JP2015106840A - Imaging system and imaging method of imaging system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a constitution to allow an imaging system with flight means to automatically get ready to image a target.SOLUTION: On the basis of the specific coordinates of at least one place set previously by a user and positional coordinates received by GPS reception means, the system calculates the lens control value, the angle respect to a vertical direction, and the orientation with respect to a horizontal direction of imaging means, and controls the imaging means to have the lens control value, the angle respect to a vertical direction, and the orientation with respect to a horizontal direction, the angle and orientation being calculated like this. This enables the system to automatically get ready to image a target.

Description

  The present invention relates to an imaging system provided with flying means and an imaging method of the imaging system.

  2. Description of the Related Art In recent years, development of a camera system (imaging device) that can identify a target to be imaged with coordinates and automatically capture the target is in progress. Patent Document 1 discloses a camera system that can automatically perform imaging when it reaches a preset imaging point while moving in a car or the like. Specifically, the GPS receiving means is mounted on the car, and it is determined that it has reached the imaging point or the specified imaging range from the coordinates of the target and the current coordinates obtained by the GPS receiving means, and imaging is automatically performed. Running.

JP 2001-257920 A

  Such a camera system capable of automatically capturing an image of a target is required to be applicable not only to an automobile traveling on the ground but also to a flying means such as a radio controlled airplane or a radio controlled helicopter.

  However, the technique disclosed in Patent Document 1 only considers imaging on the ground, and how to capture the target using the imaging means mounted on the flying means to make the imaging possible. There is no disclosure about.

  In view of the above problems, an object of the present invention is to provide a configuration capable of automatically preparing a state in which an image of a target can be imaged in an imaging system including flying means.

  An imaging system according to the present invention includes an imaging unit that captures an image, a lens control unit that performs lens control of the imaging unit, an angle control unit that controls an angle of the imaging unit with respect to the vertical direction, and left and right of the imaging unit. A direction control unit that controls a direction with respect to a direction, a flying unit equipped with the imaging unit, a GPS receiving unit that receives radio waves from a GPS satellite and analyzes position coordinates from the radio waves, and a target for specifying a target Based on the storage means for storing at least one specific coordinate and the at least one specific coordinate and the position coordinate stored in the storage means, the lens control value of the imaging means and the angle with respect to the vertical direction And a calculation means for setting the direction with respect to the left and right direction, the lens control section, the angle control section, and the direction control section with the lens control value calculated by the calculation means. And having a control means for controlling such that the orientation with respect to the angle and the lateral direction with respect to direction.

  As described above, the lens control value, the angle with respect to the vertical direction, and the direction with respect to the horizontal direction are determined and controlled from the specific coordinates and the position coordinates for specifying the target object, so that the image pickup system including the flying means automatically It is possible to prepare a state in which the target can be imaged.

It is a block diagram which shows the structure of the camera which concerns on this invention, a flight means, and information processing apparatus. It is a figure which shows the relationship between a camera and a target object. It is a flowchart for demonstrating control of a camera. It is a figure which shows the relationship between a camera and a target object when a specific coordinate is one place. It is a figure which shows the relationship between a camera and a target object when there are two specific coordinates. It is a figure which shows the relationship between a camera and a target object when a specific coordinate is four places. It is a flowchart explaining the flow which calculates the flight target coordinate of a flight means. It is a flowchart for demonstrating control of a camera. It is a flowchart for demonstrating control of a camera.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing a hardware configuration of an imaging unit, a flying unit, and an information processing apparatus according to the present invention. The imaging system of the present invention includes a camera 300 that can be used as an imaging unit, a flying unit 100 such as a wireless airplane or helicopter that can be mounted on the camera 300, and the camera 300 or the flying unit 100. The information processing apparatus 200 such as a PC that can set the coordinates (specific coordinates) of the user or extract an image captured by the camera 300 is configured.

  The CPU 103 of the flying means 100 can comprehensively control each device and controller connected to the system bus. The ROM 102 stores a control program of the CPU 103 and various control programs. The RAM 101 functions as a system work memory for the CPU 103 to operate. The CPU 103 implements various operations by loading a program necessary for execution of processing into the RAM 203 and executing the program. The CPU 103 can also control the flight control unit 105 by loading a program or the like into the RAM 203 and executing the program.

