WO2020216057A1 - Control device, photographing device, mobile body, control method and program - Google Patents

Control device, photographing device, mobile body, control method and program Download PDF

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Publication number
WO2020216057A1
WO2020216057A1 PCT/CN2020/083544 CN2020083544W WO2020216057A1 WO 2020216057 A1 WO2020216057 A1 WO 2020216057A1 CN 2020083544 W CN2020083544 W CN 2020083544W WO 2020216057 A1 WO2020216057 A1 WO 2020216057A1
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WO
WIPO (PCT)
Prior art keywords
evaluation value
distance
imaging device
control
imaging
Prior art date
Application number
PCT/CN2020/083544
Other languages
French (fr)
Chinese (zh)
Inventor
本庄谦一
高宫诚
高根靖雄
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080002775.6A priority Critical patent/CN112166374B/en
Publication of WO2020216057A1 publication Critical patent/WO2020216057A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/28—Systems for automatic generation of focusing signals
    • G02B7/36—Systems for automatic generation of focusing signals using image sharpness techniques, e.g. image processing techniques for generating autofocus signals
    • 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
    • G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
    • G03B13/32—Means for focusing
    • G03B13/34—Power focusing
    • G03B13/36—Autofocus systems
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B7/00—Control of exposure by setting shutters, diaphragms or filters, separately or conjointly
    • G03B7/08—Control effected solely on the basis of the response, to the intensity of the light received by the camera, of a built-in light-sensitive device
    • G03B7/091—Digital circuits
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/76—Circuitry for compensating brightness variation in the scene by influencing the image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports

Definitions

  • the invention relates to a control device, an imaging device, a mobile body, a control method, and a program.
  • Patent Document 1 discloses that the focus position determined based on the distance to the subject is corrected based on the spatial frequency associated with the shooting mode.
  • imaging controls such as automatic focus control, automatic exposure control, and automatic white balance.
  • the control device may include a circuit configured to apply a first contrast evaluation filter to the first area that contains the subject in the first image captured by the imaging device, thereby The first contrast evaluation value for evaluating the contrast value of the first region is derived.
  • the circuit may be configured to perform focus control of the imaging device based on the first contrast evaluation value.
  • the circuit may be configured to: according to the first distance between the imaging device and the subject when the imaging device takes the first image and the second distance between the imaging device and the object when the imaging device takes the second image, The second contrast evaluation filter is determined.
  • the circuit may be configured to apply a second contrast evaluation filter to the second area that contains the subject in the second image, thereby deriving the second contrast evaluation value for evaluating the contrast value of the second area.
  • the circuit may be configured to perform focus control of the imaging device based on the second contrast evaluation value.
  • the first contrast evaluation filter may have a frequency band containing the first spatial frequency.
  • the second contrast evaluation filter may have a frequency band containing a second spatial frequency, where the second spatial frequency is different from the first spatial frequency.
  • Determining the second contrast evaluation filter may include determining the second contrast evaluation filter based on the ratio of the first distance to the second distance and the information of the first contrast evaluation filter.
  • the circuit may be configured to control the focus lens of the imaging device to focus at infinity when the distance between the imaging device and the subject is longer than a preset distance.
  • the control device may include a circuit configured to: based on the image information of the first area that contains the subject in the first image captured by the imaging device, the first area of the first area
  • the evaluation value is exported.
  • the circuit may be configured to execute the first imaging control of the imaging device based on the first evaluation value.
  • the circuit may be configured to derive the second evaluation value of the second region based on image information of the second region, which is the region including the subject in the second image captured by the imaging device.
  • the circuit may be configured as follows: according to the first distance between the imaging device and the subject when the imaging device captures the first image, the second distance between the imaging device and the subject when the imaging device captures the second image, The first evaluation value and the second evaluation value execute the second imaging control of the imaging device.
  • Performing the second camera control may include: deriving the predicted evaluation value of the second region, that is, the predicted evaluation value, based on the first distance, the second distance, and the first evaluation value, and execute the camera based on the predicted evaluation value and the second evaluation value Camera control.
  • Deriving the predicted evaluation value may include deriving the predicted evaluation value based on the ratio of the first distance to the second distance and the first evaluation value.
  • Deriving the first evaluation value may include deriving a first luminance evaluation value that evaluates the luminance of the first region as the first evaluation value.
  • Performing the first imaging control may include performing exposure control of the imaging device according to the first luminance evaluation value.
  • Deriving the second evaluation value may include deriving a second luminance evaluation value that evaluates the luminance of the second region as the second evaluation value.
  • Performing the second imaging control may include performing exposure control of the imaging device according to the first distance, the second distance, the first luminance evaluation value, and the second luminance evaluation value.
  • Performing the second imaging control may include deriving the predicted brightness evaluation value of the second region of interest, that is, the predicted brightness evaluation value, based on the first distance, the second distance, and the first brightness evaluation value, and based on the predicted brightness evaluation value and The second luminance evaluation value performs exposure control of the imaging device.
  • Deriving the predicted brightness evaluation value may include deriving the predicted brightness evaluation value based on the ratio of the first distance to the second distance and the first brightness evaluation value.
  • Deriving the first evaluation value may include deriving the first color temperature of the first region as the first evaluation value.
  • Performing the first imaging control may include performing white balance control of the imaging device according to the first color temperature.
  • Deriving the second evaluation value may include deriving the second color temperature of the second region as the second evaluation value.
  • Performing the second imaging control may include performing white balance control of the imaging device according to the first distance, the second distance, the first color temperature, and the second color temperature.
  • Performing the second imaging control may include: deriving the predicted color temperature of the second region, that is, the predicted color temperature based on the first distance, the second distance, and the first color temperature, and executing the imaging device based on the predicted color temperature and the second color temperature Exposure control.
  • Deriving the predicted color temperature may include deriving the predicted color temperature according to the ratio of the first distance to the second distance and the first color temperature.
  • the imaging device may include the above-mentioned control device and an image sensor.
  • the moving body according to an aspect of the present invention may be a moving body that includes the aforementioned imaging device and moves.
  • the moving body can move along the imaging direction of the imaging device until the distance to the subject changes from the first distance to the second distance.
  • the moving body may be a flying body.
  • the flying object can rise or fall along the imaging direction of the imaging device until the distance to the subject changes from the first distance to the second distance.
  • the control method may include applying a first contrast evaluation filter to the area of the subject selected by the camera in the first image taken by the camera, that is, the first area of interest, so that the A stage of derivation of the first contrast evaluation value for evaluating the contrast value of a region of interest.
  • the control method may include a stage of performing focus control of the imaging device according to the first contrast evaluation value.
  • the control method may include according to the first distance between the camera and the subject when the camera takes the first image and the second distance between the camera and the subject when the camera takes the second image, The second contrast evaluation filter performs the determination stage.
  • the control method may include applying a second contrast evaluation filter to the area of the subject selected by the camera in the second image, that is, the second area of interest, so as to evaluate the contrast value of the second area of interest.
  • the control method may include a stage of performing focus control of the imaging device according to the second contrast evaluation value.
  • the control method may include a stage of deriving the first evaluation value of the first region based on the image information of the region containing the subject in the first image captured by the imaging device, that is, the first region .
  • the control method may include a stage of performing the first imaging control of the imaging apparatus according to the first evaluation value.
  • the control method may include a stage of deriving the second evaluation value of the second area based on image information of the second area, which is the area containing the object, in the second image taken by the imaging device.
  • the control method may include the first distance between the camera and the subject when the camera takes the first image, the second distance between the camera and the subject when the camera takes the second image, and the An evaluation value and a second evaluation value are used to perform the second imaging control stage of the imaging device.
  • the program according to one aspect of the present invention may be a program for causing a computer to function as the above-mentioned control device.
  • Fig. 1 is a diagram showing an example of the appearance of an unmanned aircraft and a remote control device.
  • Fig. 2 is a diagram showing an example of functional blocks of an unmanned aircraft.
  • Fig. 3A is a diagram for explaining a contrast evaluation filter.
  • Fig. 3B is a diagram for explaining a contrast evaluation filter.
  • FIG. 4 is a diagram showing how the unmanned aircraft moves along the imaging direction of the imaging device.
  • FIG. 5 is a flowchart showing an example of an AF control process performed by the imaging control section.
  • Fig. 6A is a diagram for explaining luminance evaluation values.
  • Fig. 6B is a diagram for explaining luminance evaluation values.
  • Fig. 7 is a flowchart showing an example of an AE control process performed by the imaging control unit.
  • Fig. 8 is a flowchart showing an example of an AWB control process performed by the imaging control section.
  • Fig. 9 is a diagram for explaining an example of the hardware configuration.
  • a block may represent (1) a stage of a process of performing an operation or (2) a "part" of a device that performs an operation.
  • Specific stages and “parts” can be implemented by programmable circuits and/or processors.
  • Dedicated circuits may include digital and/or analog hardware circuits. May include integrated circuits (ICs) and/or discrete circuits.
  • the programmable circuit may include a reconfigurable hardware circuit.
  • Reconfigurable hardware circuits can include logical AND, logical OR, logical exclusive OR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate array (FPGA), programmable logic array (PLA) ) And other memory components.
  • the computer-readable medium may include any tangible device that can store instructions for execution by a suitable device.
  • the computer-readable medium on which instructions are stored includes a product that includes instructions that can be executed to create means for performing the operations determined by the flowchart or block diagram.
  • electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like may be included.
  • the computer-readable medium may include floppy (registered trademark) disk, floppy disk, hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM) or Flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray (RTM) disc, memory stick , Integrated circuit cards, etc.
  • floppy registered trademark
  • floppy disk floppy disk
  • hard disk random access memory
  • RAM random access memory
  • ROM read only memory
  • EPROM erasable programmable read only memory
  • Flash memory electrically erasable programmable read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • SRAM static random access memory
  • CD-ROM compact disc read-only memory
  • DVD digital versatile disc
  • RTM Blu-ray
  • the computer-readable instructions may include any one of source code or object code described in any combination of one or more programming languages.
  • the source code or object code includes traditional procedural programming languages.
  • Traditional procedural programming languages can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or Smalltalk (registered trademark), JAVA (registered trademark) , C++ and other object-oriented programming languages and "C" programming language or similar programming languages.
  • the computer-readable instructions may be provided locally or via a wide area network (WAN) such as a local area network (LAN) or the Internet to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device.
  • WAN wide area network
  • LAN local area network
  • the processor or programmable circuit can execute computer-readable instructions to create means for performing the operations specified in the flowchart or block diagram.
  • Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and so on.
  • FIG. 1 shows an example of the appearance of an unmanned aerial vehicle (UAV) 10 and a remote operation device 300.
  • the UAV 10 includes a UAV main body 20, a universal joint 50, a plurality of imaging devices 60, and the imaging device 100.
  • the universal joint 50 and the camera device 100 are an example of a camera system.
  • UAV10, or mobile refers to the concept including flying objects moving in the air, vehicles moving on the ground, and ships moving on the water. Flying objects moving in the air refer to concepts that include not only UAVs, but also other aircraft, airships, and helicopters that move in the air.
  • the UAV main body 20 includes a plurality of rotors. Multiple rotors are an example of a propulsion section.
  • the UAV main body 20 makes the UAV 10 fly by controlling the rotation of a plurality of rotors.
  • the UAV main body 20 uses, for example, four rotors to fly the UAV 10. The number of rotors is not limited to four.
  • UAV10 can also be a fixed-wing aircraft without rotors.
  • the imaging device 100 is an imaging camera that captures a subject included in a desired imaging range.
  • the universal joint 50 rotatably supports the imaging device 100.
  • the universal joint 50 is an example of a supporting mechanism.
  • the universal joint 50 uses an actuator to rotatably support the imaging device 100 around the pitch axis.
  • the universal joint 50 uses an actuator to further rotatably support the imaging device 100 around the roll axis and the yaw axis, respectively.
  • the gimbal 50 can change the posture of the imaging device 100 by rotating the imaging device 100 around at least one of the yaw axis, the pitch axis, and the roll axis.
  • the plurality of imaging devices 60 are sensing cameras that photograph the surroundings of the UAV 10 in order to control the flight of the UAV 10.
  • the two camera devices 60 can be installed on the nose of the UAV 10, that is, on the front.
  • the other two camera devices 60 may be provided on the bottom surface of the UAV 10.
  • the two imaging devices 60 on the front side may be paired to function as a so-called stereo camera.
  • the two imaging devices 60 on the bottom side may also be paired to function as a stereo camera.
  • the three-dimensional spatial data around the UAV 10 can be generated based on the images taken by the plurality of camera devices 60.
  • the number of imaging devices 60 included in the UAV 10 is not limited to four.
  • the UAV 10 may include at least one camera device 60.
  • the UAV 10 may also include at least one camera 60 on the nose, tail, side, bottom and top surfaces of the UAV 10, respectively.
  • the viewing angle that can be set in the imaging device 60 may be larger than the viewing angle that can be set in the imaging device 100.
  • the imaging device 60 may also include a single focus lens or a fisheye lens.
  • the remote operation device 300 communicates with the UAV 10 to remotely operate the UAV 10.
  • the remote operation device 300 can wirelessly communicate with the UAV 10.
  • the remote operation device 300 transmits to the UAV 10 instruction information indicating various commands related to the movement of the UAV 10 such as ascending, descending, accelerating, decelerating, forwarding, retreating, and rotating.
  • the instruction information includes, for example, instruction information for raising the height of the UAV 10.
  • the indication information may indicate the height at which the UAV10 should be located.
  • the UAV 10 moves to be located at the height indicated by the instruction information received from the remote operation device 300.
  • the instruction information may include an ascending instruction to raise the UAV10. UAV10 rises while receiving the rise command. When the height of UAV10 has reached the upper limit height, even if the ascending instruction is accepted, the ascent of UAV10 can be restricted.
  • FIG. 2 shows an example of the functional blocks of UAV10.
  • UAV10 includes UAV control unit 30, memory 37, communication interface 36, propulsion unit 40, GPS receiver 41, inertial measurement device 42, magnetic compass 43, barometric altimeter 44, temperature sensor 45, humidity sensor 46, universal joint 50, camera The device 60 and the imaging device 100.
  • the communication interface 36 communicates with other devices such as the remote operation device 300.
  • the communication interface 36 can receive instruction information including various instructions to the UAV control unit 30 from the remote operation device 300.
  • the memory 37 stores the UAV control unit 30's response to the propulsion unit 40, GPS receiver 41, inertial measurement unit (IMU) 42, magnetic compass 43, barometric altimeter 44, temperature sensor 45, humidity sensor 46, universal joint 50, imaging device 60, and
  • the imaging device 100 performs programs and the like necessary for control.
  • the memory 37 may be a computer-readable recording medium, and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, USB memory, and solid state drive (SSD).
  • the storage 37 may be provided inside the UAV main body 20. It can be configured to be detachable from the UAV main body 20.
  • the UAV control unit 30 controls the flying and shooting of the UAV 10 in accordance with a program stored in the memory 37.
  • the UAV control unit 30 may be composed of a microprocessor such as a CPU or an MPU, and a microcontroller such as an MCU.
  • the UAV control unit 30 controls the flight and shooting of the UAV 10 in accordance with instructions received from the remote operation device 300 via the communication interface 36.
  • the propulsion unit 40 propels the UAV10.
  • the propulsion part 40 includes a plurality of rotors and a plurality of drive motors that rotate the plurality of rotors.
  • the propulsion unit 40 rotates a plurality of rotors via a plurality of drive motors in accordance with an instruction from the UAV control unit 30 to cause the UAV 10 to fly.
  • the GPS receiver 41 receives a plurality of signals indicating the time transmitted from a plurality of GPS satellites.
  • the GPS receiver 41 calculates the position (latitude and longitude) of the GPS receiver 41, that is, the position (latitude and longitude) of the UAV 10 based on the received signals.
  • the IMU42 detects the posture of the UAV10.
  • the IMU 42 detects the acceleration of the UAV 10 in the three-axis directions of front and rear, left and right, and up and down, and the angular velocities of the pitch axis, the roll axis, and the yaw axis as the attitude of the UAV 10.
  • the magnetic compass 43 detects the position of the nose of the UAV 10.
  • the barometric altimeter 44 detects the flying altitude of the UAV10.
  • the barometric altimeter 44 detects the air pressure around the UAV 10 and converts the detected air pressure to altitude to detect the altitude.
  • the temperature sensor 45 detects the temperature around the UAV 10.
  • the humidity sensor 46 detects the humidity around the UAV 10.
  • the imaging device 100 includes an imaging unit 102 and a lens unit 200.
  • the lens part 200 is an example of a lens device.
  • the imaging unit 102 has an image sensor 120, an imaging control unit 110, a memory 130, and a distance measuring sensor 140.
  • the image sensor 120 may be composed of CCD or CMOS.
  • the image sensor 120 captures optical images formed through the plurality of lenses 210 and outputs the captured images to the imaging control unit 110.
  • the imaging control unit 110 may be constituted by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, or the like.
  • the imaging control unit 110 can control the imaging device 100 according to an operation instruction of the imaging device 100 from the UAV control unit 30.
  • the imaging control unit 110 is an example of a circuit.
  • the memory 130 may be a computer-readable recording medium, and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, USB memory, and solid state drive (SSD).
