WO2018142470A1 - Camera control device and program for camera control device - Google Patents

Camera control device and program for camera control device Download PDF

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Publication number
WO2018142470A1
WO2018142470A1 PCT/JP2017/003420 JP2017003420W WO2018142470A1 WO 2018142470 A1 WO2018142470 A1 WO 2018142470A1 JP 2017003420 W JP2017003420 W JP 2017003420W WO 2018142470 A1 WO2018142470 A1 WO 2018142470A1
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WO
WIPO (PCT)
Prior art keywords
camera
pan
control device
camera control
tilt
Prior art date
Application number
PCT/JP2017/003420
Other languages
French (fr)
Japanese (ja)
Inventor
勝一 野瀬
Original Assignee
勝一 野瀬
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Publication date
Application filed by 勝一 野瀬 filed Critical 勝一 野瀬
Priority to PCT/JP2017/003420 priority Critical patent/WO2018142470A1/en
Publication of WO2018142470A1 publication Critical patent/WO2018142470A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters

Definitions

  • the present invention includes a camera control device that receives a control signal and transmits the control signal to a pan direction driving unit that drives the camera mounted on the drone in the left-right direction and a tilt direction driving unit that drives the camera in the up-down direction;
  • the present invention relates to a program for a camera control device that is installed in information terminal means such as a tablet, a smartphone, or a personal computer, and causes the information terminal means to function as a camera control device.
  • Patent Document 1 describes that a sewage pipe facility is inspected by an unmanned air vehicle equipped with image acquisition means, and Patent Document 2 monitors a monitoring place by a flying robot equipped with a camera. It is described.
  • two propo (controllers) 3a and 3b are prepared, and one (propo 3a) is prepared.
  • a pilot (pilot) who controls the airframe of the drone 1 may use it, and another photographer (propo 3b) may be used by a photographer (camera operator) who operates the camera 2.
  • the operator operates the stick 5a of the propo 3a to steer the drone 1 while also viewing the photographed image of the camera 2 displayed on the display 4a installed in the propo 3a, and the photographer is installed in the propo 3b.
  • the stick 5b of the transmitter 3b is operated to change the shooting direction of the camera 2.
  • the propo 3b communicates with the drone 1 through the propo 3a (however, the video signal of the camera 2 is When the photographer picks up and operates the stick 5b of the transmitter 3b, the control signal of the camera 2 is transmitted to the drone 1 through the transmitter 3a.
  • the drone 1 includes a pan direction drive mechanism 6 that moves the camera 2 in the left-right direction (pan direction: arrow A direction in FIG. 9) and the camera 2 in the vertical direction (tilt direction: arrow in FIG. 9).
  • a tilt direction drive mechanism 7 that moves in the B direction) is provided, and the pan direction drive mechanism 6 and the tilt direction drive mechanism 7 move the camera 2 by receiving a control signal to change the shooting direction.
  • the camera control by stick operation is unique to drone aerial photography, and the camera operation that relies on this fingertip is extremely sensitive, so even a photographer who is good at normal (on the ground) photography. There is a problem that skill is required before smooth and delicate camera work can be performed.
  • the present invention has been made in view of the above circumstances, and provides a camera control device capable of intuitively and easily controlling a camera mounted on a drone and a program for the camera control device. It is an issue.
  • a camera control device includes a pan direction drive unit that receives a control signal and drives a camera mounted on a drone in a left-right direction and a tilt direction drive unit that drives a camera in a vertical direction.
  • a device for transmitting the control signal pan direction rotation detecting means for detecting the rotation of the installation table in the pan direction in a pan head device having an installation table rotatable in the pan direction and the tilt direction.
  • tilt direction rotation detection means for detecting rotation in the tilt direction of the installation base in the pan head device, and the camera is driven in the left-right direction based on the detection result of the pan direction rotation detection means
  • the tilt Transmission means for transmitting a control signal for driving the camera in the vertical direction based on the detection result of the direction rotation detection means.
  • the pan direction rotation detecting means for detecting the pan direction of the installation table and the rotation of the tilt direction in the pan / tilt head device having the installation table rotatable in the pan direction and the tilt direction, the rotation in the tilt direction
  • a control signal for driving the camera in the horizontal direction and the vertical direction is transmitted, so that the photographer does not perform a stick operation peculiar to aerial shooting with a drone, and in normal shooting It is possible to change the direction of the camera with the same operation as the pan head operation, and it is possible to intuitively and easily control the camera mounted on the drone in this way, realizing smooth and delicate camera work .
  • the installation table may be provided with a display means for displaying a photographed image of the camera, so that the photographer can view the cloud while looking at the camera finder or monitor installed on the camera platform during normal photographing.
  • the pan head device can be operated as if operating the platform.
  • the pan direction rotation detection means and the tilt direction detection rotation output means may be built in the pan head device or may be built in the display means.
  • the program for a camera control device receives the control signal and controls the pan direction driving means for driving the camera mounted on the drone in the left-right direction and the tilt direction driving means for driving in the up-down direction.
  • a camera control device for transmitting a signal a program for causing information terminal means installed on the installation base of a pan / tilt head device having an installation base rotatable in a pan direction and a tilt direction to function as the information terminal means
  • Pan direction rotation detection means for detecting rotation in the pan direction of the installation table
  • tilt direction rotation detection means for detecting rotation in the tilt direction of the installation table
  • Transmission for transmitting the control signal for driving the camera in the horizontal direction based on the result and for driving the camera in the vertical direction based on the detection result of the tilt direction rotation detection means Characterized in that to function as a step.
  • the information terminal means functions as a camera control device, and the pan in the pan / tilt direction in the pan / tilt head device having the mount that can be rotated in the pan and tilt directions rotates in the pan and tilt directions.
  • a control signal for driving the camera in the horizontal direction and the vertical direction is transmitted. It is possible to change the direction of the camera in the same way as the pan head operation in normal shooting without performing the stick operation peculiar to the camera. In this way, the camera mounted on the drone can be controlled intuitively and easily. This enables smooth and delicate camera work.
  • the information terminal means fulfills the function of the camera control device
  • the conventional pan head can be used for the pan head device, and intuitive and easy control of the camera mounted on the drone is possible. It can be realized at low cost.
  • the information terminal means may function as a display means for displaying a photographed image of the camera, so that the photographer can watch the camera finder or monitor installed on the camera platform during normal photographing.
  • the head device can be operated as if the head were operated.
  • the photographer can intuitively and easily control the camera mounted on the drone.
  • FIG. 1 is an explanatory diagram illustrating an aerial imaging system including a camera control device according to Embodiment 1.
  • FIG. It is explanatory drawing which shows the structure of the drone of the aerial imaging system of FIG. 1, a prop, and a camera control apparatus.
  • 6 is an explanatory diagram illustrating an aerial imaging system including a camera control device according to Embodiment 2.
  • FIG. It is explanatory drawing which shows the structure of the drone of the aerial imaging system of FIG. 3, a prop, and a camera control apparatus.
  • FIG. 10 is an explanatory diagram illustrating an aerial imaging system including a camera control device according to a third embodiment. It is explanatory drawing which shows the structure of the drone of the aerial imaging system of FIG. 5, a prop, and a camera control apparatus. It is explanatory drawing which shows the example in which the zoom switch was provided in the pan bar of FIG. It is explanatory drawing which shows the conventional aerial imaging system. It is explanatory drawing which shows the drone equipped with the camera.
  • FIG. 1 shows an aerial imaging system including a camera control device according to an embodiment of the present invention.
  • This aerial imaging system 8 includes a drone 1 shown in FIGS. 8 and 9, a prop 3a shown in FIG. 8, and a camera control device 9 that drives and controls the camera 2 mounted on the drone 1 and changes its shooting direction. Is provided.
