WO2024018643A1 - Système d'imagerie, procédé d'imagerie, dispositif de commande d'imagerie et programme - Google Patents

Système d'imagerie, procédé d'imagerie, dispositif de commande d'imagerie et programme Download PDF

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Publication number
WO2024018643A1
WO2024018643A1 PCT/JP2022/028544 JP2022028544W WO2024018643A1 WO 2024018643 A1 WO2024018643 A1 WO 2024018643A1 JP 2022028544 W JP2022028544 W JP 2022028544W WO 2024018643 A1 WO2024018643 A1 WO 2024018643A1
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WIPO (PCT)
Prior art keywords
photographing
camera
range
control device
drone
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Ceased
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PCT/JP2022/028544
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English (en)
Japanese (ja)
Inventor
望 三浦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Reddotdronejapan
Reddotdronejapan Co ltd
Drone IPLab Inc
Original Assignee
Reddotdronejapan
Reddotdronejapan Co ltd
Drone IPLab Inc
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Application filed by Reddotdronejapan, Reddotdronejapan Co ltd, Drone IPLab Inc filed Critical Reddotdronejapan
Priority to PCT/JP2022/028544 priority Critical patent/WO2024018643A1/fr
Priority to JP2024534909A priority patent/JPWO2024018643A1/ja
Publication of WO2024018643A1 publication Critical patent/WO2024018643A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor

Definitions

  • the present invention relates to a photographing system, a photographing method, a photographing control device, and a program.
  • Patent Document 1 it is possible to obtain images that follow the aircraft's direction and movement while moving toward a shooting target, and furthermore, even if data communication is interrupted, the situation of the aircraft and its surroundings can be monitored.
  • the purpose is to provide an unmanned helicopter that can be controlled ([0009], Abstract).
  • Patent Document 1 (abstract) discloses an unmanned helicopter equipped with a camera at the bottom of the aircraft, which has four modes: normal mode, neutral mode, pan following mode, and emergency mode.
  • both the pan (horizontal) direction and the tilt (vertical) direction are held at the shooting target.
  • the pan (horizontal) direction is held toward the nose, and the tilt (vertical) direction is held at a predetermined angle diagonally downward.
  • the pan (horizontal) direction is held at an arbitrary constant angle with respect to the nose direction, and the tilt (vertical) direction can be controlled arbitrarily by remote control.
  • the pan (horizontal) direction is held toward the nose, and the tilt (vertical) direction is held at a predetermined angle diagonally downward.
  • Patent Document 1 discloses four modes used in an unmanned helicopter equipped with a camera at the bottom of the aircraft: normal mode, neutral mode, pan following mode, and emergency mode.
  • normal mode normal mode
  • neutral mode neutral mode
  • pan following mode pan following mode
  • emergency mode emergency mode
  • the user may: There is a risk of photographing in an unintended direction (for example, outside the stadium).
  • both the panning (horizontal) direction and the tilting (vertical) direction are held at the photographing target (photographing target point), so it cannot cope with cases where the photographing target changes one after another.
  • the pan (horizontal) direction is held at an arbitrary constant angle with respect to the nose direction, and the tilt (vertical) direction can be controlled arbitrarily by remote control. Continuing to point the flying object at the object to be photographed may impair convenience or operability.
  • the above-mentioned problems are not limited to when mounting a camera on an aerial moving object, but also apply when mounting a camera on a ground moving object.
  • the present invention has been made in consideration of the above-mentioned problems, and an object of the present invention is to provide a photographing system, a photographing method, a photographing control device, and a program that can improve convenience or operability in photographing an object. do.
  • a photographing system includes: a mobile camera whose shooting direction including at least one of a panning direction and a tilting direction can be adjusted manually or automatically by a user; and a photography control device that controls photography by the camera,
  • the photographing control device includes: Changing the permissible range of the photographing direction according to the camera position as an absolute position indicating latitude and longitude of the camera or a relative position of the mobile camera with respect to a two-dimensional or three-dimensional photographing target area or photographing target point, The photographing direction is limited using the permissible range, or the permissible range of the photographing direction is notified to the user.
  • the photographing direction is restricted using the permissible range of the photographing direction that is changed according to the camera position (absolute position or relative position) of the mobile camera, or the user is notified of the permissible range of the photographing direction.
  • the camera position absolute position or relative position
  • the user is notified of the permissible range of the photographing direction.
  • the photographing control device may set the permissible range of the photographing direction so that at least a part of the photographing target area is included in the angle of view of the camera. This makes it possible to prevent the user or the imaging control device from erroneously changing the imaging direction so as to point the camera outside the imaging target area.
  • the photographing system may include an unmanned flying vehicle that flies in the air. Moreover, the camera may be provided on the unmanned flying vehicle. Thereby, during aerial photography, it is possible to prevent the camera from being directed in an undesirable photography direction, thereby improving convenience or operability.
  • the photographing control device may limit the photographing direction by at least one of the attitude of the unmanned flying vehicle and a camera actuator. This makes it possible to restrict the shooting direction using a simple method.
  • the camera may be able to manually or automatically adjust the zoom amount in addition to the shooting direction.
  • the photographing control device may set the allowable range of the zoom amount according to the camera position, the tilt direction, or the pan direction. Further, the photographing control device may limit the zoom amount using the allowable range of the zoom amount, or notify the user of the allowable range of the zoom amount. As a result, in a configuration where the camera is mobile and the zoom amount is adjusted manually or automatically, it is possible to prevent undesirable camera magnification from being used and improve convenience or operability.
  • the photographing system may include a ground moving body that moves on the ground.
  • the camera may be provided on the ground moving body. This makes it possible to prevent the camera from pointing in an undesirable direction during ground photography, thereby improving convenience or operability.
  • the shooting control device uses the allowable range of the shooting direction set according to the camera position to adjust the shooting direction according to the user's operation. may be restricted. As a result, when the user manually controls the shooting direction, it is possible to prevent the camera from pointing in an undesirable shooting direction, thereby improving convenience or operability.
  • the photographing control device uses the allowable range of the zoom amount set according to the camera position to adjust the zoom amount according to the user's operation. may be restricted. Thereby, when the user manually operates the zoom amount, it is possible to prevent an undesirable camera magnification and improve convenience or operability.
  • the photographing control device may be capable of setting a dolly photographing mode in which the altitude of the camera is kept constant, only linear movement in the horizontal direction is possible, and at least dolly photographing is possible in which the panning direction is fixed at a target panning direction. good. Furthermore, the photographing control device may set a linear movement permissible range that is a range in which horizontal linear movement of the camera is permitted in the dolly photographing mode. Further, the photographing control device may restrict the camera from moving outside the permissible linear movement range, at least when the panning direction is the target panning direction. Thereby, in the dolly photography mode, it is possible to prevent the photography range of the camera from extending outside the photography target area, for example, while the panning direction remains the target panning direction.
  • the photographing control device causes the camera to move beyond the permissible linear movement range. It may be allowed to move in the direction. Further, the predetermined operation may be a first panning direction manual operation for moving the panning direction closer to the center of the linear movement allowable range, or a zoom-out manual operation for zooming out the camera.
  • the dolly shooting mode if an operation is performed to keep the camera's shooting range within the stadium or event venue (first pan direction manual operation or zoom out manual operation), the camera will move in a straight line. Allow movement in the direction of linear movement beyond the permissible range. Therefore, it becomes possible to improve the operability in dolly photography.
  • the shooting control device controls the camera to move the panning direction closer to the center of the linear movement allowable range.
  • An automatic one-pan direction operation or an automatic zoom-out operation for zooming out the camera may be performed.
  • An automatic camera position operation may be performed to move the camera closer to the permissible linear movement range. This prevents the camera's shooting range from going beyond the shooting target area, for example, when the camera's panning direction approaches the target panning direction while the first panning direction automatic operation is being performed. It becomes possible to do so.
  • the photography control device controls a second panning direction for bringing the panning direction closer to the target panning direction when the camera returns from outside the permissible linear movement range toward the permissible linear movement range.
  • Automatic operation may also be performed.
  • the photographing control device automatically adjusts the photographing direction, the camera position, or the zoom amount if the photographing target area is not within the photographing range of the camera when the camera enters the photographing target area.
  • the photographing target area may be included in the photographing range of the camera. Thereby, it becomes possible to smoothly start photographing the region to be photographed.
  • the photographing system may further include notification means for notifying the user of the permissible range of the photographing direction or the zoom amount. Further, when the photographing direction or the zoom amount is restricted, the notification means notifies the user of the restriction by displaying an image on a display unit, turning on or blinking a light, sound, or vibration. Good too. This makes it possible to notify the user that the shooting direction or zoom amount is limited.
  • the notification means may display information regarding the permissible range of the photographing direction or the zoom amount corresponding to the camera position. This makes it easier for the user to operate the camera.
  • the photographing control device includes: the ratio of the region to be photographed and the region outside the region to be photographed in the image taken by the camera; outer edge information of the imaging target area input by the user;
  • the photographing direction or the zoom amount is determined based on at least one of the following information: the value or ratio of the area of the photographing target region in the photographed image, or the value or ratio of the area of the area outside the photographing target region in the photographed image
  • the permissible range may be set. This eliminates the need for the user to input the allowable ranges of the photographing direction and zoom amount for all points, making it possible to simplify the setting of the allowable ranges.
