Information Processing System, Information Processing Method, and Information Processing Program

Abstract

The present invention relates to an information processing system, which comprises: an information processing device configured to control the speed of a moving object that autonomously moves along a preset trajectory; and an input device provided with an input unit that receives an input from a user and provides an input value input from the user and used for speed control of the moving object to the information processing device.

Description

Technical Field

[0001] The present invention relates to an information processing system, an information processing method, and an information processing program. Background Art

[0002] In the past, moving objects such as wheelchairs have been widely used. In addition, recently, various semi-moving objects and moving objects such as drones and robots have started to be widely used.

[0003] There are various methods for manipulating such moving objects. As one such method, a technique for manipulating a semi-autonomous mobile robot such as a wheelchair has been proposed. The semi-autonomous mobile robot includes a joystick for inputting a manipulation amount and a trajectory forward and backward button formed by a forward button and a backward button (see PTL 1).

[0004] [Citation List]

[0005] [Patent Document]

[0006] [PTL 1]

[0007] JP 2011-212092 A Summary of the Invention

[0008] [Technical Problem]

[0009] In recent years, it has been necessary for a single user to install a device different from a moving object or a semi-moving object (hereinafter collectively referred to as a moving object), such as a camera, etc., and in some cases, to perform both the manipulation of the moving object and the manipulation of other devices. For these cases, a simpler method for manipulating the moving object is required. In the technique disclosed in PTL 1, there are two different operators such as a lever and a button. Therefore, it is difficult to manipulate the moving object while manipulating other devices.

[0010] In view of this situation, the present technology has been devised, and an object of the present technology is to provide an information processing system, an information processing method, and an information processing program capable of easily performing speed control of a moving object.

[0011] [Solution to the Problem]

[0012] To solve the above problems, a first technique is an information processing system including: an information processing device configured to control the speed of a moving object that autonomously moves along a preset trajectory; and an input device including an input unit that receives an input from a user and is configured to provide an input value input by the user for controlling the speed of the moving object to the information processing device.

[0013] The second technology is an information processing method, which includes controlling the speed of a moving object that autonomously moves along a preset trajectory based on an input value input by a user to an input device including an input unit that receives the input from the user.

[0014] The third technology is an information processing program that causes a computer to execute an information processing method of controlling the speed of a moving object that autonomously moves along a preset trajectory based on an input value input by a user to an input device including an input unit that receives the input from the user. Description of the Drawings

[0015] Figure 1 is a diagram showing the overall configuration according to an embodiment of the present technology.

[0016] Figure 2 is an external view showing the configuration of the moving object 100.

[0017] Figure 3 is a block diagram showing the configuration of the moving object 100.

[0018] Figure 4 A is an external view showing a first example of the input device 200, and Figure 4 B is a block diagram showing the input device 200.

[0019] Figure 5 is a diagram showing a first exemplary input method of the input device 200.

[0020] Figure 6 is a graph showing the relationship between the input value and the output value.

[0021] Figure 7 is an external view showing a second example of the input device 200.

[0022] Figure 8 is a partially enlarged view of a second example of the input device 200.

[0023] Figure 9 is an external view showing a modified example of a second example of the input device 200.

[0024] Figure 10 is a diagram showing a precedent trajectory.

[0025] Figure 11 is a block diagram showing the configuration of the information processing device 300.

[0026] Figure 12 is a diagram showing the process of extracting a target position / time from a precedent trajectory.

[0027] Figure 13It is a block diagram showing the configuration of the imaging device 400. Detailed implementation

[0028] Hereinafter, embodiments of the present technology will be described with reference to the accompanying drawings. The description will be carried out in the following order.

[0029] <1. Embodiment>

[0030] [1-1. Overall configuration]

[0031] [1-2. Configuration of the moving object 100]

[0032] [1-3. Configuration of the input device 200]

[0033] [1-3-1. First exemplary configuration of the input device 200]

[0034] [1-3-2. Second exemplary configuration of the input device 200]

[0035] [1-4. Configuration and speed control process of the information processing device]

[0036] [1-4-1. Preceding trajectory]

[0037] [1-4-2. Configuration and process of the information processing device 300]

[0038] [1-5. Configuration of the imaging device 400]

[0039] <2. Modified example>

[0040] <1. Embodiment>

[0041] [1-1. Overall configuration]

[0042] First, the overall configuration according to the embodiment of the present technology will be described with reference to Figure 1 In this embodiment, it includes: a moving object 100, an information processing system 1000 including an input device 200 and an information processing device 300 and controlling the operation of the moving object 100, and an imaging device 400 mounted on the moving object 100 and performing imaging.

[0043] In this embodiment, the moving object 100 is a small electric aircraft (unmanned aerial vehicle) called a drone.

[0044] The input device 200 is a controller used by a user on the ground and sends information to the information processing device 300 based on the input content from the user to perform speed control. As will be described in detail below, as the input device 200 according to the embodiment, there are an input device 200A of the terminal device type and an input device 200B of the dedicated controller type.

[0045] The information processing device 300 operates in the moving object 100 according to instructions from the input device 200 and performs speed control of the moving object 100.

[0046] The imaging device 400 is mounted on the moving object 100 via the gimbal 500 and captures still images / moving images in response to an input from the user during autonomous movement of the moving object 100. The imaging device 400 is not an essential configuration.

[0047] The information processing system 1000 performs speed control of the moving object 100, and the imaging device 400 can perform imaging during movement of the moving object 100. In the description of the embodiments, "position" includes not only "posture" in the translational direction but also "posture" in the rotational direction. "Speed" includes not only "angular velocity" in the translational direction but also "angular velocity" in the rotational direction.

[0048] [1-2. Structure of Moving Object 100]

[0049] Reference will be made to Figure 2 and Figure 3 describe the structure of the moving object 100. Figure 2 A is an external plan view of the moving object 100, and Figure 2 B is an external front view of the moving object 100. As a central unit, for example, the airframe is composed of a cylindrical or rectangular cylindrical main unit 1 and support shafts 2a to 2d fixed to the upper part of the main unit 1. For example, the four support shafts 2a to 2d are formed to radially extend from the center of the main unit 1. The main unit 1 and the support shafts 2a to 2d are formed of a lightweight material with high strength such as carbon fiber.

