WO2020108284A1

WO2020108284A1 - Determining device, moving object, determining method, and program

Info

Publication number: WO2020108284A1
Application number: PCT/CN2019/117150
Authority: WO
Inventors: 本庄谦一; 安田知长
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-11-28
Filing date: 2019-11-11
Publication date: 2020-06-04
Also published as: JP6641574B1; JP2020086242A; CN111602385A; CN111602385B

Abstract

A determining device, comprising: a first determining portion, which determines a set focus value of a camera device mounted on a moving object, a set zoom value of the camera device, and the moving speed of the moving object at each time point from a first time point to a second time point. The determining device may comprise: a second determining portion, which determines the position of the moving object at a third time point before the first time point, i.e., a third position, on the basis of the position of the moving object at the first time point, i.e., a first position, and the moving speed of the moving object at the first time point, i.e., a first speed, so that the moving object can move at the first position at the first moving speed at the first time point.

Description

Determination device, mobile body, determination method and program

【Technical Field】

The present disclosure relates to a control device, a mobile body, a control method, and a program.

【Background technique】

Patent Document 1 describes that in order to provide a sliding zoom effect, image analysis is used to automatically adjust the zoom function in accordance with the movement of the camera.

Patent Literature 1: Japanese Special Publication No. 2016-517639

[Invention content]

[Technical problems to be solved by the invention]

It is desirable that the camera device can more easily capture images with effects such as sliding zoom.

[Means for solving problems]

A determination device according to an aspect of the present disclosure may include a first determination unit that determines the setting of the focus of the camera mounted on the mobile body at each time point from the first time point to the second time point Value, the setting value of the zoom of the camera, and the moving speed of the moving body. The determining device may include: a second determining section that determines the position prior to the first based on the position of the moving body at the first time point, that is, the first position, and the moving speed of the moving body at the first time point, that is, the first moving speed The position of the mobile body at the third time point of the time point is the third position, so that the mobile body can move at the first position at the first moving speed at the first time point.

The first determining part may determine the setting value of the focus, the setting value of the zoom, and the moving speed at each time point from the first time point to the second time point, so as to enable the imaging between the first time point and the second time point The zoom magnification of the device changes from the first zoom magnification to the second zoom magnification, and changes the focusing distance of the camera device from the first focusing distance to the second focusing distance.

The second zoom magnification may be n times the first zoom magnification. The second focusing distance may be n times the first focusing distance. The distance between the first position and the position of the moving body at the second time point, that is, the distance between the second positions, may correspond to the distance between the first focusing distance and the second focusing distance.

The time required for the moving body to move from the first position to the second position at the first moving speed may be the first time, and the second position is the position of the moving body at the second time point. The first determining part may determine the setting value of the focus and the setting value of the zoom at each time point from the first time point to the second time point to move the moving body from the first position to the second position at the first moving speed During this period, that is, within the first time, the focusing distance of the imaging device is changed from the first focusing distance to the second focusing distance, and the zoom magnification of the imaging device is changed from the first zoom magnification to the second zoom magnification.

The time required for the moving body to move from the first position to the second position at the first moving speed may be the first time, and the second position is the position of the moving body at the second time point. The first determining part may determine the setting value of the focus and the setting value of the zoom at each time point from the first time point to the second time point, during the movement of the moving body from the first position to the second position at the moving speed, That is, in the first time, the focus distance of the camera device is changed from the first focus distance to the second focus distance, and in a second time shorter than the first time, the zoom magnification of the camera device is changed from the first zoom magnification to The second zoom magnification.

The first determining unit may determine the moving speed of the moving body when the moving body moves from the fourth position to the third position to be less than the moving speed of the moving body when the moving body moves from the third time point to the first time point, the first The fourth position is the position of the mobile body at the fourth time point before the third time point.

The fourth position may be the same as the first position.

The time required for the moving body to move from the first position to the second position at the first moving speed may be the first time, and the second position is the position of the moving body at the second time point. The first determining part may determine the setting value of the focus and the setting value of the zoom at each time point from the first time point to the second time point, during the movement of the moving body from the first position to the second position at the moving speed, That is, within the first time, the focusing distance of the imaging device is changed from the first focusing distance to the second focusing distance, and the zoom magnification of the imaging device is changed from the first zoom magnification to the second zoom magnification. The second zoom magnification may be n times the first zoom magnification. The distance from the first position to the second position may be shorter than the distance n times the first focusing distance.

The mobile body according to one aspect of the present disclosure may be a mobile body that includes the above-described determination device and an imaging device and moves. The moving body may include: a first control unit that causes the moving body to start moving from the third position to the first position, and at a first time point, controls the moving body so that the speed of the moving body becomes the first moving speed, and then controls the moving body The speed of the moving body is maintained at the first moving speed from the first position to the second position, and the second position is the position of the moving body at the second time point. The moving body may include a second control section that performs a control that changes the zoom magnification of the camera from the first zoom magnification to the second zoom magnification from the first time to the second time, and causes the camera The focus distance changes from the first focus distance to the second focus distance.

The first control unit may control the mobile body to move at the first time point after moving the mobile body from the fourth position to the third position from the fourth time point before the third time point to the third time point The moving speed of the body becomes the first moving speed at the first position, and the fourth position is the position of the moving body at the fourth time point.

The mobile body may include a notification part that notifies the outside world that the mobile body will move from the fourth position to the third position before moving from the first position to the second position.

The fourth position may be the same as the first position.

The first control unit moves the moving body from the fourth position to the third position at a moving speed that is slower than the moving speed of the moving body when the moving body moves from the third time point to the first time point.

A determination method according to an aspect of the present disclosure may include: determining the setting value of the focus of the camera device mounted on the mobile body at each time point from the first time point to the second time point, and the zoom of the camera device The set value and the speed of the moving body. The determining method may include the following stages: determining the third time before the first time point based on the position of the mobile body at the first time point, that is, the first position, and the moving speed of the mobile body at the first time point, that is, the first moving speed The position of the moving body at the time point so that the moving body can move at the first position at the first moving speed at the first time point.

The program related to one aspect of the present disclosure may be a program for causing a computer to function as the above-mentioned determining device.

According to one aspect of the present disclosure, it is possible to make the imaging device more easily capture images with effects such as sliding zoom.

In addition, all the necessary features of the present disclosure are not exhaustive in the above summary of the invention. In addition, sub-combinations of these feature sets may also constitute inventions.

【Explanation】

FIG. 1 is a diagram showing an example of the appearance of an unmanned aircraft and a remote control device.

FIG. 2 is a diagram showing an example of functional blocks of an unmanned aircraft.

3 is a diagram showing an example of the positional relationship between an unmanned aircraft and a subject.

4 is a diagram showing an example of the relationship between the position of the focus lens and the position of the zoom lens.

5 is a diagram for explaining the focal length of the lens system, the distance from the object-side focus to the subject, and the distance from the image-side focus to the image plane.

FIG. 6 is a diagram showing an example of setting information indicating focus setting values in association with a focal length and a focusing distance.

7 is a diagram showing an example of the relationship between the position of the focus lens and the position of the zoom lens.

8 is a diagram showing an example of the relationship between the zoom tracking curve and the movement tracking curve.

9A is a diagram illustrating an example of an image captured by the imaging device on the telephoto side.

9B is a diagram illustrating an example of an image captured by the imaging device on the wide-angle side.

FIG. 10A is a diagram illustrating an example of an image captured by the imaging device on the telephoto side.

FIG. 10B is a diagram illustrating an example of an image captured by the imaging device on the wide-angle side.

FIG. 11A is a diagram illustrating an example of an image captured by the imaging device on the telephoto side.

FIG. 11B is a diagram illustrating an example of an image captured by the imaging device on the wide-angle side.

FIG. 12A is a diagram for explaining a mode in which the imaging device combines optical zoom and electronic zoom to perform imaging.

FIG. 12B is a diagram for explaining how the imaging device combines optical zoom and electronic zoom to perform imaging.

FIG. 12C is a diagram for explaining a mode in which the imaging device combines optical zoom and electronic zoom to perform imaging.

13 is a diagram showing an example of the relationship between the position of the focus lens and the position of the zoom lens in the case of combining optical zoom and electronic zoom.

14 is a diagram showing one example of changes in the position of the focus lens in the case where electronic zoom is performed after optical zoom.

15 is a diagram illustrating an example of the positional relationship between an unmanned aircraft and a subject.

16 is a diagram for explaining the image recording time of the imaging device corresponding to the movement of the unmanned aircraft.

FIG. 17 is a diagram for explaining the image recording time of the imaging device corresponding to the movement of the unmanned aircraft.

18 is a diagram for explaining the image recording time of the imaging device corresponding to the movement of the unmanned aircraft.

FIG. 19A is a diagram illustrating an example of an image captured by the imaging device on the wide-angle side.

FIG. 19B is a diagram illustrating an example of an image captured by the imaging device on the telephoto side.

20 is a flowchart showing an example of an imaging process of the imaging device.

21 is a diagram showing an example of a hardware configuration.

【detailed description】

Hereinafter, the present disclosure will be described by embodiments of the invention, but the following embodiments do not limit the invention related to the claims. In addition, the combination of features described in all the embodiments is not necessarily necessary for the solution of the invention. It is obvious to those skilled in the art that various changes or improvements can be made to the following embodiments. It is apparent from the description of the claims that such changes or improvements can be included in the technical scope of the present disclosure.

The claims, the description, the drawings of the description, and the abstract of the description contain matters that are protected by the copyright. As long as anyone copies these files as indicated in the patent office's documents or records, the copyright owner will not object. However, in other cases, all copyrights are reserved.

Various embodiments of the present disclosure may be described with reference to flowcharts and block diagrams. Here, the blocks may represent (1) the stage of the process of performing the operation or (2) the "part" of the device having the function of performing the operation. Certain stages and "parts" can be implemented by programmable circuits and/or processors. The dedicated circuits may include digital and/or analog hardware circuits. Integrated circuits (ICs) and/or discrete circuits may be included. The programmable circuit may include a reconfigurable hardware circuit. Reconfigurable hardware circuits can include logical AND, logical OR, logical XOR, logical NAND, logical NOR and other logical operations, as well as flip-flops, registers, field programmable gate arrays (FPGA), programmable logic arrays (PLA) and the like Storage elements, etc.

