JP2020067486A - Control device, imaging apparatus, moving body, control method, and program - Google Patents

Abstract

To solve a problem that there is a case where it may take time to adjust transmittance of a variable dimming filter.SOLUTION: A control device controls a variable dimming filter which is adjustable from a first transmittance to a second transmittance. The control device may include: an acceptance part which accepts a set value of the transmittance of the variable dimming filter; and a first control part for controlling the transmittance of the variable dimming filter based on the set value. The first control part may control the transmittance of the variable dimming filter to a third transmittance between the first transmittance and the second transmittance before the acceptance part accepts the set value of the transmittance.SELECTED DRAWING: Figure 8

Description

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

Japanese Patent Application Laid-Open No. 2004-242242 describes that when an image pickup apparatus equipped with an ND filter having a plurality of densities captures a still image, control is performed to fully insert or fully retract the ND filter.
Patent Document 1 JP 2004-72580 A

  Among neutral density filters such as ND filters, there is a variable neutral density filter whose transmittance can be changed. It may take time to adjust the transmittance of the variable neutral density filter.

  The control device according to an aspect of the present invention may be a control device that controls a variable neutral density filter that can be adjusted from the first transmittance to the second transmittance. The control device may include a receiving unit that receives the set value of the transmittance of the variable neutral density filter. The control device may include a first control unit that controls the transmittance of the variable neutral density filter based on the set value. The first controller may control the transmittance of the variable neutral density filter to a third transmittance between the first transmittance and the second transmittance before the accepting unit accepts the set value of the transmittance.

  The control device may include a second control unit that controls the position of the variable neutral density filter so that the variable neutral density filter is inserted into or retracted from the optical path of the imaging device. The first control unit may control the transmittance of the variable neutral density filter to the third transmittance while the variable neutral density filter is retracted to the optical path.

  When the receiving unit receives the setting value of the variable neutral density filter, the first control unit may control the transmittance of the variable neutral density filter from the third transmittance to the transmittance corresponding to the setting value. After the first control unit controls the transmittance of the variable neutral density filter to the transmittance corresponding to the set value, the second controller variably reduces the variable neutral density filter from the retracted state to the inserted state in the optical path. The position of the optical filter may be controlled.

  The first controller may control the transmittance by changing the voltage applied to the variable neutral density filter.

  The first controller may control the transmittance of the variable neutral density filter to the third transmittance when the variable neutral density filter is in the state of being retracted from the optical path when the power of the imaging device is turned on.

  The first controller receives the transmittance of the variable neutral density filter before the power of the imaging device is turned on when the variable neutral density filter is inserted in the optical path when the power of the imaging device is turned on. The transmittance may be controlled to correspond to the set value accepted by the unit.

  The control device may include a notification unit that notifies the setting value received by the reception unit. The notification unit may notify the setting value corresponding to the third transmittance before the receiving unit receives the setting value and when the variable neutral density filter is in the state of being retracted from the optical path.

  An imaging device according to an aspect of the present invention may include the control device described above. The image pickup device may include a variable neutral density filter and an image sensor.

  A moving body according to one aspect of the present invention may be a moving body that includes the above-described imaging device and a support mechanism that adjustably supports the attitude of the imaging device.

  The control method according to an aspect of the present invention may be a control method for controlling a variable neutral density filter that can be adjusted from the first transmittance to the second transmittance. The control method may include controlling the transmittance of the variable neutral density filter to a third transmittance between the first transmittance and the second transmittance. The control method may include a step of receiving the set value of the transmittance of the variable neutral density filter after the transmittance of the variable neutral density filter is controlled to the third transmittance. The control method may include a step of controlling the transmittance of the variable neutral density filter to a transmittance corresponding to the set value.

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

  According to one aspect of the present invention, the time taken to adjust the transmittance of the variable neutral density filter can be shortened.

