JP6896963B1 - Control devices, imaging devices, moving objects, control methods, and programs - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate the design of an imaging lens together with a high zoom magnification. SOLUTION: A control device changes a focal length of an image pickup lens having a variable focal length and an acquisition range for acquiring a part of an image area from an image captured by light passing through the image pickup lens, thereby performing zoom photography. A circuit configured to perform the above is provided. The image circle of the imaging lens changes according to the focal length. The circuit is configured to set the acquisition range within an image circle that changes according to the focal length of the imaging lens. [Selection diagram] Fig. 3

Description

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

Patent Document 1 discloses a video distribution system that converts high-resolution video content into a distribution resolution (display resolution of a video playback terminal) and distributes it, and distributes a zoomed image at the distribution resolution in response to a zoom request. ing.
[Prior art literature]
[Patent Document]
[Patent Document 1] Japanese Unexamined Patent Publication No. 2012-75030

It is desired to increase the zoom magnification. Further, it is desired to facilitate the design of an imaging lens together with a high zoom magnification.

The control device according to one aspect of the present invention changes the focal length of an image pickup lens having a variable focal length and the acquisition range for acquiring a part of an image region from an image captured by light passing through the image pickup lens. A circuit configured to perform zoom photography is provided. The image circle of the imaging lens changes according to the focal length. The circuit is configured to set the acquisition range within an image circle that changes according to the focal length of the imaging lens.

The circuit changes the focal length and acquisition range of the imaging lens based on at least one of the specified zoom magnification and the number of recording pixels when at least one of the zoom magnification and the number of recording pixels is specified. It may be configured to perform zoom shooting.

The circuit is configured to determine the acquisition range based on the specified number of recording pixels and the focal length of the imaging lens based on the determined acquisition range when the number of recording pixels is specified by the user. It's okay.

The imaging lens may have a smaller image circle as the focal length is longer. The circuit may be configured to determine the focal length of the image pickup lens so that the image circle includes a region corresponding to the acquisition range of the image pickup surface of the image sensor to be imaged by the light passing through the image pickup lens.

The circuit may be configured to determine the acquisition range based on the specified zoom magnification and the focal length of the imaging lens based on the determined acquisition range when the zoom magnification is specified by the user. ..

The imaging lens may have a smaller image circle as the focal length is longer. The circuit is configured to determine the acquisition range and the focal length of the image pickup lens so that the image circle includes the portion of the effective image pickup area of the image sensor that is imaged by the light passing through the image pickup lens and corresponds to the acquisition range. It's okay.

The diameter of the image circle of the imaging lens may be shorter than the long side of the effective imaging region of the image sensor, at least at the telephoto end.

The imaging device according to one aspect of the present invention includes the above-mentioned imaging lens and the above-mentioned control device.

The moving body according to one aspect of the present invention may be a moving body equipped with the above-mentioned imaging device.

The control method according to one aspect of the present invention is to change the focal length of an image pickup lens having a variable focal length and the acquisition range for acquiring a part of an image area from an image captured by light passing through the image pickup lens. This provides a stage for zoom shooting. The image circle of the imaging lens changes according to the focal length. The stage of performing zoom photography includes a stage of setting an acquisition range in an image circle that changes according to the focal length of the imaging lens.

The program according to one aspect of the present invention changes the focal length of an image pickup lens having a variable focal length and the acquisition range for acquiring a part of an image area from an image captured by light passing through the image pickup lens. , Let the computer perform the procedure for zoom shooting. The image circle of the imaging lens changes according to the focal length. The procedure for performing zoom photography includes a procedure for setting an acquisition range in an image circle that changes according to the focal length of the imaging lens.

According to one aspect of the present invention, it is possible to facilitate the design of an imaging lens together with a high zoom magnification.

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

An example of the appearance of the unmanned aerial vehicle (UAV) 10 and the remote control device 300 is shown. An example of the functional block of UAV10 is shown. It is a figure for demonstrating the zoom photography method in this embodiment. It is a figure for demonstrating the zoom photography method as a comparative example. It is a flowchart which shows the procedure of the process which the image pickup control unit 110 executes. It is a flowchart which shows the procedure of the process which the image pickup control unit 110 executes. An example of the computer 1200 is shown.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention. It will be apparent to those skilled in the art that various changes or improvements can be made to the following embodiments. It is clear from the description of the claims that such modified or improved forms may also be included in the technical scope of the present 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.

