WO2023008102A1 - 撮影制御装置、撮影システム、撮影制御方法、及び撮影制御プログラム - Google Patents

撮影制御装置、撮影システム、撮影制御方法、及び撮影制御プログラム Download PDF

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Publication number
WO2023008102A1
WO2023008102A1 PCT/JP2022/026576 JP2022026576W WO2023008102A1 WO 2023008102 A1 WO2023008102 A1 WO 2023008102A1 JP 2022026576 W JP2022026576 W JP 2022026576W WO 2023008102 A1 WO2023008102 A1 WO 2023008102A1
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WO
WIPO (PCT)
Prior art keywords
imaging
photographing
shooting
information
control
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2022/026576
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English (en)
French (fr)
Japanese (ja)
Inventor
雅彦 杉本
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Fujifilm Corp
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Fujifilm Corp
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Publication date
Application filed by Fujifilm Corp filed Critical Fujifilm Corp
Priority to JP2023538373A priority Critical patent/JPWO2023008102A1/ja
Publication of WO2023008102A1 publication Critical patent/WO2023008102A1/ja
Priority to US18/413,032 priority patent/US12556810B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • 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
    • G03B5/00—Adjustment of optical system relative to image or object surface other than for focusing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/61—Control of cameras or camera modules based on recognised objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/64—Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Definitions

  • the present invention relates to a shooting control device, a shooting system, a shooting control method, and a shooting control program.
  • Patent Documents 1 to 5 describe a photographing control device that associates and manages photographing positions of cameras and photographing data for each of a plurality of cameras.
  • Patent Literature 1 describes detecting a blind spot based on image data captured by a certain camera and outputting a movement instruction signal to another camera so as to prevent the blind spot.
  • Patent Documents 6 to 10 describe camera systems in which a control device that controls a plurality of cameras determines control amounts for other cameras based on the shooting conditions of one camera.
  • Patent Literature 6 describes estimating the next position of an object based on the imaging conditions of a plurality of imaging devices, and controlling surrounding imaging devices so as to photograph the target that has moved to that position.
  • An embodiment according to the technology of the present disclosure provides a shooting control device, a shooting system, a shooting control method, and a shooting control program that can facilitate cooperative shooting using a plurality of cameras.
  • a shooting control device is a shooting control device including a memory and a processor, wherein the memory associates a shot image obtained by shooting with a first shooting device with shooting information related to the shooting.
  • the processor performs photographing control for controlling photographing by a second photographing device different from the first photographing device based on at least one of the photographed image and the photographing information.
  • An imaging system of one aspect of the present invention includes a first imaging device, a second imaging device, and an imaging control device including a communication unit capable of communicating with the first imaging device and the second imaging device,
  • the imaging control device records a photographed image obtained by photographing by the first photographing device and photographing information related to the photographing in association with each other, and based on at least one of the photographed image and the photographing information, It performs photographing control for controlling photographing by the second photographing device.
  • a photographing control method is a photographing control method by a photographing control device including a memory and a processor, wherein the memory stores a photographed image obtained by photographing by a first photographing device and photographing information relating to the photographing. and are recorded in association with each other, and the processor performs photographing control for controlling photographing by a second photographing device different from the first photographing device based on at least one of the photographed image and the photographing information. be.
  • a photography control program is a photography control program executed by a photography control device comprising a memory and a processor for recording a photographed image obtained by photographing by a first photographing device and photographing information relating to photographing in association with each other.
  • An optical observation device includes the projection device described above.
  • a photographing control device a photographing system, a photographing control method, and a photographing control program that can facilitate coordinated photographing using a plurality of cameras.
  • FIG. 1 is a diagram showing an example of an imaging system according to Embodiment 1;
  • FIG. 4 is a diagram showing an example of turning of the ground camera 10 in the pitch direction by the turning mechanism 16.
  • FIG. 4 is a diagram showing an example of turning of the ground camera 10 in the yaw direction by the turning mechanism 16.
  • FIG. 2 is a block diagram showing an example of the configuration of the optical system and electrical system of the ground camera 10;
  • FIG. 3 is a diagram showing an example of the electrical system configuration of the turning mechanism 16 and the management device 11.
  • FIG. 4 is a diagram showing an example of storage of captured images and captured information by the management device 11.
  • FIG. FIG. 2 is a diagram (Part 1) showing an example of coordinated photography by the aerial camera 2 and the ground camera 10;
  • FIG. 2 is a diagram (part 2) showing an example of coordinated photography by the aerial camera 2 and the ground camera 10; 4 is a flowchart showing a first example of assist control by the management device 11; 4 is a diagram showing an example of display of imaging target candidates of the ground camera 10 by the management device 11.
  • FIG. 7 is a diagram for explaining a second example of assist control by the management device 11;
  • FIG. 9 is a flowchart showing an example of processing of the management device 11 in a second example of assist control;
  • FIG. 3 is a diagram (part 1) showing an example of automatic photographing control by the management device 11;
  • FIG. 7 is a diagram (part 2) showing an example of automatic photographing control by the management device 11;
  • FIG. 10 is a diagram showing an example of photographing by the aerial camera 2 and the ground camera 10 of Embodiment 2;
  • FIG. 3 is a diagram (part 1) for explaining an example of controlling the shooting direction of the ground camera 10;
  • FIG. 10 is a diagram (part 2) for explaining an example of controlling the shooting direction of the ground camera 10;
  • FIG. 10 is a diagram (part 1) for explaining another example of controlling the shooting direction of the ground camera 10;
  • FIG. 11 is a diagram (part 2) for explaining another example of controlling the shooting direction of the ground camera 10;
  • FIG. 4 is a diagram showing an example of the relationship between the size of a subject and the size of an image on an imaging plane;
  • FIG. 3 is a diagram (part 1) for explaining an example of controlling the shooting direction of the ground camera 10;
  • FIG. 10 is a diagram (part 2) for explaining an example of controlling the shooting direction of the ground camera 10;
  • FIG. 10 is a diagram (part 1) for explaining another example of controlling the shooting direction of the ground camera 10;
  • FIG. 4 is a diagram showing an example of the number of pixels in an entire image and the number of pixels in a subject portion; 3 is a diagram showing an example of a manner in which a shooting control program of the embodiment is installed in the control device 60 of the management device 11 from a storage medium storing the shooting control program; FIG.
  • FIG. 1 is a diagram showing an example of an imaging system according to Embodiment 1.
  • the imaging system 1 includes an aerial camera 2, a ground camera 10, and a management device 11.
  • the aerial camera 2 is an example of the first imaging device in the present invention.
  • Ground camera 10 is an example of a second imaging device in the present invention.
  • the management device 11 is an example of a shooting control device in the present invention.
  • the aerial camera 2 is a photographing device capable of aerial photography by being mounted on the flying object 3.
  • the flying object 3 is also called a drone, and can fly under external control or fly autonomously.
  • the aerial camera 2 is capable of communicating with the management device 11 , and transmits to the management device 11 a photographed image obtained by photographing and photographing information relating to the photographing. A specific example of the shooting information will be described later (see FIG. 6, for example).
  • Communication between the aerial camera 2 and the management device 11 may be direct wireless communication between the aerial camera 2 and the management device 11, or the aerial camera 2 may communicate via a base station or the like. It may be communication via a network by connecting to the network. Communication between the aerial camera 2 and the management device 11 may be via the communication unit of the flying object 3 or may not be via the communication unit of the flying object 3 .
  • the ground camera 10 is installed on a pillar, a wall, or a part of a building (for example, a rooftop) indoors or outdoors via a turning mechanism 16, which will be described later, and photographs an object to be photographed.
  • the ground camera 10 may be installed on the ground using a tripod or the like (see FIG. 8, for example).
  • the ground camera 10 transmits a photographed image obtained by photographing and photographing information regarding the photographing to the management device 11 via the communication line 12 .
  • the management device 11 includes a display 13 and a secondary storage device 14.
  • Examples of the display 13 include a liquid crystal display, a plasma display, an organic EL (Electro-Luminescence) display, a CRT (Cathode Ray Tube) display, and the like.
  • the secondary storage device 14 is an HDD (Hard Disk Drive).
  • the secondary storage device 14 is not limited to an HDD, and may be a non-volatile memory such as flash memory, SSD (Solid State Drive), or EEPROM (Electrically Erasable and Programmable Read Only Memory).
  • the management device 11 receives captured images and captured information transmitted by the aerial camera 2 and the ground camera 10, displays the received captured images and captured information on the display 13, and stores them in the secondary storage device 14. or
  • the management device 11 associates and records the photographed image obtained by photographing by the aerial camera 2 and photographing information regarding the photographing.
