JP6949930B2 - Control device, moving body and control method - Google Patents

Description

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

Patent Document 1 describes that it detects the flight limit altitude of an unmanned aerial vehicle (UAV) and dynamically controls the height of the unmanned aerial vehicle (UAV) in response to the flight limit altitude.

Special Table 2018-502008

An unmanned aerial vehicle (“unmanned aerial vehicle”, “UAV: Unmanned Aerial Vehicle”), which is one of the moving objects, is also called a “drone” and can be remotely controlled by a user, and can also be automatically flown by a flight program. Unmanned aerial vehicles come in a variety of sizes and configurations. The unmanned aerial vehicle is equipped with an image pickup device such as a camera, and the user can operate the unmanned aerial vehicle to take an aerial photograph of a subject (people, buildings, etc.) by the image pickup device such as a camera.

The image (captured image) captured by the imaging device included in the unmanned aerial vehicle is stored in the storage means in the unmanned aerial vehicle. In addition, the captured image may be transmitted (real-time distribution, etc.) to an external device viewed from the unmanned aerial vehicle, and the captured image may be displayed on an external monitor.

Unmanned aerial vehicles can fly in the air while communicating with external devices. This communication includes communication used for real-time distribution of the captured image described above, but communication for other purposes may be performed by an unmanned aerial vehicle with an external device.

In a space where a moving object such as an unmanned aerial vehicle moves, there may be an area where communication quality is good and an area where communication quality is not good. If an unmanned aerial vehicle flies in an area with good communication quality, it will benefit from improved communication quality, such as stable communication with external devices during flight and real-time delivery of higher quality captured images. be able to.

However, unmanned aerial vehicles do not always have to simply fly in areas with good communication quality. In fact, the relative position between the unmanned aerial vehicle and the subject varies depending on the flight path of the unmanned aerial vehicle. Therefore, when the unmanned aerial vehicle flies so as not to deviate from the area where the communication quality is good, the subject protrudes out of the image pickup range of the image pickup device, or the attitude of the image pickup device (camera angle, etc.) with respect to the subject becomes the user's intention. On the contrary, it may fluctuate. As a result, it may not be possible to acquire the captured image as intended by the user.

Contrary to the above, the unmanned aerial vehicle was flown so that the subject did not go out of the imaging range of the imaging device and the attitude of the imaging device with respect to the subject (camera angle, etc.) was in line with the user's intention. In this case, the unmanned aerial vehicle may pass through an area other than the above-mentioned area with good communication quality. In this case, when the unmanned aerial vehicle is flying in an area other than the area with good communication quality, the communication quality with the external device deteriorates, so that it may not be possible to deliver the high-quality captured image intended by the user. There is also.

That is, the quality (camera angle, image quality, etc.) of the image captured by the image pickup device provided in the moving object differs from the user's intention according to the moving path of the moving object (flight path of the unmanned aerial vehicle, etc.). There was a problem.

Therefore, the present disclosure describes a control device, a moving body, and a control method capable of imaging a subject according to a user's intention in a space where the imaging device included in the moving body can move at the time of imaging. The purpose is to provide.

In one aspect, a control device that controls the posture of the image pickup device included in the moving body acquires communication quality information indicating communication quality in a space where the image pickup device can move at the time of imaging, and the image pickup is based on the communication quality information. Control the attitude of the device.

In the above configuration, the control device may control the movement of the moving body so that the moving body moves in a region where the communication quality indicated by the communication quality information is better than a predetermined reference.

In the above configuration, the control device may control the posture of the image pickup device so as to maintain the posture of the image pickup device in a predetermined state based on the communication quality information.

In the above configuration, the control device may control the posture of the image pickup device so that the subject can continue to be imaged based on the communication quality information.

In the above configuration, in the control device, in addition to the region where the communication quality indicated by the communication quality information is better than the predetermined reference, the moving body sets the region where the communication quality indicated by the communication quality information is not better than the predetermined reference. The movement of the moving body may be controlled so as to move, and the posture of the image pickup device may be controlled so as to maintain the posture of the image pickup device in a predetermined state.

In the above configuration, the control device may transmit the image to an external device in real time in a state where the transfer rate of the captured image captured by the imaging device is lowered.

In the above configuration, the control device controls the movement of the moving body so that the moving body moves in a region where the communication quality indicated by the communication quality information is better than a predetermined reference. The first control pattern that controls the posture of the image pickup device so as to maintain the posture of the image pickup device in a predetermined state based on the communication quality information, and the control device, the communication quality information The movement of the moving body is controlled so that the moving body moves in a region where the communication quality shown is better than a predetermined reference, and the subject can be continuously imaged based on the communication quality information. , The second control pattern that controls the posture of the image pickup device, or one of the control patterns may be selected to control the movement of the moving body and the posture of the image pickup device.

In the above configuration, the control device includes the first control pattern, the second control pattern, and the control device in addition to the region where the communication quality indicated by the communication quality information is better than a predetermined reference. To control the movement of the moving body and maintain the posture of the imaging device in a predetermined state so that the moving body moves in a region where the communication quality indicated by the communication quality information is not better than a predetermined standard. In addition, one of the third control pattern that controls the posture of the image pickup device may be selected to control the movement of the moving body and the posture of the image pickup device.

In one aspect, the moving body includes the control device having the above configuration and the image pickup device.

In one aspect, the moving body may further include a support mechanism for supporting the imaging device.

In the above configuration, the moving body may be an unmanned aerial vehicle.

In one aspect, the control method by the control device for controlling the posture of the image pickup device included in the moving body includes a step in which the control device acquires communication quality information indicating communication quality in a space where the image pickup device can move at the time of imaging. The control device has a step of controlling the posture of the image pickup device based on the communication quality information.

