JP2019212961A - Mobile unit, light amount adjustment method, program, and recording medium - Google Patents

Abstract

To suppress deterioration in the image quality of an image captured by a mobile unit against the light.SOLUTION: The mobile unit, which illuminates a subject and captures an image of the subject, comprises an imaging unit for capturing an image of the subject, a light source for illuminating the object, and a processing unit. The processing unit acquires a first distance which is an effective distance of light emitted from the light source, acquires a second distance which is a distance between the subject imaged by the imaging unit and the mobile unit, and controls the movement of the mobile unit so as to change the second distance on the basis of the first distance and the second distance.SELECTED DRAWING: Figure 11

Description

  The present disclosure relates to a moving body that illuminates a subject and captures an image, a light amount adjustment method, a program, and a recording medium.

  Patent Document 1 discloses an unmanned air vehicle equipped with a flash (flash light). In this unmanned air vehicle, when the imaging unit images the observation target facility, if the amount of light is insufficient at night, the observation target facility is irradiated with flash light.

JP 2017-123016 A

  The effective distance that the flash light reaches the subject depends on various factors such as the light emission amount, the focal length of the lens, and the light irradiation angle. For this reason, it is difficult to properly illuminate the subject. For example, if the moving body is too far away from the subject, the amount of light is insufficient. On the other hand, if the moving body and the subject are too close, the amount of light becomes excessive. Therefore, for example, when a moving body illuminates a subject with flash light to perform backlight imaging, image quality is likely to deteriorate in the captured image. That is, measures against backlight imaging by the moving body are insufficient.

  In one aspect, the moving body is a moving body that illuminates the subject and captures an image, and includes an imaging unit that captures the subject, a light source that illuminates the subject, and a processing unit. The first distance that is the effective distance of the light emitted from the camera is acquired, the second distance that is the distance between the subject imaged by the imaging unit and the moving body is acquired, and the first distance and the second distance are acquired. Based on this, the movement of the moving body is controlled to change the second distance.

  When the second distance is longer than the first distance, the processing unit may control the movement of the moving body so as to approach the subject.

  The processing unit may adjust the amount of light emitted from the light source based on the first distance and the second distance.

  The processing unit may reduce the amount of light emitted from the light source when the second distance is equal to or less than the first distance.

  The processing unit calculates a light intensity for the light source to illuminate the subject based on the brightness of the subject and the background of the subject, and calculates a first distance based on the light intensity of the light source. Good.

  The processing unit obtains a captured image by causing the imaging unit to capture the subject in a state where the subject is illuminated with a predetermined light amount by the light source, and for each pixel value in the captured image based on the pixel value of each pixel in the captured image. The intensity of light emitted from the light source may be calculated based on the number of pixels for each pixel value in the captured image.

  In one aspect, the light amount adjustment method is a light amount adjustment method in a moving body that illuminates a subject and captures an image, and acquiring a first distance that is an effective distance of light emitted from a light source that illuminates the subject; The second distance is changed based on the step of obtaining a second distance that is the distance between the subject imaged by the imaging unit that images the subject and the moving body, and the first distance and the second distance. Controlling the movement of the moving body.

  The step of controlling the movement of the moving body may include the step of controlling the movement of the moving body so as to approach the subject when the second distance is longer than the first distance.

  The light amount adjustment method may further include a step of adjusting the light amount emitted from the light source based on the first distance and the second distance.

  The step of adjusting the amount of light may include a step of reducing the amount of light emitted by the light source, wherein the second distance is equal to or less than the first distance.

  The step of obtaining the first distance includes the step of calculating the light intensity for the light source to illuminate the subject based on the brightness of the subject and the brightness of the background of the subject, and based on the light intensity of the light source. Calculating a first distance.

  The step of calculating the light intensity includes the step of obtaining a captured image by causing the imaging unit to capture the subject in a state where the subject is illuminated with a predetermined light amount by the light source, and the pixel value of each pixel in the captured image. The step of generating the number of pixels for each pixel value in the captured image and the step of calculating the intensity of light emitted from the light source based on the number of pixels for each pixel value in the captured image may be included.

  In one aspect, the program acquires a first distance, which is an effective distance of light emitted from a light source that illuminates the subject, to a moving body that illuminates the subject and captures an image, and an imaging unit that captures the subject. The movement of the moving body is controlled so as to change the second distance based on the step of obtaining a second distance that is the distance between the subject to be imaged and the moving body, and the first distance and the second distance. And a step for executing the program.

  In one aspect, the recording medium acquires a first distance, which is an effective distance of light emitted from a light source that illuminates the subject, to a moving body that illuminates the subject and captures an image, and an imaging unit that captures the subject Based on the step of obtaining a second distance that is the distance between the subject to be imaged by the moving object and the moving object, the moving object is moved so as to change the second distance based on the first distance and the second distance. A computer-readable recording medium having recorded thereon a program for executing the controlling step.

  Note that the summary of the invention described above does not enumerate all the features of the present disclosure. In addition, a sub-combination of these feature groups can also be an invention.

The schematic diagram which shows the 1st structural example of the aircraft system in embodiment. The schematic diagram which shows the 2nd structural example of the aircraft system in embodiment. The figure which shows an example of the concrete appearance of an unmanned aerial vehicle Block diagram showing an example of the hardware configuration of an unmanned aerial vehicle Block diagram showing an example of the hardware configuration of the terminal The figure which shows an example of the hardware constitutions of an imaging part Diagram showing the situation of backlight imaging A diagram showing the overall flow of operations to properly perform flash imaging during backlighting Diagram explaining details of guide number calculation The figure which shows the situation where an unmanned aerial vehicle images the person who is the main subject at the time of backlight imaging Sequence diagram showing the operational procedure of the aircraft system

  Hereinafter, although this indication is explained through an embodiment of the invention, the following embodiment does not limit the invention concerning a claim. Not all combinations of features described in the embodiments are essential for the solution of the invention.

  The claims, the description, the drawings, and the abstract include matters subject to copyright protection. The copyright owner will not object to any number of copies of these documents as they appear in the JPO file or record. However, in other cases, all copyrights are reserved.

(Background to obtaining one form of the present disclosure)
In recent years, unmanned aerial vehicles have become smaller and palm-sized unmanned aerial vehicles have also appeared. When a user takes an image of the user himself (self-photographing) using an unmanned aerial vehicle, many users try to perform so-called backlight imaging in which the image is taken with the back of the sun in order to avoid glare.

  When backlight imaging is performed with auto exposure (AE), the background is too bright, and the person who is the subject tends to be black. Further, when the person who is the subject is set to an appropriate exposure amount, the background tends to be white and white. As described above, it is difficult to take a picture with good image quality in backlight imaging. In general, when backlight imaging is performed, the brightness of the entire subject is adjusted by using a flash to illuminate the person who is the main subject and matching the brightness of the background.

