JP6878375B2 - Information processing equipment, flight control instruction method, program, and recording medium - Google Patents

Description

The present disclosure relates to an information processing device for instructing flight control by an air vehicle, a flight control instruction method, a program, and a recording medium.

Conventionally, a platform (unmanned aerial vehicle) that performs imaging while passing through a preset fixed path is known (see Patent Document 1). The platform receives imaging instructions from the ground base and images the imaging target. When an image pickup target is imaged, the platform tilts the image pickup device of the platform according to the positional relationship between the platform and the image pickup target while flying on a fixed path.

JP-A-2010-61216

If motion blur occurs due to the movement of the unmanned aerial vehicle during imaging by the unmanned aerial vehicle, the image quality of the captured image deteriorates. Therefore, for example, when a composite image is generated or the shape of the terrain is estimated based on a plurality of captured images, the image quality of the composite image may be deteriorated and the estimation accuracy of the shape estimation may be deteriorated. Therefore, it is desirable to be able to suppress deterioration of the image quality of the captured image due to motion blur caused by the movement of the unmanned aerial vehicle that captures the image.

In one aspect, it is an information processing device that instructs flight control by an air vehicle, and includes a processing unit, and the processing unit acquires information on the shutter speed for image capture by the air vehicle, and the image capturing image taken by the air vehicle. The information of the distance in real space per pixel in the image is acquired, the upper limit of the flight speed of the flying object is determined based on the shutter speed and the distance in real space per pixel, and the flight speed of the flying object is determined. Instruct the control of the flight speed so that the flight speed is equal to or less than the upper limit of.

The processing unit acquires the flight altitude of the flying object, acquires the angle of view for the flying object to image, acquires the number of pixels of the captured image, and determines the flight altitude, the angle of view, and the number of pixels of the captured image of the flying object. Based on this, the distance in real space per pixel may be calculated.

In the processing unit, the distance that the flying object moves during one imaging period by the flying object may be within the distance in the real space corresponding to one pixel in the captured image.

In one aspect, it is an information processing device that instructs flight control by an air vehicle, and includes a processing unit, and the processing unit acquires the illuminance around the air vehicle detected by an illuminance sensor included in the air vehicle, and the illuminance. And, the relationship information indicating the relationship between the flight speed of the aircraft and the upper limit of the flight speed of the aircraft is acquired, and based on the relationship information, the upper limit of the flight speed of the aircraft corresponding to the acquired illuminance is derived, and the upper limit of the flight speed of the aircraft is derived. Instruct the control of the flight speed so that the flight speed is equal to or less than the upper limit of the flight speed.

The processing unit may increase the upper limit of the flight speed of the flying object as the illuminance increases, and decrease the upper limit of the flight speed of the flying object as the illuminance decreases.

The information processing device may be a flying object. The processing unit may adjust the flight speed and fly based on the upper limit value of the flight speed.

The processing unit acquires operation information for changing the flight speed of the aircraft, and based on the operation information, adjusts the flight speed so that the flight speed is equal to or less than the upper limit of the flight speed of the aircraft. May be controlled.

In one aspect, it is a flight control instruction method in an information processing device for instructing flight control by an air vehicle, in a step of acquiring information on a shutter speed for the air vehicle to image, and in an image captured by the air vehicle. A step of acquiring information on the distance in real space per pixel, a step of determining an upper limit of the flight speed of the flying object based on the shutter speed and the distance in real space per pixel, and a step of determining the flying object. A flight control instruction method including a step of instructing control of a flight speed so that the flight speed is equal to or less than an upper limit of the flight speed.

The steps to acquire the distance information are the step of acquiring the flight altitude of the flying object, the step of acquiring the angle of view for the flying object to image, the step of acquiring the number of pixels of the captured image, and the flight of the flying object. It may include a step of calculating the distance in real space per pixel based on the altitude, the angle of view, and the number of pixels of the captured image.

The distance that the flying object moves during one imaging period by the flying object may be within the distance in the real space corresponding to one pixel in the captured image.

In one aspect, a flight control instruction method in an information processing device for instructing flight control by an air vehicle, which is a step of acquiring the illuminance around the air vehicle detected by an illuminance sensor provided in the air vehicle, and the illuminance. A step of acquiring relational information indicating the relationship between the upper limit of the flight speed of the air vehicle, a step of deriving the upper limit of the flight speed of the air vehicle corresponding to the acquired illuminance based on the relational information, and flight. It has a step of instructing the control of the flight speed so that the flight speed is equal to or less than the upper limit of the flight speed of the body.

The larger the illuminance, the larger the upper limit of the flight speed of the flying object, and the smaller the illuminance, the smaller the upper limit of the flight speed of the flying object.

The information processing device may be a flying object. The flight control instruction method may further include a step of adjusting the flight speed and flying based on the upper limit value of the flight speed.

The steps to adjust the flight speed and control the flight are the step to acquire the operation information for changing the flight speed of the flying object, and the flight speed below the upper limit of the flight speed of the flying object based on the operation information. A step of adjusting the flight speed to control the flight, and the like, may be included.

In one aspect, the program involves a step of acquiring shutter speed information for the flying object to image in an information processing device that instructs the information processing device to control the flight by the flying object, and a per pixel in the captured image captured by the flying object. The step of acquiring the distance information in real space, the step of determining the upper limit of the flight speed of the flying object based on the shutter speed and the distance in real space per pixel, and the upper limit of the flight speed of the flying object. It is a program for executing a step of instructing the control of the flight speed so that the flight speed becomes less than the value.

In one aspect, the recording medium is a step of acquiring information on the shutter speed for the flying object to be imaged by an information processing device instructing the flight control by the flying object, and one pixel per pixel in the captured image captured by the flying object. The step of acquiring the information of the distance in the real space of, the step of determining the upper limit of the flight speed of the flying object based on the shutter speed and the distance in the real space per pixel, and the step of determining the flight speed of the flying object. It is a computer-readable recording medium that records a step for instructing the control of the flight speed so that the flight speed is equal to or less than the upper limit value and a program for executing the flight speed.

The outline of the above invention does not list all the features of the present disclosure. Sub-combinations of these feature groups can also be inventions.

Schematic diagram showing a first configuration example of the flight system according to the first embodiment Schematic diagram showing a second configuration example of the flight system according to the first embodiment Diagram showing an example of the concrete appearance of an unmanned aerial vehicle Block diagram showing an example of the hardware configuration of an unmanned aerial vehicle Block diagram showing an example of terminal hardware configuration The figure which shows the hardware composition of the image pickup part The figure explaining the derivation example of the maximum flight speed when an unmanned aerial vehicle flies Sequence diagram showing an example of the flight control procedure by the unmanned aerial vehicle in the second embodiment A table showing an example of the correspondence between the illuminance and the maximum flight speed in the second embodiment. Sequence diagram showing an example of the flight control procedure by the unmanned aerial vehicle in the second embodiment The figure which shows the configuration example of the flight system in 3rd Embodiment Block diagram showing a hardware configuration example of the transmitter

Hereinafter, the present disclosure will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Not all combinations of features described in the embodiments are essential to the solution of the invention.

The claims, description, drawings, and abstracts include matters that are subject to copyright protection. The copyright holder will not object to any person's reproduction of these documents as long as they appear in the Patent Office files or records. However, in other cases, all copyrights are reserved _.

In the following embodiment, an unmanned aerial vehicle (UAV) will be illustrated as an air vehicle. Unmanned aerial vehicles include aircraft that move in the air. In the drawings attached herein, the unmanned aerial vehicle is also referred to as "UAV". As the information processing device, for example, a terminal is exemplified, but other devices (for example, a transmitter, a PC (Personal Computer), an unmanned aerial vehicle, and other information processing devices) may be used. The flight control instruction method defines the operation of the information processing device. Further, the recording medium is a recording medium in which a program (for example, a program that causes an information processing apparatus to execute various processes) is recorded.

(First Embodiment)
FIG. 1 is a diagram showing a first configuration example of the flight system 10 according to the first embodiment. The flight system 10 includes an unmanned aerial vehicle 100 and a terminal 80. The unmanned aerial vehicle 100 and the terminal 80 can communicate with each other by wired communication or wireless communication (for example, wireless LAN (Local Area Network)). FIG. 1 illustrates that the terminal 80 is a mobile terminal (for example, a smartphone or a tablet terminal). The unmanned aerial vehicle 100 is an example of an information processing device.

FIG. 2 is a schematic view showing a second configuration example of the flight system 10 according to the first embodiment. FIG. 2 illustrates that the terminal 80 is a PC. In either of FIGS. 1 and 2, the function of the terminal 80 may be the same.

FIG. 3 is a diagram showing an example of a specific appearance of the unmanned aerial vehicle 100. FIG. 3 shows a perspective view of the unmanned aerial vehicle 100 flying in the moving direction STV0. The unmanned aerial vehicle 100 is an example of an air vehicle.

As shown in FIG. 3, a roll axis (see x-axis) may be set in a direction parallel to the ground and along the moving direction STV0. In this case, the pitch axis (see y-axis) is set in the direction parallel to the ground and perpendicular to the roll axis, and further, the yaw axis (z-axis) is set in the direction perpendicular to the ground and perpendicular to the roll axis and the pitch axis. See) may be set.

