JP2020194519A - Video processing system, video processing method, and video processor using unmanned mobile body - Google Patents

Abstract

To provide a video processing system capable of detecting a position of an unmanned mobile body and measuring a timing at which a predetermined position has been passed through.SOLUTION: A video processing system S includes: an unmanned mobile body 1 on which a photographing device is loaded; and a video processor 30 which is connected to the unmanned mobile body 1 through wireless communication and displays a video photographed by the photographing device. The video processor 30 has: a video data acquisition part which acquires video data indicating the video; a screen display part which displays, on a display 40, the video indicated by the video data; a mark detection part which detects that a detection mark 60 is present in the video; and a gate passage determination part which, upon detection of the detection mark 60 in the video under a predetermined condition, determines that the unmanned mobile body 1 has passed through an inside of a passage gate 50 where the detected detection mark 60 is provided. The screen display part displays, on the display 40, contents based on a result of the determination together with the video.SELECTED DRAWING: Figure 1

Description

The present invention relates to a video processing system using an unmanned moving body, a video processing method, and a video processing device, and in particular, a video processing system using an unmanned moving body equipped with a photographing device and moving while shooting an external image. , Video processing method and video processing device.

In recent years, with the spread of lithium-ion batteries and the miniaturization and price reduction of electronic devices such as microelectromechanical systems (MEMS: Microelectromechanical systems), gyroscopes and acceleration sensors, low noise and high stability have been achieved. Unmanned aerial vehicles (drones) that can be easily operated remotely are now on the market at low prices, and the drone business is entering the market one after another.
Businesses that utilize drones include various uses such as aerial photography for video content, aerial photogrammetry, investigation of disaster conditions, search for missing persons, and infrastructure inspection in urban areas.

For example, in the information distribution system using the drone described in Patent Document 1, the drone equipped with the photographing device is operated, and the athlete is moved to a position where the image can be photographed to take a picture. It is disclosed that the video of the athlete concerned will be delivered in real time when there is a problem. In addition, information on the athlete selected as the athlete to be noted (for example, heart rate, blood pressure, tension, etc.) is collected, and when the information on the athlete is in a predetermined state, the image of the athlete is displayed in real time. It is disclosed to be delivered.

Recently, races to compete for drone operation skills have been held in various parts of Japan and overseas, and it is attracting attention as a new motor sport.
In drone racing, the pilot can wear a head-mounted display and remotely control while watching the real-time image transmitted from the shooting device mounted in front of the drone, and the spectator can operate the real-time image on the large display. You can watch the game.
When holding a drone race, if the total weight of the drone is less than 200 g and the drone is flown indoors, it will not be subject to regulations based on the Aviation Law, so even if it is a relatively small drone race For example, the hurdles for legal regulations are low, and it is attracting attention as a familiar entertainment.

JP-A-2018-61106 Japanese Unexamined Patent Publication No. 2002-36997

By the way, in the operation of a drone race, a pilot and a viewer can watch a real-time image transmitted from a shooting device mounted on the drone, and in order to enhance entertainment, a production mode with a sense of reality is required. ..
More specifically, in conventional drone racing, a measuring device that measures radio field strength is usually used to measure the lap times of a plurality of drones. Specifically, each drone is equipped with an antenna and is set to emit a unique radio wave assigned in advance. Then, the measuring device measures the radio wave intensity of the radio wave received by the loop antenna installed at the goal point to determine which drone has lapped, and also measures the lap time of each drone (for example). There is a lap time measuring system for a radio-controlled moving body described in Patent Document 2).
However, in the operation of the race, it takes a relatively long time to install the measuring device and calibrate the measuring device, and if the race venue is in a relatively small room, radio wave interference There was a situation that the lap time could not be measured accurately. Moreover, even if the measuring device is used, the measuring point is often one point for measuring the time at the goal at most.
In addition, when the drone passes through a plurality of passing gates while flying, it is difficult to determine whether or not the drone has passed through the passing gates.
Therefore, when operating a drone race, it is possible to display the lap time and current position of the drone in real time by measuring the lap time without being affected by radio wave interference and determining whether or not the drone has passed through the passing gate. Technology was required.

In addition, when operating a drone race, viewers can watch real-time images transmitted from the shooting device mounted on the drone on a large display, and the display is full of presence in order to enhance entertainment. There was a demand for a production mode.

In addition, the position of the flying drone can be accurately detected by using the passing gate installed at the predetermined position, and the timing of passing the predetermined position can be accurately detected without being particularly limited to the production mode in the drone race. It was also required to apply measurement-capable analysis technology to businesses that utilize drones.

The present invention has been made in view of the above problems, and an object of the present invention is to be able to accurately detect the position of an unmanned moving object (drone) and accurately measure the timing of passing through a predetermined position. An object of the present invention is to provide a video processing system, a video processing method, and a video processing apparatus using an unmanned moving body.
Another object of the present invention is an image processing system, an image processing method, and an image processing method using an unmanned aerial vehicle capable of producing a realistic effect in order to enhance entertainment in the operation of an unmanned aerial vehicle race (drone race). The purpose is to provide a video processing device.

According to the image processing system using the unmanned moving body of the present invention, the problem is that an unmanned moving body that is equipped with a photographing device and moves while shooting an external image is connected to the unmanned moving body by wireless communication. A video processing system including a video processing device that processes a video shot by the shooting device, wherein the video processing device acquires video data indicating an external video shot by the shooting device. An acquisition unit, a screen display unit that displays the image indicated by the acquired video data on the display screen, and a mark detection unit that detects the existence of a detection mark to be detected in the image indicated by the acquired video data. When the detection mark is detected in the video under predetermined conditions, the gate passage determination unit that determines that the unmanned moving body has passed through the passage gate provided with the detected detection mark. The screen display unit is solved by displaying on the display screen the contents based on the determination result that it is determined that the unmanned moving body has passed through the passing gate together with the video.
With the above configuration, the position of the unmanned moving body is accurately detected and the timing of passing the predetermined position is accurately measured by determining whether or not the unmanned moving body has passed through the passing gate using the detection mark. It is possible to realize a video processing system using an unmanned moving body, which is possible.
In addition, for example, in the operation of an unmanned moving body race, in order to further enhance entertainment, the content based on the judgment result that the unmanned moving body has passed through the passing gate is displayed on the display screen to produce a realistic effect. It is possible to realize a video processing system using an unmanned moving body capable of a mode.

At this time, the unmanned aerial vehicle is a small unmanned aerial vehicle that moves on a predetermined course in a predetermined space, and the video processing device is mounted on each of the plurality of the unmanned aerial vehicles. It is preferable that the images captured by the device are simultaneously displayed on the display screen.
With the above configuration, for example, in the operation of a race of a small unmanned aerial vehicle (drone), it is possible to realize a video processing system capable of producing a realistic effect in order to further enhance entertainment.

At this time, it is preferable that the detection mark provided on the passing gate installed in the predetermined space is further provided, and a plurality of the detection marks are attached at the passing gate so as to surround the passing area in the passing gate. ..
As described above, by devising the arrangement of the plurality of detection marks, the accuracy of the passage determination of the passing gate by the unmanned moving body using the detection marks can be further improved.
In particular, when the passing gate has a loop shape (torus shape), it becomes a suitable detection mark arrangement pattern in determining whether or not the unmanned moving body has passed through the frame of the passing gate.

