JP6519886B2 - Imaging device, imaging system, moving object, method, and program - Google Patents

Description

  The present invention relates to an imaging device, an imaging system, a moving object, a method, and a program.

In Patent Document 1, the opening is closed in conjunction with the rotation of the lens unit when the lens unit is removed from the camera body, and the opening is interlocked with the rotation of the lens unit when the lens unit is mounted on the camera body. A camera is disclosed that has a screen that opens the part.
Patent Document 1: Japanese Patent Application Publication No. 2011-13399

  The imaging device may be provided with a dust removing device that removes attached matter such as dust attached to the optical member by vibrating the optical member disposed in front of the image sensor. It may not be easy to determine the timing at which such an optical member is vibrated.

  In the imaging device according to one aspect of the present invention, the lens device is detachably coupled. The imaging device may include an optical member disposed in front of the image sensor. The imaging device may include a detection unit that detects an external force on the lens device. The imaging device may include a vibration control unit that vibrates the optical member in response to the detection unit detecting an external force on the lens device.

  The detection unit may detect an external force on the lens device by detecting that a button for removing the lens device from the imaging device is pressed.

  The imaging device may be rotatably supported by the support mechanism. The support mechanism may generate a holding force that maintains the posture of the imaging device against an external force applied to the imaging device. The detection unit may detect an external force on the lens device by detecting that the support mechanism has generated a holding force that satisfies a predetermined condition.

  An imaging system according to an aspect of the present invention includes the imaging device and a lens device. The imaging system may include a support mechanism that rotatably supports the imaging device.

  A mobile according to an aspect of the present invention moves with the imaging system.

  A method according to an aspect of the present invention is a method for vibrating an optical member disposed in front of an image sensor of an imaging device to which a lens device is removably coupled. The method may comprise the step of detecting an external force on the lens arrangement. The method may comprise vibrating the optical member in response to detecting an external force on the lens arrangement.

  A program according to an aspect of the present invention is a program for causing a computer to execute a process of vibrating an optical member disposed in front of an image sensor of an imaging device to which a lens device is detachably coupled. The program may cause the computer to perform a step of detecting an external force on the lens device. The program may cause the computer to perform the step of vibrating the optical member in response to the detection of the external force on the lens device.

  According to one aspect of the present invention, the optical member disposed in front of the image sensor can be vibrated at an appropriate timing.

  Note that the above summary of the invention does not enumerate all the necessary features of the present invention. In addition, a subcombination of these feature groups can also be an invention.

It is a figure which shows an example of the external appearance of a unmanned aerial vehicle and a remote control. It is a figure which shows an example of the functional block of a unmanned aerial vehicle. It is a figure which shows an example of a structure of a dust removal part. It is a figure for demonstrating a lock pin and an electrical contact. It is a figure for demonstrating a lock pin and an electrical contact. It is a figure for demonstrating a lock pin and an electrical contact. It is a figure for demonstrating a lock pin and an electrical contact. It is a figure which shows an example of the timing chart which operates a dust removal part according to pressing the lock release button. It is a figure which shows an example of the timing chart in the case of operating a dust removal part according to the change of control voltage. It is a figure showing an example of hardware constitutions.

  Hereinafter, the present invention will be described through the embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Moreover, not all combinations of features described in the embodiments are essential to the solution of the invention.

  Hereinafter, although this invention is demonstrated through embodiment of invention, the following embodiment does not limit the invention which concerns on a claim. Further, not all combinations of features described in the embodiments are essential to the solution of the invention. It will be apparent to those skilled in the art that various changes or modifications can be added to the following embodiments. It is also apparent from the scope of the claims that the embodiments added with such alterations or improvements can be included in the technical scope of the present invention.

  The claims, the description, the drawings, and the abstract contain matters that are subject to copyright protection. The copyright holder will not object to any copy of these documents as they appear in the Patent Office file or record. However, in all other cases, all copyrights are reserved.

