JP2017112440A - Imaging system and control method thereof, mobile imaging device, and communication device - Google Patents

Abstract

An imaging system including a mobile imaging device and a communication device enables a user to control the angle of view of the mobile imaging device with a simple operation. An imaging system includes a moving imaging device having a zoom function and a communication device. The communication device transmits a zoom function instruction signal, and the mobile imaging device 100 receives the signal. The mobile imaging device 100 includes a movement control unit that controls the drive unit and a camera control unit that controls the imaging unit. When the zoom function instruction signal is received, the CPU of the mobile imaging device 100 performs the first control to change the shooting angle of view by the camera control unit when the zoom position is within the camera zoom region 320, and the zoom position Is changed to the moving zoom areas 321 and 322 beyond the camera zoom area 320, the second control for changing the shooting angle of view is performed by moving the moving imaging apparatus 100 by the movement control unit. [Selection] Figure 3

Description

  The present invention relates to an imaging system including a mobile imaging device including an imaging unit having a zoom function and a communication device.

  There is a video conference as a system for moving and controlling a video camera having a zoom function. Patent Document 1 discloses a technique for controlling the moving speed of a video camera in accordance with the zoom position of the camera. When moving the video camera in a video conference, if the moving speed is controlled to be constant regardless of the zoom magnification, the moving amount of the subject image is small during wide-angle shooting and large during telephoto shooting. For this reason, Japanese Patent Application Laid-Open No. 2004-26883 controls the moving speed of the video camera according to the zoom control amount, with the problem that the user who is viewing the received image feels uncomfortable.

  Moreover, there is an apparatus in which a camera is attached to a drone as a mobile imaging apparatus, and it can be easily operated using a computer or a smartphone as a controller. A drone is an aircraft that flies by remote control or autonomous control without a crew member getting on board, and in recent years, it means all drones. A drone equipped with a camera with a zoom function includes an operation key for movement and an operation key for zoom operation of the camera.

JP-A-6-268899

  In a drone equipped with a camera with a zoom function corresponding to an operation by wireless communication, the user needs to perform framing while performing a drone moving operation and a camera zoom operation. When performing a zoom operation on the subject, the user performs a zoom operation while performing a drone moving operation. For this reason, the operation becomes complicated, and stable zoom photographing becomes difficult.

  In the technique disclosed in Patent Document 1, the moving speed of the video camera is controlled in conjunction with the zoom control amount. Therefore, the optical zoom and the movement of the video camera cannot be adaptively controlled by a simple operation.

  When shooting with a camera equipped with a zoom function mounted on a moving body, it is required to prioritize shooting with a stable zoom operation and to automatically control the posture and movement of the moving body. An object of the present invention is to enable a user to control the angle of view of a mobile imaging device with a simple operation in an imaging system including a mobile imaging device and a communication device.

  An imaging system according to an embodiment of the present invention is an imaging system including a mobile imaging device having a zoom function and a communication device that communicates with the mobile imaging device, the communication device having a zoom function on the mobile imaging device. The moving imaging apparatus includes: a movement control unit that controls a driving unit of the moving imaging apparatus; an imaging control unit that performs imaging control of the imaging unit; and Receiving means for receiving an instruction signal; detecting means for detecting a zoom position of the imaging means; and when the receiving means receives the instruction signal, the zoom position detected by the detecting means is a first zoom. If it is within the area, the imaging control means performs a first control to change the shooting angle of view, and when the receiving means receives the instruction signal, the detection means detects it. If has been the zoom position is a second zoom area, and a control means for performing a second control for changing the photographing angle by moving the moving imager by the movement control means.

  ADVANTAGE OF THE INVENTION According to this invention, in an imaging system provided with a mobile imaging device and a communication apparatus, a user can perform a view angle control of a mobile imaging device with simple operation.

It is a related figure of the mobile imaging device and communication apparatus which concern on embodiment of this invention. 1 is a block diagram of a mobile imaging device according to an embodiment of the present invention. It is the schematic which illustrates the display screen of the communication apparatus which concerns on embodiment of this invention. It is an operation | movement flowchart figure which concerns on embodiment of this invention. It is a figure explaining the zoom operation | movement by the movement of the body which concerns on embodiment of this invention. It is the schematic which illustrates the screen display of the communication apparatus which concerns on 2nd Embodiment of this invention. It is a flowchart figure of the collision avoidance operation | movement which concerns on 2nd Embodiment of this invention. It is an operation | movement flowchart figure of the automatic imaging position alignment which concerns on 2nd Embodiment of this invention.

