WO2020016982A1 - Omnidirectional imaging device equipped with moving means - Google Patents

Omnidirectional imaging device equipped with moving means Download PDF

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Publication number
WO2020016982A1
WO2020016982A1 PCT/JP2018/027059 JP2018027059W WO2020016982A1 WO 2020016982 A1 WO2020016982 A1 WO 2020016982A1 JP 2018027059 W JP2018027059 W JP 2018027059W WO 2020016982 A1 WO2020016982 A1 WO 2020016982A1
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unit
guard
flight
camera
imaging device
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PCT/JP2018/027059
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French (fr)
Japanese (ja)
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鈴木陽一
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株式会社エアロネクスト
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Priority to PCT/JP2018/027059 priority Critical patent/WO2020016982A1/en
Priority to JP2019536991A priority patent/JP6603910B1/en
Publication of WO2020016982A1 publication Critical patent/WO2020016982A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/70—Convertible aircraft, e.g. convertible into land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/30—Constructional aspects of UAVs for safety, e.g. with frangible components

Definitions

  • the present invention relates to an omnidirectional photographing device provided with a moving means.
  • Cameras especially those with a wide angle of view, are used in various places for surveillance cameras and information gathering.
  • various services have been studied or provided, such as mounting a camera on a drone, an unmanned aerial vehicle (UAV), and collecting information on the site in the event of a disaster or the like. .
  • UAV unmanned aerial vehicle
  • Patent Document 1 provides a photographing apparatus that enables omnidirectional photographing with one device.
  • Patent Document 1 a plurality of cameras are radially arranged in one photographing device. This makes it possible to simultaneously capture images in all directions.
  • Patent Literature 1 moves on its own when used on the ground or a structure, and cannot collect information.
  • the mounted object is reflected and a blind spot occurs. It is not a suitable photographing device when it is desired to obtain as wide a range of information as possible.
  • an imaging device including a flying unit, a guard unit, and a camera unit
  • the guard unit is connected to the flight unit so as to at least partially cover the periphery of the flight unit and is displaceable independently of displacement of the flight unit, and the flight unit flies at least on a target surface.
  • the camera unit is provided in a guard unit, An imaging device can be provided.
  • an omnidirectional imaging device that can move and stop in the air and while touching the ground.
  • FIG. 1 is a front view of a photographing device according to the present invention.
  • FIG. 2 is a diagram of the photographing apparatus of FIG. 1 as viewed from above. It is a side view of the imaging device of FIG. It is another side view of the imaging device by this invention.
  • FIG. 4 is a diagram illustrating an example of use of the photographing device according to the present invention.
  • FIG. 6 is still another side view of the photographing device according to the present invention. It is the figure seen from the upper part of the imaging device of FIG.
  • FIG. 11 is another diagram showing a usage example of the photographing device according to the present invention.
  • FIG. 9 is a view of the example of use of FIG. 8 as viewed from above.
  • FIG. 11 is still another diagram illustrating an example of use of the imaging device according to the present invention. It is the figure seen from the upper part of the example of use of FIG.
  • FIG. 11 is still another diagram illustrating an example of use of the imaging device according to the present invention. It is the figure seen from
  • An omnidirectional photographing apparatus including a moving unit has the following configuration.
  • An imaging device including a flight unit, a guard unit, and a camera unit,
  • the guard unit is connected to the flight unit so as to at least partially cover the periphery of the flight unit and is displaceable independently of displacement of the flight unit, and the flight unit flies at least on a target surface. At times, separating the flight section and the plane of symmetry,
  • the camera unit is provided in a guard unit, Shooting equipment.
  • the imaging device Comprising a plurality of the camera units, The photographing device, wherein the camera unit is provided in the guard unit such that each of the camera units can photograph an entire celestial sphere.