Various embodiments of the present invention may be described with reference to flowcharts and block diagrams, wherein the block is (1) a stage of the process in which the operation is performed or (2) a device having a role of performing the operation. May represent the "part" of. Specific stages and "parts" may be implemented by programmable circuits and / or processors. Dedicated circuits may include digital and / or analog hardware circuits. It may include integrated circuits (ICs) and / or discrete circuits. Programmable circuits may include reconfigurable hardware circuits. Reconfigurable hardware circuits include logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate arrays (FPGA), programmable logic arrays (PLA), etc. It may include a memory element such as.

The computer-readable medium may include any tangible device capable of storing instructions executed by the appropriate device. As a result, the computer-readable medium having the instructions stored therein will include the product, including instructions that can be executed to create means for performing the operation specified in the flowchart or block diagram. Examples of computer-readable media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer-readable media include floppy (registered trademark) disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), Electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disk read-only memory (CD-ROM), digital versatile disk (DVD), Blu-ray (RTM) disk, memory stick, integrated A circuit card or the like may be included.

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

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

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

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

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

The remote control device 300 communicates with the UAV 10 to remotely control the UAV 10. The remote control device 300 may communicate wirelessly with the UAV 10. The remote control device 300 transmits to the UAV 10 instruction information indicating various commands related to the movement of the UAV 10, such as ascending, descending, accelerating, decelerating, advancing, reversing, and rotating. The instruction information includes, for example, instruction information for raising the altitude of the UAV 10. The instruction information may indicate the altitude at which the UAV 10 should be located. The UAV 10 moves so as to be located at an altitude indicated by the instruction information received from the remote control device 300. The instruction information may include an ascending instruction to ascend the UAV 10. The UAV10 rises while accepting the rise order. Even if the UAV10 accepts the ascending command, the ascending may be restricted if the altitude of the UAV10 has reached the upper limit altitude.

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

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

The UAV control unit 30 controls the flight and imaging of the UAV 10 according to the program stored in the memory 37. The UAV control unit 30 may be composed of a CPU, a microprocessor such as an MPU, a microcontroller such as an MCU, or the like. The UAV control unit 30 controls the flight and imaging of the UAV 10 according to a command received from the remote control device 300 via the communication interface 36. The propulsion unit 40 promotes the UAV 10. The propulsion unit 40 has a plurality of rotary blades and a plurality of drive motors for rotating the plurality of rotary blades. The propulsion unit 40 rotates a plurality of rotor blades via a plurality of drive motors in accordance with a command from the UAV control unit 30 to fly the UAV 10.

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

The image pickup apparatus 100 includes an image pickup section 102 and a lens section 200. The lens unit 200 is an example of a lens device. The image pickup unit 102 includes an image sensor 120, an image pickup control unit 110, a memory 130, and a distance measuring sensor. The image sensor 120 may be composed of a CCD or CMOS. The image sensor 120 captures an optical image formed through a plurality of lenses 210, and outputs the captured image to the image pickup control unit 110. The image pickup control unit 110 generates an image for recording by performing image processing based on the pixel information read from the image sensor 120, and records the image in the memory 130. The image pickup control unit 110 may be composed of a CPU, a microprocessor such as an MPU, a microcontroller such as an MCU, or the like. The image pickup control unit 110 may control the image pickup device 100 in response to an operation command of the image pickup device 100 from the UAV control unit 30. The image pickup control unit 110 is an example of a circuit. The memory 130 may be a computer-readable recording medium and may include at least one of flash memories such as SRAM, DRAM, EPROM, EEPROM, USB memory, and solid state drive (SSD). The memory 130 stores a program or the like necessary for the image pickup control unit 110 to control the image sensor 120 or the like. The memory 130 may be provided inside the housing of the image pickup apparatus 100. The memory 130 may be provided so as to be removable from the housing of the image pickup apparatus 100.

