WO2019000842A1 - 控制装置、摄像系统、移动体、控制方法及程序 - Google Patents

控制装置、摄像系统、移动体、控制方法及程序 Download PDF

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Publication number
WO2019000842A1
WO2019000842A1 PCT/CN2017/114575 CN2017114575W WO2019000842A1 WO 2019000842 A1 WO2019000842 A1 WO 2019000842A1 CN 2017114575 W CN2017114575 W CN 2017114575W WO 2019000842 A1 WO2019000842 A1 WO 2019000842A1
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WO
WIPO (PCT)
Prior art keywords
information
vibration
unit
control
lens
Prior art date
Application number
PCT/CN2017/114575
Other languages
English (en)
French (fr)
Inventor
张嘉懿
本庄谦一
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780065067.5A priority Critical patent/CN109845240B/zh
Publication of WO2019000842A1 publication Critical patent/WO2019000842A1/zh
Priority to US16/723,193 priority patent/US20200137310A1/en

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Classifications

    • 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
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation
    • H04N23/687—Vibration or motion blur correction performed by mechanical compensation by shifting the lens or sensor position
    • 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
    • G03B15/006—Apparatus mounted on flying objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • 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
    • G03B17/02—Bodies
    • G03B17/12—Bodies with means for supporting objectives, supplementary lenses, filters, masks, or turrets
    • G03B17/14—Bodies with means for supporting objectives, supplementary lenses, filters, masks, or turrets interchangeably
    • 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
    • G03B17/561—Support related camera accessories
    • 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
    • G03B5/00—Adjustment of optical system relative to image or object surface other than for focusing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
    • 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
    • H04N23/61—Control of cameras or camera modules based on recognised objects
    • 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
    • H04N23/64—Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image
    • 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
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/663—Remote control of cameras or camera parts, e.g. by remote control devices for controlling interchangeable camera parts based on electronic image sensor signals
    • 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
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/681—Motion detection
    • H04N23/6812—Motion detection based on additional sensors, e.g. acceleration sensors
    • 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
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • 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
    • G03B2205/00—Adjustment of optical system relative to image or object surface other than for focusing
    • G03B2205/0007—Movement of one or more optical elements for control of motion blur

Definitions

  • the present invention relates to a control device, an imaging system, a moving body, a control method, and a program.
  • a camera system determines whether or not a jitter component due to a mechanical shutter is added to a jitter component detected by a vibration sensor in accordance with the type of shutter used at the time of shooting.
  • Patent Document 1 Japanese Patent Laid-Open Publication No. 2007-21933
  • the shake correction of the imaging device may not be properly performed.
  • a control device controls a support mechanism that rotatably supports an image pickup device.
  • the control device may include a first acquisition unit that acquires time information indicating a time during which the vibration generating unit included in the imaging device generates vibration.
  • the control device may include a second acquisition unit that acquires control information of the support mechanism, and the control information of the support mechanism corresponds to the vibration generated by the vibration generation unit.
  • the control device may include a control unit that controls the support mechanism based on the control information at a time indicated by the time information.
  • the image pickup device may have a detachably mounted lens portion.
  • the lens portion may include a vibration generating portion.
  • the imaging device may include a storage unit that stores vibration information of vibration generated by the vibration generating unit.
  • the control device may include a third acquisition unit that acquires vibration information from the storage unit.
  • the control device may include a generation unit that generates control information based on the vibration information acquired by the third acquisition unit.
  • the second acquisition unit can acquire the control information generated by the generation unit.
  • the lens portion may include a storage portion that stores control information.
  • the second acquisition unit can acquire control information from the storage unit.
  • the second acquisition unit can acquire, from the storage unit, control information corresponding to the identification information of the lens unit mounted in the imaging device, and the storage unit stores and the plurality of lens units in association with the identification information of each of the plurality of lens units.
  • the vibration generated by the vibration generating portion corresponds to the control information of the support mechanism.
  • the control device may include a third acquisition unit that acquires vibration information corresponding to the identification information of the lens unit mounted in the imaging device from the storage unit, and the storage unit corresponds to the identification information of each of the plurality of lens units.
  • the vibration information of the vibration generated by the vibration generating portion of each of the plurality of lens portions is stored.
  • the control device may include a generation unit that generates control information based on the vibration information acquired by the third acquisition unit.
  • the second acquisition unit can acquire the control information generated by the generation unit.
  • the camera device can be detachably supported by a support mechanism.
  • the control device may include a third acquisition unit that acquires, from the storage unit, vibration information corresponding to the identification information of the lens unit mounted in the imaging device and the identification information supporting the imaging device support mechanism, and the storage unit includes The vibration information of the vibration generated by the vibration generating unit of each of the plurality of lens portions is stored in association with the identification information of each of the plurality of lens portions and the identification information of each of the plurality of support mechanisms.
  • the control device may include a generation unit that generates control information based on the vibration information acquired by the third acquisition unit.
  • the second acquisition unit can acquire the control generated by the generation unit information.
  • the camera device can be detachably supported by a support mechanism.
  • the second acquisition unit can acquire, from the storage unit, control information corresponding to the identification information of the lens unit mounted in the imaging device and the identification information of the support mechanism supporting the imaging device, and the identification of each of the plurality of lens units in the storage unit
  • the information and the identification information of each of the plurality of support mechanisms respectively store control information of each of the plurality of support mechanisms corresponding to the vibration generated by the vibration generating unit of each of the plurality of lens sections.
  • the imaging device may include a storage unit that stores vibration information of vibration generated by the vibration generating unit.
  • the control device may include a third acquisition unit that acquires vibration information from the imaging device.
  • the control device may include a generation unit that generates control information based on the vibration information acquired by the third acquisition unit.
  • the second acquisition unit can acquire the control information generated by the generation unit.
  • the imaging device may include a storage portion that stores control information.
  • the second acquisition unit can acquire control information from the storage unit.
  • the control unit can control the support mechanism based on the detection signal from the sensor that detects the vibration of the imaging device and the control information.
  • the control device may include a drive instructing unit that instructs the imaging device to drive the vibration generating unit at a predetermined time before time.
  • the control device may include a generation unit that generates control information based on a detection signal at a predetermined time from a sensor that detects vibration of the imaging device.
  • the control device may include a storage unit that stores control information generated by the generation unit. The second acquisition unit can acquire control information from the storage unit.
  • the first acquisition unit can acquire time information from the imaging device.
  • the vibration generating portion may include at least one of a shutter, a filter, an aperture, a lens, and a mechanism member that moves the lens.
  • An imaging system may include the control device.
  • Camera The system can have a support organization.
  • the camera system can be equipped with an imaging device.
  • the imaging device may include a fourth acquisition unit that acquires correction information for the residual component of the vibration, and the residual component of the vibration is a component that cannot be suppressed by the control of the support mechanism based on the control information.
  • the imaging device may include a shake correction unit that performs shake correction based on the correction information at a time indicated by the time information.
  • An imaging system includes the imaging system and moves.
  • a control method is a method of controlling a support mechanism that rotatably supports an image pickup apparatus.
  • the control method may include a step of acquiring time information indicating the time during which the vibration generating unit included in the imaging device generates vibration, and control information corresponding to the vibration generated by the vibration generating unit.
  • the control method may have a stage in which the support mechanism is controlled based on the control information at the time indicated by the time information.
  • a program according to an aspect of the present invention is a program for causing a computer to control a support mechanism that rotatably supports an image pickup apparatus.
  • the program can cause the computer to execute the following steps: acquiring time information and control information of the support mechanism, the time information indicating a time when the vibration generating portion of the imaging device generates vibration, and the control information of the support mechanism corresponds to the vibration generated by the vibration generating portion .
  • the program can cause the computer to perform the following stages: Control the support mechanism based on the control information at the time indicated by the time information.
  • FIG. 1 is a view showing an example of the appearance of a drone (UAV) and a remote operation device.
  • UAV drone
  • FIG. 2 is a diagram showing an example of functional blocks of a UAV.
  • FIG. 3 is an example of a table in which control information and identification information of each lens are associated with each other.
  • FIG. 4 is an example of a table in which identification information of each of control information, a lens, and a pan/tilt is associated.
  • FIG. 5 is a view for explaining a communication method between an imaging device and a pan/tilt.
  • Fig. 6 is a view for explaining a method of suppressing vibration of a shutter.
  • Fig. 7 is a view for explaining the time of the shutter operation.
  • FIG. 8 is a view for explaining a shutter operation and a correction operation of the pan/tilt.
  • FIG. 9 is a diagram showing an example of a hardware configuration.
  • the various embodiments of the present invention can be described with reference to the flowcharts and block diagrams, and the blocks herein may represent (1) a stage of a process of performing an operation, or (2) a "part" of a device having an effect of performing an operation.
  • the specially designated stages and “parts” can be installed using programmable circuits and/or processors.
  • Dedicated circuits may include digital and/or analog hardware circuits.
  • ICs integrated circuits
  • discrete circuits may be included.
  • the programmable circuit can include reconfigurable hardware circuitry.
  • Reconfigurable hardware circuits can include memory AND, logic OR, logic XOR, logic NAND, logic NOR and other logic operations, flip-flops, registers, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and other memory elements Wait.
  • FPGAs field programmable gate arrays
  • PDAs programmable logic arrays
  • the computer readable medium can comprise any tangible device that can store instructions that are executed by a suitable device.