  However, the distance that the flash light can effectively reach (effective distance) depends on various factors such as the amount of emitted light, the focal length of the lens, the irradiation angle, and has a limit. When a person takes a picture with a camera, it can be adjusted easily by approaching or moving away so that the flash light reaches the person who is the main subject, but it is not easy with an unmanned aerial vehicle. For this reason, in an unmanned aerial vehicle equipped with a flash, it is easy to cause insufficient light quantity or excessive light quantity of the flash, and it is difficult to perform backlight imaging well.

(Embodiment)
In the following embodiment, an unmanned aerial vehicle (UAV: Unmanned Aerial Vehicle) is illustrated as a moving body. Unmanned aerial vehicles include aircraft that travel in the air. In the drawings attached to this specification, the unmanned aerial vehicle is represented as “UAV”. In the light amount adjustment method, the operation of the moving body or the flight system is defined. The recording medium is a recording medium of a program (for example, a program that causes a mobile body to execute various processes).

  FIG. 1 is a schematic diagram illustrating a first configuration example of an aircraft system 10 in the embodiment. The aircraft system 10 includes an unmanned aerial vehicle 100 and a terminal 80. The unmanned aircraft 100 and the terminal 80 can communicate with each other by wired communication or wireless communication (for example, a wireless LAN (Local Area Network)). FIG. 1 illustrates that the terminal 80 is a mobile terminal (for example, a smartphone or a tablet terminal).

  The flying object system may have a configuration including an unmanned aerial vehicle, a transmitter (propo), and a portable terminal. When the transmitter is provided, the user can instruct the control of the flight of the unmanned aircraft using the left and right control rods arranged on the front surface of the transmitter. In this case, the unmanned aircraft, the transmitter, and the portable terminal can communicate with each other by wired communication or wireless communication.

  FIG. 2 is a schematic diagram illustrating a second configuration example of the aircraft system 10 according to the embodiment. FIG. 2 illustrates that the terminal 80 is a PC. 1 and 2, the function of the terminal 80 may be the same.

  FIG. 3 is a diagram illustrating an example of a specific appearance of the unmanned aerial vehicle 100. FIG. 3 shows a perspective view when unmanned aerial vehicle 100 flies in moving direction STV0. Unmanned aerial vehicle 100 is an example of a moving object.

  As shown in FIG. 3, a roll axis (see x-axis) is set in a direction parallel to the ground and along the movement direction STV0. In this case, a pitch axis (see the y-axis) is set in a direction parallel to the ground and perpendicular to the roll axis, and further, a yaw axis (z-axis) is perpendicular to the ground and perpendicular to the roll axis and the pitch axis. Reference) is set.

  The unmanned aerial vehicle 100 includes a UAV main body 102, a gimbal 200, an imaging unit 220, and a plurality of imaging units 230.

  The UAV main body 102 includes a plurality of rotor blades (propellers). The UAV main body 102 causes the unmanned aircraft 100 to fly by controlling the rotation of a plurality of rotor blades. The UAV main body 102 causes the unmanned aircraft 100 to fly using, for example, four rotary wings. The number of rotor blades is not limited to four. Unmanned aerial vehicle 100 may also be a fixed wing aircraft that does not have rotating wings.

  The imaging unit 220 may be an imaging camera that captures an image of a subject included in a desired imaging range (for example, an aerial image, a landscape such as a mountain or a river, a building on the ground).

  The plurality of imaging units 230 may be sensing cameras that capture an image of the surroundings of the unmanned aircraft 100 in order to control the flight of the unmanned aircraft 100. Two imaging units 230 may be provided on the front surface that is the nose of the unmanned aircraft 100. Further, the other two imaging units 230 may be provided on the bottom surface of the unmanned aircraft 100. The two imaging units 230 on the front side may be paired and function as a so-called stereo camera. The two imaging units 230 on the bottom side may also be paired and function as a stereo camera. Based on images captured by the plurality of imaging units 230, three-dimensional space data (three-dimensional shape data) around the unmanned aircraft 100 may be generated. Note that the number of the imaging units 230 included in the unmanned aerial vehicle 100 is not limited to four. The unmanned aircraft 100 only needs to include at least one imaging unit 230. The unmanned aerial vehicle 100 may include at least one imaging unit 230 on each of the nose, tail, side surface, bottom surface, and ceiling surface of the unmanned aircraft 100. The angle of view that can be set by the imaging unit 230 may be wider than the angle of view that can be set by the imaging unit 220. The imaging unit 230 may include a single focus lens or a fisheye lens.

  FIG. 4 is a block diagram illustrating an example of a hardware configuration of the unmanned aerial vehicle 100. The unmanned aerial vehicle 100 includes a UAV control unit 110, a communication interface 150, a memory 160, a storage 170, a gimbal 200, a rotary wing mechanism 210, an imaging unit 220, an imaging unit 230, a GPS receiver 240, The configuration includes an inertial measurement unit (IMU) 250, a magnetic compass 260, a barometric altimeter 270, an ultrasonic sensor 280, and a laser measuring device 290.

  The UAV control unit 110 is configured using, for example, a central processing unit (CPU), a micro processing unit (MPU), or a digital signal processor (DSP). The UAV control unit 110 performs signal processing for overall control of operations of each unit of the unmanned aircraft 100, data input / output processing with respect to other units, data calculation processing, and data storage processing. The UAV control unit 110 is an example of a processing unit.

  The UAV control unit 110 controls the flight of the unmanned aircraft 100 according to a program stored in the memory 160. The UAV control unit 110 may control the flight. The UAV control unit 110 may take an image in the air.

  The UAV control unit 110 acquires position information indicating the position of the unmanned aircraft 100. The UAV control unit 110 may acquire position information indicating the latitude, longitude, and altitude at which the unmanned aircraft 100 exists from the GPS receiver 240. The UAV control unit 110 acquires, from the GPS receiver 240, latitude / longitude information indicating the latitude and longitude where the unmanned aircraft 100 exists, and altitude information indicating the altitude where the unmanned aircraft 100 exists from the barometric altimeter 270, as position information. Good. The UAV control unit 110 may acquire the distance between the ultrasonic emission point and the ultrasonic reflection point by the ultrasonic sensor 280 as altitude information.

  The UAV control unit 110 may acquire orientation information indicating the orientation of the unmanned aircraft 100 from the magnetic compass 260. The orientation information may be indicated by an orientation corresponding to the orientation of the nose of the unmanned aircraft 100, for example.

  The UAV control unit 110 may acquire position information indicating a position where the unmanned aircraft 100 should exist when the imaging unit 220 captures an imaging range to be imaged. The UAV control unit 110 may acquire position information indicating the position where the unmanned aircraft 100 should be present from the memory 160. The UAV control unit 110 may acquire position information indicating a position where the unmanned aircraft 100 should exist from another device via the communication interface 150. The UAV control unit 110 may refer to the three-dimensional map database, identify a position where the unmanned aircraft 100 can exist, and acquire the position as position information indicating a position where the unmanned aircraft 100 should exist.

