WO2019085771A1 - 控制装置、镜头装置、摄像装置、飞行体以及控制方法 - Google Patents

控制装置、镜头装置、摄像装置、飞行体以及控制方法 Download PDF

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Publication number
WO2019085771A1
WO2019085771A1 PCT/CN2018/111023 CN2018111023W WO2019085771A1 WO 2019085771 A1 WO2019085771 A1 WO 2019085771A1 CN 2018111023 W CN2018111023 W CN 2018111023W WO 2019085771 A1 WO2019085771 A1 WO 2019085771A1
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WIPO (PCT)
Prior art keywords
lens
focus
height
control
change
Prior art date
Application number
PCT/CN2018/111023
Other languages
English (en)
French (fr)
Inventor
本庄谦一
永山佳范
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 CN201880014582.5A priority Critical patent/CN110337609B/zh
Publication of WO2019085771A1 publication Critical patent/WO2019085771A1/zh
Priority to US16/727,386 priority patent/US10942331B2/en

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Classifications

    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
    • G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
    • G02B7/09—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification adapted for automatic focusing or varying magnification
    • 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
    • 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
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using 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
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • 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
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • F16M11/2071—Undercarriages with or without wheels comprising means allowing pivoting adjustment 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
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
    • G02B27/646—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image compensating for small deviations, e.g. due to vibration or shake
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
    • G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
    • G02B7/10—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification by relative axial movement of several lenses, e.g. of varifocal objective lens
    • 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
    • G03B13/34—Power 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
    • G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
    • G03B13/32—Means for focusing
    • G03B13/34—Power focusing
    • G03B13/36—Autofocus systems
    • 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
    • H04N23/67—Focus control 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
    • H04N23/67—Focus control based on electronic image sensor signals
    • H04N23/673—Focus control based on electronic image sensor signals based on contrast or high frequency components of image signals, e.g. hill climbing method
    • 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
    • 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
    • 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
    • G03B7/00—Control of exposure by setting shutters, diaphragms or filters, separately or conjointly
    • G03B7/22—Control of exposure by setting shutters, diaphragms or filters, separately or conjointly in accordance with temperature or height, e.g. in aircraft

Definitions

  • the present invention relates to a control device, a lens device, a flying body, a control method, and a program.
  • Patent Document 1 discloses a lens device that performs zoom tracking control for moving a focus lens in order to correct a focus shift accompanying movement of a zoom lens.
  • Patent Document 1 Japanese Patent Laid-Open No. 2016-224096
  • a control device controls driving of a focus lens provided in the lens device.
  • the control device may be provided with a determining portion that determines a focus position indicating a position of the focus lens based on a height of the lens device from the reference position.
  • the control device may be provided with a control unit that controls the driving of the focus lens based on the focus position.
  • the determining portion may determine to use the first focus position on the subject focused at the first distance from the lens device as the focus position.
  • the determining portion may determine the second focus on the subject to be focused at the second distance from the lens device longer than the first distance The position is the focus position.
  • the control unit may control the driving of the focus lens based on the focus position determined by the determination unit, corresponding to the amount of change in the height of the lens device from the reference position being equal to or greater than the threshold value.
  • control portion may interrupt the control of the driving of the focus lens by the auto focus when controlling the driving of the focus lens by the auto focus, and based on the determination by the determining portion The focus position controls the drive of the focus lens.
  • the control portion may restart the control of driving the focus lens by the auto focus, corresponding to the amount of change in the height of the lens device from the reference position becoming smaller than the threshold.
  • the control device may be provided with a first specifying portion that specifies a first amount of change in the focus position of the focus lens that the control portion changes based on the focus position determined by the determining portion when the height of the lens device from the reference position is changed.
  • the control portion may control the driving of the focus lens to change the position of the focus lens by the amount of the first change amount.
  • the control device may be provided with a second designating portion that specifies a second change amount of the focus position indicating the position of the focus lens when the zoom position indicating the position of the zoom lens provided in the lens device is changed, the second change amount being used for Maintain the focus state of the subject with the same distance from the lens unit.
  • the control portion may control the driving of the focus lens during the change of the zoom position of the zoom lens to change the focus position of the focus lens by the first change amount and the second change amount. The amount of change in total.
  • a lens device may be provided with the above control device.
  • the lens unit can be provided with a focus lens.
  • An imaging device may include the lens device described above.
  • the imaging device may be provided with an image sensor that captures an optical image imaged by the lens device.
  • a flying body according to an aspect of the present invention includes the above-described imaging device and flies.
  • a control method is a control method for controlling driving of a focus lens provided in a lens device.
  • the control method may be provided with a stage of determining a focus position indicating a position of the focus lens based on a height of the lens device from the reference position.
  • the control method may be provided with a stage of controlling the driving of the focus lens based on the focus position.
  • a program according to an aspect of the present invention is a program for causing a computer to control driving of a focus lens provided in a lens device.
  • the program may cause the computer to perform a stage of determining a focus position indicating a position of the focus lens based on the height of the lens device from the reference position.
  • the program can cause the computer to perform a stage of controlling the driving of the focus lens based on the focus position.
  • FIG. 1 is a diagram showing an example of the appearance of an unmanned aircraft and a remote operation device.
  • FIG. 2 is a diagram showing one example of functional blocks of an unmanned aerial vehicle.
  • FIG. 3 is a diagram showing an example of the relationship between the height of the image pickup apparatus and the focus position.
  • FIG. 4 is a diagram showing one example of a zoom tracking curve.
  • FIG. 5 is a flowchart showing one example of a control process of a focus position.
  • Fig. 6 is a diagram for explaining an example of a hardware configuration.
  • Various embodiments of the present invention may be described with reference to flowcharts and block diagrams, which 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 specified phases and "parts" can be implemented by programmable circuits and/or processors.
  • Dedicated circuits may include digital and/or analog hardware circuits.
  • An integrated circuit (IC) and/or a discrete circuit can be included.
  • the programmable circuit can include a reconfigurable hardware circuit.
  • Reconfigurable hardware circuits may include logical AND, logical OR, logical exclusive OR, logical AND, logical OR, and other logic operations, flip-flops, registers, field programmable gate arrays (FPGAs), programmable logic arrays (PLA) ) such as memory elements.
  • FPGAs field programmable gate arrays
  • PDA programmable logic arrays
  • Computer readable media can include any tangible device that can store instructions that are executed by a suitable device.
  • the computer readable medium having the instructions stored thereon is provided with a product including instructions that can be executed to create means for performing the operations specified by 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 disk registered trademark
  • 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
  • EEPROM electrically erasable programmable read only memory
  • SRAM compact disk read only memory
  • DVD digital versatile disc
  • RTM blue
  • Computer readable instructions may include any of source code or object code as described by any combination of one or more programming languages.
  • Source code or object code includes traditional procedural programming languages.
  • Traditional programming languages can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related 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 create a means for performing the operations specified by the flowchart or block diagram.
  • 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 gimbal 50, a plurality of imaging devices 60, and an imaging device 100.
  • the gimbal 50 and the imaging device 100 are an example of an imaging system.
  • the UAV 10 is an example of a flying body that moves in the air.