  The CPU 201 of the information processing apparatus 200 can comprehensively control each device and controller connected to the system bus. Further, the ROM 202 or the external memory 207 is necessary for realizing a BIOS (Basic Input / Output System) or an operating system program (hereinafter referred to as an OS) that is a control program of the CPU 201 and a function executed by each server or each PC. Various programs to be described later are stored. The RAM 204 functions as a system work memory for the CPU 201. The CPU 201 implements various operations by loading a program necessary for execution of processing into the RAM 204 and executing the program.

  Further, the CPU 201 can control display output to the display 205 and input from the input terminal 206. In addition, it is connected via an adapter to a hard disk (HD), floppy disk (registered trademark FD) or PCMCIA card slot that stores boot programs, browser software, various applications, font data, user files, editing files, various data, etc. It is also possible to control access to an external memory 207 such as a compact flash memory.

  The communication I / F 203 is connected to and communicates with an external device via a network. In this embodiment, the communication I / F 203 is communicably connected to the communication I / F circuit 325 of the camera 300. And via this I / F, it is possible to input to the camera 300 the coordinates and the like of the imaging target and to deliver the captured image.

  Next, the hardware configuration of the camera 300 (imaging device) will be described. As the imaging device, a so-called digital camera or the like can be used, and an imaging lens 301, an imaging device (hereinafter referred to as “CCD”) 302, a camera signal processing unit (hereinafter referred to as “ADC”) 303, an image. A processing unit 304, a system controller 310, a buffer memory 311, a flash ROM 312, an interface circuit (hereinafter referred to as “I / F circuit”) 313, a card holder 314, a memory card 315, a display driver 316, and an operation unit 320 are provided.

The lens 301 is a lens or the like, and includes an objective lens, a zoom lens, a focus lens, and the like. The zoom lens and the focus lens are driven in the optical axis direction by a driving mechanism (not shown). The imaging element 302 is configured by a CCD image sensor that forms an image of imaging light incident from the lens 301, converts it into an electrical signal (analog signal), and outputs the electrical signal.
The camera signal processing unit (ADC) 303 has a function of performing signal processing such as digital conversion and white balance adjustment on the electric signal received from the image sensor 302 and converting the signal into a digital signal. The system controller 310 is connected to the image processing unit 304, the buffer memory 311, the flash ROM 312, the I / F circuits 313 and 325, the lens control unit 327, the angle control unit 321, the direction control unit 322, the I / O 323, and the GPS receiving unit 324. Has been

  The image processing unit 304 includes a preprocessing unit 305, a YC processing unit 306, an electronic zoom processing unit 307, a compression unit 308, and an expansion unit 309, and generates image data from the digital signal output from the camera signal processing unit 303. Have a function of performing various image processing.

  The pre-processing unit 305 has a function of performing white balance processing for adjusting the white balance of an image based on input image data and image gamma correction processing. The white balance process is a process of adjusting the color of an image so as to be close to the actual color, or adjusting the color to an appropriate color that matches a light source (such as a fluorescent lamp or sunlight). The gamma correction process is a process for adjusting the contrast of an image. Note that the pre-processing unit 305 can also perform image processing other than white balance processing and gamma correction processing.

  The YC processing unit 306 has a function of separating an image based on input image data into luminance information “Y”, luminance signal and blue color difference information “Cb”, and luminance signal and red color difference information “Cr”. Have The electronic zoom processing unit 307 has a function of trimming a part of an image (for example, a central part) with a predetermined size and enlarging the trimmed image to the size of the original image by signal processing. For example, the electronic zoom processing unit 307 can extract a central 3024 × 768 dot image from a captured 1600 × 3200 dot image, and enlarge it to a size of 1600 × 3200 dot while performing data interpolation.

  The compression unit 308 has a function of compressing image data by a compression format such as JPEG (Joint Photographic Expert Group). The decompression unit 309 has a function of decompressing compressed image data. For example, when compressing image data using the JPEG method, first, a discrete cosine transform process is performed (DCT process) that digitizes the ratio of high-frequency components and low-frequency components of image data. Next, a quantization process is performed for expressing the gradation or gradation of the image by a numerical value (quantization bit number). Finally, the image data is compressed by the Huffman encoding process.

  Specifically, the signal character string of the image data is segmented every certain bit, and a shorter code is given to a character string having a high appearance frequency. Note that the compression unit 308 and the decompression unit 309 can be omitted in the case of a method of recording image data without performing compression processing. Further, the image data compression format is not limited to the JPEG format, and the same processing can be performed even in a GIF (Graphical Interchange Format) format.