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

The present disclosure provides a control device, a moving body, and a control method capable of imaging a subject according to a user's intention in a space where the imaging device included in the moving body can move at the time of imaging. can do.

Schematic diagram showing an example of a mobile system according to an embodiment Block diagram showing an example of the hardware configuration of the unmanned aerial vehicle 100 A conceptual diagram showing a first control pattern of the unmanned aerial vehicle 100 and the image pickup device 220 by the control device. A conceptual diagram showing a second control pattern of the unmanned aerial vehicle 100 and the image pickup device 220 by the control device. Flow chart showing an example of control pattern selection processing executed by the control device Conceptual diagram showing a modified example of the second control pattern

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.

(Embodiment)
In the following embodiments, in order to facilitate understanding, the present disclosure is detailed on the premise that an image pickup device mounted on an unmanned aerial vehicle (UAV), which is one of the moving objects, takes an aerial photograph of a subject. do. However, this is not intended to limit the subject matter described in the claims. For example, a moving body is a concept including a robot, a vehicle moving on the ground, a ship moving on water, and the like, and the present disclosure can be applied to a moving body other than an unmanned aerial vehicle. The unmanned aerial vehicle 100 in the following description is an example of a moving body, and the flight of the unmanned aerial vehicle 100 is an example of the movement of a moving body.

FIG. 1 is a schematic diagram showing an example of a mobile system according to an embodiment. The mobile system may include an unmanned aerial vehicle 100 and a remote control aircraft 50. The unmanned aerial vehicle 100 and the remote control aircraft 50 can communicate with each other by wired communication or wireless communication (for example, wireless LAN (Local Area Network)). In the example of FIG. 1, the remote control device 50 is a transmitter (propo) including a remote control device main body 52 held by the user and a monitor 54 for presenting image information or the like to the user. However, the remote control device 50 is not limited to this, and may be, for example, a smartphone or a PC. The unmanned aerial vehicle 100 may be operated by the remote control aircraft 50.

The unmanned aerial vehicle 100 includes a UAV main body 102 and an image pickup device 220. The unmanned aerial vehicle 100 may further include a gimbal (support mechanism) 200 and a sensor 230. As shown in the figure, the image pickup device 220 is rotatably arranged on the arm of the gimbal 200, and can take an image (aerial image) of the appearance while moving in the air. The operation of the gimbal 200 may be performed by the remote controller 50. The gimbal (support mechanism) 200 may be attached to the unmanned aerial vehicle 100. At this time, the image pickup device 220 may be supported by the gimbal (support mechanism) 200. In this way, the imaging device 220 may be supported by the unmanned aerial vehicle 100 via the gimbal (support mechanism) 200.

The UAV body 102 includes one or more rotor blades (propellers). The UAV main body 102 flies the unmanned aerial vehicle 100 by controlling the rotation of the rotor blades. The UAV body 102 may fly the unmanned aerial vehicle 100 using, for example, four rotors.

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

The sensor 230 may be a sensing camera that captures the surroundings of the unmanned aerial vehicle 100 in order to control the flight of the unmanned aerial vehicle 100. Two sensors 230 may be provided in front of the nose of the unmanned aerial vehicle 100. In addition, two other sensors 230 may be provided on the bottom surface of the unmanned aerial vehicle 100. The two sensors 230 on the front side may be paired and function as a so-called stereo camera. The two sensors 230 on the bottom side may also be paired and function as a stereo camera. Based on the images captured by the plurality of sensors 230, three-dimensional spatial data (three-dimensional shape data) around the unmanned aerial vehicle 100 may be generated. The number of sensors 230 included in the unmanned aerial vehicle 100 is not limited to four. The unmanned aerial vehicle 100 may include at least one sensor 230 on each of the nose, tail, sides, bottom surface, and ceiling surface of the unmanned aerial vehicle 100. The angle of view that can be set by the sensor 230 may be wider than the angle of view that can be set by the image pickup apparatus 220. The sensor 230 may have a single focus lens or a fisheye lens.

The sensor 230 is not limited to the above-mentioned sensing camera, and may include an infrared sensor, an ultrasonic sensor, a TOF (time of flight) sensor, and the like. By using these sensors, it is possible to measure the distance to the subject to be photographed and the relative speed to the subject. The distance to the subject can also be measured by the image pickup device 220 itself.

FIG. 2 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 120, a memory 130, a gimbal 200, a rotary wing mechanism 210, one or more sensors 230, a GPS receiver 240, and an inertial measurement unit (IMU: Inertial). The configuration includes a measurement unit) 250, a magnetic compass 260, and a barometric altimeter 270.

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 130. The UAV control unit 110 may take an aerial image.

The UAV control unit 110 acquires position information indicating the position of the unmanned aerial vehicle 100. The UAV control unit 110 acquires latitude and 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. You can do it.

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 image pickup range information indicating the image pickup range of the image pickup apparatus 220. The UAV control unit 110 may acquire the angle of view information indicating the angle of view of the image pickup device 220 from the image pickup device 220 as a parameter for specifying the image pickup range. The UAV control unit 110 may acquire information indicating the imaging direction of the imaging device 220 as a parameter for specifying the imaging range. The UAV control unit 110 may acquire posture information indicating the posture state of the imaging device 220 from the gimbal 200, for example, as information indicating the imaging direction of the imaging device 220. The posture information of the image pickup apparatus 220 may indicate the rotation angle of the gimbal 200 from the reference rotation angle of the pitch axis and the yaw axis. The reference here is, for example, a predetermined angle around the yaw axis, the pitch axis, and the roll axis when the UAV control unit 110 executes initialization.

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 device 220 based on the angle of view and the imaging direction of the imaging device 220 and the sensor 230, and the position where the unmanned aerial vehicle 100 exists, and images the image. The imaging range information may be acquired by generating the range information.

