WO2021115175A1 - 图像处理装置、图像处理方法、程序及记录介质 - Google Patents

图像处理装置、图像处理方法、程序及记录介质 Download PDF

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Publication number
WO2021115175A1
WO2021115175A1 PCT/CN2020/133313 CN2020133313W WO2021115175A1 WO 2021115175 A1 WO2021115175 A1 WO 2021115175A1 CN 2020133313 W CN2020133313 W CN 2020133313W WO 2021115175 A1 WO2021115175 A1 WO 2021115175A1
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WO
WIPO (PCT)
Prior art keywords
image
color
image processing
unit
imaging unit
Prior art date
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PCT/CN2020/133313
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English (en)
French (fr)
Inventor
周杰旻
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深圳市大疆创新科技有限公司
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Publication of WO2021115175A1 publication Critical patent/WO2021115175A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C17/00—Aircraft stabilisation not otherwise provided for
    • B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
    • B64C17/06—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus by gyroscopic apparatus
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/28—Systems for automatic generation of focusing signals
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/28—Systems for automatic generation of focusing signals
    • G02B7/36—Systems for automatic generation of focusing signals using image sharpness techniques, e.g. image processing techniques for generating autofocus signals
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
    • G03B13/32—Means for focusing
    • G03B13/34—Power focusing
    • G03B13/36—Autofocus systems
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/02—Illuminating scene
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B7/00—Control of exposure by setting shutters, diaphragms or filters, separately or conjointly
    • G03B7/08—Control effected solely on the basis of the response, to the intensity of the light received by the camera, of a built-in light-sensitive device
    • G03B7/091—Digital circuits
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment

Definitions

  • the present disclosure relates to an image processing device, an image processing method, a program, and a recording medium.
  • an unmanned aircraft that includes: an internal frame, an internal flight propulsion system mounted on the internal frame, an external frame, a universal joint system, a control system, a power source, an external frame drive system, and a camera (refer to the patent Literature 1).
  • the universal joint system has two rotating joints that combine the internal flight propulsion system with the external frame.
  • Patent Document 1 European Patent Application Publication No. 3450310 Specification
  • the camera is arranged on the outer side of the outer frame, or the outer frame is arranged on the inner side of the inner outer frame of the outer frame without overlapping the imaging range of the camera.
  • there is no external frame within the imaging range of the camera which may result in insufficient resistance of the camera to collisions from obstacles.
  • the outer frame overlaps the imaging range of the camera, and the image quality based on the captured image may be degraded. For example, there are the following possibilities: aligning the focus position to an unintended area in the image, adjusting the brightness, or adjusting the white balance.
  • this may be because there is an external frame in the imaging range, so in addition to the desired subject, an external frame is added to perform image detection. Therefore, it is expected that the camera can be sufficiently protected against impacts from the outside of the unmanned aircraft, and the detection accuracy of the image taken by the unmanned aircraft will be improved.
  • an image processing device that processes images taken by an imaging unit included in a flying body surrounded by a frame body, and includes an image processing unit that processes the image, and the image processing unit is located on the frame body.
  • the color of the frame is a predetermined color, determine the first color with a smaller proportion in all colors of the scene photographed by the imaging unit; when the color of the frame is the first color, the scene is captured by the imaging unit The first image taken; the detection value is calculated according to the first image and the first color, and the detection value is used for at least one of automatic exposure control, automatic focus control, and automatic white balance control.
  • the image processing unit may acquire a second image taken of the scene, and determine the first color with a smaller proportion included in all colors of the second image.
  • the image processing unit can perform hue detection on the second image, calculate a hue histogram representing the number of pixels of each hue in the second image through hue detection, and determine the hue corresponding to the hue whose number of pixels is less than or equal to the threshold in the hue histogram. That is the first color.
  • the second image may be an RGB image converted based on a captured image captured by the imaging section.
  • the image processing apparatus may further include a first control section that presents the first color information.
  • the frame body may include a light emitting part capable of emitting light of a plurality of colors.
  • the image processing unit may further include a second control unit that controls the light emission of the light emitting unit and changes the color of the frame of the frame body to the first color.
  • the image processing unit may generate a third image from which the high-frequency components of the first image are extracted, subtract the first color component in the first image from the third image to generate a fourth image, and calculate the fourth image for automatic The detection value of the focus control.
  • the image processing unit may subtract the first color component in the first image from the first image to generate a fifth image, and calculate a detection value for automatic exposure control or automatic white balance control for the fifth image.
  • the image processing device may further include: a third control unit that controls the imaging by the imaging unit based on the detection value.
  • the third control unit may control at least one of the lens, shutter, aperture, neutral density filter of the imaging unit, and image processing performed on the first image by the image processing unit based on the detection value.
  • the frame body can freely rotate relative to the imaging unit.
  • the image processing device may be a flying object.
  • an image processing method which processes an image captured by an imaging unit included in a flying body surrounded by a frame body, including the following steps: in a state where the color of the frame of the frame body is a predetermined color, Determine the first color with a smaller proportion in all the colors of the scene photographed by the camera section; in the state where the color of the frame is the first color, obtain the first image photographed by the camera section of the scene; A detection value is calculated for an image and a first color, and the detection value is used for at least one of automatic exposure control, automatic focus control, and automatic white balance control.
  • the step of determining the first color may include the following steps: before acquiring the first image, acquiring a second image taken of the scene; determining the first color with a smaller proportion contained in all colors of the second image.
  • the step of determining the first color may include the following steps: performing hue detection on the second image; calculating a hue histogram representing the number of pixels of each hue pixel in the second image by hue detection; determining the equivalent number of pixels in the hue histogram The first color of the hue that is less than or equal to the threshold.
  • the second image may be an RGB image converted based on a captured image captured by the imaging section.
  • the image processing method may further include a step of prompting the first color information.
  • the frame body may include a light emitting part capable of emitting light of a plurality of colors.
  • the image processing method may further include the steps of: controlling the light emission of the light emitting unit, and changing the color of the frame of the frame body to the first color.
  • the step of calculating the detection value may include the following steps: generating a third image in which the high-frequency component of the first image is extracted; subtracting the first color component in the first image from the third image to generate a fourth image; and The fourth image calculates the detection value for auto focus control.
  • the step of calculating the detection value may include the following steps: subtracting the first color component in the first image from the first image to generate a fifth image; calculating the detection for automatic exposure control or automatic white balance control for the fifth image value.
  • the image processing method may further include a step of controlling the imaging of the imaging unit based on the detection value.
  • the step of controlling the shooting of the imaging unit may include the step of controlling at least one of the lens, shutter, aperture, neutral density filter of the imaging unit, and image processing of the first image according to the detection value.
  • the frame body can freely rotate relative to the imaging unit.
  • the image processing method can be executed by an image processing device.
  • the image processing device may be a flying object.
  • a computer-readable storage medium for storing a program for causing an image processing device that processes an image taken by an imaging unit included in a flying body surrounded by a frame body to execute the following Step: When the color of the frame of the frame body is a predetermined color, determine the first color with a smaller proportion in all the colors of the scene photographed by the imaging unit; when the color of the frame is the first color , Acquire a first image captured by the camera of the scene; calculate a detection value based on the first image and the first color, and the detection value is used for at least one of automatic exposure control, automatic focus control, and automatic white balance control.
  • FIG. 1 is a schematic diagram showing a configuration example of a flying body system in an embodiment
  • Figure 2 is a diagram showing an example of a specific appearance of an unmanned aircraft
  • Figure 3 is a block diagram showing an example of the hardware configuration of an unmanned aircraft
  • Fig. 4 is a block diagram showing a configuration example of the imaging unit
  • Fig. 5 is a block diagram showing an example of the hardware configuration of the terminal.
  • Fig. 6 is a diagram illustrating the outline of the operation of the unmanned aircraft.
  • FIG. 7 is a diagram showing a specific example of the frame color of the protection frame.
  • FIG. 8 is a diagram showing an example of detection for autofocus control in consideration of a protection frame.
  • FIG. 9 is a diagram showing an example of detection for automatic exposure control or automatic white balance control in consideration of a protective frame.
  • Fig. 10 is a flowchart showing an example of the operation of the unmanned aircraft.
  • the flying object is an unmanned aerial vehicle (UAV: Unmanned Aerial Vehicle) as an example.
  • UAV Unmanned Aerial Vehicle
  • the image processing device is, for example, an unmanned aircraft, but it may also be another device (for example, a terminal, a transmitter, a server, and other image processing devices). Image processing methods are used to specify the movements of flying objects.
  • a program for example, a program that causes the flying body to execute various processes is recorded in the recording medium.
  • the “section” or “device” described in the following embodiments is not limited to a physical structure realized by hardware, but also includes an element that realizes the function of the structure by software such as a program.
  • the function of one structure may be realized by two or more physical structures, or the function of two or more structures may also be realized by, for example, one physical structure.
  • the “acquisition” mentioned in the embodiment is not limited to the action of directly acquiring information or signals, etc. It also includes, for example, any of acquisition by the processing unit through the communication unit, that is, reception and acquisition from a storage unit (such as a memory, etc.) By. The understanding and interpretation of these terms are also the same in the description of the claims.
  • FIG. 1 is a schematic diagram showing a configuration example of a flying body system 10 in the embodiment.
  • the flying body system 10 includes an unmanned aircraft 100 and a terminal 80.
  • the unmanned aircraft 100 and the terminal 80 may communicate with each other through wired communication or wireless communication (for example, a wireless LAN (Local Area Network)).
  • the terminal 80 exemplifies a portable terminal (such as a smart phone or a tablet terminal), but it may also be another terminal (such as a PC (Personal Computer, personal computer), which can be manipulated by a joystick for unmanned driving
  • FIG. 2 is a diagram showing an example of a specific appearance of unmanned aircraft 100. As shown in FIG. FIG. 2 shows a perspective view when the unmanned aircraft 100 is flying in the moving direction STV0.
  • the roll axis is set in a direction parallel to the ground and along the moving direction STV0 (refer to the x-axis).
  • the pitch axis is set in a direction parallel to the ground and perpendicular to the roll axis (refer to the y-axis)
  • the yaw axis is set in a direction perpendicular to the ground and perpendicular to the roll and pitch axes (refer to the z-axis) .
  • the unmanned aircraft 100 includes a UAV main body 102, a universal joint 200, a camera unit 220, and a protective frame body 300.
  • the protective frame body 300 may not be included in the unmanned aircraft 100, but be handled separately from the unmanned aircraft 100.
  • the protective frame body 300 supported by the universal joint 200 is also called a universal ball.
  • the universal joint 200 stabilizes at least the posture of the imaging unit 220.
  • the UAV main body 102 includes a plurality of rotor wings 211 (propellers).
  • the UAV main body 102 makes the unmanned aircraft 100 fly by controlling the rotation of the plurality of rotor wings 211.
  • the UAV main body 102 uses, for example, four rotors 211 to make the unmanned aircraft 100 fly.
  • the number of rotors is not limited to four.
  • the unmanned aircraft 100 may be a fixed-wing aircraft without rotors.
  • the UAV main body 102 may contain a processor, a memory, an actuator, a battery, and the like.
  • the universal joint 200 includes a pitch rotation frame 201, a roll rotation frame 202, and a yaw rotation frame 203.
  • the pitch rotating frame 201 penetrates the connecting body 206.
  • the connecting body 206 is connected to the UAV main body 102 and the imaging unit 220.
  • the pitch and rotation frame 201 may be connected to the roll and rotation frame 202 through a connecting portion 207.
  • the rolling and rotating frame 202 has a circular shape, but it is not limited to this.
  • the rolling rotation frame 202 may be connected to the yaw rotation frame 203 through a connecting portion 208.
  • the yaw rotating frame 203 has a circular shape, but it is not limited to this.
  • the yaw rotating frame 203 is connected to the protective frame body 300 through the connecting portion 209.
  • the pitch rotation frame 201, the roll rotation frame 202, and the yaw rotation frame 203 can be rotated by, for example, the driving force of an actuator.
  • the pitch rotation frame 201 can rotate relative to the roll rotation frame 202 based on the connection part 207, that is, it can rotate around the pitch axis.
  • the rolling rotation frame 202 can rotate relative to the yaw rotation frame 203 based on the connecting portion 208, that is, it can rotate around the rolling axis.
  • the yaw rotating frame 203 can rotate relative to the protective frame body 300 based on the connecting portion 209, that is, can rotate around the yaw axis.
  • the pitch rotating frame 201 may rotate relative to the connecting body 206 or may rotate integrally with the connecting body 206.
  • the roll rotation frame 202 can rotate with respect to the pitch rotation frame 201 based on the connection portion 207, that is, it can rotate around the pitch axis.
  • the yaw rotation frame 203 can rotate relative to the roll rotation frame 202 based on the connection portion 208, that is, it can rotate around the roll axis.
  • the protective frame body 300 can rotate with respect to the yaw rotating frame 203 based on the connecting portion 209, that is, can rotate around the yaw axis.
  • the protective frame body 300 may rotate with respect to the yaw rotation frame 203, and may also rotate integrally with the yaw rotation frame 203.
  • the imaging unit 220 is rotatably supported by the universal joint 200.
  • the imaging unit 220 freely rotates with at least one of the pitch axis, the roll axis, and the yaw axis as the rotation center.
  • the protective frame body 300 is rotatably supported on the universal joint 200.
  • the protective frame body 300 can freely rotate with at least one of the pitch axis, the roll axis, and the yaw axis as the rotation center.
  • the imaging unit 220 is formed in the shape of a rectangular parallelepiped, but it is not limited to this.
  • the lens of the imaging unit 220 in the imaging unit 220 is provided so as to be exposed from the side surface (for example, the front) of the housing of the imaging unit 220, so that the front direction (forward) can be photographed.
  • the front may be the direction of the nose of the unmanned aircraft 100, for example, it may be the same as the moving direction STV0 in FIG. 2 or not. Since the imaging unit 220 is rotatable in three axial directions through the universal joint 200, the rotation control of the universal joint 200 can capture images in various directions in the three-dimensional space.
  • the protective frame body 300 surrounds the UAV main body 102, the universal joint 200, and the imaging unit 220, and accommodates them in the protective frame body 300. Thereby, the UAV main body 102, the universal joint 200, and the imaging unit 220 included in the protective frame body 300 are resistant to impact from the outside of the protective frame body 300. Therefore, even if there is an obstacle around the unmanned aircraft 100, the posture of each part of the unmanned aircraft 100 (for example, the imaging unit 220) can be maintained with high accuracy.
  • the protection frame body 300 is formed by combining a plurality of protection frames 310.
  • the protective frame body 300 is formed in, for example, a substantially polyhedral shape. In FIG. 2, three protection frames 310 form a substantially regular triangle, and a plurality of substantially triangles are combined to form a protection frame body 300.
  • the shape of the protective frame body 300 is not limited to this.
  • the protective frame body 300 can be connected to the universal joint 200 from the outside of the universal joint 200. Thereby, the posture of the imaging unit 220 is stabilized, and the imaging range in the three-dimensional space can be stabilized and easily obtained.
  • the protective frame body 300 may surround the rotor 211.
  • the resistance of the rotor 211 to impact from the outside can also be improved.
  • the unmanned aircraft 100 can be prevented from colliding with the obstacle and falling.
