JP6265576B1 - Imaging control apparatus, shadow position specifying apparatus, imaging system, moving object, imaging control method, shadow position specifying method, and program - Google Patents

Abstract

When imaging with an imaging device mounted on a moving body, it may be required to control the positional relationship between the imaging range and the shadow of the moving body. Also, it may be required to specify the position of the shadow of the moving object. The imaging control apparatus includes: a first acquisition unit that acquires position information indicating a position of the moving body; a second acquisition unit that acquires date information indicating date and time; and the moving body based on the position information and the date and time information. A first specifying unit that specifies the direction of the shadow of the moving object, and a control unit that controls the imaging range of the imaging device mounted on the moving body based on the direction from the moving body to the shadow of the moving body.

Description

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

Patent Document 1 discloses that an azimuth angle in an arbitrary direction in an image is calculated from the direction of sunlight shadow. Patent Document 2 discloses calculating the possibility that a shadow is detected in an imaging region based on the travel point and travel time of a vehicle.
Patent Literature 1 JP 2014-185908 A Patent Literature 2 International Publication 2013/129095

  When imaging with an imaging device mounted on a moving body, it may be required to control the positional relationship between the imaging range and the shadow of the moving body. Moreover, it may be required to accurately specify the position of the shadow of the moving object.

  In one aspect, the imaging control device moves based on the first acquisition unit that acquires position information indicating the position of the moving body, the second acquisition unit that acquires date information indicating the date and time, and the position information and the date and time information. A first specifying unit for specifying a direction from the body to the shadow of the moving body, and a control for controlling an imaging range of the first imaging device mounted on the moving body based on the direction from the moving body to the shadow of the moving body. A part.

  The control unit may control the imaging range of the first imaging device by changing at least one of the imaging direction of the first imaging device, the angle of view of the first imaging device, and the position of the moving body. .

  The control unit may control the imaging range of the first imaging device so that the shadow of the moving object is not included in the imaging range of the first imaging device.

  The control unit controls the imaging range of the first imaging device so that the shadow of the moving body is not included in the imaging range of the first imaging device, and the moving body moves to the imaging range of the first imaging device. May be switched to the second mode for controlling the imaging range of the first imaging device so that the shadow of the first imaging device is included.

  The control unit operates by switching between the first mode, the second mode, and the third mode for controlling the imaging range of the first imaging device without depending on whether or not the shadow of the moving object is included. Good.

  The imaging control apparatus may include a third acquisition unit that acquires three-dimensional information indicating a three-dimensional shape of an object existing around the moving body. The imaging control apparatus may include a second specifying unit that specifies a position where the shadow of the moving object exists based on the direction from the moving object to the shadow of the moving object and the three-dimensional information. The control unit may control the imaging range of the first imaging device mounted on the moving body based on the position where the shadow of the moving body exists.

  The imaging control apparatus may include a fourth acquisition unit that acquires orientation information indicating the orientation of the moving body. The imaging control apparatus may include a third specifying unit that specifies the shape of the shadow of the moving object based on the position information, the date information, and the orientation information. The imaging control device may include a fifth acquisition unit that acquires an image captured by the first imaging device or the second imaging device mounted on the moving body. The imaging control apparatus may include a fourth specifying unit that specifies the position of the shadow of the moving body by comparing the object in the image with the shape of the shadow. The control unit may control the imaging range of the first imaging device mounted on the moving body based on the position where the shadow of the moving body exists.

  In one aspect, the imaging control device captures an imaging range based on the first acquisition unit that acquires imaging information indicating an imaging range to be captured by the first imaging device mounted on the moving body, and the imaging information. A second acquisition unit that acquires position information indicating a position where the moving body should sometimes exist, and an imaging range and movement that the first imaging device should image when the moving body exists at the position indicated by the position information The first specifying unit that specifies the date and time when the shadow of the body has a predetermined positional relationship, and the date and time specified by the first specifying unit, the moving body is moved to the position indicated by the position information, and the first imaging A control unit that causes the first imaging device to image an imaging range to be imaged by the device.

  The first specifying unit may specify a date and time when a shadow of the moving object is not included in the imaging range to be imaged by the first imaging device when the moving object exists at the position indicated by the position information.

  In one aspect, the shadow position specifying device includes a first acquisition unit that acquires position information indicating the position of the moving object, a second acquisition unit that acquires date information indicating the date and time, and an object existing around the moving object. A third acquisition unit that acquires three-dimensional information indicating a three-dimensional shape, and a first specifying unit that specifies the position of the shadow of the moving object based on the position information, the date information, and the three-dimensional information.

  In one aspect, the imaging control device controls the imaging range of the first imaging device mounted on the moving body based on the shadow position specifying device and the position where the shadow of the moving body specified by the first specifying unit exists. A control unit.

  In one aspect, the shadow position specifying device includes a first acquisition unit that acquires position information indicating the position of the moving object, a second acquisition unit that acquires date information indicating the date and time, and direction information indicating the direction of the moving object. The image is picked up by the third acquisition unit to be acquired, the first specifying unit for specifying the shape of the shadow of the moving body based on the position information, the date information, and the orientation information, and the first imaging device mounted on the moving body. A fourth acquisition unit that acquires an image and a second specifying unit that specifies the position of the shadow of the moving object by comparing the shape of the object and the shadow in the image.

  In one aspect, the imaging control device is mounted on the imaging range or the moving body of the first imaging device based on the shadow position specifying device and the position where the shadow of the moving object specified by the second specifying unit exists. And a control unit that controls an imaging range of the second imaging device.

  In one aspect, an imaging system includes an imaging control device and a first imaging device.

  In one aspect, the moving body moves with an imaging system.

  In one aspect, the imaging control method includes a step of acquiring position information indicating the position of the moving object, a step of acquiring date information indicating the date and time, and a shadow of the moving object from the moving object based on the position information and the date and time information. And a step of controlling the imaging range of the first imaging device mounted on the moving body based on the direction from the moving body to the shadow of the moving body.