The UAV control unit 110 may acquire imaging range information from the memory 130. The UAV control unit 110 may acquire imaging range information via the communication interface 120.

The UAV control unit 110 controls the gimbal 200, the rotary wing mechanism 210, the image pickup device 220, the sensor 230, the GPS receiver 240, the inertial measurement unit 250, the magnetic compass 260, and the barometric altimeter 270. The UAV control unit 110 may control the imaging direction (posture, camera angle) of the imaging device 220 supported by the gimbal 200 by controlling the rotation mechanism of the gimbal 200. The UAV control unit 110 may control the angle of view of the image pickup device 220 by transmitting a control signal for changing the angle of view of the camera lens 222 to the image pickup control unit 11. The control of each component by the UAV control unit 110 may be performed based on the control signal received from the remote control unit 50 via the communication interface 120.

The imaging range refers to a geographical range imaged by the imaging device 220 or the sensor 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 device 220 or sensor 230, and the position where the unmanned aerial vehicle 100 is located. The imaging direction of the image pickup device 220 or the sensor 230 may be defined from the direction in which the front surface of the image pickup device 220 or the sensor 230 provided with the image pickup lens faces (the optical axis direction of the image pickup lens). The imaging direction of the imaging device 220 may be a direction specified from the orientation of the nose of the unmanned aerial vehicle 100 and the attitude of the imaging device 220 with respect to the gimbal 200. The imaging direction of the sensor 230 may be a direction specified from the orientation of the nose of the unmanned aerial vehicle 100 and the position where the sensor 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 sensors 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, a tree, or the like. 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 sensors 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 130. 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 may acquire communication quality information indicating the communication quality of the space near the unmanned aerial vehicle 100 (and the imaging device 220) from the external device via the communication interface 120. Communication quality information includes communication quality in a predetermined space (for example, communication speed and communication environment capable of video transmission in high definition, communication speed and communication environment capable of video transmission in higher resolution 4K, 8K, etc.) ) May be three-dimensional coordinate information.

The range of space in the vicinity of the unmanned aerial vehicle 100 (and the imaging device 220) is as follows. The UAV control unit 110 may acquire communication quality information indicating the communication quality of the space in which the imaging device 220 included in the unmanned aerial vehicle 100 can move at the time of imaging. This is because in the present disclosure, the quality of communication quality at the position of the unmanned aerial vehicle 100 or the imaging device 220 at the time of imaging becomes a problem. However, the UAV control unit 110 may acquire communication quality information indicating communication quality in a wider space including a space in which the image pickup device 220 included in the unmanned aerial vehicle 100 can move at the time of imaging. For example, the UAV control unit 110 can acquire communication quality information for a space from the current position of the unmanned aerial vehicle 100 to a predetermined distance (for example, a radius of 1 km). However, the predetermined distance is not limited to a radius of 1 km. Further, if the flight route of the unmanned aerial vehicle 100 is predetermined or predicted, the UAV control unit 110 determines the communication quality of the flight route ahead of the current position of the unmanned aerial vehicle 100 (and the image pickup device 220). Information may be obtained.

The UAV control unit 110 controls the flight (movement) 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. By acquiring the above-mentioned communication quality information, the UAV control unit 110 can control the movement of the unmanned aerial vehicle 100 so as to select and fly a region having a relatively high communication quality.

The UAV control unit 110 may control the imaging range of the imaging device 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 device 220 by controlling the zoom lens included in the image pickup device 220. The UAV control unit 110 may control the angle of view of the image pickup device 220 by the digital zoom by utilizing the digital zoom function of the image pickup device 220.

The communication interface 120 communicates with the remote control device 50 and an external device (not shown). The communication interface 120 may perform wireless communication by any wireless communication method. The communication interface 120 may perform wired communication by any wired communication method. The communication interface 120 may transmit an aerial image or additional information (metadata) related to the aerial image to the remote control device 50 or an external device.

The memory 130 is a program required for the UAV control unit 110 to control the gimbal 200, the rotary wing mechanism 210, the image pickup device 220, the sensor 230, the GPS receiver 240, the inertial measurement unit 250, the magnetic compass 260, and the barometric altimeter 270. Etc. are stored. The memory 130 may be a computer-readable recording medium, and may be a SRAM (Static Random Access Memory), a DRAM (Dynamic Random Access Memory), an EPROM (Erasable Programmable Read Only Memory), an EPROM (Electrically Erasable Programmable Read-Only Memory), and an EPROM (Electrically Erasable Programmable Read-Only Memory). It may include at least one of flash memories such as USB (Universal Serial Bus) memory. The memory 130 may be removable from the unmanned aerial vehicle 100. The memory 130 may operate as a working memory.

The gimbal 200 may rotatably support the image pickup device 220 about the yaw axis, the pitch axis, and the roll axis. The gimbal 200 may change the posture of the image pickup device 220 by rotating the image pickup device 220 about at least one of the yaw axis, the pitch axis, and the roll axis. The rotation of the image pickup device 220 by the gimbal 200 may be controlled based on the control signal received by the UAV control unit 110 from the remote control device 50.

The image pickup apparatus 220 captures a subject in the imaging range and generates captured image data. The captured image data (for example, an aerial image) obtained by the imaging of the imaging device 220 may be stored in the memory 13 of the imaging device 220 or a storage (not shown). In addition, the captured image data may be transmitted to an external device via the communication interface 120. The externally transmitted captured image data may be displayed on a display device (not shown). In this way, the unmanned aerial vehicle 100 can live-deliver aerial images. When this live distribution is performed by a high-resolution image such as 4K or 8K, the unmanned aerial vehicle 100 needs to fly in a region having high communication quality capable of transmitting high-resolution data.