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

It is a figure which shows an example of the external appearance perspective view of an imaging device. It is a figure which shows the functional block of an imaging device. It is a figure which shows an example of a mechanical ND filter. It is a figure which shows an example of a mechanical ND filter. It is a figure which shows an example of a magnet type ND filter. It is a figure which shows an example of a magnet type ND filter. It is a figure which shows an example of the time change of the transmittance of the variable neutral density filter of a mechanical ND filter. It is a figure which shows an example of the time change of the density at the time of applying a voltage to a variable neutral density filter. It is a figure which shows an example of the time change of the density at the time of applying a voltage to a variable neutral density filter. It is a flow chart which shows an example of the control procedure of a variable neutral density filter. It is a figure showing an example of the appearance of an unmanned aerial vehicle and a remote control. It is a figure which shows 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. Moreover, not all of the combinations of features described in the embodiments are essential to the means for solving the invention. It is obvious to those skilled in the art that various modifications and improvements can be added to the following embodiments. It is apparent from the scope of the claims that the embodiments added with such modifications or improvements can be included in the technical scope of the present invention.

  The claims, the description, the drawings, and the abstract contain the subject matter of copyright protection. The copyright owner has no objection to the reproduction of any of these documents by anyone as it appears 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, where a block is (1) a stage of a process in which an operation is performed or (2) a device responsible for performing an operation. "Part" of may be represented. Particular stages and "sections" 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. Programmable circuits may include reconfigurable hardware circuits. 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 (FPGA), programmable logic arrays (PLA), etc. Memory elements and the like.

  Computer-readable media may include any tangible device capable of storing instructions executed by a suitable device. As a result, a computer-readable medium having instructions stored therein will comprise a product that includes instructions that may be executed to create the means for performing the operations specified in the flowcharts or block diagrams. Examples of computer readable media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, 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 Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD), Blu-Ray (RTM) Disc, Memory Stick, Integrated Circuit cards and 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 the "C" programming language or similar programming languages. Computer-readable instructions are provided to a processor or programmable circuit of a general purpose computer, a special purpose computer, or other programmable data processing device, locally or in a wide area network (WAN) such as a local area network (LAN), the Internet, or the like. ). The processor or programmable circuit may execute computer readable instructions to create a means for performing the operations specified in the flowcharts or block diagrams. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

  FIG. 1 is a diagram showing an example of an external perspective view of an image pickup apparatus 100 according to the present embodiment. FIG. 2 is a diagram showing functional blocks of the image pickup apparatus 100 according to the present embodiment.

  The image pickup apparatus 100 includes an image pickup unit 102 and a lens unit 200. The image capturing unit 102 includes an image sensor 120, an image capturing control unit 110, and a memory 130. The image sensor 120 may be composed of CCD or CMOS. The image sensor 120 outputs the image data of the optical image formed via the zoom lens 211 and the focus lens 210 to the imaging control unit 110. The imaging control unit 110 may be configured by a microprocessor such as CPU or MPU, a microcontroller such as MCU, or the like. The memory 130 may be a computer-readable recording medium and may include at least one of SRAM, DRAM, EPROM, EEPROM, and flash memory such as USB memory. 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 so as to be removable from the housing of the imaging device 100.

  The image capturing section 102 may further include an instruction section 162 and a display section 160. The instruction unit 162 is a user interface that receives an instruction for the imaging device 100 from a user. The display unit 160 displays an image captured by the image sensor 120, various setting information of the image capturing apparatus 100, and the like. The display unit 160 may include a touch panel.

  The imaging unit 102 may further include a mechanical ND filter 140 and a switching control unit 132. The mechanical ND filter 140 has a variable neutral density filter whose transmittance can be adjusted and a clear glass in a switchable manner. The switching control unit 132 inserts the variable neutral density filter in the optical path of the image pickup apparatus 100 and retracts the clear glass from the optical path, and the variable neutral density filter retracts from the optical path of the image pickup apparatus 100 and sets the clear glass in the optical path. It is mechanically switched to the state of being inserted into.

  The variable neutral density filter may be an optical filter whose concentration (transmittance) can be adjusted by adjusting the applied voltage, and is an optical filter using at least one of an organic electrochromic material, a liquid crystal, and an electroluminescent material. You can use a filter.