The computer-readable medium may include any tangible device that can store instructions executed by a suitable device. As a result, the computer-readable medium having instructions stored thereon has a product that includes instructions that can be executed to create means for performing the operations specified by the flowchart or block diagram. As examples of the computer-readable medium, electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. may be included. More specific examples of computer readable media may include floppy (registered trademark) disk, floppy disk, hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory) , Electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disk read-only memory (CD-ROM), digital versatile disk (DVD), Blu-ray (RTM) disk, memory stick, integrated Circuit cards, etc.

The computer-readable instructions may include any one of source code or object code 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, status setting data, or Smalltalk, JAVA (registered trademark), C++, etc. Object programming language and "C" programming language or similar programming languages. The computer readable instructions may be provided locally or via a wide area network (WAN) such as a local area network (LAN), the Internet, or the like to a processor or programmable circuit of a general-purpose computer, a dedicated computer, or other programmable data processing device. A processor or programmable circuit can execute computer readable instructions to create 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 so on.

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 body 20, a universal joint 50, a plurality of imaging devices 60, and an imaging device 100. The universal joint 50 and the imaging device 100 are an example of an imaging system. UAV10, or moving body, refers to concepts including flying bodies moving in the air, vehicles moving on the ground, ships moving on the water, and so on. A flying body moving in the air refers to not only UAVs, but also other aircraft, airships, helicopters, etc. moving in the air.

The UAV main body 20 includes a plurality of rotors. Multiple rotors are an example of a propulsion unit. The UAV main body 20 makes the UAV 10 fly by controlling the rotation of a plurality of rotors. The UAV body 20 uses, for example, four rotors to make the UAV 10 fly. The number of rotors is not limited to four. In addition, UAV10 can also be a fixed-wing aircraft without a rotor.

The imaging device 100 is an imaging camera that captures an object included in a desired imaging range. The universal joint 50 rotatably supports the camera device 100. The universal joint 50 is an example of a support mechanism. For example, the gimbal 50 uses an actuator to rotatably support the camera 100 with a pitch axis. The universal joint 50 uses an actuator to further rotatably support the imaging device 100 about the roll axis and the yaw axis, respectively. The gimbal 50 can change the posture of the camera device 100 by rotating the camera device 100 around at least one of a yaw axis, a pitch axis, and a roll axis.

The plurality of imaging devices 60 are sensing cameras that capture the surroundings of the UAV 10 in order to control the UAV 10's flight. The two camera devices 60 may be installed on the front of the head of the UAV10. In addition, the other two camera devices 60 may be provided on the bottom surface of the UAV10. The two camera devices 60 on the front side may be paired and function as a so-called stereo camera. The two imaging devices 60 on the bottom surface side may also be paired to function as a stereo camera. The three-dimensional space data around the UAV 10 can be generated based on the images captured by the plurality of camera devices 60. The number of imaging devices 60 included in the UAV 10 is not limited to four. The UAV 10 only needs to include at least one imaging device 60. UAV10 may include at least one imaging device 60 on the nose, tail, side, bottom, and top of UAV10, respectively. The angle of view that can be set in the camera 60 can be larger than the angle of view that can be set in the camera 100. The imaging device 60 may have a single focus lens or a fisheye lens.

The remote operation device 300 communicates with the UAV10 to remotely operate the UAV10. The remote operation device 300 can perform wireless communication 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 ascent, descent, acceleration, deceleration, forward, backward, and rotation. The instruction information includes, for example, instruction information for increasing the height of the UAV 10. The indication information may show the height at which the UAV 10 should be located. The UAV 10 moves to be at the height indicated by the instruction information received from the remote operation device 300. The instruction information may include an ascending instruction to ascend UAV10. UAV10 rises while receiving the rise command. When the height of UAV10 has reached the upper limit height, even if an ascent command is received, UAV10 can be restricted from ascending.

FIG. 2 shows an example of the functional blocks of UAV10. UAV10 includes UAV control unit 30, memory 37, communication interface 36, propulsion unit 40, GPS receiver 41, inertial measurement device 42, magnetic compass 43, barometric altimeter 44, temperature sensor 45, humidity sensor 46, universal joint 50, imaging The device 60 and the imaging device 100.

The communication interface 36 communicates with other devices such as the remote operation device 300. The communication interface 36 can receive instruction information including various instructions to the UAV control unit 30 from the remote operation device 300. The memory 37 stores the UAV control unit 30 for the propulsion unit 40, GPS receiver 41, inertial measurement device (IMU) 42, magnetic compass 43, barometric altimeter 44, temperature sensor 45, humidity sensor 46, gimbal 50, imaging device 60 and The imaging device 100 performs programs and the like necessary for control. The memory 37 may be a computer-readable recording medium, and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, USB memory, and solid state drive (SSD). The memory 37 may be provided inside the UAV main body 20. It can be detachably provided on the UAV body 20.

The UAV control unit 30 controls the flight and shooting of the UAV 10 according to a program stored in the memory 37. The UAV control unit 30 is an example of a control device. The UAV control unit 30 may be composed of a microprocessor such as a CPU or MPU, and a microcontroller such as an MCU. The UAV control unit 30 controls the flight and shooting of the UAV 10 in accordance with instructions received from the remote operation device 300 via the communication interface 36. The propulsion unit 40 advances the UAV10. 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 a plurality of rotors via a plurality of drive motors according to an instruction from the UAV control unit 30 to make the UAV 10 fly.

The GPS receiver 41 receives a plurality of signals showing the time 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 multiple signals. IMU42 detects the posture of UAV10. The IMU42 detects the acceleration of the UAV10 in the three axis directions of front, back, left, right, and up and down and the angular velocity in the three axis directions of the pitch axis, roll axis, and yaw axis as the posture of the UAV10. The magnetic compass 43 detects the orientation of the head of the UAV10. The barometric altimeter 44 detects the flying altitude of the UAV10. The barometric altimeter 44 detects the air pressure around the UAV 10 and converts the detected air pressure into altitude to detect the altitude. The temperature sensor 45 detects the temperature around the UAV10. The humidity sensor 46 detects the humidity around the UAV10.

The imaging device 100 includes an imaging unit 102 and a lens unit 200. In addition to optical zoom, the camera 100 may also have an electronic zoom function. The imaging device 100 may have at least one of an optical zoom function and an electronic zoom function. 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 CCD or CMOS. The image sensor 120 captures an optical image formed through the lens section 200, and outputs the captured image to the imaging control section 110. The imaging control unit 110 may be configured by a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like. The imaging control unit 110 may control the imaging device 100 according to the operation command of the imaging device 100 from the UAV control unit 30. The imaging control section 110 can enlarge the image output from the image sensor 120 and cut out a part of the image, thereby achieving electronic zoom.

The memory 130 may be a computer-readable recording medium, and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, USB memory, and solid state drive (SSD). The memory 130 stores programs and the like necessary for the imaging control unit 110 to control the image sensor 120 and the like. The memory 130 may be provided inside the casing of the camera 100. The memory 130 may be provided to be detachable from the housing of the image pickup apparatus 100.

The lens section 200 includes a focus lens 210, a zoom lens 211, a lens driving section 212, a lens driving section 213, and a lens control section 220. The focusing lens 210 is an example of a focusing lens system. The zoom lens 211 is an example of a zoom lens system. The focusing lens 210 and the zoom lens 211 may include at least one lens. At least a part or all of the focus lens 210 and the zoom lens 211 are configured to be movable along the optical axis. The lens unit 200 may be an interchangeable lens provided to be detachable from the imaging unit 102. The lens driving section 212 moves at least a part or all of the focusing lens 210 along the optical axis via a mechanism member such as a cam ring and a guide shaft. The lens driving section 213 moves at least a part or all of the zoom lens 211 along the optical axis via a mechanism member such as a cam ring and a guide shaft. The lens control section 220 drives at least one of the lens driving section 212 and the lens driving section 213 according to the lens control instruction from the imaging section 102, and causes at least one of the focusing lens 210 and the zoom lens 211 to be along the optical axis direction through the mechanism member Move to perform at least one of a zooming action and a focusing action. The lens control commands are, for example, zoom control commands and focus control commands.

The lens unit 200 further includes a memory 222, a position sensor 214, and a position sensor 215. The memory 222 stores the control values of the focus lens 210 and the zoom lens 211 moved via the lens driving unit 212 and the lens driving unit 213. The memory 222 may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory. The position sensor 214 detects the lens position of the focusing lens 210. The position sensor 214 can detect the current focus position. The position sensor 215 detects the lens position of the zoom lens 211. The position sensor 215 can detect the current zoom position of the zoom lens 211.

In the camera device 100 mounted on the UAV 10 as described above, during the movement of the UAV 10, the zoom function of the camera device 100 is used to provide moving images, for example, while changing the size of the background on the image surface while keeping the subject in focus A sliding zoom effect like the size on the surface.

The UAV control unit 30 includes an acquisition unit 31, a determination unit 32, and a determination unit 33. The acquisition section 31 acquires the time T, the first zoom magnification, and the second zoom magnification required to change the zoom magnification of the imaging apparatus 100 from the first zoom magnification to the second zoom magnification. The acquisition section 31 may acquire the time, the first zoom magnification, and the second zoom magnification that are stored in the memory 130 or the memory 37 or the like in advance. The acquisition section 31 may acquire the time T, the first zoom magnification, and the second zoom magnification specified by the user via the remote operation device 300.

The zoom magnification may be an optical zoom magnification, an electronic zoom magnification, or a magnification that combines an optical zoom magnification and an electronic zoom magnification. Optical zoom magnification refers to the magnification from the wide-angle end. The electronic zoom magnification refers to the magnification of the image output from the image sensor 120.

The determination section 32 determines the focus setting value of the imaging device 100 and the zoom setting value of the imaging device 100 at each time point from the first time point to the second time point based on the time T, the first zoom magnification, and the second zoom magnification And the speed of UAV10. The determining section 32 may further determine from the first time point to the second time point based on information indicating the first focusing distance of the camera 100 at the first time point and information indicating its second focusing distance at the second time point The focus setting value of the camera device 100, the zoom setting value of the camera device, and the moving speed of the UAV 10 at each time point of. Here, the information indicating the first focusing distance includes the distance from the imaging device 100 to the subject that entered the focused state at the first time, and the focus lens 210 that brought the subject into the focused state at the first time At least one of the locations. The information indicating the second focusing distance includes at least the distance from the imaging device 100 to the subject that entered the focused state at the second time point, and at least the position of the focus lens 210 that brought the subject into the focused state at the second time point One. The in-focus state refers to, for example, a state where the evaluation value of the contrast of the subject in the image is equal to or greater than a predetermined value.