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, as the posture of the unmanned aerial vehicle 100, 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. It's okay. Further, the speed of the unmanned aerial vehicle 100 may be detected from the values such as the acceleration detected by the inertial measurement unit 250.

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.

Next, the configuration on the imaging device 220 side will be described. The image pickup apparatus 220 includes a camera body 221 and a camera lens 222. The camera lens 222 may be removable from the camera body 221 or may be integrated with the camera body 221.

The camera body 221 includes an image pickup control unit 11, an image pickup element 12, a memory 13, and an acceleration sensor 14. The camera body 221 may include additional configurations such as a shutter drive unit, a gain control unit, and a flash.

The image pickup control unit 11 may be composed of a microprocessor such as a CPU (Central Processing Unit) or an MPU (Micro Processing Unit), a microcontroller such as an MCU (Micro Control Unit), or the like. The image pickup control unit 11 controls the entire image pickup process by the image pickup apparatus 220. This control may be performed in response to an operation command from the UAV control unit 110. In addition, the image pickup control unit 11 determines imaging conditions such as an exposure time and an aperture (iris). The image pickup control unit 11 may send an image pickup instruction to the image pickup device 12.

The light incident through the camera lens 222 is imaged on the image pickup surface of the image pickup element 12. The image sensor 12 photoelectrically converts the optical image formed on the image pickup surface and outputs it as an image signal. A CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor: Complementary MOS) image sensor may be used as the image pickup device 12.

The image pickup control unit 11 may generate image data by performing analog-to-digital conversion on the image signal. The image pickup control unit 11 may perform various image processing such as shading correction, color correction, contour enhancement, noise removal, gamma correction, debayer, and compression.

The memory 13 is a storage medium for storing various data and image data. The memory 13 may be a computer-readable recording medium, and may be a SRAM (Static Random Access Memory), a DRAM (Dynamic Random Access Memory), an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), and an EEPROM. It may be a USB (Universal Serial Bus) memory or the like. The memory 13 may be provided so as to be removable from the camera body 221. The memory 13 may store a program or the like necessary for the image pickup control unit 11 to control the image pickup device 12 or the like. The memory 13 may hold, for example, exposure control information for calculating the exposure amount based on the shutter speed S, F value, ISO sensitivity, and ND value. The ISO sensitivity is a value corresponding to the gain. The ND value represents the degree of dimming by the dimming filter. The exposure control information includes an AE algorithm. A memory 18 similar to the memory 13 may be provided on the camera lens 222 side. The memory 18 can store data useful for processing performed by the lens control unit 17.

The acceleration sensor 14 detects the acceleration of the image pickup device 220. The acceleration sensor 14 may be provided on the camera lens 222. The acceleration sensor 14 may be a 3-axis acceleration sensor.

The camera lens 222 includes a lens group 15. The lens group 15 collects light from the subject and forms an image on the image pickup device 12. FIG. 2 shows three lenses 15A, 15B, and 15C included in the lens group 15. However, the number of lenses included in the lens group 15 may be 2 or less or 4 or more. The lens group 15 may include a focus lens, a zoom lens, an image shake correction lens, and the like. The lenses 15A, 15B, and 15C included in the lens group 15 are driven by the lens driving units 16A, 16B, and 16C, respectively. The lens driving units 16A, 16B, and 16C have motors (not shown), and when a control signal from the lens control unit 17 is input, the lens group 15 including the zoom lens and the focus lens is moved in the optical axis direction. good. When the lens driving unit 16 performs a zooming operation in which the zoom lens is moved to change the zoom magnification, the lens barrel accommodating the lens group 15 may be expanded and contracted in the front-rear direction.

FIG. 3 is a conceptual diagram showing a first control pattern of the unmanned aerial vehicle 100 and the image pickup device 220 by the control device. The control device may be a device including the UAV control unit 110. The control device may be a device including a UAV control unit 110 and an image pickup control unit 11. Further, the control device may be an external device (for example, the remote control device 50) viewed from the unmanned aerial vehicle 100, or the external device may remotely control the unmanned aerial vehicle 100 and the image pickup device 220. Hereinafter, the first control pattern will be described on the premise that the control device is a device including the UAV control unit 110.

Unmanned aerial vehicle 100 is flying in the air. In this example, the unmanned aerial vehicle 100 uses the image pickup device 220 to image the subject OBJ while approaching the subject OBJ. The user holding the remote controller 50 (see FIG. 1) operates the remote controller 50 so that the unmanned aerial vehicle 100 approaches the subject OBJ by horizontal movement, and receives a control signal from this terminal. The control unit 110 controls the movement of the unmanned aerial vehicle 100.

In the space where the unmanned aerial vehicle 100 flies, that is, the space where the image pickup device 220 included in the unmanned aerial vehicle 100 can move at the time of imaging, the area B where the communication quality is better than the predetermined standard and the area A where the communication quality is not better than the predetermined standard And the region C exists. For example, it is assumed that the predetermined standard is "the resolution of the moving image is 4K (3840 x 2160 pixels) and real-time distribution is possible". In this case, the region B whose communication quality is better than a predetermined standard has sufficient communication quality to deliver the captured image in real time with high image quality such as 4K (3840 × 2160 pixels) or 8K (7680 × 4320 pixels). There is. On the other hand, the regions A and C whose communication quality is not better than a predetermined standard do not have enough communication quality to deliver the captured image in real time with high image quality such as 4K or 8K.