  • the memory 130 stores programs and the like necessary for the imaging control unit 110 to control the image sensor 120 and the like.
  • the memory 130 may be provided inside the housing of the imaging device 100.
  • the storage 130 may be configured to be detachable from the housing of the imaging device 100.
  • the distance measuring sensor 140 measures the distance to the subject.
  • the distance measuring sensor 140 may be an infrared sensor, an ultrasonic sensor, a stereo camera, a TOF (Time Of Flight) sensor, and the like.
  • the lens unit 200 includes a plurality of lenses 210, a plurality of lens driving units 212, and a lens control unit 220.
  • the multiple lenses 210 can function as zoom lenses, variable focal length lenses, and focus lenses. At least a part or all of the plurality of lenses 210 are configured to be movable along the optical axis.
  • the lens unit 200 may be an interchangeable lens that is provided to be detachable from the imaging unit 102.
  • the lens driving unit 212 moves at least a part or all of the plurality of lenses 210 along the optical axis via a mechanism member such as a cam ring.
  • the lens driving part 212 may include an actuator.
  • the actuator may include a stepper motor.
  • the lens control unit 220 drives the lens driving unit 212 in accordance with a lens control instruction from the imaging unit 102 to move one or more lenses 210 in the optical axis direction via a mechanism member.
  • the lens control commands are, for example, zoom control commands and focus control commands.
  • the lens part 200 further includes a memory 222 and a position sensor 214.
  • the lens control unit 220 controls the movement of the lens 210 in the optical axis direction via the lens drive unit 212 in accordance with a lens operation command from the imaging unit 102.
  • the lens control unit 220 controls the movement of the lens 210 in the optical axis direction via the lens drive unit 212 in accordance with a lens operation command from the imaging unit 102.
  • Part or all of the lens 210 moves along the optical axis.
  • the lens control section 220 performs at least one of a zoom operation and a focus operation by moving at least one of the lenses 210 along the optical axis.
  • the position sensor 214 detects the position of the lens 210.
  • the position sensor 214 can detect the current zoom position or focus position.
  • the lens driving part 212 may include a shake correction mechanism.
  • the lens control section 220 may move the lens 210 in a direction along the optical axis or a direction perpendicular to the optical axis via a shake correction mechanism to perform shake correction.
  • the lens driving part 212 may drive a shake correction mechanism by a stepping motor to perform shake correction.
  • the shake correction mechanism may be driven by a stepping motor to move the image sensor 120 in a direction along the optical axis or a direction perpendicular to the optical axis to perform shake correction.
  • the memory 222 stores control values of the plurality of lenses 210 moved via the lens driving unit 212.
  • the memory 222 may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory.
  • the imaging device 100 configured in this way, while tracking a certain subject, it focuses on the certain subject, or performs exposure control and white balance control. In this case, when the distance to the subject becomes longer, the area of interest (ROI) becomes smaller, and it may not be possible to properly perform camera control such as auto focus (AF), auto exposure (AE), or auto white balance (AWB). .
  • ROI area of interest
  • AF auto focus
  • AE auto exposure
  • AVB auto white balance
  • imaging control such as AF control, AE control, or AWB control is adjusted in accordance with the distance to the subject.
  • the imaging control unit 110 applies a contrast evaluation filter to the image captured by the imaging device 100 to derive the contrast evaluation value of the image.
  • the imaging control section 110 determines the position of the focus lens focused on the determined subject based on the contrast evaluation value to perform contrast AF.
  • the imaging control unit 110 determines the position of the focus lens where the contrast evaluation value reaches the peak, and executes contrast AF.
  • the contrast evaluation filter may be the result of multiplying the contrast evaluation value of each spatial frequency by the evaluation coefficient of each spatial frequency, and summing the respective contrast evaluation values multiplied by the evaluation coefficient, thereby deriving the contrast evaluation value of the image filter.
  • the contrast evaluation filter may be a filter that weights the contrast evaluation value of each spatial frequency, and sums the weighted contrast evaluation value, thereby deriving the contrast evaluation value of the image.
  • the imaging control unit 110 may apply the first contrast evaluation filter 400 with the highest evaluation coefficient of the spatial frequency f 0 to the image, thereby deriving the contrast evaluation value.
  • the spatial frequency f 0 is preset according to the pixel pitch of the image sensor 120, the optical performance of the lens 210, and the like.
  • the image 500 represents an image captured by the imaging device 100, and the frame in the image 500 represents a region of interest 510.
  • the UAV 10 equipped with the imaging device 100 moves along the imaging direction 550 of the imaging device 100 to be away from the subject 600.
  • the angle of view of the imaging device 100 is fixed, the size of the subject 600 in the image 500 becomes smaller, and the area of interest 510 in the image 500 becomes smaller accordingly.
  • the imaging control unit 110 applies the contrast evaluation filter with the highest evaluation coefficient of the spatial frequency f 0 to the image, derives the contrast evaluation value, and the contrast evaluation value changes. Therefore, the contrast AF based on the contrast evaluation value cannot be stably performed.
  • the imaging control unit 110 shifts the center spatial frequency of the contrast evaluation filter in accordance with the distance to the subject.
  • the longer the distance to the subject the more the imaging control unit 110 can shift the center spatial frequency of the contrast evaluation filter to the higher frequency side.
  • the imaging control unit 110 shifts the spatial frequency with the highest evaluation coefficient in accordance with the distance to the subject. The longer the distance to the subject, the more the imaging control unit 110 can shift the spatial frequency with the highest evaluation coefficient to the higher frequency side.
  • the imaging control unit 110 applies the first contrast evaluation filter 400 to the area of the subject selected by the imaging device 100 in the first image captured by the imaging device 100, that is, the first region of interest, so as to determine the contrast of the first region of interest.
  • the value to be evaluated is derived from the first contrast evaluation value.
  • the first area of interest is an example of the first area.
  • the imaging control unit 110 may allow the user to determine the subject from the first image captured by the imaging device 100, thereby setting the first region of interest.
  • the imaging control unit 110 may determine a preset subject from the first image captured by the imaging device 100 by performing image matching according to preset conditions.
  • the imaging control unit 110 may set an area including the determined subject as the first area of interest.
  • the first contrast evaluation filter 400 may be a filter having an evaluation coefficient peak at a preset spatial frequency, that is, the first spatial frequency f 0 .
  • the first contrast evaluation filter 400 has a frequency band including the first spatial frequency f 0 .
  • the imaging control section 110 performs focus control of the imaging device based on the first contrast evaluation value.
  • the imaging control section 110 may perform contrast AF control according to the first contrast evaluation value.
  • the imaging control unit 110 may move the focus lens, determine the position of the focus lens when the first contrast evaluation value reaches the peak value, and move the focus lens to the determined position to perform focus control.
  • the imaging control unit 110 may not shift the contrast evaluation of the filter, and a first spatial frequency f In 0 , the first contrast evaluation filter 400 with the peak value of the evaluation coefficient is applied, thereby deriving the contrast evaluation value of the image.
  • the imaging control unit 110 may fix the focus lens at a position focusing on infinity. Therefore, when the distance to the subject is included in the third distance range 703 that exceeds the preset second reference distance X 2 , the imaging control unit 110 may fix the focus lens at a position focusing on infinity.
  • the imaging control unit 110 can according to the distance to the object of the contrast evaluation of the filter Spatial frequency shift.
  • the UAV 10 moves along the imaging direction of the imaging device 100.
  • the UAV 10 can move along the imaging direction of the imaging device 100 until the distance to the subject changes from the first distance to the second distance.
  • the UAV 10 may rise or fall along the imaging direction of the imaging device 100 until the distance to the subject changes from the first distance to the second distance.
  • the imaging direction of the imaging device 100 is vertical downward, the UAV 10 can rise or fall in the vertical direction until the distance to the subject changes from the first distance to the second distance.
  • the imaging control unit 110 is based on the first distance between the imaging device 100 and the subject 600 when the imaging device 100 takes the first image, and the difference between the imaging device and the subject when the moved imaging device 100 takes the second image.
  • the second distance between the second contrast evaluation filter is determined.
  • the imaging control unit 110 captures the first image based on the first distance between the imaging device 100 and the subject 600 and the movement
  • the second distance between the imaging device and the subject when the subsequent imaging device 100 captures the second image determines the second contrast evaluation filter 401.
  • the imaging control unit 110 may determine the second contrast evaluation filter based on the ratio of the first distance to the second distance and the information of the first contrast evaluation filter.
  • the information of the first contrast evaluation filter may be information representing the characteristics of the first contrast evaluation filter.
  • the information of the first contrast evaluation filter may be information indicating the spatial frequency having the peak value of the evaluation coefficient.
  • the first distance may be a preset first reference distance X 1 .
  • the second distance may be the distance X C from the moving imaging device 100 to the subject.
  • the imaging control unit 110 may multiply X C /X 1 by the first spatial frequency f 0 to derive the second spatial frequency f 1 .
  • the second spatial frequency f 1 is different from the first spatial frequency f 0 .
  • a second evaluation of the filter contrast imaging control section 110 may have a coefficient peak evaluation on one pair at a second spatial frequency f 401 derived determined. As the distance to the subject becomes longer, the imaging control section 110 may select the second contrast evaluation filter 401 so that the spatial frequency with the peak of the evaluation coefficient becomes higher. Contrast Evaluation The second filter 401 having a second band including the spatial frequencies f 1.
  • the imaging control unit 110 applies the second contrast evaluation to the area of the subject selected by the imaging device 100 in the second image captured by the imaging device 100, that is, the second area of interest
  • the filter 401 derives the second contrast evaluation value for evaluating the contrast value of the second region of interest.
  • the second area of interest is an example of the second area.
  • the imaging control section 110 performs focus control of the imaging device based on the second contrast evaluation value.
  • the imaging control section 110 may perform contrast AF control according to the second contrast evaluation value.
  • the imaging control unit 110 may move the focus lens, determine the position of the focus lens when the second contrast evaluation value reaches the peak value, and move the focus lens to the determined position to perform focus control.
  • the imaging control section 110 may control the focus lens of the imaging device to focus at infinity.
  • FIG. 5 is a flowchart showing an example of an AF control process executed by the imaging control section 110.
  • the flowchart shown in FIG. 5 shows an AF control process when the UAV 10 is moving away from the subject 600 along the imaging direction of the imaging device 100 while the imaging device 100 photographs the subject 600.
  • the imaging control unit 110 specifies the region of interest in the image captured by the imaging device 100 (S100).
  • the imaging control section 110 performs contrast AF using a contrast evaluation filter corresponding to the preset first spatial frequency f 0 (S102). And a first spatial frequency f 0 corresponding to a contrast evaluation of the filter in the first spatial frequency f 0 having a filter coefficient peak evaluation.
  • the contrast evaluation filter may be a filter that multiplies the contrast evaluation value of each spatial frequency by the evaluation coefficient of each spatial frequency, and outputs the sum of the multiplied individual contrast evaluation values as the contrast evaluation value of the image.
  • the UAV 10 starts to move (S104).
  • the UAV 10 can move away from the subject along the imaging direction of the imaging device 100.
  • the imaging control unit 110 acquires the current distance X C of the subject (S106).
  • the imaging control unit 110 may acquire the distance from the distance measuring sensor 140 to the subject.
  • the imaging control unit 110 determines whether the current distance X C is farther than the first reference distance X 1 (S108).
  • the imaging control unit 110 performs normal contrast AF. That is, the imaging control section 110 performs contrast AF using a contrast evaluation filter corresponding to a preset first spatial frequency f 0 .
  • a second spatial frequency f 1 is a first The product of the ratio of the reference distance X 1 to the distance X C and the first spatial frequency f 0 (S110).
  • the imaging control section 110 performs contrast AF using a contrast evaluation filter corresponding to the second spatial frequency f 1 (S112).
  • the UAV 10 further moves along the imaging direction of the imaging device 100.
  • the imaging control unit 110 further acquires the current distance X C of the subject (S114).
  • the imaging control unit 110 determines whether the distance X c is farther than the second reference distance X 2 (S116). If the distance X C is shorter than the second reference distance X 2 , the imaging control unit 110 repeats the processing after step S110.
  • the imaging control unit 110 fixes the focus lens at a position focusing on infinity (S118).
  • the imaging device 100 photographs a subject while the UAV 10 is moving away along the imaging direction of the imaging device 100, it is possible to perform AF control while keeping the contrast evaluation value constant.
  • the imaging control unit 110 may also adjust imaging controls other than AF control in accordance with the distance to the subject.
  • the imaging control unit 110 may derive the first evaluation value of the first region of interest based on the image information of the region of the subject selected by the imaging device in the first image captured by the imaging device 100, that is, the first region of interest.
  • the imaging control section 110 may perform the first imaging control of the imaging device according to the first evaluation value.
  • the imaging control unit 110 may derive the second evaluation value of the second area of interest based on the area of the subject selected by the imaging device in the second image taken by the imaging device, that is, the image information of the second area of interest .
  • the imaging control unit 110 may be based on the first distance between the imaging device and the subject when the imaging device captures the first image, the second distance between the imaging device and the subject when the imaging device captures the second image, The first evaluation value and the second evaluation value execute the second imaging control of the imaging device.
  • the imaging control unit 110 may derive the predicted evaluation value of the second region of interest based on the first distance, the second distance, and the first evaluation value, that is, the predicted evaluation value, and perform the imaging of the imaging device based on the predicted evaluation value and the second evaluation value. Control, thereby executing the second imaging control.
  • the imaging control unit 110 may derive the predicted evaluation value based on the ratio of the first distance to the second distance and the first evaluation value.
  • the distance to the subject changes, resulting in changes in the predicted brightness and predicted color temperature of the area of interest. For example, as the distance becomes longer, the brightness decreases. As the distance becomes longer, it will be affected by Rayleigh scattering. For example, the blueness of the image increases and the color temperature increases.
  • the predicted evaluation value can be obtained through experiments in advance and expressed by a distance function.
  • the imaging device 100 may store each function of the surrounding environment of the imaging device 100 in the memory 130.
  • the imaging control unit 110 may derive the first luminance evaluation value that evaluates the luminance of the first region of interest as the first evaluation value.
  • the imaging control section 110 may perform exposure control of the imaging device based on the first luminance evaluation value.
  • the imaging control unit 110 may determine the first exposure control value based on the first luminance evaluation value.
  • the imaging control unit 110 may determine the aperture value and the exposure time according to the first exposure control value.
  • the imaging control unit 110 may derive a second luminance evaluation value that evaluates the luminance of the second region of interest as the second evaluation value.
  • the imaging control section 110 may perform exposure control of the imaging device based on the first distance, the second distance, the first luminance evaluation value, and the second luminance evaluation value.
  • the imaging control unit 110 can derive the predicted luminance evaluation value of the second region of interest, that is, the predicted luminance evaluation value, according to the first distance, the second distance, and the first luminance evaluation value, and can derive the predicted luminance evaluation value based on the predicted luminance evaluation value and the second luminance evaluation value.
  • the brightness evaluation value performs the exposure control of the imaging device.
  • the imaging control unit 110 may derive the predicted luminance evaluation value based on the ratio of the first distance to the second distance and the first luminance evaluation value.
  • the luminance evaluation value may be the luminance value of the image.
  • the luminance evaluation value of the image when the distance to the subject is a preset distance (for example, the first reference distance X 1 ) may be set to 1.
  • the imaging control unit 110 may derive the first color temperature of the first region of interest as the first evaluation value.
  • the imaging control unit 110 may perform white balance control of the imaging device according to the first color temperature.
  • the imaging control unit 110 may derive the second color temperature of the second region of interest as the second evaluation value.
  • the imaging control unit 110 may perform white balance control of the imaging device according to the first distance, the second distance, the first color temperature, and the second color temperature.
  • the imaging control unit 110 can derive the predicted color temperature of the second region of interest, that is, the predicted color temperature based on the first distance, the second distance, and the first color temperature, and perform exposure of the imaging device based on the predicted color temperature and the second color temperature. control.
  • the imaging control unit 110 may derive the predicted color temperature based on the ratio of the first distance to the second distance and the first color temperature.
  • the imaging control section 110 considers that the luminance decreases in proportion to the square of the distance to the subject, predicts the luminance evaluation value as the predicted luminance evaluation value, and performs exposure control based on the predicted luminance evaluation value .
  • the luminance evaluation value is set to 1.
  • the imaging control unit 110 predicts 1/(X C2 /X C1 ) 2 and the predicted luminance evaluation value.
  • FIG. 7 is a flowchart showing an example of an AE control process performed by the imaging control unit 110.
  • the flowchart shown in FIG. 7 shows the AE control process when the UAV 10 moves away along the imaging direction of the imaging device 100 while the imaging device 100 photographs the subject.
  • the imaging control unit 110 specifies the region of interest in the image captured by the imaging device 100 (S200).
  • the UAV 10 moves along the imaging direction of the imaging device 100.
  • the imaging control unit 110 acquires the current distance X C of the subject (S202).
  • the imaging control unit 110 determines the first luminance evaluation value of the region of interest and executes AE (S204).
  • the imaging control unit 110 may determine the luminance value in the region of interest 510 as the first luminance evaluation value.
  • the imaging control unit 110 may determine the average luminance value in the region of interest 510 as the first luminance evaluation value.
  • the imaging control unit 110 may determine the first exposure control value according to the first luminance evaluation value of the region of interest, and determine the aperture value and the exposure time according to the first exposure control value to perform AE.