  • the imaging unit 220 may include an imaging camera that captures a subject included in a desired imaging range.
  • the unmanned aircraft 100 can fly in any position, and can fly around the unmanned aircraft 100 where there are obstacles that hinder flight (for example, in a relatively narrow space, indoors).
  • the subject photographed by the imaging unit 220 may include any subject, and may include an object installed indoors, an object existing in a construction site or an inspection site, and the like.
  • the captured image captured by the imaging unit 220 may include at least one of a still image and a moving image.
  • the dynamic image may include a live view image.
  • the universal joint 200 is a three-axis universal joint that maintains a stable posture with respect to the three-axis of the pitch axis, the roll axis, and the yaw axis, but it is not limited to this.
  • it may be a two-axis universal joint that maintains a stable posture with respect to the two axes of the pitch axis and the roll axis.
  • the lens of the imaging unit 220 is provided on the front surface of the housing, but it is not limited to this.
  • the imaging unit 220 may also be arranged to face any one of up, down, front, and rear, left, and right directions in the three-dimensional space.
  • the imaging unit 220 can rotate relative to the connecting body 206 in at least one of the roll axis, the pitch axis, and the yaw axis.
  • one imaging unit 220 is illustrated, and the imaging unit 220 is connected to the connecting body 206, but it is not limited to this.
  • the imaging unit 220 may include a sensor camera that photographs the surroundings of the unmanned aircraft 100.
  • the imaging unit 220 may be provided on the side surface (for example, the front surface) or the bottom surface of the UAV main body 102.
  • a plurality of imaging units 220 may be paired to function as a so-called stereo camera.
  • the imaging unit 220 may have a single focus lens or a fisheye lens.
  • the connecting body 206 may be a part of the UAV main body 102 or the imaging unit 220.
  • the imaging unit 220 may also be mounted on the UAV main body 102.
  • FIG. 3 is a block diagram showing an example of the hardware configuration of unmanned aircraft 100.
  • the unmanned aircraft 100 includes a UAV control unit 110, a communication unit 150, a storage unit 160, a universal joint 200, a rotor mechanism 210, a camera unit 220, a GPS receiver 240, an inertial measurement unit (IMU: Inertial Measurement Unit) 250, a magnetic Compass 260, barometric altimeter 270, ultrasonic sensor 280, laser measuring device 290, and protective frame body 300.
  • IMU Inertial Measurement Unit
  • the UAV control unit 110 is configured using a processor (for example, a CPU (Central Processing Unit, central processing unit), an MPU (Micro Processing Unit, microprocessor), or a DSP (Digital Signal Processor, digital signal processor)).
  • the UAV control unit 110 performs signal processing for overall control of the operation of each part of the unmanned aircraft 100, data input/output processing with other parts, data arithmetic processing, and data storage processing.
  • the UAV control unit 110 may control the flight of the unmanned aircraft 100 according to a program stored in the storage unit 160.
  • the UAV control unit 110 may control the flight of the unmanned aircraft 100 according to an instruction based on the flight control of the terminal 80.
  • the UAV control unit 110 acquires position information indicating the position of the unmanned aircraft 100.
  • the UAV control unit 110 can obtain position information indicating the latitude, longitude, and altitude where the unmanned aircraft 100 is located from the GPS receiver 240.
  • the UAV control unit 110 may obtain latitude and longitude information indicating the latitude and longitude of the unmanned aircraft 100 from the GPS receiver 240, and obtain altitude information indicating the altitude of the unmanned aircraft 100 from the barometric altimeter 270 as position information.
  • the UAV control unit 110 may obtain the distance between the ultrasonic radiation point and the ultrasonic reflection point generated by the ultrasonic sensor 280 as height information.
  • the UAV control unit 110 can acquire the orientation information indicating the orientation of the unmanned aircraft 100 from the magnetic compass 260.
  • the orientation information may be represented by, for example, an orientation corresponding to the orientation of the nose of the unmanned aircraft 100.
  • the UAV control unit 110 can acquire position information indicating the position where the unmanned aircraft 100 should exist when the imaging unit 220 captures the imaging range that should be captured.
  • the UAV control unit 110 may obtain position information indicating the position where the unmanned aircraft 100 should exist from the storage unit 160.
  • the UAV control unit 110 can obtain position information indicating the position where the unmanned aircraft 100 should exist from the terminal 80 through the communication unit 150.
  • the UAV control unit 110 may refer to a three-dimensional map database to specify the position where the unmanned aircraft 100 can exist, and obtain the position as position information indicating the position where the unmanned aircraft 100 should exist.
  • the UAV control unit 110 can acquire the imaging range of the imaging unit 220.
  • the UAV control unit 110 may obtain the angle of view information representing the angle of view of the imaging unit 220 from the imaging unit 220 as a parameter for determining the imaging range.
  • the UAV control unit 110 may acquire information indicating the imaging direction of the imaging unit 220 as a parameter for determining the imaging range.
  • the UAV control unit 110 may obtain posture information indicating the posture state of the imaging unit 220 from the gimbal 200 as information indicating the imaging direction of the imaging unit 220, for example.
  • the posture information of the imaging unit 220 may indicate the rotation angle from the reference rotation angle of at least one of the roll axis, the pitch axis, and the yaw axis of the universal joint 200.
  • the UAV control unit 110 may obtain position information indicating the location of the unmanned aircraft 100 as a parameter for determining the imaging range.
  • the UAV control unit 110 may limit the imaging range representing the geographic range of the imaging unit 220 according to the angle of view and the imaging direction of the imaging unit 220 and the location of the unmanned aircraft 100.
  • the UAV control unit 110 may obtain imaging range information from the storage unit 160.
  • the UAV control unit 110 may obtain imaging range information through the communication unit 150.
  • the UAV control unit 110 controls the universal joint 200, the rotor mechanism 210, and the imaging unit 220.
  • the UAV control unit 110 can control the imaging range of the imaging unit 220 by changing the imaging direction or angle of view of the imaging unit 220.
  • the UAV control unit 110 can control the imaging range of the imaging unit 220 supported by the universal joint 200 by controlling the rotation mechanism of the universal joint 200.
  • the camera range is defined by latitude, longitude and altitude.
  • the imaging range may be a range of three-dimensional spatial data defined by latitude, longitude, and altitude.
  • the imaging range may be a range of two-dimensional spatial data defined by latitude and longitude.
  • the imaging range can be determined according to the viewing angle and imaging direction of the imaging unit 220 and the location of the unmanned aircraft 100.
  • the imaging direction of the imaging unit 220 can be defined by the azimuth and depression angle of the front of the imaging unit 220 provided with the imaging lens.
  • the imaging direction of the imaging unit 220 may be a direction determined by the orientation of the nose of the unmanned aircraft 100 and the posture state of the imaging unit 220 with respect to the gimbal 200.
  • the UAV control unit 110 can determine the surrounding environment of the unmanned aircraft 100 by analyzing multiple images captured by the multiple imaging units 220.
  • the UAV control unit 110 may control the flight to avoid obstacles based on the surrounding environment of the unmanned aircraft 100.
  • unmanned aircraft 100 may not be able to avoid obstacles.
  • the UAV control unit 110 may not have an obstacle avoidance function. Even in this case, due to the existence of the protective frame body 300, the unmanned aircraft 100 can be protected even in the event of a collision.
  • the UAV control unit 110 can acquire stereo information (three-dimensional information) indicating the three-dimensional shape (three-dimensional shape) of an object existing around the unmanned aircraft 100 as the surrounding environment information of the unmanned aircraft 100.
  • the three-dimensional information can be used as surrounding environment information of unmanned aircraft 100.
  • the object may be at least a part of an object, a building, etc. installed indoors.
  • the stereo information is, for example, three-dimensional spatial data.
  • the UAV control unit 110 may generate stereo information representing the stereo shape of an object existing around the unmanned aircraft 100 based on each captured image acquired from the plurality of imaging units 220, thereby acquiring the stereo information.
  • the UAV control unit 110 can obtain three-dimensional information indicating the three-dimensional shape of an object existing around the unmanned aircraft 100 by referring to a three-dimensional map or a three-dimensional design drawing.
  • the three-dimensional map or the three-dimensional design drawing may be stored in the storage unit 160, or may be stored in a server existing on the network.
  • the three-dimensional design drawing can be used on the construction site or the maintenance site.
  • the UAV control unit 110 controls the flight of the unmanned aircraft 100 by controlling the rotor mechanism 210. That is, the UAV control unit 110 controls the position including the latitude, longitude, and altitude of the unmanned aircraft 100 by controlling the rotor mechanism 210.
  • the UAV control unit 110 can control the imaging range of the imaging unit 220 by controlling the flight of the unmanned aircraft 100.
  • the UAV control unit 110 can control the angle of view of the imaging unit 220 by controlling the zoom lens included in the imaging unit 220.
  • the UAV control unit 110 can use the digital zoom function of the camera unit 220 to control the angle of view of the camera unit 220 through digital zoom.
  • the UAV control unit 110 can move the unmanned aircraft 100 to a specific position on a specific date and time, so that the imaging unit 220 is at a desired position.
  • the UAV control unit 110 can move the unmanned aerial vehicle 100 to a specific position on a specific date and time to make the imaging unit 220 work as desired.
  • the UAV control unit 110 can control the orientation of the protective frame body 300 supported by the universal joint 200 by controlling the rotation mechanism of the universal joint 200.
  • the UAV control unit 110 may rotate the protective frame body 300 with at least one of the pitch axis, the roll axis, and the yaw axis as the center of rotation.
  • the UAV control unit 110 can control the rotation direction of the protective frame body 300, the rotation amount (rotation speed) per predetermined time, and the like. That is, for example, not only the protection frame body 300 is rotated by contact with an obstacle, but the UAV control unit 110 may spontaneously rotate the protection frame body 300.
  • the UAV control unit 110 may not rotate spontaneously, and the protective frame body 300 may not rotate spontaneously.
  • the communication unit 150 communicates with another communication device (for example, the terminal 80).
  • the communication unit 150 can perform wireless communication by any wireless communication method.
  • the communication unit 150 can perform wired communication through any wired communication method.
  • the communication section 150 may transmit the photographed image taken by the photographing section 220 or an image based on the photographed image to the terminal 80.
  • the communication section 150 may send additional information (metadata) related to the captured image or the image based on the captured image to the terminal 80.
  • the communication unit 150 may obtain flight control instruction information from the terminal 80.
  • the instruction information of the flight control may include the flight path and the flight position of the unmanned aircraft 100, and the information of the camera position used for shooting by the camera unit 220.
  • the storage unit 160 can store various information, various data, various programs, and various images.
  • the various images may include a photographed image or an image based on the photographed image.
  • the program can include the UAV control unit 110 to the universal joint 200, the rotor mechanism 210, the camera unit 220, the GPS receiver 240, the inertial measurement device 250, the magnetic compass 260, the barometric altimeter 270, the ultrasonic sensor 280, the laser measuring device 290, and the protection frame.
  • the storage 160 may be a computer-readable storage medium.
  • the storage unit 160 includes memory, and may include ROM (Read Only Memory), RAM (Random Access Memory), and the like.
  • the storage unit 160 may include at least one of HDD (Hard Disk Drive), SSD (Solid State Drive), SD card, USB (Universal Serial bus) memory, and other memories. At least a part of the storage unit 160 can be detached from the unmanned aircraft 100.
  • the universal joint 200 may rotatably support the imaging unit 220 around the yaw axis, the pitch axis, and the roll axis.
  • the gimbal 200 can change the imaging direction of the imaging unit 220 by rotating the imaging unit 220 around at least one of the yaw axis, the pitch axis, and the roll axis.
  • the universal joint 200 rotatably supports and protects the frame body 300 with the yaw axis, the pitch axis and the roll axis as the center.
  • the universal joint 200 rotates the protective frame body 300 around at least one of the yaw axis, the pitch axis, and the roll axis, so that the orientation of the protective frame body 300 can be changed.
  • the rotor mechanism 210 includes a plurality of rotor wings 211 and a plurality of drive motors that rotate the plurality of rotor wings 211.
  • the rotation of the rotor mechanism 210 is controlled by the UAV control unit 110 to cause the unmanned aircraft 100 to fly.
  • the imaging unit 220 captures a subject in a desired imaging range and generates captured image data.
  • the captured image or the image based on the captured image may be stored in a memory included in the imaging unit 220 or the storage unit 160.
  • the GPS receiver 240 receives a plurality of signals transmitted from a plurality of navigation satellites (ie, GPS satellites) that indicate time and the position (coordinate) of each GPS satellite.
  • the GPS receiver 240 calculates the position of the GPS receiver 240 (that is, the position of the unmanned aircraft 100) based on the received multiple signals.
  • the GPS receiver 240 outputs the position information of the unmanned aircraft 100 to the UAV control unit 110.
  • the UAV control unit 110 may replace the GPS receiver 240 to calculate the position information of the GPS receiver 240. In this case, the information indicating the time and the position of each GPS satellite included in the plurality of signals received by the GPS receiver 240 is input to the UAV control unit 110.
  • the inertial measurement device 250 detects the posture of the unmanned aircraft 100 and outputs the detection result to the UAV control unit 110.
  • the inertial measurement device 250 can detect the acceleration in the front and rear, left and right, and up and down directions of the unmanned aircraft 100 and the angular velocities in the three axis directions of the pitch axis, the roll axis, and the yaw axis as the posture of the unmanned aircraft 100.
  • the magnetic compass 260 detects the orientation of the nose of the unmanned aircraft 100 and outputs the detection result to the UAV control unit 110.
  • the barometric altimeter 270 detects the flying altitude of the unmanned aircraft 100 and outputs the detection result to the UAV control unit 110.
  • the ultrasonic sensor 280 emits ultrasonic waves, detects ultrasonic waves reflected by the ground and objects, and outputs the detection result to the UAV control unit 110.
  • the detection result can show the distance from the unmanned aircraft 100 to the ground, that is, the height.
  • the detection result can show the distance from the unmanned aircraft 100 to the object (subject).
  • the laser measuring instrument 290 irradiates the object with laser light, receives the reflected light reflected by the object, and measures the distance between the unmanned aircraft 100 and the object (subject) through the reflected light.
  • a time-of-flight method may be used.
  • FIG. 4 is a block diagram showing a configuration example of the imaging unit 220 included in the unmanned aircraft 100.
  • the imaging unit 220 has a housing 220z.
  • the imaging unit 220 includes a camera processor 11, a shutter 12, an imaging element 13, an image processing unit 14, a memory 15, a shutter driving unit 19, an element driving unit 20, a gain control unit 21, and a flash 18 inside the housing 220 z.
  • the imaging unit 220 includes an ND filter 32, an aperture 33, a lens group 34, a lens drive unit 36, an ND drive unit 38, and an aperture drive unit 40 in the housing 220z.
  • at least a part of each configuration in the imaging unit 220 may not be provided.
  • the camera processor 11 and the image processing unit 14 may implement various functions through different processors, or may implement various functions through the same processor.
  • the camera processor 11 determines imaging conditions related to imaging.
  • the imaging conditions may include exposure time, exposure amount, focus position, and so on.
  • the imaging conditions can be determined according to the imaging mode in which the image was taken.
  • the shooting conditions can also be determined based on the images taken in the past.