The unmanned aerial vehicle 100 includes a UAV main body 102, a gimbal 200, an imaging unit 220, and a plurality of imaging units 230.

The UAV main body 102 includes a plurality of rotary wings (propellers). The UAV main body 102 flies the unmanned aerial vehicle 100 by controlling the rotation of a plurality of rotor blades. The UAV body 102 flies the unmanned aerial vehicle 100 using, for example, four rotors. The number of rotor blades is not limited to four. Further, the unmanned aerial vehicle 100 may be a fixed-wing aircraft having no rotary wings.

The imaging unit 220 is a camera for imaging that captures a subject (for example, a state of the sky to be aerial photographed, a landscape such as a mountain or a river, a building on the ground) included in a desired imaging range.

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

FIG. 4 is a block diagram showing an example of the hardware configuration of the unmanned aerial vehicle 100. The unmanned aerial vehicle 100 includes a UAV control unit 110, a communication interface 150, a memory 160, a storage 170, an illuminance sensor 190, a gimbal 200, a rotary wing mechanism 210, an imaging unit 220, an imaging unit 230, and GPS. The configuration includes a receiver 240, an inertial measurement unit (IMU) 250, a magnetic compass 260, a barometric altimeter 270, an ultrasonic sensor 280, and a laser measuring device 290.

The UAV control unit 110 is configured by using, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), or a DSP (Digital Signal Processor). The UAV control unit 110 performs signal processing for controlling the operation of each part of the unmanned aerial vehicle 100, data input / output processing with and from other parts, data calculation processing, and data storage processing.

The UAV control unit 110 controls the flight of the unmanned aerial vehicle 100 according to the program stored in the memory 160. The UAV control unit 110 may control the flight. The UAV control unit 110 may capture an image (for example, aerial photography).

The UAV control unit 110 acquires position information indicating the position of the unmanned aerial vehicle 100. The UAV control unit 110 may acquire position information indicating the latitude, longitude, and altitude of the unmanned aerial vehicle 100 from the GPS receiver 240. The UAV control unit 110 acquires latitude / longitude information indicating the latitude and longitude of the unmanned aerial vehicle 100 from the GPS receiver 240 and altitude information indicating the altitude at which the unmanned aerial vehicle 100 exists from the barometric altimeter 270 as position information. Good. The UAV control unit 110 may acquire the distance between the ultrasonic wave emission point and the ultrasonic wave reflection point by the ultrasonic sensor 280 as altitude information.

The UAV control unit 110 may acquire orientation information indicating the orientation of the unmanned aerial vehicle 100 from the magnetic compass 260. The orientation information may be indicated, for example, in the orientation corresponding to the orientation of the nose of the unmanned aerial vehicle 100.

The UAV control unit 110 may acquire position information indicating the position where the unmanned aerial vehicle 100 should exist when the imaging unit 220 images the imaging range to be imaged. The UAV control unit 110 may acquire position information indicating the position where the unmanned aerial vehicle 100 should exist from the memory 160. The UAV control unit 110 may acquire position information indicating the position where the unmanned aerial vehicle 100 should exist from another device via the communication interface 150. The UAV control unit 110 may refer to the three-dimensional map database to specify the position where the unmanned aerial vehicle 100 can exist, and acquire the position as position information indicating the position where the unmanned aerial vehicle 100 should exist.

The UAV control unit 110 may acquire image pickup range information indicating the respective image pickup ranges of the image pickup unit 220 and the image pickup unit 230. The UAV control unit 110 may acquire the angle of view information indicating the angles of view of the imaging unit 220 and the imaging unit 230 from the imaging unit 220 and the imaging unit 230 as a parameter for specifying the imaging range. The UAV control unit 110 may acquire information indicating the imaging direction of the imaging unit 220 and the imaging unit 230 as a parameter for specifying the imaging range. The UAV control unit 110 may acquire posture information indicating the posture state of the imaging unit 220 from the gimbal 200, for example, as information indicating the imaging direction of the imaging unit 220. The posture information of the imaging unit 220 may indicate the rotation angle of the gimbal 200 from the reference rotation angle of the pitch axis and the yaw axis.

The UAV control unit 110 may acquire position information indicating the position where the unmanned aerial vehicle 100 exists as a parameter for specifying the imaging range. The UAV control unit 110 defines an imaging range indicating a geographical range to be imaged by the imaging unit 220 based on the angle of view and the imaging direction of the imaging unit 220 and the imaging unit 230, and the position where the unmanned aerial vehicle 100 exists. The imaging range information may be acquired by generating the imaging range information.

The UAV control unit 110 may acquire imaging range information from the memory 160. The UAV control unit 110 may acquire imaging range information via the communication interface 150.

The UAV control unit 110 controls the gimbal 200, the rotor blade mechanism 210, the image pickup unit 220, and the image pickup section 230. The UAV control unit 110 may control the imaging range of the imaging unit 220 by changing the imaging direction or angle of view of the imaging unit 220. The UAV control unit 110 may control the imaging range of the imaging unit 220 supported by the gimbal 200 by controlling the rotation mechanism of the gimbal 200.

The imaging range refers to a geographical range imaged by the imaging unit 220 or the imaging unit 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 may be a range in two-dimensional spatial data defined by latitude and longitude. The imaging range may be specified based on the angle of view and imaging direction of the imaging unit 220 or the imaging unit 230, and the position where the unmanned aerial vehicle 100 exists. The imaging direction of the imaging unit 220 and the imaging unit 230 may be defined from the direction in which the front surface of the imaging unit 220 and the imaging unit 230 provided with the imaging lens faces and the depression angle. The imaging direction of the imaging unit 220 may be a direction specified from the orientation of the nose of the unmanned aerial vehicle 100 and the attitude of the imaging unit 220 with respect to the gimbal 200. The imaging direction of the imaging unit 230 may be a direction specified from the orientation of the nose of the unmanned aerial vehicle 100 and the position where the imaging unit 230 is provided.

The UAV control unit 110 may identify the environment around the unmanned aerial vehicle 100 by analyzing a plurality of images captured by the plurality of imaging units 230. The UAV control unit 110 may control the flight, for example, avoiding obstacles, based on the environment around the unmanned aerial vehicle 100.

The UAV control unit 110 may acquire three-dimensional information (three-dimensional information) indicating the three-dimensional shape (three-dimensional shape) of an object existing around the unmanned aerial vehicle 100. The object may be, for example, a part of a landscape such as a building, a road, a car, or a tree. The three-dimensional information is, for example, three-dimensional spatial data. The UAV control unit 110 may acquire the three-dimensional information by generating the three-dimensional information indicating the three-dimensional shape of the object existing around the unmanned aerial vehicle 100 from each image obtained from the plurality of imaging units 230. The UAV control unit 110 may acquire three-dimensional information indicating the three-dimensional shape of an object existing around the unmanned aerial vehicle 100 by referring to the three-dimensional map database stored in the memory 160 or the storage 170. The UAV control unit 110 may acquire three-dimensional information regarding the three-dimensional shape of an object existing around the unmanned aerial vehicle 100 by referring to a three-dimensional map database managed by a server existing on the network.

The UAV control unit 110 controls the flight of the unmanned aerial vehicle 100 by controlling the rotary wing mechanism 210. That is, the UAV control unit 110 controls the position including the latitude, longitude, and altitude of the unmanned aerial vehicle 100 by controlling the rotary wing mechanism 210. The UAV control unit 110 may control the imaging range of the imaging unit 220 by controlling the flight of the unmanned aerial vehicle 100. The UAV control unit 110 may control the angle of view of the image pickup unit 220 by controlling the zoom lens included in the image pickup unit 220. The UAV control unit 110 may control the angle of view of the image pickup unit 220 by the digital zoom by utilizing the digital zoom function of the image pickup unit 220.

When the imaging unit 220 is fixed to the unmanned aerial vehicle 100 and the imaging unit 220 cannot be moved, the UAV control unit 110 moves the unmanned aerial vehicle 100 to a specific position at a specific date and time to obtain a desired image in a desired environment. The range may be imaged by the imaging unit 220. Alternatively, even if the imaging unit 220 does not have a zoom function and the angle of view of the imaging unit 220 cannot be changed, the UAV control unit 110 desired by moving the unmanned aerial vehicle 100 to a specific position at a specified date and time. The imaging unit 220 may image a desired imaging range in the above environment.

The communication interface 150 communicates with the terminal 80. The communication interface 150 may perform wireless communication by any wireless communication method. The communication interface 150 may perform wired communication by any wired communication method. The communication interface 150 may transmit the captured image and additional information (metadata) related to the captured image to the terminal 80.

In the memory 160, the UAV control unit 110 has a gimbal 200, a rotary blade mechanism 210, an imaging unit 220, an imaging unit 230, a GPS receiver 240, an inertial measurement unit 250, a magnetic compass 260, a barometric altimeter 270, an ultrasonic sensor 280, and a laser. Stores programs and the like required to control the measuring instrument 290. The memory 160 may be a computer-readable recording medium, and may be SRAM (Static Random Access Memory), DRAM (Dynamic Random Access Memory), EEPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), and EEPROM (Electrically Erasable Programmable Read-Only Memory). It may include at least one of flash memories such as USB (Universal Serial Bus) memory. The memory 160 may be removable from the unmanned aerial vehicle 100. The memory 160 may operate as a working memory. In the first embodiment, the memory 160 does not have to hold the table Tb described later.

