CN107205111A - Camera device, mobile device, camera system, image capture method and recording medium - Google Patents
Camera device, mobile device, camera system, image capture method and recording medium Download PDFInfo
- Publication number
- CN107205111A CN107205111A CN201611095306.5A CN201611095306A CN107205111A CN 107205111 A CN107205111 A CN 107205111A CN 201611095306 A CN201611095306 A CN 201611095306A CN 107205111 A CN107205111 A CN 107205111A
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- China
- Prior art keywords
- mobile device
- camera
- information
- camera device
- control unit
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Classifications
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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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Studio Devices (AREA)
Abstract
Camera device, mobile device, camera system, image capture method and recording medium are provided, effective cooperation can be also carried out in the case where the operator of mobile device and the photographer of camera device are operated respectively.Camera device (20) is arranged in mobile device (10) and can carry out two-way communication with mobile device (10), the camera device (20) has the image pickup part (21) and the 2nd control unit (28) that view data is imaged and generated to subject, and the 2nd control unit (28) sends the information that can be shown in the 1st display part (32) for the manipulation device (30) manipulated to mobile device (10) to mobile device (10).
Description
Technical field
The camera device of the view data of the subject, mobile dress are generated the present invention relates to being imaged to subject
Put, camera system, image capture method and recording medium.
Background technology
In recent years, it is known to following technology：The image data that camera from mobile robot is arranged on is sent is entered
Row analysis, detects barrier present on the direction of travel of mobile robot to prevent conflict (with reference to patent document 1).In the skill
In art, the control device for being manipulated to mobile robot is analyzed the image data sent from camera, in control
The analysis result and image data are shown in the display picture of control equipment.
Prior art literature
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2007-320024 publications
The content of the invention
The invention problem to be solved
But, in recent years, camera is installed in the mobile device such as mobile robot or unmanned aerial vehicle comprising unmanned plane
In the case of being shot Deng camera device, in operator and photographer's cooperation using different operation terminals respectively for movement
Under the situation that device and camera device are manipulated and shot, the improvement of the availability of multiple person cooperational is insufficient.
The present invention is to complete in view of the foregoing, and its object is to there is provided the operator in mobile device and shooting
The photographer of device can also carry out the camera device of effective cooperation, mobile device, shooting system in the case of being operated respectively
System, image capture method and program.
Means for solving the problems
In order to solve above-mentioned problem and realize purpose, camera device of the invention is installed on the mobile device and can be with this
Mobile device carries out two-way communication, it is characterised in that the camera device has：Image pickup part, its subject is imaged and
Generate view data；And control unit, it is controlled so that sent to the mobile device and the mobile device is grasped
The information that can be shown in the display part of vertical manipulation device.
Also, the camera device of the present invention is characterised by, in the present invention as stated above, described information comprises at least the shooting
The described image data of portion's generation.
Also, the camera device of the present invention is characterised by, in the present invention as stated above, the camera device also has distance inspection
Survey portion, this is apart from test section according to described image Data Detection from the camera device to the distance of the subject, described information
Also comprising the range information with the distance dependent detected apart from test section.
Also, the camera device of the present invention is characterised by, in the present invention as stated above, the camera device also has communication
Portion, the communication unit receives from the operation device operated to the camera device and indicates that the instruction shot is believed to the camera device
Number, and described image data are sent to the operation device, in the case where the communication unit receives the indication signal,
The control unit makes the image pickup part perform shooting, and described information also receives the indication signal comprising the expression communication unit
Receive information.
Also, the camera device of the present invention is characterised by, in the present invention as stated above, the control unit is filled from the movement
Put the feelings for receiving the control signal that the corresponding movement to the mobile device of operation with the manipulation device is controlled
Under condition, the control information relevant with the control signal is sent to the operation device via the communication unit.
Also, the camera device of the present invention is characterised by, in the present invention as stated above, the control unit is filled from the movement
Put in the case of have input the positional information relevant with the position of the mobile device, filled via the communication unit to the operation
Put the transmission positional information.
Also, the camera device of the present invention is characterised by that in the present invention as stated above, the control unit is in the mobile device
In the case of being returned to predetermined position, when the indication signal is received, also without based on the image pickup part
Shoot.
Also, the shooting dress that view data is imaged and generated to subject is installed in the mobile device of the present invention
Put, the mobile device can carry out two-way communication with the camera device, according to what is sent from the manipulation device with display part
Signal is moved, it is characterised in that the mobile device has communication unit, and the communication unit is received to be sent from the manipulation device
The signal, and to the manipulation device send from the camera device input information.
Also, the mobile device of the present invention is characterised by, in the present invention as stated above, described information comprises at least described image
Data.
Also, the mobile device of the present invention is characterised by, in the present invention as stated above, described information is also included with being taken the photograph from described
As the range information of device to the distance dependent of the subject.
Also, the mobile device of the present invention is characterised by that in the present invention as stated above, the mobile device also has：Position
Test section, it detects the positional information relevant with the current location of the mobile device；And control unit, it is controlled so that
The positional information that the position detection part is detected is sent to the camera device.
Also, the mobile device of the present invention is characterised by, in the present invention as stated above, described information is also included and taken the photograph described in expression
As device receive to the camera device indicate shoot indication signal receive information, the control unit is in the communication unit
In the case of receiving the signal, make the mobile device static when receiving described information.
Also, the mobile device of the present invention is characterised by that in the present invention as stated above, the control unit makes the mobile device
In the case of being returned to predetermined position, when receiving described information, the return of the mobile device is maintained.
Also, the camera system of the present invention has the camera device for being imaged to subject and generating view data, peace
Fill the camera device and the mobile device of two-way communication can be carried out with the camera device, the mobile device is grasped
Vertical manipulation device, the operation device operated to the camera device, it is characterised in that the camera device has control
Portion, the control unit is controlled so that the manipulation device manipulated to mobile device transmission to the mobile device
The information that can be shown in display part, the mobile device has communication unit, and the communication unit is received to be sent from the manipulation device
The signal, and to the manipulation device send from the camera device input described information.
Also, the image capture method of the present invention is by installing on the mobile device and can carry out two-way communication with the mobile device
Camera device perform, it is characterised in that the image capture method has steps of：Image pickup step, is imaged to subject
And generate view data；And rate-determining steps, the manipulation manipulated to the mobile device is sent to the mobile device and is filled
The information that can be shown in the display part put.
Also, the program that the recording medium recording of the present invention is performed by camera device, the camera device is arranged on mobile fill
Put and two-way communication can be carried out with the mobile device, it is characterised in that described program performs following steps：Image pickup step,
Subject is imaged and view data is generated；And rate-determining steps, sent to the mobile device to the mobile device
The information that can be shown in the display part of the manipulation device manipulated.