  The UAV control unit 110 may acquire imaging range information indicating the imaging ranges of the imaging unit 220 and the imaging unit 230. The UAV control unit 110 may acquire angle-of-view information indicating the angle of view of the imaging unit 220 and the imaging unit 230 from the imaging unit 220 and the imaging unit 230 as parameters for specifying the imaging range. The UAV control unit 110 may acquire information indicating the imaging direction of the imaging unit 220 and the imaging unit 230 as a parameter for specifying the imaging range. The UAV control unit 110 may acquire posture information indicating the posture state of the imaging unit 220 from the gimbal 200 as information indicating the imaging direction of the imaging unit 220, for example. The posture information of the imaging unit 220 may indicate a rotation angle from the reference rotation angle of the pitch axis and yaw axis of the gimbal 200.

  The UAV control unit 110 may acquire position information indicating a position where the unmanned aircraft 100 exists as a parameter for specifying the imaging range. The UAV control unit 110 defines an imaging range indicating a geographical range captured by the imaging unit 220 based on the angle of view and the imaging direction of the imaging unit 220 and the imaging unit 230, and the position where the unmanned aircraft 100 exists. Imaging range information may be acquired by generating imaging range information.

  The UAV control unit 110 may acquire imaging range information from the memory 160. The UAV control unit 110 may acquire imaging range information via the communication interface 150.

  The UAV control unit 110 controls the gimbal 200, the rotary blade mechanism 210, the imaging unit 220, and the imaging unit 230. The UAV control unit 110 may control the imaging range of the imaging unit 220 by changing the imaging direction or angle of view of the imaging unit 220. The UAV control unit 110 may control the imaging range of the imaging unit 220 supported by the gimbal 200 by controlling the rotation mechanism of the gimbal 200.

  The imaging range refers to a geographical range captured by the imaging unit 220 or the imaging unit 230. The imaging range is defined by latitude, longitude, and altitude. The imaging range may be a range in three-dimensional spatial data defined by latitude, longitude, and altitude. The imaging range may be a range in two-dimensional spatial data defined by latitude and longitude. The imaging range may be specified based on the angle of view and imaging direction of the imaging unit 220 or the imaging unit 230, and the position where the unmanned aircraft 100 is present. The image capturing directions of the image capturing unit 220 and the image capturing unit 230 may be defined from an azimuth and a depression angle in which the front surface where the image capturing lenses of the image capturing unit 220 and the image capturing unit 230 are provided is directed. The imaging direction of the imaging unit 220 may be a direction specified from the heading direction of the unmanned aerial vehicle 100 and the posture state of the imaging unit 220 with respect to the gimbal 200. The imaging direction of the imaging unit 230 may be a direction specified from the heading of the unmanned aircraft 100 and the position where the imaging unit 230 is provided.

  The UAV control unit 110 may specify the environment around the unmanned aerial vehicle 100 by analyzing a plurality of images captured by the plurality of imaging units 230. The UAV control unit 110 may control the flight based on the environment around the unmanned aircraft 100, for example, avoiding an obstacle.

  The UAV control unit 110 may acquire three-dimensional information (three-dimensional information) indicating the three-dimensional shape (three-dimensional shape) of an object that exists around the unmanned aircraft 100. The object may be a part of a landscape such as a building, road, car, or tree. The three-dimensional information is, for example, three-dimensional space data. The UAV control unit 110 may acquire the three-dimensional information by generating the three-dimensional information indicating the three-dimensional shape of the object existing around the unmanned aircraft 100 from each image obtained from the plurality of imaging units 230. The UAV control unit 110 may acquire the three-dimensional information indicating the three-dimensional shape of the object existing around the unmanned aircraft 100 by referring to the three-dimensional map database stored in the memory 160 or the storage 170. The UAV control unit 110 may acquire the three-dimensional information related to the three-dimensional shape of the object existing around the unmanned aircraft 100 by referring to a three-dimensional map database managed by a server existing on the network.

  The UAV control unit 110 controls the flight of the unmanned aircraft 100 by controlling the rotary wing mechanism 210. That is, the UAV control unit 110 controls the position including the latitude, longitude, and altitude of the unmanned aircraft 100 by controlling the rotary wing mechanism 210. The UAV control unit 110 may control the imaging range of the imaging unit 220 by controlling the flight of the unmanned aircraft 100. The UAV control unit 110 may control the angle of view of the imaging unit 220 by controlling a zoom lens included in the imaging unit 220. The UAV control unit 110 may control the angle of view of the imaging unit 220 by digital zoom using the digital zoom function of the imaging unit 220.

  When the imaging unit 220 is fixed to the unmanned aircraft 100 and the imaging unit 220 cannot be moved, the UAV control unit 110 moves the unmanned aircraft 100 to a specific position at a specific date and time to perform desired imaging under a desired environment. The range may be captured by the imaging unit 220. Alternatively, even when the imaging unit 220 does not have a zoom function and the angle of view of the imaging unit 220 cannot be changed, the UAV control unit 110 moves the unmanned aircraft 100 to a specific position at the specified date and time to In this environment, the imaging unit 220 may capture a desired imaging range.

  The communication interface 150 communicates with the terminal 80. The communication interface 150 may perform wireless communication using an arbitrary wireless communication method. The communication interface 150 may perform wired communication by an arbitrary wired communication method. The communication interface 150 may transmit the aerial image and additional information (metadata) regarding the aerial image to the terminal 80.

  The memory 160 includes a gimbal 200, a rotating blade mechanism 210, an imaging unit 220, an imaging unit 230, a GPS receiver 240, an inertial measurement device 250, a magnetic compass 260, a barometric altimeter 270, an ultrasonic sensor 280, and a laser. A program and the like necessary for controlling the measuring device 290 are stored. The memory 160 may be a computer-readable recording medium, such as SRAM (Static Random Access Memory), DRAM (Dynamic Random Access Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and It may include at least one flash memory such as a USB (Universal Serial Bus) memory. Memory 160 may be removable from unmanned aerial vehicle 100. The memory 160 may operate as a working memory.

  The storage 170 may include at least one of a hard disk drive (HDD), a solid state drive (SSD), an SD card, a USB memory, and other storage. The storage 170 may hold various information and various data. Storage 170 may be removable from unmanned aerial vehicle 100. The storage 170 may record aerial images.

  The gimbal 200 may support the imaging unit 220 rotatably about the yaw axis, pitch axis, and roll axis. The gimbal 200 may change the imaging direction of the imaging unit 220 by rotating the imaging unit 220 around at least one of the yaw axis, the pitch axis, and the roll axis.

  The rotary blade mechanism 210 includes a plurality of rotary blades and a plurality of drive motors that rotate the plurality of rotary blades. The rotary wing mechanism 210 causes the unmanned aircraft 100 to fly by being controlled by the UAV control unit 110. The number of rotor blades 211 may be four, for example, or any other number. Unmanned aerial vehicle 100 may also be a fixed wing aircraft that does not have rotating wings.

  The imaging unit 220 captures a subject in a desired imaging range and generates captured image data. Image data (for example, an aerial image) obtained by imaging by the imaging unit 220 may be stored in a memory included in the imaging unit 220 or the storage 170.