[0050] Furthermore, for the airframe formed by the main unit 1 and the support shafts 2a to 2d, the shape, arrangement, etc. of each component are designed such that the center of gravity of the airframe falls on the vertical line passing through the centers of the support shafts 2a to 2d. Furthermore, the circuit unit 5 and the battery 6 are provided inside the main unit 1 such that their centers of gravity fall on their vertical lines.

[0051] In Figure 2 the example, the number of rotors and actuators is four, but the number of rotors and actuators can be four or more, or less.

[0052] Actuators 3a to 3d serving as rotor drive sources are mounted on the tips of the support shafts 2a to 2d. Rotors 4a to 4d are mounted on the rotation shafts of the actuators 3a to 3d. The circuit unit 5 including the UAV control unit 101 that controls each actuator is mounted in the central part where the support shafts 2a to 2d cross each other.

[0053] The actuator 3a and the rotor 4a are paired, and the actuator 3c and the rotor 4c are paired. Similarly, the actuator 3b and the rotor 4b are paired, and the actuator 3d and the rotor 4d are paired.

[0054] A battery 6 serving as a power source is provided on the bottom surface inside the main body unit 1. The battery 6 includes, for example, a lithium ion secondary battery and a battery control circuit that controls charging and discharging. The battery 6 is detachably mounted inside the main body unit 1. The stability of the center of gravity is enhanced by matching the center of gravity of the battery 6 with the center of gravity of the airframe.

[0055] Generally, a small electric aircraft called a drone can perform desired navigation by controlling the output of the actuators. For example, in the hovering state where the electric aircraft is stationary in the air, the inclination is detected by using a gyro sensor mounted on the airframe, the output of the actuators on the lower side of the airframe is increased, and the output of the upper side actuators is decreased to keep the airframe horizontal. In addition, when moving forward by reducing the output of the actuators in the traveling direction and increasing the output of the actuators in the opposite direction, a forward-bent posture is adopted to generate a propulsive force in the traveling direction. In the attitude control and propulsion control of the electric aircraft, the stability of the airframe and the ease of control can be balanced at the position where the battery 6 is installed.

[0056] Figure 3 is a block diagram showing the configuration of the moving object 100. The moving object 100 includes an unmanned aerial vehicle (UAV) control unit 101, a communication unit 102, a sensor unit 103, a gimbal control unit 104, an information processing device 300, a battery 6, and actuators 3a to 3d. Support shafts, rotors, etc. described in the external configuration of the moving object 100 will be omitted. It is assumed that the UAV control unit 101, the communication unit 102, the sensor unit 103, the gimbal control unit 104, and the information processing device 300 are included in Figure 2 the circuit unit 5 shown in the external view of the moving object 100.

[0057] The UAV control unit 101 includes a central processing unit (CPU), a random access memory (RAM), and a read only memory (ROM). The ROM stores programs and the like read and operated by the CPU. The RAM serves as the working memory of the CPU. The CPU controls the entire moving object 100 and each unit by executing various processes and issuing commands according to the programs stored in the ROM. The UAV control unit 101 controls the moving speed, moving direction, rotation direction, etc. of the moving object 100 by supplying control signals for controlling the outputs of the actuators 3a to 3d to the actuators 3a to 3d.

[0058] The UAV control unit 101 retains preset prior trajectory information and controls the moving object 100 such that by controlling the outputs of the actuators 3a to 3d, while obtaining the current position information of the moving object 100 from the sensor unit 103 at any time and comparing the current position of the moving object 100 with the prior trajectory, the moving object 100 moves along the prior trajectory.

[0059] The communication unit 102 is any of various communication terminals or communication modules that send data to and receive data from the input device 200 and the imaging device 400. The communication is wireless communication, such as a wireless local area network (LAN), wide area network (WAN), Wi-Fi, 4th generation mobile communication system (4G), 5th generation mobile communication system (5G), Bluetooth (registered trademark), or ZigBee (registered trademark) with which the input device 200 can communicate. The communication with the imaging device 400 can be wired communication such as universal serial bus (USB) communication as well as wireless communication.

[0060] The sensor unit 103 is a sensor such as a global positioning system (GPS) module that can detect the position of the moving object 100. GPS is a system that finds the current position by allowing a receiver to receive signals from multiple artificial satellites located around the Earth. The position information of the moving object 100 detected by the sensor unit 103 is provided to the information processing device 300. The information processing device 300 can identify the position of the moving object 100 based on the position information and can also detect the speed of the moving object 100 based on the change in the position information and the elapsed time.

[0061] In addition to GPS, the sensor unit 103 may further include sensors that can measure distance, such as a stereo camera or a light detection and ranging (LiDAR) sensor. A stereo camera, which is a type of distance sensor, is a stereo-type camera that includes two cameras, a left one and a right one, and applies the triangulation principle when a human sees an object. Parallax data can be generated from the image data captured by the stereo camera, and the distance between the camera (lens) and the target surface can be measured. The LiDAR sensor measures the scattered light of the emitted radiation laser in the shape of a pulse and analyzes the distance to the target away from it and the characteristics of the target.

[0062] The sensor unit 103 may include sensors such as an inertial measurement unit (IMU) module that detects angular velocity. The IMU module is an inertial measurement device and detects the posture or inclination of the moving object 100, the angular velocity during turning, the angular velocity around the Y-axis, etc. by allowing an acceleration sensor, an angular velocity sensor, a gyro sensor, etc. to obtain the acceleration of 3D angular velocity in the biaxial or triaxial directions.

[0063] In addition, the sensor unit 103 may include an altimeter or an azimuth meter. The altimeter measures the altitude at which the moving object 100 is located and provides altitude data to the UAV control unit 101, and may be a pressure altimeter, a radio altimeter, etc. The azimuth meter detects the traveling azimuth of the moving object 100 using the operation of a magnet and provides the traveling azimuth to the UAV control unit 101, etc.