  • a photographing method includes: a mobile camera whose shooting direction including at least one of a panning direction and a tilting direction can be adjusted manually or automatically by a user;
  • a photographing method using a photographing system comprising: a photographing control device for controlling photographing by the camera;
  • the photographing control device includes: Changing the permissible range of the photographing direction according to the camera position as an absolute position indicating latitude and longitude of the camera or a relative position of the mobile camera with respect to a two-dimensional or three-dimensional photographing target area or photographing target point, The photographing direction is limited using the permissible range, or the permissible range of the photographing direction is notified to the user.
  • a photography control device controls photography of a mobile camera whose photography direction including at least one of a panning direction and a tilting direction can be adjusted manually or automatically by a user
  • the photographing control device includes: Changing the permissible range of the photographing direction according to the camera position as an absolute position indicating latitude and longitude of the camera or a relative position of the mobile camera with respect to a two-dimensional or three-dimensional photographing target area or photographing target point, The photographing direction is limited using the permissible range, or the permissible range of the photographing direction is notified to the user.
  • a program according to yet another aspect of the present invention is executed by a shooting control device that controls shooting of a mobile camera whose shooting direction including at least one of a panning direction and a tilting direction can be adjusted manually or automatically by a user. It is a thing, In the photographing control device, changing the permissible range of the photographing direction according to the camera position as an absolute position indicating the latitude and longitude of the camera or a relative position of the mobile camera with respect to a two-dimensional or three-dimensional photographing target area or photographing target point; , The method is characterized by performing the following steps: limiting the photographing direction using the permissible range, or notifying a user of the permissible range of the photographing direction.
  • FIG. 1 is an overall configuration diagram of a photographing system according to an embodiment of the present invention. It is a functional block diagram of the drone of the said embodiment.
  • FIG. 2 is an external perspective view schematically showing the drone of the embodiment. It is a functional block diagram of the control device of the said embodiment.
  • FIG. 2 is an external front view schematically showing the control device of the embodiment.
  • 3 is a flowchart showing the overall flow of aerial photography control in the embodiment.
  • FIG. 4 is a diagram illustrating how the drone moves from a takeoff point to a photographing target area and from the photographing target area to a landing site in the embodiment.
  • FIG. 3 is a diagram showing an example of a photographing area candidate list used for selecting a photographing target area in the embodiment. It is a 1st explanatory diagram regarding the setting of the flight geofence in the above-mentioned embodiment. It is a 2nd explanatory diagram regarding the setting of the flight geofence in the said embodiment.
  • FIG. 3 is a first explanatory diagram regarding setting of photographing restrictions in the embodiment.
  • FIG. 7 is a second explanatory diagram regarding setting of photographing restrictions in the embodiment.
  • FIG. 7 is a third explanatory diagram regarding setting of photographing restrictions in the embodiment.
  • FIG. 7 is a fourth explanatory diagram regarding setting of photographing restrictions in the embodiment. It is a flowchart of operation restriction control in the normal photographing mode in the embodiment.
  • FIG. 6 is a first explanatory diagram of operation restriction control in the first dolly photography mode in the embodiment.
  • FIG. 7 is a second explanatory diagram of operation restriction control in the first dolly photography mode in the embodiment.
  • FIG. 7 is a third explanatory diagram of operation restriction control in the first dolly photography mode in the embodiment.
  • FIG. 2 is an overall configuration diagram of a photographing system according to a first modified example of the present invention.
  • FIG. 3 is an overall configuration diagram of a photographing system according to a second modified example of the present invention.
  • FIG. 7 is an explanatory diagram regarding restriction of the photographing direction according to the first modification of the present invention.
  • FIG. 7 is an explanatory diagram regarding restriction of the photographing direction according to a second modified example of the present invention.
  • FIG. 1 is an overall configuration diagram of a photographing system 10 (hereinafter also referred to as "system 10") according to an embodiment of the present invention.
  • the system 10 uses a drone 20 to take aerial photographs of a predetermined area where people may be active, such as a competition being held at a stadium 90 (FIG. 8) or an event being held at an event venue.
  • the system 10 in addition to the drone 20, the system 10 includes a control device 30 for an operator to operate the drone 20, and a server 40 for managing the flight and photography of the drone 20.
  • a competition is a competition of skills and abilities, and includes soccer and various other sports.
  • the stadium is a place where competitions are held, and can include not only the inside of the court defined by lines as shown in FIG. 8, but also the area outside the court.
  • the present invention can be applied to a photographing system for photographing an area to be photographed not only for competitions and events but also for various purposes.
  • the drone 20 and the pilot device 30 are connected to each other via wireless communication (which may include via the base station 52).
  • the pilot device 30 and the server 40 are connected to each other via a communication network 50 such as an Internet line.
  • the drone 20 acquires satellite signals from the artificial satellite 54 in order to identify its own position and the like.
  • the configuration of the system 10 is not limited to that shown in FIG. 1, and for example, those shown in FIGS. 22 to 24 can also be used (details will be described later).
  • FIG. 2 is a functional configuration diagram of the drone 20 of this embodiment.
  • FIG. 3 is an external perspective view schematically showing the drone 20 of this embodiment.
  • the drone 20 takes aerial photographs of a competition being held at the stadium 90 (FIG. 8), an event being held at an event venue, and the like.
  • the drone 20 includes a drone sensor group 200, a communication section 210, a flight mechanism 220, a photographing mechanism 230, and a drone control section 240.
  • drone refers to power means (electric power, prime mover, etc.), control method (wireless or wired, fully autonomous flight type or partially manually operated type, etc.) It refers to all flying vehicles, regardless of whether they are manned or unmanned, that have multiple rotary wings and have the ability to autonomously control their attitude. Further, a drone is sometimes referred to as an unmanned aerial vehicle (UAV), a flying vehicle, a multicopter, a remote piloted aircraft system (RPAS), an unmanned aircraft system (UAS), or the like.
  • UAV unmanned aerial vehicle
  • RPAS remote piloted aircraft system
  • UAS unmanned aircraft system
  • Drone sensor group 200 includes various sensors placed on drone 20. Specifically, the drone sensor group 200 includes a position measuring section 201, a direction measuring section 202, an altimeter 203, a speedometer 204, a gyro sensor 205, an obstacle sensor 206, and the like. In addition to these, the drone sensor group 200 may include various sensors that obtain information such as temperature, atmospheric pressure, wind speed, and acceleration.
  • the position measurement unit 201 receives a signal from the artificial satellite 54 (FIG. 1), and measures the position (absolute position) of the aircraft based on the signal.
  • the position measurement unit 201 measures the current position using, for example, GNSS (Global Navigation Satellite System), GPS (Global Positioning System), etc., although this is not particularly limited.
  • GNSS Global Navigation Satellite System
  • GPS Global Positioning System
  • RTK-GNSS Real Time Kinematic-Global Navigation Satellite System
  • the position information includes at least two-dimensional coordinate information (for example, latitude and longitude) in plan view, and preferably includes three-dimensional coordinate information including altitude information.
  • the base station 52 which provides information on the reference point of a fixed station used for relative positioning such as RTK, is connected to the drone 20 and the control device 30 for wireless communication, so that the position of the drone 20 can be measured with higher accuracy. It becomes possible to do so.
  • the base station 52 may be omitted, or the accuracy of estimating the position coordinates of the base station 52 or the drone 20 may be further improved. can do.
  • the direction measurement unit 202 measures the orientation (heading direction) of the aircraft.
  • the azimuth measurement unit 202 includes, for example, a geomagnetic sensor, a compass, etc. that measures the heading direction of the drone 20 by measuring geomagnetism.
  • the altimeter 203 measures the altitude above the ground (hereinafter referred to as "altitude H") as the distance from the ground below the drone 20 (vertically downward).
  • the measured value of altitude H acquired by the altimeter 203 is also referred to as measured altitude Hd.
  • Speedometer 204 detects the flight speed of drone 20.
  • Gyro sensor 205 detects the angular velocity of drone 20.
  • the obstacle sensor 206 includes a plurality of control cameras 207 (FIG. 3), and measures the position, velocity vector, etc. of a person located below the drone 20 based on the acquired image.
  • the communication unit 210 is capable of radio wave communication via the communication network 50 (FIG. 1), and includes, for example, a radio wave communication module.
  • the communication unit 210 is capable of communicating with the control device 30 and the like via the communication network 50 (including the wireless base station 52).
  • the flight mechanism 220 is a mechanism that causes the drone 20 to fly, and causes the drone 20 to levitate and generate thrust in the aircraft body to move in a desired direction. As shown in FIGS. 2 and 3, the flight mechanism 220 includes a plurality of rotary blades 221 and a plurality of rotary blade actuators 222.
  • the rotary blade actuator 222 includes, for example, an electric motor.
  • the flight mechanism 220 may be provided with a propeller guard (not shown) to prevent the propeller from interfering with obstacles.
  • a propeller guard (not shown) to prevent the propeller from interfering with obstacles.
  • the flight mechanism 220 may include, for example, one, two, four, six, or eight rotary blades.
  • the rotary blade 221 may be composed of a single propeller, or may be composed of a plurality of coaxially arranged propellers. The number and shape of the blades of each propeller are not particularly limited.
  • the photographing mechanism 230 is a mechanism for photographing images of competitions at the stadium 90 (FIG. 8), events at event venues, etc., and includes a camera 231, a camera holding section 232, and an image processing section 233.
  • the camera 231 imaging device
  • the camera 231 is disposed at the bottom of the main body of the drone 20, and outputs image data related to peripheral images captured around the drone 20.
