WO2019000846A1 - 摄像装置、摄像系统、移动体、控制方法及程序 - Google Patents

摄像装置、摄像系统、移动体、控制方法及程序 Download PDF

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Publication number
WO2019000846A1
WO2019000846A1 PCT/CN2017/114803 CN2017114803W WO2019000846A1 WO 2019000846 A1 WO2019000846 A1 WO 2019000846A1 CN 2017114803 W CN2017114803 W CN 2017114803W WO 2019000846 A1 WO2019000846 A1 WO 2019000846A1
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Prior art keywords
imaging device
unit
predetermined
satisfies
imaging
Prior art date
Application number
PCT/CN2017/114803
Other languages
English (en)
French (fr)
Inventor
小山高志
大野直志
本庄谦一
Original Assignee
深圳市大疆创新科技有限公司
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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 CN201780064552.0A priority Critical patent/CN110383809B/zh
Publication of WO2019000846A1 publication Critical patent/WO2019000846A1/zh
Priority to US16/728,709 priority patent/US11070735B2/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • 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
    • H04N23/69—Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
    • 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
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/128—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction for panning and rolling
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • 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
    • G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
    • G03B13/32—Means for focusing
    • 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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting 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
    • 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
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
    • 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
    • H04N23/67—Focus control based on electronic image sensor signals

Definitions

  • the present invention relates to a control method, an image pickup apparatus, an image pickup system, a moving body, a control method, and a program.
  • Patent Document 1 discloses a camera that detects a rotation amount and a rotation direction of a rotation frame that is rotated by a manual operation by a sensor, and moves the lens in the optical axis direction according to the detected rotation amount and rotation direction.
  • Patent Document 1 Japanese Patent Laid-Open Publication No. 2013-50510
  • the operation unit may be accidentally operated due to vibration of the imaging device or the like.
  • a control device is a control device that controls an imaging device, the imaging device includes an operation unit that is operated by an external force, a detection unit that detects an operation state of the operation unit, and an execution unit that is based on an operation state Perform pre-defined actions.
  • the control device may include a control unit that invalidates execution of a predetermined operation by the execution unit based on the operation state when the imaging device is connected to an object that satisfies a predetermined condition.
  • the control device may include a determination unit that determines whether or not the imaging device is connected to an object that satisfies a predetermined condition. When the determination unit determines that the imaging device is connected to an object that satisfies a predetermined condition, the control unit can invalidate the execution of the predetermined operation.
  • the control unit can activate the execution of the predetermined operation.
  • the determination unit can determine that the imaging device is connected to an object that satisfies a predetermined condition.
  • the determination unit can determine that the imaging device is connected to an object that satisfies a predetermined condition.
  • the determination unit can determine that the imaging device is connected to an object that satisfies a predetermined condition.
  • the support mechanism can operate in a first mode that can activate the rotation of the imaging device and a second mode that invalidates the rotation of the imaging device.
  • the determination unit can determine that the imaging device is connected to an object that satisfies a predetermined condition.
  • the determination unit can determine that the imaging device is not connected to the object that satisfies the predetermined condition.
  • the predetermined operation may be an operation of moving the lens provided in the imaging device.
  • control unit When the control unit invalidates a predetermined operation, the control unit can activate other predetermined actions based on the operation state executed by the execution unit.
  • control unit can invalidate a predetermined operation and activate other predetermined actions.
  • control unit can invalidate other predetermined actions.
  • An imaging device includes the control device.
  • An imaging system may be provided with the imaging device.
  • the imaging system may be provided with a support mechanism that rotatably supports the imaging device.
  • a moving body according to an aspect of the present invention may be a moving body that is moved by the imaging system.
  • a control method is a control method for controlling an imaging device including: an operation unit that operates by an external force; a detection unit that detects an operation state of the operation unit; and an execution unit that is based on an operation state Perform pre-defined actions.
  • the control method may include a step of invalidating execution of a predetermined operation by the execution unit based on the operation state when the imaging device is connected to an object that satisfies a predetermined condition.
  • a program according to an aspect of the present invention is a program for causing a computer to control an imaging device, the imaging device including: an operation unit that operates by an external force; a detection unit that detects an operation state of the operation unit; and an execution unit that is based on The operating state performs a predetermined action.
  • the program can cause the computer to execute the process of invalidating the execution of the predetermined operation by the execution unit based on the operation state when the imaging device is connected to the object that satisfies the predetermined condition.
  • the imaging device that performs a predetermined operation based on the operation state of the operation unit, it is possible to prevent the operation unit from being accidentally operated due to vibration of the imaging device or the like.
  • FIG. 1 is a view showing an example of an appearance of an unmanned aerial vehicle and a remote operation device.
  • FIG. 2 is a view showing an example of the appearance of the stabilizer.
  • FIG 3 is a view showing an example of an appearance of a lens unit.
  • FIG. 4 is a view showing an example of an appearance of a detecting unit that detects a rotation amount and a rotation direction of the operation ring.
  • FIG. 5 is a view showing an example of an internal mechanism of the imaging device.
  • FIG. 6 is a view showing an example of an internal mechanism of the imaging device.
  • Fig. 7 is a view showing an example of functional blocks of an unmanned aerial vehicle.
  • FIG. 8 is a flowchart showing an example of a procedure for invalidating a predetermined operation.
