stabilizer function of the motor control unit 305 may be invalidated. In this case, the electronic stabilizer function of the motor control unit 305, which is an example of a stabilization unit that reduces the motion blur of the moving image when the imaging device 201 takes an image by plane, is disabled, and the moving image taken in a state where the electronic stabilizer function is disabled contains much motion blur, which makes no visual sense.
As described above, by invalidating at least one of the electronic control function and the electronic stabilizer function of the imaging device mounting section 102 constituting the pan/tilt head, it is possible to substantially restrict the aerial photography using the imaging device 201 that the unmanned aerial vehicle 101 cannot authenticate.
(Effect)
As described above, the unmanned aerial vehicle 101 can permit aerial photography only for an imaging device authenticated as a legitimate device, for example, the imaging device 201 shown in fig. 5 having a function of embedding an individual number of the unmanned aerial vehicle as a digital watermark in a captured image. On the other hand, in the case of an imaging device that is not a legitimate device and does not have this function, the unmanned aerial vehicle 101 does not authenticate the imaging device, and by implementing the function restriction of either or both of the electronic control function and the electronic stabilizer function of the pan/tilt head of the imaging device mounting portion 102, it is possible to substantially restrict the aerial photography.
In addition, when the imaging device mounted on the unmanned aerial vehicle 101 is a normal device, an individual number that can uniquely identify the unmanned aerial vehicle 101 is embedded in the image data when the aerial vehicle is carried out using the imaging device. That is, since the aerial image contains information for specifying the photographer, it is possible to suppress the execution of inappropriate aerial image and suppress disclosure of the aerial image and the like.
(embodiment mode 2)
Fig. 8 is an external view showing an example of an unmanned aerial vehicle provided with a mounting portion of an imaging device according to embodiment 2 of the present disclosure. The unmanned aerial vehicle 101a shown in fig. 8 includes: an imaging device mounting portion 102a, a main body 103, four support portions 104, and four propellers 105. In fig. 8, the same reference numerals are used for the components common to fig. 1, and the description thereof is omitted.
Unlike the imaging device mounting unit 102 of embodiment 1, the imaging device mounting unit 102a is fixed to the main body 103, does not have a servo motor 202 or the like, and does not have a function as a pan/tilt head or a stabilizer.
Fig. 9 is a block diagram showing an example of the configuration of the unmanned aerial vehicle 101a shown in fig. 8. As shown in fig. 9, the unmanned aerial vehicle 101a includes, in addition to the propeller 105 shown in fig. 8 and the like: a manipulator communication unit 302, a propeller control unit 303, an imaging device communication unit 307, an authentication processing unit 308a, and an autonomous navigation control unit 310. In fig. 9, the same reference numerals are used for the components common to fig. 3, and the description thereof is omitted.
The autonomous flight control unit 310 controls the propeller control unit 303 to realize autonomous flight of the unmanned aerial vehicle 101 a. The autonomous flight of the unmanned aerial vehicle 101a is implemented based on the autonomous flight program stored in the autonomous flight control section 310. As the autonomous navigation program, for example, there are included: a program for flying the unmanned aerial vehicle 101a according to a preset flight plan, a program for performing a landing operation while maintaining the horizontal position of the unmanned aerial vehicle 101a, a program for automatically returning the unmanned aerial vehicle 101a to the position at the time of takeoff, and the like. Since a well-known technique is related to autonomous navigation of the unmanned aerial vehicle, description is omitted. Switching from the manual flight state using the manipulator 301a to the autonomous flight state is performed in accordance with an instruction from the manipulator 301a via the manipulator communication unit 302.
In the present embodiment, the authentication processing unit 308a is connected to the propeller control unit 303. The authentication processing unit 308a authenticates the imaging device 201a using the imaging device communication unit 307, and determines whether the imaging device 201a is a proper device that satisfies a predetermined condition required for aerial photography. Here, the conditions required for the aerial photography define the operations to be executed by the imaging device 201a during the aerial photography in order to protect the privacy of the video data. For example, the conditions required for aerial photography are: the image processing is performed to recognize a specific image region satisfying a predetermined condition with respect to the video data captured by the image capturing device 201a and to make the specific image region less perceptible. The conditions required for aerial photography are not particularly limited to this example, and various modifications are possible.