  • the pan direction driving mechanism 6 and the tilt direction driving mechanism 7 of the drone 1 are composed of a motor, a gear mechanism, and the like.
  • the camera 2 is driven left and right and up and down by the pan direction driving mechanism 6 and the tilt direction driving mechanism 7 so that the shooting direction is changed. It is possible to take a moving image and a still image in any direction.
  • the drone 1 is provided with a communication unit 10 for receiving an aircraft control signal and a camera control signal, which will be described later, and transmitting a video signal of the camera 2.
  • the propo 3a is provided with a display 4a on which a photographed image of the camera 2 is displayed, and a stick 5a for maneuvering the drone 1 and a communication unit 11 for communicating with the drone 1 and the camera control device 9. ing.
  • the communication unit 11 When the communication unit 11 receives the video signal of the camera 2 from the communication unit 10, the captured image of the camera 2 is displayed on the display 4a. On the other hand, when the operator operates the stick 5a, the communication unit 11 transmits an aircraft control signal to the drone 1, and the aircraft of the drone 1 that has received the aircraft control signal by the communication unit 10 rises in response to the operator's stick operation. , Descend, rotate left / right, move forward / backward, move left / right.
  • the camera control device 9 has a master / slave relationship with the transmitter 3a, like the transmitter 3b, and includes a pan head device 12 and a tablet 13.
  • the pan head device 12 includes a base portion 15 attached to a tripod 14, a pan direction rotating portion 16 that can rotate in the pan direction (the direction of arrow C in FIG. 1), and a pan direction rotating portion 16.
  • a tilt direction rotating unit 17 that can be rotated in the tilt direction (the direction of arrow D in FIG. 1)
  • the tablet 13 is installed on the installation table 18 and includes a pan bar 19 for rotating the tilt direction rotation unit 17.
  • the pan / tilt head device 12 includes a rotary encoder 20 that detects the rotation direction and rotation amount of the pan direction rotation unit 16, and a rotary encoder 21 that detects the rotation direction and rotation amount of the tilt direction rotation unit 17.
  • a communication unit 22 for communication with the drone 1 and the propo 3a is incorporated.
  • the communication unit 22 When the communication unit 22 receives the video signal of the camera 2, the captured image of the camera 2 is displayed on the display 23 of the tablet 13. On the other hand, when the photographer operates the pan bar 19 to rotate the installation table 18 in the pan direction or the tilt direction, and the rotary encoder 20 or the rotary encoder 21 detects the rotation direction and the rotation amount of the installation table 18, the communication unit 22 transmits a camera control signal based on the detection results of the rotary encoders 20 and 21 to the communication unit 11.
  • the communication unit 11 receives the camera control signal from the communication unit 22 and transmits it to the drone 1, and the camera 2 of the drone 1 that has received the camera control signal by the communication unit 10 includes the pan direction driving mechanism 6 or the tilt direction driving mechanism. 7 is driven in the pan direction or the tilt direction in accordance with the movement of the installation table 18, and the photographing direction is changed.
  • the camera 2 is moved in the left-right direction based on the detection results of the rotary encoders 20 and 21 that detect rotation in the pan direction and tilt direction of the installation base 18 in the pan head device 12. Since the camera control signal to be driven in the vertical direction is transmitted, the photographer changes the direction of the camera by the same operation as the pan head operation in normal shooting without performing the stick operation peculiar to the aerial shooting with the drone. Thus, the camera mounted on the drone can be controlled intuitively and easily, thereby realizing a smooth and delicate camera work.
  • the photographer can see the camera platform while looking at the camera finder or monitor installed on the camera platform in normal shooting.
  • the pan head device 12 can be operated as if it were operated.
  • the photographer can operate the touch panel operation with the other free one hand while operating the pan bar 19 with one hand, so that the camera work and the touch panel operation can be performed at the same timing.
  • FIG. 3 and 4 show an aerial imaging system including a camera control device according to another embodiment of the present invention.
  • This aerial imaging system 24 is the same as the aerial imaging system 8 except that it includes a camera control device 25 instead of the camera control device 9.
  • the camera control device 25 has a relationship between the propo 3a and a master and a slave, and includes a pan head device 26 and a tablet 27.
  • the pan head device 26 includes a base portion 15 attached to the tripod 14, and a pan direction rotating portion 16 that can rotate in the pan direction (arrow C direction in FIG. 3) with respect to the base portion 15.
  • the tilt direction rotation unit 17 that can rotate in the tilt direction (the direction of arrow D in FIG. 3) with respect to the pan direction rotation unit 16, the installation table 28 supported by the tilt direction rotation unit 17, and the photographer Includes a pan bar 19 for rotating the pan direction rotation unit 16 and the tilt direction rotation unit 17, and the tablet 27 is installed on an installation table 28.
  • the tablet 27 is provided with a display 23 and an electronic compass 29, an acceleration sensor 30, a control unit 31, and a communication unit 32.
  • a program for causing the tablet 27 to function as a camera control device is installed.
  • the display 23 displays a photographed image of the camera 2, and the electronic compass 29 rotates the pan direction rotation unit 16.
  • the acceleration sensor 30 detects the rotation direction and the rotation amount of the tilt direction rotation unit 17, and the communication unit 32 communicates with the propo 3a.
  • the communication unit 11 receives the video signal of the camera 2 from the communication unit 10 and transfers the video signal to the communication unit 32, and the communication unit 32 receives the video signal, the captured image of the camera 2 is displayed on the display 23.
  • the control unit 31 determines the rotation direction and the rotation amount of the installation table 28 by the electronic compass 29 or the acceleration sensor 30.
  • the camera control signal is generated based on the detection result of the electronic compass 29 or the acceleration sensor 30, and the camera control signal is transmitted to the communication unit 11 by the communication unit 32.
  • the communication unit 11 receives the camera control signal from the communication unit 32 and transmits it to the drone 1, and the camera 2 of the drone 1 that has received the camera control signal by the communication unit 10 includes the pan direction driving mechanism 6 or the tilt direction driving mechanism. 7 is driven in the pan direction or the tilt direction in the same manner as the installation table 28, and the photographing direction is changed.
  • the camera control device 25 it is possible to intuitively and easily control the camera mounted on the drone similarly to the camera control device 9, shortening the shooting time and improving the efficiency, and improving the image quality. Can be
  • the tablet 27 performs the function of the camera control device
  • the conventional pan head can be used for the pan head device 26, and intuitive and easy control of the camera mounted on the drone is possible. It can be realized at low cost.
  • FIG. 5 and 6 show an aerial imaging system including a camera control device according to still another embodiment of the present invention.
  • This aerial imaging system 33 is the same as the aerial imaging system 8 except that it includes a camera control device 34 instead of the camera control device 9.
  • the camera control device 34 has a relationship between the propo 3a and a master and a slave, and includes a pan head device 35 having a configuration substantially similar to that of the pan head device 12, and a propo 3c having a configuration substantially similar to the propo 3b.
  • the camera platform device 35 has a built-in installation table 36 on which the propo 3c is installed and a communication unit 37 for communication with the propo 3c, instead of the installation table 18 and the communication unit 22 in the camera platform device 12.
  • the propo 3c is provided with a display 4c on which a photographed image of the camera 2 is displayed, and a stick 5c used for changing the photographing direction of the camera 2 (control of the pan direction driving mechanism 6 and the tilt direction driving mechanism 7),
  • a communication unit 38 is provided for communication with the drone 1, the prop 3 a and the pan head device 35.
  • the communication unit 38 When the communication unit 38 receives the video signal of the camera 2, the captured image of the camera 2 is displayed on the display 4c.
  • the communication unit Similarly to the case where the stick 5 c is operated, 37 transmits a camera control signal based on the detection results of the rotary encoders 20 and 21 to the communication unit 38, and the communication unit 38 transmits this to the communication unit 11.