  • 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 memory), electrically erasable programmable read only memory (EEPROM), static random access memory (SRAM), compact disc read only memory (CD-ROM), digital versatile disc (DVD), Blu-ray (RTM) disc, memory stick, integrated circuit card, and the like.
  • RAM random access memory
  • ROM read only memory
  • EPROM or flash memory erasable programmable read only memory
  • EEPROM electrically erasable programmable read only memory
  • SRAM compact disc read only memory
  • CD-ROM compact disc read only memory
  • DVD digital versatile disc
  • Blu-ray (RTM) disc memory stick, integrated circuit card, and the like.
  • 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.
  • Examples of the processor include a computer processor, a processing unit, a microprocessor, a digital signal processor, a controller, a microcontroller, and the like.
  • FIG. 1 shows an example of the appearance of an unmanned aerial vehicle (UAV) 10 and a 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 50 supports the image pickup apparatus 100 by rotating around 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.
  • FIG. 2 shows an example of the appearance of the stabilizer 500.
  • the stabilizer 500 includes a handhold unit 502, a pan/tilt head 50, and an imaging device 100.
  • the hand piece 502 has various buttons for operating the pan/tilt head 50 and the image pickup apparatus 100.
  • the hand piece 502 includes, for example, a shutter button, a recording button, and an operation button.
  • the still image can be recorded by the image pickup apparatus 100 by pressing the shutter button.
  • the moving image can be recorded by the image pickup apparatus 100 by pressing the record button.
  • the image pickup apparatus 100 as described above is detachably mounted on an object such as a moving object such as the pan/tilt head 50 and the UAV 10 and used. Further, the image pickup apparatus 100 has a case where a manually operated operation portion such as an operation ring for manually rotating the zoom operation or the focus operation is used.
  • FIG. 3 shows an example of the interchangeable lens 250 attached to the imaging device 100.
  • the interchangeable lens 250 has a focus operation ring 242 and a zoom operation ring rotatably disposed on the outer circumference of the lens barrel 244.
  • the imaging device 100 performs a focusing operation and a zooming operation in accordance with the amount of rotation and the direction of rotation of the focus operation ring 242 and the zoom operation ring 244.
  • the focus operation ring 242 and the zoom operation ring 244 are examples of an operation unit that is operated by an external force.
  • the external force includes a force applied from a human hand or the like, a force applied from a drive mechanism by driving the drive mechanism by an electric motor or the like, and the like.
  • the focus operating ring 242 and the zoom operating ring 244 can be manually operated.
  • the focus operation ring 242 and the zoom operation ring 244 can be operated by rotating a transmission that is engaged with a gear provided on the outer circumference of the focus operation ring 242 and the zoom operation ring 244 by an electric motor.
  • the electric motor that rotates the transmission can be driven in accordance with a drive command from an operation terminal such as the remote operation device 300.
  • the operation unit may be an operation unit that operates manually or directly or indirectly.
  • the operation unit that is manually operated by intervening may be, for example, an operation unit that manually rotates a rotation ring provided at an operation terminal such as the remote operation device 300, and drives a drive command according to the rotation amount and the rotation direction of the rotation ring at this time.
  • An electric motor rotates the transmission to operate from the force imparted by the transmission.
  • FIG. 4 is a view showing an example of an appearance of the detecting unit 230 that detects the amount of rotation and the direction of rotation of the focus operation ring 242 or the zoom operation ring 244.
  • the detecting portion 230 may be disposed inside the focus operation ring 242 or the zoom operation ring 244.
  • the detecting unit 230 has an annular portion 232 and two photointerrupters 236.
  • the annular portion 232 has protrusions 234 that are disposed on the inner side at equal intervals.
  • the protrusion 234 passes between the light-emitting portion of the two photointerrupters 236 and the light-receiving portion with the rotation of the annular portion 232.
  • the light receiving unit receives the light emitted in the light emitting unit.
  • Each of the two photointerrupters 236 outputs a detection signal indicating a light receiving pattern of light in the light receiving portion corresponding to the passing state of the protruding portion 234.
  • the rotation amount and the rotation direction of the annular portion 232 are specifically specified based on the combination of the light receiving patterns of the two photointerrupters 236.
  • FIG. 5 and FIG. 6 are diagrams showing an example of an internal mechanism of the imaging device 100.
  • the imaging device 100 has a focus lens unit 254 and a focus motor 252.
  • a drive signal corresponding to the amount of rotation and the direction of rotation of the focus operation ring 242 detected by the detecting unit 230 is supplied to the focus motor 252.
  • the focus motor 252 drives the focus lens unit 254 in accordance with the drive signal to perform a focusing operation.
  • the imaging device 100 includes a zoom motor 260, a speed reducer 262, and a cam ring 264.
  • a drive signal corresponding to the amount of rotation and the direction of rotation of the zoom operation ring 244 detected by the detecting unit 230 is supplied to the zoom motor 260.
  • the zoom motor 260 rotates the cam ring 264 in accordance with the drive signal. According to the rotation of the cam ring 264, The zoom lens placed inside the cam ring 264 moves in the optical axis direction.
  • the speed reducer 262 stops the rotation of the zoom motor 260 to stop the movement of the zoom lens at a point in time when the zoom lens has reached the desired position.
  • the imaging apparatus 100 performs the focusing operation and the zooming operation based on the amount of rotation and the direction of rotation of the focus operation ring 242 and the zoom operation ring 244 detected by the detection unit 230.