  Embodiments of the present invention will be described below with reference to the drawings. In each embodiment, a mobile imaging system using an unmanned aerial vehicle will be described as an imaging system including a mobile imaging device having an imaging function and a moving function and a communication device. The mobile imaging device of each embodiment is a camera-integrated drone that includes an imaging control unit, an imaging unit, a movement control unit, and a driving unit.

[First Embodiment]
FIG. 1 is a conceptual diagram illustrating the relationship between the mobile imaging device 100 and the communication device 200 according to the embodiment of the present invention. The mobile imaging device 100 is an unmanned aerial vehicle. In the present embodiment, a flying object including four motors M1 to M4 is illustrated. The flying object includes a drive control unit that realizes flight by rotating a rotor (rotary blade) connected to each motor independently and in a balanced manner. The flying object includes an imaging unit that images a subject via a camera lens and an imaging element, and performs an imaging operation according to an operation instruction signal from the communication device 200. The moving imaging device 100 is a device that realizes the movement of the body and the photographing operation.

  The communication device 200 has a communication function with the mobile imaging device 100. The communication device 200 is an external device such as a smartphone, a computer, or a dedicated remote controller. The communication device 200 communicates with the mobile imaging device 100 using a communication method such as a wireless local area network (LAN), Bluetooth (registered trademark), or radio control. Specifically, the communication device 200 and the mobile imaging device 100 are connected by the following wireless communication means.

First wireless communication unit The transmission unit of the communication device 200 transmits a user operation instruction signal to the mobile imaging device 100. The receiving unit of the mobile imaging device 100 receives an instruction signal from the communication device 200, and movement control and imaging control of the mobile imaging device 100 are performed. The user operation instruction signal includes a zoom instruction signal to the mobile imaging device 100.

Second Wireless Communication Unit The mobile imaging device 100 transmits the captured image data and the data of the imaging control state and the movement control state to the communication device 200, and the receiving unit of the communication device 200 receives the data.

  FIG. 2 is a block diagram illustrating a hardware configuration of the mobile imaging apparatus 100. The lens unit 101 includes an optical member such as a lens and a diaphragm for imaging a subject. Optical zoom control is performed by changing the control voltage for the lens motor built in the lens unit 101. The optical zoom control is control for changing the shooting angle of view by driving control of the lens unit 101. In addition, you may combine the electronic zoom control which changes zoom magnification by image processing as needed.

  The image sensor 102 receives the light beam that has passed through the lens unit 101, photoelectrically converts it into an image signal, and outputs the image signal. The generated image signal is temporarily stored in a DRAM (Dynamic Random Access Memory) 104 as digital data. The DRAM 104 is a memory in the imaging block of the mobile imaging device 100.

  The zoom control unit 103 changes the control voltage of the lens motor in order to perform zoom control of the lens unit 101. An optical zoom function is realized by driving control of the lens motor. The image encoding unit 105 encodes the image signal acquired by the image sensor 102 and generates an image stream. The generated image stream data is temporarily stored in the DRAM 104.

  The image data transmission unit 106 performs streaming transmission of the image stream data generated by the image encoding unit 105 to the communication device 200. An interface unit (hereinafter referred to as “I / F unit”) 107 is an I / F unit with the recording medium 300 mounted on the mobile imaging apparatus 100. That is, the I / F unit 107 is a Media I / F unit that can read data from the DRAM 104 and record it on the recording medium 300. The recording medium 300 is a memory card that can be attached to and detached from the mobile imaging device 100.

  The camera control unit 108 is an imaging block control unit and includes a sub CPU (Central Processing Unit). The imaging range detection unit 109 compares imaging data for a predetermined time acquired by the imaging element 102 and calculates the amount of change in the current imaging range. Each unit (the lens unit 101 to the imaging range detection unit 109) is connected to the imaging unit data bus 123. Control instructions from the camera control unit 108 and access to the DRAM 104 are performed via the imaging unit data bus 123.