  • a computer readable medium having stored instructions therein is provided with a product comprising executable instructions for forming means for performing the operations specified in the flowchart or block diagram.
  • an electronic storage medium, a magnetic storage medium, an optical storage medium, an electromagnetic storage medium, a semiconductor storage medium, or the like can be included.
  • a floppy (registered trademark) disk a floppy disk, a hard disk, a random access memory (RAM), a read only memory (ROM), an erasable programmable read only memory (EPROM or Flash), EEPROM, SRAM, CD-ROM, Digital Versatile Disc (DVD), Blu-ray (RTM) CD, memory stick, integrated circuit card, etc.
  • RAM random access memory
  • ROM read only memory
  • EPROM or Flash erasable programmable read only memory
  • EEPROM electrically erasable programmable read only memory
  • SRAM CD-ROM
  • DVD Digital Versatile Disc
  • RTM Blu-ray
  • the computer readable instructions can comprise any of the source code or object code described in any combination of one or more programming languages.
  • the source code or object code contains an existing procedural programming language.
  • Existing procedural programming languages may be assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state setting data, or Smalltalk, JAVA (registered trademark), C++, etc.
  • the computer readable instructions may be provided locally or via a wide area network (WAN), such as a local area network (LAN), the Internet, to a processor or programmable circuit of a general purpose computer, special purpose computer, or other programmable data processing apparatus.
  • WAN wide area network
  • LAN local area network
  • the Internet to a processor or programmable circuit of a general purpose computer, special purpose computer, or other programmable data processing apparatus.
  • the processor or programmable circuitry can execute computer readable instructions to form a means for performing the operations specified in the flowcharts or block diagrams.
  • a processor including a computer Processor, processing unit, microprocessor, digital signal processor, controller, microcontroller, etc.
  • FIG. 1 shows an example of the appearance of the unmanned aerial vehicle (UAV) 10 and the remote operation device 300.
  • the UAV 10 includes a UAV main body 20, a pan/tilt head 50, a plurality of imaging devices 60, and an imaging device 100.
  • the pan/tilt head 50 and the imaging device 100 are examples of an imaging system.
  • the UAV 10 is an example of a moving body propelled by the propulsion unit.
  • the concept of the mobile body includes a flying object such as another aircraft moving in the air, a vehicle moving on the ground, a ship moving on the water, and the like.
  • the UAV main body 20 is provided with a plurality of rotors.
  • the plurality of rotors are an example of a propulsion unit.
  • the UAV body 20 is to fly the UAV 10 by controlling the rotation of a plurality of rotors.
  • the UAV body 20 uses, for example, four rotors to fly the UAV 10.
  • the number of rotors is not limited to four.
  • the UAV 10 can also be a rotorless fixed wing aircraft.
  • the imaging device 100 is an imaging camera that images an object included in a desired imaging range.
  • the pan/tilt head 50 supports the image pickup apparatus 100 in a rotatable manner.
  • the Yuntai 50 is an example of a support organization.
  • the pan/tilt head 50 supports the image pickup apparatus 100 in such a manner as to rotate the pitch axis by an actuator.
  • the pan/tilt head 50 supports the image pickup apparatus 100 so as to be rotatable about the roll axis and the yaw axis by the actuator.
  • the pan/tilt head 50 can change the posture of the imaging device 100 by rotating the imaging device 100 around at least one of the yaw axis, the pitch axis, and the roll axis.
  • the plurality of imaging devices 60 are sensing cameras that image the surroundings of the UAV 10 in order to control the flight of the UAV 10 .
  • the two imaging devices 60 can be provided on the front side of the UAV 10, that is, the front side.
  • the other two imaging devices 60 may be provided on the bottom surface of the UAV 10.
  • the two imaging devices 60 on the front side can be paired and function as a so-called stereo camera.
  • the two imaging devices 60 on the bottom side may be paired and function as a stereo camera.
  • the three-dimensional spatial data around the UAV 10 can be generated based on the images taken by the plurality of imaging devices 60.
  • the number of imaging devices 60 included in the UAV 10 is not limited to four.
  • the UAV 10 may have at least one imaging device 60.
  • the UAV 10 can have at least one imaging device 60 on the head, the tail, the side, the bottom surface, and the top surface of the UAV 10, respectively.
  • the viewing angle that the imaging device 60 can set can be larger than the viewing angle that the imaging device 100 can set.
  • the camera device 60 can also have a fixed focus lens or a fisheye lens.
  • the remote operation device 300 communicates with the UAV 10 to remotely operate the UAV 10.
  • the remote operating device 300 can communicate with the UAV 10 in a wireless manner.
  • the remote operation device 300 transmits instruction information indicating various commands related to the movement of the UAV 10, such as ascending, descending, accelerating, decelerating, advancing, advancing, and rotating, to the UAV 10.
  • the indication information includes, for example, indication information that causes the height of the UAV 10 to rise.
  • the indication information may indicate the height at which the UAV 10 should be.
  • the UAV 10 moves to a height indicated by the indication information received from the remote operation device 300.
  • the indication information may include a rising instruction that causes the UAV 10 to rise.
  • the UAV 10 rises while receiving the rising command. When the UAV 10 receives the rising command, but the height of the UAV 10 has reached the upper limit, the rise can be limited.
  • the imaging device 100 and the pan/tilt 50 respectively perform shake correction, the shake correction of the imaging device 100 cannot be appropriately performed, and the imaging device 100 cannot capture a desired image.
  • the UAV 10 may be shaken by the operation of the shutter, and the imaging apparatus 100 cannot capture a desired image.
  • the pan/tilt head 50 appropriately performs shake correction based on the operation of the shutter or the like of the image pickup apparatus 100, thereby preventing the image pickup apparatus 100 from shaking.
  • FIG. 2 shows an example of functional blocks of the UAV 10.
  • the UAV 10 includes a UAV control unit 30, a memory 32, a communication interface 34, a propulsion unit 40, a GPS receiver 41, an inertial measurement device 42, a magnetic compass 43, a barometric altimeter 44, a pan/tilt head 50, an imaging device 60, and an imaging device 100.
  • the communication interface 34 communicates with other devices such as the remote operation device 300.
  • the communication interface 34 can receive indication information including various instructions for the UAV control section 30 from the remote operation device 300.
  • the memory 32 stores programs necessary for the UAV control unit 30 to control the propulsion unit 40, the GPS receiver 41, the inertial measurement unit (IMU) 42, the magnetic compass 43, the barometric altimeter 44, the pan/tilt head 50, the imaging device 60, and the imaging device 100. Wait.
  • the memory 32 may be a computer readable recording medium, and may include at least one of flash memories such as SRAM, DRAM, EPROM, EEPROM, and USB memory.
  • the memory 32 can be disposed in the UAV main body 20. unit. It can be configured to be detachable from the UAV body 20.
  • the UAV control unit 30 controls the flight and imaging of the UAV 10 based on the program stored in the memory 32.
  • the UAV control unit 30 can be constituted by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, or the like.
  • the UAV control unit 30 controls the flight and imaging of the UAV 10 based on an instruction received from the remote operation device 300 via the communication interface 34.
  • the propulsion unit 40 advances the UAV 10.
  • the propulsion unit 40 has a plurality of rotors and a plurality of drive motors that rotate the plurality of rotors.
  • the propulsion unit 40 rotates the plurality of rotors by a plurality of drive motors in accordance with an instruction from the UAV control unit 30 to fly the UAV 10.
  • the GPS receiver 41 receives a plurality of signals indicating the time of transmission from a plurality of GPS satellites.
  • the GPS receiver 41 calculates the position of the GPS receiver 41, that is, the position of the UAV 10 based on the received plurality of signals.
  • the IMU 42 detects the posture of the UAV 10. As the posture of the UAV 10, the IMU 42 detects the acceleration in the three-axis direction of the front, rear, left and right, and up and down of the UAV 10, and the angular velocities in the three axial directions of pitch, roll, and yaw.
  • the magnetic compass 43 detects the orientation of the hand of the UAV 10.
  • the barometric altimeter 44 detects the flying height of the UAV 10. The barometric altimeter 44 detects the air pressure around the UAV 10 and converts the detected air pressure to a height to detect the height.
  • the imaging device 100 includes an imaging unit 102 and a lens unit 200.
  • the lens unit 200 is an example of a lens device.
  • the imaging unit 102 includes an image sensor 120, an imaging control unit 110, a gyro sensor 116, and a memory 130.
  • the image sensor 120 may be composed of a CCD or a CMOS.
  • the image sensor 120 outputs the image data of the optical image imaged by the plurality of lenses 210 to the imaging control section 110.
  • the imaging control unit 110 can be configured by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, or the like.
  • the imaging control unit 110 can control the imaging device 100 based on an operation command from the imaging device 100 of the UAV control unit 30.
  • the gyro sensor 116 detects the vibration of the imaging apparatus 100.
  • the memory 130 may be a computer-readable recording medium, and may include at least one of flash memories such as SRAM, DRAM, EPROM, EEPROM, and USB memory.
  • the memory 130 stores a program or the like necessary for the image control unit 110 to control the image sensor 120 and the like.
  • the memory 130 can be provided inside the casing of the image pickup apparatus 100.
  • the memory 130 can be disposed to be detachable from the housing of the image pickup apparatus 100.