  • the imaging device 100 is mounted on the UAV 10 or the like or mounted on the pan/tilt head 50 and held by the stabilizer 500 or the like according to the shooting scene. In this case, there is a case where the imaging apparatus 100 vibrates. Due to the vibration of the image pickup apparatus 100, the focus operation ring 242 and the zoom operation ring 244 may be rotated regardless of the intention of the user, thereby performing a focusing operation or a zooming operation.
  • the imaging device 100 of the present embodiment when the imaging device 100 is connected to an object that satisfies a predetermined condition, the imaging operation of the operation unit such as the focus operation ring 242 and the zoom operation ring 244 is accompanied by an unexpected operation and zooming.
  • the predetermined action such as the action is invalidated.
  • the imaging apparatus 100 is prevented from performing an unexpected operation in accordance with the vibration of the imaging apparatus 100.
  • FIG. 7 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 provided inside the UAV main body 20. 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 a microprocessor such as a CPU or an MPU, or an MCU. Such as a microcontroller 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, and a memory 130.
  • the image sensor 120 may be composed of a CCD or a CMOS.
  • the image sensor 120 outputs image data of an 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 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 may be provided inside the casing of the image pickup apparatus 100.
  • the memory 130 may be disposed to be detachable from the housing of the image pickup apparatus 100.
  • the lens unit 200 includes a plurality of lenses 210 , a lens driving unit 212 , a position sensor 214 , a lens control unit 220 , a memory 222 , a detecting unit 230 , and an operation unit 240 .
  • the plurality of lenses 210 function as a zoom lens, a zoom lens, and a focus lens. At least some 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 can be detachably provided with respect to the imaging unit 102.
  • the position sensor 214 detects the position of the lens 210.
  • the memory 222 stores identification information that identifies the lens unit 200. Knowledge The presence or absence of the operation unit 240 operated by the manual operation can be displayed in the other information. The presence or absence of the focus operation ring 242 and the zoom operation ring 244 can be displayed in the identification information.
  • the operation unit 240 is operated by an external force.
  • the operation unit 240 is, for example, a focus operation ring 242 and a zoom operation ring 244. However, the operation unit 240 is not limited to the focus operation ring 242 and the zoom operation ring 244.
  • the operation unit 240 may be an operation ring or an operation switch for instructing or setting an operation of the imaging device 100 other than focusing and zooming by an external force.
  • the detecting unit 230 detects an operation state of the operation unit 240.
  • the detecting unit 230 includes two photointerrupters 236 and the like as shown in FIG. 4 described above.
  • the lens driving unit 212 moves at least a part or all of the plurality of lenses 210 along the optical axis.
  • 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 a plurality of lenses 210 in the optical axis direction.
  • the lens control commands are, for example, a zoom control command and a focus control command.
  • the lens control unit 220 controls the movement of the one or more lenses 210 in the optical axis direction based on the position of the lens 210 detected by the position sensor 214.
  • the imaging control unit 110 includes the determination unit 112 and the operation control unit 114 in order to prevent the imaging device 100 from performing an unexpected operation in accordance with the vibration of the imaging device 100.
  • the determination unit 112 determines whether or not the imaging device 100 is connected to an object that satisfies a predetermined condition.
  • the operation control unit 114 invalidates the execution of the predetermined operation by the imaging control unit 110 based on the operation state of the operation unit 240 detected by the detection unit 230.
  • the predetermined operation may be an operation of moving the lens 210 included in the imaging device 100.
  • the operation control unit 114 can perform a focusing operation and zooming performed by the imaging control unit 110 based on the operation state of the operation unit 240 detected by the detection unit 230. The action is invalidated.
  • the operation control unit 114 can activate the execution of a predetermined operation.
  • the invalidation is a state in which the imaging control unit 110 cannot perform a predetermined operation based on the operation state of the operation unit 240.
  • the invalidation is a state in which the imaging control unit 110 cannot perform the focusing operation and the zooming operation based on the operation state of the operation unit 240.
  • the invalidation is a state in which the predetermined control operation executed by the imaging control unit 110 based on the operation state of the operation unit 240 is stopped.
  • Invalidation means taking photos
  • the image control unit 110 does not receive a state of execution of a predetermined operation based on the operation state of the operation unit 240.
  • the activation is a state in which the imaging control unit 110 can perform a predetermined operation based on the operation state of the operation unit 240.
  • the activation is, for example, a state in which the imaging control unit 110 can perform the focusing operation and the zooming operation based on the operation state of the operation unit 240.
  • the activation is a state in which the imaging control unit 110 receives an execution of a predetermined operation based on the operation state of the operation unit 240.
  • the motion control unit 114 is an example of a control unit.
  • the object that satisfies the predetermined condition is an object in which the imaging device 100 is likely to vibrate.
  • the determination unit 112 can determine that the imaging device 100 is connected to an object that satisfies a predetermined condition.
  • the imaging device 100 is mounted on a moving body such as the UAV 10 that is in flight, the determination unit 112 can determine that the imaging device 100 is connected to an object that satisfies a predetermined condition.
  • the state in which the imaging device 100 is connected to an object that satisfies a predetermined condition includes a state in which the imaging device 100 is physically or electrically connected to an object that satisfies a predetermined condition.
