WO2018100744A1

WO2018100744A1 - Control device, imaging device, moving body, determination method, and program

Info

Publication number: WO2018100744A1
Application number: PCT/JP2016/085978
Authority: WO
Inventors: 本庄謙一; 永山佳範
Original assignee: エスゼットディージェイアイテクノロジーカンパニーリミテッド
Priority date: 2016-12-02
Filing date: 2016-12-02
Publication date: 2018-06-07
Also published as: JPWO2018100744A1; JP6543879B2

Abstract

When the altitude of an imaging device changes, there are cases when the environment of the imaging device, such as the surrounding temperature, also changes. There are cases when such a change in environment affects the movement of a focus lens of the imaging device. In the present invention, a control device may be provided with an acquisition unit for acquiring altitude information of the imaging device. The control device may also be provided with a determination unit for determining, on the basis of the altitude information, the scanning range for the focus lens for when the focal position of the imaging device is to be determined.

Description

Control device, imaging device, moving body, determination method, and program

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

In Patent Document 1, when the elapsed time from the power-on to the image input device is included in the time range corresponding to the fluctuation period of the ambient temperature of the distance measuring sensor, the elapsed time corresponds to the stable period of the ambient temperature. It is described that the scanning range of the focus lens in autofocus is set wider than that included in the time range.
Patent Document 1 Japanese Patent No. 4226936

Challenges to be solved

When the altitude of the imaging device changes, the environment such as the ambient temperature of the imaging device may change. Such environmental changes may affect the movement of the focus lens of the imaging apparatus.

General disclosure

The control device according to one aspect of the present invention may include an acquisition unit that acquires altitude information of the imaging device. The control device may include a determination unit that determines a scanning range of the focus lens when determining the focus position of the imaging device based on the altitude information.

The determining unit may determine the width of the scanning range based on the altitude information. The determination unit may determine the width of the scanning range as the first width when the height indicated by the height information is the first height. When the altitude indicated by the altitude information is a second altitude that is higher than the first altitude, the determining unit may determine the width of the scanning range to a second width that is narrower than the first width.

The determination unit may narrow the width of the scanning range when the altitude indicated by the altitude information is higher. When the altitude indicated by the altitude information is in the first altitude range including the first altitude, the determining unit may determine the width of the scanning range as the first width. When the altitude indicated by the altitude information is in the second altitude range including the second altitude, the determination unit may determine the width of the scanning range as the second width.

When the altitude indicated by the altitude information is higher, the determining unit may determine the end on the closest end side of the scanning range to a position closer to the infinity end side.

When the altitude indicated by the altitude information is the first altitude, the determining unit may determine the end on the closest end side of the scanning range as the first position. When the altitude indicated by the altitude information is the second altitude, the determining unit may determine the end on the closest end side of the scanning range as the second position on the infinity end side from the first position.

The acquisition unit may acquire temperature information of the imaging device. The determination unit may determine the scanning range based on altitude information and temperature information.

When the altitude indicated by the altitude information is the first altitude and the temperature indicated by the temperature information is the first temperature, the determining unit may determine the width of the scanning range as the first width. When the altitude indicated by the altitude information is the first altitude and the temperature indicated by the temperature information is the second temperature lower than the first temperature, the determining unit determines the width of the scanning range to be a third width that is narrower than the first width. It's okay.

The control device may include a detection unit that detects an object existing within a predetermined range from the imaging device. When the detection unit detects the object, the determination unit may determine the scanning range without using the altitude information.

An imaging device according to one embodiment of the present invention may include the control device. The imaging device may include a focus lens. The imaging apparatus may include a control unit that controls the movement of the focus lens based on the scanning range determined by the determination unit.

The moving body according to one embodiment of the present invention may move with the imaging device.

The determination method according to one aspect of the present invention may include a step of acquiring altitude information of the imaging device. The determination method may include a step of determining a scan range of the focus lens when determining the focus position of the imaging device based on the altitude information.

The program according to one aspect of the present invention may cause a computer to execute the step of acquiring altitude information of the imaging device. The program may cause the computer to execute a step of determining the scanning range of the focus lens when determining the focus position of the imaging device based on the altitude information.