  3A and 3B show an example of the mechanical ND filter 140. The mechanical ND filter 140 has, for example, a variable neutral density filter 147 and a clear glass 148. The variable neutral density filter 147 and the clear glass 148 are fixed to the rack 143 and are supported so as to be slidable along the guide shaft 144 together with the rack 143. Power from the motor 141 is transmitted to the rack 143 via the spur gear 142, and the variable neutral density filter 147 and the clear glass 148 slide along the guide shaft 144. FIG. 3A shows a state where the variable neutral density filter 147 is inserted in the optical path. FIG. 3B shows a state where the clear glass 148 is inserted in the optical path. If the clear glass 148 is not inserted in the optical path, the optical path length for the flange back will change. In order to prevent such a change, it is better to insert the clear glass 148 in the optical path even when the variable neutral density filter 147 is not used.

  The lens unit 200 includes a focus lens 210, a zoom lens 211, a lens driving unit 212, a lens driving unit 213, and a lens control unit 220. The focus lens 210 and the zoom lens 211 may include at least one lens. At least a part or all of the focus lens 210 and the zoom lens 211 are arranged so as to be movable along the optical axis. The lens unit 200 may be an interchangeable lens that is detachably attached to the imaging unit 102. The lens driving section 212 includes an electric motor 216. The electric motor 216 may be a stepping motor, a DC motor, a coreless motor, or an ultrasonic motor. The lens driving unit 212 transmits the power from the electric motor 216 to at least a part or all of the focus lens 210 via a mechanical member such as a cam ring and a guide shaft, and causes at least a part or all of the focus lens 210 to be an optical axis. Move along. The lens driving unit 213 includes an electric motor 217. The electric motor 217 may be a stepping motor, a DC motor, a coreless motor, or an ultrasonic motor. The lens drive unit 213 transmits the power from the electric motor 217 to at least a part or all of the zoom lens 211 via a mechanical member such as a cam ring and a guide shaft, and causes at least a part or all of the zoom lens 211 to be an optical axis. Move along. The lens control unit 220 drives at least one of the lens driving unit 212 and the lens driving unit 213 in accordance with a lens control command from the imaging unit 102, and causes at least one of the focus lens 210 and the zoom lens 211 to light through a mechanical member. By moving along the axial direction, at least one of a zoom operation and a focus operation is executed. 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, a position sensor 214, and a position sensor 215. The memory 222 stores control values for the focus lens 210 and the zoom lens 211 that move via the lens driving unit 212 and the lens driving unit 213. The memory 222 may include at least one of SRAM, DRAM, EPROM, EEPROM, and flash memory such as USB memory. The position sensor 214 detects the position of the focus lens 210. The position sensor 214 may detect the current focus position. The position sensor 215 detects the position of the zoom lens 211. The position sensor 215 may detect the current zoom position of the zoom lens 211. The position sensor 214 and the position sensor 215 may be magnetoresistive (MR) sensors.

  The lens unit 200 further includes a magnet type ND filter 250 and a coil 252. The magnet type ND filter 250 is an example of a variable neutral density filter. 4A and 4B show an example of the magnet type ND filter 250. The magnet type ND filter 250 is rotatable around a rotation shaft 251. The magnet type ND filter 250 has a magnet 253 at one end. When a current flows through at least one of the two coils 252, a magnetic field is generated, the magnet 253 is attracted to the one coil 252, and the magnetic ND filter 250 rotates about the rotation shaft 251. The magnet type ND filter 250 can be inserted into the optical path or the magnet type ND filter 250 can be retracted from the optical path by switching the direction of the current flowing through the coil 252 or switching the coil 252 through which the current flows. FIG. 4A shows a state where the magnet type ND filter 250 is inserted in the optical path. FIG. 4B shows a state in which the magnet type ND filter 250 is retracted from the optical path.

  The image pickup apparatus 100 may include only one of the mechanical ND filter 140 and the magnet ND filter 250 as the variable neutral density filter. The mechanical ND filter 140 and the magnet ND filter 250 may be detachably provided to the imaging device 100.

  As described above, the transmittance of the variable neutral density filter changes by changing the magnitude of the applied voltage. Then, it takes time to adjust the transmittance of the variable neutral density filter. Therefore, in the image pickup apparatus 100 according to the present embodiment, the time from the acceptance of the set value of the transmittance of the variable neutral density filter to the adjustment of the transmittance of the variable neutral density filter to the transmittance corresponding to the set value is Shorten.