  Various embodiments of the present invention may be described with reference to flowcharts and block diagrams, wherein the blocks are responsible for (1) process steps or (2) operations being performed. May represent a "part" of The particular stages and "parts" may be implemented by programmable circuits and / or processors. Dedicated circuitry may include digital and / or analog hardware circuitry. Integrated circuits (ICs) and / or discrete circuits may be included. Programmable circuits may include reconfigurable hardware circuits. Reconfigurable hardware circuits include logic AND, logic OR, logic XOR, logic NAND, logic NOR, and other logic operations, flip flops, registers, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), etc. Memory elements, etc. may be included.

  Computer readable media may include any tangible device capable of storing instructions for execution by a suitable device. As a result, a computer readable medium having instructions stored thereon will comprise an article of manufacture that includes instructions that can be executed to create means for performing the operations specified in the flowchart or block diagram. Examples of computer readable media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer readable media include floppy disks, diskettes, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), Electrically Erasable Programmable Read Only Memory (EEPROM), Static Random Access Memory (SRAM), Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD), Blu-Ray (RTM) Disc, Memory Stick, Integrated A circuit card or the like may be included.

  Computer readable instructions may include either source code or object code written in any combination of one or more programming languages. Source code or object code includes a conventional procedural programming language. Conventional procedural programming languages include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state setting data, or like Smalltalk, JAVA, C ++, etc. It may be an object oriented programming language, and a "C" programming language or similar programming language. Computer readable instructions may be local or to a wide area network (WAN) such as a local area network (LAN), the Internet, etc., relative to a processor or programmable circuitry of a general purpose computer, special purpose computer, or other programmable data processing device. May be provided via The processor or programmable circuitry may execute computer readable instructions to create a means for performing the operations specified in the flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

  FIG. 1 shows an example of the appearance of an unmanned aerial vehicle (UAV) 10 and a remote control device 300. The UAV 10 includes a UAV main body 20, a gimbal 50, a plurality of imaging devices 60, and an imaging device 100. The UAV 10 is an example of a mobile unit propelled by the propulsion unit. In addition to the UAV, the mobile object is a concept including an aircraft such as another aircraft moving in the air, a vehicle moving on the ground, a ship moving on the water, and the like.

  The UAV body 20 comprises a plurality of rotors. The plurality of rotors are an example of the propulsion unit. The UAV body 20 causes the UAV 10 to fly by controlling the rotation of a plurality of rotors. The UAV body 20 causes the UAV 10 to fly using, for example, four rotors. The number of rotors is not limited to four. The UAV 10 may also be a fixed wing aircraft that does not have a rotor.

  The imaging device 100 is a camera for imaging which captures an object included in a desired imaging range. The gimbal 50 rotatably supports the imaging device 100. The gimbal 50 is an example of a support mechanism. For example, the gimbal 50 rotatably supports the imaging device 100 on the pitch axis using an actuator. The gimbal 50 rotatably supports the imaging device 100 about each of the roll axis and the yaw axis using an actuator. The gimbal 50 may change the attitude of the imaging device 100 by rotating the imaging device 100 about at least one of the yaw axis, the pitch axis, and the roll axis.

  The plurality of imaging devices 60 are cameras for sensing that capture the periphery of the UAV 10 to control the flight of the UAV 10. Two imaging devices 60 may be provided at the front, which is the nose of the UAV 10. Two further imaging devices 60 may be provided on the bottom of the UAV 10. The two front imaging devices 60 may be paired to function as a so-called stereo camera. The two imaging devices 60 on the bottom side may also be paired and function as a stereo camera. Three-dimensional spatial data around the UAV 10 may be generated based on the images captured by the plurality of imaging devices 60. The number of imaging devices 60 provided in the UAV 10 is not limited to four. The UAV 10 may include at least one imaging device 60. The UAV 10 may include at least one imaging device 60 on each of the nose, aft, sides, bottom, and ceiling of the UAV 10. The angle of view that can be set by the imaging device 60 may be wider than the angle of view that can be set by the imaging device 100. The imaging device 60 may have a single focus lens or a fisheye lens.