  • the captured image and the captured information will be described later (see FIG. 6, for example).
  • the management device 11 performs photographing control for controlling photographing by the ground camera 10 based on at least one of the stored photographed image of the aerial camera 2 and photographing information.
  • the management device 11 performs this photographing control by communicating with the ground camera 10 via the communication line 12 .
  • the shooting control is, for example, control for setting shooting parameters for the ground camera 10 to shoot.
  • the photographer uses the terrestrial camera 10 for which the photographing parameters have been set (for example, the photographer presses the shutter button of the terrestrial camera 10).
  • the shooting control may be control for setting shooting parameters for the ground camera 10 to shoot, and causing the ground camera 10 to shoot. In this case, photographing by the ground camera 10 is automatically performed.
  • a specific example of shooting control will be described later.
  • FIG. 2 is a diagram showing an example of turning of the ground camera 10 in the pitch direction by the turning mechanism 16.
  • FIG. 3 is a diagram showing an example of turning of the ground camera 10 in the yaw direction by the turning mechanism 16.
  • a ground camera 10 is attached to the turning mechanism 16 .
  • the turning mechanism 16 enables the ground camera 10 to turn.
  • the turning mechanism 16 has a turning direction (pitch direction) that intersects the yaw direction and has the pitch axis PA as a central axis, and a yaw direction as shown in FIG. 3 as an example. It is a two-axis turning mechanism capable of turning the ground camera 10 in a turning direction (yaw direction) with the axis YA as a central axis. Note that the turning mechanism 16 according to the present embodiment has shown an example of a two-axis turning mechanism, but the technology of the present disclosure is not limited to this, and may be a three-axis turning mechanism or a one-axis turning mechanism. may be
  • FIG. 4 is a block diagram showing an example of the configuration of the optical system and electrical system of the ground camera 10.
  • the ground camera 10 includes an optical system 15 and an imaging device 25 .
  • the imaging element 25 is positioned behind the optical system 15 .
  • the optical system 15 has an objective lens 15A and a lens group 15B.
  • the objective lens 15A and the lens group 15B are arranged along the optical axis OA of the optical system 15 from the target subject side (object side) to the light receiving surface 25A side (image side) of the imaging device 25. are arranged in order.
  • the lens group 15B includes an antivibration lens 15B1, a focus lens (not shown), a zoom lens 15B2, and the like.
  • the zoom lens 15B2 is movably supported along the optical axis OA by a lens actuator 21, which will be described later.
  • the anti-vibration lens 15B1 is movably supported in a direction perpendicular to the optical axis OA by a lens actuator 17, which will be described later.
  • the ground camera 10 is on the telephoto side, so the angle of view is reduced (the shooting range is narrowed).
  • the angle of view is widened (the shooting range is widened).
  • the optical system 15 may include various lenses (not shown) in addition to the objective lens 15A and the lens group 15B. Furthermore, the optical system 15 may have an aperture. The positions of the lens, the lens group, and the diaphragm included in the optical system 15 are not limited.
  • the anti-vibration lens 15B1 is movable in a direction perpendicular to the optical axis OA, and the zoom lens 15B2 is movable along the optical axis OA.
  • the optical system 15 has lens actuators 17 and 21 .
  • the lens actuator 17 applies force to the anti-vibration lens 15B1 that fluctuates in the direction perpendicular to the optical axis of the anti-vibration lens 15B1.
  • the lens actuator 17 is controlled by an OIS (Optical Image Stabilizer) driver 23 .
  • OIS Optical Image Stabilizer
  • the lens actuator 21 applies a force to the zoom lens 15B2 to move it along the optical axis OA of the optical system 15.
  • the lens actuator 21 is controlled by a lens driver 28 .
  • the focal length of the ground camera 10 changes as the position of the zoom lens 15B2 moves along the optical axis OA.
  • the angle of view in the direction of the pitch axis PA is the direction of the yaw axis YA.
  • the angle of view is narrower than the angle of view at the , and narrower than the angle of view at the diagonal.
  • the light representing the imaging area is imaged on the light receiving surface 25A of the imaging element 25, and the imaging area is imaged by the imaging element 25.
  • the vibration given to the ground camera 10 includes, for example, vibration due to traffic of automobiles, vibration due to wind, and vibration due to road construction when outdoors, and vibration due to operation of an air conditioner and vibration due to human motion when indoors. Vibration, etc. due to entry and exit of Therefore, the ground camera 10 shakes due to the vibration applied to the ground camera 10 (hereinafter also simply referred to as "vibration").
  • shake means that the target subject image on the light receiving surface 25A of the imaging device 25 in the ground camera 10 fluctuates due to changes in the positional relationship between the optical axis OA and the light receiving surface 25A. refers to phenomena. In other words, the “shake” can also be said to be a phenomenon in which the optical image formed on the light receiving surface 25A fluctuates due to the tilt of the optical axis OA caused by the vibration applied to the ground camera 10. . Fluctuation of the optical axis OA means, for example, inclination of the optical axis OA with respect to a reference axis (for example, the optical axis OA before vibration occurs).
  • shake caused by vibration is also simply referred to as "shake”.
  • Shaking is included in the captured image as a noise component and affects the image quality of the captured image. Therefore, the ground camera 10 is provided with a lens-side vibration correction mechanism 29, an image-capturing element-side vibration correction mechanism 45, and an electronic vibration correction unit 33 in order to remove noise components contained in the captured image due to vibration. and is used for shake correction.
  • the lens-side shake correction mechanism 29 and the imaging element-side shake correction mechanism 45 are mechanical shake correction mechanisms.
  • a mechanical image stabilization mechanism applies power generated by a drive source such as a motor (e.g., voice coil motor) to an image stabilization element (e.g., an anti-vibration lens and/or an imaging element). This is a mechanism that moves in a direction perpendicular to the optical axis of the optical system, thereby correcting shake.
  • the lens-side shake correction mechanism 29 applies power generated by a driving source such as a motor (for example, a voice coil motor) to the anti-vibration lens to align the anti-vibration lens with the optical axis of the imaging optical system. It is a mechanism that moves in a direction perpendicular to the camera, thereby correcting shake.
  • the imaging element side shake correction mechanism 45 applies power generated by a drive source such as a motor (for example, a voice coil motor) to the imaging element to move the imaging element in a direction perpendicular to the optical axis of the imaging optical system. It is a mechanism that moves the lens and thereby corrects the shake.
  • the electronic shake correction unit 33 corrects shake by performing image processing on the captured image based on the amount of shake.
  • the shake correction section mechanically or electronically corrects the shake with a hardware configuration and/or a software configuration.
  • mechanical shake correction refers to mechanically moving a shake correction element such as an anti-vibration lens and/or an imaging element using power generated by a drive source such as a motor (for example, a voice coil motor).
  • Electronic shake correction refers to shake correction achieved by image processing performed by a processor, for example.
  • the lens-side vibration correction mechanism 29 includes a vibration reduction lens 15B1, a lens actuator 17, an OIS driver 23, and a position detection sensor 39.
  • a shake correction method by the lens-side shake correction mechanism 29 .
  • a method of correcting shake by moving the anti-vibration lens 15B1 based on the amount of shake detected by a shake amount detection sensor 40 (described later) is employed as a shake correction method. Specifically, the vibration is corrected by moving the anti-vibration lens 15B1 in the direction of canceling the vibration by the amount that cancels the vibration.
  • a lens actuator 17 is attached to the anti-vibration lens 15B1.
  • the lens actuator 17 is a shift mechanism equipped with a voice coil motor, and drives the voice coil motor to move the anti-vibration lens 15B1 in a direction perpendicular to the optical axis of the anti-vibration lens 15B1.
  • a shift mechanism equipped with a voice coil motor is adopted, but the technology of the present disclosure is not limited to this, and instead of the voice coil motor, a stepping motor or a piezo element Other power sources, such as, may be applied.
  • the lens actuator 17 is controlled by the OIS driver 23. Driving the lens actuator 17 under the control of the OIS driver 23 mechanically changes the position of the anti-vibration lens 15B1 within a two-dimensional plane perpendicular to the optical axis OA.
  • the position detection sensor 39 detects the current position of the anti-vibration lens 15B1 and outputs a position signal indicating the detected current position.
  • a device including a Hall element is adopted as an example of the position detection sensor 39 .
  • the current position of the anti-vibration lens 15B1 refers to the current position within the two-dimensional plane of the anti-vibration lens.