  • the state in which the imaging device 100 is connected to an object that satisfies a predetermined condition includes a state in which the imaging device 100 is connected to an object satisfying a predetermined condition via wire or wireless.
  • the determination unit 112 can determine that the imaging device 100 is connected to an object that satisfies a predetermined condition.
  • the pan/tilt head 50 can operate in the first mode in which the rotation of the imaging device 100 is activated and the second mode in which the rotation of the imaging device 100 is invalidated.
  • the determination unit 112 can determine that the imaging device 100 is connected to an object that satisfies a predetermined condition.
  • the determination unit 112 can determine that the imaging device 100 is not connected to an object that satisfies a predetermined condition.
  • the operation control unit 114 can activate the predetermined other operation executed by the operation control unit 114 based on the operation state of the operation unit 240.
  • Other actions specified in advance may be de-aggregation The operation performed by the imaging device 100 other than the focus operation and the zoom operation.
  • other predetermined actions may be exposure adjustment such as adjustment of the shutter speed, adjustment of the aperture, and adjustment of the dimming rate by the dimming filter.
  • Other predetermined actions may be adjustment of the operating parameters of the pan/tilt 50 such as adjustment of the rotational speed of the rotating shaft of the pan/tilt head 50, and the like.
  • other predetermined actions may be adjustments of the operating parameters of the UAV 10, and the like.
  • Other predetermined actions may be adjustments to the operational parameters performed prior to the UAV 10 flight.
  • Other predetermined actions may be setting of a flight mode that defines the flight speed, flight pattern, and the like of the UAV 10.
  • the operation control unit 114 can invalidate a predetermined operation and activate other predetermined actions.
  • the operation control unit 114 can invalidate the focusing operation and the zooming operation by the focus operation ring 242 and the zoom operation ring 244, and pass the focus operation ring 242 and the zoom operation.
  • the setting of the flight mode by the manual operation of the ring 244 is validated.
  • the motion control unit 114 can invalidate another predetermined operation. Thereby, it is possible to prevent the moving body such as the UAV 10 from vibrating during flight, and the setting of the flight mode or the like is unexpectedly changed.
  • FIG. 8 is a flowchart showing an example of a procedure for invalidating a predetermined operation.
  • the imaging control unit 110 activates a predetermined operation such as a focusing operation and a zooming operation (S102).
  • the imaging control unit 110 acquires the identification information of the lens unit 200 from the lens unit 200 (S104).
  • the determination unit 112 determines whether or not the lens unit 200 has the detection unit 230 that is the target of invalidation based on the identification information (S106).
  • the imaging control unit 110 keeps the predetermined operation constant (S116).
  • the determination unit 112 determines whether or not the imaging apparatus 100 is mounted on the platform 50 (S108). When the imaging apparatus 100 is not mounted on the platform 50, the imaging control unit 110 keeps the predetermined operation constant (S116).
  • the determination unit 112 determines whether or not the imaging apparatus 100 is installed in the UAV 10 via the pan/tilt head 50 (S110).
  • the operation control unit 114 invalidates the predetermined action. (S114).
  • the determination unit 112 determines whether or not the driving of the platform 50 is in a locked state (S112). In other words, the determination unit 112 determines whether the pan/tilt head 50 is operating in either of the first mode in which the rotation of the imaging device 100 is activated or the second mode in which the rotation of the imaging device 100 is invalidated.
  • the operation control unit 114 invalidates the predetermined operation (S114).
  • the operation control unit 114 keeps the predetermined operation constant (S116).
  • the imaging control unit 110 repeats the processing in and after step S106 until the power of the imaging apparatus 100 is turned off (S118). For example, when the imaging apparatus 100 is detached from the pan/tilt head 50, the operation control unit 114 switches the predetermined operation from the invalidated state to the activated state (S116).
  • the imaging apparatus 100 of the present embodiment it is possible to prevent an unexpected operation of the operation unit 240 from being operated due to vibration of the imaging apparatus 100 or the like.
  • the imaging device 100 including the focus operation ring 242 and the zoom operation ring 244 is mounted on the UAV 10 via the pan/tilt head 50, even if the imaging device 100 vibrates in accordance with the vibration of the UAV 10, it is possible to prevent the focus from being caused by the vibration.
  • the operating ring 242 or zoom operating ring 244 rotates.
  • 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 is for the computer 1200 to execute in this specification. A number of or all of the specific specified operations associated with the flowcharts and block diagrams of the description may be performed by the CPU 1212.
  • 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 a boot program or the like executed by the computer 1200 at the time of activation and/or a program depending on the hardware of the computer 1200.
  • the program 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, each of which Various types of processing include various types of operations, information processing, conditional judgments, conditional branches, unconditional branches, information retrieval/replacement, and the like specified by the program's instruction sequence as described elsewhere in the present disclosure.
