JP6714802B2 - Control device, flying body, control method, and program - Google Patents

Description

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

In Patent Document 1, the flying camera device flies toward the current position of the received wearable device and, when approaching, recognizes the face recognition processing while searching for visible light that blinks and emits a visible light blinking object. It is described that a shooting execution process is performed to focus a face and perform shooting.
Patent Document 1 JP 2017-185928 A

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

The control device according to one aspect of the present invention may include a specifying unit that specifies the distance from the imaging device to the subject. The control device drives the focus lens of the image pickup device to different positions, and derives a first setting value of the focus lens of the image pickup device for focusing on a subject based on a contrast value of an image taken by the image pickup device. A lead-out section may be provided. The control device may include a second derivation unit that derives a second setting value of the focus lens that focuses on the subject based on the distance. When the distance is within the first distance range, the control device is based on the first weighted first set value and the second weighted second set value lower than the first weight. When the distance is in the second distance range longer than the first distance range, a third weighted first set value and a fourth weighted second set value higher than the third weight are driven. A control unit that drives the focus lens based on the above may be provided.

The first derivation unit derives the first set value at the first interval when the distance is in the first distance range, and when the distance is in the second distance range, the first set value at the second interval that is longer than the first interval. You may derive it.

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

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

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

The specifying unit may specify the distance based on a distance measurement result obtained by a distance measuring sensor that measures the distance to the subject existing in the image pickup direction of the image pickup apparatus.

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

A mobile body according to one aspect of the present invention may be a mobile body that mounts and moves the control device and the imaging device.

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

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

The control method according to an aspect of the present invention may include a step of specifying a distance from the imaging device to the subject. The control method includes the steps of driving the focus lens of the image pickup apparatus to different positions and deriving a first setting value of the focus lens of the image pickup apparatus that focuses on the subject based on the contrast value of the image taken by the image pickup apparatus. You may be prepared. The control method may include the step of deriving a second setting value of the focus lens that focuses the subject based on the distance. When the distance is within the first distance range, the control method is based on the first weighted first set value and the second weighted second set value lower than the first weight. And a distance in the second distance range longer than the first distance range, a third weighted first set value and a fourth weighted second set value higher than the third weight And driving the focus lens according to the above.

The control method according to an aspect of the present invention may include a step of specifying a distance from the imaging device to the subject. The control method includes the step of driving the focus lens of the image pickup apparatus to different positions and deriving a setting value of the focus lens of the image pickup apparatus for focusing on the subject based on the contrast value of the image taken by the image pickup apparatus. Good. The control method may include driving the focus lens based on the set value. In the deriving step, when the distance is the first distance range, the set value is derived at the first interval, and when the distance is the second distance range longer than the first distance range, the set value is set at the second interval longer than the first interval. May be derived.

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

According to one aspect of the present invention, it is possible to maintain a focused state on a subject in a situation where the distance to the subject changes.

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

It is a figure showing an example of the appearance of an unmanned aerial vehicle and a remote control. It is a figure which shows an example of the functional block of an unmanned aerial vehicle. It is a figure which shows an example of the relationship of distance and weighting. It is a figure which shows an example of the relationship between the execution timing of contrast AF, and distance. It is a figure for explaining an example of an operation procedure of an unmanned aerial vehicle. It is a figure for explaining an example of an operation procedure of an unmanned aerial vehicle. It is a figure for explaining an example of an operation procedure of an unmanned aerial vehicle. It is a figure for explaining an example of an operation procedure of an unmanned aerial vehicle. It is a figure which shows an example of a hardware configuration.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Moreover, not all of the combinations of features described in the embodiments are essential to the means for solving the invention. It is obvious to those skilled in the art that various modifications and improvements can be added to the following embodiments. It is apparent from the description of the scope of claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

The claims, the description, the drawings, and the abstract contain the subject matter of copyright protection. The copyright owner has no objection to the reproduction by anyone of these documents, as it appears in the Patent Office file or record. However, in all other cases, all copyrights are reserved.