For example, the first zoom magnification is 2 times, and the second zoom magnification is 1 times. As shown in FIG. 3, the zoom magnification of the imaging device 100 at the first time point is 2 times, and the distance (first focusing distance) from the imaging device 100 to the subject 500 is L1. Then, the UAV 10 is moved in the imaging direction so that the size of the subject 500 on the image plane at 2× and the size of the subject 500 on the image plane at 1× coincide. In this case, since the zoom magnification of the imaging device 100 at the second time point is 1 times, the distance (second focusing distance) from the imaging device 100 to the subject 500 at the second time point is L2 (=L1/ 2). In other words, the UAV 10 may move the difference between the first focus distance and the second focus distance (L1-L2=L1) along the imaging direction.

The imaging device 100 moves the zoom lens 211 from the first time point to the second time point to change the zoom magnification from 2 times to 1 times. In addition, the imaging device 100 changes the focusing distance of the focusing lens 210 from the first focusing distance to the second focusing distance from the first time point to the second time point. The first focusing distance corresponds to the distance from the camera 100 to the first focusing position that should be focused at the first time point. The second focusing distance corresponds to the distance from the camera 100 to the second focusing position that should be focused at the second time point. In addition, the imaging device 100 may be moved away from the subject 500 instead of moving closer to the subject 500. In this case, for example, the first zoom magnification is 1×, and the second zoom magnification is 2×.

The imaging device 100 may perform shooting in such a manner that the focus state of a single subject that is still is maintained from the first time point to the second time point. In this case, the first focus position is the same as the second focus position. The imaging device 100 can shoot in such a manner that it focuses on the first subject at the first time point and focuses on the second subject at a different distance from the imaging device 100 at the second time point than the first subject. In this case, the first focus position is different from the second focus position.

The determination unit 32 determines the movement speed of the UAV 10 required to move the UAV 10 within the time T by the difference between the second focus distance and the first focus distance.

The determining section 32 may be based on first information indicating the relationship between the position of the zoom lens and the position of the focusing lens in the first focusing distance and second information indicating the relationship between the position of the zoom lens and the position of the focusing lens in the second focusing distance The focus setting value of the imaging device 100 and the zoom setting value of the imaging device 100 at each time point from the first time point to the second time point are determined.

The determination section 32 may determine the focus setting value of the imaging device 100 and the zoom setting value of the imaging device 100 at each time point from the first time point to the second time point based on a so-called zoom tracking curve. For example, as shown in FIG. 4, the determination section 32 may determine based on the zoom tracking curve 602 corresponding to the infinity focusing distance of the first focusing distance and the zoom tracking curve 601 corresponding to the closest focusing distance of the second focusing distance A movement tracking curve 603 that represents the focus setting value of the imaging device 100 and the zoom setting value of the imaging device 100 at each time point from the first time point to the second time point. The imaging control unit 110 outputs a zoom operation command and a focus operation command to the lens control unit 220 to control the position of the zoom lens and the focus lens according to the movement tracking curve 603 shown in FIG. s position.

The determination section 32 may acquire the data of the zoom tracking curve for each focusing distance stored in the memory 222 of the lens section 200, and determine the movement tracking curve based on the acquired data, the movement tracking curve representing from the first time point to the first The focus setting value of the imaging device 100 and the zoom setting value of the imaging device 100 at each time point of two time points.

In the case where the camera 100 captures a moving image that produces a so-called sliding zoom effect, the UAV 10 may fly along the imaging direction of the camera 100 from the first time point to the second time point. The imaging control section 110 may control the zoom lens 211 and the focus lens 210 from the first time point to the second time point so that the imaging device 100 maintains the subject on the image plane at the first point in focus at the first time point Size and the state of focusing on the subject at the first location. The determination section 32 may determine the focus setting value of the imaging apparatus 100 at each time point from the first time point to the second time point.

FIG. 5 is a diagram showing the focusing lens 210 and the zoom lens 211 with one lens system L. H represents the image principal point of the lens system L. F1 represents the object-side focus of the lens system L. F2 represents the image side focus of the lens system L. f represents the distance from the image principal point H to the object-side focus F1 or the image-side focus F2, that is, the focal length. a represents the distance from the object-side focal point F1 to the subject 500. b represents the distance from the image-side focal point F2 to the image plane 121. In this case, according to the Newton imaging formula, a, b, and f satisfy the following relationship. a, b and f are real numbers.

b=f ² ×(1/a)

Set the first zoom magnification at the first time point to Z ₁ , set the second zoom magnification at the next time point following the first zoom magnification to Z ₂ , and set the first zoom magnification Z ₁ and the second zoom magnification Z The ratio of ₂ is set to n=Z ₁ /Z ₂ . When the imaging apparatus 100 changes the zoom magnification from the first zoom magnification Z ₁ to the second zoom magnification Z ₂ , the UAV control unit 30 controls the UAV 10 to change the distance a to the distance n×a. The imaging control section 110 controls the zoom lens 211 via the lens control section 220 so that the focal length f becomes the focal length n×f.

The distance b′ at the second zoom magnification Z ₂ is expressed as follows according to the Newton imaging formula.

b'= (n × f) ² × (1/(n × a)) = n × f ² × (1/a) = n × b

That is, when the imaging apparatus 100 changes the zoom magnification from the first zoom magnification Z ₁ to the second zoom magnification Z ₂ , the imaging control section 110 controls the focus lens 210 to make the distance from the image side focus of the lens system L to the image plane It can be changed to n×b. In the case where the distance a from the object-side focus of the lens system L to the subject becomes n×a, the UAV control section 30 may control the zoom lens 211 and the focus lens 210 via the lens control section 220 to change the lens system L’s The focal length f is set to n×f, and the distance b from the image side focus of the lens system L to the image plane is set to n×b. The UAV control unit 30 may control the zoom lens 211 to set the focal length of the lens system L to n×f, and control the focus lens 210 to set the distance from the image side focus of the lens system L to the image plane to n×b. Thereby, the imaging device 100 can shoot the subject while maintaining the size of the subject on the image plane at the first point in focus at the first point in time and focusing on the subject at the first point .

The determination section 32 may be based on the time T, the first zoom magnification, and the second zoom magnification required to change the zoom magnification of the camera 100 from the first zoom magnification corresponding to the focal length f to the second zoom magnification corresponding to the focal length n×f , The information indicating the distance a and the information indicating the distance n×a, determine to set the focal length f of the lens system L to n×f, and set the distance b from the image side focus of the lens system L to the image plane to n ×b's focus setting value and zoom setting value.

The determination section 32 may be further based on the first information indicating the relationship between the position of the zoom lens 211 and the position of the focus lens 210 in the distance a and the relationship indicating the relationship between the position of the zoom lens and the position of the focus lens in the distance n×a The second information determines the focus setting value and zoom setting value for setting the focal length f of the lens system L to n×f, and setting the distance b from the image side focus of the lens system L to the image plane to n×b.

The determination section 32 may be further based on the first information indicating the relationship between the position of the zoom lens 211 in the distance a and the position of the focus lens 210 and the position between the position of the zoom lens 211 in the distance n×a and the position of the focus lens 210 The second information of the relationship determines the focus setting value and zoom used to set the focal length f of the lens system L to n×f, and the distance b from the image side focus of the lens system L to the image plane to n×b Settings.

The distance a may correspond to the distance from the camera 100 to the first focus position that should be focused at the first time point. The distance n×a may correspond to the distance from the camera 100 to the second focus position that should be focused at the second time point. In this case, the determination section 32 may determine the setting for setting the focal length f of the lens system L to n×f and the distance b from the image side focus of the lens system L to the image plane to n×b Value and zoom setting value so that the size of the subject on the image plane at the first focus position taken by the camera 100 at the first time point and the second focus position taken by the camera 100 at the second time point The size of the subject at the image plane satisfies the predetermined condition. The predetermined condition may be the size of the subject on the image plane at the first focus position captured by the camera 100 at the first time point and the subject at the second focus position captured by the camera 100 at the second time point The size of the body on the image plane is consistent with this condition.

The lens system L is actually composed of a plurality of lens groups that function as the zoom lens 211 or the focus lens 210. When the position of the zoom lens 211 changes, the distance b from the image side focus of the lens system L to the image plane may also change. According to the change of the position of the zoom lens 211, the imaging apparatus 100 can change the position of the focus lens 210 according to the change of the position of the zoom lens 211 so that the focus distance does not shift. That is, the imaging device 100 can perform so-called zoom tracking control.

The determination section 32 may represent the focus setting value of the focus lens 210 in association with information corresponding to the focal length of the lens system L and information corresponding to the distance a (focus distance) from the object-side focus of the lens system L to the subject Setting information to determine the focus setting value of the focus lens 210 for setting the distance from the image side focus of the lens system L to the image plane to n×b. The setting information may be information referred to when the imaging control unit 110 performs zoom tracking control.

FIG. 6 shows an example of setting information. The focusing distance d0 represents, for example, the infinitely far end. The focus distance d8 indicates the closest end. The setting information may indicate the number of pulses of the stepping motor for driving the focusing lens 210 as the setting value S of the focusing lens 210 in association with the focal length and the distance a. The range represents the amount of movement r of the focus lens 210 when the focus lens 210 is moved from the infinity side to the closest side at a specific focal length (zoom magnification). According to the size of the focal length (zoom magnification), the amount of movement of the focus lens 210 when the focus lens 210 is moved from the infinity side to the closest side changes. The memory 130 may also store the setting information shown in FIG. 6. The memory 130 may store the focus setting value of the focus lens 210 at each focal length corresponding to a specific focus distance as setting information. In this case, the determination unit 32 may derive the focus setting value of the focus lens 210 at a specific focal length (zoom magnification) among other focusing distances based on this setting information. The memory 130 may, for example, store the focus setting value for each focal length corresponding to the infinite end, that is, information corresponding to the zoom tracking curve at the infinite end as setting information. The determining section 32 may derive the focus setting value of the focus lens 210 at a specific focal length (zoom magnification) among other focusing distances each time based on the setting information corresponding to the zoom tracking curve at the infinitely far end.

FIG. 7 shows a set of so-called zoom tracking curves that represent setting information in two dimensions. The lower limit boundary indicated by symbol 610 corresponds to a zoom tracking curve indicating the relationship between the position of the zoom lens 211 (zoom setting value) and the position of the focusing lens 210 (focus setting value) when the focusing distance is infinitely far, The upper limit boundary indicated by symbol 611 corresponds to a zoom tracking curve indicating the relationship between the position of the zoom lens 211 (zoom setting value) and the position of the focus lens 210 (focus setting value) when the focusing distance is the closest end. The width 620 between the zoom tracking curve 610 and the zoom tracking curve 611 corresponds to the movement amount r of the focus lens 210 when the focus lens 210 is moved from the infinity side to the closest side at the respective zoom magnification.