  The imaging control unit 110 has an acquisition unit 111, a reception unit 112, an ND filter control unit 114, and a notification unit 116. The acquisition unit 111 acquires information indicating the range of ND values that can be set for each from the mechanical ND filter 140 and the magnet ND filter 250. The notification unit 116 may notify the user of the range of ND values that can be set by the imaging device 100 by displaying the range of ND values that can be set on the display unit 160.

  The receiving unit 112 receives the set value of the transmittance of the variable neutral density filter. The reception unit 112 may receive the setting value from the user via the instruction unit 162. The reception unit 112 may receive from the user which of the mechanical ND filter 140 and the magnet ND filter 250 to be used as the variable neutral density filter. The ND filter control unit 114 controls the transmittance of the mechanical ND filter 140 or the magnet ND filter 250 based on the setting value received by the reception unit 112. The ND filter control unit 114 controls the transmittance of either the mechanical ND filter 140 or the magnetic ND filter 250 selected by the user based on the setting value received by the reception unit 112.

  The ND filter control unit 114 sets the transmittance of the variable neutral density filter between the first transmittance and the second transmittance that can be set by the variable neutral density filter before the accepting unit 112 accepts the set value of the transmittance. Control to the third transmittance. The ND filter control unit 114 sets the transmittance of the variable neutral density filter with the variable neutral density filter before the accepting unit 112 accepts the transmittance setting value and while the image pickup apparatus 100 is powered on and activated. The third transmittance may be controlled between the possible first transmittance and second transmittance. The ND filter control unit 114 sets the transmittance of each of the mechanical ND filter 140 and the magnet ND filter 250 to an intermediate value within the transmittance range that can be set by each of the mechanical ND filter 140 and the magnet ND filter 250. The transmittance may be controlled. The third transmittance is a first voltage applied to the variable neutral density filter when set to the first transmittance and a second voltage applied to the variable neutral density filter when set to the second transmittance. The transmittance when set to the third voltage between and. The third transmittance may be a transmittance when set to an intermediate voltage between the first voltage and the second voltage.

  For example, the ND filter control unit 114 controls the transmittance of the variable neutral density filter 147 to an intermediate transmittance while the variable neutral density filter 147 of the mechanical ND filter 140 is retracted to the optical path. The ND filter control unit 114 controls the transmittance of the magnet type ND filter 250 to an intermediate transmittance while the magnet type ND filter 250, which is a variable neutral density filter, is retracted to the optical path.

  When the receiving unit 112 receives the setting value of the variable neutral density filter, the ND filter control unit 114 may control the transmittance of the variable neutral density filter from the intermediate transmittance to the transmittance corresponding to the setting value. When the variable neutral density filter selected by the user is the mechanical ND filter 140, the switching control unit 132 causes the ND filter controller 114 to control the transmittance of the variable neutral density filter 147 to the transmittance corresponding to the set value. The position of the variable neutral density filter 147 is controlled from the state where it is retracted to the optical path to the state where it is inserted. When the variable neutral density filter selected by the user is the magnet type ND filter 250, the ND filter control unit 114 sets the transmittance of the magnet type ND filter 250 to the transmittance corresponding to the set value via the lens control unit 220. After the control, the current is supplied to the coil 252 so that the magnet type ND filter 250 is put into the inserted state from the retracted state with respect to the optical path.

  If the mechanical ND filter 140 or the magnet type ND filter 250 is retracted from the optical path when the power of the imaging device 100 is turned on, the ND filter control unit 114 may be the mechanical ND filter 140 or the magnet type ND filter. The transmittance of 250 may be controlled to an intermediate transmittance.

  If the mechanical ND filter 140 or the magnet type ND filter 250 is inserted in the optical path when the power of the imaging apparatus 100 is turned on, the ND filter control section 114 will determine whether the mechanical ND filter 140 or the magnet type ND filter will be used. The transmittance of 250 may be controlled to the transmittance corresponding to the setting value accepted by the accepting unit 112 before the power of the imaging device 100 is turned on. That is, the ND filter control unit 114, when the mechanical ND filter 140 or the magnet ND filter 250 is inserted in the optical path when the power of the imaging device 100 is turned on, the ND filter control unit 114 transmits the transmission corresponding to the previous setting value. The transmittance of the mechanical ND filter 140 or the magnet ND filter 250 is controlled so that the ratio becomes the same.