It is possible to suppress the influence that occurs when the change in the height of the imaging apparatus affects the determination of the focus position of the imaging apparatus.

The above summary of the invention does not enumerate all the features of the present invention. A sub-combination of these feature groups can also be an invention.

It is a figure which shows an example of the external appearance of an unmanned aircraft. It is a figure which shows an example of the functional block of UAV. It is a figure which shows an example of the relationship between an altitude and the scanning range of a focus lens. It is a figure which shows an example of the relationship between an altitude and the scanning range of a focus lens. It is a figure which shows an example of the relationship between an altitude and temperature, and the scanning range of a focus lens. It is a figure which shows an example of the procedure which determines the scanning range of a focus lens. It is a figure which shows an example of a hardware constitutions.

Hereinafter, the present invention will be described through embodiments of the invention. However, the following embodiments do not limit the invention according to the claims. In addition, not all the combinations of features described in the embodiments are essential for the solving means of the invention.

The claims, the description, the drawings, and the abstract include matters that are subject to copyright protection. The copyright owner will not object to any number of copies of these documents as they appear in the JPO file or record. However, in other cases, all copyrights are withheld.

Various embodiments of the present invention may be described with reference to flowcharts and block diagrams. The blocks in the flowcharts and block diagrams may represent (1) the stage of the process in which the operation is performed or (2) the “part” of the device responsible for performing the operation. Certain stages and “parts” are provided with dedicated circuitry, programmable circuitry supplied with computer readable instructions stored on a computer readable storage medium, and / or computer readable instructions stored on a computer readable storage medium. It may be implemented by a processor. Dedicated circuitry may include digital and / or analog hardware circuitry. Integrated circuits (ICs) and / or discrete circuits may be included. Programmable circuits may be logical products, logical sums, exclusive logical sums, negative logical products, negative logical sums, and other logical operations, such as field programmable gate arrays (FPGAs) and programmable logic arrays (PLA), for example. , Flip-flops, registers, and memory elements, including reconfigurable hardware circuitry.

A computer-readable storage medium may include any tangible device capable of storing instructions to be executed by a suitable device. As a result, a computer readable storage medium having instructions stored thereon comprises a product that includes instructions that can be executed to create a means for performing the operations specified in the flowcharts or block diagrams. Examples of computer readable storage 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 storage media include floppy disks, diskettes, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory). Electrically erasable programmable read only memory (EEPROM), static random access memory (SRAM), compact disc read only memory (CD-ROM), digital versatile disc (DVD), Blu-ray (registered trademark) disc, memory stick Integrated circuit cards and the like may be included.

The computer readable instructions may include either source code or object code written in any combination of one or more programming languages. The source code or object code includes a conventional procedural programming language. Conventional procedural programming languages include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state setting data, or Smalltalk, JAVA, C ++, etc. It may be an object-oriented programming language and a “C” programming language or a similar programming language.

Computer readable instructions may be directed to a general purpose computer, special purpose computer, or other programmable data processing device processor or programmable circuit locally or in a wide area network (WAN) such as a local area network (LAN), the Internet, etc. ). The processor or programmable circuit may execute computer readable instructions to create a means for performing the operations specified in the flowcharts or block diagrams. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

FIG. 1 shows an example of the appearance of an unmanned aerial vehicle (UAV) 100. The UAV 100 includes a UAV main body 102, a gimbal 200, an imaging device 300, and a plurality of imaging devices 230. The UAV 100 is an example of a moving object. The moving body is a concept including, in addition to UAV, other aircraft that moves in the air, vehicles that move on the ground, ships that move on the water, and the like. The gimbal 200 and the imaging device 300 are an example of an imaging system.

The UAV main body 102 includes a plurality of rotor blades. The UAV main body 102 flies the UAV 100 by controlling the rotation of a plurality of rotor blades. For example, the UAV main body 102 causes the UAV 100 to fly using four rotary wings. The number of rotor blades is not limited to four. Further, the UAV 100 may be a fixed wing aircraft that does not have a rotating wing.

