JP6878738B1 - Control devices, imaging systems, moving objects, control methods, and programs - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a lens device from buffering with an external object when a rotation operation for changing the direction of the lens device is performed. A control device controls a lens device including a lens barrel that holds a lens and a drive mechanism that drives the lens barrel in the optical axis direction. The control device includes the posture of the lens device with respect to the support mechanism that rotatably supports the lens device, the position of the lens, and the posture and lens position of the lens device indicating that the lens barrel collides with an object outside the lens device. Based on the predetermined correspondence relationship of, it is determined whether or not the lens barrel collides with an object outside the lens device, and the lens barrel collides with the object. If it is determined, the drive mechanism is controlled in the direction of contracting the lens barrel. [Selection diagram] Fig. 5

Description

The present invention relates to control devices, imaging systems, moving objects, control methods, and programs.

Patent Document 1 describes that "the control device controls the rotation of the image pickup device based on the rotation range determined by the determination unit".
[Prior art literature]
[Patent Document]
[Patent Document 1] Japanese Patent No. 6384002

The control device according to one aspect of the present invention may be a control device that controls a lens device including a lens barrel that holds the lens and a drive mechanism that drives the lens barrel in the optical axis direction. The control device is a lens that indicates the attitude of the lens device with respect to the support mechanism that rotatably supports the lens device, the position of the lens, and whether or not the lens barrel is considered to collide with an object outside the lens device. Based on a predetermined correspondence between the posture of the device and the position of the lens, it is determined whether or not the lens barrel is in a relationship of colliding with an object outside the lens device, and the lens barrel is the object. When it is determined that the lens barrel collides with the lens barrel, a circuit configured to control the drive mechanism in the direction of contracting the lens barrel may be provided.

After the lens barrel is contracted, the circuit further determines whether or not there is a relationship that is considered to collide with an object based on the attitude of the lens device, the position of the lens, and a predetermined correspondence relationship. If it is determined that the lens barrel does not collide with an object, the drive mechanism may be controlled in the direction of extending the lens barrel based on the position of the lens before the lens barrel is retracted.

The object may be a support mechanism.

The lens device and the support mechanism may be mounted on the moving body. The object may be a support mechanism or a moving body.

The circuit may be configured to identify the posture of the lens device based on the control information of the support mechanism and to identify the position of the lens based on the control information of the drive mechanism.

The lens device and the support mechanism may be mounted on the moving body. The object may be an object existing around the moving body. The circuit may be configured to identify the distance to the object and, based on the distance, determine if the lens barrel is in a relationship that would collide with the object.

The moving body may be a flying body. The object may be an object that exists in the direction in which the flying object descends or rises.

The control device may control an imaging device including a lens device and an image sensor that captures the light imaged by the lens device. The lens may be a zoom lens. The circuit is based on the zoom magnification before contracting the lens barrel, corresponding to controlling the drive mechanism in the direction of contracting the lens barrel when it is determined that the lens barrel collides with an object. , May be configured to perform electronic zoom.

The image pickup system according to one aspect of the present invention may be an image pickup system including the control device, a lens device, an image pickup device having an image sensor for capturing the light imaged by the lens device, and a support mechanism.

The moving body according to one aspect of the present invention may be a moving body that moves by mounting the above-mentioned imaging system.

The control method according to one aspect of the present invention may be a control method for controlling a lens device including a lens barrel that holds the lens and a drive mechanism that drives the lens barrel in the optical axis direction. The control method is a lens that indicates the attitude of the lens device with respect to the support mechanism that rotatably supports the lens device, the position of the lens, and whether or not the lens barrel is considered to collide with an object outside the lens device. A step of determining whether or not the lens barrel is in a relationship of colliding with an object outside the lens device may be provided based on a predetermined correspondence relationship between the posture of the device and the position of the lens. The control method may include a step of controlling the drive mechanism in the direction of contracting the lens barrel when it is determined that the lens barrel collides with an object.

The program according to one aspect of the present invention may be a program for operating a computer as the control device.

According to one aspect of the present invention, the size limitation of the lens device can be relaxed while avoiding the lens device rotatably supported by the support mechanism from colliding with an external object.

The outline of the above invention does not list all the necessary features of the present invention. Sub-combinations of these feature groups can also be inventions.

It is a figure which shows an example of the appearance of an unmanned aerial vehicle and a remote control device. It is a figure which shows an example of the functional block of an unmanned aerial vehicle. It is a figure which shows an example of the relationship between the angle range of the yaw axis, the pitch axis, and the roll axis of a lens part, and the position range of a lens which a lens barrel does not collide with an object outside the lens part. It is a figure which shows an example of the relationship between the angle range of the yaw axis, the pitch axis, and the roll axis of a lens part, the distance of an object, and the position range of a lens which a lens barrel does not collide with an object outside the lens part. is there. It is a flowchart which shows an example of the adjustment procedure of the length of a lens barrel according to the posture of an image pickup apparatus, and the position of a lens. It is a flowchart which shows an example of the adjustment procedure of the length of a lens barrel according to the posture of an image pickup apparatus, the position of a lens, and the distance to an object. It is an external perspective view of an image pickup system. It is a figure which shows an example of a hardware configuration.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention. It will be apparent to those skilled in the art that various changes or improvements can be made to the following embodiments. It is clear from the description of the claims that such modified or improved forms may also be included in the technical scope of the present invention.