  The notification unit 116 displays the set value corresponding to the intermediate transmittance when the reception unit 112 receives the set value and the mechanical ND filter 140 and the magnet ND filter 250 are retracted from the optical path. The setting value corresponding to the current transmittance of the retracted mechanical ND filter 140 and the magnetic ND filter 250 may be notified to the user.

  FIG. 5 shows an example of temporal changes in the transmittance of the variable neutral density filter 147 of the mechanical ND filter 140. Until time T0, the image pickup apparatus 100 is powered off, and the variable neutral density filter 147 is retracted from the optical path. When the power of the image pickup apparatus 100 is turned on at time T0, the ND filter control unit 114 causes the transmittance of the variable neutral density filter 147 to change from 100% to 25% before the reception unit 112 receives the set value. Thus, the voltage of 1.5 V is applied to the variable neutral density filter 147. When the receiving unit 112 receives the set value corresponding to the transmittance of 25% at the time T0, the ND filter control unit 114 switches the variable neutral density filter 147 from the retracted state to the inserted state via the switching control unit 132. .

  As shown in FIG. 6, in order to change the state where no voltage is applied to the variable neutral density filter 147, that is, the state where the density is 0 (the transmittance is 100%) to the density N1 or the density N2, 2. Even if a voltage of 5 V or 5.0 V is applied to the variable neutral density filter 147, the density of the variable neutral density filter 147 does not immediately become N1 or N2. On the other hand, if a voltage of 2.5 V is applied to the variable neutral density filter 147 in advance, the time from applying a voltage of 5.0 V to reaching the density N2 can be shortened to achieve the density N2. . If the set value is the density N1, the density N1 can be immediately realized.

  When the variable neutral density filter 147 can set the concentrations up to the concentration N2 and the intermediate concentration is N1, as shown in FIG. 7, the variable neutral density filter 147 is set to the intermediate concentration N1. Therefore, even when the density of the variable neutral density filter 147 is set to 0, the time can be shortened as compared with the case where the density of the variable neutral density filter 147 is set to N2.

  FIG. 8 is a flowchart showing an example of the control procedure of the variable neutral density filter. When the power of the imaging device 100 is turned on, the acquisition unit 111 acquires the ND information of the ND filter attached to the imaging device 100 (S100). For example, when the mechanical ND filter 140 is attached to the imaging device 100, the acquisition unit 111 may acquire information indicating a range of set values corresponding to the transmittance that can be set by the mechanical ND filter 140. The notification unit 116 may display the range of ND values that can be set by the imaging device 100 on the display unit 160 based on the information indicating the range of set values acquired by the acquisition unit 111.

  Next, the ND filter control unit 114 determines whether or not the variable neutral density filter 147 of the mechanical ND filter 140 is in a retracted state from the optical path (S102). When the variable neutral density filter 147 is inserted in the optical path, the ND filter control unit 114 reads out the previous setting value accepted by the accepting unit 112 before turning off the power of the imaging device 100 (S104).

  When the variable neutral density filter 147 is in the retracted state from the optical path, the ND filter control unit 114 sets the voltage corresponding to the set value corresponding to the density between the maximum density of the variable neutral density filter 147 and the clear density to the variable neutral density filter 147. (S106). The notification unit 116 displays the set value corresponding to the density set for the variable neutral density filter 147 on the display unit 160. (S108).

  After that, the reception unit 112 receives the setting value of the variable neutral density filter 147 from the user (S110). The ND filter control unit 114 applies the voltage corresponding to the received set value to the variable neutral density filter 147 (S112). Here, since the voltage corresponding to the intermediate density is applied to the variable neutral density filter 147 in advance, the time until the density of the variable neutral density filter 147 becomes the density corresponding to the received set value is shortened. it can.

  When the density of the variable neutral density filter 147 reaches the density corresponding to the set value, the ND filter control unit 114 switches the variable neutral density filter 147 from the retracted state to the inserted state via the switching control unit 132 (S114). ). Further, the notification unit 116 updates the setting value of the variable neutral density filter 147 displayed on the display unit 160 to the updated setting value (S116).

