JP6475568B2 - Imaging apparatus and flight control method - Google Patents

Description

  The present invention relates to an imaging apparatus.

  2. Description of the Related Art In recent years, there has been known an imaging apparatus in which a camera is mounted on an unmanned aerial vehicle such as a drone and the unmanned aircraft is allowed to fly, and photographing is performed with the camera (see, for example, Patent Document 1).

JP 2014-85438 A

  The imaging device described in Patent Document 1 is not suitable for taking an image of a user himself as a subject (self-portrait photography) using an unmanned aerial vehicle instead of a camera tripod, for example.

  The present invention has been made in view of the above, and an object thereof is to provide an imaging apparatus suitable for self-portrait photography.

  In order to solve the above-described problems and achieve the object, an imaging apparatus according to the present invention includes an unmanned aerial vehicle, an imaging unit that is mounted on the unmanned aerial vehicle and images a subject to generate image data, and the unmanned aerial vehicle A flight control unit that controls the flight operation of the unmanned aircraft based on the image data generated by the imaging unit.

  According to the imaging apparatus according to the present invention, there is an effect that an imaging apparatus suitable for self-portrait photography can be realized.

FIG. 1 is a block diagram showing a configuration of an imaging apparatus according to Embodiment 1 of the present invention. FIG. 2 is a diagram illustrating a usage example of the imaging apparatus illustrated in FIG. 1. FIG. 3 is a flowchart showing the operation of the imaging apparatus shown in FIG. FIG. 4 is a flowchart showing step S131 shown in FIG. FIG. 5 is a flowchart showing step S136 shown in FIG. FIG. 6 is a diagram for explaining step S136 shown in FIGS. FIG. 7 is a flowchart showing step S142 shown in FIG. FIG. 8 is a diagram for explaining step S142 shown in FIGS. FIG. 9 is a diagram for explaining step S133 shown in FIG. FIG. 10 is a diagram for explaining step S133 shown in FIG. FIG. 11 is a diagram for explaining step S133 shown in FIG. FIG. 12 is a block diagram showing an imaging system according to Embodiment 2 of the present invention. FIG. 13 is a diagram schematically illustrating an imaging system according to Embodiment 2 of the present invention. FIG. 14 is a diagram illustrating a usage example of the imaging system illustrated in FIGS. 12 and 13. FIG. 15 is a flowchart illustrating the operation of the imaging system illustrated in FIGS. 12 and 13. FIG. 16 is a diagram illustrating a relationship between the imaging performance limit of the imaging apparatus illustrated in FIGS. 12 and 13 and a control method thereof.

  DESCRIPTION OF EMBODIMENTS Hereinafter, modes for carrying out the present invention (hereinafter, embodiments) will be described with reference to the drawings. The present invention is not limited to the embodiments described below. Furthermore, the same code | symbol is attached | subjected to the same part in description of drawing.

(Embodiment 1)
FIG. 1 is a block diagram showing a configuration of an imaging apparatus according to Embodiment 1 of the present invention.
An imaging device is a device that performs imaging using a camera mounted on an unmanned aerial vehicle. As shown in FIG. 1, the imaging apparatus includes a moving unit 20 and a camera 10 mounted on the moving unit 20. The moving unit 20 and the camera 10 are connected to each other by wire such as USB.
The moving unit 20 has a function as an unmanned aerial vehicle according to the present invention. As shown in FIG. 1, the propulsion control unit 21a, the direction control unit 21b, the attitude control unit 21c, the movement determination unit 21d, the attitude determination unit 21e, Control unit 21 having communication control unit 21f and power source determination unit 21g (having functions as a flight control unit and a state analysis unit according to the present invention), propulsion unit 22, communication units 23a and 23c, altitude / attitude A determination unit 24, a position / orientation determination unit 25, a power source 26, and a spatial information unit 27 such as a laser radar are provided. And the moving part 20 is comprised as a drone, as shown in FIG.