  • 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

在基于由外力进行操作的旋转框等操作部的操作状态执行聚焦动作等预先规定的动作的摄像装置中，存在因摄像装置的振动等而导致操作部意外地被操作的情况。本发明的控制装置控制摄像装置，所述摄像装置具备：操作部，其由外力进行操作；检测部，其检测操作部的操作状态；以及执行部，其基于操作状态执行预先规定的动作。控制装置可具备控制部，所述控制部在摄像装置连接于满足预先规定的条件的对象物的情况下，使由执行部基于操作状态的预先规定的动作的执行无效化。

Description

摄像装置、摄像系统、移动体、控制方法及程序 技术领域
本发明涉及一种控制方法、摄像装置、摄像系统、移动体、控制方法、及程序。
背景技术
在专利文献1中公开了一种相机，该相机是利用传感器检测通过手动操作而旋转的旋转框的旋转量及旋转方向，根据所检测出的旋转量及旋转方向使镜头在光轴方向上移动。
专利文献1  日本特开2013-50510号公报
发明内容
发明所要解决的技术问题
在基于以手动进行操作的旋转框等操作部的操作状态来执行聚焦动作等预先规定的动作的摄像装置中，存在因摄像装置的振动等而导致操作部意外地被操作的情况。
用于解决技术问题的手段
本发明的一个方式的控制装置是控制摄像装置的控制装置，所述摄像装置具备：操作部，其由外力进行操作；检测部，其检测操作部的操作状态；以及执行部，其基于操作状态执行预先规定的动作。控制装置可具备控制部，该控制部在摄像装置连接于满足预先规定的条件的对象物的情况下，使由执行部基于操作状态的预先规定的动作的执行无效化。
控制装置可具备判断部，该判断部判断摄像装置是否连接于满足预先规定的条件的对象物。控制部在判断部判断为摄像装置连接于满足预先规定的条件的对象物的情况下，可使预先规定的动作的执行无效化。
控制部在判断部判断为摄像装置未连接于满足预先规定的条件的对象物的情况下，可使预先规定的动作的执行有效化。
判断部在摄像装置被装设在移动体的情况下，可判断为摄像装置连接于满足预先规定的条件的对象物。
判断部在摄像装置被装设在飞行中的移动体的情况下，可判断为摄像装置连接于满足预先规定的条件的对象物。
判断部在摄像装置被装设在将摄像装置可旋转地支持的支持机构的情况下，可判断为摄像装置连接于满足预先规定的条件的对象物。
支持机构可为能以使摄像装置的旋转有效化的第1模式、以及使摄像装置的旋转无效化的第2模式进行动作。判断部在摄像装置被装设在正以第1模式进行动作的支持机构的情况下，可判断为摄像装置连接于满足预先规定的条件的对象物。
判断部在摄像装置被装设在正以第2模式进行动作的支持机构的情况下，可判断为摄像装置未连接于满足预先规定的条件的对象物。
预先规定的动作可为使摄像装置所具备的镜头移动的动作。
控制部在使预先规定的动作无效化的情况下，可使由执行部所执行的基于操作状态的预先规定的其他动作有效化。
控制部在摄像装置被装设在移动体的情况下，可使预先规定的动作无效化，而使预先规定的其他动作有效化。
控制部在移动体已开始飞行的情况下，可使预先规定的其他动作无效化。
本发明的一个方式的摄像装置具备所述控制装置。
本发明的一个方式的摄像系统可具备所述摄像装置。摄像系统可具备将摄像装置可旋转地支持的支持机构。
本发明的一个方式的移动体可为具备所述摄像系统而移动的移动体。
本发明的一个方式的控制方法是控制摄像装置的控制方法，所述摄像装置具备：操作部，其由外力进行操作；检测部，其检测操作部的操作状态；以及执行部，其基于操作状态执行预先规定的动作。控制方法可包括如下阶段：在摄像装置连接于满足预先规定的条件的对象物的情况下，使由执行部基于操作状态的预先规定的动作的执行无效化。
本发明的一个方式的程序是用于使计算机控制摄像装置的程序，所述摄像装置具备：操作部，其由外力进行操作；检测部，其检测操作部的操作状态；以及执行部，其基于操作状态执行预先规定的动作。程序可使计算机执行如下阶段：在摄像装置连接于满足预先规定的条件的对象物的情况下，使由执行部基于操作状态的预先规定的动作的执行无效化。
根据本发明的一个方式，在基于操作部的操作状态来执行预先规定的动作的摄像装置中，能够防止因摄像装置的振动等而导致操作部意外地被操作的情况。
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是表示无人飞行器及远程操作装置的外观的一例的图。
图2是表示稳定器的外观的一例的图。
图3是表示镜头部的外观的一例的图。
图4是表示检测操作环的旋转量及旋转方向的检测部的外观的一例的图。
图5是表示摄像装置的内部机构的一例的图。
图6是表示摄像装置的内部机构的一例的图。
图7是表示无人飞行器的功能块的一例的图。
图8是表示使预先规定的动作无效化的顺序的一例的流程图。
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。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表示无人飞行器(UAV，Unmanned Aerial Vehicle)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还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。
图2表示稳定器500的外观的一例。稳定器500具备手持部502、云台50、及摄像装置100。手持部502具有用于操作云台50及摄像装置100的各种按钮。手持部502例如包含快门按钮、录像按钮及操作按钮。通过按下快门按钮，可利用摄像装置100记录静止图像。通过按下录像按钮，可利用摄像装置100记录动态图像。