At this time, the detection mark provided on the passage gate installed in the predetermined space is further provided, and the detection mark is a two-dimensional bar code, and the passage gates are installed in a plurality in the predetermined space. Of these, it is preferable to store identification data for identifying which passage gate is used.
As described above, by adopting the two-dimensional barcode as the detection mark, it is possible to detect it relatively easily while suppressing the manufacturing cost.
Further, since the identification data is stored in the detection mark, the current position of the unmanned moving body can be detected more accurately.

At this time, the gate passage determination unit sets a region smaller than the passage region in the passage gate in the central portion of the video as a non-detection target region, and then refers to the non-detection target region in the predetermined video. When the detection mark is detected in a different region and the detection mark is no longer detected in the image after the predetermined image, it is preferable to determine that the unmanned moving body has passed.
Further, the gate passage determination unit sets four detection target areas divided into four quadrants with respect to the image, and then sets the first detection target area and the second quadrant which are the first quadrants in the predetermined image. The detection mark is detected in all the detection target areas of the second detection target area, the third detection target area in the third quadrant, and the fourth detection target area in the fourth quadrant, and from a predetermined image. When the detection mark is no longer detected in the later video, it is preferable to determine that the unmanned moving body has passed.
With the above configuration, it is possible to further improve the accuracy of the passage determination of the passage gate by the unmanned moving body using the detection mark.

At this time, the video processing device calculates the elapsed time required for the unmanned moving object to pass through the predetermined passing gate from the predetermined start position from the determination result by the gate passing determination unit. The screen display unit may display the contents related to the elapsed time calculated by the elapsed time calculation unit on the display screen together with the video.
Further, the video processing device has a current position calculation unit that calculates the current position of the unmanned moving body in the predetermined space from the determination result by the gate passage determination unit, and the screen display unit is the screen display unit. Along with the video, the content related to the current position calculated by the current position calculation unit may be displayed on the display screen.
With the above configuration, for example, in the operation of an unmanned moving body race, the lap time is measured without being affected by radio wave interference, and after determining whether or not the unmanned moving body has passed through the passing gate, the lap time of the unmanned moving body and the present It is possible to display the contents based on the position and whether or not the passing gate can be determined in real time on the display. As a result, it is possible to provide an effect screen with a more realistic feeling on the display display.

Further, a computer equipped with a photographing device and connected to an unmanned moving body that moves while photographing an external image by wireless communication is an image processing method for processing the image captured by the photographing device, and the computer is , A video data acquisition step of acquiring video data indicating an external image shot by the photographing device, a first screen display step of displaying the image indicated by the acquired video data on a display screen, and the acquired video data. A mark detection step for detecting the presence of a detection mark to be detected in the image indicated by the above, and the detection mark detected when the detection mark is detected in the image under predetermined conditions are provided. On the display screen, the content based on the gate passage determination step of determining that the unmanned moving body has passed through the passing gate and the determination result of determining that the unmanned moving body has passed through the passing gate together with the video. It is also possible to realize a video processing method using an unmanned moving object, which executes the second screen display step of displaying in.

In addition, it is a video processing device that is equipped with a shooting device and is connected to the unmanned moving body that moves while shooting an external image by wireless communication to process the image shot by the shooting device, and the shooting device shoots the image. A video data acquisition unit that acquires video data indicating the external video, a mark detection unit that detects the presence of a detection mark to be detected in the video indicated by the acquired video data, and the above-mentioned in the video. An unmanned moving body having a gate passing determination unit for determining that the unmanned moving body has passed through the passing gate provided with the detected detection mark when the detection mark is detected under a predetermined condition. The video processing device used can also be realized.

According to the video processing system, the video processing method, and the video processing apparatus using the unmanned moving body of the present invention, it is possible to accurately detect the position of the unmanned moving body and accurately measure the timing of passing through the predetermined position. Become.
In addition, when operating an unmanned mobile race, it is possible to create a realistic production mode in order to enhance entertainment.

It is a block diagram of the whole image processing system of this embodiment. It is a block diagram of an unmanned moving body, an operation terminal, and a head-mounted display. It is a block diagram of an unmanned moving body, a video processing device, and a display. It is a figure which shows the passing gate with a detection mark. It is a figure which shows the modification of the passing gate with a detection mark. It is a hardware block diagram of a video processing apparatus. It is a software block diagram of a video processing apparatus. It is a figure which shows an example of the display screen displayed by the screen display part. It is a figure explaining an example of processing by a gate passage determination part. It is a processing flow diagram which shows an example of the image processing method of this embodiment. It is a figure which shows an example of the display screen displayed by the screen display part. It is a processing flow diagram which shows an example of the movement start determination method.

Hereinafter, embodiments according to the present invention will be described with reference to FIGS. 1 to 11.
The present embodiment includes a small unmanned moving body that is equipped with a photographing device and flies while shooting an external image, and a video processing device that is connected to the unmanned moving body by wireless communication and displays an image captured by the photographing device. The video processing device is a video processing system including, and the video processing device displays a video data acquisition unit that acquires video data indicating an external image captured by the photographing device and an image indicated by the acquired video data on a display display. The screen display unit, the mark detection unit that detects the presence of the detection mark in the video indicated by the acquired video data, and the detection mark that is detected when the detection mark is detected in the video under predetermined conditions. It has a gate passage determination unit that determines that an unmanned moving object has passed through the passage gate provided with, and the screen display unit determines that the unmanned moving object has passed through the passage gate together with the image. The present invention relates to an invention characterized in that the content based on the determined determination result is displayed on a display.

FIG. 1 shows the overall configuration of the video processing system S of the present embodiment.
The image processing system S is a system for operating an unmanned moving body race, and is equipped with a photographing device 1a and flies while shooting an external image, and by wireless communication with the unmanned moving body 1. An operation terminal 10 for remotely operating the unmanned moving body 1 connected to each other, a head mount display 20 for displaying an external image captured by the photographing device 1a, and a display screen for processing the external image captured by the photographing device 1a. The video processing device 30 to be displayed above, the display 40 for the display screen connected to the video processing device 30, a plurality of passing gates 50 installed at intervals in a predetermined space, and attached to each passing gate 50. It is mainly composed of a detection mark 60 to be formed.

As shown in FIGS. 1 and 2, the unmanned aerial vehicle 1 is a small unmanned aerial vehicle (drone) that flies in a predetermined space while capturing an external image on the front side thereof, and is an operation terminal 10 and a head. Data communication is performed with the mounted display 20 and the video processing device 30.
A plurality of unmanned moving bodies 1 are prepared, and in the system of the present embodiment, three unmanned moving bodies 1 participate in an unmanned moving body race and fly a predetermined course in a predetermined space. (Due to the radio wave band used of 5.8 GHz, it is normal for three aircraft to fly at the same time).
Specifically, the unmanned moving body 1 is mainly composed of a photographing device 1a, a transmitting / receiving antenna 1b, a moving unit 1c, a driving unit 1d, a processor 1e, and a battery 1f, and each of them moves unmanned. It is attached to the main body of body 1.

The photographing device 1a is a small photographing camera, which is attached to the front surface of the main body of the moving body, and photographs an external image on the front side thereof to record the image. Then, the video data showing the video is created.
The transmission / reception antenna 1b is mounted inside the main body of the mobile body, and receives operation data from the operation terminal 10 and transmits video data taken toward the head-mounted display 20 and the video processing device 30. ..
The moving unit 1c is four rotary blades attached so as to surround the main body of the moving body, and is configured by attaching propeller-shaped blades to a rotating shaft extending vertically, and receives drive power from the drive unit 1d. It creates lift and thrust by receiving and rotating.
The drive unit 1d is a motor for driving the mobile unit 1c, which is connected to and attached to the mobile unit 1c and operates based on a drive command received from the processor 1e.