  The movement control unit 110 is a control unit of a movement control block of the mobile imaging apparatus 100 and includes a sub CPU. The plurality of motor control units 111 to 114 respectively control drive currents and timings of the motors M1 to M4 of the mobile imaging device 100. Each motor control unit controls the rotation direction of the motor by switching the direction of the current of the corresponding motor, and controls the rotation speed of the motor by PWM (pulse width modulation) control. The movement control unit 110 and the motor control units 111 to 114 are connected to the movement control unit data bus 115. A control instruction from the movement control unit 110 is issued via the movement control unit data bus 115.

  The storage unit 116 is a flash memory (semiconductor non-volatile memory), and stores an application program that can be executed by the CPU 120 described later. A GPS (Global Positioning System) unit 117 detects position information of the mobile imaging device 100.

  The operation information communication unit 118 receives an operation instruction signal from the communication device 200. An operation instruction signal from the communication device 200 is notified to the CPU 120 described later via the operation information communication unit 118. The gyro sensor 119 detects the angle and angular velocity of the mobile imaging device 100. The obstacle detection sensor 130 detects an obstacle in the moving direction (forward direction) and outputs a detection level value to the CPU 120. The CPU 120 obtains the detection level value and performs calculation, and calculates the distance from the mobile imaging device 100 to the obstacle. As the obstacle detection sensor 130, a known sensor such as an ultrasonic sensor or a millimeter wave radar can be used, and therefore, detailed description thereof is omitted. The obstacle avoidance process using the detection information of the obstacle detection sensor 130 will be described in a second embodiment described later.

  The CPU 120 is a main CPU that controls the entire mobile imaging apparatus 100. The CPU 120 instructs the movement control unit 110 based on the detection signals acquired from the gyro sensor 119 and the obstacle detection sensor 130, and realizes flight control and hovering (a state in which the moving imaging apparatus 100 is stopped in the air). . The CPU 120 and each unit (from the storage unit 116 to the gyro sensor 119 and the obstacle detection sensor 130) are connected to the program bus 121. The main control bus 122 is connected to the CPU 120, the camera control unit 108, and the movement control unit 110. The CPU 120 issues control instructions to the camera control unit 108 and the movement control unit 110 via the main control bus 122.

Next, software in this embodiment will be described. The storage unit 116 stores the following programs that can be executed by the CPU 120.
Zoom control instruction program: a program that realizes a zoom operation performed via the camera control unit 108 or the movement control unit 110 based on a zoom operation instruction signal (zoom instruction signal) received by the operation information communication unit 118.
Optical zoom control, that is, angle of view control by driving the lens unit 101 is performed by an instruction to the zoom control unit 103 controlled via the camera control unit 108. Further, the photographing position is changed by the movement of the machine body performed through the movement control unit 110, and the photographing angle of view is changed. Hereinafter, zoom control by moving the body, that is, control of the shooting angle of view by changing the shooting position is referred to as “moving zoom”.

Optical zoom position calculation program: a program for detecting the current zoom position of the lens unit 101 via the camera control unit 108.
Zoom speed calculation program: a program that acquires control values from the camera control unit 108 and the movement control unit 110 and calculates the movement speed of the zoom position of the lens unit 101 and the movement speed of the mobile imaging device.

Collision avoidance program: Based on the detection level value of the obstacle detection sensor 130, the CPU 120 transmits information to the communication device 200 via the operation information communication unit 118, and controls the movement control unit 110 to collide with an obstacle. Program to avoid.
Shooting position control program: a program that acquires information on the presence / absence of a zoom operation via the operation information communication unit 118 and automatically adjusts the shooting position of the mobile imaging device 100 and the zoom position of the lens unit 101.

  The CPU 120 instructs the movement control unit 110 to change the shooting position of the mobile imaging device 100, and instructs the camera control unit 108 to change the zoom position of the lens unit 101 to thereby control the shooting position and the optical zoom position. Adjust automatically.

  Next, a zoom function in the moving imaging apparatus 100 will be described with reference to FIG. FIG. 3 illustrates a situation where the moving imaging apparatus 100 is photographing the subject 301. Moreover, a part (310,311) of the display screen of the communication apparatus 200 is typically shown. The display unit of the communication apparatus 200 according to the present embodiment includes a touch panel and has a touch operation detection function for detecting a touch operation and a move operation with a user's finger. The communication device 200 transmits a signal corresponding to the operation detection result to the mobile imaging device 100 by wireless communication, and the mobile imaging device 100 is controlled. On the screens 310 and 311 of the communication apparatus 200, a graphical user interface (hereinafter referred to as GUI) area for setting the shooting magnification of the mobile imaging apparatus 100 is displayed. This GUI area is called a “zoom bar”.