  The remote control device 300 communicates with the UAV 10 to remotely control the UAV 10. The remote control device 300 may communicate with the UAV 10 wirelessly. The remote control device 300 transmits instruction information indicating various commands related to the movement of the UAV 10 such as rising, falling, acceleration, deceleration, forward, reverse, and rotation to the UAV 10. The instruction information includes, for example, instruction information for raising the altitude of the UAV 10. The instruction information may indicate the altitude at which the UAV 10 should be located. The UAV 10 moves so as to be located at the altitude indicated by the instruction information received from the remote control device 300. The instruction information may include a lift instruction to raise the UAV 10. The UAV 10 goes up while accepting the up command. Even if the UAV 10 receives an ascent instruction, if the UAV 10's altitude reaches the upper limit altitude, the UAV 10 may limit the ascent.

  FIG. 2 shows an example of a functional block of the UAV 10. The UAV 10 includes a UAV control unit 30, a memory 32, a communication interface 34, a propulsion unit 40, a GPS receiver 41, an inertial measurement device 42, a magnetic compass 43, a barometric altimeter 44, a gimbal 50, an imaging device 60, and an imaging device 100.

  The communication interface 34 communicates with other devices such as the remote control device 300. The communication interface 34 may receive instruction information including various instructions for the UAV control unit 30 from the remote control device 300. The memory 32 controls the propulsion unit 40, the GPS receiver 41, the inertial measurement unit (IMU) 42, the magnetic compass 43, the barometric altimeter 44, the gimbal 50, the imaging device 60, and the imaging device 100 in the memory 32. Store the necessary programs etc. The memory 32 may be a computer readable recording medium, and may include at least one of a SRAM, a DRAM, an EPROM, an EEPROM, and a flash memory such as a USB memory. The memory 32 may be provided inside the UAV body 20. It may be provided to be removable from the UAV main body 20.

  The UAV control unit 30 controls the flight and imaging of the UAV 10 in accordance with a program stored in the memory 32. The UAV control unit 30 may be configured by a microprocessor such as a CPU or an MPU or a microcontroller such as an MCU. The UAV control unit 30 controls the flight and imaging of the UAV 10 in accordance with an instruction received from the remote control device 300 via the communication interface 34. The promotion unit 40 promotes the UAV 10. The propulsion unit 40 has a plurality of rotors and a plurality of drive motors for rotating the plurality of rotors. The propulsion unit 40 rotates the plurality of rotary blades via the plurality of drive motors in accordance with the instruction from the UAV control unit 30 to fly the UAV 10.

  The GPS receiver 41 receives a plurality of signals indicating times transmitted from a plurality of GPS satellites. The GPS receiver 41 calculates the position of the GPS receiver 41, that is, the position of the UAV 10 based on the received plurality of signals. The IMU 42 detects the attitude of the UAV 10. The IMU 42 detects, as the posture of the UAV 10, accelerations in the front, rear, left, right, and top three axial directions of the UAV 10, and angular velocities in three axial directions of pitch, roll, and yaw. The magnetic compass 43 detects the heading of the UAV 10. The barometric altimeter 44 detects the altitude at which the UAV 10 flies. The barometric pressure altimeter 44 detects the barometric pressure around the UAV 10, converts the detected barometric pressure into a height, and detects the height.

  The gimbal 50 generates a holding force that maintains the posture of the imaging device 100 against an external force applied to the imaging device 100. The gimbal 50 includes a gimbal control unit 501, a yaw axis driver 502, a pitch axis driver 512, a roll axis driver 522, a yaw axis drive section 504, a pitch axis drive section 514, a roll axis drive section 524, a yaw axis rotation mechanism 506, and a pitch axis. A rotation mechanism 516 and a roll shaft rotation mechanism 526 are provided. The gimbal 50 is driven by the yaw axis drive unit 504, the pitch axis drive unit 514, and the roll axis drive unit 524 to drive the yaw axis rotation mechanism 506, the pitch axis rotation mechanism 516, and the roll axis rotation mechanism 526. A holding force is generated to maintain the posture of the imaging device 100 against an external force applied to the lens. The yaw axis drive unit 504, the pitch axis drive unit 514, and the roll axis drive unit 524 may be electric motors.