The storage 170 may include at least one of an HDD (Hard Disk Drive), an SSD (Solid State Drive), an SD card, a USB memory, and other storage. The storage 170 may hold various information and various data. The storage 170 may be removable from the unmanned aerial vehicle 100. The storage 170 may record the captured image.

The memory 160 or the storage 170 may hold information on the imaging position and the imaging path (flight path) generated by the terminal 80 or the unmanned aerial vehicle 100. Information on the imaging position and the imaging path is set by the UAV control unit 110 as one of the imaging parameters related to the imaging scheduled by the unmanned aerial vehicle 100 or the flight parameters related to the flight scheduled by the unmanned aerial vehicle 100. Good. This setting information may be held in the memory 160 or the storage 170. Further, the memory 160 may be allocated a storage area in which the table Tb (see FIG. 9) is registered.

The illuminance sensor 190 may be installed at any position on the unmanned aerial vehicle 100. The illuminance sensor 190 may detect the illuminance (brightness) around the unmanned aerial vehicle 100, for example, the illuminance in the imaging direction. Therefore, the illuminance around the unmanned aerial vehicle 100 may include the illuminance of the subject imaged by the imaging unit 220. The illuminance sensor 190 does not have to be provided in the unmanned aerial vehicle 100.

The gimbal 200 may rotatably support the imaging unit 220 about the yaw axis, the pitch axis, and the roll axis. The gimbal 200 may change the imaging direction of the imaging unit 220 by rotating the imaging unit 220 around 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 for rotating the plurality of rotary blades. The rotary wing mechanism 210 flies the unmanned aerial vehicle 100 by controlling the rotation by the UAV control unit 110. The number of rotary blades 211 may be, for example, four, or any other number. Further, the unmanned aerial vehicle 100 may be a fixed-wing aircraft having no rotary wings.

The imaging unit 220 images a subject in a desired imaging range and generates data of the captured image. The image data (for example, an aerial image) obtained by the imaging of the imaging unit 220 may be stored in the memory of the imaging unit 220 or the storage 170.

The imaging unit 230 images the surroundings of the unmanned aerial vehicle 100 to generate captured image data. The image data of the imaging unit 230 may be stored in the storage 170.

The GPS receiver 240 receives a plurality of signals indicating the time transmitted from the plurality of navigation satellites (that is, GPS satellites) and the position (coordinates) of each GPS satellite. The GPS receiver 240 calculates the position of the GPS receiver 240 (that is, the position of the unmanned aerial vehicle 100) based on the plurality of received signals. The GPS receiver 240 outputs the position information of the unmanned aerial vehicle 100 to the UAV control unit 110. The position information of the GPS receiver 240 may be calculated by the UAV control unit 110 instead of the GPS receiver 240. In this case, information indicating the time included in the plurality of signals received by the GPS receiver 240 and the position of each GPS satellite is input to the UAV control unit 110.

The inertial measurement unit 250 detects the attitude of the unmanned aerial vehicle 100 and outputs the detection result to the UAV control unit 110. The inertial measurement unit 250 detects the acceleration in the three axial directions of the unmanned aerial vehicle 100 in the front-rear direction, the left-right direction, and the up-down direction, and the angular velocity in the three-axis directions of the pitch axis, the roll axis, and the yaw axis as the posture of the unmanned aerial vehicle 100. You can.

The magnetic compass 260 detects the direction of the nose of the unmanned aerial vehicle 100 and outputs the detection result to the UAV control unit 110.

The barometric altimeter 270 detects the altitude at which the unmanned aerial vehicle 100 flies, and outputs the detection result to the UAV control unit 110.

The ultrasonic sensor 280 emits ultrasonic waves, detects ultrasonic waves reflected by the ground or an object, and outputs the detection result to the UAV control unit 110. The detection result may indicate the distance or altitude from the unmanned aerial vehicle 100 to the ground. The detection result may indicate the distance from the unmanned aerial vehicle 100 to the object (subject).

The laser measuring device 290 irradiates an object with a laser beam, receives the reflected light reflected by the object, and measures the distance between the unmanned aerial vehicle 100 and the object (subject) by the reflected light. As an example, the distance measurement method using the laser beam may be the time-of-flight method.

FIG. 5 is a block diagram showing an example of the hardware configuration of the terminal 80. The terminal 80 includes a terminal control unit 81, an operation unit 83, a communication unit 85, a memory 87, a display unit 88, and a storage 89. The terminal 80 may be possessed by a user who desires instructions for flight control of the unmanned aerial vehicle 100.

The terminal control unit 81 is configured by using, for example, a CPU, MPU, or DSP. The terminal control unit 81 performs signal processing for controlling the operation of each unit of the terminal 80, data input / output processing with and from other units, data calculation processing, and data storage processing.

The terminal control unit 81 may acquire data and information (various measurement data, captured images, additional information thereof, etc.) from the unmanned aerial vehicle 100 via the communication unit 85. The terminal control unit 81 may acquire data and information (for example, various parameters) input via the operation unit 83. The terminal control unit 81 may acquire the data and information held in the memory 87. The terminal control unit 81 may transmit data and information (for example, position, speed, flight path information) to the unmanned aerial vehicle 100 via the communication unit 85. The terminal control unit 81 may send data or information to the display unit 88 and display the display information based on the data or information on the display unit 88.

The terminal control unit 81 may execute an application for performing flight control on the unmanned aerial vehicle 100. The terminal control unit 81 may generate various data used in the application.

The operation unit 83 receives and acquires data and information input by the user of the terminal 80. The operation unit 83 may include an input device such as a button, a key, a touch screen, a microphone, and the like. Here, it is illustrated that the operation unit 83 and the display unit 88 are mainly composed of a touch panel. In this case, the operation unit 83 can accept touch operations, tap operations, drag operations, and the like. The operation unit 83 may accept information on various parameters. The information input by the operation unit 83 may be transmitted to the unmanned aerial vehicle 100. The various parameters may include parameters relating to flight control.

The communication unit 85 wirelessly communicates with the unmanned aerial vehicle 100 by various wireless communication methods. The wireless communication method of this wireless communication may include communication via, for example, a wireless LAN, Bluetooth®, or a public wireless line. The communication unit 85 may perform wired communication by any wired communication method.

The memory 87 has, for example, a ROM in which data of a program or set value that defines the operation of the terminal 80 is stored, and a RAM in which various information and data used during processing by the terminal control unit 81 are temporarily stored. You can. The memory 87 may include a memory other than the ROM and the RAM. The memory 87 may be provided inside the terminal 80. The memory 87 may be provided so as to be removable from the terminal 80. The program may include an application program.

The display unit 88 is configured by using, for example, an LCD (Liquid Crystal Display), and displays various information and data output from the terminal control unit 81. The display unit 88 may display various data and information related to the execution of the application.

The storage 89 stores and holds various data and information. The storage 89 may be an HDD, SSD, SD card, USB memory, or the like. The storage 89 may be provided inside the terminal 80. The storage 89 may be provided so as to be removable from the terminal 80. The storage 89 may hold the aerial image and additional information acquired from the unmanned aerial vehicle 100. The additional information may be stored in the memory 87.

FIG. 6 is a diagram showing a hardware configuration of the imaging unit 220. The imaging unit 220 has a housing 220z. The image pickup unit 220 includes a camera processor 11, a shutter 12, an image sensor 13, an image processing unit 14, a memory 15, a shutter drive unit 19, an element drive unit 20, a gain control unit 21, and a flash 18 inside the housing 220z. Have. The camera processor 11 may operate according to the instruction of the UAV control unit 110. Note that some of these components of the imaging unit 220 may be omitted.

The camera processor 11 determines shooting conditions (parameters related to various types of imaging) such as exposure time (shutter speed) and aperture (iris). The camera processor 11 controls exposure (AE: Automatic Exposure). The exposure control may include exposure control that prioritizes the aperture value (fixed aperture, variable shutter speed) and exposure control that prioritizes shutter speed (variable aperture, fixed shutter speed). Further, the camera processor 11 may perform exposure control in consideration of the dimming component by the ND filter.

The camera processor 11 may calculate a brightness level (for example, a pixel value) from the image data output from the image processing unit 14. The camera processor 11 may calculate a gain value for the image sensor 13 based on the calculated brightness level, and send the calculated result to the gain control unit 21. The camera processor 11 may calculate a value of the shutter speed for opening and closing the shutter 12 based on the calculated brightness level, and send the calculated result to the shutter drive unit 19. The camera processor 11 may send an image pickup instruction to the element drive unit 20 that supplies a timing signal to the image sensor 13.

The shutter 12 is, for example, a focal plane shutter, and is driven by the shutter driving unit 19. The light incident when the shutter 12 is opened is imaged on the image pickup surface of the image pickup device 13. The image sensor 13 photoelectrically converts the optical image formed on the image pickup surface and outputs it as an image signal. As the image pickup device 13, a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor: Complementary MOS) image sensor may be used.

The gain control unit 21 reduces noise with respect to the image signal input from the image sensor 13 and controls the gain that amplifies the image sensor. The image processing unit 14 performs analog-to-digital conversion on the image pickup signal amplified by the gain control unit 21 to generate image data. The image processing unit 14 may perform shading correction, color correction, contour enhancement, noise removal, gamma correction, debayer, compression, and the like.