The microprocessor 1e is mainly composed of a CPU as a data calculation / control processing device, a ROM, a RAM, and an HDD as a storage device, and a communication interface for transmitting and receiving information data through a transmission / reception antenna 1b. It is a processor and is mounted inside the main body of the moving body.
The battery 1f is a lithium-ion battery for supplying electric power to the transmission / reception antenna 1b, the drive unit 1d, and the processor 1e, and is attached to the lower part of the mobile body.

As shown in FIGS. 1 and 2, the operation terminal 10 is a controller operated by the operator, and the unmanned moving body 1 is provided for each unmanned moving body 1 so as to fly on a predetermined course. It is for remote control by wireless communication.
More specifically, the operation terminal 10 receives the input of the user operation by the operator, creates the operation data for operating the unmanned moving body 1, and transmits the operation data to the unmanned moving body 1. Can be done.
The head-mounted display 20 is a display device mounted on the operator's head, and is provided for each unmanned moving body 1 to display an image captured by the photographing device 1a on a dedicated display screen.
More specifically, the head-mounted display 20 can receive video data in real time from the unmanned moving body 1 and display the real-time video on a dedicated display screen.

As shown in FIGS. 1 and 3, the image processing device 30 is a computer that performs data communication with the unmanned moving object 1 and the display 40, and displays the image captured by the photographing device 1a on the display 40 as a display screen. Is what you do.
More specifically, when the detection mark 60 is detected in the video under predetermined conditions, the video processing device 30 determines that the detection mark 60 has passed through the passage gate 50 to which the detection mark 60 is attached, and together with the above video, The contents based on the determination result of determining that the unmanned moving body 1 has passed through the passing gate 50 can be simultaneously displayed on the display 40.
The display 40 is a large display connected to the video processing device 30, and is used as a display screen for spectators who are watching an unmanned mobile race.
Specifically, the display screen as shown in FIG. 7 is displayed in real time on the display 40, and it is possible to produce a realistic content of the unmanned moving body race.

As shown in FIGS. 1 and 4A, the passing gate 50 is a gate for the unmanned moving body 1 to pass through, and has a predetermined interval on the course of the unmanned moving body race installed in a predetermined space. There are multiple installations.
The passage gate 50 is composed of a pair of gate legs 51 provided so as to stand up from the floor, and a loop-shaped gate frame 52 attached so as to connect the upper portions of the pair of gate legs 51. ing.
In the unmanned moving body race, the unmanned moving body 1 operated by the operator flies so as to pass through the passing area 53 provided in the frame of the gate frame body portion 52.
A plurality of detection marks 60 are attached to the front surface of the gate frame body portion 52 located on the start side in the traveling direction of the course so as to surround the passing region 53.

The detection marks 60 are two-dimensional barcodes and are arranged so as to surround the passage area 53 of the passage gate 50 so as to be arranged in a substantially circular shape, and the detection marks 60 of different sizes are arranged so as to be arranged alternately. ing.
Further, the detection mark 60 is formed of white as a background color and black as a barcode color, and is configured so that the shape of the barcode is substantially C-shaped. Each detection mark 60 is arranged so that the opening (substantially C-shaped opening) of the barcode faces the center of the passing region 53.

The detection mark 60 stores identification data for identifying which of the passage gates 50 installed on the course is.
Therefore, when the image processing device 30 detects the detection mark 60 in the image captured by the unmanned moving body 1 (shooting device 1a), the image processing device 30 identifies which passage gate 50 the unmanned moving body 1 has passed through. be able to.

The passing gate 50 can be changed without being particularly limited to a loop-shaped (torus-shaped) passing gate, and may be, for example, a bridge-shaped passing gate 150 as shown in FIG. 4B.
The passage gate 150 is composed of a pair of gate legs 151 and a gate frame body 152 connecting the upper portions of the pair of gate legs 151, and the pair of gate legs 151 and the gate frame 152 The area surrounded by and is the passing area 153.
Further, the detection marks 60 are arranged in a substantially C shape so as to surround the passing region 153 of the passing gate 150.

<Hardware configuration of video processing device 30>
The video processing device 30 includes a CPU as a data calculation / control processing device, a ROM, RAM, and HDD (SSD) as storage devices, and a communication interface for transmitting and receiving information data via a home network or the Internet. It is a computer to have.
Further, the video processing device 30 includes a display device that displays information on characters or images displayed in a predetermined format, an input device that is operated by a user when inputting a predetermined command to the CPU, an external hard disk, or the like. It further has a storage medium device, a printing device for outputting character or image information, and is connected to a display 40.

As shown in FIG. 6, a video processing program is stored in the ROM, HDD, and external storage device of the video processing device 30 in addition to the main program that functions as a computer, and these programs are stored by the CPU. When executed, the function of the image processing device 30 will be exhibited.

<Software configuration of video processing device 30>
As shown in FIG. 6, the video processing device 30 is a storage unit 31 that stores various programs and various data in addition to "video data", "lap time data", and "current position data". The video data acquisition unit 32 that acquires "video data" from the unmanned moving body 1, the screen display unit 33 that displays the image indicated by the acquired "video data" on the display screen, and the acquired "video data" A mark detection unit 34 that detects the presence of the detection mark 60 in the indicated image, and a passage provided with the detected detection mark 60 when the detection mark 60 is detected in a predetermined image under a predetermined condition. A gate passage determination unit 35 that determines that the data has passed through the gate 50 is provided as a main component.
Further, the video processing device 30 includes an elapsed time calculation unit 36 that calculates the elapsed time required for the unmanned moving body 1 to pass through the predetermined passing gate 50 from the predetermined position based on the determination result by the gate passage determining unit 35. It further includes a current position calculation unit 37 that calculates the current position of the unmanned moving body 1 in a predetermined space from the determination result by the gate passage determination unit 35.
Further, the image processing device 30 moves the unmanned moving body 1 when a predetermined condition is satisfied based on the "video data" acquired from the unmanned moving body 1 at the timing immediately before the unmanned moving body 1 starts moving. Further, a movement start determination unit 38 for determining that the operation has started is provided.
These are composed of a CPU, ROM, RAM, HDD, communication interface, various programs, and the like.

Explaining the unmanned moving body 1 from the functional aspect, a storage unit 2 for storing various programs and various data, an operation data receiving unit 3 for acquiring "operation data" from the operation terminal 10, and "video data". Is provided as a main component of a video data transmission unit 4 that transmits the above to the head mount display 20 and the video processing device 30.

The "video data" stored in the storage unit 31 is moving image data showing an external image on the front side of each unmanned moving body 1 taken by each unmanned moving body 1 in real time from each unmanned moving body 1 during the unmanned moving body race. It is transmitted and is centrally managed and stored in the storage unit 31.
The video data (moving image data) is set, for example, with 30 frame images per second (30 FPS (Frame Per Second)).
By referring to the video data, as shown in FIG. 7, a function of simultaneously displaying the video captured by each unmanned moving body 1 on the display 40, a gate passage determination function of each unmanned moving body 1, and a lap time calculation function. , The current position calculation function can be used.