  The yaw axis rotation mechanism 506 rotates the imaging device 100 about the yaw axis. The pitch axis rotation mechanism 516 rotates the imaging device 100 about the pitch axis. The roll axis rotation mechanism 526 rotates the imaging device 100 about the roll axis. The gimbal control unit 501 outputs operation commands indicating the respective rotation angles to the yaw axis driver 502, the pitch axis driver 512, and the roll axis driver 522 according to the operation command of the gimbal 50 from the UAV control section 30. Do. The yaw axis driver 502, the pitch axis driver 512, and the roll axis driver 522 drive the yaw axis drive unit 504, the pitch axis drive unit 514, and the roll axis drive unit 524 according to an operation command indicating a rotation angle. The yaw axis rotation mechanism 506, the pitch axis rotation mechanism 516, and the roll axis rotation mechanism 526 are driven and rotated by the yaw axis drive unit 504, the pitch axis drive unit 514, and the roll axis drive unit 524. Change

  The imaging device 100 includes an imaging unit 102 and a lens unit 200. The imaging unit 102 includes an image sensor 120, an imaging control unit 110, a memory 130, and a dust removing unit 400. The image sensor 120 may be configured by a CCD or a CMOS. The image sensor 120 outputs image data of an optical image formed through the plurality of lenses 210 to the imaging control unit 110. The imaging control unit 110 may be configured by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, or the like. The imaging control unit 110 may control the imaging device 100 according to an operation command of the imaging device 100 from the UAV control unit 30. The memory 130 may be a computer readable recording medium, and may include at least one of SRAM, DRAM, EPROM, EEPROM, and flash memory such as USB memory. The memory 130 stores programs and the like necessary for the imaging control unit 110 to control the image sensor 120 and the like. The memory 130 may be provided inside the housing of the imaging device 100. The memory 130 may be provided to be removable from the housing of the imaging device 100.

  The dust removing unit 400 includes an optical member 402 and an electromechanical transducer 403. The optical member 402 is disposed in front of the image sensor 120. The optical member 402 may be made of a light transmissive material such as glass or quartz. The optical member 402 may be configured in a plate shape. "Light transmissive" means having the property of transmitting light. The light transmissive material may be a material having a property that the light transmittance in the visible light range (350 nm to 780 nm) exceeds at least 50%. The electromechanical transducer 403 is attached to the optical member 402. The electromechanical transducer 403 converts electrical energy into mechanical energy. The electromechanical transducer 403 may be, for example, a piezoelectric device.

  The lens unit 200 includes a plurality of lenses 210, a lens drive unit 212, a lens control unit 220, and a memory 222. The plurality of lenses 210 may function as a zoom lens, a varifocal lens, and a focus lens. At least a part or all of the plurality of lenses 210 is disposed movably along the optical axis. The lens unit 200 may be an interchangeable lens provided detachably to the imaging unit 102. The lens unit 200 is detachably coupled to the imaging unit 102. The lens unit 200 is electrically and mechanically connected to the imaging unit 102 via a mount provided in the imaging unit 102. The lens control unit 220 drives the lens driving unit 212 according to the lens control command from the imaging unit 102 to move one or more lenses 210 along the optical axis direction. The lens control command is, for example, a zoom control command and a focus control command.

  The imaging unit 102 further includes an electrical contact 141, and the lens unit 200 further includes an electrical contact 142. The imaging unit 102 and the lens unit 200 are electrically connected via the electrical contact 141 and the electrical contact 142. The imaging unit 102 further includes a lock pin 150 and a lock release button 152. The lens unit 200 has an insertion hole 201 into which the lock pin 150 is inserted. By inserting the lock pin 150 into the insertion hole 201, the imaging unit 102 and the lens unit 200 are mechanically fixed. When the lock release button 152 is pressed, the lock pin 150 is extracted from the insertion hole 201, and the mechanical fixing between the imaging unit 102 and the lens unit 200 is released.