[0064] The gimbal control unit 104 is a processing unit that controls the operation of the gimbal 500 to rotatably mount the imaging device 400 on the moving object 100. By allowing the gimbal control unit 104 to control the rotation of the axis of the gimbal 500, the direction of the imaging device 400 can be freely adjusted. Therefore, the direction of the imaging device 400 can be adjusted according to the set composition and imaging can be performed.

[0065] According to an embodiment, the imaging device 400 is mounted on the lower part of the moving object 100 via the gimbal 500. The gimbal 500 is a rotating base that rotates an object (the imaging device 400 in this embodiment) supported by, for example, a biaxial or triaxial axis.

[0066] The configuration of the information processing device 300 will be described below.

[0067] [1-3. Configuration of the input device 200]

[0068] [1-3-1. First exemplary configuration of the input device 200]

[0069] Next, the configuration of the input device 200 will be described. The input device 200A as a first example is a terminal device such as Figure 4 a smart phone as shown in A. As Figure 4 shown in B, the input device 200A includes a control unit 201A, a storage unit 202A, a communication unit 203A, an input unit 204A, and a display unit 205A.

[0070] The control unit 201A includes a CPU, a RAM, and a ROM. The CPU controls the entire input device 200A and each unit by executing various processes and issuing commands according to the programs stored in the ROM.

[0071] The storage unit 202A is, for example, a large-capacity storage medium such as a hard disk or a flash memory. The storage unit 202A stores various applications, data, etc. used in the input device 200A.

[0072] The communication unit 203A is a communication module that transmits data or various signals to the moving object 100, the information processing device 300, and the imaging device 400, and receives data or various signals from the moving object 100, the information processing device 300, and the imaging device 400. The communication method can be any method as long as it is a wireless communication such as wireless LAN, WAN, WiFi, 4G, 5G, Bluetooth (registered trademark), or ZigBee (registered trademark) through which the moving object 100 and the imaging device 400 located far away from it can perform communication.

[0073] The input unit 204A is used to manipulate the input device 200A and allows a user to input an input value for speed control of the moving object 100 and the like. When the user performs an input on the input unit 204A, a control signal is generated in response to the input and the control signal is provided to the control unit 201A. Then, the control unit 201A performs various processes corresponding to the control signal. When an instruction is input to the information processing device 300 and / or the imaging device 400, the input content is sent to the information processing device 300 or the imaging device 400 through the communication of the communication unit 203A. The input unit 204A includes physical buttons and a touch panel integrated with a display serving as the display unit 205A. The input device 200A can have a voice input function through voice recognition.

[0074] The display unit 205A is a display device such as a display for displaying images / videos, a graphical user interface (GUI), etc. In the present embodiment, the display unit 205A displays a speed control user interface (UI) of the moving object 100, a waypoint input UI, etc. The input device 200A can include an output component other than the display unit 205A such as a speaker for outputting sound.

[0075] The terminal device serving as the input device 200A can be a tablet terminal, a notebook PC, a portable game device, or a wearable device instead of a smart phone.

[0076] Next, the speed control UI in the input device 200A will be described. In this embodiment, the user inputs an input value using the input device 200A, and the information processing device 300 performs speed control of the moving object 100 based on a magnification ratio of the speed, which is a speed control value based on the input value.

[0077] In the description, as Figure 5 shown in A, it is assumed that the input unit 204A is a touch panel integrated with a display serving as the display unit 205A.

[0078] Figure 5FIG. A illustrates an example of a first speed control UI displayed on a display unit 205A. The first speed control UI is composed of a linear input area 211A, and the position on the input area 211A corresponds to the magnification factor as a speed control value. On the input area 211A, a slider 212A indicating the current magnification factor is displayed. In response to an input from the user, the slider 212A slides on the input area 211A. By using such a slider configuration, continuous values can be input.

[0079] In Figure 5 the example of FIG. A, the right end corresponds to the maximum value of the magnification factor “x2.0”, and the left end corresponds to the minimum value of the magnification factor “x - 1.0”. The space between “x2.0” at the left end and “x - 1.0” at the right end corresponds to values equal to or less than “x2.0” and equal to or greater than “x - 1.0”. The user can specify the magnification factor corresponding to the position of the input area 211A by touching the input area 211A with a finger. Figure 5 The specific magnification factors shown in FIG. A are merely exemplary and the present technology is not limited to these values.

[0080] Numerical values serving as a reference for the magnification factor corresponding to the position of the input area 211A can be displayed near the input area 211A on the first speed control UI ( Figure 5 the upper side in FIG. A). Thus, the user can easily understand where to touch the input area 211A with a finger to specify the target magnification factor. Since the area between the positions where the numerical values indicating the magnification factor are displayed also corresponds to the magnification factor on the first speed control UI, the user can specify the magnification factor seamlessly.

[0081] When the user moves her or his finger away from the input area 211A on the first speed control UI, the magnification factor can be automatically converted to a predetermined value, such as “x1.0”, regardless of the position on the input area 211A where the finger touched at that time. Thus, when the user moves her or his finger away from the input area 211A, the moving object 100 is converted to a preset given speed and moves.

[0082] When the user moves her or his finger away from the input area 211A on the first speed control UI, the magnification factor corresponding to the position on the input area 211A where the finger touched at that time can be maintained.

[0083] Figure 5 FIG. B illustrates an example of a second speed control UI displayed on a display unit 205B. The second speed control UI is composed of a plurality of independent button - like input areas 213A, 213A, …, and each independent input area 213A corresponds to a different magnification factor. Thus, the second speed control UI is different from the first speed control UI in the scheme of directly specifying the magnification factor as discrete values.

[0084] In the second speed control UI, the magnification ratio specified by the user and the unspecified magnification ratio can be visually distinguished. For example, the specified magnification ratio can be displayed brighter than the unselected magnification ratio.