The claims, description, drawings, and abstracts include matters that are subject to copyright protection. The copyright holder will not object to any person's reproduction of these documents as long as they appear in the Patent Office files or records. However, in other cases, all copyrights are reserved.

Various embodiments of the present invention may be described with reference to flowcharts and block diagrams, wherein the block is (1) a stage of the process in which the operation is performed or (2) a device having a role of performing the operation. May represent the "part" of. Specific stages and "parts" may be implemented by programmable circuits and / or processors. Dedicated circuits may include digital and / or analog hardware circuits. It may include integrated circuits (ICs) and / or discrete circuits. Programmable circuits may include reconfigurable hardware circuits. Reconfigurable hardware circuits include logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate arrays (FPGA), programmable logic arrays (PLA), etc. It may include a memory element such as.

The computer-readable medium may include any tangible device capable of storing instructions executed by the appropriate device. As a result, the computer-readable medium having the instructions stored therein will include the product, including instructions that can be executed to create means for performing the operation 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 (registered trademark) 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 disk read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray (RTM) disc, Memory sticks, integrated circuit cards, etc. 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 traditional procedural programming languages. Traditional procedural programming languages are assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcodes, firmware instructions, state-setting data, or Smalltalk®, JAVA®, C ++. It may be an object-oriented programming language such as, and a "C" programming language or a similar programming language. Computer-readable instructions are used locally or on a local area network (LAN), wide area network (WAN) such as the Internet, to the processor or programmable circuit of a general purpose computer, special purpose computer, or other programmable data processing unit. ) May be provided. The processor or programmable circuit may execute computer-readable instructions to create 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 the unmanned aerial vehicle (UAV) 10 and the remote control device 300. The UAV 10 includes a UAV main body 20, a gimbal 50, a plurality of image pickup devices 60, and an image pickup device 100. The gimbal 50 and the imaging device 100 are examples of an imaging system. The UAV 10 is a concept including a moving body including an air vehicle moving in the air, a vehicle moving on the ground, a ship moving on the water, and the like. An airship that moves in the air is a concept that includes UAVs, other aircraft that move in the air, airships, helicopters, and the like.

The UAV main body 20 includes a plurality of rotor blades. The plurality of rotor blades are an example of a propulsion unit. The UAV main body 20 flies the UAV 10 by controlling the rotation of a plurality of rotor blades. The UAV body 20 flies the UAV 10 using, for example, four rotor blades. The number of rotor blades is not limited to four. Further, the UAV 10 may be a fixed-wing aircraft having no rotor blades.

The imaging device 100 is an imaging camera that captures a subject 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 image pickup device 100 on a pitch axis using an actuator. The gimbal 50 further rotatably supports the image pickup device 100 around each of the roll axis and the yaw axis by using an actuator. The gimbal 50 may change the posture of the image pickup device 100 by rotating the image pickup device 100 around at least one of the yaw axis, the pitch axis, and the roll axis.

The plurality of image pickup devices 60 are sensing cameras that image the surroundings of the UAV 10 in order to control the flight of the UAV 10. Two imaging devices 60 may be provided on the front surface, which is the nose of the UAV 10. Yet two other imaging devices 60 may be provided on the bottom surface of the UAV 10. The two image pickup devices 60 on the front side may form a pair and function as a so-called stereo camera. The two image pickup 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 image pickup devices 60 included in the UAV 10 is not limited to four. The UAV 10 may include at least one imaging device 60. The UAV 10 may be provided with at least one imaging device 60 on each of the nose, nose, side surface, bottom surface, and ceiling surface of the UAV 10. The angle of view that can be set by the image pickup device 60 may be wider than the angle of view that can be set by the image pickup device 100. The image pickup apparatus 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 wirelessly with the UAV 10. The remote control device 300 transmits to the UAV 10 instruction information indicating various commands related to the movement of the UAV 10, such as ascending, descending, accelerating, decelerating, advancing, reversing, and rotating. 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 an altitude indicated by the instruction information received from the remote control device 300. The instruction information may include an ascending instruction to ascend the UAV 10. The UAV10 rises while accepting the rise order. Even if the UAV10 accepts the ascending command, the ascending may be restricted if the altitude of the UAV10 has reached the upper limit altitude.

FIG. 2 shows an example of the functional block of the UAV 10. The UAV 10 includes a UAV control unit 30, a memory 37, a communication interface 36, a propulsion unit 40, a GPS receiver 41, an inertial measurement unit 42, a magnetic compass 43, a barometric altimeter 44, a temperature sensor 45, a humidity sensor 46, a gimbal 50, and an imaging device. The 60 and the image pickup device 100 are provided.

The communication interface 36 communicates with another device such as the remote control device 300. The communication interface 36 may receive instruction information including various commands from the remote control device 300 to the UAV control unit 30. The memory 37 has a UAV control unit 30, a propulsion unit 40, a GPS receiver 41, an inertial measurement unit (IMU) 42, a magnetic compass 43, a barometric altimeter 44, a temperature sensor 45, a humidity sensor 46, a gimbal 50, an image pickup device 60, and the like. The program and the like necessary for controlling the image pickup device 100 are stored. The memory 37 may be a computer-readable recording medium and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, USB memory, and solid state drive (SSD). The memory 37 may be provided inside the UAV main body 20. It may be provided so as to be removable from the UAV main body 20.