The imaging device 300 is a camera for capturing a moving image or a still image. The plurality of imaging devices 230 are sensing cameras that image the surroundings of the UAV 100 in order to control the flight of the UAV 100. Two imaging devices 230 may be provided on the front surface that is the nose of the UAV 100. Two other imaging devices 230 may be provided on the bottom surface of the UAV 100. The two imaging devices 230 on the front side may be paired and function as a so-called stereo camera. The two imaging devices 230 on the bottom side may also be paired and function as a stereo camera. The distance from the UAV 100 to the object may be measured based on images captured by the plurality of imaging devices 230. Three-dimensional spatial data around the UAV 100 may be generated based on images captured by the plurality of imaging devices 230. The number of imaging devices 230 included in the UAV 100 is not limited to four. The UAV 100 only needs to include at least one imaging device 230. The UAV 100 may include at least one imaging device 230 on each of the nose, the tail, the side surface, the bottom surface, and the ceiling surface of the UAV 100. The angle of view that can be set by the imaging device 230 may be wider than the angle of view that can be set by the imaging device 300. The imaging device 230 may have a single focus lens or a fisheye lens.

The imaging device 300 mounted on the UAV 100 configured as described above images a target at various altitudes. When the altitude at which the UAV 100 exists changes, the temperature of the imaging device 300 may change. When the temperature changes, for example, the hardness of the grease used to drive the focus lens of the imaging device 300 may change. For example, when the altitude is high and the temperature is low, the grease hardens and the focus lens becomes difficult to move. As a result, it may take a long time to determine the focus position while moving the position of the focus lens. Therefore, the imaging apparatus 300 according to the present embodiment adjusts the altitude of the UAV 100, that is, the focus lens scanning range when determining the focus position of the imaging apparatus 300 according to the altitude of the imaging apparatus 300. For example, when the altitude is higher, the width of the scanning range is made narrower. This prevents the time for determining the focus position from increasing as the altitude increases.

FIG. 2 shows an example of functional blocks of the UAV100. The UAV 100 includes a UAV control unit 110, a communication interface 150, a memory 160, a gimbal 200, a rotating blade mechanism 210, an imaging device 300, an imaging device 230, a GPS receiver 240, an inertial measurement device (IMU) 250, a magnetic compass 260, and an atmospheric pressure. An altimeter 270 is provided.

The communication interface 150 communicates with an external transmitter. The communication interface 150 receives various commands for the UAV control unit 110 from a remote transmitter. The memory 160 stores programs necessary for the UAV control unit 110 to control the gimbal 200, the rotary blade mechanism 210, the imaging device 300, the imaging device 230, the GPS receiver 240, the IMU 250, the magnetic compass 260, and the barometric altimeter 270. Store. The memory 160 may be a computer-readable recording medium and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory. The memory 160 may be provided inside the UAV main body 102. It may be provided so as to be removable from the UAV main body 102.

The gimbal 200 supports the imaging direction of the imaging device 300 so that it can be adjusted. The gimbal 200 supports the imaging device 300 rotatably around at least one axis. The gimbal 200 is an example of a support mechanism. The gimbal 200 may support the imaging device 300 rotatably about the yaw axis, the pitch axis, and the roll axis. The gimbal 200 may change the imaging direction of the imaging device 300 by rotating the imaging device 300 about at least one of the yaw axis, the pitch axis, and the roll axis. The rotary blade mechanism 210 includes a plurality of rotary blades and a plurality of drive motors that rotate the plurality of rotary blades.

The imaging device 230 captures the surroundings of the UAV 100 and generates image data. Image data of the imaging device 230 is stored in the memory 160. The GPS receiver 240 receives a plurality of signals indicating times transmitted from a plurality of GPS satellites. The GPS receiver 240 calculates the position of the GPS receiver 240, that is, the position of the UAV 100, based on the received signals. The inertial measurement device (IMU) 250 detects the posture of the UAV 100. The IMU 250 detects, as the posture of the UAV 100, acceleration in the three axial directions of the front, rear, left, and upper sides of the UAV 100, and angular velocity in the three axial directions of pitch, roll, and yaw. The magnetic compass 260 detects the heading of the UAV 100. The barometric altimeter 270 detects the altitude at which the UAV 100 flies.