  • the flight body is not only a UAV but also other aircraft, airships, helicopters, etc. that move in the air.
  • the UAV main body 20 is provided with a plurality of rotors.
  • a plurality of rotors are an example of a propulsion section.
  • the UAV body 20 causes the UAV 10 to fly 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 fixed wing aircraft without a rotor.
  • the imaging device 100 is an imaging camera that images an object included in a desired imaging range.
  • the gimbal 50 rotatably supports the image pickup apparatus 100.
  • the gimbal 50 is an example of a support mechanism.
  • the gimbal 50 rotatably supports the image pickup apparatus 100 with a pitch axis using an actuator.
  • the gimbal 50 further rotatably supports the image pickup apparatus 100 centering on the roll axis and the yaw axis, respectively, using an actuator.
  • the gimbal 50 can change the posture of the imaging apparatus 100 by rotating the imaging apparatus 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 camera units 60 may be disposed on the front of the UAV 10, that is, on the front side. Further, the other two imaging devices 60 may be disposed on the bottom surface of the UAV 10.
  • the two camera units 60 on the front side can be paired to function as a so-called stereo camera.
  • the two imaging devices 60 on the bottom side may also be paired to function as a so-called stereo camera.
  • the three-dimensional spatial data around the UAV 10 can be generated based on images taken by the plurality of imaging devices 60.
  • the number of imaging devices 60 provided in the UAV 10 is not limited to four.
  • the UAV 10 only needs to have at least one imaging device 60.
  • the UAV 10 may also be provided with at least one imaging device 60 on the nose, the tail, the side, the bottom surface and the top surface of the UAV 10, respectively.
  • the angle of view that can be set in the imaging device 60 can be larger than the angle of view that can be set in the imaging device 100.
  • the camera device 60 can also have a single focus lens or a fisheye lens.
  • the remote operating device 300 communicates with the UAV 10 to remotely operate the UAV 10.
  • the remote operating device 300 can communicate wirelessly with the UAV 10.
  • the remote operation device 300 transmits, to the UAV 10, instruction information indicating various commands related to the movement of the UAV 10 such as ascending, descending, accelerating, decelerating, advancing, retreating, and rotating.
  • the indication information includes, for example, indication information that causes the UAV 10 to rise in height.
  • the indication information may show the height at which the UAV 10 should be located.
  • the UAV 10 moves at 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. UAV10 rises during the period of accepting the rising command. When the height of the UAV 10 has reached the upper limit height, the UAV 10 can limit the rise even if the rise command is accepted.
  • 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 36, a propulsion unit 40, a GPS receiver 41, an inertial measurement device 42, a magnetic compass 43, a barometric altimeter 44, a temperature sensor 45, a humidity sensor 46, a gimbal 50, and imaging.
  • Device 60 and imaging device 100 are examples of imaging devices.
  • Communication interface 36 is in communication with other devices, such as remote operating device 300.
  • the communication interface 36 can receive indication information including various instructions to the UAV control section 30 from the remote operation device 300.
  • the memory 32 controls 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 temperature sensor 45, the humidity sensor 46, the gimbal 50, and the imaging device 60.
  • the program and the like required for the imaging apparatus 100 are stored.
  • 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 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 in accordance with a 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 in accordance with an instruction received from the remote operation device 300 via the communication interface 36.
  • 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 via a plurality of drive motors in accordance with an instruction from the UAV control unit 30 to cause the UAV 10 to fly.
  • the GPS receiver 41 receives a plurality of signals indicating times transmitted from a plurality of GPS satellites.
  • the GPS receiver 41 calculates the position (latitude and longitude) of the GPS receiver 41, that is, the position (latitude and longitude) of the UAV 10 based on the received plurality of signals.
  • the IMU 42 detects 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 velocity in the three-axis direction of the pitch axis, the roll axis, and the yaw axis as the posture of the UAV 10.
  • 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 barometric pressure into a height to detect the altitude.
  • the temperature sensor 45 detects the temperature around the UAV 10.
  • the humidity sensor 46 detects the humidity around the UAV 10.
  • the imaging device 100 includes an imaging unit 102 and a lens unit 200.
  • the lens portion 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 captures an optical image imaged through the plurality of lenses 210 and outputs the captured image data 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 and the like necessary for the imaging control unit 110 to control the image sensor 120 and the like.
  • the memory 130 may be disposed 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 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 varifocal 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 provided to be detachable from 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 via a mechanism member such as a cam ring.
  • the lens driving portion 212 may include an actuator.
  • the actuator can include a stepper motor.
  • the lens control unit 220 drives the lens driving unit 212 in accordance with a lens control command from the imaging unit 102 to move one or more lenses 210 in the optical axis direction via the mechanism member.
  • the lens control commands are, for example, a zoom control command and a focus control command.
  • the lens unit 200 further has a memory 230 and a position sensor 214.
  • the lens control unit 220 controls the movement of the lens 210 in the optical axis direction via the lens driving unit 212 in accordance with 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 via the lens driving unit 212 in accordance with the lens operation command from the imaging unit 102.
  • Part or all of the lens 210 moves along the optical axis.
  • the lens control section 220 performs at least one of a zooming motion and a focusing motion by moving at least one of the lenses 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 lens driving section 212 may include a shake correction mechanism.
  • the lens control section 220 can perform the shake correction by moving the lens 210 in the direction along the optical axis or in the direction perpendicular to the optical axis via the shake correction mechanism.
  • the lens driving section 212 can drive the shake correction mechanism by a stepping motor to perform shake correction.
  • the shake correction mechanism may be driven by a stepping motor to cause the image sensor 120 to move in a direction along the optical axis or a direction perpendicular to the optical axis to perform shake correction.
  • the memory 230 stores control values of the plurality of lenses 210 that are moved via the lens driving unit 212.
  • the memory 230 may include at least one of flash memories such as SRAM, DRAM, EPROM, EEPROM, and USB memory.
  • the height of the image pickup apparatus 100 thus constructed changes as the UAV 10 flies.
  • the image pickup apparatus 100 attempts to focus on a desired subject by autofocus such as contrast AF or the like, there is a case where the distance to the subject is changed due to the change in the height of the image pickup apparatus 100 and it takes time until focus .
  • the focus position of the focus lens is controlled in accordance with the height of the imaging apparatus 100.
  • the focus position of the focus lens changes from the nearest side to the infinity side.
  • the focus position of the focus lens gradually changes from the nearest side to the infinity side.
  • the lens control unit 220 includes an acquisition unit 221, a determination unit 222, a designation unit 223, a focus control unit 224, and a zoom control unit 225.
  • the acquisition unit 221 can acquire height information indicating the height of the imaging apparatus 100 from the ground.
  • the UAV 10 can have an infrared sensor that detects the distance from the ground.
  • the infrared sensor is placed down the UAV 10 in the vertical direction.
  • the infrared sensor radiates infrared light downward in the extending direction and receives its reflected light, thereby detecting the distance from the UAV 10 to the ground.
  • the acquisition unit 221 can acquire information indicating the distance of the UAV 10 detected by the infrared sensor to the ground as height information indicating the height of the imaging apparatus 100 from the reference position or the height of the lens unit 200 from the reference position.