[0085] As described for the first speed control UI, when the user moves her or his finger away from any of the input areas 213A on the second speed control UI, the magnification ratio of the speed can also be automatically converted to a predetermined value, such as "x1.0", regardless of the position on the input area 213A where the finger touches at this time. Therefore, when the user moves her or his finger away from the input area 213A, the moving object 100 is converted to a preset given speed and moves regardless of any speed.

[0086] When the user also moves her or his finger away from the input area 213A on the second speed control UI, the magnification ratio corresponding to the position on the input area 213A where the finger touches at that time can be maintained.

[0087] On the second speed control UI, it is easy to specify the magnification ratio as a specific value.

[0088] Here, the relationship between the input value input by the user and the magnification ratio actually output from the input device 200 will be described. Figure 6 A and Figure 6 B are graphs showing the relationship between the input value and the magnification ratio to be output.

[0089] In Figure 6 A and Figure 6 B, the horizontal axis represents the ratio of the input value to the input range amount and takes values from +1.0 to -1.0. The right end is the maximum value +1.0, and the left end is the minimum value -1.0. The input range amount is the range of the upper and lower limits of the magnification ratio that can be input from the input device 200.

[0090] The vertical axis represents the magnification ratio output by the input unit 204A based on the input value. The upper end of the vertical axis is the maximum value (+Max) of the magnification ratio in the positive direction, and the lower end is the minimum value (-Max) of the magnification ratio in the negative direction.

[0091] When the maximum value of the magnification ratio in the positive direction is +Max (>1), the magnification ratio of the input in the positive direction linearly reaches +Max from 1.0 with respect to the difference from zero, as shown in Figure 6 A, or reaches +Max in any curve shape, as shown in Figure 6 B.

[0092] Similarly, when the maximum value of the magnification factor in the negative direction is -Max(<0), the magnification factor of the input in the negative direction linearly reaches -Max from 1.0 with respect to the difference from the zero point, as Figure 6 shown in Figure 6 A, or reaches -Max in any curve shape, as

[0093] When a human usually instinctively reduces the moving speed when manipulating a moving object 100, fine and skilled manipulation is required in many cases. Therefore, the resolution of the input manipulation is preferably high. On the other hand, when the moving speed is set fast, fine and skilled manipulation is not required in many cases. Therefore, although the resolution of the input manipulation is low, it is preferable to increase the speed with a short manipulation stroke and in a short time. Therefore, by changing the magnification factor of the function having the Figure 6 bent shape shown in

[0094] Figure 5 seamless input method shown in Figure 5 A is advantageous because the magnification factor instinctively increases and decreases. However, there is a concern that it is difficult to accurately match the magnification factor to a specific value. Therefore, as Figure 6 shown in

[0095] A, the magnification factor of the speed has a range that becomes the ratio of a specific value to the input value. Therefore, a width is set in the input for setting the magnification factor to a specific value. Therefore, it is easy to set the magnification factor to a specific value. As a specific value, for example, there is a magnification factor of "0.0" when the speed of the moving object 100 is 0 (stop state), a magnification factor of "1.0" when the speed of the moving object 100 is the reference speed, etc. In Figure 6 A, the range taken by the ratio of the input value is such that it is easy to set the magnification factor to 0 for the input.

[0095] The input device 200A may include a notification control unit that notifies the user of the ratio of the input value to the input range amount within and outside the range where the magnification factor is a predetermined value. Therefore, the user can reliably recognize that her or his input is an input for designating a predetermined magnification factor. As the notification of the notification control unit, any method can be used as long as the method is a method that allows the user to recognize the input, such as the vibration of the input device 200A, the indication of a message on the display unit 205B, or the output of a sound message.

[0096] For what will be described below in Figure 7In the input device 200B described in [ ], for physical switches such as wheels or levers, instead of performing an input while seeing the physical switch, the user performs the input using the sense of her or his finger. Therefore, there is a concern that it is difficult to accurately match a specific value in the physical switch even with the magnification factor. Thus, similar to the speed control UI described above, a range can be provided in the input value where the magnification factor of the speed is a specific value. The input device 200B may include a notification mechanism that notifies the user that the input is within and outside the range where the magnification factor is a predetermined value. Thus, the user can reliably recognize that her or his input is an input that designates a predetermined value. As the notification mechanism, there are a claw mechanism that provides a click feeling for the physical switch by connection, a vibration mechanism for the entire input device 200B, and the like.

[0097] [1-3-2. Second Exemplary Configuration of Input Device 200]

[0098] Next, a second example of the input device 200 will be described. The input device 200B as the second example of the input device 200 is a dedicated hardware controller for manipulating the moving object 100, as Figure 7 shown in [ ]. Since the block configuration of the input device 200B is the same as that of the input device 200A, reference is made to Figure 4 B and its description will be omitted.

[0099] The input device 200B includes a housing BD, control rods ST1 and ST2, buttons B1 to B6, a touch panel TP, and wheels WH1 and WH2 (which may be referred to as dials). All of the control rods ST1 and ST2, buttons B1 to B6, touch panel TP, and wheels WH1 and WH2 correspond to Figure 4 the input unit 204A in the block diagram shown in [ ].

[0100] The control rods ST1 and ST2 can be manipulated with the user's thumb to be pushed in at least one of the up and down directions (vertical direction or longitudinal direction) and the left and right directions (horizontal direction or lateral direction), and are thus used to give, for example, instructions on the moving direction or turning direction of the moving object 100. The control rods ST1 and ST2 may be configured to be pushed in a diagonal direction.

[0101] For example, when the user pushes the control rod ST1 upward, the moving object moves forward. When the user pushes the control rod ST1 downward, the moving object 100 moves backward. When the user pushes the control rod ST1 to the left, the moving object 100 turns to the left. When the user pushes the control rod ST1 to the right, the moving object 100 turns to the right.

[0102] In addition, when the user pushes the control rod ST2 upward, the moving object 100 moves upward. When the user pushes the control rod ST2 downward, the moving object 100 moves downward. When the user pushes the control rod ST2 to the left, the moving object 100 moves to the left. When the user pushes the control rod ST2 to the right, the moving object 100 moves to the right. The operations on the control rods ST1 and ST2 are merely exemplary. The manipulation of the control rods ST1 and ST2 can be reversed, or other operations of the moving object 100 can be assigned. The number of control rods is merely exemplary and the present technology does not limit the number of control rods.