Invention effect
According to the present invention, situation about being operated respectively in the operator of mobile device and the photographer of camera device is played
Under can also carry out effective cooperation and the effect for carrying out mutual operation can be concentrated.
Brief description of the drawings
Fig. 1 is the schematic diagram of the schematic configuration for the camera system for showing an embodiment of the invention.
Fig. 2 is the block diagram of the functional structure for the camera system for showing an embodiment of the invention.
Fig. 3 is the flow chart for the summary for showing the action that the camera device of an embodiment of the invention is performed.
Fig. 4 is the figure of one for showing the image that the operation device of an embodiment of the invention is shown.
Fig. 5 is the figure of one for showing the image that the manipulation device of an embodiment of the invention is shown.
Fig. 6 is the flow chart for the summary for showing the action that the mobile device of an embodiment of the invention is performed.
Fig. 7 is the schematic diagram of the schematic configuration of the camera system for the variation for showing an embodiment of the invention.
Label declaration
1、1a：Camera system；2：Cable；10：Mobile device；10a：Rotor；11：Promotion part；12：Power supply；13：Believe in space
Cease obtaining section；14：Location fix test section；15：Height posture detecting part；16：1st record portion；17：1st communication unit；18：2nd
Communication unit；19：1st control unit；20：Camera device；21：Image pickup part；22：Elevation bearing test section；23：Clock；24：1st behaviour
Make portion；25：3rd communication unit；26：4th communication unit；27：2nd record portion；28：2nd control unit；30：Manipulation device；31：5th leads to
Letter portion；32：1st display part；33：2nd operating portion；34：3rd record portion；35：3rd control unit；40：Operation device；41：6th leads to
Letter portion；42：2nd display part；43：3rd operating portion；44：4th record portion；45：4th control unit；191：Power supply determination unit；192：
Mobile determination unit；193：Posture determination unit；194：Solid rocket engine portion；195：Direction controlling portion；196：Ability of posture control portion；197：The
1 communication control unit；211：Optical system；212：Photographing element；271：Imagery Data Recording portion；272：Program record portion；281：
Image processing part；282：Image characteristics extraction portion；283：Focal position obtaining section；284：Angle of visual field obtaining section；285：Distance inspection
Survey portion；286：Trimming portion；287：2nd communication control unit；288：Shooting control part；351：3rd communication control unit；352：1st shows
Show control unit；451：4th communication control unit；452：2nd display control unit；P1：Subject；U1：Operator；U2：Photographer.
Embodiment
Below, the mode (hereinafter referred to as " embodiment ") for implementing the present invention is illustrated referring to the drawings.In addition,
The present invention is not defined by embodiments described below.And then, in the record of accompanying drawing, identical mark is marked to same section
Number illustrate.
(schematic configuration of camera system)
Fig. 1 is the schematic diagram of the schematic configuration for the camera system for showing an embodiment of the invention.Fig. 2 is to show this
The block diagram of the functional structure of the camera system of one embodiment of invention.Camera system 1 shown in Fig. 1 and Fig. 2 is following system
System：Camera device is installed on the mobile device, operator U1 moves mobile device by manipulation device, also, photographer U2
Camera device is controlled using operation device, thereby, it is possible to shoot subject P1.
As depicted in figs. 1 and 2, camera system 1 has mobile device 10, camera device 20, manipulation device 30, operation device
40.Mobile device 10 is provided with camera device 20 in the way of disassembly ease.It is of course also possible to via stabilizer, vibration correction
Camera device 20 is arranged in mobile device 10 mechanism (such as gimbal) and rigging (rig).Mobile device 10 and shooting
Device 20 with can the cables such as USB 2 carry out two-way communication by way of connect.Also, mobile device 10 and manipulation device 30
With can be by the 1st frequency band (based on various countries such as 27MHz, 40MHz, 72MHz, 73MHz, 2.4GHz, 5GHz or 5.8GHz
The frequency band of wireless standard) carry out two-way communication mode connect.Also, camera device 20 and operation device 40 with can by with
The 2nd different frequency band of 1st frequency band (is such as the wireless standard based on various countries such as 5.8GHz in the case where the 1st frequency is 5GHz
Frequency band) carry out two-way communication mode connect.In addition, in the present embodiment, being configured to connect mobile dress by cable 2
Put 10 and camera device 20, but not limited to this, it would however also be possible to employ the structure of radio communication can be carried out by the 3rd frequency band.
(structure of mobile device)
First, the structure to mobile device 10 is illustrated.Mobile device 10 has the unmanned aerial vehicle (UAV of the present invention：
Unmanned Aerial Vehicle).Mobile device 10 is configured to nothing as the rotary wings unmanned plane with 4 pieces of rotor 10a
It is man-machine.In addition, rotor 10a quantity is not limited to 4 pieces, it can also be configured to set other quantity.And then, it is used as mobile device
10, unmanned plane as rotary wings unmanned plane is not limited to, can also the others such as unmanned plane nothing as fixed-wing unmanned plane
People's aircraft is constituted.And then, can also be by being capable of the device that can be voluntarily of wireless operating, for example can as mobile device 10
Robot, automobile, model automobile, capsule type endoscope and ship voluntarily is constituted.
Mobile device 10 has promotion part 11, power supply 12, spatial information obtaining section 13, location fix test section 14, height
Posture detecting part 15, the 1st record portion 16, the 1st communication unit 17, the 2nd communication unit 18, the 1st control unit 19.
Promotion part 11 is using many pieces of (being in the example in fig 14 pieces) rotor 10a and for driving each rotor 10a's multiple
Motor is (not shown) to be constituted, and under the control of the 1st control unit 19, mobile device 10 is flown.
Power supply 12 is constituted using battery and booster circuit etc..Each portion of mobile device 10 is adjusted to regulation electricity by power supply 12
Pressure, to each portion's supply electric power.
Spatial information obtaining section 13 is constituted using laser radar etc..Spatial information obtaining section 13 by being in from mobile device 10
Radial irradiated with pulse laser and the time of return for measuring reflected pulse laser, are obtained and around mobile device 10
The relevant spatial information of each barrier the distance between (direction of each point of irradiation, with each point of irradiation), the result of acquirement is defeated
Go out to the 1st control unit 19.In addition, spatial information obtaining section 13 for example can also use multiple camera devices to constitute, by always
Characteristic quantity is extracted from the view data of each camera device, to obtain distance and the side of each barrier around mobile device 10
To.
Location fix test section 14 is sensed using GPS (Global Positioning System) receivers or magnetic azimuth
Device etc. is constituted.Location fix test section 14 detects the current location information relevant with the current location of mobile device 10, Yi Jiyu
The heading (direction of head direction) of mobile device 10 is relative to predetermined reference bearing (such as northern) angulation
(orientation) relevant azimuth information, the 1st control unit 19 is output to by the testing result.In addition, in the present embodiment, position side
Position test section 14 is used as position detection part function.