  The zoom bar of the screen shown in FIG. 3 has a camera zoom area 320 and moving zoom areas 321 and 322 on both sides thereof. The camera zoom area 320 is a first zoom area where optical zoom is performed by moving the lens unit 101. The moving zoom areas 321 and 322 are second zoom areas for moving zoom. The marker 323 is an index indicating the zoom magnification of the captured image. The user can move the marker 323 by a touch operation with a finger. The imaging magnification of the mobile imaging device 100 can be changed according to the position of the marker 323 in the communication device 200. This photographing magnification includes a photographing magnification by optical zoom and a photographing magnification by moving zoom.

  The mobile imaging device 100 detects the limit position of the optical zoom on the telephoto side (telephoto side) and the wide side (wide-angle side) in zoom shooting. When the CPU 120 determines that the optical zoom position exceeds the limit position of the optical zoom, the CPU 120 changes the position of the mobile imaging device 100 to execute the moving zoom, and performs zoom shooting exceeding the limit of the optical zoom.

  FIG. 3A illustrates a state where the mobile imaging device 100 is hovering at a predetermined position in the air. The position of the marker 323 operated by the user's finger is in the first zoom area, that is, in the camera zoom area 320. When the operation information communication unit 118 receives a zoom instruction signal from the communication device 200, the CPU 120 instructs the camera control unit 108 to change the zoom position of the lens unit 101 and perform optical zoom control.

  FIG. 3B illustrates a case where the user moves to the position of the marker 324 in the screen 311 from the position of the marker 323 in the screen 310. A marker 324 shown in the screen 311 is in the second zoom area, that is, in the range of the moving zoom area 321. In this case, based on the zoom instruction signal received by the operation information communication unit 118, the CPU 120 instructs the camera control unit 108 and the movement control unit 110. Thereby, the moving imaging apparatus 100 moves in a direction approaching the subject 301. At that time, if there is a difference of a predetermined value or more between the moving speed of the mobile imaging device 100 and the optical zoom speed of the lens unit 101, correction is necessary. The CPU 120 performs correction processing by changing the optical zoom position of the lens unit 101 in conjunction with the movement of the mobile imaging device 100.

  The optical zoom speed of the lens unit 101 is calculated based on information acquired by the CPU 120 from the camera control unit 108 at predetermined time intervals. That is, based on the control value of the zoom control unit 103, the optical zoom speed can be calculated from the time change amount. Further, the moving speed of the mobile imaging device 100 is calculated based on information acquired from the movement control unit 110 by the CPU 120 at predetermined time intervals. That is, based on the control value of the movement control unit 110, the movement speed is calculated from the time change amount. Alternatively, the CPU 120 can acquire position information at predetermined time intervals by the GPS unit 117 while the mobile imaging device 100 is moving, and calculate the moving speed from the change in the position information. The calculated moving speed corresponds to the moving zoom speed.

  With reference to FIG. 4, the operation of the zoom function in the mobile imaging device 100 will be described. The process shown in the flowchart of FIG. 4 is executed at predetermined time intervals. The operation information communication unit 118 receives the setting information from the communication device 200 and starts shooting in the control mode of the present embodiment (hereinafter referred to as moving zoom mode) (S400). Next, the CPU 120 determines whether or not the operation information communication unit 118 has received a zoom instruction signal (S401). When it is determined that the operation information communication unit 118 has not received the zoom instruction signal (No in S401), the determination process of S401 is repeated at the next timing in the process at predetermined time intervals. If it is determined that the operation information communication unit 118 has received the zoom instruction signal (Yes in S401), the process proceeds to S402.

  In S402, the CPU 120 executes an optical zoom position calculation program to calculate the zoom position (denoted as Sz) of the lens unit 101. Next, the CPU 120 executes a zoom speed calculation program to calculate a zoom speed (denoted as Sd) (S403). The zoom speed Sd indicates the moving speed of the zoom lens of the lens unit 101 during camera zooming, and indicates the moving speed of the moving imaging apparatus 100 during moving zoom. In S404, the CPU 120 determines the current zoom state based on the optical zoom position Sz and the zoom speed Sd calculated in S402 and S403. S404 is a process for determining whether or not the zoom position of the camera exceeds the telescopic optical zoom limit position. The tele-side zoom limit position detection process will be described with reference to FIG.