The distance measuring sensor measures the distance to the subject. The distance measuring sensor may be an infrared sensor, an ultrasonic sensor, a stereo camera, a TOF (Time Of Flight) sensor, or the like.

The lens unit 200 includes a plurality of lenses 210, a plurality of lens driving units 212, and a lens control unit 220. The plurality of lenses 210 may function as a zoom lens, a varifocal lens, and a focus lens. At least a part or all of the plurality of lenses 210 are arranged so as to be movable along the optical axis. The lens unit 200 may be an interchangeable lens that is detachably provided with respect to the image pickup unit 102. The lens driving unit 212 moves at least a part or all of the plurality of lenses 210 along the optical axis via a mechanical member such as a cam ring. The lens driving unit 212 may include an actuator. The actuator may include a stepping motor. The lens control unit 220 drives the lens drive unit 212 in accordance with a lens control command from the image pickup unit 102 to move one or more lenses 210 along the optical axis direction via a mechanical member. The lens control command is, for example, a zoom control command and a focus control command.

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

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

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

The zoom control by the image pickup control unit 110 will be described. The image pickup control unit 110 performs zoom shooting by changing the focal length of the lens 210 having a variable focal length and the acquisition range for acquiring a part of the image area from the image captured by the light passing through the lens 210. Do. The image circle of the lens 210 changes according to the focal length of the lens 210. The image pickup control unit 110 sets an image acquisition range in an image circle that changes according to the focal length of the lens 210.

In the present embodiment, the image pickup control unit 110 may acquire a part of the image area from the image by reading out the pixel information of a part of the pixels in the effective image pickup area of the image sensor 120. Further, the image pickup control unit 110 acquires a part of the image area from the image by cutting out a part of the image area from the image obtained by reading out all the pixel information in the effective image pickup area of the image sensor 120. You can do it. In this way, the image acquisition range is set by setting the range for partially reading the image from the image sensor 120 and setting the cutting range for cutting out a part of the image from the image read from the image sensor 120. It may be done by at least one.

When at least one of the zoom magnification and the number of recording pixels is specified, the image pickup control unit 110 changes the focal length and the acquisition range of the lens 210 based on at least one of the specified zoom magnification and the number of recording pixels. Therefore, zoom photography may be performed.

When the number of recording pixels is specified by the user, the image pickup control unit 110 determines the image acquisition range based on the specified number of recording pixels, and determines the focal length of the imaging lens based on the determined acquisition range. You can do it. The lens 210 has an image circle that is smaller as the focal length is longer. For example, the diameter of the image circle of the lens 210 is shorter than the long side of the effective imaging region of the image sensor 120, at least at the telephoto end.

The image pickup control unit 110 determines the focal length of the lens 210 so that the area corresponding to the acquisition range of the image pickup surface of the image sensor 120 is included in the image circle of the lens 210.

When the zoom magnification is specified by the user, the image pickup control unit 110 determines the image acquisition range based on the specified zoom magnification, and determines the focal length of the lens 210 based on the determined acquisition range. Specifically, the image pickup control unit 110 determines the acquisition range and the focal length of the image pickup lens so that the portion corresponding to the determined acquisition range in the effective image pickup area of the image sensor 120 is included in the image circle.

FIG. 3 is a diagram for explaining a zoom photographing method in the present embodiment. FIG. 3 schematically shows the relationship between the zoom position and the image circle and the image acquisition range. FIG. 3 shows an image circle 310 at the wide end, an image circle 311 in the case of the zoom position 1, and an image circle 312 in the case of the zoom position 2. At the zoom position 1, the image pickup control unit 110 generates an image having a higher magnification than the image generated at the wide end. At the zoom position 2, the image pickup control unit 110 generates an image having a higher magnification than the image generated at the zoom position 1. The zoom position is determined by the zoom magnification specified by the user.