From the first time point to the second time point, the imaging apparatus 100 changes the zoom magnification of the lens system from the first zoom magnification to the second zoom magnification. In this case, the first zoom magnification is set to Z ₁ , the second zoom magnification is set to Z ₂ , and the ratio of the first zoom magnification to the second zoom magnification is set to n=Z ₂ /Z ₁ . The focus setting value of the focus lens 210 at the first zoom magnification Z ₁ is set to S ₁ , and the focus setting value of the focus lens 210 at the second zoom magnification Z ₂ is set to S ₂ . Furthermore, the focus lens 210 in the case where the focus lens 210 is moved from the infinity side to the closest side at the first zoom magnification Z ₁ determined based on the setting information referred to in the zoom tracking control as shown in FIG. 7 The amount of movement (distance) is set to r ₁ . In addition, the movement amount of the focus lens 210 in the case of moving the focus lens 210 from the infinity side to the closest side at the second zoom magnification Z ₂ determined based on this setting information is set to r ₂ .

In this case, the determination section 32 may determine S ₂ based on n, r ₁ , r ₂ and S ₁ . Here, the focus distance at the first time point is set to d ₁ , the reciprocal of the focus distance d ₁ is set to P ₁ , the focus distance at the second time point is set to d ₂ , and the reciprocal of the focus distance d ₂ is set to P ₂ , set the focusing distance of the closest end to d _n , and set the constant to div. Here, n, r ₁ , r ₂ , S ₁ , S ₂ , d ₁ , d ₂ , P ₁ , P ₂ , d _n and div are real numbers.

In this case, the following formula can be defined:

P ₁ = diV(S ₁ /r ₁ )…(1)

P ₁ =div(d _n /d ₁ )…(2)

P ₂ =div(S ₂ /r ₂ )…(3)

P ₂ =div(d _n /d ₂ )…(4)

When the equation (3) is transformed, it becomes S ₂ =(r ₂ ×P ₂ )/div... (5).

If formula (4) is substituted into formula (5),

Then, S ₂ =r ₂ ×div(d _n /d ₂ )/div=(d _n /d ₂ )×r ₂ (6).

Since d ₂ =n×d ₁ , equation (6) becomes

S ₂ =d _n /(n×d ₁ )×r ₂ …(7).

Moreover, d _n /d ₁ becomes (1) and (2) into

d _n /d ₁ =S ₁ /r ₁ (8).

If formula (8) is substituted into formula (7),

Then, it becomes S ₂ =(1/n)×(r ₂ /r ₁ )×S ₁ …(9).

Therefore, the determination unit 32 can follow _{S 2 = (1 / n)} × (r 2 / r 1) × S 1 to determine S _2. The UAV control unit 30 may instruct the imaging device 100 to control the focus lens 210 according to S ₂ . The UAV control section 30 may control the focus lens 210 via the lens control section 220 so that the relationship between n, r ₁ , r ₂ , S ₁ and S ₂ satisfies predetermined conditions. The UAV control section 30 may turn on the lens control section 220 to control the focus lens 210 to satisfy S ₂ =(1/n)×(r ₂ /r ₁ )×S ₁ .

FIG. 8 shows a zoom tracking curve by focus distance, a movement tracking curve 630 when the focus distance is changed from 1.0m to 2.0m, and a movement tracking curve 631 when the focus distance is changed from 2.0m to 4.0m Example. During the movement of the imaging apparatus 100, the lens control section 220 may control the focus lens 210 and the zoom lens 211 according to, for example, a movement tracking curve 630 or a movement tracking curve 631.

The determining section 32 may determine the focus setting value of the camera 100, the zoom setting value of the camera 100, and the moving speed of the UAV 10 at each time point from the first time point to the second time point, so that the camera device 100 The size of the subject at the first focus position on the image plane of the spot shooting and the size of the subject at the second focus position of the image plane captured by the camera 100 at the second time point satisfy the predetermined condition. The predetermined condition may be the size of the subject on the image plane at the first focus position captured by the camera 100 at the first time point and the subject at the second focus position captured by the camera 100 at the second time point The size of the body on the image plane is consistent with this condition.

The imaging device 100 can shoot in a manner approaching the subject from the first time point to the second time point. In the case where the first focus position and the second focus position are the same, the imaging device 100 can shoot while moving relative to the subject, so that the first focus distance is longer than the second focus distance. In this case, the camera 100 captures an image 700 as shown in FIG. 9A at a first focusing distance and a first zoom magnification at a first time point, and at a second focusing distance and a smaller zoom than the first zoom at a second time point, for example. The second zoom magnification of the magnification takes an image 701 as shown in FIG. 9B. Thus, the moving image captured from the first time point to the second time point includes the expression that the size of the background on the image surface changes while maintaining the size of the subject 500 of interest on the image surface.

In the case where the first focus position is different from the second focus position, the determination section 32 may determine the focus setting value of the imaging device 100 and the zoom setting value of the imaging device 100 at each time point from the first time point to the second time point And the movement speed of UAV10, such that the size of the subject on the image plane at the first focus position taken by the camera 100 at the first time point and the second focus position taken by the camera device 100 at the second time point The size of the subject on the image plane satisfies the predetermined condition. Under this condition, the dynamic image captured from the first time point to the second time includes the background on the image surface changes in size while focusing from the first time point to the first focus position existing at the first The state of an object of interest becomes the expression of the state of focusing on the second object of interest present at the second focus position at the second time point.

The first object of interest may be the same as the second object of interest. That is, the object of interest that exists at the first focus position at the first time point may also move to the second focus position at the second time point. For example, the camera 100 captures an image 710 including the subject 500 in the focused state as shown in FIG. 10A at the first focus distance and the first zoom magnification. At a second time point, an image 711 including the subject 500 in focus as shown in FIG. 10B is captured at a second focusing distance and a second zoom magnification that is smaller than the first zoom magnification. As a result, the moving image captured from the first time point to the second time point includes the subject 500 moving in the period from the first time point to the second time point while changing the size of the background on the image plane while maintaining the Performance like size on the surface.

In the case where the first focus position is different from the second focus position, the determination section 32 may determine the focus setting value of the camera 100 and the zoom setting of the camera 100 at each time point from the first time point to the second time point Value and the moving speed of UAV10, such that the size of the subject on the image plane at the first focus position captured by the camera 100 at the first time point and the first focus captured by the camera device 100 at the second time point The size of the subject at the position corresponding to the position on the image plane satisfies the predetermined condition.

The predetermined condition in this case may be the size of the subject on the image plane at the first focus position photographed by the camera 100 at the first time point and the size of the subject photographed by the camera device 100 at the second time point. The condition that the size of the subject on the image plane at the position corresponding to the focus position is consistent. Under this condition, the moving image captured from the first time point to the second time point includes the background size on the image plane being changed while maintaining the subject of interest on the image plane that exists at the first focus position The size of such performance. The dynamic image includes that at the first time point, the subject at the first focus position enters the in-focus state, and at the second time point, the other subject at the second focus position enters the in-focus state Performance. The image pickup apparatus 100 captures an image 720 including the subject 500 in focus and the subject 501 in focus as shown in FIG. 11A at a first focus distance and first zoom magnification at a first time point, for example. Further, at the second time point, the second focus distance and the second zoom magnification smaller than the first zoom magnification include the subject 500 as shown in FIG. 11B in focus and the subject 501 not in focus Image 721.

In the case where the first focus position is different from the second focus position, the determination section 32 may determine the focus setting value of the camera 100 and the zoom setting of the camera 100 at each time point from the first time point to the second time point Value and the moving speed of UAV10, such that the size of the subject on the image plane at the position corresponding to the second focus position captured by the camera 100 at the first point in time and the image captured by the camera 100 at the second point in time The size of the subject at the second focus position on the image plane satisfies the predetermined condition.

The predetermined condition in this case may be that the size of the subject on the image plane at the position corresponding to the second focus position taken by the camera 100 at the first time point is the same as that taken by the camera device 100 at the second time point The condition that the size of the subject at the second focus position on the image plane is consistent. Under this condition, the moving image captured from the first time point to the second time point includes the background size on the image plane being changed while maintaining the subject of interest at the second focus position on the image plane The size of such performance. The dynamic image includes the subject of interest at the first time point, the subject of interest at the position corresponding to the second focus position is not in focus, but the subject of interest at the second time point of interest at the second focus position The performance of the body in focus.

Compared with the case of zooming to the wide-angle side, it is more difficult to obtain the focus state when zooming to the telephoto side. One of the reasons is that, in the case of zooming to the telephoto side, it is difficult to find the subject to be focused when sliding zoom is started. Therefore, preferably, the first focusing distance at the first time point is longer than the second focusing distance at the second time point. That is to say, preferably, from the first time point to the second time point, the UAV 10 moves close to the subject of interest and is photographed by the imaging device 100. Thus, from the first time point to the second time point, it is easy to maintain the in-focus state of the subject of interest.

For example, the imaging device 100 is actually moved relative to the subject, and the acquisition unit 31 acquires the focusing distance from the first time point to the second time point. Subsequently, the camera 100 may be moved relative to the subject again, and the camera 100 may be used to capture a moving image that produces a sliding zoom effect. At this time, while the imaging device 100 is moving close to the subject, the zoom magnification can be changed from the telephoto side to the wide-angle side, and the focusing distance can be acquired by the acquiring unit 31. As a result, the imaging device 100 can more easily acquire the focusing distance for focusing on the subject from the first time point to the second time point. In addition, when the camera 100 captures a moving image that obtains a sliding zoom effect, while the camera 100 is moving away from the subject, the focus lens and zoom lens can be controlled according to the pre-acquired focus distance, and from a wide angle Shoot from side to telephoto by changing the zoom ratio.

The determination section 32 may determine each control value of the optical zoom and the electronic zoom as the imaging device 100 at each time point from the first time point to the second time point based on the time T, the first zoom magnification, and the second zoom magnification The zoom setting value. The determination section 32 may determine each control value of the optical zoom and the electronic zoom as the zoom setting value of the imaging apparatus 100 to switch from the optical zoom to the electronic zoom. The determination section 32 may determine each control value of the optical zoom and the electronic zoom as the zoom setting value of the imaging apparatus 100 to switch from the electronic zoom to the optical zoom.