  • the anti-vibration lens two-dimensional plane refers to a two-dimensional plane perpendicular to the optical axis of the anti-vibration lens 15B1.
  • a device including a Hall element is adopted as an example of the position detection sensor 39, but the technology of the present disclosure is not limited to this. may be adopted.
  • the lens-side shake correction mechanism 29 corrects shake by moving the vibration reduction lens 15B1 along at least one of the pitch axis PA direction and the yaw axis YA direction in the range that is actually photographed. In other words, the lens-side shake correction mechanism 29 corrects the shake by moving the anti-vibration lens 15B1 within the two-dimensional plane of the anti-vibration lens by a movement amount corresponding to the amount of shake.
  • the imaging element side shake correction mechanism 45 includes an imaging element 25 , a BIS (Body Image Stabilizer) driver 22 , an imaging element actuator 27 , and a position detection sensor 47 .
  • BIS Body Image Stabilizer
  • the shake correction method by the imaging device side shake correction mechanism 45 can be adopted for the shake correction method by the imaging device side shake correction mechanism 45, similar to the shake correction method by the lens side shake correction mechanism 29.
  • a method of correcting shake a method of correcting shake by moving the imaging element 25 based on the amount of shake detected by the shake amount detection sensor 40 is employed. Specifically, the image pickup device 25 is moved in the direction of canceling the shake by the amount that cancels out the shake, thereby correcting the shake.
  • the imaging element actuator 27 is attached to the imaging element 25 .
  • the imaging element actuator 27 is a shift mechanism equipped with a voice coil motor, and drives the voice coil motor to move the imaging element 25 in the direction perpendicular to the optical axis of the anti-vibration lens 15B1.
  • a shift mechanism equipped with a voice coil motor is adopted, but the technology of the present disclosure is not limited to this, and instead of the voice coil motor, a stepping motor or a piezo actuator is used. Other power sources such as elements may be applied.
  • the imaging device actuator 27 is controlled by the BIS driver 22 .
  • the position of the imaging element 25 is mechanically changed in the direction perpendicular to the optical axis OA.
  • the position detection sensor 47 detects the current position of the imaging device 25 and outputs a position signal indicating the detected current position.
  • a device including a Hall element is adopted as an example of the position detection sensor 47 .
  • the current position of the imaging device 25 refers to the current position within the two-dimensional plane of the imaging device.
  • a two-dimensional plane of the imaging element refers to a two-dimensional plane perpendicular to the optical axis of the anti-vibration lens 15B1.
  • a device including a Hall element is adopted as an example of the position detection sensor 47, but the technology of the present disclosure is not limited to this. may be adopted.
  • the ground camera 10 includes a computer 19, a DSP (Digital Signal Processor) 31, an image memory 32, an electronic shake corrector 33, a communication I/F 34, a shake amount detection sensor 40, and a UI (User Interface) device 43.
  • the computer 19 has a memory 35 , a storage 36 and a CPU (Central Processing Unit) 37 .
  • the imaging device 25, DSP 31, image memory 32, electronic shake corrector 33, communication I/F 34, memory 35, storage 36, CPU 37, shake amount detection sensor 40, and UI device 43 are connected to a bus 38. .
  • the OIS driver 23 is also connected to the bus 38 .
  • one bus is shown as the bus 38 for convenience of illustration, but a plurality of buses may be used.
  • Bus 38 may be a serial bus or a parallel bus such as a data bus, an address bus, and a control bus.
  • the memory 35 temporarily stores various information and is used as a work memory.
  • An example of the memory 35 is a RAM (Random Access Memory), but it is not limited to this and may be another type of storage device.
  • Various programs for the ground camera 10 are stored in the storage 36 .
  • the CPU 37 controls the entire ground camera 10 by reading various programs from the storage 36 and executing the read various programs on the memory 35 .
  • Examples of the storage 36 include flash memory, SSD, EEPROM, HDD, and the like. Further, for example, instead of flash memory or in combination with flash memory, various nonvolatile memories such as magnetoresistive memory and ferroelectric memory may be used.
  • the imaging element 25 is a CMOS (Complementary Metal Oxide Semiconductor) image sensor.
  • the imaging device 25 photographs the target subject at a predetermined frame rate under the instruction of the CPU 37 .
  • the "predetermined frame rate" referred to here indicates, for example, several tens of frames/second to several hundreds of frames/second.
  • the imaging device 25 itself may also have a built-in control device (imaging device control device). conduct.
  • the imaging element 25 may photograph the target subject at a predetermined frame rate under the instruction of the DSP 31. In this case, the detailed control inside the imaging element 25 is photographed according to the imaging instruction output by the DSP 31. This is done by the device controller.
  • the DSP 31 is also called an ISP (Image Signal Processor).
  • a light receiving surface 25A of the imaging device 25 is formed by a plurality of photosensitive pixels (not shown) arranged in a matrix.
  • each photosensitive pixel is exposed and photoelectric conversion is performed for each photosensitive pixel.
  • the charge obtained by performing photoelectric conversion for each photosensitive pixel is an analog photographing signal representing the target subject.
  • a plurality of photoelectric conversion elements having sensitivity to visible light for example, photoelectric conversion elements in which color filters are arranged
  • the plurality of photoelectric conversion elements include a photoelectric conversion element sensitive to R (red) light (for example, a photoelectric conversion element having an R filter corresponding to R), and a G (green) light.
  • these photosensitive pixels are used to perform imaging based on visible light (for example, light on the short wavelength side of approximately 700 nm or less).
  • imaging may be performed based on infrared light (for example, light on the longer wavelength side than approximately 700 nm).
  • a plurality of photoelectric conversion elements sensitive to infrared light may be used as the plurality of photosensitive pixels.
  • SWIR Short-wavelength infrared
  • an InGaAs sensor and/or a Type-II Quantum Well (T2SL; Simulation of Type-II Quantum Well) sensor may be used.
  • the imaging element 25 performs signal processing such as A/D (Analog/Digital) conversion on the analog imaging signal to generate a digital image, which is a digital imaging signal.
  • the imaging device 25 is connected to the DSP 31 via the bus 38 and outputs the generated digital image to the DSP 31 via the bus 38 frame by frame.
  • This digital image is an example of a "photographed image" in the present invention.
  • CMOS image sensor is described as an example of the imaging device 25, but the technology of the present disclosure is not limited to this, and a CCD (Charge Coupled Device) image sensor is applied as the imaging device 25. good too.
  • the imaging device 25 is connected to the bus 38 via an AFE (Analog Front End) (not shown) with a built-in CCD driver.
  • a digital image is generated by performing signal processing such as the above, and the generated digital image is output to the DSP 31 .
  • the CCD image sensor is driven by a CCD driver built into the AFE.
  • the CCD driver may be provided independently.
  • the DSP 31 performs various digital signal processing on the digital image.
  • Various types of digital signal processing refer to, for example, demosaic processing, noise removal processing, gradation correction processing, color correction processing, and the like.
  • the DSP 31 outputs the digital image after digital signal processing to the image memory 32 for each frame.
  • Image memory 32 stores digital images from DSP 31 .
  • the digital image stored in the image memory 32 is hereinafter also referred to as a "photographed image”.
  • the shake amount detection sensor 40 is, for example, a device including a gyro sensor, and detects the amount of shake of the ground camera 10. In other words, the shake amount detection sensor 40 detects the shake amount in each of the pair of axial directions.
  • the gyro sensor detects the amount of rotational shake around each axis (see FIG. 1) of the pitch axis PA, yaw axis YA, and roll axis RA (an axis parallel to the optical axis OA).
  • the shake amount detection sensor 40 detects the amount of rotational shake about the pitch axis PA and the amount of rotational shake about the yaw axis YA detected by the gyro sensor within a two-dimensional plane parallel to the pitch axis PA and the yaw axis YA. , the amount of shake of the ground camera 10 is detected.
  • a gyro sensor is given as an example of the shake amount detection sensor 40, but this is only an example, and the shake amount detection sensor 40 may be an acceleration sensor.
  • the acceleration sensor detects the shake amount within a two-dimensional plane parallel to the pitch axis PA and the yaw axis YA.
  • the shake amount detection sensor 40 outputs the detected shake amount to the CPU 37 .
  • the shake amount detection sensor 40 an example of a form in which the shake amount is detected by a physical sensor called the shake amount detection sensor 40 is given, but the technology of the present disclosure is not limited to this.
  • a motion vector obtained by comparing time-sequential captured images stored in the image memory 32 may be used as the shake amount.
  • the amount of shake to be finally used may be derived based on the amount of shake detected by a physical sensor and the motion vector obtained by image processing.