The memory 15 is a storage medium for storing various data and image data. The memory 15 may hold exposure control information for calculating the exposure amount E based on, for example, the shutter speed ss, the F value (aperture value), and the ISO sensitivity. The ISO sensitivity is a value corresponding to the gain. The ND value represents the degree of dimming by the dimming filter.

The shutter drive unit 19 opens and closes the shutter 12 at the shutter speed instructed by the camera processor 11. The element drive unit 20 is a timing generator, and supplies a timing signal to the image pickup device 13 in accordance with an image pickup instruction from the camera processor 11, and performs a charge accumulation operation, a read-out operation, a reset operation, and the like of the image pickup element 13.

The flash 18 flashes at nighttime imaging or backlight correction according to the instruction of the camera processor 11 to illuminate the subject. For the flash 18, for example, an LED light is used. The flash 18 is an example of a light source. The imaging unit 220 does not have to include the flash 18.

Further, the image pickup unit 220 has an ND filter 32, an aperture 33, a lens group 34, a lens drive unit 36, an ND drive unit 38, and an aperture drive unit 40 inside the housing 220z. The lens group 34 collects the light from the subject and forms an image on the image pickup device 13. The lens group 34 may include a focus lens, a zoom lens, an image shake correction lens, and the like. The lens group 34 is driven by the lens driving unit 36. The lens drive unit 36 has a motor (not shown), and when a control signal from the camera processor 11 is input, the lens drive unit 36 moves the lens group 34 including the zoom lens and the focus lens in the direction of the optical axis op (optical axis direction). You may let me. When the lens driving unit 36 performs a zooming operation in which the zoom lens is moved to change the zoom magnification, the lens barrel, which is a part of the housing 220z and accommodates the lens group 34, may be expanded and contracted in the front-rear direction.

The diaphragm 33 is driven by the diaphragm drive unit 40. The aperture drive unit 40 has a motor (not shown), and when a control signal from the camera processor 11 is input, the aperture of the aperture 33 is expanded or contracted.

The ND filter 32 is arranged in the direction of the optical axis op (in the direction of the optical axis), for example, in the vicinity of the diaphragm 33, and performs dimming that limits the amount of incident light. The ND drive unit 38 has a motor (not shown), and when a control signal from the camera processor 11 is input, the ND filter 32 may be inserted and removed on the optical axis op. The imaging unit 220 does not have to include the ND filter 32 and the ND drive unit 38.

FIG. 7 is a diagram illustrating an example of deriving the maximum flight speed Vm when the unmanned aerial vehicle 100 flies. The maximum flight speed Vm is the maximum speed allowed as the flight speed of the unmanned aerial vehicle 100. The maximum flight speed Vm is based on the shutter speed ss and the ground resolution R. In FIG. 7, it is assumed that the unmanned aerial vehicle 100 moves at a flight speed and images the ground surface and other subjects from the sky. Here, the ground resolution R represents the distance on the ground per pixel in the captured image when the imaging unit 220 of the unmanned aerial vehicle 100 images (for example, aerial photography). The shutter speed ss represents the time (time) in which the image sensor 13 is exposed.

The UAV control unit 110 may calculate the ground resolution R according to the equation (1) using the flight altitude h, the angle of view FOV (field of view), and the number of pixels of the image sensor 13.
Ground resolution R = Flight altitude h x Angle of view FOV / Number of pixels …… (1)
The flight altitude h is the flight altitude at the time of imaging of the unmanned aerial vehicle 100. The number of pixels is the number of pixels of the captured image. The angle of view FOV may be the angle of view of the imaging unit 220, and is the basis of the imaging range indicating the geographical range reflected in the captured image. For example, the angle of view FOV may be approximated by FOV = ph1 / h by using the horizontal component ph1 of the imaging range by the imaging unit 220 and the flight altitude h as the imaging distance. Therefore, the angle of view FOV may be indicated by the ratio of length (distance).

The UAV control unit 110 may acquire the flight altitude h, the number of pixels, and the angle of view FOV from the memory 160. The UAV control unit 110 may acquire the flight altitude h, the number of pixels, and the angle of view FOV from the terminal 80 via the communication interface 150. In this case, the terminal control unit 81 of the terminal 80 may calculate the information on the flight altitude h, the number of pixels, and the angle of view FOV, or may acquire the information via the operation unit 83.

Further, the UAV control unit 110 may calculate the maximum flight speed Vm according to the equation (2) using the shutter speed ss and the ground resolution R.
Maximum flight speed Vm = Ground resolution R / Shutter speed ss …… (2)

The maximum flight speed Vm is an upper limit value of the flight speed at which motion blur is assumed to be suitably suppressed when the unmanned aerial vehicle 100 takes an image with the imaging unit 220 during flight. According to the equation (2), the faster the shutter speed ss, the smaller the maximum flight speed Vm. Further, the larger the ground resolution R, the larger the maximum flight speed Vm.

When the unmanned aerial vehicle 100 flies at the maximum flight speed Vm, the distance that the unmanned aerial vehicle 100 moves in one imaging period by the imaging unit 220 corresponds to the distance in the real space corresponding to one pixel in the captured image. Therefore, when the unmanned aerial vehicle 100 flies at a maximum flight speed of Vm or less, the distance that the unmanned aerial vehicle 100 moves in one imaging period is within the distance corresponding to one pixel, so that motion blur does not occur.

The maximum flight speed Vm may be such that the distance traveled by the unmanned aerial vehicle 100 in one imaging period exceeds the distance corresponding to one pixel, or may be, for example, a distance corresponding to two pixels or three pixels. That is, the upper limit of the flight speed may be set to a value larger than the maximum flight speed Vm represented by the equation (2). Further, the UAV control unit 110 may set the permissible information (for example, the permissible amount) regarding the permissible motion blur, the permissible information may be acquired from the memory 160, or the permissible information may be acquired from the terminal 80 via the communication interface 150. May be obtained. The UAV control unit 110 can also set an upper limit value of the flight speed to the upper limit of the allowable range indicated by the allowable information. Even in this case, it leads to suppression of the occurrence of motion blur.

FIG. 8 is a flowchart showing an example of a flight control procedure by the flight system 10. It is illustrated that this flight control process is mainly performed by the unmanned aerial vehicle 100. Exposure control may be performed and shutter speed adjustment (automatic adjustment) may be performed while the unmanned aerial vehicle 100 is heading toward the imaging position (WayPoint). The shutter speed may be adjusted continuously from the first imaging position to the last imaging position. Further, once adjusted, the shutter speed may not be changed for imaging at each imaging position (series of imaging), or may be changed, for example, every time for imaging at each imaging position. ..

The UAV control unit 110 acquires flight range information (T1). The flight range may be the geographical range in which the unmanned aerial vehicle 100 flies. The UAV control unit 110 receives user input from the terminal 80 via the operation unit 83 to specify a flight range. The flight range may be acquired via the communication interface 150. Further, the UAV control unit 110 may acquire map information from an external server via the communication interface 150. For example, when the flight range is set to a rectangular range, the flight range information may be obtained by the user inputting the positions (latitude, longitude) of the four corners of the rectangle in the map information via the operation unit 83. .. Further, when the flight range is set to a circular range, the flight range information may be obtained by the user inputting the radius of a circle centered on the flight position via the operation unit 83. Further, the flight range information may be obtained based on the map information by the user inputting information such as a region or a specific place name (for example, Tokyo) via the operation unit 83. Further, the UAV control unit 110 may acquire the flight range held in the memory 160 from the memory 160.

Further, the UAV control unit 110 may acquire terrain information based on the flight range information. For example, the UAV control unit 110 may cooperate with a map server on the network connected via the communication interface 150 to acquire topographical information of the flight range. The terrain information may include position information (latitude, longitude, altitude) at each position in the flight range. By aggregating the position information of each position, the three-dimensional shape of the flight range may be shown. In addition, the topographical information may include information on the shape of the ground surface such as buildings, mountains, forests, and steel towers, and information on objects.

The UAV control unit 110 acquires various parameters (T2). The parameters may be parameters related to imaging by the imaging unit 220 and flight of the unmanned aerial vehicle 100. This parameter may include, for example, an imaging position, an imaging date and time, a distance to a subject, an imaging angle of view (angle of view), a shutter speed, an exposure value, an imaging mode, and the like. The imaging mode may include, for example, a mode related to exposure control, and may include, for example, a shutter speed priority AE mode and an aperture priority AE mode. The UAV control unit 110 may receive user input via the operation unit 83 at the terminal 80, specify values of various parameters, and acquire the parameters via the communication interface 150. The UAV control unit 110 may acquire various parameters held in the memory 160 from the memory 160.

The UAV control unit 110 acquires flight altitude information (T3). The UAV control unit 110 may specify the flight altitude by receiving user input via the operation unit 83 at the terminal 80, and may acquire the flight altitude via the communication interface 150. The UAV control unit 110 may acquire the flight altitude from an external server via the communication interface 150. The UAV control unit 110 may acquire information on the flight altitude held in the memory 160. Further, the UAV control unit 110 may calculate the flight altitude based on the topographical information of the flight range and the information such as the distance to the subject included in the acquired parameters. The UAV control unit 110 may calculate the flight altitude according to a known method.