The camera 10 has a function as an imaging unit according to the present invention, and as shown in FIG. 1, a trimming unit 1a, a photographing control unit 1b, a focus / view angle information acquisition unit 1c, a view angle control unit 1d, and a resizing unit. 1e, a control unit 1 having a communication control unit 1f, an imaging unit 2 having an optical system 2b, communication units 3a to 3c, a recording unit 4, an operation unit 5, an image feature extraction unit 6, and an elevation angle / azimuth A sensor 7 and a clock 9 are provided.
FIG. 2 is a diagram illustrating a usage example of the imaging apparatus.
Then, as shown in FIG. 2, the camera 10 detects the face of the user (subject) of the imaging device (face detection) by the control unit 1 based on the image data generated by the imaging unit 2, It is possible to detect (hold detection) a state in which the user is holding the imaging apparatus.

FIG. 3 is a flowchart illustrating the operation of the imaging apparatus. FIG. 4 is a flowchart showing step S131. FIG. 5 is a flowchart showing step S136. FIG. 6 is a diagram illustrating step S136. FIG. 7 is a flowchart showing step S142. FIG. 8 is a diagram illustrating step S142. 9 to 11 are diagrams for explaining step S133.
The camera 10 and the moving unit 20 operate as shown in FIGS.
That is, the control unit 21 performs the hovering control of the moving unit 20 based on the image data generated by the camera 10 (step S133). Here, the control unit 21 analyzes the state information indicating the state of the moving unit 20 (steps S1001 to S1007), and starts the flight of the moving unit 20 based on the analysis result of the state information (step S131: Yes). At the same time (step S132), the hovering control of the moving unit 20 is executed based on the image data generated by the camera 10 (step S133). For example, the control unit 21 determines whether or not the moving unit 20 is in a stopped state based on the image data based on face detection, grip detection, and background determination (steps S1002 to S1005). If it is determined, the flight of the moving unit 20 is started (step S132).
In addition, the control unit 21 performs safety control for landing the imaging device in a safe place after the self-portrait shooting (steps S134 and S117) with the user of the imaging device using the camera 20 as a subject when the hovering control is performed. (Steps S136 and 142 (FIGS. 7 and 8)). Also in this safety control, the control unit 21 performs face detection, grip detection, background determination, and the like (steps S1011 to S1014 and S1101).

  According to the imaging apparatus according to the first embodiment described above, there is an effect that an imaging apparatus suitable for self-portrait photography can be realized.

(Embodiment 2)
Next, a second embodiment of the present invention will be described.
In the following description, the same reference numerals are given to the same configurations and steps as those in the above-described first embodiment, and the detailed description thereof is omitted or simplified.
FIG. 12 is a block diagram showing an imaging system according to Embodiment 2 of the present invention. FIG. 13 is a diagram schematically illustrating an imaging system.
As shown in FIGS. 12 and 13, the imaging system according to the second embodiment is communicatively connected to the above-described imaging device according to the first embodiment using Wi-Fi (registered trademark), Bluetooth (registered trademark), or the like. In this system, a mobile terminal 30 such as a smart phone is added.
Specifically, as shown in FIG. 12, the mobile terminal 30 includes a control unit 31 having a situation analysis unit 31b and a trouble prediction unit 31c, a built-in camera unit 32, a base station communication unit 33, and a countermeasure storage unit 34b. A recording unit 34, device communication units 35a and 35b, an operation unit 36, a position / orientation determination unit 37, a display unit 38, a display control unit 38b, and a clock 39.

FIG. 14 is a diagram illustrating a usage example of the imaging system.
Then, as shown in FIG. 14, the imaging system according to the second embodiment is a place where shooting (such as soccer in the example of FIG. 14 (a)) is performed, or where obstacles such as rivers occur. It is used for shooting at destinations beyond.

FIG. 15 is a flowchart illustrating the operation of the imaging system.
The imaging system operates as shown in FIG.
That is, in the imaging system according to the second embodiment, the control unit 1 controls the drone position information, the drone speed information, the drone obstacle information, the drone performance information, the power supply information, and the communication environment information (see FIG. 14) and the like (steps S13 and S14), and the information and the image data generated by the camera 10 are transmitted to the portable terminal 30 (step S15). Then, after receiving the information (step S42), the mobile terminal 30 analyzes the assumed trouble and, when determining that there is a trouble (step S51: Yes), displays the trouble on the display unit 38. (Step S52). Here, as the trouble, when the moving part 20 cannot catch up with the ball at the time of shooting at the place where the sport is performed (FIG. 14A), or the purpose beyond the place where the obstacle such as the river is obstructed A case where the destination cannot be reached due to power shortage at the time of shooting on the ground (FIG. 14B) can be exemplified. In addition, when a countermeasure is input by the user of the mobile terminal 30 by an operation on the operation unit 36 (step S53: Yes), the control unit 1 transmits the countermeasure to the imaging device (step S55). When the imaging apparatus receives the handling method, the imaging apparatus performs handling according to the handling method (step S23).