  As described above, the ND filter control unit 114 applies the voltage corresponding to the set value corresponding to the density between the maximum density and the clear to the variable neutral density filter before receiving the setting value of the variable neutral density filter. This makes it possible to shorten the time from when the receiving unit 112 receives the set value to when the density of the variable neutral density filter reaches the density corresponding to the set value.

  The imaging device 100 as described above may be mounted on a moving body. The imaging device 100 may be mounted on an unmanned aerial vehicle (UAV) as shown in FIG. 9. The UAV 10 may include a UAV body 20, a gimbal 50, a plurality of image pickup devices 60, and an image pickup device 100. The gimbal 50 and the imaging device 100 are an example of an imaging system. The UAV 10 is an example of a moving body propelled by the propulsion unit. The moving body is a concept including a UAV, a flying body such as another aircraft moving in the air, a vehicle moving on the ground, a ship moving on the water, and the like.

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

  The image capturing apparatus 100 is a camera for capturing an image of a subject included in a desired image capturing 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 using an actuator so as to be rotatable on the pitch axis. The gimbal 50 further supports the imaging device 100 by using an actuator so as to be rotatable about each of a roll axis and a yaw axis. The gimbal 50 may change the attitude of the imaging device 100 by rotating the imaging device 100 around 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 of the surroundings of the UAV 10 in order to control the flight of the UAV 10. The two imaging devices 60 may be provided on the front of the UAV 10, which is the nose. 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 may 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. Three-dimensional spatial data around the UAV 10 may be generated based on the images captured by the plurality of imaging devices 60. The number of imaging devices 60 included in the UAV 10 is not limited to four. The UAV 10 may include at least one imaging device 60. The UAV 10 may include at least one imaging device 60 on each of the nose, tail, side surface, bottom surface, and ceiling surface 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 have 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 wirelessly communicate with the UAV 10. The remote control device 300 transmits instruction information indicating various commands regarding movement of the UAV 10, such as ascending, descending, accelerating, decelerating, moving forward, moving backward, and rotating, to the UAV 10. 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. The UAV 10 moves so as to be located at the altitude indicated by the instruction information received from the remote control device 300. The instruction information may include an ascending instruction to elevate the UAV 10. The UAV 10 rises while accepting the rise command. Even if the UAV 10 receives the climb command, the UAV 10 may limit the climb when the altitude of the UAV 10 reaches the upper limit altitude.

  FIG. 10 illustrates an example computer 1200 in which aspects of the invention may be embodied in whole or in part. The program installed on the computer 1200 can cause the computer 1200 to function as an operation associated with an apparatus according to an embodiment of the present invention or one or more “units” of the apparatus. 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 according to the embodiment of the present invention or a stage of the process. 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 this embodiment includes a CPU 1212 and a RAM 1214, which are connected to each other by a host controller 1210. Computer 1200 also includes a communication interface 1222, input / output units, which are connected to host controller 1210 via input / output controller 1220. Computer 1200 also includes ROM 1230. The CPU 1212 operates according to the programs stored in the ROM 1230 and the RAM 1214, and thereby controls each unit.

  The communication interface 1222 communicates with other electronic devices via the 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 or the like executed by the computer 1200 at the time of activation, and / or a program depending on the 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, which is also an example of a computer-readable recording medium, or the ROM 1230, and is executed by the CPU 1212. The information processing described in these programs is read by the computer 1200 and brings about the cooperation between the programs and the various types of hardware resources described above. An apparatus or method may be configured by implementing the operation or processing of information according to the use of the computer 1200.

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

  Further, the CPU 1212 causes the RAM 1214 to read all or a necessary portion of a file or database stored in an external recording medium such as a USB memory, 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 the recording medium and processed. The CPU 1212 retrieves the data read from the RAM 1214 for various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, and information described elsewhere in this disclosure and specified by the instruction sequence of the program. Various types of processing may be performed, including / replacement, etc., and the result is written back to RAM 1214. Further, the CPU 1212 may search for information in files, databases, etc. 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. That is, the entry that matches the condition is searched from the plurality of entries, the attribute value of the second attribute stored in the entry is read, and the entry is associated with the first attribute that satisfies the predetermined condition. The attribute value of the obtained second attribute may be acquired.

