JP2020016703A - Control device, moving body, control method, and program - Google Patents

Abstract

To solve such a problem that it may be difficult for an imaging apparatus to maintain a focusing state on a subject.SOLUTION: A control device may include a specification part for specifying a distance from the imaging apparatus to the subject, a first derivation part for deriving the first set value of the focus lens of the imaging apparatus focused on the subject on the basis of the contrast value of an image captured by the imaging apparatus by driving the focus lens of the imaging apparatus to a different position, a second derivation part for deriving the second set value of the focus lens focused on the subject on the basis of the distance, and a control part for driving the focus lens on the basis of the first set value to which first weighting is performed and the second set value to which second weighting lower than the first weighting is performed, when the distance is in a first distance range and for driving the focus lens on the basis of the first set value to which third weighting is performed and the second set value to which fourth weighting higher than the third weighting is performed, when the distance is in a second distance range longer than the first distance range.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a control device, a moving body, a control method, and a program.

According to Patent Literature 1, the flying camera device flies toward the current position of the received wearable device, and when approaching, recognizes face recognition processing while searching for visible light in which a visible light blinking object flashes and emits light. It is described that a photographing execution process of focusing on the face and performing photographing is performed.
Patent Document 1 JP-A-2017-185928

  In a situation where the distance to the subject changes, such as in a flight camera device described in Patent Document 1, it may be difficult to maintain a focused state on the subject.

  The control device according to one aspect of the present invention may include a specifying unit that specifies a distance from the imaging device to the subject. The control device drives the focus lens of the imaging device to a different position, and derives a first set value of the focus lens of the imaging device to focus on the subject based on a contrast value of an image captured by the imaging device. A derivation unit may be provided. The control device may include a second deriving unit that derives a second setting value of the focus lens that focuses on the subject based on the distance. When the distance is in the first distance range, the control device determines whether the focus lens is based on the first weighted first set value and the second weighted second set value lower than the first weight. And if the distance is a second distance range longer than the first distance range, a third weighted first set value and a fourth weighted second set value higher than the third weight May be provided with a control unit for driving the focus lens based on the control.

  The first deriving unit derives a first set value at a first interval when the distance is in the first distance range, and derives a first set value at a second interval longer than the first interval when the distance is in the second distance range. May be derived.

  The second deriving unit may derive a second set value at a first interval when the distance is in the first distance range, and derive a second set value at a second interval when the distance is in the second distance range.

  The second deriving unit may derive the second set value at the first interval when the distance is in the first distance range and the second distance range.

  The control device may include a determination unit that determines a focus area to be focused in an image captured by the imaging device. The first deriving unit may derive the first setting value based on a contrast value of a focused area in an image captured by the imaging device.

  The specifying unit may specify the distance based on a distance measurement result obtained by a distance measurement sensor that measures a distance to a subject existing in an imaging direction of the imaging device.

  The control device according to one aspect of the present invention may include a specifying unit that specifies a distance from the imaging device to the subject. The control device includes a deriving unit that drives a focus lens of the imaging device to a different position and derives a setting value of a focus lens of the imaging device that focuses on a subject based on a contrast value of an image captured by the imaging device. May be. The control device may include a control unit that drives the focus lens based on the set value. The deriving unit derives a set value at a first interval when the distance is the first distance range, and derives a set value at a second interval longer than the first interval when the distance is a second distance range longer than the first distance range. May be derived.

  A moving object according to one embodiment of the present invention may be a moving object that carries the control device and the imaging device and moves.

  The moving body may include a support mechanism that supports the imaging device so that the posture of the imaging device can be adjusted.

  The moving object may be a flying object. The support mechanism may support the imaging device such that the imaging direction of the imaging device is downward with respect to the moving body. The specifying unit may specify, as the distance, a distance to a subject existing below the moving object.

  The control method according to one aspect of the present invention may include a step of specifying a distance from the imaging device to the subject. The step of driving the focus lens of the imaging device to a different position to derive a first set value of the focus lens of the imaging device to focus on the subject based on a contrast value of an image captured by the imaging device. May be provided. The control method may include deriving, based on the distance, a second set value of the focus lens that focuses on the subject. When the distance is within the first distance range, the control method is based on a first weighted first set value and a second weighted second set value lower than the first weight. And if the distance is a second distance range longer than the first distance range, a third weighted first set value and a fourth weighted second set value higher than the third weight And driving the focus lens on the basis of.