The "lap time data" is data indicating the lap time of each unmanned moving body 1 during the unmanned moving body race, and is created by the elapsed time calculation unit 36 for each unmanned moving body 1 and stored in the storage unit 31. It is centrally managed and stored.
More specifically, the lap time data includes the elapsed time (section lap time) required for each unmanned moving body 1 to pass through the predetermined passing gate 50 from the predetermined start position, and the time from the start position to one lap of the course. Includes information on the elapsed time required (lap times on the first, second, and third laps) and the elapsed time from the start position to the goal position (total lap time required to complete three laps of the course). In addition, information such as the elapsed time (section lap time) required from passing through the passing gate 50 on the start position side to passing through the next passing gate 50 in the adjacent passing gates 50 is also included.
It also includes information on the fastest lap times, the current number of laps during an unmanned mobile race, and the current ranking.
By referring to the lap time data, as shown in FIG. 7, the function of displaying various lap times of each unmanned moving object 1, the fastest lap time, the order of each unmanned moving object 1 and the like on the display 40 is used. Can be done.

The "current position data" is data indicating the current position of each unmanned moving body 1 on the course of the unmanned moving body race, and is created for each unmanned moving body 1 by the current position calculation unit 37. It is centrally managed and stored in the storage unit 31.
More specifically, the current position data includes position information indicating which passage gate 50 the unmanned moving body 1 is located on the course (the position around which passage gate 50).
By referring to the current position data, as shown in FIG. 7, it is possible to use a function of displaying the current position (current position on the course map) of each unmanned moving body 1 on the display 40.

The video data acquisition unit 32 acquires "video data" from each unmanned moving body 1, and the acquired video data is classified for each unmanned moving body 1 and stored in the storage unit 31.

The screen display unit 33 has a video display unit 33a, an elapsed time display unit 33b, and a current position display unit 33c as specific functional units.
The screen display unit 33 (video display unit 33a) simultaneously displays on the display 40 the video indicated by the “video data” acquired from each unmanned moving object 1.
Further, the screen display unit 33 displays on the display 40 the "contents based on the determination result" determined by the gate passage determination unit 35 that each unmanned moving body 1 has passed the predetermined passage gate 50.
More specifically, the elapsed time display unit 33b displays "contents related to the elapsed time of each unmanned moving object 1" calculated by the elapsed time calculation unit 36 on the display 40 in real time as the contents based on the above determination result.
Further, the current position display unit 33c can display "contents related to the current position of each unmanned moving body 1" calculated by the current position calculation unit 37 on the display 40 in real time as the content based on the above determination result. ..

Looking at the present embodiment of FIG. 7 as a display screen on the display 40, an image 41 of the operator and a name 42 of the operator are displayed in the upper part of the display screen as "information on the operator of each moving body 1". Player1-Player3) is displayed. In addition, the real-time image 43 taken by each moving body 1 in real time is displayed corresponding to the operator's information, and the total race time 44 "0:10:123" of the unmanned moving body race is also displayed. There is.
Further, in the lower right part of the display screen, the lap time 45 and the fastest lap time 46 of the first lap of the course, the second lap of the course, and the third lap of the course are displayed as "contents related to the elapsed time of each unmanned moving body 1". In addition, the current number of laps 47 and the current ranking 48 are also displayed in the central part of the display screen.
Further, in the lower left part of the display screen, as "contents related to the current position of each unmanned moving body 1", a course map 49 of the unmanned moving body race and each unmanned moving body 1 moving on the course map 49 in real time The current position display icon 49a is displayed.
In addition, a start button (Start), a stop button (Stоp), a setting button (Setting), and the like for starting a video processing program executed by the video processing device 30 are displayed in the lower center portion of the display screen. There is.

The mark detection unit 34 detects that the detection mark 60 to be detected exists in the video indicated by the acquired "video data".
More specifically, in the mark detection unit 34, when the number of frame images per second is set to 30 (30 FPS) in the video data (moving image data), the detection mark 60 is set in the frame image for each frame image. Detects the existence of.
The detection mark 60 stores identification data for identifying which of the plurality of passing gates 50 is the passing gate 50. Therefore, when the mark detection unit 34 detects the predetermined detection mark 60 in the frame image captured by the predetermined unmanned moving body 1, the unmanned moving body 1 is placed at the position or the peripheral position of any of the passing gates 50. It is also possible to specify whether or not.

When the detection mark 60 is detected under predetermined conditions in the video indicated by the acquired "video data" and the detection mark 60 is no longer detected in the video after the video, the gate passage determination unit 35 , It is determined that the predetermined unmanned moving body 1 has passed through the passing gate 50 provided with the detected detection mark 60.
Specifically, when the detection mark 60 is detected in the first image under the following conditions and all the detection marks are not detected in the subsequent image, the gate passage determination unit 35 causes the unmanned moving body 1 to move. Judge that it has passed.
In addition, the passage may be determined when any one of the following conditions is satisfied, or the customs clearance may be determined when other conditions are set and the other conditions are also satisfied. ..

As the first condition, as shown in FIG. 8, the gate passage determination unit 35 presets a rectangular region having a predetermined size in the central portion of the image (frame image) as the “non-detection target region 35a”. .. Then, when the detection mark 60 is detected in a region different from the “non-detection target region 35a” in the predetermined video (predetermined frame image), it is determined that the first condition is satisfied.
At this time, the non-detection target region 35a is preferably a region smaller than the passage region in the predetermined passage gate 50. More specifically, among all the passing regions of the passing gates 50, it is preferable that the region is smaller than the smallest passing region. The shape of the non-detection target region 35а is not limited to a rectangular shape, but may be a circular shape or the like, and can be changed as appropriate.

As the second condition, as shown in FIG. 8, the gate passage determination unit 35 presets four detection target areas divided into four quadrants with respect to the image. Then, in the predetermined video, the first quadrant "first detection target area 35b", the second quadrant "second detection target area 35c", the third quadrant "third detection target area 35d", and the like. When the detection mark 60 is detected in all the detection target areas of the "fourth detection target area 35e" which is the fourth quadrant, it is determined that the second condition is satisfied.

Looking at the first embodiment of FIG. 8, the detection mark 60 is detected in a region different from the non-detection target region 35a in the predetermined video (frame image), and the first detection target region 35b, It can be seen that the detection mark 60 is detected in all the detection target areas of the second detection target area 35c, the third detection target area 35d, and the fourth detection target area 35e.
After that, when all the detection marks 60 are no longer detected in the video after the predetermined video (frame image after), the gate passage determination unit 35 unmanned the passage gate 50 provided with the detection mark 60. It is determined that the moving body 1 has passed.

Further, looking at the second embodiment of FIG. 8, although the detection mark 60 is detected in a region different from the non-detection target region 35a in the predetermined video (frame image), the first detection target region 35b and It can be seen that the detection mark 60 is detected only in the detection target area of the second detection target area 35c.
In that case, the gate passage determination unit 35 does not determine that the unmanned moving body 1 has passed through the passage gate 50 provided with the detection mark 60.

The elapsed time calculation unit 36 calculates the elapsed time (lap time) required for the predetermined unmanned moving body 1 to pass through the predetermined passage gate 50 from the predetermined start position from the determination result by the gate passage determination unit 35. ..
More specifically, the elapsed time calculation unit 36 calculates the elapsed time (lap time) and creates "lap time data" indicating the elapsed time.
As described above, the "lap time data" includes the elapsed time (section lap time) required for each unmanned moving body 1 to pass through the predetermined passage gate 50 from the predetermined start position, and one lap of the course from the start position. Information such as the elapsed time required (lap time on the 1st, 2nd, and 3rd laps) and the elapsed time from the start position to the goal position (total lap time required to complete 3 laps of the course) is available. include.