  In one aspect, the imaging control method acquires the imaging information indicating the imaging range to be imaged by the first imaging device mounted on the moving body, and moves when imaging the imaging range based on the imaging information. The step of acquiring position information indicating the position where the body should be present, and when the moving body is present at the position indicated by the position information, the imaging range to be imaged by the first imaging device and the shadow of the moving body are determined in advance. A step of specifying a date and time when the positional relationship is determined, and a step of moving the moving body to the position indicated by the position information at the specified date and time and causing the first imaging device to image the imaging range indicated by the imaging information With.

  In one aspect, a program causes a computer to execute an imaging control method.

  In one aspect, the shadow position specifying method includes a step of acquiring position information indicating the position of the moving object, a step of acquiring date and time information indicating the date and time, and three-dimensional information indicating a three-dimensional shape of an object existing around the moving object. And a step of specifying the position of the shadow of the moving object based on the position information, the date information, and the three-dimensional information.

  In one aspect, the shadow position specifying method includes a step of acquiring position information indicating the position of the moving object, a step of acquiring date information indicating the date and time, a step of acquiring direction information indicating the direction of the moving object, and a position. Identifying the shape of the shadow of the moving object based on the information, date and time information, and orientation information; acquiring an image captured by the first imaging device mounted on the moving object; and an object in the image And identifying the position of the shadow of the moving body by comparing the shape of the shadow with the shape of the shadow.

  In one aspect, the program causes a computer to execute a shadow location method.

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

It is a figure which shows an example of the external appearance of UAV. It is a figure which shows an example of the functional block of UAV. It is a figure which shows an example of the functional block of a UAV control part. It is a figure which shows an example of the positional relationship of UAV, the angle of view of an imaging device, and a to-be-photographed object. It is a figure which shows an example of the positional relationship of UAV, the angle of view of an imaging device, and a to-be-photographed object. It is a figure which shows an example of the positional relationship of UAV, the angle of view of an imaging device, and a to-be-photographed object. It is a figure which shows an example of the positional relationship of UAV, the angle of view of an imaging device, and a to-be-photographed object. It is a figure which shows an example of the positional relationship of UAV, the angle of view of an imaging device, and a to-be-photographed object. It is a figure which shows the flowchart which shows an example of the procedure of imaging control. It is a figure which shows the flowchart which shows the other example of the procedure of imaging control. It is a figure which shows the flowchart which shows the other example of the procedure of imaging control.

  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. In addition, not all the combinations of features described in the embodiments are essential for the solving means of the invention.

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

  FIG. 1 shows an example of the appearance of an unmanned aerial vehicle (UAV) 100. The UAV 100 includes a UAV main body 102, a gimbal 200, an imaging device 220, and a plurality of imaging devices 230. The UAV 100 is an example of a moving body that moves with an imaging system. The moving body is a concept including, in addition to UAV, other aircraft that moves in the air, vehicles that move on the ground, ships that move on the water, and the like.

  The UAV main body 102 includes a plurality of rotor blades. The UAV main body 102 flies the UAV 100 by controlling the rotation of a plurality of rotor blades. For example, the UAV main body 102 causes the UAV 100 to fly using four rotary wings. The number of rotor blades is not limited to four. Further, the UAV 100 may be a fixed wing aircraft that does not have a rotating wing.

  The imaging device 220 is an imaging camera that images a subject included in a desired imaging range. The plurality of imaging devices 230 are sensing cameras that image the surroundings of the UAV 100 in order to control the flight of the UAV 100. Two imaging devices 230 may be provided on the front surface that is the nose of the UAV 100. Two other imaging devices 230 may be provided on the bottom surface of the UAV 100. The two imaging devices 230 on the front side may be paired and function as a so-called stereo camera. The two imaging devices 230 on the bottom side may also be paired and function as a stereo camera. Three-dimensional spatial data around the UAV 100 may be generated based on images captured by the plurality of imaging devices 230. Note that the number of imaging devices 230 included in the UAV 100 is not limited to four. The UAV 100 only needs to include at least one imaging device 230. The UAV 100 may include at least one imaging device 230 on each of the nose, the tail, the side surface, the bottom surface, and the ceiling surface of the UAV 100. The angle of view that can be set by the imaging device 230 may be wider than the angle of view that can be set by the imaging device 220. The imaging device 230 may have a single focus lens or a fisheye lens.

  FIG. 2 shows an example of functional blocks of the UAV 100. The UAV 100 includes a UAV control unit 110, a communication interface 150, a memory 160, a gimbal 200, a rotating blade mechanism 210, an imaging device 220, an imaging device 230, a GPS receiver 240, an inertial measurement device (IMU) 250, a magnetic compass 260, and an atmospheric pressure. An altimeter 270 is provided.

  The communication interface 150 communicates with an external transmitter. The communication interface 150 receives various commands for the UAV control unit 110 from a remote transmitter. The memory 160 stores programs necessary for the UAV control unit 110 to control the gimbal 200, the rotary blade mechanism 210, the imaging device 220, the imaging device 230, the GPS receiver 240, the IMU 250, the magnetic compass 260, and the barometric altimeter 270. Store. The memory 160 may be a computer-readable recording medium and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory. The memory 160 may be provided inside the UAV main body 102. It may be provided so as to be removable from the UAV main body 102.

  The gimbal 200 supports the imaging device 220 rotatably about at least one axis. The gimbal 200 may support the imaging device 220 rotatably about the yaw axis, pitch axis, and roll axis. The gimbal 200 may change the imaging direction of the imaging device 220 by rotating the imaging device 220 about at least one of the yaw axis, the pitch axis, and the roll axis. The rotary blade mechanism 210 includes a plurality of rotary blades and a plurality of drive motors that rotate the plurality of rotary blades.

  The imaging device 220 captures a subject within a desired imaging range and generates image data. The image data of the imaging device 220 is stored in the memory included in the imaging device 220 or the memory 160. The imaging device 230 captures the surroundings of the UAV 100 and generates image data. Image data of the imaging device 230 is stored in the memory 160.