The UAV control unit 110 acquires flight path information (T4). The UAV control unit 110 may receive user input via the operation unit 83 at the terminal 80 to specify a flight path, and may acquire the flight path via the communication interface 150. The UAV control unit 110 may acquire a flight path from an external server via the communication interface 150. The UAV control unit 110 may acquire the flight path held in the memory 160. In addition, the UAV control unit 110 may generate a flight path based on the flight range, terrain information, and flight altitude. The generated flight path may pass, for example, an imaging position in three-dimensional space for imaging terrain within the flight range. The flight path information may include information on the imaging position and information on the flight altitude. The UAV control unit 110 may generate a flight path according to a known method.

The camera processor 11 of the image pickup unit 220 refers to the image pickup mode included in the parameter. Here, it is assumed that the imaging mode is the aperture priority mode. The camera processor 11 sets the imaging mode to the aperture priority AE mode. Therefore, the camera processor 11 fixes the aperture value and adjusts the shutter speed ss (T5). The camera processor 11 may adjust the shutter speed ss based on the illuminance detected by the illuminance sensor 190 according to the exposure control information for controlling the exposure, for example. Further, the camera processor 11 may adjust the shutter speed ss based on the brightness level (for example, pixel value) of the image data output from the image processing unit 14. The camera processor 11 may adjust the shutter speed ss for each imaging position. The camera processor 11 stores the adjusted shutter speed ss in the memory 15. Further, the camera processor 11 sends the shutter speed ss stored in the memory 15 adjusted at each imaging position to the UAV control unit 110.

The UAV control unit 110 may derive the ground resolution R. In this case, the UAV control unit 110 may acquire information on the flight altitude h, the angle of view FOV, and the number of pixels held in the memory 160, for example. The UAV control unit 110 may calculate the ground resolution R based on the flight altitude h, the angle of view FOV, and the number of pixels according to the equation (1).

The UAV control unit 110 may derive the maximum flight speed Vm. In this case, the UAV control unit 110 may calculate the maximum flight speed Vm according to the equation (2) based on the shutter speed ss (for example, the shutter speed ss adjusted at each imaging position) and the ground resolution R (2). T6).

The UAV control unit 110 adjusts the flight speed Vo based on the derived maximum flight speed Vm, for example, according to the equation (3) (T7). The flight speed Vo is the speed at which the unmanned aerial vehicle 100 flies, and is a speed equal to or less than the maximum flight speed Vm.
Vo = k × Vm …… (3)
Note that k is a coefficient that can be arbitrarily set in the range of 0 to 1, that is, a variable value. Here, as an example, k = 0.5 may be set.

The UAV control unit 110 performs aerial photography at the derived shutter speed ss by the imaging unit 220 while flying at the derived (adjusted) flight speed Vo along the flight path (T8). That is, the UAV control unit 110 sets information such as the shutter speed ss, the maximum flight speed Vm, the flight speed Vo, and holds the setting information in the memory 160, which instructs the control of the flight of the unmanned aerial vehicle 100. It may correspond to that. The UAV control unit 110 can operate according to the flight control instruction of the unmanned aerial vehicle 100 based on the information (setting information) stored in the memory 160.

The UAV control unit 110 refers to, for example, the flight path held in the memory 160, refers to the position information of the unmanned aerial vehicle 100 acquired via the GPS receiver or the like 240, and the unmanned aerial vehicle 100 reaches the end point of the flight path. It is determined whether or not the flight has been completed (T9). If the flight is not completed, the UAV control unit 110 returns to step T5 and adjusts the shutter speed and the flight speed in preparation for imaging at the next imaging position. On the other hand, when the flight is completed, the UAV control unit 110 ends the process shown in FIG.

As described above, by carrying out the flight control procedure shown in FIG. 8, the unmanned aerial vehicle 100 can suppress the occurrence of motion blur caused by the movement of the unmanned aerial vehicle 100 that captures the image, and the image quality of the captured image can be improved. The decrease can be suppressed. Therefore, even if the unmanned aerial vehicle 100 generates a composite image or estimates the shape of the terrain based on a plurality of captured images, the deterioration of the image quality of the composite image and the deterioration of the estimation accuracy of the shape estimation can be suppressed.

Further, when the flight time of the unmanned aerial vehicle 100 is long, the brightness of the surroundings (for example, the subject) of the unmanned aerial vehicle 100 is likely to change. Then, the shutter speed ss for suppressing the motion blur calculated first may not be appropriate. For example, in the aperture priority AE mode, the aperture is fixed and the shutter speed ss is automatically adjusted. When there is a change in brightness, the shutter speed ss changes in order to maintain the brightness (illuminance). Even in this case, the unmanned aerial vehicle 100 can reduce the occurrence of motion blur by sequentially adjusting the shutter speed ss by exposure control and adjusting the maximum flight speed Vm and the flight speed according to this adjustment.

Further, as an example, it has been illustrated that the maximum flight speed Vm is set to a speed at which the distance (resolution) of one pixel of the captured image is moved within one imaging period. Not limited to this, the speed may be set so that a predetermined number of pixels (two or more pixels) can be moved within one imaging period. That is, the distance moved within one imaging period may be set to a distance corresponding to the number of pixels allowed as motion blur is suppressed.

Although it is illustrated that the processing of FIG. 8 is performed in real time during the flight of the unmanned aerial vehicle 100 in the real space, the processing of FIG. 8 may be performed while the unmanned aerial vehicle 100 is not flying. That is, various information (for example, various parameters, flight altitude h, shutter speed ss, maximum flight speed Vm, flight speed Vo) of the unmanned aerial vehicle 100 may be derived by calculation to estimate the flight state of the unmanned aerial vehicle 100. In this way, simulation may be performed in a virtual space so that motion blur can be suppressed. Such a simulation may be performed by the terminal 80.

As described above, the unmanned aerial vehicle 100 (an example of an information processing device) instructs the unmanned aerial vehicle 100 (an example of an air vehicle) to control the flight, and includes a UAV control unit 110 (an example of a control unit). The UAV control unit 110 may acquire (for example, calculate) information on the shutter speed ss for the unmanned aerial vehicle 100 to take an image. The UAV control unit 110 may acquire (for example, calculate) information on the distance in real space per pixel in the captured image captured by the unmanned aerial vehicle 100. The UAV control unit 110 may determine the maximum flight speed Vm (an example of the upper limit value of the flight speed) of the unmanned aerial vehicle 100 based on the shutter speed ss and the distance in real space per pixel. The UAV control unit 110 may instruct the control of the flight speed so that the flight speed Vo is equal to or less than the maximum flight speed Vm of the unmanned aerial vehicle 100.

Thereby, the unmanned aerial vehicle 100 can limit the flight speed of the unmanned aerial vehicle 100 in consideration of the shutter speed ss and the distance in the real space per pixel in the captured image captured by the unmanned aerial vehicle 100. For example, even if the unmanned aerial vehicle 100 moves while capturing an image at a predetermined shutter speed ss, the unmanned aerial vehicle 100 moves at a flight speed Vo within the determined flight speed, so that the unmanned aerial vehicle 100 moves. , It is possible to keep the movement within a predetermined number of consecutive pixels in the captured image. Therefore, the unmanned aerial vehicle 100 can suppress the occurrence of motion blur due to the movement of the unmanned aerial vehicle 100 at the time of imaging by the unmanned aerial vehicle 100, and can suppress the deterioration of the image quality of the captured image.

Further, the UAV control unit 110 may acquire the flight altitude h of the unmanned aerial vehicle 100. The UAV control unit 110 may acquire an angle of view (for example, an angle of view FOV) for the unmanned aerial vehicle 100 to take an image. The UAV control unit 110 may acquire the number of pixels of the captured image. The UAV control unit 110 may calculate the distance in real space per pixel based on the flight altitude h, the angle of view, and the number of pixels of the captured image of the unmanned aerial vehicle 100.

Thereby, the distance in the real space per pixel can be easily calculated by using the parameters that can be easily acquired by the unmanned aerial vehicle 100.

Further, in the UAV control unit 110, the distance that the unmanned aerial vehicle 100 moves in one imaging period by the unmanned aerial vehicle 100 may be within the distance in the real space corresponding to one pixel in the captured image.

As a result, in the unmanned aerial vehicle 100, for example, even if the unmanned aerial vehicle 100 moves while capturing an image at a predetermined shutter speed ss, the unmanned aerial vehicle 100 flies at a flight speed Vo within a determined flight speed. It is possible to limit the movement within one pixel in the captured image. Therefore, the unmanned aerial vehicle 100 can surely avoid the occurrence of motion blur by flying at this flight speed Vo.

Further, the UAV control unit 110 may adjust the flight speed and fly based on the upper limit value of the flight speed.

As a result, the unmanned aerial vehicle 100 itself can calculate the upper limit value of the flight speed and adjust the flight speed Vo. Therefore, from the determination of the flight speed Vo to the flight control can be completed only by the unmanned aerial vehicle 100.

(Second Embodiment)
In the first embodiment, the unmanned aerial vehicle 100 calculated the shutter speed ss and derived the maximum flight speed Vm corresponding to the shutter speed ss. The second embodiment shows a case where the maximum flight speed Vm is derived based on the illuminance L around the imaging unit 220.

Further, the flight system of the second embodiment has substantially the same configuration as that of the first embodiment. By using the same reference numerals for the same components as those in the first embodiment, the description thereof will be omitted or simplified.