FIG. 16 is a diagram illustrating the relationship between the imaging performance limit of the imaging apparatus and its control method.
For example, as illustrated in FIG. 16, the imaging system has a large time change of the subject (the moving speed of the subject is large) based on a plurality of image data generated in time series by the camera 10, and the performance of the moving unit 20. If it is determined that there is a limit, the shooting is switched from shooting by the camera 10 to shooting by the built-in camera unit 32 of the mobile terminal 30. In addition, when the imaging system determines that dirt is attached to the camera 10 based on the image data generated by the camera 10, the imaging system performs control for cleaning the dirty part itself, or cleans the dirty part. Control to move to a possible position (base, pond, etc.).

  DESCRIPTION OF SYMBOLS 1 ... Control part; 1a ... Trimming part; 1b ... Shooting control part; 1c ... Focus and angle-of-view information acquisition part; 1d ... Angle-of-view control part; 1e ... Resize part; 1f ... Communication control unit; 2 ... Imaging unit; 2b ... Optical system; 3a-3c ... Communication unit; 4 ... Recording unit; 5 ... Operation unit; Feature extraction unit; 7 ... Elevation / azimuth sensor; 9 ... Clock; 10 ... Camera; 20 ... Movement unit; 21 ... Control unit; 21a ... Propulsion control unit; Direction control unit; 21c ... attitude control unit; 21d ... movement determination unit; 21e ... attitude determination unit; 21f ... communication control unit; 21g ... power supply determination unit; 23a, 23c ... communication unit; 24 ... altitude / attitude determination unit; 25 ... position / orientation determination unit; 26 ... power supply; 27 ... 30 ... mobile terminal; 31 ... control unit; 31b ... situation analysis unit; 31c ... trouble prediction unit; 32 ... built-in camera unit; 33 ... base station communication unit 34 ... Recording unit; 34b ... Coping storage unit; 35a, 35b ... Device communication unit; 36 ... Operation unit; 37 ... Position and orientation determination unit; 38 ... Display unit; ... Display control unit; 39 ... Clock

Claims (2)

Unmanned aircraft,
An imaging unit mounted on the unmanned aerial vehicle to capture an image of a subject and generate image data;
A flight control unit for controlling the flight operation of the unmanned aircraft ;
A state analysis unit that analyzes the state of the unmanned aerial vehicle based on state information that indicates the state of the unmanned aircraft and includes state information that includes the image data generated by the imaging unit ;
The flight control unit
While starting the flight of the unmanned aircraft based on the analysis result by the state analysis unit, based on the image data generated by the imaging unit, performs hovering control of the unmanned aircraft ,
The state analysis unit
Based on the image data, determine whether the unmanned aircraft is in a stopped state,
The flight control unit
An imaging apparatus characterized by starting flight of the unmanned aerial vehicle when the state analysis unit determines that the unmanned aircraft is in a stopped state . State information indicating the state of the unmanned aerial vehicle, the unmanned aircraft mounted on the unmanned aircraft, an imaging unit that captures an image of the subject and generates image data, a flight control unit that controls the flight operation of the unmanned aircraft, A state analysis unit that analyzes the state of the unmanned aerial vehicle based on state information including the image data generated by the imaging unit, and a flight control method executed by an imaging device comprising:
The flight control unit starts flight of the unmanned aircraft based on the analysis result by the state analysis unit, and executes hovering control of the unmanned aircraft based on the image data generated by the imaging unit. ,
The state analysis unit reads the image data from the recording unit, determines whether the unmanned aircraft is in a stopped state based on the image data,
When the flight control unit determines that the unmanned aircraft is stopped in the state analysis unit, the flight control unit starts flying the unmanned aircraft.
The flight control method characterized by the above-mentioned.

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