  • the imaging device according to any one of items 1 to 3,
  • the guard portion has a spherical or substantially spherical shape,
  • the flight section is located inside the guard, Shooting equipment.
  • the imaging device is connected to a frame portion extending at least in the direction orthogonal to the traveling direction when flying over the target surface shape,
  • the guard portion has a shape substantially on a wheel around the frame portion,
  • the camera unit is provided in each of the guard units, and each of the camera units has a viewing angle of at least 180 degrees. Shooting equipment.
  • the photographing device includes a guard unit 30, a camera unit 40, and a driving unit 20.
  • the imaging device is movable in the traveling direction F.
  • the guard unit 30 is connected to the driving unit 20 so as to cover at least partially the driving unit 20 and to be capable of changing independently of the driving unit 20. Therefore, the photographing device can move and photograph without the drive unit 20 and the guard unit 30 being influenced by each other.
  • At least two camera units 40 are provided at positions suitable for omnidirectional imaging. Accordingly, it is possible to always capture an omnidirectional image regardless of the posture of the imaging device.
  • the guard portion may have a shape such as a sphere that can rotate in a plurality of directions. Thereby, in addition to being able to move on the ground, the movement can be continued even if the movement of the drive unit 20 is stopped on the inclined surface.
  • the camera unit 40 or the lens unit 41 of the camera unit 40 does not come into contact with the target surface (the ground or the like). This can be prevented by providing a cover or a cover (not shown).
  • the lens unit 41 of the camera unit 40 is temporarily moved inward from the ground surface of the guard unit 30 so as not to be grounded. The same effect can be obtained by pulling in the target.
  • the photographing apparatus has a substantially wheel-shaped appearance.
  • a frame unit 31 extending in a direction (axial direction) orthogonal to the traveling direction of the imaging device when moving at least on the target surface is connected to the drive unit 20.
  • the guard portion 30 has a substantially wheel-like shape with the frame portion 31 as an axis. This allows the vehicle to be moved on the ground, and also allows the drive unit 20 to continue moving on a downhill slope even if the movement of the drive unit 20 is stopped.
  • the camera section 40 is provided in each of the guard sections 30, and the viewing angle of each of the camera sections 40 is desirably 180 degrees or more. Accordingly, if at least two camera units are provided at both ends of the axis, it is possible to capture an omnidirectional image from the photographing device.
  • the camera unit 40 so as to be displaceable independently of the guard unit 30 and the frame unit 31, even when the guard unit 30 rotates like a wheel, shooting can be performed without being affected by the rotation. It is possible.
  • the imaging device is movable in the traveling direction F.
  • FIGS. 8 and 9 show an example in which the present invention is applied to a photographing apparatus having a spherical guard 30 according to the first embodiment.
  • FIGS. 10 and 11 show wheel-shaped guards 31 according to the second embodiment. 1 shows an example applied to a photographing apparatus having
  • any configuration may be used as long as the drive unit 20 and the guard unit 30 can be independently rotated.
  • the driving portion 20 and the guard portion 30 can rotate independently in the horizontal direction (X direction and Y direction).
  • the driving unit 20 can maintain the horizontal position.
  • the guard portion is on a wheel
  • the drive portion 20 and the guard portion 30 are independently rotatable in one horizontal direction (X direction).
  • the driving unit 20 can maintain the horizontal state.
  • the flying object 21 in the above-described embodiment may be separated from the guard unit 30 at a landing destination or a destination.
  • the imaging device of the present invention can be expected to be used for monitoring, investigation, and other information collection. Further, the present invention can be suitably used as a rotary wing machine for photography capable of performing omnidirectional photography, and can also be used in various industries such as defense, security, and agriculture.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Studio Devices (AREA)