[0103] The manipulation of the moving object 100 and various functions related to control can be assigned to the buttons B1 to B6. For example, functions such as turning on / off the power are assigned. The number of buttons is merely exemplary and the present technology does not limit the number of buttons.

[0104] The touch panel TP displays information about the moving object 100 to present the information to the user and is used for the user to input various instructions.

[0105] The wheels WH1 and WH2 are input mechanisms that can be used to input continuous values in the positive and negative directions. The wheels WH1 and WH2 are provided to be partially exposed on the side surface of the housing BD, as shown in the partial exploded view of Figure 8 The wheel WH1 is configured to be rotatable in the R and L directions. The wheel WH1 is a wheel in which the direction from the front surface to the rear surface of the housing BD is used as the axis, and has a structure that is easy to manipulate at the shoulder of the housing BD. The wheel WH2 is configured to be rotatable in the U and D directions. The wheel WH2 is a wheel in which the left-right direction of the side surface of the housing BD is used as the axis, and has a structure that is easy to manipulate on the side surface of the housing BD. The wheels WH1 and WH2 are provided on the upper side surface and the lateral side surface of the housing BD such that the user can manipulate the wheels with fingers different from the fingers used to manipulate the control rods ST1 and ST2 (for example, the index finger or the middle finger). In the following description, when it is not necessary to distinguish between the wheels WH1 and WH2, the wheels WH1 and WH2 are referred to as the wheel WH.

[0106] For example, for the wheel WH, an input of a right rotation (clockwise rotation) corresponds to a positive (positive direction) magnification factor, and an input of a left rotation (counterclockwise rotation) corresponds to a negative (negative direction) magnification factor. The amount of rotation of the wheel WH corresponds to the value of the magnification factor. As the amount of rotation in the right rotation direction is larger, a larger positive magnification factor value can be input. As the amount of rotation in the left rotation direction is larger, a larger negative magnification factor value can be input. Therefore, the user can simultaneously give manipulation instructions for adjusting the speed with the control rods ST1 and ST2, while giving manipulation instructions in the moving direction and the rotation direction of the moving object. The right rotation direction can correspond to a negative value and the left rotation direction can correspond to a positive value.

[0107] An apparatus can be provided to give a notification so that a user can recognize the degree of rotation of the wheel WH corresponding to a predetermined magnification (e.g., 1.0 times, where the speed of the moving object is a predetermined speed). As a notification mechanism, there is a claw mechanism that gives a click feeling by hooking the rotation of the wheel WH, a vibration mechanism that vibrates the entire input device 200B, etc. Thus, although the user cannot see the magnification, the user can recognize that the user has input a predetermined magnification.

[0108] The wheel WH may include a return mechanism that returns to a predetermined state (e.g., a state where the magnification is 1.0) when the manipulating finger leaves. When the wheel WH does not automatically return, the user needs to visually check the input value, so the line of sight is away from the moving object 100 or the captured image. Therefore, it is desirable to include a return mechanism in the wheel WH. The return mechanism can be configured by normally pushing the wheel WH in the direction of the predetermined state using an elastic body such as a spring.

[0109] The magnification input wheel can be either one of the wheels WH1 and WH2, or only one of the wheels WH1 and WH2 may be provided in the housing BD. In addition, the wheels WH1 and WH2 may be provided on the left side surface of the housing BD. In addition, the wheels may be provided on the right and left side surfaces of the housing BD.

[0110] As Figure 9 shown, the joystick LV may be provided in the input device 200B instead of the wheel. The joystick LV is an input mechanism that can input continuous values like a wheel. The joystick LV is provided in the upper side surface of the housing BD so that the user can manipulate the joystick with a finger (e.g., the index finger) different from the finger operating the control rod ST1, as in the above wheel.

[0111] For example, for the joystick LV, inputting to the right corresponds to a positive magnification, and inputting to the left corresponds to a negative magnification. The degree to which the joystick LV is pushed corresponds to the magnification. When the degree of pushing in the right rotation direction is large, a larger positive magnification value can be input with the joystick LV. When the degree of pushing in the left rotation direction is large, a larger negative magnification value can be input with the joystick LV. Pushing to the right may correspond to a negative value and pushing to the left may correspond to a positive value. The joystick LV may also include a notification mechanism as in the wheel.

[0112] As in the wheel WH, the joystick LV may include a return mechanism that returns to a predetermined state (e.g., a state where the magnification is 1.0) when the manipulating finger leaves. Here, the joystick LV may not include a return mechanism because, unlike the wheel, the input value can be checked by the feeling of the finger. Instead, by increasing the friction, erroneous operations can be prevented and the input value can be maintained.

[0113] In this way, for both the wheel WH and the joystick LV, the mechanism for inputting the magnification ratio can be a single-axis manipulator. In a single-axis manipulator, linear manipulation can be performed in two directions. Therefore, the magnification ratio can be input simultaneously with another manipulation (manipulation of moving the object 100 or manipulation of the imaging device 400).

[0114] The input device 200B may include both the wheel WH and the joystick LV.

[0115] [1-4. Structure and speed control processing of the information processing device]

[0116] [1-4-1. Predetermined trajectory]

[0117] Next, the structure of the information processing device 300 and the speed control processing of the information processing device 300 for the moving object 100 will be described. First, the predetermined trajectory will be described before describing the speed control processing.

[0118] The predetermined trajectory is composed of a plurality of "target position / time" of the target position, where the target position is the position passed by the moving object 100, and the target time is the time when the moving object 100 passes the target position, as Figure 10 and Figure 11 shown. The target position is set, for example, by latitude and longitude. The target time can be set to a specific time such as "01:23:45" or can be set to an elapsed time such as 10 seconds from a reference time (such as the start time of movement). The moving object 100 moves based on the predetermined trajectory, and the information processing device 300 performs speed control processing based on the predetermined trajectory. Therefore, the user needs to set the predetermined trajectory before actual movement. Except that the predetermined trajectory is considered to be a trajectory recalculated through a recalculation process after all target positions / times are set, this predetermined trajectory is basically unchanged and is used as a reference for the movement of the moving object 100.