Height posture detecting part 15 uses baroceptor, gyro sensor (angular-rate sensor) and inclination sensor
(acceleration transducer) etc. is constituted.Height posture detecting part 15 detect the elevation information relevant with the height of mobile device 10 and
The relevant inclination in the inclination angle (relative to 4 pieces rotor 10a are located at the inclination angle of the benchmark posture in horizontal plane) of mobile device 10
Angle information and the anglec of rotation (rotation centered on the plumb line of the center through 4 pieces of rotor 10a with mobile device 10
Corner) relevant rotation angle information, the testing result is output to the 1st control unit 19.
1st record portion 16 uses flash memory or SDRAM (Synchronous Dynamic Random Access Memory)
Constituted etc. recording medium.1st record portion 16 is recorded in the various programs for driving mobile device 10, and temporarily record processing
Information.
1st communication unit 17 is constituted using defined communication module.1st communication unit 17 under the control of the 1st control unit 19,
Carry out carrying out radio communication between the manipulation device 30 of remote control with the flare maneuver to mobile device 10.Also, the 1st communication
Portion 17 is under the control of the 1st control unit 19, and fore-and-aft motion 30 sends the information inputted from camera device 20.
2nd communication unit 18 is constituted using communication module.2nd communication unit 18 is under the control of the 1st control unit 19, via cable
2 are communicated between camera device 20.
1st control unit 19 is constituted using CPU (Central Processing Unit) etc., according to via the 1st communication unit 17
The indication signal from manipulation device 30 of input, the data from camera device 20 inputted via the 2nd communication unit 18, to pushing away
The action (flare maneuver of mobile device 10) and communication for entering portion 11 are controlled.
Here, the detailed construction to the 1st control unit 19 is illustrated.1st control unit 19 has power supply determination unit 191, moved
Dynamic determination unit 192, posture determination unit 193, Solid rocket engine portion 194, direction controlling portion 195, the communication control of ability of posture control portion the 196, the 1st
Portion 197 processed.
Power supply determination unit 191 detects the surplus (power margin) of power supply 12, and mobile device 10 is judged according to the testing result
The flight time that can be flown and flying distance.
Current location information and azimuth information, height that mobile determination unit 192 is detected according to location fix test section 14
The flight time that the elevation information and power supply determination unit 191 that posture detecting part 15 is detected are determined, judge mobile device 10
Displacement.
Angle of inclination information and rotation angle information that posture determination unit 193 is detected according to height posture detecting part 15,
Judge the posture of camera device 20.
Solid rocket engine portion 194 is according to power supply determination unit 191, mobile determination unit 192 and the respective judgement of posture determination unit 193
As a result, promote mobile device 10.Specifically, Solid rocket engine portion 194 is made by independently controlling 4 pieces of rotor 10a rotating speed
Mobile device 10 rises, advances, it is static, retreat and decline.For example, Solid rocket engine portion 194 is by the moving direction of mobile device 10
(before the heading of mobile device 10 is) or the left and right (left side observed on the heading of mobile device 10 before and after being changed to
It is right).
Direction controlling portion 195 is according to power supply determination unit 191, mobile determination unit 192 and the respective judgement of posture determination unit 193
As a result, rotate mobile device 10.Specifically, direction controlling portion 195 is by independently controlling 4 pieces of rotor 10a rotating speed, appearance
Gesture control unit 196 is become by independently controlling 4 pieces of rotor 10a rotating speed to the inclination angle or the anglec of rotation of mobile device 10
More.
Ability of posture control portion 196 is according to the result of determination of posture determination unit 193 and the operation signal of manipulation device 30, to movement
The posture of device 10 is controlled.
1st 197 pair the 1st of communication control unit communication unit 17 and the respective communication of the 2nd communication unit 18 are controlled.It is specific and
Speech, the 1st communication control unit 197 is sent via the 2nd communication unit 18 from camera device 20 via the fore-and-aft motion 30 of the 1st communication unit 17
The information of input.Also, the 1st communication control unit 187 is sent via the 1st communication unit via the 2nd communication unit 18 to camera device 20
17 information (hereinafter referred to as " mobile device information ") comprising operation information inputted from manipulation device 30.Here, mobile device
Information is the current location of mobile device 10, the control being controlled to the movement of mobile device 10 with being sent from manipulation device 30
The relevant control information of signal processed (operation information), the moving direction of mobile device 10, the height of mobile device 10 and mobile dress
Put 10 state (such as generally mobile, return to mobile, battery allowance).
(structure of camera device)
Then, the structure to camera device 20 is illustrated.Camera device 20 is so that shooting direction and mobile device 10
The consistent state of heading is fixed relative to mobile device 10 and can not moved.In addition, camera device 20 can also be via rotation
Rotation mechanism is fixed in mobile device 10, enables to change shooting area relative to mobile device 10.Certainly, camera device
20 can also be fixed in mobile device 10 via stabilizer, vibration correction mechanism (such as gimbal) and rigging (rig).
As shown in Fig. 2 camera device 20 have image pickup part 21, elevation bearing test section 22, clock 23, the 1st operating portion 24,
3rd communication unit 25, the 4th communication unit 26, the 2nd record portion 27, the 2nd control unit 28.
Image pickup part 21 is imaged to subject under the control of the 2nd control unit 28 and generates view data.Image pickup part 21
With optical system 211 and photographing element 212.
Optical system 211 at least has focus lens, zoom lens, shutter and aperture.Optical system 211 makes shot object image
On the smooth surface for being imaged on photographing element 212.Optical system 211 is under the control of the 2nd control unit 28, to zoom ratio, focus
Each acquisition parameters such as position, f-number and shutter speed are changed.
The shot object image of the receiving optics 211 of photographing element 212 formation simultaneously carries out opto-electronic conversion, thus generates picture number
According to the view data is output into the 2nd control unit 28.Photographing element 212 using CCD (Charge Coupled Device) or
CMOS (Complementary Metal Oxide Semiconductor) etc. is constituted.Also, photographing element 212 is in Two-Dimensional Moment
Battle array shape is configured with the phase difference pixel (not shown) of the distance for detecting subject and generates the pixel of view data.In addition,
The quantity of phase difference pixel can suitably be set.
Elevation bearing test section 22 uses aspect sensor, the acceleration transducer of 3 axles, gyro sensor and magnetic azimuth
Sensor is constituted.Elevation bearing test section 22 is detected with camera device 20 (optical axis of optical system 211) with respect to the horizontal plane
The relevant elevation information in inclination angle (elevation angle) and with the shooting direction of camera device 20 relative to predetermined reference bearing (example
Such as the north) the relevant azimuth information of angulation (orientation), the testing result is output to the 2nd control unit 28.