  • the communication unit 11 transmits the received camera control signal to the drone 1, and the camera 2 of the drone 1 that has received the camera control signal by the communication unit 10 uses the pan direction drive mechanism 6 or the tilt direction drive mechanism 7 to Driven in the pan direction or tilt direction according to the movement, the shooting direction is changed.
  • the camera control device 34 it is possible to intuitively and easily control the camera mounted on the drone similarly to the camera control device 9, shortening the shooting time and improving the efficiency, and improving the image quality. Can be achieved.
  • the camera control device communicates with the master transmitter as a slave, and the camera control device performs only indirect communication with the drone through the master.
  • the camera control signal may be directly transmitted to the drone.
  • a zoom switch 39 as shown in FIG. 7 may be provided on the pan bar 19 so that the zoom of the camera 2 can be adjusted by the zoom switch 39, or the focus of the camera 2 can be adjusted remotely during manual focus.
  • the focus may be adjusted by a dial or the like (not shown) provided on the pan bar 19 or the setting bases 18 and 36, so that the photographer can easily perform zoom adjustment and focus adjustment while operating the pan bar 19. It becomes possible.
  • a tablet as an information terminal device installed on the installation table, a smartphone or a personal computer may be used.

Abstract

[Problem] To provide a camera control device that enables a photographer to intuitively and easily control a camera mounted to a drone. [Solution] This camera control device 9 transmits a camera control signal to a panning-direction drive mechanism 6 and a tilting-direction drive mechanism 7 that respectively drive a camera 2 mounted to a drone 1 in the horizontal direction and the vertical direction upon receipt of the camera control signal. The camera control device 9 has: a rotary encoder 20 which detects, in a camera platform device 12 having a mount table capable of rotating in the panning direction and the tilting direction, a rotary motion in the panning-direction of the mount table; a rotary encoder 21 which detects a rotary motion in the tilting-direction of the mount table in the camera platform device 12; and a communication unit 22 which transmits a camera control signal so as to drive the camera 2 in the horizontal direction according to a detection result of the rotary encoder 20, and to drive the camera 2 in the vertical direction according to a detection result of the rotary encoder 21.

Description

カメラ制御装置及びカメラ制御装置用プログラムCamera control device and program for camera control device
　本発明は、制御信号を受信してドローンに搭載されたカメラを左右方向に駆動するパン方向駆動手段及び上下方向に駆動するチルト方向駆動手段に対し、その制御信号を送信するカメラ制御装置と、タブレットやスマートフォン、パソコン等の情報端末手段にインストールされて、その情報端末手段をカメラ制御装置として機能させるカメラ制御装置用プログラムに関する。 The present invention includes a camera control device that receives a control signal and transmits the control signal to a pan direction driving unit that drives the camera mounted on the drone in the left-right direction and a tilt direction driving unit that drives the camera in the up-down direction; The present invention relates to a program for a camera control device that is installed in information terminal means such as a tablet, a smartphone, or a personal computer, and causes the information terminal means to function as a camera control device.
　近年、ヘリコプターでは対応困難な低空域における撮影や、人が立ち入ることが困難な区域における調査・捜索活動等が可能になるとして、ドローンに搭載されたカメラによる空撮が注目されている。例えば、特許文献１には、画像取得手段が搭載された無人飛行体により下水管路施設を点検することが記載され、特許文献２には、カメラが搭載された飛行ロボットにより監視場所を監視することが記載されている。 In recent years, aerial photography using a camera mounted on a drone has been attracting attention as it has become possible to take pictures in low-air areas where it is difficult for helicopters to handle, and to investigate and search in areas where it is difficult for people to enter. For example, Patent Document 1 describes that a sewage pipe facility is inspected by an unmanned air vehicle equipped with image acquisition means, and Patent Document 2 monitors a monitoring place by a flying robot equipped with a camera. It is described.
特開２０１６－２１８８１３号公報Japanese Unexamined Patent Publication No. 2016-218813 特開２０１４－１７７１６２号公報JP 2014-177162 A
　ところで、図８に示すように、ドローン１に搭載されたカメラ２で精度の高い空撮を行う場合は、２台のプロポ（コントローラー）３ａ，３ｂを用意して、１台（プロポ３ａ）をドローン１の機体を操縦する操縦者（パイロット）が使用し、他の１台（プロポ３ｂ）をカメラ２を操作する撮影者（カメラオペレーター）が使用することがある。操縦者は、プロポ３ａに設置されたディスプレイ４ａに表示されるカメラ２の撮影画像も見ながら、ドローン１を操縦するためにプロポ３ａのスティック５ａを操作し、撮影者は、プロポ３ｂに設置されたディスプレイ４ｂに表示されるカメラ２の撮影画像を見ながら、カメラ２の撮影方向を変えるためにプロポ３ｂのスティック５ｂを操作する。 By the way, as shown in FIG. 8, when performing high-accuracy aerial photography with the camera 2 mounted on the drone 1, two propo (controllers) 3a and 3b are prepared, and one (propo 3a) is prepared. A pilot (pilot) who controls the airframe of the drone 1 may use it, and another photographer (propo 3b) may be used by a photographer (camera operator) who operates the camera 2. The operator operates the stick 5a of the propo 3a to steer the drone 1 while also viewing the photographed image of the camera 2 displayed on the display 4a installed in the propo 3a, and the photographer is installed in the propo 3b. While viewing the captured image of the camera 2 displayed on the display 4b, the stick 5b of the transmitter 3b is operated to change the shooting direction of the camera 2.
　操縦者が使用するプロポ３ａがマスターで、撮影者が使用するプロポ３ｂがスレーブである場合には、プロポ３ｂはプロポ３ａを介してドローン１と通信を行い（ただし、カメラ２の映像信号は、プロポ３ａを介することなく直接受信する。）、撮影者がプロポ３ｂのスティック５ｂを摘んで操作すると、カメラ２の制御信号がプロポ３ａを中継してドローン１に向けて送信される。 When the propo 3a used by the pilot is the master and the propo 3b used by the photographer is the slave, the propo 3b communicates with the drone 1 through the propo 3a (however, the video signal of the camera 2 is When the photographer picks up and operates the stick 5b of the transmitter 3b, the control signal of the camera 2 is transmitted to the drone 1 through the transmitter 3a.
　ドローン１には、図９に示すように、カメラ２を左右方向（パン方向：図９の矢印Ａ方向）に動かすパン方向駆動機構６と、カメラ２を上下方向（チルト方向：図９の矢印Ｂ方向）に動かすチルト方向駆動機構７が設けられており、パン方向駆動機構６及びチルト方向駆動機構７が制御信号の受信によりカメラ２を動かして、その撮影方向を変更する。 As shown in FIG. 9, the drone 1 includes a pan direction drive mechanism 6 that moves the camera 2 in the left-right direction (pan direction: arrow A direction in FIG. 9) and the camera 2 in the vertical direction (tilt direction: arrow in FIG. 9). A tilt direction drive mechanism 7 that moves in the B direction) is provided, and the pan direction drive mechanism 6 and the tilt direction drive mechanism 7 move the camera 2 by receiving a control signal to change the shooting direction.
　しかしながら、スティック操作によるカメラの制御は、ドローンでの空撮に特有の動作で、この指先に頼るカメラ操作は極めて過敏であるから、たとえ通常の（地上における）撮影に長けたカメラマンであっても滑らかで繊細なカメラワークができるようになるまでに熟練を要するという問題がある。 However, the camera control by stick operation is unique to drone aerial photography, and the camera operation that relies on this fingertip is extremely sensitive, so even a photographer who is good at normal (on the ground) photography. There is a problem that skill is required before smooth and delicate camera work can be performed.