The UAV control unit 30 controls the flight and imaging of the UAV 10 according to the program stored in the memory 37. The UAV control unit 30 may be composed of a CPU, a microprocessor such as an MPU, a microcontroller such as an MCU, or the like. The UAV control unit 30 controls the flight and imaging of the UAV 10 according to a command received from the remote control device 300 via the communication interface 36. The propulsion unit 40 promotes the UAV 10. The propulsion unit 40 has a plurality of rotary blades and a plurality of drive motors for rotating the plurality of rotary blades. The propulsion unit 40 rotates a plurality of rotor blades via a plurality of drive motors in accordance with a command from the UAV control unit 30 to fly the UAV 10.

The GPS receiver 41 receives a plurality of signals indicating the time transmitted from the plurality of GPS satellites. The GPS receiver 41 calculates the position (latitude and longitude) of the GPS receiver 41, that is, the position (latitude and longitude) of the UAV 10 based on the plurality of received signals. The IMU 42 detects the posture of the UAV 10. The IMU 42 detects the acceleration in the three axial directions of the front and rear, the left and right, and the up and down of the UAV 10 and the angular velocity in the three axial directions of pitch, roll, and yaw as the posture of the UAV 10. The magnetic compass 43 detects the nose orientation of the UAV 10. The barometric altimeter 44 detects the altitude at which the UAV 10 flies. The barometric altimeter 44 detects the barometric pressure around the UAV 10, converts the detected barometric pressure into an altitude, and detects the altitude. The temperature sensor 45 detects the ambient temperature of the UAV 10. The humidity sensor 46 detects the humidity around the UAV 10.

The image pickup apparatus 100 includes an image pickup section 102 and a lens section 200. The lens unit 200 is an example of a lens device. The image pickup unit 102 includes an image sensor 120, an image pickup control unit 110, a memory 130, and a distance measuring sensor 140. The image sensor 120 may be composed of a CCD or CMOS. The image sensor 120 captures an optical image formed through a plurality of lenses 210, and outputs the captured image to the image pickup control unit 110. The image pickup control unit 110 may be composed of a CPU, a microprocessor such as an MPU, a microcontroller such as an MCU, or the like. The image pickup control unit 110 may control the image pickup device 100 in response to an operation command of the image pickup device 100 from the UAV control unit 30. The image pickup control unit 110 is an example of a circuit. The memory 130 may be a computer-readable recording medium and may include at least one of flash memories such as SRAM, DRAM, EPROM, EEPROM, USB memory, and solid state drive (SSD). The memory 130 stores a program or the like necessary for the image pickup control unit 110 to control the image sensor 120 or the like. The memory 130 may be provided inside the housing of the image pickup apparatus 100. The memory 130 may be provided so as to be removable from the housing of the image pickup apparatus 100.

The distance measuring sensor 140 measures the distance to the subject. The distance measuring sensor 140 may be an infrared sensor, an ultrasonic sensor, a stereo camera, a TOF (Time Of Flight) sensor, or the like.

The lens unit 200 includes a plurality of lenses 210, a plurality of lens driving units 212, and a lens control unit 220. The lens unit 200 includes a lens barrel that holds a plurality of lenses 210. The plurality of lens driving units 212 drive the plurality of lenses 210 in the optical axis direction by driving the lens barrel in the optical axis direction.

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 are arranged so as to be movable along the optical axis. The lens unit 200 may be an interchangeable lens that is detachably provided with respect to the image pickup unit 102. The lens driving unit 212 moves at least a part or all of the plurality of lenses 210 along the optical axis via a mechanical member such as a cam ring. The lens driving unit 212 may include an actuator. The actuator may include a stepping motor. The lens control unit 220 drives the lens drive unit 212 in accordance with a lens control command from the image pickup unit 102 to move one or more lenses 210 along the optical axis direction via a mechanical member. The lens control command is, for example, a zoom control command and a focus control command.

The lens unit 200 further includes a memory 222 and a position sensor 214. The lens control unit 220 controls the movement of the lens 210 in the optical axis direction via the lens drive unit 212 in response to a lens operation command from the image pickup unit 102. Part or all of the lens 210 moves along the optical axis. The lens control unit 220 executes at least one of the zoom operation and the focus operation by moving at least one of the lenses 210 along the optical axis. The position sensor 214 detects the position of the lens 210. The position sensor 214 may detect the current zoom position or focus position.

The lens driving unit 212 may include a runout correction mechanism. The lens control unit 220 may execute the shake correction by moving the lens 210 in the direction along the optical axis or in the direction perpendicular to the optical axis via the shake correction mechanism. The lens driving unit 212 may drive the runout correction mechanism by a stepping motor to perform runout correction. The runout correction mechanism may be driven by a stepping motor to move the image sensor 120 in a direction along the optical axis or in a direction perpendicular to the optical axis to perform runout correction.

The memory 222 stores the control values of the plurality of lenses 210 that move via the lens driving unit 212. The memory 222 may include at least one of flash memories such as SRAM, DRAM, EPROM, EEPROM, and USB memory.