When the authentication process for the imaging device 201a has failed, the authentication processing unit 308a controls the propeller control unit 303 so that the propeller control unit 303 does not receive an operation instruction from the manipulator 301 a. The authentication process performed by the authentication processing unit 308a is started when the power supply of the unmanned aerial vehicle 101a is turned on, as in embodiment 1. Or the authentication process is started by making a prescribed input to the manipulator 301a in a state where the unmanned aerial vehicle 101a is stationary. Therefore, the unmanned aerial vehicle 101a does not accept the operation by the manipulator 301a unless the imaging device 201a is authenticated, and cannot shift to the flying state.
The authentication processing unit 308a is also connected to the autonomous navigation control unit 310, and can be shifted to the autonomous navigation state in response to an instruction from the authentication processing unit 308 a.
Fig. 10 is a block diagram showing an example of the configuration of the manipulator 301a shown in fig. 9. As shown in fig. 10, the manipulator 301a includes: flight instruction input unit 401, authentication request input unit 403, unmanned aerial vehicle communication unit 404, and autonomous flight switching instruction input unit 405. In fig. 10, the same reference numerals are used for the components common to fig. 4, and the description thereof is omitted.
The autonomous navigation switching instruction input unit 405 is operated by the user to input: the control device includes an instruction to select an autonomous travel program, an instruction to switch from a manual travel state to an autonomous travel state, and an instruction to switch from the autonomous travel state to the manual travel state. However, when the authentication processing unit 308a shifts the flight state of the unmanned aerial vehicle 101a from the manual flight state to the autonomous flight state, the unmanned aerial vehicle 101a cannot be shifted from the autonomous flight state to the manual flight state by the input to the autonomous flight switching instruction input unit 405.
(details of the photographing device that the unmanned aerial vehicle 101a can authenticate)
Fig. 11 is a block diagram showing an example of the configuration of the imaging apparatus in the case where the imaging apparatus 201a shown in fig. 9 is a normal imaging apparatus. As shown in fig. 11, when the imaging device 201a is a normal imaging device, the imaging device 201a includes: the unmanned aerial vehicle communication unit 501, the authentication request unit 502, the imaging unit 504, the recording unit 506, the image analysis unit 507, and the image processing unit 508. In fig. 11, the same reference numerals are used for the components common to fig. 5, and the description thereof is omitted.
When determining that the imaging apparatus 201a is a legitimate apparatus, the authentication processing unit 308a controls the image analysis unit 507 and the image processing unit 508 to recognize a specific image region satisfying a predetermined condition and perform image processing for making the specific image region less perceptible, in order to protect privacy during aerial photography.
Specifically, the image analysis unit 507 performs face recognition processing on the image data captured by the imaging unit 504, and determines whether or not the image data includes a face image. Since the recognition processing of the face image is a known technique, the description thereof will be omitted.
When determining that a face image is present in the video data, the image analysis unit 507 outputs rectangular coordinate information indicating the position of the face image. When there are a plurality of face images, the image analysis section 507 outputs the same number of sets of coordinate information as the number of recognized face images. The image processing unit 508 performs a blurring process on the face image region indicated by the coordinate information output from the image analyzing unit 507.
In the present embodiment, only if the imaging device 201a having the above-described configuration is considered as a normal imaging device by the unmanned aerial vehicle 101a, the unmanned aerial vehicle 101a can perform authentication, perform blurring processing on the face image region, and capture video data that makes the face image region less likely to be perceived.
The image recognized by the image analysis unit 507 is not limited to the face image, and may be configured to recognize an image that may damage privacy, such as a license plate of a car and a house. In this specification, such an image area that may invade privacy is referred to as a specific image area. The shape of the specific image region is not limited to a rectangle, and may be any shape. The image processing by the image processing unit 508 is not limited to the blurring processing, and may be processing that can make the specific image region less perceptible. For example, the specific image area may be blacked.