  • the reference position may be a position on a predetermined reference plane.
  • the reference position may be an intersection of a straight line extending from the imaging device 100 or the UAV 100 in the vertical direction and the reference surface.
  • the reference position may be an intersection of a straight line extending in the vertical direction from a predetermined point such as the center of gravity of the image pickup apparatus 100 or the UAV 10 and the reference surface.
  • the reference surface may be, for example, a take-off surface of the UAV 10 such as the ground, the sea surface, the floor surface, and the roof surface, or a surface on which the object imaged by the image pickup apparatus 100 is located.
  • the determination section 222 determines a focus position indicating the position of the focus lens based on the height of the imaging apparatus 100 from the reference position.
  • the determination section 222 determines that the first focus position on the subject focused at the first distance from the image pickup apparatus 100 is taken as the focus position.
  • the determination section 222 determines that the subject to be focused on the subject at a second distance longer than the first distance from the imaging apparatus 100 The two focus positions are used as focus positions.
  • the determination section 222 may determine the focus position of the focus lens based on the height of the imaging apparatus 100 such that the focus position of the focus lens is from the nearest side to the infinity side The phase changes until the height of the image pickup apparatus 100 becomes a predetermined second height.
  • the determination unit 222 can determine the focus position of the focus lens corresponding to the height of the imaging apparatus 100, for example, according to the information indicating the relationship between the height of the imaging apparatus 100 and the focus position of the focus lens shown in FIG. 3 .
  • the determination section 222 can determine the focus position of the focus lens such that the focus position of the focus lens gradually changes from the nearest side to the infinity side until the height of the image pickup apparatus 100 becomes 6.0. m.
  • the specifying section 223 can specify the first amount of change of the focus position of the focus lens to be changed based on the focus position determined by the determination section 222.
  • the focus control section 224 controls the driving of the focus lens based on the focus position determined by the determination section 222.
  • the focus control section 224 controls the driving of the focus lens such that the position of the focus lens changes the amount of the first change amount specified by the specifying section 223.
  • the focus control unit 224 can control the driving of the focus lens based on the focus position determined by the determination unit 222 in accordance with the amount of change in the height of the imaging apparatus 100 from the reference position being equal to or greater than the threshold value.
  • the focus control unit 224 can temporarily interrupt the passage of the focus lens when the focus lens is driven by the auto focus such as contrast AF in accordance with an instruction from the image capture control unit 110. Focusing on the control of the drive of the focus lens. Moreover, the focus control section 224 can control the driving of the focus lens based on the focus position determined by the determination section 222. The focus control unit 224 can restart the control of driving the focus lens by the auto focus, corresponding to the amount of change in the height of the imaging apparatus 100 from the reference position being less than the threshold.
  • the focus control section 225 controls the driving of the zoom lens in accordance with the zoom instruction from the imaging control section 110 to change the zoom position of the zoom lens.
  • the image pickup apparatus 100 may have a so-called zoom tracking function.
  • the zoom tracking function is such that, when the zoom position indicating the position of the zoom lens is changed, in order to maintain the focus state of the subject that does not change the distance from the image pickup apparatus 100, the focus lens is changed in accordance with the change in the zoom position.
  • the function of changing the focus position of the position is performed by moving the focus lens to a target focus position corresponding to the target zoom position specified according to the zoom tracking curve shown in FIG. 4, which corresponds to the distance to the focused subject.
  • the zoom tracking curve is an example of information indicating a relationship between a focus position of a focus lens position and a zoom position of the zoom lens, and the position of the focus lens is used to maintain a focus state of a subject whose distance from the image pickup apparatus 100 is constant. .
  • This information is determined by the characteristics of the optical system of the lens unit 200, and can be stored, for example, in the memory 230.
  • the specifying portion 223 specifies a second change amount of the focus position indicating the position of the focus lens for maintaining the distance from the image pickup apparatus 100 unchanged when the zoom position indicating the position of the zoom lens is changed.
  • the specifying unit 223 is an example of the first specifying unit and the second specifying unit.
  • the focus control section 224 controls the driving of the focus lens based on the second amount of change specified in the specifying section 223 to perform zoom tracking.
  • the height of the imaging apparatus 100 is changed while the zoom position of the zoom lens of the image pickup apparatus 100 is changed.
  • a landscape is captured by the imaging device 100 mounted on the UAV 10.
  • the zoom position is on the telephoto side, and as the UAV 10 rises, there is a case where the zoom position is gradually changed toward the wide-angle side while being imaged by the image pickup apparatus 100.
  • the focus control section 224 can control the focus lens in conjunction with the adjustment of the focus position of the focus lens performed with the change in the height of the image pickup apparatus 100 and the adjustment of the focus position of the focus lens with the change of the zoom position of the zoom lens. Drive.
  • the focus control section 224 may control the driving of the focus lens during the zoom position change of the zoom lens such that the focus position change of the focus lens is based on the designation by the specifying section 223
  • the focus control section 224 can control the driving of the focus lens such that the focus position of the focus lens is changed based on the first change amount 401 of the change in the height of the image pickup apparatus 100 specified by the designation section 223 and the zoom lens based The amount of change 405 of the total amount of change of the second change amount 402 of the zoom position.
  • the focus control section 224 may control the driving of the focus lens such that the focus position of the focus lens changes the second change amount 403 based on the change of the zoom position of the zoom lens and the change based on the height of the image pickup apparatus 100 specified by the designation section 223 The amount of change 405 of the total amount of change 404 of the first change amount 404.
  • Fig. 5 is a flow chart showing an example of a control process of a focus position.
  • the imaging apparatus 100 starts subject tracking. That is, the imaging apparatus 100 starts auto focus control (S100).
  • the determination unit 222 determines whether or not the height of the imaging apparatus 100, that is, the amount of change in the height of the UAV 10 is equal to or greater than a predetermined amount of change, based on the height information of the imaging apparatus 100 acquired by the acquisition unit 221 (S102).
  • the determination section 222 can determine whether the amount of change in the height of the imaging apparatus 100 from the ground is greater than a predetermined amount of change based on the height information. If the height of the image pickup apparatus 100 has changed, the image pickup apparatus 100 interrupts the auto focus control (S104).
  • the determination unit 222 can determine the focus position of the focus lens corresponding to the height of the image pickup apparatus 100, for example, based on the information indicating the relationship between the height of the image pickup apparatus 100 and the focus position of the focus lens shown in FIG. 3 . Further, the specifying portion 223 specifies the first change amount of the focus position in accordance with the current focus position of the focus lens and the determined focus position of the focus lens (S106). That is, the specifying unit 223 specifies the driving amount of the focus lens.
  • the specifying unit 223 determines whether or not the zoom position of the zoom lens has changed (S108). The specifying unit 223 can determine whether or not the zoom position has changed according to whether or not the lens control unit 220 accepts the zoom instruction from the imaging control unit 110. If the zoom position is changed, the specifying portion 223 changes the previously used zoom tracking curve to the zoom tracking curve corresponding to the focus position determined by the determining portion 222 in order to adjust the focus position of the focus lens that changes with the change of the zoom position ( S110). The specifying portion 223 specifies the second amount of change in the focus position of the focus lens that changes with the change in the zoom position in accordance with the zoom tracking curve after the change (S112).