In the UAV 10 configured in this way, a lens device such as a zoom lens that changes the length of the lens barrel may be connected as the lens unit 200. For example, depending on the length of the zoom lens, when the image pickup device 100 is rotated through the gimbal 50, a part of the zoom lens may collide with the landing gear (leg) of the gimbal 50 or the UAV 10. However, if the rotation range of the image pickup apparatus 100 is limited in order to avoid collision of the zoom lenses, the posture of the image pickup apparatus 100 may not be controlled in a desired imaging direction.

Further, depending on the attitude of the image pickup apparatus 100, if the UAV 10 is flown with the lens portion 200 extended, the lens portion 200 may collide with the ground, ceiling, wall, wood, building, or the like.

Therefore, in the present embodiment, when the lens unit 200 may collide with an object outside the lens unit 200 such as the gimbal 50 and the UAV 10, the length of the lens unit 200 is shortened. Further, when there is no possibility that the lens unit 200 collides with an object outside the lens unit 200 such as the gimbal 50 and the UAV 10, the length of the lens unit 200 is returned to the original position. As a result, the limitation of the imaging range of the imaging device 100 is relaxed while preventing the lens unit 200 from colliding with an object outside the lens unit 200 such as the gimbal 50 and the UAV 10. Further, while avoiding the lens unit 200 colliding with an external object of the lens unit 200 such as the gimbal 50 and the UAV 10, the size limitation of the lens unit 200 mounted on the UAV 10 is relaxed. External objects include any accessories such as sensors attached to the gimbal 50 or UAV 10.

The image pickup control unit 110 determines the attitude of the lens unit 200 with respect to the gimbal 50, that is, the attitude of the image pickup device 100 with respect to the gimbal 50, the position of the lens 210, and whether the lens barrel collides with an object outside the lens unit 200. Based on a predetermined correspondence between the posture of the lens unit 200 indicating whether or not there is a relationship and the position of the lens 210, the lens barrel is considered to collide with an object outside the lens unit 200. Judge whether or not. The concept that the lens barrel collides with an external object of the lens unit 200 includes the fact that an accessory or the like provided on the outer surface of the lens barrel collides with an external object.

The image pickup control unit 110 may specify the attitude of the image pickup apparatus 100 with respect to the gimbal 50 based on the control information regarding the attitude control of the image pickup apparatus 100 by the gimbal 50. The image pickup control unit 110 may specify the rotation angles of the yaw axis, the pitch axis, and the roll axis from the respective reference postures as the posture of the image pickup device 100 based on the control information of the gimbal 50. The reference posture may be, for example, a posture in which the image pickup direction of the image pickup apparatus 100 is horizontal and the image pickup device 100 faces the front direction of the UAV 10.

The image pickup control unit 110 may specify the position of the lens 210 based on the control information of the lens drive unit 212. The image pickup control unit 110 may specify the position of the lens 210 based on the zoom command for the lens driving unit 212. The image pickup control unit 110 may specify the length of the lens barrel based on the position of the lens 210 specified based on the control information of the lens driving unit 212.

As shown in FIG. 3, for example, the predetermined correspondence is the angle ranges of the yaw axis, the pitch axis, and the roll axis of the lens unit 200, and the lens barrel is an object outside the lens unit 200 in each angle range. The relationship with the range of positions of the lens that does not collide with an object may be shown. The angle shown in FIG. 3 is an example, and is determined according to the structure of the lens unit 200, the gimbal 50, and the UAV 10. The position of the lens may be indicated, for example, by the number of steps of the stepping motor that drives the zoom lens. The position of the lens may be indicated by a value indicating the zoom magnification.

The image pickup control unit 110 controls the lens driving unit 212 in the direction of contracting the lens barrel when it is determined that the lens barrel collides with an object.

Whether or not the image pickup control unit 110 has a relationship of colliding with an object based on the posture of the lens unit 200, the position of the lens 210, and a predetermined correspondence relationship after the lens barrel is contracted. May be further determined. Then, when the image pickup control unit 110 determines that the lens barrel does not collide with the object, the lens drive unit 212 extends the lens barrel in the direction of extending the lens barrel based on the position of the lens before the lens barrel is contracted. May be controlled.

When the image pickup control unit 110 determines that the lens barrel collides with the object, the image pickup control unit 110 gradually rotates the image pickup device 100 via the gimbal 50 before the lens barrel collides with the object. The lens barrel may be shortened. Alternatively, when the image pickup control unit 110 determines that the lens barrel collides with the object, the image pickup control unit 110 rotates the image pickup device 100 via the gimbal 50 immediately before the lens barrel collides with the object. , The rotation of the image pickup apparatus 100 may be temporarily stopped, and the lens barrel may be contracted. Then, after the lens barrel is contracted, the rotation of the image pickup apparatus 100 may be restarted again.

Similarly, after the lens barrel is contracted, the image pickup control unit 110 determines that the lens barrel does not collide with an object, while rotating the image pickup device 100 via the gimbal 50. May be gradually extended to its original position. Alternatively, if the image pickup control unit 110 determines that the lens barrel does not collide with an object after the lens barrel is contracted, the rotation of the image pickup device 100 is temporarily stopped, and the lens barrel is moved to the original position. After extending to, the rotation of the image pickup apparatus 100 may be restarted.