　本発明は、上記の事情に鑑みてなされたもので、ドローンに搭載されたカメラを撮影者が直感的かつ容易に制御することができるカメラ制御装置と、このカメラ制御装置用のプログラムを提供することを課題としている。 The present invention has been made in view of the above circumstances, and provides a camera control device capable of intuitively and easily controlling a camera mounted on a drone and a program for the camera control device. It is an issue.
　上記課題を解決するために、本発明に係るカメラ制御装置は、制御信号を受信してドローンに搭載されたカメラを左右方向に駆動するパン方向駆動手段及び上下方向に駆動するチルト方向駆動手段に対し、前記制御信号を送信する装置であって、パン方向及びチルト方向に回動可能な設置台を有する雲台装置における前記設置台のパン方向の回動を検出するパン方向回動検出手段と、前記雲台装置における前記設置台のチルト方向の回動を検出するチルト方向回動検出手段と、前記パン方向回動検出手段の検出結果に基づいて前記カメラを左右方向に駆動させ、前記チルト方向回動検出手段の検出結果に基づいて前記カメラを上下方向に駆動させる制御信号を送信する送信手段とを有することを特徴とする。 In order to solve the above-described problems, a camera control device according to the present invention includes a pan direction drive unit that receives a control signal and drives a camera mounted on a drone in a left-right direction and a tilt direction drive unit that drives a camera in a vertical direction. On the other hand, a device for transmitting the control signal, pan direction rotation detecting means for detecting the rotation of the installation table in the pan direction in a pan head device having an installation table rotatable in the pan direction and the tilt direction. And tilt direction rotation detection means for detecting rotation in the tilt direction of the installation base in the pan head device, and the camera is driven in the left-right direction based on the detection result of the pan direction rotation detection means, and the tilt Transmission means for transmitting a control signal for driving the camera in the vertical direction based on the detection result of the direction rotation detection means.
　このカメラ制御装置によれば、パン方向及びチルト方向に回動可能な設置台を有する雲台装置における設置台のパン方向、チルト方向の回動を検出するパン方向回動検出手段、チルト方向回動検出手段の検出結果に基づいて、カメラを左右方向、上下方向に駆動させる制御信号が送信されるので、撮影者は、ドローンでの空撮に特有なスティック操作を行わず、通常の撮影における雲台操作と同様な動作でカメラの向きを変更することが可能となり、このようにドローンに搭載されたカメラを直感的かつ容易に制御することができることによって、滑らかで繊細なカメラワークが実現する。 According to this camera control device, the pan direction rotation detecting means for detecting the pan direction of the installation table and the rotation of the tilt direction in the pan / tilt head device having the installation table rotatable in the pan direction and the tilt direction, the rotation in the tilt direction Based on the detection result of the motion detection means, a control signal for driving the camera in the horizontal direction and the vertical direction is transmitted, so that the photographer does not perform a stick operation peculiar to aerial shooting with a drone, and in normal shooting It is possible to change the direction of the camera with the same operation as the pan head operation, and it is possible to intuitively and easily control the camera mounted on the drone in this way, realizing smooth and delicate camera work .
　前記設置台には、前記カメラの撮影画像を表示する表示手段が設置されていてもよく、これにより、撮影者は、通常の撮影において雲台に設置されたカメラのファインダーやモニターを見ながら雲台を操作する感覚で、雲台装置を操作することができる。 The installation table may be provided with a display means for displaying a photographed image of the camera, so that the photographer can view the cloud while looking at the camera finder or monitor installed on the camera platform during normal photographing. The pan head device can be operated as if operating the platform.
　前記パン方向回動検出手段及び前記チルト方向検回動出手段は、前記雲台装置に内蔵されていてもよく、前記表示手段に内蔵されていてもよい。 The pan direction rotation detection means and the tilt direction detection rotation output means may be built in the pan head device or may be built in the display means.
　また、本発明に係るカメラ制御装置用プログラムは、制御信号を受信してドローンに搭載されたカメラを左右方向に駆動するパン方向駆動手段及び上下方向に駆動するチルト方向駆動手段に対し、前記制御信号を送信するカメラ制御装置として、パン方向及びチルト方向に回動可能な設置台を有する雲台装置の前記設置台に設置された情報端末手段を機能させるプログラムであって、前記情報端末手段を、前記設置台のパン方向の回動を検出するパン方向回動検出手段と、前記設置台のチルト方向の回動を検出するチルト方向回動検出手段と、前記パン方向回動検出手段の検出結果に基づいて前記カメラを左右方向に駆動させ、前記チルト方向回動検出手段の検出結果に基づいて前記カメラを上下方向に駆動させる制御信号を送信する送信手段として機能させることを特徴とする。 Further, the program for a camera control device according to the present invention receives the control signal and controls the pan direction driving means for driving the camera mounted on the drone in the left-right direction and the tilt direction driving means for driving in the up-down direction. As a camera control device for transmitting a signal, a program for causing information terminal means installed on the installation base of a pan / tilt head device having an installation base rotatable in a pan direction and a tilt direction to function as the information terminal means Pan direction rotation detection means for detecting rotation in the pan direction of the installation table, tilt direction rotation detection means for detecting rotation in the tilt direction of the installation table, and detection by the pan direction rotation detection means Transmission for transmitting the control signal for driving the camera in the horizontal direction based on the result and for driving the camera in the vertical direction based on the detection result of the tilt direction rotation detection means Characterized in that to function as a step.
　このカメラ制御装置用プログラムによれば、情報端末手段がカメラ制御装置として機能し、パン方向及びチルト方向に回動可能な設置台を有する雲台装置における設置台のパン方向、チルト方向の回動を検出するパン方向回動検出手段、チルト方向回動検出手段の検出結果に基づいて、カメラを左右方向、上下方向に駆動させる制御信号が送信されるので、撮影者は、ドローンでの空撮に特有なスティック操作を行わず、通常の撮影における雲台操作と同様な動作でカメラの向きを変更することが可能となり、このようにドローンに搭載されたカメラを直感的かつ容易に制御することができることによって、滑らかで繊細なカメラワークが実現する。 According to this camera control device program, the information terminal means functions as a camera control device, and the pan in the pan / tilt direction in the pan / tilt head device having the mount that can be rotated in the pan and tilt directions rotates in the pan and tilt directions. Based on the detection results of the pan direction rotation detection means and the tilt direction rotation detection means for detecting the camera, a control signal for driving the camera in the horizontal direction and the vertical direction is transmitted. It is possible to change the direction of the camera in the same way as the pan head operation in normal shooting without performing the stick operation peculiar to the camera. In this way, the camera mounted on the drone can be controlled intuitively and easily. This enables smooth and delicate camera work.
　そして、そのカメラ制御装置の機能を情報端末手段が果たすので、雲台装置には従来からの一般的な雲台を用いることが可能で、ドローンに搭載されたカメラの直感的かつ容易な制御を低コストで実現することができる。 And since the information terminal means fulfills the function of the camera control device, the conventional pan head can be used for the pan head device, and intuitive and easy control of the camera mounted on the drone is possible. It can be realized at low cost.
　さらに、前記情報端末手段を、前記カメラの撮影画像を表示する表示手段として機能させてもよく、これにより、撮影者は、通常の撮影において雲台に設置されたカメラのファインダーやモニターを見ながら雲台を操作する感覚で、雲台装置を操作することができる。 Further, the information terminal means may function as a display means for displaying a photographed image of the camera, so that the photographer can watch the camera finder or monitor installed on the camera platform during normal photographing. The head device can be operated as if the head were operated.
　本発明によれば、ドローンに搭載されたカメラを撮影者が直感的かつ容易に制御することができる。 According to the present invention, the photographer can intuitively and easily control the camera mounted on the drone.