  • the lens unit 200 has a plurality of lenses 210 , a plurality of lens driving units 212 , and a lens control unit 220 .
  • the plurality of lenses 210 can function as a zoom lens, a zoom lens, and a focus lens. At least a portion or all of the plurality of lenses 210 are configured to be movable along the optical axis.
  • the lens unit 200 may be an interchangeable lens that is detachably attachable to the imaging unit 102.
  • the lens driving unit 212 moves at least a part or all of the plurality of lenses 210 along the optical axis by a mechanism member such as a cam ring.
  • the lens control unit 220 drives the lens driving unit 212 in accordance with the lens control command from the imaging unit 102, and moves one or more lenses 210 in the optical axis direction by the mechanism member.
  • the lens control commands are, for example, a zoom control command and a focus control command.
  • the lens unit 200 further includes a memory 222, a position sensor 214, a diaphragm 234, a diaphragm driving unit 236, a filter 238, a filter driving unit 240, a shutter 230, and a shutter driving unit 232.
  • the lens control unit 220 controls the movement of the lens 210 in the optical axis direction by the lens driving unit 212 based on the lens operation command from the imaging unit 102.
  • the lens control unit 220 controls the movement of the lens 210 in the optical axis direction by the lens driving unit 212 based on the lens operation command from the imaging unit 102.
  • a part or all of the lens 210 moves along the optical axis.
  • the lens control unit 220 performs at least one of a zooming operation and a focusing operation by moving at least one lens 210 along the optical axis.
  • the position sensor 214 detects the position of the lens 210.
  • the position sensor 214 can detect the current zoom position or focus position.
  • the aperture 234 adjusts the amount of light incident on the image sensor 120.
  • the aperture 234 can include at least one blade component.
  • the aperture driving portion 236 may include an actuator.
  • the actuator can be an electromagnetic actuator.
  • the electromagnetic actuator can be an electromagnet or a solenoid.
  • the diaphragm driving unit 236 can receive an instruction from the lens control unit 220 to drive the actuator, and adjust the degree of overlap of the plurality of blade members to adjust the size of the aperture opening.
  • the filter 238 reduces the amount of light incident through the lens 210, or cuts off light of a specific wavelength.
  • Filter 238 can include at least one of an ND filter and an infrared cut filter.
  • the filter driving portion 240 may include an actuator.
  • the actuator can be an electromagnetic actuator. Electromagnetic
  • the actuator can be an electromagnet or a solenoid.
  • the filter drive unit 240 receives an instruction from the lens control unit 220 to drive the actuator, and causes the filter 238 to attenuate the specific wavelength component of the input light or the input light by removing the incident light. Move between the second positions.
  • Shutter 230 can include at least one blade component.
  • the shutter driving portion 232 may include an actuator.
  • the actuator can be an electromagnetic actuator.
  • the electromagnetic actuator can be an electromagnet or a solenoid.
  • the shutter drive unit 232 can receive an instruction from the lens control unit 220 to drive the actuator, adjust the overlapping speed of the plurality of blade members, and switch the transmission and interruption of light at a desired speed.
  • the memory 222 stores control values of the plurality of lenses 210 that are moved by the lens driving unit 212.
  • the memory 222 may include at least one of flash memories such as SRAM, DRAM, EPROM, EEPROM, and USB memory.
  • the imaging device 100 may vibrate.
  • the pan/tilt 50 acquires the vibration information of the vibration in advance.
  • the pan/tilt 50 also acquires in advance the time during which the shutter 230, the filter 238, the aperture 234, the lens 210, or the mechanism of the lens 210 operate. Further, the pan/tilt head 50 operates at this time based on the vibration information, and prevents the imaging device 100 from shaking.
  • the mechanism members of the shutter 230, the filter 238, the diaphragm 234, the lens 210, and the lens 210 are examples of the vibration generating portion that generates vibration.
  • the shutter 230 will be described as an example of a vibration generating unit.
  • the pan/tilt head 50 includes a memory 51, a pan/tilt control unit 52, a gyro sensor 59, and a rotation mechanism 58.
  • the pan/tilt control unit 52 can be constituted by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, or the like.
  • the gyro sensor 59 detects the vibration of the pan/tilt head 50.
  • the rotation mechanism 58 supports the image pickup apparatus 100 so as to be rotatable about the roll axis and the yaw axis by the actuator.
  • the rotation mechanism 58 can support the image pickup apparatus 100 so as to be rotatable about at least one of a yaw axis, a pitch axis, and a roll axis.
  • the pan/tilt control unit 52 includes an acquisition unit 53, a rotation control unit 54, and a generation unit 56.
  • the acquisition unit 53 acquires time information indicating the time when the shutter 230 generates vibration.
  • the acquisition unit 53 can acquire time information from the imaging apparatus 100.
  • the acquisition unit 53 acquires control information of the pan/tilt 50, and the control information of the pan/tilt head 50 corresponds to the vibration generated by the shutter 230.
  • the acquisition unit 53 is an example of the first acquisition unit, the second acquisition unit, and the third acquisition unit.
  • the rotation control unit 54 controls the platform 50 based on the control information at the time indicated by the time information.
  • the rotation control unit 54 is an example of a control unit.
  • the memory 222 of the lens portion 200 can store vibration information of vibration generated by the shutter 230 in advance. Further, the acquisition unit 53 can acquire vibration information from the lens unit 200. The generating unit 56 can generate control information based on the vibration information acquired by the acquiring unit 53. The acquisition unit 53 can acquire the control information generated by the generation unit 56. For example, before the image pickup apparatus 100 is shipped, the shutter 230 is actually operated while the imaging apparatus 100 is actually mounted on the platform 50, and the vibration of the imaging apparatus 100 at this time is detected by the gyro sensor 116. Further, vibration information can be generated based on the detection signal detected by the gyro sensor 116, and the vibration information can be registered in the memory 222 in advance.
  • the memory 222 may not store the vibration information, but store the control information of the pan/tilt 50 corresponding to the vibration information.
  • the acquisition unit 53 can acquire control information from the memory 222.
  • the control information may include a drive command for the motor of the pan/tilt head 50.
  • Vibration information or drive information can also be stored in the memory 51.
  • the acquisition unit 53 can acquire vibration information or drive information from the memory 51.
  • the acquisition unit 53 can also acquire vibration information or drive information corresponding to the vibration of the lens unit 200 from a server connected to the network.
  • control information of the pan/tilt head 50 corresponding to the vibration generated by the shutter 230 of each of the plurality of lens sections can be stored in association with the identification information of each of the plurality of lens sections, that is, the plurality of interchangeable lenses.
  • the acquisition unit 53 can acquire the identification information of the lens unit 200 installed in the imaging device 100 from the lens unit 200. Further, the acquisition unit 53 can acquire control information corresponding to the acquired identification information from the memory 51.
  • vibration information of the vibration generated by the shutter 230 of each of the plurality of lens portions can be stored in accordance with the identification information of each of the plurality of lens portions.
  • the acquisition unit 53 can acquire the vibration information corresponding to the identification information of the lens unit 200 acquired from the lens unit 200 from the memory 51.
  • the generating unit 56 can acquire control information of the platform 50 corresponding to the acquired vibration information.
  • the vibration state of the imaging apparatus 100 changes. That is, the vibration state of the image pickup apparatus 100 changes depending on the combination of the type of the interchangeable lens and the type of the pan/tilt head 50.
  • the vibration of the vibration generated by the shutter 230 of each of the plurality of lens units 200 can be stored in accordance with the identification information of each of the plurality of lens units 200 and the identification information of each of the plurality of pans 50. information.
  • the acquisition unit 53 acquires the identification information of the lens unit 200 from the lens unit 200 installed in the imaging apparatus 100, and acquires the identification information of the platform 50 supporting the imaging apparatus 100 from the memory 51.
  • the acquisition unit 53 can acquire the vibration information corresponding to the identification information of the lens unit 200 and the identification information of the pan/tilt 50 from the memory 32.
  • the generating unit 56 can generate control information based on the vibration information acquired by the acquiring unit 53.
  • each of the plurality of pan/tilt 50 corresponding to the vibration generated by the shutter 230 of each of the plurality of lens units 200 can be stored in association with the identification information of each of the plurality of lens units 200 and the identification information of each of the plurality of pan/tilt heads 50.
  • the acquisition unit 53 can acquire the vibration information corresponding to the identification information of the lens unit 200 and the identification information of the pan/tilt 50 from the memory 32.
  • the memory 130 included in the imaging unit 102 can also store vibration information of vibration generated by the shutter 230 or control information corresponding to the vibration information.
  • FIG. 3 shows an example of a table in which control information and identification information of each lens are associated with each other.
  • the memory 51 can store this form.
  • the acquisition unit 53 reads the identification information of the control information corresponding to the identification information of the lens unit 200 acquired from the lens unit 200 from the table.
  • the acquisition unit 53 can also acquire, from the memory 51, control corresponding to the identification information of the control information read from the table. information.
  • the acquisition unit 53 reads, from the table, identification information of the control information corresponding to the identification information of the lens unit 200 acquired from the lens unit 200 and the identification information of the platform 50 acquired from the memory 51.
  • the acquisition section 53 can also acquire, from the memory 51, control information corresponding to the identification information of the control information read from the table.
  • the acquisition unit 53 can acquire time information indicating the operation time of the shutter 230 from the imaging apparatus 100.