[0119] For example, the predetermined trajectory is set as Figure 10 shown. In Figure 10 shown, two-dimensional map data of a racing circuit is taken as an example. A plurality of target positions passed by the moving object 100 and the target time, which is the time when the moving object 100 passes the target position, are each set on the two-dimensional map data. Therefore, a predetermined trajectory is set, which is a trajectory along which the moving object 100 passes the target positions in the order in which the target times are set earlier. Numbers are attached to the target position / time in the order (time series) in which the moving object 100 passes. The predetermined trajectory can be composed of the target position and the target speed indicating the speed at which the moving object 100 passes the target position.

[0120] The target position can be set, for example, by directly specifying the target position on the map data displayed on the display unit 205A of the input device 200A, another display device, or a terminal device in the order of the positions passed by the moving object 100. The target time can be set, for example, by inputting a specific value for each target position. The target position / time set in this way is provided to the information processing device 300 as a set of preceding trajectory information. The input device for setting the preceding trajectory can be the same as the input device 200 or can be a separate device.

[0121] The preceding trajectory set in this way is provided to the UAV control unit 101 of the moving object 100. The UAV control unit 101 moves the moving object 100 along the preceding trajectory by comparing the current position information of the moving object 100 obtained from the sensor unit 103 with the preceding trajectory while controlling the outputs of the actuators 3a to 3d at the same time.

[0122] For example, it is possible to consider a case where the state of the preceding trajectory is checked by actually moving the moving object 100 along the preceding trajectory before performing actual imaging using the imaging device 400 mounted on the moving object 100. In the speed control in this case, a speed control UI including a button for designating the magnification of the speed shown in Figure 5 B as a fixed value is appropriate. For example, where it is desired to check the state of the preceding trajectory (e.g., whether there are no obstacles such as trees) or to check the position and posture of the moving object 100, the state of the preceding trajectory or the position and posture of the moving object 100 can be visually checked within a sufficient time by making the speed of the moving object 100 slower than the preferred speed (e.g., selecting a magnification of 0.5). By making the speed of the moving object 100 faster than the preferred speed (e.g., selecting a magnification of 2.0 of the speed) at a simple position where the moving object 100 moves in a substantially straight line shape from the target position to another target position, the inspection working time can be shortened.

[0123] When checking the speed at which the moving object 100 is moving along the preceding trajectory, as Figure 5 shown in A, a speed control UI for specifying a continuous value is appropriate. When it can be understood from checking the speed that "the good magnification of the speed at a specific position on the preceding trajectory is about 1.3 times", an appropriate target time can be set by making the target time correspond to the target position in the setting of the preceding trajectory.

[0124] In order to perform flexible and continuous speed control according to the movement of the object in the actual imaging performed using the imaging device 400 mounted on the moving object 100, as Figure 5As shown in A, a speed control UI on which continuous values can be input is suitable. When the user moves her or his finger away from the input area 211A, the moving object 100 moves continuously at a speed that fits the target time of the preceding trajectory. Therefore, the user can focus on the manipulation of the posture of the moving object 100 or the manipulation of the imaging device 400. In addition, smooth acceleration or deceleration of the moving object 100 can be performed as needed. It is not necessary to check the preceding trajectory before the moving object 100 actually moves.

[0125] A preceding trajectory can be set on 3D map data. Map services available on the Internet, etc. can also be used as 2D or 3D map data. The moving object 100 can be actually moved and a preceding trajectory can be set based on the moving route.

[0126] [1-4-2. Structure and Processing of Information Processing Device 300]

[0127] Next, the structure and speed control processing of the information processing device 300 will be described. The information processing device 300 performs processing to control the speed of the moving object 100 using the magnification factor as a speed control value based on the user's input to the input device 200. As long as there is no input from the user, the moving object 100 moves along the target position / time set in the preceding trajectory.

[0128] As Figure 11 shown, the information processing device 300 includes a magnification factor conversion unit 301, a recalculated target extraction unit 302, a trajectory recalculation unit 303, a target position / speed extraction unit 304, a current position / speed estimation unit 305, a target arrival determination unit 306, a recalculated trajectory counter update unit 307, a preceding trajectory counter update unit 308, and an actuator output determination unit 309.

[0129] The preceding trajectory is recalculated by the trajectory recalculation unit 303 in the processing of the information processing device 300 and is redefined as the recalculated trajectory. As will be described in detail below, the recalculated trajectory is composed of a plurality of target positions, target speeds, and target times (hereinafter referred to as target position / speed / time).

[0130] The information processing device 300 performs processing based on the value of a preceding trajectory counter indicating the progress state of movement along the preceding trajectory of the moving object 100 and the value of a recalculated trajectory counter indicating the progress of movement in the recalculated trajectory of the moving object 100. The preceding trajectory counter counts the progress state of the moving object 100 based on the target position / time numbers constituting the preceding trajectory. The counter value of the preceding trajectory counter is associated with the number attached in the order in which the moving object 100 passes through the target position / time. The initial value of the counter value of the preceding trajectory counter is 0, and it is incremented by 1 whenever the moving object 100 reaches a new target position.

[0131] The recalculated trajectory counter counts the progress state of the moving object 100 based on the target position / velocity / time numbers constituting the recalculated trajectory. The counter value of the recalculated trajectory progress counter is associated with the number attached in the order in which the moving object 100 passes through the target position / velocity / time. The initial value of the counter value of the recalculated trajectory progress counter is 0, and it is incremented by 1 whenever the moving object 100 reaches a new target position.

[0132] The magnification conversion unit 301 converts the input value input from the user to the input device 200 into a magnification as a speed control value based on predetermined magnification conversion information, and provides the magnification to the recalculated target extraction unit 302 and the preceding trajectory counter update unit 308. The magnification conversion information is a function that determines the magnification to be output based on the input value from the user, as described in the reference Figure 6 as described.