  The control method according to one aspect of the present invention may include a step of specifying a distance from the imaging device to the subject. The control method includes a step of driving a focus lens of the imaging device to a different position to derive a set value of a focus lens of the imaging device to focus on a subject based on a contrast value of an image captured by the imaging device. Good. The control method may include driving the focus lens based on the set value. The deriving step derives a set value at a first interval when the distance is a first distance range, and sets a set value at a second interval longer than the first interval when the distance is a second distance range longer than the first distance range. May be derived.

  The program according to one embodiment of the present invention may be a program for causing a computer to function as the control device.

  According to one embodiment of the present invention, a focused state on a subject can be maintained in a situation where the distance to the subject changes.

  The above summary of the present invention does not list all of the necessary features of the present invention. Further, a sub-combination of these feature groups can also be an invention.

It is a figure showing an example of appearance of an unmanned aerial vehicle and a remote control device. It is a figure showing an example of a functional block of an unmanned aerial vehicle. It is a figure showing an example of the relation between distance and weighting. FIG. 9 is a diagram illustrating an example of a relationship between a contrast AF execution timing and a distance. It is a figure for explaining an example of an operation procedure of an unmanned aerial vehicle. It is a figure for explaining an example of an operation procedure of an unmanned aerial vehicle. It is a figure for explaining an example of an operation procedure of an unmanned aerial vehicle. It is a figure for explaining an example of an operation procedure of an unmanned aerial vehicle. FIG. 3 is a diagram illustrating an example of a hardware configuration.

  Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Further, not all combinations of the features described in the embodiments are necessarily indispensable to the solution of the invention. It is apparent to those skilled in the art that various changes or improvements can be made to the following embodiments. It is apparent from the description of the appended claims that embodiments with such changes or improvements can be included in the technical scope of the present invention.

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

  Various embodiments of the present invention may be described with reference to flowcharts and block diagrams, wherein blocks are (1) steps in a process in which an operation is performed or (2) devices responsible for performing an operation. May be expressed as “parts”. Certain steps and "parts" may be implemented by programmable circuits and / or processors. Dedicated circuits may include digital and / or analog hardware circuits. It may include integrated circuits (ICs) and / or discrete circuits. A programmable circuit may include a reconfigurable hardware circuit. Reconfigurable hardware circuits include logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), etc. May be included.

  Computer readable media can include any tangible device that can store instructions for execution by a suitable device. As a result, a computer-readable medium having instructions stored thereon will comprise a product that includes instructions that can be executed to create a means for performing the operations specified in the flowcharts or block diagrams. Examples of the computer readable medium may include an electronic storage medium, a magnetic storage medium, an optical storage medium, an electromagnetic storage medium, a semiconductor storage medium, and the like. More specific examples of computer readable media include floppy disks, diskettes, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), Electrically erasable programmable read only memory (EEPROM), static random access memory (SRAM), compact disk read only memory (CD-ROM), digital versatile disk (DVD), Blu-ray (RTM) disk, memory stick, integrated A circuit card or the like may be included.

  Computer-readable instructions may include either source code or object code written in any combination of one or more programming languages. Source code or object code includes conventional procedural programming languages. Conventional procedural programming languages include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state setting data, or smalltalk, JAVA, C ++, etc. It may be an object oriented programming language, and a "C" programming language or a similar programming language. The computer readable instructions may be directed to a general purpose computer, special purpose computer, or other programmable data processing device processor or programmable circuit, either locally or over a wide area network (WAN) such as a local area network (LAN), the Internet, or the like. ) May be provided. A processor or programmable circuit may execute computer readable instructions to create a means for performing the operations specified in the flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

  FIG. 1 shows an example of the appearance of an unmanned aerial vehicle (UAV) 10 and a remote control device 300. The UAV 10 includes a UAV main body 20, a gimbal 50, a plurality of imaging devices 60, and an imaging device 100. The gimbal 50 and the imaging device 100 are examples of an imaging system. The UAV 10 has a concept that the moving object includes a flying object that moves in the air, a vehicle that moves on the ground, a ship that moves on the water, and the like. The flying object moving in the air is a concept including UAVs, other aircraft moving in the air, airships, helicopters, and the like.

  The UAV body 20 includes a plurality of rotors. The plurality of rotors is an example of a propulsion unit. The UAV body 20 causes the UAV 10 to fly by controlling the rotation of a plurality of rotors. The UAV body 20 makes the UAV 10 fly using, for example, four rotors. The number of rotors is not limited to four. Further, the UAV 10 may be a fixed wing aircraft having no rotary wing.