The UAV control unit 110 controls the flight of the UAV 100 in accordance with a program stored in the memory 160. The UAV control unit 110 may be configured by a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like. The UAV control unit 110 controls the flight of the UAV 100 according to a command received from a remote transmitter via the communication interface 150.

The UAV control unit 110 may specify the environment around the UAV 100 by analyzing a plurality of images captured by the plurality of imaging devices 230. The UAV control unit 110 controls the flight while avoiding obstacles based on the environment around the UAV 100, for example. The UAV control unit 110 may generate three-dimensional spatial data around the UAV 100 based on a plurality of images captured by the plurality of imaging devices 230, and control the flight based on the three-dimensional spatial data.

The UAV control unit 110 may measure the distance between the UAV 100 and the object by a triangulation method based on a plurality of images captured by the plurality of imaging devices 230. The UAV control unit 110 may measure the distance between the UAV 100 and the object using an ultrasonic sensor, an infrared sensor, a radar sensor, or the like.

The imaging apparatus 300 includes an imaging control unit 310, a lens control unit 320, a lens moving mechanism 322, a lens position detection unit 324, a plurality of lenses 326, an imaging element 330, a temperature sensor 332, and a memory 340. The imaging control unit 310 may be configured by a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like. The imaging control unit 310 may control the imaging device 300 in accordance with an operation command for the imaging device 300 from the UAV control unit 110. The imaging control unit 310 is an example of a control device. The memory 340 may be a computer readable recording medium and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory. The memory 340 may be provided inside the housing of the imaging device 300. The memory 340 may be provided so as to be removable from the housing of the imaging apparatus 300. The plurality of lenses 326 includes a zoom lens and a focus lens. The lens 326 of the imaging device 300 may be a lens unit that can be detached from the imaging device 300. For example, a lens 326, a lens controller 320, a lens position detector 324, and a temperature sensor 332 are mounted on the lens unit.

The imaging device 330 may be configured by a CCD or a CMOS. The image pickup device 330 is held inside the housing of the image pickup apparatus 300, and outputs image data of an optical image formed through the plurality of lenses 326 to the image pickup control unit 310. The temperature sensor 332 detects the temperature of the imaging device 300. The temperature sensor 332 may be provided in the imaging device 300 or may be provided outside the imaging device 300. The temperature sensor 332 may be provided in the UAV main body 102.

The lens control unit 320 controls the movement of the plurality of lenses 326 via the lens moving mechanism 322. Some or all of the plurality of lenses 326 are moved along the optical axis by the lens moving mechanism 322. The lens control unit 320 moves at least one of the plurality of lenses 326 along the optical axis in accordance with a lens operation command from the imaging control unit 310. The lens control unit 320 executes at least one of a zoom operation and a focus operation by moving at least one of the plurality of lenses 326 along the optical axis. The lens control unit 320 moves the focus lens within the scanning range designated by the imaging control unit 310 and executes an autofocus operation. The lens position detection unit 324 detects the position of each of the plurality of lenses 326. The lens position detection unit 324 detects the current zoom position and focus position.

The imaging control unit 310 performs a series of image processing such as noise reduction, demosaicing, gamma correction, and edge cooperation on the image data. The imaging control unit 310 stores image data after a series of image processing in the memory 340. The imaging control unit 310 may output and store the image data in the memory 160 via the UAV control unit 110. The imaging control unit 310 performs an autofocus operation using the image data.

The imaging control unit 310 includes an acquisition unit 312, a determination unit 314, an AF processing unit 316, a lens position management unit 318, and a detection unit 319. The acquisition unit 312 acquires altitude information of the imaging device 300. The acquisition unit 312 may acquire the altitude information of the UAV 100 from the UAV control unit 110 as the altitude information of the imaging apparatus 300. The acquisition unit 312 may acquire temperature information of the imaging apparatus 300. The acquisition unit 312 may acquire temperature information of the imaging device 300 from the temperature sensor 332.