The boundary surface between the area A and the area B is expressed as the flight upper limit boundary surface UL, and the boundary surface between the area B and the area C is expressed as the flight lower limit boundary surface LL. For convenience of explanation, it is illustrated that regions having a difference in communication quality exist separately in the upper and lower parts in the above space. However, in reality, there may be a difference in communication quality even in the horizontal direction and the diagonal direction in the above space. This difference in communication quality is in the form of a value indicating the high level of communication quality for each coordinate or region in space in the above-mentioned communication quality information acquired by the UAV control unit 110 via the communication interface 120. It is expressed by. Therefore, the UAV control unit 110 that has acquired the communication quality information can identify a place in the space where the communication quality is good (area B) and a place where the communication quality is not good (area A and area C). Here, the description is made on the premise that the unmanned aerial vehicle 100 goes up or down. However, it may be assumed that the unmanned aerial vehicle 100 moves horizontally with respect to the ground surface. In this case, the unmanned aerial vehicle 100 has flight boundaries in at least one direction, front, back, left, and right.

The unmanned aerial vehicle 100 can transmit (real-time distribution) the captured image data captured by the imaging device 220 to an external device with higher quality when the unmanned aerial vehicle 100 flies in an area with good communication quality. Therefore, the UAV control unit 110 that has received the control signal from the remote control aircraft 50 receives the unmanned aerial vehicle 100 so that the unmanned aerial vehicle 100 flies (moves) in the region B where the communication quality indicated by the communication quality information is better than a predetermined standard. Control 100 flights (movements). In the illustrated example, the unmanned aerial vehicle 100 flies between the flight upper limit boundary surface UL and the flight lower limit boundary surface LL under the control of the UAV control unit 110. The UAV control unit 110 is not located near the middle of the flight upper limit boundary surface UL and the flight lower limit boundary surface LL, but at a position indicated by an arrow in FIG. 3 so that the unmanned aerial vehicle 100 can fly as horizontally as possible. The aircraft 100 may be controlled to fly.

The UAV control unit 110 further controls the posture of the image pickup device 220 so as to maintain the posture of the image pickup device 220 in a predetermined state based on the communication quality information. In the illustrated example, the UAV control unit 110 controls the posture of the image pickup device 220 so that the camera angle of the image pickup device 220 with respect to the subject OBJ does not change. This attitude control is possible by the UAV control unit 110 controlling the rotation of the gimbal 200. Further, the UAV control unit 110 transmits a control signal to the image pickup control unit 11 so as to change the focus and zoom of the lens included in the image pickup apparatus 220 (in the example of FIG. 2, the lens group 15 of the camera lens 222). May be good.

Here, the operation performed by the user on the remote control aircraft 50 was an operation intended for the unmanned aerial vehicle 100 to approach the subject OBJ by horizontal movement. That is, when the UAV control unit 110 performs the above-mentioned control, the unmanned aerial vehicle 100 moves as intended by the user, and the captured image as intended by the user (an image that approaches the subject OBJ horizontally). Therefore, it is possible to acquire (for example, a resolution of 4K or higher) and deliver it in real time.

Keeping the camera angle of the image pickup device 220 with respect to the subject OBJ unchanged is an example of maintaining the posture of the image pickup device 220 in a predetermined state. For example, when the user wants to image the subject OBJ with a constant angle change from a low angle to a high angle, the UAV control unit 110 controls the gimbal 200 and rotates the image pickup device 220 at a predetermined speed around the pitch axis. Let me. At this time, the UAV control unit 110 controls the rotary wing mechanism 210 to raise the unmanned aerial vehicle 100. In addition, the user may pan the subject OBJ with a constant angle change. In this case, the image pickup apparatus 220 is rotated at a predetermined speed around the yaw axis. At this time, the UAV control unit 110 controls the rotary wing mechanism 210 to move the unmanned aerial vehicle 100 in the horizontal direction with respect to the ground surface. Rotating the image pickup device 220 at a predetermined speed is also an example of maintaining the posture of the image pickup device 220 in a predetermined state. When maintaining the posture of the image pickup apparatus 220, the zoom operation and the focus operation may be performed together. By doing so, it is possible to maintain the angle of view while maintaining the focus on the subject OBJ.

FIG. 4 is a conceptual diagram showing a second control pattern of the unmanned aerial vehicle 100 and the image pickup device 220 by the control device. The control device may be a device including the UAV control unit 110. The control device may be a device including a UAV control unit 110 and an image pickup control unit 11. Further, the control device may be an external device (for example, the remote control device 50) viewed from the unmanned aerial vehicle 100, or the external device may remotely control the unmanned aerial vehicle 100 and the image pickup device 220. Hereinafter, the second control pattern will be described on the premise that the control device is a device including the UAV control unit 110.

Unmanned aerial vehicle 100 is flying in the air. In this example, the unmanned aerial vehicle 100 uses the image pickup device 220 to image the subject OBJ while approaching the subject OBJ. The user holding the remote controller 50 (see FIG. 1) operates the remote controller 50 so that the unmanned aerial vehicle 100 approaches the subject OBJ by horizontal movement, and receives a control signal from this terminal. The control unit 110 controls the movement of the unmanned aerial vehicle 100.

In the space where the unmanned aerial vehicle 100 flies, that is, the space where the image pickup device 220 included in the unmanned aerial vehicle 100 can move at the time of imaging, the area B where the communication quality is better than the predetermined standard and the area A where the communication quality is not better than the predetermined standard And the region C exists. For example, it is assumed that the predetermined standard is "the resolution of the moving image is 4K (3840 x 2160 pixels) and real-time distribution is possible". In this case, the region B whose communication quality is better than a predetermined standard has sufficient communication quality to deliver the captured image in real time with high image quality such as 4K (3840 × 2160 pixels) or 8K (7680 × 4320 pixels). There is. On the other hand, the regions A and C whose communication quality is not better than a predetermined standard do not have enough communication quality to deliver the captured image in real time with high image quality such as 4K or 8K.