Various embodiments of the present invention may be described with reference to flowcharts and block diagrams, where blocks are (1) stages of the process in which the operations are performed or (2) devices responsible for performing the operations. "Part" of may be represented. Particular stages and "sections" may be implemented by programmable circuits and/or processors. Dedicated circuits may include digital and/or analog hardware circuits. It may include integrated circuits (ICs) and/or discrete circuits. Programmable circuits may include reconfigurable hardware circuits. Reconfigurable hardware circuits include logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate arrays (FPGA), programmable logic arrays (PLA), etc. Memory elements, etc. may be included.

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

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

FIG. 1 shows an example of the appearance of an unmanned aerial vehicle (UAV) 10 and a remote control device 300. The UAV 10 includes a UAV body 20, a gimbal 50, a plurality of image pickup devices 60, and an image pickup device 100. The gimbal 50 and the imaging device 100 are an example of an imaging system. In the UAV 10, the moving body is a concept including a flying body moving in the air, a vehicle moving on the ground, a ship moving on the water, and the like. The flying body moving in the air is a concept including UAV, other aircraft moving in the air, an airship, a helicopter, and the like.

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

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

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

The remote control device 300 communicates with the UAV 10 to remotely control the UAV 10. The remote control device 300 may communicate with the UAV 10 wirelessly. The remote control device 300 transmits instruction information indicating various commands relating to movement of the UAV 10, such as ascending, descending, accelerating, decelerating, moving forward, moving backward, and rotating, to the UAV 10. The instruction information includes, for example, instruction information for increasing the altitude of the UAV 10. The instruction information may indicate the altitude at which the UAV 10 should be located. The UAV 10 moves so as to be located at the altitude indicated by the instruction information received from the remote control device 300. The instruction information may include a lift command for lifting the UAV 10. The UAV 10 rises while accepting the rise command. Even if the UAV 10 receives the ascent command, the UAV 10 may limit the ascent when the altitude of the UAV 10 reaches the upper limit altitude.

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

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

The UAV control unit 30 controls flight and imaging of the UAV 10 according to the program stored in the memory 37. The UAV control unit 30 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 30 controls flight and imaging of the UAV 10 according to a command received from the remote control device 300 via the communication interface 36. The propulsion unit 40 propels the UAV 10. The propulsion unit 40 has a plurality of rotating blades and a plurality of drive motors that rotate the plurality of rotating blades. The propulsion unit 40 causes the UAV 10 to fly by rotating a plurality of rotary wings via a plurality of drive motors in accordance with a command from the UAV control unit 30.

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

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

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

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

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

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

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

In the UAV 10 configured as described above, the image pickup apparatus 100 can maintain a focused state on a specific subject.

Therefore, the imaging control unit 110 includes a specification unit 112, a derivation unit 114, and a focus control unit 116. The identifying unit 112 identifies the distance from the imaging device 100 to the subject. The specifying unit 112 may specify the distance to the object existing in the range of the measurement object measured by the distance measuring sensor 250 as the distance from the imaging device 100 to the subject. The specifying unit 112 may specify the distance measured by the distance measuring sensor 250 to the object existing in the imaging direction of the imaging device 100 as the distance from the imaging device 100 to the subject. The identifying unit 112 may identify the altitude of the UAV 10 as the distance from the imaging device 100 to the subject.

The deriving unit 114 drives the focus lens of the image capturing apparatus 100 to different positions to set the first set value of the focus lens of the image capturing apparatus 100 that focuses on the subject based on the contrast value of the image captured by the image capturing apparatus 100. Derive. The deriving unit 114 may derive the first setting value of the focus lens of the imaging device 100 that focuses the subject by performing contrast autofocus (contrast AF). The deriving unit 114 moves the focus lens of the image pickup apparatus 100 toward the closest end or the infinite end, and specifies the position of the focus lens at which the contrast value reaches a peak according to the hill climbing method to determine the first set value. You may derive it.