The determining unit 314 determines the scanning range of the focus lens when determining the focus position of the imaging apparatus 300 based on the altitude information. The scan range has two ends. One end is located at the end on the infinity end side of the scanning range. The other end is located at the closest end of the scanning range. The end on the infinity end side may be a control end on the infinity end side of the scanning range. The end on the close end side may be a control end on the close end side of the scanning range. The determination unit 314 may determine the width of the scanning range based on the altitude information. When the altitude indicated by the altitude information is the first altitude, the determination unit 314 may determine the width of the scanning range as the first width. When the altitude indicated by the altitude information is the second altitude higher than the first altitude, the determination unit 314 may determine the width of the scanning range as a second width that is narrower than the first width. The determination unit 314 may narrow the width of the scanning range when the altitude indicated by the altitude information is higher. When the altitude indicated by the altitude information is higher, the determination unit 314 may determine the end on the closest end side of the scanning range to a position closer to the infinity end side. When the altitude indicated by the altitude information is the first altitude, the determining unit 314 may determine the end on the closest end side of the scanning range as the first position. When the altitude indicated by the altitude information is the second altitude, the determination unit 314 may determine the end on the closest end side of the scanning range as the second position on the infinity end side from the first position. The scanning range determined by the determination unit 314 is not limited to the above. For example, the determination unit 314 is configured so that the width of the scanning range centered on a predetermined focus position between the infinity end and the close end becomes narrower when the altitude indicated by the altitude information is higher. The scan range may be determined.

For example, as illustrated in FIG. 3, the determination unit 314 may determine the width of the scanning range as the width 10 when the altitude is 50 [m]. The determination unit 314 may determine the width of the scanning range to be a width 12 narrower than the width 10 when the altitude is 150 [m]. When the altitude is 50 [m], the determination unit 314 may determine the end on the closest end side of the scanning range as the position 14. When the altitude is 150 [m], the determination unit 314 may determine the end portion on the closest end side of the scanning range as the position 16 on the infinity end side from the position 14.

When the altitude indicated by the altitude information is in the first altitude range including the first altitude, the determination unit 314 may determine the width of the scanning range as the first width. When the altitude indicated by the altitude information is in the second altitude range including the second altitude, the determination unit 314 may determine the width of the scanning range as the second width. For example, as illustrated in FIG. 4, the determination unit 314 may determine the width of the scanning range as the width 20 when the altitude is 20 [m] or less. When the altitude is higher than 20 [m], the determination unit 314 may determine the width of the scanning range as a width 22 narrower than the width 20.

Even if the altitude at which the imaging apparatus 300 is present is the same, the temperature of the imaging apparatus 300 may be different due to the ambient temperature being different. Even at the same altitude, the ease of movement of the focus lens may differ at different temperatures. Therefore, the determination unit 314 may determine the scanning range based on altitude information and temperature information. When the altitude indicated by the altitude information is the first altitude and the temperature indicated by the temperature information is the first temperature, the determining unit 314 may determine the width of the scanning range as the first width. When the altitude indicated by the altitude information is the first altitude and the temperature indicated by the temperature information is the second temperature lower than the first temperature, the determining unit 314 determines the width of the scanning range as the third width narrower than the first width. You can do it. For example, as illustrated in FIG. 5, the determination unit 314 may determine the width of the scanning range as the width 30 when the altitude is 100 [m] and the temperature is T1 [° C.]. When the altitude is 100 [m] and the temperature is T2 [° C.] lower than T1 [° C.], the determination unit 314 may determine the width of the scanning range as a width 32 narrower than the width 30.

The AF processing unit 316 determines the focus position of the focus lens according to the contrast AF method. The AF processing unit 316 may determine the focus position by moving the focus lens from the end on the infinity end side to the end on the close end side of the scanning range. The AF processing unit 316 sequentially derives the contrast evaluation values from the image data output from the image sensor 330 while moving the focus lens through the lens control unit 320 within the scanning range determined by the determination unit 314. To do. The AF processing unit 316 determines the position of the focus lens when the contrast evaluation value is the highest as the focus position.

The lens position management unit 318 manages the position information of the plurality of lenses 326 provided from the lens position detection unit 324. The lens position management unit 318 may register the current zoom position and the current focus position provided from the lens position detection unit 324 in the memory 340.