如上所述的摄像装置100存在可装卸地被装设在云台50及UAV10等移动体等对象物上进行利用的情况。而且，摄像装置100存在具有利用用于指示变焦动作或聚焦动作的以手动进行旋转的操作环等的手动被操作的操作部的情况。
图3表示装设在摄像装置100的可换镜头250的一例。可换镜头250具有可旋转地设置在镜筒的外周的聚焦操作环242及变焦操作环 244。摄像装置100根据聚焦操作环242及变焦操作环244的旋转量及旋转方向来执行聚焦动作及变焦动作。聚焦操作环242及变焦操作环244是由外力进行操作的操作部的一例。外力包含从人的手等赋予的力、通过电动马达等使驱动机构驱动而从驱动机构赋予的力等。聚焦操作环242及变焦操作环244可通过手动予以操作。聚焦操作环242及变焦操作环244可通过利用电动马达使与设置在聚焦操作环242及变焦操作环244的外周的齿轮卡合的传动装置旋转而被操作。使传动装置旋转的电动马达可按照来自远程操作装置300等操作终端的驱动指令而进行驱动。操作部可为直接或间接地以手动进行操作的操作部。间接地以手动进行操作的操作部例如可为如下的操作部：手动地使设置在远程操作装置300等操作终端的旋转环旋转，按照与此时旋转环的旋转量及旋转方向相应的驱动指令，电动马达使所述传动装置旋转，以从传动装置赋予的力被进行操作。
图4是表示检测聚焦操作环242或变焦操作环244的旋转量及旋转方向的检测部230的外观的一例的图。检测部230可设置在聚焦操作环242或变焦操作环244的内侧。检测部230具有环状部232及2个光断续器236。环状部232具有等间隔地配置在内侧的突起部234。伴随着环状部232的旋转，突起部234通过2个光断续器236的发光部与受光部之间。受光部接收在发光部中所发出的光。2个光断续器236分别输出表示与突起部234的通过状态对应的受光部中的光的受光图案的检测信号。基于2个光断续器236的受光图案的组合，特别指定环状部232的旋转量及旋转方向。
图5及图6是表示摄像装置100的内部机构的一例的图。摄像装置100具有聚焦镜头单元254及聚焦用马达252。与由检测部230检测出的聚焦操作环242的旋转量及旋转方向对应的驱动信号被供给到聚焦用马达252。聚焦用马达252根据驱动信号驱动聚焦镜头单元254，而执行聚焦动作。摄像装置100具备变焦用马达260、减速器262、及凸轮环264。与由检测部230检测出的变焦操作环244的旋转量及旋转方向对应的驱动信号被供给到变焦用马达260。变焦用马达260根据驱动信号使凸轮环264旋转。根据凸轮环264的旋转，配 置在凸轮环264的内部的变焦镜头在光轴方向上移动。减速器262在变焦镜头已到达至所期望的位置的时间点，使变焦用马达260停止旋转以使变焦镜头的移动停止。
如上所述，摄像装置100是根据由检测部230检测出的聚焦操作环242及变焦操作环244的旋转量及旋转方向而执行聚焦动作及变焦动作。
这种摄像装置100根据摄影场景而存在搭载在UAV10等上或搭载在云台50上并利用稳定器500等被手持的情况。在这种情况下，存在摄像装置100发生振动的情况。因摄像装置100发生振动，而有可能导致聚焦操作环242及变焦操作环244无关用户的意图而旋转，从而执行聚焦动作或变焦动作。
因此，本实施方式的摄像装置100在摄像装置100连接于满足预先规定的条件的对象物的情况下，使聚焦操作环242及变焦操作环244等操作部的伴随意外的操作的聚焦动作及变焦动作等预先规定的动作无效化。由此，防止摄像装置100伴随着摄像装置100的振动执行意外的动作。
图7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接收表示从多个GPS卫星发送的时刻的多个信号。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及内存130。图像传感器120可由CCD或CMOS构成。图像传感器120将通过多个镜头210成像的光学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。内存130可为计算机可读的记录介质，可包括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的壳体的内部。内存130可设置成可从摄像装置100的壳体卸下。
镜头部200具有多个镜头210、镜头驱动部212、位置传感器214、镜头控制部220、内存222、检测部230、及操作部240。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为能够沿着光轴移动。镜头部200可为能够相对于摄像部102装卸地设置的可换镜头。位置传感器214检测镜头210的位置。内存222存储识别镜头部200的识别信息。识 别信息中可显示通过手动操作而被操作的操作部240的有无等。识别信息中可显示聚焦操作环242及变焦操作环244的有无等。
操作部240由外力进行操作。操作部240例如为聚焦操作环242及变焦操作环244。然而，操作部240并不限定于聚焦操作环242及变焦操作环244。操作部240也可以是用于通过外力进行除聚焦及变焦以外的摄像装置100的动作的指示或设定的操作环、及操作开关等。检测部230检测操作部240的操作状态。检测部230包含像所述图4所示那样的2个光断续器236等。镜头驱动部212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的镜头控制指令驱动镜头驱动部212，而使1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。镜头控制部220根据由位置传感器214检测出的镜头210的位置，控制1个或多个镜头210沿着光轴方向的移动。