  • the CPU 37 acquires the shake amount detected by the shake amount detection sensor 40, and controls the lens side shake correction mechanism 29, the imaging element side shake correction mechanism 45, and the electronic shake correction unit 33 based on the acquired shake amount.
  • the shake amount detected by the shake amount detection sensor 40 is used for shake correction by the lens-side shake correction mechanism 29 and the electronic shake correction unit 33 .
  • the electronic shake correction unit 33 is a device including an ASIC (Application Specific Integrated Circuit).
  • the electronic shake correction unit 33 corrects shake by performing image processing on the captured image in the image memory 32 based on the amount of shake detected by the shake amount detection sensor 40 .
  • the electronic shake correction unit 33 may be a device including a plurality of ASICs, FPGAs, and PLDs.
  • a computer including a CPU, a storage, and a memory may be employed as the electronic shake correction section 33 .
  • the number of CPUs may be singular or plural.
  • the electronic shake correction unit 33 may be implemented by a combination of hardware and software configurations.
  • the communication I/F 34 is, for example, a network interface, and controls transmission of various information to and from the management device 11 via the network.
  • An example of a network is a WAN (Wide Area Network) such as the Internet or a public communication network. It controls communication between the ground camera 10 and the management device 11 .
  • the UI device 43 includes a reception device 43A and a display 43B.
  • the receiving device 43A is, for example, a hard key, a touch panel, or the like, and receives various instructions from the user.
  • the CPU 37 acquires various instructions accepted by the accepting device 43A and operates according to the acquired instructions.
  • the display 43B displays various information under the control of the CPU 37.
  • the various information displayed on the display 43B includes, for example, the contents of various instructions received by the reception device 43A, the captured image, and the like.
  • the configuration of the aerial camera 2 is the same as that of the ground camera 10.
  • the configuration corresponding to the communication I/F 34 in the aerial camera 2 is a wireless communication interface capable of wirelessly communicating with the management device 11 or a base station, or by communicating with the communication unit of the flying object 3
  • a communication interface capable of communicating with the management device 11 via the communication unit 3 is used.
  • the aerial camera 2 is mounted on the flying object 3, various modifications are possible, such as omitting the UI device 43 and the like.
  • FIG. 5 is a diagram showing an example of the electrical system configuration of the turning mechanism 16 and the management device 11.
  • the turning mechanism 16 includes a yaw axis turning mechanism 71, a pitch axis turning mechanism 72, a motor 73, a motor 74, a driver 75, and a driver .
  • the yaw axis turning mechanism 71 turns the ground camera 10 in the yaw direction.
  • the motor 73 generates power by being driven under the control of the driver 75 .
  • the yaw axis turning mechanism 71 receives power generated by the motor 73 to turn the ground camera 10 in the yaw direction.
  • the pitch axis turning mechanism 72 turns the ground camera 10 in the pitch direction.
  • Motor 74 generates power by being driven under the control of driver 76 .
  • the pitch axis turning mechanism 72 turns the ground camera 10 in the pitch direction by receiving power generated by the motor 74 .
  • the management device 11 includes a display 13, a control device 60, a reception device 62, and a communication I/F 66.
  • the control device 60 has a CPU 60A, a storage 60B, and a memory 60C.
  • CPU 60A is an example of a processor in the present invention.
  • Bus 70 Each of the reception device 62, the display 13, the secondary storage device 14, the CPU 60A, the storage 60B, the memory 60C, and the communication I/F 66 is connected to the bus 70.
  • one bus is shown as the bus 70 for convenience of illustration, but a plurality of buses may be used.
  • Bus 70 may be a serial bus or a parallel bus including a data bus, an address bus, a control bus, and the like.
  • the memory 60C temporarily stores various information and is used as a work memory.
  • An example of the memory 60C is a RAM, but it is not limited to this and may be another type of storage device.
  • the storage 60B stores various programs for the management device 11 (hereinafter simply referred to as "management device programs").
  • the CPU 60A reads the management device program from the storage 60B and executes the read management device program on the memory 60C, thereby controlling the management device 11 as a whole.
  • the management device program includes a photographing control program in the present invention.
  • the communication I/F 66 is, for example, a network interface.
  • the communication I/F 66 is communicably connected to the communication I/F 34 of the terrestrial camera 10 via a network, and controls transmission of various information to and from the terrestrial camera 10 .
  • the communication I/F 66 requests the ground camera 10 to transmit the captured image and the captured information, and receives the captured image and the captured information transmitted from the communication I/F 34 of the ground camera 10 in response to the request. .
  • the communication I/F 66 is communicably connected to the aerial camera 2 via a network.
  • the communication I/F 66 may include a wireless communication interface that allows direct wireless communication with the aerial camera 2 .
  • communication I/F66 performs transmission control of various information between the aerial photography cameras 2 via a network or by radio
  • the communication I/F 66 requests the aerial camera 2 to transmit the captured image and the captured information, and receives the captured image and the captured information transmitted from the aerial camera 2 in response to the request.
  • the communication I/Fs 67 and 68 are, for example, network interfaces.
  • the communication I/F 67 is communicably connected to the driver 75 of the turning mechanism 16 via a network.
  • the CPU 60A controls the turning motion of the yaw axis turning mechanism 71 by controlling the motor 73 via the communication I/F 67 and the driver 75 .
  • the communication I/F 68 is communicably connected to the driver 76 of the turning mechanism 16 via a network.
  • the CPU 60A controls the turning motion of the pitch axis turning mechanism 72 by controlling the motor 74 via the communication I/F 68 and the driver 76 .
  • the reception device 62 is, for example, a keyboard, mouse, touch panel, etc., and receives various instructions from the user.
  • the CPU 60A acquires various instructions accepted by the accepting device 62 and operates according to the acquired instructions. For example, when the receiving device 62 receives the processing details for the ground camera 10 and/or the turning mechanism 16 , the CPU 60A operates the ground camera 10 and/or the turning mechanism 16 according to the instruction contents received by the receiving device 62 .
  • the display 13 displays various information under the control of the CPU 60A.
  • the various information displayed on the display 13 includes, for example, the contents of various instructions received by the reception device 62, the captured image and the captured information received by the communication I/F 66, and the like.
  • the management device 11 has a secondary storage device 14 .
  • the secondary storage device 14 is, for example, a non-volatile memory, and stores various information under the control of the CPU 60A.
  • Various types of information stored in the secondary storage device 14 include, for example, captured images received by the communication I/F 66 .
  • the secondary storage device 14 is an example of memory in the present invention.
  • control device 60 controls to display the captured image and the captured information received by the communication I/F 66 on the display 13, and secondary storage of the captured image and the captured information received by the communication I/F 66. It controls the device 14 to be stored.
  • control device 60 displays the captured image on the display 13 and stores the captured image received by the communication I/F 66 in the secondary storage device 14.
  • the technology disclosed is not limited to this. For example, either the display of the captured image on the display 13 or the storage of the captured image on the secondary storage device 14 may be performed.
  • FIG. 6 is a diagram showing an example of storage of photographed images and photographing information by the management device 11.
  • the control device 60 of the management device 11 stores the photographed image 81 and the photographing information table 82 in the secondary storage device 14, for example.
  • the photographed image 81 is a photographed image obtained by photographing with a plurality of cameras including the aerial camera 2 and the ground camera 10 .
  • the captured images 81 include captured images with identifiers IMG1, IMG2, IMG3, IMG4, .
  • the photographing information table 82 stores photographing information regarding the photographing of the photographed image for each identifier of the photographed image included in the photographed image 81 .
  • the shooting information includes, for example, “camera ID”, “shooting time”, “shooting parameters”, “camera position”, “camera orientation”, “camera model”, “photographer”, “shooting target”, and “shooting approach”. , “automatic photography log”, and the like.
  • Camera ID is identification information (for example, serial number) of the imaging device used to capture the corresponding captured image.
  • Camera ID is a camera ID stored in the internal memory of the imaging device.
  • Photographing time is the time (date and time) when the corresponding photographed image was photographed.
  • Camera position is the time obtained, for example, from the internal clock of the imaging device.
  • “Shooting parameters” are parameters such as exposure, aperture value, focus position, focal length (angle of view), wide balance, etc. be.
  • Camera position is the position at which the imaging device used to capture the corresponding captured image was installed at the time of the capture.
  • a “camera position” is a position measured by a GPS (Global Positioning System) unit or the like provided in the photographing device, for example.
  • Camera direction is the direction in which the imaging device used to capture the corresponding captured image was facing at the time of capturing.