  • the camera processor 11 can control each drive unit (e.g., the element drive unit 20, the shutter drive unit 19, the aperture drive unit 40, the ND drive unit 38, and the lens drive unit 36) according to imaging conditions, so that each component (e.g., imaging element 13. At least one of the shutter 12, the aperture 33, the ND filter, and the lens group 34) operates.
  • the camera processor 11 can perform automatic exposure (AE: Automatic Exposure) control according to, for example, imaging conditions.
  • AE Automatic Exposure
  • the camera processor 11 may control at least one of the shutter 12, the aperture 33, and the ND filter 32 to adjust the amount of exposure during shooting.
  • the camera processor 11 may perform automatic focus control (AF: Automatic Focus) according to, for example, imaging conditions.
  • AF Automatic Focus
  • the camera processor 11 can control the focus position by controlling the lens of the lens group 34, for example.
  • the camera processor 11 determines image conditions related to the captured image.
  • the image conditions may include white balance and the like.
  • the image condition can be determined according to the imaging mode in which the image was taken. Image conditions can also be determined based on images taken in the past.
  • the camera processor 11 can control each component (for example, the gain control unit 21 and the image processing unit 14) according to image conditions.
  • the camera processor 11 may be linked with the image processing unit 14 according to, for example, image conditions to perform automatic white balance control (AWB: Automatic White Balance).
  • ALB Automatic White Balance
  • the camera processor 11 may send a shooting instruction to the element driving section 20, which provides a timing signal to the imaging element 13.
  • the shutter 12 is, for example, a focal plane shutter, and is driven by the shutter driving section 19.
  • the light incident when the shutter 12 is opened forms an image on the imaging surface of the imaging element 13.
  • the imaging element 13 photoelectrically converts the optical image formed on the imaging surface, and outputs it as an image signal.
  • a CCD (Charge Coupled Device) image sensor and a CMOS (Complementary Metal Oxide Semiconductor: Complementary MOS) image sensor can be used in the imaging element 13.
  • the gain control unit 21 reduces the noise of the image signal input from the imaging element 13 and controls the gain (Gain) for amplifying the image signal.
  • the image processing unit (ISP: Image Signal Processor) 14 performs analog-to-digital conversion on the image signal amplified by the gain control unit 21 to generate image data.
  • the image processing unit 14 can perform various processes such as shading correction, color correction, contour enhancement, noise removal, gamma correction, de-Bayer, and compression.
  • the image processing unit 14 can adjust the white balance.
  • the image processing unit 14 may cooperate with the gain control unit 21 to consider the gain to adjust the white balance.
  • the image processing unit 14 may perform conversion from a RAW image to an RGB image.
  • the image processing unit 14 may perform hue detection on the RAW image or the RGB image.
  • the image processing unit 14 can perform 3A detection based on the result of the hue detection to calculate the detection value.
  • the "3A" involved in 3A detection includes automatic exposure control (AE), automatic focus control (AF), and automatic white balance control (AWB).
  • the detection value of the 3A detection includes at least one detection value, which is used for automatic exposure control, automatic focus control, and automatic white balance control.
  • the calculation of the detection value may include a statistical value (for example, an average value) of the detection value of a plurality of 3A detections calculated from a plurality of images.
  • the memory 15 is a storage medium that stores various data, image data, or various programs.
  • various programs may include AE algorithm, AF algorithm, and AWB algorithm.
  • the shutter driving section 19 opens and closes the shutter 12 at a shutter speed instructed by the camera processor 11.
  • the exposure level can be adjusted by the shutter speed.
  • the element driving unit 20 is a timing generator that provides a timing signal to the imaging element 13 in accordance with a shooting instruction from the camera processor 11 and performs charge accumulation operations, readout operations, reset operations, and the like of the imaging element 13.
  • the flash 18 flashes during night shooting or backlighting (during backlight correction) according to the instruction of the camera processor 11 to illuminate the subject.
  • the flash 18 for example, an LED (light Emitting Diode) lamp is used.
  • the flash 18 may be omitted.
  • the lens group 34 condenses light from the subject and forms an image on the imaging element 13.
  • the lens group 34 may include a focus lens, a zoom lens, a lens for image shake correction, and the like.
  • the lens group 34 is driven by the lens driving section 36.
  • the lens driving unit 36 has a motor (not shown), and when a control signal from the camera processor 11 is input, the lens group 34 can be moved in the direction of the optical axis op (optical axis direction).
  • the lens driving unit 36 performs a zooming operation of moving the zoom lens to change the zoom magnification
  • the lens barrel which is a part of the housing 220z and accommodates the lens group 34 can be expanded and contracted in the front-rear direction. By moving the lens, the focus position can be adjusted.
  • the diaphragm 33 is driven by the diaphragm driving unit 40.
  • the aperture driving part 40 has a motor (not shown), and when a control signal from the camera processor 11 is input, the aperture of the aperture 33 is enlarged or reduced. The amount of exposure can be adjusted by the degree of opening of the diaphragm 33.
  • the ND filter 32 is arranged, for example, in the vicinity of the aperture 33 in the direction of the optical axis op (optical axis direction), and performs a dimming process that limits the amount of incident light.
  • the ND driving section 38 has a motor (not shown), and can insert or remove the ND filter 32 into the optical axis op when a control signal from the camera processor 11 is input. The amount of exposure can be adjusted by the amount of light reduction based on the ND filter 32.
  • FIG. 5 is a block diagram showing an example of the hardware configuration of the terminal 80.
  • the terminal 80 includes a terminal control unit 81, an operation unit 83, a communication unit 85, a storage unit 87, and a display unit 88.
  • the terminal 80 may be held by a user who desires to instruct the flight control of the unmanned aircraft 100.
  • the terminal control unit 81 is configured using, for example, a CPU, MPU, or DSP.
  • the terminal control unit 81 performs signal processing for overall control of the operation of each part of the terminal 80, data input/output processing with other parts, data arithmetic processing, and data storage processing.
  • the terminal control unit 81 can acquire data and information from the unmanned aircraft 100 through the communication unit 85.
  • the terminal control unit 81 can also acquire data and information input through the operation unit 83.
  • the terminal control unit 81 may also obtain data and information stored in the storage unit 87.
  • the terminal control unit 81 can transmit data and information to the unmanned aircraft 100 through the communication unit 85.
  • the terminal control unit 81 may send data and information to the display unit 88 and cause the display unit 88 to display display information based on the data and information.
  • the information displayed by the display unit 88 or the information sent to the unmanned aircraft 100 through the communication unit 85 may include the flight path and the flight position for the unmanned aircraft 100 to fly, and the information of the imaging position used for the imaging by the imaging unit 220.
  • the operation unit 83 receives and obtains data and information input by the user of the terminal 80.
  • the operation unit 83 may include input devices such as buttons, keys, a touch panel, and a microphone.
  • the touch panel may be composed of an operation unit 83 and a display unit 88. In this case, the operation section 83 can receive a touch operation, a click operation, a drag operation, and the like.
  • the communication unit 85 performs wireless communication with the unmanned aircraft 100 through various wireless communication methods.
  • the wireless communication method of the wireless communication may include communication based on a wireless LAN or a public wireless line.
  • the communication unit 85 can perform wired communication by any wired communication method.
  • the storage unit 87 can store various information, various data, various programs, and various images.
  • the various programs may include application programs executed by the terminal 80.
  • the storage unit 87 may be a computer-readable storage medium.
  • the storage section 87 may include ROM, RAM, and the like.
  • the storage part 87 may include at least one of HDD, SSD, SD card, USB memory, and other memory. At least a part of the storage part 87 can be detached from the terminal 80.
  • the storage unit 87 may store a captured image acquired from the unmanned aircraft 100 or an image based on the captured image.
  • the storage unit 87 may store additional information of the captured image or the image based on the captured image.
  • the display unit 88 is configured with an LCD (Liquid Crystal Display), for example, and displays various information and data output from the terminal control unit 81.
  • the display section 88 may display a captured image or an image based on the captured image.
  • the display unit 88 may also display various data and information related to the execution of the application program.
  • FIG. 6 is a diagram explaining the outline of the operation of unmanned aircraft 100.
  • the UAV control unit 110 starts imaging by the imaging unit 220 in accordance with a predetermined imaging start trigger signal.
  • the color of the protective frame 310 of the protective frame body 300 is the initial value.
  • the initial value of the color of the protective frame 310 may be any color, for example, black.
  • the imaging by the imaging unit 220 is to capture a plurality of images, and may be continuous image capturing or discontinuous image capturing, and may be moving image capturing or still image capturing.
  • the shooting start trigger signal may include: receiving a shooting start instruction from the terminal 80 through the communication unit 150 or detecting that a predetermined time to start shooting has been reached. When shooting moving images, for example, 30 images per second (equivalent to 30fps) or 60 images (equivalent to 60fps) can be obtained.
  • the camera unit 220 captures a predetermined scene.
  • the scene can represent the camera range, the subject, or the shooting environment.
  • the scene can also be linked with the camera mode set in the unmanned aircraft 100.
  • the imaging mode can be specified by the operation unit 83 of the terminal 80, and the information of the imaging mode can be sent to the unmanned aircraft 100 via the communication unit 85 and the communication unit 150.
  • the color components included in the imaging range are similar, that is, the color components of the captured images are similar.
  • the image processing unit 14 receives the image signal from the imaging element 13 and acquires the RAW image G11 as a captured image.
  • the image processing unit 14 converts the RAW image G11 into an RGB image G12.
  • the image processing unit 14 performs hue detection on the RGB image G12, and based on the result of the hue detection, determines a color with a small ratio included in all colors of the RGB image G12, that is, a color with a ratio less than or equal to a predetermined value. That is, the image processing unit 14 determines fewer colors in the photographed scene. For example, when shooting landscape scenes, since the proportion of purple in nature is small, purple can be used as a specific color.
  • the conversion to the RGB image G12 is not necessary and can be omitted.
  • the image processing unit 14 performs hue detection on the RAW image G11, and based on the result of the hue detection, determines a color with a small ratio included in all the colors of the RAW image G11.
  • the image processing unit 14 designates the specific color as the color of the protection frame 310 of the protection frame body 300. Therefore, at least one of the RAW image G11 and the RGB image G12 is an image for specifying the color of the protective frame 310, and is also referred to as the frame color specifying image G1.
  • the frame color of the protection frame 310 of the protection frame body 300 is changed to the color determined (designated) described above. For example, the frame color of the protection frame 310 is changed to purple.
  • the protective frame 310 of various colors is prepared in advance, and any person or device can replace the protective frame 310 with a specific color.
  • the UAV control unit 110 (an example of the first control unit) can display information of a specific color (an example of the first color) on the prompt unit (for example, the display unit, the sound output unit, and the vibration unit). prompt.
  • the terminal 80 may include a prompt section.
  • the terminal control unit 81 of the terminal 80 can obtain the determined color information from the unmanned aircraft 100 through the communication unit 150 and the communication unit 85, and present it on the presentation unit.
  • the user of the terminal 80 can confirm the color of the protection frame 310 of the protection frame 300 body to be changed, and can easily manually replace the protection frame 310 of the color to be changed.
  • the flight of the unmanned aircraft 100 can be controlled to return to the position of the user holding the terminal 80, for example. After the protective frame 310 is replaced, the unmanned aircraft 100 can restart the shooting of the scene of the subject.
  • the protective frame body 300 may have a light emitting part capable of emitting light of a plurality of colors.
  • the light emitting part may include, for example, an LED.
  • the light emitting part may be provided at any position in the protective frame body 300, and irradiate any position of the protective frame body 300 to cause it to emit light.
  • the light emitting part may have an LED embedded in each protection frame 310 and emit light through the LED, so that the position of the protection frame 310 in which the LED is embedded emits light.
  • the UAV control unit 110 (an example of the second control unit) can control the light emission of the light emitting unit, and change the color of the protection frame 310 of the protection frame body 300 to the above-determined color.
  • the unmanned aircraft 100 can automatically and easily change the color of the protection frame 310 of the protection frame body 300 to a certain color. In addition, this is different from the manual replacement of the protection frame 310. Since the unmanned aircraft 100 does not need to move to the replacement position of the protection frame 310 (for example, to return to the user's position), the unmanned aircraft 100 can change the protection frame while flying. 310 colors. Therefore, unmanned aerial vehicle 100 can continuously take images like moving images while flexibly changing the color of the protective frame 310 according to the scene.
  • the unmanned aircraft 100 In the state where the color of the frame of the protection frame 310 is changed, the unmanned aircraft 100 is in a flight or non-flight period, and the imaging unit 220 captures a predetermined scene.
  • the scene is the same as the scene that has been shot after the shooting started (the scene that was shot before). Therefore, an image of a scene with the same color distribution as the previously photographed scene is taken.
  • the image processing unit 14 receives the image signal from the imaging element 13 and acquires the RAW image G21 as a captured image.
  • the image processing unit 14 performs 3A detection on the RAW image G21.
  • the RAW image G21 is an image for 3A detection, and is called an image G2 for 3A detection.
  • the image processing unit 14 masks the area of the color (for example, purple) of the protective frame 310 in the image based on the RAW image G21, so as not to be the target of 3A detection.
  • the masked area (mask area MR) is not subject to 3A detection, and is not affected by 3A detection.
  • the mask area MR has the number and shape of pixels occupied by the protective frame 310 in the image based on the RAW image G21.
  • the image processing unit 14 performs 3A detection on an image based on the RAW image G21 in which a part of the area is masked, and calculates a detection value.
  • the image processing unit 14 converts the RAW image G21 into an RGB image G22 based on the result of the 3A detection of the RAW image G21 (that is, the detection value).
  • the RGB image G22 can be used as a subsequent image processing object, or can be displayed on the display unit 88 of the terminal 80 or the like.
  • the camera processor 11 controls the imaging by the imaging unit 220 based on the detection value of the 3A detection of the RAW image G21.
  • the camera processor 11 may control more than one lens included in the lens group 34, and perform automatic focus control according to a detection value used for automatic focus control.
  • the camera processor 11 can control at least one of the shutter 12 (for example, shutter speed), the ND filter 32, and the aperture 33, and perform automatic exposure control according to a detection value for automatic exposure control.
  • the camera processor 11 can control the image processing unit 14 and perform automatic white balance control based on the detection value used for the automatic white balance control.
  • the camera processor 11 can control a drive unit that drives them.
  • Unmanned aircraft 100 includes an image processing unit 14 that processes images.
  • the image processing unit 14 may determine the first color with a small ratio included in all the colors of the scene photographed by the imaging unit 220 in a state where the color of the protection frame 310 of the protection frame body 300 is a predetermined color.
  • the image processing unit 14 may acquire the 3A detection image G2 (an example of the first image) captured by the imaging unit 220 of the scene in a state where the color of the protective frame 310 is the first color.
  • the image processing unit 14 can calculate a detection value for 3A control based on the 3A detection image G2 and the first color.
  • the 3A control includes at least one of automatic exposure control (AF control), automatic focus control (AE control), and automatic white balance control (AWB control).
  • the unmanned aircraft 100 can photograph the color of the protective frame 310 as the first color that does not exist very much in the scene. Therefore, the unmanned aircraft 100 considers the first color and calculates the detection value for the 3A detection, thereby being able to derive the detection value that excludes the influence of the protective frame body 300 which is an unintended subject. Therefore, the unmanned aircraft 100 can suppress focusing on an undesired part of the area (for example, the area including the protective frame 310) within the imaging range or adjust the brightness and white balance using the area as a reference.