  The buffer memory 311 temporarily stores image data when the image processing unit 304 performs image processing. The flash ROM 312 stores various setting information of the imaging apparatus and user authentication information described later. The I / F circuit 313 converts the image data output from the system controller 310 into a data format that can be recorded in the memory card 315. The I / F circuit 313 converts image data read from the memory card 315 into a data format that can be processed by the system controller 310.

  The card holder 314 includes a mechanism that allows the memory card 315 that is a recording medium to be attached to and detached from the imaging apparatus, and includes an electrical contact that enables data communication with the memory card 315. The card holder 314 has a structure corresponding to the type of recording medium used in the imaging apparatus. The memory card 315 is a card-type recording medium that incorporates a semiconductor storage element such as a flash memory and is detachable from the card holder 314. The memory card 315 can record image data captured by the imaging device.

  The lens control unit 327 controls zoom, focus, aperture, and the like for the lens 301. The angle controller 321 controls the angle with respect to the vertical direction in order to point the camera at the target. The direction control unit 322 controls the direction with respect to the left-right direction in order to point the camera at the target. Further, the GPS receiving means 324 can receive radio waves from GPS satellites, and can analyze the current position coordinates of the camera 300 from the radio waves. From the position coordinates obtained from the GPS, the altitude of the camera 300 and the coordinates on the plane can be acquired. Further, the altitude of the camera 300 can be acquired by installing an altimeter, not from the GPS coordinates.

  Next, an imaging operation in the camera 300 will be described. In the present embodiment, the imaging operation is automatically performed when the distance between the camera 300 and the target becomes a predetermined distance. Specifically, an imaging operation such as imaging at a constant time interval or a constant movement interval can be performed. In such an imaging operation, an optical image enters the imaging apparatus via the lens 301 and forms an image on the imaging device (CCD) 302. The CCD 302 converts the incident optical image into an electrical signal and outputs it to the camera signal processing unit (ADC) 303. The ADC 303 converts an input electric signal (analog signal) into a digital signal. A digital signal output from the ADC 303 is input to the image processing unit 304.

  A pre-processing unit 305 in the image processing unit 304 generates image data based on an input digital signal, and performs white balance processing, gamma correction processing, and the like. In the YC processing unit 306 in the image processing unit 304, the image data is separated into the luminance signal Y and the color difference signals Cr and Cb, and processing for reducing the information amount of the color difference signals Cr and Cb is performed. The information amount reduction processing for the color difference signals Cr and Cb is, for example, “4: 2: 2 downsampling processing” for thinning out color information in the main scanning direction of an image, or “4: 1” for thinning out color information in the vertical and horizontal directions of an image. : 1 downsampling process ". When image processing is performed by the preprocessing unit 305 and the YC processing unit 306, image data is temporarily stored in the buffer memory 311 and image processing is performed while reading the image data stored in the buffer memory 311 as needed. Is called.

  Image data (uncompressed) output from the image processing unit 304 is input to the system controller 310. The system controller 310 outputs a control signal to the image processing unit 304 at regular intervals. When a control signal is input to the image processing unit 304, the compression unit 308 stores the image data image-processed by the preprocessing unit 305 and the YC processing unit 306 in the buffer memory 311 and performs compression processing.

  Specifically, discrete cosine transform processing (DCT processing) that digitizes the ratio of high-frequency components and low-frequency components of image data, and quantization that expresses the gradation and gradation of an image with the number of quantization bits Processing, Huffman coding processing for dividing a signal character string of image data into fixed bits and giving a shorter code to a character string having a high appearance frequency is performed. The compressed image data is recorded on the memory card 315 via the card holder 314.

  The image saved in the storage means such as the memory card 315 in this manner is then sent to the information processing apparatus 200 via the I / F 325 or the like.

(First embodiment)
FIG. 2 is a diagram showing the relationship between the camera and the target in the first embodiment of the present invention. Here, a case will be described as an example where there is one target that is the imaging purpose of the camera, and the flying means 100 is flying without setting a flight path.