  • the camera 231 is a video camera (color camera) that shoots moving images.
  • the video may include audio data acquired by a microphone (not shown). In addition to or in place of this, the camera 231 can also take still images.
  • the direction of the camera 231 (the attitude of the camera 231 with respect to the main body of the drone 20) can be adjusted by a camera actuator (not shown) built into the camera holding section 232.
  • the camera 231 may be fixed in position relative to the main body of the drone 20.
  • the camera holding part 132 may have a mechanism that suppresses the shaking or vibration of the aircraft body from being transmitted to the camera 231.
  • the image processing unit 233 performs predetermined image processing on the image data acquired by the camera 231.
  • the image data acquired by the camera 231 can be transmitted to the storage unit of the drone 20 itself, the control device 30, the server 40, etc.
  • a part or all of the image processing section 233 may be positioned as part of the photographing control section 242, which will be described later.
  • the drone control unit 240 controls the entire drone 20, such as flight and photography of the drone 20.
  • the drone control unit 240 includes an input/output unit, a calculation unit, and a storage unit (not shown).
  • the drone control unit 240 includes an arithmetic unit such as a CPU (Central Processing Unit) for executing information processing, and a storage device such as a RAM (Random Access Memory) and a ROM (Read Only Memory).
  • the drone control section 240 includes a flight control section 241 and a photographing control section 242.
  • Flight control unit 241 controls the flight of the drone 20 (the attitude angle control and flight operation of the aircraft from takeoff to flight and landing) via the flight mechanism 220.
  • Flight control section 241 has a processing unit also called a flight controller.
  • a processing unit may include one or more processors, such as a programmable processor (eg, a central processing unit (CPU), MPU, or DSP).
  • the processing unit can access memory (storage section).
  • Memory stores logic, code, and/or program instructions that are executable by a processing unit to perform one or more steps.
  • the memory may include, for example, a separable medium such as an SD card or RAM or an external storage device.
  • Various data acquired from the drone sensor group 200 may be directly transmitted to and stored in memory. For example, moving image or still image data taken by the camera 231 can be recorded in the built-in memory or external memory.
  • the processing unit includes a control module configured to control the state of the airframe of the drone 20.
  • the control module may control the spatial configuration, attitude angle, angular velocity, angular acceleration, angular jerk velocity, and /Or control the flight mechanism 220 (thrust generation unit) of the drone 20 in order to adjust the acceleration.
  • the control module can control one or more of the camera holder 232 and sensors.
  • the flight control unit 241 can control the flight of the drone 20 based on a control signal from the control device 30 or based on a preset autonomous flight program.
  • the flight control unit 241 also includes the field to be photographed, flight permitted/prohibited areas, flight geofence information corresponding thereto, map information including two-dimensional or three-dimensional map data, current position information of the drone 20, and attitude.
  • the flight of the drone 20 can be controlled by controlling the flight mechanism 220 (thrust generation unit) based on various information such as information (heading information), speed information, and acceleration information, and any combination thereof. can.
  • a "field to be photographed” is a two-dimensional place to be photographed (for example, an outline defining the stadium 90 (for example, a frame consisting of a touch line and a goal line of a soccer field)) ) means.
  • “Flight permission/prohibition area” means a three-dimensional space unit in which flight of the drone 20 is permitted or prohibited.
  • "Geofence” refers to a virtual boundary line, and in particular refers to a fence that marks the boundary between a flight-permitted area and a flight-prohibited area where moving objects such as the drone 20 are permitted to fly or move. . Therefore, when a moving body such as the drone 20 comes into contact with the geofence, flight or movement is restricted so that the body does not fly outside the flight permission area.
  • the photography control unit 242 controls photography by the drone 20 via the photography mechanism 230.
  • FIG. 4 is a functional configuration diagram of the control device 30 of this embodiment.
  • FIG. 5 is an external front view schematically showing the control device 30 of this embodiment.
  • the pilot device 30 is a portable information terminal that controls the drone 20 through the operation of the pilot and displays information received from the drone 20 (for example, position, altitude, remaining battery power, camera video, etc.).
  • the flight state (altitude, attitude, etc.) of the drone 20 is remotely controlled by the pilot device 30, but the drone 20 may also control it autonomously. In that case, when a flight command is transmitted from the pilot to the drone 20 via the pilot device 30, the drone 20 performs autonomous flight.
  • manual operation may be possible during basic operations such as takeoff and return, and in emergencies.
  • the pilot device 30 has an input/output section 300 and a communication section 310.
  • the input/output unit 300 performs various inputs by a user such as an operator, outputs to the user, and inputs/outputs signals to/from the drone 20 or the server 40 .
  • the input/output section 300 includes an operation input section 320 and a display section 330.
  • the operation input section 320 and the display section 330 are connected to each other so as to be able to communicate with each other by wire or wirelessly.
  • the pilot device 30 also includes a computing device such as a CPU for executing information processing, and a storage device such as a RAM and a ROM. Furthermore, the operating device 30 of this embodiment receives and displays work instructions and the like from the server 40.
  • the communication unit 310 is placed in the same housing as the operation input unit 320 or the display unit 330, and communicates with the drone 20 by wireless communication using Wi-Fi, 2.4 GHz, and a frequency band of 5.6 to 5.8 GHz. It is equipped with communication functions to perform Furthermore, the communication unit 310 has a wireless communication function that can communicate with the server 40 via the Internet line 50 using a communication standard such as LTE (Long Term Evolution).
  • LTE Long Term Evolution
  • the drone 20 communicates with the server 40 via the pilot device 30, so if the drone 20 and the pilot device 30 are located within a distance that allows direct wireless communication.
  • the system configuration is suitable for visual flight by a pilot, etc.), but is not limited to this.
  • the operation input unit 320 accepts various inputs from a user such as a pilot, and when the pilot operates the drone 20, inputs operational commands such as flight direction and takeoff/landing.
  • the control input unit 320 accepts input operations that instruct three-dimensional flight operations of the drone 20, including takeoff, landing, ascent, descent, turning, forward movement, backward movement, left and right movement, and the like.
  • the operation input unit 320 of this embodiment includes a movement input unit 321, a drone attitude input unit 322, a camera attitude input unit 323, a camera zoom input unit 324, a flight mode switching input unit 325, and a power input unit. 326.
  • the operation input unit 320 as hardware includes a left input stick 327L, a right input stick 327R, a left two-way switch button 328L, a right two-way switch button 328R, and a menu button 329.
  • the movement input unit 321 is an input unit for the operator to move the drone 20 in the vertical direction, left-right direction, and front-back direction, and is configured by a right input stick 327R and a left input stick 327L. That is, when the right input stick 327R is moved upward (towards the back), the drone 20 rises, and when the right input stick 327R is moved downward (toward the near side), the drone 20 descends. When the right input stick 327R is moved to the right, the drone 20 moves to the right, and when the right input stick 327R is moved to the left, the drone 20 moves to the left. When the left input stick 327L is moved upward (backward), the drone 20 moves forward, and when the left input stick 327L is moved downward (frontward), the drone 20 moves backward.
  • the drone attitude input unit 322 is an input unit for the operator to manipulate the attitude of the drone 20, and is configured by a left input stick 327L.
  • the attitude of the drone 20 referred to here includes yaw rotation. That is, when the left input stick 327L is moved to the right, the drone 20 turns to the right, and when the left input stick 327L is moved to the left, the drone 20 turns to the left.
  • the camera attitude input unit 323 is an input unit for operating the attitude of the photographing camera 231, and is composed of a right two-way switch button 328R and a right input stick 327R. That is, when the right side of the right two-way switch button 328R is pressed, the camera 231 moves to the right. When the left side of the right two-way switch button 328R is pressed, the camera 231 moves to the left. Further, when the right input stick 327R is pushed downward while pressing the right two-way switch button 328R, the camera 231 moves downward. When the right input stick 327R is pushed upward while pressing the right two-way switch button 328R, the camera 231 moves upward.
  • the camera zoom input section 323 is an input section for operating the zoom of the photographing camera 231, and is constituted by a left two-way switch button 328L. That is, when the right side of the left two-way switch button 328L is pressed, the camera 231 zooms in. When the left side of the left two-way switch button 328L is pressed, the camera 231 zooms out.
  • the flight mode switching unit 325 is an input unit for switching the flight mode of the drone 20, and is composed of a menu button 329 and a left input stick 327L. That is, the flight mode is switched while selecting the menu displayed by pressing the menu button 329 using the left input stick 327L.
  • the power input unit 326 is a part that turns on and off the power of the control device 30, and is configured with a mechanical switch or the like.
  • the display unit 330 displays the status information of the drone 20 acquired from the drone 20 or the server 40 to the operator.
  • the display unit 330 may be configured with a touch panel or a liquid crystal monitor that is integrated into the control device 30, or a display device such as a liquid crystal monitor, a tablet terminal, or a smartphone that is connected to the control device 30 by wire or wirelessly. It may be composed of.
  • the display unit 330 displays various information such as the shooting target field, flight permitted/prohibited area, flight geofence, map information, current position information of the drone 20, attitude information (direction information), speed information, acceleration information, and battery remaining amount. You can display images related to.
  • FIG. 6 is a functional configuration diagram of the server 40 of this embodiment.
  • the server 40 manages or controls the flight and photography of the drone 20.
  • the server 40 includes an input/output section 400, a communication section 410, a calculation section 420, and a storage section 430.
  • the input/output unit 400 is a part for inputting or outputting various information (image output, audio output).