Clock 23 also generates the date relevant with the date-time shot in image pickup part 21 in addition to clocking capability
Temporal information, the 2nd control unit 28 is output to by the date-time information.
1st operating portion 24 uses and is arranged on the outer surface of camera device 20 and accepts operation of the user to camera device 20
Button or switch etc. constitute, accept the input with the corresponding indication signal of operation of user.
3rd communication unit 25 is communicated under the control of the 2nd control unit 28 via cable with mobile device 10.
4th communication unit 26 carries out radio communication under the control of the 2nd control unit 28 between operation device 40.4th leads to
Letter portion 26 is constituted using wireless communication module.
2nd record portion 27 is constituted using flash memory, SDRAM and storage card.There is 2nd record portion 27 record image pickup part 21 to generate
View data Imagery Data Recording portion 271 and record camera device 20 perform various programs program record portion
272。
2nd control unit 28 is constituted using CPU etc..Instruction according to being inputted via the 4th communication unit 26 from operation device 40 is believed
Number the shooting of image pickup part 21 is controlled, also, the figure that image pickup part 21 is generated is sent to operation device 40 or mobile device 10
As data.In this case, the 2nd control unit 28 is in addition to directly transmitting view data or in time, pixel is enterprising
Data obtained from the ranks dredging (view data after size adjustment processing), can also be the view data after compression (after diminution
View data or compression processing after view data).Also, the 2nd control unit 28 can also carry out raising to view data and regard
Feel the processing (such as contrast emphasizes processing or exposure value reduction processing) of identification, send the result after being parsed to image
(characteristic quantity of the subject based on aftermentioned image characteristics extraction portion 282).
Here, the detailed construction to the 2nd control unit 28 is illustrated.2nd control unit 28 has image processing part 281, figure
As feature extraction unit 282, focal position obtaining section 283, angle of visual field obtaining section 284, apart from test section 285, trimming portion the 286, the 2nd
Communication control unit 287, shooting control part 288.
The view data that image processing part 281 is generated to image pickup part 21 carries out regulation image procossing.Specifically, at image
Reason portion 281 carries out gain amplification disposal, white balance processing, gray proces and the processing of change simultaneously etc. to view data.
Extract image processing part 281 and implement what is included in the view data after image procossing in image characteristics extraction portion 282
Characteristic quantity.Specifically, image characteristics extraction portion 282 extracts the feature such as face, face of subject according to view data
Position or size, sex, brightness value, characteristic quantity (vector etc.).
Focal position obtaining section 283 obtains the focal position relevant with the focal position of the optical system 211 of image pickup part 21
Information.Specifically, focal position obtaining section 283 obtains the position work for the optical system 211 for turning into focusing state with subject
For focal position information.
Angle of visual field obtaining section 284 obtains the current angle of visual field of the optical system 211 of image pickup part 21.Specifically, visual field
Angle obtaining section 284 obtains the respective position of multiple zoom lens for constituting optical system 211, is calculated and regarded according to acquired position
Rink corner.
The contrast change of the time upper 2 front and rear view data generated apart from test section 285 according to image pickup part 21 or
Based on phase information of phase difference pixel being arranged in photographing element 212 etc., detect from camera device 20 to subject
Distance.The information in addition to for the focusing of optical system 211, as mobile device 10 and subject, mobile device 10 with
The distance between object information, important information is also turned into the manipulation side manipulated to mobile device 10.Taken the photograph in general
As device 20 (camera) shooting in, the distance between change with object, combination zoom operation etc., carry out various drawing,
The shooting of constraint, so, when the cooperation of mobile device 10 and camera device 20 is shot, except flight use, mobile distance
Beyond information, the distance that operator U1 grasps photographer U2 concerns is also critically important.Range information is not only, can also be effectively
Apply flexibly change and moving direction information of the distance that can be judged according to the range information etc..Do not change distance and change other
Condition shot in the case of etc., using this information manipulated for constraint shoot for be favourable.Operator U1
Side is operated using the information (with from camera device 20 to the information of the distance dependent of subject) to manipulation device 30, by
This, can carry out specifying the operation of the static control such as hovering, the 1st control unit 19 of mobile device 10 according to the information (with
From camera device 20 to the information of the distance dependent of subject), same static control can be carried out automatically in mobile device 10
System.Also, in the case where changing distance and order being shot according to the rules, distance is fixed and is shot from various angles
In the case of etc., it can effectively apply flexibly the information, additionally it is possible to obtain shooting etc. applied to accurate 3D information.
Trimming portion 286 carries out pruning modes by implementing the view data after image procossing to image processing part 281, raw
Into trimmed image data or thumbnail image data.
2nd communication control unit 287 carries out the 3rd communication unit 25 and the respective Control on Communication of the 4th communication unit 26.Specifically,
2nd communication control unit 287 sends the manipulation for being manipulated to mobile device 10 via the 3rd communication unit 25 to mobile device 10
The information (hereinafter referred to as " camera device information ") that can be shown in 1st display part 32 of device 30.Also, the 2nd Control on Communication
Portion 287 makes image pickup part 21 in the case where receiving the indication signal for indicating shooting from operation device 40 via the 4th communication unit 26
Shooting is performed, also, the 4th communication unit 26 of expression is sent to mobile device 10 via the 3rd communication unit 25 and is received from operation device 40
To the receive information for the indication signal for indicating to shoot.Also, the 2nd communication control unit 287 is via the 4th communication unit 26 to operation device
40 send the mobile device information inputted via the 3rd communication unit 25 from mobile device 10.
Shooting of the shooting control part 288 to image pickup part 21 is controlled.Specifically, shooting control part 288 is via the 4th
In the case that communication unit 26 have input the indication signal for indicating to shoot from operation device 40, image pickup part 21 is set to perform shooting.
(structure of manipulation device)
Then, the structure to manipulation device 30 is illustrated.Manipulation device 30 has the 5th communication unit 31, the 1st display part
32nd, the 2nd operating portion 33, the 3rd record portion 34, the 3rd control unit 35.
5th communication unit 31 is constituted using communication module.5th communication unit 31 is under the control of the 3rd control unit 35, with mobile dress
The 1st communication unit 17 for putting 10 carries out radio communication, thus, sends the indication signal from manipulation device 30, and receive from shifting
The status information of the dynamic transmission of device 10 is simultaneously output to the 3rd control unit 35.
1st display part 32 shows the various information relevant with mobile device 10 under the control of the 3rd control unit 35.1st shows
Show that portion 32 is constituted using display panel such as liquid crystal or organic EL (Electro Luminescence) etc..
2nd operating portion 33 is constituted using button, switch, cross key of operation of operator etc. is accepted, and is accepted and operator
The corresponding indication signal of operation input, the indication signal is output to the 3rd control unit 35.