  • the rotation control unit 54 controls the platform 50 based on the control information acquired by the acquisition unit 53 at the time indicated by the time information. Thereby, it is possible to prevent the imaging apparatus 100 from vibrating in accordance with the operation of the shutter 230.
  • the pan/tilt control unit 52 can further control the rotation of the pan/tilt head 50 by feedback control based on the detection signals from the gyro sensor 59 and the gyro sensor 116. In other words, the pan/tilt control unit 52 can perform feedforward control based on the control information and feedback control based on the detection signals from the gyro sensor 59 and the gyro sensor 116.
  • the pan/tilt control unit 52 may further have a drive instructing unit 57.
  • the drive instructing unit 57 instructs the imaging apparatus 100 to drive the shutter 230 at a predetermined time before the time when the shutter 230 is activated at the time of shooting.
  • the pan/tilt control unit 52 instructs the imaging device 100 to drive the shutter 230, for example, at a calibration time before the flight of the UAV 10.
  • the generating unit 56 can acquire a detection signal corresponding to the vibration of the imaging apparatus 100 from the gyro sensor 116 of the imaging unit 102, and generate control information of the pan-tilt 50 based on the detection signal at the calibration time before the flight of the UAV 10, and store the same. In the memory 51.
  • the pan/tilt 50 may also not completely suppress the vibration of the shutter 230.
  • the residual component of the vibration can be removed by the shake correction of the image pickup apparatus 100.
  • the imaging control unit 110 may include an acquisition unit 112 and a shake correction unit 114.
  • the acquisition unit 112 can acquire correction information for the residual component of the vibration, and the residual component of the vibration is a component that cannot be suppressed by the control of the pan/tilt 50 based on the control information.
  • the acquisition unit 112 can acquire correction information stored in the memory 222 or the memory 130 or the like.
  • the shake correction unit 114 can operate at the shutter 230 At the time, the shake correction is performed based on the correction information.
  • the shake correction section 114 can perform so-called optical shake correction.
  • the shake correction unit 114 can drive at least one of the lens 210 and the image sensor 120 based on the correction information at the time when the shutter 230 operates, thereby performing shake correction based on the correction information.
  • the residual component of the vibration that cannot be removed by controlling the pan/tilt head 50 can be removed thereby.
  • the correction information can be generated, for example, based on the measurement of the lens unit 200 before shipment.
  • the shutter 230 is operated in a state where the imaging device 100 is actually mounted on the pan/tilt head 50, and shake correction is performed on the pan/tilt head 50 based on the control information.
  • the residual component of the vibration of the imaging device 100 is detected by the gyro sensor 116.
  • the imaging control unit 110 can generate correction information based on the detection signal detected by the gyro sensor 116, and register the correction information in the memory 222 in advance.
  • the pan/tilt head 50 can correct the first frequency band in the frequency band of the vibration of the imaging device 100 due to the shutter 230, and the imaging device 100 corrects the second frequency band therein.
  • the pan/tilt head 50 can correct the vibration component of the first frequency band in the frequency band of the vibration of the imaging device 100 due to the shutter 230 by the posture control of the imaging device 100.
  • the imaging device 100 can correct the vibration component of the second frequency band lower than the first frequency band by optical shake correction.
  • the first frequency band is comparable to the second frequency bandwidth.
  • the MCU 100A of the imaging apparatus 100 and the MCU 50A of the pan/tilt 50 can communicate via a GPIO port.
  • the MCU 100A functions as the imaging control unit 110, and the MCU 50A functions as the PTZ control unit 52.
  • the pan/tilt head 50 detects the vibration 500 of the entire imaging device 100 by the gyro sensor 116, and suppresses the vibration of the imaging device 100 by feedback control in order to suppress the vibration 500. Further, the pan/tilt head 50 is operated by the feedforward control for applying the vibration 502 for canceling the vibration of the vibration 501 of the image pickup apparatus 100 which occurs when the shutter 230 is operated.
  • the pan/tilt 50 receives a release instruction of the imaging device 100 from the remote operation device 300 via the UAV control unit 30, for example (S100).
  • the imaging device 100 notifies the pan/tilt 50 of the time information indicating the time when the shutter 230 is operated by the GPIO communication (S102).
  • the imaging device 100 notifies the pan/tilt 50, for example, The shutter 230 operates after 1 ms.
  • the timers of the MCU 50A and the MCU 100A of the pan/tilt head 50 and the imaging apparatus 100 start counting (S104).
  • the imaging apparatus 100 When each timer ends counting for 1 ms, the imaging apparatus 100 operates the shutter 230, and the pan/tilt head 50 shakes the imaging apparatus 100 based on the control information corresponding to the vibration of the shutter 230.
  • the pan/tilt 50 operates in a predetermined vibration mode, thereby performing a correcting action.
  • the vibration 501 of the image pickup apparatus 100 due to the action of the shutter 230 is eliminated as indicated by symbol 506.
  • the imaging system of the present embodiment it is possible to prevent the shake correction of the imaging apparatus 100 from being appropriately performed when the imaging apparatus 100 rotatably supported by the pan/tilt head 50 performs imaging.
  • FIG. 9 shows an example of a computer 1200 that implements various aspects of the present invention, in whole or in part.
  • the program installed in the computer 1200 enables the computer 1200 to function as a related operation of the device according to the embodiment of the present invention or one or more "portions" of the device. Alternatively, the program can cause the computer 1200 to perform the operation or the one or more "parts.”
  • the program enables computer 1200 to perform the processes involved in embodiments of the present invention or the stages of the process.
  • Such a program can be executed by the CPU 1212 in order for the computer 1200 to execute a number of or all of the specific specified operations associated with the flowcharts and block diagrams of the present description.
  • the computer 1200 in the present embodiment includes a CPU 1212 and a RAM 1214, and the CPU 1212 and the RAM 1214 are connected to each other by a host controller 1210.
  • the computer 1200 also includes a communication interface 1222, an input/output unit, and a communication interface 1222 and an input/output unit connected to the host controller 1210 via an input/output controller 1220.
  • Computer 1200 also includes a ROM 1230.
  • the CPU 1212 operates in accordance with programs stored in the ROM 1230 and the RAM 1214, thereby controlling the respective units.
  • Communication interface 1222 communicates with other electronic devices over a network.
  • the hard disk drive can store programs and data for use by the CPU 1212 within the computer 1200.
  • the ROM 1230 stores boot programs and the like executed by the computer 1200 during activation and/or depends on the computer. 1200 hardware program.
  • the program can be provided by a computer readable recording medium such as a CR-ROM, a USB memory, or an IC card.
  • the program is installed in the RAM 1214 or the ROM 1230 which is also an example of a computer readable recording medium and is executed by the CPU 1212.
  • the information processing described within these programs is read by computer 1200 to enable cooperation between the program and the various types of hardware resources.
  • the apparatus or method can be constructed by realizing the operation or processing of information by using the computer 1200.
  • the CPU 1212 can execute a communication program loaded on the RAM 1214, and instructs the communication interface 1222 to perform communication processing in accordance with the processing described in the communication program.
  • the communication interface 1222 reads the transmission data stored in the transmission buffer provided in the recording medium such as the RAM 1214 or the USB memory under the control of the CPU 1212, transmits the read transmission data to the network, or writes the received data received through the network. It is entered into a receiving buffer or the like provided on the recording medium.
  • the CPU 1212 can read all or a part of files or databases stored in an external recording medium such as a USB memory into the RAM 1214, and perform various types of processing on the data on the RAM 1214. Next, the CPU 1212 can write back the processed data to the external recording medium.
  • an external recording medium such as a USB memory
  • Various types of information such as various types of programs, data, tables, and databases can be stored in a recording medium and subjected to information processing.
  • the CPU 1212 can perform various types of processing on the data read from the RAM 1214 and write the results back into the RAM 1214, which includes various types specified by the program's instruction sequence as described elsewhere in the present disclosure. Type operations, information processing, conditional judgment, conditional branching, unconditional branching, information retrieval/replacement, etc.
  • the CPU 1212 can retrieve information in a file, a database, and the like in the recording medium.
  • the CPU 1212 may retrieve the attribute specified by the attribute value of the first attribute from the plurality of items.
  • An entry having the same condition reads the attribute value of the second attribute stored in the entry, thereby obtaining the attribute value of the second attribute related to the first attribute that satisfies a predetermined condition.
  • the above described programs or software modules may be stored on computer 1200 or in a computer readable storage medium in the vicinity of computer 1200.
  • 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 the computer readable storage medium, and thus the program can be supplied to the computer 1200 through the network.