FIG. 9 is a table Tb showing an example of the correspondence between the illuminance L and the maximum flight speed Vm. This table Tb may be held in the memory 160 of the unmanned aerial vehicle 100. The illuminance L may be detected by the illuminance sensor 190. Instead of using the illuminance sensor 190, the camera processor 11 of the UAV control unit 110 or the image pickup unit 220 may calculate the illuminance L based on the brightness of the image captured by the image pickup element 13 of the image pickup unit 220.

In the table Tb, the maximum flight speed Vm of the unmanned aerial vehicle 100 is set to increase to V1, V2, ..., Vk as the illuminance L increases to L1, L2, ..., Lk. That is, the brighter the surroundings of the unmanned aerial vehicle 100, the greater the amount of incident light of the image sensor 13 per unit time, so that the shutter speed ss becomes faster due to the exposure control. When the shutter speed ss is high, the flight speed Vo of the unmanned aerial vehicle 100 that moves by one pixel in the captured image becomes high. On the other hand, the darker the surroundings of the unmanned aerial vehicle 100, the smaller the amount of incident light of the image sensor 13 per unit time, so that the shutter speed ss becomes slower due to the exposure control. When the shutter speed ss is slow, the flight speed Vo of the unmanned aerial vehicle 100 that moves by one pixel in the captured image becomes low.

In the correspondence between the illuminance L and the maximum flight speed Vm held in the table Tb, the imaging parameter (for example, shutter speed ss) of the imaging unit 220 is not taken into consideration. On the other hand, the correspondence between the shutter speed ss corresponding to the illuminance L and the maximum flight speed Vm in the present embodiment is the same as the correspondence between the shutter speed ss and the maximum flight speed Vm in the first embodiment. The shutter speed ss corresponding to the illuminance L is automatically adjusted by exposure control according to the aperture priority AE mode. That is, the correspondence between the shutter speed ss and the maximum flight speed Vm in the first embodiment is converted into the correspondence between the illuminance L (brightness) around the unmanned aerial vehicle 100 and the maximum flight speed Vm. The related information may be stored in the memory 160. That is, the memory 160 holds information related to the speed corresponding to the illuminance L so as to correspond to the exposure control in the first embodiment.

The UAV control unit 110 may acquire the information of the table Tb from other than the memory 160. In this case, the UAV control unit 110 may acquire the information in the table Tb from the external server via the communication interface 150.

FIG. 10 is a flowchart showing an example of the flight control procedure by the unmanned aerial vehicle 100 in the second embodiment. In FIG. 10, the same processing as in FIG. 8 of the first embodiment is given the same step number, and the description thereof will be omitted or simplified.

First, the unmanned aerial vehicle 100 performs the processes of procedures T1 to T4. The UAV control unit 110 acquires the illuminance L detected by the illuminance sensor 190 (T5A). The UAV control unit 110 refers to the table Tb1 registered in the memory 160 and acquires the maximum flight speed Vm corresponding to the illuminance L (T6A). In step T7, the UAV control unit 110 adjusts the flight speed Vo based on the acquired maximum flight speed Vm. The processing after the procedure T7 is the same as that of the first embodiment.

As described above, in the flight system 10 of the second embodiment, the UAV control unit 110 acquires the illuminance L around the unmanned aerial vehicle 100 detected by the illuminance sensor 190, for example, the illuminance L of the subject of the imaging unit 220. Good. The UAV control unit 110 acquires, for example, the relationship information showing the relationship between the illuminance L and the maximum flight speed Vm of the unmanned aerial vehicle 100 (an example of the upper limit value of the flight speed) held in the table stored in the memory 160. Good. The UAV control unit 110 may derive the maximum flight speed Vm of the unmanned aerial vehicle 100 corresponding to the illuminance L acquired by the illuminance sensor 190 based on this related information. The UAV control unit 110 may instruct the control of the flight speed so that the flight speed Vo is equal to or less than the maximum flight speed Vm.

As a result, the unmanned aerial vehicle 100 refers to the relational information indicating the relationship between the illuminance L and the upper limit of the flight speed of the unmanned aerial vehicle 100, and based on the illuminance (brightness) around the unmanned aerial vehicle 100, the unmanned aerial vehicle 100. You can limit the flight speed of 100. Regarding the related information, for example, even if the unmanned aerial vehicle 100 moves while capturing an image at the shutter speed ss corresponding to the acquired illuminance L, the unmanned aerial vehicle 100 flies at a flight speed Vo within the limited flight speed. This is information that allows the movement of the unmanned aerial vehicle 100 to be limited to movement within a predetermined number of consecutive pixels in the captured image. Therefore, the unmanned aerial vehicle 100 can suppress the occurrence of motion blur due to the movement of the unmanned aerial vehicle 100 at the time of imaging by the unmanned aerial vehicle 100, and can suppress the deterioration of the image quality of the captured image.

Further, the UAV control unit 110 may increase the upper limit of the flight speed of the unmanned aerial vehicle 100 as the illuminance L increases, and decrease the upper limit of the flight speed of the unmanned aerial vehicle 100 as the illuminance L decreases.

For example, when the exposure is controlled with priority given to the aperture, the shutter speed ss is increased when the illuminance L is large. In this case, one imaging period by the unmanned aerial vehicle 100 is shortened. On the other hand, the distance in the real space per pixel is unchanged when parameters such as the imaging angle of view, the number of pixels of the captured image, and the flight altitude are not changed. Therefore, in the unmanned aerial vehicle 100, the larger the illuminance L, the more the occurrence of motion blur can be suppressed even if the upper limit value of the flight speed of the unmanned aerial vehicle 100 is increased.

For example, in the case of exposure control with priority given to aperture, if the illuminance L is small, the shutter speed ss is reduced. In this case, one imaging period by the unmanned aerial vehicle 100 becomes longer. On the other hand, the distance in the real space per pixel is unchanged when parameters such as the imaging angle of view, the number of pixels of the captured image, and the flight altitude are not changed. Therefore, in the unmanned aerial vehicle 100, the larger the illuminance L, the smaller the upper limit of the flight speed of the unmanned aerial vehicle 100, so that the occurrence of motion blur can be suppressed.

(Third Embodiment)
In the first and second embodiments, it is illustrated that the unmanned aerial vehicle 100 automatically flies along a flight path without being operated (maneuvered) by a user. In the third embodiment, the unmanned aerial vehicle 100 exemplifies manual flight under the operation (control) by the user.

In the present embodiment, when the user operates the flight of the unmanned aerial vehicle 100 (instructs flight control) using the transmitter (propo), the maximum flight speed Vm is limited. The method for deriving the maximum flight speed Vm may be the same as the method for deriving the maximum flight speed Vm described in the first embodiment or the second embodiment.

FIG. 11 is a diagram showing a configuration example of the flight system 10B according to the third embodiment. In FIG. 11, the same components as those in FIG. 1 are designated by the same reference numerals, and the description thereof will be omitted or simplified.

The flight system 10B may be configured to include an unmanned aerial vehicle 100, a transmitter 50 (propo), and a terminal 80. The terminal 80 may be, for example, a smartphone, a tablet terminal, a PC, or the like. The transmitter 50 can instruct the flight control of the unmanned aerial vehicle 100 by accepting the user's operation by using the left and right control rods arranged in front of the transmitter 50. The unmanned aerial vehicle 100, the transmitter 50, and the terminal 80 can communicate with each other by wired communication or wireless communication.

In the unmanned aerial vehicle 100, the communication interface 150 may communicate with the transmitter 50 and receive various commands and information from the remote transmitter 50 to the UAV control unit 110. The UAV control unit 110 controls the flight of the unmanned aerial vehicle 100 according to a command received from the remote transmitter 50 via the communication interface 150.

FIG. 12 is a block diagram showing a hardware configuration example of the transmitter 50. The transmitter 50 includes a left control rod 53L, a right control rod 53R, a transmitter control unit 61, a communication unit 63, a memory 67, and the like. The transmitter 50 may include other components other than the above (for example, an operation unit such as a button, a display unit such as an LED).

The left control rod 53L is used for an operation for remotely controlling the movement of the unmanned aerial vehicle 100 by, for example, the left hand of the operator. The right control rod 53R is used for an operation for remotely controlling the movement of the unmanned aerial vehicle 100, for example, by the operator's right hand. The movement of the unmanned aircraft 100 is, for example, forward movement, backward movement, left movement, right movement, ascending movement, downward movement, and rotation of the unmanned aircraft 100 to the left. Either movement to move, movement to rotate the unmanned aircraft 100 to the right, or a combination thereof may be used.

The communication unit 63 wirelessly communicates with the unmanned aerial vehicle 100 and the terminal 80 by various wireless communication methods. The wireless communication method of this wireless communication may include communication via, for example, a wireless LAN, Bluetooth®, or a public wireless line. The communication unit 85 may perform wired communication by any wired communication method. The communication unit 85 may communicate with the unmanned aerial vehicle 100 via the terminal 80. The transmitter 50 and the terminal 80 may be connected by a cable (for example, a USB cable).

The memory 67 includes, for example, a ROM in which data of a program or set value that defines the operation of the transmitter 50 is stored, and a RAM in which various information and data used during processing by the transmitter control unit 61 are temporarily stored. May have. The memory 67 may include a memory other than the ROM and the RAM. The memory 67 may be provided inside the transmitter 50. The memory 67 may be provided detachably from the transmitter 50.