The determination section 32 may determine the focus setting value of the focus lens 210 and the zoom setting value of the zoom lens 211 at each time point from the first time point to the second time point based on the time T, the first zoom magnification, and the second zoom magnification . The determining section 32 may determine the focus setting value of the focus lens 210 and the zoom lens 211 at each time point from the first time point to the second time point according to a predetermined relationship between the position of the focus lens 210 and the position of the zoom lens 211 The zoom setting value.

The determination section 32 may determine the focus setting value and the zoom setting value at each time point from the first time point to the second time point so that the subject at the first focus position photographed by the camera device at the first time point is in the image The size on the plane and the size of the subject on the image plane at the second focus position taken by the imaging device at the second time point satisfy the predetermined condition. The predetermined condition may be the size of the subject on the image plane at the first focus position captured by the camera 100 at the first time point and the subject at the second focus position captured by the camera 100 at the second time point The size of the body on the image plane is consistent with this condition.

In the case where the imaging apparatus 100 changes the zoom magnification from the second zoom magnification to the third zoom magnification through the electronic zoom from the second time point to the third time point, the determination section 32 may determine from the second time point to the third time point The focus setting value of the focus lens 210 at each time point. The determination section 32 may determine the focus setting value of the focus lens 210 at each time point from the second time point to the third time point based on the focusing distance at the second time point and the speed of the UAV 10.

The UAV control section 30 may pass the lens control section according to a predetermined relationship between the position of the focus lens 210 and the position of the zoom lens 211 (eg, zoom tracking curve) during the movement of the imaging device 100 from the first time point to the second time point 220 moves the focus lens 210 and the zoom lens 211, thereby changing the zoom magnification of the camera 100 from the first zoom magnification to the second zoom magnification n times the first zoom magnification, and the focusing distance of the camera 100 from the first focus The distance changes to a second focusing distance n times the first focusing distance.

Furthermore, the UAV control unit 30 may change the zoom magnification of the camera 100 from the second zoom magnification to m times the first zoom magnification by performing electronic zoom during the movement of the camera 100 from the second time to the third time. At the third zoom magnification, and by moving the focus lens 210, the focusing distance of the camera 100 is changed from the second focusing distance to a third focusing distance m times the first focusing distance. Here, the electronic zoom can be realized by changing the size cut out in the image output from the image sensor 120. During the execution of the electronic zoom, the imaging apparatus 100 may move the focus lens 210 to change the focusing distance according to the distance from the subject without performing optical zoom. Thus, the imaging device 100 can use electronic zoom to capture a moving image that produces a sliding zoom effect.

For example, as shown in FIG. 12A, the UAV 10 flies along the imaging direction of the imaging device 100 so that the distance from the subject 500 changes from 1.0 m to 2.0 m. During this period, the imaging device 100 performs optical zoom by controlling the focus lens 210 and the zoom lens 211, changing the zoom magnification from 1x to 2x, and changing the focusing distance from 1.0m to 2.0m. Furthermore, the UAV 10 flies along the imaging direction of the imaging device 100 so that the distance from the subject changes from 2.0 m to 3.0 m. During this period, the imaging device 100 performs electronic zoom to change the zoom magnification from 2 times to 3 times, and controls the focus lens 210 to change the focusing distance from 2.0 m to 3.0 m.

The UAV control unit 30 may cause the imaging device 100 to perform optical zoom after the imaging device 100 performs electronic zoom. In this case, the UAV control section 30 may change the zoom magnification of the imaging device from the first zoom magnification to the first zoom magnification n by performing electronic zoom while the imaging device 100 is moving from the first time point to the second time point The second zoom magnification is twice, and the focus lens 210 is moved via the lens control section 220, thereby changing the focus distance of the imaging device 100 from the first focus distance to a second focus distance n times the first focus distance.

Furthermore, the UAV control unit 30 may move the focus lens 210 and the zoom lens 211 according to a predetermined relationship between the position of the focus lens 210 and the position of the zoom lens 211 during the movement of the imaging device 100 from the second time point to the third time point , So that the zoom magnification of the camera 100 is changed from the second zoom magnification to the third zoom magnification of the first zoom magnification m times, and the focus distance of the camera 100 is changed from the second focus distance to the first focus distance m times The third focusing distance.

The determining section 32 may be based on the time T required to change the zoom magnification of the camera 100 from the first zoom magnification to the second zoom magnification, the first zoom magnification, the second zoom magnification, the information indicating the first focusing distance, and the second The focus distance information is used to determine the focus setting value of the camera 100 at each time point from the first time point to the second time point. The determination section 32 may be based on the time required to change the zoom magnification of the camera 100 from the second zoom magnification to the third zoom magnification, the second zoom magnification, the third zoom magnification, the information indicating the second focusing distance, and the third focusing Distance information to determine the focus setting value and zoom setting value at each time point from the second time point to the third time point. The determining section 32 may be further based on the first information indicating the relationship between the position of the zoom lens 211 and the position of the focusing lens 210 in the second focusing distance and the position of the zoom lens 211 and the position of the focusing lens 210 in the third focusing distance The second information of the relationship between each other to determine the focus setting value and zoom setting value at each time point from the second time point to the third time point.

For example, as shown in FIG. 12B, the UAV 10 flies along the imaging direction of the imaging device 100 so that the distance from the subject 500 changes from 1.0 m to 2.0 m. During this period, the imaging device 100 performs electronic zoom to change the zoom magnification from 1x to 2x, and by controlling the focus lens 210, the focusing distance is changed from 1.0m to 2.0m. Furthermore, the UAV 10 flies along the imaging direction of the imaging device 100 so that the distance from the subject changes from 2.0 m to 3.0 m. During this period, the imaging device 100 performs optical zoom by controlling the focus lens 210 and the zoom lens 211, changing the zoom magnification from 2 times to 3 times, and changing the focusing distance from 2.0 m to 3.0 m.

The UAV control section 30 may cause the imaging apparatus 100 to simultaneously perform optical zoom and electronic zoom for at least a part of the period. The UAV control section 30 may perform electronic zoom of the imaging device 100 during movement of the imaging device 100 from the first time point to the second time point, and according to a predetermined relationship between the position of the focus lens 210 and the position of the zoom lens 211 ( Zoom tracking curve), the focus lens 210 and the zoom lens 211 are moved via the lens control section 220, so that the zoom magnification of the camera 100 is changed from the first zoom magnification to the second zoom magnification n times the first zoom magnification, and the camera The focusing distance of the device 100 is changed from the first focusing distance to a second focusing distance n times the first focusing distance.

The determining section 32 may be based on the time T required to change the zoom magnification of the camera 100 from the first zoom magnification to the second zoom magnification, the first zoom magnification, the second zoom magnification, the information indicating the first focusing distance, and the second The focus distance information is used to determine the focus setting value and zoom setting value at each time point from the first time point to the second time point. The determination section 32 may be further based on the first information indicating the relationship between the position of the zoom lens 211 and the position of the focusing lens 210 in the first focusing distance and the position of the zoom lens 211 and the position of the focusing lens 210 in the second focusing distance The second information of the relationship between each other to determine the focus setting value and the zoom setting value at each time point from the first time point to the second time point.

For example, as shown in FIG. 12C, the UAV 10 flies along the imaging direction of the imaging device 100 so that the distance from the subject 500 changes from 1.0 m to 3.0 m. During this period, the imaging device 100 performs electronic zoom and optical zoom, changing the zoom magnification from 1x to 3x, and changing the focusing distance from 1.0m to 3.0m.

FIG. 13 is a diagram showing an example of the relationship between the position of the focus lens 210 and the position of the zoom lens 211. 13 shows a zoom tracking curve 640 when the focusing distance is 1.0 m, a zoom tracking curve 641 when the focusing distance is 2.0 m, and a movement tracking curve 643 when the focusing distance is 3.0 m.

As shown in FIG. 12A, when the distance from the UAV 10 to the subject 500 is changed from 1.0m to 2.0 and the zoom magnification is changed from 1x to 2x, the determination section 32 may be based on, for example, a zoom tracking curve when the focusing distance is 1.0m 640 and a zoom tracking curve 641 at a focusing distance of 2.0 m to derive a movement tracking curve showing the relationship between the position of the zoom lens 211 and the position of the focus lens 210 when the zoom magnification is changed from 1x to 2x 643. The determination section 32 may also determine the focus setting value of the focus lens 210 in the case where the zoom magnification is changed from 2 times to 3 times through electronic zoom. Since the zoom lens 211 does not move, the determination section 32 can determine the focus setting value of the focus lens 210 so that the position of the focus lens 210 changes as a straight line indicated by symbol 644.

FIG. 14 shows a case where the position of the focus lens 210 changes when the imaging device 100 performs optical zoom and then performs electronic zoom. As shown in FIG. 14, the UAV control unit 30 may move the focus lens 210 along the curve 650 determined based on the zoom tracking curve via the lens control unit 220 while the focus distance of the imaging device 100 is changed from 1.0 m to 2.0 m. Furthermore, the UAV control unit 30 may move the focus lens 210 along the curve 651 determined based on the moving speed of the imaging device 100 (UAV10) via the lens control unit 220 while the focus distance of the imaging device 100 changes from 2.0 m to 3.0 m. .

Here, the maximum speed that UAV10 can move is limited. Therefore, depending on the length of time T or the moving distance of UAV 10 from the first time point to the second time point, UAV 10 may not be able to move the moving distance during time T.

The maximum speed at which the zoom lens 211 can move is limited. Depending on the length of time T, the zoom lens 211 may not be able to move from the first zoom magnification to the second zoom magnification during the time T.

The minimum speed at which the zoom lens 211 can move is also limited. The zoom lens 211 may not be able to move from the first zoom magnification to the second zoom magnification within the time T. That is, in order to move the zoom lens 211 within the time T, the speed of the zoom lens 211 may be slow.

When there is an obstacle on the route where UAV10 moves from the first time point to the second time point, UAV10 may not be able to move on the route.

In this way, depending on the time T, the first zoom magnification, the second zoom magnification, the first focus distance, and the second focus distance, the camera 100 may also fail to capture a moving image that obtains a sliding zoom effect.

Therefore, the determination section 33 can determine whether the imaging apparatus 100 can capture a moving image that obtains a sliding zoom effect based on the time T, the first zoom magnification, the second zoom magnification, the first focus distance, and the second focus distance.