  • the imaging control unit 110 further acquires the current distance X C of the subject (S206).
  • the imaging control unit 110 determines whether the current distance X C is farther than the first reference distance X 1 (S208). If the current distance X C is closer than the first reference distance X 1 , usually, the exposure control can be performed according to the luminance value in the region of interest 510.
  • the imaging control unit 110 determines the first luminance value determined last time and the ratio of the last distance X C1 to the current distance X C2 .
  • the second luminance evaluation value is derived, and AE is performed based on the second luminance evaluation value (S210).
  • the imaging control unit 110 may multiply the last first luminance evaluation value by the reciprocal (1/(X C2 /X C1 ) 2 ) of the square of the ratio of the last distance X C1 to the current distance X C2 , thereby dividing the first
  • the second luminance evaluation value is derived.
  • the imaging control unit 110 takes into consideration the change in the distance of the subject, derives the predicted second luminance evaluation value, and temporarily performs AE based on the second luminance evaluation value. Then, the imaging control section 110 performs AE based on the luminance evaluation value of the region of interest of the image captured by the imaging device 100. AE is performed based on the predicted second luminance evaluation value, so that the luminance of the image captured by the imaging device 100 can be kept stable.
  • FIG. 8 is a flowchart showing an example of an AWB control process performed by the imaging control unit 110.
  • the flowchart shown in FIG. 8 shows the AWB control process when the UAV 10 moves away along the imaging direction of the imaging device 100 while the imaging device 100 photographs the subject.
  • the imaging control unit 110 specifies the region of interest in the image captured by the imaging device 100 (S300).
  • the UAV 10 moves along the imaging direction of the imaging device 100.
  • the imaging control unit 110 acquires the current distance X C of the subject (S302).
  • the imaging control unit 110 determines the first color temperature of the region of interest and executes AWB (S304).
  • the imaging control unit 110 determines the white (achromatic) area and the color temperature in the area based on the RGB integrated value in the area of interest.
  • the white balance (WB) coefficients obtained by multiplying the pixel values of the RGB channels are determined according to the determined color temperature.
  • the imaging control unit 110 can execute AWB.
  • the imaging control unit 110 further acquires the current distance X C of the subject (S306).
  • the imaging control unit 110 determines whether the current distance X C is farther than the first reference distance X 1 (S308). If the current distance X C is closer than the first reference distance X 1 , generally, AWB can be performed according to the color temperature in the region of interest 510.
  • the imaging control unit 110 changes the second color according to the first color temperature determined last time and the ratio of the last distance X C1 to the current distance X C2
  • the temperature is derived, and AWB is executed according to the second color temperature (S310).
  • the imaging control unit 110 may derive the second color temperature according to a preset function based on the ratio of the last distance X C1 to the current distance X C2 .
  • the imaging control unit 110 may multiply the first color temperature by the ratio of the previous distance X C1 to the current distance X C2 and a coefficient derived according to a preset function to derive the second color temperature.
  • the imaging control unit 110 derives the predicted second color temperature in consideration of the change in the distance of the subject, and temporarily performs AWB based on the second color temperature. Then, the imaging control unit 110 executes AWB based on the color temperature of the region of interest of the image captured by the imaging device 100. The AWB is executed according to the predicted second color temperature, so that the white balance of the image captured by the imaging device 100 can be maintained stable.
  • the imaging device 100 it is possible to prevent the inability to stably perform imaging control such as AF control, AE control, and AWB control due to a change in the distance to a certain subject.
  • imaging control such as AF control, AE control, and AWB control due to a change in the distance to a certain subject.
  • FIG. 9 shows an example of a computer 1200 that can fully or partially embody various aspects of the present invention.
  • the program installed on the computer 1200 can make the computer 1200 function as an operation associated with the device according to the embodiment of the present invention or one or more "parts" of the device. Alternatively, the program can cause the computer 1200 to perform the operation or the one or more "parts".
  • This program enables the computer 1200 to execute the process or stages of the process involved in the embodiment of the present invention.
  • Such a program can be executed by the CPU 1212, so that the computer 1200 executes certain operations associated with some or all of the blocks in the flowcharts and block diagrams described in this specification.
  • the computer 1200 includes a CPU 1212 and a RAM 1214, which are connected to each other through a host controller 1210.
  • the computer 1200 further includes a communication interface 1222, an input/output unit, which is connected to the host controller 1210 through the input/output controller 1220.
  • the computer 1200 also includes a ROM 1230.
  • the CPU 1212 operates in accordance with programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit.
  • the communication interface 1222 communicates with other electronic devices via a network.
  • the hard disk drive can store programs and data used by the CPU 1212 in the computer 1200.
  • the ROM 1230 stores therein a boot program executed by the computer 1200 during operation, and/or a program dependent on the hardware of the computer 1200.
  • the program is provided via a computer-readable recording medium such as CR-ROM, USB memory, or IC card, or a network.
  • the program is installed in RAM 1214 or ROM 1230 which is also an example of a computer-readable recording medium, and is executed by CPU 1212.
  • the information processing described in these programs is read by the computer 1200 and causes cooperation between the programs and the various types of hardware resources described above.
  • the operation or processing of information can be realized as the computer 1200 is used, thereby constituting an apparatus or method.
  • the CPU 1212 may execute a communication program loaded in the RAM 1214, and based on the processing described in the communication program, instruct the communication interface 1222 to perform communication processing.
  • the communication interface 1222 reads the transmission data stored in the transmission buffer provided in a recording medium such as RAM 1214 or USB memory, and sends the read transmission data to the network or receives it from the network The received data is written into the receiving buffer provided on the recording medium, etc.
  • the CPU 1212 can make the RAM 1214 read all or necessary parts of files or databases stored in an external recording medium such as a USB memory, and perform various types of processing on the data on the RAM 1214. Then, the CPU 1212 can write the processed data back to the external recording medium.
  • an external recording medium such as a USB memory
  • Various types of information such as various types of programs, data, tables, and databases can be stored in a recording medium and subjected to information processing.
  • the CPU 1212 can perform various types of operations, information processing, conditional judgment, conditional transfer, unconditional transfer, and information retrieval described in various parts of this disclosure, including determined by the instruction sequence of the program. Replace various types of processing, and write the results back to RAM 1214.
  • the CPU 1212 can search for information in files, databases, and the like in the recording medium.
  • the CPU 1212 may retrieve the attribute value of the specified first attribute from the multiple entries And read the attribute value of the second attribute stored in the entry to obtain the attribute value of the second attribute associated with the first attribute meeting the predetermined condition.
  • the above-mentioned programs or software modules may be stored on the computer 1200 or on a computer-readable storage medium near the computer 1200.
  • a recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium so that the program can be provided to the computer 1200 via the network.

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Abstract

As the distance to a determined subject changes, it sometimes results in the inability to stably perform photographing control. The control device can include a circuit configured to apply a first contrast evaluation filter for an area comprising the subject in a first image, i.e., a first area, so as to export a first contrast evaluation value that is used for evaluating a contrast value of the first area; perform focusing control on a photographing device according to the first contrast evaluation value; determine a second contrast evaluation filter according to a first distance between the photographing device and the subject when the first image is photographed by the photographing device, and a second distance between the photographing device and the subject when a second image is photographed by the photographing device; apply a contrast evaluation filter for an area comprising the subject in the second image, i.e., a second area, so as to export a second contrast evaluation value that is used for evaluating a contrast value of the second area; and perform focusing control on the photographing device according to the second contrast evaluation value.

Description

控制装置、摄像装置、移动体、控制方法以及程序Control device, camera device, mobile body, control method and program 【技术领域】【Technical Field】
本发明涉及一种控制装置、摄像装置、移动体、控制方法以及程序。The invention relates to a control device, an imaging device, a mobile body, a control method, and a program.
【背景技术】【Background technique】
专利文献1中公开有：根据与摄影模式相关联的空间频率对根据到被摄体的距离而确定的对焦位置进行校正。 Patent Document 1 discloses that the focus position determined based on the distance to the subject is corrected based on the spatial frequency associated with the shooting mode.
[现有技术文献][Prior Art Literature]
[专利文献][Patent Literature]
[专利文献1]日本特开2017-68195号公报[Patent Document 1] JP 2017-68195 A
【发明内容】[Content of the invention]
【发明所要解决的技术问题】[Technical problems to be solved by the invention]
随着到特定的被摄体的距离的变化，有时会无法稳定地进行自动聚焦控制、自动曝光控制以及自动白平衡等摄像控制。As the distance to a specific subject changes, it may not be possible to stably perform imaging controls such as automatic focus control, automatic exposure control, and automatic white balance.
【用于解决技术问题的手段】[Means used to solve technical problems]
本发明的一个方面所涉及的控制装置可以包括电路，其构成为：针对由摄像装置拍摄的第一图像内包含有被摄体的区域即第一区域，应用第一对比度评估滤波器，从而将对第一区域的对比度值进行评估的第一对比度评估值导出。电路可以构成为：根据第一对比度评估值来执行摄像装置的对焦控制。电路可以构成为：根据摄像装置对第一图像进行拍摄时摄像装置与被摄体之间的第一距离以及摄像装置对第二图像进行拍摄时摄像装置与被摄体之间的第二距离，对第二对比度评估滤波器进行确定。电路可以构成为：针对第二图像内包含有被摄体的区域即第二区域，应用第二对比度评估滤波器，从而将对第二区域的对比度值进行评估的第二对比度评估值导出。电路可以构成为：根据第二对比度评估值来执行摄像装置的对焦控制。The control device according to one aspect of the present invention may include a circuit configured to apply a first contrast evaluation filter to the first area that contains the subject in the first image captured by the imaging device, thereby The first contrast evaluation value for evaluating the contrast value of the first region is derived. The circuit may be configured to perform focus control of the imaging device based on the first contrast evaluation value. The circuit may be configured to: according to the first distance between the imaging device and the subject when the imaging device takes the first image and the second distance between the imaging device and the object when the imaging device takes the second image, The second contrast evaluation filter is determined. The circuit may be configured to apply a second contrast evaluation filter to the second area that contains the subject in the second image, thereby deriving the second contrast evaluation value for evaluating the contrast value of the second area. The circuit may be configured to perform focus control of the imaging device based on the second contrast evaluation value.
第一对比度评估滤波器可以具有包含第一空间频率的频带。第二对比度评估滤波器可以具有包含第二空间频率的频带，其中第二空间频率不同于第一空间频率。The first contrast evaluation filter may have a frequency band containing the first spatial frequency. The second contrast evaluation filter may have a frequency band containing a second spatial frequency, where the second spatial frequency is different from the first spatial frequency.
对第二对比度评估滤波器进行确定可以包括根据第一距离与第二距离的比以及第一对比度评估滤波器的信息，对第二对比度评估滤波器进行确定。Determining the second contrast evaluation filter may include determining the second contrast evaluation filter based on the ratio of the first distance to the second distance and the information of the first contrast evaluation filter.
电路可以构成为：当摄像装置与被摄体之间的距离比预设的距离长时，控制摄像装置的聚焦镜头对焦于无限远处。The circuit may be configured to control the focus lens of the imaging device to focus at infinity when the distance between the imaging device and the subject is longer than a preset distance.
本发明的一个方面所涉及的控制装置可以包括电路，其构成为：根据由摄像装置拍摄的第一图像内包含有被摄体的区域即第一区域的图像信息，将第一区域的第一评估值导出。电路可以构成为根据第一评估值来执行摄像装置的第一摄像控制。电路可以构成为根据由摄像装置对被摄体进行拍摄的第二图像内的包含有被摄体的区域即第二区域的图像信息，将第二区域的第二评估值导出。电路可以构成为：根据摄像装置对第一图像进行拍摄时摄像装置与被摄体之间的第一距离、摄像装置对第二图像进行拍摄时摄像装置与被摄体之间的第二距离、第一评估值以及第二评估值来执行摄像装置的第二摄像控制。The control device according to an aspect of the present invention may include a circuit configured to: based on the image information of the first area that contains the subject in the first image captured by the imaging device, the first area of the first area The evaluation value is exported. The circuit may be configured to execute the first imaging control of the imaging device based on the first evaluation value. The circuit may be configured to derive the second evaluation value of the second region based on image information of the second region, which is the region including the subject in the second image captured by the imaging device. The circuit may be configured as follows: according to the first distance between the imaging device and the subject when the imaging device captures the first image, the second distance between the imaging device and the subject when the imaging device captures the second image, The first evaluation value and the second evaluation value execute the second imaging control of the imaging device.
执行第二摄像控制可以包括：根据第一距离、第二距离以及第一评估值将第二区域的预测的评估值即预测评估值导出，并根据预测评估值以及第二评估值来执行摄像装置的摄像控制。Performing the second camera control may include: deriving the predicted evaluation value of the second region, that is, the predicted evaluation value, based on the first distance, the second distance, and the first evaluation value, and execute the camera based on the predicted evaluation value and the second evaluation value Camera control.
将预测评估值导出可以包括根据第一距离与第二距离的比以及第一评估值将预测评估值导出。Deriving the predicted evaluation value may include deriving the predicted evaluation value based on the ratio of the first distance to the second distance and the first evaluation value.
将第一评估值导出可以包括将对第一区域的辉度进行评估的第一辉度评估值导出作为第一评估值。执行第一摄像控制可以包括根据第一辉度评估值来执行摄像装置的曝光控制。将第二评估值导出可以包括将对第二区域的辉度进行评估的第二辉度评估值导出作为第二评估值。执行第二摄像控制可以包括根据第一距离、第二距离、第一辉度评估值以及第二辉度评估值来执行摄像装置的曝光控制。Deriving the first evaluation value may include deriving a first luminance evaluation value that evaluates the luminance of the first region as the first evaluation value. Performing the first imaging control may include performing exposure control of the imaging device according to the first luminance evaluation value. Deriving the second evaluation value may include deriving a second luminance evaluation value that evaluates the luminance of the second region as the second evaluation value. Performing the second imaging control may include performing exposure control of the imaging device according to the first distance, the second distance, the first luminance evaluation value, and the second luminance evaluation value.
执行第二摄像控制可以包括根据第一距离、第二距离以及第一辉度评估值将第二关注区域的预测的辉度评估值即预测辉度评估值导出，并根据预测辉度评估值以及第二辉度评估值来执行摄像装置的曝光控制。Performing the second imaging control may include deriving the predicted brightness evaluation value of the second region of interest, that is, the predicted brightness evaluation value, based on the first distance, the second distance, and the first brightness evaluation value, and based on the predicted brightness evaluation value and The second luminance evaluation value performs exposure control of the imaging device.
将预测辉度评估值导出可以包括根据第一距离与第二距离的比以及第一辉度评估值将预测辉度评估值导出。Deriving the predicted brightness evaluation value may include deriving the predicted brightness evaluation value based on the ratio of the first distance to the second distance and the first brightness evaluation value.
将第一评估值导出可以包括将第一区域的第一色温度导出作为第一评估值。执行第一摄像控制可以包括根据第一色温度来执行摄像装置的白平衡控制。将第二评估值导出可以包括将第二区域的第二色温度导出作为第二评估值。执行第二摄像控制可以包括根据第一距离、第二距离、第一色温度以及第二色温度来执行摄像装置的白平衡控制。Deriving the first evaluation value may include deriving the first color temperature of the first region as the first evaluation value. Performing the first imaging control may include performing white balance control of the imaging device according to the first color temperature. Deriving the second evaluation value may include deriving the second color temperature of the second region as the second evaluation value. Performing the second imaging control may include performing white balance control of the imaging device according to the first distance, the second distance, the first color temperature, and the second color temperature.
执行第二摄像控制可以包括：根据第一距离、第二距离以及第一色温度将第二区域的预测的色温度即预测色温度导出，并根据预测色温度以及第二色温度来执行摄像装置的曝光控制。Performing the second imaging control may include: deriving the predicted color temperature of the second region, that is, the predicted color temperature based on the first distance, the second distance, and the first color temperature, and executing the imaging device based on the predicted color temperature and the second color temperature Exposure control.
将预测色温度导出可以包括根据第一距离与第二距离的比以及第一色温度将预测色温度导出。Deriving the predicted color temperature may include deriving the predicted color temperature according to the ratio of the first distance to the second distance and the first color temperature.
本发明的一个方面所涉及的摄像装置可以包括上述控制装置以及图像传感器。The imaging device according to an aspect of the present invention may include the above-mentioned control device and an image sensor.
本发明的一个方面所涉及的移动体可以是包括上述摄像装置并移动的移动体。The moving body according to an aspect of the present invention may be a moving body that includes the aforementioned imaging device and moves.
移动体可以沿着摄像装置的摄像方向移动，直至到被摄体的距离从第一距离变至第二距离。The moving body can move along the imaging direction of the imaging device until the distance to the subject changes from the first distance to the second distance.
移动体可以是飞行体。飞行体可以沿着摄像装置的摄像方向上升或者下降，直至到被摄体的距离从第一距离变至第二距离。The moving body may be a flying body. The flying object can rise or fall along the imaging direction of the imaging device until the distance to the subject changes from the first distance to the second distance.