Abstract

[Problem] To provide an omnidirectional imaging device capable of moving and stopping both in the air and on the ground. [Solution] This imaging device comprises a flight unit, a guard unit, and a camera unit. The guard unit is connected to the flight unit so as to cover at least part of the periphery of the flight unit and be displaceable independently of displacement of the flight unit, and separates the flight unit from the surface of the object in question at least when the flight unit is flying above the surface of the object. The camera unit is disposed on the guard unit at a position where the guard unit does not appear within the viewing angle thereof.

Description

移動手段を備えた全方位撮影装置Omnidirectional imaging device with moving means
　本発明は、移動手段を備えた全方位撮影装置に関する。 The present invention relates to an omnidirectional photographing device provided with a moving means.
　撮影機器、特に広い画角を備えるものは、監視カメラや情報収集用として、様々な場所で活用されている。また、近年では、ドローン（Ｄｒｏｎｅ）や無人航空機（ＵＡＶ：Ｕｎｍａｎｎｅｄ　Ａｅｒｉａｌ　Ｖｅｈｉｃｌｅ）などにカメラを搭載し、災害時等にその現場の情報収集を行う等、様々なサービスが検討、あるいは提供されている。 Cameras, especially those with a wide angle of view, are used in various places for surveillance cameras and information gathering. In recent years, various services have been studied or provided, such as mounting a camera on a drone, an unmanned aerial vehicle (UAV), and collecting information on the site in the event of a disaster or the like. .
　しかし、１つのレンズを備える一般的なカメラでは、少なからず死角が発生してしまい、周囲の状況を余さず写し取ることは困難である。 However, with a general camera having one lens, blind spots are generated to some extent, and it is difficult to capture the surrounding situation without fail.
　一方、特許文献１では、１台で全方位撮影を可能とする撮影装置を提供する。 On the other hand, Patent Document 1 provides a photographing apparatus that enables omnidirectional photographing with one device.
特開２０１０－２５８６６９号公報JP 2010-258669A
　特許文献１においては、１台の撮影装置に複数台のカメラを放射状に配置している。これにより、全方位を同時に撮影することが可能となるものである。 に お い て In Patent Document 1, a plurality of cameras are radially arranged in one photographing device. This makes it possible to simultaneously capture images in all directions.
　しかしながら、特許文献１における撮影装置は、地面や構造物に据え置いて使用した場合には自らが移動し、情報収集にあたることはできない。自動車や無人航空機に取り付け、移動を可能にした場合には、取り付けた対象が映り込み、死角が発生する。出来得る限り広範囲の情報を得たい場合に、好適な撮影装置とは言えない。 However, the imaging apparatus disclosed in Patent Literature 1 moves on its own when used on the ground or a structure, and cannot collect information. When mounted on a car or unmanned aerial vehicle and allowed to move, the mounted object is reflected and a blind spot occurs. It is not a suitable photographing device when it is desired to obtain as wide a range of information as possible.
　そこで、本発明は、空中と接地中において移動、停留可能な全方位撮影装置を提供することを一つの目的とする。 Therefore, it is an object of the present invention to provide an omnidirectional imaging device that can move and stop in the air and while touching the ground.
　本発明によれば、飛行部と、ガード部と、カメラ部とを備えた撮影装置であって、
　前記ガード部は、前記飛行部の周囲を少なくとも部分的に覆おうように且つ前記飛行部の変位とは独立して変位可能に当該飛行部に接続され、前記飛行部が少なくとも対象面上を飛行時において前記飛行部と前記対称面とを離間し、
　前記カメラ部は、ガード部に設けられている、
撮影装置を提供することができる。 According to the present invention, there is provided an imaging device including a flying unit, a guard unit, and a camera unit,
The guard unit is connected to the flight unit so as to at least partially cover the periphery of the flight unit and is displaceable independently of displacement of the flight unit, and the flight unit flies at least on a target surface. At times, separating the flight section and the plane of symmetry,
The camera unit is provided in a guard unit,
An imaging device can be provided.
　本発明によれば、空中と接地中において移動、停留可能な全方位撮影装置を提供し得る。 According to the present invention, it is possible to provide an omnidirectional imaging device that can move and stop in the air and while touching the ground.