  The GPS receiver 240 receives a plurality of signals indicating times transmitted from a plurality of GPS satellites. The GPS receiver 240 calculates the position of the GPS receiver 240, that is, the position of the UAV 100, based on the received signals. The inertial measurement device (IMU) 250 detects the posture of the UAV 100. As the posture of the UAV 100, the IMU 250 detects the acceleration in the three axial directions of the UAV 100 in the front, rear, left, and right directions, and the angular velocity in the three axial directions of pitch, roll, and yaw. The magnetic compass 260 detects the heading of the UAV 100. The barometric altimeter 270 detects the altitude at which the UAV 100 flies.

  The UAV control unit 110 controls the flight of the UAV 100 according to a program stored in the memory 160. The UAV control unit 110 may be configured by a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like. The UAV control unit 110 controls the flight of the UAV 100 according to a command received from a remote transmitter via the communication interface 150. The UAV control unit 110 functions as an imaging control device or a shadow position specifying device by reading a program for flight control and imaging control from the memory 160 and executing the program.

  The UAV control unit 110 may specify an environment around the UAV 100 by analyzing a plurality of images captured by the plurality of imaging devices 230. The UAV control unit 110 controls the flight while avoiding obstacles based on the environment around the UAV 100, for example. The UAV control unit 110 may generate three-dimensional spatial data around the UAV 100 based on a plurality of images captured by the plurality of imaging devices 230, and control the flight based on the three-dimensional spatial data. The UAV control unit 110 and the imaging device 220 are an example of an imaging system. The imaging system may include other configurations such as a gimbal 200.

  FIG. 3 shows an example of functional blocks of the UAV control unit 110. The UAV control unit 110 includes a control unit 112, a date and time information acquisition unit 114, a position information acquisition unit 116, an imaging information acquisition unit 118, a three-dimensional information acquisition unit 120, an orientation information acquisition unit 122, an image acquisition unit 124, and a shadow direction specification unit 126. A date and time specifying unit 128, a shadow position specifying unit 130, and a shadow shape specifying unit 132. Each unit included in the UAV control unit 110 may be configured by any one of hardware, firmware, and software. The function of the UAV control unit 110 is controlled by at least one or more control units. The position information acquisition unit 116 is an example of a first acquisition unit and a second acquisition unit. The imaging information acquisition unit 118 is an example of a second acquisition unit and a first acquisition unit. The date / time information acquisition unit 114 is an example of a second acquisition unit. The three-dimensional information acquisition unit 120 is an example of a third acquisition unit. The orientation information acquisition unit 122 is an example of a third acquisition unit and a fourth acquisition unit. The image acquisition unit 124 is an example of a fourth acquisition unit and a fifth acquisition unit. The shadow direction specifying unit 126 is an example of a first specifying unit. The date / time specifying unit 128 is an example of a first specifying unit. The shadow position specifying unit 130 is an example of a first specifying unit, a second specifying unit, and a fourth specifying unit. The shadow shape specifying unit 132 is an example of a first specifying unit and a third specifying unit.

  The date information acquisition unit 114 acquires date information indicating the current date. The date information acquisition unit 114 may acquire date information indicating the current date from the GPS receiver 240. The date and time information acquisition unit 114 may acquire date and time information indicating the current date and time from a timer mounted on the UAV 100. The position information acquisition unit 116 acquires position information indicating the position of the UAV 100. The position information acquisition unit 116 may acquire position information indicating the longitude, latitude, and altitude where the UAV 100 exists from the GPS receiver 240. The position information acquisition unit 116 may acquire latitude and longitude information indicating the latitude and longitude where the UAV 100 exists from the GPS receiver 240 and altitude information indicating the altitude where the UAV 100 exists from the barometric altimeter 270 as position information. The orientation information acquisition unit 122 acquires orientation information indicating the orientation of the UAV 100 from the magnetic compass 260. In the direction information, for example, an orientation corresponding to the nose direction of the UAV 100 is indicated.

  Further, the position information acquisition unit 116 may acquire position information indicating a position where the UAV 100 should be present when the imaging device 220 captures an imaging range to be imaged. The position information acquisition unit 116 may acquire position information indicating the position where the UAV 100 should exist from the memory 160. The position information acquisition unit 116 may acquire position information indicating a position where the UAV 100 should exist from another device such as a transmitter via the communication interface 150. The position information acquisition unit 116 refers to the three-dimensional map database, specifies a position where the UAV 100 can exist in order to capture an imaging range to be imaged, and indicates the position where the UAV 100 should exist. It may be acquired as information.

  The imaging information acquisition unit 118 acquires imaging information indicating the imaging ranges of the imaging device 220 and the imaging device 230, respectively. The imaging information acquisition unit 118 acquires angle-of-view information indicating the angle of view of the imaging device 220 and the imaging device 230 from the imaging device 220 and the imaging device 230 as parameters for specifying the imaging range. The imaging information acquisition unit 118 acquires information indicating the imaging directions of the imaging device 220 and the imaging device 230 as parameters for specifying the imaging range. The imaging information acquisition unit 118 acquires attitude information indicating the attitude state of the imaging apparatus 220 from the gimbal 200 as information indicating the imaging direction of the imaging apparatus 220, for example. Further, the imaging information acquisition unit 118 acquires information indicating the orientation of the UAV 100 from the orientation information acquisition unit 122. Information indicating the posture state of the imaging device 220 indicates a rotation angle from the reference rotation angle of the pitch axis and yaw axis of the gimbal 200. The imaging information acquisition unit 118 further acquires position information indicating the position where the UAV 100 is present from the position information acquisition unit 116 as a parameter for specifying the imaging range. The imaging information acquisition unit 118 demarcates an imaging range indicating a geographical range to be imaged by the imaging device 220 based on the angle of view and imaging direction of the imaging device 220 and the imaging device 230, and the position where the UAV 100 exists. Imaging information may be acquired by generating imaging information indicating a range.