For example, when the image pickup device 100 is in a downward posture and the UAV 10 descends, the lens barrel collides with a landing surface such as the ground of the UAV 10 before the UAV 10 lands due to the length of the lens unit 200. there is a possibility. Further, when the UAV 10 is flying indoors and the image pickup device 100 is in an upward posture and the UAV 10 is raised, the lens barrel may collide with the ceiling or the like depending on the length of the lens unit 200. is there.

Therefore, the image pickup control unit 110 determines the posture of the lens unit 200 with respect to the gimbal 50, that is, the posture of the image pickup device 100 with respect to the gimbal 50, the position of the lens 210, the distance to the object existing around the UAV 10, and the lens barrel. The lens barrel is an object outside the lens unit 200 based on a predetermined correspondence between the posture of the lens unit 200 and the position and distance of the lens 210, which indicates that the lens barrel collides with an object outside the lens unit 200. It may be determined whether or not the relationship is such that the object collides with the object.

The object existing around the UAV 10 is an object existing in the direction in which the UAV 10 descends or rises, for example, the ground or the ceiling.

FIG. 4 is an example of a predetermined correspondence between the posture of the lens unit 200 and the position and distance of the lens 210, which indicates that the lens barrel collides with an object outside the lens unit 200. In the example of FIG. 4, the angular range of the yaw axis, pitch axis, and roll axis of the lens unit 200, the distance of the object, and the range of the lens position where the lens barrel does not collide with the object outside the lens unit 200. The relationship is shown.

According to the present embodiment, when the image pickup apparatus 100 rotates through the gimbal 50 while taking a picture, the lens barrel may shrink and the zoom magnification may fluctuate during the rotation. Fluctuations in zoom magnification may not be desirable depending on the shooting scene. Therefore, the image pickup control unit 110 may suppress the fluctuation in the optical zoom by the electronic zoom. The image pickup control unit 110 may supplement the fluctuation in the optical zoom by the electronic zoom. That is, when the image pickup control unit 110 determines that the lens barrel collides with an object, the image pickup control unit 110 contracts the lens barrel in response to controlling the lens drive unit 212 in the direction of contracting the lens barrel. Electronic zooming may be performed based on the previous zoom magnification. When the image pickup control unit 110 determines that the lens barrel collides with an object, the image pickup control unit 110 controls the lens drive unit 212 in the direction of contracting the lens barrel before the lens barrel is contracted. Electronic zooming may be performed so that the zoom magnification is reached.

FIG. 5 is a flowchart showing an example of a procedure for adjusting the length of the lens barrel according to the posture of the image pickup apparatus 100 and the position of the lens 210.

When the rotation of the imaging device 100 by the gimbal 50 is started, the imaging control unit 110 specifies the posture of the imaging device 100 and the position of the lens 210 based on the control information of the gimbal 50 and the control information of the lens driving unit 212. (S100). The image pickup control unit 110 is a lens in which the lens barrel does not collide with an object outside the lens unit 200 in the angle ranges of the yaw axis, pitch axis, and roll axis of the lens unit 200 as shown in FIG. Whether or not the lens barrel collides with an object such as the gimbal 50 or the leg of the UAV 10 due to the rotation of the image pickup device 100 by the gimbal 50 based on a predetermined correspondence relationship with the range of the position of Is determined (S102).

When it is determined that the lens barrel collides with the object, the image pickup control unit 110 controls the lens driving unit 212 to retract the lens barrel so that the lens barrel does not collide with the object. , Adjust the position of the lens 210 (S104).

After the image pickup control unit 110 contracts the lens barrel, the image pickup control unit 110 further determines the posture of the image pickup device 100 and the position of the lens 210 based on the control information of the gimbal 50 and the control information of the lens drive unit 212. Identify (S106). Then, the image pickup control unit 110 has an angle range of the yaw axis, pitch axis, and roll axis of the lens unit 200, and a range of lens positions in which the lens barrel does not collide with an object outside the lens unit 200 in each angle range. Based on the predetermined correspondence with the above, it is further determined whether or not the lens barrel is in a relationship of colliding with an object such as the gimbal 50 or the leg of the UAV 10 by the rotation of the image pickup device 100 by the gimbal 50. (S108).

When it is determined that the lens barrel does not collide with the object, the image pickup control unit 110 controls the lens driving unit 212 to return the lens 210 to its original position. Adjust (S110).

As described above, according to the present embodiment, the limitation of the imaging range of the imaging device 100 can be relaxed while preventing the lens unit 200 from colliding with an object outside the lens unit 200 such as the gimbal 50 and the UAV 10. Further, the size limitation of the lens unit 200 mounted on the UAV 10 can be relaxed while preventing the lens unit 200 from colliding with an external object of the lens unit 200 such as the gimbal 50 and the UAV 10.

FIG. 6 is a flowchart showing an example of a procedure for adjusting the length of the lens barrel according to the posture of the image pickup apparatus 100, the position of the lens 210, and the distance to the object.