  • the communication unit 410 includes a modem (not shown) and is capable of communicating with the drone 20, the control device 30, etc. via the communication network 50.
  • the calculation unit 420 includes a CPU and operates by executing a program stored in the storage unit 430. Some of the functions executed by the calculation unit 420 can also be realized using a logic IC (Integrated Circuit). The calculation unit 420 can also include a part of the program using hardware (circuit components).
  • the storage unit 430 stores programs and data used by the calculation unit 420, and includes a RAM.
  • a RAM volatile memory such as a register, and non-volatile memory such as a hard disk or flash memory can be used.
  • the storage unit 430 may include a ROM in addition to the RAM.
  • the server 40 may be a general-purpose computer, such as a workstation or a personal computer, or may be logically implemented by cloud computing.
  • the calculation section 420 includes a presetting section 440, a flight control section 450, and a photographing control section 460.
  • the presetting section 440 performs presetting for flight and photographing of the drone 20.
  • Flight control unit 450 controls the flight of drone 20.
  • the photography control unit 460 controls photography by the drone 20.
  • the presetting section 440 includes a shooting target field selection section 441, a geofence setting section 442, and a shooting restriction setting section 443.
  • the photographing target field selection section 441 is a part for selecting a photographing target field by the user's operations on the menu button 329 and the left input stick 327L, for example.
  • the geofence setting section 442 is a section for setting the flight geofence 91 (FIG. 18) by the user's operations on the menu button 329 and the left input stick 327L, for example.
  • the photographing restriction setting section 443 is a part for selecting a photographing direction and a limit range of the zoom amount by the user's operations on the menu button 329 and the left input stick 327L, for example.
  • the photographing restriction setting section 443 includes a photographing direction restriction setting section 444 and a zoom restriction setting section 445.
  • the photographing direction restriction setting section 444 is a section that restricts the photographing direction
  • the zoom restriction setting section 445 is a section that restricts the zoom amount.
  • the flight control unit 450 controls the flight of the drone 20.
  • the flight here includes takeoff operations, movement from the takeoff point Pto ( Figure 8) to the target shooting location (for example, stadium 90), and movement from the target shooting location to the target landing point Pln. and landing operations.
  • the photography control unit 460 includes a photography mode setting unit 461, a drone status acquisition unit 462, a photography direction restriction unit 463, a zoom restriction unit 464, a flight restriction unit 465, and an automatic photography control unit 466.
  • the photographing mode setting section 461 is a part for setting the photographing mode.
  • the drone status acquisition unit 462 is a part that acquires the status of the drone 20.
  • the photographing direction restriction section 463 is a part that restricts the photographing direction of the camera 231.
  • the zoom limiter 464 is a part that limits the zoom amount of the camera 231.
  • the flight restriction section 465 is a part that restricts the flight of the drone 20.
  • the automatic photographing control unit 466 is a part that controls automatic photographing by the camera 231.
  • FIG. 7 is a flowchart showing the overall flow of aerial photography control in this embodiment.
  • FIG. 8 is a diagram showing how the drone 20 moves from the takeoff point Pto to the field to be photographed (for example, the stadium 90) and from the field to be photographed to the target landing point Pln in this embodiment.
  • the drone 20 takes aerial photographs of a competition being held at the stadium 90 (FIG. 8), an event being held at an event venue, and the like.
  • the control of this embodiment can be roughly divided into control for presetting before aerial photography (presetting control in step S10) and control for performing aerial photography (step S20), as shown in FIG. control during aerial photography).
  • FIG. 9 is a diagram showing an example of a field list 60 used for selecting a field to be photographed in this embodiment.
  • the field list 60 includes field names, field identification numbers (field IDs), and address information. The user selects a field to be photographed from the field list 60.
  • FIG. 10 is a first explanatory diagram regarding the setting of flight geofence in this embodiment.
  • a screen 61a is shown as an example of a screen when setting a flight geofence.
  • the screen 61a includes an image 600 of the stadium 90 (hereinafter also referred to as "the stadium image 600"), geofence images 601a and 601b (hereinafter also referred to as the "geofence images 601a and 601b”), and obstacles. image 602 (hereinafter also referred to as "obstacle image 602").
  • the geofence image 601a is a geofence image registered in the storage unit 430 of the server 40, and the geofence image 601b is a geofence image modified by the user. That is, in the geofence image 601b, the left side and lower side of the geofence image 601a are enlarged (see arrow 603a). Furthermore, in the geofence image 601b, the right side of the geofence image 601a is also enlarged (see arrow 603b). However, since there is an obstacle image 602 at the bottom right of the stadium image 600 (and because there is an obstacle at the bottom right of the actual stadium 90), enlargement of the bottom right of the geofence image 601b is restricted. has been done. Note that the arrows 603a and 603b are used to show how the geofence image 601a changes to the geofence image 601b by the user's operation, and are not displayed on the actual screen 61a.
  • a flight geofence (hereinafter also referred to as a "geofence”) is a virtual boundary line that indicates a virtual boundary between a flight-permitted area where a mobile object such as a drone 20 is allowed to fly or move, and a flight-prohibited area.
  • the boundary fence shall be indicated. Therefore, when a moving body such as the drone 20 comes into contact with the geofence, flight or movement is restricted so that the body does not fly outside the flight permission area.
  • the geofence is shown as a two-dimensional area in the vertical and horizontal directions, but it is actually set as a three-dimensional area with height added to the vertical and horizontal directions (however, for control purposes, the geofence is (It may also be managed as a dimensional area.)
  • FIG. 11 is a second explanatory diagram regarding the setting of the flight geofence in this embodiment.
  • a screen 61b is shown as an example of a screen when setting a flight geofence.
  • the screen 61b includes a stadium image 600 and geofence images 601c, 601d, and 601e.
  • the geofence image 601c is a geofence image registered in the storage unit 430 of the server 40, and the geofence images 601d and 601e are geofence images modified or added by the user. That is, in the geofence image 601d, the right side, upper side, and lower side of the geofence image 601c are enlarged (see arrow 603c). Furthermore, the geofence image 601e is added to the left side of the stadium image 600 by copying the geofence image 601c (see arrow 603d). Note that the arrows 603c and 603d are used to show how the geofence image 601c changes to the geofence images 601d and 601e by the user's operation, and are not displayed on the actual screen 61b.
  • the user only needs to confirm the geofence (geofence image 601a or 601c) registered in the storage unit 430 of the server 40 and use it as is. It is also possible. Alternatively, on the premise that the geofence registered in the storage unit 430 of the server 40 is used as is, confirmation and modification of the geofence may be omitted (immediately proceeding to step S103 after performing step S101, and It is also possible to confirm or change the geofence using a separate operation if necessary.
  • step S103 in FIG. 7 the server 40 (shooting restriction setting unit 443) sets shooting restrictions based on the input from the user of the pilot device 30 and the position (camera position) of the drone 20 (camera 231).
  • a permissible range (hereinafter also referred to as “restriction range”) is set for each camera position for both the photographing direction and zoom amount of the camera 231.
  • the limit range may be set by setting a numerical range limit using three pieces of angle information (angles around the XYZ axes) that define the camera direction for each position coordinate of the camera 231, or by setting the camera direction by three pieces of angle information for each position coordinate of the camera 231.
  • a limited range may be set using a dimensional vector.
  • Another method such as Visual SLAM (Simultaneous Localization and Mapping) or spatial coordinate surveying using images, is to first set areas where photography is not permitted on a map (on spatial coordinates), and then shoot at the angle of view that is being photographed. When the spatial coordinates of a prohibited area are included, restrictions can be placed on the shooting direction and movement. Note that when setting the allowable range of the zoom amount, the allowable range of the zoom amount may be set not only for each camera position but also for each direction (tilt direction or pan direction) of the camera 231.
  • FIG. 12 is a first explanatory diagram regarding the setting of photography restrictions in this embodiment.
  • FIG. 12 shows a screen 62 as an example of a screen when setting shooting restrictions.
  • the screen 62 includes a stadium image 600 and four drone images 621a, 621b, 621c, and 621d.
  • the drone images 621a to 621d correspond to a plurality of points P1, P2, P3, and P4 where shooting restriction information is input when setting shooting restrictions in this embodiment. That is, at each point P1 to P4, the limited range of the photographing direction and the limited range of the zoom amount are input.
  • Point P1 is the center point of the upper goal line.
  • Point P2 is the intersection of the goal line and the touch line at the upper right.
  • Point P3 is the intersection of the center line and touch line on the right side.
  • Point P4 is the position of the center mark.
  • the screen moves to a setting screen for the point corresponding to the selected drone image (for example, screen 63 in FIG. 13).
  • the screen 62 can also include an operation guidance message.
  • FIG. 13 is a second explanatory diagram regarding the setting of photography restrictions in this embodiment.
  • FIG. 13 shows a screen 63 as an example of a screen when setting shooting restrictions.
  • the screen 63 includes a stadium image 600, a drone image 621a, a traveling direction image 631a, a pan direction limited range image 632, and a virtual photographed image 634.
  • the drone image 621a in FIG. 13 is the same as the drone image 621a in FIG. 12, and corresponds to the fact that the drone image 621a is selected from among the drone images 621a to 621d in FIG. In other words, if the drone image 621b is selected in FIG. 12, the drone image 621b of the point P2 is displayed on the screen 63 instead of the drone image 621a of the point P1.
  • the traveling direction image 631a indicates the traveling direction of the drone image 621a.