  • Camera direction is a position measured by an electronic compass or the like provided in the imaging device, for example.
  • “Camera model” is the model of the imaging device used to capture the corresponding captured image.
  • “Camera model” is a model name (for example, model number) stored in the internal memory of the imaging device.
  • the “photographer” is the name or identifier of the person who took the corresponding photographed image.
  • “Photographer” is set in the imaging device by, for example, a user's operation on the imaging device.
  • Capturing target is the target of capturing the corresponding captured image.
  • the “imaging object” is a part of a certain large object indicated by a corresponding captured image, such as parts p1 to p7 to be photographed, which will be described later.
  • the "shooting approach” is the method of shooting, for example, whether it is shooting from the ground or shooting from the air.
  • the “shooting approach” may be set in the photographing device by, for example, a user's operation on the photographing device, or may be automatically set depending on the model of the photographing device.
  • Automatic shooting log is a log of automatic shooting (for example, pan, tilt, zoom and shooting log).
  • a photographing device such as the aerial camera 2 or the ground camera 10 transmits a photographed image obtained by photographing and photographing information related to the photographing to the management device 11 .
  • the management device 11 stores the received photographed image and photographing information in the secondary storage device 14 as shown in FIG.
  • the management device 11 performs photography control for controlling photography by the second photography device (for example, the ground camera 10) based on the photographed image and photography information of the first photography camera (for example, the aerial photography camera 2). Furthermore, the management device 11 may perform assist control for assisting photography by the second photography device (for example, the ground camera 10) based on the photographed image and photography information of the first photography camera (for example, the aerial photography camera 2). .
  • FIG. 7 and 8 are diagrams showing an example of coordinated photography by the aerial camera 2 and the ground camera 10.
  • FIG. 1 cooperative photography will be described in which a large subject is divided into a plurality of parts to be photographed, and the divided parts to be photographed are shared between the aerial camera 2 and the ground camera 10 . That is, photographing by the ground camera 10 is photographing of a part of the subject photographed by the aerial camera 2 that is different from the part photographed by the aerial camera 2 .
  • the transmission tower 4 and the electric wire 5 extending from the transmission tower 4 are taken as subjects, and cooperative photography is performed by the aerial camera 2 and the ground camera 10 for inspection and the like.
  • the aerial camera 2 and the ground camera 10 for inspection and the like.
  • Abnormalities in the transmission tower 4 include, for example, loose bolts of the transmission tower 4 and cracks in the transmission tower 4 .
  • the abnormality of the electric wire 5 includes, for example, a sign (damage) of breakage of the electric wire 5 and the like.
  • the aerial camera 2 and the ground camera 10 share the divided parts to be photographed, for example, the aerial camera 2 can be used to photograph a part that is difficult to photograph by bringing the ground camera 10 by a person. It is possible to flexibly photograph parts that are difficult to photograph with the aerial camera 2 due to flight prohibited areas, etc., with the ground camera 10, and the like.
  • the parts to be photographed p1 to p7 shown in FIGS. 7 and 8 are obtained by dividing the power transmission tower 4 and the electric wire 5, which are subjects, into a plurality of parts to be photographed.
  • the parts to be photographed p1 to p5 are parts to be photographed by the aerial camera 2 .
  • Parts p6 to p7 are parts that are difficult to be photographed by the aerial camera 2 due to, for example, a no-fly area or the like, and are to be photographed by the ground camera 10 .
  • This photographing may be performed by controlling the aerial camera 2 from the management device 11, may be performed by controlling the aerial camera 2 from a device different from the management device 11, or may be performed by controlling the aerial camera 2 from a device different from the management device 11. It may be performed autonomously by the camera 2 . Photographed images obtained by photographing the photographed parts p1 to p5 and photographing information are transmitted from the aerial photographing camera 2 to the management device 11 .
  • the management device 11 is a notebook computer.
  • the management device 11 stores the photographed images and photographing information transmitted from the aerial camera 2, and based on the stored photographed images and photographing information, performs photographing control for controlling the photographing of the photographed parts p6 to p7 by the ground camera 10. conduct.
  • the management device 11 sets imaging parameters for the ground camera 10 to image the imaging regions p6 to p7 based on the imaging parameters included in the imaging information of the imaging regions p1 to p5 by the aerial camera 2.
  • Setting of photographing parameters for the terrestrial camera 10 by the management device 11 is performed by the management device 11 transmitting a control signal to the terrestrial camera 10 via the communication line 12, for example.
  • the aerial camera 2 and ground camera 10 have a zoom mechanism that can change the angle of view (focal length).
  • the photographing parts p6 to p7 can be photographed at a magnification close to that of the parts p1 to p5 photographed by the aerial camera 2.
  • FIG. Therefore, it is possible to efficiently inspect the power transmission tower 4 and the electric wire 5 while referring to the photographed images of the photographed parts p1 to p5 and the photographed images of the photographed parts p6 to p7.
  • the angle of view of the ground camera 10 is set based on the angle of view of the aerial camera 2 and the like has been described.
  • the photographing parameters used when performing this are not limited to the angle of view, and may be, for example, exposure, aperture value, focus position, white balance, and the like.
  • the management device 11 controls the shooting of the ground camera 10 (for example, sets shooting parameters) based on the shooting information (shooting parameters) of the aerial camera 2, thereby performing a plurality of shots of the subject. It is possible to easily perform cooperative photographing in which the body is divided into parts and the divided photographing parts are shared by the aerial camera 2 and the ground camera 10 for photographing.
  • the management device 11 may perform assist control for assisting shooting by the ground camera 10 in addition to the shooting control of the ground camera 10 described above.
  • FIG. 9 is a flowchart showing a first example of assist control by the management device 11. As shown in FIG. The management device 11 executes, for example, the process shown in FIG. 9 as assist control.
  • the management device 11 acquires the current shooting approach by the ground camera 10 (step S901).
  • the photography approach is, for example, a method of photography such as whether it is photography from the ground or photography from the air (whether it is an aerial photography).
  • the management device 11 acquires the current shooting approach by the ground camera 10 through an operation input from the user.
  • the management device 11 acquires imaged information indicating the imaged parts that have already been imaged among the imaged parts of the subject (for example, the power transmission tower 4 and the electric wire 5) (step S902).
  • imaged information indicating the imaged parts that have already been imaged among the imaged parts of the subject (for example, the power transmission tower 4 and the electric wire 5)
  • imaging target in the imaging information table 82 shown in FIG. Get the value as captured information.
  • n is the index of the imaging part.
  • the subject is divided into imaging regions [0] to [N].
  • n is a value in the range of 0-N.
  • the management device 11 determines whether or not the imaging part [n] has been imaged based on the imaging completion information acquired in step S902 (step S904). If the imaged part [n] has not been imaged (step S904: No), the management device 11 registers the imaged part [n] as a candidate to be imaged by the ground camera 10 (step S905).
  • the management device 11 determines whether the current index n is smaller than the maximum value N (step S906). If the index n is smaller than the maximum value N (step S906: Yes), the management device 11 increments n (step S907) and returns to step S904.
  • step S904 if the imaging site [n] has been imaged (step S904: Yes), the management device 11 determines whether an NG flag is added to the captured image of the imaging site [n] (step S908).
  • the NG flag is flag information indicating that the captured image does not satisfy a predetermined condition. For example, it is added when the photographed image is not properly exposed, is blurred, is out of focus, or includes an unintended reflection of a bird or the like.
  • the NG flag may be added by the user of the management device 11 after viewing the captured image, or may be automatically added by the management device 11 through image analysis or the like.
  • step S908 if the NG flag is not added to the captured image (step S908: No), the management device 11 proceeds to step S906 without registering the imaging region [n] as an imaging target candidate. If the NG flag is added to the captured image (step S908: Yes), the management device 11 adds the current image acquired in step S901 to the past imaging approach of the imaging region [n] indicated by the imaging information table 82. It is determined whether or not the photographing approach by the ground camera 10 is different (step S909).
  • step S909 if the imaging approaches are the same (step S909: No), the management device 11 proceeds to step S906 without registering the imaging region [n] as an imaging target candidate. If the imaging approaches are different (step S909: Yes), the management device 11 determines whether the imaging performance of the current imaging with the ground camera 10 is higher than the imaging performance of the imaging region [n] in the past. It judges (step S910).
  • the shooting performance includes, for example, resolution, F value, high sensitivity performance, telephoto performance (angle of view), and the like.
  • the imaging performance of each imaging device is determined, for example, by the model of each device.