  Further, the imaging information acquisition unit 118 may acquire imaging information indicating an imaging range to be imaged by the imaging device 220. The imaging information acquisition unit 118 may acquire imaging information to be captured by the imaging device 220 from the memory 160. The imaging information acquisition unit 118 may acquire imaging information to be captured by the imaging device 220 from another device such as a transmitter via the communication interface 150.

  The three-dimensional information acquisition unit 120 acquires three-dimensional information indicating the three-dimensional shape of an object existing around the UAV 100. The object is a part of a landscape such as a building, a road, a car, and a tree. The three-dimensional information is, for example, three-dimensional space data. The three-dimensional information acquisition unit 120 may acquire the three-dimensional information by generating three-dimensional information indicating the three-dimensional shape of the object existing around the UAV 100 from the images obtained from the plurality of imaging devices 230. The three-dimensional information acquisition unit 120 may acquire three-dimensional information indicating the three-dimensional shape of an object existing around the UAV 100 by referring to a three-dimensional map database stored in the memory 160. The three-dimensional information acquisition unit 120 may acquire three-dimensional information related to the three-dimensional shape of an object existing around the UAV 100 by referring to a three-dimensional map database managed by a server existing on the network.

  The image acquisition unit 124 acquires images captured by the imaging device 220 and the imaging device 230. The shadow direction specifying unit 126 specifies the direction from the UAV 100 to the shadow of the UAV 100 based on the position information and the date / time information. The shadow direction specifying unit 126 refers to a function stored in the memory 160 that indicates the relationship between the date and time, the latitude and longitude, and the altitude and direction of the sun, and the altitude and direction of the sun at the date and time indicated in the date and time information. May be specified. The shadow direction specifying unit 126 refers to a table stored in the memory 160 in which the date and time, the latitude and the longitude, and the altitude and direction of the sun are associated with each other. The direction may be specified. The shadow direction specifying unit 126 specifies the shadow direction of the UAV 100 based on the altitude and direction of the sun and the latitude, longitude, and altitude of the UAV 100. The direction of the shadow is indicated by the azimuth from the UAV 100 and the depression angle from the UAV 100.

  The shadow position specifying unit 130 specifies the position where the shadow of the UAV 100 exists based on the direction from the UAV 100 to the shadow of the UAV 100 and the three-dimensional information indicating the three-dimensional shape of the object existing around the UAV 100. The shadow position specifying unit 130 specifies the three-dimensional shape of an object such as a building that exists in the direction of the shadow of the UAV 100 with reference to the three-dimensional information. The shadow position specifying unit 130 specifies the position where the shadow of the UAV 100 exists based on the three-dimensional shape. The UAV control unit 110 controls the imaging range of the imaging device 220 based on the position where the shadow of the UAV 100 exists. Here, the position where the shadow of the UAV 100 exists indicates a geographical range where the shadow of the UAV 100 exists. The position where the shadow of the UAV 100 exists may indicate a range defined by latitude, longitude, and altitude. The position where the shadow of the UAV 100 exists may be a range in three-dimensional spatial data defined by latitude, longitude, and altitude.

  The shadow shape specifying unit 132 specifies the shadow shape of the UAV 100 based on the position information of the UAV 100, the current date and time information, and the orientation information of the UAV 100. The shadow shape specifying unit 132 generates a shadow shape of the UAV 100 based on the 3D image of the UAV 100 stored in the memory 160, the size information of the UAV 100, the shadow direction of the UAV 100, and the heading orientation of the UAV 100. Also good. The shadow shape specifying unit 132 is based on the UAV 100 type information, the UAV 100 shadow direction, and the UAV 100 nose direction from among a plurality of UAV 100 shadow shape samples stored in the memory 160. The shape of the shadow may be specified.

  The shadow position specifying unit 130 may specify the position of the shadow of the UAV 100 by comparing the object in the image captured by the imaging device 230 with the shape of the shadow of the UAV 100. Based on the direction of the shadow of the UAV 100 and the imaging range of the imaging device 230, the shadow position specifying unit 130 specifies an area where there is a high probability that the shadow of the UAV 100 exists from the image captured by the imaging device 230. The position of the shadow of the UAV 100 may be specified by pattern matching between the object in the region and the shape of the shadow of the UAV 100.

  The shadow position specifying unit 130 may track the object specified as the shadow of the UAV 100 in the image captured by the imaging device 230 while moving the UAV 100. As a result of tracking, if the object has moved in the same direction as the UAV 100 in the image, the shadow position specifying unit 130 may continue to determine that the object in the image is a shadow of the UAV 100. . On the other hand, as a result of tracking, if the object has moved in a direction different from the UAV 100 in the image, it is determined that the object is not a shadow of the UAV 100, and pattern matching may be performed again. The shadow position specifying unit 130 may specify the position of the shadow of the UAV 100 by comparing the object in the image captured by the imaging device 220 with the shape of the shadow of the UAV 100.

  The date and time specifying unit 128 specifies the date and time when the imaging range to be imaged by the imaging device 220 and the shadow of the UAV 100 are in a predetermined positional relationship when the UAV 100 exists at the position where the UAV 100 should exist. When the UAV 100 exists at the position indicated by the position information, the date / time specifying unit 128 may specify the date / time when the imaging range to be captured by the imaging device 220 does not include the shadow of the UAV 100. When the UAV 100 is present at the position indicated by the position information, the date / time specifying unit 128 may specify the date / time when the imaging range to be imaged by the imaging device 220 includes the shadow of the UAV 100.

  The control unit 112 controls the gimbal 200, the rotary blade mechanism 210, the imaging device 220, and the imaging device 230. The control unit 112 controls the imaging range of the imaging device 220 by changing the imaging direction or angle of view of the imaging device 220. The control unit 112 controls the imaging range of the imaging device 220 supported by the gimbal 200 by controlling the rotation mechanism of the gimbal 200.