When the UAV 10 starts descending or ascending while the imaging device 100 is shooting in a downward or upward posture, the imaging control unit 110 determines the imaging device 100 based on the control information of the gimbal 50 and the control information of the lens driving unit 212. The posture of the lens 210 and the position of the lens 210 are specified. Further, the image pickup control unit 110 identifies the distance to the object existing in the image pickup direction of the image pickup apparatus 100 based on the distance measurement information from the distance measurement sensor 140 (S200).

In the image pickup control unit 110, the angular ranges of the yaw axis, pitch axis, and roll axis of the lens unit 200 as shown in FIG. 4, the distance of the object, and the lens barrel do not collide with the object outside the lens unit 200. Based on the relationship with the range of the position of the lens, it is determined whether or not the lens barrel has a relationship of colliding with the object (S202).

When it is determined that the lens barrel collides with the object, the image pickup control unit 110 controls the lens driving unit 212 to retract the lens barrel so that the lens barrel does not collide with the object. , Adjust the position of the lens 210 (S204).

After the image pickup control unit 110 contracts the lens barrel, the image pickup control unit 110 further takes an image based on the control information of the gimbal 50, the control information of the lens drive unit 212, and the distance measurement information from the distance measurement sensor 140. The posture of the device 100, the position of the lens 210, and the distance to the object are specified (S206). Then, the image pickup control unit 110 determines the angle range of the yaw axis, pitch axis, and roll axis of the lens unit 200, the distance of the object, and the position of the lens at which the lens barrel does not collide with the object outside the lens unit 200. Based on the relationship with the range, it is further determined whether or not the lens barrel is in a relationship that is considered to collide with the object (S208).

When it is determined that the lens barrel does not collide with the object, the image pickup control unit 110 controls the lens driving unit 212 to return the lens 210 to its original position. Adjust (S210).

As described above, according to the present embodiment, when the UAV 10 is lowered or raised, the size of the lens unit 200 mounted on the UAV 10 is increased while avoiding the lens unit 200 from colliding with an object such as the ground or the ceiling. You can relax the restrictions.

In the above embodiment, an example in which the image pickup apparatus 100 is mounted on the UAV 10 via the gimbal 50 has been described. However, the image pickup apparatus 100 may be provided on the grip portion held by the user via the gimbal 50.

FIG. 7 is an example of an imaging system 500 including an imaging device 100 and a gimbal 50. The image pickup system 500 includes an image pickup device 100, a gimbal 50, and a grip portion 400. The gimbal 50 rotatably supports the image pickup device 100 around each of the roll axis, the pitch axis, and the yaw axis by using an actuator. The gimbal 50 may change or maintain the posture of the image pickup apparatus 100 by rotating the image pickup apparatus 100 around at least one of a roll axis, a pitch axis, and a yaw axis. The gimbal 50 includes a roll axis drive mechanism 51, a pitch axis drive mechanism 52, and a yaw axis drive mechanism 53. The gimbal 50 further includes a base 54 to which the yaw axis drive mechanism 53 is fixed. The grip portion 400 is fixed to the base portion 54. The grip unit 400 includes an operation interface 401 and a display unit 402. The image pickup device 100 is fixed to the pitch axis drive mechanism 52.

The operation interface 401 receives commands from the user for operating the image pickup apparatus 100 and the gimbal 50. The operation interface 401 may include a shutter / recording button that instructs the imaging device 100 to shoot or record. The operation interface 401 may include a power / function button instructing the power of the imaging system 500 to be turned on or off, and the switching of the still image shooting mode or the moving image shooting mode of the imaging device 100.

The display unit 402 may display an image captured by the image pickup device 100. The display unit 402 may display a menu screen for operating the image pickup apparatus 100 and the gimbal 50. The display unit 402 may be a touch panel display that receives commands for operating the image pickup apparatus 100 and the gimbal 50.

The user grips the grip portion 400 and captures a still image or a moving image with the image pickup device 100.

FIG. 8 shows an example of a computer 1200 in which a plurality of aspects of the present invention may be embodied in whole or in part. The program installed on the computer 1200 can cause the computer 1200 to function as an operation associated with the device according to an embodiment of the present invention or as one or more "parts" of the device. Alternatively, the program may cause the computer 1200 to perform the operation or the one or more "parts". The program can cause a computer 1200 to perform a process or a step of the process according to an embodiment of the present invention. Such a program may be run by the CPU 1212 to cause the computer 1200 to perform certain operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

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

Communication interface 1222 communicates with other electronic devices via a network. The hard disk drive may store programs and data used by the CPU 1212 in the computer 1200. The ROM 1230 stores in it a boot program or the like executed by the computer 1200 at the time of activation and / or a program depending on the hardware of the computer 1200. The program is provided via a computer-readable recording medium such as a CR-ROM, USB memory or IC card or network. The program is installed in RAM 1214 or ROM 1230, which is also an example of a computer-readable recording medium, and is executed by CPU 1212. The information processing described in these programs is read by the computer 1200 and provides a link between the program and the various types of hardware resources described above. The device or method may be configured to implement the operation or processing of information according to the use of the computer 1200.