  • the focus control section 224 controls the driving of the focus lens to change the focus position of the focus lens (S114). If the zoom position has not changed, the focus control section 224 controls the driving of the focus lens to change the focus position of the focus lens by the amount of the first change amount. In addition to the height change, if the zoom position is changed, the focus control section 224 controls the driving of the focus lens such that the focus position of the focus lens changes the amount of the total change amount of the first change amount and the second change amount.
  • the imaging apparatus 100 of the present embodiment it is possible to suppress an increase in the time of focusing on a desired subject due to the change in the height of the imaging apparatus 100.
  • the zoom position is on the telephoto side, and as the UAV 10 rises, the imaging device 100 can image the scenery or the like while gradually changing the zoom position toward the wide-angle side, and the accompanying image can be suppressed.
  • FIG. 6 illustrates one example of a computer 1200 that may fully or partially embody aspects of the present invention.
  • the program installed on computer 1200 can cause computer 1200 to function as an operation associated with the device in accordance with embodiments of the present invention or as 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 may be executed by CPU 1212 to cause computer 1200 to perform specified operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.
  • the computer 1200 of the present embodiment includes a CPU 1212 and a RAM 1214 which are mutually connected by a host controller 1210.
  • the computer 1200 also includes a communication interface 1222, an input/output unit that is coupled 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 to control the respective units.
  • Communication interface 1222 communicates with other electronic devices over a network.
  • the hard disk drive can store programs and data used by the CPU 1212 in the computer 1200.
  • the ROM 1230 stores therein a boot program or the like executed by the computer 1200 at the time of operation, and/or a program dependent on the hardware of the computer 1200.
  • the program is provided by a computer readable recording medium such as a CR-ROM, a USB memory or an IC card or a network.
  • the program is installed in the RAM 1214 or the ROM 1230 which is also an example of a computer readable recording medium, and is executed by the CPU 1212.
  • the information processing described in these programs is read by the computer 1200 and causes cooperation between the programs and the various types of hardware resources described above.
  • the apparatus or method may be constructed by operations or processes that implement information in accordance with the use of the computer 1200.
  • the CPU 1212 can execute a communication program loaded in the RAM 1214, and instructs the communication interface 1222 to perform communication processing based on 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, and transmits the read transmission data to the network, or receives it from the network.
  • the received data is written in a receiving buffer or the like provided in the recording medium.
  • the CPU 1212 can cause the RAM 1214 to read all or a necessary portion of a file or a database stored in an external recording medium such as a USB memory, and perform various types of processing on the data on the RAM 1214. Next, the CPU 1212 can write the processed data back to the external recording medium.
  • an external recording medium such as a USB memory
