CN111213369A - 控制装置、摄像装置、移动体、控制方法以及程序 - Google Patents

控制装置、摄像装置、移动体、控制方法以及程序 Download PDF

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CN111213369A
CN111213369A CN201980005027.0A CN201980005027A CN111213369A CN 111213369 A CN111213369 A CN 111213369A CN 201980005027 A CN201980005027 A CN 201980005027A CN 111213369 A CN111213369 A CN 111213369A
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time
imaging device
coordinate system
distance
focus
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CN111213369B (zh
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高宫诚
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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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
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
    • G03B13/32—Means for focusing
    • G03B13/34—Power focusing
    • G03B13/36—Autofocus systems
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/28—Systems for automatic generation of focusing signals
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/006—Apparatus mounted on flying objects
    • 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
    • H04N23/61—Control of cameras or camera modules based on recognised objects
    • 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
    • H04N23/67—Focus control based on electronic image sensor signals
    • 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
    • H04N23/67—Focus control based on electronic image sensor signals
    • H04N23/671—Focus control based on electronic image sensor signals in combination with active ranging signals, e.g. using light or sound signals emitted toward objects
    • 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
    • H04N23/67—Focus control based on electronic image sensor signals
    • H04N23/672—Focus control based on electronic image sensor signals based on the phase difference signals
    • 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
    • H04N23/67—Focus control based on electronic image sensor signals
    • H04N23/673—Focus control based on electronic image sensor signals based on contrast or high frequency components of image signals, e.g. hill climbing method
    • 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
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • 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
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Studio Devices (AREA)
  • Stereoscopic And Panoramic Photography (AREA)
  • Focusing (AREA)
  • Automatic Focus Adjustment (AREA)

Abstract

即使目标物和摄像装置发生移动，也可以维持对目标物的对焦状态。控制装置可以包含：导出部，其基于摄像装置与由摄像装置拍摄的目标物在第1时刻的位置关系、摄像装置在第1时刻的速度和移动方向、以及目标物在第1时刻的速度和移动方向，来导出在第1时刻之后的第2时刻从摄像装置到目标物的距离；以及，第1控制部，其根据第2时刻的距离来控制摄像装置的聚焦镜头的位置。

Description

PCT国内申请，说明书已公开。

Claims (14)

  1. PCT国内申请，权利要求书已公开。
CN201980005027.0A 2018-09-27 2019-09-26 控制装置、方法、摄像装置、移动体以及计算机可读存储介质 Expired - Fee Related CN111213369B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2018181833A JP6696094B2 (ja) 2018-09-27 2018-09-27 移動体、制御方法、及びプログラム
JP2018-181833 2018-09-27
PCT/CN2019/108224 WO2020063770A1 (zh) 2018-09-27 2019-09-26 控制装置、摄像装置、移动体、控制方法以及程序

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CN111213369A true CN111213369A (zh) 2020-05-29
CN111213369B CN111213369B (zh) 2021-08-24

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US (1) US20210218879A1 (zh)
JP (1) JP6696094B2 (zh)
CN (1) CN111213369B (zh)
WO (1) WO2020063770A1 (zh)

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CN104469123A (zh) * 2013-09-17 2015-03-25 联想(北京)有限公司 一种补光的方法及一种图像采集装置
CN105452926A (zh) * 2013-09-05 2016-03-30 富士胶片株式会社 摄像装置及对焦控制方法
CN106357973A (zh) * 2016-08-26 2017-01-25 深圳市金立通信设备有限公司 一种聚焦的方法及终端
CN107507245A (zh) * 2017-08-18 2017-12-22 南京阿尔特交通科技有限公司 一种车辆跟驰轨迹的动态采集方法及系统
WO2018008834A1 (ko) * 2016-07-06 2018-01-11 주식회사 케이에스에스이미지넥스트 차량용 카메라 제어 장치 및 방법

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EP2879371B1 (en) * 2013-11-29 2016-12-21 Axis AB System for following an object marked by a tag device with a camera
JP6024728B2 (ja) * 2014-08-08 2016-11-16 カシオ計算機株式会社 検出装置、検出方法及びプログラム
JP6310093B2 (ja) * 2014-11-12 2018-04-11 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 目標物体の検出方法、検出装置及びロボット
JP6596745B2 (ja) * 2015-10-20 2019-10-30 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 対象物体を撮像するシステム
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030213869A1 (en) * 2002-05-16 2003-11-20 Scott Mark Winfield Translational propulsion system for a hybrid vehicle
CN102034355A (zh) * 2010-12-28 2011-04-27 丁天 一种基于特征点匹配的车辆检测及跟踪方法
CN105452926A (zh) * 2013-09-05 2016-03-30 富士胶片株式会社 摄像装置及对焦控制方法
CN104469123A (zh) * 2013-09-17 2015-03-25 联想(北京)有限公司 一种补光的方法及一种图像采集装置
WO2018008834A1 (ko) * 2016-07-06 2018-01-11 주식회사 케이에스에스이미지넥스트 차량용 카메라 제어 장치 및 방법
CN106357973A (zh) * 2016-08-26 2017-01-25 深圳市金立通信设备有限公司 一种聚焦的方法及终端
CN107507245A (zh) * 2017-08-18 2017-12-22 南京阿尔特交通科技有限公司 一种车辆跟驰轨迹的动态采集方法及系统

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CN111213369B (zh) 2021-08-24
JP2020052255A (ja) 2020-04-02
US20210218879A1 (en) 2021-07-15
WO2020063770A1 (zh) 2020-04-02
JP6696094B2 (ja) 2020-05-20

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Granted publication date: 20210824