実施の形態１に係るカメラ制御装置を含む空撮システムを示す説明図である。1 is an explanatory diagram illustrating an aerial imaging system including a camera control device according to Embodiment 1. FIG. 図１の空撮システムのドローン、プロポ及びカメラ制御装置の構成を示す説明図である。It is explanatory drawing which shows the structure of the drone of the aerial imaging system of FIG. 1, a prop, and a camera control apparatus. 実施の形態２に係るカメラ制御装置を含む空撮システムを示す説明図である。6 is an explanatory diagram illustrating an aerial imaging system including a camera control device according to Embodiment 2. FIG. 図３の空撮システムのドローン、プロポ及びカメラ制御装置の構成を示す説明図である。It is explanatory drawing which shows the structure of the drone of the aerial imaging system of FIG. 3, a prop, and a camera control apparatus. 実施の形態３に係るカメラ制御装置を含む空撮システムを示す説明図である。FIG. 10 is an explanatory diagram illustrating an aerial imaging system including a camera control device according to a third embodiment. 図５の空撮システムのドローン、プロポ及びカメラ制御装置の構成を示す説明図である。It is explanatory drawing which shows the structure of the drone of the aerial imaging system of FIG. 5, a prop, and a camera control apparatus. 図１，３及び５のパン棒にズームスイッチが設けられた例を示す説明図である。It is explanatory drawing which shows the example in which the zoom switch was provided in the pan bar of FIG. 従来の空撮システムを示す説明図である。It is explanatory drawing which shows the conventional aerial imaging system. カメラが搭載されたドローンを示す説明図である。It is explanatory drawing which shows the drone equipped with the camera.
　本発明を実施するための形態について、図面を用いて説明する。
［実施の形態１］ Embodiments for carrying out the present invention will be described with reference to the drawings.
[Embodiment 1]
　図１は、本発明の一形態に係るカメラ制御装置を含む空撮システムを示す。この空撮システム８は、図８及び９に示すドローン１と、図８に示すプロポ３ａと、ドローン１に搭載されたカメラ２を駆動制御して、その撮影方向を変更するカメラ制御装置９とを備える。 FIG. 1 shows an aerial imaging system including a camera control device according to an embodiment of the present invention. This aerial imaging system 8 includes a drone 1 shown in FIGS. 8 and 9, a prop 3a shown in FIG. 8, and a camera control device 9 that drives and controls the camera 2 mounted on the drone 1 and changes its shooting direction. Is provided.
　ドローン１のパン方向駆動機構６及びチルト方向駆動機構７は、モーターやギア機構等からなり、カメラ２は、パン方向駆動機構６、チルト方向駆動機構７により左右、上下に駆動されて撮影方向が変更され、任意の向きの動画及び静止画を撮影することができる。 The pan direction driving mechanism 6 and the tilt direction driving mechanism 7 of the drone 1 are composed of a motor, a gear mechanism, and the like. The camera 2 is driven left and right and up and down by the pan direction driving mechanism 6 and the tilt direction driving mechanism 7 so that the shooting direction is changed. It is possible to take a moving image and a still image in any direction.
　また、ドローン１には、図２に示すように、後述する機体制御信号、カメラ制御信号の受信やカメラ２の映像信号の送信に供する通信部１０が設けられている。 Further, as shown in FIG. 2, the drone 1 is provided with a communication unit 10 for receiving an aircraft control signal and a camera control signal, which will be described later, and transmitting a video signal of the camera 2.
　プロポ３ａには、カメラ２の撮影画像が表示されるディスプレイ４ａが設置されるとともに、ドローン１の操縦に供するスティック５ａと、ドローン１及びカメラ制御装置９との通信に供する通信部１１が設けられている。 The propo 3a is provided with a display 4a on which a photographed image of the camera 2 is displayed, and a stick 5a for maneuvering the drone 1 and a communication unit 11 for communicating with the drone 1 and the camera control device 9. ing.
　通信部１１が通信部１０からカメラ２の映像信号を受信すると、カメラ２の撮影画像がディスプレイ４ａに表示される。一方、操縦者がスティック５ａを操作すると、通信部１１は機体制御信号をドローン１に送信し、通信部１０により機体制御信号を受信したドローン１の機体は、操縦者のスティック操作に応じて上昇、下降したり、左右に回転したり、前進、後退したり、左右に進んだりする。 When the communication unit 11 receives the video signal of the camera 2 from the communication unit 10, the captured image of the camera 2 is displayed on the display 4a. On the other hand, when the operator operates the stick 5a, the communication unit 11 transmits an aircraft control signal to the drone 1, and the aircraft of the drone 1 that has received the aircraft control signal by the communication unit 10 rises in response to the operator's stick operation. , Descend, rotate left / right, move forward / backward, move left / right.
　カメラ制御装置９は、プロポ３ｂと同様に、プロポ３ａとマスター、スレーブの関係にあり、雲台装置１２と、タブレット１３とを備える。 The camera control device 9 has a master / slave relationship with the transmitter 3a, like the transmitter 3b, and includes a pan head device 12 and a tablet 13.
　雲台装置１２は、三脚１４に取り付けられる基部１５と、基部１５に対してパン方向（図１の矢印Ｃ方向）に回動可能なパン方向回動部１６と、パン方向回動部１６に対してチルト方向（図１の矢印Ｄ方向）に回動可能なチルト方向回動部１７と、チルト方向回動部１７に支持された設置台１８と、撮影者がパン方向回動部１６及びチルト方向回動部１７を回動操作するためのパン棒１９とを備え、タブレット１３は、設置台１８に設置されている。 The pan head device 12 includes a base portion 15 attached to a tripod 14, a pan direction rotating portion 16 that can rotate in the pan direction (the direction of arrow C in FIG. 1), and a pan direction rotating portion 16. On the other hand, a tilt direction rotating unit 17 that can be rotated in the tilt direction (the direction of arrow D in FIG. 1), an installation table 18 supported by the tilt direction rotating unit 17, The tablet 13 is installed on the installation table 18 and includes a pan bar 19 for rotating the tilt direction rotation unit 17.
　また、雲台装置１２には、パン方向回動部１６の回動方向及び回動量を検出するロータリーエンコーダ２０と、チルト方向回動部１７の回動方向及び回動量を検出するロータリーエンコーダ２１と、ドローン１及びプロポ３ａとの通信に供する通信部２２とが内蔵されている。 The pan / tilt head device 12 includes a rotary encoder 20 that detects the rotation direction and rotation amount of the pan direction rotation unit 16, and a rotary encoder 21 that detects the rotation direction and rotation amount of the tilt direction rotation unit 17. A communication unit 22 for communication with the drone 1 and the propo 3a is incorporated.
　通信部２２がカメラ２の映像信号を受信すると、カメラ２の撮影画像がタブレット１３のディスプレイ２３に表示される。一方、撮影者がパン棒１９を操作して設置台１８がパン方向又はチルト方向に回動し、ロータリーエンコーダ２０又はロータリーエンコーダ２１が設置台１８の回動方向及び回動量を検出すると、通信部２２はロータリーエンコーダ２０，２１の検出結果に基づくカメラ制御信号を通信部１１に送信する。通信部１１は、通信部２２からのカメラ制御信号を受信してドローン１に送信し、通信部１０によりカメラ制御信号を受信したドローン１のカメラ２は、パン方向駆動機構６又はチルト方向駆動機構７により設置台１８の動きに合わせてパン方向又はチルト方向に駆動され、その撮影方向が変更される。 When the communication unit 22 receives the video signal of the camera 2, the captured image of the camera 2 is displayed on the display 23 of the tablet 13. On the other hand, when the photographer operates the pan bar 19 to rotate the installation table 18 in the pan direction or the tilt direction, and the rotary encoder 20 or the rotary encoder 21 detects the rotation direction and the rotation amount of the installation table 18, the communication unit 22 transmits a camera control signal based on the detection results of the rotary encoders 20 and 21 to the communication unit 11. The communication unit 11 receives the camera control signal from the communication unit 22 and transmits it to the drone 1, and the camera 2 of the drone 1 that has received the camera control signal by the communication unit 10 includes the pan direction driving mechanism 6 or the tilt direction driving mechanism. 7 is driven in the pan direction or the tilt direction in accordance with the movement of the installation table 18, and the photographing direction is changed.