  The GPS receiver of the camera 300 mounted on the flying means 100 acquires the camera coordinates 402 (position coordinates) of the camera 300 at regular intervals. And the specific coordinate (target coordinate 401) of the target is set on the ground. The specific coordinates as the position of the target can be set in advance by the user via the information processing apparatus 200 and can be stored in a storage unit such as a memory in the camera 300. In such a state, the system controller 310 in the camera 300 is based on the altitude difference between the altitude of the target coordinate 401 and the altitude of the camera coordinate 402, and the coordinate difference on the plane between the target coordinate 401 and the camera coordinate 402. The up and down angles and the left and right angles are calculated so that the camera faces the target, and the angle control unit 321 and the direction control unit 322 are controlled. Further, the system controller 310 obtains a linear distance between the target coordinates 401 and the camera coordinates 402, and controls the lens control unit so as to obtain an optimum focus position and zoom state.

  FIG. 3 is a flowchart for explaining camera control in the first embodiment of the present invention. This control is realized by the system controller 310 of the camera 300.

  In step S <b> 301, the system controller 310 analyzes the GPS coordinates received by the GPS receiving unit 324 to acquire the camera coordinates 402, and acquires specific coordinates that are the positions of the target objects stored in the storage unit of the camera 300. .

  Next, in step S <b> 302, the system controller sets the specific coordinates stored in the storage unit as the target coordinates 401. Next, based on the two points of the camera coordinates 402 and the target coordinates 401 acquired in step S <b> 303 in step S <b> 303, the difference between the height of the target coordinates 401 and the height of the camera coordinates 402, the target coordinates 401, and the camera coordinates 402. On the plane and the linear distance between the target coordinates 401 and the camera coordinates 402 are calculated. Then, the vertical angle is calculated from the altitude difference between the altitude of the target coordinates 401 and the altitude of the camera coordinates 402 so that the camera faces the target, and the left and right angles are calculated from the coordinate difference on the plane between the target coordinates 401 and the camera coordinates 402. An angle is calculated, and a lens control value that provides an optimal focus position and zoom state is calculated from a linear distance between the target coordinates 401 and the camera coordinates 402.

  In step S304, the lens control unit 327, the angle control unit 321 and the direction control unit are calculated so that the lens control value calculated in step S303, the lens control value for the zoom state, the vertical angle, and the horizontal angle are obtained. Adjust 322.

  By providing as described above, it is possible to automatically perform up / down and left / right angle control of the camera for capturing a target and lens control such as focus and zoom. That is, since it is possible to automatically prepare a state in which a target can be imaged, even an unmanned helicopter or airplane can perform an imaging operation smoothly.

(Second Embodiment)
In the first embodiment, the case where the flying means is flying without setting the flight route has been described. However, in the present embodiment, the flying means is flying so as to go around the target. explain. The imaging timing can be set so that the imaging operation is performed at a constant time interval or a constant movement interval during the lap.

  FIG. 4 is a diagram showing the relationship between the camera and the target when the target is specified by one point of coordinates, that is, an example in the case where there is one specific coordinate. As shown in FIG. 4A, the flying means 100 circulates in a state where a predetermined distance is maintained around the target coordinate 401 of the target and a predetermined altitude is maintained. FIG. 4B is a view of FIG. 4A viewed from above. Such specific coordinates, a predetermined distance, and a predetermined altitude can be set in advance by the user via the information processing apparatus 200.

  FIG. 5 is a diagram showing the relationship between the camera and the target when the target is specified by the coordinates of two points, that is, an example where there are two specific coordinates. When there are two specific coordinates, the side monitoring mode in which the target coordinates vary depending on the flight position (current position of the camera) of the flying means, and the center point monitoring mode (centroid of the center of the specific coordinates). Monitoring mode) can be selected.

  FIG. 5A shows the relationship between the camera direction and the target coordinates in the side-up monitoring mode. When the camera is at the camera position 300- (a), 401- (a) is set as the target coordinates. Angle control and lens control are performed. When the camera is at the camera position 300- (b), camera angle control and lens control are performed using 400- (b) as target coordinates. When the camera is at the camera position 300- (c), camera angle control and lens control are performed using 400- (c) as the target coordinates. That is, the coordinates are appropriately changed so that the coordinates closest to the camera coordinates on the straight line by the specific coordinates become the target coordinates.

  FIG. 5B shows the relationship between the orientation of the camera and the target coordinates in the center point monitoring mode, and the two points of the specific coordinates 404 (a) and the specific coordinates 404 (b) regardless of the position of the camera. Camera angle control and lens control are performed with the center point between them as the target coordinates 401.