  The imaging unit 230 captures the surroundings of the unmanned aircraft 100 and generates captured image data. Image data of the imaging unit 230 may be stored in the storage 170.

  The GPS receiver 240 receives a plurality of signals indicating times and positions (coordinates) of each GPS satellite transmitted from a plurality of navigation satellites (that is, GPS satellites). The GPS receiver 240 calculates the position of the GPS receiver 240 (that is, the position of the unmanned aircraft 100) based on the plurality of received signals. The GPS receiver 240 outputs the position information of the unmanned aircraft 100 to the UAV control unit 110. The calculation of the position information of the GPS receiver 240 may be performed by the UAV control unit 110 instead of the GPS receiver 240. In this case, the UAV control unit 110 receives information indicating the time and the position of each GPS satellite included in a plurality of signals received by the GPS receiver 240.

  Inertial measurement device 250 detects the attitude of unmanned aerial vehicle 100 and outputs the detection result to UAV control unit 110. The inertial measurement device 250 detects, as the attitude of the unmanned aerial vehicle 100, acceleration in the three axial directions of the unmanned aircraft 100 in the front, rear, left, and right directions, and the angular velocity in the three axial directions of the pitch axis, the roll axis, and the yaw axis. It's okay.

  The magnetic compass 260 detects the heading of the unmanned aircraft 100 and outputs the detection result to the UAV control unit 110.

  Barometric altimeter 270 detects the altitude at which unmanned aircraft 100 flies, and outputs the detection result to UAV control unit 110.

  The ultrasonic sensor 280 emits an ultrasonic wave, detects an ultrasonic wave reflected by the ground or an object, and outputs a detection result to the UAV control unit 110. The detection result may indicate a distance from the unmanned aircraft 100 to the ground, that is, an altitude. The detection result may indicate a distance from the unmanned aircraft 100 to an object (subject).

  Laser measuring device 290 irradiates the object with laser light, receives the reflected light reflected by the object, and measures the distance between unmanned aircraft 100 and the object (subject) using the reflected light. As an example, the distance measurement method using laser light may be a time-of-flight method.

  FIG. 5 is a block diagram illustrating an example of a hardware configuration of the terminal 80. The terminal 80 includes a terminal control unit 81, an operation unit 83, a communication unit 85, a memory 87, a display unit 88, and a storage 89. The terminal 80 may be possessed by a user who desires an instruction for flight control of the unmanned aircraft 100.

  The terminal control unit 81 is configured using, for example, a CPU, MPU, or DSP. The terminal control unit 81 performs signal processing for overall control of operations of each unit of the terminal 80, data input / output processing with other units, data calculation processing, and data storage processing.

  The terminal control unit 81 may acquire data and information from the unmanned aircraft 100 via the communication unit 85. The terminal control unit 81 may acquire data and information input via the operation unit 83. The terminal control unit 81 may acquire data and information held in the memory 87. The terminal control unit 81 may transmit data and information to the unmanned aircraft 100 via the communication unit 85. The terminal control unit 81 may send data and information to the display unit 88 and cause the display unit 88 to display display information based on the data and information.

  The terminal control unit 81 may execute an application for synthesizing images and generating a synthesized image. The terminal control unit 81 may generate various data used in the application.

  The operation unit 83 receives and acquires data and information input by the user of the terminal 80. The operation unit 83 may include input devices such as buttons, keys, a touch screen, and a microphone. Here, it is exemplified that the operation unit 83 and the display unit 88 are mainly configured by a touch panel. In this case, the operation unit 83 can accept a touch operation, a tap operation, a drag operation, and the like. Information input by the operation unit 83 may be transmitted to the unmanned aircraft 100.

  The communication unit 85 performs wireless communication with the unmanned aircraft 100 by various wireless communication methods. This wireless communication method of wireless communication may include, for example, communication via a wireless LAN, Bluetooth (registered trademark), or a public wireless line. The communication unit 85 may perform wired communication using an arbitrary wired communication method.

  The memory 87 includes, for example, a ROM that stores a program that defines the operation of the terminal 80 and data of setting values, and a RAM that temporarily stores various information and data used during processing by the terminal control unit 81. May be. The memory 87 may include memories other than ROM and RAM. The memory 87 may be provided inside the terminal 80. The memory 87 may be provided so as to be removable from the terminal 80. The program may include an application program.

  The display unit 88 is configured using, for example, an LCD (Liquid Crystal Display), and displays various information and data output from the terminal control unit 81. The display unit 88 may display various data and information related to the execution of the application.

  The storage 89 stores and holds various data and information. The storage 89 may be an HDD, SSD, SD card, USB memory, or the like. The storage 89 may be provided inside the terminal 80. The storage 89 may be provided so as to be removable from the terminal 80. The storage 89 may hold an aerial image acquired from the unmanned aircraft 100 and additional information. Additional information may be held in the memory 87.

  When the flying vehicle system 10 includes a transmitter (propo), the processing executed by the terminal 80 may be executed by the transmitter. Since the transmitter has the same components as the terminal 80, a detailed description thereof will be omitted. The transmitter includes a control unit, an operation unit, a communication unit, a display unit, a memory, and the like. If the aircraft system 10 has a transmitter, the terminal 80 may not be provided.

  FIG. 6 is a diagram illustrating a hardware configuration of the imaging unit 220 included in the unmanned aerial vehicle 100. The imaging unit 220 has a housing 220z. The imaging unit 220 includes a camera processor 11, a shutter 12, an imaging element 13, an image processing unit 14, a memory 15, a shutter driving unit 19, an element driving unit 20, a gain control unit 21, and a flash 18 inside the housing 220z. Have. Note that at least a part of each component in the imaging unit 220 may not be provided.

  The camera processor 11 determines imaging conditions such as exposure time and aperture (iris). The camera processor 11 may perform exposure (AE: Automatic Exposure) control in consideration of the light attenuation by the ND filter 32. The camera processor 11 may calculate a luminance (brightness) level (for example, a pixel value) from the image data output from the image processing unit 14. The camera processor 11 may calculate a gain value for the image sensor 13 based on the calculated luminance (lightness) level, and send the calculation result to the gain control unit 21. The camera processor 11 may calculate a shutter speed value for opening and closing the shutter 12 based on the calculated luminance (lightness) level, and send the calculation result to the shutter drive unit 19. The camera processor 11 may send an imaging instruction to the element driving unit 20 that supplies a timing signal to the imaging element 13.

  The shutter 12 is a focal plane shutter, for example, and is driven by a shutter drive unit 19. The incident light when the shutter 12 is opened forms an image on the imaging surface of the image sensor 13. The image sensor 13 photoelectrically converts an optical image formed on the imaging surface and outputs it as an image signal. As the imaging device 13, a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor may be used.