　本形態に係るカメラ制御装置９によれば、雲台装置１２における設置台１８のパン方向、チルト方向の回動を検出するロータリーエンコーダ２０，２１の検出結果に基づいて、カメラ２を左右方向、上下方向に駆動させるカメラ制御信号が送信されるので、撮影者は、ドローンでの空撮に特有なスティック操作を行わず、通常の撮影における雲台操作と同様な動作でカメラの向きを変更することが可能となり、このようにドローンに搭載されたカメラを直感的かつ容易に制御することができることによって、滑らかで繊細なカメラワークが実現する。 According to the camera control device 9 according to the present embodiment, the camera 2 is moved in the left-right direction based on the detection results of the rotary encoders 20 and 21 that detect rotation in the pan direction and tilt direction of the installation base 18 in the pan head device 12. Since the camera control signal to be driven in the vertical direction is transmitted, the photographer changes the direction of the camera by the same operation as the pan head operation in normal shooting without performing the stick operation peculiar to the aerial shooting with the drone. Thus, the camera mounted on the drone can be controlled intuitively and easily, thereby realizing a smooth and delicate camera work.
　したがって、カメラワークを失敗すると撮影していたテイクがＮＧとなって撮り直さなければならない（しかし、飛行時間がリスクと考えられているドローンの性質上、撮影は短時間で終えなければならない）動画撮影時には、たとえ熟練の撮影者でなくても過敏なスティック操作による失敗を飛躍的に減らすことができ、撮影時間の短縮や効率化、映像のクオリティ向上を図ることができる。 Therefore, if the camera work fails, the take that was taken must be NG and must be retaken (However, due to the nature of the drone where flight time is considered a risk, the shooting must be completed in a short time) At the time of shooting, even if it is not a skilled photographer, failure due to sensitive stick operation can be drastically reduced, and shooting time can be shortened and efficiency can be improved, and video quality can be improved.
　また、設置台１８には、カメラ２の撮影画像を表示するディスプレイ２３が設置されているので、撮影者は、通常の撮影において雲台に設置されたカメラのファインダーやモニターを見ながら雲台を操作する感覚で、雲台装置１２を操作することができる。しかも、撮影中、ディスプレイのタッチパネル操作が必要な場合に、従来はプロポを両手で持たなければならなかったために、撮影者がカメラワークとタッチパネル操作を同じタイミングで行うことが難しかったが、カメラ制御装置９では、撮影者が、片手でパン棒１９を操作しながら、もう一方の空いた片手でタッチパネル操作を行うことができるので、カメラワークとタッチパネル操作を同じタイミングで行うことができる。 In addition, since the display 23 for displaying the photographed image of the camera 2 is installed on the installation table 18, the photographer can see the camera platform while looking at the camera finder or monitor installed on the camera platform in normal shooting. The pan head device 12 can be operated as if it were operated. Moreover, when it was necessary to operate the touch panel of the display during shooting, it was difficult for the photographer to perform the camera work and the touch panel operation at the same time because it had been necessary to hold the transmitter with both hands. In the apparatus 9, the photographer can operate the touch panel operation with the other free one hand while operating the pan bar 19 with one hand, so that the camera work and the touch panel operation can be performed at the same timing.
　さらに、飛行しているドローン１の背面側にカメラ２が向いているような場合に、従来は操縦者と撮影者が互いの向いている方向が分からなくなることがあったが、カメラ制御装置９では、設置台１８の向きを見ることにより、操縦者が撮影者の向いている方向を知ることができるので、操縦者と撮影者の連携が取りやすくなって、撮影時間の短縮や効率化、映像のクオリティ向上に寄与する。
［実施の形態２］ Further, when the camera 2 is facing the back side of the flying drone 1, the direction in which the operator and the photographer are facing each other may not be known. Then, by looking at the direction of the installation stand 18, the operator can know the direction the photographer is facing, so it becomes easier for the operator and the photographer to work together, shortening the shooting time and improving efficiency. Contributes to improving video quality.
[Embodiment 2]
　図３及び４は、本発明の他の形態に係るカメラ制御装置を含む空撮システムを示す。この空撮システム２４は、カメラ制御装置９の代わりにカメラ制御装置２５を備えるほかは、空撮システム８と同様である。 3 and 4 show an aerial imaging system including a camera control device according to another embodiment of the present invention. This aerial imaging system 24 is the same as the aerial imaging system 8 except that it includes a camera control device 25 instead of the camera control device 9.
　カメラ制御装置２５は、プロポ３ａとマスター、スレーブの関係にあり、雲台装置２６と、タブレット２７とを備える。 The camera control device 25 has a relationship between the propo 3a and a master and a slave, and includes a pan head device 26 and a tablet 27.
　雲台装置２６は、雲台装置１２と同様に、三脚１４に取り付けられる基部１５と、基部１５に対してパン方向（図３の矢印Ｃ方向）に回動可能なパン方向回動部１６と、パン方向回動部１６に対してチルト方向（図３の矢印Ｄ方向）に回動可能なチルト方向回動部１７と、チルト方向回動部１７に支持された設置台２８と、撮影者がパン方向回動部１６及びチルト方向回動部１７を回動操作するためのパン棒１９とを備え、タブレット２７は、設置台２８に設置されている。 Similar to the pan head device 12, the pan head device 26 includes a base portion 15 attached to the tripod 14, and a pan direction rotating portion 16 that can rotate in the pan direction (arrow C direction in FIG. 3) with respect to the base portion 15. The tilt direction rotation unit 17 that can rotate in the tilt direction (the direction of arrow D in FIG. 3) with respect to the pan direction rotation unit 16, the installation table 28 supported by the tilt direction rotation unit 17, and the photographer Includes a pan bar 19 for rotating the pan direction rotation unit 16 and the tilt direction rotation unit 17, and the tablet 27 is installed on an installation table 28.
　タブレット２７には、ディスプレイ２３が設けられるとともに、電子コンパス２９、加速度センサ３０、制御部３１及び通信部３２が内蔵されている。また、タブレット２７には、これをカメラ制御装置として機能させるためのプログラムがインストールされ、このプログラムにより、ディスプレイ２３はカメラ２の撮影画像を表示し、電子コンパス２９はパン方向回動部１６の回動方向及び回動量を検出し、加速度センサ３０はチルト方向回動部１７の回動方向及び回動量を検出し、通信部３２はプロポ３ａとの通信を行う。 The tablet 27 is provided with a display 23 and an electronic compass 29, an acceleration sensor 30, a control unit 31, and a communication unit 32. In addition, a program for causing the tablet 27 to function as a camera control device is installed. By this program, the display 23 displays a photographed image of the camera 2, and the electronic compass 29 rotates the pan direction rotation unit 16. The movement direction and the rotation amount are detected, the acceleration sensor 30 detects the rotation direction and the rotation amount of the tilt direction rotation unit 17, and the communication unit 32 communicates with the propo 3a.