  In this specification, the imaging range refers to a geographical range captured by the imaging device 220 or the imaging device 230. The imaging range is defined by latitude, longitude, and altitude. The imaging range may be a range in three-dimensional spatial data defined by latitude, longitude, and altitude. The imaging range is specified based on the angle of view and imaging direction of the imaging device 220 or the imaging device 230, and the position where the UAV 100 exists. The imaging directions of the imaging device 220 and the imaging device 230 are defined from the azimuth and the depression angle in which the front surface where the imaging lenses of the imaging device 220 and the imaging device 230 are provided is directed. The imaging direction of the imaging device 220 is a direction specified from the nose direction of the UAV 100 and the posture state of the imaging device 220 with respect to the gimbal 200. The imaging direction of the imaging device 230 is a direction specified from the heading of the UAV 100 and the position where the imaging device 230 is provided.

  The control unit 112 controls the flight of the UAV 100 by controlling the rotary wing mechanism 210. That is, the control unit 112 controls the position including the latitude, longitude, and altitude of the UAV 100 by controlling the rotary blade mechanism 210. The control unit 112 may control the imaging ranges of the imaging device 220 and the imaging device 230 by controlling the flight of the UAV 100. The control unit 112 may control the angle of view of the imaging device 220 by controlling a zoom lens included in the imaging device 220. The control unit 112 may control the angle of view of the imaging device 220 by digital zoom using the digital zoom function of the imaging device 220.

  The control unit 112 controls at least one of the angle of view of the imaging device 220, the imaging direction of the imaging device 220, and the position of the UAV 100 based on the direction from the UAV 100 to the shadow of the UAV 100, thereby capturing the image of the imaging device 220. Control the range. The control unit 112 may control the imaging range of the imaging device 220 so that the shadow of the UAV 100 is not included in the imaging range of the imaging device 220. The control unit 112 controls the imaging range of the imaging apparatus 220 so that the shadow of the UAV 100 is not included in the imaging range of the imaging apparatus 220, and the shadow of the UAV 100 is included in the imaging range of the imaging apparatus 220. The second mode for controlling the imaging range of the imaging device 220 may be switched to operate. The control unit 112 may operate by switching between the first mode, the second mode, and the third mode for controlling the imaging range of the imaging device 220 without depending on whether or not the shadow of the UAV 100 is included.

  That the shadow of the UAV 100 is not included in the imaging range of the imaging device 220 is a case where the entire shadow of the UAV 100 is not completely included in the imaging range. The fact that the shadow of the UAV 100 is not included in the imaging range of the imaging device 220 may be a case where a part of the shadow of the UAV 100 is included in the imaging range to the extent that it cannot be recognized. The shadow of the UAV 100 is included in the imaging range of the imaging device 220 is a case where the entire shadow of the UAV 100 is completely included in the imaging range. That the shadow of the UAV 100 is included in the imaging range of the imaging device 220 may be a case where a part of the shadow of the UAV 100 is included to be recognized.

  The control unit 112 may operate by switching between the first mode, the second mode, and the third mode based on an instruction from the user. The control unit 112 may operate by switching between the first mode, the second mode, and the third mode based on setting information received from the transmitter via the communication interface 150. Further, the control unit 112 may automatically switch between the first mode or the second mode and the third mode according to the weather around the UAV 100. The control unit 112 may determine the weather around the UAV 100 based on weather information received from an external server via the communication interface 150. The control unit 112 operates in the first mode or the second mode when the weather around the UAV 100 is highly likely to cause a shadow, and when the weather is unlikely to appear as a shadow, It may operate in 3 modes. The control unit 112 may automatically switch between the first mode or the second mode and the third mode based on the intensity of illuminance around the UAV 100.

  Even if at least one of the position of the UAV 100, the angle of view of the imaging device 220, and the imaging direction is changed, the imaging range of the imaging device 220 and the shadow of the UAV 100 may not be in a desired positional relationship at this time. In this case, the control unit 112 moves the UAV 100 to a position where the UAV 100 should exist at the date and time specified by the date and time specifying unit 128. Then, the control unit 112 controls the imaging device 220 and the gimbal 200 to set the angle of view and the imaging direction of the imaging device 220 that realizes the imaging range to be imaged. Thereafter, the control unit 112 causes the imaging device 220 to capture an imaging range to be imaged. As described above, the control unit 112 may cause the UAV 100 to fly at an appropriate date and time when the desired imaging range and the shadow of the UAV 100 are in the desired positional relationship and cause the imaging device 220 to capture images.

  As described above, the UAV control unit 110 accurately identifies the position where the shadow of the UAV 100 exists based on the direction from the UAV 100 to the shadow of the UAV 100 and the stereoscopic information indicating the solid shape of the object existing around the UAV 100. it can. Further, the UAV control unit 110 can accurately specify the position where the shadow of the UAV 100 exists by comparing the shape of the shadow of the UAV 100 and the image captured by the imaging device 230.

  The UAV control unit 110 uses the shadow of the UAV 100, the angle of view and the imaging direction of the imaging device 220, the position of the UAV 100, the stereoscopic information of the objects existing around the UAV 100, and the like, The imaging range of the imaging device 220 is controlled so that the imaging range has a desired positional relationship. Alternatively, the UAV control unit 110 moves the UAV 100 to a specific position at a specific date and time when the shadow of the UAV 100 and the imaging range of the imaging device 220 have a desired positional relationship. Then, the UAV control unit 110 causes the imaging device 220 to image a desired imaging range. Thereby, the UAV control unit 110 can control the positional relationship between the imaging range and the shadow of the UAV 100. The UAV control unit 110 can cause the imaging device 220 to capture an image in a state where the shadow of the UAV 100 and the imaging range of the imaging device 220 have a desired positional relationship. Therefore, for example, the UAV control unit 110 can cause the imaging device 220 to intentionally capture an image that does not include the shadow of the UAV 100 or an image that includes the shadow of the UAV 100.