  The imaging control unit 110 includes a detection unit 112 and a vibration control unit 114. The detection unit 112 detects an external force on the lens unit 200. The detection unit 112 may detect an external force on the imaging device 100. The detection unit 112 may detect an external force on the lens unit 200 by detecting an external force on the imaging unit 102. The detection unit 112 may detect that the lens unit 200 is removed from the imaging unit 102. The vibration control unit 114 controls dust removal processing by the dust removal unit 400.

  FIG. 3 shows an example of the configuration of the dust removing unit 400. The dust removing unit 400 includes a frame 401, an optical member 402, an electromechanical transducer 403, a wire 404, and a wire 405. The frame 401 supports the optical member 402. The electromechanical transducer 403 may be attached to the optical member 402 via the frame 401. The electromechanical transducer 403 is electrically connected to the imaging control unit 110 via the wiring 404 and the wiring 405. The control signal supplied from the imaging control unit 110 is transmitted to the electromechanical transducer 403 through the wiring 404 and the wiring 405. The electromechanical transducer 403 vibrates in response to the control signal to vibrate the optical member 402. As the optical member 402 vibrates, attached matter such as dust attached to the optical member 402 is removed.

  4A shows a state in which the lens unit 200 is removed from the imaging unit 102. FIG. In this state, when the lens unit 200 is disposed to face the mount surface 144 of the imaging unit 102 and the lens unit 200 is pressed against the mount surface 144 of the imaging unit 102 and rotated, as shown in FIG. 4B, the lock pin By pressing 150, the lock pin 150 is turned on. The imaging unit 102 may have a switch that is turned on when the lock pin 150 is pressed. By detecting the on / off of the switch, the imaging unit 102 may determine whether the lock pin 150 is on. When the lens unit 200 is rotated to a predetermined position with respect to the imaging unit 102, as shown in FIG. 4C, the lock pin 150 is fitted into the insertion hole 201 provided in the lens unit 200 and the electrical contact of the imaging unit 102 141 and the electrical contact 142 of the lens unit 200 are electrically connected. When the lock pin 150 is fitted into the insertion hole 201, the lens unit 200 does not rotate with respect to the imaging unit 102, and the imaging unit 102 and the lens unit 200 are mechanically fixed. When the lens unit 200 is removed from the imaging unit 102, as shown in FIG. 4D, the lock release button 152 provided on the imaging unit 102 is pressed. Thus, the lock pin 150 is pulled out of the insertion hole 201. When the lock pin 150 is pulled out of the insertion hole 201, the mechanical fixing between the imaging unit 102 and the lens unit 200 is released, and the lens unit 200 becomes rotatable relative to the imaging unit 102. When the lens unit 200 is rotated to a predetermined position with respect to the imaging unit 102, the lens unit 200 can be removed from the imaging unit 102.

  In the imaging device 100 configured as described above, it may not be easy to determine the timing at which the optical member 402 of the dust removing unit 400 is vibrated. For example, vibrating the optical member 402 at an inappropriate timing may affect the imaging of the imaging device. When the user takes a picture by hand with the imaging apparatus 100, the user can interrupt the picture taking once and make the dust removing unit 400 execute the dust removing process even at the time of taking a picture. Furthermore, after that, it is relatively easy to remove the lens unit 200 from the imaging unit 102 and to remove extraneous matter such as dust from the inside of the imaging unit 102. However, for example, when the imaging device 100 is operated remotely, the lens unit 200 may not be easily removed from the imaging unit 102 in some cases. When mounted on a mobile object such as the UAV 10 and operated remotely, since the imaging device 100 does not exist at the user's hand, the lens unit 200 can not be immediately removed from the imaging unit 102. In the case of the UAV 10, once the flight is started, it may not return until the shooting is finished. As described above, it may not be easy to determine the timing at which the dust removing unit 400 executes the dust removing process.