　詳細には、通信部１１が通信部１０からカメラ２の映像信号を受信して通信部３２に転送し、通信部３２がその映像信号を受信すると、カメラ２の撮影画像がディスプレイ２３に表示される。一方、撮影者がパン棒１９を操作して設置台２８がパン方向又はチルト方向に回動すると、制御部３１は、電子コンパス２９又は加速度センサ３０により設置台２８の回動方向及び回動量を検出し、電子コンパス２９又は加速度センサ３０の検出結果に基づいてカメラ制御信号を生成し、このカメラ制御信号を通信部３２により通信部１１に送信する。通信部１１は、通信部３２からのカメラ制御信号を受信してドローン１に送信し、通信部１０によりカメラ制御信号を受信したドローン１のカメラ２は、パン方向駆動機構６又はチルト方向駆動機構７により設置台２８と同様にパン方向又はチルト方向に駆動され、その撮影方向が変更される。 Specifically, when the communication unit 11 receives the video signal of the camera 2 from the communication unit 10 and transfers the video signal to the communication unit 32, and the communication unit 32 receives the video signal, the captured image of the camera 2 is displayed on the display 23. The On the other hand, when the photographer operates the pan bar 19 and the installation table 28 rotates in the pan direction or the tilt direction, the control unit 31 determines the rotation direction and the rotation amount of the installation table 28 by the electronic compass 29 or the acceleration sensor 30. The camera control signal is generated based on the detection result of the electronic compass 29 or the acceleration sensor 30, and the camera control signal is transmitted to the communication unit 11 by the communication unit 32. The communication unit 11 receives the camera control signal from the communication unit 32 and transmits it to the drone 1, and the camera 2 of the drone 1 that has received the camera control signal by the communication unit 10 includes the pan direction driving mechanism 6 or the tilt direction driving mechanism. 7 is driven in the pan direction or the tilt direction in the same manner as the installation table 28, and the photographing direction is changed.
　本形態に係るカメラ制御装置２５によれば、カメラ制御装置９と同様にドローンに搭載されたカメラを直感的かつ容易に制御することが可能となり、撮影時間の短縮や効率化、映像のクオリティ向上を図ることができる According to the camera control device 25 according to the present embodiment, it is possible to intuitively and easily control the camera mounted on the drone similarly to the camera control device 9, shortening the shooting time and improving the efficiency, and improving the image quality. Can be
　さらに、そのカメラ制御装置の機能をタブレット２７が果たすので、雲台装置２６には従来からの一般的な雲台を用いることが可能で、ドローンに搭載されたカメラの直感的かつ容易な制御を低コストで実現することができる。
［実施の形態３］ Furthermore, since the tablet 27 performs the function of the camera control device, the conventional pan head can be used for the pan head device 26, and intuitive and easy control of the camera mounted on the drone is possible. It can be realized at low cost.
[Embodiment 3]
　図５及び６は、本発明のさらに他の形態に係るカメラ制御装置を含む空撮システムを示す。この空撮システム３３は、カメラ制御装置９の代わりにカメラ制御装置３４を備えるほかは、空撮システム８と同様である。 5 and 6 show an aerial imaging system including a camera control device according to still another embodiment of the present invention. This aerial imaging system 33 is the same as the aerial imaging system 8 except that it includes a camera control device 34 instead of the camera control device 9.
　カメラ制御装置３４は、プロポ３ａとマスター、スレーブの関係にあり、雲台装置１２と略同様な構成を有する雲台装置３５と、プロポ３ｂと略同様な構成を有するプロポ３ｃとを備える。 The camera control device 34 has a relationship between the propo 3a and a master and a slave, and includes a pan head device 35 having a configuration substantially similar to that of the pan head device 12, and a propo 3c having a configuration substantially similar to the propo 3b.
　雲台装置３５には、雲台装置１２における設置台１８及び通信部２２の代わりに、プロポ３ｃが設置される設置台３６、及び、プロポ３ｃとの通信に供する通信部３７が内蔵されている。プロポ３ｃには、カメラ２の撮影画像が表示されるディスプレイ４ｃが設置されるとともに、カメラ２の撮影方向の変更（パン方向駆動機構６及びチルト方向駆動機構７の制御）に供するスティック５ｃと、ドローン１、プロポ３ａ及び雲台装置３５との通信に供する通信部３８が設けられている。 The camera platform device 35 has a built-in installation table 36 on which the propo 3c is installed and a communication unit 37 for communication with the propo 3c, instead of the installation table 18 and the communication unit 22 in the camera platform device 12. . The propo 3c is provided with a display 4c on which a photographed image of the camera 2 is displayed, and a stick 5c used for changing the photographing direction of the camera 2 (control of the pan direction driving mechanism 6 and the tilt direction driving mechanism 7), A communication unit 38 is provided for communication with the drone 1, the prop 3 a and the pan head device 35.
　通信部３８がカメラ２の映像信号を受信すると、カメラ２の撮影画像がディスプレイ４ｃに表示される。一方、撮影者がパン棒１９を操作して設置台３６がパン方向又はチルト方向に回動し、ロータリーエンコーダ２０又はロータリーエンコーダ２１が設置台３６の回動方向及び回動量を検出すると、通信部３７は、スティック５ｃが操作された場合と同様に、ロータリーエンコーダ２０，２１の検出結果に基づくカメラ制御信号を通信部３８に送信し、通信部３８は、これを通信部１１に送信する。通信部１１は、受信したカメラ制御信号をドローン１に送信し、通信部１０によりカメラ制御信号を受信したドローン１のカメラ２は、パン方向駆動機構６又はチルト方向駆動機構７により設置台３６の動きに合わせてパン方向又はチルト方向に駆動され、その撮影方向が変更される。 When the communication unit 38 receives the video signal of the camera 2, the captured image of the camera 2 is displayed on the display 4c. On the other hand, when the photographer operates the pan bar 19 to rotate the installation table 36 in the pan direction or the tilt direction, and the rotary encoder 20 or the rotary encoder 21 detects the rotation direction and the rotation amount of the installation table 36, the communication unit Similarly to the case where the stick 5 c is operated, 37 transmits a camera control signal based on the detection results of the rotary encoders 20 and 21 to the communication unit 38, and the communication unit 38 transmits this to the communication unit 11. The communication unit 11 transmits the received camera control signal to the drone 1, and the camera 2 of the drone 1 that has received the camera control signal by the communication unit 10 uses the pan direction drive mechanism 6 or the tilt direction drive mechanism 7 to Driven in the pan direction or tilt direction according to the movement, the shooting direction is changed.
　本形態に係るカメラ制御装置３４によれば、カメラ制御装置９と同様にドローンに搭載されたカメラを直感的かつ容易に制御することが可能となり、撮影時間の短縮や効率化、映像のクオリティ向上を図ることができる。 According to the camera control device 34 according to the present embodiment, it is possible to intuitively and easily control the camera mounted on the drone similarly to the camera control device 9, shortening the shooting time and improving the efficiency, and improving the image quality. Can be achieved.
　さらに、そのカメラ制御装置の機能を既存のプロポに対する若干の改造により実現することが可能で、ドローンに搭載されたカメラの直感的かつ容易な制御を低コストで実現することができる。 Furthermore, it is possible to realize the functions of the camera control device by a slight modification to the existing transmitter, and it is possible to realize intuitive and easy control of the camera mounted on the drone at a low cost.
　以上、本発明を実施するための形態について例示したが、本発明の実施形態は上述したものに限られず、発明の趣旨を逸脱しない範囲で適宜変更等してもよい。 As mentioned above, although the form for implementing this invention was illustrated, embodiment of this invention is not restricted to what was mentioned above, You may change suitably etc. in the range which does not deviate from the meaning of invention.
　例えば、上記の各実施の形態では、カメラ制御装置がスレーブとしてマスターのプロポと通信を行い、カメラ制御信号についてドローンとはマスターを介した間接的な通信しか行っていないが、カメラ制御装置がドローンと直接的に通信を行い、ドローンにカメラ制御信号を直接送信してもよい。 For example, in each of the above embodiments, the camera control device communicates with the master transmitter as a slave, and the camera control device performs only indirect communication with the drone through the master. The camera control signal may be directly transmitted to the drone.