  • the management device 11 stores performance information indicating the shooting performance for each model of the shooting device, and the management device 11 stores the performance information based on the performance information and the model name included in the shooting information table 82. Determine shooting performance.
  • the imaging information table 82 may include performance information indicating the imaging performance, and the management device 11 may refer to the imaging information table 82 to determine the imaging performance.
  • step S910 if the imaging performance is not high (step S910: No), the management device 11 proceeds to step S906 without registering the imaging region [n] as an imaging target candidate. If the imaging performance is high (step S910: Yes), the management device 11 registers the imaging region [n] as an imaging target candidate for the ground camera 10 (step S911), and proceeds to step S906.
  • step S906 if the index n is not smaller than the maximum value N (step S906: No), the management device 11 displays the photographing target candidates registered in steps S905 and S911 to the photographer using the ground camera 10. (step S912), and the series of processing ends.
  • the display of imaging target candidates in step S ⁇ b>912 is performed by the display 13 provided in the management apparatus 11 .
  • the display of imaging target candidates in step S ⁇ b>912 may be performed by the management device 11 controlling the display 43 ⁇ /b>B of the ground camera 10 .
  • FIG. 10 is a diagram showing an example of a display of image capturing target candidates for the ground camera 10 by the management device 11.
  • the management device 11 displays the photographing map 100 shown in FIG. 10 to the photographer 8 using the ground camera 10, for example.
  • the photographed map 100 is a two-dimensional map of an area in which the power transmission tower 4 and the electric wire 5, which are subjects, are laid.
  • a plurality of power transmission towers 4 and power transmission towers 4 are shown on the imaging map 100 .
  • the imaging map 100 also shows imaging regions p1 to p8. In this way, the imaging region is set in advance by designating each part of the imaging map 100, for example.
  • a current location mark 101 is the current location of the management device 11 and the ground camera 10 .
  • the management device 11 superimposes and displays the current location mark 101 on the photographing map 100 based on the position information acquired by at least one of the management device 11 and the ground camera 10 using a GPS unit or the like.
  • steps S905 and S911 of FIG. 9 it is assumed that of the imaging regions p1 to p8, imaging regions p7 and p8 are registered as imaging target candidates.
  • the management device 11 highlights the imaging regions p7 and p8, which are candidates for imaging, by displaying them in a manner different from the other imaging regions p1 to p6.
  • the photographer 8 can easily recognize that the parts to be photographed by the ground camera 10 are the parts to be photographed p7 and p8, and the parts to be photographed p7 and p8 can be photographed by the ground camera 10.
  • the management device 11 may perform control for selecting a part to be photographed by the ground camera 10 from preset photographing parts of the subject as assist control for assisting photographing by the ground camera 10. good.
  • the photographing information table 82 includes photographed information indicating the parts photographed by the aerial photographing camera 2 among the photographed parts of the subject. 10 to select a region to be imaged.
  • the photographer 8 can easily recognize the part to be photographed by the ground camera 10, the subject is divided into a plurality of parts to be photographed, and the divided parts to be photographed are shared with the aerial camera 2 and the ground. It is possible to easily perform cooperative photography in which the cameras 10 share the responsibility of photographing.
  • FIG. 11 is a diagram for explaining a second example of assist control by the management device 11.
  • the first photographing device is not the aerial camera 2 but the ground camera 6 different from the ground camera 10 .
  • the photographer 9 uses the ground camera 6 to photograph portions p1 to p5 of the power transmission tower 4 and the electric wire 5.
  • FIG. At this time, the photographer 9 shoots the terrestrial camera 6 with the smartphone 7 capable of photographing the terrestrial camera 6 at a short distance.
  • the ground camera 6 transmits to the management device 11 the captured image obtained by the shooting and the shooting information including the position information of the ground camera 6 acquired by the GPS unit or the like included in the ground camera 6 as the camera position.
  • the smartphone 7 transmits the location information of the smartphone 7 acquired by the GPS unit or the like included in the smartphone 7 to the management device 11 .
  • the smartphone 7 may further transmit a photographed image obtained by photographing the ground camera 6 to the management device 11 .
  • the management device 11 may store this photographed image as an image showing the situation at the time of photographing by the ground camera 6 by including it in the photographing information received from the ground camera 6 .
  • FIG. 12 is a flowchart showing an example of processing of the management device 11 in the second example of assist control.
  • the management device 11 executes the process shown in FIG. 12, for example.
  • the processing shown in FIG. 12 is performed, for example, when controlling photography by the ground camera 10 based on the photography information of the ground camera 6 .
  • the process shown in FIG. 12 is performed when the management device 11 receives the shooting information (including the position information of the ground camera 6) transmitted by the ground camera 6 and the position information of the smartphone 7 transmitted by the smartphone 7. may be done.
  • the management device 11 acquires the position information of the ground camera 6 received from the ground camera 6 (step S1201). Next, the management device 11 acquires the location information of the smartphone 7 that captured the ground camera 6, received from the smartphone 7 (step S1202).
  • the management device 11 determines whether the difference between the pieces of location information acquired in steps S1201 and S1202 is equal to or greater than a threshold (step S1203). Specifically, the management device 11 determines whether the distance between the position of the ground camera 6 indicated by the position information of the ground camera 6 and the position of the smartphone 7 indicated by the position information of the smartphone 7 is equal to or greater than a threshold. to judge.
  • This threshold is set in advance, and is about 10 [m] as an example.
  • step S1203 if the difference is not equal to or greater than the threshold (step S1203: No), the management device 11 terminates the series of processes. If the difference is greater than or equal to the threshold (step S1203: Yes), the management device 11 outputs warning information to the user of the management device 11 (step S1204), and ends the series of processes.
  • warning information for example, when the management device 11 displays a list of captured images captured by the first image capturing device including the ground camera 6, for captured images with a large difference in position information, the position information display a warning that there is a problem with
  • the output of warning information is not limited to this, and can be performed by various methods.
  • the shooting information from the ground camera 6 includes the position information of the ground camera 6 at the time of shooting by the ground camera 6, and the management device 11 identifies the subject (the power transmission tower 4 and the electric wire 5). Control based on the difference between the position information of the smartphone 7 obtained by the smartphone 7 (third imaging device) that captured the ground camera 6 to be photographed and the position information of the ground camera 6 (control to issue a warning when the difference is large) ) may be performed.
  • the smartphone 7 has been described as an example of the third photographing device capable of photographing the ground camera 6 at a short distance
  • the third photographing device is not limited to the smartphone 7, and may be a tablet terminal, a laptop computer, a compact digital camera, or the like.
  • the third photographing device may be the management device 11 provided with a photographing function.
  • the position information of the ground camera 6 is acquired by the GPS unit or the like of the ground camera 6 has been described, but when the ground camera 6 is mounted on a moving body such as a car, the ground camera 6
  • the position information acquired by a GPS unit or the like may be acquired, and the acquired position information may be transmitted to the management device 11 as the position information of the ground camera 6 .
  • the assist control by the management device 11 is not limited to the above example, and can be various types of control based on a captured image or shooting information.
  • the management device 11 may transmit at least one of the captured image and the captured information captured by the first capturing device (the aerial camera 2 and the ground camera 6) at the time of capturing by the second capturing device (the ground camera 10).
  • assist control for displaying to the photographer (for example, the photographer 8) using the second photographing device may be performed.
  • the photographer using the second imaging device can perform imaging by referring to the imaging information and the imaging information that are imaging results of other imaging regions.
  • the management device 11 may perform automatic photography control for controlling automatic photography by the ground camera 10 in addition to the photography control of the ground camera 10 described above.
  • FIG. 13 and 14 are diagrams showing an example of automatic shooting control by the management device 11.
  • the first photographing device is not the aerial camera 2 but the ground camera 6 different from the ground camera 10 .
  • Ground camera 6 and ground camera 10 are capable of automatically photographing a plurality of parts of a subject.
  • Automatic photographing is a function of automatically photographing a plurality of parts of a subject by photographing while sequentially switching the photographing range by the pan, tilt, and zoom functions of the turning mechanism 16 .
  • the ground camera 6 automatically captured the imaged parts p1 to p7.
  • the ground camera 6 transmits an automatic photography log, which is a log of the automatic photography that has been executed, to the management device 11 as photography information together with the photographed images obtained by this automatic photography.
  • the automatic imaging log is, for example, information indicating procedures such as imaging of the imaging region p1, changing the imaging range by panning and tilting, imaging of the imaging region p2, changing the imaging range by panning and tilting, imaging of the imaging region p3, and so on. Yes, including direction and amount of pan and tilt when changing the shooting range.