在以此方式构成的摄像装置100中，为了防止摄像装置100伴随着摄像装置100的振动而执行意外的动作，摄像控制部110具有判断部112及动作控制部114。判断部112判断摄像装置100是否连接于满足预先规定的条件的对象物。
动作控制部114在摄像装置100连接于满足预先规定的条件的对象物的情况下，使由摄像控制部110基于由检测部230检测出的操作部240的操作状态的预先规定的动作的执行无效化。预先规定的动作可为使摄像装置100所具备的镜头210移动的动作。动作控制部114在摄像装置100连接于满足预先规定的条件的对象物的情况下，可使由摄像控制部110基于由检测部230检测出的操作部240的操作状态所执行的聚焦动作及变焦动作无效化。动作控制部114在判断部112判断为摄像装置100未连接于满足预先规定的条件的对象物的情况下，可使预先规定的动作的执行有效化。无效化是指摄像控制部110无法基于操作部240的操作状态执行预先规定的动作的状态。无效化例如是指摄像控制部110无法基于操作部240的操作状态执行聚焦动作及变焦动作的状态。无效化例如是指由摄像控制部110基于操作部240的操作状态所执行的预先规定的动作停止的状态。无效化是指摄 像控制部110未接受基于操作部240的操作状态的预先规定的动作的执行的状态。有效化是指摄像控制部110能够基于操作部240的操作状态执行预先规定的动作的状态。有效化例如是指摄像控制部110能够基于操作部240的操作状态执行聚焦动作及变焦动作的状态。有效化是指摄像控制部110接受了基于操作部240的操作状态的预先规定的动作的执行的状态。动作控制部114是控制部的一例。
此处，满足预先规定的条件的对象物是摄像装置100有可能发生振动的状态的对象物。例如，判断部112在摄像装置100被装设在UAV10等移动体的情况下，可判断为摄像装置100连接于满足预先规定的条件的对象物。判断部112在摄像装置100被装设在飞行中的UAV10等移动体的情况下，可判断为摄像装置100连接于满足预先规定的条件的对象物。摄像装置100连接于满足预先规定的条件的对象物的状态包含摄像装置100物理性地或电性地连接于满足预先规定的条件的对象物的状态。摄像装置100连接于满足预先规定的条件的对象物的状态包含摄像装置100经由有线或无线而连接于满足预先规定的条件的对象物的状态。
判断部112在摄像装置100被装设在将摄像装置100可旋转地支持的云台50的情况下，可判断为摄像装置100连接于满足预先规定的条件的对象物。
例如，在摄像装置100被搭载在稳定器500的情况下，云台50能以使摄像装置100的旋转有效化的第1模式、以及使摄像装置100的旋转无效化的第2模式进行动作。在该情况下，判断部112在摄像装置100被装设在以第1模式进行动作的云台50的情况下，可判断为摄像装置100连接于满足预先规定的条件的对象物。另一方面，判断部112在摄像装置100被装设在以第2模式进行动作的云台50的情况下，可判断为摄像装置100未连接于满足预先规定的条件的对象物。
动作控制部114在已使聚焦动作及变焦动作等预先规定的动作无效化的情况下，可使由动作控制部114基于操作部240的操作状态所执行的预先规定的其他动作有效化。预先规定的其他动作可为除聚 焦动作及变焦动作以外的针对摄像装置100进行的动作。例如，预先规定的其他动作可为快门速度的调整、光圈的调整、利用减光滤波器进行的减光率的调整等曝光调整。预先规定的其他动作可为云台50的旋转轴的旋转速度的调整等云台50的动作参数的调整等。或者，预先规定的其他动作可为UAV10的动作参数的调整等。预先规定的其他动作可为在UAV10飞行前进行的动作参数的调整。预先规定的其他动作可为规定UAV10的飞行速度、飞行图案等的飞行模式的设定。
动作控制部114例如在摄像装置100被装设在UAV10等移动体的情况下，可使预先规定的动作无效化，而使预先规定的其他动作有效化。动作控制部114例如在摄像装置100被装设在UAV10的情况下，可使由聚焦操作环242及变焦操作环244进行的聚焦动作及变焦动作无效化，而使通过聚焦操作环242及变焦操作环244的手动操作进行的飞行模式的设定有效化。动作控制部114在移动体已开始飞行的情况下，可使预先规定的其他动作无效化。由此，能够防止UAV10等移动体在飞行中振动而导致飞行模式的设定等意外地被变更。
图8是表示使预先规定的动作无效化的顺序的一例的流程图。当摄像装置100的电源被接通时(S100)，摄像控制部110使聚焦动作及变焦动作等预先规定的动作有效化(S102)。接着，摄像控制部110从镜头部200获取镜头部200的识别信息(S104)。判断部112基于识别信息判断镜头部200是否具有无效化对象的检测部230(S106)。在镜头部200不具有无效化对象的检测部230的情况下，摄像控制部110使预先规定的动作保持有效化不变(S116)。
另一方面，在镜头部200具有无效化对象的检测部230的情况下，判断部112判断摄像装置100是否被装设在云台50(S108)。如果摄像装置100未被装设在云台50，那么摄像控制部110使预先规定的动作保持有效化不变(S116)。
如果摄像装置100被装设在云台50，那么判断部112判断摄像装置100是否经由云台50被装设在UAV10(S110)。在摄像装置100被装设在UAV10的情况下，动作控制部114使预先规定的动作无效 化(S114)。
在摄像装置100未被装设在UAV10的情况下，判断部112判断云台50的驱动是否为锁定状态(S112)。也就是说，判断部112判断云台50正以使摄像装置100的旋转有效化的第1模式或使摄像装置100的旋转无效化的第2模式中的哪一种模式进行动作。如果云台50的驱动并非锁定状态，也就是说，在云台50正以第1模式进行动作的情况下，动作控制部114使预先规定的动作无效化(S114)。另一方面，如果云台50的驱动为锁定状态，也就是说，在云台50正以第2模式进行动作的情况下，动作控制部114使预先规定的动作保持有效化不变(S116)。