The transmitter control unit 61 is configured by using a processor (for example, CPU, MPU or DSP). The transmitter control unit 61 performs signal processing for controlling the operation of each unit of the transmitter 50, data input / output processing with and from other units, data calculation processing, and data storage processing.

The transmitter control unit 61 may generate an instruction signal for controlling the flight of the unmanned aerial vehicle 100 designated by the operation of the left control rod 53L or the right control rod 53R of the operator. The transmitter control unit 61 may transmit this instruction signal to the unmanned aerial vehicle 100 via the communication unit 63 to remotely control the unmanned aerial vehicle 100. As a result, the transmitter 50 can remotely control the movement of the unmanned aerial vehicle 100.

For example, when the user operates the left control rod 53L or the right control rod 53R to change the flight speed or the flight acceleration of the unmanned aerial vehicle 100, the transmitter control unit 61 causes the left control rod 53L or the right control rod 53R. Receives an instruction signal for operation by. That is, the operation of the left control rod 53L or the right control rod 53R may be an operation of changing the flight speed of the unmanned aerial vehicle 100 or an operation of changing the flight acceleration of the unmanned aerial vehicle 100. In other words, the left control rod 53L or the right control rod 53R may indicate the speed or the acceleration. The transmitter control unit 61 transmits this instruction signal to the unmanned aerial vehicle 100 via the communication unit 63.

The operation of changing the flight speed or the flight acceleration may include an acceleration operation of increasing the flight speed or the flight acceleration and a deceleration operation of decreasing the flight speed or the flight acceleration. The UAV control unit 110 may determine the flight speed or flight acceleration of the unmanned aerial vehicle 100 according to the operation amount of the acceleration operation by the left control rod 53L or the right control rod 53R. Further, the UAV control unit 110 may determine the flight speed of the unmanned aerial vehicle 100 according to the cumulative value of the operation amount of the operation for determining the flight acceleration.

In the unmanned aerial vehicle 100, the UAV control unit 110 acquires an instruction signal from the transmitter 50 via the communication interface 150. The UAV control unit 110 controls the drive of the rotary wing mechanism 210 according to the instruction signal, and changes the flight speed or flight acceleration of the unmanned aerial vehicle 100. In this case, the UAV control unit 110 limits the flight speed of the unmanned aerial vehicle 100 to a flight speed Vo of the maximum flight speed Vm or less.

Next, the limitation of the flight speed of the unmanned aerial vehicle 100 by the flight system 10B will be described.

The UAV control unit 110 may acquire (for example, calculate) the actual flight speed of the unmanned aerial vehicle 100. The UAV control unit 110 may acquire the position information of the unmanned aerial vehicle 100 at a plurality of time points via, for example, a GPS receiver or the like 240, and calculate the flight speed based on the position information at the plurality of time points. Further, the acceleration of the unmanned aerial vehicle 100 may be acquired via the inertial measurement unit 250 or the like, and the acceleration of the unmanned aerial vehicle 100 may be integrated to calculate the flight speed of the unmanned aerial vehicle 100.

When the UAV control unit 110 acquires the instruction signal for the acceleration operation from the transmitter 50, the UAV control unit 110 controls the unmanned aerial vehicle 100 so that the flight speed of the unmanned aerial vehicle 100 becomes a flight speed Vo of the maximum flight speed Vm or less. In this case, the UAV control unit 110 limits (for example, prohibits) acceleration according to the instruction signal of the acceleration operation from the transmitter 50 in a state where the flight speed of the unmanned aerial vehicle 100 reaches the maximum flight speed Vm. Good.

For example, in the case of the acceleration operation for instructing the speed, the UAV control unit 110 has the maximum operation amount of the acceleration operation by the left control rod 53L or the right control rod 53R (for example, the operation amount when the control rod is tilted forward as much as possible). ) May be set to the same value as the maximum flight speed Vm. This setting information is held in the memory 160 and may be referred to by the UAV control unit 110. By accelerating according to the acceleration operation according to this setting information, the UAV control unit 110 can limit the flight speed of the unmanned aerial vehicle 100 to the flight speed Vo of the maximum flight speed Vm or less even when receiving the acceleration operation by the speed.

For example, in the case of an acceleration operation for instructing acceleration, when the UAV control unit 110 acquires an acceleration operation by the left control rod 53L or the right control rod 53R, the UAV control unit 110 determines the flight speed during flight according to the acceleration operation of the unmanned aerial vehicle 100. , The flight speed Vo may be controlled to be equal to or less than the maximum flight speed Vm. In this case, the UAV control unit 110 may limit the acceleration according to the acceleration operation when the total speed of the flight speed before the acceleration operation and the speed corresponding to the acceleration operation is equal to or more than the maximum flight speed Vm. In this case, the UAV control unit 110 may prohibit accelerating the flight speed before the acceleration operation itself, or allows the acceleration amount until the maximum flight speed Vm is reached, and reaches the maximum flight speed Vm. Later acceleration may be prohibited. As a result, the unmanned aerial vehicle 100 can limit the flight speed of the unmanned aerial vehicle 100 to a flight speed Vo of the maximum flight speed Vm or less even when it receives an acceleration operation due to acceleration.

Instead of limiting the flight speed of the unmanned aerial vehicle 100 on the unmanned aerial vehicle 100 side, the flight speed of the unmanned aerial vehicle 100 may be limited on the transmitter 50 side. In this case, the UAV control unit 110 notifies the transmitter 50 of information on the maximum flight speed Vm and the flight speed (actual measurement value) of the unmanned aerial vehicle 100 via the communication interface 150, and holds the information in the memory 67 of the transmitter 50. You can keep it. The transmitter control unit 61 of the transmitter 50 refers to the maximum flight speed Vm held in the memory 67, and is obtained based on or as the operation amount of the operation by the left control rod 53L or the right control rod 53R. The flight speed Vo (indicated value) of the unmanned aerial vehicle 100 may be calculated based on the measured value of the flight speed. When the flight speed (instructed value) of the unmanned aerial vehicle 100 is greater than the maximum flight speed Vm, the transmitter control unit 61 of the transmitter 50 may prohibit the transmission of the instruction signal for the acceleration operation via the communication unit 63. Further, even if the transmitter control unit 61 permits the transmission of the instruction signal for the acceleration until the maximum flight speed Vm is reached and prohibits the transmission of the instruction signal for the acceleration after reaching the maximum flight speed Vm. Good. As a result, the transmitter 50 can limit the flight speed of the unmanned aerial vehicle 100 to the maximum flight speed Vm or less even when the acceleration operation is performed by speed or acceleration.

Thus, according to the flight system 10B of the third embodiment, the user can manually operate the flight of the unmanned aerial vehicle 100 using the transmitter 50, that is, manually instruct the control of the flight of the unmanned aerial vehicle 100. Therefore, the transmitter 50 can suppress the occurrence of motion blur due to the movement of the unmanned aerial vehicle 100 even when the user manually operates the flight of the unmanned aerial vehicle 100, and can suppress the deterioration of the image quality of the captured image.

In the third embodiment, it is shown that the flight system 10B includes the transmitter 50, and the transmitter 50 manually controls the flight of the unmanned aerial vehicle 100 and manually instructs the control of the flight of the unmanned aerial vehicle 100. Other than that. For example, the flight system 10B may not include the transmitter 50, and the terminal 80 may manually operate the flight of the unmanned aerial vehicle 100 and manually instruct the control of the flight of the unmanned aerial vehicle 100. For example, the operation unit 83 of the terminal 80 receives an operation for moving the unmanned aerial vehicle 100 similar to the operation by the left control rod 53L or the right control rod 53R of the transmitter 50, and changes the speed and acceleration of the unmanned aerial vehicle 100. You may let me. Even in this case, the terminal 80 can suppress the occurrence of motion blur due to the movement of the unmanned aerial vehicle 100, and can suppress the deterioration of the image quality of the captured image.

In this way, the UAV control unit 110 may acquire operation information for changing the flight speed of the unmanned aerial vehicle 100, for example, via the communication interface 150. The UAV control unit 110 may control the flight by adjusting the flight speed so that the flight speed Vo is equal to or less than the upper limit of the flight speed of the unmanned aerial vehicle 100 based on the operation information.

As a result, the unmanned aerial vehicle 100 can adjust the flight speed and control the flight while taking into account the maximum flight speed Vm even when the unmanned aerial vehicle 100 receives a remote control for changing the flight speed from the transmitter 50 or the like. Therefore, the unmanned aerial vehicle 100 can suppress the occurrence of motion blur even when it receives a manual operation using the transmitter 50 or the like.

In the flight system 10B, the transmitter 50 may execute the process executed by the terminal 80. In this case, the transmitter 50 may also have an operation unit, a display unit, and the like, like the terminal 80. If the flight system 10B has a transmitter 50, the terminal 80 may not be provided.

Although the present disclosure has been described above using the embodiments, the technical scope of the present disclosure is not limited to the scope described in the above-described embodiments. It will be apparent to those skilled in the art to make various changes or improvements to the embodiments described above. It is clear from the description of the claims that the form with such changes or improvements may be included in the technical scope of the present disclosure.