  The imaging device 100 is an imaging camera that captures an image of a subject included in a desired imaging range. The gimbal 50 rotatably supports the imaging device 100. The gimbal 50 is an example of a support mechanism. For example, the gimbal 50 supports the imaging device 100 rotatably on a pitch axis using an actuator. The gimbal 50 further supports the imaging device 100 so as to be rotatable around each of a roll axis and a yaw axis using an actuator. The gimbal 50 may change the attitude of the imaging device 100 by rotating the imaging device 100 about at least one of the yaw axis, the pitch axis, and the roll axis.

  The plurality of imaging devices 60 are sensing cameras that capture images around the UAV 10 to control the flight of the UAV 10. Two imaging devices 60 may be provided in front of the nose of the UAV 10. Still another two imaging devices 60 may be provided on the bottom surface of the UAV 10. The two imaging devices 60 on the front side may be paired and function as a so-called stereo camera. The two imaging devices 60 on the bottom side may also be paired and function as a stereo camera. Based on the images captured by the plurality of imaging devices 60, three-dimensional spatial data around the UAV 10 may be generated. The number of imaging devices 60 provided in the UAV 10 is not limited to four. The UAV 10 only needs to include at least one imaging device 60. The UAV 10 may include at least one imaging device 60 on each of the nose, stern, side, bottom, and ceiling of the UAV 10. The angle of view that can be set by the imaging device 60 may be wider than the angle of view that can be set by the imaging device 100. The imaging device 60 may include a single focus lens or a fisheye lens.

  The remote control device 300 communicates with the UAV 10 to remotely control the UAV 10. The remote control device 300 may communicate with the UAV 10 wirelessly. The remote control device 300 transmits to the UAV 10 instruction information indicating various commands relating to the movement of the UAV 10 such as ascent, descent, acceleration, deceleration, forward, reverse, and rotation. The instruction information includes, for example, instruction information for increasing the altitude of the UAV 10. The instruction information may indicate the altitude at which the UAV 10 should be located. UAV 10 moves so as to be located at the altitude indicated by the instruction information received from remote control device 300. The instruction information may include a lift command to raise the UAV 10. The UAV 10 rises while receiving a rise command. Even if the UAV 10 receives the climbing command, the climb may be limited if the height of the UAV 10 has reached the upper limit altitude.

  FIG. 2 shows an example of a functional block of the UAV 10. The UAV 10 includes a UAV control unit 30, a memory 37, a communication interface 36, a propulsion unit 40, a GPS receiver 41, an inertial measurement device 42, a magnetic compass 43, a barometric altimeter 44, a temperature sensor 45, a humidity sensor 46, a gimbal 50, and an imaging device. 60, an imaging device 100, and a distance measurement sensor 250.

  The communication interface 36 communicates with another device such as the remote operation device 300. The communication interface 36 may receive instruction information including various commands to the UAV control unit 30 from the remote operation device 300. In the memory 37, the UAV control unit 30 includes a propulsion unit 40, a GPS receiver 41, an inertial measurement device (IMU) 42, a magnetic compass 43, a barometric altimeter 44, a temperature sensor 45, a humidity sensor 46, a gimbal 50, an imaging device 60, And programs necessary for controlling the imaging apparatus 100. The memory 37 may be a computer-readable recording medium, and may include at least one of an SRAM, a DRAM, an EPROM, an EEPROM, a USB memory, and a flash memory such as a solid state drive (SSD). The memory 37 may be provided inside the UAV main body 20. It may be provided detachably from the UAV body 20.

  The UAV control unit 30 controls the flight and imaging of the UAV 10 according to a program stored in the memory 37. The UAV control unit 30 may be configured by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, or the like. The UAV control unit 30 controls the flight and imaging of the UAV 10 according to a command received from the remote control device 300 via the communication interface 36. The propulsion unit 40 propels the UAV 10. The propulsion unit 40 has a plurality of rotors and a plurality of drive motors for rotating the rotors. The propulsion unit 40 makes the UAV 10 fly by rotating a plurality of rotors via a plurality of drive motors according to a command from the UAV control unit 30.