本发明的一个方面所涉及的控制方法可以包括针对由摄像装置拍摄的第一图像内由摄像装置选择的被摄体的区域即第一关注区域，应用第一对比度评估滤波器，从而将对第一关注区域的对比度值进行评估的第一对比度评估值导出的阶段。控制方法可以包括根据第一对比度评估值来执行摄像装置的对焦控制的阶段。控制方法可以包括根据摄像装置对第一图像进行拍摄时摄像装置与被摄体之间的第一距离以及摄像装置对第二图像进行拍摄时摄像装置与被摄体之间的第二距离，对第二对比度评估滤波器进行确定的阶段。控制方法可以包括针对第二图像内由摄像装置选择的被摄体的区域即第二关注区域，应用第二对比度评估滤波器，从而将对第二关注区域的对比度值进行评估的第二对比度评估值导出的阶段。控制方法可以包括根据第二对比度评估值来执行摄像装置的对焦控制的阶段。The control method according to an aspect of the present invention may include applying a first contrast evaluation filter to the area of the subject selected by the camera in the first image taken by the camera, that is, the first area of interest, so that the A stage of derivation of the first contrast evaluation value for evaluating the contrast value of a region of interest. The control method may include a stage of performing focus control of the imaging device according to the first contrast evaluation value. The control method may include according to the first distance between the camera and the subject when the camera takes the first image and the second distance between the camera and the subject when the camera takes the second image, The second contrast evaluation filter performs the determination stage. The control method may include applying a second contrast evaluation filter to the area of the subject selected by the camera in the second image, that is, the second area of interest, so as to evaluate the contrast value of the second area of interest. The stage of value export. The control method may include a stage of performing focus control of the imaging device according to the second contrast evaluation value.
本发明的一个方面所涉及的控制方法可以包括根据由摄像装置拍摄的第一图像内的包含有被摄体的区域即第一区域的图像信息，将第一区域的第一评估值导出的阶段。控制方法可以包括根据第一评估值来执行摄像装置的第一摄像控制的阶段。控制方法可以包括根据由摄像装置对被摄体进行拍摄的第二图像内的包含有被摄体的区域即第二区域的图像信息，将第二区域的第二评估值导出的阶段。控制方法可以包括根据摄像装置对第一图像进行拍摄时摄像装置与被摄体之间的第一距离、摄像装置对第二图像进行拍摄时摄像装置与被摄体之间的第二距离、第一评估值以及第二评估值来执行摄像装置的第二摄像控制的阶段。The control method according to one aspect of the present invention may include a stage of deriving the first evaluation value of the first region based on the image information of the region containing the subject in the first image captured by the imaging device, that is, the first region . The control method may include a stage of performing the first imaging control of the imaging apparatus according to the first evaluation value. The control method may include a stage of deriving the second evaluation value of the second area based on image information of the second area, which is the area containing the object, in the second image taken by the imaging device. The control method may include the first distance between the camera and the subject when the camera takes the first image, the second distance between the camera and the subject when the camera takes the second image, and the An evaluation value and a second evaluation value are used to perform the second imaging control stage of the imaging device.
本发明的一个方面所涉及的程序可以是一种用于使计算机作为上述控制装置发挥作用的程序。The program according to one aspect of the present invention may be a program for causing a computer to function as the above-mentioned control device.
根据本发明的一个方面，能够抑制以下情况：伴随到确定的被摄体的距离的变化，导致无法稳定地进行自动聚焦控制、自动曝光控制、自动白平衡等摄像控制。According to one aspect of the present invention, it is possible to suppress a situation in which camera control such as automatic focus control, automatic exposure control, and automatic white balance cannot be stably performed due to changes in the distance to a certain subject.
此外，上述发明内容未列举本发明的必要的全部特征。此外，这些特征组的子组合也可以构成发明。In addition, the above summary does not enumerate all the essential features of the present invention. In addition, sub-combinations of these feature groups may also constitute inventions.
【附图说明】【Explanation of drawings】
图1是示出无人驾驶航空器及远程操作装置的外观的一个示例的图。Fig. 1 is a diagram showing an example of the appearance of an unmanned aircraft and a remote control device.
图2是示出无人驾驶航空器的功能块的一个示例的图。Fig. 2 is a diagram showing an example of functional blocks of an unmanned aircraft.
图3A是用于说明对比度评估滤波器的图。Fig. 3A is a diagram for explaining a contrast evaluation filter.
图3B是用于说明对比度评估滤波器的图。Fig. 3B is a diagram for explaining a contrast evaluation filter.
图4是示出无人驾驶航空器沿着摄像装置的摄像方向移动情形的图。FIG. 4 is a diagram showing how the unmanned aircraft moves along the imaging direction of the imaging device.
图5是示出摄像控制部进行的AF控制过程的一个示例的流程图。FIG. 5 is a flowchart showing an example of an AF control process performed by the imaging control section.
图6A是用于说明辉度评估值的图。Fig. 6A is a diagram for explaining luminance evaluation values.
图6B是用于说明辉度评估值的图。Fig. 6B is a diagram for explaining luminance evaluation values.
图7是示出摄像控制部进行AE控制过程的一个示例的流程图。Fig. 7 is a flowchart showing an example of an AE control process performed by the imaging control unit.
图8是示出摄像控制部进行AWB控制过程的一个示例的流程图。Fig. 8 is a flowchart showing an example of an AWB control process performed by the imaging control section.
图9是用于说明硬件配置的一个示例的图。Fig. 9 is a diagram for explaining an example of the hardware configuration.
【具体实施方式】【Detailed ways】
以下，通过发明的实施方式来对本发明进行说明，但是以下的实施方式并不限定权利要求书所涉及的发明。此外，未必有实施方式中所说明的所有特征组合对于发明的解决方案是必须的。对本领域普通技术人员来说，显然可以对以下实施方式加以各种变更或改良。从权利要求书的描述显而易见的是，加以了这样的变更或改良的方式都可包含在本发明的技术范围之内。Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. In addition, not all the feature combinations described in the embodiments are necessary for the solution of the invention. It is obvious to a person skilled in the art that various changes or improvements can be made to the following embodiments. It is obvious from the description of the claims that all such changes or improvements can be included in the technical scope of the present invention.
权利要求书、说明书、说明书附图以及说明书摘要中包含作为著作权所保护对象的事项。任何人只要如专利局的文档或者记录所表示的那样进行这些文件的复制，著作权人就无法异议。但是，在除此以外的情况下，保留一切的著作权。The claims, the description, the drawings of the description, and the abstract of the description include matters that are the subject of copyright protection. As long as anyone makes copies of these files as indicated in the patent office files or records, the copyright owner cannot object. However, in other cases, all copyrights are reserved.
本发明的各种实施方式可参照流程图及框图来描述，这里，框可表示(1)执行操作的过程的阶段或者(2)具有执行操作的作用的装置的“部”。特定的阶段和“部”可以通过可编程电路和/或处理器来实现。专用电路可以包括数字和/或模拟硬件电路。可以包括集成电路(IC)和/或分立电路。可编程电路可以包括可重构硬件电路。可重构硬件电路可以包括逻辑与、逻辑或、逻辑异或、逻辑与非、逻辑或非、及其它逻 辑操作、触发器、寄存器、现场可编程门阵列(FPGA)、可编程逻辑阵列(PLA)等存储器元件等。Various embodiments of the present invention can be described with reference to flowcharts and block diagrams. Here, a block may represent (1) a stage of a process of performing an operation or (2) a "part" of a device that performs an operation. Specific stages and "parts" can be implemented by programmable circuits and/or processors. Dedicated circuits may include digital and/or analog hardware circuits. May include integrated circuits (ICs) and/or discrete circuits. The programmable circuit may include a reconfigurable hardware circuit. Reconfigurable hardware circuits can include logical AND, logical OR, logical exclusive OR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate array (FPGA), programmable logic array (PLA) ) And other memory components.
计算机可读介质可以包括能够存储由合适设备执行的指令的任何有形设备。其结果是，其上存储有指令的计算机可读介质包括一种包括指令的产品，该指令可被执行以创建用于执行流程图或框图所确定的操作的手段。作为计算机可读介质的示例，可以包括电子存储介质、磁存储介质、光学存储介质、电磁存储介质、半导体存储介质等。作为计算机可读介质的更具体的示例，可以包括floppy(注册商标)disk、软磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或者闪存)、电可擦可编程只读存储器(EEPROM)、静态随机存取存储器(SRAM)、光盘只读存储器(CD-ROM)、数字多用途光盘(DVD)、蓝光(RTM)光盘、记忆棒、集成电路卡等。The computer-readable medium may include any tangible device that can store instructions for execution by a suitable device. As a result, the computer-readable medium on which instructions are stored includes a product that includes instructions that can be executed to create means for performing the operations determined by the flowchart or block diagram. As examples of computer-readable media, electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like may be included. As a more specific example of the computer-readable medium, it may include floppy (registered trademark) disk, floppy disk, hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM) or Flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray (RTM) disc, memory stick , Integrated circuit cards, etc.
计算机可读指令可以包括由一种或多种编程语言的任意组合描述的源代码或者目标代码中的任意一个。源代码或者目标代码包括传统的程序式编程语言。传统的程序式编程语言可以为汇编指令、指令集架构(ISA)指令、机器指令、与机器相关的指令、微代码、固件指令、状态设置数据、或者Smalltalk(注册商标)、JAVA(注册商标)、C++等面向对象编程语言以及“C”编程语言或者类似的编程语言。计算机可读指令可以在本地或者经由局域网(LAN)、互联网等广域网(WAN)提供给通用计算机、专用计算机或者其它可编程数据处理装置的处理器或可编程电路。处理器或可编程电路可以执行计算机可读指令，以创建用于执行流程图或框图所指定操作的手段。作为处理器的示例，包括计算机处理器、处理单元、微处理器、数字信号处理器、控制器、微控制器等。The computer-readable instructions may include any one of source code or object code described in any combination of one or more programming languages. The source code or object code includes traditional procedural programming languages. Traditional procedural programming languages can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or Smalltalk (registered trademark), JAVA (registered trademark) , C++ and other object-oriented programming languages and "C" programming language or similar programming languages. The computer-readable instructions may be provided locally or via a wide area network (WAN) such as a local area network (LAN) or the Internet to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device. The processor or programmable circuit can execute computer-readable instructions to create means for performing the operations specified in the flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and so on.
图1表示无人驾驶航空器(UAV)10及远程操作装置300的外观的一个示例。UAV10包括UAV主体20、万向节50、多个摄像装置60以及摄像装置100。万向节50及摄像装置100为摄像***的一个示例。UAV10，即移动体，是指包括在空中移动的飞行体、在地面上移动的车辆、在水上移动的船舶等的概念。在空中移动的飞行体是指不仅包括UAV、还包括在空中移动的其它的飞行器、飞艇、直升机等的概念。FIG. 1 shows an example of the appearance of an unmanned aerial vehicle (UAV) 10 and a remote operation device 300. The UAV 10 includes a UAV main body 20, a universal joint 50, a plurality of imaging devices 60, and the imaging device 100. The universal joint 50 and the camera device 100 are an example of a camera system. UAV10, or mobile, refers to the concept including flying objects moving in the air, vehicles moving on the ground, and ships moving on the water. Flying objects moving in the air refer to concepts that include not only UAVs, but also other aircraft, airships, and helicopters that move in the air.
UAV主体20包括多个旋翼。多个旋翼为推进部的一个示例。UAV主体20通过控制多个旋翼的旋转而使UAV10飞行。UAV主体20使用例如四个旋翼来使UAV10飞行。旋翼的数量不限于四个。另外，UAV10也可以是没有旋翼的固定翼机。The UAV main body 20 includes a plurality of rotors. Multiple rotors are an example of a propulsion section. The UAV main body 20 makes the UAV 10 fly by controlling the rotation of a plurality of rotors. The UAV main body 20 uses, for example, four rotors to fly the UAV 10. The number of rotors is not limited to four. In addition, UAV10 can also be a fixed-wing aircraft without rotors.
摄像装置100为对包含在所期望的摄像范围内的被摄体进行拍摄的摄像用相机。万向节50可旋转地支撑摄像装置100。万向节50为支撑机构的一个示例。例如，万向节50使用致动器以俯仰轴为中心可旋转地支撑摄像装置100。万向节50使用致动器进一步分别以滚转轴和偏航轴为中心可旋转地支撑摄像装置100。万向节50可通过使摄像装置100以偏航轴、俯仰轴以及滚转轴中的至少一个为中心旋转，来变更摄像装置100的姿势。The imaging device 100 is an imaging camera that captures a subject included in a desired imaging range. The universal joint 50 rotatably supports the imaging device 100. The universal joint 50 is an example of a supporting mechanism. For example, the universal joint 50 uses an actuator to rotatably support the imaging device 100 around the pitch axis. The universal joint 50 uses an actuator to further rotatably support the imaging device 100 around the roll axis and the yaw axis, respectively. The gimbal 50 can change the posture of the imaging device 100 by rotating the imaging device 100 around at least one of the yaw axis, the pitch axis, and the roll axis.
多个摄像装置60是为了控制UAV10的飞行而对UAV10的周围进行拍摄的传感用相机。两个摄像装置60可以设置于UAV10的机头、即正面。并且，其它两个摄像装置60可以设置于UAV10的底面。正面侧的两个摄像装置60可以成对，起到所谓的立体相机的作用。底面侧的两个摄像装置60也可以成对，起到立体相机的作用。可以根据由多个摄像装置60所拍摄的图像来生成UAV10周围的三维空间数据。UAV10所包括的摄像装置60的数量不限于四个。UAV10包括至少一个摄像装置60即可。UAV10也可以在UAV10的机头、机尾、侧面、底面及顶面分别包括至少一个 摄像装置60。摄像装置60中可设定的视角可大于摄像装置100中可设定的视角。摄像装置60也可以包括单焦点镜头或鱼眼镜头。The plurality of imaging devices 60 are sensing cameras that photograph the surroundings of the UAV 10 in order to control the flight of the UAV 10. The two camera devices 60 can be installed on the nose of the UAV 10, that is, on the front. In addition, the other two camera devices 60 may be provided on the bottom surface of the UAV 10. The two imaging devices 60 on the front side may be paired to function as a so-called stereo camera. The two imaging devices 60 on the bottom side may also be paired to function as a stereo camera. The three-dimensional spatial data around the UAV 10 can be generated based on the images taken by the plurality of camera devices 60. The number of imaging devices 60 included in the UAV 10 is not limited to four. The UAV 10 may include at least one camera device 60. The UAV 10 may also include at least one camera 60 on the nose, tail, side, bottom and top surfaces of the UAV 10, respectively. The viewing angle that can be set in the imaging device 60 may be larger than the viewing angle that can be set in the imaging device 100. The imaging device 60 may also include a single focus lens or a fisheye lens.
远程操作装置300与UAV10通信，以远程操作UAV10。远程操作装置300可以与UAV10进行无线通信。远程操作装置300向UAV10发送表示上升、下降、加速、减速、前进、后退、旋转等与UAV10的移动有关的各种指令的指示信息。指示信息包括例如使UAV10的高度上升的指示信息。指示信息可以表示UAV10应该位于的高度。UAV10进行移动，以位于从远程操作装置300接收的指示信息所表示的高度。指示信息可以包括使UAV10上升的上升指令。UAV10在接受上升指令的期间上升。在UAV10的高度已达到上限高度时，即使接受上升指令，也可以限制UAV10上升。The remote operation device 300 communicates with the UAV 10 to remotely operate the UAV 10. The remote operation device 300 can wirelessly communicate with the UAV 10. The remote operation device 300 transmits to the UAV 10 instruction information indicating various commands related to the movement of the UAV 10 such as ascending, descending, accelerating, decelerating, forwarding, retreating, and rotating. The instruction information includes, for example, instruction information for raising the height of the UAV 10. The indication information may indicate the height at which the UAV10 should be located. The UAV 10 moves to be located at the height indicated by the instruction information received from the remote operation device 300. The instruction information may include an ascending instruction to raise the UAV10. UAV10 rises while receiving the rise command. When the height of UAV10 has reached the upper limit height, even if the ascending instruction is accepted, the ascent of UAV10 can be restricted.
图2示出UAV10的功能块的一个示例。UAV10包括UAV控制部30、存储器37、通信接口36、推进部40、GPS接收器41、惯性测量装置42、磁罗盘43、气压高度计44、温度传感器45、湿度传感器46、万向节50、摄像装置60及摄像装置100。FIG. 2 shows an example of the functional blocks of UAV10. UAV10 includes UAV control unit 30, memory 37, communication interface 36, propulsion unit 40, GPS receiver 41, inertial measurement device 42, magnetic compass 43, barometric altimeter 44, temperature sensor 45, humidity sensor 46, universal joint 50, camera The device 60 and the imaging device 100.
通信接口36与远程操作装置300等其它装置通信。通信接口36可以从远程操作装置300接收包括对UAV控制部30的各种指令的指示信息。存储器37存储UAV控制部30对推进部40、GPS接收器41、惯性测量装置(IMU)42、磁罗盘43、气压高度计44、温度传感器45、湿度传感器46、万向节50、摄像装置60及摄像装置100进行控制所需的程序等。存储器37可以为计算机可读记录介质，可以包括SRAM、DRAM、EPROM、EEPROM、USB存储器及固态硬盘(SSD)等闪存中的至少一个。存储器37可以设置在UAV主体20的内部。其可以设置成可从UAV主体20上拆卸下来。The communication interface 36 communicates with other devices such as the remote operation device 300. The communication interface 36 can receive instruction information including various instructions to the UAV control unit 30 from the remote operation device 300. The memory 37 stores the UAV control unit 30's response to the propulsion unit 40, GPS receiver 41, inertial measurement unit (IMU) 42, magnetic compass 43, barometric altimeter 44, temperature sensor 45, humidity sensor 46, universal joint 50, imaging device 60, and The imaging device 100 performs programs and the like necessary for control. The memory 37 may be a computer-readable recording medium, and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, USB memory, and solid state drive (SSD). The storage 37 may be provided inside the UAV main body 20. It can be configured to be detachable from the UAV main body 20.