  • the traveling direction image 631a corresponding to point P1 is directed to the left, but as shown in FIG. 15, the traveling direction image 631b corresponding to point P1 may be directed downward.
  • the panning direction limited range image 632 shows the limited range of the panning direction when the drone image 621a is at the point P1 and the traveling direction is the direction shown by the traveling direction image 631a (leftward in FIG. 13).
  • the virtual photographed image 634 is a virtual photographed image (simulation image) showing the imaging range of the camera 231 when the drone image 621a is at the point P1 and the traveling direction is the direction shown by the traveling direction image 631a (leftward in FIG. 13). ) is shown. Furthermore, pan adjustment buttons 635L and 635R are superimposed on the virtual photographed image 634.
  • the limited range image 632 rotates to the left (or counterclockwise in FIG. 13), and when the user presses the pan adjustment button 635R, the limited range image 632 rotates to the right (or counterclockwise in FIG. 13). clockwise in FIG. 13) (note that the size of the restricted range image 632 does not change).
  • the virtual captured image 634 also changes.
  • the first determination button not shown
  • the adjustment of the panning direction limited range image 632 is completed, and the screen moves to the next setting screen (for example, screen 64 in FIG. 14).
  • the screen 63 may be provided with another button such as a first return button (not shown) for returning to the screen 62 in FIG. 12. Although omitted in FIG. 13, the screen 63 can also include an operation guidance message.
  • the restricted range in the traveling direction opposite to the traveling direction image 631a (rightward in FIG. 13) is calculated using the restricted range in the traveling direction shown by the traveling direction image 631a. That is, the limit range is calculated and set so as to be symmetrical with respect to the virtual straight line connecting the center mark and the penalty mark.
  • FIG. 14 is a third explanatory diagram regarding the setting of photography restrictions in this embodiment.
  • FIG. 14 shows a screen 64 as an example of a screen when setting shooting restrictions.
  • the screen 64 includes a stadium image 600, a drone image 621a, a traveling direction image 631a, and a virtual photographed image 644.
  • the drone image 621a in FIG. 14 is the same as the drone image 621a in FIGS. 12 and 13, and corresponds to the drone image 621a being selected from among the drone images 621a to 621d in FIG. In other words, if the drone image 621b in FIG. 12 is selected, the drone image 621b at the point P2 is displayed on the screen 64. Similar to FIG. 13, the traveling direction image 631a indicates the traveling direction of the drone image 621a.
  • the virtual photographed image 644 is a virtual photographed image (simulation image) showing the imaging range of the camera 231 when the drone image 621a is at the point P1 and the traveling direction is the direction shown by the traveling direction image 631a (leftward in FIG. 14). ) is shown.
  • the virtual captured image 644 in FIG. 14 is the same as the virtual captured image 634 in FIG. 13.
  • tilt adjustment buttons 646U and 646D are superimposed on the virtual photographed image 644.
  • the tilt adjustment button 646U When the user presses the tilt adjustment button 646U, the tilt direction of the camera 231 moves upward, and when the user presses the tilt adjustment button 646D, the tilt direction of the camera 231 moves downward.
  • the first tilt direction lower limit determination button (not shown)
  • adjustment of the lower limit value in the tilt direction is completed
  • the adjustment of the tilt direction upper limit value is completed.
  • the adjustment of the upper limit value is completed.
  • the screen 64 can also include an operation guidance message. Further, the tilt adjustment buttons 646U and 646D of the screen 64 may be included in the screen 63, and the restriction ranges of the panning direction and the tilting direction may be set together on the screen 63.
  • FIG. 15 is a fourth explanatory diagram regarding the setting of photography restrictions in this embodiment.
  • FIG. 15 shows a screen 65 as an example of a screen when setting shooting restrictions.
  • the screen 65 includes a stadium image 600, a drone image 621a, a traveling direction image 631b, and a virtual photographed image 654.
  • the drone image 621a in FIG. 15 is the same as the drone image 621a in FIGS. 12 to 14, and corresponds to the selection of the drone image 621a from among the drone images 621a to 621d in FIG. In other words, if the drone image 621b is selected in FIG. 12, the drone image 621b at the point P2 is displayed on the screen 65.
  • the traveling direction image 631b indicates the traveling direction of the drone image 621a. In the example of FIG. 15, the traveling direction image 631b corresponding to point P1 is directed downward.
  • the virtual photographed image 654 is a virtual photographed image (simulation image) showing the imaging range of the camera 231 when the drone image 621a is at the point P1 and the traveling direction is the direction shown by the traveling direction image 631b (downward in FIG. 15). ) is shown. Similar to the virtual captured image 644 in FIG. 14, tilt adjustment buttons 646U and 646D are superimposed on the virtual captured image 654.
  • the tilt adjustment button 646U when the user presses the tilt adjustment button 646U, the tilt direction of the camera 231 moves upward, and when the user presses the tilt adjustment button 646D, the tilt direction of the camera 231 moves downward.
  • the second tilt direction lower limit determination button (not shown)
  • the adjustment of the lower limit value in the tilt direction is completed
  • the second tilt direction upper limit determination button (not shown)
  • the adjustment of the tilt direction lower limit value is completed.
  • the adjustment of the upper limit value is completed.
  • the screen moves to the next setting screen (for example, screen 62 in FIG. 12).
  • the screen 65 may be provided with another button such as a third return button (not shown) for returning to the screen 62 in FIG. 12 or the screen 64 in FIG.
  • the screen 65 can also include an operation guidance message.
  • the limit range in the pan direction (FIG. 13) and the limit range in the tilt direction (FIGS. 14 and 15) are input for point P1.
  • the limit range of the zoom amount of the camera 231 may be input for the point P1.
  • a zoom up button and a zoom down button are provided on each screen 63 to 65, and the limit range of the zoom amount can be entered in accordance with the setting of the limit range in the pan direction and the limit range in the tilt direction. This can be done by setting.
  • the restriction range of the photographing direction (pan direction and tilt direction) and/or the restriction range of the zoom amount is input in the same way as for the point P1. More specifically, at point P2, the restricted ranges in the panning direction and tilting direction are set for the cases where the drone image 621b faces leftward and downward in FIGS. 12 and 13. At point P3, restriction ranges in the pan direction and tilt direction are set for cases where the drone image 621c is directed leftward and downward in FIGS. 12 and 13. At point P4, restriction ranges in the pan direction and tilt direction are set for cases where the drone image 621d faces leftward and downward in FIGS. 12 and 13. Then, the server 40 calculates the restricted range for each point other than the points P1 to P4 based on the restricted range inputted for each of the points P1 to P4. At that time, for example, the restricted range is calculated using the following method.
  • the limit range is calculated and set so that it changes (for example, linearly) (in other words, assuming a proportional change).
  • a restricted range is calculated and set for each point on the rectangular frame line (straight lines 1-2, 2-3, 3-4, and 1-4) connecting the points P1 to P4.
  • the limit range for each point may be calculated and set based on other changes (for example, a change in the shape of a circular arc or a change in the shape of a quadratic curve).
  • the limit range is calculated and set in the same way as for each point on the straight line 1-2 or 3-4.
  • a restricted range is calculated and set for each point within the rectangle connecting the points P1 to P4.
  • the restriction range is calculated and set for the upper right quadrangle among the four quadrangles obtained by dividing the soccer court in FIG. 12 into four.
  • the remaining three squares (lower right, upper left, lower left) in the stadium 90 are calculated and set based on the restricted range of the upper right square.
  • the lower right rectangle has a limit range that is symmetrical to the upper right rectangle across the center line in the panning direction, and the same limit range as the upper right rectangle in the tilt direction and zoom amount.
  • the limit range is symmetrical to the upper right rectangle across the straight line connecting the two penalty marks (the point where the ball is placed during a penalty kick), and the tilt direction and zoom amount are For , use the same restriction range as the upper right rectangle.
  • the restriction range is point symmetrical to that of the upper right rectangle across the center mark, and for the tilt direction and zoom amount, the same restriction range as that of the upper right rectangle is used.
  • the outside portion of the stadium 90 can also be calculated and set in a similar manner.
  • the limit range can be set even when the altitude is different.
  • the limit range in the pan direction is the same regardless of the altitude, the limit range in the tilt direction becomes wider as the altitude increases, and the limit range in the zoom amount becomes narrower as the altitude increases.
  • control during aerial photography is control when performing aerial photography.
  • the server 40 executes control (outward movement control) to move the drone 20 from the takeoff point Pto (FIG. 8) to the field to be photographed (the stadium 90, etc.).
  • the server 40 executes control to perform aerial photography using the drone 20 in the field to be photographed (field to be photographed control (or aerial photography control)).
  • the server 40 executes control to move the drone 20 from the field to be photographed to the target landing point Pln (return movement control).
  • aerial photography control of this embodiment aerial photography is performed by the drone 20 in the field to be photographed.
  • the flight of the drone 20 and the photography direction and zoom amount of the camera 231 are basically controlled by manual operation by the user of the control device 30.
  • the panning direction horizontal direction
  • the tilt direction (vertical direction) and zoom amount of the camera 231 are controlled by the camera holding section 232 (camera actuator).
  • operation restriction control is executed to limit the user's operations regarding the flight area of the drone 20 and the photography direction and zoom amount of the camera 231.
  • FIG. 16 is a flowchart of operation restriction control in the normal shooting mode in this embodiment.
  • the server 40 shooting control unit 460
  • the geofence 91 for normal shooting mode.