  • the unmanned aircraft 100 can improve the resistance to the external impact of the imaging unit 220 by surrounding the imaging unit 220 with the protective frame body 300.
  • the unmanned aircraft 100 can obtain a high-precision 3A detection detection value, it is possible to perform the imaging control of the imaging unit 220 with high accuracy and suppress obstacles in the maintenance work. In this way, the imaging unit 220 can be sufficiently protected against impacts from the outside of the unmanned aircraft 100, the detection accuracy of the image based on the captured image can be improved, and the degradation of the image quality can be suppressed.
  • the camera processor 11 (an example of the third control unit) can control the imaging of the imaging unit 220 based on the detection value of the 3A detection. Therefore, the unmanned aircraft 100 can focus on an area suppressing an undesired part of the imaging range of the imaging unit 220 or adjust the brightness based on this area by using a detection value that excludes the influence of the protective frame 310. And white balance.
  • the camera processor 11 can compare the lens, the shutter 12, the aperture 33, the ND filter 32 (an example of a neutral density filter), and the image processing unit 14 of the lens group 34 of the imaging unit 220 based on the detection value of the 3A detection. At least one of the image processing of the 3A detection image G2 is controlled. As a result, unmanned aircraft 100 can adjust the exposure, focus position, and white balance at the time of shooting using each part included in the imaging unit 220.
  • the aforementioned image processing and camera control may be mainly performed by the unmanned aircraft 100.
  • the derivation of the detection value of the 3A detection and the imaging control based on the detection value can be performed by one device, and efficient processing can be implemented and the processing time can be shortened.
  • the above-mentioned image processing and camera control may also be mainly performed by other devices (for example, the terminal 80 and the transmitter).
  • the protective frame body 300 can freely rotate with respect to the imaging unit 220. In this case, within the imaging range of the imaging unit 220, the position of the protective frame 310 changes. Even in this case, the unmanned aircraft 100 can eliminate the influence of the movable protection frame 310 and derive the detection value of the high-precision 3A detection. Therefore, unmanned aircraft 100 can perform 3A control using the high-precision 3A detection detection value. Therefore, even if the protective frame 310 moves, the unmanned aircraft 100 can keep the control quality of the 3A control stable, and can keep the image quality of the obtained image stable. For example, the unmanned aircraft 100 can suppress a sharp change in the focus position or exposure amount or white balance due to the rotation of the protective frame 310.
  • FIG. 7 is a diagram showing a specific example of the frame color of the protection frame 310.
  • the image processing unit 14 performs the following processing: performs hue detection on the RGB image G12 acquired as the frame color designation image G1, and determines, based on the result of the hue detection, a color with a smaller proportion (referred to as the RGB image G12) contained in all the colors of the RGB image G12. Determine the treatment for the frame color).
  • the determined color is designated as the frame color of the protection frame 310.
  • the frame color specification image G1 is exemplified here as the RGB image G12, it may be the RAW image G11.
  • the image processing section 14 converts the RGB value of each pixel of the RGB image G12 into an H (HUE) value (hue value). That is, the image processing unit 14 converts the RGB value of each pixel of the RGB image G12 into an H value (hue value). In this case, the image processing unit 14 can use (Expression 1) to calculate the H value from the RGB value.
  • the H value is undefined (Undefined).
  • the value of R, G, and B is the smallest value, the value of H is as shown in the second row of (Equation 1).
  • the R value among the R value, G value, and B value is the minimum value, the H value is as shown in the third row of (Equation 1).
  • the G value among the R value, G value, and B value is the smallest value, the H value is as shown in the fourth row of (Equation 1).
  • the image processing unit 14 may calculate the value of the HSV color space based on the value of the RGB color space of the RGB image G12. That is, the image processing unit 14 can calculate not only the H value, but also the S (Saturation) value (saturation value) and the V (Value) value (luminance value). Therefore, the color distribution determined by the H value, S value, and V value is at any position in the HSV color space shown by the cylinder in FIG. 7.
  • the image processing unit 14 accumulates the calculated H value, and generates a hue histogram HG that is a histogram of the H value.
  • the hue histogram HG represents the number of pixels of each hue in the RGB image G12 indicated by the HSV color components.
  • the horizontal axis represents the H value (Hue)
  • the vertical axis represents the number of pixels (Cnt) of the H value.
  • the image processing unit 14 refers to the hue histogram HG to determine the hue whose number of pixels is less than or equal to the threshold value th.
  • the number of pixels is less than or equal to the threshold th may include the case where the specified number of pixels is less than or equal to the threshold th regardless of the total number of pixels of the RGB image G12, and may also include the ratio of the specified hue to the total number of pixels of the RGB image G12 being less than or equal to Threshold value th. Therefore, a color (hue) with a small absolute number of pixels in the RGB image G12 or a color with a small relative number of pixels in the RGB image G12 is determined. That is, it is determined that there are fewer colors in the scene where the image was taken.
  • the image processing unit 14 determines the hue (H_frame) with the smallest number of pixels as shown in the hue histogram HG2.
  • the image processing unit 14 designates the determined color as the new color of the protection frame 310 of the protection frame body 300.
  • the image processing unit 14 can acquire the frame color designation image G1 (an example of the second image) captured in the same scene as the 3A detection image G2 before acquiring the 3A detection image G2.
  • the image processing unit 14 may specify the first color (for example, H_frame) with a small ratio included in all the colors of the frame color specifying image G1.
  • the unmanned aircraft 100 acquires the 3A detection image G2 based on the imaging unit 220, it can easily identify new ones that do not exist in the scene by simply adding the simple action of acquiring the frame color designation image G1. Frame color.
  • the unmanned aircraft 100 obtains a continuous image sequence like a moving image through the imaging unit 220, different image frames can be used in the series of image sequences to specify and suppress the color of the protection frame 310. 3A detection of the influence of the protection frame 310.
  • the image sequence has a plurality of image frames arranged in time series.
  • the image processing unit 14 may perform hue detection on the frame color designation image G1.
  • the image processing unit 14 can calculate a hue histogram HG representing the number of pixels of each hue in the frame color designation image G1 by hue detection.
  • the image processing unit 14 may specify the first color corresponding to the hue whose number of pixels is less than or equal to the threshold value th in the hue histogram HG.
  • the unmanned aircraft 100 can determine fewer colors in the imaging scene through the implementation of hue detection and the generation of the hue histogram HG, and specify the determined color as the new color of the protection frame 310 .
  • the frame color specifying image G1 may be an RGB image G12 converted from the RAW image G11 photographed by the imaging unit 220. As a result, it is possible to specify colors with fewer color components included in the imaging scene with higher accuracy than when using the RAW image G11. In addition, the conversion from RGB to HSV is highly versatile and easy to implement. In addition, the RAW image G11 may be used as the frame color specification image G1.
  • FIG. 8 is a diagram showing an example of detection for autofocus control in consideration of the protection frame 310.
  • the 3A detection image G2 is used to implement detection for autofocus control.
  • the image G2 for 3A detection is a RAW image G21.
  • the image processing unit 14 extracts high-frequency components from the RAW image G21 to generate an edge image G3. That is, the image processing unit 14 passes the RAW image G21 through HPF (High Pass Filter), and hardly attenuates frequency components higher than the cutoff frequency, but attenuates frequency components lower than the cutoff frequency.
  • HPF High Pass Filter
  • high-frequency components that is, edges, contours
  • FIG. 8 in the edge image G3, ⁇ , ⁇ , and ⁇ as the subject and the outline of the protective frame 310 are shown.
  • the image processing unit 14 extracts the pixels of the protective frame 310 from the pixels of the RAW image G21. In this case, the image processing unit 14 extracts pixels of the color of the protective frame 310 when the RAW image G21 was taken.
  • the pixel area of the color of the protection frame 310 is the mask area MR.
  • the image processing unit 14 subtracts the mask area MR from the edge image G3, and generates an AF detection image G4 with the mask area MR removed.
  • FIG. 8 in the image G4 for AF detection, the contours of ⁇ , ⁇ , and ⁇ as the subject are shown.
  • the image processing unit 14 performs detection (AF detection) for performing auto-focus control on the image G4 for AF detection, and calculates the detection value of the AF detection. That is, high-frequency components are detected in the AF detection, making it easy to focus.
  • the image processing unit 14 can generate the edge image G3 (an example of the third image) in which the high-frequency components of the 3A detection image G2 are extracted.
  • the image processing unit 14 may subtract the component of the color (an example of the first color) of the changed protective frame 310 in the 3A detection image G2 from the edge image G3 to generate the AF detection image G4 (the fourth image An example).
  • the image processing unit 14 may calculate a detection value used for autofocus control with respect to the image G4 for AF detection.
  • the unmanned aircraft 100 can suppress the influence of the protective frame 300 with respect to the high-frequency components (the edge portion of the image) of the 3A detection image G2 based on the color, and improve the accuracy of the autofocus control.
  • FIG. 9 is a diagram showing an example of detection for automatic exposure control or automatic white balance control in consideration of the protective frame 310.
  • the 3A detection image G2 is used to implement detection for automatic exposure control or automatic white balance control.
  • the image G2 for 3A detection is a RAW image G21.
  • the image processing unit 14 extracts the pixels of the protective frame 310 from the pixels of the RAW image G21. In this case, the image processing unit 14 extracts pixels of the color of the protective frame 310 when the RAW image G21 was taken.
  • the pixel area of the color of the protection frame 310 is the mask area MR.
  • the image processing unit 14 subtracts the mask area MR from the RAW image G21 to generate an AE/AWB detection image G5 from which the mask area MR is removed.
  • ⁇ , ⁇ , and ⁇ are shown as subjects.
  • the image processing unit 14 performs detection (AE detection) for automatic exposure control on the image G5 for AE/AWB detection, and calculates the detection value of the AE detection.
  • the image processing unit 14 performs detection (AWB detection) for automatic white balance control on the image G5 for AE/AWB detection, and calculates the detection value of the AWB detection.
  • AE/AWB detection means at least one of AE detection and AWB detection.
  • the image processing unit 14 can subtract the component of the changed color (an example of the first color) of the protective frame 310 in the 3A detection image G2 from the 3A detection image G2 to generate an AE/AWB detection image G5 (an example of the fifth image).
  • the image processing unit 14 may calculate a detection value for automatic exposure control or automatic white balance control with respect to the image for AE/AWB detection.
  • the unmanned aircraft 100 can suppress the influence of the protective frame 300 with respect to the 3A detection image G2 based on the color, and can improve the accuracy of at least one of the automatic exposure control and the automatic white balance control.
  • FIG. 10 is a flowchart showing an example of the operation of unmanned aircraft 100.
  • the image processing unit 14 acquires the RAW image G11 captured by the imaging unit 220 of a predetermined scene (S11).
  • the image processing unit 14 generates an RGB image G12 from the RAW image G11 (S12).
  • the image processing unit 14 performs hue detection on the RGB image G12 to determine fewer colors in the scene (S13).
  • the protection frame 310 of the protection frame body 300 is manually or automatically changed to a frame of a certain color (S14). In addition, S12 can be omitted.
  • the image processing unit 14 acquires the RAW image G21 of the next image frame (S15).
  • the imaging scene of the RAW image G21 is the same as the imaging scene of the RAW image G11 obtained in S11.
  • the image processing unit 14 removes the area of the protection frame 310 of the protection frame body 300 in the RAW image G21 as the mask area MR, and calculates the detection value of the 3A detection (S16). Specifically, the image processing unit 14 calculates at least one of the detection value of the AF detection, the detection value of the AE detection, and the detection value of the AWB detection.
  • the camera processor 11 controls the imaging unit 220 based on the calculated detection value of the 3A detection (S17). For example, the camera processor 11 may control at least one of the shutter 12, the aperture 33, and the ND filter 32 of the imaging unit 220 to perform automatic exposure control. The camera processor 11 can control the lenses of the lens group 34 of the imaging unit 220 to perform auto-focus control. The camera processor 11 can perform image processing on the 3A detection image G2 through the image processing unit 14 to perform automatic white balance control.
  • the imaging unit 220 has functions of imaging control and image processing. However, a part of the functions of the imaging unit 220 may be implemented dispersedly by other devices and other components.
  • the UAV control unit 110 may perform at least a part of the functions of the imaging control and image processing of the imaging unit 220.