UAV控制部30按照储存在存储器37中的程序来控制UAV10的飞行及拍摄。UAV控制部30可以由CPU或MPU等微处理器、以及MCU等微控制器等构成。UAV控制部30按照经由通信接口36从远程操作装置300接收到的指令来控制UAV10的飞行及拍摄。推进部40推进UAV10。推进部40包括多个旋翼和使多个旋翼旋转的多个驱动电机。推进部40按照来自UAV控制部30的指令，经由多个驱动电机使多个旋翼旋转，以使UAV10飞行。The UAV control unit 30 controls the flying and shooting of the UAV 10 in accordance with a program stored in the memory 37. The UAV control unit 30 may be composed of a microprocessor such as a CPU or an MPU, and a microcontroller such as an MCU. The UAV control unit 30 controls the flight and shooting of the UAV 10 in accordance with instructions received from the remote operation device 300 via the communication interface 36. The propulsion unit 40 propels the UAV10. The propulsion part 40 includes a plurality of rotors and a plurality of drive motors that rotate the plurality of rotors. The propulsion unit 40 rotates a plurality of rotors via a plurality of drive motors in accordance with an instruction from the UAV control unit 30 to cause the UAV 10 to fly.
GPS接收器41接收表示从多个GPS卫星发送的时间的多个信号。GPS接收器41根据所接收的多个信号来计算出GPS接收器41的位置(纬度及经度)、即UAV10的位置(纬度及经度)。IMU42检测UAV10的姿势。IMU42检测UAV10的前后、左右以及上下的三轴方向的加速度和俯仰轴、滚转轴以及偏航轴的三轴方向的角速度，作为UAV10的姿势。磁罗盘43检测UAV10的机头的方位。气压高度计44检测UAV10的飞行高度。气压高度计44检测UAV10周围的气压，并将检测到的气压换算为高度，以检测高度。温度传感器45检测UAV10周围的温度。湿度传感器46检测UAV10周围的湿度。The GPS receiver 41 receives a plurality of signals indicating the time transmitted from a plurality of GPS satellites. The GPS receiver 41 calculates the position (latitude and longitude) of the GPS receiver 41, that is, the position (latitude and longitude) of the UAV 10 based on the received signals. The IMU42 detects the posture of the UAV10. The IMU 42 detects the acceleration of the UAV 10 in the three-axis directions of front and rear, left and right, and up and down, and the angular velocities of the pitch axis, the roll axis, and the yaw axis as the attitude of the UAV 10. The magnetic compass 43 detects the position of the nose of the UAV 10. The barometric altimeter 44 detects the flying altitude of the UAV10. The barometric altimeter 44 detects the air pressure around the UAV 10 and converts the detected air pressure to altitude to detect the altitude. The temperature sensor 45 detects the temperature around the UAV 10. The humidity sensor 46 detects the humidity around the UAV 10.
摄像装置100包括摄像部102及镜头部200。镜头部200为镜头装置的一个示例。摄像部102具有图像传感器120、摄像控制部110、存储器130及测距传感器140。图像传感器120可以由CCD或CMOS构成。图像传感器120拍摄经由多个镜头210成像的光学图像，并将所拍摄的图像输出至摄像控制部110。摄像控制部110可以由CPU或MPU等微处理器、MCU等微控制器等构成。摄像控制部110可以根据来自UAV控制部30的摄像装置100的操作指令来控制摄像装置100。摄像控制部110是电路的一个示例。存储器130可以为计算机可读记录介质，可以包括SRAM、DRAM、EPROM、EEPROM、USB存储器及固态硬盘(SSD)等闪存中的至少一个。存储器130储存摄 像控制部110对图像传感器120等进行控制所需的程序等。存储器130可以设置于摄像装置100的壳体内部。存储器130可以设置成可从摄像装置100的壳体上拆卸下来。The imaging device 100 includes an imaging unit 102 and a lens unit 200. The lens part 200 is an example of a lens device. The imaging unit 102 has an image sensor 120, an imaging control unit 110, a memory 130, and a distance measuring sensor 140. The image sensor 120 may be composed of CCD or CMOS. The image sensor 120 captures optical images formed through the plurality of lenses 210 and outputs the captured images to the imaging control unit 110. The imaging control unit 110 may be constituted by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, or the like. The imaging control unit 110 can control the imaging device 100 according to an operation instruction of the imaging device 100 from the UAV control unit 30. The imaging control unit 110 is an example of a circuit. The memory 130 may be a computer-readable recording medium, and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, USB memory, and solid state drive (SSD). The memory 130 stores programs and the like necessary for the imaging control unit 110 to control the image sensor 120 and the like. The memory 130 may be provided inside the housing of the imaging device 100. The storage 130 may be configured to be detachable from the housing of the imaging device 100.
测距传感器140对到被摄体的距离进行测距。测距传感器140可以是红外传感器、超声波传感器、立体相机、TOF(Time Of Flight，飞行时间)传感器等。The distance measuring sensor 140 measures the distance to the subject. The distance measuring sensor 140 may be an infrared sensor, an ultrasonic sensor, a stereo camera, a TOF (Time Of Flight) sensor, and the like.
镜头部200包括多个镜头210、多个镜头驱动部212以及镜头控制部220。多个镜头210可以起到变焦镜头、可变焦距镜头及聚焦镜头的作用。多个镜头210中的至少一部分或全部被构成为能够沿着光轴移动。镜头部200可以是被设置成能够相对摄像部102拆装的可更换镜头。镜头驱动部212经由凸轮环等机构构件使多个镜头210中的至少一部分或全部沿着光轴移动。镜头驱动部212可以包括致动器。致动器可以包括步进马达。镜头控制部220按照来自摄像部102的镜头控制指令来驱动镜头驱动部212，以经由机构构件使一个或多个镜头210沿着光轴方向移动。镜头控制指令例如为变焦控制指令及聚焦控制指令。The lens unit 200 includes a plurality of lenses 210, a plurality of lens driving units 212, and a lens control unit 220. The multiple lenses 210 can function as zoom lenses, variable focal length lenses, and focus lenses. At least a part or all of the plurality of lenses 210 are configured to be movable along the optical axis. The lens unit 200 may be an interchangeable lens that is provided to be detachable from the imaging unit 102. The lens driving unit 212 moves at least a part or all of the plurality of lenses 210 along the optical axis via a mechanism member such as a cam ring. The lens driving part 212 may include an actuator. The actuator may include a stepper motor. The lens control unit 220 drives the lens driving unit 212 in accordance with a lens control instruction from the imaging unit 102 to move one or more lenses 210 in the optical axis direction via a mechanism member. The lens control commands are, for example, zoom control commands and focus control commands.
镜头部200还包括存储器222和位置传感器214。镜头控制部220按照来自摄像部102的镜头操作指令，经由镜头驱动部212来控制镜头210向光轴方向的移动。镜头控制部220按照来自摄像部102的镜头操作指令，经由镜头驱动部212来控制镜头210向光轴方向的移动。镜头210的一部分或者全部沿光轴移动。镜头控制部220通过使镜头210中的至少一个沿着光轴移动，来执行变焦操作和聚焦操作中的至少一个。位置传感器214检测镜头210的位置。位置传感器214可以检测当前的变焦位置或聚焦位置。The lens part 200 further includes a memory 222 and a position sensor 214. The lens control unit 220 controls the movement of the lens 210 in the optical axis direction via the lens drive unit 212 in accordance with a lens operation command from the imaging unit 102. The lens control unit 220 controls the movement of the lens 210 in the optical axis direction via the lens drive unit 212 in accordance with a lens operation command from the imaging unit 102. Part or all of the lens 210 moves along the optical axis. The lens control section 220 performs at least one of a zoom operation and a focus operation by moving at least one of the lenses 210 along the optical axis. The position sensor 214 detects the position of the lens 210. The position sensor 214 can detect the current zoom position or focus position.
镜头驱动部212可以包括抖动校正机构。镜头控制部220可以经由抖动校正机构使镜头210在沿着光轴的方向或垂直于光轴的方向上移动，来执行抖动校正。镜头驱动部212可以由步进电机驱动抖动校正机构，以执行抖动校正。另外，抖动校正机构可以由步进电机驱动，以使图像传感器120在沿着光轴的方向或垂直于光轴的方向上移动，来执行抖动校正。The lens driving part 212 may include a shake correction mechanism. The lens control section 220 may move the lens 210 in a direction along the optical axis or a direction perpendicular to the optical axis via a shake correction mechanism to perform shake correction. The lens driving part 212 may drive a shake correction mechanism by a stepping motor to perform shake correction. In addition, the shake correction mechanism may be driven by a stepping motor to move the image sensor 120 in a direction along the optical axis or a direction perpendicular to the optical axis to perform shake correction.
存储器222存储经由镜头驱动部212而移动的多个镜头210的控制值。存储器222可以包括SRAM、DRAM、EPROM、EEPROM及USB存储器等闪存中的至少一个。The memory 222 stores control values of the plurality of lenses 210 moved via the lens driving unit 212. The memory 222 may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory.
在这样构成的摄像装置100中，在对确定的被摄体进行追踪的同时，会对焦于确定的被摄体，或者执行曝光控制及白平衡控制。在该情况下，到被摄体的距离变远时，关注区域(ROI)变小，有时会无法适当地进行自动聚焦(AF)、自动曝光(AE)或者自动白平衡(AWB)等摄像控制。In the imaging device 100 configured in this way, while tracking a certain subject, it focuses on the certain subject, or performs exposure control and white balance control. In this case, when the distance to the subject becomes longer, the area of interest (ROI) becomes smaller, and it may not be possible to properly perform camera control such as auto focus (AF), auto exposure (AE), or auto white balance (AWB). .
因此，根据本实施方式所涉及的摄像装置100，按照到被摄体的距离对AF控制、AE控制或者AWB控制等摄像控制进行调整。Therefore, according to the imaging device 100 according to this embodiment, imaging control such as AF control, AE control, or AWB control is adjusted in accordance with the distance to the subject.
摄像控制部110针对由摄像装置100拍摄的图像应用对比度评估滤波器，从而将图像的对比度评估值导出。摄像控制部110根据对比度评估值对对焦于确定的被摄体上的聚焦镜头的位置进行确定来执行对比度AF。摄像控制部110对对比度评估值达到峰值的聚焦镜头的位置进行确定来执行对比度AF。The imaging control unit 110 applies a contrast evaluation filter to the image captured by the imaging device 100 to derive the contrast evaluation value of the image. The imaging control section 110 determines the position of the focus lens focused on the determined subject based on the contrast evaluation value to perform contrast AF. The imaging control unit 110 determines the position of the focus lens where the contrast evaluation value reaches the peak, and executes contrast AF.
对比度评估滤波器可以是将每个空间频率的对比度评估值乘以每个空间频率的评估系数，并对乘以了评估系数的各个对比度评估值进行求和，从而将图像的对比度评估值导出的滤波器。对比度评估滤波器可以是对每个空间频率的对比度评估值进行加权，并对加权后的对比度评估值进行求和，从而将图像的对比度评估值导出的滤波器。例如，如图3A所示，摄像控制部110可以将空间频率f 0的评估系数最高的第一 对比度评估滤波器400应用于图像中，从而将对比度评估值导出。空间频率f 0根据图像传感器120的像素间距、镜头210的光学性能等预先设定。图像500表示由摄像装置100拍摄的图像，图像500内的框表示关注区域510。 The contrast evaluation filter may be the result of multiplying the contrast evaluation value of each spatial frequency by the evaluation coefficient of each spatial frequency, and summing the respective contrast evaluation values multiplied by the evaluation coefficient, thereby deriving the contrast evaluation value of the image filter. The contrast evaluation filter may be a filter that weights the contrast evaluation value of each spatial frequency, and sums the weighted contrast evaluation value, thereby deriving the contrast evaluation value of the image. For example, as shown in FIG. 3A, the imaging control unit 110 may apply the first contrast evaluation filter 400 with the highest evaluation coefficient of the spatial frequency f 0 to the image, thereby deriving the contrast evaluation value. The spatial frequency f 0 is preset according to the pixel pitch of the image sensor 120, the optical performance of the lens 210, and the like. The image 500 represents an image captured by the imaging device 100, and the frame in the image 500 represents a region of interest 510.
例如，如图4所示，搭载有摄像装置100的UAV10沿着摄像装置100的摄像方向550移动以远离被摄体600。在该情况下，如图3B所示，若摄像装置100的视角固定，则图像500内的被摄体600的大小变小，图像500内的关注区域510随之变小。For example, as shown in FIG. 4, the UAV 10 equipped with the imaging device 100 moves along the imaging direction 550 of the imaging device 100 to be away from the subject 600. In this case, as shown in FIG. 3B, if the angle of view of the imaging device 100 is fixed, the size of the subject 600 in the image 500 becomes smaller, and the area of interest 510 in the image 500 becomes smaller accordingly.
若图像500内的被摄体600变小，则关注区域510内的图像的空间频率会极端地变小或变大。因此，摄像控制部110将空间频率f 0的评估系数最高的对比度评估滤波器应用于图像中，将对比度评估值导出，对比度评估值会发生变化。因此，导致无法稳定地进行基于对比度评估值的对比度AF。 If the object 600 in the image 500 becomes smaller, the spatial frequency of the image in the region of interest 510 will extremely become smaller or larger. Therefore, the imaging control unit 110 applies the contrast evaluation filter with the highest evaluation coefficient of the spatial frequency f 0 to the image, derives the contrast evaluation value, and the contrast evaluation value changes. Therefore, the contrast AF based on the contrast evaluation value cannot be stably performed.
因此，摄像控制部110按照到被摄体的距离使对比度评估滤波器的中心空间频率移位。到被摄体的距离越长，摄像控制部110可以使对比度评估滤波器的中心空间频率越向高频侧移位。摄像控制部110按照到被摄体的距离使评估系数最高的空间频率移位。到被摄体的距离越长，摄像控制部110可以使评估系数最高的空间频率越向高频侧移位。Therefore, the imaging control unit 110 shifts the center spatial frequency of the contrast evaluation filter in accordance with the distance to the subject. The longer the distance to the subject, the more the imaging control unit 110 can shift the center spatial frequency of the contrast evaluation filter to the higher frequency side. The imaging control unit 110 shifts the spatial frequency with the highest evaluation coefficient in accordance with the distance to the subject. The longer the distance to the subject, the more the imaging control unit 110 can shift the spatial frequency with the highest evaluation coefficient to the higher frequency side.
摄像控制部110针对由摄像装置100拍摄的第一图像内由摄像装置100选择的被摄体的区域即第一关注区域，应用第一对比度评估滤波器400，从而将对第一关注区域的对比度值进行评估的第一对比度评估值导出。第一关注区域是第一区域的一个示例。摄像控制部110可以使用户从由摄像装置100拍摄的第一图像中确定被摄体，从而设定第一关注区域。摄像控制部110可以通过按照预设的条件进行图像匹配，从由摄像装置100拍摄的第一图像中确定预设的被摄体。摄像控制部110可以将包含被确定的被摄体的区域设定为第一关注区域。第一对比度评估滤波器400可以是在预设的空间频率即第一空间频率f 0上具有评估系数峰值的滤波器。第一对比度评估滤波器400具有包含第一空间频率f 0的频带。 The imaging control unit 110 applies the first contrast evaluation filter 400 to the area of the subject selected by the imaging device 100 in the first image captured by the imaging device 100, that is, the first region of interest, so as to determine the contrast of the first region of interest. The value to be evaluated is derived from the first contrast evaluation value. The first area of interest is an example of the first area. The imaging control unit 110 may allow the user to determine the subject from the first image captured by the imaging device 100, thereby setting the first region of interest. The imaging control unit 110 may determine a preset subject from the first image captured by the imaging device 100 by performing image matching according to preset conditions. The imaging control unit 110 may set an area including the determined subject as the first area of interest. The first contrast evaluation filter 400 may be a filter having an evaluation coefficient peak at a preset spatial frequency, that is, the first spatial frequency f 0 . The first contrast evaluation filter 400 has a frequency band including the first spatial frequency f 0 .
摄像控制部110根据第一对比度评估值来执行摄像装置的对焦控制。摄像控制部110可以根据第一对比度评估值来执行对比度AF控制。摄像控制部110可以使聚焦镜头移动的同时，对第一对比度评估值达到峰值时聚焦镜头的位置进行确定，并使聚焦镜头向被确定的位置移动来执行对焦控制。The imaging control section 110 performs focus control of the imaging device based on the first contrast evaluation value. The imaging control section 110 may perform contrast AF control according to the first contrast evaluation value. The imaging control unit 110 may move the focus lens, determine the position of the focus lens when the first contrast evaluation value reaches the peak value, and move the focus lens to the determined position to perform focus control.