  • Parameters for imaging the first imaging site p1 include, for example, the direction of the ground camera 6 (obtained by the electronic compass of the ground camera 6, for example), the drive parameter of the turning mechanism 16, the zoom position of the ground camera 6, and the like. may be included in
  • the ground camera 10 automatically takes pictures of the parts p1 to p7 to be photographed.
  • the management device 11 controls the automatic photography of the ground camera 10 based on the automatic photography log of the ground camera 6 so that the same photography as the automatic photography performed on January 7, 2021 is executed.
  • the ground camera 10 can automatically photograph the photographed parts p1 to p7.
  • the ground camera 6 is capable of automatically photographing a plurality of parts of the subject, and may transmit photographing information including automatic photographing logs to the management device 11.
  • the management device 11 may perform automatic photography control for controlling automatic photography of the same plurality of parts by the ground camera 10 based on the automatic photography log.
  • the automatic photographing control of the ground camera 6 may be performed based on the automatic photographing log of the ground camera 6. good. That is, in the examples of FIGS. 13 and 14, on July 7, 2021 in FIG. Based on the automatic shooting log of the ground camera 6 on January 7, automatic shooting control of the ground camera 6 on January 7, 2021 may be performed.
  • the second photographing device (for example, the ground camera 10) photographs a surface of the subject photographed by the first photographing device (for example, the aerial photographing camera 2), which is different from the surface photographed by the first photographing device.
  • the plane to be photographed is synonymous with the direction of photographing.
  • the sphere is photographed from a certain direction by the first photographing device, and the sphere is photographed by the second photographing device. It includes the case of shooting from another direction (e.g. opposite direction).
  • FIG. 15 is a diagram showing an example of photographing by the aerial camera 2 and the ground camera 10 of the second embodiment.
  • the aerial camera 2 and the ground camera 10 photograph the same imaging target site (near the top of the power transmission tower 4) from different directions.
  • a flying object 3 equipped with an aerial camera 2 is located on the north side (back side of the figure) of a power transmission tower 4, and a photographer 8 holding a ground camera 10 is located on the south side (front side of the figure) of the power transmission tower 4. shall be located.
  • the aerial camera 2 photographs the north side of the top of the power transmission tower 4
  • the ground camera 10 photographs the south side of the top of the power transmission tower 4 .
  • the aerial camera 2 transmits the photographed image obtained by photographing the power transmission tower 4 and the photographing information including the information indicating the position and orientation of the aerial camera 2 at the time of photographing to the management device 11. do.
  • the position and orientation of the aerial camera 2 are acquired by, for example, a GPS unit, an electronic compass, or the like provided in the aerial camera 2 or the flying object 3 .
  • the management device 11 controls the shooting of the ground camera 10 based on the shooting information of the aerial camera 2 (position and orientation of the aerial camera 2) and the position and orientation of the ground camera 10. Control orientation.
  • the position and orientation of the terrestrial camera 10 are acquired by, for example, a GPS unit, an electronic compass, or the like provided in the terrestrial camera 10 .
  • Control of the shooting direction of the ground camera 10 can be performed by driving the turning mechanism 16, for example.
  • FIGS. 16 and 17 are diagrams for explaining an example of controlling the shooting direction of the ground camera 10.
  • FIG. Let the vertical direction (the direction of gravity) be the Z direction, and let the directions perpendicular to the Z direction and perpendicular to each other be the X direction and the Y direction.
  • FIG. 16 shows the positional relationship between the aerial camera 2 and the part to be photographed (for example, near the top of the power transmission tower 4) viewed from the Z direction.
  • FIG. 17 shows the positional relationship between the aerial camera 2 and the part to be photographed on a vertical plane including the respective positions (D, T) of the aerial camera 2 and the part to be photographed.
  • the tilt direction of the ground camera 10 matches the part to be photographed, and that the part to be photographed can be photographed by the ground camera 10 by controlling the panning direction of the ground camera 10 .
  • C, D, ⁇ , ⁇ , h and ⁇ are input information that the management device 11 can acquire.
  • C is the position of the terrestrial camera 10, which is acquired by the GPS unit or the like provided in the terrestrial camera 10 and the management device 11.
  • D is the position of the aerial camera 2, which is acquired by a GPS unit or the like provided in the aerial camera 2 or the flying object 3.
  • ⁇ is the current orientation of the ground camera 10 with respect to a specific direction (X direction), and is obtained by an electronic compass or the like included in the ground camera 10 .
  • ⁇ is the orientation of the aerial camera 2 with respect to a specific direction (X direction) when the aerial camera 2 captures an image of the target site, and is obtained by an electronic compass or the like provided in the aerial camera 2 or the flying object 3 .
  • h is the height of the aerial camera 2 from the ground, and is obtained by a GPS unit or the like provided in the aerial camera 2 or the flying object 3;
  • ⁇ is the tilt angle with respect to the horizontal direction when the aerial camera 2 captures an image of the part to be imaged, and is acquired by an angular velocity sensor or the like provided in the aerial camera 2 or the flying object 3 .
  • ⁇ may be acquired from the driving state of the tilt mechanism of the aerial camera 2 or the like.
  • the management device 11 calculates ⁇ as output information based on the above input information and the following formula (1).
  • ⁇ is a panning angle for the ground camera 10 to photograph the same imaging target part as the aerial camera 2 from the current state.
  • the management device 11 can direct the ground camera 10 to the same imaging target region as the aerial camera 2 . Therefore, the photographer 8 who takes an image using the ground camera 10 can take an image of the same object part as the aerial camera 2 with the ground camera 10 without worrying about the direction of the ground camera 10.
  • the management device 11 may control the ground camera 10 to perform imaging after directing the ground camera 10 toward the part to be imaged.
  • FIGS. 18 and 19 are diagrams for explaining another example of controlling the shooting direction of the ground camera 10.
  • FIG. FIG. 20 is a diagram showing an example of the relationship between the size of the subject and the size of the image on the imaging plane.
  • FIG. 21 is a diagram showing an example of the number of pixels in the entire image and the number of pixels in the subject portion.
  • 18 and 19 show the positional relationship between the aerial camera 2 and the part to be imaged as seen from the Z direction. 18 shows the case of ⁇ - ⁇ /2 [rad], and FIG. 19 shows the case of ⁇ - ⁇ /2 [rad].
  • control of the shooting direction of the ground camera 10 when the position information of the aerial camera 2 cannot be obtained will be described. That is, when the size of the flying object 3 is known, the aerial camera 2 is once photographed by the ground camera 10, and the ground camera 10 is automatically directed to the part to be photographed by the aerial camera 2. Is possible.
  • d shown in FIG. 20 is the size of the flying object 3.
  • f shown in FIG. 20 is the focal length when the ground camera 10 is photographing the flying object 3 .
  • q shown in FIG. 20 is the size of the image of the part where the flying object 3 is captured on the imaging sensor of the ground camera 10 .
  • a photographed image 210 shown in FIG. 21 is a photographed image obtained by photographing the flying object 3 with the ground camera 10 .
  • w shown in FIG. 21 is the number of horizontal pixels of the entire photographed image 210 (in the case of horizontal shooting).
  • a flying object area 211 shown in FIG. 21 is an area in which the flying object 3 appears in the captured image 210 .
  • the management device 11 identifies the flying object region 211 by image recognition processing, for example.
  • g shown in FIG. 21 is the number of horizontal pixels of the flying object region 211 (in the case of horizontal shooting).
  • p be the width of the imaging sensor of the ground camera 10 (in the case of horizontal shooting).
  • ⁇ , ⁇ , h, ⁇ , d, f, w, g, and p are input information that the management device 11 can acquire.
  • the above D position of the aerial camera 2 cannot be obtained by the management device 11, or even if it can be obtained, it is not accurate and cannot be used.
  • the management device 11 calculates ⁇ as output information as follows.
  • ⁇ is a panning angle for photographing the same object part as that of the aerial camera 2 from the current state of the ground camera 10 (in this case, the state of photographing the flying object 3).
  • the size of the image of the part where the flying object 3 is captured on the imaging sensor of the ground camera 10 is q. Also, the width of the imaging sensor of the ground camera 10 (for horizontal shooting) is p. Therefore, the following formula (3) holds.
  • the management device 11 drives the turning mechanism 16 based on ⁇ calculated by the above equation (5), and pans the ground camera 10 by ⁇ . can be directed. Therefore, even if the management device 11 cannot acquire the position (D) of the aerial camera 2 , the ground camera 10 can photograph the same part to be photographed as the aerial camera 2 . Furthermore, the management device 11 may control the ground camera 10 to perform imaging after directing the ground camera 10 toward the part to be imaged.