As described above, the scanning range of the focus lens when determining the focus position of the imaging device 300 is determined according to the altitude of the imaging device 300. Thereby, it is possible to prevent the time for determining the focus position from increasing as the altitude increases.

In the above example, it is assumed that the imaging apparatus 300 images an object existing on the ground while the UAV 100 is flying. Under such assumption, as the altitude of the imaging apparatus 300 increases, the scanning range of the focus lens is limited to the far end side and the scanning range is narrowed. However, the object imaged by the imaging device 300 may exist at an altitude similar to the altitude of the UAV 100 in flight. In such a case, if the scanning range of the focus lens is limited to the far end side, the focus position may not be set appropriately. For example, when the image capturing apparatus 300 captures an image of a high-rise building around the UAV 100 or an object existing on the roof of the high-rise building while the UAV 100 is flying, the focus position may not be set appropriately. .

Therefore, the detection unit 319 detects an object existing within a predetermined range from the imaging device 300. The detection unit 319 may acquire distance information indicating the distance between the UAV 100 and the object from the UAV control unit 110. The detection unit 319 may detect whether or not the distance indicated by the distance information is included in a predetermined range. The predetermined range may be a range set in advance to prevent the UAV 100 from colliding with an obstacle. The predetermined range may be set by the user. The predetermined range may be set according to the flight mode of the UAV 100. If an object exists in a predetermined range, the UAV 100 changes, for example, the flight path in order to prevent a collision with the object.

When the detection unit 319 detects such an object, the determination unit 314 may determine the scanning range without using altitude information. The determination unit 314 may determine the initial scan range as the scan range without using the altitude information. The determination unit 314 may determine the entire range from the infinity end to the closest end as the scanning range without using altitude information. Thereby, for example, when the object imaged by the imaging apparatus 300 exists at an altitude similar to the altitude of the UAV 100, it is possible to prevent the focus position from being appropriately set.

FIG. 6 is a flowchart illustrating an example of a procedure in which the imaging control unit 310 determines the scanning range of the focus lens.

Based on the distance information provided from the UAV control unit 110, the detection unit 319 determines whether or not an object exists within a predetermined range from the imaging device 300 (S100). When such an object exists, the determination unit 314 determines the initial scan range as the focus lens scan range without using altitude information (S102).

On the other hand, when such an object exists, the acquisition unit 312 acquires the altitude information of the UAV 100 provided from the UAV control unit 110 as the altitude information of the imaging apparatus 300 (S104). The determination unit 314 determines the scan range of the focus lens based on the altitude information, for example, according to the relationship between the altitude and the scan range as shown in FIG. 3 or FIG. 4 (S106). The AF processing unit 316 performs autofocus processing by the contrast AF method within the scanning range determined by the determination unit 314.

FIG. 7 illustrates an example of a computer 1200 in which aspects of the present invention may be embodied in whole or in part. A program installed in the computer 1200 can cause the computer 1200 to function as an operation associated with the apparatus according to the embodiment of the present invention or as one or more “units” of the apparatus. Alternatively, the program can cause the computer 1200 to execute the operation or the one or more “units”. The program can cause the computer 1200 to execute a process according to an embodiment of the present invention or a stage of the process. Such a program may be executed by CPU 1212 to cause computer 1200 to perform certain operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

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

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

For example, when communication is performed 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. The communication interface 1222 reads transmission data stored in a RAM 1214 or a transmission buffer area provided in a recording medium such as a USB memory under the control of the CPU 1212 and transmits the read transmission data to a network, or The reception data received from the network is written into a reception buffer area provided on the recording medium.

In addition, the CPU 1212 allows the RAM 1214 to read all or necessary portions of a file or database stored in an external recording medium such as a USB memory, and executes various types of processing on the data on the RAM 1214. Good. 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 the recording medium and subjected to information processing. The CPU 1212 describes various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, and information retrieval that are described throughout the present disclosure for data read from the RAM 1214 and specified by the instruction sequence of the program. Various types of processing may be performed, including / replacement, etc., and the result is written back to RAM 1214. In addition, the CPU 1212 may search for information in files, databases, etc. 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. The entry that matches the condition is searched from the plurality of entries, the attribute value of the second attribute stored in the entry is read, and thereby the first attribute that satisfies the predetermined condition is associated. The attribute value of the obtained second attribute may be acquired.