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Abstract

本发明的课题在于，当可旋转地由支持机构支持的摄像装置进行摄像时，有时无法恰当地执行摄像装置的抖动校正。本发明的控制装置对以可旋转的方式支持摄像装置的支持机构进行控制。控制装置可具备获取时间信息的第1获取部，该时间信息表示摄像装置所具有的振动产生部产生振动的时间。控制装置可具备获取支持机构的控制信息的第2获取部，该支持机构的控制信息对应于振动产生部产生的振动。控制装置可具备控制部，该控制部在时间信息所表示的时间，根据控制信息控制支持机构。

Description

控制装置、摄像系统、移动体、控制方法及程序 技术领域
本发明涉及控制装置、摄像系统、移动体、控制方法及程序。
背景技术
现已公开了一种相机系统，其根据拍摄时所用快门的类型，而判断是否对于由振动传感器检测到的抖动成分加上因机械快门引起的抖动成分。
专利文献1日本特开2007-21933号公报
发明内容
发明所要解决的技术问题
当可旋转地由支持机构支持的摄像装置进行摄像时，有时无法恰当地执行摄像装置的抖动校正。
用于解决技术问题的手段
本发明的一个方式所涉及的控制装置，其对以可旋转的方式支持摄像装置的支持机构进行控制。控制装置可具备第1获取部，该第1获取部获取时间信息，该时间信息表示摄像装置所具备的振动产生部产生振动的时间。控制装置可具备第2获取部，该第2获取部获取支持机构的控制信息，该支持机构的控制信息对应于振动产生部产生的振动。控制装置可具备控制部，该控制部在时间信息所表示的时间，根据控制信息控制支持机构。
摄像装置可具有可装卸地装设的镜头部。镜头部可包含振动产生部。
摄像装置可包含存储部，该存储部存储振动产生部产生的振动的振动信息。控制装置可具备从存储部获取振动信息的第3获取部。控制装置可具备根据由第3获取部所获取的振动信息而生成控制信息的生成部。
第2获取部可获取由生成部所生成的控制信息。
镜头部可包含存储控制信息的存储部。第2获取部可从存储部获取控制信息。
第2获取部可从存储部获取与摄像装置中装设的镜头部的识别信息对应的控制信息，该存储部中，与多个镜头部各自的识别信息相应地存储与多个镜头部各自具有的振动产生部产生的振动对应的支持机构的控制信息。
控制装置可具备第3获取部，该第3获取部从存储部获取与摄像装置中装设的镜头部的识别信息对应的振动信息，该存储部中，与多个镜头部各自的识别信息相应地存储多个镜头部各自具有的振动产生部产生的振动的振动信息。控制装置可具备生成部，该生成部根据由第3获取部所获取的振动信息而生成控制信息。第2获取部可获取由生成部所生成的控制信息。
摄像装置可以可装卸地由支持机构支持。控制装置可具备第3获取部，该第3获取部从存储部获取与摄像装置中装设的镜头部的识别信息、及支持摄像装置支持机构的识别信息对应的振动信息，该存储部中，与多个镜头部各自的识别信息、及多个支持机构各自的识别信息相应地存储多个镜头部各自具有的振动产生部产生的振动的振动信息。控制装置可具备生成部，该生成部根据由第3获取部所获取的振动信息而生成控制信息。第2获取部可获取由生成部所生成的控制 信息。
摄像装置可以可装卸地由支持机构支持。第2获取部可从存储部获取与摄像装置中装设的镜头部的识别信息、及支持摄像装置的支持机构的识别信息对应的控制信息，该存储部中，与多个镜头部各自的识别信息、及多个支持机构各自的识别信息相应地存储与多个镜头部各自具有的振动产生部产生的振动对应的多个支持机构各自的控制信息。
摄像装置可包含存储部，该存储部存储振动产生部产生的振动的振动信息。控制装置可具备从摄像装置获取振动信息的第3获取部。控制装置可具备生成部，该生成部根据由第3获取部所获取的振动信息而生成控制信息。第2获取部可获取由生成部所生成的控制信息。
摄像装置可包含存储控制信息的存储部。第2获取部可从存储部获取控制信息。
控制部可根据来自对摄像装置的振动进行检测的传感器的检测信号、及控制信息，而控制支持机构。
控制装置可具备驱动指示部，该驱动指示部在时间之前的预先确定的时间，指示摄像装置驱动振动产生部。控制装置可具备生成部，该生成部根据来自对摄像装置的振动进行检测的传感器的、预先确定的时间下的检测信号，而生成控制信息。控制装置可具备存储部，该存储部存储由生成部所生成的控制信息。第2获取部可从存储部获取控制信息。
第1获取部可从摄像装置获取时间信息。
振动产生部可包含快门、滤波器、光圈、镜头、使镜头移动的机构部件中的至少一个。
本发明的一个方式所涉及的摄像系统可具备所述控制装置。摄像 系统可具备支持机构。摄像系统可具备摄像装置。
摄像装置可具备第4获取部，该第4获取部获取针对振动的残留成分的校正信息，该振动的残留成分是通过基于控制信息的支持机构的控制而无法抑制的成分。摄像装置可具备抖动校正部，该抖动校正部在时间信息所表示的时间，根据校正信息执行抖动校正。
本发明的一个方式所涉及的摄像系统具备所述摄像系统而进行移动。
本发明的一个方式所涉及的控制方法是对以可旋转的方式支持摄像装置的支持机构进行控制的方法。控制方法可具备下述阶段：获取时间信息及支持机构的控制信息，该时间信息表示摄像装置所具备的振动产生部产生振动的时间，该支持机构的控制信息对应于振动产生部产生的振动。控制方法可具备下述阶段：在时间信息所表示的时间，根据控制信息控制支持机构。
本发明的一个方式所涉及的程序是用于使计算机对以可旋转的方式支持摄像装置的支持机构进行控制的程序。程序可使计算机执行下述阶段：获取时间信息及支持机构的控制信息，该时间信息表示摄像装置所具备的振动产生部产生振动的时间，该支持机构的控制信息对应于振动产生部产生的振动。程序可使计算机执行下述阶段：在时间信息所表示的时间，根据控制信息控制支持机构。
根据本发明的一个方式，能防止当可旋转地由支持机构支持的摄像装置进行摄像时无法恰当地执行摄像装置的抖动校正。
另外，所述发明的概要并未列举出本发明所需的所有特征。而且，这些特征群的子组合也可成为发明。
附图说明
图1是表示无人机(UAV)及远程操作装置的外观的一例的图。
图2是表示UAV的功能块的一例的图。
图3是使控制信息及镜头各自的识别信息相对应的表格的一例。
图4是使控制信息、镜头及云台各自的识别信息相对应的表格的一例。
图5是用于说明摄像装置与云台的通信方法的图。
图6是用于说明快门的振动的抑制方法的图。
图7是用于说明快门动作的时间的图。
图8是用于说明快门动作与云台的校正动作的图。
图9是表示硬件构成的一例的图。
具体实施方式
以下，通过发明的实施方式对本发明进行说明，但以下的实施方式并不限定权利要求书所涉及的发明。而且，实施方式中说明的特征的组合并非全部是发明的解决方案所必须的。
以下，通过发明的实施方式对本发明进行说明，但以下的实施方式并不限定权利要求书所涉及的发明。而且，实施方式中说明的特征的组合并非全部是发明的解决方案所必须的。对本领域普通技术人员来说，显然可以对以下的实施方式加以各种变更或改良。从权利要求书的记载可以明白，加以了这样的变更或改良的方式也都可包含在本发明的技术范围之内。
权利要求书、说明书、说明书附图以及说明书摘要中包含作为著作权所保护对象的事项。任何人只要如专利局的文档或者记录所表示的那样进行这些文件的复制，著作权人就无法异议。但是，在除此以外的情况下，保留一切的著作权。
本发明的各种实施方式可参照流程图及框图而记载，这里的框可表示(1)操作执行的过程的阶段、或(2)具有执行操作的作用的装置的“部”。特别指定的阶段及“部”可利用可编程电路及/或处理器进行安装。专用电路可包含数字及/或模拟硬件电路。可包含集成电路(IC)及/或离散电路。可编程电路可包含可重构硬件电路。可重构硬件电路可包含逻辑AND、逻辑OR、逻辑XOR、逻辑NAND、逻辑NOR及其它逻辑操作、触发器、寄存器、现场可编程门阵列(FPGA)、可编程逻辑阵列(PLA)等内存要素等。
计算机可读介质可包含能储存通过适当的设备而执行的指令的任意的有形设备。结果，内部具有所储存的指令的计算机可读介质成为具备包括可执行的指令的产品，该可执行的指令用于形成用以执行流程图或框图中指定的操作的手段。作为计算机可读介质的示例，可包括电子存储介质、磁性存储介质、光存储介质、电磁存储介质、半导体存储介质等。作为计算机可读介质的更具体的示例，可包含软(floppy，注册商标)盘、软磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或闪存)、电可擦除可编程只读存储器(EEPROM)、静态随机存取存储器(SRAM)、微型光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)、蓝光(RTM)光盘、记忆棒、集成电路卡等。
计算机可读指令可包含一个或多个编程语言的任意组合中所描述的源代码或对象代码的任一种。源代码或对象代码包含现有的过程性编程语言。现有的过程性编程语言可为汇编程序指令、指令集架构(ISA)指令、机器指令、机器依存指令、微代码、固件指令、状态设定数据、或Smalltalk、JAVA(注册商标)、C++等面向对象编程语言及“C”编程语言或同样的编程语言。计算机可读指令可由本地提供或通过局域网(LAN)、互联网等广域网(WAN)提供给通用计算机、特殊用途的计算机、或其他可编程的数据处理装置的处理器或可编程电路。处理器或可编程电路可执行计算机可读指令以形成用于执行流程图或框图中指定的操作的手段。作为处理器的示例，包含计算机处 理器、处理单元、微处理器、数字信号处理器、控制器、微控制器等。