  • the management device 11 controls the position of the aerial camera 2 (the first camera) during shooting.
  • Shooting control may be performed to control the shooting direction of the camera 10 .
  • the management device 11 can calculate the relative position of the aerial camera 2 with respect to the ground camera 10 based on, for example, the captured image 210 obtained by capturing the aerial camera 2 with the ground camera 10 . As a result, once the aerial camera 2 is photographed by the ground camera 10, the ground camera 10 can be automatically directed to the part to be photographed by the aerial camera 2. - ⁇
  • the pan angle ( ⁇ ) of the ground camera 10 is calculated and the ground camera 10 is panned to point the management device 11 at the imaging target site.
  • a tilt angle for directing the ground camera 10 toward the imaging target site may be calculated, and the rotation mechanism 16 may be driven based on the calculated tilt angle to tilt the ground camera 10 .
  • the management device 11 calculates the distance (
  • the ground camera 10 has been described as an example of the second imaging device, the second imaging device may be an aerial camera.
  • the flying object 3 has been described as the moving object on which the first imaging device is mounted, the moving object on which the first imaging device is mounted may be an automobile, a ship, an autonomous mobile robot, or the like. Moreover, it is good also as a structure which mounts a 2nd imaging device in a mobile body.
  • the means for acquiring position information is not limited to the GPS unit, but may be an RTK (Real Time Kinematic) unit, or a combination of the GPS unit and the RTK unit. There may be.
  • RTK Real Time Kinematic
  • ⁇ Modification 5> A configuration has been described in which the management device 11 performs imaging control and assist control of the second imaging device based on the captured image and imaging information obtained by the first imaging device.
  • a configuration may be adopted in which assist control of the second photographing device is performed without performing photographing control of the second photographing device based on the obtained photographed image and photographing information.
  • the storage 60B of the management device 11 stores the imaging control program of each embodiment, and the CPU 60A of the management device 11 executes the imaging control program in the memory 60C.
  • the technology is not limited to this.
  • FIG. 22 is a diagram showing an example of how the shooting control program of the embodiment is installed in the control device 60 of the management device 11 from the storage medium storing the shooting control program.
  • an imaging control program 221 may be stored in a storage medium 220, which is a non-temporary storage medium.
  • the shooting control program 221 stored in the storage medium 220 is installed in the control device 60, and the CPU 60A executes the above-described shooting control and the like according to the shooting control program 221.
  • FIG. 21 is a diagram showing an example of how the shooting control program of the embodiment is installed in the control device 60 of the management device 11 from the storage medium storing the shooting control program.
  • an imaging control program 221 may be stored in a storage medium 220, which is a non-temporary storage medium.
  • the shooting control program 221 stored in the storage medium 220 is installed in the control device 60, and the CPU 60A executes the above-described shooting control and the like according to the shooting control program 221.
  • FIG. 21 is a diagram showing
  • the CPU 60A is a single CPU, but the technology of the present disclosure is not limited to this, and multiple CPUs may be employed.
  • An example of the storage medium 220 is any portable storage medium such as an SSD or USB (Universal Serial Bus) memory.
  • the photographing control program 221 is stored in a storage unit such as another computer or server device connected to the control device 60 via a communication network (not shown), and photographing is performed in response to a request from the management device 11 described above.
  • the control program 221 may be downloaded to the control device 60 . In this case, the downloaded shooting control program 221 is executed by the CPU 60A of the control device 60.
  • the shape of the aerial camera 2 and the ground camera 10 is not limited to those shown in the drawings, and various shapes can be used. Also, the aerial camera 2 and the ground camera 10 may be smartphones, tablet terminals, notebook computers, compact digital cameras, and the like.
  • An imaging control device comprising a memory and a processor, the memory stores a photographed image obtained by photographing by the first photographing device and photographing information relating to the photographing in association with each other;
  • the processor performs imaging control for controlling imaging by a second imaging device different from the first imaging device, based on at least one of the captured image and the imaging information.
  • Shooting control device comprising a memory and a processor, the memory stores a photographed image obtained by photographing by the first photographing device and photographing information relating to the photographing in association with each other;
  • the processor performs imaging control for controlling imaging by a second imaging device different from the first imaging device, based on at least one of the captured image and the imaging information.
  • the imaging control device according to (1), The photographing by the second photographing device is photographing of a part of the subject photographed by the first photographing device that is different from the part photographed by the first photographing device. Shooting control device.
  • the imaging control device includes setting shooting parameters by the second shooting device based on the shooting information. Shooting control device.
  • the imaging control device includes position information of the first imaging device at the time of imaging by the first imaging device
  • the processor performs control based on the difference between the position information of the third photographing device obtained by the third photographing device that photographed the first photographing device photographing the subject and the position information of the first photographing device. I do, Shooting control device.
  • the imaging control device according to any one of (2) to (4), The processor performs control to select a part to be imaged by the second imaging device from preset parts of the subject. Shooting control device.
  • the imaging control device includes photographed information indicating a portion of the subject photographed by the first photographing device, The processor performs control to select a part to be imaged by the second imaging device based on the imaging completion information. Shooting control device.
  • the imaging control device includes flag information indicating whether the corresponding photographed image satisfies a predetermined condition
  • the processor performs control to select a region to be imaged by the second imaging device based on the flag information.
  • Shooting control device .
  • the imaging control device according to any one of (5) to (7),
  • the shooting information includes flag information indicating whether or not the shooting of the corresponding shot image is an aerial shot,
  • the processor performs control to select a region to be imaged by the second imaging device based on the flag information.
  • Shooting control device
  • the imaging control device according to any one of (5) to (8),
  • the imaging information includes performance information indicating the model or imaging performance of the first imaging device,
  • the processor performs control to select a region to be imaged by the second imaging device based on the performance information and the model or imaging performance of the second imaging device.
  • Shooting control device
  • the imaging control device according to any one of (1) to (9),
  • the first photographing device is capable of automatically photographing a plurality of parts of a subject
  • the shooting information includes a log of the automatic shooting
  • the processor performs automatic imaging control for controlling automatic imaging of the plurality of parts by the first imaging device or the second imaging device based on the imaging information.
  • Shooting control device
  • the imaging control device according to (1), The photographing of the subject by the second photographing device is photographing in a direction different from the photographing direction of the subject by the first photographing device, Shooting control device.
  • the imaging control device according to (11),
  • the imaging information includes information indicating the position and orientation of the first imaging device at the time of imaging by the first imaging device,
  • the shooting control includes controlling the orientation of shooting by the second shooting device based on the shooting information and the position and orientation of the second shooting device.
  • Shooting control device
  • the imaging control device according to (11),
  • the photographing information includes information indicating the relative position of the first photographing device with respect to the second photographing device and the orientation of the first photographing device at the time of photographing by the first photographing device,
  • the shooting control includes controlling the orientation of shooting by the second shooting device based on the shooting information and the position and orientation of the second shooting device. Shooting control device.
  • the imaging control device according to The relative position is calculated based on a photographed image obtained by photographing the first photographing device by the second photographing device, Shooting control device.
  • the imaging control device according to any one of (1) to (14), At least one of the first imaging device and the second imaging device includes an imaging device mounted on a moving object, Shooting control device.
  • the imaging control device according to The moving object is a flying object, Shooting control device.
  • a first imaging device a second imaging device; an imaging control device including a communication unit capable of communicating with the first imaging device and the second imaging device,
  • the photographing control device associates and records a photographed image obtained by photographing by the first photographing device and photographing information regarding the photographing, and based on at least one of the photographed image and the photographing information, Performing shooting control for controlling shooting by the second shooting device, shooting system.
  • a shooting control method by a shooting control device comprising a memory and a processor, the memory stores a photographed image obtained by photographing by the first photographing device and photographing information relating to the photographing in association with each other;
  • the processor performs imaging control for controlling imaging by a second imaging device different from the first imaging device, based on at least one of the captured image and the imaging information.
  • Shooting control method
  • a photographing control program executed by a photographing control device comprising a memory and a processor for recording a photographed image obtained by photographing by a first photographing device and photographing information relating to photographing in association with each other,
  • the processor performs photographing control for controlling photographing by a second photographing device different from the first photographing device, based on at least one of the photographed image and the photographing information;
  • a shooting control program for executing processing.

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PCT/JP2022/026576 2021-07-29 2022-07-04 撮影制御装置、撮影システム、撮影制御方法、及び撮影制御プログラム Ceased WO2023008102A1 (ja)

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