本発明による撮影装置の正面図である。1 is a front view of a photographing device according to the present invention. 図１の撮影装置の上方から見た図である。FIG. 2 is a diagram of the photographing apparatus of FIG. 1 as viewed from above. 図１の撮影装置の側面図である。It is a side view of the imaging device of FIG. 本発明による撮影装置の他の側面図である。It is another side view of the imaging device by this invention. 本発明による撮影装置の使用例を示す図である。FIG. 4 is a diagram illustrating an example of use of the photographing device according to the present invention. 本発明による撮影装置の更に他の側面図である。FIG. 6 is still another side view of the photographing device according to the present invention. 図６の撮影装置の上方から見た図である。It is the figure seen from the upper part of the imaging device of FIG. 本発明による撮影装置の使用例を示す他の図である。FIG. 11 is another diagram showing a usage example of the photographing device according to the present invention. 図８の使用例の上方から見た図である。FIG. 9 is a view of the example of use of FIG. 8 as viewed from above. 本発明による撮影装置の使用例を示す更に他の図である。FIG. 11 is still another diagram illustrating an example of use of the imaging device according to the present invention. 図１０の使用例の上方から見た図である。It is the figure seen from the upper part of the example of use of FIG. 本発明による撮影装置の使用例を示す更に他の図である。FIG. 11 is still another diagram illustrating an example of use of the imaging device according to the present invention.
　本発明の実施形態の内容を列記して説明する。本発明の実施の形態による移動手段を備えた全方位撮影装置は、以下のような構成を備える。
［項目１］
　飛行部と、ガード部と、カメラ部とを備えた撮影装置であって、
　前記ガード部は、前記飛行部の周囲を少なくとも部分的に覆おうように且つ前記飛行部の変位とは独立して変位可能に当該飛行部に接続され、前記飛行部が少なくとも対象面上を飛行時において前記飛行部と前記対称面とを離間し、
　前記カメラ部は、ガード部に設けられている、
撮影装置。
［項目２］
　項目１に記載の撮影装置であって、
　前記カメラ部は、その視野角内に前記ガード部が映りこまない位置に設けられている、
撮影装置。
［項目３］
　項目１又は項目２に記載の撮影装置であって、
　複数の前記カメラ部を備えており、
　前記カメラ部は、それぞれの前記カメラ部によって全天球の撮影が可能となるように前記ガード部に設けられている
撮影装置。
［項目４］
　項目１乃至項目３のいずれかに記載の撮影装置であって、
　前記ガード部は、球状又は略球状の形状を有しており、
　前記飛行部はガード内部に位置している、
撮影装置。
［項目５］
　項目１乃至項目３のいずれかに記載の撮影装置であって、
　前記飛行部には、少なくとも前記対象面状を飛行時において進行方向に対して直交する方向に延びるフレーム部が接続されており、
　前記ガード部は、前記フレーム部を軸とする略車輪上の形状を有しており、
　前記カメラ部は、ガード部の夫々に設けられており、夫々の視野角は少なくとも１８０度以上である、
撮影装置。 The contents of the embodiment of the present invention will be listed and described. An omnidirectional photographing apparatus including a moving unit according to an embodiment of the present invention has the following configuration.
[Item 1]
An imaging device including a flight unit, a guard unit, and a camera unit,
The guard unit is connected to the flight unit so as to at least partially cover the periphery of the flight unit and is displaceable independently of displacement of the flight unit, and the flight unit flies at least on a target surface. At times, separating the flight section and the plane of symmetry,
The camera unit is provided in a guard unit,
Shooting equipment.
[Item 2]
The imaging device according to item 1, wherein
The camera unit is provided at a position where the guard unit is not reflected within the viewing angle,
Shooting equipment.
[Item 3]
The imaging device according to item 1 or item 2,
Comprising a plurality of the camera units,
The photographing device, wherein the camera unit is provided in the guard unit such that each of the camera units can photograph an entire celestial sphere.
[Item 4]
The imaging device according to any one of items 1 to 3,
The guard portion has a spherical or substantially spherical shape,
The flight section is located inside the guard,
Shooting equipment.
[Item 5]
The imaging device according to any one of items 1 to 3,
The flying portion is connected to a frame portion extending at least in the direction orthogonal to the traveling direction when flying over the target surface shape,
The guard portion has a shape substantially on a wheel around the frame portion,
The camera unit is provided in each of the guard units, and each of the camera units has a viewing angle of at least 180 degrees.
Shooting equipment.
＜本発明の実施の形態の詳細＞
　以下、本発明の実施の形態による移動手段を備えた全方位撮影装置について、図面を参照しながら説明する。 <Details of Embodiment of the Present Invention>
Hereinafter, an omnidirectional photographing apparatus including a moving unit according to an embodiment of the present invention will be described with reference to the drawings.
＜本発明による第１の実施の形態の詳細＞
本発明の実施の形態による撮影装置は、ガード部３０と、カメラ部４０と、駆動部２０とを備えている。撮影装置は進行方向Ｆに移動可能である。 <Details of First Embodiment According to the Present Invention>