当到被摄体的距离相对较近时，即使到被摄体的距离发生变化，关注区域510内的图像的空间频率极端地变小或变大的可能性也较低。因此，当到被摄体的距离相对较近时，可以不按照到被摄体的距离使对比度评估滤波器的中心空间频率移位。因此，当到被摄体的距离包含于从最近到第一基准距离X 1的第一距离范围701内时，摄像控制部110可以不使对比度评估滤波器移位，并在第一空间频率f 0中应用具有评估系数峰值的第一对比度评估滤波器400，从而将图像的对比度评估值导出。 When the distance to the subject is relatively close, even if the distance to the subject changes, there is a low possibility that the spatial frequency of the image in the attention area 510 will be extremely small or large. Therefore, when the distance to the subject is relatively short, the center spatial frequency of the contrast evaluation filter may not be shifted according to the distance to the subject. Thus, when the distance to the subject is included in a first time from the nearest to the reference distance in the first distance range of 701 X 1, the imaging control unit 110 may not shift the contrast evaluation of the filter, and a first spatial frequency f In 0 , the first contrast evaluation filter 400 with the peak value of the evaluation coefficient is applied, thereby deriving the contrast evaluation value of the image.
另外，当到被摄体的距离非常远时，即使到被摄体的距离发生变化，关注区域510内的图像的空间频率极端地变小或变大的可能性也同样较低。在该情况下，摄像控制部110使聚焦镜头固定在对焦于无限远处的位置上即可。因此，当到被摄体的距离包含于超过预设的第二基准距离X 2的第三距离范围703内时，摄像控制部110可以将聚焦镜头固定在对焦于无限远处的位置上。 In addition, when the distance to the subject is very far, even if the distance to the subject changes, the possibility that the spatial frequency of the image in the region of interest 510 will extremely decrease or increase is similarly low. In this case, the imaging control unit 110 may fix the focus lens at a position focusing on infinity. Therefore, when the distance to the subject is included in the third distance range 703 that exceeds the preset second reference distance X 2 , the imaging control unit 110 may fix the focus lens at a position focusing on infinity.
当到被摄体的距离包含于从第一基准距离X 1到第二基准距离X 2的第二距离范围内时，摄像控制部110可以按照到被摄体的距离使对比度评估滤波器的中心空间频率移位。 When the center of the distance to the object contained within a second distance range in the distance X 1 to the second reference distance X 2 from the first reference, the imaging control unit 110 can according to the distance to the object of the contrast evaluation of the filter Spatial frequency shift.
UAV10沿着摄像装置100的摄像方向移动。UAV10可以沿着摄像装置100的摄像方向移动直至到被摄体的距离从第一距离变至第二距离。UAV10可以沿着摄像装置100的摄像方向上升或者下降直至到被摄体的距离从第一距离变至第二距离。摄像装置100的摄像方向为竖直向下时，UAV10可以在竖直方向上上升或者下降直至到被摄体的距离从第一距离变至第二距离。The UAV 10 moves along the imaging direction of the imaging device 100. The UAV 10 can move along the imaging direction of the imaging device 100 until the distance to the subject changes from the first distance to the second distance. The UAV 10 may rise or fall along the imaging direction of the imaging device 100 until the distance to the subject changes from the first distance to the second distance. When the imaging direction of the imaging device 100 is vertical downward, the UAV 10 can rise or fall in the vertical direction until the distance to the subject changes from the first distance to the second distance.
摄像控制部110根据摄像装置100对第一图像进行拍摄时摄像装置100与被摄体600之间的第一距离以及移动后的摄像装置100对第二图像进行拍摄时摄像装置与被摄体之间的第二距离对第二对比度评估滤波器进行确定。当到移动后的被摄体的距离包含于第二距离范围内时，摄像控制部110根据摄像装置100对第一图像进行拍摄时摄像装置100与被摄体600之间的第一距离以及移动后的摄像装置100对第二图像进行拍摄时摄像装置与被摄体之间的第二距离对第二对比度评估滤波器401进行确定。摄像控制部110可以根据第一距离与第二距离的比以及第一对比度评估滤波器的信息对第二对比度评估滤波器进行确定。第一对比度评估滤波器的信息可以是表示第一对比度评估滤波器的特性的信息。第一对比度评估滤波器的信息可以是表示具有评估系数峰值的空间频率的信息。第一距离可以是预设的第一基准距离X 1。第二距离可以是从移动后的摄像装置100到被摄体的距离X C。摄像控制部110可以将X C/X 1与第一空间频率f 0相乘，从而将第二空间频率f 1导出。第二空间频率f 1不同于第一空间频率f 0。摄像控制部110可以对在导出的第二空间频率f 1上具有评估系数峰值的第二对比度评估滤波器401进行确定。随着到被摄体的距离变长，摄像控制部110可以选择第二对比度评估滤波器401，以使具有评估系数峰值的空间频率变高。第二对比度评估滤波器401具有包含第二空间频率f 1的频带。 The imaging control unit 110 is based on the first distance between the imaging device 100 and the subject 600 when the imaging device 100 takes the first image, and the difference between the imaging device and the subject when the moved imaging device 100 takes the second image. The second distance between the second contrast evaluation filter is determined. When the distance to the moved subject is included in the second distance range, the imaging control unit 110 captures the first image based on the first distance between the imaging device 100 and the subject 600 and the movement The second distance between the imaging device and the subject when the subsequent imaging device 100 captures the second image determines the second contrast evaluation filter 401. The imaging control unit 110 may determine the second contrast evaluation filter based on the ratio of the first distance to the second distance and the information of the first contrast evaluation filter. The information of the first contrast evaluation filter may be information representing the characteristics of the first contrast evaluation filter. The information of the first contrast evaluation filter may be information indicating the spatial frequency having the peak value of the evaluation coefficient. The first distance may be a preset first reference distance X 1 . The second distance may be the distance X C from the moving imaging device 100 to the subject. The imaging control unit 110 may multiply X C /X 1 by the first spatial frequency f 0 to derive the second spatial frequency f 1 . The second spatial frequency f 1 is different from the first spatial frequency f 0 . A second evaluation of the filter contrast imaging control section 110 may have a coefficient peak evaluation on one pair at a second spatial frequency f 401 derived determined. As the distance to the subject becomes longer, the imaging control section 110 may select the second contrast evaluation filter 401 so that the spatial frequency with the peak of the evaluation coefficient becomes higher. Contrast Evaluation The second filter 401 having a second band including the spatial frequencies f 1.
当到被摄体的距离为第二距离时，摄像控制部110针对由摄像装置100拍摄的第二图像内由摄像装置100选择的被摄体的区域即第二关注区域，应用第二对比度评估滤波器401，从而将对第二关注区域的对比度值进行评估的第二对比度评估值导出。第二关注区域是第二区域的一个示例。摄像控制部110根据第二对比度评估值来执行摄像装置的对焦控制。摄像控制部110可以根据第二对比度评估值来执行对比度AF控制。摄像控制部110可以使聚焦镜头移动的同时，对第二对比度评估值达到峰值时聚焦镜头的位置进行确定，并使聚焦镜头向被确定的位置移动来执行对焦控制。When the distance to the subject is the second distance, the imaging control unit 110 applies the second contrast evaluation to the area of the subject selected by the imaging device 100 in the second image captured by the imaging device 100, that is, the second area of interest The filter 401 derives the second contrast evaluation value for evaluating the contrast value of the second region of interest. The second area of interest is an example of the second area. The imaging control section 110 performs focus control of the imaging device based on the second contrast evaluation value. The imaging control section 110 may perform contrast AF control according to the second contrast evaluation value. The imaging control unit 110 may move the focus lens, determine the position of the focus lens when the second contrast evaluation value reaches the peak value, and move the focus lens to the determined position to perform focus control.
当摄像装置100与被摄体之间的距离比第二基准距离X 2长时，摄像控制部110可以控制摄像装置的聚焦镜头对焦于无限远处。 When the distance between the imaging device 100 and the subject is longer than the second reference distance X 2 , the imaging control section 110 may control the focus lens of the imaging device to focus at infinity.
图5是示出摄像控制部110所执行的AF控制过程的一个示例的流程图。图5所示的流程图示出UAV10沿着摄像装置100的摄像方向远离被摄体600的同时，摄像装置100对被摄体600进行拍摄时的AF控制过程。FIG. 5 is a flowchart showing an example of an AF control process executed by the imaging control section 110. The flowchart shown in FIG. 5 shows an AF control process when the UAV 10 is moving away from the subject 600 along the imaging direction of the imaging device 100 while the imaging device 100 photographs the subject 600.
摄像控制部110在由摄像装置100拍摄的图像中对关注区域进行确定(S100)。摄像控制部110利用与预设的第一空间频率f 0相对应的对比度评估滤波器来执行对比度AF(S102)。与第一空间频率f 0相对应的对比度评估滤波器是在第一空间频率f 0上具有评估系数峰值的滤波器。对比度评估滤波器可以是将每个空间频率的对比度评估值乘以每个空间频率的评估系数，并将相乘的各个对比度评估值的总和作为图像的对比度评估值输出的滤波器。 The imaging control unit 110 specifies the region of interest in the image captured by the imaging device 100 (S100). The imaging control section 110 performs contrast AF using a contrast evaluation filter corresponding to the preset first spatial frequency f 0 (S102). And a first spatial frequency f 0 corresponding to a contrast evaluation of the filter in the first spatial frequency f 0 having a filter coefficient peak evaluation. The contrast evaluation filter may be a filter that multiplies the contrast evaluation value of each spatial frequency by the evaluation coefficient of each spatial frequency, and outputs the sum of the multiplied individual contrast evaluation values as the contrast evaluation value of the image.
然后，UAV10开始移动(S104)。UAV10可以沿着摄像装置100的摄像方向向远离被摄体的方向移动。摄像控制部110获取到被摄体的当前距离X C(S106)。摄像控 制部110可以获取从测距传感器140到被摄体的距离。摄像控制部110对当前距离X C是否比第一基准距离X 1远进行判定(S108)。 Then, the UAV 10 starts to move (S104). The UAV 10 can move away from the subject along the imaging direction of the imaging device 100. The imaging control unit 110 acquires the current distance X C of the subject (S106). The imaging control unit 110 may acquire the distance from the distance measuring sensor 140 to the subject. The imaging control unit 110 determines whether the current distance X C is farther than the first reference distance X 1 (S108).
若当前距离X C比第一基准距离X 1近，则摄像控制部110执行普通的对比度AF。即，摄像控制部110利用与预设的第一空间频率f 0相对应的对比度评估滤波器来执行对比度AF。 If the current distance X C is shorter than the first reference distance X 1 , the imaging control unit 110 performs normal contrast AF. That is, the imaging control section 110 performs contrast AF using a contrast evaluation filter corresponding to a preset first spatial frequency f 0 .
另一方面，若当前距离X C比第一基准距离X 1远，则摄像控制部110对与第二空间频率f 1相对应的对比度评估滤波器进行确定，第二空间频率f 1为第一基准距离X 1与距离X C的比再与第一空间频率f 0的乘积(S110)。摄像控制部110利用与第二空间频率f 1相对应的对比度评估滤波器来执行对比度AF(S112)。 On the other hand, if the current distance X C away than the first reference distance X 1, the imaging control unit 110 and the spatial frequency f 1 of the second evaluation of the filter corresponding to the contrast determination, a second spatial frequency f 1 is a first The product of the ratio of the reference distance X 1 to the distance X C and the first spatial frequency f 0 (S110). The imaging control section 110 performs contrast AF using a contrast evaluation filter corresponding to the second spatial frequency f 1 (S112).
UAV10进一步沿着摄像装置100的摄像方向移动。摄像控制部110进一步获取到被摄体的当前距离X C(S114)。摄像控制部110对距离X c是否比第二基准距离X 2远进行判定(S116)。若距离X C比第二基准距离X 2近，则摄像控制部110重复步骤S110以后的处理。 The UAV 10 further moves along the imaging direction of the imaging device 100. The imaging control unit 110 further acquires the current distance X C of the subject (S114). The imaging control unit 110 determines whether the distance X c is farther than the second reference distance X 2 (S116). If the distance X C is shorter than the second reference distance X 2 , the imaging control unit 110 repeats the processing after step S110.
若距离X C比第二基准距离X 2远，则摄像控制部110将聚焦镜头固定在对焦于无限远处的位置上(S118)。 If the distance X C is farther than the second reference distance X 2 , the imaging control unit 110 fixes the focus lens at a position focusing on infinity (S118).
如上所述，根据本实施方式，当UAV10沿着摄像装置100的摄像方向离开的同时，摄像装置100对被摄体进行拍摄时，能够保持对比度评估值恒定的同时执行AF控制。As described above, according to the present embodiment, when the imaging device 100 photographs a subject while the UAV 10 is moving away along the imaging direction of the imaging device 100, it is possible to perform AF control while keeping the contrast evaluation value constant.
摄像控制部110对于AF控制以外的摄像控制也可以按照到被摄体的距离进行调整。摄像控制部110可以根据由摄像装置100拍摄的第一图像内由摄像装置选择的被摄体的区域即第一关注区域的图像信息，将第一关注区域的第一评估值导出。摄像控制部110可以根据第一评估值来执行摄像装置的第一摄像控制。摄像控制部110可以根据由摄像装置对被摄体进行拍摄的第二图像内由摄像装置选择的被摄体的区域即第二关注区域的图像信息，将第二关注区域的第二评估值导出。摄像控制部110可以根据摄像装置对第一图像进行拍摄时摄像装置与被摄体之间的第一距离、摄像装置对第二图像进行拍摄时摄像装置与被摄体之间的第二距离、第一评估值以及第二评估值来执行摄像装置的第二摄像控制。The imaging control unit 110 may also adjust imaging controls other than AF control in accordance with the distance to the subject. The imaging control unit 110 may derive the first evaluation value of the first region of interest based on the image information of the region of the subject selected by the imaging device in the first image captured by the imaging device 100, that is, the first region of interest. The imaging control section 110 may perform the first imaging control of the imaging device according to the first evaluation value. The imaging control unit 110 may derive the second evaluation value of the second area of interest based on the area of the subject selected by the imaging device in the second image taken by the imaging device, that is, the image information of the second area of interest . The imaging control unit 110 may be based on the first distance between the imaging device and the subject when the imaging device captures the first image, the second distance between the imaging device and the subject when the imaging device captures the second image, The first evaluation value and the second evaluation value execute the second imaging control of the imaging device.
摄像控制部110可以根据第一距离、第二距离以及第一评估值将第二关注区域的预测的评估值即预测评估值导出，并根据预测评估值以及第二评估值来执行摄像装置的摄像控制，从而执行第二摄像控制。摄像控制部110可以根据第一距离与第二距离的比以及第一评估值将预测评估值导出。The imaging control unit 110 may derive the predicted evaluation value of the second region of interest based on the first distance, the second distance, and the first evaluation value, that is, the predicted evaluation value, and perform the imaging of the imaging device based on the predicted evaluation value and the second evaluation value. Control, thereby executing the second imaging control. The imaging control unit 110 may derive the predicted evaluation value based on the ratio of the first distance to the second distance and the first evaluation value.
到被摄体的距离发生变化，导致关注区域的预测辉度、预测色温度等预测评估值发生变化。例如，距离变长，则辉度降低。距离变长，则会受到瑞利散射的影响，例如，图像的蓝色增加，色温度增高。预测评估值可以预先通过实验而得到并用距离函数进行表示。摄像装置100可以将摄像装置100的周围环境的每个函数存储在存储器130中。The distance to the subject changes, resulting in changes in the predicted brightness and predicted color temperature of the area of interest. For example, as the distance becomes longer, the brightness decreases. As the distance becomes longer, it will be affected by Rayleigh scattering. For example, the blueness of the image increases and the color temperature increases. The predicted evaluation value can be obtained through experiments in advance and expressed by a distance function. The imaging device 100 may store each function of the surrounding environment of the imaging device 100 in the memory 130.
摄像控制部110可以将对第一关注区域的辉度进行评估的第一辉度评估值导出作为第一评估值。摄像控制部110可以根据第一辉度评估值来执行摄像装置的曝光控制。摄像控制部110可以根据第一辉度评估值来确定第一曝光控制值。摄像控制部110可以根据第一曝光控制值来确定光圈值及曝光时间。The imaging control unit 110 may derive the first luminance evaluation value that evaluates the luminance of the first region of interest as the first evaluation value. The imaging control section 110 may perform exposure control of the imaging device based on the first luminance evaluation value. The imaging control unit 110 may determine the first exposure control value based on the first luminance evaluation value. The imaging control unit 110 may determine the aperture value and the exposure time according to the first exposure control value.
摄像控制部110可以将对第二关注区域的辉度进行评估的第二辉度评估值导出作为第二评估值。摄像控制部110可以根据第一距离、第二距离、第一辉度评估值以及第二辉度评估值来执行摄像装置的曝光控制。The imaging control unit 110 may derive a second luminance evaluation value that evaluates the luminance of the second region of interest as the second evaluation value. The imaging control section 110 may perform exposure control of the imaging device based on the first distance, the second distance, the first luminance evaluation value, and the second luminance evaluation value.