  The GPS receiver 41 receives a plurality of signals indicating times transmitted from a plurality of GPS satellites. The GPS receiver 41 calculates the position (latitude and longitude) of the GPS receiver 41, that is, the position (latitude and longitude) of the UAV 10, based on the plurality of received signals. The IMU 42 detects the attitude of the UAV 10. The IMU 42 detects, as the posture of the UAV 10, the acceleration in the three axial directions of the UAV 10 in front and rear, left and right, and up and down, and the angular velocities in the three axial directions of pitch, roll, and yaw. The magnetic compass 43 detects the heading of the UAV 10. The barometric altimeter 44 detects the altitude at which the UAV 10 flies. The barometric altimeter 44 detects the barometric pressure around the UAV 10, converts the detected barometric pressure into a height, and detects the height. Temperature sensor 45 detects the temperature around UAV 10. The humidity sensor 46 detects the humidity around the UAV 10.

  The imaging device 100 includes an imaging unit 102 and a lens unit 200. The lens unit 200 is an example of a lens device. The imaging unit 102 includes an image sensor 120, an imaging control unit 110, and a memory 130. The image sensor 120 may be configured by a CCD or a CMOS. The image sensor 120 captures an optical image formed through the plurality of lenses 210, and outputs the captured image to the imaging control unit 110. The imaging control unit 110 may be configured by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, and the like. The imaging control unit 110 may control the imaging device 100 according to an operation command of the imaging device 100 from the UAV control unit 30. The imaging control unit 110 is an example of a first control unit and a second control unit. The memory 130 may be a computer-readable recording medium, and may include at least one of an SRAM, a DRAM, an EPROM, an EEPROM, a USB memory, and a flash memory such as a solid state drive (SSD). The memory 130 stores programs and the like necessary for the imaging control unit 110 to control the image sensor 120 and the like. The memory 130 may be provided inside the housing of the imaging device 100. The memory 130 may be provided detachably from the housing of the imaging device 100.

  The lens unit 200 includes a plurality of lenses 210, a plurality of lens driving units 212, and a lens control unit 220. The plurality of lenses 210 may function as a zoom lens, a varifocal lens, and a focus lens. At least some or all of the plurality of lenses 210 are arranged so as to be movable along the optical axis. The lens unit 200 may be an interchangeable lens that is provided detachably with respect to the imaging unit 102. The lens driving section 212 moves at least a part or all of the plurality of lenses 210 along the optical axis via a mechanism member such as a cam ring. The lens driving section 212 may include an actuator. The actuator may include a stepper motor. The lens control unit 220 drives the lens driving unit 212 according to a lens control command from the imaging unit 102 to move one or a plurality of lenses 210 along the optical axis direction via a mechanism member. The lens control command is, for example, a zoom control command and a focus control command.

  The lens unit 200 further includes a memory 222 and a position sensor 214. The lens control unit 220 controls the movement of the lens 210 in the optical axis direction via the lens driving unit 212 according to a lens operation command from the imaging unit 102. The lens control unit 220 controls the movement of the lens 210 in the optical axis direction via the lens driving unit 212 according to a lens operation command from the imaging unit 102. Part or all of the lens 210 moves along the optical axis. The lens control unit 220 executes at least one of a zoom operation and a focus operation by moving at least one of the lenses 210 along the optical axis. The position sensor 214 detects the position of the lens 210. The position sensor 214 may detect the current zoom position or focus position.

  The lens driving section 212 may include a shake correction mechanism. The lens control unit 220 may execute the shake correction by moving the lens 210 in a direction along the optical axis or in a direction perpendicular to the optical axis via the shake correction mechanism. The lens drive unit 212 may execute a shake correction by driving a shake correction mechanism by a stepping motor. Note that the shake correction mechanism may be driven by a stepping motor to perform the shake correction by moving the image sensor 120 in a direction along the optical axis or in a direction perpendicular to the optical axis.

  The memory 222 stores control values of the plurality of lenses 210 that move via the lens driving unit 212. The memory 222 may include at least one of a flash memory such as an SRAM, a DRAM, an EPROM, an EEPROM, and a USB memory.

  The distance measurement sensor 250 is a sensor that measures a distance to an object existing in a range of a measurement target. The distance measurement sensor 250 may be, for example, a lidar, an infrared sensor, an ultrasonic sensor, or the like. The distance measurement sensor 250 may measure the distance to an object existing in the imaging direction of the imaging device 100. The distance measurement sensor 250 may be provided on the gimbal 50 together with the imaging device 100. The distance measurement sensor 250 may be provided inside the housing of the imaging device 100 or outside the housing. When the gimbal 50 is driven and the imaging direction of the imaging device 100 changes, the direction of the measurement target of the distance measurement sensor 250 also changes.

  In the UAV 10 configured as described above, the imaging device 100 can maintain a focused state on a specific subject.