The photographing device according to the embodiment of the present invention includes a guard unit 30, a camera unit 40, and a driving unit 20. The imaging device is movable in the traveling direction F.
ガード部３０は、駆動部２０を少なくとも部分的に覆うように、且つ駆動部２０とは独立して変異可能に駆動部２０と接続されている。よって、撮影装置は、駆動部２０とガード部３０とが互いの影響を受けることなく移動や撮影を行うことが出来る。 The guard unit 30 is connected to the driving unit 20 so as to cover at least partially the driving unit 20 and to be capable of changing independently of the driving unit 20. Therefore, the photographing device can move and photograph without the drive unit 20 and the guard unit 30 being influenced by each other.
カメラ部４０は、全方位の撮影に好適な位置に、少なくとも２か所以上備えている。これにより、撮影装置がどのような姿勢を取った場合にも常に全方位を写すことが可能となる。 At least two camera units 40 are provided at positions suitable for omnidirectional imaging. Accordingly, it is possible to always capture an omnidirectional image regardless of the posture of the imaging device.
図１に示されるように、ガード部は球体等、複数の方向へ回転可能な形状とすることができる。これにより、地上での移動が可能となるほか、傾斜面においては駆動部２０の動きを止めても移動を続けることが出来る。 As shown in FIG. 1, the guard portion may have a shape such as a sphere that can rotate in a plurality of directions. Thereby, in addition to being able to move on the ground, the movement can be continued even if the movement of the drive unit 20 is stopped on the inclined surface.
回転しながら移動をする場合、その場所の特性によってはカメラ部４０のレンズ部４１の損傷や、物質の付着によって撮影が困難となる可能性がある。その場合には、カメラ部４０又はカメラ部４０のレンズ部４１が対象面（地面等）に接触しないよう、図４に示されるようにガード部３０の最も外側の面（接地面）より内側に設けたり、カバー（図示せず）を設けたりすることで、これを防ぐ。 In the case of moving while rotating, depending on the characteristics of the place, there is a possibility that the photographing becomes difficult due to damage of the lens unit 41 of the camera unit 40 or attachment of a substance. In that case, as shown in FIG. 4, the camera unit 40 or the lens unit 41 of the camera unit 40 does not come into contact with the target surface (the ground or the like). This can be prevented by providing a cover or a cover (not shown).
また、図５に示されるように、カメラ部４０が対象面（地面Ｇ）に接触する直前に、該当のカメラ部４０のレンズ部４１が接地しないよう、ガード部３０の接地面より内側へ一時的に引き込むことでも、同様の効果が得られる。 Also, as shown in FIG. 5, immediately before the camera unit 40 comes into contact with the target surface (the ground G), the lens unit 41 of the camera unit 40 is temporarily moved inward from the ground surface of the guard unit 30 so as not to be grounded. The same effect can be obtained by pulling in the target.
＜本発明による第２の実施の形態の詳細＞
本発明による第２の実施の形態の詳細において、第１の実施の形態と重複する構成要素は同様の動作を行うので、再度の説明は省略する。 <Details of Second Embodiment According to the Present Invention>
In the details of the second embodiment according to the present invention, the same components as those in the first embodiment perform the same operation, and the description thereof will not be repeated.
図６及び図７から理解されるように、本実施の形態による撮影装置は、略車輪形状の外観を有している。図示されるように、駆動部２０には、少なくとも対象面上を移動する際、撮影装置の進行方向に対して直交する方向（軸方向）に延びるフレーム部３１が接続されている。ガード部３０は、フレーム部３１を軸とする略車輪状の形状を有している。これにより、地上での移動が可能となるほか、下り坂の傾斜面においては駆動部２０の動きを止めても移動を続けることが出来る。 As can be understood from FIGS. 6 and 7, the photographing apparatus according to the present embodiment has a substantially wheel-shaped appearance. As shown in the figure, a frame unit 31 extending in a direction (axial direction) orthogonal to the traveling direction of the imaging device when moving at least on the target surface is connected to the drive unit 20. The guard portion 30 has a substantially wheel-like shape with the frame portion 31 as an axis. This allows the vehicle to be moved on the ground, and also allows the drive unit 20 to continue moving on a downhill slope even if the movement of the drive unit 20 is stopped.
カメラ部４０は、ガード部３０の夫々に、設けられており、カメラ部４０の視野角は、夫々が１８０度以上であることが望ましい。これにより、前記軸の両端に少なくとも２つのカメラ部を設置すれば、撮影装置から全方位を写すことが可能となる。 The camera section 40 is provided in each of the guard sections 30, and the viewing angle of each of the camera sections 40 is desirably 180 degrees or more. Accordingly, if at least two camera units are provided at both ends of the axis, it is possible to capture an omnidirectional image from the photographing device.