The determination section 33 may determine whether the zoom magnification of the camera 100 can be changed from the first zoom to the time T based on at least one of the time T, the first zoom magnification, the second zoom magnification, the minimum speed and the maximum speed of the zoom lens 211 The magnification is changed to the second zoom magnification. In the case where the determination section 33 determines that the zoom magnification of the imaging device 100 can be changed from the first zoom magnification to the second zoom magnification within the time T, the determination section 32 may determine each time from the first time point to the second time point At the time point, the focus setting value of the camera 100, the zoom setting value of the camera 100, and the moving speed of the UAV10.

The determining unit 33 may determine whether the UAV 10 can move the difference between the first focusing distance and the second focusing distance within the time T based on the time T, the difference between the first focusing distance and the second focusing distance, and the maximum speed of the UAV 10. When the determination unit 33 determines that the UAV 10 can move the difference between the first focus distance and the second focus distance within the time T, the determination unit 32 may determine the time from the first time point to the second time point The focus setting value of the imaging device 100, the zoom setting value of the imaging device 100, and the moving speed of the UAV 10.

The determination unit 33 may determine whether there is an obstacle on the path that moves the UAV 10 by the difference between the first focus distance and the second focus distance. When the judging unit 33 judges that there is no obstacle on the path, it can determine the focus setting value of the camera 100, the zoom setting value of the camera, and the UAV10 at each time point from the first time point to the second time point. Moving speed. The determination unit 33 may determine whether there is an obstacle on the path that moves the UAV 10 by the difference between the first focus distance and the second focus distance based on the three-dimensional map stored in the memory 37 and the position information of the UAV 10. The determination unit 33 may determine whether there is an obstacle on the path that moves the UAV 10 by the difference between the first focus distance and the second focus distance based on the image captured by the image capturing device 100 or the image capturing device 60 as a stereo camera.

Here, in order to accurately impart an effect such as sliding zoom to the image, it is desirable to set the focus setting value of the imaging device 100 at each time point from the first time point to the second time point determined by the determination unit 32, the imaging device 100 The setting value of the zoom and the moving speed of the UAV10 coordinately and accurately perform the zoom control and focus control of the imaging device 100, and the movement control of the UAV10.

Since the quality of UAV 10 is different from that of zoom lens 211 and focus lens 210, the moment of inertia of UAV 10 is different from that of zoom lens 211 and focus lens 210. Therefore, when the movement of the UAV 10 and the movement of the zoom lens 211 and the focus lens 210 start at the same time, it is necessary to consider and coordinate control of the difference in the moment of inertia with each other. However, it is not easy to accurately perform coordinated control of the UAV 10, the zoom lens 211, and the focus lens 210.

Therefore, before starting to shoot with the imaging device 100, the UAV 10 starts to move, and when the UAV 10 can move at a desired moving speed, the zoom lens 211 and the focus lens 210 start to move. That is, in order to enable UAV 10 to move at a desired moving speed at the position where imaging is started by imaging device 100, UAV control unit 30 temporarily moves UAV 10 to a position where UAV 10 can run. In addition, the UAV control unit 30 controls the movement of the UAV 10 so that the UAV 10 starts to move from its position, and the movement speed of the UAV 10 becomes the desired movement speed at the position where the imaging device 100 starts shooting. Thereby, the movement of the zoom lens 211 and the focus lens 210 can be controlled without considering the moment of inertia of the UAV 10.

For example, as shown in FIG. 15, in a state where the UAV 10 is hovering at the position P1, the acquisition unit 31 acquires the focus distance L1 at the position P1 at which the imaging device 100 starts shooting. Further, the acquisition unit 31 acquires the time T, the first zoom magnification, and the second zoom magnification required to change the zoom magnification of the imaging device 100 from the first zoom magnification to the second zoom magnification.

The determination unit 32 determines the setting value of the focus of the camera 100 at each time point from the recording start time point T1 to the recording end time point T2 based on the time T, the first zoom magnification, and the second zoom magnification. The setting value of zoom and the moving speed V1 of UAV10. The determination section 32 may determine the setting value of the focus, the setting value of the zoom, and the moving speed at each time point from the recording start time point T1 to the recording end time point T2 to be between the recording start time point T1 and the recording end time point T2 , The zoom magnification of the imaging device 100 is changed from the first zoom magnification to the second zoom magnification, and the focusing distance of the imaging device 100 is changed from the first focusing distance L1 to the second focusing distance L2. For example, the second zoom magnification is n times the first zoom magnification, and the second focusing distance L2 may be n times the first focusing distance. The distance from the position P1 to the position P2 corresponds to the distance between the first focusing distance L1 and the second focusing distance L2.

Furthermore, the determination unit 32 determines the position P0 of the UAV10 at the run-up start time point T0 before the recording start time point T1 based on the position P1 of the UAV10 recording start time point T1 and the UAV10 moving speed V1 of the recording start time point T1, This enables the UAV 10 to move at the moving speed V1 at the position P1 at the recording start time point T1. The determination unit 32 is an example of the first determination unit and the second determination unit. The running distance required to bring the UAV 10's moving speed to the desired moving speed can be measured in advance through experiments or simulations, and the correspondence between the moving speed and the running distance is stored in the memory 37 or the like. The determination unit 32 may determine the run-up distance corresponding to the moving speed V1 by referring to the memory 37, and determine the position P0 of the UAV 10 at the run-up start time point T0 based on the determined run-up distance.

The UAV control unit 30 moves the UAV10 from the position P1 to the position P0 between the time point T00 and the time point T0 before the time point T0, and then moves the UAV10 from the position P0 to the position P1 at the time point T0. In addition, the position of the UAV 10 at the time point T00 may be a position different from the position P1 at the time point T1 of the recording start. Then, the UAV control unit 30 controls the UAV10 at the time point T1 so that the UAV10 speed becomes the moving speed V1, and then controls the UAV10 so that the UAV10 speed is maintained at the moving speed V1 from the position P1 to the position P2 of the UAV10 at the time T2. The imaging control section 110 executes a control that changes the zoom magnification of the imaging device 100 from the first zoom magnification to the second zoom magnification from time T1 to time T2, and makes the focusing distance of the imaging device 100 from the first focusing distance Change to the second focus distance.

As described above, in order to ensure the run-up distance, UAV 10 may approach the main subject from time point T00 to time point T0. The user as the main subject sometimes imagines the UAV 10 moving away while the camera 100 is shooting. In this case, when the UAV10 is approaching the user, the user may mistakenly believe that the UAV10 has made an erroneous action. Therefore, as shown in FIG. 2, the imaging control unit 110 may further include a notification unit 34. The notification unit 34 notifies the outside world that the UAV 10 will move from the position P1 to the position P0 before moving from the position P1 to the position P2. The notification unit 34 may notify the user from the speaker sound included in the remote operation device 300 via the communication interface 36 that the UAV 10 will approach before performing the sliding zoom. The notification unit 34 may notify the user via the communication interface 36 by displaying a message indicating that the UAV 10 will approach before sliding zoom on the display unit included in the remote operation device 300.

FIG. 16 is a diagram for explaining the image recording time of the imaging device 100 corresponding to the movement of the UAV 10. At time T00, UAV10 hovered at position P1. Therefore, in order to ensure the run-up distance, the UAV 10 moves to the position P0 determined by the determination unit 32 at the time point T0. For example, UAV10 approaches the main subject. At this time, in order not to cause discomfort to the user, UAV10 may approach the user at a speed lower than the moving speed V1 at a moving speed V2 or less. That is, UAV10 can make the user feel less afraid by slowly approaching the user. The determining section 32 may determine the movement speed of the UAV10 when the UAV10 moves from the position P1 at the time point T00 to the position P0 when the time point T0 is a movement speed, wherein the movement speed is faster than the UAV10 from the time point T0 to the time point T1 The movement speed of UAV10 when moving is slow. The UAV control unit 30 may move the UAV 10 from the position P1 to the position P0 at a movement speed slower than the movement speed of the UAV 10 when the UAV 10 moves from the time point T0 to the time point T1, thereby ensuring the run-up distance.

Then, UAV10 sets the movement speed to movement speed V1 using the approach distance from time point T0 to time point T1. From time point T1 to time point T2, UAV10 flies from position P1 to position P2 while maintaining moving speed V1. At this time, from time point T1 to time point T2, the imaging device 100 changes the zoom magnification from the first zoom magnification to the second zoom magnification. Further, from time point T1 to time point T2, the camera 100 records a moving image.

However, the time required for the UAV 10 to move from the position P1 to the time point T2 at the time point T2 at the time P1 is the time H1. The determination section 32 may determine the setting value of the focus and the setting value of the zoom at each time point from the time point T1 to the time point T2 to move during the UAV10 from the position P1 to the position P2 at the moving speed V1, that is, at time H1 To change the focusing distance of the imaging device 100 from the first focusing distance L1 to the second focusing distance L2, and to change the zoom magnification of the imaging device 100 from the first zoom magnification to the second zoom magnification. In this way, by determining each parameter, from the time point T1 to the time point T2, it is possible to impart the effect of changing the background to the moving image while maintaining the size of the main subject in the image.

On the one hand, from time point T1 to time point T2, while changing the size of the main subject in the image, there is a case where it is desired to give the moving image an effect of changing the background at a different rate of change. For example, there are cases where the main subject in an image is increased, and it is desired to give a moving image an effect of changing the background at a different rate of change.

In this case, as shown in FIG. 17, the determination section 32 may determine the setting value of the focus and the setting value of the zoom at each time point from the time point T1 to the time point T2 to move from the position P1 at the moving speed V1 in the UAV10 While moving to the position P2, at time H1, the focus distance of the camera 100 is changed from the first focus distance L1 to the second focus distance L2, and at a time H2 shorter than the time H1, the zoom magnification of the camera 100 Changes from the first zoom magnification to the second zoom magnification. Thereby, from the time point T1 to the time point T2, while changing the size of the main subject in the image, the moving image can be given an effect of changing the background at a different rate of change.

As shown in FIG. 18, the above effect can also be obtained by setting the moving speed of the UAV 10 to a moving speed V1' which is slower than the moving speed V1.

The determining section 32 may determine the setting value of the focus and the setting value of the zoom at each time point from the time point T1 to the time point T2, so that during the movement of the UAV10 from the position P1 to the position P2' at the moving speed V1', that is At time H1, the focusing distance of the imaging device 100 is changed from the first focusing distance L1 to the second focusing distance L2', and the zoom magnification of the imaging device 100 is changed from the first zoom magnification to the second zoom magnification. At this time, the moving speed V1' is slower than the moving speed V1. The second zoom magnification is n times the first zoom magnification, and the distance from the position P1 to the position P2' is shorter than the distance n times the first focusing distance.