图1表示无人机(UAV)10及远程操作装置300的外观的一例。UAV10具备UAV主体20、云台50、多个摄像装置60及摄像装置100。云台50及摄像装置100是摄像系统的一例。UAV10是由推进部推进的移动体的一例。移动体的概念除了UAV之外，还包含在空中移动的其他飞行器等飞行物、在地上移动的车辆、在水上移动的船舶等。
UAV主体20具备多个旋翼。多个旋翼是推进部的一例。UAV主体20是通过控制多个旋翼的旋转来使UAV10飞行。UAV主体20例如使用4个旋翼来使UAV10飞行。旋翼的数量并不限于4个。而且，UAV10也可为无旋翼的固定翼机。
摄像装置100是对期望的摄像范围内包含的被摄体进行摄像的摄像用相机。云台50以可旋转的方式支持摄像装置100。云台50是支持机构的一例。例如，云台50以利用致动器可使摄像装置100以俯仰轴旋转的方式对其进行支持。云台50以利用致动器可使摄像装置100分别以横滚轴及偏航轴为中心旋转的方式对其进行支持。云台50通过使摄像装置100以偏航轴、俯仰轴及横滚轴中的至少1个为中心旋转，可变更摄像装置100的姿势。
多个摄像装置60是为了控制UAV10的飞行而对UAV10的周围进行摄像的传感用相机。2个摄像装置60可设在UAV10的机头即正面。另外2个摄像装置60可设在UAV10的底面。正面侧的2个摄像装置60可成对，作为所谓立体相机发挥功能。底面侧的2个摄像装置60也可成对，作为立体相机发挥功能。可根据由多个摄像装置60所摄的图像而生成UAV10周围的三维空间数据。UAV10所具备的摄像装置60的数量并不限于4个。UAV10至少具备1个摄像装置60即可。UAV10可在UAV10的机头、机尾、侧面、底面及顶面分别具有至少1个摄像装置60。摄像装置60可设定的视角可大于摄像装置100可设定的视角。摄像装置60也可具有定焦镜头或鱼眼镜头。
远程操作装置300与UAV10进行通信而对UAV10进行远程操作。远程操作装置300可以无线方式与UAV10进行通信。远程操作装置300向UAV10发送指示信息，该指示信息表示上升、下降、加速、减速、前进、后进、旋转等与UAV10的移动相关的各种指令。指示信息包含例如使UAV10的高度上升的指示信息。指示信息可表示UAV10应在的高度。UAV10移动到位于从远程操作装置300接收的指示信息所表示的高度。指示信息可包含使UAV10上升的上升指令。UAV10在接收到上升指令的期间上升。当UAV10虽然接收到上升指令，但UAV10的高度已达上限高度时，可以限制上升。
在如以上方式构成的UAV10中，摄像装置100及云台50分别执行抖动校正，所以有时无法恰当地进行摄像装置100的抖动校正，从而摄像装置100无法对期望的图像进行摄像。例如，若UAV10上搭载的摄像装置100中的快门发生动作，则UAV10有时会因快门的动作而抖动，从而令摄像装置100无法对期望的图像进行摄像。
因此，本实施方式中，云台50根据摄像装置100所具有的快门等的动作而恰当地进行抖动校正，从而防止摄像装置100抖动。
图2表示UAV10的功能块的一例。UAV10具备UAV控制部30、内存32、通信接口34、推进部40、GPS接收器41、惯性测量装置42、磁罗盘43、气压高度计44、云台50、摄像装置60及摄像装置100。
通信接口34与远程操作装置300等其他装置进行通信。通信接口34可从远程操作装置300接收包含针对UAV控制部30的各种指令的指示信息。内存32储存UAV控制部30对推进部40、GPS接收器41、惯性测量装置(IMU)42、磁罗盘43、气压高度计44、云台50、摄像装置60及摄像装置100进行控制所需的程序等。内存32可为计算机可读记录介质，可包含SRAM、DRAM、EPROM、EEPROM及USB存储器等闪存中的至少一个。内存32可设在UAV主体20内 部。可设置成可从UAV主体20卸下。
UAV控制部30根据内存32内储存的程序对UAV10的飞行及摄像进行控制。UAV控制部30可由CPU或MPU等微处理器、MCU等微控制器等构成。UAV控制部30根据通过通信接口34而从远程操作装置300接收的指令，对UAV10的飞行及摄像进行控制。推进部40推进UAV10。推进部40具有多个旋翼、及使多个旋翼旋转的多个驱动马达。推进部40根据来自UAV控制部30的指令而利用多个驱动马达来使多个旋翼旋转，从而使UAV10飞行。
GPS接收器41从多个GPS卫星接收多个表示发送的时刻的信号。GPS接收器41根据所接收的多个信号而算出GPS接收器41的位置、即UAV10的位置。IMU42检测UAV10的姿势。作为UAV10的姿势，IMU42检测UAV10的前后、左右及上下这3轴方向的加速度、及俯仰、横滚及偏航这3轴方向的角速度。磁罗盘43检测UAV10的机头的方位。气压高度计44检测UAV10的飞行高度。气压高度计44检测UAV10周围的气压，且将所检测到的气压换算为高度，从而对高度进行检测。
摄像装置100具备摄像部102及镜头部200。镜头部200为镜头装置的一例。摄像部102具有图像传感器120、摄像控制部110、陀螺传感器116及内存130。图像传感器120可由CCD或CMOS构成。图像传感器120将经过多个镜头210成像的光学图像的图像数据输出到摄像控制部110。摄像控制部110可由CPU或MPU等微处理器、MCU等微控制器等构成。摄像控制部110可根据来自UAV控制部30的摄像装置100的动作指令来控制摄像装置100。陀螺传感器116检测摄像装置100的振动。内存130可为计算机可读的记录介质，可包含SRAM、DRAM、EPROM、EEPROM及USB存储器等闪存中的至少一个。内存130储存摄像控制部110对图像传感器120等进行控制所需的程序等。内存130可设在摄像装置100的框体的内部。内存130可设置成可从摄像装置100的框体卸下。
镜头部200具有多个镜头210、多个镜头驱动部212及镜头控制部220。多个镜头210可作为变焦镜头、可变焦距镜头及聚焦镜头发挥功能。多个镜头210中的至少一部分或全部配置成可沿着光轴移动。镜头部200可为设置成能相对于摄像部102装卸的可换镜头。镜头驱动部212通过凸轮环等机构部件而使多个镜头210中的至少一部分或全部沿着光轴移动。镜头控制部220按照来自摄像部102的镜头控制指令而驱动镜头驱动部212，且通过机构部件使一个或多个镜头210沿着光轴方向移动。镜头控制指令例如为变焦控制指令及聚焦控制指令。
镜头部200还具有内存222、位置传感器214、光圈234、光圈驱动部236、滤波器238、滤波器驱动部240、快门230及快门驱动部232。
镜头控制部220根据来自摄像部102的镜头动作指令，通过镜头驱动部212而控制镜头210在光轴方向上的移动。镜头控制部220根据来自摄像部102的镜头动作指令，通过镜头驱动部212而控制镜头210在光轴方向上的移动。镜头210的一部分或全部沿着光轴而移动。镜头控制部220通过使至少一个镜头210沿光轴移动，由此执行变焦动作及聚焦动作中的至少一方。位置传感器214检测镜头210的位置。位置传感器214可检测当前的变焦位置或聚焦位置。
光圈234调整入射到图像传感器120的光的量。光圈234可包含至少一片叶片部件。光圈驱动部236可包含致动器。致动器可为电磁致动器。电磁致动器可为电磁铁或螺线管。光圈驱动部236可从镜头控制部220接受指令而驱动致动器，调整多个叶片部件的重叠程度，从而调整光圈开口的大小。
滤波器238减少经过镜头210入射的光的光量，或截止特定波长的光。滤波器238可包含ND滤波器及红外线截止滤波器中的至少一个。滤波器驱动部240可包含致动器。致动器可为电磁致动器。电磁 致动器可为电磁铁或螺线管。滤波器驱动部240从镜头控制部220接受指令而驱动致动器，使滤波器238在使入射的光通过的第1位置、与除去输入的光中的特定波长成分或使输入的光衰减的第2位置之间移动。
快门230可包含至少一片叶片部件。快门驱动部232可包含致动器。致动器可为电磁致动器。电磁致动器可为电磁铁或螺线管。快门驱动部232可从镜头控制部220接受指令而驱动致动器，调整多个叶片部件的重叠速度，从而按照期望的速度来切换光的透过与遮断。
内存222存储利用镜头驱动部212而移动的多个镜头210的控制值。内存222可包含SRAM、DRAM、EPROM、EEPROM及USB存储器等闪存中的至少一个。
以所述方式构成的镜头部200所具有的快门230、滤波器238、光圈234、镜头210、或使镜头210移动的机构部件进行驱动时，摄像装置100有时会振动。本实施方式中，在快门230、滤波器238、光圈234、镜头210、镜头210的机构部件实施动作前，云台50预先获取所述振动的振动信息。云台50还预先获取快门230、滤波器238、光圈234、镜头210、或镜头210的机构部件进行动作的时间。并且，云台50根据振动信息而在此时间进行动作，防止摄像装置100抖动。这里，快门230、滤波器238、光圈234、镜头210及镜头210的机构部件是产生振动的振动产生部的一例。以下，以快门230作为振动产生部的一例进行说明。
云台50具备内存51、云台控制部52、陀螺传感器59及旋转机构58。云台控制部52可由CPU或MPU等微处理器、MCU等微控制器等构成。陀螺传感器59检测云台50的振动。旋转机构58以利用致动器可使摄像装置100分别以横滚轴及偏航轴为中心旋转的方式对其进行支持。旋转机构58可以以可使摄像装置100以偏航轴、俯仰轴及横滚轴中的至少一个为中心旋转的方式对其进行支持。