Next, an authentication process performed by the authentication processing unit 308a of the present embodiment will be described. Since the authentication process performed by the authentication processing unit 308a is basically the same as the authentication process performed by the authentication processing unit 308 shown in fig. 6, detailed descriptions of the common processes and the illustration thereof are omitted. That is, the authentication process performed by the authentication processing section 308a is the same as the authentication processing section 308 shown in fig. 6 except for step S606. However, in step S606, the authentication processing unit 308a disables the function of the propeller control unit 303 as a function restriction of the unmanned aerial vehicle 101a, and shifts the flight of the unmanned aerial vehicle 101a to the autonomous flight by the autonomous flight control unit 310 without receiving an operation instruction from the manipulator 301 a.
Fig. 12 is a flowchart showing an example of the flow of the connection confirmation processing of the unmanned aerial vehicle 101a shown in fig. 9. In fig. 12, the same reference numerals are used for the processing common to fig. 7, and the description thereof is omitted.
In the present embodiment, the processing of steps S701 and S702 is executed as in fig. 7, and when there is no response from the imaging device 201a to the confirmation signal (no in step S702), the authentication processing unit 308a performs control so as to disable the function of the propeller control unit 303 and not accept the operation instruction from the manipulator 301a in step S703.
After the next process of step S704, the authentication processing unit 308a determines whether the unmanned aerial vehicle 101a is in flight (step S705). When it is determined that the unmanned aerial vehicle 101a is in the flight state (yes in step S705), the authentication processing unit 308a turns on the autonomous flight control unit 310 to transition to the autonomous flight state (step S706), and then ends the connection confirmation processing. At this time, the autonomous flight control unit 310 executes an automatic return routine, and the unmanned aerial vehicle 101a automatically flies to the takeoff position and lands.
When there is a response from the imaging device 201a to the confirmation signal (yes in step S702), or when it is determined that the unmanned aerial vehicle 101a is not in the flight state (no in step S705), the authentication processing unit 308a ends the connection confirmation processing.
The autonomous navigation program executed in step S706 is not limited to the automatic return program, and may be an autonomous navigation program for safely bringing the unmanned aerial vehicle 101a, which is no longer subjected to the operation instruction due to the above-described function restriction, to a stationary state and bringing it to a landing state, and may be a program for performing landing while maintaining a horizontal position, for example, instead.
(Effect)
As described above, the unmanned aerial vehicle 101a can permit aerial photography with respect to an imaging device that is a device authenticated to be legitimate, for example, the imaging device 201a shown in fig. 11 that has a function of performing processing that makes a specific image region less perceptible on a captured image. On the other hand, with respect to an imaging device that is not a legitimate device and does not have this function, the unmanned aerial vehicle 101a does not authenticate the imaging device and can suppress aerial photography by restricting its own flight.
Further, in the connection confirmation processing which is periodically performed, when it is determined that the imaging device attached to the imaging device attachment unit 102a is an unauthorized device which does not have the above-described function (when it is determined that "masquerading" is performed), and when the unmanned aerial vehicle 101a is in flight, the unmanned aerial vehicle 101a automatically shifts to the autonomous flight state and is guided to the stationary state, and thus the aerial photography is forcibly interrupted.
In addition, when the imaging device 201a attached to the unmanned aerial vehicle 101a is a legitimate device, when the aerial image is taken using the imaging device, the image taken is an image in which a specific image area, that is, an area where privacy may be impaired is processed, and it is possible to suppress inappropriate aerial image taking and protect privacy.
Industrial applicability
The unmanned aerial vehicle according to the present disclosure has a function of authenticating an installed camera and performing operation limitation, and is useful for an unmanned aerial vehicle remotely controlled by an operator and/or an unmanned aerial vehicle autonomously flying based on previously programmed contents.
Claims (12)
1. An unmanned aerial vehicle that performs flight according to remote operation from a manipulator or autonomous flight, comprising:
a mounting portion for mounting a photographing device;
a communication unit for communicating with the imaging device; and
an authentication processing unit that performs authentication of the imaging device using the communication unit and determines whether or not the imaging device is a normal device that satisfies a predetermined condition required for aerial photography,
the authentication processing unit restricts operation of a predetermined function of the unmanned aerial vehicle so that the imaging device cannot perform aerial photography when determining that the imaging device is not a legitimate device.
2. The unmanned aerial vehicle of claim 1,
the mounting portion includes a changing portion that changes a shooting direction of the shooting device according to a remote operation from the manipulator,
the authentication processing unit restricts, when it is determined that the imaging device is not a legitimate device, the change of the imaging direction of the imaging device by the changing unit so that the imaging device cannot perform aerial photography.