  Therefore, the imaging control unit 110 includes a specifying unit 112, a derivation unit 114, and a focusing control unit 116. The specifying unit 112 specifies the distance from the imaging device 100 to the subject. The specifying unit 112 may specify the distance to the object existing in the range of the measurement target measured by the distance measurement sensor 250 as the distance from the imaging device 100 to the subject. The specifying unit 112 may specify the distance from the imaging device 100 to the subject, which is measured by the distance measurement sensor 250 and exists in the imaging direction of the imaging device 100. The specifying unit 112 may specify the altitude of the UAV 10 as a distance from the imaging device 100 to the subject.

  The deriving unit 114 drives the focus lens of the imaging device 100 to a different position and sets the first setting value of the focus lens of the imaging device 100 to focus on the subject based on the contrast value of the image captured by the imaging device 100. Derive. The deriving unit 114 may derive the first set value of the focus lens of the imaging device 100 that focuses on the subject by executing contrast autofocus (contrast AF). The deriving unit 114 specifies the position of the focus lens at which the contrast value reaches a peak according to the hill-climbing method while moving the focus lens of the imaging device 100 in the near end direction or the infinite end direction, thereby setting the first set value. May be derived.

  The deriving unit 114 may derive the second setting value of the focus lens that focuses on the subject based on the distance specified by the specifying unit 112. The deriving unit 114 may derive the second setting value based on the distance specified by the specifying unit 112 by referring to a table indicating the relationship between the focusing distance and the position of the focus lens. The deriving unit 114 is an example of a first deriving unit and a second deriving unit.

  The focus control unit 116 moves the focus lens to focus on the subject via the lens control unit 220 based on at least one of the first set value and the second set value of the focus lens derived by the derivation unit 114. Let it.

  Here, the accuracy of the contrast AF is higher as the distance to the subject is shorter. When the distance to the subject is long, the difference between the minimum value and the maximum value of the contrast evaluation value derived by the contrast AF becomes small. Therefore, when the distance to the subject is long, it is difficult for the deriving unit 114 to accurately specify the peak of the evaluation value, and the accuracy of the contrast AF is reduced.

  In order to execute contrast AF, it is necessary to move the focus lens. If the contrast AF is continuously performed, the angle of view may fluctuate. When the angle of view changes, the image captured by the image capturing apparatus 100 and displayed on the display unit flickers, which may cause discomfort to the user.

  As described above, when the distance to the subject is long, the accuracy of the contrast AF decreases. Therefore, even if the contrast AF is executed, the focusing state may not be optimized. Therefore, when the distance is within the first distance range, the focus control unit 116 drives the focus lens by using the first setting value based on the contrast AF in preference to the second setting value based on the distance. I do. On the other hand, when the distance is the second distance range longer than the first distance range, the focus control unit 116 preferentially uses the second set value based on the distance over the first set value based on the contrast AF. Then, the focus lens is driven. The first distance range may be, for example, 0 m to 10 m, 0 m to 12, or 0 m to 15 m. The second distance range may be, for example, a distance of 15 m or more. The first distance range and the second distance range may be determined according to the lens characteristics of the lens unit 200. The first distance range and the second distance range may be determined in advance according to the type of the interchangeable lens. The first distance range and the second distance range may be determined in advance according to the type of the image sensor 120.

  When the distance is in the first distance range, the focusing control unit 116 determines based on the first weighted first set value and the second weighted second set value lower than the first weight. The focus lens may be driven. When the distance is the second distance range longer than the first distance range, the focus control unit 116 performs the first weighted setting with the third weighting and the fourth weighting higher than the third weighting. The focus lens may be driven based on the second set value.

  For example, as shown in FIG. 3, when the distance is in the first distance range, the focus control unit 116 decreases the weight of the first set value and increases the weight of the second set value as the distance increases. May be. When the distance is in the second distance range, the focus control unit 116 may weight the second set value larger than the first set value.

  When the distance is in the first distance range, the focus control unit 116 may drive the focus lens by contrast AF with the first weight being “1” and the second weight being “0”. When the distance is in the second distance range, the focusing control unit 116 sets the third weighting to “0” and sets the fourth weighting to “1” based on the distance to the subject measured by the distance measuring sensor 250. The focus lens may be driven.