  The gain control unit 21 reduces noise with respect to the image signal input from the image sensor 13 and controls a gain (gain) for amplifying the image signal. The image processing unit 14 performs analog-digital conversion on the imaging signal amplified by the gain control unit 21 to generate image data. The image processing unit 14 may perform various processes such as shading correction, color correction, contour enhancement, noise removal, gamma correction, debayering, and compression.

  The memory 15 is a storage medium that stores various data and image data. For example, the memory 15 may hold exposure control information for calculating an exposure amount based on the shutter speed S, F value, ISO sensitivity, and ND value. The ISO sensitivity is a value corresponding to the gain. The ND value represents the dimming degree by the neutral density filter. The exposure control information may include an AE algorithm.

  The shutter drive unit 19 opens and closes the shutter 12 at the shutter speed instructed from the camera processor 11. The element driving unit 20 is a timing generator, supplies a timing signal to the image sensor 13 in accordance with an imaging instruction from the camera processor 11, and performs a charge accumulation operation, a read operation, a reset operation, and the like of the image sensor 13.

  The flash 18 illuminates the subject by flashing in accordance with instructions from the camera processor 11 during night imaging or backlighting (backlight correction). For example, an LED (light emitting diode) light is used for the flash 18. Note that the flash 18 may be omitted.

  The imaging unit 220 includes an ND filter 32, a diaphragm 33, a lens group 34, a lens driving unit 36, an ND driving unit 38, and a diaphragm driving unit 40 inside the housing 220z.

  The lens group 34 collects light from the subject and forms an image on the image sensor 13. The lens group 34 includes a focus lens, a zoom lens, an image blur correction lens, and the like. The lens group 34 is driven by a lens driving unit 36. The lens driving unit 36 includes a motor (not shown), and moves a lens group 34 including a zoom lens and a focus lens in the direction of the optical axis op (optical axis direction) when a control signal from the camera processor 11 is input. You may let me. When performing a zooming operation for changing the zoom magnification by moving the zoom lens, the lens driving unit 36 may extend and contract a lens barrel that is a part of the housing 220z and accommodates the lens group 34 in the front-rear direction.

  The diaphragm 33 is driven by the diaphragm driver 40. The aperture drive unit 40 includes a motor (not shown), and when the control signal from the camera processor 11 is input, the aperture of the aperture 33 is enlarged or reduced.

  The ND filter 32 is disposed, for example, in the vicinity of the diaphragm 33 in the direction of the optical axis op (optical axis direction), and performs dimming to limit the amount of incident light. The ND drive unit 38 includes a motor (not shown), and when the control signal from the camera processor 11 is input, the ND filter 32 may be inserted into and removed from the optical axis op.

  Next, a function related to the light amount adjustment that the UAV control unit 110 of the unmanned aircraft 100 has will be described. The UAV control unit 110 is an example of a processing unit. In the present embodiment, it is mainly assumed that the imaging unit 220 images a subject (also referred to as backlight imaging) under a backlight environment. In addition, even if it is not a backlight imaging, it may apply widely to the imaging which needs adjustment of the light quantity which reaches | attains a to-be-photographed object.

  The UAV control unit 110 sets the operation mode (eg, flight mode, imaging mode) of the unmanned aircraft 100. The imaging mode includes a light amount adjustment imaging mode for adjusting the amount of light that illuminates the subject when the imaging unit 220 captures an image. The operation mode (for example, hyper speed imaging mode) of the unmanned aircraft 100 may be instructed by the UAV control unit 110 of the unmanned aircraft 100 based on, for example, the time zone or the location of the unmanned aircraft 100, or via the communication interface 150. The terminal 80 may be used to remotely instruct.

  The UAV control unit 110 measures the distance from the unmanned aircraft 100 to an arbitrary object (for example, a person hm serving as a main subject). In this case, the UAV control unit 110 may measure the distance to the object using the ultrasonic sensor 280 or the laser measuring device 290.

  The UAV control unit 110 may perform, for example, automatic exposure, that is, exposure amount adjustment (also referred to as automatic exposure adjustment) according to a predetermined AE algorithm. Note that the AE algorithm does not grasp what the main subject in the imaging target is. The AE algorithm does not grasp whether the brightness difference between the subjects in the imaging target is large. The AE algorithm grasps the overall brightness (brightness) of each subject in the imaging target. As described above, since the AE algorithm does not grasp the brightness difference of each subject, backlight imaging can occur. Note that the imaging target may be a captured target (a subject reflected in a captured image) or a target before being captured.

  The UAV control unit 110 acquires AE statistics information based on a captured image captured according to the AE algorithm. The AE statistics may be indicated by a pixel value distribution (lightness distribution) of each pixel in the captured image, and may be expressed by a histogram. For example, when the average value of the pixel values of each pixel in the captured image is equal to or less than the threshold th1, the UAV control unit 110 needs to supplement the amount of light for imaging by the imaging unit 220, and the flash 18 emits light or the amount of light emitted. It may be determined that an increase in For example, in the histogram, the number of pixels in the captured image with the pixel value v1 and the number of pixels in the captured image with the pixel value v2 each peak, and the distance between the pixel value v1 and the pixel value v2 is large (that is, brightness) If there is a large difference), the UAV control unit 110 may determine that light emission from the flash 18 or an increase in the light emission amount is necessary because there is a high possibility of backlight imaging.

  The UAV control unit 110 may calculate the effective distance D in which the light of the flash 18 is effective based on the imaging conditions (imaging information) of the imaging unit 220. For example, the UAV control unit 110 may calculate the effective distance D based on the guide number corresponding to the light emission amount of the flash 18, the ISO value, and the aperture value (F) of the aperture 33. The UAV control unit 110 may calculate and acquire the effective distance D based on the imaging result obtained by temporarily emitting light from the flash 18.

  The UAV control unit 110 may adjust the amount of light reaching the subject (for example, the main subject). In this case, the UAV control unit 110 may adjust the amount of light reaching the subject by adjusting the distance between the subject and the unmanned aircraft 100 by controlling the movement of the unmanned aircraft 100. The UAV control unit 110 may adjust the amount of light reaching the subject by increasing or decreasing the light emission amount of the flash 18.

  The UAV control unit 110 may perform imaging using the flash 18 via the imaging unit 220. That is, the imaging unit 220 may capture the subject in a state where the subject is illuminated with light emitted from the flash 18. The flash 18 may or may not adjust the light emission amount. That is, the light emission amount of the flash 18 may be variable or fixed.

  FIG. 7 is a diagram illustrating a situation of backlight imaging. In FIG. 7, as an example, a case where the imaging unit 220 mounted on the unmanned aircraft 100 captures an image of a subject with the sun SL and the mountain mt behind and a person hm standing in front of it is shown. In this case, the brightness difference between the sun SL or the mountain mt and the person hm is likely to increase, and backlight imaging is likely to occur.

  FIG. 8 is a diagram illustrating an overall flow of the operation of the unmanned aerial vehicle 100 for appropriately performing flash imaging during backlighting. Here, the subject may be the same as in FIG. Here, when the UAV control unit 110 is the main subject of operation, the case where the camera processor 11 performs processing in accordance with an instruction from the UAV control unit 110 may be included.