  • the CPU 1212 may perform various types of operations, information processing, conditional judgment, conditional transfer, unconditional transfer, retrieval of information, which are described throughout the disclosure, including sequences of instructions of the program. Various types of processing are replaced and the result is written back to the RAM 1214. Further, the CPU 1212 can retrieve information in a file, a database, and the like within the recording medium. For example, when a plurality of entries having attribute values of the first attribute respectively associated with the attribute values of the second attribute are stored in the recording medium, the CPU 1212 may retrieve the attribute values of the first attribute from the plurality of items. An entry matching the condition, and reading an attribute value of the second attribute stored in the entry, thereby acquiring an attribute value of the second attribute associated with the first attribute satisfying the predetermined condition.
  • the above described programs or software modules may be stored on computer 1200 or on 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 a computer readable storage medium to provide a program to the computer 1200 through a network.

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Abstract

在搭载在飞行体等上的摄像装置的高度改变时，存在需要花费时间以达到对焦状态的情况。控制装置控制镜头装置所具备的聚焦镜头的驱动。控制装置可以具备确定部，其基于镜头装置距参考位置的高度来确定表示聚焦镜头的位置的聚焦位置。控制装置可以具备控制部，其基于表示由确定部确定的聚焦镜头的位置的聚焦位置来控制聚焦镜头的驱动。

Description

[根据细则37.2由ISA制定的发明名称]　控制装置、镜头装置、摄像装置、飞行体以及控制方法 技术领域
本发明涉及一种控制装置、镜头装置、飞行体、控制方法以及程序。
背景技术
专利文献1中公开了一种镜头装置，其为了校正伴随变焦镜头的移动的焦点偏移，而进行使聚焦镜头移动的变焦追踪控制。
专利文献1：日本特开2016-224096号公报
发明内容
发明所要解决的技术问题
在搭载在飞行体等上的摄像装置的高度改变时，存在需要花费时间以达到对焦状态的情况。
用于解决技术问题的手段
本发明的一个方面所涉及的控制装置控制镜头装置所具备的聚焦镜头的驱动。控制装置可以具备确定部，其基于镜头装置距参考位置的高度来确定表示聚焦镜头的位置的聚焦位置。控制装置可以具备控制部，其基于聚焦位置来控制聚焦镜头的驱动。
在镜头装置距参考位置的高度为第一高度时，确定部可以确定将对焦在距镜头装置第一距离处的被摄体上的第一聚焦位置作为聚焦位置。在镜头装置距参考位置的高度为高于第一高度的第二高度时，确定部可以确定将对焦在距镜头装置比第一距离更长的第二距离处的被摄体上的第二聚焦位置作为聚焦位置。
控制部可以对应于镜头装置距参考位置的高度的改变量成为阈值以上，基于由确定部确定的聚焦位置来控制聚焦镜头的驱动。
在镜头装置距参考位置的高度的改变量为阈值以上时，控制部可以在通过自动聚焦控制聚焦镜头的驱动时，中断通过自动聚焦进行的对聚焦镜头的驱动的控制，并且基于由确定部确定的聚焦位置来控制聚焦镜头的驱动。
控制部可以对应于镜头装置距参考位置的高度的改变量成为小于阈值，重新开始通过自动聚焦进行的对聚焦镜头的驱动的控制。
控制装置可以具备第一指定部，其在镜头装置距参考位置的高度改变时，基于由确定部确定的聚焦位置来指定控制部改变的聚焦镜头的聚焦位置的第一改变量。控制部可以控制聚焦镜头的驱动以使聚焦镜头的位置改变所述第一改变量的量。
控制装置可以具备第二指定部，其在表示镜头装置所具备的变焦镜头的位置的变焦位置发生改变时，指定表示聚焦镜头的位置的聚焦位置的第二改变量，该第二改变量用于维持对距镜头装置的距离不变的被摄体的对焦状态。在变焦镜头的变焦位置改变期间，镜头装置的高度改变时，控制部可以在变焦镜头的变焦位置改变期间控制聚焦镜头的驱动以使聚焦镜头的聚焦位置改变第一改变量和第二改变量的合计的改变量的量。
本发明的一个方面所涉及的镜头装置可以具备上述控制装置。镜头装置可以具备聚焦镜头。
本发明的一个方面所涉及的摄像装置可以具备上述镜头装置。摄像装置可以具备摄像由镜头装置成像的光学图像的图像传感器。
本发明的一个方面所涉及的飞行体，其具备上述摄像装置并飞行。
本发明的一个方面所涉及的控制方法，是一种控制镜头装置所具备的聚焦镜头的驱动的控制方法。控制方法可以具备基于镜头装置距参考位置的高度来确定表示聚焦镜头的位置的聚焦位置的阶段。控制方法可以具备基于聚焦位置来控制聚焦镜头的驱动的阶段。
本发明的一个方面所涉及的程序，是一种使计算机控制镜头装置所具备的聚焦镜头的驱动的程序。程序可以使计算机执行基于镜头装置距参考位置的高度来确定表示聚焦镜头的位置的聚焦位置的阶段。程序可以使计算机执行基于聚焦位置来控制聚焦镜头的驱动的阶段。
根据本发明的一个方面，可以在摄像装置的高度改变时，抑制直到成为对焦状态的时间的延长。
另外，上述的发明内容中没有穷举本发明的所有必要特征。此外，这些特征组的子组合也可以构成发明。
附图说明
图1是示出无人驾驶航空器及远程操作装置的外观的一个示例的图。
图2是示出无人驾驶航空器的功能块的一个示例的图。
图3是示出摄像装置的高度与聚焦位置的关系的一个示例的图。
图4是示出变焦追踪曲线的一个示例的图。
图5是示出聚焦位置的控制过程的一个示例的流程图。
图6是用于说明硬件构成的一个示例的图。
符号说明
10 UAV
20 UAV主体
30 UAV控制部
32 存储器
36 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
45 温度传感器
46 湿度传感器
50 万向支架
60 摄像装置
100 摄像装置
102 摄像部
110 摄像控制部
120 图像传感器
130 存储器
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
221 获取部
222 确定部
223 指定部
224 聚焦控制部
225 变焦控制部
230 存储器
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
具体实施方式
以下，通过发明的实施方式来对本发明进行说明，但是以下实施方式并非限制权利要求书所涉及的发明。此外，实施方式中说明的特征的所有组合未必是发明的解决方案所必须的。对本领域普通技术人员来说，显然可以对以下实施方式加以各种变更或改良。从权利要求书的描述显而易见的是，加以了这样的变更或改良的方式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来描述，这里，方框可表示(1)执行操作的过程的阶段或者(2)具有执行操作的作用的装置的“部”。 指定的阶段和“部”可以通过可编程电路和/或处理器来实现。专用电路可以包括数字和/或模拟硬件电路。可以包括集成电路(IC)和/或分立电路。可编程电路可以包括可重构硬件电路。可重构硬件电路可以包括逻辑与、逻辑或、逻辑异或、逻辑与非、逻辑或非、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)等存储器元件等。