云台控制部52具有获取部53、旋转控制部54及生成部56。获取部53获取表示快门230产生振动的时间的时间信息。获取部53可从摄像装置100获取时间信息。获取部53获取云台50的控制信息，该云台50的控制信息对应于快门230产生的振动。获取部53为第1获取部、第2获取部及第3获取部的一例。旋转控制部54在时间信息所表示的时间，根据控制信息而控制云台50。旋转控制部54为控制部的一例。
镜头部200的内存222可预先存储快门230产生的振动的振动信息。并且，获取部53可从镜头部200获取振动信息。生成部56可根据由获取部53所获取的振动信息而生成控制信息。获取部53可获取由生成部56所生成的控制信息。例如，在摄像装置100出厂前，在实际上将摄像装置100搭载于云台50的状态下使快门230发生动作，并利用陀螺传感器116检测此时摄像装置100的振动。并且，可根据由陀螺传感器116检测出的检测信号而生成振动信息，且将该振动信息预先登记到内存222中。
内存222也可并不存储振动信息，而存储与振动信息对应的云台50的控制信息。此情况下，获取部53可从内存222获取控制信息。控制信息可包含针对云台50所具备的马达的驱动指令。
振动信息或驱动信息也可存储在内存51中。此情况下，获取部53可从内存51获取振动信息或驱动信息。获取部53也可从连接于网络上的服务器获取与镜头部200的振动对应的振动信息或驱动信息。
内存51中，可与多个镜头部、即多个可换镜头各自的识别信息相应地存储与多个镜头部各自具有的快门230产生的振动对应的云台50的控制信息。此情况下，获取部53可从镜头部200获取摄像装置100中装设的镜头部200的识别信息。并且，获取部53可从内存51获取与所获取的识别信息对应的控制信息。
内存51中，可与多个镜头部各自的识别信息相应地存储多个镜头部各自具有的快门230产生的振动的振动信息。此情况下，获取部53可从内存51获取与从镜头部200获取的镜头部200的识别信息对应的振动信息。生成部56可获取与所获取的振动信息对应的云台50的控制信息。
根据镜头部200与云台50的组合，摄像装置100的振动状态发生变化。即，摄像装置100的振动状态会根据可换镜头的类型与云台50的类型的组合而发生变化。
因此，例如UAV10所具有的内存32中，可与多个镜头部200各自的识别信息及多个云台50各自的识别信息相应地存储多个镜头部200各自具有的快门230产生的振动的振动信息。获取部53从摄像装置100中装设的镜头部200获取镜头部200的识别信息，且从内存51获取支持着摄像装置100的云台50的识别信息。获取部53可从内存32获取与镜头部200的识别信息及云台50的识别信息对应的振动信息。生成部56可根据由获取部53所获取的振动信息而生成控制信息。
内存32中，可与多个镜头部200各自的识别信息及多个云台50各自的识别信息相应地存储与多个镜头部200各自具有的快门230产生的振动对应的多个云台50各自的控制信息。获取部53可从内存32获取与镜头部200的识别信息及云台50的识别信息对应的振动信息。
摄像部102所具有的内存130也可存储快门230产生的振动的振动信息、或与振动信息对应的控制信息。
图3表示使控制信息及镜头各自的识别信息相对应的表格的一例。内存51可存储此表格。获取部53从表格读取与从镜头部200获取的镜头部200的识别信息对应的控制信息的识别信息。获取部53可还从内存51获取与从表格读取的控制信息的识别信息对应的控制 信息。
图4是使控制信息、镜头及云台各自的识别信息相对应的表格的一例。内存32可存储此表格。获取部53从表格读取与从镜头部200获取的镜头部200的识别信息、及从内存51获取的云台50的识别信息对应的控制信息的识别信息。获取部53可还从内存51获取与从表格读取的控制信息的识别信息对应的控制信息。
获取部53可从摄像装置100获取表示快门230动作时间的时间信息。旋转控制部54在时间信息所表示的时间，根据由获取部53所获取的控制信息而控制云台50。由此，能防止摄像装置100随着快门230的动作而产生振动。
云台控制部52也可根据来自陀螺传感器59及陀螺传感器116的检测信号，通过反馈控制进一步控制云台50的旋转。即，云台控制部52可以进行基于控制信息的前馈控制、及基于来自陀螺传感器59及陀螺传感器116的检测信号的反馈控制。
云台控制部52可还具有驱动指示部57。在拍摄时快门230发生动作的时间之前的预先确定的时间，驱动指示部57指示摄像装置100驱动快门230。云台控制部52例如可在UAV10飞行前的校准时间，指示摄像装置100驱动快门230。生成部56可从摄像部102的陀螺传感器116获取与摄像装置100的振动对应的检测信号，并在UAV10飞行前的校准时间，根据该检测信号而生成云台50的控制信息，且将其存储在内存51中。
云台50也可能无法完全抑制快门230的振动。此情况下，可利用摄像装置100的抖动校正来除去该振动的残留成分。摄像控制部110可具有获取部112及抖动校正部114。获取部112可获取针对振动的残留成分的校正信息，该振动的残留成分是通过基于控制信息的云台50的控制而无法抑制的成分。获取部112可获取内存222或内存130等内存储的校正信息。抖动校正部114可在快门230发生动作 的时间，根据校正信息执行抖动校正。抖动校正部114可执行所谓光学式抖动校正。即，抖动校正部114可通过在快门230发生动作的时间根据校正信息而驱动镜头210及图像传感器120中的至少一方，从而根据校正信息执行抖动校正。可由此除去无法通过控制云台50而除去的振动的残留成分。校正信息例如可根据镜头部200的出厂前的测定而生成。即，在实际上将摄像装置100搭载于云台50的状态下使快门230发生动作，且根据控制信息而对云台50执行抖动校正。此时，由陀螺传感器116检测摄像装置100的振动的残留成分。摄像控制部110可根据陀螺传感器116检测出的检测信号而生成校正信息，且将该校正信息预先登记到内存222中。例如可以云台50对于因快门230所致的摄像装置100的振动的频带中的第1频带进行校正，摄像装置100针对其中的第2频带进行校正。云台50可通过摄像装置100的姿势控制来对因快门230所致的摄像装置100的振动的频带中的第1频带的振动成分进行校正。摄像装置100也可通过光学式抖动校正来对低于第1频带的第2频带的振动成分进行校正。第1频带可比第2频带宽。
如图5所示，摄像装置100所具有的MCU100A与云台50所具有的MCU50A可通过GPIO端口进行通信。MCU100A作为摄像控制部110发挥功能，MCU50A作为云台控制部52发挥功能。
如图6所示，云台50通过陀螺传感器116对整个摄像装置100的振动500进行检测，且为了抑制该振动500，利用反馈控制来抑制摄像装置100的振动。而且，云台50是以施加振动502的方式利用前馈控制进行动作，该振动502是用来消除在快门230发生动作的时间产生的摄像装置100的振动501的振动。
如图7及图8所示，云台50例如从远程操作装置300通过UAV控制部30而接收摄像装置100的释放指示(S100)。摄像装置100接收释放指示后，利用GPIO通信向云台50通知表示使快门230进行动作的时间的时间信息(S102)。摄像装置100例如向云台50通知使 快门230在1ms后进行动作。发出通知后，云台50及摄像装置100各自的MCU50A及MCU100A的计时器开始计数(S104)。各个计时器结束1ms的计数时，摄像装置100使快门230进行动作，云台50根据与快门230的振动对应的控制信息而使摄像装置100抖动。云台50以预先确定的振动模式进行动作，由此执行校正动作。通过云台50的控制，因快门230的动作所致的摄像装置100的振动501如符号506所示被消除。
以上，根据本实施方式所涉及的摄像系统，能防止当可旋转地由云台50支持的摄像装置100进行摄像时无法恰当地执行摄像装置100的抖动校正。
图9表示整体地或部分地具体实现本发明的多个方式的计算机1200的一例。计算机1200中安装的程序能使计算机1200作为本发明的实施方式所涉及的装置的相关操作或该装置的一个或多个“部”而发挥功能。或者，该程序能使计算机1200执行该操作或该一个或多个“部”。该程序能使计算机1200执行本发明的实施方式所涉及的过程或该过程的阶段。这种程序为了使计算机1200执行本说明书中记载的流程图及框图的框中的若干个或全部所相关的特别指定操作，可由CPU1212执行。
本实施方式中的计算机1200包含CPU1212及RAM1214，CPU1212及RAM1214通过主机控制器1210彼此连接。计算机1200还包含通信接口1222、输入/输出单元，通信接口1222与输入/输出单元经由输入/输出控制器1220而连接于主机控制器1210。计算机1200还包含ROM1230。CPU1212按照ROM1230及RAM1214内储存的程序进行动作，由此控制各单元。
通信接口1222通过网络而与其他电子设备进行通信。硬盘驱动器可储存供计算机1200内的CPU1212使用的程序及数据。ROM1230中储存激活化时由计算机1200执行的引导程序等及/或依赖于计算机 1200硬件的程序。可通过CR-ROM、USB存储器或IC卡等计算机可读记录介质或网络提供程序。程序被安装于也为计算机可读记录介质的示例的RAM1214或ROM1230中且由CPU1212执行。这些程序内描述的信息处理被计算机1200读取，使程序与所述各种类型的硬件资源之间实现协作。装置或方法可通过利用计算机1200实现信息的操作或处理来构成。