In this way, while the imaging apparatus 100 changes the zoom magnification from the first zoom magnification to the second zoom magnification of n times the first zoom magnification, the movement speed is adjusted so that the UAV 10 moves a distance shorter than the distance n times the first focusing distance . Thus, from the time point T1 to the time point T2, while changing the size of the main subject in the image, the moving image can be given an effect of changing the background at a different rate of change.

As described above, by adjusting the speed at which the zoom magnification is changed or the moving speed of the UAV10, for example, at the start time of sliding zoom, as the image on the wide-angle side, the first zoom magnification is taken to capture the image in The image 730 of the subject 500. At the end point of the sliding zoom, as an image on the telephoto side, an image 711 including the subject 500 in focus as shown in FIG. 19B is captured at a second zoom magnification greater than the first zoom magnification. Thereby, it is possible to give a change rate of the size of the subject 500 on the image plane and a change of the size of the background on the image plane to the moving image captured from the start time point of the slide zoom to the end time point of the slide zoom The performance is different.

It is also possible to reduce the size of the main subject in the image from time point T1 to time point T2 while giving the moving image an effect of changing the background at different rates of change. For example, while the camera 100 changes the zoom magnification from the first zoom magnification to the second zoom magnification of 1/n times the first zoom magnification, the movement speed may be adjusted so that the UAV 10 moves n times the first focusing distance distance.

FIG. 20 is a flowchart showing an example of the imaging process of the imaging device 100 mounted on the UAV 10.

UAV10 starts flying (S100). The UAV control unit 30 receives the mode setting instruction from the remote operation device 300, and sets the imaging mode of the imaging device 100 to the sliding zoom mode (S102). The UAV control unit 30 accepts the selection of the subject of interest via the live view of the imaging device 100 displayed on the display unit of the remote operation device 300 (S104). The UAV control unit 30 may have a receiving unit that receives the subject of interest from the image captured by the imaging device 100. The accepting unit may accept the selection of a plurality of subjects of interest from the image. The receiving unit may accept the selection of the subject of interest at the time point of the start of sliding zoom and the subject of interest at the time point of the end of slide zoom. The receiving unit may accept the selection of the subject of interest at each time point from the start time point of the sliding zoom to the end time point of the sliding zoom.

The UAV control unit 30 receives and sets the first zoom magnification at the first time point (slide zoom recording start time point) and the second time point (slide zoom recording end time point) via the remote operation device 300 via the remote operation device 300 And the time T (S106), which is the imaging time of the slide zoom. The UAV control section 30 may set the first zoom magnification, the second zoom magnification, and the time T according to the setting information previously stored in the memory 37 or the like. The UAV control section 30 may only accept whether to change from the telephoto side to the wide-angle side or from the wide-angle side to the telephoto side. The UAV control section 30 may set the predetermined zoom magnification on the telephoto side and the zoom magnification on the wide-angle side to the first time point and the first based on whether the telephoto side is changed to the wide-angle side or the wide-angle side to the telephoto side. Two times the zoom magnification. The UAV control unit 30 may accept the time T from a predetermined plurality of candidate times. The UAV control section 30 can set the time T by accepting a desired time mode from the long time mode, the middle time mode, and the short time mode, for example.

The acquisition unit 31 acquires information indicating the focusing distance, which is the distance from the imaging device 100 to the subject of interest (S108). The acquiring section 31 may acquire information indicating the first focusing distance of the subject of interest from the first time point. The acquisition section 31 may derive the second focusing distance based on the first zoom magnification, the second zoom magnification, and the first focusing distance. The acquisition section 31 may derive the second focusing distance by multiplying the first focusing distance by the ratio of the first zoom magnification and the second zoom magnification.

The determination unit 33 determines whether the imaging device 100 can capture a moving image that obtains a sliding zoom effect based on the time T, the first zoom magnification, the second zoom magnification, the first focus distance, and the second focus distance (S110). The determination unit 33 determines whether the camera 100 can capture a moving image that obtains a sliding zoom effect based on the time T, the first zoom magnification, the second zoom magnification, the first focus distance, and the second focus distance.

The determination section 33 may determine whether the zoom magnification of the camera 100 can be changed from the first zoom to the time T based on at least one of the time T, the first zoom magnification, the second zoom magnification, the minimum speed and the maximum speed of the zoom lens 211 The magnification is changed to the second zoom magnification. The determining unit 33 may determine whether the UAV 10 can move the difference between the first focusing distance and the second focusing distance within the time T based on the time T, the difference between the first focusing distance and the second focusing distance, and the maximum speed of the UAV 10. The determination unit 33 may determine whether there is an obstacle on the path that moves the UAV 10 by the difference between the first focus distance and the second focus distance.

When the determination unit 33 determines that the imaging device 100 cannot capture a moving image that obtains a sliding zoom effect, it notifies the user of the setting change request via the remote operation device 300. The determination section 33 may notify the user of the time T at which the sliding zoom can be shot, the first focusing distance, or the zoom magnification. When the determination unit 33 receives the setting change request from the user (S124), the UAV control unit 30 resets the zoom magnification and time according to the setting change request (S106). When receiving the movement instruction of the UAV 10 from the user, the UAV control unit 30 moves the UAV 10 relative to the subject to adjust the distance from the subject.

When there is no setting change request, the determination unit 33 notifies the user via the remote operation device 300 of an error indicating that the slide zoom cannot be photographed (S126).

When the slide zoom can be photographed, the determination unit 32 determines the setting value of the focus of the imaging device 100 at each time point from the first time point to the second time point, the setting value of the zoom of the imaging device 100, and the first A moving speed (S112). The determining section 32 may determine each time from the first time point to the second time point based on the movement tracking curve at the first focal length at the first time point and the movement tracking curve at the second focal length at the second time point The setting value of the focus of the imaging device 100 at the time of point, the setting value of the zoom of the imaging device 100, and the first movement speed of the UAV10.

The determination unit 32 also determines the position P0 of the UAV at the start time of the run-up based on the position P1 of the UAV 10 at the start time of the slide zoom and the first movement speed (S114). The determining unit 32 may determine the run-up distance corresponding to the first moving speed based on the correspondence relationship between the preset moving speed and the run-up distance, and determine the position P0 of the UAV at the time point of the start of the run-up based on the run-up distance.

The UAV control unit 30 moves the UAV 10 to the position P0 at the time point of the start of the run (S116). The UAV control unit 30 moves the UAV 10 from the position P1 to the position P0 at a movement speed slower than the first movement speed. Next, the UAV control unit 30 controls the UAV 10 so that the UAV 10 can move at the first moving speed at the position P1 of the UAV 10 at the first time point, which is the starting time point of the sliding zoom (S118).

The UAV control unit 30 controls the zoom lens 211 based on the setting value of the focus of the camera 100 at each time point from the first time point to the second time point, the setting value of the zoom of the camera device 100, and the moving speed of the UAV 10 The position, the position of the focus lens 210, and the movement of the UAV 10 (S120). As a result, the imaging device 100 changes the zoom magnification and the focal length while changing the distance from the subject from the first time point to the second time point. From the first point in time to the second point in time, the camera 100 moves while shooting, to maintain, for example, focus on the size of the subject on the image plane, and save the captured moving images and other data to the memory 130, etc. ( S122). As a result, the imaging device 100 can capture a moving image that maintains the size and focus state of the subject of interest on the image plane while changing the background size or the amount of blur. In addition, since the run-up distance is ensured, the sliding zoom can be recorded from a state where the movement speed of the UAV 10 is stabilized to a desired movement speed. This makes it possible to control the zoom lens 211 and the focus lens 210 without being affected by the moment of inertia of the UAV 10 so as to impart a desired effect to the image.

It should be noted that, in the above example, the example in which the UAV 10 moves along the imaging direction of the imaging device 100 has been described. However, the UAV 10 may move in a manner crossing the subject, and the posture of the imaging device 100 is controlled by the universal joint 50 so that the imaging direction of the imaging device 100 faces the object side. The UAV 10 may move while passing through the subject, while controlling the direction of the UAV 10 so that the imaging direction of the imaging device 100 faces the subject side. The UAV 10 may move while crossing the subject, while controlling the orientation of the UAV 10 and controlling the posture of the imaging device 100 via the universal joint 50 so that the imaging direction of the imaging device 100 faces the subject side. The UAV 10 may control at least one of the posture of the imaging device 100 adjusted via the universal joint 50 and the orientation of the UAV 10 while raising or lowering so that the imaging direction of the imaging device 100 faces the object side. As can be understood from FIG. 4, the movable tracking range is, for example, between the zoom tracking curve 601 and the zoom tracking curve 602. Therefore, it can be set that the UAV10 can move within the range of movable tracking. The movable range can be set as a three-dimensional space area. That is, by using the mobile tracking mode, the movable area of the UAV10 can be controlled. The movable area of the UAV 10 can be set as a hollow sphere in the three-dimensional space centered on the subject or a hollow hemisphere in the three-dimensional space. The movable area of the UAV 10 may be set based on at least one of the time T, the first zoom magnification, the second zoom magnification, the minimum speed of the zoom lens 211, the maximum speed of the zoom lens 211, and the maximum speed of the UAV 10.

The imaging device 100 may adjust the aperture from the first time point to the second time point. The determining section 32 may determine the aperture of the camera 100 at each time point from the first time point to the second time point based on the time T, the first zoom magnification, the second zoom magnification, the first focus distance, and the second focus distance value. The determining section 32 may determine the control value of the aperture of the camera 100 at each time point from the first time point to the second time point so that the degree of blurring of the background from the first time point to the second time point does not change . The determination unit 32 may determine the aperture as the first control value at the first zoom magnification (telephoto side) at the first time point, and at the second magnification (wide angle side) less than the first zoom magnification at the second time point , The aperture is determined to be a second control value less than the first control value.

The imaging device 100 may adjust the F value from the first time point to the second time point. The determining section 32 may determine the F of the imaging apparatus 100 at each time point from the first time point to the second time point based on the time T, the first zoom magnification, the second zoom magnification, the first focus distance, and the second focus distance value. The determination section 32 may determine the F value of the camera 100 at each time point from the first time point to the second time point so that the brightness in the image of the subject of interest from the first time point to the second time point (Luminance value) will not change. The determining section 32 may determine the F value as the first control value at the first zoom magnification (telephoto side) at the first time point, and the second magnification (wide angle side) at the second time point that is smaller than the first zoom magnification , The F value is determined to be a second control value greater than the first control value.