  • step S2002 it is determined whether the flight position of the drone 20 (the position of the camera 231) is within the geofence 91. If the flight position is within the geofence 91 (S2002: true), the process advances to step S2004.
  • step S2003 the server 40 (photography control unit 460) restricts the flight position and displays a message on the display unit 330 to the effect that the flight position is being restricted. Notify via.
  • the notification may be made by sound from a speaker (not shown) or vibration from a vibration generator (the same applies to steps S2006 and S2008, which will be described later).
  • the case where the flight position is not within the geofence 91 includes, for example, a case where the user of the control device 30 makes a mistake in operation, or a case where the drone 20 moves due to wind in a manner not intended by the user.
  • step S2004 the server 40 (photography control unit 460) specifies the photographing direction and zoom amount limit range of the camera 231 corresponding to the current position of the drone 20 (position of the camera 231).
  • the restricted range specified here corresponds to the current position among those set in step S103 of FIG.
  • step S2005 the server 40 (shooting control unit 460) determines whether the shooting direction is within the restricted range. If the photographing direction is within the restricted range (S2005: true), the process advances to step S2007. If the photographing direction is not within the restricted range (S2005: NO), in step S2006, the server 40 restricts the photographing direction and notifies via the display unit 330 that the photographing direction is being restricted.
  • step S2007 the server 40 determines whether the zoom amount is within the limit range. If the zoom amount is within the limit range (S2007: true), the current process is ended and the process returns to step S2001. If the zoom amount is not within the limit range (S2007: NO), in step S2008, the server 40 limits the zoom amount and notifies via the display unit 330 that the zoom amount is being limited.
  • a function to manually cancel restrictions on the shooting direction or zoom amount in order to cope with the case where it is desired to shoot outside the field to be shot (for example, the audience seats, benches, or directors).
  • Such a manual release function can be performed, for example, by operating the control device 30 (for example, by operating a button).
  • FIG. 17 is a flowchart of operation restriction control in the first dolly photography mode in this embodiment.
  • FIG. 18, FIG. 19, and FIG. 20 are first to third explanatory diagrams of operation restriction control in the first dolly photography mode in this embodiment.
  • FIGS. 10 to 15 show examples of screens of the display unit 330 of the control device 30, FIGS. 18 to 20 simply show the actual state of the drone 20.
  • the first dolly photography mode dolly photography is possible in which the altitude of the drone 20 (or camera 231) is kept constant, only linear movement in the horizontal direction is possible, and the panning direction is fixed at the target panning direction.
  • the direction of linear movement of the drone 20 in the horizontal direction is shown by an arrow 700
  • the shooting direction of the camera 231 is shown by arrows 701a and 701b
  • the shooting area of the camera 231 is shown by symbols 702a and 702b.
  • the photographing direction 701a and photographing region 702a in state S1 are the same as the photographing direction 701b and photographing region 702b in state S2.
  • the user of the control device 30 Further linear movement is possible by changing the photographing direction of 231 (details will be described later).
  • step S2011 of FIG. 17 the server 40 specifies the geofence 91 (FIGS. 18 to 20) for the first dolly photography mode.
  • step S2012 it is determined whether the flight position of the drone 20 (the position of the camera 231) is within the geofence 91. If the flight position is within the geofence 91 (S2012: true), the process advances to step S2014. If the flight position is not within the geofence 91 (S2012: false), the server 40 limits the flight position to return within the geofence 91 in step S2013.
  • the case where the flight position is not within the geofence 91 includes, for example, a case where the user of the control device 30 makes a mistake in operation, or a case where the drone 20 moves due to wind in a manner not intended by the user.
  • step S2014 the server 40 specifies a range in which linear movement (dolly photography) is allowed (linear movement allowable range) corresponding to the target shooting direction (target panning direction) and the current zoom amount.
  • the permissible linear movement range is calculated from the shooting direction and zoom amount limit range set in step S103 of FIG. 7 (even if the permissible linear movement range is calculated only from the shooting direction set in step S103 of good.). Note that if it is determined that photographing is to be performed only within the geofence 91, a restricted range may be set only for each point within the geofence 91 (for example, points P2 and P3) in step S103.
  • step S2015 the server 40 determines whether a request is made by the user to move the drone 20 (camera 231) outside the permissible linear movement range. This determination is made based on whether, for example, when the drone 20 is located at the end of the permissible linear movement range, an operation command has been input that requests the drone 20 to move farther beyond the permissible linear movement range. If a request to move outside the permissible linear movement range has been made (S2015: True), proceed to step S2016, and if a request to move outside the permissible linear movement range has not been made (S2015: False), end the current process. Then, the process returns to step S2011.
  • step S2016 the server 40 determines whether a linear movement restriction release operation (hereinafter also referred to as "restriction release operation”) has been performed.
  • the restriction release operation is performed, for example, by the user changing the shooting direction of the camera 231 toward the center of the allowable linear movement range when the drone 20 is located at the end of the allowable linear movement range. Note that if a restriction release operation is performed between steps S2015 and S2016, a notification to the effect that the linear movement restriction is canceled may be displayed on the display unit 330 of the pilot device 30.
  • FIG. 18 shows how the position of the drone 20 (camera 231) changes from the lower state S1 to the upper state S2 in FIG. 18 due to the user's operation.
  • State S2 corresponds to a case where the drone 20 is located at the end of the allowable linear movement range (S2015: true). Therefore, in state S2, if the restriction release operation is not performed (S2016: true), the position of the drone 20 (camera 231) exceeds the permissible linear movement range (that is, moves above state S2). cannot be done (S2017).
  • step S2018 the server 40 allows further linear movement beyond the permissible linear movement range.
  • the value of further linear movement to be permitted can be changed depending on the extent of the restriction release operation (for example, the amount of change in the photographing direction).
  • the user performs a restriction release operation (S2016: false), and further linear movement is permitted (S2018).
  • S2016: false when the position of the drone 20 (camera 231) is in state S2 of FIG. 18, the user performs a restriction release operation (S2016: false), and further linear movement is permitted (S2018).
  • S2016: false further linear movement is permitted
  • the photographing direction 701c of the camera 231 is toward the center of the linear movement allowable range.
  • FIG. 21 is a flowchart of operation restriction control in the second dolly photography mode in this embodiment.
  • the operation restriction control in the first dolly shooting mode (FIG. 17)
  • the user of the control device 30 performs the restriction release operation.
  • the server 40 is the entity that performs the restriction release operation. .
  • Steps S2021, S2022, S2023, S2024, and S2025 in FIG. 21 are the same as steps S2011, S2012, S2013, S2014, and S2015 in FIG.
  • step S2026 the server 40 automatically performs a restriction release operation according to the amount of further linear movement of the drone 20 requested by the user. conduct. That is, when the amount of further linear movement increases, the amount of correction in the photographing direction is increased (see FIGS. 19 and 20). Therefore, even in the case of the second dolly photographing mode (FIG. 21), changes from state S2 in FIG. 18 to state S3 in FIG. 19 to state S4 in FIG. 20 are possible. However, as described above, it is the server 40, not the user, that corrects the shooting direction. Note that if the amount of further linear movement reaches the maximum value, no further linear movement is permitted.
  • the server 40 may To automatically reduce the amount of direction correction to bring a photographing direction in a panning direction closer to a target panning direction. For example, in state S4 of FIG. 20, when the user returns the position of the drone 20 to the linear movement allowable range side, the server 40 automatically returns the shooting direction to state S3 of FIG. 19, for example. Furthermore, in state S3 of FIG. 19, when the user returns the position of the drone 20 to the linear movement permissible range side, the server 40 automatically returns the shooting direction to state S2 of FIG. 18, for example.
  • step S2027 the server 40 determines whether the user has changed the shooting direction (pan direction). It is determined whether an operation to return to the target shooting direction (target panning direction) (shooting direction return operation) has been performed.
  • step S2028 the server 40 reduces the amount of linear movement according to the amount of the photographing direction returning operation. For example, in state S4 of FIG. 20, when the shooting direction return operation is performed, the server 40 automatically returns the position of the drone 20 to state S3 of FIG. 19, for example. Furthermore, in state S3 of FIG. 19, when the shooting direction return operation is performed, the server 40 automatically returns the position of the drone 20 to state S2 of FIG. 18, for example.
  • the photographing direction is restricted using the permissible range of the photographing direction (S103 in FIG. 7, FIGS. 12 to 15) that is changed according to the position of the drone 20 (the camera position of the mobile camera 231).
  • the user is notified of the allowable range of the photographing direction (S2006 in FIG. 16).
  • the photographing control unit 460 (photographing control device) can set the permissible range of the photographing direction so that at least a part of the stadium 90 (photographing target area) is included in the angle of view of the camera 231 ( S103 in FIG. 7, FIGS. 12 to 15). This makes it possible to prevent the user or the photographing control unit 460 (photographing control device) from accidentally changing the photographing direction so as to point the camera 231 outside the stadium 90.
  • the photographing system 10 includes a drone 20 (unmanned flying vehicle) that flies in the air (FIG. 1), and a camera 231 is provided on the drone 20 (FIGS. 2 and 3).
  • a drone 20 unmanned flying vehicle
  • FIG. 1 a camera 231 is provided on the drone 20 (FIGS. 2 and 3).
  • the photographing control unit 460 limits the photographing direction of the camera 231 by the attitude of the drone 20 (unmanned flying vehicle) or the camera holding unit 232 (camera actuator) (S2006 in FIG. 16). This makes it possible to restrict the shooting direction using a simple method.