3rd record portion 34 records the various programs relevant with manipulation device 30.3rd record portion 34 uses flash memory or SDRAM
Constitute.
3rd control unit 35 is constituted using CPU, and each portion of manipulation device 30 is controlled.3rd control unit 35 has to the
The 3rd communication control unit 351 that communication between 5 communication units 31 and the 1st communication unit 17 of mobile device 10 is controlled and right
The 1st display control unit 352 that the display of 1st display part 32 is controlled.
(structure of operation device)
Then, the structure to operation device 40 is illustrated.Operation device 40 has the 6th communication unit 41, the 2nd display part
42nd, the 3rd operating portion 43, the 4th record portion 44, the 4th control unit 45.
6th communication unit 41 is constituted using communication module.6th communication unit 41 is filled under the control of the 4th control unit 45 with shooting
The 4th communication unit 26 for putting 20 carries out radio communication, thus, sends the indication signal from operation device 40, and receive from taking the photograph
As device 20 send the information comprising view data and be output to the 4th control unit 45.
2nd display part 42 shows corresponding with the view data that camera device 20 is generated under the control of the 4th control unit 45
Image and the various information relevant with camera device 20.2nd display part 42 is constituted using display panel such as liquid crystal or organic EL etc..
3rd operating portion 43 is constituted using button, switch, touch panel of operation of photographer etc. is accepted, and is accepted and is shot
The input of the corresponding indication signal of operation of person, the 4th control unit 45 is output to by the indication signal.
The view data that the 4th record portion 44 record various programs relevant with operation device 40 and camera device 20 are generated.
4th record portion 44 is constituted using flash memory, SDRAM and storage card etc..
4th control unit 45 is constituted using CPU, and each portion of operation device 40 is controlled.4th control unit 45 has to the
The 4th communication control unit 451 that communication between 6 communication units 41 and the 4th communication unit 26 of camera device 20 is controlled and right
The 2nd display control unit 452 that the display of 2nd display part 42 is controlled.
(action of camera system)
Then, the action to above-mentioned camera system 1 is illustrated.Below, handled as the action of camera system 1, right
After the action of camera device 20 is illustrated, the action to mobile device 10 is illustrated.
(action of camera device)
Fig. 3 is the flow chart for the action for showing camera device 20.As shown in figure 3, first, the 2nd control unit 28 determines whether
It is the state that can be communicatively coupled based on the 3rd communication unit 25 via cable 2 between mobile device 10 (whether via cable
Line 2 is connected to mobile device 10 and camera device 20) and communication shape via the 4th communication unit 26 between operation device 40
Whether state is good (step S101).Specifically, the 2nd control unit 28 is being determined as it not being that can enter between mobile device 10
(such as in the case of being determined as that cable 2 is not connected) or it is determined as and operation device in the case of the state of row communication connection
In the case that communications status between 40 is not good, by being arranged on the outer surface of camera device 20 (mobile device 10)
LED (Light Emitting Diode) (not shown) or loudspeaker (not shown), the meaning of information telling communication abnormal state.The feelings
Under condition, operation device 40 can also make the abnormal meaning of the communication state displaying of the 2nd display part 42.
Then, the 2nd control unit 28 judge whether to be set to via the 3rd communication unit 25 and the 4th communication unit 26 with movement
The communication pattern (step S102) that device 10 is cooperated and communicated according to the indication signal from operation device 40.Logical
Cross the 2nd control unit 28 and be judged as (step S102 in the case of being set to communication pattern：It is), camera device 20 is transferred to aftermentioned
Step S103.On the other hand, (the step S102 in the case where being judged as being not set to communication pattern by the 2nd control unit 28：
It is no), camera device 20 is transferred to later-mentioned step S119.
In step s 103, the 2nd control unit 28 judges whether to carry out with mobile device 10 via the 3rd communication unit 25
Communication.(the step in the case where the 2nd control unit 28 is judged as to be communicated with mobile device 10 via the 3rd communication unit 25
Rapid S103：It is), camera device 20 is transferred to later-mentioned step S104.On the other hand, being judged as in the 2nd control unit 28 can not be via
3rd communication unit 25 and (step S103 in the case of being communicated with mobile device 10：It is no), camera device 20 is transferred to aftermentioned step
Rapid S115.
In step S104, shooting control part 288 makes image pickup part 21 perform shooting.Then, shooting control part 288 is performed
The shooting preparation processing (step S105) that AF processing and AE are handled is carried out in image pickup part 21.In this case, apart from test section 285
The view data generated according to image pickup part 21, detects the distance from camera device 20 to subject.Certainly, apart from test section 285
Distance from camera device 20 to subject can be detected according to view data continuous in time, can also be according to AF processing
Result and view data, detect distance from camera device 20 to subject.And then, trimming portion 286 passes through to image pickup part 21
The view data of generation carries out pruning modes, generates trimmed image data.In addition, other can also be used apart from test section 285
Known technology detects the distance from camera device 20 to subject.
Then, the 2nd communication control unit 287 sends camera device information (step via the 3rd communication unit 25 to mobile device 10
S106).Here, camera device information is the distance relevant with the distance between subject with being detected apart from test section 285
Information, image pickup part 21 generate view data, trimming portion 286 generate trimmed image data and via the 4th communication unit 26 from
The content for the indication signal that operation device 40 is inputted (for example indicates the release signal shot, indicates the bat of AF processing and AE processing
Take the photograph the 1st release signal, the indication signal of the acquisition parameters of change image pickup part 21 of warming-up exercise).Thus, as shown in figure 4, can
The picture number shot apart from T2, with camera device 20 in the 1st display part 32 of manipulation device 30 between display and subject
According to corresponding image W1, the travel information A1 relevant with the direct of travel of mobile device 10, the battery allowance A2 of mobile device 10,
And the positional information G1 relevant with the current mobile device 10 on map M1.As a result, operator can intuitively grasp
Photographer is current to shoot subject with which type of state.And then, operator will appreciate that the letter of the desired subject of photographer
Breath, thus it is possible to the operation content of changing mobile device 10 in real time.And then, operator can grasp the shooting of photographer in real time
Situation, thus it is possible to be absorbed in the manipulation of mobile device 10.So, desired information according to user, situation, object and become
Change, it is advantageous to change, selected in DB that can also be recorded from some record portion in above-mentioned each record portion etc.
Select, program included in these record portions etc. can also be utilized to be programmed.Also, the research of the information obtained by summary display
It is also preferred application examples, can makes any one party in each equipment that there is the digest functionality, still, be made a summary before communicating
Information can be reduced and high speed is realized.