  First, the UAV control unit 110 performs automatic exposure adjustment without causing the flash 18 to emit light via the camera processor 11, images a subject, and obtains a captured image GZ <b> 1. In this case, in the captured image GZ1, the difference between the brightness of the background and the brightness of the main subject is large, and a backlight phenomenon occurs. The backlight phenomenon may include, for example, that the brightness difference between the person hm, which is the main subject, and the background thereof is greater than or equal to a threshold, and that the brightness of the person hm is less than or equal to the threshold (the person hm is too dark). .

  At the time of backlighting, for example, the UAV control unit 110 can determine that the scene is bright when the brightness of the background of the imaging target is high according to the AE algorithm. In this case, the UAV control unit 110 can adjust the exposure amount in accordance with the AE algorithm. In this case, since the brightness of the person hm located in front of the background is relatively low, the brightness of the person hm is more likely to decrease as a result of the reduction in the exposure amount.

  Further, the UAV control unit 110 may cause the memory 15 or the memory 160 to hold imaging information regarding the captured image GZ1 obtained by the imaging. The imaging information may include, for example, camera parameters, pixel value information in the captured image GZ1, pixel value distribution information, and the like. The camera parameters may include shutter speed S, F value, ISO sensitivity, ND value, zoom magnification, and the like.

  Subsequently, when the backlight phenomenon occurs, the UAV control unit 110 calculates a guide number (GN: Guide Number) corresponding to the light emission amount of the flash 18 in the backlight imaging based on the imaging information regarding the captured image G1. To do. The light emission of the flash 18 based on the guide number is used for the next and subsequent imaging. The UAV control unit 110 may calculate the guide number based on the imaging information according to the AE algorithm. Note that the UAV control unit 110 may acquire the guide number information from the external server via the communication interface 150 when the guide number is determined according to the type information and identification information of the flash 18.

Subsequently, the UAV control unit 110 calculates the effective distance D based on the calculated guide number, for example, according to the equation (1).
D = GN × (ISO / 100) ^1/2 / FN (1)
Here, D: effective distance from the imaging unit 220 to the person hm as the main subject, GN: intensity of light (flash emission amount) necessary for matching the brightness in the captured image, FN: aperture of the aperture 33 A numerical value representing the magnitude, ISO: a numerical value representing the sensitivity (gain) of the image sensor.

  Subsequently, the UAV control unit 110 determines whether or not the distance D0 between the unmanned aircraft 100 and the person hm is equal to or less than the effective distance D. When the distance D0 is longer than the effective distance D, the distance D0 between the flash 18 and the person hm is adjusted. In this case, the unmanned aircraft 100 may be moved and adjusted so as to approach or move away from the person hm, or the person hm that is the main subject moves so as to approach or move away from the unmanned airplane 100. You can adjust it. As a result, the amount of light reaching the person hm is adjusted.

  When the distance D0 becomes equal to or less than the effective distance D, the UAV control unit 110 emits the flash 18 to illuminate the person hm so that the brightness difference of the entire subject (the entire image of the captured image) is suppressed. In this state, the UAV control unit 110 performs automatic exposure adjustment through the imaging unit 220, performs imaging, and obtains a captured image GZ2. In the captured image GZ2, the difference between the brightness of the background and the brightness of the main subject is small. That is, the brightness of the sun SL or the mountain mt in the background is lowered, and the brightness of the person hm as the main subject is increased. Thus, the unmanned aerial vehicle 100 can suppress a phenomenon caused by backlight.

  FIG. 9 is a diagram for explaining the details of the calculation of the guide number shown in FIG. Here, the subject may be the same as in FIG. In FIG. 8, as the light emitted from the flash 18 for imaging, the temporary flash light in which the light amount is temporarily set and the main flash light in which the light amount is determined and set by calculation or the like are considered.

  First, in the backlight state, the UAV control unit 110 causes the flash 18 to emit temporary flash light to illuminate the subject, captures the subject via the imaging unit 220, and obtains a captured image GZ3. By using the temporary flash light, the UAV control unit 110 acquires the captured image GZ3 in which the brightness difference of the entire subject (for example, the person hm, the sun SL, and the mountain mt) appears. The temporary flash light may be light having an arbitrary intensity emitted from the flash 18. The light quantity of the temporary flash light may be set smaller than the light quantity of the main flash light so as not to affect the brightness difference of the entire subject.

  Subsequently, the UAV control unit 110 performs image analysis on the captured image GZ3, and calculates an average value of pixel values of all the pixels in the captured image GZ3 and a histogram gm representing a lightness distribution over all the pixels. In the histogram gm, the horizontal axis represents lightness (pixel value) from 0 to 255, and the vertical axis represents the frequency (number of pixels) of pixels in which the pixel value appears. The greater the value of brightness (pixel value), the closer the pixel is to white.

  Subsequently, the UAV control unit 110 calculates a guide number based on the calculated histogram gm according to a known guide number derivation algorithm (b4).

  As described above, the UAV control unit 110 uses the guide number (the flash 18 to illuminate the person hm) based on the brightness of the person hm (an example of the subject) and the brightness of the background (for example, the sun SL or the mountain mt). An example of light intensity) may be calculated. The UAV control unit 110 may calculate the effective distance D (an example of the first distance) based on the guide number.

  Thereby, the unmanned aircraft 100 can determine the guide number in consideration of the brightness of the person hm, the sun SL and the mountain mt in the background, and can reduce the difference in brightness between the person hm and the background. Therefore, the unmanned aerial vehicle 100 can suppress image quality deterioration due to backlight using the light from the flash 18 even when the brightness of the person hm and the background thereof tends to be large due to backlight when the person hm is captured.

  In addition, the UAV control unit 110 causes the imaging unit 220 to image the person hm in a state where the person hm is illuminated with the temporary flash light (an example of light having a predetermined light amount) by the flash 18, and acquires the captured image GZ3. Good. The UAV control unit 110 may acquire a histogram gm (an example of distribution information of pixel values in the captured image GZ3) based on the captured image GZ3, and calculate the guide number of the flash 18 based on the histogram gm.

  Thereby, the unmanned aerial vehicle 100 illuminates the subject with an arbitrary amount of light on a trial basis to capture an image, and from the distribution of pixel values of the obtained captured image GZ3, a flash that is originally necessary for capturing the subject. The light intensity by 18 can be derived. That is, the unmanned aerial vehicle 100 can automatically determine the intensity of light from the flash 18 with a simple operation of imaging one subject with an arbitrary exposure amount.

  The guide number may be derived based on information other than the histogram. For example, the UAV control unit 110 may calculate the guide number based on P-TTL (Pre-Through The Lens) dimming. In this case, the UAV control unit 110 may analyze the captured image GZ3, calculate a necessary light emission amount according to a known P-TTL algorithm, and calculate a guide number according to the calculated issuance amount.

  FIG. 10 is a diagram illustrating a situation where the imaging unit 220 of the unmanned aerial vehicle 100 captures an image of the person hm that is the main subject during backlight imaging.