The camera 100 can adjust the ISO sensitivity (gain) from the first time point to the second time point. The determination section 32 may determine the ISO of the imaging device 100 at each time point from the first time point to the second time point based on the time T, the first zoom magnification, the second zoom magnification, the first focus distance, and the second focus distance Sensitivity. The determination section 32 may determine the ISO of the imaging device 100 at each time point from the first time point to the second time point based on the time T, the first zoom magnification, the second zoom magnification, the first focus distance, and the second focus distance Sensitivity and shutter speed. The determination section 32 may determine the ISO of the imaging device 100 at each time point from the first time point to the second time point based on the time T, the first zoom magnification, the second zoom magnification, the first focus distance, and the second focus distance Sensitivity and shutter speed to keep exposure constant.

To reduce the flicker of the image, the camera 100 can disable the automatic exposure function and the automatic white balance function when operating in the sliding zoom mode.

The UAV 10 can move such that the selected subject of interest is included in the center area of the image captured by the camera 100. Alternatively, the UAV 10 may be moved in such a manner that any point other than the subject of interest in the image captured by the camera 100 at the first time point is included in the central area of the image. In sliding zoom, electronic zoom can be performed after optical zoom. When sliding zoom is performed, optical zoom can be performed after electronic zoom. This can extend the movable distance of UAV10. Thereby, the sliding zoom effect can be better realized.

FIG. 21 shows an example of a computer 1200 that can embody various aspects of the present disclosure in whole or in part. The program installed on the computer 1200 can cause the computer 1200 to function as an operation associated with a device related to an embodiment of the present disclosure or one or more "parts" of the device. Alternatively, the program can cause the computer 1200 to perform the operation or the one or more "parts". This program enables the computer 1200 to execute the process involved in the embodiments of the present disclosure or the stages of the process. Such a program may be executed by the CPU 1212 to cause the computer 1200 to perform specific operations associated with some or all of the blocks in the flowcharts and block diagrams described in this specification.

The computer 1200 of this embodiment includes a CPU 1212 and a RAM 1214, which are connected to each other through a host controller 1210. The computer 1200 also includes a communication interface 1222 and an input/output unit, which are connected to the host controller 1210 through the input/output controller 1220. The computer 1200 also includes a ROM 1230. The CPU 1212 operates in accordance with the programs stored in the ROM 1230 and the RAM 1214 to control each unit.

The communication interface 1222 communicates with other electronic devices through 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 quotation program and the like executed by the computer 1200 during operation, and/or a program dependent on the hardware of the computer 1200. The program is provided through a computer-readable recording medium such as a CR-ROM, USB memory, or IC card, or a network. The program is installed in the RAM 1214 or 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 constituted according to operations or processes that can realize information as the computer 1200 is used.

For example, when performing communication between the computer 1200 and an external device, the CPU 1212 can execute the communication program loaded in the RAM 1214 and instruct the communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 1212, the communication interface 1222 reads the transmission data stored in the transmission buffer provided in the recording medium such as RAM 1214 or USB memory, and transmits the read transmission data to the network, or receives from the network The received data is written into the receive buffer provided in the recording medium, etc.

In addition, the CPU 1212 can cause the RAM 1214 to read all or necessary parts of files or databases stored in an external recording medium such as a USB memory, and perform various types of processing on the data on the RAM 1214. Then, the CPU 1212 can write the processed data back to the external recording medium.

Various types of information such as various types of programs, data, tables, and databases can be stored in the recording medium and subjected to information processing. For the data read from the RAM 1214, the CPU 1212 can perform various types of operations, information processing, condition judgment, conditional transfer, unconditional transfer, and information retrieval described in various places of the present disclosure, including specified by the instruction sequence of the program Replacement and other types of processing, and write the results back to RAM1214. In addition, the CPU 1212 can retrieve information in files, databases, etc. in the recording medium. For example, when a plurality of entries having the 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 specified first attribute from the multiple entries An item matching the condition, and reading the attribute value of the second attribute stored in the item, thereby obtaining the attribute value of the second attribute associated with the first attribute satisfying the predetermined condition.

The program or software module described above may be stored on the computer 1200 or on a computer-readable storage medium near the computer 1200. In addition, a recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet may be used as a computer-readable storage medium, thereby providing the program to the computer 1200 through the network.

It should be noted that the execution order of actions, sequences, steps, and stages in the devices, systems, programs, and methods shown in the claims, the description, and the drawings of the description, unless otherwise specifically stated "in... "Before", "Before", etc., and as long as the output of the previous processing is not used in the subsequent processing, it can be implemented in any order. The operation flow in the claims, the description, and the drawings in the description has been described using "first", "next", etc. for convenience, but this does not mean that they must be implemented in this order.

The present disclosure has been described above using embodiments, but the technical scope of the present disclosure is not limited to the scope described in the above embodiments. It is obvious to those skilled in the art that various changes or improvements can be made to the above-mentioned embodiments. It is apparent from the description of the claims that such changes or improvements can be included in the technical scope of the present disclosure.

【Symbol Description】

10 UAV

20 UAV body

30 UAV Control Department

31 Acquisition Department

32 Confirmation Department

33 Judgment Department

34 Notification Department

36 Communication interface

37 memory

40 Promotion Department

41 GPS receiver

42 Inertial measurement device

43 Magnetic compass

44 Barometric altimeter

45 Temperature sensor

46 Humidity sensor

50 universal joint

60 camera device

100 camera device

102 Camera Department

110 Camera Control Department

120 image sensor

130 memory

200 Lens Department

210 focusing lens

211 zoom lens

212, 213 lens drive unit

214, 215 position sensor

220 Lens Control Department

222 memory

300 remote operation device

1200 computer

1210 Host controller

1212 CPU

1214 RAM

1220 Input/Output Controller

1222 Communication interface

1230ROM

Claims

A determination device includes: a first determination unit that determines a setting value of a focus of an imaging device mounted on a moving body at each time point from a first time point to a second time point, and a zoom setting of the imaging device Setting value and moving speed of the moving body; and

A second determination unit that determines the first time based on the first position of the mobile body at the first time point and the first speed and the speed of the mobile body at the first time point The position of the moving body at the third time point before the time point is the third position, so that the moving body can move at the first position at the first moving speed at the first time point.
The determination device according to claim 1, wherein the first determination section determines the setting value of the focus and the setting of the zoom at each time point from the first time point to the second time point Value and the moving speed to change the zoom magnification of the imaging device from the first zoom magnification to the second zoom magnification between the first time point and the second time point, and make the imaging device The focus distance changes from the first focus distance to the second focus distance.
The determining device according to claim 2, wherein the second zoom magnification is n times the first zoom magnification,

The second focusing distance is n times the first focusing distance,

The distance between the first position and the second time point, that is, the distance between the first position and the second position, corresponds to the distance between the first focusing distance and the second focusing distance.
The determination device according to claim 2, wherein the time required for the moving body to move from the first position to the second position at the first movement speed is the first time, and the second position is the The position of the moving body at the second time point,

The first determination unit determines the setting value of the focus and the setting value of the zoom at each time point from the first time point to the second time point, so that During a movement speed moving from the first position to the second position, that is, during the first time, the focusing distance of the camera device is changed from the first focusing distance to the second focusing distance And change the zoom magnification of the camera from the first zoom magnification to the second zoom magnification.
The determination device according to claim 2, wherein the time required for the moving body to move from the first position to the second position at the first movement speed is the first time, and the second position is the The position of the moving body at the second time point,

The first determination unit determines the setting value of the focus and the setting value of the zoom at each time point from the first time point to the second time point, so that the moving body During the movement of the speed from the first position to the second position, that is, within the first time, the focusing distance of the camera device is changed from the first focusing distance to the second focusing distance, and At a second time shorter than the first time, the zoom magnification of the imaging device is changed from the first zoom magnification to the second zoom magnification.
The determination device according to claim 1, wherein the first determination unit determines that the moving speed of the moving body when the moving body moves from the fourth position to the third position is smaller than the moving body The moving speed of the mobile body when moving from the third time point to the first time point, and the fourth position is the position of the mobile body at a fourth time point that is earlier than the third time point.
The determining device according to claim 6, wherein the fourth position is the same as the first position.
The determination device according to claim 2, wherein the time required for the moving body to move from the first position to the second position at the first movement speed is the first time, and the second position is the The position of the moving body at the second time point,

The first determination unit determines the setting value of the focus and the setting value of the zoom at each time point from the first time point to the second time point, so that the moving body During the movement of the speed from the first position to the second position, that is, within the first time, the focusing distance of the camera device is changed from the first focusing distance to the second focusing distance, and Changing the zoom magnification of the camera device from the first zoom magnification to the second zoom magnification,

The second zoom magnification is n times the first zoom magnification,

The distance from the first position to the second position is shorter than the distance n times the first focusing distance.
A mobile body comprising the determination device according to any one of claims 1 to 8 and the camera device and moving, including:

A first control unit that moves the moving body from the third position to the first position, and at the first time point, controls the moving body so that the speed of the moving body becomes the After the first moving speed, the moving body is controlled to maintain the speed of the moving body from the first position to the second position at the first moving speed, and the second position is the position at the second time point State the position of the moving body; and

The second control unit performs a control that changes the zoom magnification of the camera from the first zoom magnification to the second zoom magnification from the first time to the second time, and causes the The focusing distance of the camera device changes from the first focusing distance to the second focusing distance.
The mobile body according to claim 9, wherein from the fourth time point prior to the third time point to the third time point, the first control unit moves the mobile body from the fourth position After moving to the third position, at the first time point, the moving body is controlled so that the moving speed of the moving body becomes the first moving speed at the first position, and the fourth position Is the position of the moving body at the fourth time point.
The mobile body according to claim 10, further comprising: a notification section that notifies the outside world that the mobile body will move from the fourth position to the second position before moving from the first position to the second position The third position moves.
The mobile body according to claim 11, wherein the fourth position is the same as the first position.
The mobile body according to claim 10, wherein the first control unit causes the mobile body to move the mobile body at a speed lower than the moving speed of the mobile body when the mobile body moves from the third time point to the first time point Move from the fourth position to the third position.
A determination method includes the following stages: determining the setting value of the focus of the camera device mounted on the mobile body at each time point from the first time point to the second time point, the setting value of the zoom of the camera device, and The moving speed of the moving body; and

The third position prior to the first time point is determined based on the position of the moving body at the first time point, that is, the first position, and the speed of the moving body at the first time point, that is, the first speed The position of the moving body at the time point, so that the moving body can move at the first position at the first moving speed at the first time point.
A program for causing a computer to function as the determination device according to any one of claims 1 to 8.