  Therefore, according to the imaging device 100 according to the present embodiment, in response to the detection unit 112 detecting an external force on the lens unit 200, the vibration control unit 114 causes the dust removal unit 400 to execute the dust removal process. That is, when the detection unit 112 detects an external force on the lens unit 200, the vibration control unit 114 causes the optical member 402 to vibrate. For example, when the user tries to remove the lens unit 200 from the imaging unit 102, an external force is applied to the lens unit 200 when the user grasps the lens unit 200. Alternatively, when the user tries to remove the lens unit 200 from the imaging unit 102, an external force is applied to the lens unit 200 by the user pressing the lock release button 152. Then, at the timing when the user tries to remove the lens unit 200 as described above, the possibility that imaging by the imaging device 100 is immediately performed is low. Also, for example, in order to check the state of the lens unit 200, the user may hold the lens unit 200. Also in this case, an external force is applied to the lens unit 200. In such a case, the possibility that imaging by the imaging device 100 is immediately performed is not high. By causing the dust removing unit 400 to execute the dust removal process at a timing when the imaging device 100 does not immediately perform imaging, it is possible to prevent the imaging device 100 from affecting the imaging. Further, for example, by causing the dust removing unit 400 to execute the dust removing process at the timing when the lens unit 200 is removed, the attached matter can be easily discharged to the outside of the imaging unit 102.

  As shown in FIG. 5, the detection unit 112 may operate the dust removing unit 400 to vibrate the optical member 402 at timing (t1) when the lock release button 152 is pressed.

  In addition, the gimbal 50 generates a holding force that maintains the posture of the imaging device 100 against the external force applied to the imaging device 100. For example, when the user tries to remove the lens unit 200 from the imaging unit 102, an external force is applied to the imaging apparatus 100 by the user holding the imaging unit 102 or the lens unit 200. The gimbal 50 generates a holding force that maintains the posture of the imaging device 100 against the external force. Therefore, the detection unit 112 may detect an external force on the lens unit 200 in accordance with the change in the holding force generated by the gimbal 50. The detection unit 112 may detect that the lens unit 200 is removed from the imaging unit 102 in accordance with the change in the holding force generated by the gimbal 50.

  The detecting unit 112 may detect an external force on the lens unit 200 when the gimbal 50 generates a holding force that satisfies a predetermined condition. The detection unit 112 may detect that the lens unit 200 is removed from the imaging unit 102 when the gimbal 50 generates a holding force that satisfies a predetermined condition. The detecting unit 112 may detect an external force on the lens unit 200 when the gimbal 50 generates a holding force larger than a predetermined value for a predetermined first period. The detection unit 112 may detect that the lens unit 200 is removed from the imaging unit 102 when the gimbal 50 generates a holding force larger than a predetermined value for a predetermined first period. The detection unit 112 causes the gimbal 50 to generate a holding force of a predetermined pattern indicating an operation of removing the lens unit 200 mounted on the imaging device 100 from the imaging device 100 during a predetermined first period. In this case, an external force on the lens unit 200 may be detected. The detection unit 112 causes the gimbal 50 to generate a holding force of a predetermined pattern indicating an operation of removing the lens unit 200 mounted on the imaging device 100 from the imaging device 100 during a predetermined first period. In this case, removal of the lens unit 200 from the imaging unit 102 may be detected. In the case where the control voltage to be applied to the yaw axis drive unit 504, the pitch axis drive unit 514, and the roll axis drive unit 524 is continuously larger than the predetermined threshold voltage, the detection unit 112 performs the first predetermined period. It may be determined that the gimbal 50 generates a predetermined pattern of holding power. For example, as shown in FIG. 6, the detection unit 112 applies a control voltage to be applied to at least one of a predetermined first period Ta, the yaw axis drive unit 504, the pitch axis drive unit 514, and the roll axis drive unit 524. If 600 is continuously greater than the predetermined threshold voltage, it may be determined that the gimbal 50 is generating a predetermined pattern of holding power. The detection unit 112 controls a predetermined pattern of control voltages for removing the lens unit 200 from the imaging apparatus 100 at least by the yaw axis drive unit 504, the pitch axis drive unit 514, and the roll axis drive unit 524. When one is applied, it may be detected that the lens unit 200 is removed from the imaging unit 102. The control voltage of the predetermined pattern causes the user to actually replace the lens unit 200, and at that time, the control voltage applied to the yaw axis drive unit 504, the pitch axis drive unit 514, and the roll axis drive unit 524 And may be determined based on the measurement result.