例如，当在计算机1200及外部设备之间执行通信时，CPU1212可执行RAM1214上载入的通信程序，根据通信程序中描述的处理，命令通信接口1222进行通信处理。通信接口1222在CPU1212的控制下，读取RAM1214或USB存储器等记录介质内所提供的发送缓冲区中储存的发送数据，将读取的发送数据发送到网络，或将通过网络接收的接收数据写入到记录介质上所提供的接收缓冲区等内。
而且，CPU1212可将USB存储器等外部记录介质中储存的全部或需要的一部分文件或数据库读取到RAM1214中，且对RAM1214上的数据执行各种类型的处理。接着，CPU1212可将经过处理的数据回写到外部记录介质内。
各种类型的程序、数据、表格及数据库等各种类型的信息可储存在记录介质中，并接受信息处理。CPU1212可对于从RAM1214读取的数据执行各种类型的处理，且将结果回写到RAM1214内，所述各种类型的处理包含本公开中随处记载的、由程序的指令序列所指定的各种类型的操作、信息处理、条件判断、条件分支、无条件分支、信息的检索/置换等。而且，CPU1212可检索记录介质内的文件、数据库等中的信息。例如，当记录介质内储存分别具有与第2属性的属性值相关的第1属性的属性值的多个条目时，CPU1212可从该多个条目中检索出第1属性的属性值所指定的与条件一致的条目，读取该条目内储存的第2属性的属性值，由此取得满足预先确定的条件的与第1属性相关的第2属性的属性值。
上文说明的程序或软件模块可储存在计算机1200上或计算机1200近旁的计算机可读存储介质中。而且，连接于专用通信网络或互联网的服务器系统内所提供的硬盘或RAM等记录介质可用作计算机可读存储介质，这样，程序可通过网络提供给计算机1200。
要注意的是，权利要求书、说明书、以及说明书附图中所示的装置、系统、程序以及方法中的动作、顺序、步骤、以及阶段等各项处理的执行顺序，只要没有特别明示“在…之前”、“事先”等，只要前面处理的输出并不用在后面的处理中，则可以以任意顺序实现。关于权利要求书、说明书以及说明书附图中的动作流程，为方便起见而使用“首先”、“接着”等进行了说明，但并不意味着必须按照这样的顺序实施。
符号说明
10 UAV
20 UAV主体
30 UAV控制部
32 内存
34 通信接口
40 推进部
41 GPS接收器
42 惯性测量装置
43 磁罗盘
44 气压高度计
50 云台
51 内存
52 云台控制部
53 获取部
54 旋转控制部
56 生成部
58 旋转机构
57 驱动指示部
59 陀螺传感器
60 摄像装置
100 摄像装置
102 摄像部
110 摄像控制部
112 获取部
114 抖动校正部
116 陀螺传感器
120 图像传感器
130 内存
200 镜头部
210 镜头
212 镜头驱动部
214 位置传感器
220 镜头控制部
222 内存
230 快门
232 快门驱动部
234 光圈
236 光圈驱动部
238 滤波器
240 滤波器驱动部
300 远程操作装置
1200 计算机
1210 主机控制器
1212 CPU
1214 RAM
1220 输入/输出控制器
1222 通信接口
1230 ROM

Claims (18)

  1. 一种控制装置，其对于以可旋转的方式支持摄像装置的支持机构进行控制，该控制装置具备：
    第1获取部，其获取时间信息，该时间信息表示所述摄像装置所具备的振动产生部产生振动的时间；
    第2获取部，其获取所述支持机构的控制信息，该所述支持机构的控制信息对应于所述振动产生部产生的振动；及
    控制部，其在所述时间信息所表示的所述时间，根据所述控制信息控制所述支持机构。
  2. 如权利要求1所述的控制装置，其中，
    所述摄像装置具有可装卸地镜头部，
    所述镜头部包含所述振动产生部。
  3. 如权利要求2所述的控制装置，其中，
    所述摄像装置包含存储部，该存储部存储所述振动产生部产生的振动的振动信息，
    所述控制装置还具备：
    第3获取部，其从所述存储部获取所述振动信息；及
    生成部，其根据由所述第3获取部所获取的所述振动信息而生成所述控制信息；
    其中，所述第2获取部获取由所述生成部所生成的所述控制信 息。
  4. 如权利要求2所述的控制装置，其中，
    所述镜头部包含存储所述控制信息的存储部，
    所述第2获取部从所述存储部获取所述控制信息。
  5. 如权利要求2所述的控制装置，其中，
    所述第2获取部从存储部获取与所述摄像装置中可装卸装设的所述镜头部的识别信息对应的所述控制信息，该存储部中，与多个镜头部各自的识别信息相应地存储与所述多个镜头部各自具有的振动产生部产生的振动对应的所述支持机构的控制信息。
  6. 如权利要求2所述的控制装置，其还具备：
    第3获取部，其从存储部获取与所述摄像装置中可装卸装设的所述镜头部的识别信息对应的所述振动信息，该存储部中，与多个镜头部各自的识别信息相应地存储所述多个镜头部各自具有的振动产生部产生的振动的振动信息；及
    生成部，其根据由所述第3获取部所获取的所述振动信息而生成所述控制信息；
    其中，所述第2获取部获取由所述生成部所生成的所述控制信息。
  7. 如权利要求2所述的控制装置，其中，
    所述摄像装置可装卸地由所述支持机构支持，
    所述控制装置还具备：
    第3获取部，其从存储部获取与所述摄像装置中装设的所述镜头 部的识别信息、及支持所述摄像装置的所述支持机构的识别信息对应的所述振动信息，该存储部中，与多个镜头部各自的识别信息及多个支持机构各自的识别信息相应地存储所述多个镜头部各自具有的振动产生部产生的振动的振动信息；及
    生成部，其根据由所述第3获取部所获取的所述振动信息而生成所述控制信息；
    其中，所述第2获取部获取由所述生成部所生成的所述控制信息。
  8. 如权利要求2所述的控制装置，其中，
    所述摄像装置可装卸地由所述支持机构支持，
    所述第2获取部从存储部获取与所述摄像装置中装设的所述镜头部的识别信息、及支持所述摄像装置的所述支持机构的识别信息对应的所述控制信息，该存储部中，与多个镜头部各自的识别信息及多个支持机构各自的识别信息相应地存储与所述多个镜头部各自具有的振动产生部产生的振动对应的多个支持机构各自的控制信息。
  9. 如权利要求1所述的控制装置，其中，
    所述摄像装置包含存储部，该存储部存储所述振动产生部产生的振动的振动信息，
    所述控制装置还具备：
    第3获取部，其从所述摄像装置获取所述振动信息；及
    生成部，其根据由所述第3获取部所获取的所述振动信息而生成所述控制信息；
    所述第2获取部获取由所述生成部所生成的所述控制信息。
  10. 如权利要求1所述的控制装置，其中，
    所述摄像装置包含存储所述控制信息的存储部，
    所述第2获取部从所述存储部获取所述控制信息。
  11. 如权利要求1所述的控制装置，其中，
    所述控制部根据来自对所述摄像装置的振动进行检测的传感器的检测信号、及所述控制信息而控制所述支持机构。
  12. 如权利要求1所述的控制装置，其还具备：
    驱动指示部，其在所述时间之前的预先确定的时间，指示所述摄像装置驱动所述振动产生部；
    生成部，其根据来自对所述摄像装置的振动进行检测的传感器的、所述预先确定的时间下的检测信号，生成所述控制信息；及
    存储部，其存储由所述生成部所生成的所述控制信息；
    所述第2获取部从所述存储部获取所述控制信息。
  13. 如权利要求1所述的控制装置，其中，
    所述第1获取部从所述摄像装置获取所述时间信息。
  14. 如权利要求1所述的控制装置，其中，
    所述振动产生部包含快门、滤波器、光圈、镜头及使所述镜头移动的机构部件中的至少一个。
  15. 一种摄像系统，其具备：
    如权利要求1至14中任一项所述的控制装置、
    所述支持机构、及
    所述摄像装置。
  16. 如权利要求15所述的摄像系统，其中，
    所述摄像装置具备：
    第4获取部，其获取针对所述振动的残留成分的校正信息，所述振动的残留成分是通过基于所述控制信息的所述支持机构的控制而无法抑制的成分；及
    抖动校正部，其在所述时间，根据所述校正信息执行抖动校正。
  17. 一种移动体，其具备如权利要求16所述的摄像系统而进行移动。
  18. 一种控制方法，其是对以可旋转的方式支持摄像装置的支持机构进行控制的控制方法，该控制方法具备下述阶段：
    获取时间信息及所述支持机构的控制信息，该时间信息表示所述摄像装置所具备的振动产生部产生振动的时间，所述支持机构的控制信息对应于所述振动产生部产生的振动；及
    在所述时间信息所表示的所述时间，根据所述控制信息控制所述支持机构。
PCT/CN2017/114575 2017-06-28 2017-12-05 控制装置、摄像系统、移动体、控制方法及程序 WO2019000842A1 (zh)

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