Similar to FIG. 3, the boundary surface between the area A and the area B is expressed as the flight upper limit boundary surface UL, and the boundary surface between the area B and the area C is expressed as the flight lower limit boundary surface LL. Communication quality may differ not only in the vertical direction but also in the horizontal direction and diagonal direction in the above space, this difference in communication quality is expressed in the above communication quality information, and communication quality information. The acquired UAV control unit 110 can identify a place having good communication quality (area B) and a place having poor communication quality (area A and area C) in the space, and the like is the same as the description in FIG. Is.

The unmanned aerial vehicle 100 can transmit (real-time distribution) the captured image data captured by the imaging device 220 to an external device with higher quality when the unmanned aerial vehicle 100 flies in an area with good communication quality. Therefore, the UAV control unit 110 that has received the control signal from the remote control aircraft 50 receives the unmanned aerial vehicle 100 so that the unmanned aerial vehicle 100 flies (moves) in the region B where the communication quality indicated by the communication quality information is better than a predetermined standard. Control 100 flights (movements). In the illustrated example, the unmanned aerial vehicle 100 flies between the flight upper limit boundary surface UL and the flight lower limit boundary surface LL under the control of the UAV control unit 110.

Here, unlike the first control pattern shown in FIG. 3, if the unmanned aerial vehicle 100 continues to fly horizontally, the unmanned aerial vehicle 100 has a predetermined communication quality from a region B in which the communication quality is better than a predetermined standard. It will deviate to the region C which is not better than the standard of. In the region C, the captured image captured by the imaging device 220 cannot be delivered in real time with high image quality.

Therefore, the unmanned aerial vehicle 100 gives priority to flying in a region with good communication quality rather than keeping the camera angle of the image pickup device 220 horizontal, and flies on a route that does not deviate from the region A. An example of such a flight route is a route as shown by an arrow in the figure, which passes near the middle of the flight upper limit boundary surface UL and the flight lower limit boundary surface LL. The UAV control unit 110 sets a route that does not deviate from the area A, and controls the flight (movement) of the unmanned aerial vehicle 100 so as to fly (move) along the set route. By the above-mentioned control of the UAV control unit 110, the unmanned aerial vehicle 100 provided with the image pickup device 220 can maintain good communication quality with the external device.

On the other hand, when the unmanned aerial vehicle 100 flies along the route set as described above, the level flight cannot be maintained. Therefore, the UAV control unit 110 controls the posture of the image pickup device 220 so that the subject OBJ can continue to be imaged based on the communication quality information. In the illustrated example, the UAV control unit 110 controls the gimbal 200 to rotate the image pickup device 220 gradually downward about the pitch axis from the time when the unmanned aerial vehicle 100 starts to ascend diagonally. For example, the downward rotation of the image pickup device 220 is performed so that the subject OBJ continues to exist on the extension line of the optical axis of the camera lens 222 of the image pickup device 220. Further, the UAV control unit 110 transmits a control signal to the image pickup control unit 11 so as to change the focus and zoom of the lens included in the image pickup apparatus 220 (in the example of FIG. 2, the lens group 15 of the camera lens 222). May be good.

Here, the operation performed by the user on the remote control aircraft 50 was an operation intended for the unmanned aerial vehicle 100 to approach the subject OBJ by horizontal movement. By performing the above-mentioned control by the UAV control unit 110, the unmanned aerial vehicle 100 does not move horizontally, and although the camera angle of the image pickup device 220 fluctuates, the subject OBJ can continue to be imaged. Further, since the high communication quality can be maintained, the captured moving image can be delivered in real time at the resolution intended by the user (for example, a resolution of 4K or more).

FIG. 5 is a flowchart showing an example of the control pattern selection process executed by the control device. The control device may be a device including the UAV control unit 110. The control device may be a device including a UAV control unit 110 and an image pickup control unit 11. Further, the control device may be an external device (for example, the remote control device 50) viewed from the unmanned aerial vehicle 100, or the external device may remotely control the unmanned aerial vehicle 100 and the image pickup device 220. Hereinafter, the flowchart shown in FIG. 5 will be described on the assumption that the control device is a device including the UAV control unit 110.

In step St1, the UAV control unit 110 acquires communication quality information in the space near the unmanned aerial vehicle 100 (and the imaging device 220). This communication quality information may be received from, for example, an external server (not shown) or the like via the communication interface 120. The range of space in the vicinity of the unmanned aerial vehicle 100 (and the imaging device 220) is as described above based on FIG.

In step St2, the UAV control unit 110 determines the posture of the image pickup device 220 based on the acquired communication quality information when the unmanned aerial vehicle 100 flies in a region where the communication quality indicated by the communication quality information is better than a predetermined standard. Judge whether or not the state can be maintained. For example, when the unmanned aerial vehicle 100 flies horizontally and takes an image while approaching the subject OBJ, the camera angle of the imaging device 220 is constant while the unmanned aerial vehicle 100 flies in the area B shown in FIGS. 3 and 4. Determine if it can be maintained as it is. When it is determined that the attitude of the image pickup apparatus 220 can be maintained in a predetermined state when the unmanned aerial vehicle 100 flies in a region where the communication quality indicated by the communication quality information is better than a predetermined standard (step St2: Yes), step St3 The process transitions to. On the other hand, when it is determined that the attitude of the image pickup apparatus 220 cannot be maintained in a predetermined state when the unmanned aerial vehicle 100 flies in a region where the communication quality indicated by the communication quality information is better than a predetermined standard (step St2: No). The process transitions to step St4.