  • the camera 231 can manually or automatically adjust the zoom amount in addition to the shooting direction.
  • the photographing control unit 460 sets an allowable range of the zoom amount according to the position of the drone 20 (camera position), the tilt direction, or the pan direction (S103 in FIG. 7).
  • the photographing control unit 460 limits the zoom amount using the allowable range of the zoom amount, and notifies the user of the allowable range of the zoom amount (S2008 in FIG. 16).
  • the shooting control unit 460 (shooting control device) is set according to the position of the drone 20 (camera position). Using the permissible shooting direction range, the shooting direction according to the user's operation is restricted (S2005 and S2006 in FIG. 16). As a result, when the user manually controls the shooting direction, it is possible to prevent the camera 231 from pointing in an undesirable shooting direction, thereby improving convenience or operability.
  • the shooting control unit 460 (shooting control device) is set according to the position of the drone 20 (camera position).
  • the zoom amount by the user's operation is limited using the zoom amount tolerance range (S2007 and S2008 in FIG. 16). Thereby, when the user manually operates the zoom amount, it is possible to prevent an undesirable camera magnification and improve convenience or operability.
  • the photographing control unit 460 (photographing control device) is a first camera capable of dolly photographing in which the camera 231 is kept at a constant altitude and can only move linearly in the horizontal direction, and the panning direction is fixed at the target panning direction.
  • a dolly photography mode and a second dolly photography mode can be set (FIGS. 17 and 21).
  • the photographing control unit 460 sets a linear movement permissible range that is a range in which horizontal linear movement of the camera 231 is permitted in the first dolly photographing mode and the second dolly photographing mode. If the panning direction is the target panning direction, further linear movement of the camera 231 (movement outside the permissible linear movement range) is restricted (S2017 in FIG. 17, S2025 in FIG.
  • the shooting range of the camera 231 may extend to, for example, outside the stadium 90 (outside the shooting target field) while the panning direction remains the target panning direction. This makes it possible to prevent
  • the photography control unit 460 detects that a predetermined operation is performed when the camera 231 is at one end of the linear movement allowable range (S2015 in FIG. 17: true). If (S2016: false), the camera 231 is allowed to further move linearly (move in the direction of linear movement beyond the permissible linear movement range) (S2018).
  • the predetermined operation is a first panning direction manual operation for moving the panning direction closer to the center of the permissible linear movement range, or a zoom-out manual operation for zooming out the camera 231 (S2016).
  • an operation (first pan direction manual operation or zoom-out manual operation) is performed to maintain the shooting range of the camera 231 within the stadium 90 (within the shooting target field), for example.
  • the camera 231 is allowed to further move linearly (move in the direction of linear movement beyond the permissible range of linear movement). Therefore, it becomes possible to improve the operability in dolly photography.
  • the shooting control unit 460 shooting control device
  • a first pan direction automatic operation is performed to bring the direction closer to the center of the linear movement allowable range (S2026 in FIG. 21, FIGS. 19 and 20).
  • the shooting control unit 460 moves the panning direction closer to the target panning direction when the camera 231 is outside the permissible linear movement range (S2025 in FIG. 21: true). If a manual operation in the second panning direction is performed (S2027: true), an automatic camera position operation is performed to bring the camera 231 closer to the permissible linear movement range (S2028). As a result, when the restriction release operation (S2027) is automatically performed and the panning direction of the camera 231 approaches the target panning direction, the photographing range of the camera 231 changes, for example, outside the stadium 90 (the object to be photographed). This makes it possible to prevent the device from going outside the area.
  • the photography control unit 460 controls the camera 231 when the further movement amount of the camera 231 decreases (in other words, the camera 231 moves from outside the permissible linear movement range to within the permissible linear movement range).
  • a second panning direction automatic operation is performed to bring the panning direction closer to the target panning direction (S2026 in FIG. 21).
  • the photographing control unit 460 controls the photographing direction, camera position, or zoom.
  • the amount is automatically adjusted so that the field to be photographed falls within the photographing range of the camera 231 (S201 in FIG. 7). This makes it possible to smoothly start photographing the field to be photographed.
  • the photographing system 10 further includes a display unit 330 (notifying means) that notifies the user of the photographing direction and the allowable range of the zoom amount (FIGS. 4 and 5).
  • the display unit 330 displays a notification that the restriction is applied (S2006, S2008 in FIG. 16). This makes it possible to notify the user that the shooting direction or zoom amount is restricted.
  • the photographing system 10 further includes a display unit 330 (notifying means) that notifies the user of the photographing direction and the allowable range of the zoom amount (FIGS. 4 and 5).
  • the display unit 330 displays information regarding the allowable range of the photographing direction or zoom amount corresponding to the position of the drone 20 (camera position) (S2006, S2008 in FIG. 16). This makes it easier for the user to operate the camera.
  • the photographing system 10 of the above embodiment is intended to photograph a competition (soccer, tennis, etc.) being played in a stadium 90 (FIG. 8).
  • the invention is not limited to this, for example, if attention is focused on limiting the photographing direction or zoom amount of the camera 231 using an allowable range that is changed depending on the position of the camera 231.
  • the subject to be photographed is not limited to the above-mentioned competitions, but can also be applied to other events (concerts, ceremonies, etc.) where people gather.
  • the imaging system 10 had the configuration shown in FIG. 1.
  • the invention is not limited to this, for example, if attention is focused on limiting the photographing direction or zoom amount of the camera 231 using an allowable range that is changed depending on the position of the camera 231.
  • FIG. 22 is an overall configuration diagram of a photographing system 10A (hereinafter also referred to as "system 10A") according to a first modification of the present invention.
  • system 10A a photographing system 10A
  • a drone 20, a pilot device 30, a server 40, and a base station 52 are connected to each other so as to be able to communicate with each other via a communication network 50 such as an Internet line.
  • the drone 20 performs wireless communication directly with the Internet line 50 using a communication method such as LTE without using the pilot device 30. Therefore, the drone 20, the control device 30, and the base station 52 do not need to perform direct wireless communication, and only need to be able to connect to the Internet line 50 at a remote location. Therefore, the system configuration is suitable when the drone 20 and the pilot device 30 are located in a remote location (for example, when the pilot performs remote control).
  • FIG. 23 is an overall configuration diagram of a photographing system 10B (hereinafter also referred to as "system 10B") according to a second modification of the present invention.
  • system 10B a photographing system 10B
  • the drone 20, the control device 30, the base station 52, and the server 40 are connected to each other so as to be able to communicate with each other via a communication network 50 such as an Internet line, and the drone 20 and the base
  • a communication network 50 such as an Internet line
  • the station 52 is communicatively connected to the Internet line 50 by satellite communication via a satellite 54.
  • FIG. 24 is an overall configuration diagram of a photographing system 10C (hereinafter also referred to as "system 10C") according to a third modification of the present invention.
  • system 10C a photographing system 10C
  • FIG. 24 shows an example of system redundancy in which a plurality of servers 40 are connected to one drone 20 via a plurality of Internet lines 50.
  • the operation of the system 10C can be continued by the other redundant servers 40 and the Internet line 50, so the system 10C is reliable. can improve sex.
  • the drone 20 and the control device 30 can be operated even in a remote location, so the configuration is suitable for remote control, but the configuration is not limited to this. It can also be applied to visual flight, which is controlled manually while observing.
  • the device described in the above embodiment may be realized as a single device, or may be realized partially or entirely by a plurality of devices (for example, cloud server 40, drone 20, pilot device 30) etc. connected via communication network 50. may be done.
  • each functional unit and storage unit of the server 40 may be implemented by being installed in different servers 40, drones 20, and pilot devices 30 that are connected to each other via the communication network 50.
  • the basic behavior control of the drone 20 during photographing is performed based on the operation of the control device 30 (FIG. 5).
  • the basic behavior control of the drone 20 is not limited to this. It may be automatically controlled by itself or based on a command from the server 40 (without manual operation).
  • the drone 20 is used as an example of a moving object for aerial photography.
  • the moving object may be, for example, a camera system movable along a wire placed in the air within the stadium 90.
  • the moving object may be a camera system that is placed on the ground and is movable (including one that moves on rails).
  • control device 30 The control device 30 of the above embodiment had the configuration shown in FIGS. 4 and 5.
  • the invention is not limited to this, for example, if attention is focused on limiting the photographing direction or zoom amount of the camera 231 using an allowable range that is changed depending on the position of the camera 231.
  • the operation input unit 320 for example, the number and arrangement of input sticks, the number, shape, and arrangement of buttons can be changed as appropriate.
  • the configuration realized by the operation input section 320 in FIG. 5 can be replaced with a touch panel.
  • the control input unit 320 may include a takeoff button and a landing button for instructing automatic takeoff and landing, or a flight start button for instructing to automatically fly to a predetermined position and hover at that position. button, a home button for returning to the starting position, a mode switching button for switching the flight mode, etc.
  • a limit range is provided for each of the shooting direction and zoom amount of the camera 231 (FIGS. 7, 16, 17, and 21).
  • a limit range is provided for only one of the photographing direction or the zoom amount.
  • the photographing direction although limited ranges were provided for both the panning direction (horizontal direction) and the tilting direction (vertical direction), it is also possible to use only one of them.
  • the normal shooting mode (FIG. 16), the first dolly shooting mode (FIG. 17), and the second dolly shooting mode (FIG. 21) are enabled.
  • the invention is not limited to this, for example, if attention is focused on limiting the photographing direction or zoom amount of the camera 231 using an allowable range that is changed depending on the position of the camera 231.