FIG. 5 illustrates the temporal change in the optical zoom position. The horizontal axis is a time axis, and the operation shown in this flowchart is performed at each time t1 to t8. The time interval (denoted T) is constant. The vertical axis in FIG. 5 indicates the optical zoom position Sz. As for the optical zoom position, it is assumed that the larger value along the vertical axis is closer to the limit of the optical zoom. In this example, two types of zoom operation examples are shown for convenience of explanation. It is assumed that the zoom operation starts from time t1.
First, in the zoom operation (1), the zoom position A is reached at time t2. In this case, the zoom speed is (A−O) / T obtained by dividing the difference between the zoom position A and the zoom position O by the time interval T. On the other hand, in the zoom operation (2), the zoom speed is (A-O) / (3T) because the zoom position A has been substantially reached at time t4.

Based on the zoom position Sz calculated at each time, the CPU 120 determines whether or not the zoom position A, B, C on the tele side is exceeded. When it is determined that the zoom position Sz exceeds the zoom positions A, B, and C, the CPU 120 next determines whether or not any of the following conditions is satisfied using the zoom speed Sd.
・ When zoom position A <Sz <zoom position B, Sd> V1 (Condition 1)
・ When zoom position B <Sz <zoom position C, Sd> V2 (Condition 2)
・ When zoom position C <Sz, Sd> V3 (Condition 3)
In conditions 1 to 3, it is assumed that the speed threshold satisfies the relationship of “V3 <V2 <V1”.

  If the CPU 120 determines that any one of the above conditions 1 to 3 is satisfied, the CPU 120 determines that the zoom position of the camera exceeds the optical zoom limit position on the telephoto side, and shifts the processing to S406 in FIG. According to the determination process using conditions 1 to 3, the shift to the moving zoom is switched at an earlier timing as the zoom speed increases. In other words, since it is possible to switch to the moving zoom before reaching the end point (control end) of the optical zoom, the switching process to the moving zoom can be realized smoothly. Note that if the zoom is already moving to the tele side at the time of the determination in S404, the process proceeds to S406 in FIG. 4 regardless of the above conditions 1 to 3.

  In S406, the CPU 120 executes a movement control program and performs control to move the moving imaging apparatus 100 in accordance with the zoom speed Sd. That is, when the optical zoom limit position on the tele side is exceeded, the moving imaging apparatus 100 moves in a direction approaching the subject.

  On the other hand, if it is determined in S404 that the current optical zoom position does not exceed the telescopic optical zoom limit position, the process proceeds to S405. The CPU 120 determines whether or not the current optical zoom position exceeds the optical zoom limit position on the wide side (S405). Since the detection processing of the optical zoom limit position on the wide side is the same as that in S404 except that the zoom positions A to C shown in FIG. 5 are replaced with the zoom position on the wide side, detailed description is omitted.

  If the CPU 120 determines in step S405 that the optical zoom position has exceeded the optical zoom limit position on the wide side, the process proceeds to step S407. The CPU 120 executes the movement control program and performs control to move the moving imaging apparatus 100 according to the zoom speed Sd (S407). That is, when the optical zoom limit position on the wide side is exceeded, the moving imaging apparatus 100 moves in a direction away from the subject. If the zoom is already in the wide side at the time of determination in S405, the process proceeds to S407 regardless of the determination conditions in S405.

  As a result of the determination processing in S404 and S405, if the optical zoom position does not exceed both the tele-side and wide-side optical zoom limit positions, the process proceeds to S408. In step S <b> 408, the CPU 120 instructs the camera control unit 108 to drive the lens unit 101 by the zoom control unit 103 and perform optical zoom control. After the processes of S406, S407, and S408, the zoom function operation is terminated, and the process proceeds to S409.

  In S409, CPU 120 determines whether or not to end the moving zoom mode. When the setting of the moving zoom mode is canceled according to the signal received by the operation information communication unit 118, the moving zoom mode is terminated. If the operation information communication unit 118 has not received the setting signal for canceling the moving zoom mode, the process returns to S401, and the operation is performed again at the next processing timing.