In step St3, the UAV control unit 110 performs control according to the control pattern 1 shown in FIG. That is, the UAV control unit 110 sets the unmanned aerial vehicle 100 so that the unmanned aerial vehicle 100 flies (moves) in a region where the communication quality indicated by the communication quality information is better than a predetermined reference (corresponding to the region B in FIGS. 3 and 4). Control flight (movement). Further, the UAV control unit 110 controls the posture of the image pickup device 220 so as to maintain the posture of the image pickup device 220 in a predetermined state based on the communication quality information. For example, when the unmanned aerial vehicle 100 makes a horizontal flight and takes an image while approaching the subject OBJ, the UAV control unit 110 controls the attitude of the image pickup device 220 so that the camera angle of the image pickup device 220 with respect to the subject OBJ does not change. do.

In step St4, the UAV control unit 110 performs control according to the control pattern 2 shown in FIG. That is, the UAV control unit 110 sets the unmanned aerial vehicle 100 so that the unmanned aerial vehicle 100 flies (moves) in a region where the communication quality indicated by the communication quality information is better than a predetermined reference (corresponding to the region B in FIGS. 3 and 4). Control flight (movement). Further, the UAV control unit 110 controls the posture of the image pickup device 220 so that the subject OBJ can continue to be imaged based on the communication quality information. For example, the UAV control unit 110 controls the gimbal 200 to rotate the image pickup device 220 about the pitch axis so as to gradually face downward from the time when the unmanned aerial vehicle 100 starts to ascend diagonally.

By performing the above control by the UAV control unit 110, the flight of the unmanned aerial vehicle 100 is performed by selecting an appropriate control pattern according to the application of the captured image according to the communication quality of the space in which the unmanned aerial vehicle 100 flies. (Movement) and the posture of the image pickup device 220 can be controlled.

FIG. 6 is a conceptual diagram showing a modified example of the second control pattern shown in FIG. Also in the modified example, the control device may be a device including the UAV control unit 110. The control device may be a device including a UAV control unit 110 and an image pickup control unit 11. Further, the control device may be an external device (for example, the remote control device 50) viewed from the unmanned aerial vehicle 100, or the external device may remotely control the unmanned aerial vehicle 100 and the image pickup device 220. Hereinafter, a modified example of the second control pattern will be described on the premise that the control device is a device including the UAV control unit 110.

Unmanned aerial vehicle 100 is flying in the air. In this example, the unmanned aerial vehicle 100 uses the image pickup device 220 to image the subject OBJ while approaching the subject OBJ. The user holding the remote controller 50 (see FIG. 1) operates the remote controller 50 so that the unmanned aerial vehicle 100 approaches the subject OBJ by horizontal movement, and receives a control signal from this terminal. The control unit 110 controls the movement of the unmanned aerial vehicle 100.

In the space where the unmanned aerial vehicle 100 flies, that is, the space where the image pickup device 220 included in the unmanned aerial vehicle 100 can move at the time of imaging, the area B where the communication quality is better than the predetermined standard and the area A where the communication quality is not better than the predetermined standard And the region C exists. For example, it is assumed that the predetermined standard is "the resolution of the moving image is 4K (3840 x 2160 pixels) and real-time distribution is possible". In this case, the region B whose communication quality is better than a predetermined standard has sufficient communication quality to deliver the captured image in real time with high image quality such as 4K (3840 × 2160 pixels) or 8K (7680 × 4320 pixels). There is. On the other hand, the regions A and C whose communication quality is not better than a predetermined standard do not have enough communication quality to deliver the captured image in real time with high image quality such as 4K or 8K.

Similar to FIGS. 3 and 4, the boundary surface between the area A and the area B is expressed as the flight upper limit boundary surface UL, and the boundary surface between the area B and the area C is expressed as the flight lower limit boundary surface LL. .. Communication quality may differ not only in the vertical direction but also in the horizontal direction and diagonal direction in the above space, this difference in communication quality is expressed in the above communication quality information, and communication quality information. The acquired UAV control unit 110 can identify a place having good communication quality (area B) and a place having poor communication quality (area A and area C) in the space, and the like is the same as the description in FIG. Is.

The unmanned aerial vehicle 100 can transmit (real-time distribution) the captured image data captured by the imaging device 220 to an external device with higher quality when the unmanned aerial vehicle 100 flies in an area with good communication quality. Therefore, the UAV control unit 110 that has received the control signal from the remote control aircraft 50 causes the unmanned aerial vehicle 100 to fly (move) in at least a part of the region B in which the communication quality indicated by the communication quality information is better than the predetermined reference. In addition, it controls the flight (movement) of the unmanned aerial vehicle 100. In the illustrated example, the unmanned aerial vehicle 100 flies between the flight upper limit boundary surface UL and the flight lower limit boundary surface LL under the control of the UAV control unit 110.

On the other hand, unlike the second pattern shown in FIG. 4, the unmanned aerial vehicle 100 maintains level flight. That is, in the UAV control unit 110, the unmanned aerial vehicle 100 flies in the area B where the communication quality indicated by the communication quality information is better than the predetermined standard and in the area C where the communication quality indicated by the communication quality information is not better than the predetermined standard. The flight (movement) of the unmanned aerial vehicle 100 is controlled so as to (move). Here, in the region C, the captured image captured by the imaging device 220 cannot be delivered in real time with high image quality such as 4K or 8K.

However, even when the unmanned aerial vehicle 100 is flying in the area C, the control device (UAV control unit 110 or the like) additionally executes a process for lowering the transfer rate of the captured image, thereby causing an external device. It is possible to maintain the delivery of the captured image to. Specific examples of the process for reducing the image transfer rate include lowering the resolution of the captured image, lowering the frame rate of the image captured by the imaging device 220, and blackening the background when the subject OBJ to be imaged is clear. There are methods such as lowering the data frame rate and increasing the compression rate when transferring images. However, it is not limited to these. The unmanned aerial vehicle 100 transmits the captured image to the external device in real time in a state where the transfer rate of the captured image captured by the imaging device 220 is lowered.