  As described above, according to the imaging device 100 according to the present embodiment, the optical member 402 of the dust removing unit 400 is vibrated at the timing when an external force is directly or indirectly applied to the lens unit 200. The optical member 402 of the dust removing unit 400 can be vibrated at an appropriate timing at which there is little possibility that imaging by the imaging device 100 is immediately performed and the attached matter can be easily discharged to the outside of the imaging unit 102. Accordingly, it is possible to prevent the vibration of the optical member 402 of the dust removing unit 400 from affecting the photographing of the imaging device 100. Also, for example, it is possible to prevent the user from forgetting to execute the dust removal processing by the dust removing unit 400 before the UAV 10 starts flying, which may affect the imaging of the imaging device 100 during the flight of the UAV 10.

  FIG. 7 shows an example of a computer 1200 in which aspects of the invention may be fully or partially embodied. A program installed on computer 1200 can cause computer 1200 to act as an operation or one or more "parts" of the device according to embodiments of the invention. Alternatively, the program may cause the computer 1200 to execute the operation or one or more “parts”. The program can cause the computer 1200 to execute the process according to the embodiment of the present invention or the steps of the process. Such programs may be executed by CPU 1212 to cause computer 1200 to perform specific operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

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

  The communication interface 1222 communicates with other electronic devices via a network. A hard disk drive may store programs and data used by the CPU 1212 in the computer 1200. The ROM 1230 stores therein a boot program or the like executed by the computer 1200 upon activation, and / or a program dependent on the hardware of the computer 1200. The program is provided via a computer readable recording medium or network such as a CR-ROM, a USB memory or an IC card. The program is installed in the RAM 1214 or ROM 1230, which is also an example of a computer-readable recording medium, and executed by the CPU 1212. Information processing described in these programs is read by the computer 1200 and brings about coordination between the programs and the various types of hardware resources. An apparatus or method may be configured by implementing the operation or processing of information in accordance with the use of computer 1200.

  For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 executes the communication program loaded in the RAM 1214, and performs communication processing to the communication interface 1222 based on the processing described in the communication program. You may order. The communication interface 1222 reads transmission data stored in a transmission buffer area provided in a recording medium such as the RAM 1214 or a USB memory under the control of the CPU 1212 and transmits the read transmission data to the network, or The received data received from the network is written in a reception buffer area or the like provided on the recording medium.

  In addition, the CPU 1212 allows the RAM 1214 to read all or necessary portions of a file or database stored in an external recording medium such as a USB memory, and executes various types of processing on data on the RAM 1214. Good. The CPU 1212 may then write back the processed data to the external storage medium.

  Various types of information such as various types of programs, data, tables, and databases may be stored in the recording medium and subjected to information processing. The CPU 1212 describes various types of operations, information processing, condition judgment, conditional branching, unconditional branching, information retrieval, which are described throughout the present disclosure for data read from the RAM 1214 and specified by a program instruction sequence. Various types of processing may be performed, including / replacement etc, and the results written back to RAM 1214. Further, the CPU 1212 may search for information in a file in a recording medium, a database or the like. For example, when a plurality of entries each having the attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 1212 specifies the attribute value of the first attribute. Search for an entry matching the condition from among the plurality of entries, read the attribute value of the second attribute stored in the entry, and thereby associate the first attribute satisfying the predetermined condition with the first attribute An attribute value of the second attribute may be acquired.