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

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

Various types of information such as various types of programs, data, tables, and databases may be stored in recording media and processed. The CPU 1212 describes various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, and information retrieval described in various parts of the present disclosure with respect to the data read from the RAM 1214. Various types of processing may be performed, including / replacement, etc., and the results are written back to the RAM 1214. Further, the CPU 1212 may search for information in a file, a database, or the like in the recording medium. For example, when a plurality of entries each having an 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 that matches the condition from the plurality of entries, read the attribute value of the second attribute stored in the entry, and associate it with the first attribute that satisfies the predetermined condition. The attribute value of the second attribute obtained may be acquired.

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

The execution order of each process such as operation, procedure, step, and step in the device, system, program, and method shown in the claims, the specification, and the drawing is particularly "before" and "prior to". It should be noted that it can be realized in any order unless the output of the previous process is used in the subsequent process. Even if the scope of claims, the specification, and the operation flow in the drawings are explained using "first", "next", etc. for convenience, it means that it is essential to carry out in this order. It's not a thing.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the description of the claims that such modified or improved forms may also be included in the technical scope of the present invention.

10 UAV
20 UAV main unit 30 UAV control unit 36 Communication interface 37 Memory 40 Propulsion unit 41 GPS receiver 42 Inertial measurement unit 43 Magnetic compass 44 Atmospheric pressure sensor 45 Temperature sensor 46 Humidity sensor 50 Gimbal 60 Imaging device 100 Imaging device 102 Imaging unit 110 Imaging control unit 120 Image sensor 130 Memory 200 Lens unit 210 Lens 212 Lens drive unit 214 Position sensor 220 Lens control unit 222 Memory 300 Remote control device 400 Grip unit 500 Imaging system 1200 Computer 1210 Host controller 1212 CPU
1214 RAM
1220 Input / Output Controller 1222 Communication Interface 1230 ROM

Claims (17)