The current position calculation unit 37 calculates the current position of the unmanned moving body 1 in a predetermined space from the above determination result by the gate passage determination unit 35.
More specifically, the current position calculation unit 37 calculates the current position and creates "current position data" indicating the current position.
As described above, the "current position data" is a position indicating which passage gate 50 the unmanned moving body 1 is in (the position around which passing gate 50) on the course of the unmanned moving body race. Contains information.
When the current position calculation unit 37 calculates the current position of the predetermined unmanned moving body 1, the lap time of the unmanned moving body 1 during the race, the lap time of the operator operating the unmanned moving body 1 in the past race, etc. The current position of the unmanned moving body 1 can be calculated more accurately by referring to the information of.
By calculating the current position of the unmanned moving body 1 in this way, the current position display icon 49a on the course map 49 can be displayed while being accurately moved on the display screen shown in FIG. 7.

<Video processing method>
Next, the processing of the video processing program (video processing method) executed by the video processing device 30 will be described with reference to FIG.
The program according to the present embodiment has the above-mentioned video data acquisition unit 32, screen display unit 33, mark detection unit 34, and gate passage as functional components of the video processing device 30 including the storage unit 31. It is a utility program in which various programs are integrated in order to realize the determination unit 35, the elapsed time calculation unit 36, and the current position calculation unit 37, and the CPU of the video processing device 30 executes this video processing program. ..
The above program is executed by receiving an operation of starting video processing from a user.

In the "video processing flow" shown in FIG. 9, first, the video data acquisition unit 32 starts from step S1 of acquiring "video data" from each unmanned moving body 1.
The acquired video data is classified for each unmanned moving body 1 and stored in the storage unit 31.

Next, in step S2, the screen display unit 33 (video display unit 33a) displays the video (real-time video) indicated by the “video data” acquired from each unmanned moving object 1 on the display 40, as shown in FIG. Display at the same time.

Next, in step S3, the mark detection unit 34 detects that the detection mark 60 to be detected exists in the video indicated by the acquired “video data”.
When the mark detection unit 34 detects the presence of the detection mark 60 in the video (step S3: Yes), the process proceeds to step S4. On the other hand, if the detection mark 60 does not exist in the video (step S3: Nо), the process proceeds to step S7.

Next, in step S4, as shown in FIG. 8, the gate passage determination unit 35 determines whether or not the detection mark 60 is detected under a predetermined condition in the video indicated by the acquired “video data”.
More specifically, as the first condition, the gate passage determination unit 35 presets the non-detection target region 35a in the central portion of the image, and the detection mark 60 is set in a region different from the non-detection target region 35a in the predetermined image. Determine if it has been detected.
Further, as a second condition, the gate passage determination unit 35 presets four detection target areas 35b-35e divided into four quadrants with respect to the image. Then, it is determined whether or not the detection mark 60 is detected in all the detection target areas 35b-35e in the predetermined video.

If the gate passage determination unit 35 determines that the detection mark 60 has been detected in the video under predetermined conditions (step S4: Yes), the process proceeds to step S5, and the mark detection flag is set to ON. Proceed to step S6.
On the other hand, if it is determined that the detection mark 60 is not detected under a predetermined condition in the video (step S4: Nо), the process proceeds to step S6 as it is.

Next, in step S6, it is determined whether or not the video processing device 30 is accepting the operation of stopping the video processing from the user.
If the video processing device 30 has not received the operation of stopping the video processing from the user (step S6: Nо), the process returns to step S1. If the user accepts the operation to stop the video processing (step S6: Yes), the process of FIG. 9 is terminated.

Next, after returning to step S1 from step S6, if the detection mark 60 does not exist in the image indicated by the "video data" acquired next (when all the detection marks 60 do not exist). (Step S3: Nо), the process proceeds to step S7, and the video processing device 30 determines whether or not the mark detection flag is set to ON.
If the mark detection flag is set to ON (step S7: Yes), the process proceeds to step S8, and if the mark detection flag is not set to ON (step S7: Nо), the process proceeds to step S6.

Next, in step S8, the gate passage determination unit 35 detects the detection mark 60 in the video indicated by the acquired "video data" under predetermined conditions, and the detection mark appears in the video after the video. It is determined that the detection is no longer detected, and it is determined that the predetermined unmanned moving body 1 has passed through the passage gate 50 provided with the detected detection mark 60.

Next, in step S9, the elapsed time required for the elapsed time calculation unit 36 from the determination result by the gate passage determination unit 35 until the predetermined unmanned moving body 1 passes through the predetermined passage gate 50 from the predetermined start position. Calculate the time (lap time). That is, "lap time data" is created.
Further, the current position calculation unit 37 calculates the current position of the unmanned moving body 1 in a predetermined space from the above determination result by the gate passage determination unit 35. That is, "current position data" is created.

Next, in step S10, the elapsed time display unit 33b displays “contents related to the elapsed time (lap time) of each unmanned moving body 1” calculated by the elapsed time calculation unit 36 as the content based on the above determination result on the display 40. Display on.
Further, the current position display unit 33c can display "contents related to the current position of each unmanned moving body 1" calculated by the current position calculation unit 37 on the display 40 as the content based on the above determination result.
Specifically, it is as shown in the display screen of FIG.

Next, in step S11, the video processing device 30 sets the mark detection flag to OFF, and then proceeds to step S6.

When the operation of stopping the video processing is finally received from the user while going through the steps S1 to S11 (step S6: Yes), the process of FIG. 9 is terminated.
According to the processing flow of the above-mentioned video processing program, it is possible to accurately detect the position of the unmanned moving body 1 and accurately measure the timing of passing through the predetermined position.
In addition, when operating an unmanned mobile race, it is possible to create a realistic production mode in order to enhance entertainment.

<Movement start judgment>
Next, the function of the movement start determination unit 38 executed by the video processing device 30 will be described with reference to FIGS. 10 and 11.
The movement start determination unit 38 starts the movement start determination of the unmanned moving body 1 with the timing immediately before the unmanned moving body 1 starts moving as the trigger start condition.
The movement start determination unit 38 detects the difference between the first video indicated by the "video data" acquired from the unmanned moving body 1 and the second video after the first video, and the difference is equal to or higher than a predetermined threshold value. When it is determined that there is (first condition), and the difference between the second video and the third video after the second video is detected and the difference is determined to be equal to or higher than a predetermined threshold value (first condition). 2 conditions), it is determined that the unmanned moving body 1 has started moving.
Specifically, the movement start determination unit 38 determines an illegal start (flying start) of each unmanned moving body 1 in an unmanned moving body race.
With the above configuration, in the conventional unmanned mobile race, for example, when a false start is determined by visual confirmation, the video processing device 30 can automatically detect the false start and can detect the false start with high accuracy. Will be.

More specifically, the movement start determination unit 38 first applies a preset binarization threshold value to the acquired first video (first image) to execute the binarization process, and first executes the binarization process. The "first processed image data" indicating the above is acquired. Next, the binarization process is also executed for the acquired second video (second image), and the "second processed image data" indicating the second processed image is acquired.
Then, the difference between the first processed image and the second processed image is detected, and when the difference becomes equal to or more than the "predetermined threshold value" in the entire image, it is determined that the first condition is satisfied.
Regarding the "predetermined threshold value", for example, when the difference is "80%" or more, preferably "90%" or more in the entire image, it may be determined that the first condition is satisfied.