  In the present embodiment, when the user performs a zoom operation using the communication device 200, the image data transmission unit 106 of the mobile imaging device 100 transmits the operation state information to the communication device 200 together with the streaming image data. The operation state information is information indicating the movement control state and camera zoom control state of the mobile imaging device 100. The communication device 200 receives the signal of the information and displays the operation state on the display unit to notify the user of the operation state.

  According to the present embodiment, the user simply performs a zoom operation using the communication device by adaptively controlling the movement control and the optical zoom control of the mobile imaging device 100 in shooting by camera zoom and moving zoom. Shooting can be performed at a desired shooting magnification. Therefore, a smooth zoom image (image with a shooting angle of view changed by zoom control) can be acquired with a simple operation.

[Second Embodiment]
Next, a second embodiment according to the present invention will be described. The feature of the moving imaging apparatus of the present embodiment is that a collision avoidance operation is performed when there is an obstacle in the moving direction during the moving zoom. Further, the mobile imaging device automatically adjusts the optical zoom position so that it is at the center position between the tele end and the wide end during a period when the user does not perform a zoom operation using the communication device (automatic photographing position adjustment function). Hereinafter, by using the same reference numerals as those used in the first embodiment, the detailed description thereof will be omitted, and differences will be mainly described.

  FIG. 6 is a schematic diagram illustrating obstacle avoidance in the mobile imaging device of the present embodiment. In FIG. 6A, the moving imaging apparatus 100 is photographing the subject 511 and illustrates a state where the moving zoom is performed. The obstacle 510 exists in the moving direction of the mobile imaging device 100, and other flying objects or birds are assumed. The moving imaging apparatus 100 detects the obstacle 510 in the moving direction during the moving zoom by the obstacle detection sensor 130. When the CPU 120 determines that an avoidance operation for the obstacle 510 is necessary, the CPU 120 executes processing for notifying the user. Hereinafter, with reference to FIG. 6 (B) and FIG. 7, the detail of the function which avoids the collision with an obstruction is demonstrated.

  FIG. 6B is a schematic diagram illustrating a display screen example of the communication device 200 during zoom shooting. A display screen 520 shown in FIG. 6B shows an image 522 of the main subject to be imaged. Further, the user can adjust the zoom magnification by moving the marker by a touch operation on the zoom bar 521. By the zoom operation, an image acquired from the mobile imaging device 100 and displayed on the display screen 520 is enlarged or reduced. The collision avoidance icon 523 is displayed on the display screen 520 when an obstacle exists in the moving zoom direction of the mobile imaging device 100. When the distance between the obstacle 510 and the mobile imaging device 100 is within a predetermined range, the mobile imaging device 100 transmits obstacle information to the communication device 200 via the operation information communication unit 118. The communication apparatus 200 receives the information and displays a collision avoidance icon 523 on the display screen 520.

  The collision avoidance operation will be described with reference to the flowchart of FIG. Since the entire zoom operation according to the present embodiment is as described with reference to FIG. 4, the collision avoidance operation during the moving zoom in S406 and S407 will be described below.

  In S600, the moving zoom operation starts. In S <b> 601, the CPU 120 executes an obstacle detection process by the obstacle detection sensor 130. In step S602, the CPU 120 determines whether there is an obstacle. When it is determined that there is no obstacle in the traveling direction of the mobile imaging device 100, the process proceeds to S603. If it is determined that there is an obstacle in the traveling direction of the mobile imaging device 100, the process proceeds to S604.

  In step S603, the CPU 120 executes a moving zoom process and ends the process. When the process proceeds to S604, the CPU 120 notifies the communication apparatus 200 of the presence of an obstacle. A collision avoidance icon 523 is displayed on the display screen 520 of the communication apparatus 200 as shown in FIG. In the next S605, the CPU 120 stops the moving zoom process and ends the collision avoidance process.

  When an obstacle is detected in the traveling direction of the mobile imaging device 100 in S601 of FIG. 7, the CPU 120 calculates the distance to the detected obstacle and compares it with a predetermined threshold value. When the distance from the moving imaging apparatus 100 to the obstacle is equal to or greater than the threshold, the CPU 120 continues the movement zoom control. If the distance from the mobile imaging device 100 to the obstacle is smaller than the threshold (when the mobile imaging device 100 is approaching the obstacle), the CPU 120 moves the mobile imaging device before notifying the communication device 200 in S604. 100 is urgently stopped and hovering control is performed. Alternatively, in order to reliably avoid a collision with an obstacle, the CPU 120 performs flight control for moving the moving imaging device 100 in the vertical direction or the horizontal direction from the position when the obstacle is detected.