Then, the 2nd control unit 28 obtains mobile device information (step via the 3rd communication unit 25 from mobile device 10
S107).Here, mobile device information is at least the current positional information relevant with mobile device 10, direct of travel, rotation letter
Breath, height, the running-active status of mobile device 10, such as inactive state return to state and the surplus of power supply 12.
Then, the 2nd control unit 28 sends the view data that image pickup part 21 is generated via the 4th communication unit 26 to operation device 40
With the mobile device information (step S108) inputted from mobile device 10.Thus, as shown in figure 5, the energy of the 2nd display control unit 252
It is enough that image W1 corresponding with view data, the traveling side with mobile device 10 are shown in the 2nd display part 42 of operation device 40
To relevant travel information A1, the battery allowance A2 of mobile device 10, relevant with the current mobile device 10 on map M1
Positional information G1 and height T1.As a result, photographer can intuitively grasp how operator currently manipulates mobile device 10.Enter
And, photographer can predict the position of desired subject according to the direct of travel of mobile device 10 and be shot in real time, so,
Subject can be shot by expecting composition.And then, photographer can grasp the position of mobile device 10 in real time.In addition, making
For the direct of travel of mobile device information, only mobile device 10, but naturally it is also possible to also include the shape of mobile device 10
(height decline in) during state, such as height rise, turn in (turn direction), translational speed and mobile device 10 mobile history
(mobile daily record) etc., the 2nd display control unit 452 is shown the 2nd display part 42 of operation device 40.Thus, photographer's energy
Enough states for grasping the mobile device 10 based on operator in further detail, can concentrate and be shot.Also, enter in photographer
Row observation and in the case of feeling excessive velocities or it is static more suitable for shooting in the case of, when photographer wishes to notify to manipulate
During person, the auxiliary expected as sound can be shown.For example can also be, it is possible to specify mobile device 10 can be set as spy
Constant speed degree, mobile device 10 certain height can be set as, mobile device 10 ad-hoc location etc. can be set as.The situation
Under, there is such information in mobile device 10, and photographer can observe the information and be set, and is carried out according to situation specific
Accurately setting.
Then, via the 4th communication unit 26 from operation device 40 receive shooting operation signal in the case of (step
S109：It is), (step S110 when during mobile device 10 is in and returned：It is), camera device 20 is transferred to later-mentioned step S116.
On the other hand, via the 4th communication unit 26 from operation device 40 receive shooting operation signal in the case of (step S109：
It is), (the step S110 when mobile device 10 is not in return：It is no), camera device 20 is transferred to later-mentioned step S111.
In step S111, the 2nd communication control unit 287 sends to exist to mobile device 10 and shot via the 3rd communication unit 25
The meaning of instruction.
Then, shooting control part 288 makes image pickup part 21 perform shooting (step S112), is taken the photograph for 281 pairs by image processing part
As portion 21 generate view data real-time image processing and be recorded in Imagery Data Recording portion 271 (step S113).Should
In the case of, view data and mobile device information are mapped record in Imagery Data Recording portion 271 by shooting control part 288
In.Thus, the position of view data when will appreciate that shooting during reproduction.Certainly, except view data and mobile device information
In addition, the mobile history (mobile daily record) of mobile device 10 can also be mapped record in Imagery Data Recording portion 271.
Then, the 2nd communication control unit 287 sends the figure that image pickup part 21 is generated via the 3rd communication unit 25 to mobile device 10
As data (step S114).
Then, the 2nd control unit 28 judges mobile dress according to the information inputted via the 3rd communication unit 25 from mobile device 10
Put whether 10 stop (step S115).(the step in the case where being judged as that mobile device 10 stops by the 2nd control unit 28
S115：It is), camera device 20 terminates this action.On the other hand, it is being judged as that mobile device 10 is not stopped by the 2nd control unit 28
(step S115 in the case of only：It is no), camera device 20 returns to above-mentioned steps S101.
In step S116, shooting control part 288 stops the shooting of image pickup part 21.After step sll beta, camera device
20 are transferred to step S115.
In step S109, the situation of shooting operation signal is not being received from operation device 40 via the 4th communication unit 26
Under (step S109：It is no), camera device 20 is transferred to step S117.
Then, the camera parameter of image pickup part 21 is changed being received via the 4th communication unit 26 from operation device 40
Parameter modification signal in the case of (step S117：It is), shooting control part 288 is to the camera parameter of image pickup part 21, for example become
Burnt multiplying power and f-number etc. are changed, so as to camera parameter (step S118) corresponding with parameter modification signal.
After step S118, camera device 20 is transferred to step S115.
In step S117, the ginseng of the shooting to image pickup part 21 is not being received from operation device 40 via the 4th communication unit 26
(step S117 in the case of the parameter modification signal that number is changed：It is no), camera device 20 is transferred to step S115.
In step S119, shooting control part 288 is according to the operation of the 1st operating portion 24, and performing makes image pickup part 21 perform bat
Take the photograph and be recorded in the processing of the usual shooting in Imagery Data Recording portion 271.After step S119, camera device 20 terminates
This action.
(action of mobile device)
Then, the action to mobile device 10 is illustrated.Fig. 6 is the flow chart for the action for showing mobile device 10.Such as
Shown in Fig. 6, first, the 1st control unit 19 judges the communications status (step S201) of mobile device 10.Specifically, the 1st control unit
19 determine whether the state that can be communicatively coupled based on the 2nd communication unit 18 via cable between camera device 20 with
And whether the communications status via the 1st communication unit 17 between manipulation device 30 is good.In this case, the 1st control unit 19 exists
It is determined as in the case of not being the state that can be communicatively coupled between camera device 20 or is determined as and manipulation device
In the case that communications status between 30 is not good, pass through the LED being arranged on the outer surface of mobile device 10 reports (not shown)
Know the abnormal meaning of communications status.
Then, the 1st control unit 19 obtains camera device information (step via the 2nd communication unit 18 from camera device 20
S202)。
Then, via the 1st communication unit 17 from manipulation device 30 receive manipulation signal in the case of (step S203：
It is), mobile device 10 is transferred to later-mentioned step S204.On the other hand, do not received via the 1st communication unit 17 from manipulation device 30
To (step S203 in the case of manipulation signal：It is no), mobile device 10 is transferred to later-mentioned step S207.
In step S204, in the case of there is receive information in the camera device information obtained from camera device 20
(step S204：It is), mobile device 10 is transferred to later-mentioned step S207.On the other hand, in the shooting obtained from camera device 20
(step S204 in the case of receive information is not present in device information：It is no), mobile device 10 is transferred to later-mentioned step S205.
In step S205, it is being judged as there is obstacle on the direct of travel of mobile device 10 by the 1st control unit 19
(step S205 in the case of thing：It is), mobile device 10 is transferred to later-mentioned step S207.On the other hand, the 1st control unit is being passed through
19 are judged as on the direct of travel of mobile device 10 that (step S205 in the case of barrier is not present：It is no), mobile device 10
It is transferred to later-mentioned step S206.