  By making the above two modes selectable (allowing mode reception) by the user, the imaging operation can be performed in an imaging mode corresponding to the shape of the target. For example, in the case of a target such as a building that cannot visually recognize the interior, it is preferable to set the imaging mode to the side monitoring mode so that the appearance of the building can be imaged. On the other hand, in the case of a target such as a park or a plaza that can be seen all over from the air, it is possible to capture the entire view of the target by setting the center-of-gravity point monitoring mode and capturing an image in a zoomed out state. Such a mode can be selected in advance by the user via the information processing apparatus 200, as in the case of setting specific coordinates, a predetermined distance, and a predetermined altitude.

  FIG. 6 is a diagram showing the relationship between the camera and the target when the target is specified by coordinates of three points, that is, an example in the case where there are three specific coordinates. Even when there are a plurality of specific coordinates (three or more points), the side monitoring mode in which the target coordinates vary depending on the flight position of the flying means (current position of the camera) and the center of gravity monitoring mode in which the target coordinates are the center of gravity of the specific coordinates And can be selected.

  FIG. 6 (a) shows the relationship between the camera orientation and the target coordinates in the on-edge monitoring mode. When the camera is at the camera position 300- (d), the angle control of the camera is performed with 401- (d) as the target coordinates. And lens control is performed. When the camera is at the camera position 300- (e), camera angle control and lens control are performed using 400- (e) as target coordinates. As can be seen from FIG. 6A, depending on the position of the camera, there are a case where the image is taken on the side of the polygon and a case where the corner of the polygon is imaged. In either case, the coordinates are appropriately changed so that the coordinates closest to the camera coordinates on the straight line (polygonal side) connecting two adjacent specific coordinates become the target coordinates.

  FIG. 6B shows the relationship between the orientation of the camera and the target coordinates in the center point monitoring mode, and the camera angle control is performed with the center of gravity of a plurality of specific coordinates as the target coordinates 401 regardless of the position of the camera. And lens control is performed.

  Next, the flow of calculating the flight target coordinates of the flying means will be described using the flowchart of FIG. This control can be realized by the system controller 310 of the camera 300. In step S701, for example, the camera 300 is provided with specific coordinates preset by the user, a distance between the specific coordinates and the position of the camera (set distance), and a set altitude for maintaining the camera, for example. Obtained from storage means or the like. Such setting conditions can be set in advance by the user via the information processing apparatus 200.

  Next, in step S702, it is determined whether the specific coordinates acquired in step S701 are two or more points. If it is determined in step S702 that the number is not two or more, that is, the specific coordinate is one point, the process proceeds to step S704, and the acquired specific coordinate is set as the flight target coordinate. On the other hand, if it is determined in step S702 that the specific coordinates are two or more, the process proceeds to step S703, and the center of gravity of the two or more (multiple) acquired coordinates is set as the flight target coordinates.

  In step S705, the system controller 310 causes the flying means 100 to fly around the flight target coordinates so as to go around while maintaining the set distance and the set altitude acquired in step S701. The flight control unit 105 is controlled. Thereby, the flight of the flying means 100 aimed at the flight target coordinates is performed.

  Next, with reference to the flowchart of FIG. 8, camera control that enables imaging as shown in FIGS. 4 to 6 will be described. This control can be realized by the system controller 310 of the camera 300.

In step S <b> 801, the system controller 310 analyzes the GPS coordinates received by the GPS receiving unit 324 to acquire the camera coordinates 402, and 1 is a position for specifying the target stored in the storage unit of the camera 300. Alternatively, two or more specific coordinates are acquired.
In step S802, it is determined whether the specific coordinates acquired in step S801 are three or more points. If the specific coordinates are not 3 or more, that is, if the specific coordinates are 2 or less, the process proceeds to step S806, and it is determined whether or not the specific coordinates are 2 or more. If it is determined in step S806 that there are no two or more points, that is, the specific coordinate is one point, the specific coordinate is set as the target coordinate as in the first embodiment. If it is determined in step S806 that the specific coordinates are not three or more and two or more, that is, two, the process proceeds to S807.