  As an example of imaging conditions of the imaging unit 220, an aperture value F4, a shutter speed 1/1000 (second), and ISO 100 are set. In this case, the effective distance D of the flash 18 is 1.25 m according to the equation (1).

  For example, when the distance D0 between the unmanned aircraft 100 and the person hm is 2.5 m and is longer than the effective distance D, the UAV control unit 110 approaches the person hm so that the distance D0 is within 1.25 m. In addition, the movement of the unmanned aircraft 100 is controlled. Then, the imaging unit 220 illuminates the person hm with the light of the flash 18 and images the subject in a state in which automatic exposure adjustment is performed. As a result, the unmanned aerial vehicle 100 can acquire an image captured with an appropriate exposure amount in which a brightness difference is suppressed in the entire subject reflected in the image.

  Further, when the distance D0 is within the effective distance D (below), the UAV control unit 110 may perform imaging by performing automatic exposure adjustment without controlling the unmanned aircraft 100 to move. In this case, the UAV control unit 110 may set the light emission amount of the flash 18 to be the same as that in the temporary flash. The UAV control unit 110 may change the light emission amount of the flash 18 between the temporary flash and the main flash, for example, by automatic exposure adjustment. For example, when the unmanned aircraft 100 is close to the person hm who is the main subject, the UAV control unit 110 may reduce the light emission amount of the flash 18, that is, set the guide number to be small. In this case, the UAV control unit 110 may reduce the light emission amount of the flash 18 at the time of the main flash rather than the temporary flash.

  When the distance D0 is within the effective distance D, the UAV control unit 110 may control the unmanned aircraft 100 to move away from the person hm within the effective distance D instead of reducing the light emission amount of the flash 18. . Since the light amount reaching the person hm is adjusted by the unmanned aircraft 100 taking an image away from the person hm, the person hm can reduce the glare caused by the flash of the flash 18. Moreover, the feeling of pressure that the unmanned aerial vehicle 100 is at hand can be relieved.

  Further, when the distance D0 is longer than the effective distance D, the UAV control unit 110 may set so that the light emission amount of the flash 18 is increased. In this case, the UAV control unit 110 may increase the amount of light emitted by the flash 18 during the main flash rather than during the temporary flash.

  When the distance D0 is longer than the effective distance D, the UAV control unit 110 may allow the unmanned aircraft 100 to approach the person hm instead of increasing the light emission amount of the flash 18. When the unmanned aircraft 100 approaches the person hm and images, the person hm does not move and only has to wait for the end of imaging.

  As described above, the UAV control unit 110 may adjust the amount of light emitted by the flash 18 based on the effective distance D and the distance D0.

  Thereby, the unmanned aerial vehicle 100 can adjust the light emission amount of the flash 18 in consideration of the effective distance D. As a result, an appropriate amount of light reaches the person hm when the flash 18 flashes, and the unmanned aircraft 100 can appropriately illuminate the person hm and take an image. Therefore, the unmanned aerial vehicle 100 can suppress deterioration in image quality of a captured image due to backlight when the imaging unit 220 captures an image.

  Further, the UAV control unit 110 may increase the amount of light emitted by the flash 18 when the distance D0 is longer than the effective distance D.

  Thereby, even if the distance D0 is longer than the effective distance D, the unmanned aircraft 100 increases the light emission amount of the flash 18 so that the amount of light that the flash 18 flashes and reaches the person hm becomes an appropriate amount. The person hm can be suitably illuminated to capture an image.

  FIG. 11 is a sequence diagram illustrating an example of an operation procedure of the flying object system 10. Here, when the UAV control unit 110 of the unmanned aerial vehicle 100 is the subject of the operation, the case where the camera processor 11 performs processing according to an instruction from the UAV control unit 110 may be included.

  In the terminal 80, when receiving an operation for setting the light amount adjustment imaging mode from the user via the operation unit 83, the terminal control unit 81 sets the light amount adjustment imaging mode (T1). The terminal control unit 81 transmits setting information including the setting of the light amount adjustment imaging mode to the unmanned aircraft 100 via the communication unit 85 (T2).

  In the unmanned aircraft 100, the UAV control unit 110 receives setting information transmitted from the terminal 80 via the communication interface 150, sets the light amount adjustment imaging mode, and stores the setting information in the memory 160.

  The UAV control unit 110 controls imaging by the imaging unit 220. For example, the camera processor 11 of the imaging unit 220 illuminates temporary flash light via the flash 18, calculates the guide number of the flash 18 according to, for example, the equation (2), and stores imaging information including the guide number in the memory 15. (T3). The UAV control unit 110 acquires imaging information (for example, a guide number at the time of imaging with a temporary flash, an aperture value (FN) of the aperture 33, ISO (sensitivity)) from the memory 15.

  For example, the UAV control unit 110 uses Equation (1) based on the guide number (GN) of the flash 18, the aperture value (FN) of the aperture 33, and the ISO (sensitivity) set in the gain control unit 21. The effective distance D is calculated (T4).

  The UAV control unit 110 measures the distance D0 from the unmanned aircraft 100 to the person hm. The UAV control unit 110 drives the rotary wing mechanism 210. When the distance D0 between the unmanned aircraft 100 and the person hm exceeds the effective distance D, the UAV control unit 110 flies the unmanned aircraft 100 so that the unmanned aircraft 100 approaches the person hm. Is controlled (T5).

  The UAV control unit 110 controls imaging by the imaging unit 220 when the distance D0 is equal to or less than the effective distance D. The camera processor 11 of the imaging unit 220 emits light via the flash 18, illuminates the person hm with this light, images a subject including the person hm, and acquires a captured image (T6). The UAV control unit 110 transmits the captured image to the terminal 80 via the communication interface 150 (T7).

  In the terminal 80, when receiving the captured image via the communication unit 85, the terminal control unit 81 stores the captured image in the storage 89 and displays the captured image on the display unit 88 (T8).

  According to the processing of FIG. 11, the unmanned aerial vehicle 100 can adjust the lighting condition of the subject by the flash 18 so that the amount of light does not become insufficient when the imaging unit 220 uses the flash 18 for imaging. For example, the unmanned aircraft 100 can suppress the shortage of the amount of light that illuminates the subject by approaching the subject. Therefore, the unmanned aerial vehicle 100 can suppress deterioration in image quality of a captured image that is captured in a backlight state that is likely to occur during self-shooting. Therefore, the aircraft system 10 can adjust the distance (imaging distance) between the subject and the unmanned aircraft 100 by the unmanned aircraft 100 determining the effective range of the light of the flash 18.

  The guide number and the effective distance D may be calculated by the UAV control unit 110 via the camera processor 11 of the imaging unit 220 or may be calculated by the UAV control unit 110 itself.

  Thus, the UAV control unit 110 acquires the effective distance D (an example of the first distance) of the light emitted from the flash 18 toward the person hm. The UAV control unit 110 acquires a distance D0 (an example of a second distance) between the person hm imaged by the imaging unit 220 and the unmanned aircraft 100. The UAV control unit 110 controls the movement of the unmanned aircraft 100 so as to change the distance D0 based on the effective distance D and the distance D0.