  In a case where the imaging device 220 is fixed to the UAV 100 and the imaging device 220 cannot be moved, the UAV control unit 110 moves the UAV 100 to a specific position at the date and time specified by the date and time specifying unit 128 in a desired environment. A desired imaging range can be captured by the imaging device 220. Alternatively, even when the imaging device 220 does not have a zoom function and the angle of view of the imaging device 220 cannot be changed, the UAV control unit 110 moves the UAV 100 to a specific position at the date and time specified by the date and time specifying unit 128. Thus, it is possible to cause the imaging device 220 to capture a desired imaging range under a desired environment.

  Each unit included in the UAV control unit 110 may be provided in an external device. For example, each unit included in the UAV control unit 110 may be provided in a transmitter such as a remote controller for operating the UAV 100 or a server such as a cloud server connected to the UAV 100 via a network. That is, at least one of hardware, firmware, and software that implements the functions of the units illustrated in FIG. 3 is installed in a device such as a transmitter or a server that is external to the UAV 100. In this manner, each unit included in the UAV control unit 110 may function as an imaging control device or a shadow position specifying device.

  4 to 8 show an example of the positional relationship between the UAV 100, the angle of view of the imaging device 220, and the subject 300. FIG. For example, in the case of the positional relationship as shown in FIGS. 4 and 5, the subject 300 and the shadow 400 of the UAV 100 exist within the angle of view 310 of the imaging device 220. Therefore, when the subject 300 is imaged by the imaging device 220 in such a positional relationship, an image including the shadow of the subject 300 and the UAV 100 is obtained.

  For example, in the case of the positional relationship as shown in FIG. 6, the shadow of the UAV 100 does not exist within the angle of view 310 of the imaging device 220. Therefore, when the subject 300 is imaged by the imaging device 220 in such a positional relationship, an image that does not include the shadow of the UAV 100 is obtained.

  As shown in FIGS. 7 and 8, the position where the shadow of the UAV 100 exists when the solid object 320 exists in the angle of view 310 of the imaging device 220 and when the solid object 320 does not exist in the angle of view 310. Is different. Therefore, the UAV control unit 110 determines the position of the UAV 100 and the imaging direction and angle of view of the imaging device 220 in consideration of the presence or absence of the three-dimensional object 320 and the shape and size of the three-dimensional object 320. As a result, an image that does not include the shadow of the UAV 100 or an image that includes the shadow of the UAV 100 can be more reliably captured by the imaging device 220.

  FIG. 9 is a flowchart illustrating an example of an imaging control procedure. For example, when the UAV control unit 110 receives an imaging command in the first mode from the transmitter, the position information acquisition unit 116 acquires position information indicating the position of the UAV 100 via the GPS receiver 240. The date and time information acquisition unit 114 acquires date and time information indicating the current date and time via the GPS receiver 240. The imaging information acquisition unit 118 acquires imaging information indicating the imaging range of the imaging device 220. The three-dimensional information acquisition unit 120 acquires three-dimensional information indicating the three-dimensional shape of an object existing around the UAV 100 (S100).

  The shadow direction specifying unit 126 specifies the direction from the UAV 100 to the shadow of the UAV 100 based on the position information and the date / time information (S102). The shadow position specifying unit 130 specifies the position where the shadow of the UAV 100 exists based on the shadow direction of the UAV 100 and the stereoscopic information (S104). The UAV control unit 110 determines whether the shadow of the UAV 100 is included in the imaging range of the imaging device 220 based on the shadow position of the UAV 100 (S106). When the latitude, longitude, and altitude range indicating the imaging range of the imaging device 220 overlaps with the latitude, longitude, and altitude range where the shadow of the UAV 100 exists, the UAV control unit 110 captures the imaging range of the imaging device 220. It may be determined that the shadow of the UAV control unit 110 is included.

  When the shadow of the UAV control unit 110 is not included in the imaging range of the imaging device 220, the UAV control unit 110 starts imaging with the imaging device 220 (S110). On the other hand, when the shadow of the UAV control unit 110 is included in the imaging range of the imaging device 220, the UAV control unit 110 captures the imaging direction of the imaging device 220 so that the shadow of the UAV 100 is not included in the imaging range of the imaging device 220. At least one of the angle of view and the position of the UAV 100 is changed (S108). Thereafter, the UAV control unit 110 starts imaging with the imaging device 220 (S110).

  With the above procedure, the UAV control unit 110 can cause the imaging device 220 to intentionally capture an image that does not include the shadow of the UAV 100. When the UAV control unit 110 receives the imaging command in the second mode from the transmitter, the UAV control unit 110 determines in step S106 that the shadow of the UAV control unit 110 is not included in the imaging range of the imaging device 220. In such a case, at least one of the imaging direction, the angle of view, and the position of the UAV 100 may be changed so that the shadow of the UAV 100 is included in the imaging range of the imaging device 220.

  FIG. 10 is a flowchart illustrating another example of the imaging control procedure. For example, when the UAV control unit 110 receives an imaging command in the first mode from the transmitter, the position information acquisition unit 116 acquires position information indicating the position of the UAV 100 via the GPS receiver 240. The date and time information acquisition unit 114 acquires date and time information indicating the current date and time via the GPS receiver 240. The imaging information acquisition unit 118 acquires imaging information indicating the imaging range of the imaging device 220. Further, the orientation information acquisition unit 122 acquires orientation information indicating the orientation of the nose of the UAV 100 via the magnetic compass 260 (S200).

  The shadow direction specifying unit 126 specifies the shadow direction of the UAV 100 based on the position information and the date and time information (S202). The shadow shape specifying unit 132 specifies the shadow shape of the UAV 100 based on the shadow direction and orientation information of the UAV 100 (S204). The shadow shape specifying unit 132 specifies the shape of the UAV 100 shadow in consideration of the 3D image of the UAV 100, the size of the UAV 100, the direction of the shadow of the UAV 100, and the direction of the nose of the UAV 100, and the shape of the shadow of the UAV 100 May be generated.