As the second condition, the movement start determination unit 38 executes the binarization process on the third image (third image) acquired next, and acquires the "third processed image data" indicating the third processed image. To do.
Then, the difference between the second processed image and the third processed image is detected, and when the difference becomes equal to or more than a predetermined threshold value in the entire image, it is determined that the second condition is satisfied.
When the first condition and the second condition are satisfied, the movement start determination unit 38 determines that the unmanned moving body 1 has started moving. That is, it is determined that the unmanned moving body 1 has started illegally.
The movement start determination unit 38 ends the movement start determination of the unmanned moving body 1 with the timing at which the unmanned moving body race starts as a trigger end condition.

In the above configuration, when the movement start determination unit 38 determines that the predetermined unmanned moving body 1 has started illegally, the screen display unit 33 displays the content based on the determination result on the display 40.
Looking at the present embodiment of FIG. 10 as a display screen on the display 40, the content "FLYING" for notifying an illegal start is popped up on the real-time image 43 of the operator "Player1". In addition, the lap time 45 of the pilot "Player1" is hidden.
In this way, real-time information immediately before and after the start of the unmanned mobile race can be notified to the spectators, and the realistic content of the unmanned mobile race can be produced.

Further, in the above configuration, the movement start determination unit 38 starts the process with the timing immediately before the unmanned moving body 1 starts moving as the "trigger start condition", and the trigger start condition is, for example, immediately before the start of the unmanned moving body race. It is good to start the production of the countdown.
Specifically, it is preferable that the trigger start condition is the timing at which the screen display unit 33 displays the countdown effect content on the display 40 in response to the input of the user operation.
Then, as the "trigger end condition" of the movement start determination unit 38, it is preferable that the screen display unit 33 ends the effect content of the countdown and the start effect of the unmanned moving body race is a condition.
In this way, the video processing device 30 can accurately detect the false start and prevent the video processing device 30 from erroneously detecting the false start during the preparation of the race or after the start of the race.

<Movement start judgment method>
Next, the processing of the movement start determination program (movement start determination method) executed by the video processing device 30 will be described with reference to FIG.

In the “movement start determination processing flow” shown in FIG. 11, first, the video display unit 33 starts from step S101 which accepts the input of the user operation and displays the effect content of the countdown (not shown).
The start of the countdown effect becomes the trigger start condition, and the movement start determination unit 38 starts the movement start determination of each unmanned moving body 1.

Next, in step S102, the video data acquisition unit 32 acquires "video data" from each unmanned moving body 1.
Then, in step S103, the movement start determination unit 38 detects the difference between the Nth video indicated by the "video data" acquired from the unmanned moving body 1 and the N + 1 video after the Nth video.
If the movement start determination unit 38 determines that the difference is equal to or greater than a predetermined threshold value (step S104: Yes), the process proceeds to step S105. On the other hand, if the difference is less than a predetermined threshold value (step S104: Nо), the process proceeds to step S110.

Next, in step S105, the movement start determination unit 38 determines whether or not the flag is set to ON.
When the flag is set to ON (step S105: Yes), the movement start determination unit 38 determines that the predetermined unmanned moving body 1 has started moving (illegal start) (step S106).
Then, as shown in FIG. 10, the screen display unit 33 displays the content based on the determination result on the display 40 (step S107), and ends the process of FIG.

If the flag is not set to ON (step S105: Nо), the process proceeds to step S108, and after setting the flag to ON, the process proceeds to step S109.
In step S109, it is determined whether or not the countdown effect content has ended, and if the effect content has ended and the unmanned moving body race has started (step S109: Yes), the process of FIG. 11 is performed. finish.
On the other hand, if the countdown effect content is not completed (step S109: Nо), the process returns to step S102.

If the difference is less than a predetermined threshold value in step S104, the process proceeds to step S110, and the movement start determination unit 38 determines whether or not the flag is set to ON.
If the flag is set to ON (step S110: Yes), the flag set to ON is set to OFF (step S111), and then the process proceeds to step S109.
If the flag is not set to ON (step S110: Nо), the process proceeds to step S109 as it is.
In step S109, if the countdown effect content is completed (step S109: Yes), the process of FIG. 11 is terminated, and if the effect content is not completed (step S109: Nо), the step. Return to S102.

According to the processing flow of the movement start determination program, the video processing device 30 can accurately determine the false start of the predetermined unmanned moving body 1 in the unmanned moving body race.

<Other Embodiments>
In the above embodiment, as shown in FIG. 1, the unmanned aerial vehicle 1 is a small unmanned aerial vehicle (drone), but the drone is not particularly limited as long as it is an unmanned aerial vehicle equipped with a photographing device. It can be changed.
For example, it may be a radio-controlled car traveling on the ground, an unmanned helicopter flying in the air, a ship or a yacht moving on the water, or the like. Further, the present invention is not particularly limited to toys, and can be widely applied to commercial unmanned aerial vehicles, unmanned automobiles, and the like.

In the above embodiment, as shown in FIG. 1, the video processing system S is a system for operating an unmanned moving body race, but is not particularly limited to a system for unmanned moving body racing, and is unmanned moving. It can be widely applied to various businesses as a video processing system using a body (drone) and a video processing device.

In the above embodiment, as shown in FIG. 1, a plurality of unmanned moving bodies 1 are used in the video processing system S, but without particular limitation, for example, if it is used as a commercial system, There may be one unmanned moving body.

In the above embodiment, as shown in FIGS. 1 and 4, the detection mark 60 is a two-dimensional barcode, but is not particularly limited and can be widely applied as long as it is a mark that can be detected in an image. .. Preferably, the detection mark is a mark capable of storing identification information.

In the above embodiment, as shown in FIGS. 1 and 4, the detection mark 60 is arranged so as to surround the passing area 53 of the passing gate 50, but the arrangement pattern of the detection mark 60 is not particularly limited. Can be changed as appropriate.
For example, the detection marks 60 may be arranged in a horizontal row above the passage gates 50 and 150, and the unmanned moving body 1 may be configured to pass through the passage region directly below the detection marks 60.
Further, the detection mark 60 is attached to the front side of the passing gate 50, which is located on the start side in the traveling direction of the course, but is not particularly limited, and may depend on the course arrangement of the unmanned moving body race. It may be attached to the rear surface side of the passage gate 50.
The shapes and arrangements of the passage gates 50 and 150 and the passage regions 53 and 153 can also be changed as appropriate.

In the above embodiment, as shown in FIG. 7, the screen display unit 33 determines by the gate passage determination unit 35 that each unmanned moving body 1 has passed the predetermined passage gate 50, "contents based on the determination result". Is displayed on the display 40.
At this time, the "contents based on the determination result" is not particularly limited to the information regarding the elapsed time and the current position of each unmanned moving body 1, and other information obtained from the above determination result, that is, during the unmanned moving body race. Other real-time information of the above may also be broadly included.
For example, when the unmanned moving body 1 successfully flies over the central portion of the passing region 53 of the predetermined passing gate 50, or the unmanned moving body 1 goes off the course and passes through a passing gate 50 other than the passing gate 50 that should originally pass. In some cases, it is also possible to display a predetermined effect content on the display 40.
In addition, when two unmanned moving bodies 1 are flying close to each other in an unmanned moving body race, the display screen on the display 40 is partially (or all) switched so that the unmanned moving body 1 on the rear side changes. By displaying the captured image or the like, it is possible to create a more realistic production mode.