　また、例えば図７に示すようなズームスイッチ３９をパン棒１９に設け、ズームスイッチ３９によりカメラ２のズームを調整可能としてもよく、あるいは、マニュアルフォーカス時にカメラ２のピントを遠隔調整可能な構成を付加し、パン棒１９や設置台１８，３６に設けた図示を略すダイヤル等によりピントを調整可能としてもよく、これにより撮影者がパン棒１９を操作しながらズーム調整やピント調整を容易に行うことが可能となる。 Further, for example, a zoom switch 39 as shown in FIG. 7 may be provided on the pan bar 19 so that the zoom of the camera 2 can be adjusted by the zoom switch 39, or the focus of the camera 2 can be adjusted remotely during manual focus. In addition, the focus may be adjusted by a dial or the like (not shown) provided on the pan bar 19 or the setting bases 18 and 36, so that the photographer can easily perform zoom adjustment and focus adjustment while operating the pan bar 19. It becomes possible.
　さらに、設置台に設置される情報端末機器としてタブレットではなく、スマートフォンやパソコンを用いてもかまわない。 Furthermore, instead of a tablet as an information terminal device installed on the installation table, a smartphone or a personal computer may be used.
１　　ドローン
２　　カメラ
６　　パン方向駆動機構（パン方向駆動手段）
７　　チルト方向駆動機構（チルト方向駆動手段）
９　　カメラ制御装置
１２　雲台装置
１３　タブレット（表示手段）
１８　設置台
２０　ロータリーエンコーダ（パン方向回動検出手段）
２１　ロータリーエンコーダ（チルト方向回動検出手段）
２２　通信部（送信手段）
２５　カメラ制御装置
２６　雲台装置
２７　タブレット（表示手段、情報端末手段、パン方向回動検出手段、チルト方向回動検出手段、送信手段）
２８　設置台
２９　電子コンパス
３０　加速度センサ
３１　制御部
３２　通信部 1 Drone 2 Camera 6 Pan direction drive mechanism (pan direction drive means)
7 Tilt direction drive mechanism (tilt direction drive means)
9 camera control device 12 pan head device 13 tablet (display means)
18 Installation base 20 Rotary encoder (pan direction rotation detection means)
21 Rotary encoder (tilt direction rotation detection means)
22 Communication unit (transmission means)
25 camera control device 26 pan head device 27 tablet (display means, information terminal means, pan direction rotation detection means, tilt direction rotation detection means, transmission means)
28 Installation stand 29 Electronic compass 30 Acceleration sensor 31 Control unit 32 Communication unit

Claims (6)

  1. 　制御信号を受信してドローンに搭載されたカメラを左右方向に駆動するパン方向駆動手段及び上下方向に駆動するチルト方向駆動手段に対し、前記制御信号を送信するカメラ制御装置であって、
    　パン方向及びチルト方向に回動可能な設置台を有する雲台装置における前記設置台のパン方向の回動を検出するパン方向回動検出手段と、
    　前記雲台装置における前記設置台のチルト方向の回動を検出するチルト方向回動検出手段と、
    　前記パン方向回動検出手段の検出結果に基づいて前記カメラを左右方向に駆動させ、前記チルト方向回動検出手段の検出結果に基づいて前記カメラを上下方向に駆動させる制御信号を送信する送信手段とを有することを特徴とするカメラ制御装置。     A camera control device that receives a control signal and transmits the control signal to a pan direction driving unit that drives a camera mounted on the drone in a left-right direction and a tilt direction driving unit that drives the camera in a vertical direction,
    Pan direction rotation detection means for detecting rotation of the installation table in the pan direction in a pan head device having an installation table rotatable in the pan direction and the tilt direction;
    Tilt direction rotation detection means for detecting rotation in the tilt direction of the installation base in the pan head device;
    Transmission means for driving the camera in the left-right direction based on the detection result of the pan direction rotation detection means, and transmitting a control signal for driving the camera in the vertical direction based on the detection result of the tilt direction rotation detection means And a camera control device.
  2. 　前記設置台に前記カメラの撮影画像を表示する表示手段が設置されていることを特徴とする請求項１に記載のカメラ制御装置。 2. The camera control apparatus according to claim 1, wherein display means for displaying a photographed image of the camera is installed on the installation table.
  3. 　前記パン方向回動検出手段及び前記チルト方向検回動出手段が前記雲台装置に内蔵されていることを特徴とする請求項１又は２に記載のカメラ制御装置。 3. The camera control device according to claim 1, wherein the pan direction rotation detection means and the tilt direction detection rotation output means are built in the pan head apparatus.
  4. 　前記パン方向回動検出手段及び前記チルト方向検回動出手段が前記表示手段に内蔵されていることを特徴とする請求項２に記載のカメラ制御装置。 3. The camera control apparatus according to claim 2, wherein the pan direction rotation detection means and the tilt direction detection rotation output means are built in the display means.
  5. 　制御信号を受信してドローンに搭載されたカメラを左右方向に駆動するパン方向駆動手段及び上下方向に駆動するチルト方向駆動手段に対し、前記制御信号を送信するカメラ制御装置として、パン方向及びチルト方向に回動可能な設置台を有する雲台装置の前記設置台に設置された情報端末手段を機能させるカメラ制御装置用プログラムであって、
    　前記情報端末手段を、
    　前記設置台のパン方向の回動を検出するパン方向回動検出手段と、
    　前記設置台のチルト方向の回動を検出するチルト方向回動検出手段と、
    　前記パン方向回動検出手段の検出結果に基づいて前記カメラを左右方向に駆動させ、前記チルト方向回動検出手段の検出結果に基づいて前記カメラを上下方向に駆動させる制御信号を送信する送信手段として機能させることを特徴とするカメラ制御装置用プログラム。     As a camera control device that receives the control signal and transmits the control signal to the pan direction driving means for driving the camera mounted on the drone in the horizontal direction and the tilt direction driving means for driving in the vertical direction, the pan direction and tilt A program for a camera control device that causes information terminal means installed on the installation base of the pan head apparatus having an installation base that can rotate in a direction,
    The information terminal means;
    Pan direction rotation detection means for detecting rotation in the pan direction of the installation table;
    Tilt direction rotation detection means for detecting rotation in the tilt direction of the installation table;
    Transmission means for driving the camera in the left-right direction based on the detection result of the pan direction rotation detection means, and transmitting a control signal for driving the camera in the vertical direction based on the detection result of the tilt direction rotation detection means A program for a camera control device, which is made to function as:
  6. 　前記情報端末手段を、前記カメラの撮影画像を表示する表示手段として機能させることを特徴とする請求項５に記載のカメラ制御装置用プログラム。 6. The program for a camera control device according to claim 5, wherein the information terminal means functions as a display means for displaying a photographed image of the camera.
PCT/JP2017/003420 2017-01-31 2017-01-31 Camera control device and program for camera control device WO2018142470A1 (en)

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WO2021017017A1 (en) * 2019-07-30 2021-02-04 苏州领速电子科技有限公司 Camera lens for racing unmanned aerial vehicle
JP2021024488A (en) * 2019-08-08 2021-02-22 株式会社Ｔ＆Ｔ Drone for emergency evacuation guide
WO2023025202A1 (en) * 2021-08-25 2023-03-02 深圳市道通智能航空技术股份有限公司 Control method and apparatus for direction of gimbal, and terminal

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WO2021017017A1 (en) * 2019-07-30 2021-02-04 苏州领速电子科技有限公司 Camera lens for racing unmanned aerial vehicle
JP2021024488A (en) * 2019-08-08 2021-02-22 株式会社Ｔ＆Ｔ Drone for emergency evacuation guide
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