  It is determined whether the monitoring mode selected in advance by the user is the “edge monitoring mode” or the “center of gravity monitoring mode”. If it is determined in step S806 that the center-of-gravity monitoring mode has been selected, the process advances to step S809 to set the center coordinates of a straight line by two specific coordinates as target coordinates. Thereby, the position shown in FIG. 5B is set as the target coordinates.

  If it is determined in step S807 that the side monitoring mode is selected, the process proceeds to step S808, and a coordinate that is on a straight line with specific coordinates and is closest to the camera coordinates is set as a target coordinate. Thereby, the position shown in FIG. 5A is set as the target coordinates.

  Next, returning to step S802, if it is determined that the specific coordinates are three or more points, the process proceeds to step S803, where the monitoring mode selected in advance by the user is “side monitoring mode” or “ It is determined whether it is in the “center of gravity monitoring mode”. If it is determined in step S803 that the center-of-gravity monitoring mode is selected, the process proceeds to step S805, and the center-of-gravity coordinates of the center-of-gravity point by a plurality of specific coordinates are set as target coordinates. Thereby, the position shown in FIG. 6B is set as the target coordinates.

  If it is determined in step S803 that the on-edge monitoring mode is selected, the process proceeds to step S804, on a straight line connecting two adjacent specific coordinates (on the side of the polygon formed by the specific coordinates). Therefore, the coordinates closest to the camera coordinates are set as the target coordinates. Thereby, the position shown in FIG. 6A is set as the target coordinates.

  In step S811, based on the target coordinates set in steps S804, S805, S808, S809, and S910 and the camera coordinates that are the current camera position coordinates acquired in step S801, the target coordinates are set. The altitude difference between the altitude 401 and the altitude of the camera coordinates 402, the coordinates on the plane between the target coordinates 401 and the camera coordinates 402, and the linear distance between the target coordinates 401 and the camera coordinates 402 are calculated. Then, the vertical angle is calculated from the altitude difference between the altitude of the target coordinates 401 and the altitude of the camera coordinates 402 so that the camera faces the target, and the left and right angles are calculated from the coordinate difference on the plane between the target coordinates 401 and the camera coordinates 402. An angle is calculated, and a lens control value that provides an optimal focus position and zoom state is calculated from a linear distance between the target coordinates 401 and the camera coordinates 402.

  In step S812, the lens control unit 327, the angle control unit 321, and the direction control unit are calculated so that the lens control value, the up / down angle, and the left / right angle in the optimum focus position and zoom state calculated in step S811 are obtained. Adjust 322.

  By providing as described above, it is possible to automatically perform up / down and left / right angle control of the camera for capturing a target and lens control such as focus and zoom. That is, since it is possible to automatically prepare a state in which a target can be imaged, an imaging operation can be performed smoothly even with an unmanned helicopter or airplane.

  Next, FIG. 9 is a flowchart for explaining another example of camera control capable of realizing the present embodiment. Even if this flowchart is used, camera control can be performed so as to obtain an imageable state as shown in FIGS. This control can be realized by the system controller 310 of the camera 300.

  In step S <b> 901, the system controller 310 acquires the camera coordinates 402 by analyzing the GPS coordinates received by the GPS receiving unit 324, and is a position for specifying the target stored in the storage unit of the camera 300. Alternatively, two or more specific coordinates are acquired.

  In step S902, it is determined whether the specific coordinates acquired in step S901 are two or more points. If the specific coordinates are not two points or more, that is, if the specific coordinates are one point, the process proceeds to step S910, and the specific coordinates are set as the target coordinates as in the first embodiment.

  If it is determined in step S902 that the specific coordinates are two or more points, the process proceeds to step S903, where the monitoring mode preselected by the user is “side monitoring mode” or “centroid monitoring mode”. Determine if there is.

  If it is determined in step S903 that the center-of-gravity monitoring mode is selected, the process advances to step S907 to determine whether the specific coordinates are three or more. If the specific coordinates are not three points or more, that is, two points, the process advances to step S909 to set the center coordinates of the straight line by the two specific coordinates as the target coordinates. Thereby, the position shown in FIG. 5B is set as the target coordinates.

  On the other hand, if it is determined in step S907 that the specific coordinates are not three or more, the process proceeds to step S908, and the barycentric coordinates of the barycentric points based on the plurality of specific coordinates are set as target coordinates. Thereby, the position shown in FIG. 6B is set as the target coordinates.