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

As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

The execution order of each process such as operations, procedures, steps, and stages in the apparatus, system, program, and method shown in the claims, the description, and the drawings is particularly “before” or “prior”. It should be noted that they can be implemented in any order unless the output of the previous process is used in the subsequent process. Regarding the operation flow in the claims, the description, and the drawings, even if it is described using “first”, “next”, etc. for the sake of convenience, it means that it is essential to carry out in this order. is not.

100 UAV
102 UAV main body 110 UAV control unit 150 Communication interface 160 Memory 200 Gimbal 210 Rotary blade mechanism 230 Imaging device 240 GPS receiver 260 Magnetic compass 270 Barometric altimeter 300 Imaging device 310 Imaging control unit 312 Acquisition unit 314 Determination unit 316 AF processing unit 318 Lens Position management unit 319 Detection unit 320 Lens control unit 322 Lens movement mechanism 324 Lens position detection unit 326 Lens 330 Image sensor 332 Temperature sensor 340 Memory 1200 Computer 1210 Host controller 1212 CPU
1214 RAM
1220 Input / output controller 1222 Communication interface 1230 ROM

Claims

An acquisition unit for acquiring altitude information of the imaging device;
And a determining unit that determines a scanning range of the focus lens when determining a focus position of the imaging device based on the altitude information.
The control device according to claim 1, wherein the determination unit determines a width of the scanning range based on the altitude information.
When the altitude indicated by the altitude information is a first altitude, the determining unit determines the width of the scanning range as a first width, and the altitude indicated by the altitude information is a second altitude higher than the first altitude. 3. The control device according to claim 2, wherein a width of the scanning range is determined to be a second width narrower than the first width.
The control device according to claim 3, wherein the determination unit narrows the width of the scanning range when the altitude indicated by the altitude information is higher.
When the altitude indicated by the altitude information is in a first altitude range including the first altitude, the determining unit determines the width of the scanning range as the first width, and the altitude indicated by the altitude information is 4. The control device according to claim 3, wherein a width of the scanning range is determined as the second width when the second height range includes a second height. 5.
4. The control device according to claim 3, wherein the determination unit determines an end on the closest end side of the scanning range to a position closer to an infinite end side when the altitude indicated by the altitude information is higher. .
When the altitude indicated by the altitude information is the first altitude, the determining unit determines the end on the closest end side of the scanning range as the first position, and the altitude indicated by the altitude information is the second altitude. 4. The control device according to claim 3, wherein in the case of altitude, an end portion on the closest end side of the scanning range is determined to be a second position on the infinity end side from the first position.
The acquisition unit further acquires temperature information of the imaging device,
The control device according to claim 1, wherein the determination unit determines the scanning range based on the altitude information and the temperature information.
When the altitude indicated by the altitude information is the first altitude and the temperature indicated by the temperature information is the first temperature, the determining unit determines the width of the scanning range as the first width and indicates the altitude information. The scanning range is determined to be a third width narrower than the first width when the altitude to be measured is the first altitude and the temperature indicated by the temperature information is a second temperature lower than the first temperature. 8. The control device according to 8.
A detection unit for detecting an object existing within a predetermined range from the imaging device;
The control device according to claim 1, wherein when the detection unit detects the object, the determination unit determines the scanning range without using the altitude information.
A control device according to any one of claims 1 to 10,
An imaging apparatus comprising: the focus lens; and a control unit that controls movement of the focus lens based on the scanning range determined by the determination unit.
A moving body that moves with the imaging device according to claim 11.
Acquiring altitude information of the imaging device;
Determining a focus lens scanning range when determining a focus position of the imaging device based on the altitude information.
Acquiring altitude information of the imaging device;
A program for causing a computer to execute a step of determining a scanning range of a focus lens when determining a focus position of the imaging device based on the altitude information.