  Thereby, the unmanned aerial vehicle 100 can adjust the distance D0 between the flash 18 and the person hm in consideration of the effective distance D of the flash 18. As a result, an appropriate amount of light reaches the person hm when the flash 18 flashes, and the unmanned aircraft 100 can appropriately illuminate the subject and capture an image. Therefore, the unmanned aerial vehicle 100 can suppress deterioration in image quality of a captured image due to backlighting during imaging by the imaging unit 220. In particular, in recent years, due to the miniaturization of the unmanned aerial vehicle 100, the use of the unmanned aerial vehicle 100 to take an image of itself (self-taking) is increasing. When taking a self-portrait, a light source (for example, the sun SL) is often present behind the user (for example, a person hm), and backlighting is likely to occur. Even in this case, the unmanned aircraft 100 can suppress image quality deterioration due to backlighting. .

  Further, when the distance D0 is longer than the effective distance D, the UAV control unit 110 may control the movement of the unmanned aircraft 100 so as to approach the person hm.

  Thereby, the unmanned aerial vehicle 100 can make the distance D0 within the effective distance D of the flash light by shortening (shortening) the distance D0. As a result, an appropriate amount of light reaches the person hm when the flash 18 flashes, and the unmanned aircraft 100 can appropriately illuminate the person hm and take an image.

  As mentioned above, although this indication was explained using an embodiment, the technical scope of this indication is not limited to the range as described in an embodiment mentioned above. It will be apparent to those skilled in the art that various modifications and improvements can be made to the embodiment described above. It is also apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present disclosure.

  The execution order of each process such as operation, procedure, step, and stage in the apparatus, system, program, and method shown in the claims, the description, and the drawings is particularly “before” or “prior to”. ”And the like, and can be realized in any order unless the output of the previous process is used in the subsequent process. Regarding the operation flow in the claims, the description, and the drawings, even if it is described using “first”, “next”, etc. for convenience, it means that it is essential to carry out in this order. is not.

  In the above embodiment, a flash (stroboscope) that emits flash is used as a light source. However, the light that can illuminate light for a relatively long time is not limited to the one that instantaneously illuminates light according to the imaging timing. May be used.

  In the above-described embodiment, an unmanned aerial vehicle is shown as a moving body. However, the present disclosure is not limited to this, and an unmanned automobile equipped with a camera, a bicycle equipped with a camera, and a gimbal device with a camera that a person grips while moving. It is also possible to apply to the above.

DESCRIPTION OF SYMBOLS 10 Aircraft system 11 Camera processor 12 Shutter 13 Image pick-up element 14 Image processing part 15 Memory 18 Flash 19 Shutter drive part 20 Element drive part 21 Gain control part 32 ND filter 33 Diaphragm 34 Lens group 36 Lens drive part 38 ND drive part 40 Diaphragm Drive unit 80 Terminal 81 Terminal control unit 83 Operation unit 85 Communication unit 87 Memory 88 Display unit 89 Storage 100 Unmanned aircraft 110 UAV control unit 150 Communication interface 160 Memory 170 Storage 200 Gimbal 210 Rotor wing mechanism 220, 230 Imaging unit 220z Housing 240 GPS receiver 250 Inertial measurement device 260 Magnetic compass 270 Barometric altimeter 280 Ultrasonic sensor 290 Laser measuring device gm Histogram GZ1, GZ2, GZ3 Captured image hm Person mt Mountain op Optical axis SL Sun

Claims (14)

A moving body that illuminates a subject and captures an image,
An imaging unit that images the subject, a light source that illuminates the subject, and a processing unit,
The processor is
Obtaining a first distance which is an effective distance of light emitted by the light source;
Obtaining a second distance which is a distance between the subject imaged by the imaging unit and the moving body;
Based on the first distance and the second distance, control the movement of the moving body to change the second distance,
Moving body. The processing unit controls the movement of the moving body so as to approach the subject when the second distance is longer than the first distance.
The moving body according to claim 1. The processing unit adjusts the amount of light emitted by the light source based on the first distance and the second distance.
The moving body according to claim 1 or 2. The processing unit increases the amount of light emitted by the light source when the second distance is longer than the first distance.
The moving body according to claim 3. The processor is
Based on the brightness of the subject and the brightness of the background of the subject, the light source calculates the light intensity for illuminating the subject,
Calculating the first distance based on the intensity of light from the light source;
The moving body according to any one of claims 1 to 4. The processor is
In a state where the subject is illuminated with a predetermined amount of light by the light source, the imaging unit captures the subject and acquires a captured image.
Obtaining pixel value distribution information in the captured image,
Calculating the intensity of the light emitted by the light source based on the distribution of pixel values in the captured image;
The moving body according to claim 5. A light amount adjustment method for a moving body that illuminates a subject and captures an image,
Obtaining a first distance that is an effective distance of light emitted by a light source that illuminates the subject;
Obtaining a second distance that is a distance between the subject imaged by the imaging unit that images the subject and the moving body;
Controlling the movement of the moving body to change the second distance based on the first distance and the second distance;
A method for adjusting the amount of light. The step of controlling the movement of the moving body includes the step of controlling the movement of the moving body so as to approach the subject when the second distance is longer than the first distance.
The light quantity adjustment method according to claim 7. Adjusting the amount of light emitted by the light source based on the first distance and the second distance;
The light quantity adjustment method according to claim 7 or 8. The step of adjusting the amount of light includes the step of increasing the amount of light emitted by the light source when the second distance is longer than the first distance.
The light quantity adjustment method according to claim 9. Obtaining the first distance comprises:
Calculating light intensity for the light source to illuminate the subject based on the brightness of the subject and the brightness of the background of the subject;
Calculating the first distance based on the intensity of light from the light source,
The light quantity adjustment method of any one of Claims 7-10. The step of calculating the light intensity includes
Obtaining a captured image by causing the imaging unit to image the subject in a state where the subject is illuminated with a predetermined amount of light by the light source;
Obtaining information of distribution of pixel values in the captured image;
Calculating the intensity of the light emitted by the light source based on a distribution of pixel values in the captured image,
The light quantity adjustment method according to claim 11. To a moving body that illuminates the subject and captures an image,
Obtaining a first distance that is an effective distance of light emitted by a light source that illuminates the subject;
Obtaining a second distance that is a distance between the subject imaged by the imaging unit that images the subject and the moving body;
Controlling the movement of the moving body to change the second distance based on the first distance and the second distance;
A program for running To a moving body that illuminates the subject and captures an image,
Obtaining a first distance that is an effective distance of light emitted by a light source that illuminates the subject;
Obtaining a second distance that is a distance between the subject imaged by the imaging unit that images the subject and the moving body;
Controlling the movement of the moving body to change the second distance based on the first distance and the second distance;
The computer-readable recording medium which recorded the program for performing this.

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