  Next, returning to S903, if it is determined that the side monitoring mode is selected, the process proceeds to step S904, where it is determined whether the specific coordinates are three or more. If the specific coordinates are not three points or more, that is, two points, the process proceeds to step S906, and the coordinates closest to the camera coordinates on the straight line by the specific coordinates are set as the target coordinates. Thereby, the position shown in FIG. 5A is set as the target coordinates.

  On the other hand, if it is determined in step S904 that the specific coordinates are three or more, the process proceeds to step S905, on a straight line connecting two adjacent specific coordinates (on the side of the polygon formed by the specific coordinates). The coordinates closest to the camera coordinates are set as the target coordinates. Thereby, the position shown in FIG. 6A is set as the target coordinates.

  Steps S911 and S912 are the same as steps S811 and S812 in FIG.

  Even if the control is performed as described above, similarly to FIG. 8, the vertical and horizontal angle control of the camera for capturing the target and the lens control such as focus and zoom can be automatically performed. That is, since it is possible to automatically prepare a state in which a target can be imaged, even an unmanned helicopter or airplane can perform an imaging operation smoothly.

  In the second embodiment, the flight target coordinates are calculated by the system controller 310 of the camera 300, but may be calculated by the CPU 104 of the flying means 100. In the second embodiment, the flight trajectory of the flying means is described as an example in which the flight trajectory of all the flying means is always circulated around the center of gravity of a plurality of specific coordinates. The shape may be an ellipse or the like. Further, it may be a flight trajectory that passes or circulates on a polygon specified by specific coordinates, that is, inside the polygon.

  In the first and second embodiments, the case where the specific coordinates are on the ground has been described as an example. However, even if the specific coordinates have an altitude, the target coordinates are set similarly, and the camera angle control and lens control are performed. It can be performed.

  In the first and second embodiments, a digital camera has been described as an example of the imaging unit. However, the present invention is not limited to a camera, and a video camera or the like may be used.

  Further, in the first and second embodiments, the description has been made on the assumption that it is mounted on an unmanned helicopter or an airplane. However, if the camera angle control and lens control are automatically performed, the case of manned There may be.

  In the first and second embodiments, the GPS receiving unit is described as being provided in the camera 300. However, it is only necessary that the current position of the camera 300 can be confirmed, and the GPS unit is mounted on the flying unit 100. Also good.

  Further, the present invention can be implemented as, for example, a system, apparatus, method, program, or storage medium, and can be applied to a system composed of a plurality of devices. You may apply to the apparatus which consists of one apparatus.

  The invention of the present application includes a software program that realizes the functions of the above-described embodiments directly or remotely from a system or apparatus. The present invention also includes a case where the information processing apparatus of the system or apparatus is achieved by reading and executing the supplied program code.

  Therefore, the program code itself installed in the information processing apparatus in order to realize the functional processing of the present invention with the information processing apparatus also realizes the present invention. In other words, the present invention includes a computer program itself for realizing the functional processing of the present invention.

  In that case, as long as it has the function of a program, it may be in the form of object code, a program executed by an interpreter, script data supplied to the OS, or the like.

  Examples of the recording medium for supplying the program include a flexible disk, hard disk, optical disk, magneto-optical disk, MO, CD-ROM, CD-R, and CD-RW. In addition, there are magnetic tape, nonvolatile memory card, ROM, DVD (DVD-ROM, DVD-R), and the like.

  As another program supply method, a browser on a client computer is used to connect to an Internet home page. The computer program itself of the present invention or a compressed file including an automatic installation function can be downloaded from the homepage by downloading it to a recording medium such as a hard disk.

  It can also be realized by dividing the program code constituting the program of the present invention into a plurality of files and downloading each file from a different homepage. That is, the present invention also includes a WWW server that allows a plurality of users to download a program file for realizing the functional processing of the present invention with an information processing apparatus.

  In addition, the program of the present invention is encrypted, stored in a storage medium such as a CD-ROM, distributed to users, and key information for decryption is downloaded from a homepage via the Internet to users who have cleared predetermined conditions. Let The downloaded key information can be used to execute the encrypted program and install it in the information processing apparatus.

  Further, the functions of the above-described embodiment are realized by the information processing apparatus executing the read program. In addition, based on the instructions of the program, the OS or the like operating on the information processing apparatus performs part or all of the actual processing, and the functions of the above-described embodiments can be realized by the processing.