摄像控制部110可以根据第一距离、第二距离以及第一辉度评估值将第二关注区域的预测的辉度评估值即预测辉度评估值导出，并根据预测辉度评估值以及第二辉度评估值来执行摄像装置的曝光控制。摄像控制部110可以根据第一距离与第二距离的比以及第一辉度评估值将预测辉度评估值导出。辉度评估值可以是图像的辉度值。可以将到被摄体的距离为预设的距离(例如，第一基准距离X 1)时的图像的辉度评估值设为1。 The imaging control unit 110 can derive the predicted luminance evaluation value of the second region of interest, that is, the predicted luminance evaluation value, according to the first distance, the second distance, and the first luminance evaluation value, and can derive the predicted luminance evaluation value based on the predicted luminance evaluation value and the second luminance evaluation value. The brightness evaluation value performs the exposure control of the imaging device. The imaging control unit 110 may derive the predicted luminance evaluation value based on the ratio of the first distance to the second distance and the first luminance evaluation value. The luminance evaluation value may be the luminance value of the image. The luminance evaluation value of the image when the distance to the subject is a preset distance (for example, the first reference distance X 1 ) may be set to 1.
摄像控制部110可以将第一关注区域的第一色温度导出作为第一评估值。摄像控制部110可以根据第一色温度来执行摄像装置的白平衡控制。摄像控制部110可以将第二关注区域的第二色温度导出作为第二评估值。摄像控制部110可以根据第一距离、第二距离、第一色温度以及第二色温度来执行摄像装置的白平衡控制。摄像控制部110可以根据第一距离、第二距离以及第一色温度将第二关注区域的预测的色温度即预测色温度导出，并根据预测色温度以及第二色温度来执行摄像装置的曝光控制。摄像控制部110可以根据第一距离与第二距离的比以及第一色温度将预测色温度导出。The imaging control unit 110 may derive the first color temperature of the first region of interest as the first evaluation value. The imaging control unit 110 may perform white balance control of the imaging device according to the first color temperature. The imaging control unit 110 may derive the second color temperature of the second region of interest as the second evaluation value. The imaging control unit 110 may perform white balance control of the imaging device according to the first distance, the second distance, the first color temperature, and the second color temperature. The imaging control unit 110 can derive the predicted color temperature of the second region of interest, that is, the predicted color temperature based on the first distance, the second distance, and the first color temperature, and perform exposure of the imaging device based on the predicted color temperature and the second color temperature. control. The imaging control unit 110 may derive the predicted color temperature based on the ratio of the first distance to the second distance and the first color temperature.
随着到被摄体的距离变长，由摄像装置100拍摄的图像中的被摄体的辉度降低。辉度与到被摄体的距离的平方成比例地降低。因此，摄像控制部110考虑到辉度与到被摄体的距离的平方成比例地降低，以对辉度评估值进行预测作为预测辉度评估值，并根据预测辉度评估值来执行曝光控制。As the distance to the subject becomes longer, the brightness of the subject in the image captured by the imaging device 100 decreases. The brightness decreases in proportion to the square of the distance to the subject. Therefore, the imaging control section 110 considers that the luminance decreases in proportion to the square of the distance to the subject, predicts the luminance evaluation value as the predicted luminance evaluation value, and performs exposure control based on the predicted luminance evaluation value .
例如，如图6A所示，到被摄体的当前距离为X C1时，将辉度评估值设为1。如图6B所示，到被摄体的当前距离为X C2时，摄像控制部110对1/(X C2/X C1) 2和预测辉度评估值进行预测。 For example, as shown in FIG. 6A, when the current distance to the subject is X C1 , the luminance evaluation value is set to 1. As shown in FIG. 6B, when the current distance to the subject is X C2 , the imaging control unit 110 predicts 1/(X C2 /X C1 ) 2 and the predicted luminance evaluation value.
图7是示出摄像控制部110进行AE控制过程的一个示例的流程图。图7所示的流程图表示当UAV10沿着摄像装置100的摄像方向远离的同时，摄像装置100对被摄体进行拍摄时的AE控制过程。FIG. 7 is a flowchart showing an example of an AE control process performed by the imaging control unit 110. The flowchart shown in FIG. 7 shows the AE control process when the UAV 10 moves away along the imaging direction of the imaging device 100 while the imaging device 100 photographs the subject.
摄像控制部110在由摄像装置100拍摄的图像中对关注区域进行确定(S200)。UAV10沿着摄像装置100的摄像方向移动。摄像控制部110获取到被摄体的当前距离X C(S202)。摄像控制部110对关注区域的第一辉度评估值进行确定来执行AE(S204)。摄像控制部110可以确定关注区域510内的辉度值作为第一辉度评估值。摄像控制部110可以确定关注区域510内的平均辉度值作为第一辉度评估值。摄像控制部110可以根据关注区域的第一辉度评估值来确定第一曝光控制值，并根据第一曝光控制值来确定光圈值及曝光时间从而执行AE。 The imaging control unit 110 specifies the region of interest in the image captured by the imaging device 100 (S200). The UAV 10 moves along the imaging direction of the imaging device 100. The imaging control unit 110 acquires the current distance X C of the subject (S202). The imaging control unit 110 determines the first luminance evaluation value of the region of interest and executes AE (S204). The imaging control unit 110 may determine the luminance value in the region of interest 510 as the first luminance evaluation value. The imaging control unit 110 may determine the average luminance value in the region of interest 510 as the first luminance evaluation value. The imaging control unit 110 may determine the first exposure control value according to the first luminance evaluation value of the region of interest, and determine the aperture value and the exposure time according to the first exposure control value to perform AE.
然后，摄像控制部110进一步获取到被摄体的当前距离X C(S206)。摄像控制部110对当前距离X C是否比第一基准距离X 1远进行判定(S208)。若当前距离X C比第一基准距离X 1近，通常，可以根据关注区域510内的辉度值来执行曝光控制。 Then, the imaging control unit 110 further acquires the current distance X C of the subject (S206). The imaging control unit 110 determines whether the current distance X C is farther than the first reference distance X 1 (S208). If the current distance X C is closer than the first reference distance X 1 , usually, the exposure control can be performed according to the luminance value in the region of interest 510.
另一方面，若当前距离X C比第一基准距离X 1远，摄像控制部110根据上一次确定的第一辉度评估值及上一次的距离X C1与本次距离X C2的比将第二辉度评估值导出，并根据第二辉度评估值来执行AE(S210)。摄像控制部110可以将上一次的第一辉度评估值乘以上一次的距离X C1与本次距离X C2的比的平方的倒数(1/(X C2/X C1) 2)，从而将第二辉度评估值导出。摄像控制部110考虑到被摄体的距离的变化，将预测的第二辉度评估值导出，并暂时根据第二辉度评估值来执行AE。然后，摄像控制部110 根据由摄像装置100拍摄的图像的关注区域的辉度评估值来执行AE。根据预测的第二辉度评估值执行AE，从而能够使由摄像装置100拍摄的图像的辉度保持稳定。 On the other hand, if the current distance X C is farther than the first reference distance X 1 , the imaging control unit 110 determines the first luminance value determined last time and the ratio of the last distance X C1 to the current distance X C2 . The second luminance evaluation value is derived, and AE is performed based on the second luminance evaluation value (S210). The imaging control unit 110 may multiply the last first luminance evaluation value by the reciprocal (1/(X C2 /X C1 ) 2 ) of the square of the ratio of the last distance X C1 to the current distance X C2 , thereby dividing the first The second luminance evaluation value is derived. The imaging control unit 110 takes into consideration the change in the distance of the subject, derives the predicted second luminance evaluation value, and temporarily performs AE based on the second luminance evaluation value. Then, the imaging control section 110 performs AE based on the luminance evaluation value of the region of interest of the image captured by the imaging device 100. AE is performed based on the predicted second luminance evaluation value, so that the luminance of the image captured by the imaging device 100 can be kept stable.
图8是示出摄像控制部110进行AWB控制过程的一个示例的流程图。图8所示的流程图表示当UAV10沿着摄像装置100的摄像方向远离的同时，摄像装置100对被摄体进行拍摄时的AWB控制过程。FIG. 8 is a flowchart showing an example of an AWB control process performed by the imaging control unit 110. The flowchart shown in FIG. 8 shows the AWB control process when the UAV 10 moves away along the imaging direction of the imaging device 100 while the imaging device 100 photographs the subject.
摄像控制部110在由摄像装置100拍摄的图像中对关注区域进行确定(S300)。UAV10沿着摄像装置100的摄像方向移动。摄像控制部110获取到被摄体的当前距离X C(S302)。摄像控制部110对关注区域的第一色温度进行确定来执行AWB(S304)。摄像控制部110根据关注区域内的RGB积分值对白色(无彩色)区域和该区域中的色温度进行确定。为了对基于光源色调的被摄体外观的变化进行修正，根据确定的色温度，对与RGB各个通道的像素值相乘而得出的白平衡(WB)系数进行确定。由此，摄像控制部110可以执行AWB。 The imaging control unit 110 specifies the region of interest in the image captured by the imaging device 100 (S300). The UAV 10 moves along the imaging direction of the imaging device 100. The imaging control unit 110 acquires the current distance X C of the subject (S302). The imaging control unit 110 determines the first color temperature of the region of interest and executes AWB (S304). The imaging control unit 110 determines the white (achromatic) area and the color temperature in the area based on the RGB integrated value in the area of interest. In order to correct the change in the appearance of the subject based on the hue of the light source, the white balance (WB) coefficients obtained by multiplying the pixel values of the RGB channels are determined according to the determined color temperature. Thus, the imaging control unit 110 can execute AWB.
然后，摄像控制部110进一步获取到被摄体的当前距离X C(S306)。摄像控制部110对当前距离X C是否比第一基准距离X 1远进行判定(S308)。若当前距离X C比第一基准距离X 1近，通常，可以根据关注区域510内的色温度来执行AWB。 Then, the imaging control unit 110 further acquires the current distance X C of the subject (S306). The imaging control unit 110 determines whether the current distance X C is farther than the first reference distance X 1 (S308). If the current distance X C is closer than the first reference distance X 1 , generally, AWB can be performed according to the color temperature in the region of interest 510.
另一方面，若当前距离X C比第一基准距离X 1远，摄像控制部110根据上一次确定的第一色温度以及上一次的距离X C1与本次距离X C2的比将第二色温度导出，并根据第二色温度来执行AWB(S310)。摄像控制部110可以针对上一次的距离X C1与本次距离X C2的比，根据预设的函数将第二色温度导出。摄像控制部110可以将第一色温度乘以针对上一次的距离X C1与本次距离X C2的比并根据预设的函数所导出的系数，从而将第二色温度导出。 On the other hand, if the current distance X C is farther than the first reference distance X 1 , the imaging control unit 110 changes the second color according to the first color temperature determined last time and the ratio of the last distance X C1 to the current distance X C2 The temperature is derived, and AWB is executed according to the second color temperature (S310). The imaging control unit 110 may derive the second color temperature according to a preset function based on the ratio of the last distance X C1 to the current distance X C2 . The imaging control unit 110 may multiply the first color temperature by the ratio of the previous distance X C1 to the current distance X C2 and a coefficient derived according to a preset function to derive the second color temperature.
摄像控制部110考虑到被摄体的距离的变化将预测的第二色温度导出，并暂时根据第二色温度来执行AWB。然后，摄像控制部110根据由摄像装置100拍摄的图像的关注区域的色温度来执行AWB。根据预测的第二色温度执行AWB，从而能够使由摄像装置100拍摄的图像的白平衡保持稳定。The imaging control unit 110 derives the predicted second color temperature in consideration of the change in the distance of the subject, and temporarily performs AWB based on the second color temperature. Then, the imaging control unit 110 executes AWB based on the color temperature of the region of interest of the image captured by the imaging device 100. The AWB is executed according to the predicted second color temperature, so that the white balance of the image captured by the imaging device 100 can be maintained stable.
以上，根据本实施方式所涉及的摄像装置100，能够防止到确定的被摄体的距离的变化所导致的无法稳定地进行AF控制、AE控制、AWB控制等摄像控制的发生。As described above, according to the imaging device 100 according to the present embodiment, it is possible to prevent the inability to stably perform imaging control such as AF control, AE control, and AWB control due to a change in the distance to a certain subject.
图9表示可全部或部分地体现本发明的多个方面的计算机1200的一个示例。安装在计算机1200上的程序能够使计算机1200作为与本发明的实施方式所涉及的装置相关联的操作或者该装置的一个或多个“部”而起作用。或者，该程序能够使计算机1200执行该操作或者该一个或多个“部”。该程序能够使计算机1200执行本发明的实施方式所涉及的过程或者该过程的阶段。这种程序可以由CPU1212执行，以使计算机1200执行与本说明书所述的流程图及框图中的一些或者全部方框相关联的确定操作。FIG. 9 shows an example of a computer 1200 that can fully or partially embody various aspects of the present invention. The program installed on the computer 1200 can make the computer 1200 function as an operation associated with the device according to the embodiment of the present invention or one or more "parts" of the device. Alternatively, the program can cause the computer 1200 to perform the operation or the one or more "parts". This program enables the computer 1200 to execute the process or stages of the process involved in the embodiment of the present invention. Such a program can be executed by the CPU 1212, so that the computer 1200 executes certain operations associated with some or all of the blocks in the flowcharts and block diagrams described in this specification.
根据本实施方式的计算机1200包括CPU1212和RAM1214，它们通过主机控制器1210相互连接。计算机1200还包括通信接口1222、输入/输出单元，它们通过输入/输出控制器1220与主机控制器1210连接。计算机1200还包括ROM1230。CPU1212根据存储在ROM1230和RAM1214中的程序进行操作，从而控制每个单元。The computer 1200 according to the present embodiment includes a CPU 1212 and a RAM 1214, which are connected to each other through a host controller 1210. The computer 1200 further includes a communication interface 1222, an input/output unit, which is connected to the host controller 1210 through the input/output controller 1220. The computer 1200 also includes a ROM 1230. The CPU 1212 operates in accordance with programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit.
通信接口1222经由网络与其他电子设备通信。硬盘驱动器可以储存计算机1200内的CPU1212所使用的程序及数据。ROM1230在其中储存运行时由计算机1200执行的引导程序等、和/或依赖于计算机1200的硬件的程序。程序通过CR-ROM、USB存储器或IC卡之类的计算机可读记录介质或者网络来提供。程序安装在也作为计算 机可读记录介质的示例的RAM1214或ROM1230中，并通过CPU1212执行。这些程序中记述的信息处理由计算机1200读取，并引起程序与上述各种类型的硬件资源之间的协作。可以随着计算机1200的使用而实现信息的操作或者处理，从而构成装置或方法。The communication interface 1222 communicates with other electronic devices via a network. The hard disk drive can store programs and data used by the CPU 1212 in the computer 1200. The ROM 1230 stores therein a boot program executed by the computer 1200 during operation, and/or a program dependent on the hardware of the computer 1200. The program is provided via a computer-readable recording medium such as CR-ROM, USB memory, or IC card, or a network. The program is installed in RAM 1214 or ROM 1230 which is also an example of a computer-readable recording medium, and is executed by CPU 1212. The information processing described in these programs is read by the computer 1200 and causes cooperation between the programs and the various types of hardware resources described above. The operation or processing of information can be realized as the computer 1200 is used, thereby constituting an apparatus or method.
例如，当在计算机1200和外部设备之间执行通信时，CPU1212可以执行加载在RAM1214中的通信程序，并且基于通信程序中描述的处理，命令通信接口1222进行通信处理。在CPU1212的控制下，通信接口1222读取存储在诸如RAM1214或USB存储器之类的记录介质中提供的发送缓冲区中的发送数据，并将读取的发送数据发送到网络，或者将从网络接收的接收数据写入记录介质上提供的接收缓冲区等。For example, when performing communication between the computer 1200 and an external device, the CPU 1212 may execute a communication program loaded in the RAM 1214, and based on the processing described in the communication program, instruct the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads the transmission data stored in the transmission buffer provided in a recording medium such as RAM 1214 or USB memory, and sends the read transmission data to the network or receives it from the network The received data is written into the receiving buffer provided on the recording medium, etc.
另外，CPU1212可以使RAM1214读取存储在诸如USB存储器等外部记录介质中的文件或数据库的全部或必要部分，并对RAM1214上的数据执行各种类型的处理。接着，CPU1212可以将处理过的数据写回到外部记录介质中。In addition, the CPU 1212 can make the RAM 1214 read all or necessary parts of files or databases stored in an external recording medium such as a USB memory, and perform various types of processing on the data on the RAM 1214. Then, the CPU 1212 can write the processed data back to the external recording medium.