In step S206, the 1st control unit 19 moves mobile device 10 according to the manipulation signal inputted from manipulation device 30
It is dynamic.After step S206, mobile device 10 is transferred to later-mentioned step S212.
In step S207, the 1st control unit 19 judges whether mobile device 10 can be static (can hovering).Logical
Cross the 1st control unit 19 be judged as mobile device 10 can it is static in the case of (step S207：It is), Solid rocket engine portion 194 is performed
Make the static control process (step S208) that mobile device 10 is static.Specifically, the 1st control unit 19 makes mobile device 10 at this
It is static at position.After step S208, mobile device 10 is transferred to later-mentioned step S212.
In step S207, be judged as by the 1st control unit 19 mobile device 10 can not it is static in the case of (step
S207：It is no), mobile device 10 is transferred to later-mentioned step S209.
Then, the 1st control unit 19 judges whether to make mobile device 10 return to (step S209) to place is returned to.It is specific and
Speech, the current position for the mobile device 10 that the 1st control unit 19 is detected according to the surplus and location fix test section 14 of power supply 12
Confidence ceases, and judges whether mobile device 10 can return to place is returned to.Here, it is taking off out for mobile device 10 to return to place
Beginning position (take off starting position at the time of information).It is being judged as that mobile device 10 can be to return field by the 1st control unit 19
(step S209 in the case of returning：It is), Solid rocket engine portion 194, which is performed, makes mobile device 10 to the return for returning to place return
Control process (step S210).After step S210, mobile device 10 is transferred to later-mentioned step S212.
In step S209, it is being judged as that mobile device 10 returns to the feelings that place is returned without normal direction by the 1st control unit 19
(step S209 under condition：It is no), mobile device 10 is transferred to later-mentioned step S211.
Then, Solid rocket engine portion 194, which is performed, makes mobile device 10 to the avoidance control process (step for avoiding place movement
S211).Specifically, Solid rocket engine portion 194 calculates the distance that can be moved according to the surplus of power supply 12, is calculated according to this
The current location for the mobile device 10 that distance and location fix test section 14 are detected, makes mobile device 10 to nearest safe
Avoid place (without barrier and flat place) mobile.After step S211, mobile device 10 is transferred to later-mentioned step
S212。
In step S212, the 1st communication control unit 197 is sent and mobile dress via the fore-and-aft motion 30 of the 1st communication unit 17
Put 10 relevant mobile device information.
Then, (the step S213 in the case where being communicated via the 2nd communication unit 18 with camera device 20：It is), the 1st
Communication control unit 197 obtains view data (step S214) via the 2nd communication unit 18 from camera device 20.
Then, the 1st communication control unit 197 sends necessary information (step via the fore-and-aft motion 30 of the 1st communication unit 17
S215)。
Then, (the step S216 in the case where have input end signal via manipulation device 30：It is), Solid rocket engine portion
194 execution make the stopping control process (step S217) that the rotor 10a of mobile device 10 stops.It is mobile after step S217
Device 10 terminates present treatment.On the other hand, (the step S216 in the case of not via the end of input signal of manipulation device 30：
It is no), mobile device 10 returns to above-mentioned steps S201.
In step S213, (the step in the case where not communicated via the 2nd communication unit 18 with camera device 20
S213：It is no), mobile device 10 is transferred to step S216.
An embodiment of the invention from the description above, in the operator U1 and camera device 20 of mobile device 10
Photographer U2 operated respectively in the case of, can also concentrate and carry out mutual operation.
Also, according to an embodiment of the invention, the 2nd control unit 28 is sent from mobile device 10 to operation device 40
The mobile device information of input, the 2nd display part 42 of operation device 40 can show image corresponding with view data and with shifting
The relevant information of dynamic device 10, so, photographer can intuitively grasp the operation content of operator.
Also, according to an embodiment of the invention, the 2nd control unit 28 sends camera device to mobile device 10 to be believed
Breath, the fore-and-aft motion 30 of mobile device 10 is transmitted, display and mobile device 10 in the 1st display part 32 of manipulation device 30
The relevant information of state and camera device 20 camera device information, so, operator will appreciate that the desired quilt of photographer
Take the photograph body and shooting situation.
Also, according to an embodiment of the invention, as camera device information, also comprising with from camera device 20 to
The range information of the distance dependent of subject, shows in the 1st display part 32 of manipulation device 30 from camera device 20 to shot
The distance between the distance of body, so, operator can be intuitively grasped with subject, thus it is possible to be reflected in mobile device
In 10 operation.
Also, according to an embodiment of the invention, as camera device information, also receive shooting comprising expression and refer to
Show the reception signal of signal, in the case where mobile device 10 receives reception signal via camera device 20, the 1st control unit 19
Make mobile device 10 static, so, photographer can shoot subject with desired composition, further, it is possible to reduce mobile dress
Put 10 shake.
Also, according to an embodiment of the invention, in the case where mobile device 10 is returned, from operation device 40
When have input the indication signal for indicating to shoot, the 2nd control unit 28 stops the shooting of image pickup part 21, thus preferentially moves device
10 return, thus it is possible to prevent the power consumption of the mobile device 10 caused by shooting.
Also, according to an embodiment of the invention, the 2nd control unit 28 is sent from mobile device 10 to operation device 40
The mobile device information relevant with direct of travel with the position of mobile device 10 of input, thus the 2nd in operation device 40 is aobvious
Show current location and the direct of travel that mobile device 10 is shown in portion 42, so, photographer can intuitively grasp operator's
Operating content.
(other embodiment)
In addition, in an embodiment of the invention, set respectively in mobile device and camera device can with it is outer
The communication unit that portion is communicated, but it is also possible to which any one party setting in mobile device and camera device can be with outside
The communication unit communicated, manipulation device and the respective operation of operation device are carried out via the communication unit.For example, as shown in Figure 7
Camera system 1a like that, can also be set only in mobile device 10 can with the outside communication unit that communicated, by setting
Put the data that the communication unit fore-and-aft motion 30 in mobile device 10 sends camera device 20.
Also, the camera system of the present invention is in addition to it can be applied to unmanned plane and digital stillcamera, additionally it is possible to
The electronic equipments such as the plate portable equipment applied to digital camera, supervision camera, with camera function and display with
The display device of the corresponding image of medical, industry field view data imaged using endoscope or microscope
Deng.And then, additionally it is possible to make the device that device is moved and shot applied to by 2 users.For example, tool can also be applied to
Have and observe image while cutting off the operative doctor of the affected part in patient with electric knife and shooting the inside of patient so that operation is cured
Remote operation device, medical treatment device and the endoscopic system being made up of endoscope and observation mirror body of the raw photographer used.