[0133] The recalculated target extraction unit 302 extracts a plurality of target positions / times as recalculation targets from the preceding trajectory using the magnification, the preceding trajectory, and the counter value of the preceding trajectory counter as inputs, and provides the target positions / times to the trajectory recalculation unit 303. The recalculated target extraction unit 302 uses the target position / time of the number indicated by the value of the preceding trajectory counter as a starting point, and extracts a plurality of target positions / times corresponding to the number of seconds R' calculated from the magnification S and the predetermined number of seconds R in the positive and negative directions of the magnification S using the following mathematical formula 1.

[0134] [Mathematical formula 1]

[0135] R' = |S| x R

[0136] For example, when the counter value of the preceding trajectory counter is K, and the target positions / times corresponding to the number of seconds R' from the target position / time [k] are the target positions / times [k + 1] and [k + 2], as Figure 12As shown in , the target extraction unit 302 recalculates and extracts three target positions / times [k], [k + 1], and [k + 2].

[0137] For the extracted target positions / times, the timestamps are corrected and numbered again as the positions / times corresponding to R' seconds from the reference time (e.g., 0). The extracted target positions / times are indicated as "preceding trajectory (extracted)" in Figure 11 .

[0138] When the magnification factor S is 0, R' is also 0. Therefore, in the above process, the target position / time corresponding to 0 seconds cannot be extracted. Thus, when the magnification factor S is 0, multiple k-th target positions / times with the same number of counter values k are extracted and arranged. When the counter value of the preceding trajectory counter indicates the start or end of the preceding trajectory and further tracking is not possible, multiple final target positions / times as the end points of the preceding trajectory are extracted and arranged.

[0139] The trajectory recalculation unit 303 uses the multiple extracted target positions / times as inputs and calculates a periodic trajectory (recalculated trajectory) according to the continuous path (CP) control period. In point-to-point (PTP) control motion, a smooth trajectory along which a human can maneuver cannot be achieved. Therefore, CP control is used in this technology. By generating a control command value from the specified preceding trajectory according to the control period of the actuator of the moving object 100 and providing this control command value as a target value to the UAV control unit 101, smoother movement can be achieved. In this case, the preceding trajectory requires a pair of position and time, and the target speed is also determined each time.

[0140] The trajectory recalculation unit 303 calculates the target speed based on the target position and target time, where the target speed is the speed of the moving object 100 when passing through the target position. The recalculated trajectory consists of the target position, target speed, and target time (target position / speed / time). Here, in fact, as long as "the control quantity suitable for the actuator controller" is used. When the target position / time extracted from the preceding trajectory corresponds to R' seconds, the recalculated trajectory calculated by the trajectory recalculation unit 303 may or may not correspond to R' seconds. For the sake of description, R' seconds are used uniformly. However, the number of seconds extracted from the preceding trajectory, the number of seconds of the recalculated trajectory calculated by the trajectory recalculation unit 303, the ratio between the two numbers of seconds, etc. depend on the CP calculation algorithm.

[0141] All target positions / times are preset to the leading trajectory. Therefore, when the speed of the moving object 100 is changed by speed control, the times to reach all target positions after the time point of the speed change are changed. Therefore, the times to reach all target positions after the time point of the speed change are shifted. Therefore, the trajectory recalculation unit 303 needs to recalculate the target positions / times, correct the shift, and reset the target positions / times.

[0142] Here, the processing load of the trajectory recalculation unit 303 increases in some cases. Therefore, not all target positions / times are recalculated, but the recalculation target extraction unit 302 limits the extraction range by the number of seconds R', and the target positions / times within the extraction range are recalculated by the trajectory recalculation unit 303. The recalculation target extraction unit 302 may not extract the target positions / times corresponding to the number of seconds R', but may extract within a range equal to or greater than the number of seconds R', and the target positions / times corresponding to the number of seconds R' may be recalculated by the trajectory recalculation unit 303.

[0143] The target position / speed extraction unit 304 extracts the subsequent target position / speed / time that the moving object 100 will reach and that has the number indicated by the value of the recalculated trajectory counter from the recalculated trajectory calculated by the trajectory recalculation unit 303. The extracted target position is provided to the target arrival determination unit 306. The extracted target position / speed is provided to the actuator output determination unit 309.

[0144] The current position / speed estimation unit 305 estimates the current position and current speed of the moving object 100 based on various sensor information provided by the sensor unit 103 of the moving object 100. The current position is provided to the target arrival determination unit 306, and the current position / speed is provided to the actuator output determination unit 309.

[0145] The target arrival determination unit 306 determines whether the moving object 100 has reached the target position that the moving object 100 will subsequently reach based on the difference between the target position and the current position. The determination result of the target arrival determination unit 306 is provided to the recalculated trajectory counter update unit 307.

[0146] When the moving object 100 reaches the target position based on the determination result of the target arrival determination unit 306, the recalculated trajectory counter update unit 307 increments the value of the recalculated trajectory progress counter. The value of the recalculated trajectory counter updated by the recalculated trajectory counter update unit 307 is provided to the target position / speed extraction unit 304. Accordingly, the target position / speed extraction unit 304 extracts the target position / speed having the subsequent number that the moving object 100 will reach and is indicated by the recalculated trajectory counter value from the recalculated trajectory at the subsequent extraction timing. Further, the value of the recalculated trajectory progress counter is also provided to the preceding trajectory counter update unit 308.

[0147] The preceding trajectory counter update unit 308 performs a process of incrementing or decrementing the preceding trajectory counter based on the value of the recalculated trajectory counter and the positive or negative magnification factor provided from the magnification conversion unit 301. When the magnification factor is a positive value, assuming that the moving object 100 has moved in the positive direction (the traveling method along the trajectory), the preceding trajectory counter update unit 308 increments the value of the preceding trajectory counter. Conversely, when the magnification factor is a negative value, assuming that the moving object 100 has moved in the negative direction (the return direction along the trajectory), the value of the preceding trajectory counter is decremented. The preceding trajectory counter value is provided to the recalculated target extraction unit 302. Accordingly, the recalculated target extraction unit 302 extracts the target position / speed having the subsequent number that the moving object 100 will reach and is indicated by the preceding trajectory counter value from the preceding trajectory at the subsequent extraction timing.