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Abstract

一种图像处理装置，该装置对由框架体包围的飞行体所包括的摄像部拍摄的图像进行处理。图像处理装置的图像处理部在框架体的框架颜色为规定颜色的状态下，确定在由摄像部拍摄的场景的全部颜色中所包含的比例较小的第一颜色，在框架的颜色为第一颜色的状态下获取由摄像部对场景拍摄出的第一图像，根据第一图像与第一颜色计算出检波值，该检波值用于自动曝光控制、自动聚焦控制及自动白平衡控制中的至少一个。该装置能够提高由无人驾驶航空器拍摄的图像的检波精度，该无人驾驶航空器能够对来自无人驾驶航空器外部的冲击充分地保护相机。

Description

图像处理装置、图像处理方法、程序及记录介质 技术领域
本公开涉及一种图像处理装置、图像处理方法、程序及记录介质。
背景技术
以往，对降低无人驾驶航空器与其周围的障碍物碰撞造成的影响进行了研究。例如，已知有一种无人驾驶航空器，其包括：内部框架、安装在内部框架上的内部飞行推进系统、外部框架、万向节系统、控制系统、电源、外部框架驱动系统以及相机(参照专利文献1)。万向节系统具有两个旋转结合部，其将内部飞行推进系统与外部框架结合。
背景技术文献：
[专利文献]
[专利文献1]欧州专利申请公开第3450310号说明书
发明内容
发明所要解决的技术问题：
在专利文献1的无人驾驶航空器中，相机布置于外部框架的外侧，或者外部框架不与相机的摄像范围重叠地布置于外部框架的内侧外部框架的内侧。在此情况下，在相机的摄像范围内不存在外部框架，这会导致相机对来自障碍物的碰撞的抵抗不足。另外，若设想包括相机的无人驾驶航空器的整体被外部框架包围，则外部框架与相机的摄像范围重叠，导致基于拍摄图像的图像画质可能下降。例如，存在以下可能：将焦点位置确定对准于图像中的非意向的区域、调整亮度或调整白平衡。例如，这有可能是因为在摄像范围内存在有外部框架，因而除了所期望的被摄体以外还加入外部框架来进行图像的检波的缘故。因此，期待对来自无人驾驶航空器外部的冲击能够充分地保护相机，并且提高由无人驾驶航空器拍摄的图像的检波精度。
用于解决技术问题的手段：
在一个方面中，提供一种图像处理装置，其对由框架体包围的飞行体所包括的摄像部拍摄的图像进行处理，其包括对图像进行处理的图像处理部，图像处理部在框架体的框架的颜色为规定颜色的状态下，确定在由摄像部拍摄的场景的全部颜色中所包含的比例较小的第一颜色；在框架的颜色为第一颜色的状态下获取由摄像部对场景拍摄出的第一图像；根据第一图像与第一颜色计算出检波值，检波值用于自动曝光控制、自动聚焦控制及自动白平衡控制中的至少一个。
图像处理部可以在获取第一图像之前，获取对场景拍摄出的第二图像，并确定在第二图像的全部颜色中所包含的比例较小的第一颜色。
图像处理部可以对第二图像进行色相检波，通过色相检波计算表示在第二图像中各色相的像素的像素数的色相直方图，在色相直方图中确定相当于像素数小于等于阈值的色相的即第一颜色。
第二图像可以是基于由摄像部拍摄的拍摄图像而转换的RGB图像。
图像处理装置还可以包括提示第一颜色信息的第一控制部。
框架体可以包括能够发出多个颜色光的发光部。图像处理部还可以包括：第二控制部，其控制发光部的发光，将框架体的框架的颜色变更为第一颜色。
图像处理部可以生成提取出第一图像的高频成分的第三图像，从第三图像中减去第一图像中的第一颜色成分而生成第四图像，对于第四图像计算出用于自动聚焦控制的检波值。
图像处理部可以从第一图像中减去第一图像中的第一颜色成分而生成第五图像，对于第五图像计算出用于自动曝光控制或者自动白平衡控制的检波值。
图像处理装置还可以包括：第三控制部，其根据检波值来控制摄像部的拍摄。
第三控制部可以根据检波值对摄像部的镜头、快门、光圈、中性密度滤光片及图像处理部对第一图像进行的图像处理中的至少一个进行控制。
框架体可以相对于摄像部自由旋转。
图像处理装置可以是飞行体。
在一个方面中，提供一种图像处理方法，其对由框架体包围的飞行体所包括的摄像部拍摄的图像进行处理，包括以下步骤：在框架体的框架的颜色为规定颜色的状态下，确定在由摄像部拍摄的场景的全部颜色中所包含的比例较小的第一颜色；在框架的颜色为第一颜色的状态下，获取由摄像部对场景拍摄出的第一图像；根据第一图像与第一颜色计算出检波值，检波值用于自动曝光控制、自动聚焦控制及自动白平衡控制中的至少一个。
确定第一颜色的步骤可以包括以下步骤：在获取第一图像之前，获取对场景拍摄出的第二图像；确定在第二图像的全部颜色中所包含的比例较小的第一颜色。
确定第一颜色的步骤可以包括以下步骤：对第二图像进行色相检波；通过色相检波计算表示在第二图像中各色相像素的像素数的色相直方图；在色相直方图中确定相当于像素数小于等于阈值的色相的第一颜色。
第二图像可以是基于由摄像部拍摄的拍摄图像而转换的RGB图像。
图像处理方法还可以包括提示第一颜色信息的步骤。
框架体可以包括能够发出多个颜色光的发光部。图像处理方法还可以包括以下步骤：控制发光部的发光，将框架体的框架的颜色变更为第一颜色。
计算出检波值的步骤可以包括以下步骤：生成提取出第一图像的高频成分的第三图像；从第三图像中减去第一图像中的第一颜色成分而生成第四图像；以及对于第四图像计算出用于自动聚焦控制的检波值。
计算出检波值的步骤可以包括以下步骤：从第一图像中减去第一图像中的第一颜色成分而生成第五图像；对于第五图像计算用于自动曝光控制或者自动白平衡控制的检波值。
图像处理方法还可以包括根据检波值来控制摄像部的拍摄的步骤。
控制摄像部的拍摄的步骤可以包括以下步骤：根据检波值对摄像部的镜头、快门、光圈、中性密度滤光片及对第一图像的图像处理中的至少一个进行控制。
框架体可以相对于摄像部自由旋转。
图像处理方法可以由图像处理装置执行。图像处理装置可以是飞行体。
在一个方面中，提供一种程序，其用于使对由框架体包围的飞行体所包括的摄像部拍摄的图像进行处理的图像处理装置执行以下步骤：在框架体的框架的颜色为规定颜色的状态下，确定在由摄像部拍摄的场景的全部颜色中所包含的比例较小的第一颜色；在框架的颜色为第一颜色的状态下，获取由摄像部对场景拍摄出的第一图像；根据第一图像与第一颜色计算出检波值，检波值用于自动曝光控制、自动聚焦控制及自动白平衡控制中的至少一个。
在一个方面中，提供一种计算机可读存储介质，其用于存储程序，所述程序用于使对由框架体包围的飞行体所包括的摄像部拍摄的图像进行处理的图像处理装置执行以下步骤：在框架体的框架的颜色为规定颜色的状态下，确定在由摄像部拍摄的场景的全部颜色中所包含的比例较小的第一颜色；在框架的颜色为第一颜色的状态下，获取由摄像部对场景拍摄出的第一图像；根据第一图像与第一颜色计算出检波值，检波值用于自动曝光控制、自动聚焦控制及自动白平衡控制中的至少一个。
另外，上述发明的内容中并未穷举本公开的全部特征。此外，这些特征组的子组合也可以构成发明。
附图说明
图1是示出实施方式中的飞行体系统的构成示例的示意图
图2是示出无人驾驶航空器的具体外观的一个示例的图
图3是示出无人驾驶航空器的硬件构成的一个示例的框图
图4是示出摄像部的构成示例的框图
图5是示出终端的硬件构成的一个示例的框图。
图6是对无人驾驶航空器的动作概要进行说明的图。
图7是示出保护框架的框架颜色的具体示例的图。
图8是示出考虑了保护框架的自动聚焦控制用的检波示例的图。
图9是示出考虑了保护框架的自动曝光控制或者自动白平衡控制用的检波示例的图。
图10是示出无人驾驶航空器的动作示例的流程图。
符号说明：
10        飞行体系统
80        终端
81        终端控制部
83        操作部
85        通信部
87        存储部
88        显示部
100       无人驾驶航空器
110       UAV控制部
150       通信部
160       存储部
200       万向节
210       旋翼机构
220       摄像部
240       GPS接收器
250       惯性测量装置
260       磁罗盘
270       气压高度计
280       超声波传感器
290       激光测定器
300       保护框架体
310       保护框架
HG、HG2   色相直方图
G1        框架颜色指定用图像
G11       RAW图像
G12       RGB图像
G2        3A检波用图像
G21       RAW图像
G22       RGB图像
G3        边缘图像
G4        AF检波用图像
G5        AE/AWB检波用图像
具体实施方式
以下，通过本发明的实施方式来对本公开进行说明，但是以下实施方式并非限制权利要求书所涉及的发明。实施方式中说明的特征的所有组合未必是发明的解决方案所必须的。
权利要求书、说明书、说明书附图以及说明书摘要中包含作为著作权所保护对象的事项。任何人只要如专利局的文档或者记录所表示的那样进行这些文件的复制，著作权人则不会提出异议。但是，在除此以外的情况下，保留一切的著作权。
在以下实施方式中，飞行体以无人驾驶航空器(UAV：Unmanned Aerial Vehicle)为例。图像处理装置例如是无人驾驶航空器，但也可以是其他的装置(例如终端、发送器、服务器、其他的图像处理装置)。图像处理方法用于规定飞行体的动作。另外，记录介质中记录有程序(例如使飞行体执行各种处理的程序)。
以下实施方式中所述的“部”或者“装置”并不仅限于通过硬件实现的物理结构，也包括通过程序等软件实现该结构所具有的功能的要素。另外，一个结构所具有的功能可以通过两个以上的物理结构实现，或者两个以上的结构的功能也可以通过例如一个物理结构实现。另外，实施方式中所述的“获取”并不仅限于表示直接获取信息或信号等的动作，也包括例如处理部通过通信部进行获取即接收与从存储部(例如存储器等)获取中的任一者。对于这些术语的理解和解释在权利要求书的记载中也相同。
图1是示出实施方式中的飞行体系统10的构成示例的示意图。飞行体系统10包括无人驾驶航空器100及终端80。无人驾驶航空器100和终端80之间可以通过有线通信或无线通信(例如，无线LAN(Local Area Network：局域网))彼此通信。在图 1中，终端80例示了一种便携终端(例如智能电话、平板电脑终端)，但也可以是其他的终端(例如，PC(Personal Computer，个人计算机)、可通过控制杆操纵无人驾驶航空器100的发送器(遥控器))。
图2是示出无人驾驶航空器100的具体外观的一个示例的图。图2示出了当无人驾驶航空器100沿移动方向STV0飞行时的立体图。
如图2所示，滚转轴设定于与地面平行且沿着移动方向STV0的方向(参照x轴)。在此情况下，俯仰轴设定于与地面平行且与滚转轴垂直的方向(参照y轴)，偏航轴设定于与地面垂直且与滚转轴及俯仰轴垂直的方向(参照z轴)。
无人驾驶航空器100包括UAV主体102、万向节200、摄像部220、保护框架体300。此外，保护框架体300也可以不包括在无人驾驶航空器100中，而是与无人驾驶航空器100分开处理。此外，由万向节200支撑的保护框架体300也称为万向球。万向节200至少使摄像部220的姿势稳定。
UAV主体102包括多个旋翼211(螺旋桨)。UAV主体102通过控制多个旋翼211的旋转而使无人驾驶航空器100飞行。UAV主体102使用例如四个旋翼211，使无人驾驶航空器100飞行。旋翼的数量并不限于四个。另外，无人驾驶航空器100可以是没有旋翼的固定翼飞机。UAV主体102可以容纳有处理器、存储器、致动器、电池等。
万向节200包括俯仰旋转框架201、滚转旋转框架202及偏航旋转框架203。俯仰旋转框架201穿通连接体206。连接体206连接有UAV主体102及摄像部220。俯仰旋转框架201可以通过连接部207与滚转旋转框架202连接。在此，滚转旋转框架202呈圆形，但并不限于此。滚转旋转框架202可以通过连接部208与偏航旋转框架203连接。在此，偏航旋转框架203呈圆形，但并不限于此。偏航旋转框架203通过连接部209与保护框架体300连接。俯仰旋转框架201、滚转旋转框架202及偏航旋转框架203可以通过例如致动器的驱动力进行旋转。
俯仰旋转框架201可以以连接部207为基准相对于滚转旋转框架202旋转，即可以以俯仰轴为中心旋转。滚转旋转框架202可以以连接部208为基准相对于偏航旋转框架203旋转，即可以以滚转轴为中心旋转。偏航旋转框架203可以以连接部209为基准相对于保护框架体300旋转，即可以以偏航轴为中心旋转。此外，俯仰旋转框架201可以相对于连接体206旋转，也可以与连接体206一体地旋转。
另外，滚转旋转框架202可以以连接部207为基准相对于俯仰旋转框架201旋转，即可以以俯仰轴为中心旋转。偏航旋转框架203可以以连接部208为基准相对于滚转旋转框架202旋转，即可以以滚转轴为中心旋转。保护框架体300可以以连接部209为基准相对于偏航旋转框架203旋转，即可以以偏航轴为中心旋转。此外，保护框架体300可以相对于偏航旋转框架203旋转，也可以与偏航旋转框架203一体地旋转。
因此，摄像部220可旋转地支撑于万向节200。摄像部220以俯仰轴、滚转轴及偏航轴中的至少一个作为旋转中心自由旋转。同样，保护框架体300可旋转地支撑于万向节200。保护框架体300以俯仰轴、滚转轴及偏航轴中的至少一个作为旋转中心自由旋转。
在图2中，摄像部220形成为长方体的形状，但并不限于此。摄像部220中摄像部220的镜头设置为从摄像部220壳体的侧面(例如前面)露出，能够对前面方向(前方)进行拍摄。前方可以是无人驾驶航空器100的机头方向，例如可以与图2的移动方向STV0一致，也可以不一致。由于摄像部220通过万向节200在三个轴向上均可旋转，因此通过万向节200的旋转控制，可以对三维空间中的各个方向进行拍摄。
保护框架体300包围UAV主体102、万向节200及摄像部220，并将它们收容在保护框架体300的内部。由此，包含在保护框架体300内的UAV主体102、万向节200及摄像部220对来自保护框架体300外部的冲击具有耐受性。因此，即使例如无人驾驶航空器100周围存在障碍物，也能够高精度地维持无人驾驶航空器100的各部分(例如摄像部220)的姿势。
保护框架体300是由多个保护框架310组合而形成。保护框架体300形成为例如大致多面体的形状。在图2中，通过三个保护框架310形成了大致正三角形，多个大致三角形经过组合形成了保护框架体300。此外，保护框架体300的形状并不限于此。
这样，保护框架体300可以从万向节200的外侧与万向节200连接。由此，摄像部220的姿势稳定，并能够使三维空间中的摄像范围稳定易于获得。
另外，保护框架体300可以包围旋翼211。在此情况下，在无人驾驶航空器100中，也能够提高旋翼211对于来自外部的冲击的耐受性。另外，即使无人驾驶航空器100需要例如在障碍物附近飞行时，也能够抑制无人驾驶航空器100碰撞到障碍物并落下。
摄像部220可以包括摄像用相机，其对包含在所期望的摄像范围内的被摄体进行拍摄。无人驾驶航空器100可以在任意位置飞行，可以在无人驾驶航空器100周围存在妨碍飞行的障碍物的位置(例如相对狭窄的空间、室内)飞行。由摄像部220拍摄的被摄体可以包括任意的被摄体，可以包括设置在室内的物体、存在于施工现场或检修现场的物体等。由摄像部220拍摄的拍摄图像可以包括静止图像及动态图像中的至少一种。动态图像可以包括实时取景图像。