  The image acquisition unit 124 acquires an image from the imaging device 230 that is a sensing camera (S206). The shadow position specifying unit 130 specifies the position where the shadow of the UAV 100 exists by comparing the object in the image with the shape of the shadow of the UAV 100 (S208). For example, based on the direction of the shadow of the UAV 100, the shadow position specifying unit 130 specifies an area where there is a high possibility that the shadow of the UAV 100 exists in the image. The shadow position specifying unit 130 specifies an area where the shadow of the UAV 100 exists in the image by pattern matching the object included in the specified area with the shape of the shadow of the UAV 100. The shadow position identification unit 130 identifies the position where the shadow of the UAV 100 exists by comparing the stereoscopic information from the stereoscopic information acquisition unit 120 with the area where the shadow of the UAV 100 exists in the image. The shadow position specifying unit 130 may specify the position where the shadow of the UAV 100 exists by comparing the three-dimensional space data or the three-dimensional map database with the region where the shadow of the UAV 100 exists in the image.

  Next, the UAV control unit 110 determines whether or not the shadow of the UAV 100 is included in the imaging range of the imaging device 220 that is an imaging camera (S210). When the shadow of the UAV control unit 110 is not included in the imaging range of the imaging device 220, the UAV control unit 110 starts imaging with the imaging device 220 (S214). When the shadow of the UAV control unit 110 is included in the imaging range of the imaging device 220, the UAV control unit 110 changes the imaging range of the imaging device 220 so that the shadow of the UAV 100 is not included in the imaging range of the imaging device 220 ( S212). The UAV control unit 110 changes at least one of the imaging direction, the angle of view, and the UAV position of the imaging device 220 so that the UAV shadow is not included in the imaging range of the imaging device 220, so that the imaging device 220. Change the imaging range. Thereafter, the UAV control unit 110 starts imaging with the imaging device 220 (S214).

  With the above procedure, the UAV control unit 110 can cause the imaging device 220 to intentionally capture an image that does not include the shadow of the UAV 100. The UAV control unit 110 that has received the imaging command in the second mode, when the determination in step S210 is “N”, the imaging direction of the imaging device 220 so that the shadow of the UAV 100 is included in the imaging range of the imaging device 220, At least one of the angle of view and the position of the UAV 100 may be changed.

  FIG. 11 is a flowchart illustrating another example of the imaging control procedure. The imaging information acquisition unit 118 acquires imaging information indicating an imaging range to be imaged by the imaging device 220 (S300). The imaging device 220 may acquire imaging information stored in the memory 160 in advance. The imaging device 220 may acquire imaging information from an external device such as a transmitter via the communication interface 150.

  Next, the position information acquisition unit 116 acquires position information indicating the position where the UAV 100 should exist based on the imaging information (S302). The position information acquisition unit 116 acquires position information indicating a position where the imaging apparatus 220 can image an imaging range to be imaged as position information indicating a position where the UAV 100 should be present. The position information acquisition unit 116 refers to the 3D map database, and the imaging device 220 can image the imaging range to be imaged. The position information acquisition unit 116 can acquire position information by specifying a position indicating a position where the UAV 100 can exist. The position information acquisition unit 116 may acquire position information indicating the position where the UAV 100 corresponding to the imaging range to be imaged should exist from the memory 160. The position information acquisition unit 116 may acquire position information indicating the position where the UAV 100 corresponding to the imaging range to be imaged should exist via the communication interface 150.

  The date and time specifying unit 128 is a position in which an imaging range and a position where a shadow of the UAV 100 exists are determined in advance based on position information indicating a position where the UAV 100 should exist and an imaging range that the imaging device 220 should image. The date and time to be related is specified (S304). When the UAV 100 is operating in the first mode, the date / time specifying unit 128 specifies a date / time in a positional relationship such that the shadow of the UAV 100 is not included in the imaging range of the imaging device 220. When the UAV 100 is operating in the second mode, the date / time specifying unit 128 specifies the date / time that is in a positional relationship such that the shadow of the UAV 100 is included in the imaging range of the imaging device 220. The date and time specifying unit 128 may specify a date and time having a positional relationship such that the shadow of the UAV 100 is included in the imaging range of the imaging device 220 from a predetermined period and time zone. Thereafter, the UAV control unit 110 moves the UAV 100 to a position where the UAV 100 should exist at the specified date and time, and causes the imaging device 220 to capture an imaging range to be imaged (S306).

  By the above procedure, the UAV control unit 110 moves the UAV 100 to a specific position at the date and time specified by the date and time specifying unit 128, so that an image that does not include the UAV 100 shadow or an image that includes the UAV 100 shadow is included. Can be intentionally captured by the imaging device 220.

  At least one of the steps shown in the above embodiments may be implemented by hardware or a program instructing related hardware. The program may be stored in a computer readable recording medium. The recording medium may include at least one of a ROM, a magnetic disk, and an optical disk.

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

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

100 UAV
102 UAV main body 110 UAV control unit 112 control unit 114 date and time information acquisition unit 116 position information acquisition unit 118 imaging information acquisition unit 120 stereoscopic information acquisition unit 122 orientation information acquisition unit 124 image acquisition unit 126 shadow direction specification unit 128 date and time specification unit 130 shadow Position specifying unit 132 Shadow shape specifying unit 150 Communication interface 160 Memory 200 Gimbal 210 Rotary blade mechanism 220 Imaging device 230 Imaging device 240 GPS receiver 260 Magnetic compass 270 Barometric altimeter

Claims (21)