The optical image 330 is an optical image of a subject formed by the lens 210 at the wide end. The effective imaging area 122 is an area in which the effective pixels of the image sensor 120 are arranged. The image pickup control unit 110 generates a recording image by using at least a part of the pixel information of the effective pixels of the image sensor 120. At the wide end, the image pickup control unit 110 sets the effective image pickup area 122 to the image acquisition range. Therefore, at the wide end, the image pickup control unit 110 generates a recording image 350 by using the pixel information of all the pixels arranged in the effective image pickup area 122. The recording image 350 includes a subject image 352.

At the zoom position 1, the image pickup control unit 110 sets a range 340 narrower than the effective image pickup area 122 as the image acquisition range without changing the focal length of the lens 210. At the zoom position 1, the image pickup control unit 110 generates a recording image 360 by using the pixel information of the pixels located within the range 340. The focal length of the lens 210 at zoom position 1 is the same as the focal length of the lens 210 at the wide end. Therefore, the image circle 311 of the lens 210 is substantially the same as the image circle 310 at the wide end. Further, the optical image 331 formed by the lens 210 at the zoom position 1 is substantially the same as the optical image 330 at the wide end.

As a result, at the zoom position 1, the subject image 362 corresponding to the optical image 331 in the recording image 360 is enlarged by the amount of narrowing the image acquisition range as compared with the subject image 352. In this way, the image pickup control unit 110 narrows the image acquisition range from the effective image pickup area 122 to the range 340 from the wide end to the zoom position 1 without changing the focal length of the lens 210. That is, the image pickup control unit 110 performs digital zoom from the wide end to the zoom position 1.

At the zoom position 2, the image pickup control unit 110 sets the range 340 as the image acquisition range. The image pickup control unit 110 zooms by increasing the focal length of the lens 210. At the zoom position 2, the image pickup control unit 110 generates a recording image 370 using the pixel information of the pixels located within the range 340. Although the image circle 312 in the zoom position 2 is smaller than the image circle 311 in the zoom position 1, the image circle 312 covers the range 340.

The optical image 332 formed by the lens 210 at the zoom position 2 is larger than the optical image 331 at the zoom position 1. As a result, the subject image 372 corresponding to the optical image 332 in the recording image 370 is enlarged by the length of the focal length of the lens 210 as compared with the subject image 362. In this way, the image pickup control unit 110 lengthens the focal length of the lens 210 from the zoom position 1 to the zoom position 2 without changing the image acquisition range. That is, the image pickup control unit 110 performs optical zoom from the zoom position 1 to the zoom position 2. Although the image circle of the lens 210 becomes smaller by performing the optical zoom, the image circle 312 in the zoom position 2 covers the range 340 in which the image is acquired in the zoom position 2. Therefore, deterioration of image quality can be suppressed.

In FIG. 3, for the purpose of explaining in an easy-to-understand manner, the image acquisition range is narrowed from the wide end to the zoom position 1 without changing the focal length of the lens 210, and from the zoom position 1 to the zoom position 2. , An example of increasing the focal length of the lens 210 without changing the image acquisition range has been described. However, the image pickup control unit 110 may increase the focal length of the lens 210 while narrowing the image acquisition range from the wide end to the zoom position 1. The image circle becomes smaller as the focal length of the lens 210 is increased. However, the image pickup control unit 110 can generate a high-magnification image while suppressing deterioration of the image quality by setting the image acquisition range in the image circle.

FIG. 4 is a diagram for explaining a zoom shooting method as a comparative example. In this comparative example, optical zoom is performed from the wide end to zoom position 1, and digital zoom is performed from zoom position 1 to zoom position 2. The focal length of the image pickup lens is lengthened in order to perform optical zoom from the wide end to the zoom position 1. Therefore, it is necessary to design the image pickup lens so that the image circle 411 at the zoom position 1 covers the effective image pickup area 422 of the image sensor.

Further, in the zoom position 2, the digital zoom is performed by setting the image acquisition range to a range 420 narrower than the effective imaging area 422. In this case, since the focal length of the image pickup lens is not changed, the size of the image circle 412 is substantially the same as that of the image circle 411. The range 420 is a very narrow area as compared with the image circle 412. Image information outside the range 420 in the image sensor is not used for the recording image. Therefore, according to the comparative example, a useless area that is not used for the recording image becomes wide in the image circle.