  Next, with reference to FIG. 8, an automatic shooting position adjustment operation when the zoom operation is not performed for a predetermined time or more will be described. FIG. 8 is an operation flowchart of the automatic shooting position adjustment function in the mobile imaging apparatus 100, and the following processing is executed at predetermined time intervals.

  CPU 120 determines whether or not a zoom instruction signal has been received by operation information communication unit 118. When the instruction signal is not received, the automatic photographing position adjusting operation shown in FIG. 8 is started. In step S701, the CPU 120 executes an optical zoom position calculation program and acquires the optical zoom position of the camera. In step S <b> 702, the CPU 120 determines whether the acquired optical zoom position is on the tele side from the center position. If it is determined that the optical zoom position is on the tele side of the center position (Yes in S702), the process proceeds to S703. When it is determined that the optical zoom position is not on the tele side from the center position (No in S702), the process proceeds to S704.

  In step S <b> 703, the CPU 120 instructs the movement control unit 110 to perform control for moving the moving imaging apparatus 100 in the direction of the subject. The shooting position approaches the subject as the moving imaging apparatus 100 moves forward. Then, the process proceeds to S706.

  In step S704, the CPU 120 determines whether the optical zoom position acquired in step S701 is on the wide side from the center position. When it is determined that the optical zoom position is not on the wide side from the center position (No in S704), the operation of the automatic shooting position adjustment function is terminated. If it is determined that the optical zoom position is on the wide side of the center position (Yes in S704), the process proceeds to S705. The CPU 120 instructs the movement control unit 110 to perform control to move the moving imaging apparatus 100 backward in the direction opposite to the subject direction (S705). The shooting position is moved away from the subject by the backward movement of the moving imaging apparatus 100. Then, the process proceeds to S706.

  In step S <b> 706, the CPU 120 acquires the amount of change in the imaging range detected by the imaging range detection unit 109. Next, the CPU 120 controls the lens unit 101 via the zoom control unit 103 so that the amount of change in the imaging range acquired in S706 is close to zero and the camera zoom position is the center position (S707). At that time, moving zoom is performed as necessary. After the processing of S707, the operation of the automatic shooting position adjustment function is terminated.

  According to the present embodiment, obstacles can be automatically detected during moving zoom to avoid collisions, so that the user can concentrate on shooting. When it is detected that the zoom operation is not performed by the user for a predetermined time or longer, movement control and camera zoom control are performed by the automatic shooting position adjustment function so that the imaging range does not change. In other words, the zoom position of the camera of the moving imaging apparatus 100 is set to the center position without changing the imaging range as much as possible and suppressing the change of the imaging range. Therefore, since both the tele side and the wide side can quickly respond to the zoom operation performed by the user next, the framing response performance can be improved.

[Other Embodiments]
The present invention supplies a program that realizes one or more functions of the above-described embodiments to a system or apparatus via a network or a storage medium, and one or more processors in a computer of the system or apparatus read and execute the program This process can be realized. It can also be realized by a circuit (for example, ASIC) that realizes one or more functions.

DESCRIPTION OF SYMBOLS 100 Moving imaging device 101 Lens unit 103 Zoom control part 108 Camera control part 110 Movement control part 120 CPU
130 Obstacle detection sensor

Claims (13)