计算机可读介质可以包括可以对由适宜的设备执行的指令进行储存的任意有形设备。其结果是，其上存储有指令的计算机可读介质具备一种包括指令的产品，该指令可被执行以创建用于执行流程图或框图所指定的操作的手段。作为计算机可读介质的示例，可以包括电子存储介质、磁存储介质、光学存储介质、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，可以包括软盘(注册商标)、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或者闪存)、电可擦可编程只读存储器(EEPROM)、静态随机存取存储器(SRAM)、光盘只读存储器(CD-ROM)、数字多用途光盘(DVD)、蓝光(RTM)光盘、记忆棒、集成电路卡等。
计算机可读指令可以包括由一种或多种编程语言的任意组合描述的源代码或者目标代码中的任意一个。源代码或者目标代码包括传统的程序式编程语言。传统的程序式编程语言可以为汇编指令、指令集架构(ISA)指令、机器指令、与机器相关的指令、微代码、固件指令、状态设置数据、或者Smalltalk、JAVA(注册商标)、C++等面向对象编程语言以及“C”编程语言或者类似的编程语言。计算机可读指令可以在本地或者经由局域网(LAN)、互联网等广域网(WAN)提供给通用计算机、专用计算机或者其它可编程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以执行计算机可读指令，以创建用于执行流程图或框图所指定操作的手段。作为处理器的示例，包括计算机处理器、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表示无人驾驶航空器(UAV)10及远程操作装置300的外观的一个示例。UAV10具备UAV主体20、万向支架50、多个摄像装置60、以及摄像装置100。万向支架50及摄像装置100为摄像系统的一个示例。 UAV10为在空中移动的飞行体的一个示例。飞行体为不仅包括UAV，还包括在空中移动的其他的飞行器、飞艇、直升机等的概念。
UAV主体20具备多个旋翼。多个旋翼为推进部的一个示例。UAV主体20通过控制多个旋翼的旋转而使UAV10飞行。UAV主体20使用例如四个旋翼来使UAV10飞行。旋翼的数量不限于四个。此外，UAV10也可以是没有旋翼的固定翼机。
摄像装置100为对包含在期望的摄像范围内的被摄体进行摄像的摄像用相机。万向支架50可旋转地支撑摄像装置100。万向支架50为支撑机构的一个示例。例如，万向支架50使用致动器以俯仰轴可旋转地支撑摄像装置100。万向支架50使用致动器进一步分别以翻滚轴和偏航轴为中心可旋转地支撑摄像装置100。万向支架50可通过使摄像装置100以偏航轴、俯仰轴以及翻滚轴中的至少一个为中心旋转，来变更摄像装置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。两个摄像装置60可以设置于UAV10的机头、即正面。并且，其它两个摄像装置60可以设置于UAV10的底面。正面侧的两个摄像装置60可以成对，起到所谓的立体相机的作用。底面侧的两个摄像装置60也可以成对，起到所谓的立体相机的作用。可以基于由多个摄像装置60拍摄的图像来生成UAV10周围的三维空间数据。UAV10所具备的摄像装置60的数量不限于四个。UAV10只要具备至少一个摄像装置60即可。UAV10也可以在UAV10的机头、机尾、侧面、底面及顶面分别具备至少一个摄像装置60。摄像装置60中可设定的视角可大于摄像装置100中可设定的视角。摄像装置60也可以具有单焦点镜头或鱼眼镜头。
远程操作装置300与UAV10通信，以远程操作UAV10。远程操作装置300可以与UAV10进行无线通信。远程操作装置300向UAV10发送表示上升、下降、加速、减速、前进、后退、旋转等与UAV10的移动有关的各种指令的指示信息。指示信息包括例如使UAV10高度上升的指示信息。指示信息可示出UAV10应该位于的高度。UAV10移动以位于从远程操作装置300接收的指示信息所表示的高度。指示信息可以包括使UAV10上升的上升指令。UAV10在接受上升指令的期间上升。UAV10的高度已达到上限高度时，即使接受上升指令，UAV10也可以限制上升。
图2示出了UAV10的功能块的一个示例。UAV10具备UAV控制部30、存储器32、通信接口36、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、温度传感器45、湿度传感器46、万向支架50、摄像装置60及摄像装置100。
通信接口36与远程操作装置300等其它装置通信。通信接口36可以从远程操作装置300接收包括对UAV控制部30的各种指令的指示信息。存储器32对UAV控制部30控制推进部40、GPS接收器41、惯性测量装置(IMU)42、磁罗盘43、气压高度计44、温度传感器45、湿度传感器46、万向支架50、摄像装置60及摄像装置100所需的程序等进行储存。存储器32可以为计算机可读记录介质，可以包括SRAM、DRAM、EPROM、EEPROM及USB存储器等闪存中的至少一个。存储器32可以设置于UAV主体20的内部。其可以设置成可从UAV主体20中拆卸下来。
UAV控制部30按照储存在存储器32中的程序来控制UAV10的飞行及摄像。UAV控制部30可以由CPU或MPU等微处理器、MCU等微控制器等构成。UAV控制部30按照经由通信接口36从远程操作装置300接收到的指令来控制UAV10的飞行及摄像。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按照来自UAV控制部30的指令，经由多个驱动马达使多个旋翼旋转，以使UAV10飞行。
GPS接收器41接收表示从多个GPS卫星发送的时间的多个信号。GPS接收器41基于所接收的多个信号来计算出GPS接收器41的位置(纬度及经度)、即UAV10的位置(纬度及经度)。IMU42检测UAV10的姿势。IMU42检测UAV10的前后、左右以及上下的三轴方向的加速度和俯仰轴、翻滚轴以及偏航轴的三轴方向的角速度，作为UAV10的姿势。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，并将检测到的气压换算为高度，以检测高度。温度传感器45检测UAV10周围的温度。湿度传感器46检测UAV10周围的湿度。
摄像装置100具备摄像部102及镜头部200。镜头部200为镜头装置的一个示例。摄像部102具有图像传感器120、摄像控制部110及存储器 130。图像传感器120可以由CCD或CMOS构成。图像传感器120拍摄经由多个镜头210成像的光学图像，并将所拍摄的图像数据输出至摄像控制部110。摄像控制部110可以由CPU或MPU等微处理器、MCU等微控制器等构成。摄像控制部110可以根据来自UAV控制部30的摄像装置100的动作指令来控制摄像装置100。存储器130可以为计算机可读记录介质，可以包括SRAM、DRAM、EPROM、EEPROM及USB存储器等闪存中的至少一个。存储器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。存储器130可以设置于摄像装置100的壳体内部。存储器130可以设置成可从摄像设备100的壳体中拆卸下来。
镜头部200具有多个镜头210、多个镜头驱动部212、以及镜头控制部220。多个镜头210可以起到变焦镜头(zoom lens)、可变焦距镜头(varifocal lens)及聚焦镜头的作用。多个镜头210中的至少一部分或全部被配置为能够沿着光轴移动。镜头部200可以是被设置成能够相对摄像部102拆装的更换镜头。镜头驱动部212经由凸轮环等机构构件使多个镜头210中的至少一部分或全部沿着光轴移动。镜头驱动部212可以包括致动器。致动器可以包括步进马达。镜头控制部220按照来自摄像部102的镜头控制指令来驱动镜头驱动部212，以经由机构构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还具有存储器230、位置传感器214。镜头控制部220按照来自摄像部102的镜头动作指令，经由镜头驱动部212来控制镜头210向光轴方向的移动。镜头控制部220按照来自摄像部102的镜头动作指令，经由镜头驱动部212来控制镜头210向光轴方向的移动。镜头210的部分或全部沿着光轴移动。镜头控制部220通过使镜头210中的至少一个沿着光轴移动，来执行变焦动作和聚焦动作中的至少一个。位置传感器214检测镜头210的位置。位置传感器214可以检测当前的变焦位置或聚焦位置。