3. The unmanned aerial vehicle of claim 2,
the authentication processing unit controls the changing unit to fix the imaging direction of the imaging device to a specific direction in which the imaging device cannot perform aerial imaging, when it is determined that the imaging device is not a legitimate device.
4. The unmanned aerial vehicle of claim 3,
the specific direction is a ground plane direction of the unmanned aerial vehicle.
5. The unmanned aerial vehicle of claim 1,
the mounting section includes a stabilization section that reduces shaking of a moving image when the imaging device takes an aerial image,
the authentication processing unit controls the stabilization unit so that the stabilization unit does not reduce motion blur of the moving image when the imaging device is determined not to be a normal device.
6. The unmanned aerial vehicle of claim 1,
the authentication processing unit restricts remote operation of the unmanned aerial vehicle from the manipulator when it is determined that the imaging device is not a legitimate device.
7. The unmanned aerial vehicle of claim 6,
the authentication processing unit changes the flight of the unmanned aerial vehicle according to the remote operation from the manipulator to the autonomous flight when determining that the imaging device is not a regular device.
8. The unmanned aerial vehicle of claim 1,
the required conditions for aerial photography are as follows: embedding, in image data captured by the imaging device, imaging condition information for tracking a history of the image data captured by the imaging device,
the authentication processing unit controls the imaging device to embed the imaging condition information acquired from the unmanned aerial vehicle via the communication unit into the image data captured by the imaging device when it is determined that the imaging device is a legitimate device.
9. The unmanned aerial vehicle of claim 8,
the required conditions for aerial photography are as follows: embedding the photographing condition information into image data photographed by the photographing device using an electronic watermark,
the authentication processing unit controls the imaging device to embed the imaging condition information acquired from the unmanned aerial vehicle via the communication unit in the image data captured by the imaging device using an electronic watermark, when it is determined that the imaging device is a legitimate device.
10. The unmanned aerial vehicle of claim 8,
the photographing condition information is individual information that can uniquely identify the unmanned aerial vehicle,
the authentication processing unit controls the imaging device to embed the individual information acquired from the unmanned aerial vehicle via the communication unit into the image data captured by the imaging device when it is determined that the imaging device is a legitimate device.
11. The unmanned aerial vehicle of claim 1,
the required conditions for aerial photography are as follows: recognizing a specific image area satisfying a predetermined condition with respect to the image data captured by the imaging device, and performing image processing for making the specific image area less perceptible,
the authentication processing unit controls the imaging device to recognize the specific image region and perform image processing that makes the specific image region less perceptible when it is determined that the imaging device is a normal device.
12. A control method for an unmanned aerial vehicle which has a mounting part for mounting a camera and performs flight according to remote operation from a manipulator or autonomous flight,
the method comprises the following steps:
authenticating the imaging apparatus using a communication unit for communicating with the imaging apparatus, and determining whether the imaging apparatus is a normal apparatus satisfying a predetermined condition required for aerial photography,
and if the shooting device is judged not to be a normal device, implementing operation limitation on the preset function of the unmanned aerial vehicle so as to enable the shooting device not to carry out aerial photography.
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| JP6838231B2 (en) * | 2017-07-19 | 2021-03-03 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Controls, unmanned aerial vehicles, control methods, and programs |
| JP7094365B2 (en) | 2018-07-18 | 2022-07-01 | 良平 上瀧 | Air rights management system |
| JP6831949B2 (en) * | 2018-11-30 | 2021-02-17 | 楽天株式会社 | Display control system, display control device and display control method |
| JP7305263B2 (en) * | 2019-05-16 | 2023-07-10 | アルパイン株式会社 | Unmanned aerial vehicles, inspection methods and inspection programs |
| CN110719402B (en) * | 2019-09-24 | 2021-07-06 | 维沃移动通信（杭州）有限公司 | Image processing method and terminal equipment |
| WO2021134712A1 (en) * | 2019-12-31 | 2021-07-08 | 深圳市大疆创新科技有限公司 | Load authentication method and system, mobile platform, load, and transfer device |
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| JP2017119503A (en) | 2017-07-06 |
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