诸如各种类型的程序、数据、表格和数据库的各种类型的信息可以存储在记录介质中并且接受信息处理。对于从RAM1214读取的数据，CPU1212可执行在本公开的各处描述的、包括由程序的指令序列确定的各种类型的操作、信息处理、条件判断、条件转移、无条件转移、信息的检索/替换等各种类型的处理，并将结果写回到RAM1214中。此外，CPU1212可以检索记录介质内的文件、数据库等中的信息。例如，在记录介质中储存具有分别与第二属性的属性值建立了关联的第一属性的属性值的多个条目时，CPU1212可以从该多个条目中检索出与指定第一属性的属性值的条件相匹配的条目，并读取该条目内储存的第二属性的属性值，从而获取与满足预定条件的第一属性相关联的第二属性的属性值。Various types of information such as various types of programs, data, tables, and databases can be stored in a recording medium and subjected to information processing. For the data read from the RAM 1214, the CPU 1212 can perform various types of operations, information processing, conditional judgment, conditional transfer, unconditional transfer, and information retrieval described in various parts of this disclosure, including determined by the instruction sequence of the program. Replace various types of processing, and write the results back to RAM 1214. In addition, the CPU 1212 can search for information in files, databases, and the like in the recording medium. For example, when storing a plurality of entries having the attribute value of the first attribute respectively associated with the attribute value of the second attribute in the recording medium, the CPU 1212 may retrieve the attribute value of the specified first attribute from the multiple entries And read the attribute value of the second attribute stored in the entry to obtain the attribute value of the second attribute associated with the first attribute meeting the predetermined condition.
上述程序或软件模块可以存储在计算机1200上或计算机1200附近的计算机可读存储介质上。此外，连接到专用通信网络或因特网的服务器***中提供的诸如硬盘或RAM之类的记录介质可以用作计算机可读存储介质，从而可以经由网络将程序提供到计算机1200。The above-mentioned programs or software modules may be stored on the computer 1200 or on a computer-readable storage medium near the computer 1200. In addition, a recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium so that the program can be provided to the computer 1200 via the network.
应该注意的是，权利要求书、说明书以及附图中所示的装置、***、程序以及方法中的动作、顺序、步骤以及阶段等各项处理的执行顺序，只要没有特别明示“在...之前”、“事先”等，且只要前面处理的输出并不用在后面的处理中，则可以任意顺序实现。关于权利要求书、说明书以及附图中的操作流程，为方便起见而使用“首先”、“接着”等进行了说明，但并不意味着必须按照这样的顺序实施。It should be noted that the execution order of the actions, sequences, steps, and stages in the devices, systems, programs and methods shown in the claims, descriptions and drawings, as long as there is no special indication "in... "Before", "in advance", etc., and as long as the output of the previous processing is not used in the subsequent processing, they can be implemented in any order. Regarding the operating procedures in the claims, the specification and the drawings, the descriptions are made using "first", "next", etc. for convenience, but it does not mean that it must be implemented in this order.
以上使用实施方式对本发明进行了说明，但是本发明的技术范围并不限于上述实施方式所描述的范围。对本领域普通技术人员来说，显然可对上述实施方式加以各种变更或改良。从权利要求书的描述显而易见的是，加以了这样的变更或改良的方式都可包含在本发明的技术范围之内。The present invention has been described above using the embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It is obvious to those skilled in the art that various changes or improvements can be made to the above-mentioned embodiments. It is obvious from the description of the claims that all such changes or improvements can be included in the technical scope of the present invention.
【符号说明】【Symbol Description】
10 UAV10 UAV
20 UAV主体20 UAV subject
30 UAV控制部30 UAV Control Department
36 通信接口36 Communication interface
37 存储器37 Memory
40 推进部40 Promotion Department
41 GPS接收器41 GPS receiver
42 惯性测量装置42 Inertial measurement device
43 磁罗盘43 Magnetic Compass
44 气压高度计44 Barometric Altimeter
45 温度传感器45 Temperature sensor
46 湿度传感器46 Humidity sensor
50 万向节50 universal joint
60 摄像装置60 Camera device
100 摄像装置100 camera device
102 摄像部102 Camera Department
110 摄像控制部110 Camera Control Department
120 图像传感器120 Image sensor
130 存储器130 Memory
200 镜头部200 lens department
210 镜头210 Lens
212 镜头驱动部212 Lens Drive
214 位置传感器214 Position Sensor
220 镜头控制部220 Lens Control Department
222 存储器222 Memory
300 远程操作装置300 remote operation device
1200 计算机1200 Computer
1210 主机控制器1210 Host Controller
1212 CPU1212 CPU
1214 RAM1214 RAM
1220 输入/输出控制器1220 Input/Output Controller
1222 通信接口1222 Communication interface
1230 ROM1230 ROM

Claims (20)

  1. 一种控制装置，其特征在于，包括电路，其构成为：针对由摄像装置拍摄的第一图像内的包含有被摄体的区域即第一区域，应用第一对比度评估滤波器，从而将对所述第一区域的对比度值进行评估的第一对比度评估值导出；A control device is characterized by comprising a circuit, which is configured to apply a first contrast evaluation filter to an area containing a subject in a first image taken by an imaging device, that is, a first area, thereby Deriving a first contrast evaluation value for evaluating the contrast value of the first region;
    根据所述第一对比度评估值来执行所述摄像装置的对焦控制；Performing focus control of the imaging device according to the first contrast evaluation value;
    根据所述摄像装置对所述第一图像进行拍摄时所述摄像装置与所述被摄体之间的第一距离以及所述摄像装置对第二图像进行拍摄时所述摄像装置与所述被摄体之间的第二距离对第二对比度评估滤波器进行确定；According to the first distance between the imaging device and the subject when the imaging device captures the first image, and the imaging device and the subject when the imaging device captures the second image The second distance between the subjects determines the second contrast evaluation filter;
    针对所述第二图像内的包含有所述被摄体的区域即第二区域，应用所述第二对比度评估滤波器，从而将对所述第二区域的对比度值进行评估的第二对比度评估值导出；For the second area that includes the subject in the second image, the second contrast evaluation filter is applied to evaluate the contrast value of the second area. Value export
    根据所述第二对比度评估值来执行所述摄像装置的对焦控制。The focus control of the imaging device is performed based on the second contrast evaluation value.
  2. 根据权利要求1所述的控制装置，其特征在于，所述第一对比度评估滤波器具有包含第一空间频率的频带，所述第二对比度评估滤波器具有包含第二空间频率的频带，其中所述第二空间频率不同于所述第一空间频率。The control device according to claim 1, wherein the first contrast evaluation filter has a frequency band including a first spatial frequency, and the second contrast evaluation filter has a frequency band including a second spatial frequency, wherein The second spatial frequency is different from the first spatial frequency.
  3. 根据权利要求1所述的控制装置，其特征在于，对所述第二对比度评估滤波器进行确定包括：The control device according to claim 1, wherein determining the second contrast evaluation filter comprises:
    根据所述第一距离与所述第二距离的比以及所述第一对比度评估滤波器的信息对所述第二对比度评估滤波器进行确定。The second contrast evaluation filter is determined according to the ratio of the first distance to the second distance and the information of the first contrast evaluation filter.
  4. 根据权利要求1所述的控制装置，其特征在于，所述电路进一步构成为：当所述摄像装置与所述被摄体之间的距离比预设的距离长时，控制所述摄像装置的聚焦镜头对焦于无限远处。The control device according to claim 1, wherein the circuit is further configured to: when the distance between the imaging device and the subject is longer than a preset distance, control the operation of the imaging device The focusing lens focuses on infinity.
  5. 一种控制装置，其特征在于，包括电路，其构成为：A control device, characterized in that it comprises a circuit, which is composed of:
    根据由摄像装置拍摄的第一图像内的包含有被摄体的区域即第一区域的图像信息，将所述第一区域的第一评估值导出；Deriving the first evaluation value of the first area according to the image information of the area containing the subject in the first image taken by the imaging device, that is, the first area;
    根据所述第一评估值来执行所述摄像装置的第一摄像控制；Execute the first imaging control of the imaging device according to the first evaluation value;
    根据通过所述摄像装置对所述被摄体进行拍摄的第二图像内的包含有所述被摄体的区域即第二区域的图像信息，将所述第二区域的第二评估值导出；Deriving the second evaluation value of the second area according to the image information of the second area, which is the area containing the object, in the second image taken by the imaging device of the object;
    根据所述摄像装置对所述第一图像进行拍摄时所述摄像装置与所述被摄体之间的第一距离、所述摄像装置对所述第二图像进行拍摄时所述摄像装置与所述被摄体之间的第二距离、所述第一评估值以及所述第二评估值来执行所述摄像装置的第二摄像控制。According to the first distance between the imaging device and the subject when the imaging device takes the first image, the imaging device and the object when the imaging device takes the second image The second distance between the subjects, the first evaluation value, and the second evaluation value perform second imaging control of the imaging device.
  6. 根据权利要求5所述的控制装置，其特征在于，执行所述第二摄像控制包括：The control device according to claim 5, wherein executing the second camera control comprises:
    根据所述第一距离、所述第二距离以及所述第一评估值将所述第二区域的预测的评估值即预测评估值导出，并根据所述预测评估值以及所述第二评估值来执行所述摄像装置的摄像控制。Derive the predicted evaluation value of the second region, that is, the predicted evaluation value, according to the first distance, the second distance, and the first evaluation value, and then derive the predicted evaluation value and the second evaluation value To perform imaging control of the imaging device.
  7. 根据权利要求6所述的控制装置，其特征在于，将所述预测评估值导出包括：The control device according to claim 6, wherein deriving the predicted evaluation value comprises:
    根据所述第一距离与所述第二距离的比以及所述第一评估值，将所述预测评估值导出。The predicted evaluation value is derived based on the ratio of the first distance to the second distance and the first evaluation value.
  8. 根据权利要求6所述的控制装置，其特征在于，将所述第一评估值导出包括将对所述第一区域的辉度进行评估的第一辉度评估值导出作为所述第一评估值；The control device according to claim 6, wherein deriving the first evaluation value includes deriving a first luminance evaluation value that evaluates the luminance of the first region as the first evaluation value ；
    执行所述第一摄像控制包括根据所述第一辉度评估值来执行所述摄像装置的曝光控制；Performing the first imaging control includes performing exposure control of the imaging device according to the first luminance evaluation value;
    将所述第二评估值导出包括将对所述第二区域的辉度进行评估的第二辉度评估值导出作为所述第二评估值；Deriving the second evaluation value includes deriving a second luminance evaluation value that evaluates the luminance of the second region as the second evaluation value;
    执行所述第二摄像控制包括根据所述第一距离、所述第二距离、所述第一辉度评估值以及所述第二辉度评估值来执行所述摄像装置的曝光控制。Performing the second imaging control includes performing exposure control of the imaging device based on the first distance, the second distance, the first luminance evaluation value, and the second luminance evaluation value.
  9. 根据权利要求8所述的控制装置，其特征在于，执行所述第二摄像控制包括：The control device according to claim 8, wherein executing the second camera control comprises:
    根据所述第一距离、所述第二距离以及所述第一辉度评估值将所述第二区域的预测的辉度评估值即预测辉度评估值导出，并根据所述预测辉度评估值以及所述第二辉度评估值来执行所述摄像装置的曝光控制。According to the first distance, the second distance, and the first luminance evaluation value, the predicted luminance evaluation value of the second region, that is, the predicted luminance evaluation value, is derived, and evaluated according to the predicted luminance Value and the second luminance evaluation value to perform exposure control of the imaging device.
  10. 根据权利要求9所述的控制装置，其特征在于，将所述预测辉度评估值导出包括：The control device according to claim 9, wherein deriving the predicted luminance evaluation value comprises:
    根据所述第一距离与所述第二距离的比以及所述第一辉度评估值将所述预测辉度评估值导出。The predicted luminance evaluation value is derived based on the ratio of the first distance to the second distance and the first luminance evaluation value.
  11. 根据权利要求6所述的控制装置，其特征在于，将所述第一评估值导出包括将所述第一区域的第一色温度导出作为所述第一评估值；7. The control device according to claim 6, wherein deriving the first evaluation value comprises deriving the first color temperature of the first region as the first evaluation value;
    执行所述第一摄像控制包括根据所述第一色温度来执行所述摄像装置的白平衡控制；Performing the first imaging control includes performing white balance control of the imaging device according to the first color temperature;
    将所述第二评估值导出包括将所述第二区域的第二色温度导出作为所述第二评估值；Deriving the second evaluation value includes deriving a second color temperature of the second region as the second evaluation value;
    执行所述第二摄像控制包括根据所述第一距离、所述第二距离、所述第一色温度以及所述第二色温度来执行所述摄像装置的白平衡控制。Performing the second imaging control includes performing white balance control of the imaging device based on the first distance, the second distance, the first color temperature, and the second color temperature.
  12. 根据权利要求11所述的控制装置，其特征在于，执行所述第二摄像控制包括：The control device according to claim 11, wherein executing the second camera control comprises:
    根据所述第一距离、所述第二距离以及所述第一色温度将所述第二区域的预测的色温度即预测色温度导出，并根据所述预测色温度以及所述第二色温度来执行所述摄像装置的曝光控制。According to the first distance, the second distance, and the first color temperature, the predicted color temperature of the second region, that is, the predicted color temperature is derived, and based on the predicted color temperature and the second color temperature To perform exposure control of the imaging device.
  13. 根据权利要求12所述的控制装置，其特征在于，将所述预测色温度导出包括：The control device according to claim 12, wherein deriving the predicted color temperature comprises:
    根据所述第一距离与所述第二距离的比以及所述第一色温度将所述预测色温度导出。The predicted color temperature is derived based on the ratio of the first distance to the second distance and the first color temperature.
  14. 一种摄像装置，其特征在于，包括根据权利要求1至13中任一项所述的控制装置；以及图像传感器。An imaging device, comprising the control device according to any one of claims 1 to 13; and an image sensor.
  15. 一种移动体，其特征在于，包括根据权利要求14所述的摄像装置并移动。A mobile body characterized by comprising and moving the camera device according to claim 14.
  16. 根据权利要求15所述的移动体，其特征在于，所述移动体沿着所述摄像装置的摄像方向移动，直至到所述被摄体的距离从所述第一距离变至所述第二距离。The mobile body according to claim 15, wherein the mobile body moves along the imaging direction of the imaging device until the distance to the subject changes from the first distance to the second distance. distance.
  17. 根据权利要求16所述的移动体，其特征在于，所述移动体是飞行体，The mobile body according to claim 16, wherein the mobile body is a flying body,
    所述飞行体沿着所述摄像装置的摄像方向上升或者下降，直至到所述被摄体的距离从所述第一距离变至所述第二距离。The flying body rises or falls along the imaging direction of the imaging device until the distance to the subject changes from the first distance to the second distance.
  18. 一种摄像装置的控制方法，其特征在于，包括：针对由摄像装置拍摄的第一图像中的被摄体的区域即第一区域，应用第一对比度评估滤波器，从而将对所述第一区域的对比度值进行评估的第一对比度评估值导出的阶段；A control method of an imaging device, characterized in that it comprises: applying a first contrast evaluation filter to the area of the subject in the first image taken by the imaging device, that is, the first area, so that the The stage of deriving the first contrast evaluation value for evaluating the contrast value of the area;
    根据所述第一对比度评估值来执行所述摄像装置的对焦控制的阶段；Executing the stage of focusing control of the imaging device according to the first contrast evaluation value;
    根据所述摄像装置对所述第一图像进行拍摄时所述摄像装置与所述被摄体之间的第一距离以及所述摄像装置对第二图像进行拍摄时所述摄像装置与所述被摄体之间的第二距离，对第二对比度评估滤波器进行确定的阶段；According to the first distance between the imaging device and the subject when the imaging device captures the first image, and the imaging device and the subject when the imaging device captures the second image The second distance between the subjects, the stage of determining the second contrast evaluation filter;
    针对所述第二图像内由所述摄像装置选择的所述被摄体的区域即第二区域，应用所述第二对比度评估滤波器，从而将对所述第二区域的对比度值进行评估的第二对比度评估值导出的阶段；以及For the area of the subject selected by the imaging device in the second image, that is, the second area, the second contrast evaluation filter is applied, so that the contrast value of the second area will be evaluated The second stage of contrast evaluation value derivation; and
    根据所述第二对比度评估值来执行所述摄像装置的对焦控制的阶段。The stage of focus control of the imaging device is executed based on the second contrast evaluation value.
  19. 一种控制方法，其特征在于，包括：根据由摄像装置拍摄的第一图像内的包含有被摄体的区域即第一区域的图像信息，将所述第一区域的第一评估值导出的阶段；A control method, characterized in that it comprises: deriving a first evaluation value of the first area according to the image information of the area containing the subject in the first image taken by the imaging device, that is, the first area stage;
    根据所述第一评估值来执行所述摄像装置的第一摄像控制的阶段；Executing the stage of the first imaging control of the imaging device according to the first evaluation value;
    根据所述由摄像装置对所述被摄体进行拍摄的第二图像内的包含有所述被摄体的区域即第二区域的图像信息，将所述第二区域的第二评估值导出的阶段；Derive the second evaluation value of the second area according to the image information of the second area that contains the object in the second image taken by the imaging device of the object stage;
    根据所述摄像装置对所述第一图像进行拍摄时所述摄像装置与所述被摄体之间的第一距离、所述摄像装置对所述第二图像进行拍摄时所述摄像装置与所述被摄体之间的第二距离、所述第一评估值以及所述第二评估值来执行所述摄像装置的第二摄像控制的阶段。According to the first distance between the imaging device and the subject when the imaging device takes the first image, the imaging device and the object when the imaging device takes the second image The second distance between the subjects, the first evaluation value, and the second evaluation value are used to perform the second imaging control phase of the imaging device.
  20. 一种程序，其特征在于，其用于使计算机作为根据权利要求1至13中任一项所述的控制装置发挥功能。A program characterized by causing a computer to function as a control device according to any one of claims 1 to 13.
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