In the above embodiment, as shown in FIG. 8, the gate passage determination unit 35 detects the detection mark 60 in the video indicated by the acquired “video data” under predetermined conditions, and the video is later than the video. The passage is determined when all the detection marks 60 are no longer detected, but the passage can be changed without particular limitation.
For example, the gate passage determination unit 35 may determine the passage when the detection mark 60 is simply detected in the video. Alternatively, the passage may be determined when the detection mark 60 is simply detected and all the detection marks are no longer detected in the subsequent video.
Alternatively, the gate passage determination unit 35 detects at least two or more (three or more) detection target areas 35b to 35e in the video, and at least two or more (three) detection marks 60 in the later video. When the detection mark 60 is no longer detected in the detection target areas 35b to 35e of the above), the passage may be determined.
Alternatively, the gate passage determination unit 35 may detect the detection mark 60 in the video without particularly setting the non-detection target region 35a.

In the above embodiment, as shown in FIG. 10, when the movement start determination unit 38 determines that the predetermined unmanned moving body 1 has started moving (illegal start), the screen display unit 33 is based on the determination result. The contents are displayed on the display 40. At this time, it is preferable that the screen display unit 33 displays not only on the display 40 but also on the head-mounted display 20.
By doing so, it is possible to notify not only the spectators who are watching the unmanned mobile race but also the actual operator of the real-time information of the false start.

In the above embodiment, as shown in FIG. 11, the movement start determination unit 38 detects the difference between the first image and the second image acquired from the unmanned moving body 1, and determines that the difference is equal to or greater than a predetermined threshold value. When the judgment (first condition) and the difference between the second video and the third video are detected and it is determined that the difference is equal to or more than a predetermined threshold value (second condition), the unmanned moving body 1 moves. It is determined that it has started, but it can be changed without any particular limitation.
For example, when the movement start determination unit 38 satisfies only the first condition, it may be determined that the unmanned moving body 1 has started moving.
When the movement start determination unit 38 continuously satisfies the first condition and the second condition, it is determined that the unmanned moving body 1 has started moving, so that the determination accuracy can be improved. For example, a state in which the unmanned moving body 1 temporarily moves and then stops can be handled as an exception.

In the above embodiment, the video processing program is stored in a recording medium that can be read by the video processing device 30, and the processing is executed by the video processing device 30 reading and executing the program. Here, the recording medium that can be read by the video processing apparatus 30 refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like.
Further, the video processing program may be distributed to a user terminal (not shown) by a communication line, and the user terminal itself receiving the distribution may function as a video processing device and execute the program.

In the above embodiment, a video processing system, a video processing method, and a video processing apparatus using an unmanned moving body according to the present invention have been mainly described.
However, the above-described embodiment is merely an example for facilitating the understanding of the present invention, and does not limit the present invention. The present invention can be modified and improved without deviating from the gist thereof, and it goes without saying that the present invention includes an equivalent thereof.

S Video processing system 1 Unmanned aerial vehicle (unmanned aerial vehicle)
1a Imaging device 1b Transmission / reception antenna 1c Mobile unit 1d Drive unit 1e Processor 1f Battery 2 Storage unit 3 Operation data reception unit 4 Video data transmission unit 10 Operation terminal 20 Head mount display 30 Video processing device 31 Storage unit 32 Video data acquisition unit 33 screen Display unit 33a Video display unit 33b Elapsed time display unit 33c Current position display unit 34 Mark detection unit
35 Gate passage determination unit 35a Non-detection target area 35b 1st detection target area 35c 2nd detection target area 35d 3rd detection target area 35e 4th detection target area 36 Elapsed time calculation unit 37 Current position calculation unit 38 Movement start determination unit 40 Display 41 Driver's image 42 Driver's name 43 Real-time video 44 Total race time 45 Lap time 46 Fastest lap time 47 Number of laps 48 Current rank 49 Course map 49a Current position display icon 50,150 Passing gate 51,151 Gate leg 52 , 152 Gate frame body 53, 153 Passing area 60 Detection mark

According to the image processing system using the unmanned moving body of the present invention, the problem is that an unmanned moving body that is equipped with a photographing device and moves while shooting an external image is connected to the unmanned moving body by wireless communication. A video processing system including a video processing device that processes a video shot by the shooting device, wherein the video processing device acquires video data indicating an external video shot by the shooting device. An acquisition unit, a screen display unit that displays the image indicated by the acquired video data on the display screen, and a mark detection unit that detects the existence of a detection mark to be detected in the image indicated by the acquired video data. When the detection mark is detected in the video under predetermined conditions, the gate passage determination unit that determines that the unmanned moving body has passed through the passage gate provided with the detected detection mark. The screen display unit displays on the display screen the contents based on the determination result that the unmanned moving body has passed through the passing gate together with the video, and the video processing system determines. The detection mark is further provided in the passage gate installed in the space of the above, and the detection mark is solved by being attached in the passage gate so as to surround the passage area in the passage gate. ..
With the above configuration, the position of the unmanned moving body is accurately detected and the timing of passing the predetermined position is accurately measured by determining whether or not the unmanned moving body has passed through the passing gate using the detection mark. It is possible to realize a video processing system using an unmanned moving body, which is possible.
In addition, for example, in the operation of an unmanned moving body race, in order to further enhance entertainment, the content based on the judgment result that the unmanned moving body has passed through the passing gate is displayed on the display screen to produce a realistic effect. It is possible to realize a video processing system using an unmanned moving body capable of a mode.
Further, as described above, by devising the arrangement of the plurality of detection marks, the accuracy of the passage determination of the passing gate by the unmanned moving body using the detection marks can be further improved.
In particular, when the passing gate has a loop shape (torus shape), it becomes a suitable detection mark arrangement pattern in determining whether or not the unmanned moving body has passed through the frame of the passing gate.

Further, the subject is an unmanned moving body that is equipped with a photographing device and moves while shooting an external image, and a video processing device that is connected to the unmanned moving body by wireless communication and processes an image captured by the photographing device. A video processing system including, the video processing device includes a video data acquisition unit that acquires video data indicating an external image shot by the shooting device, and a display screen that displays the video indicated by the acquired video data. The screen display unit displayed above, the mark detection unit that detects the presence of a detection mark to be detected in the video indicated by the acquired video data, and the detection mark detected in the video under predetermined conditions. The screen display unit includes the gate passage determination unit for determining that the unmanned moving body has passed through the passage gate provided with the detection mark, and the screen display unit together with the image. The content based on the determination result of determining that the unmanned moving body has passed through the passage gate is displayed on the display screen, and the gate passage determination unit detects the detection mark in a predetermined image and determines. It is also solved by determining that the unmanned moving body has passed when the detection mark is no longer detected in the image after the above image.
With the above configuration, it is possible to further improve the accuracy of the passage determination of the passage gate by the unmanned moving body using the detection mark.

Further, the subject is an unmanned moving body that is equipped with a photographing device and moves while shooting an external image, and a video processing device that is connected to the unmanned moving body by wireless communication and processes an image captured by the photographing device. A video processing system including, the video processing device includes a video data acquisition unit that acquires video data indicating an external image shot by the shooting device, and a display screen that displays the video indicated by the acquired video data. The screen display unit displayed above, the mark detection unit that detects the presence of a detection mark to be detected in the video indicated by the acquired video data, and the detection mark detected in the video under predetermined conditions. The screen display unit includes the gate passage determination unit for determining that the unmanned moving body has passed through the passage gate provided with the detected detection mark, and the screen display unit together with the image. The content based on the determination result of determining that the unmanned moving object has passed through the passage gate is displayed on the display screen, and the gate passage determination unit has four detection targets divided into four quadrants with respect to the image. After setting the area, the first detection target area which is the first quadrant, the second detection target area which is the second quadrant, the third detection target area which is the third quadrant, and the fourth quadrant are set in the predetermined video. When the detection mark is detected in all the detection target areas of the fourth detection target area and the detection mark is no longer detected in the image after the predetermined image, the unmanned moving body has passed. It can also be solved by determining that it is.
With the above configuration, it is possible to further improve the accuracy of the passage determination of the passage gate by the unmanned moving body using the detection mark.