Compared with the zoom shooting method described in connection with FIG. 4, by adopting the zoom shooting method according to the present embodiment, the miniaturization design of the lens 210 becomes easy. Further, according to the zoom shooting method according to the present embodiment, since the image acquisition range is set according to the narrowing of the image circle, the image information of the area in the image circle can be effectively used. In recent years, the number of pixels of image sensors has been increasing, so that the deterioration of image quality due to digital zooming does not become a big problem. For example, even if an image having a pixel number equivalent to 6K is acquired from an image obtained by an image sensor having a pixel number equivalent to 8K, it can be said that substantially sufficient image quality can be maintained except when it is used for a special purpose. ..

FIG. 5 is a flowchart showing a procedure of processing executed by the image pickup control unit 110. This flowchart shows the procedure of the zoom control method executed when the user specifies the number of recording pixels.

In S500, the image pickup control unit 110 acquires the number of recorded pixels based on the instruction information from the user. In S502, the image pickup control unit 110 determines whether or not to change the number of recorded pixels. For example, the image pickup control unit 110 determines that the number of recording pixels is changed when the number of recording pixels different from the currently set number of recording pixels is specified by the user. If the number of recording pixels is not changed, the process of this flowchart ends. When changing the number of recording pixels, the imaging control unit 110 sets the number of recording pixels to the number of recording pixels specified by the user (S504). Subsequently, the image pickup control unit 110 determines a range for cutting out a part of the area from the image captured by the image sensor 120 based on the designated number of recording pixels (S506). For example, the image pickup control unit 110 may determine the extraction range by referring to the association information indicating the association between the pixel position to be cut out from the image and the number of recorded pixels. The association information may be stored in the memory 130 in advance.

Subsequently, in S508, the image pickup control unit 110 causes the lens control unit 220 to perform the zoom operation of the lens 210. At this time, the image pickup control unit 110 causes the image circle of the lens 210 to perform the zoom operation so as to cover the acquisition range determined in S506. For example, the imaging control unit 110 refers to the association information indicating the association between the position of the lens 210 responsible for zooming and the number of recorded pixels, and transmits the control information indicating the position of the lens 210 responsible for zooming to the lens control unit 220. By transmitting, the zoom operation of the lens 210 may be performed. The association information between the position of the lens 210 and the number of recorded pixels may be stored in the memory 130 in advance. When the zoom operation of the lens 210 is completed, the processing of this flowchart ends.

When the image is captured by the image sensor 120, the image pickup control unit 110 cuts out a part of the region determined in S506 from the image captured by the image sensor 120 and records the number of recording pixels specified by the user. An image is generated and recorded in the memory 130.

FIG. 6 is a flowchart showing a procedure of processing executed by the image pickup control unit 110. This flowchart shows the procedure of the zoom control method executed when the user specifies zooming.

In S600, the image pickup control unit 110 acquires the zoom value based on the instruction information from the user. In S602, the image pickup control unit 110 determines whether or not to change the zoom value. For example, the image pickup control unit 110 determines that the zoom value is changed when the user specifies a zoom value different from the currently set zoom value. If the zoom value is not changed, the processing of this flowchart ends. When changing the zoom value, the image pickup control unit 110 sets the number of recording pixels (S604) based on the zoom value. Subsequently, the image pickup control unit 110 determines a range for cutting out a part of the area from the image captured by the image sensor 120 based on the number of recorded pixels (S606). In S604, the image pickup control unit 110 may set the number of recorded pixels by referring to the association information indicating the association between the zoom value and the number of recorded pixels. The association information may be stored in the memory 130 in advance.

Subsequently, in S608, the image pickup control unit 110 causes the lens control unit 220 to perform the zoom operation of the lens 210. At this time, the image pickup control unit 110 causes the image circle of the lens 210 to perform the zoom operation so as to cover the acquisition range determined in S606. Since the processing of S608 is the same as the processing of S508 of FIG. 5, the description thereof will be omitted.

When the image is captured by the image sensor 120, the image pickup control unit 110 cuts out a part of the region determined in S606 from the image captured by the image sensor 120, and records an image having the number of recording pixels set in S604. Is generated and recorded in the memory 130.