Further, even when the unmanned aerial vehicle 100 is flying in the area C, it may not be necessary to deliver the captured image to an external device in the first place. The captured image captured by the imaging device 220 can be recorded in a memory 13, a memory 130, or the like (see FIG. 2), and the recorded image data is transmitted to an external device in a mode other than real-time distribution. You can also do it.

As described above, if it is premised that the transfer rate of the captured image is lowered, the captured image is transmitted to the external device in a mode other than real-time distribution, and the like, the unmanned aerial vehicle 100 has a predetermined communication quality. There is no problem even if the communication quality deviates from the area B better than the standard to the area C whose communication quality is not better than the predetermined standard. Therefore, the unmanned aerial vehicle 100 may maintain level flight, and the UAV control unit 110 controls the attitude of the image pickup device 220 so as to maintain the attitude of the image pickup device 220 in a predetermined state. In the illustrated example, the UAV control unit 110 controls the posture of the image pickup device 220 so that the camera angle of the image pickup device 220 with respect to the subject OBJ does not change. This attitude control is possible by the UAV control unit 110 controlling the rotation of the gimbal 200. Further, the UAV control unit 110 transmits a control signal to the image pickup control unit 11 so as to change the focus and zoom of the lens included in the image pickup apparatus 220 (in the example of FIG. 2, the lens group 15 of the camera lens 222). May be good.

As described above, the UAV control unit 110 performs the above-mentioned control according to the modified example of the second control pattern, so that the unmanned aerial vehicle 100 moves as the user intended and the image is taken as the user intended. An image (an image that approaches the subject OBJ horizontally) can be acquired.

The control device (device or the like provided with the UAV control unit 110) selects one of the above-mentioned first control pattern and the second control pattern to fly (move) the unmanned aerial vehicle 100. ) And the posture of the image pickup device 220 may be controlled. Further, the control device (device or the like provided with the UAV control unit 110) selects any one of the above-mentioned first control pattern, second control pattern, and third control pattern. Then, the flight (movement) of the unmanned aerial vehicle 100 and the attitude of the image pickup device 220 may be controlled. The selection of the control pattern may be performed by the user operating the remote controller 50 or the like and inputting instruction information indicating which control pattern to select to the control device. Further, as shown in step St2 in FIG. 5, a control device (such as a device provided with the UAV control unit 110) may determine which control pattern to select based on a predetermined determination criterion.

Although various embodiments have been described above with reference to the drawings, it goes without saying that the present invention is not limited to such examples. It is clear that a person skilled in the art can come up with various modifications or modifications within the scope of the claims, which naturally belong to the technical scope of the present invention. Understood. In addition, each component in the above embodiment may be arbitrarily combined as long as the gist of the invention is not deviated.

The execution order of each process such as the operation, procedure, step, and step in the device, method, and program shown in the claims, the specification, and the drawing is particularly "before", "prior to", etc. 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 does not mean that it is essential to carry out in this order. No.

The present disclosure is useful as a control device, a moving body, and a control method capable of imaging a subject according to a user's intention in a space where the imaging device included in the moving body can move at the time of imaging. Is.

11 Imaging control unit 12 Imaging element 13 Memory 14 Acceleration sensor 15 Lens group 16 Lens drive unit 17 Lens control unit 18 Memory 50 Remote control unit 52 Remote control unit 54 Monitor 100 Unmanned aerial vehicle 102 UAV main unit 110 UAV control unit 120 Communication interface 130 Memory 200 Gimbal 210 Rotating wing mechanism 220 Imaging device 221 Camera body 222 Camera lens 230 Sensor 240 GPS receiver 250 Inertial measurement unit 260 Magnetic compass 270 Barometric altitude meter LL Flight lower limit boundary surface UL Flight upper limit boundary surface OBJ Subject

Claims (6)

A control device provided in a moving body that controls the posture of the image pickup device with respect to the subject.
The control device acquires communication quality information indicating communication quality for transmitting an image captured by the image pickup device from the control device to an external device in a space where the image pickup device can move at the time of imaging.
The control device is
The control device controls the movement of the moving body so that the moving body moves in a region where the communication quality indicated by the communication quality information is better than a predetermined reference, and based on the communication quality information, the control device controls the movement of the moving body. A first control pattern that controls the posture of the image pickup device so as to maintain the posture of the image pickup device in a predetermined state.
The control device controls the movement of the moving body so that the moving body moves in a region where the communication quality indicated by the communication quality information is better than a predetermined reference, and based on the communication quality information, the control device controls the movement of the moving body. A second control pattern that controls the posture of the image pickup device so that the subject can be continuously imaged,
Of these, one of the control patterns is selected to control the movement of the moving body and the posture of the imaging device.
Control device. The control device is
The first control pattern and
The second control pattern and
The control device is such that the moving body moves in a region where the communication quality indicated by the communication quality information is better than a predetermined reference and in addition to a region where the communication quality indicated by the communication quality information is not better than the predetermined reference. A third control pattern that controls the movement of the moving body and controls the posture of the imaging device so as to maintain the posture of the imaging device in a predetermined state.
One of the control patterns is selected to control the movement of the moving body and the posture of the imaging device.
The control device according to claim 1. The control device transmits the image to an external device in real time in a state where the transfer rate of the image captured by the image pickup device is lowered.
The control device according to claim 2. A mobile body including the control device according to any one of claims 1 to 3 and the image pickup device. The moving body according to claim 4 , further comprising a support mechanism for supporting the image pickup apparatus. The moving object is an unmanned aerial vehicle.
The mobile body according to claim 4 or 5.

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