  The programs or software modules described above may be stored on computer readable storage medium on or near computer 1200. In addition, a recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer readable storage medium, whereby the program can be transmitted to the computer 1200 via the network. provide.

  The execution order of each process such as operations, procedures, steps, and steps in the apparatuses, systems, programs, and methods shown in the claims, the specification, and the drawings is particularly “before”, “preceding” It is to be noted that “it is not explicitly stated as“ etc. ”and can be realized in any order as long as the output of the previous process is not used in the later process. With regard to the operation flow in the claims, the specification, and the drawings, even if it is described using “first,” “next,” etc. for convenience, it means that it is essential to carry out in this order. It is not a thing.

10 UAV
Reference Signs List 20 UAV main body 30 UAV control unit 32 memory 34 communication interface 40 propulsion unit 41 GPS receiver 42 inertia measurement device 43 magnetic compass 44 barometric altimeter 50 gimbal 60 imaging device 100 imaging device 102 imaging unit 110 imaging control unit 112 detection unit 114 vibration control 114 Part 120 Image sensor 130 Memory 141 Electrical contact 142 Electrical contact 144 Mounting surface 150 Lock pin 152 Lock release button 200 Lens part 201 Insertion hole 210 Lens 212 Lens drive part 220 Lens control part 222 Memory 300 Remote control device 400 Dust removing part 401 Frame 402 optical member 403 electromechanical transducer 404 wiring 405 wiring 501 gimbal control section 502 yaw axis driver 504 yaw axis drive section 506 yaw axis rotation mechanism 512 pitch axis driver 514 Chi-axis driving section 516 pitch axis rotation mechanism 522 roll shaft driver 524 roll axis driving unit 526 roll shaft rotation mechanism 1200 computer 1210 host controller 1212 CPU
1214 RAM
1220 I / O controller 1222 communication interface 1230 ROM

Claims (8)

An imaging device to which a lens device is detachably coupled,
An optical member disposed in front of the image sensor,
A detection unit that detects an external force applied to the lens device;
And a vibration control unit configured to vibrate the optical member in response to the detection unit detecting an external force on the lens device .
The imaging device is rotatably supported by a support mechanism,
The support mechanism generates a holding force that maintains the posture of the imaging device against an external force applied to the imaging device.
The imaging device detects an external force on the lens device by detecting that the support mechanism generates the holding force that satisfies a predetermined condition .   The imaging device according to claim 1, wherein the detection unit detects an external force on the lens device by detecting that a button for removing the lens device from the imaging device is pressed. The detection unit detects an external force on the lens device by detecting that the support mechanism generates the holding force larger than a predetermined value for a predetermined period. The imaging device according to. An imaging apparatus according to any one of claims 1 to 3.
An imaging system comprising the lens apparatus;   The imaging system according to claim 4, further comprising a support mechanism rotatably supporting the imaging device.   A mobile which moves with the imaging system according to claim 4. A method for vibrating an optical member disposed in front of an image sensor of an imaging device to which a lens device is removably coupled, comprising:
The imaging device is rotatably supported by a support mechanism,
The support mechanism generates a holding force that maintains the posture of the imaging device against an external force applied to the imaging device.
The method is
Detecting an external force on the lens device by detecting that the support mechanism has generated the holding force that satisfies a predetermined condition ;
Vibrating the optical member in response to detecting an external force on the lens device. A program for causing a computer to execute a process of vibrating an optical member disposed in front of an image sensor of an imaging device to which a lens device is detachably coupled.
The imaging device is rotatably supported by a support mechanism,
The support mechanism generates a holding force that maintains the posture of the imaging device against an external force applied to the imaging device.
Detecting an external force on the lens device by detecting that the support mechanism has generated the holding force that satisfies a predetermined condition ;
A program for causing the computer to execute the step of vibrating the optical member in response to detection of an external force to the lens device.

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