As described above, according to the zoom control executed by the image pickup control unit 110, it is possible to allow the image circle to become smaller when the focal distance of the lens 210 is lengthened. Further, the lens 210 may be designed so that the size of the image circle at the wide end is large enough to cover the effective imaging region 122. This facilitates the design for miniaturizing the lens 210.

In the above embodiment, the image pickup device 100 is an image pickup device mounted on the UAV 10. However, the image pickup device 100 does not have to be an image pickup device mounted on a moving body such as the UAV 10. For example, the image pickup device 100 may be an image pickup device supported by a handheld gimbal. Further, the image pickup device 100 may be an image pickup device that is not supported by the UAV 10 or the handheld gimbal. For example, the image pickup device 100 may be an image pickup device that can be hand-held and supported by the user. The image pickup device 100 may be an image pickup device that is fixedly installed, such as a surveillance camera or the like.

FIG. 7 shows an example of a computer 1200 in which a plurality of aspects of the present invention may be embodied in whole or in part. The program installed on the computer 1200 can cause the computer 1200 to function as an operation associated with the device according to an embodiment of the present invention or as one or more "parts" of the device. Alternatively, the program may cause the computer 1200 to perform the operation or the one or more "parts". The program can cause a computer 1200 to perform a process or a step of the process according to an embodiment of the present invention. Such a program may be run by the CPU 1212 to cause the computer 1200 to perform certain operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

The computer 1200 according to this embodiment includes a CPU 1212 and a RAM 1214, which are connected to each other by a host controller 1210. The computer 1200 also includes a communication interface 1222, an input / output unit, which are connected to the host controller 1210 via an input / output controller 1220. The computer 1200 also includes a ROM 1230. The CPU 1212 operates according to the programs stored in the ROM 1230 and the RAM 1214, thereby controlling each unit.

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

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

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

Various types of information such as various types of programs, data, tables, and databases may be stored in recording media and processed. The CPU 1212 describes various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, and information retrieval described in various parts of the present disclosure with respect to the data read from the RAM 1214. Various types of processing may be performed, including / replacement, etc., and the results are written back to the RAM 1214. Further, the CPU 1212 may search for information in a file, a database, or the like in the recording medium. For example, when a plurality of entries each having an attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 1212 specifies the attribute value of the first attribute. Search for an entry that matches the condition from the plurality of entries, read the attribute value of the second attribute stored in the entry, and associate it with the first attribute that satisfies the predetermined condition. The attribute value of the second attribute obtained may be acquired.

The program or software module described above may be stored on a computer 1200 or in a computer readable storage medium near the computer 1200. Also, a recording medium such as a hard disk or RAM provided in a dedicated communication network or a server system connected to the Internet can be used as a computer-readable storage medium, thereby allowing the program to be transferred to the computer 1200 over the network. provide.

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". It should be noted that it can be realized in any order unless the output of the previous process is used in the subsequent process. 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. It's not a thing.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the description of the claims that such modified or improved forms may also be included in the technical scope of the present invention.

10 UAV
20 UAV main unit 30 UAV control unit 36 Communication interface 37 Memory 40 Propulsion unit 41 GPS receiver 42 Inertivity measuring device 43 Magnetic compass 44 Atmospheric pressure meter 45 Temperature sensor 46 Humidity sensor 50 Gimbal 60 Imaging device 100 Imaging device 102 Imaging unit 110 Imaging control unit 120 Image sensor 122 Effective imaging area 130 Memory 200 Lens unit 210 Lens 212 Lens drive unit 214 Position sensor 220 Lens control unit 222 Memory 300 Remote control device 310 Image circle 311 Image circle 312 Image circle 330 Optical image 331 Optical image 332 Optical image 340 Range 350 Recording image 360 Recording image 362 Subject image 370 Recording image 372 Subject image 411 Image circle 412 Image circle 420 Range 422 Effective imaging area 1200 Computer 1210 Host controller 1212 CPU
1214 RAM
1220 Input / Output Controller 1222 Communication Interface 1230 ROM

Claims (11)