  Further, the program read from the recording medium is written in a memory provided in a function expansion board inserted into the information processing apparatus or a function expansion unit connected to the information processing apparatus. Thereafter, the CPU of the function expansion board or function expansion unit performs part or all of the actual processing based on the instructions of the program, and the functions of the above-described embodiments are realized by the processing.

  The above-described embodiments are merely examples of implementation in carrying out the present invention, and the technical scope of the present invention should not be construed as being limited thereto. That is, the present invention can be implemented in various forms without departing from the technical idea or the main features thereof.

100 Flight Means 200 Information Processing Device 300 Camera 401 Target Coordinate 402 Camera Coordinate

Claims (9)

An imaging means for capturing an image;
A lens control unit for controlling the lens of the imaging means;
An angle control unit that controls an angle of the imaging unit with respect to the vertical direction;
A direction control unit for controlling the direction of the imaging means with respect to the left-right direction;
Flight means equipped with the imaging means;
GPS receiving means for receiving radio waves from GPS satellites and analyzing position coordinates from the radio waves;
Storage means for storing at least one specific coordinate for specifying a target;
Calculation means for calculating a lens control value, an angle with respect to the vertical direction, and an orientation with respect to the horizontal direction based on the at least one specific coordinate stored in the storage means and the position coordinate;
Control means for controlling the lens control unit, the angle control unit, and the direction control unit so that the lens control value calculated by the calculation unit, the angle with respect to the vertical direction, and the direction with respect to the horizontal direction are set. An imaging system characterized by the above.   The calculation means specifies a target coordinate for matching the lens control value of the imaging means, the angle with respect to the vertical direction and the direction with respect to the horizontal direction based on the at least one specific coordinate, and determines the altitude of the target coordinate. Based on the altitude difference from the altitude of the position coordinates and the coordinate difference on the plane between the target coordinates and the position coordinates, the lens control value of the imaging means, the angle with respect to the vertical direction, and the direction with respect to the horizontal direction are calculated. The imaging system according to claim 1, wherein: An altimeter capable of acquiring the altitude of the imaging means;
The imaging system according to claim 2, wherein the altitude of the position coordinates is obtained by the altimeter. When there are a plurality of the specific coordinates, the first mode in which the target coordinates are the centroids of the plurality of specific coordinates, and the position closest to the position coordinates on the side that forms the plurality of specific coordinates Mode accepting means for accepting selection from the user of any one of the second modes with the target coordinates as
The imaging system according to claim 2, wherein the calculation unit specifies target coordinates corresponding to the mode received by the mode reception unit. When the specific coordinates are two places,
When the first mode is received from the user by the mode receiving unit, the calculating unit specifies the center of the two specific coordinates as a target coordinate, and the second mode is set by the mode receiving unit. 5. The imaging system according to claim 4, wherein when received from a user, a position that is on a straight line between the two specific coordinates and is closest to the position coordinates is specified as a target coordinate.   The imaging system according to claim 1, wherein the control unit controls the flying unit so as to maintain a predetermined distance and a predetermined altitude from the flight target coordinates. When there are a plurality of the specific coordinates,
The control means controls the flying means so that the center of gravity of the plurality of specific coordinates is the flight target coordinates and the predetermined distance and the predetermined altitude are maintained from the flight target coordinates. The imaging system according to any one of 6.   The imaging system according to claim 1, wherein the lens control value is a value for controlling at least one of a zoom, a focus, and a diaphragm of a lens of the imaging unit. . An imaging unit that captures an image, a lens control unit that performs lens control of the imaging unit, an angle control unit that controls an angle of the imaging unit with respect to the vertical direction, and a direction control that controls the orientation of the imaging unit with respect to the horizontal direction Unit, flight means equipped with the imaging means, GPS receiving means for receiving radio waves from GPS satellites and analyzing position coordinates from the radio waves, and at least one specific coordinate for specifying a target An image pickup method for an image pickup system comprising:
A calculation step of calculating a lens control value, an angle with respect to the vertical direction, and an orientation with respect to the horizontal direction based on the at least one specific coordinate stored in the storage unit and the position coordinate;
A control step of controlling the lens control unit, the angle control unit, and the direction control unit so that the lens control value calculated in the calculation step, the angle with respect to the vertical direction, and the direction with respect to the horizontal direction are set. An imaging method characterized by the above.