The execution order of each process such as operation, procedure, step, and step in the device, system, program, and method shown in the claims, the specification, and the drawing is particularly "before" and "prior to". As long as the output of the previous process is not used in the subsequent process, it can be realized in any order. Even if the scope of claims, the specification, and the operation flow in the drawings are explained using "first", "next", etc. for convenience, it means that it is essential to carry out in this order. is not it.

In the first and second embodiments, the unmanned aerial vehicle 100 takes the lead in deriving the maximum flight speed Vm and adjusting the flight speed Vo, but the terminal 80 takes the lead in deriving the maximum flight speed Vm and adjusting the flight speed. Vo may be adjusted. In this case, the terminal control unit 81 of the terminal 80 may acquire the information held by the unmanned aerial vehicle 100 via the communication unit 85. For example, exposure control information for performing exposure control (for example, exposure control algorithm information), illuminance information around the unmanned aerial vehicle 100 (for example, illuminance detected by the illuminance sensor 190), illuminance L and maximum flight speed Vm. The table Tb, which holds the correspondence information, may be held in the memory 87 of the terminal 80. The terminal control unit 81 may virtually perform the processing of T5 to T7 by calculation, and transmit information on the imaging position, flight path, and flight speed Vo (instructed value) to the unmanned aerial vehicle 100 via the communication unit 85. .. In the unmanned aerial vehicle 100, the UAV control unit 110 takes an aerial image at the imaging position at the shutter speed ss derived by the imaging unit 220 while flying at the derived (adjusted) flight speed Vo along the flight path. You can.

As described above, the terminal 80 (an example of the information processing device) may instruct flight control by the unmanned aerial vehicle 100 (an example of an air vehicle) and may include a terminal control unit 81 (an example of a processing unit). The terminal control unit 81 may acquire information on the shutter speed ss for the unmanned aerial vehicle 100 to take an image. The terminal control unit 81 may acquire information on the distance in real space per pixel in the captured image captured by the unmanned aerial vehicle 100. The terminal control unit 81 may determine the maximum flight speed Vm (an example of the upper limit value of the flight speed) of the unmanned aerial vehicle 100 based on the shutter speed ss and the distance per pixel in the real space. The terminal control unit 81 may instruct the control of the flight speed so that the flight speed Vo is equal to or less than the maximum flight speed Vm of the unmanned aerial vehicle 100.

As a result, the terminal 80 can limit the flight speed of the unmanned aerial vehicle 100 by taking into consideration the shutter speed ss and the distance in the real space per pixel in the captured image captured by the unmanned aerial vehicle 100. For example, even if the unmanned aerial vehicle 100 moves while capturing an image at a predetermined shutter speed ss, the unmanned aerial vehicle 100 flies at a flight speed Vo within the determined flight speed, so that the terminal 80 is an unmanned aerial vehicle. The movement of 100 can be limited to movement within a predetermined number of consecutive pixels in the captured image. Therefore, the terminal 80 can suppress the occurrence of motion blur due to the movement of the unmanned aerial vehicle 100 at the time of imaging by the unmanned aerial vehicle 100, and can suppress the deterioration of the image quality of the captured image.

Further, in the flight system 10, the terminal control unit 81 may acquire the illuminance L around the unmanned aerial vehicle 100 detected by the illuminance sensor 190, for example, the illuminance L of the subject of the imaging unit 220. The terminal control unit 81 may acquire the relational information indicating the relationship between the illuminance L and the upper limit of the flight speed of the unmanned aerial vehicle 100, which is held in the table Tb stored in the memory 87, for example. Based on this related information, the terminal control unit 81 may derive (for example, calculate) the maximum flight speed Vm of the unmanned aerial vehicle 100 corresponding to the illuminance L acquired by the illuminance sensor 190. The terminal control unit 81 may instruct the control of the flight speed so that the flight speed Vo is equal to or less than the maximum flight speed Vm.

As a result, the terminal 80 refers to the relationship information indicating the relationship between the illuminance L and the upper limit of the flight speed of the unmanned aerial vehicle 100, and based on the illuminance (brightness) around the unmanned aerial vehicle 100, the unmanned aerial vehicle 100 You can limit the flight speed of. Regarding the related information, for example, even if the unmanned aerial vehicle 100 moves while capturing an image at the shutter speed ss corresponding to the acquired illuminance L, the unmanned aerial vehicle 100 flies at a flight speed Vo within the limited flight speed. This is information that allows the movement of the unmanned aerial vehicle 100 to be limited to movement within a predetermined number of consecutive pixels in the captured image. Therefore, the terminal 80 can suppress the occurrence of motion blur due to the movement of the unmanned aerial vehicle 100 at the time of imaging by the unmanned aerial vehicle 100, and can suppress the deterioration of the image quality of the captured image.

10,10B Flight system 11 Camera processor 12 Shutter 13 Image sensor 14 Image processing unit 15 Memory 18 Flash 19 Shutter drive unit 20 Element drive unit 21 Gain control unit 32 ND filter 33 Aperture 34 Lens group 36 Lens drive unit 38 ND drive unit 40 Aperture drive unit 50 Transmitter 53L Left control rod 53R Right control rod 61 Transmitter control unit 63 Communication unit 67 Memory 80 Terminal 81 Terminal control unit 83 Operation unit 85 Communication unit 87 Memory 88 Display unit 89 Storage 100 Unmanned aircraft 110 UAV control unit 150 Communication interface 160 Memory 170 Storage 190 Illumination sensor 200 Gimbal 210 Rotating wing mechanism 220, 230 Image sensor 220z Housing 240 GPS receiver 250 Inertial measurement unit 260 Magnetic compass 270 Atmospheric pressure sensor 280 Ultrasonic sensor 290 Laser measuring instrument h Flight altitude L Illumination Tb Table Vm Maximum flight speed Vo Flight speed

Claims (12)

An information processing device that instructs the control of flight by an air vehicle.
Equipped with a processing unit
The processing unit
Obtaining information on the shutter speed for the flying object to take an image,
Obtaining information on the distance in real space per pixel in the captured image captured by the flying object,
Based on the shutter speed and the distance in real space per pixel, the upper limit of the flight speed of the flying object is determined.
Instruct the control of the flight speed so that the flight speed is equal to or less than the upper limit of the flight speed of the flying object.
Information processing device. The processing unit
Obtain the flight altitude of the aircraft and
Obtain the angle of view for the flying object to image,
The number of pixels of the captured image is acquired, and
The distance in the real space per pixel is calculated based on the flight altitude of the flying object, the angle of view, and the number of pixels of the captured image.
The information processing device according to claim 1. The distance that the flying object moves in one imaging period by the flying object is within the distance in the real space corresponding to one pixel in the captured image.
The information processing device according to claim 1 or 2. The information processing device is the flying object.
The processing unit adjusts the flight speed to control the flight based on the upper limit value of the flight speed.
The information processing device according to any one of claims 1 to 3. The processing unit
Obtain operation information for changing the flight speed of the aircraft,
Based on the operation information, the flight speed is adjusted to control the flight so that the flight speed is equal to or less than the upper limit of the flight speed of the flying object.
The information processing device according to claim 4. It is a flight control instruction method in an information processing device that instructs flight control by an air vehicle.
The step of acquiring the shutter speed information for the flying object to take an image, and
A step of acquiring information on the distance in real space per pixel in the captured image captured by the flying object, and
A step of determining an upper limit of the flight speed of the flying object based on the shutter speed and the distance in real space per pixel, and
A step of instructing the control of the flight speed so that the flight speed is equal to or less than the upper limit of the flight speed of the flying object, and
Flight control instruction method including. The step of acquiring the distance information is
The step of acquiring the flight altitude of the flying object and
The step of acquiring the angle of view for the flying object to image, and
The step of acquiring the number of pixels of the captured image and
A step of calculating a distance in real space per pixel based on the flight altitude of the flying object, the angle of view, and the number of pixels of the captured image is included.
The flight control instruction method according to claim 6. The distance that the flying object moves during one imaging period by the flying object is within the distance in the real space corresponding to one pixel in the captured image.
The flight control instruction method according to claim 6 or 7. The information processing device is the flying object.
A step of adjusting the flight speed to control the flight based on the upper limit of the flight speed.
Including,
The flight control instruction method according to any one of claims 6 to 8. The step of adjusting the flight speed to control the flight is
The step of acquiring the operation information for changing the flight speed of the flying object, and
Based on the operation information, the step of adjusting the flight speed to control the flight so that the flight speed is equal to or less than the upper limit of the flight speed of the flying object is included.
The flight control instruction method according to claim 9. For information processing devices that instruct flight control by flying objects,
The step of acquiring the shutter speed information for the flying object to take an image, and
A step of acquiring information on the distance in real space per pixel in the captured image captured by the flying object, and
A step of determining an upper limit of the flight speed of the flying object based on the shutter speed and the distance in real space per pixel, and
A step of instructing the control of the flight speed so that the flight speed is equal to or less than the upper limit of the flight speed of the flying object, and
A program to execute. For information processing devices that instruct flight control by flying objects,
The step of acquiring the shutter speed information for the flying object to take an image, and
A step of acquiring information on the distance in real space per pixel in the captured image captured by the flying object, and
A step of determining an upper limit of the flight speed of the flying object based on the shutter speed and the distance in real space per pixel, and
A step of instructing the control of the flight speed so that the flight speed is equal to or less than the upper limit of the flight speed of the flying object, and
A computer-readable recording medium that contains a program for executing the program.

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