  The programs or software modules described above may be stored on a computer-readable storage medium on or near computer 1200. Further, 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, whereby the program can be stored in the computer 1200 via the network. provide.

  Although the present invention has been described using the embodiments, 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 modifications and improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such modifications or improvements can be included in the technical scope of the present invention.

  The execution order of each process such as the operation, procedure, step, and step in the device, system, program, and method shown in the claims, the specification, and the drawings is "preceding" or "prior to". It should be noted that the output of the previous process can be realized in any order unless the output of the previous process is used in the subsequent process. Even if the operation flow in the claims, the description, and the drawings is described using “first,” “next,” and the like for convenience, it means that it is essential to carry out in this order. Not a thing.

10 UAV
20 UAV body 50 Gimbal 60 Imaging device 100 Imaging device 102 Imaging unit 110 Imaging control unit 111 Acquisition unit 112 Reception unit 114 Filter control unit 116 Notification unit 120 Image sensor 130 Memory 132 Switching control unit 140 Mechanical ND filter 141 Motor 142 Spur gear 143 rack 144 guide shaft 147 variable neutral density filter 148 clear glass 160 display unit 162 indicator unit 200 lens unit 210 focus lens 211 zoom lenses 212, 213 lens drive units 214, 215 position sensors 216, 217 electric motor 220 lens control unit 222 memory 250 Filter 251 Rotation shaft 252 Coil 253 Magnet 1200 Computer 1210 Host controller 1212 CPU
1214 RAM
1220 Input / output controller 1222 Communication interface 1230 ROM

The first controller may control the transmittance by changing the voltage applied to the variable neutral density filter.

It is a figure which shows an example of the external appearance perspective view of an imaging device. It is a figure which shows the functional block of an imaging device. It is a figure which shows an example of a mechanical ND filter. It is a figure which shows an example of a mechanical ND filter. It is a figure which shows an example of a magnet type ND filter. It is a figure which shows an example of a magnet type ND filter. It is a figure which shows an example of the time change of the transmittance of the variable neutral density filter of a mechanical ND filter. It is a figure which shows an example of the time change of the density when a voltage is applied to a variable neutral density filter. It is a figure which shows an example of the time change of the density when a voltage is applied to a variable neutral density filter. It is a flow chart which shows an example of the control procedure of a variable neutral density filter. It is a figure showing an example of the appearance of an unmanned aerial vehicle and a remote control. It is a figure which shows an example of a hardware configuration.

The variable neutral density filter may be an optical filter whose concentration (transmittance) can be adjusted by adjusting the applied voltage, and is an optical filter using at least one of an organic electrochromic material, a liquid crystal, and an electroluminescent material. You can use a filter.

As described above, the transmittance of the variable neutral density filter changes by changing the magnitude of the applied voltage. Then, it takes time to adjust the transmittance of the variable neutral density filter. Therefore, in the image pickup apparatus 100 according to the present embodiment, the time from receiving the setting value of the transmittance of the variable dark filter to adjusting the transmittance of the variable neutral density filter to the transmittance corresponding to the setting value is Shorten.

FIG. 5 shows an example of temporal changes in the transmittance of the variable neutral density filter 147 of the mechanical ND filter 140. Until time T0, the image pickup apparatus 100 is powered off, and the variable neutral density filter 147 is retracted from the optical path. When the power of the image pickup apparatus 100 is turned on at time T0, the ND filter control unit 114 causes the transmittance of the variable neutral density filter 147 to change from 100% to 25% before the reception unit 112 receives the set value. as described above, a voltage of 1.5V to the variable ND filter 147. When the receiving unit 112 receives the set value corresponding to the transmittance of 25% at the time T0, the ND filter control unit 114 switches the variable neutral density filter 147 from the retracted state to the inserted state via the switching control unit 132. .