At this time, the unmanned aerial vehicle is a small unmanned aerial vehicle that moves on a predetermined course in a predetermined space, and the video processing device is mounted on each of the plurality of the unmanned aerial vehicles. It is preferable that the images captured by the device are simultaneously displayed on the display screen.
With the above configuration, for example, in the operation of a race of a small unmanned aerial vehicle (drone), it is possible to realize a video processing system capable of producing a realistic effect in order to further enhance entertainment.

At this time, the detection mark provided on the passage gate installed in the predetermined space is further provided, and the detection mark is a two-dimensional bar code, and the passage gates are installed in a plurality in the predetermined space. Of these, it is preferable to store identification data for identifying which passage gate is used.
As described above, by adopting the two-dimensional barcode as the detection mark, it is possible to detect it relatively easily while suppressing the manufacturing cost.
Further, since the identification data is stored in the detection mark, the current position of the unmanned moving body can be detected more accurately.

Further, a computer equipped with a photographing device and connected to an unmanned moving body that moves while photographing an external image by wireless communication is a video processing method for processing the image captured by the photographing device, and the computer is , A video data acquisition step of acquiring video data indicating an external image shot by the photographing device, a first screen display step of displaying the image indicated by the acquired video data on a display screen, and the acquired video data. A mark detection step for detecting the presence of a detection mark to be detected in the image indicated by the above, and the detection mark detected when the detection mark is detected in the image under predetermined conditions are provided. On the display screen, the content based on the gate passage determination step of determining that the unmanned moving body has passed through the passing gate and the determination result of determining that the unmanned moving body has passed through the passing gate together with the video. In the gate passage determination step, a plurality of detection marks are attached so as to surround the passage area in the passage gate at the passage gate installed in a predetermined space. It is also possible to realize a video processing method using an unmanned moving body, which determines that the unmanned moving body has passed when it is detected in the video under predetermined conditions .
Further, in the gate passage determination step, when the detection mark is detected in a predetermined image and the detection mark is no longer detected in the image after the predetermined image, the unmanned moving body passes through. It is also possible to realize a video processing method using an unmanned moving object, which determines that the image has been processed.

Further, it is a video processing device that is equipped with a shooting device and is connected to the unmanned moving body that moves while shooting an external image by wireless communication and processes the video shot by the shooting device, and the shooting device shoots the image. A video data acquisition unit that acquires video data indicating the external video, a mark detection unit that detects the presence of a detection mark to be detected in the video indicated by the acquired video data, and the above-mentioned in the video. when the detection mark is detected at a predetermined condition, the passgate the detected the detected mark is provided to have a, a gate passage judgment section determines that the unmanned movable body has passed, the gate passage The determination unit determines that the unmanned moving body has passed when the detection mark is detected in the predetermined video and the detection mark is no longer detected in the video after the predetermined video. , A video processing device using an unmanned moving body can also be realized.

Claims (10)

An unmanned mobile body equipped with a shooting device and moving while shooting external images,
An image processing system including an image processing device that is connected to the unmanned mobile body by wireless communication and processes an image taken by the photographing device.
The video processing device
A video data acquisition unit that acquires video data indicating an external video shot by the shooting device, and
A screen display unit that displays the video indicated by the acquired video data on the display screen, and
A mark detection unit that detects the existence of a detection mark to be detected in the video indicated by the acquired video data, and a mark detection unit.
When the detection mark is detected in the video under predetermined conditions, it has a gate passage determination unit that determines that the unmanned moving body has passed through the passage gate provided with the detected detection mark. And
The screen display unit is an image using the unmanned moving body, which displays on the display screen the contents based on the determination result that the unmanned moving body has passed through the passing gate together with the video. Processing system. The unmanned aerial vehicle is a small unmanned aerial vehicle that travels on a predetermined course in a predetermined space.
The screen display unit uses the unmanned moving body according to claim 1, wherein the image taken by the photographing device mounted on each of the plurality of unmanned moving bodies is simultaneously displayed on the display screen. The video processing system that was there. Further provided with the detection mark provided on the passage gate installed in a predetermined space,
The image processing system using an unmanned moving body according to claim 1 or 2, wherein a plurality of the detection marks are attached at the passing gate so as to surround the passing area in the passing gate. Further provided with the detection mark provided on the passage gate installed in a predetermined space,
The detection mark is a two-dimensional bar code, and stores identification data for identifying which of the passage gates installed in the predetermined space. The video processing system using the unmanned moving object according to any one of claims 1 to 3, which is characterized. The gate passage determination unit sets a region smaller than the passage region in the passage gate in the central portion of the video as a non-detection target region, and then in a region different from the non-detection target region in the predetermined video. Claims 1 to 1, wherein when the detection mark is detected and the detection mark is no longer detected in the image after the predetermined image, it is determined that the unmanned moving body has passed. A video processing system using the unmanned moving object according to any one of 4. The gate passage determination unit sets four detection target areas divided into four quadrants with respect to the image, and then becomes the first detection target area and the second quadrant which are the first quadrants in the predetermined image. The detection mark is detected in all the detection target areas of the second detection target area, the third detection target area in the third quadrant, and the fourth detection target area in the fourth quadrant, and after the predetermined image. The unmanned moving body according to any one of claims 1 to 5, wherein it is determined that the unmanned moving body has passed when the detection mark is no longer detected in the video. Video processing system. The video processing device has an elapsed time calculation unit that calculates the elapsed time required for the unmanned moving object to pass through a predetermined passing gate from a predetermined start position from the determination result by the gate passage determining unit. ,
The unmanned person according to any one of claims 1 to 6, wherein the screen display unit displays on the display screen the contents related to the elapsed time calculated by the elapsed time calculation unit together with the video. A video processing system that uses a moving object. The video processing device has a current position calculation unit that calculates the current position of the unmanned moving body in the predetermined space from the determination result by the gate passage determination unit.
The unmanned person according to any one of claims 1 to 7, wherein the screen display unit displays the contents related to the current position calculated by the current position calculation unit together with the video on the display screen. A video processing system that uses a moving object. A video processing method in which a computer equipped with a shooting device and connected to an unmanned mobile body that moves while shooting an external image by wireless communication processes the video shot by the shooting device.
The computer
A video data acquisition process for acquiring video data indicating an external video shot by the shooting device, and
The first screen display process of displaying the video indicated by the acquired video data on the display screen, and
A mark detection step for detecting the existence of a detection mark to be detected in the video indicated by the acquired video data, and a mark detection step.
When the detection mark is detected in the video under predetermined conditions, a gate passage determination step of determining that the unmanned moving body has passed through the passage gate provided with the detected detection mark.
An unmanned moving body characterized by executing a second screen display step of displaying on the display screen the contents based on the determination result that the unmanned moving body has passed through the passing gate together with the video. Video processing method using. An image processing device that is equipped with a photographing device and is connected to the unmanned mobile body that moves while photographing an external image by wireless communication to process the image captured by the photographing device.
A video data acquisition unit that acquires video data indicating an external video shot by the shooting device, and
A mark detection unit that detects the existence of a detection mark to be detected in the video indicated by the acquired video data, and a mark detection unit.
It has a gate passage determination unit that determines that the unmanned moving body has passed through the passage gate provided with the detected detection mark when the detection mark is detected in the video under predetermined conditions. An image processing device using an unmanned moving object.

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