摄像控制部110反复进行步骤S106及其之后的处理，直到摄像装置100的电源被断开为止(S118)。例如，如果将摄像装置100从云台50卸下，那么动作控制部114将预先规定的动作从无效化状态切换为有效化状态(S116)。
如上所述，根据本实施方式的摄像装置100，能够防止因摄像装置100的振动等导致意外地操作部240被操作而执行意外的动作的情况。例如，在具备聚焦操作环242及变焦操作环244的摄像装置100经由云台50被搭载在UAV10的情况下，即使摄像装置100伴随着UAV10的振动而振动，也能够防止因其振动而导致聚焦操作环242或变焦操作环244旋转。另外，在这种摄像装置100经由云台50而可旋转地被搭载在稳定器500的情况下，即使摄像装置100伴随着稳定器500的振动而振动，也能够防止因其振动而导致聚焦操作环242或变焦操作环244旋转。由此，能够防止伴随着摄像装置100的振动而执行意外的聚焦动作或变焦动作的情况。
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
60 摄像装置
100 摄像装置
102 摄像部
110 摄像控制部
112 判断部
114 动作控制部
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 检测部
232 环状部
234 突起部
236 光断续器
240 操作部
242 聚焦操作环
244 变焦操作环
250 可换镜头
252 聚焦用马达
254 聚焦镜头单元
260 变焦用马达
262 减速器
264 凸轮环
300 远程操作装置
500 稳定器
502 手持部
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 (16)

  1. 一种控制装置，其控制摄像装置，所述摄像装置具备：操作部，其由外力进行操作；检测部，其检测所述操作部的操作状态；以及执行部，其基于所述操作状态执行预先规定的动作；
    所述控制装置具备控制部，所述控制部在所述摄像装置连接于满足预先规定的条件的对象物的情况下，使由所述执行部基于所述操作状态的所述预先规定的动作的执行无效化。
  2. 根据权利要求1所述的控制装置，
    其还具备判断部，所述判断部判断所述摄像装置是否连接于满足所述预先规定的条件的对象物；
    所述控制部在所述判断部判断为所述摄像装置连接于满足所述预先规定的条件的对象物的情况下，使所述预先规定的动作的执行无效化。
  3. 根据权利要求2所述的控制装置，其中，
    所述控制部在所述判断部判断为所述摄像装置未连接于满足所述预先规定的条件的对象物的情况下，使所述预先规定的动作的执行有效化。
  4. 根据权利要求2所述的控制装置，其中，
    所述判断部在所述摄像装置被装设在移动体的情况下，判断为所述摄像装置连接于满足所述预先规定的条件的对象物。
  5. 根据权利要求2所述的控制装置，其中，
    所述判断部在所述摄像装置被装设在飞行中的移动体的情况下，判断为所述摄像装置连接于满足所述预先规定的条件的对象物。
  6. 根据权利要求2所述的控制装置，其中，
    所述判断部在所述摄像装置被装设在将所述摄像装置可旋转地支持的支持机构的情况下，判断为所述摄像装置连接于满足所述预先规定的条件的对象物。
  7. 根据权利要求6所述的控制装置，其中，
    所述支持机构能以使所述摄像装置的旋转有效化的第1模式、以及使所述摄像装置的旋转无效化的第2模式进行动作，
    所述判断部在所述摄像装置被装设在正以所述第1模式进行动作的所述支持机构的情况下，判断为所述摄像装置连接于满足所述预先规定的条件的对象物。
  8. 根据权利要求7所述的控制装置，其中，
    所述判断部在所述摄像装置被装设在正以所述第2模式进行动作的所述支持机构的情况下，判断为所述摄像装置未连接于满足所述预先规定的条件的对象物。
  9. 根据权利要求1所述的控制装置，其中，
    所述预先规定的动作是使所述摄像装置所具备的镜头移动的动作。
  10. 根据权利要求1所述的控制装置，其中，
    所述控制部在使所述预先规定的动作无效化的情况下，使由所述执行部所执行的基于所述操作状态的预先规定的其他动作有效化。
  11. 根据权利要求10所述的控制装置，其中，
    所述控制部在所述摄像装置被装设在移动体的情况下，使所述预先规定的动作无效化，而使所述预先规定的其他动作有效化。
  12. 根据权利要求11所述的控制装置，其中，
    所述控制部在所述移动体已开始飞行的情况下，使所述预先规定的其他动作无效化。
  13. 一种摄像装置，其具备根据权利要求1至12中任一项所述的控制装置。
  14. 一种摄像系统，其具备：
    根据权利要求13所述的摄像装置；以及
    支持机构，其将所述摄像装置可旋转地支持。
  15. 一种移动体，其具备根据权利要求14所述的摄像系统而移动。
  16. 一种控制方法，其控制摄像装置，所述摄像装置具备：操作部，其由外力进行操作；检测部，其检测所述操作部的操作状态；以 及执行部，其基于所述操作状态执行预先规定的动作；
    所述控制方法包括如下阶段：在所述摄像装置连接于满足预先规定的条件的对象物的情况下，使由所述执行部基于所述操作状态的所述预先规定的动作的执行无效化。
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