镜头驱动部212可以包括抖动校正机构。镜头控制部220可以经由抖动校正机构使镜头210在沿着光轴的方向或垂直于光轴的方向上移动，来执行抖动校正。镜头驱动部212可以由步进马达驱动抖动校正机构，以执行抖动校正。另外，抖动校正机构可以由步进马达驱动，以使图像传感器 120在沿着光轴的方向或垂直于光轴的方向上移动，来执行抖动校正。
存储器230存储经由镜头驱动部212而移动的多个镜头210的控制值。存储器230可以包括SRAM、DRAM、EPROM、EEPROM及USB存储器等闪存中的至少一个。
这样构成的摄像装置100的高度随着UAV10飞行而改变。在摄像装置100试图通过例如对比度AF等的自动聚焦而聚焦在期望的被摄体上时，存在由于摄像装置100的高度改变而使得与被摄体之间的距离改变从而花费时间直到聚焦的情况。
因此，根据本实施方式所涉及的摄像装置100，相应于摄像装置100的高度来控制聚焦镜头的聚焦位置。随着摄像装置100的高度增加，聚焦镜头的聚焦位置从最近侧改变到无限远侧。例如，在UAV10刚开始飞行，随后UAV10上升的过程中，聚焦镜头的聚焦位置从最近侧向无限远侧逐渐改变。由此，可以抑制由于摄像装置100的高度的改变而使在期望的被摄体上聚焦的时间的延长。
镜头控制部220具有获取部221、确定部222、指定部223、聚焦控制部224以及变焦控制部225。获取部221可以获取表示摄像装置100距地面的高度的高度信息。UAV10可以具有检测距地面的距离的红外传感器。红外传感器沿竖直方向向下设置在UAV10中。红外传感器沿延伸方向向下辐射红外光并接收其反射光，由此检测从UAV10到地面的距离。获取部221可以获取表示由该红外传感器检测出的UAV10到地面的距离的信息，作为表示摄像装置100距参考位置的高度或者镜头部200距参考位置的高度的高度信息。参考位置可以是预定的参考面上的位置。参考位置可以是从摄像装置100或UAV100在竖直方向上延伸的直线与参考面的交点。参考位置可以是从摄像装置100或UAV10的重心等预定点在竖直方向上延伸的直线与参考面的交点。参考面可以是例如地面、海面、地板表面以及屋顶表面等UAV10的起飞面或者由摄像装置100摄像的被摄体所在的面。
确定部222基于摄像装置100距参考位置的高度来确定表示聚焦镜头的位置的聚焦位置。在摄像装置100距参考位置的高度为第一高度时，确定部222确定将对焦在距摄像装置100第一距离处的被摄体上的第一聚焦 位置作为聚焦位置。在摄像装置100距参考位置的高度为高于第一高度的第二高度时，确定部222确定将对焦在距摄像装置100比第一距离更长的第二距离处的被摄体上的第二聚焦位置作为聚焦位置。
在摄像装置100距参考位置的高度变为预定的第一高度以上时，确定部222可以基于摄像装置100的高度来确定聚焦镜头的聚焦位置，使得聚焦镜头的聚焦位置从最近侧向无限远侧阶段性改变，直到摄像装置100的高度变为预定的第二高度。确定部222例如可以按照图3所示的表示摄像装置100的高度与聚焦镜头的聚焦位置之间的关系的信息，来确定与摄像装置100的高度对应的聚焦镜头的聚焦位置。例如，在摄像装置100的高度为2.2m以上时，确定部222可以确定聚焦镜头的聚焦位置，使得聚焦镜头的聚焦位置从最近侧向无限远侧逐渐改变，直到摄像装置100的高度变为6.0m。
在摄像装置100距参考位置的高度改变时，指定部223可以基于由确定部222确定的聚焦位置来指定要改变的聚焦镜头的聚焦位置的第一改变量。聚焦控制部224基于由确定部222确定的聚焦位置来控制聚焦镜头的驱动。聚焦控制部224控制聚焦镜头的驱动，以使聚焦镜头的位置改变由指定部223指定的第一改变量的量。聚焦控制部224可以对应于摄像装置100距参考位置的高度的改变量成为阈值以上，基于由确定部222确定的聚焦位置来控制聚焦镜头的驱动。在摄像装置100距参考位置的高度的改变量为阈值以上时，聚焦控制部224可以按照来自摄像控制部110的指令而通过对比度AF等的自动聚焦来控制聚焦镜头的驱动时，暂时中断通过自动聚焦进行的对聚焦镜头的驱动的控制。而且，聚焦控制部224可以基于由确定部222确定的聚焦位置来控制聚焦镜头的驱动。聚焦控制部224可以对应于摄像装置100距参考位置的高度的改变量成为小于阈值，重新开始通过自动聚焦进行的对聚焦镜头的驱动的控制。
聚焦控制部225按照来自摄像控制部110的变焦指令来控制变焦镜头的驱动，以便改变变焦镜头的变焦位置。摄像装置100可以具有所谓的变焦追踪功能。变焦追踪功能为，在表示变焦镜头的位置的变焦位置发生改变时，为了维持对距摄像装置100的距离不变的被摄体的对焦状态，而相应于变焦位置的改变，使表示聚焦镜头的位置的聚焦位置发生改变的功能。 例如，通过将聚焦镜头移动至与根据图4所示的变焦追踪曲线指定的目标变焦位置对应的目标聚焦位置来执行变焦追踪，该变焦追踪曲线对应于到对焦的被摄体的距离。变焦追踪曲线为表示聚焦镜头的位置的聚焦位置与变焦镜头的变焦位置的关系的信息的一个示例，该聚焦镜头的位置用于维持对距摄像装置100的距离不变的被摄体的对焦状态。该信息由镜头部200的光学系统的特性来确定，例如，可储存于存储器230。
指定部223指定表示聚焦镜头的位置的聚焦位置的第二改变量，该第二改变量用于在表示变焦镜头的位置的变焦位置发生改变时，维持对距摄像装置100的距离不变的被摄体的对焦状态。指定部223为第一指定部及第二指定部的一个示例。在表示变焦镜头的位置的变焦位置改变时，聚焦控制部224基于在指定部223中指定的第二改变量来控制聚焦镜头的驱动，以执行变焦追踪。
在此，在摄像装置100的变焦镜头的变焦位置发生改变期间，存在摄像装置100的高度发生改变的情况。例如，存在通过在UAV10上所搭载的摄像装置100摄像风景的情况。在这种情况下，在UAV10刚开始飞行之后，变焦位置处于望远侧，并且随着UAV10的上升，存在使变焦位置向广角侧逐渐改变的同时在摄像装置100摄像的情况。在这种情况下，由于摄像装置100的高度的改变，存在在自动聚焦中调整聚焦镜头的聚焦位置需要花费时间的情况。因此，聚焦控制部224可以结合随摄像装置100的高度改变而进行的聚焦镜头的聚焦位置的调整、和随变焦镜头的变焦位置的变换而进行的聚焦镜头的聚焦位置的调整，来控制聚焦镜头的驱动。
在变焦镜头的变焦位置改变期间摄像装置100的高度改变时，聚焦控制部224可以在变焦镜头的变焦位置改变期间控制聚焦镜头的驱动，以使聚焦镜头的聚焦位置改变基于由指定部223指定的摄像装置100的高度的改变的第一改变量和基于变焦镜头的变焦位置的改变的第二改变量的合计的改变量的量。例如，如图4所示，在变焦位置从P1改变到P2期间，摄像装置100的高度随着UAV10的上升而改变，使得到待对焦的被摄体的距离从1.0m改变到1.7m。在这种情况下，聚焦控制部224可以控制聚焦镜头的驱动，以使聚焦镜头的聚焦位置改变基于由指定部223指定的摄像装置100的高度的改变的第一改变量401和基于变焦镜头的变焦位置的 改变的第二改变量402的合计的改变量405的量。或者，聚焦控制部224可以控制聚焦镜头的驱动，以使聚焦镜头的聚焦位置改变基于变焦镜头的变焦位置的改变的第二改变量403和基于由指定部223指定的摄像装置100的高度的改变的第一改变量404的合计的改变量405的量。
图5是表示聚焦位置的控制过程的一个示例的流程图。摄像装置100开始被摄体追踪。即，摄像装置100开始自动聚焦控制(S100)。确定部222基于由获取部221获取的摄像装置100的高度信息，判断摄像装置100的高度、即UAV10的高度的改变量是否在预定的改变量以上(S102)。确定部222可以基于高度信息判断摄像装置100距地面的高度的改变量是否在预定的改变量以上。如果摄像装置100的高度已经改变，则摄像装置100中断自动聚焦控制(S104)。随后，确定部222例如可以根据图3所示的表示摄像装置100的高度与聚焦镜头的聚焦位置之间的关系的信息等，来确定与摄像装置100的高度对应的聚焦镜头的聚焦位置。此外，指定部223根据当前的聚焦镜头的聚焦位置和所确定的聚焦镜头的聚焦位置来指定聚焦位置的第一改变量(S106)。即，指定部223指定聚焦镜头的驱动量。