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

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

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

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

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

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

For example, as shown in FIG. 3, when the distance is in the first distance range, the focus control unit 116 decreases the weighting of the first setting value and increases the weighting of the second setting value as the distance increases. You can When the distance is within the second distance range, the focus control unit 116 may weight the second set value higher than the first set value.

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

When the distance to the subject is short, the focus control unit 116 preferentially uses the setting value by contrast AF over the setting value by distance to drive the focus lens. On the other hand, when the distance to the subject is long, the focus control unit 116 preferentially uses the set value based on the distance over the set value based on the contrast AF to drive the focus lens. As a result, when the accuracy of the contrast AF is low, the movement of the focus lens by the contrast AF is limited, so that it is possible to reduce the possibility that the image displayed on the display unit flickers and the user is uncomfortable. Further, when the distance to the subject is long, it is possible to prevent the imaging device 100 from focusing on a desired subject and being unable to take an image. For example, the imaging device 100 images a subject existing below the UAV 10 while the UAV 10 moves up. In this case, even if the altitude of the UAV 10 increases and the distance to the subject becomes long, it is possible to prevent the imaging device 100 from focusing on the subject and being unable to take an image.

As shown in FIG. 4, when the distance to the subject is long, the deriving unit 114 reduces the number of times of deriving the first set value by the contrast AF as compared with the case where the distance to the subject is short. Good. The deriving unit 114 may derive the first set value at the first interval when the distance to the subject is in the first distance range. The deriving unit 114 may derive the first set value at a second interval that is longer than the first interval when the distance to the subject is in the second distance range.

When the distance to the subject is in the first distance range, the deriving unit 114 derives the second set value at the first interval, similarly to the contrast AF, and when the distance to the subject is in the second distance range, the second interval. The second set value may be derived with.

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

The imaging control unit 110 may further include a determination unit 118. The determining unit 118 determines a focus area in the image captured by the image capturing apparatus 100 to be in focus. The determining unit 118 may determine the area designated by the user on the screen displaying the image captured by the image capturing apparatus 100 as the focus area. The determining unit 118 may determine a predetermined area in the image, for example, the central area, as the focus area. The deriving unit 114 may derive the first setting value based on the contrast value of the focused area in the image captured by the image capturing apparatus 100.

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

FIG. 5A shows the UAV 10 before flight. In this state, the imaging direction 500 of the imaging device 100 mounted on the UAV 10 may be parallel to the landing surface 600. That is, the imaging direction of the imaging device 100 may be a direction perpendicular to the vertical direction. When the UAV 10 includes a landing gear and the imaging device 100 does not contact the landing surface 600, the gimbal 50 is controlled and the imaging direction of the imaging device 100 is set to the vertical direction when the UAV 10 is landing. You may turn to.

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

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

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

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

If the altitude at which the UAV 10 is flying is within the first altitude range, the focus control unit 116 drives the focus lens by contrast AF, and the altitude at which the UAV 10 is flying is higher than the first altitude range. In that case, the focus AF may be driven based on the distance measured by the distance measuring sensor 250 without executing the contrast AF.

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

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

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

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

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

Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and processed. The CPU 1212 may retrieve data read from the RAM 1214 for various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, and information described elsewhere in this disclosure and specified by a program instruction sequence. Various types of processing may be performed, including /replacement, etc., and the result is written back to RAM 1214. Further, the CPU 1212 may search for information in files, databases, etc. in the recording medium. For example, when a plurality of entries each having the attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 1212 specifies the attribute value of the first attribute. That is, the entry that matches the condition is searched from the plurality of entries, the attribute value of the second attribute stored in the entry is read, and thereby the first attribute satisfying the predetermined condition is associated. The attribute value of the obtained second attribute may be acquired.

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

The execution order of each process such as the operation, procedure, step, and step in the devices, systems, programs, and methods shown in the claims, the specification, and the drawings is "preceding" or "prior to". It should be noted that the output of the previous process can be realized in any order unless it is used in the subsequent process. The operation flow in the claims, the specification, and the drawings is described by using “first,” “next,” and the like for the sake of convenience, but it is essential to carry out in this order. Not a thing.