  When the distance to the subject is short, the focusing control unit 116 drives the focus lens using the setting value by the contrast AF with higher priority than the setting value by the distance. On the other hand, when the distance to the subject is long, the focus control unit 116 drives the focus lens using the set value based on the distance with higher priority than the set value based on the contrast AF. Accordingly, when the accuracy of the contrast AF is low, the movement of the focus lens by the contrast AF is limited, so that the image displayed on the display unit flickers and the possibility of giving the user discomfort can be reduced. In addition, when the distance to the subject is long, it is possible to prevent the imaging device 100 from focusing on a desired subject and not being able to take an image. For example, the imaging apparatus 100 captures an image of a subject existing below the UAV 10 while the UAV 10 is rising. In this case, even if the altitude of the UAV 10 increases and the distance to the subject increases, it is possible to suppress the imaging apparatus 100 from focusing on the subject and failing to capture an image.

  As shown in FIG. 4, the deriving unit 114 may reduce the number of executions of deriving the first set value by the contrast AF when the distance to the subject is long compared to when the distance to the subject is short. Good. The deriving unit 114 may derive the first set value at the first interval when the distance to the subject is in the first distance range. When the distance to the subject is in the second distance range, the deriving unit 114 may derive the first set value at a second interval longer than the first interval.

  The deriving unit 114 derives a second set value at a first interval when the distance to the subject is in the first distance range, as in the case of the contrast AF. May be used to derive the second set value.

  The deriving unit 114 may derive the second set value at the first interval when the distance to the subject is in the first distance range and the second distance range. That is, the deriving unit 114 may always derive the second set value at the first interval regardless of the distance to the subject. When the deriving unit 114 derives only the second set value based on the distance, the focusing control unit 116 may drive the focus lens based on only the second set value. Alternatively, when the derivation unit 114 derives only the second set value based on the distance, the focus control unit 116 determines whether the first set value derived by the derivation unit 114 up to the previous time and the current second set value , The focus lens may be driven. When the deriving unit 114 derives only the second set value based on the distance, the current first set value is predicted based on the first set value derived by the deriving unit 114 up to the previous time, and the predicted first set value is predicted. The focus lens may be driven based on the set value and the current second set value.

  The imaging control unit 110 may further include a determination unit 118. The deciding unit 118 decides a focusing area to be focused in an image captured by the imaging device 100. The determination unit 118 may determine a region specified by a user on a screen displaying an image captured by the imaging device 100 as a focus region. The determination unit 118 may determine a predetermined area in the image, for example, a central area, as the focus area. The deriving unit 114 may derive the first setting value based on a contrast value of a focused area in an image captured by the imaging device 100.

  An example of an operation procedure of the UAV 10 according to the present embodiment will be described with reference to FIGS. 5A to 5D.

  FIG. 5A shows a state before UAV 10 flies. In this state, the imaging direction 500 of the imaging device 100 mounted on the UAV 10 may be a direction parallel to the landing surface 600. That is, the imaging direction of the imaging device 100 may be a direction perpendicular to the vertical direction. When the imaging device 100 does not contact the landing surface 600, for example, when the UAV 10 has a landing gear, the gimbal 50 is controlled while the UAV 10 is in a landed state to change the imaging direction of the imaging device 100 in the vertical direction. You may turn to.

  When the UAV 10 starts flying, by controlling the gimbal 50, the imaging direction 500 of the imaging device 100 may be oriented vertically as shown in FIG. 5B. The imaging device 100 captures an image of the imaging range 510. For example, as shown in FIG. 5C, the imaging apparatus 100 sets a desired in-focus area 520 within the imaging range 510 in response to an instruction from a user while the UAV 10 is flying. The focus area 520 may be a predetermined area. Thus, the focus area 520 is narrowed down. Thus, when the imaging apparatus 100 performs autofocus while the UAV 10 is flying, the imaging apparatus 100 drives the focus lens so as to focus on an object other than the desired subject 530 existing in the imaging range 510. Can be prevented.

  As the UAV 10 rises, the distance from the imaging device 100 to the subject 530 increases. If the distance to the subject 530 is within the first distance range, the focusing control unit 116 reduces the weight of the first set value and increases the weight of the second set value as the distance increases. The focus lens may be driven. The UAV 10 further rises as shown in FIG. 5D, and the distance to the subject 530 reaches the second distance range. In this case, the focus control unit 116 may drive the focus lens with a larger weighting of the second set value than the first set value.

  If the altitude at which the UAV 10 is flying is in the first altitude range, the focus control unit 116 decreases the weight of the first set value and increases the weight of the second set value as the altitude increases, The focus lens may be driven. If the altitude at which the UAV 10 is flying is in a second altitude range higher than the first altitude range, the weight of the second set value may be greater than the first set value to drive the focus lens.