指定部223判断变焦镜头的变焦位置是否有改变(S108)。指定部223可以根据镜头控制部220是否接受来自摄像控制部110的变焦指示来判断变焦位置是否有改变。如果变焦位置发生改变，则指定部223将前使用的变焦追踪曲线改变为与由确定部222确定的聚焦位置对应的变焦追踪曲线，以便调整随变焦位置的改变而改变的聚焦镜头的聚焦位置(S110)。指定部223根据改变之后的变焦追踪曲线，指定随变焦位置的改变而改变的聚焦镜头的聚焦位置的第二改变量(S112)。聚焦控制部224控制聚焦镜头的驱动以改变聚焦镜头的聚焦位置(S114)。如果变焦位置没有改变，则聚焦控制部224控制聚焦镜头的驱动，以使聚焦镜头的聚焦位置改变第一改变量的量。除了高度改变之外，如果变焦位置发生改变，则聚焦控制部224控制聚焦镜头的驱动，以使聚焦镜头的聚焦位置改变第一改变量和第二改变量的合计的改变量的量。
如上所述，根据本实施方式所涉及的摄像装置100，可以抑制由于摄像装置100的高度的改变而在期望的被摄体上聚焦的时间的延长。例如， 在UAV10刚开始飞行之后，变焦位置处于望远侧，并且随着UAV10的上升，在使变焦位置向广角侧逐渐改变的同时使摄像装置100对风景等进行摄像的情况下，可以抑制伴随着UAV10的高度改变而在期望的被摄体上聚焦的时间的延长。
图6表示可全部或部分地体现本发明的多个方面的计算机1200的一个示例。安装在计算机1200上的程序能够使计算机1200作为与本发明的实施方式所涉及的装置相关联的操作或者该装置的一个或多个“部”而起作用。或者，该程序能够使计算机1200执行该操作或者该一个或多个“部”。该程序能够使计算机1200执行本发明的实施方式所涉及的过程或者该过程的阶段。这种程序可以由CPU1212执行，以使计算机1200执行与本说明书所述的流程图及框图中的一些或者全部方框相关联的指定操作。
本实施方式的计算机1200包括CPU1212及RAM1214，它们通过主机控制器1210相互连接。计算机1200还包括通信接口1222、输入/输出单元，它们通过输入/输出控制器1220与主机控制器1210连接。计算机1200还包括ROM1230。CPU1212按照ROM1230及RAM1214内储存的程序而动作，从而控制各单元。
通信接口1222通过网络与其它电子设备通信。硬盘驱动器可以储存计算机1200内的CPU1212所使用的程序及数据。ROM1230在其中储存运行时由计算机1200执行的引导程序等、和/或依赖于计算机1200的硬件的程序。程序通过CR-ROM、USB存储器或IC卡之类的计算机可读记录介质或者网络来提供。程序安装在也作为计算机可读记录介质的示例的RAM1214或ROM1230中，并通过CPU1212执行。这些程序中记述的信息处理由计算机1200读取，并引起程序与上述各种类型的硬件资源之间的协作。可以通过根据可随着计算机1200的使用而实现信息的操作或者处理来构成装置或方法。
例如，在计算机1200与外部设备之间执行通信时，CPU1212可以执行加载在RAM1214中的通信程序，并基于通信程序所记述的处理，指令通信接口1222进行通信处理。通信接口1222在CPU1212的控制下，读取储存在RAM1214或USB存储器之类的记录介质内提供的发送缓冲区中的发送数据，并将读取的发送数据发送到网络，或者将从网络接收的接收 数据写入记录介质内提供的接收缓冲区等中。
此外，CPU1212可以使RAM1214读取USB存储器等外部记录介质所储存的文件或数据库的全部或者需要的部分，并对RAM1214上的数据执行各种类型的处理。接着，CPU1212可以将处理过的数据写回到外部记录介质中。
可以将各种类型的程序、数据、表格及数据库之类的各种类型的信息储存在记录介质中，并接受信息处理。对于从RAM1214读取的数据，CPU1212可执行在本公开的各处描述的、包括由程序的指令序列指定的各种类型的操作、信息处理、条件判断、条件转移、无条件转移、信息的检索/替换等各种类型的处理，并将结果写回到RAM1214中。此外，CPU1212可以检索记录介质内的文件、数据库等中的信息。例如，在记录介质中储存具有分别与第二属性的属性值相关联的第一属性的属性值的多个条目时，CPU1212可以从该多个条目中检索出与指定第一属性的属性值的条件相匹配的条目，并读取该条目内储存的第二属性的属性值，从而获取与满足预定条件的第一属性相关联的第二属性的属性值。
以上描述的程序或者软件模块可以储存在计算机1200上或者计算机1200附近的计算机可读存储介质上。此外，与专用通信网络或者互联网连接的服务器系统内提供的硬盘或RAM之类的记录介质可以用作计算机可读存储介质，从而通过网络将程序提供给计算机1200。
应该注意的是，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，且只要前面处理的输出并不用在后面的处理中，则可以任意顺序实现。关于权利要求书、说明书以及说明书附图中的操作流程，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。
以上使用实施方式对本发明进行了说明，但是本发明的技术范围并不限于上述实施方式所描述的范围。对本领域普通技术人员来说，显然可对上述实施方式加以各种变更或改良。从权利要求书的描述显而易见的是，加以了这样的变更或改良的方式都可包含在本发明的技术范围之内。
应该注意的是，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，且只要前面处理的输出并不用在后面的处理中，则可以任意顺序实现。关于权利要求书、说明书以及说明书附图中的操作流程，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。

Claims (11)

  1. 一种控制镜头装置所具备的聚焦镜头的驱动的控制装置，具备：
    确定部，其基于所述镜头装置距参考位置的高度来确定表示所述聚焦镜头的位置的聚焦位置；以及
    控制部，其基于所述聚焦位置来控制所述聚焦镜头的驱动。
  2. 如权利要求1所述的控制装置，其中，在所述镜头装置距所述参考位置的高度为第一高度时，所述确定部确定将对焦在距所述镜头装置第一距离处的被摄体上的第一聚焦位置作为所述聚焦位置；在所述镜头装置距所述参考位置的高度为高于所述第一高度的第二高度时，所述确定部确定将对焦在距所述镜头装置比所述第一距离更长的第二距离处的被摄体上的第二聚焦位置作为所述聚焦位置。
  3. 如权利要求1所述的控制装置，其中，所述控制部对应于所述镜头装置距参考位置的高度的改变量成为阈值以上，基于由所述确定部确定的所述聚焦位置来控制所述聚焦镜头的驱动。
  4. 如权利要求3所述的控制装置，其中，在所述镜头装置距所述参考位置的高度的改变量为阈值以上时，所述控制部在通过自动聚焦控制聚焦镜头的驱动时，中断通过自动聚焦进行的对所述聚焦镜头的驱动的控制，并且基于由所述确定部确定的所述聚焦位置来控制所述聚焦镜头的驱动。
  5. 如权利要求4所述的控制装置，其中，所述控制部对应于所述镜头装置距所述参考位置的高度的改变量成为小于所述阈值，重新开始通过自动聚焦进行的对所述聚焦镜头的驱动的控制。
  6. 如权利要求1所述的控制装置，进一步具备第一指定部，其在所述镜头装置距所述参考位置的高度改变时，基于由所述确定部确定的所述聚焦位置来指定所述控制部改变的所述聚焦镜头的聚焦位置的第一改变量；
    所述控制部控制所述聚焦镜头的驱动以使所述聚焦镜头的位置改变所述第一改变量的量。
  7. 如权利要求6所述的控制装置，进一步具备第二指定部，其在表示所述镜头装置所具备的变焦镜头的位置的变焦位置发生改变时，指定表示所述聚焦镜头的位置的聚焦位置的第二改变量，该第二改变量用于维持 对距所述镜头装置的距离不变的被摄体的对焦状态；
    在变焦镜头的变焦位置改变期间镜头装置的高度改变时，所述控制部在变焦镜头的变焦位置改变期间控制所述聚焦镜头的驱动以使所述聚焦镜头的聚焦位置改变所述第一改变量和所述第二改变量的合计的改变量的量。
  8. 一种镜头装置，具备：如权利要求1至权利要求7中任意一项所述的控制装置；以及
    所述聚焦镜头。
  9. 一种摄像装置，具备：如权利要求8所述的镜头装置；以及
    摄像由所述镜头装置成像的光学图像的图像传感器。
  10. 一种飞行体，其具备如权利要求9所述的摄像装置并飞行。
  11. 一种控制镜头装置所具备的聚焦镜头的驱动的控制方法，具备：
    基于所述镜头装置距参考位置的高度来确定表示所述聚焦镜头的位置的聚焦位置的阶段；以及
    基于所述聚焦位置来控制聚焦镜头的驱动的阶段。
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