A first acquisition unit that acquires position information indicating the position of the moving object;
A second acquisition unit for acquiring date and time information indicating the date and time;
A first specifying unit that specifies a direction from the moving body to the shadow of the moving body based on the position information and the date and time information;
An imaging control device comprising: a control unit that controls an imaging range of a first imaging device mounted on the moving body based on a direction from the moving body to a shadow of the moving body.   The control unit changes an imaging range of the first imaging device by changing at least one of an imaging direction of the first imaging device, an angle of view of the first imaging device, and a position of the moving body. The imaging control device according to claim 1, which controls   The imaging control device according to claim 1, wherein the control unit controls an imaging range of the first imaging device such that a shadow of the moving body is not included in an imaging range of the first imaging device. .   The control unit controls the imaging range of the first imaging device so that the shadow of the moving body is not included in the imaging range of the first imaging device, and the first imaging device The imaging control apparatus according to claim 3, wherein the imaging control apparatus operates by switching to a second mode for controlling the imaging range of the first imaging apparatus so that the shadow of the moving object is included in the imaging range.   The control unit includes the first mode, the second mode, and a third mode for controlling an imaging range of the first imaging device without depending on whether or not a shadow of the moving object is included. The imaging control device according to claim 4, wherein the imaging control device operates by switching. A third acquisition unit for acquiring three-dimensional information indicating a three-dimensional shape of an object existing around the moving body;
A second specifying unit that specifies a position where the shadow of the moving object exists based on the direction from the moving object to the shadow of the moving object and the three-dimensional information;
The said control part controls the imaging range of the 1st imaging device mounted in the said mobile body based on the position where the shadow of the said mobile body exists, The any one of Claim 1 to 4 Imaging control device. A fourth acquisition unit that acquires orientation information indicating the orientation of the moving body;
A third specifying unit that specifies a shape of a shadow of the moving body based on the position information, the date and time information, and the orientation information;
A fifth acquisition unit that acquires an image captured by the second imaging device mounted on the first imaging device or the moving body;
A fourth specifying unit that specifies the position of the shadow of the moving body by comparing the object in the image and the shape of the shadow;
The said control part controls the imaging range of the 1st imaging device mounted in the said mobile body based on the position where the shadow of the said mobile body exists. Imaging control device. A first acquisition unit that acquires imaging information indicating an imaging range to be imaged by the first imaging device mounted on the moving body;
Based on the imaging information, a second acquisition unit that acquires position information indicating a position where the moving body should exist when imaging the imaging range;
When the moving object is present at the position indicated by the position information, the date and time when the imaging range to be imaged by the first imaging device and the shadow of the moving object are in a predetermined positional relationship is specified. A first specific part;
Control that causes the first imaging device to image the imaging range to be imaged by the first imaging device by moving the moving body to the position indicated by the position information at the date and time specified by the first identification unit. An imaging control apparatus comprising the unit.   The first specifying unit specifies a date and time when a shadow of the moving object is not included in the imaging range to be imaged by the first imaging device when the moving object exists at the position indicated by the position information. The imaging control device according to claim 8. A first acquisition unit that acquires position information indicating the position of the moving object;
A second acquisition unit for acquiring date and time information indicating the date and time;
A third acquisition unit for acquiring three-dimensional information indicating a three-dimensional shape of an object existing around the moving body;
A shadow position specifying apparatus comprising: a first specifying unit that specifies a position of a shadow of the moving object based on the position information, the date and time information, and the solid information. The shadow position specifying device according to claim 10,
An imaging control device comprising: a control unit that controls an imaging range of the first imaging device mounted on the moving body based on a position where the shadow of the moving body specified by the first specifying unit exists. A first acquisition unit that acquires position information indicating the position of the moving object;
A second acquisition unit for acquiring date and time information indicating the date and time;
A third acquisition unit that acquires orientation information indicating the orientation of the moving body;
A first specifying unit for specifying a shape of a shadow of the moving body based on the position information, the date and time information, and the orientation information;
A fourth acquisition unit that acquires an image captured by the first imaging device mounted on the moving body;
A shadow position specifying apparatus comprising: a second specifying unit that specifies a position of a shadow of the moving body by comparing an object in the image and the shape of the shadow. The shadow position specifying device according to claim 12,
The imaging range of the first imaging device or the imaging range of the second imaging device mounted on the moving body is controlled based on the position where the shadow of the moving body specified by the second specifying unit exists. An imaging control apparatus comprising a control unit. The imaging control device according to any one of claims 1 to 9, 11, and 13,
An imaging system comprising the first imaging device.   A moving body that moves with the imaging system according to claim 14. Obtaining position information indicating the position of the moving object;
Obtaining date and time information indicating the date and time;
Identifying a direction from the moving body to the shadow of the moving body based on the position information and the date and time information;
An imaging control method comprising: controlling an imaging range of a first imaging device mounted on the moving body based on a direction from the moving body to the shadow of the moving body. Acquiring imaging information indicating an imaging range to be imaged by the first imaging device mounted on the moving body;
Acquiring position information indicating a position where the moving body should be present when imaging the imaging range based on the imaging information;
When the moving object is present at the position indicated by the position information, the date and time when the imaging range to be imaged by the first imaging device and the shadow of the moving object are in a predetermined positional relationship is specified. Stages,
An imaging control method comprising: moving the moving body to a position indicated by the position information at the specified date and time, and causing the first imaging device to image the imaging range indicated by the imaging information.   A program for causing a computer to execute the imaging control method according to claim 16 or 17. Obtaining position information indicating the position of the moving object;
Obtaining date and time information indicating the date and time;
Obtaining three-dimensional information indicating a three-dimensional shape of an object existing around the moving body;
A shadow position specifying method comprising: specifying a position of a shadow of the moving body based on the position information, the date and time information, and the solid information. Obtaining position information indicating the position of the moving object;
Obtaining date and time information indicating the date and time;
Obtaining orientation information indicating the orientation of the moving body;
Identifying the shape of the shadow of the moving body based on the position information, the date and time information, and the orientation information;
Obtaining an image captured by a first imaging device mounted on the moving body;
A shadow position specifying method comprising: comparing a shadow position of the moving body by comparing an object in the image with the shape of the shadow.   A program for causing a computer to execute the shadow position specifying method according to claim 19 or 20.

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