It is configured to perform zoom shooting by changing the focal length of an imaging lens having a variable focal length and the acquisition range for acquiring a part of an image area from an image captured by light passing through the imaging lens. Equipped with a circuit
The image circle of the imaging lens changes according to the focal length,
When the number of recording pixels is specified by the user, the circuit determines the acquisition range based on the specified number of recording pixels, and determines the focal length of the image pickup lens based on the determined acquisition range. A control device configured to set the acquisition range within an image circle that is configured to perform the same and that changes according to the focal length of the imaging lens. The imaging lens has a smaller image circle as the focal length is longer.
The circuit is configured to determine the focal length of the image pickup lens so that the image circle includes a region corresponding to the acquisition range of the image pickup surface of the image sensor that is imaged by the light passing through the image pickup lens. The control device according to claim 1. It is configured to perform zoom shooting by changing the focal length of an imaging lens having a variable focal length and the acquisition range for acquiring a part of an image area from an image captured by light passing through the imaging lens. Circuit
With
The image circle of the imaging lens changes according to the focal length,
The circuit determines the acquisition range based on the specified zoom magnification when the zoom magnification is specified by the user, and determines the focal length of the image pickup lens based on the determined acquisition range. And is configured to set the acquisition range within an image circle that changes according to the focal length of the imaging lens.
Control device. The imaging lens has a smaller image circle as the focal length is longer.
The circuit sets the acquisition range and the focal length of the image pickup lens so that the image circle includes a portion of the effective image pickup area of the image sensor that is imaged by the light passing through the image pickup lens and corresponds to the acquisition range. The control device according to claim 3 , which is configured to determine. The control device according to claim 2 or 4 , wherein the diameter of the image circle of the imaging lens is shorter than the long side of the effective imaging region of the image sensor, at least at the telephoto end. With the image pickup lens
An imaging device including the control device according to any one of claims 1 to 5. A moving body that moves with the imaging device according to claim 6. A step of performing zoom shooting is provided by changing the focal length of an imaging lens having a variable focal length and the acquisition range for acquiring a part of an image area from an image captured by light passing through the imaging lens.
The image circle of the imaging lens changes according to the focal length,
The stage of performing the zoom shooting is
When the number of recording pixels is specified by the user, the acquisition range is determined based on the specified number of recording pixels, and the focal length of the image pickup lens is determined based on the determined acquisition range. Te, within the image circle which changes according to the focal length of the imaging lens, a control method including the step of setting the acquisition range. A stage in which zoom photography is performed by changing the focal length of an imaging lens having a variable focal length and the acquisition range for acquiring a part of an image area from an image captured by light passing through the imaging lens.
With
The image circle of the imaging lens changes according to the focal length,
The stage of performing the zoom shooting is
When the zoom magnification is specified by the user, the acquisition range is determined based on the specified zoom magnification, and the focal length of the image pickup lens is determined based on the determined acquisition range. A step of setting the acquisition range in an image circle that changes according to the focal length of the imaging lens.
Control method having. It ’s a program
By changing the focal length of an image pickup lens with a variable focal length and the acquisition range for acquiring a part of the image area from the image captured by the light passing through the image pickup lens, a procedure for performing zoom photography is performed on a computer. Let it run
The image circle of the imaging lens changes according to the focal length,
The procedure for performing the zoom shooting is as follows.
When the number of recording pixels is specified by the user, the acquisition range is determined based on the specified number of recording pixels, and the focal length of the image pickup lens is determined based on the determined acquisition range. Te, within the image circle which changes according to the focal length of the imaging lens, a program that includes a procedure for setting the acquisition range. It ’s a program
A procedure for performing zoom photography by changing the focal length of an imaging lens having a variable focal length and the acquisition range for acquiring a part of an image area from an image captured by light passing through the imaging lens.
Let the computer run
The image circle of the imaging lens changes according to the focal length,
The procedure for performing the zoom shooting is as follows.
When the zoom magnification is specified by the user, the acquisition range is determined based on the specified zoom magnification, and the focal length of the image pickup lens is determined based on the determined acquisition range. A procedure for setting the acquisition range in an image circle that changes according to the focal length of the imaging lens.
Programs that include.

Images