此外，在图2中，万向节200是相对于俯仰轴、滚转轴及偏航轴的三轴向使姿势保持稳定的三轴万向节，但并不限于此。例如，可以是相对于俯仰轴及滚转轴的二轴向使姿势保持稳定的二轴万向节。
此外，在图2中，摄像部220的镜头设置在壳体的前表面，但并不限于此。摄像部220也可以设置为朝向三维空间中的上下前后左右的任一方向。另外，虽然在图2中未示出，但摄像部220可以相对于连接体206在滚转轴、俯仰轴及偏航轴中的至少一个方向上旋转。
此外，在图2中，例示了摄像部220为一个，摄像部220与连接体206连接设置，但并不限于此。摄像部220可以存在多个。例如，为了来控制无人驾驶航空器100的飞行，摄像部220也可以包括对无人驾驶航空器100周围进行拍摄的传感用相机。另外，摄像部220可以设在UAV主体102的侧面(例如前表面)或底面。多个摄像部220可以成对，起到所谓的立体相机的作用。摄像部220可以具有单焦点镜头或者鱼眼镜头。
此外，连接体206可以是UAV主体102或者摄像部220的一部分。另外，摄像部220也可以安装在UAV主体102上。
图3是示出无人驾驶航空器100的硬件构成的一个示例的框图。无人驾驶航空器100包括UAV控制部110、通信部150、存储部160、万向节200、旋翼机构210、摄像部220、GPS接收器240、惯性测量装置(IMU：Inertial Measurement Unit)250、磁罗盘260、气压高度计270、超声波传感器280、激光测定器290、保护框架体300。
UAV控制部110是使用处理器(例如CPU(Central Processing Unit，中央处理器)、MPU(Micro Processing Unit，微处理器)或者DSP(Digital Signal Processor，数字信号处理器))而构成。UAV控制部110执行用于总体控制无人驾驶航空器100的各部 分的动作的信号处理、与其它各部分之间的数据的输入输出处理、数据的运算处理以及数据的存储处理。
UAV控制部110可以根据存储在存储部160中的程序来控制无人驾驶航空器100的飞行。UAV控制部110可以根据基于终端80的飞行控制的指示来控制无人驾驶航空器100的飞行。
UAV控制部110获取表示无人驾驶航空器100的位置的位置信息。UAV控制部110可以从GPS接收器240获取表示无人驾驶航空器100所在的纬度、经度以及高度的位置信息。UAV控制部110可以分别从GPS接收器240获取表示无人驾驶航空器100所在的纬度以及经度的纬度经度信息，并从气压高度计270获取表示无人驾驶航空器100所在的高度的高度信息作为位置信息。UAV控制部110可以获取超声波传感器280产生的超声波放射点与超声波反射点之间的距离作为高度信息。
UAV控制部110可以从磁罗盘260获取表示无人驾驶航空器100的朝向的朝向信息。朝向信息可以用例如与无人驾驶航空器100的机头的朝向相对应的方位来表示。
UAV控制部110可以获取表示在摄像部220对应该拍摄的摄像范围进行拍摄时无人驾驶航空器100所应该存在的位置的位置信息。UAV控制部110可以从存储部160获取表示无人驾驶航空器100应该存在的位置的位置信息。UAV控制部110可以通过通信部150从终端80获取表示无人驾驶航空器100应该存在的位置的位置信息。UAV控制部110可以参照三维地图数据库来指定无人驾驶航空器100所能够存在的位置，并获取该位置作为表示无人驾驶航空器100所应该存在的位置的位置信息。
UAV控制部110可以获取摄像部220的摄像范围。UAV控制部110可以从摄像部220获取表示摄像部220的视角的视角信息，作为用于确定摄像范围的参数。UAV控制部110可以获取表示摄像部220的摄像方向的信息，作为用于确定摄像范围的参数。UAV控制部110可以从万向节200获取表示摄像部220的姿势状态的姿势信息，作为例如表示摄像部220的摄像方向的信息。摄像部220的姿势信息可以表示从万向节200的滚转轴、俯仰轴及偏航轴中的至少一个的基准旋转角度的旋转角度。
UAV控制部110可以获取表示无人驾驶航空器100所在位置的位置信息，作为用于确定摄像范围的参数。UAV控制部110可以根据摄像部220的视角及摄像方向以及无人驾驶航空器100的所在位置，来限定表示摄像部220摄像的地理范围的摄像范围。
UAV控制部110可以从存储部160获取摄像范围信息。UAV控制部110可以通过通信部150获取摄像范围信息。
UAV控制部110对万向节200、旋翼机构210及摄像部220进行控制。UAV控制部110可以通过变更摄像部220的摄像方向或视角来控制摄像部220的摄像范围。UAV控制部110可以通过控制万向节200的旋转机构来控制由万向节200所支撑的摄像部220的摄像范围。
摄像范围由纬度、经度和高度定义。摄像范围可以是由纬度、经度和高度定义的三维空间数据的范围。摄像范围可以是由纬度和经度定义的二维空间数据的范围。摄像范围可以根据摄像部220的视角和摄像方向以及无人驾驶航空器100的所在位置来确定。摄像部220的摄像方向可以由摄像部220的设有摄像镜头的正面朝向的方位与俯角来定义。摄像部220的摄像方向可以是由无人驾驶航空器100的机头方位以及相对于万向节200的摄像部220的姿态状态而确定的方向。
UAV控制部110可以通过对由多个摄像部220拍摄的多个图像进行分析，来确定无人驾驶航空器100的周围环境。UAV控制部110可以基于无人驾驶航空器100的周围环境，例如控制飞行避开障碍物。此外，无人驾驶航空器100也可能会无法避开障 碍物。此外，UAV控制部110也可以不具有避开障碍物的功能。即使在此情况下，由于保护框架体300的存在，即使在发生碰撞时也能够保护无人驾驶航空器100。
UAV控制部110可以获取表示在无人驾驶航空器100周围存在的对象的立体形状(三维形状)的立体信息(三维信息)，来作为无人驾驶航空器100的周围环境信息。该立体信息可以用作无人驾驶航空器100的周围环境信息。对象可以是设置在室内的物体、建筑物等的至少一部分。立体信息例如是三维空间数据。UAV控制部110可以根据从多个摄像部220获取的各拍摄图像来生成用于表示在无人驾驶航空器100周围存在的对象的立体形状的立体信息，从而获取立体信息。UAV控制部110可以通过参照三维地图或三维设计图，来获取用于表示在无人驾驶航空器100周围存在的对象的立体形状的立体信息。三维地图或三维设计图可以存储在存储部160中，也可以存储在存在于网络上的服务器中。三维设计图可以在施工现场或检修现场使用。
UAV控制部110通过控制旋翼机构210来控制无人驾驶航空器100的飞行。即，UAV控制部110通过控制旋翼机构210来对包括无人驾驶航空器100的纬度、经度以及高度的位置进行控制。UAV控制部110可以通过控制无人驾驶航空器100的飞行来控制摄像部220的摄像范围。UAV控制部110可以通过控制摄像部220所包括的变焦镜头来控制摄像部220的视角。UAV控制部110可以利用摄像部220的数字变焦功能，通过数字变焦来控制摄像部220的视角。
当摄像部220固定于无人驾驶航空器100并且不能移动摄像部220时，UAV控制部110可以通过使无人驾驶航空器100在特定的日期时间移动到特定的位置，来使摄像部220在期望的环境下拍摄期望的摄像范围。或者，即使摄像部220不具有变焦功能并且不能变更摄像部220的视角，UAV控制部110也可以通过使无人驾驶航空器100在特定的日期时间移动到特定的位置，来使摄像部220在期望的环境下拍摄期望的摄像范围。
UAV控制部110可以通过控制万向节200的旋转机构，来控制支撑于万向节200的保护框架体300的朝向。在此情况下，UAV控制部110可以以俯仰轴、滚转轴及偏航轴中的至少一个作为旋转中心而使保护框架体300旋转。另外，UAV控制部110可以对保护框架体300的旋转方向、每规定时间内的旋转量(旋转速度)等进行控制。即，例如不仅是与障碍物接触而保护框架体300旋转，UAV控制部110也可以使保护框架体300自发地旋转。此外，UAV控制部110也可以不使其自发地旋转，保护框架体300也可以不自发地旋转。
通信部150与其他的通信装置(例如终端80)进行通信。通信部150可以通过任意的无线通信方式进行无线通信。通信部150可以通过任意的有线通信方式进行有线通信。通信部150可以将由摄像部220拍摄的拍摄图像或基于拍摄图像的图像发送到终端80。通信部150可以将拍摄图像或基于拍摄图像的图像的有关附加信息(元数据)发送给终端80。通信部150可以从终端80获取飞行控制的指示信息。飞行控制的指示信息可以包括无人驾驶航空器100飞行的飞行路径和飞行位置、用于摄像部220拍摄的摄像位置的信息。
存储部160可以存储各种信息、各种数据、各种程序、各种图像。各种图像可以包括拍摄图像或基于拍摄图像的图像。程序可以包括UAV控制部110对万向节200、旋翼机构210、摄像部220、GPS接收器240、惯性测量装置250、磁罗盘260、气压高度计270、超声波传感器280及激光测定器290以及保护框架体300进行控制时所需的程序。存储部160可以是计算机可读存储介质。存储部160包括存储器，可以包括ROM(Read Only Memory)、RAM(Random Access Memory)等。存储部160可以 包括HDD(Hard Disk Drive)、SSD(Solid State Drive)、SD卡、USB(Universal Serial bus)存储器、其他存储器中的至少一个。存储部160的至少一部分可以从无人驾驶航空器100上拆卸下来。
万向节200可以以偏航轴、俯仰轴以及滚转轴为中心可旋转地支撑摄像部220。万向节200可以通过使摄像部220以偏航轴、俯仰轴以及滚转轴中的至少一个为中心旋转，来变更摄像部220的摄像方向。
万向节200以偏航轴、俯仰轴及滚转轴为中心可旋转地支撑保护框架体300。万向节200通过以偏航轴、俯仰轴及滚转轴中的至少一个为中心使保护框架体300旋转，从而可以变更保护框架体300的朝向。
旋翼机构210包括多个旋翼211和使多个旋翼211旋转的多个驱动电机。旋翼机构210通过由UAV控制部110控制旋转，而使无人驾驶航空器100飞行。
摄像部220对期望的摄像范围中的被摄体进行拍摄并生成拍摄图像的数据。拍摄图像或基于拍摄图像的图像可以存储在摄像部220所具有的存储器或者存储部160中。
GPS接收器240接收从多个导航卫星(即GPS卫星)发送的、表示时间以及各GPS卫星的位置(坐标)的多个信号。GPS接收器240根据接收到的多个信号，计算出GPS接收器240的位置(即无人驾驶航空器100的位置)。GPS接收器240将无人驾驶航空器100的位置信息输出到UAV控制部110。另外，可以由UAV控制部110代替GPS接收器240来进行GPS接收器240的位置信息的计算。在此情况下，GPS接收器240所接收到的多个信号中所包含的表示时间以及各GPS卫星的位置的信息被输入到UAV控制部110中。
惯性测量装置250检测无人驾驶航空器100的姿势，并将检测结果输出到UAV控制部110。惯性测量装置250可以检测无人驾驶航空器100的前后、左右、以及上下三轴方向的加速度以及俯仰轴、滚转轴和偏航轴三轴方向的角速度，作为无人驾驶航空器100的姿势。
磁罗盘260检测无人驾驶航空器100的机头的方位，并将检测结果输出到UAV控制部110。
气压高度计270检测无人驾驶航空器100的飞行高度，并将检测结果输出到UAV控制部110。
超声波传感器280发射超声波，检测地面、物体反射的超声波，并将检测结果输出到UAV控制部110。检测结果可以示出从无人驾驶航空器100到地面的距离，即高度。检测结果可以示出从无人驾驶航空器100到物体(被摄体)的距离。
激光测量仪290对物体照射激光，接收物体反射的反射光，并通过反射光来测量无人驾驶航空器100与物体(被摄体)之间的距离。作为基于激光的距离测量方法的一个示例，可以为飞行时间法。
图4是示出无人驾驶航空器100所包括的摄像部220的构成示例的框图。
摄像部220具有壳体220z。摄像部220在壳体220z的内部包括相机处理器11、快门12、摄像元件13、图像处理部14、存储器15、快门驱动部19、元件驱动部20、增益控制部21和闪光灯18。另外，摄像部220在壳体220z内包括ND滤镜32、光圈33、镜头组34、镜头驱动部36、ND驱动部38和光圈驱动部40。另外，可以不设置摄像部220中的各构成的至少一部分。此外，相机处理器11及图像处理部14可以通过不同的处理器来实现各种功能，也可以通过相同的处理器来实现各种功能。
相机处理器11对与摄像有关的摄像条件进行确定。摄像条件可以包括曝光时间、曝光量、焦点位置等。摄像条件可以根据对图像进行拍摄的摄像模式来确定。摄像条 件也可以根据过去拍摄的图像来确定。相机处理器11可以根据摄像条件来控制各驱动部(例如元件驱动部20、快门驱动部19、光圈驱动部40、ND驱动部38、镜头驱动部36)，使各构成部件(例如，摄像元件13、快门12、光圈33、ND滤镜、镜头组34中的至少一个)进行动作。
相机处理器11可以根据例如摄像条件进行自动曝光(AE：Automatic Exposure)控制。例如，在自动曝光控制中，相机处理器11可以对快门12、光圈33及ND滤镜32中的至少一个进行控制，从而调整拍摄时的曝光量。相机处理器11可以根据例如摄像条件进行自动聚焦控制(AF：Automatic Focus)。在自动聚焦控制中，相机处理器11可以通过控制例如镜头组34的镜头，来控制焦点位置。
另外，相机处理器11对与拍摄的图像有关的图像条件进行确定。图像条件可以包括白平衡等。图像条件可以按照对图像进行拍摄的摄像模式来确定。图像条件也可以根据过去拍摄的图像来确定。相机处理器11可以根据图像条件来控制各构成部件(例如增益控制部21、图像处理部14)。
相机处理器11可以根据例如图像条件与图像处理部14联动，从而进行自动白平衡控制(AWB：Automatic White Balance)。
相机处理器11可以向元件驱动部20发送拍摄指示，该元件驱动部将定时信号提供给摄像元件13。
快门12例如是焦平面快门，并且由快门驱动部19驱动。在快门12打开时入射的光在摄像元件13的摄像面上成像。摄像元件13对成像在摄像面上的光学图像进行光电转换，并将其作为图像信号输出。在摄像元件13中可以使用CCD(Charge Coupled Device：电荷耦合元件)图像传感器、CMOS(Complementary Metal Oxide Semiconductor：互补MOS)图像传感器。
增益控制部21降低从摄像元件13输入的图像信号的噪声，并且对使图像信号放大的增益(Gain)进行控制。
图像处理部(ISP：Image Signal Processor)14对由增益控制部21放大的图像信号进行模数转换以生成图像数据。图像处理部14可以进行阴影校正、颜色校正、轮廓增强、噪声去除、伽马校正、解拜耳、压缩等各种处理。图像处理部14可以对白平衡进行调整。图像处理部14可以与增益控制部21联动，对增益加以考虑，从而对白平衡进行调整。
另外，图像处理部14可以进行从RAW图像向RGB图像的转换。图像处理部14可以对RAW图像或者RGB图像进行色相检波。图像处理部14可以根据色相检波的结果进行3A检波，从而计算出检波值。3A检波所涉及的“3A”包括自动曝光控制(AE)、自动聚焦控制(AF)及自动白平衡控制(AWB)。3A检波的检波值包括至少一个检波值，其用于自动曝光控制、自动聚焦控制及自动白平衡控制。检波值的计算可以包括根据多个图像计算出的多个3A检波的检波值的统计值(例如平均值)。