また、カメラ部４０は、ガード部３０及びフレーム部３１とは独立して変位可能となるよう設けることで、ガード部３０が車輪の様に回転する場合にも、その影響を受けることなく撮影が可能である。 Further, by providing the camera unit 40 so as to be displaceable independently of the guard unit 30 and the frame unit 31, even when the guard unit 30 rotates like a wheel, shooting can be performed without being affected by the rotation. It is possible.
　図１２に示されるように、カメラ部４０を前記軸の両端からさらに部材を延長した位置に取り付けることで、前記軸の両端から離れた位置、例えば高所からの撮影等が可能となる。 取 り 付 け る As shown in FIG. 12, by mounting the camera unit 40 at a position where the members are further extended from both ends of the shaft, it becomes possible to take a picture at a position away from both ends of the shaft, for example, from a high place.
＜本発明による第３の実施の形態の詳細＞
本発明による第３の実施の形態の詳細において、第１の実施の形態と重複する構成要素は同様の動作を行うので、再度の説明は省略する。撮影装置は進行方向Ｆに移動可能である。 <Details of Third Embodiment According to the Present Invention>
In the details of the third embodiment according to the present invention, the same components as those in the first embodiment perform the same operations, and the description thereof will not be repeated. The imaging device is movable in the traveling direction F.
上述した実施の形態おける駆動部２０の具体例として、例えば、図８乃至図１１に示されるように、飛行体２１でもよい。図８及び図９は、第１の実施の形態による球体のガード部３０を有する撮影装置に適用した例を示し、図１０及び図１１は、第２の実施の形態による車輪形状のガード部３１を有する撮影装置に適用した例を示す。 As a specific example of the driving unit 20 in the above-described embodiment, for example, as shown in FIGS. FIGS. 8 and 9 show an example in which the present invention is applied to a photographing apparatus having a spherical guard 30 according to the first embodiment. FIGS. 10 and 11 show wheel-shaped guards 31 according to the second embodiment. 1 shows an example applied to a photographing apparatus having
上述したいずれの実施の形態においても、駆動部２０とガード部３０とが独立して回転可能である構成とできれば、その形状はどのようなものであってもよい。特にガード部が球状の場合は、駆動部２０とガード部３０とが水平方向（Ｘ方向及びＹ方向）において独立して回転自在である。これにより、ガード部３０が水平方向に回転しても、駆動部２０は水平を保つことが可能となる。また、ガード部が車輪上の場合は、駆動部２０とガード部３０とが水平方向の一方向（Ｘ方向）において独立して回転自在である。これにより、ガード部３０が当該水平方向の一方向に回転しても、駆動部２０は水平を保つことが可能となる。 In any of the above-described embodiments, any configuration may be used as long as the drive unit 20 and the guard unit 30 can be independently rotated. In particular, when the guard portion is spherical, the driving portion 20 and the guard portion 30 can rotate independently in the horizontal direction (X direction and Y direction). Thus, even when the guard unit 30 rotates in the horizontal direction, the driving unit 20 can maintain the horizontal position. When the guard portion is on a wheel, the drive portion 20 and the guard portion 30 are independently rotatable in one horizontal direction (X direction). Thus, even if the guard unit 30 rotates in one of the horizontal directions, the driving unit 20 can maintain the horizontal state.
　なお、上述した実施の形態における飛行体２１は、着陸先又は移動先において、ガード部３０から切り離されてもよい。 In addition, the flying object 21 in the above-described embodiment may be separated from the guard unit 30 at a landing destination or a destination.
　本発明の撮影装置は、監視、調査、その他情報収集用としての利用が期待できる。さらに、本発明は、全方位撮影が可能な撮影用の回転翼機としても好適に使用することができる他、防衛分野、セキュリティ分野、農業等の様々な産業にも利用することができる。 撮 影 The imaging device of the present invention can be expected to be used for monitoring, investigation, and other information collection. Further, the present invention can be suitably used as a rotary wing machine for photography capable of performing omnidirectional photography, and can also be used in various industries such as defense, security, and agriculture.
　上述した実施の形態は、本発明の理解を容易にするための例示に過ぎず、本発明を限定して解釈するためのものではない。本発明は、その趣旨を逸脱することなく、変更、改良することができると共に、本発明にはその均等物が含まれることは言うまでもない。 The above-described embodiment is merely an example for facilitating the understanding of the present invention, and is not for limiting and interpreting the present invention. The present invention can be changed and improved without departing from the spirit thereof, and it goes without saying that the present invention includes equivalents thereof.
２０　　駆動部
２１　　飛行体
　３０　　ガード部
　３１　　フレーム部
　４０　　カメラ部
　４１　　レンズ部