  If the altitude at which the UAV 10 flies is in the first altitude range, the focus control unit 116 executes the contrast AF at the first interval, and the second altitude at which the UAV 10 flies is higher than the first altitude range. If it is within the range, the contrast AF may be executed at the second interval longer than the first interval.

  If the altitude at which the UAV 10 flies is in the first altitude range, the focus control unit 116 drives the focus lens by contrast AF, and the altitude at which the UAV 10 flies is higher than the first altitude range in the second altitude range. If so, the focus lens may be driven based on the distance measured by the distance measurement sensor 250 without executing the contrast AF.

  FIG. 6 illustrates an example of a computer 1200 in which aspects of the present invention may be wholly or partially embodied. The program installed in the computer 1200 can cause the computer 1200 to function as an operation associated with the device according to the embodiment of the present invention or one or more “units” of the device. Alternatively, the program can cause the computer 1200 to execute the operation or the one or more “units”. The program can cause the computer 1200 to execute a process or a stage of the process according to the embodiment of the present invention. Such programs may be executed by CPU 1212 to cause computer 1200 to perform certain operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

  The computer 1200 according to the present embodiment includes a CPU 1212 and a RAM 1214, which are interconnected by a host controller 1210. Computer 1200 also includes a communication interface 1222, input / output units, which are connected to a host controller 1210 via an input / output controller 1220. Computer 1200 also includes ROM 1230. The CPU 1212 operates according to programs stored in the ROM 1230 and the RAM 1214, and controls each unit.

  The communication interface 1222 communicates with another electronic device via a network. A hard disk drive may store programs and data used by CPU 1212 in computer 1200. The ROM 1230 stores therein a boot program executed by the computer 1200 at the time of activation, and / or a program depending on hardware of the computer 1200. The program is provided via a computer-readable recording medium such as a CR-ROM, a USB memory, or an IC card or a network. The program is installed in the RAM 1214 or the ROM 1230, which is an example of a computer-readable recording medium, and is executed by the CPU 1212. The information processing described in these programs is read by the computer 1200 and provides a link between the programs and the various types of hardware resources described above. An apparatus or method may be configured by implementing operations or processing of information according to the use of computer 1200.

  For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 executes a communication program loaded in the RAM 1214, and performs communication processing with the communication interface 1222 based on the processing described in the communication program. You may order. The communication interface 1222 reads transmission data stored in a transmission buffer area provided in a recording medium such as a RAM 1214 or a USB memory under the control of the CPU 1212, and transmits the read transmission data to a network, or The reception data received from the network is written in a reception buffer area provided on a recording medium.

  Also, the CPU 1212 causes the RAM 1214 to read all or a necessary part of a file or database stored in an external recording medium such as a USB memory or the like, and executes various types of processing on the data on the RAM 1214. Good. CPU 1212 may then write back the processed data to an external storage medium.

  Various types of information, such as various types of programs, data, tables, and databases, may be stored on a recording medium and subjected to information processing. The CPU 1212 performs various types of operations, information processing, conditional determination, conditional branching, unconditional branching, and information retrieval specified in the instruction sequence of the program on the data read from the RAM 1214 as described elsewhere in the present disclosure. Various types of processing may be performed, including / replace, and the results are written back to RAM 1214. Further, the CPU 1212 may search for information in a file, a database, or the like in the recording medium. For example, when a plurality of entries each having the attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 1212 specifies the attribute value of the first attribute. Searching for an entry matching the condition from the plurality of entries, reading the attribute value of the second attribute stored in the entry, and associating the attribute value with the first attribute satisfying a predetermined condition. The attribute value of the obtained second attribute may be obtained.

  The programs or software modules described above may be stored on computer 1200 or on a computer readable storage medium near computer 1200. In addition, a recording medium such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, so that the program can be transferred to the computer 1200 via the network. provide.

  The execution order of each processing such as operation, procedure, step, and step in the apparatus, system, program, and method shown in the claims, the description, and the drawings is particularly “before”, “before”. It should be noted that the output can be realized in any order as long as the output of the previous process is not used in the subsequent process. Regarding the operation flow in the claims, the specification, and the drawings, even if the description is made using “first,” “second,” or the like for convenience, it means that it is essential to perform the operations in this order. Not something.