A control device that controls a lens device including a lens barrel that holds a lens and a drive mechanism that drives the lens barrel in the optical axis direction.
It shows the posture of the lens device with respect to the support mechanism that rotatably supports the lens device, the position of the lens, and whether or not the lens barrel is considered to collide with an object outside the lens device. Based on a predetermined correspondence between the posture of the lens device and the position of the lens, it is determined whether or not the lens barrel is in a relationship of colliding with an object outside the lens device.
A circuit configured to control the drive mechanism in the direction of contracting the lens barrel when it is determined that the lens barrel collides with the object is provided.
The circuit
After the lens barrel is contracted, it is further determined whether or not there is a relationship that is considered to collide with the object based on the posture of the lens device, the position of the lens, and the predetermined correspondence relationship. And
When it is determined that the lens barrel does not collide with the object, the drive mechanism is controlled in the direction of extending the lens barrel based on the position of the lens before the lens barrel is contracted. A control device that is configured in. The control device according to claim 1, wherein the object is the support mechanism. The lens device and the support mechanism are mounted on a moving body and are mounted on a moving body.
The control device according to claim 1, wherein the object is the support mechanism or the moving body. A control device that controls a lens device including a lens barrel that holds a lens and a drive mechanism that drives the lens barrel in the optical axis direction.
It shows the posture of the lens device with respect to the support mechanism that rotatably supports the lens device, the position of the lens, and whether or not the lens barrel is considered to collide with an object outside the lens device. Based on a predetermined correspondence between the posture of the lens device and the position of the lens, it is determined whether or not the lens barrel is in a relationship of colliding with the support mechanism.
A control device including a circuit configured to control the drive mechanism in a direction in which the lens barrel is contracted when it is determined that the lens barrel collides with the support mechanism. A control device that controls a lens device including a lens barrel that holds a lens and a drive mechanism that drives the lens barrel in the optical axis direction.
It shows the posture of the lens device with respect to the support mechanism that rotatably supports the lens device, the position of the lens, and whether or not the lens barrel is considered to collide with an object outside the lens device. A relationship in which the lens barrel collides with the support mechanism or a moving body on which the lens device and the support mechanism are mounted, based on a predetermined correspondence between the posture of the lens device and the position of the lens. Determine if it is in
A control device including a circuit configured to control the drive mechanism in a direction in which the lens barrel is contracted when it is determined that the lens barrel collides with the support mechanism or the moving body. The circuit
Based on the control information of the support mechanism, the posture of the lens device is specified, and the posture of the lens device is specified.
The control device according to any one of claims 1 to 5, which is configured to specify the position of the lens based on the control information of the drive mechanism. A control device that controls a lens device including a lens barrel that holds a lens and a drive mechanism that drives the lens barrel in the optical axis direction.
It shows the posture of the lens device with respect to the support mechanism that rotatably supports the lens device, the position of the lens, and whether or not the lens barrel is considered to collide with an object outside the lens device. Based on a predetermined correspondence between the posture of the lens device and the position of the lens, it is determined whether or not the lens barrel is in a relationship of colliding with an object outside the lens device.
A circuit configured to control the drive mechanism in the direction of contracting the lens barrel when it is determined that the lens barrel collides with the object is provided.
The lens device and the support mechanism are mounted on a moving body, and the lens device and the support mechanism are mounted on a moving body.
The object is an object existing around the moving body.
The circuit
Identify the distance to the object and
Said distance further based on configured such that the barrel to determine whether a relationship that is impinging on the object, the control apparatus. The moving body is a flying body and
The control device according to claim 7 , wherein the object is an object existing in a direction in which the flying object descends or rises. A control device that controls a lens device including a lens barrel that holds a lens and a drive mechanism that drives the lens barrel in the optical axis direction.
It shows the posture of the lens device with respect to the support mechanism that rotatably supports the lens device, the position of the lens, and whether or not the lens barrel is considered to collide with an object outside the lens device. Based on a predetermined correspondence between the posture of the lens device and the position of the lens, it is determined whether or not the lens barrel is in a relationship of colliding with an object outside the lens device.
A circuit configured to control the drive mechanism in the direction of contracting the lens barrel when it is determined that the lens barrel collides with the object is provided.
The control device controls an image pickup device including the lens device and an image sensor that captures the light imaged by the lens device.
The lens is a zoom lens.
When it is determined that the lens barrel collides with the object, the circuit controls the drive mechanism in the direction of contracting the lens barrel before the lens barrel is contracted. based on the zoom magnification, configured to perform electronic zoom control unit. An imaging device including the control device according to any one of claims 1 to 9, the lens device, and an image sensor that captures the light imaged by the lens device.
An imaging system including the support mechanism. A moving body that moves with the imaging system according to claim 10. A control method for controlling a lens device including a lens barrel that holds a lens and a drive mechanism that drives the lens barrel in the optical axis direction.
It shows the posture of the lens device with respect to the support mechanism that rotatably supports the lens device, the position of the lens, and whether or not the lens barrel is considered to collide with an object outside the lens device. A step of determining whether or not the lens barrel is in a relationship of colliding with an object outside the lens device based on a predetermined correspondence between the posture of the lens device and the position of the lens. When,
When it is determined that the lens barrel collides with the object, the drive mechanism is controlled in the direction of contracting the lens barrel .
The determination step is
After the lens barrel is contracted, it is determined whether or not there is a relationship that is considered to collide with the object based on the posture of the lens device, the position of the lens, and the predetermined correspondence relationship. Including stages
The control step is
When it is determined that the lens barrel does not collide with the object, the drive mechanism is controlled in the direction of extending the lens barrel based on the position of the lens before the lens barrel is contracted. Control methods , including. A control method for controlling a lens device including a lens barrel that holds a lens and a drive mechanism that drives the lens barrel in the optical axis direction.
It shows the posture of the lens device with respect to the support mechanism that rotatably supports the lens device, the position of the lens, and whether or not the lens barrel is considered to collide with an object outside the lens device. A step of determining whether or not the lens barrel is in a relationship of colliding with the support mechanism based on a predetermined correspondence relationship between the posture of the lens device and the position of the lens.
When it is determined that the lens barrel collides with the support mechanism, a step of controlling the drive mechanism in the direction of contracting the lens barrel is performed.
Control method including. A control method for controlling a lens device including a lens barrel that holds a lens and a drive mechanism that drives the lens barrel in the optical axis direction.
It shows the posture of the lens device with respect to the support mechanism that rotatably supports the lens device, the position of the lens, and whether or not the lens barrel is considered to collide with an object outside the lens device. A relationship in which the lens barrel collides with the support mechanism or a moving body on which the lens device and the support mechanism are mounted, based on a predetermined correspondence between the posture of the lens device and the position of the lens. At the stage of determining whether or not it is in
When it is determined that the lens barrel is in a relationship of colliding with the support mechanism or the moving body, a step of controlling the drive mechanism in the direction of contracting the lens barrel is performed.
Control method including. A control method for controlling a lens device including a lens barrel that holds a lens and a drive mechanism that drives the lens barrel in the optical axis direction.
At the stage of specifying the distance to an object outside the lens device,
The posture of the lens device with respect to a support mechanism for rotatably supporting the lens device, the position of the lens, the distance, and whether or not the lens barrel is considered to collide with the object. A step of determining whether or not the lens barrel is in a relationship of colliding with the object based on a predetermined correspondence between the posture of the lens device and the position of the lens.
When it is determined that the lens barrel collides with the object, the step of controlling the drive mechanism in the direction of contracting the lens barrel
With
The lens device and the support mechanism are mounted on a moving body, and the lens device and the support mechanism are mounted on a moving body.
A control method in which the object is an object existing around the moving body. Control that controls an image pickup device including a lens device that holds a lens barrel that holds a zoom lens, a drive mechanism that drives the lens barrel in the optical axis direction, and an image sensor that captures the light imaged by the lens device. It ’s a method,
The attitude of the lens device with respect to the support mechanism that rotatably supports the lens device, the position of the zoom lens, and whether or not the lens barrel is considered to collide with an object outside the lens device. Based on the predetermined correspondence between the posture of the lens device and the position of the zoom lens, it is determined whether or not the lens barrel is in a relationship of colliding with an object outside the lens device. And the stage to do
When it is determined that the lens barrel collides with the object, the step of controlling the drive mechanism in the direction of contracting the lens barrel and the step of controlling the drive mechanism.
When it is determined that the lens barrel collides with the object, the zoom magnification before the lens barrel is contracted corresponds to controlling the drive mechanism in the direction of contracting the lens barrel. Based on the stage of performing electronic zoom and
Control method including. A program for operating a computer as a control device according to any one of claims 1 to 9.

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