存储器15是对各种数据、图像数据或各种程序进行存储的存储介质。例如，各种程序可以包括AE算法、AF算法及AWB算法。
快门驱动部19以由相机处理器11指示的快门速度打开和关闭快门12。可以通过快门速度来调整曝光量。
元件驱动部20是定时发生器，其根据来自相机处理器11的拍摄指示向摄像元件13提供定时信号，并进行摄像元件13的电荷积累动作、读出动作、复位动作等。
闪光灯18根据相机处理器11的指示，在夜间拍摄或者逆光时(逆光校正时)进行闪光，照亮被摄体。作为闪光灯18，例如使用LED(light Emitting Diode，发光二极管)灯。另外，闪光灯18可以省略。
镜头组34会聚来自被摄体的光并在摄像元件13上成像。镜头组34可以包括聚焦镜头、变焦镜头、图像抖动校正用镜头等。镜头组34由镜头驱动部36驱动。镜头驱动部36具有电机(未示出)，输入来自相机处理器11的控制信号时，可以使镜头组34沿光轴op的方向(光轴方向)移动。镜头驱动部36在进行移动变焦镜头来改变变焦倍率的变焦动作时，可以使作为壳体220z的一部分并容纳镜头组34的镜筒在前后方向上进行伸缩。通过使镜头移动，可以调整焦点位置。
光圈33由光圈驱动部40驱动。光圈驱动部40具有电机(未示出)，并在输入来自相机处理器11的控制信号时，扩大或缩小光圈33的开口。可以通过光圈33的开口程度来调整曝光量。
ND滤镜32在光轴op的方向(光轴方向)上例如布置在光圈33附近，并进行限制入射光的量的减光处理。ND驱动部38具有电机(未示出)，并可以在输入来自相机处理器11的控制信号时，将ND滤镜32插入光轴op或从光轴op上移除。可以通过基于ND滤镜32的减光量来调整曝光量。
图5是示出终端80的硬件构成的一个示例的框图。终端80包括终端控制部81、操作部83、通信部85、存储部87及显示部88。终端80可以由期望指示无人驾驶航空器100的飞行控制的用户所持有。
终端控制部81例如采用CPU、MPU或DSP构成。终端控制部81进行用于整体控制终端80的各部分动作的信号处理、与其他各部分之间的数据的输入输出处理、数据的运算处理以及数据的存储处理。
终端控制部81可以通过通信部85获取来自无人驾驶航空器100的数据、信息。终端控制部81也可以获取通过操作部83输入的数据、信息。终端控制部81也可以获取存储在存储部87中的数据和信息。终端控制部81可以通过通信部85向无人驾驶航空器100发送数据、信息。终端控制部81也可以将数据、信息发送到显示部88，并使显示部88显示基于数据、信息的显示信息。显示部88所显示的信息或通过通信部85向无人驾驶航空器100发送的信息可以包括用于无人驾驶航空器100飞行的飞行路径和飞行位置、用于摄像部220拍摄的摄像位置的信息。
操作部83接收并获取由终端80的用户输入的数据、信息。操作部83可以包括按钮、按键、触摸面板、麦克风等输入装置。触摸面板可以由操作部83与显示部88构成。在此情况下，操作部83可以接收触摸操作、点击操作、拖动操作等。
通信部85通过各种无线通信方式与无人驾驶航空器100之间进行无线通信。例如，该无线通信的无线通信方式可以包括基于无线LAN或公共无线线路的通信。通信部85可以通过任意的有线通信方式进行有线通信。
存储部87可以存储各种信息、各种数据、各种程序、各种图像。各种程序可以包括由终端80执行的应用程序。存储部87可以是计算机可读存储介质。存储部87可以包括ROM、RAM等。存储部87可以包括HDD、SSD、SD卡、USB存储器、其他存储器中的至少一个。存储部87的至少一部分可以从终端80上拆卸下来。
存储部87可以对从无人驾驶航空器100获取的拍摄图像或基于拍摄图像的图像进行存储。存储部87可以对拍摄图像或基于拍摄图像的图像的附加信息进行存储。
显示部88例如采用LCD(Liquid Crystal Display，液晶显示器)构成，显示从终端控制部81输出的各种信息、数据。例如，显示部88可以显示拍摄图像或基于拍摄图像的图像。显示部88也可以显示应用程序的执行所涉及的各种数据和信息。
以下，对无人驾驶航空器100的动作进行说明。
图6是对无人驾驶航空器100的动作概要进行说明的图。
UAV控制部110按照规定的拍摄开始触发信号，开始摄像部220的拍摄。拍摄开始时，保护框架体300的保护框架310的颜色为初始值。保护框架310的颜色的初始值可以是任意颜色，例如是黑色。摄像部220的拍摄是对多个图像进行拍摄，可以是连续的图像拍摄也可以是不连续的图像拍摄，可以是动态图像拍摄也可以是静止图像拍摄。拍摄开始触发信号可以包括：通过通信部150从终端80接收到拍摄开始指示或者检测出达到开始拍摄的规定时刻等。进行动态图像拍摄时，可以得到例如每秒30张(相当于30fps)或者60张(相当于60fps)的拍摄图像。
无人驾驶航空器100在飞行期间或者非飞行期间，摄像部220对规定的场景拍摄出。场景可以表示摄像范围，也可以表示被摄体，还可以表示拍摄环境。另外，场景也可以与无人驾驶航空器100中设定的摄像模式联动。例如，摄像模式可以通过终端80的操作部83来指定，摄像模式的信息可以通过通信部85及通信部150发送到无人驾驶航空器100。在相同场景中，包含在摄像范围内的颜色成分类似，即拍摄图像的颜色成分类似。
图像处理部14接收来自摄像元件13的图像信号，获取RAW图像G11作为拍摄图像。图像处理部14将RAW图像G11转换为RGB图像G12。图像处理部14对RGB图像G12进行色相检波，根据色相检波的结果，来确定在RGB图像G12的全部颜色中所包含的比例较小的颜色、即比例小于等于规定值的颜色。即，图像处理部14确定在拍摄的场景中较少的颜色。例如，当拍摄风景场景时，由于自然界中紫色的比例较小，因此可以将紫色作为特定的颜色。
此外，向RGB图像G12的转换并不是必须的，也可以省略。在此情况下，图像处理部14对RAW图像G11进行色相检波，根据色相检波的结果，来确定在RAW图像G11的全部颜色中所包含的比例较小的颜色。
图像处理部14将该特定的颜色指定为保护框架体300的保护框架310的颜色。因此，RAW图像G11及RGB图像G12中的至少一个是用于对保护框架310的颜色进行指定的图像，也称为框架颜色指定用图像G1。
保护框架体300的保护框架310的框架颜色变更为上述确定(指定)的颜色。例如，将保护框架310的框架颜色变更为紫色。
在此情况下，预先准备好各种颜色的保护框架310，任何人或装置可以更换成特定的颜色的保护框架310。在此情况下，UAV控制部110(第一控制部的一个示例)可以将特定的颜色(第一颜色的一个示例)的信息在提示部(例如显示部、声音输出部、振动部)上进行提示。例如终端80可以包括提示部。在此情况下，终端80的终端控制部81可以通过通信部150及通信部85从无人驾驶航空器100获取确定的颜色信息，并在提示部上进行提示。由此，终端80的用户能够对应该变更的保护框架300体的保护框架310的颜色进行确认，并且能够对要变更的颜色的保护框架310容易地进行手动更换。另外，在更换保护框架310时，可以控制无人驾驶航空器100的飞行使其返回到例如持有终端80的用户的位置。更换保护框架310后，无人驾驶航空器100可以重新开始对拍摄对象的场景的拍摄。
另外，保护框架体300可以具有能够发出多个颜色光的发光部。发光部可以包括例如LED。发光部可以设置于保护框架体300中的任意位置，对保护框架体300的任意位置进行照射而使其发光。另外，发光部可以在各保护框架310内嵌入有LED，并且通过LED发光，使得嵌入有LED的保护框架310的位置发光。UAV控制部110(第二控制部的一个示例)可以控制发光部的发光，并且将保护框架体300的保护框架310的颜色变更为上述确定的颜色。
由此，无人驾驶航空器100能够自动且简单地将保护框架体300的保护框架310的颜色变更为确定的颜色。另外，这与手动更换保护框架310不同，由于无人驾驶航空器100无需向保护框架310的更换位置移动(例如，返回到用户的位置)，因此无人驾驶航空器100能够在飞行的同时变更保护框架310的颜色。因此，无人驾驶航空器100能够在像动态图像那样连续地对图像进行拍摄的同时，根据场景灵活地变更保护框架310的颜色。
无人驾驶航空器100在保护框架310的框架颜色发生了改变的状态下，在飞行期间或者非飞行期间，摄像部220对规定的场景进行拍摄。该场景与拍摄开始后已经拍摄了的场景(之前拍摄的场景)相同。因此，拍摄了具有与之前拍摄的场景相同颜色分布的场景的图像。
图像处理部14接收来自摄像元件13的图像信号，获取RAW图像G21作为拍摄图像。图像处理部14对RAW图像G21进行3A检波。RAW图像G21是用于进行3A检波的图像，称为3A检波用图像G2。在此情况下，图像处理部14对基于RAW图像G21的图像中的保护框架310的颜色(例如紫色)的区域进行掩膜，从而不作为3A检波的对象。被掩膜的区域(掩膜区域MR)不加以3A检波，在3A检波中不受影响。掩膜区域MR具有在基于RAW图像G21的图像中保护框架310所占据的像素的数量和形状。图像处理部14对基于一部分区域被掩膜的RAW图像G21的图像进行3A检波，计算出检波值。
图像处理部14根据RAW图像G21的3A检波的结果(即检波值)将RAW图像G21转换为RGB图像G22。RGB图像G22可以作为以后的图像处理对象，或者通过终端80的显示部88等进行显示。
另外，相机处理器11根据RAW图像G21的3A检波的检波值来控制基于摄像部220的拍摄。例如，相机处理器11可以对包含在镜头组34内的一个以上的镜头进行控制，并且根据用于自动聚焦控制的检波值进行自动聚焦控制。相机处理器11可以对快门12(例如快门速度)、ND滤镜32及光圈33中的至少一个进行控制，并且根据用于自动曝光控制的检波值进行自动曝光控制。相机处理器11可以对图像处理部14进行控制，并且根据用于自动白平衡控制的检波值进行自动白平衡控制。此外，在对镜头组34、快门12、ND滤镜32及光圈33的控制中，可以通过相机处理器11来控制对其等进行驱动的驱动部。
这样，无人驾驶航空器100(图像处理装置的一个示例)对由保护框架体300(框架体的一个示例)包围的无人驾驶航空器100(飞行体的一个示例)所包括的由摄像部220拍摄的图像进行处理。无人驾驶航空器100包括对图像进行处理的图像处理部14。图像处理部14可以在保护框架体300的保护框架310的颜色为规定颜色的状态下确定在由摄像部220拍摄的场景的全部颜色中所包含的比例较小的第一颜色。图像处理部14可以在保护框架310的颜色为第一颜色的状态下，获取由摄像部220对场景拍摄出的3A检波用图像G2(第一图像的一个示例)。图像处理部14可以根据3A检波 用图像G2与第一颜色计算出用于3A控制的检波值。3A控制包括自动曝光控制(AF控制)与自动聚焦控制(AE控制)与自动白平衡控制(AWB控制)中的至少一个。
由此，即使保护框架体300的一部分位于由摄像部220拍摄的场景中时，无人驾驶航空器100也能够将保护框架310的颜色作为该场景中不怎么存在的第一颜色而进行拍摄。因此，无人驾驶航空器100通过对第一颜色加以考虑并计算用于3A检波的检波值，从而能够导出排除了非期望的被摄体即保护框架体300的影响的检波值。因此，无人驾驶航空器100能够抑制对摄像范围内的非期望的一部分的区域(例如包括保护框架310的区域)进行聚焦或者以该区域作为基准来调整亮度和白平衡。
另外，无人驾驶航空器100能够通过使保护框架体300包围摄像部220，来提高对于外部对摄像部220的冲击的耐受性。另外，无人驾驶航空器100由于能够得到高精度的3A检波的检波值，因此能够高精度地实施摄像部220的摄像控制，并且抑制检修作业中的障碍。这样，针对来自无人驾驶航空器100外部的冲击能够充分地保护摄像部220，能够提高基于拍摄图像的图像的检波精度，并且抑制画质的降低。
另外，相机处理器11(第三控制部的一个示例)可以根据3A检波的检波值来控制摄像部220的拍摄。由此，无人驾驶航空器100通过使用排除了保护框架310的影响的检波值，从而能够对抑制摄像部220的摄像范围内的非期望的一部分的区域进行聚焦或者以该区域作为基准来调整亮度和白平衡。
另外，相机处理器11可以根据3A检波的检波值对摄像部220的镜头组34的镜头、快门12、光圈33、ND滤镜32(中性密度滤光片的一个示例)及图像处理部14对于3A检波用图像G2的图像处理中的至少一个进行控制。由此，无人驾驶航空器100能够使用摄像部220所包括的各部分来调整拍摄时的曝光量、焦点位置以及白平衡。
另外，上述图像处理、摄像控制可以主要由无人驾驶航空器100进行。在此情况下，可以通过一个装置进行3A检波的检波值的导出和基于检波值的摄像控制，能够实施高效的处理，缩短处理时间。另外，无需分开准备用于进行这些处理的装置与无人驾驶航空器100。此外，上述图像处理和摄像控制也可以主要由其他的装置(例如终端80、发送器)进行。
另外，无人驾驶航空器100中，保护框架体300可以相对于摄像部220自由旋转。在此情况下，在摄像部220的摄像范围内，保护框架310的位置发生变化。即使在此情况下，无人驾驶航空器100能够排除可活动的保护框架310的影响，导出高精度的3A检波的检波值。因此，无人驾驶航空器100能够使用高精度的3A检波的检波值来实施3A控制。因此，即使保护框架310移动，无人驾驶航空器100也能够使3A控制的控制质量保持稳定，能够使得到的图像的画质保持稳定。例如，无人驾驶航空器100能够抑制由于保护框架310旋转造成的焦点位置或曝光量或白平衡的急剧变化。
图7是示出保护框架310的框架颜色的具体示例的图。
图像处理部14进行以下处理：对作为框架颜色指定用图像G1而获取的RGB图像G12进行色相检波，根据色相检波的结果确定在RGB图像G12的全部颜色中所包含的比例较小的颜色(称为框架颜色确定处理)。该确定的颜色被指定为保护框架310的框架颜色。此外，此处虽然例示了框架颜色指定用图像G1为RGB图像G12，但也可以是RAW图像G11。
在框架颜色确定处理中，图像处理部14将RGB图像G12的各个像素的RGB值转换为H(HUE)值(色相值)。即，图像处理部14根据RGB图像G12的各个像素 的RGB值转换为H值(色相值)。在此情况下，图像处理部14可以使用(式1)，根据RGB值计算出H值。
【式1】
Figure PCTCN2020133313-appb-000001
即，图像处理部14中，当R值、G值、B值相同时，如(式1)的第一行所示，H值是不确定的(Undefined)。当R值、G值、B值中B值为最小值时，H值如(式1)的第二行所示。当R值、G值、B值中R值为最小值时，H值如(式1)的第三行所示。当R值、G值、B值中G值为最小值时，H值如(式1)的第四行所示。
图像处理部14可以根据RGB图像G12的RGB颜色空间的值计算出HSV颜色空间的值。即，图像处理部14不仅仅计算H值，还可以计算S(Saturation)值(饱和度值)、V(Value)值(亮度值)。因此，由H值、S值、V值确定的颜色分布在图7中圆柱所显示的HSV颜色空间中的任意位置。
图像处理部14对计算出的H值进行累积，生成H值的直方图即色相直方图HG。色相直方图HG表示HSV颜色成分所示的RGB图像G12中的各色相的像素的像素数。在色相直方图HG中，横轴表示H值(Hue)，纵轴表示成为该H值的像素的像素数(Cnt)。通过色相直方图HG，能够识别出哪个色相的像素数较多，而哪个色相的像素数较少。