  Reference Signs List 20 driving unit 21 flying object 30 guard unit 31 frame unit 40 camera unit 41 lens unit

Claims (5)

  1. 　飛行部と、ガード部と、カメラ部とを備えた撮影装置であって、
    　前記ガード部は、前記飛行部の周囲を少なくとも部分的に覆おうように且つ前記飛行部の変位とは独立して変位可能に当該飛行部に接続され、前記飛行部が少なくとも対象面上を飛行時において前記飛行部と前記対称面とを離間し、
    　前記カメラ部は、ガード部に設けられている、
    撮影装置。     An imaging device including a flight unit, a guard unit, and a camera unit,
    The guard unit is connected to the flight unit so as to at least partially cover the periphery of the flight unit and is displaceable independently of displacement of the flight unit, and the flight unit flies at least on a target surface. At times, separating the flight section and the plane of symmetry,
    The camera unit is provided in a guard unit,
    Shooting equipment.
  2. 　請求項１に記載の撮影装置であって、
    　前記カメラ部は、その視野角内に前記ガード部が映りこまない位置に設けられている、
    撮影装置。     The photographing device according to claim 1,
    The camera unit is provided at a position where the guard unit is not reflected within the viewing angle,
    Shooting equipment.
  3. 　請求項１又は請求項２に記載の撮影装置であって、
    　複数の前記カメラ部を備えており、
    　前記カメラ部は、それぞれの前記カメラ部によって全天球の撮影が可能となるように前記ガード部に設けられている
    撮影装置。     The photographing device according to claim 1 or 2, wherein:
    Comprising a plurality of the camera units,
    The photographing device, wherein the camera units are provided in the guard unit such that each of the camera units can photograph an entire celestial sphere.
  4. 　請求項１乃至請求項３のいずれかに記載の撮影装置であって、
    　前記ガード部は、球状又は略球状の形状を有しており、
    　前記飛行部はガード内部に位置している、
    撮影装置。     The photographing device according to claim 1, wherein:
    The guard portion has a spherical or substantially spherical shape,
    The flight section is located inside the guard,
    Shooting equipment.
  5. 　請求項１乃至請求項３のいずれかに記載の撮影装置であって、
    　前記飛行部には、少なくとも前記対象面状を飛行時において進行方向に対して直交する方向に延びるフレーム部が接続されており、
    　前記ガード部は、前記フレーム部を軸とする略車輪上の形状を有しており、
    　前記カメラ部は、ガード部の夫々に設けられており、夫々の視野角は少なくとも１８０度以上である、
    撮影装置。     The photographing device according to claim 1, wherein:
    The flying portion is connected to a frame portion extending at least in the direction orthogonal to the traveling direction at the time of flying the target surface shape,
    The guard portion has a shape substantially on a wheel around the frame portion,
    The camera unit is provided in each of the guard units, and each of the camera units has a viewing angle of at least 180 degrees.
    Shooting equipment.
PCT/JP2018/027059 2018-07-19 2018-07-19 Omnidirectional imaging device equipped with moving means WO2020016982A1 (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015178091A1 (en) * 2014-05-19 2015-11-26 ソニー株式会社 Flying device and image-capturing device
JP2016132267A (en) * 2015-01-15 2016-07-25 国立大学法人 名古屋工業大学 Flight body capable of land travelling
JP2016523759A (en) * 2013-06-11 2016-08-12 エコール ポリテクニク フェデラル ドゥ ローザンヌ（ウ Vertical takeoff and landing aircraft
JP2016180866A (en) * 2015-03-24 2016-10-13 株式会社フジタ Aerial shoot device
JP2017193327A (en) * 2016-04-19 2017-10-26 富士通株式会社 Flight machine, use method thereof, frame thereof

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016523759A (en) * 2013-06-11 2016-08-12 エコール ポリテクニク フェデラル ドゥ ローザンヌ（ウ Vertical takeoff and landing aircraft
WO2015178091A1 (en) * 2014-05-19 2015-11-26 ソニー株式会社 Flying device and image-capturing device
JP2016132267A (en) * 2015-01-15 2016-07-25 国立大学法人 名古屋工業大学 Flight body capable of land travelling
JP2016180866A (en) * 2015-03-24 2016-10-13 株式会社フジタ Aerial shoot device
JP2017193327A (en) * 2016-04-19 2017-10-26 富士通株式会社 Flight machine, use method thereof, frame thereof

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