  As described above, the present invention has been described using the embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It is apparent to those skilled in the art that various changes or improvements can be made to the above embodiment. It is apparent from the description of the appended claims that embodiments with such changes or improvements can be included in the technical scope of the present invention.

10 UAV
Reference Signs List 20 UAV body 30 UAV control unit 36 Communication interface 37 Memory 40 Propulsion unit 41 GPS receiver 42 Inertial measurement device 43 Magnetic compass 44 Barometric altimeter 45 Temperature sensor 46 Humidity sensor 50 Gimbal 60 Imaging device 100 Imaging device 102 Imaging unit 110 Imaging control unit 112 specifying unit 114 deriving unit 116 focusing control unit 118 determining unit 120 image sensor 130 memory 200 lens unit 210 lens 212 lens driving unit 214 position sensor 220 lens control unit 222 memory 250 distance measuring sensor 300 remote control device 1200 computer 1210 host controller 1212 CPU
1214 RAM
1220 Input / output controller 1222 Communication interface 1230 ROM

Claims (13)

A specifying unit that specifies a distance from the imaging device to the subject;
First deriving a first set value of a focus lens of the imaging device to focus on the subject based on a contrast value of an image captured by the imaging device by driving a focus lens of the imaging device to a different position; A derivation unit;
A second deriving unit that derives a second set value of the focus lens that focuses on the subject based on the distance;
When the distance is within a first distance range, the focus is determined based on the first weighted first set value and the second weighted second set value lower than the first weight. When the lens is driven and the distance is the second distance range longer than the first distance range, the first set value with the third weight and the fourth weight higher than the third weight are set. A control unit that drives the focus lens based on a second set value.   The first derivation unit derives the first set value at a first interval when the distance is in the first distance range, and a second set value that is longer than the first interval when the distance is in the second distance range. The control device according to claim 1, wherein the first set value is derived at intervals.   The second deriving unit derives the second set value at the first interval when the distance is in the first distance range, and derives the second set value at the second interval when the distance is in the second distance range. The control device according to claim 2, wherein the control device derives two set values.   The control device according to claim 2, wherein the second deriving unit derives the second set value at the first interval when the distance is the first distance range and the second distance range. The image capturing apparatus further includes a determination unit that determines a focus area to be focused in an image captured by the imaging apparatus,
The control device according to claim 1, wherein the first deriving unit derives the first set value based on a contrast value of the in-focus region in an image captured by the imaging device.   The control device according to claim 1, wherein the specifying unit specifies the distance based on a distance measurement result obtained by a distance measurement sensor that measures a distance to a subject existing in an imaging direction of the imaging device. A specifying unit that specifies a distance from the imaging device to the subject;
A deriving unit that drives a focus lens of the imaging device to a different position and derives a setting value of a focus lens of the imaging device that focuses on the subject based on a contrast value of an image captured by the imaging device; A control unit for driving the focus lens based on the set value,
The deriving unit derives the set value at a first interval when the distance is the first distance range, and derives the set value at a first interval when the distance is a second distance range longer than the first distance range. A control device for deriving the set value at two intervals.   A moving body that carries the control device according to claim 1 and the imaging device.   The moving body according to claim 8, further comprising a support mechanism that supports the imaging device so that the posture of the imaging device can be adjusted. The moving object is a flying object,
The support mechanism supports the imaging device so that the imaging direction of the imaging device is downward with respect to the moving body,
The moving body according to claim 9, wherein the specifying unit specifies, as the distance, a distance to a subject existing below the moving body. Identifying a distance from the imaging device to the subject;
Driving a focus lens of the imaging device to a different position to derive a first set value of a focus lens of the imaging device that focuses on the subject based on a contrast value of an image captured by the imaging device. ,
Deriving a second set value of the focus lens that focuses on the subject based on the distance;
When the distance is within a first distance range, the focus is determined based on the first weighted first set value and the second weighted second set value lower than the first weight. When the lens is driven and the distance is the second distance range longer than the first distance range, the first set value with the third weight and the fourth weight higher than the third weight are set. Driving the focus lens based on a second set value. Identifying a distance from the imaging device to the subject;
Driving a focus lens of the imaging device to a different position to derive a set value of a focus lens of the imaging device for focusing on the subject based on a contrast value of an image captured by the imaging device; Driving the focus lens based on the value,
The deriving step derives the set value at a first interval when the distance is a first distance range, and is longer than the first interval when the distance is a second distance range longer than the first distance range. A control method for deriving the set value at a second interval.   A program for causing a computer to function as the control device according to any one of claims 1 to 7.

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