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

10 UAV
20 UAV Main Body 30 UAV Control Unit 36 Communication Interface 37 Memory 40 Propulsion Unit 41 GPS Receiver 42 Inertial Measuring Device 43 Magnetic Compass 44 Barometric Altimeter 45 Temperature Sensor 46 Humidity Sensor 50 Gimbal 60 Imaging Device 100 Imaging Device 102 Imaging Unit 110 Imaging Control Unit 112 identification unit 114 derivation unit 116 focus control unit 118 determination unit 120 image sensor 130 memory 200 lens unit 210 lens 212 lens drive unit 214 position sensor 220 lens control unit 222 memory 250 distance measurement sensor 300 remote control device 1200 computer 1210 host controller 1212 CPU
1214 RAM
1220 Input/output controller 1222 Communication interface 1230 ROM

Claims (8)

A control device for controlling a flying object that is equipped with an imaging device and a support mechanism that supports the imaging device so that the attitude of the imaging device can be adjusted,
From the imaging device, wherein the imaging device so that the downward directed the imaging direction in the vertical direction by being supported by the supporting mechanism imaging direction with respect to the flying body of the imaging device, below the aircraft An identification unit that identifies the distance to the subject that exists in
A determining unit that determines a focus area to be focused in an image captured by the image capturing device to be a predetermined area on a surface where the subject is present;
The first setting of the focus lens of the image pickup device, which drives the focus lens of the image pickup device to a different position, and focuses the object on the basis of the contrast value of the focus region in the image picked up by the image pickup device A first derivation unit for deriving a value,
A second derivation unit that derives a second set value of the focus lens that focuses on the subject based on the distance;
If altitude is first altitude range in flight of the aircraft, and the first set value the first weighting has been, and the second set value first second weighting lower weighting is The focus lens is driven based on the above, and when the altitude is in a second altitude range higher than the first altitude range, a third weighted first set value and a third weighted higher first set value. And a control unit that drives the focus lens based on the weighted second set value of 4. When the altitude is in the first altitude range, the first derivation unit derives the first set value at a first interval, and when the altitude is in the second altitude range, a second interval longer than the first interval. The control device according to claim 1, wherein the first set value is derived at intervals. The second derivation unit derives the second set value at the first interval when the altitude is in the first altitude range, and when the altitude is in the second altitude range, at the second interval. The control device according to claim 2, which derives two set values. The control device according to claim 2, wherein the second derivation unit derives the second set value at the first interval when the altitude is in the first altitude range and the second altitude range. The said specification part specifies the said distance based on the distance measurement result by the distance measurement sensor which measures the distance to the to-be-photographed object which exists in the imaging direction of the said imaging device, The any one of Claim 1 to 4 characterized by the above-mentioned. Control device. A control device according to any one of claims 1 5, wherein the imaging device and the flying body flying mounted and said support mechanism. A control method for controlling a flying object, which comprises an imaging device and a support mechanism that supports the imaging device so that the attitude of the imaging device can be adjusted,
From the imaging device, wherein the imaging device so that the downward directed the imaging direction in the vertical direction by being supported by the supporting mechanism imaging direction with respect to the flying body of the imaging device, below the aircraft The step of specifying the distance to the subject existing in
Determining a focus area to be focused in an image captured by the imaging device to be a predetermined area on a surface on which the subject is present;
The first setting of the focus lens of the image pickup device, which drives the focus lens of the image pickup device to a different position, and focuses the object on the basis of the contrast value of the focus region in the image picked up by the image pickup device Deriving a value,
Deriving a second setting value of the focus lens for focusing on the subject based on the distance,
If altitude is first altitude range in flight of the aircraft, and the first set value the first weighting has been, and the second set value first second weighting lower weighting is The focus lens is driven based on the above, and when the altitude is in a second altitude range higher than the first altitude range, a third weighted first set value and a third weighted higher first set value. And driving the focus lens based on the weighted second set value of 4. A program for causing a computer to function as the control device according to any one of claims 1 to 5.

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