Also, the program performed by the camera device of the present invention with can the file data of installation form or executable form remember
Record can in CD-ROM, floppy disk (FD), CD-R, DVD (Digital Versatile Disk), USB media, flash memory etc. computer
There is provided in the recording medium of reading.
Also, the program performed by the camera device of the present invention can also be stored in the calculating with the network connection such as internet
On machine, provided by being downloaded via network.And then, taking the photograph for the present invention can also be provided or issued via networks such as internets
Program as performed by device.
In addition, in the explanation of the flow chart of this specification, use " first ", " then ", the performance such as " then " express
The context of processing between step, still, the order of the processing required for the implementation present invention are not determined uniquely by these performances.
That is, order that can be to the processing in the flow chart described in this specification in reconcilable scope is changed.
Several embodiments to the application are described in detail with reference to the accompanying drawings, still, and these are to illustrate, to invent
Headed by mode described in the column of content one, can with according to the knowledge of those skilled in the art implement various modifications and improvement after
Other modes implement the present invention.
Also, above-mentioned " portion (section, module, unit) " can be rewritten as " unit " or " circuit " etc..For example,
Control unit can be rewritten as control unit or control circuit.
So, the present invention can include the various embodiments do not recorded here, can determined by claims
Various design alterations etc. are carried out in the range of technological thought.
Claims (16)
1. a kind of camera device, it is installed on the mobile device and can carry out two-way communication with the mobile device, and its feature exists
In the camera device has：
Image pickup part, it is imaged to subject and generates view data；And
Control unit, it is controlled so that the manipulation device manipulated to the mobile device is sent to the mobile device
Display part in the information that can show.
2. camera device according to claim 1, it is characterised in that
Described information comprises at least the described image data that the image pickup part is generated.
3. camera device according to claim 2, it is characterised in that
The camera device also has apart from test section, and this is apart from test section according to described image Data Detection from the camera device
To the distance of the subject,
Described information is also comprising the range information with the distance dependent detected apart from test section.
4. the camera device described in any one in claims 1 to 3, it is characterised in that
The camera device also has communication unit, and the communication unit is received to this from the operation device operated to the camera device
Camera device indicates the indication signal shot, and sends described image data to the operation device,
In the case where the communication unit receives the indication signal, the control unit makes the image pickup part perform shooting,
Described information also receives the receive information of the indication signal comprising the expression communication unit.
5. camera device according to claim 4, it is characterised in that
The control unit received from the mobile device it is corresponding with the operation of the manipulation device to the mobile device
The control signal that is controlled of movement in the case of, send and believed with the control to the operation device via the communication unit
Number relevant control information.
6. the camera device according to claim 4 or 5, it is characterised in that
The control unit have input the situation of the positional information relevant with the position of the mobile device from the mobile device
Under, send the positional information to the operation device via the communication unit.
7. the camera device described in any one in claim 4~6, it is characterised in that
The control unit is in the case where the mobile device is returned to predetermined position, even in receiving the indication signal
When, also without the shooting based on the image pickup part.
8. a kind of mobile device, installs the shooting dress that view data is imaged and generated to subject on the mobile means
Put, the mobile device can carry out two-way communication with the camera device, according to what is sent from the manipulation device with display part
Signal is moved, it is characterised in that
The mobile device has communication unit, and the communication unit receives the signal sent from the manipulation device, and to institute
State manipulation device and send the information inputted from the camera device.
9. mobile device according to claim 8, it is characterised in that
Described information comprises at least described image data.
10. mobile device according to claim 8 or claim 9, it is characterised in that
Described information is also included and the range information from the camera device to the distance dependent of the subject.
11. the mobile device described in any one in claim 8~10, it is characterised in that
The mobile device also has：
Position detection part, it detects the positional information relevant with the current location of the mobile device；And
Control unit, it is controlled so that send the position letter that the position detection part is detected to the camera device
Breath.
12. mobile device according to claim 11, it is characterised in that
Described information also receives comprising the expression camera device and indicates connecing for the indication signal shot to the camera device
Collect mail and cease,
The control unit fills the movement when receiving described information in the case where the communication unit receives the signal
Put static.
13. the mobile device according to claim 11 or 12, it is characterised in that
The control unit is in the case where making the mobile device be returned to predetermined position, when receiving described information, maintains
The return of the mobile device.
14. a kind of camera system, it has the camera device for being imaged to subject and generating view data, taken the photograph described in installation
As device and the mobile device of two-way communication, the manipulation that is manipulated to the mobile device can be carried out with the camera device
Device, the operation device operated to the camera device, it is characterised in that
The camera device has control unit, and the control unit is controlled so that sent to the mobile device to the movement
The information that can be shown in the display part for the manipulation device that device is manipulated,
The mobile device has communication unit, and the communication unit receives the signal sent from the manipulation device, and to institute
State manipulation device and send the described information inputted from the camera device.
15. a kind of image capture method performed by camera device, the camera device is installed on the mobile device and can be with the movement
Device carries out two-way communication, it is characterised in that the image capture method has steps of：
Image pickup step, is imaged to subject and generates view data；And
Rate-determining steps, being sent to the mobile device can in the display part of the manipulation device manipulated to the mobile device
The information of display.
16. the recording medium of program performed by camera device is recorded a kind of, and the camera device is installed on the mobile device and energy
The enough and mobile device carries out two-way communication, it is characterised in that described program performs following steps：
Image pickup step, is imaged to subject and generates view data；And
Rate-determining steps, being sent to the mobile device can in the display part of the manipulation device manipulated to the mobile device
The information of display.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016055313A JP2017169170A (en) | 2016-03-18 | 2016-03-18 | Imaging apparatus, moving apparatus, imaging system, imaging method, and program |
| JP2016-055313 | 2016-03-18 |
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| CN107205111A true CN107205111A (en) | 2017-09-26 |
| CN107205111B CN107205111B (en) | 2021-03-02 |
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| CN201611095306.5A Active CN107205111B (en) | 2016-03-18 | 2016-12-01 | Image pickup apparatus, mobile apparatus, image pickup system, image pickup method, and recording medium |
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| JP6473266B1 (en) * | 2018-11-12 | 2019-02-20 | 弘幸 中西 | Capsule endoscope |
| JP7219204B2 (en) * | 2019-11-26 | 2023-02-07 | 弘幸 中西 | unmanned aerial vehicle |
| JP7420047B2 (en) | 2020-10-21 | 2024-01-23 | トヨタ自動車株式会社 | robot system |
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| CN111263056A (en) * | 2018-11-30 | 2020-06-09 | 日本电产科宝株式会社 | Blade operating device and blade operating method |
| CN111263056B (en) * | 2018-11-30 | 2023-06-23 | 日本电产科宝株式会社 | Blade operation device and blade operation method |
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