图像处理部14通过参照色相直方图HG，来确定像素数小于等于阈值th的色相。此外，像素数小于等于阈值th可以包括不依赖于RGB图像G12的总像素数而规定像素数小于等于阈值th的情况，也可以包括相对于RGB图像G12的总像素数的规定色相的比例小于等于阈值th的情况。因此，确定了在RGB图像G12中绝对像素数较少的颜色(色相)或者在RGB图像G12中相对像素数较少的颜色。即，确定了拍摄了图像的场景中较少的颜色。
例如，图像处理部14如色相直方图HG2所示，确定像素数最小的色相(H_frame)。图像处理部14将该确定的颜色指定为保护框架体300的保护框架310的新颜色。
这样，图像处理部14可以在获取3A检波用图像G2之前，获取与3A检波用图像G2相同场景拍摄的框架颜色指定用图像G1(第二图像的一个示例)。图像处理部14可以确定在框架颜色指定用图像G1的全部颜色中所包含的比例较小的第一颜色(例如H_frame)。
由此，无人驾驶航空器100在获取基于摄像部220的3A检波用图像G2之前，仅通过增加了获取框架颜色指定用图像G1这一简单的动作，就能够容易地确定场景中不存在的新的框架颜色。另外，无人驾驶航空器100在通过摄像部220得到像动态图像那样连续的图像序列时，在一系列的图像序列中，能够使用不同的图像帧，来实施保护框架310的颜色的指定与抑制了保护框架310的影响的3A检波。图像序列具有按时间序列排列的多个图像帧。
另外，图像处理部14可以对框架颜色指定用图像G1进行色相检波。图像处理部14可以通过色相检波计算出框架颜色指定用图像G1中表示各色相的像素的像素数的 色相直方图HG。图像处理部14可以在色相直方图HG中确定相当于像素数小于等于阈值th的色相的第一颜色。
由此，无人驾驶航空器100能够通过色相检波的实施以及色相直方图HG的生成这一容易的处理，来确定摄像场景中较少的颜色，并且将确定的颜色指定为保护框架310的新颜色。
另外，框架颜色指定用图像G1可以是根据由摄像部220拍摄的RAW图像G11转换的RGB图像G12。由此，与使用RAW图像G11相比，能够更高精度地确定在摄像场景内所包含的颜色成分较少的颜色。另外，从RGB向HSV的转换的通用性较高，易于实施。此外，也可以使用RAW图像G11作为框架颜色指定用图像G1。
以下，对考虑了保护框架体300的3A检波进行说明。
图8是示出考虑了保护框架310的自动聚焦控制用的检波示例的图。
使用3A检波用图像G2来实施自动聚焦控制用的检波。3A检波用图像G2为RAW图像G21。
图像处理部14针对RAW图像G21提取高频成分，生成边缘图像G3。即，图像处理部14使RAW图像G21通过HPF(High Pass Filter)，几乎不会使高于截止频率的频率成分衰减，而是使低于截止频率的频率成分减弱。在边缘图像G3中，高频成分(即边缘、轮廓)被强调。在图8中，在边缘图像G3中，示出了作为被摄体的○、△、□及保护框架310的轮廓。
图像处理部14从RAW图像G21的各像素中提取保护框架310的像素。在此情况下，图像处理部14提取拍摄出RAW图像G21时的保护框架310的颜色的像素。保护框架310的颜色的像素区域为掩膜区域MR。
图像处理部14从边缘图像G3中减去掩膜区域MR，生成去除了掩膜区域MR的AF检波用图像G4。在图8中，在AF检波用图像G4中，示出了作为被摄体的○、△、□的轮廓。图像处理部14对AF检波用图像G4进行用于进行自动聚焦控制的检波(AF检波)，计算AF检波的检波值。即，在AF检波中高频成分被检波，使得易于对焦。
这样，图像处理部14可以生成提取出3A检波用图像G2的高频成分的边缘图像G3(第三图像的一个示例)。图像处理部14可以从边缘图像G3中减去3A检波用图像G2中的变更后的保护框架310的颜色(第一颜色的一个示例)的成分，从而生成AF检波用图像G4(第四图像的一个示例)。图像处理部14可以针对AF检波用图像G4计算用于自动聚焦控制的检波值。
在用于AF检波的高频成分的提取中，由于边缘明显，保护框架310的线状的部件容易被提取，容易影响AF检波的检波值。与此相对，无人驾驶航空器100对于3A检波用图像G2的高频成分(图像的边缘部分)，能够以颜色作为基准来抑制保护框架体300的影响，提高自动聚焦控制的精度。
图9是示出考虑了保护框架310的自动曝光控制用或者自动白平衡控制用的检波示例的图。
使用3A检波用图像G2来实施自动曝光控制用或者自动白平衡控制用的检波。3A检波用图像G2为RAW图像G21。
图像处理部14从RAW图像G21的各像素中提取保护框架310的像素。在此情况下，图像处理部14提取拍摄出RAW图像G21时的保护框架310的颜色的像素。保护框架310的颜色的像素区域为掩膜区域MR。
图像处理部14从RAW图像G21中减去掩膜区域MR，生成去除了掩膜区域MR的AE/AWB检波用图像G5。在图9中，在AE/AWB检波用图像G5中，示出了作为 被摄体的○、△、□。图像处理部14对AE/AWB检波用图像G5进行用于进行自动曝光控制的检波(AE检波)，计算AE检波的检波值。图像处理部14对AE/AWB检波用图像G5进行用于进行自动白平衡控制的检波(AWB检波)，计算AWB检波的检波值。AE/AWB检波表示AE检波及AWB检波中的至少一个。
这样，图像处理部14可以从3A检波用图像G2中减去3A检波用图像G2中的变更后的保护框架310的颜色(第一颜色的一个示例)的成分，从而生成AE/AWB检波用图像G5(第五图像的一个示例)。图像处理部14可以针对AE/AWB检波用图像计算用于自动曝光控制或者自动白平衡控制的检波值。
由此，无人驾驶航空器100对于3A检波用图像G2，能够以颜色作为基准来抑制保护框架体300的影响，提高自动曝光控制及自动白平衡控制中的至少一个的精度。
图10是示出无人驾驶航空器100的动作示例的流程图。
图像处理部14获取摄像部220对规定的场景拍摄出的RAW图像G11(S11)。图像处理部14根据RAW图像G11生成RGB图像G12(S12)。图像处理部14对RGB图像G12进行色相检波，来确定场景中较少的颜色(S13)。手动或者自动地将保护框架体300的保护框架310变更为确定的颜色的框架(S14)。此外，可以省略S12。
图像处理部14获取下一个图像帧的RAW图像G21(S15)。该RAW图像G21的摄像场景与S11中得到的RAW图像G11的摄像场景相同。图像处理部14将RAW图像G21中的保护框架体300的保护框架310的区域作为掩膜区域MR并去除，计算3A检波的检波值(S16)。具体的是，图像处理部14计算AF检波的检波值、AE检波的检波值及AWB检波的检波值中的至少一个。
相机处理器11根据计算出的3A检波的检波值控制摄像部220(S17)。例如，相机处理器11可以对摄像部220的快门12、光圈33及ND滤镜32中的至少一个进行控制，从而进行自动曝光控制。相机处理器11可以控制摄像部220的镜头组34的镜头，从而进行自动聚焦控制。相机处理器11可以通过图像处理部14对3A检波用图像G2进行图像处理，从而进行自动白平衡控制。
以上使用实施方式对本公开进行了说明，但是本公开的技术范围并不限于上述实施方式所描述的范围。对本领域普通技术人员来说，显然可对上述实施方式加以各种变更或改良。从权利要求书的记载即可明白，加以了这样的变更或改良的方式都可包含在本公开的技术范围之内。
权利要求书、说明书以及说明书附图中所示的装置、系统、程序和方法中的动作、顺序、步骤、以及阶段等各项处理的执行顺序，只要没有特别明示“在...之前”、“事先”等，且只要前面处理的输出并不用在后面的处理中，即可以以任意顺序实现。关于权利要求书、说明书以及附图中的操作流程，为方便起见而使用“首先”、“接着”等进行了说明，但并不意味着必须按照这样的顺序实施。
在上述实施方式中，摄像部220具有摄像控制及图像处理的功能，然而也可以使摄像部220的一部分的功能通过其他装置和其他部件分散地实施。例如，UAV控制部110可以进行摄像部220的摄像控制及图像处理的功能中的至少一部分。

Claims (26)

  1. 一种图像处理装置，其对由框架体包围的飞行体所包括的摄像部拍摄的图像进行处理，其特征在于，
    包括对所述图像进行处理的图像处理部，
    所述图像处理部在所述框架体的框架颜色为规定颜色的状态下确定在由所述摄像部拍摄的场景的全部颜色中所包含的比例较小的第一颜色；
    在所述框架的颜色为所述第一颜色的状态下获取由所述摄像部对所述场景拍摄出的第一图像；
    根据所述第一图像与所述第一颜色计算出检波值，所述检波值用于自动曝光控制、自动聚焦控制及自动白平衡控制中的至少一个。
  2. 根据权利要求1所述的图像处理装置，其特征在于，
    所述图像处理部在获取所述第一图像之前，获取对所述场景拍摄出的第二图像；
    确定在所述第二图像的全部颜色中所包含的比例较小的所述第一颜色。
  3. 根据权利要求2所述的图像处理装置，其特征在于，
    所述图像处理部对所述第二图像进行色相检波；
    通过色相检波计算表示在所述第二图像中各色相像素的像素数的色相直方图；
    在所述色相直方图中确定相当于所述像素数小于等于阈值的色相的所述第一颜色。
  4. 根据权利要求2或3所述的图像处理装置，其特征在于，所述第二图像是基于由所述摄像部拍摄的拍摄图像而转换的RGB图像。
  5. 根据权利要求1至4中任一项所述的图像处理装置，其特征在于，还包括提示所述第一颜色信息的第一控制部。
  6. 根据权利要求1至4中任一项所述的图像处理装置，其特征在于，所述框架体包括能够发出多个颜色光的发光部，
    所述图像处理装置还包括：第二控制部，其控制发光部的发光，将所述框架体的所述框架的颜色变更为所述第一颜色。
  7. 根据权利要求1至6中任一项所述的图像处理装置，其特征在于，
    所述图像处理部生成提取出所述第一图像的高频成分的第三图像；
    从所述第三图像中减去所述第一图像中的所述第一颜色成分而生成第四图像；
    对于所述第四图像，计算出用于所述自动聚焦控制的所述检波值。
  8. 根据权利要求1至7中任一项所述的图像处理装置，其特征在于，
    所述图像处理部从所述第一图像中减去所述第一图像中的所述第一颜色成分而生成第五图像；
    对于所述第五图像计算出用于所述自动曝光控制或者所述自动白平衡控制的所述检波值。
  9. 根据权利要求1至8中任一项所述的图像处理装置，其特征在于，还包括：第三控制部，其根据所述检波值来控制所述摄像部的拍摄。
  10. 根据权利要求9所述的图像处理装置，其特征在于，所述第三控制部根据所述检波值对所述摄像部的镜头、快门、光圈、中性密度滤光片及所述图像处理部对所述第一图像进行的图像处理中的至少一个进行控制。
  11. 根据权利要求1至10中任一项所述的图像处理装置，其特征在于，所述框架体相对于所述摄像部自由旋转。
  12. 根据权利要求1至11中任一项所述的图像处理装置，其特征在于，所述图像处理装置是所述飞行体。
  13. 一种图像处理方法，其对由框架体包围的飞行体所包括的摄像部拍摄的图像进行处理，其特征在于，包括以下步骤：
    在所述框架体的框架的颜色为规定颜色的状态下确定在由所述摄像部拍摄的场景的全部颜色中所包含的比例较小的第一颜色；
    在所述框架的颜色为所述第一颜色的状态下获取由所述摄像部对所述场景拍摄出的第一图像；
    根据所述第一图像与所述第一颜色计算出检波值，所述检波值用于自动曝光控制、自动聚焦控制及自动白平衡控制中的至少一个。
  14. 根据权利要求13所述的图像处理方法，其特征在于，确定所述第一颜色的步骤包括以下步骤：
    在获取所述第一图像之前，获取对所述场景拍摄出的第二图像；
    确定在所述第二图像的全部颜色中所包含的比例较小的所述第一颜色。
  15. 根据权利要求14所述的图像处理方法，其特征在于，确定所述第一颜色的步骤包括以下步骤：
    对所述第二图像进行色相检波；
    通过色相检波计算表示在所述第二图像中各色相像素的像素数的色相直方图；
    在所述色相直方图中确定相当于所述像素数小于等于阈值的色相的所述第一颜色。
  16. 根据权利要求14或15所述的图像处理方法，其特征在于，所述第二图像是基于由所述摄像部拍摄的拍摄图像而转换的RGB图像。
  17. 根据权利要求13至16中任一项所述的图像处理方法，其特征在于，还包括提示所述第一颜色信息的步骤。
  18. 根据权利要求13至16中任一项所述的图像处理方法，其特征在于，所述框架体包括能够发出多个颜色光的发光部，
    所述图像处理方法还包括以下步骤：控制所述发光部的发光，将所述框架体的所述框架的颜色变更为所述第一颜色。
  19. 根据权利要求13至18中任一项所述的图像处理方法，其特征在于，计算所述检波值的步骤包括以下步骤：
    生成提取出所述第一图像的高频成分的第三图像；
    从所述第三图像中减去所述第一图像中的所述第一颜色成分而生成第四图像；
    对于所述第四图像计算出用于所述自动聚焦控制的所述检波值。
  20. 根据权利要求13至19中任一项所述的图像处理方法，其特征在于，计算所述检波值的步骤包括以下步骤：
    从所述第一图像中减去所述第一图像中的所述第一颜色成分而生成第五图像；
    对于所述第五图像计算出用于所述自动曝光控制或者所述自动白平衡控制的所述检波值。
  21. 根据权利要求13至20中任一项所述的图像处理方法，其特征在于，还包括根据所述检波值来控制所述摄像部的拍摄的步骤。
  22. 根据权利要求21所述的图像处理方法，其特征在于，控制所述摄像部的拍摄的步骤包括：根据所述检波值对所述摄像部的镜头、快门、光圈、中性密度滤光片及对所述第一图像的图像处理中的至少一个进行控制。
  23. 根据权利要求13至22中任一项所述的图像处理方法，其特征在于，所述框架体相对于所述摄像部自由旋转。
  24. 根据权利要求13至23中任一项所述的图像处理方法，其特征在于，所述图像处理方法由图像处理装置执行，
    所述图像处理装置是所述飞行体。
  25. 一种程序，其特征在于，其用于使对由框架体包围的飞行体所包括的摄像部拍摄的图像进行处理的图像处理装置执行以下步骤：
    在所述框架体的框架的颜色为规定颜色的状态下确定在由所述摄像部拍摄的场景的全部颜色中所包含的比例较小的第一颜色；
    在所述框架的颜色为所述第一颜色的状态下获取由所述摄像部对所述场景拍摄出的第一图像；
    根据所述第一图像与所述第一颜色计算出检波值，所述检波值用于自动曝光控制、自动聚焦控制及自动白平衡控制中的至少一个。
  26. 一种计算机可读的存储介质，其特征在于，其用于记录程序，所述程序用于使对由框架体包围的飞行体所包括的摄像部拍摄的图像进行处理的图像处理装置执行以下步骤：
    在所述框架体的框架的颜色为规定颜色的状态下确定在由所述摄像部拍摄的场景的全部颜色中所包含的比例较小的第一颜色；
    在所述框架的颜色为所述第一颜色的状态下获取由所述摄像部对所述场景拍摄出的第一图像；
    根据所述第一图像与所述第一颜色计算出检波值，所述检波值用于自动曝光控制、自动聚焦控制及自动白平衡控制中的至少一个。
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