An imaging system comprising a mobile imaging device having a zoom function and a communication device that communicates with the mobile imaging device,
The communication device includes a transmission unit that transmits a zoom function instruction signal to the mobile imaging device,
The mobile imaging device is
Movement control means for controlling drive means of the mobile imaging device;
Imaging control means for performing imaging control of the imaging means;
Receiving means for receiving the instruction signal from the communication device;
Detecting means for detecting a zoom position of the imaging means;
When the reception means receives the instruction signal, if the zoom position detected by the detection means is within the first zoom area, the imaging control means changes the shooting field angle by the first control. If the zoom position detected by the detection means is within the second zoom area when the receiving means receives the instruction signal, the movement control means moves the moving imaging device. And a control means for performing a second control for changing the shooting angle of view. A mobile imaging device having a zoom function,
Movement control means for controlling drive means of the mobile imaging device;
Imaging control means for performing imaging control of the imaging means;
Receiving means for receiving a zoom function instruction signal;
Detecting means for detecting a zoom position of the imaging means;
When the reception means receives the instruction signal, if the zoom position detected by the detection means is within the first zoom area, the imaging control means changes the shooting field angle by the first control. If the zoom position detected by the detection means is within the second zoom area when the receiving means receives the instruction signal, the movement control means moves the moving imaging device. And a control unit that performs a second control for changing a shooting angle of view.   When the zoom position detected by the detection means is changed from the first zoom area to the telephoto side and falls within the second zoom area, the control means moves the moving imaging device by the movement control means. When the zoom position detected by the detection means is changed from the first zoom area to the wide-angle side to be within the second zoom area, the movement control means moves the movement. The moving imaging apparatus according to claim 2, wherein control is performed to move the imaging apparatus in a direction away from the subject.   The control means calculates a zoom control speed and compares it with a first threshold value and a second threshold value smaller than the first threshold value, and the zoom position detected by the detection means is the first position. And when the zoom position is a second position larger than the first position and the speed is greater than the second threshold than when the speed is greater than the first threshold. 4. The moving imaging apparatus according to claim 2, wherein the first control is switched to the second control at timing. Detection means for detecting obstacles;
A transmission unit that transmits a signal to a communication device that communicates with the mobile imaging device;
When the control means acquires information indicating that an obstacle exists in the moving direction of the mobile imaging device from the detection means, the control means performs control to transmit a signal notifying the presence of the obstacle by the transmission means. The moving image pickup apparatus according to claim 2, wherein the moving image pickup apparatus is provided.   The control means calculates a distance between the obstacle detected by the detection means and the moving imaging device, performs a movement control of the moving imaging device when the distance is equal to or greater than a threshold, and the distance is 6. The mobile imaging apparatus according to claim 5, wherein when the threshold value is smaller than the threshold value, control is performed to stop the movement of the mobile imaging apparatus before the transmission unit transmits the signal.   The control means calculates a distance between the obstacle detected by the detection means and the moving imaging device, performs a movement control of the moving imaging device when the distance is equal to or greater than a threshold, and the distance is 6. The movement according to claim 5, wherein when the transmission means is smaller than a threshold value, the transmission unit performs a control to move the moving imaging apparatus to avoid a collision with the obstacle before transmitting the signal. Imaging device.   The control means performs control to advance the moving imaging device relative to a subject when the instruction signal is not received and the zoom position is on the telephoto side with respect to a center position, and the instruction signal is not received, 8. The moving imaging apparatus according to claim 2, wherein when the zoom position is on a wide-angle side with respect to a center position, control is performed to move the moving imaging apparatus backward with respect to the subject. .   The control means further compares the zoom position with the central position, and if the zoom position is not the central position, instructs the imaging control means to control the zoom position closer to the central position. The moving imaging apparatus according to claim 8.   The control means acquires the imaging range of the imaging means from the imaging control means, and when the instruction signal is not received, instructs the movement control means to move the moving imaging device to change the imaging range. The moving image pickup apparatus according to claim 2, wherein control for suppressing is performed.   11. The moving image pickup apparatus according to claim 2, wherein the image pickup control unit performs optical zoom control by moving a lens in the first zoom region. A communication device constituting the imaging system according to claim 1,
A communication apparatus, comprising: a display unit configured to display information on a zoom position corresponding to the instruction signal together with ranges indicating the first and second zoom areas. A control method executed in an imaging system comprising a mobile imaging device having a zoom function and a communication device communicating with the mobile imaging device,
A transmission step in which the communication device transmits a zoom function instruction signal to the mobile imaging device;
A receiving step in which receiving means of the mobile imaging device receives the instruction signal from the communication device;
A detecting step in which the detecting means of the mobile imaging device detects the zoom position of the imaging means;
Control for changing the shooting angle of view by the imaging control means of the mobile imaging device when the zoom position detected by the detection means is within the first zoom area when the receiving means receives the instruction signal A first control step performed by the control means;
When the receiving means receives the instruction signal, if the zoom position detected by the detecting means is within a second zoom area, the movement is controlled by a movement control means that controls a driving means of the moving imaging device. A control method for an imaging system, comprising: a second control step in which the control means performs control for changing a shooting angle of view by moving an imaging device.

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