  • the shooting direction and zoom amount limit range are set in advance for each position (camera position) of the drone 20 (in other words, for each position coordinate) (S103 in FIG. 7, FIGS. 12 to 15).
  • the relationship between the photographed image of the camera 231 and the photographing prohibited area or the mark indicating the photographing prohibited area may be determined for each position of the drone 20 (camera position) to specify the photographing direction or the limited range of the zoom amount. .
  • FIG. 25 is an explanatory diagram regarding the restriction of the photographing direction according to the first modification of the present invention.
  • the user in setting the shooting restriction (S103 in FIG. 7), the user sets the shooting target area.
  • the photographing target area is set, for example, in a relative positional relationship with the photographing target field.
  • the field to be photographed may mean a two-dimensional location to be photographed (for example, an outline defining the stadium 90 (for example, a frame consisting of a touch line and a goal line of a soccer field)).
  • the server 40 stores the current position (camera position) and attitude of the drone 20, as well as the operating state and zoom amount of the camera holding unit 232 (camera actuator). Based on this, the imaging area of the camera 231 is estimated. Then, if the estimated shooting area of the camera 231 is likely to include an area other than the shooting target area (for example, a shooting prohibited area), the server 40 limits the shooting direction (pan direction and tilt direction) and zoom amount of the camera 231. do. In other words, a shooting direction and zoom amount that would cause an area other than the shooting target area to enter the shooting area of the camera are not permitted. Alternatively, the photographing direction and zoom amount of the camera 231 may be limited when the ratio of the area other than the photographing target area included in the estimated photographing area of the camera 231 exceeds a predetermined value.
  • a screen 66 is shown as an example of a screen displayed on the display unit 330 of the control device 30 when actually photographing using the drone 20.
  • the screen 66 includes a stadium image 600, a drone image 661, a traveling direction image 662, an estimated photographing area image 663, and a photographed image 664.
  • the drone image 661 in FIG. 25 has the same shape as the drone image 621a in FIG. 12, etc., but moves within the screen 66 according to the current position (camera position) of the drone 20.
  • the traveling direction image 662 has the same shape as the traveling direction image 631a in FIG. 13, etc., but shows the actual traveling direction of the drone 20 (and the drone image 661).
  • the estimated photographing area image 663 shows the photographing area of the camera 231 (particularly the photographing area in the panning direction) that is estimated according to the position of the drone 20 (and the image 661).
  • the estimated captured images 634, 644, and 654 in FIGS. 13 to 15 are estimated captured images (simulation images).
  • a photographed image 664 in FIG. 25 is an image actually photographed by the camera 231.
  • a boundary image 665 indicating the boundary of the region to be photographed is superimposed on the photographed image 644.
  • the boundary of the imaging target area is determined, for example, by detecting features of the stadium 90 (goal line, touch line, etc.) from the captured image 644, and determining from the position, angle, etc. of the feature in the captured image 644.
  • the photographing control unit 460 of the server 40 calculates a ratio R1 between the photographing target area and other areas in the photographed image 664, and when the ratio R1 exceeds a predetermined threshold (first ratio threshold), the photographing control unit 460 is determined to have exceeded the limit range. Then, a message to the effect that the photographing direction exceeds the restricted range is displayed on the display unit 330 of the control device 30.
  • the notification may be made by sound from a speaker (not shown) or vibration from a vibration generator (not shown).
  • the determination as to whether or not the photographing direction exceeds the limited range may be made by a method other than using the ratio R1 between the photographing target area and other areas in the photographed image 664.
  • the determination may be made based on outer edge information of the imaging target area input by the user.
  • the outer edge information of the photographing target area here, for example, when the position of the outer edge of the photographing target area enters a predetermined area within the photographed image 664, or when the outer edge of the photographing target area exists within the photographed image 664. , it may be determined that the photographing direction exceeds the restricted range.
  • the value or ratio of the area of the area to be photographed in the photographed image 665 is less than a predetermined threshold, or if the value or ratio of the area of the area other than the target area to photograph in the photographed image 665 exceeds a predetermined threshold. , it may be determined that the photographing direction exceeds the restricted range.
  • FIG. 26 is an explanatory diagram regarding the restriction of the photographing direction according to the second modification of the present invention.
  • the photography restriction in setting the photography restriction (S103 in FIG. 7), the user sets a photography prohibited area.
  • the photography prohibited area is defined using, for example, a mark.
  • a mark for example, an outline (touch line, goal line) that defines the stadium 90, a corner flag, a goal post, a colored mark, or a three-dimensional code can be used.
  • the server 40 determines whether the mark is present in the image taken by the camera 231. If a mark is detected in the photographed image, the server 40 limits the photographing direction (pan direction and tilt direction) and zoom amount of the camera 231. In other words, if a landmark is detected, further changes in the shooting direction and further reduction in the zoom amount are not permitted.
  • a screen 67 is shown as an example of a screen displayed on the display unit 330 of the control device 30 when actually photographing using the drone 20.
  • the screen 67 includes a stadium image 600, a drone image 661, a traveling direction image 662, an estimated photographing area image 663, a photographing prohibited area image 671, and a photographed image 672.
  • a drone image 661, a traveling direction image 662, and an estimated shooting area image 663 in FIG. 26 are the same as those in FIG. 25.
  • the photography prohibited area image 671 indicates a photography prohibited area.
  • the photography prohibited area is set by the user in step S103 in FIG. 7, for example. Similar to the captured image 664 in FIG. 25, the captured image 672 in FIG. 26 is an actual captured image by the camera 231.
  • a boundary image 673 indicating the boundary of the photography-prohibited area is superimposed on the photographed image 672.
  • the boundary of the photography-prohibited area is determined by, for example, detecting features of the stadium 90 (goal line, touch line, etc.) from the photographed image 644, and determining the position, angle, etc. of the feature in the photographed image 672.
  • the photographing control unit 460 of the server 40 calculates the ratio R2 of the photographing prohibited area to the entire photographed image 664, and when the ratio R2 exceeds a predetermined threshold (second ratio threshold), the photographing direction exceeds the restricted range. It is determined that the limit has been exceeded. Then, a message to the effect that the photographing direction exceeds the restricted range is displayed on the display unit 330 of the control device 30. In addition to or in place of the notification via the display unit 330, the notification may be made by sound from a speaker (not shown) or vibration from a vibration generator (not shown). Note that the determination as to whether or not the photographing direction exceeds the restricted range may be made by a method other than using the ratio R2 of the photographing prohibited area to the entire photographed image 664, as in the case of the first modification (FIG. 25). good.

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Abstract

Le problème décrit par la présente invention consiste à fournir un système d'imagerie, un procédé d'imagerie, un dispositif de commande d'imagerie et un programme qui permettent d'améliorer la commodité ou l'exploitabilité au moment de la capture d'une image d'une cible d'imagerie. Selon la présente invention, la solution consiste en un système d'imagerie (10) qui comprend : une caméra mobile (231) qui est capable d'ajuster une direction d'imagerie, y compris une direction de panoramique et/ou une direction d'inclinaison, soit de façon manuelle par un utilisateur ou de façon automatique ; et un dispositif de commande d'imagerie (460) qui commande la capture d'image exécutée par la caméra. Le dispositif de commande d'imagerie définit, en fonction de la position de la caméra mobile, une plage admissible d'une direction d'imagerie ou d'une quantité de zoom, et il commande la direction d'imagerie ou la quantité de zoom à l'aide de la plage admissible, ou il informe l'utilisateur de la plage admissible de la direction d'imagerie ou de la quantité de zoom.
PCT/JP2022/028544 2022-07-22 2022-07-22 Système d'imagerie, procédé d'imagerie, dispositif de commande d'imagerie et programme Ceased WO2024018643A1 (fr)

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Citations (5)

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WO2016208102A1 (fr) * 2015-06-25 2016-12-29 パナソニックＩｐマネジメント株式会社 Dispositif de synchronisation vidéo et procédé de synchronisation vidéo
WO2018020673A1 (fr) * 2016-07-29 2018-02-01 株式会社ソニー・インタラクティブエンタテインメント Système de gestion d'image et corps volant sans pilote
JP2019057836A (ja) * 2017-09-21 2019-04-11 キヤノン株式会社 映像処理装置、映像処理方法、コンピュータプログラム、及び記憶媒体
US20190227557A1 (en) * 2016-08-12 2019-07-25 4Dream Co., Ltd. Unmanned aerial vehicle including flight and photographing control device
JP2019220836A (ja) * 2018-06-19 2019-12-26 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 制御装置、移動体、制御方法、及びプログラム

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016208102A1 (fr) * 2015-06-25 2016-12-29 パナソニックＩｐマネジメント株式会社 Dispositif de synchronisation vidéo et procédé de synchronisation vidéo
WO2018020673A1 (fr) * 2016-07-29 2018-02-01 株式会社ソニー・インタラクティブエンタテインメント Système de gestion d'image et corps volant sans pilote
US20190227557A1 (en) * 2016-08-12 2019-07-25 4Dream Co., Ltd. Unmanned aerial vehicle including flight and photographing control device
JP2019057836A (ja) * 2017-09-21 2019-04-11 キヤノン株式会社 映像処理装置、映像処理方法、コンピュータプログラム、及び記憶媒体
JP2019220836A (ja) * 2018-06-19 2019-12-26 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 制御装置、移動体、制御方法、及びプログラム

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