As shown in FIG. 6, in order to change from the state where no voltage is applied to the variable neutral density filter 147, that is, the state where the density is 0 (the transmittance is 100%) to the density N1 or the density N2, 2. even when applying a voltage of 5V or 5.0V to the variable ND filter 147, immediately, the concentration of the variable ND filter 147 is not a N1 or N2. On the other hand, if the voltage of 2.5V is applied to the variable neutral density filter 147 in advance, the time from application of the voltage of 5.0V to the density N2 can be shortened to achieve the density N2. . If the set value is the density N1, the density N1 can be immediately realized.

When the variable neutral density filter 147 is in the retracted state from the optical path, the ND filter control unit 114 sets the voltage corresponding to the set value corresponding to the density between the maximum density of the variable neutral density filter 147 and the clear density to the variable neutral density filter 147. It applied to (S106). The notification unit 116 displays the set value corresponding to the density set for the variable neutral density filter 147 on the display unit 160. (S108).

After that, the reception unit 112 receives the setting value of the variable neutral density filter 147 from the user (S110). The ND filter control unit 114 applies the voltage corresponding to the received set value to the variable neutral density filter 147 (S112). Here, since the voltage corresponding to the intermediate density is applied to the variable neutral density filter 147 in advance, the time until the density of the variable neutral density filter 147 becomes the density corresponding to the received set value is shortened. it can.

As described above, the ND filter control unit 114 applies the voltage corresponding to the set value corresponding to the density between the maximum density and the clear to the variable neutral density filter before receiving the setting value of the variable neutral density filter. This makes it possible to shorten the time from when the receiving unit 112 receives the set value to when the density of the variable neutral density filter reaches the density corresponding to the set value.

Claims (11)

A control device for controlling a variable neutral density filter adjustable from a first transmittance to a second transmittance,
A receiving unit that receives the setting value of the transmittance of the variable neutral density filter,
A first controller that controls the transmittance of the variable neutral density filter based on the set value;
The first control unit controls the transmittance of the variable neutral density filter to a third transmittance between the first transmittance and the second transmittance before the accepting unit accepts the setting value of the transmittance. Control device. A second controller that controls the position of the variable neutral density filter so that the variable neutral density filter is inserted into or retracted from the optical path of the image pickup device;
The control according to claim 1, wherein the first control unit controls the transmittance of the variable neutral density filter to the third transmittance while the variable neutral density filter is retracted to the optical path. apparatus. When the receiving unit receives the setting value of the variable neutral density filter, the first control unit controls the transmittance of the variable neutral density filter from the third transmittance to the transmittance corresponding to the setting value,
After the first control unit controls the transmittance of the variable neutral density filter to a transmittance corresponding to the set value, the second controller may change the variable neutral density filter from the state of retracting to the optical path. The control device according to claim 2, which controls the position of the variable neutral density filter in the inserted state.   The control device according to claim 1, wherein the first control unit controls the transmittance by changing a voltage applied to the variable neutral density filter.   The first control unit sets the transmittance of the variable neutral density filter to the third transmittance when the variable neutral density filter is retracted from the optical path when the power of the imaging device is turned on. The control device according to claim 2, which controls.   When the variable neutral density filter is inserted in the optical path when the power of the imaging apparatus is turned on, the first control unit sets the transmittance of the variable neutral density filter to the power of the imaging apparatus. The control device according to claim 2, wherein the transmittance is controlled to correspond to the setting value received by the reception unit before being turned on. Further comprising a notification unit for notifying the setting value received by the reception unit,
The notification unit notifies the setting value corresponding to the third transmittance before the reception unit receives the setting value and when the variable neutral density filter is retracted from the optical path. 2. The control device according to 2. A control device according to any one of claims 1 to 7,
The variable neutral density filter,
An imaging device including an image sensor.   A moving body comprising the image pickup apparatus according to claim 8 and a support mechanism that adjustably supports the posture of the image pickup apparatus. A control method for controlling a variable neutral density filter adjustable from a first transmittance to a second transmittance, comprising:
Controlling the transmittance of the variable neutral density filter to a third transmittance between the first transmittance and the second transmittance, and controlling the transmittance of the variable neutral density filter to the third transmittance. After that, a step of accepting a set value of the transmittance of the variable neutral density filter,
Controlling the transmittance of the variable neutral density filter to a transmittance corresponding to the set value.   A program for causing a computer to function as the control device according to any one of claims 1 to 7.

Images