[0148] The target position / speed of the recalculated trajectory and the current position / speed of the moving object 100 estimated by the current position / speed estimation unit 305 are provided to the actuator output determination unit 309.

[0149] In the case of the position control mode, the actuator output determination unit 309 converts the difference between the target position and the current position into a control signal for controlling the output of the actuators 3a to 3d of the moving object 100, and provides the control signal to the UAV control unit 101 of the moving object 100. In the case of the speed control mode, the actuator output determination unit 309 converts the difference between the target speed and the current speed into a control signal for controlling the output of the actuators 3a to 3d of the moving object 100, and provides the control signal to the UAV control unit 101 of the moving object 100. The UAV control unit 101 controls the output of the actuators 3a to 3d by transmitting the control signal to the actuators 3a to 3d, and controls the moving speed and the moving direction of the moving object 100. Accordingly, the speed of the moving object 100 is controlled. The control mode of the actuator output determination unit 309 can be determined by the user.

[0150] As described above, the information processing device 300 performs speed control processing. The information processing device 300 may perform the above processing only when there is an input from the user, or may continuously perform the processing at a predetermined time interval regardless of whether there is an input from the user.

[0151] According to the present technology, the user can perform an input to control the speed of the moving object 100. Therefore, the user can simply specify the speed while automatically adjusting the moving object 100.

[0152] By providing a variety of methods that allow the user to specify the speed, flexible countermeasures can be taken according to the wide range of needs or purposes of the user.

[0153] The information processing device 300 can be implemented by executing a program, and the program can be pre-installed in the moving object 100 and can be downloaded and distributed via a storage medium or the like, and the user can install the program by himself / herself. In addition, the information processing device 300 can be implemented by a program and can be implemented in combination with a dedicated hardware device having functions, circuits, etc.

[0154] [1-5. Structure of Imaging Device 400]

[0155] Next, the structure of the imaging device 400 will be described. As Figure 1 and Figure 2 shown in B, the imaging device 400 is installed on the bottom surface of the main unit 1 of the moving object 100 to be suspended via the gimbal 500. The imaging device 400 can orient the lens in any one of all directions of 360 degrees from the horizontal direction to the vertical direction by driving the gimbal 500 to perform imaging. Therefore, imaging can be performed with a set composition. The operation of the gimbal 500 is controlled by the gimbal control unit 104.

[0156] The structure of the imaging device 400 will be described with reference to Figure 13 the block diagram. The imaging device 400 includes a control unit 401, an optical imaging system 402, a lens drive driver 403, an image sensor 404, an image signal processing unit 405, an image memory 406, a storage unit 407, and a communication unit 408.

[0157] The optical imaging system 402 includes an imaging lens that converges light from an object on the image sensor 404, a drive mechanism that moves the imaging lens to perform focusing or zooming, a shutter mechanism, and an aperture mechanism. These are driven based on control signals from the control unit 401 and the lens drive driver 403 of the imaging device 400. The optical image of the object obtained via the optical imaging system 402 is formed on the image sensor 404 included in the imaging device 400.

[0158] The lens driving driver 403 is constituted by, for example, a microcomputer, and performs autofocusing to focus on a target object by moving the imaging lens by a predetermined amount in the optical axis direction under the control of the control unit 401. Under the control of the control unit 401, the drive mechanism, shutter mechanism, aperture mechanism, etc. of the optical imaging system 402 are controlled. Therefore, adjustments such as the exposure time (shutter speed) and the aperture value (F value) are performed.

[0159] The image sensor 404 photoelectrically converts incident light from an object into an electric charge amount and outputs a pixel signal. The image sensor 404 outputs the pixel signal to the image signal processing unit 405. A charge-coupled device (CCD), complementary metal oxide semiconductor (CMOS), etc. are used as the image sensor 404.

[0160] The image signal processing unit 405 generates an image signal by performing correlated double sampling (CDS) processing, automatic gain control (AGC) processing, analog / digital (A / D) conversion, etc. on the imaging signal output from the image sensor 404, and by performing sampling and holding to satisfactorily maintain the signal-to-noise (S / N) ratio.

[0161] The image memory 406 is a volatile memory, such as a buffer memory constituted by a dynamic random access memory (DRAM). The image memory 406 temporarily stores image data that has undergone predetermined processing by the image signal processing unit 405.

[0162] The storage unit 407 is, for example, a large-capacity storage medium such as a hard disk, a USB flash drive, or an SD memory card. For example, the captured image is stored in a compressed state or an uncompressed state based on a standard such as the Joint Photographic Experts Group (JPEG). Exchangeable image file format (EXIF) data including additional information such as information about the stored image, imaging position information indicating the imaging position, and imaging time information indicating the imaging date and time is also stored in association with the image.

[0163] The communication unit 408 is any of various communication terminals or communication modules that transmit data to and receive data from the moving object 100 and the input device 200. The communication can be either wired communication such as USB communication or wireless communication such as wireless LAN, WAN, WiFi, 4G, 5G, Bluetooth (registered trademark), or ZigBee (registered trademark).

[0164] In addition to the manipulation of the moving object 100, the user may be allowed to use the input device 200 to manipulate the imaging device 400, or may be allowed to use a device different from the input device 200 to manipulate the imaging device 400.

[0165] According to the present technology, a user can easily perform an input to control the speed of the moving object 100. Thus, when the imaging device 400 is mounted on the moving object 100 to perform imaging, the user can perform an input to control the speed of the moving object 100 while operating the imaging device 400. Therefore, for example, even when the user is an operator who is not fully accustomed to operating the moving object 100 and a photographer for single-shot operations, the user as a photographer can focus on framing or focusing while easily performing an input to control the speed of the moving object 100.

[0166] The speed can be adjusted while moving the moving object 100 along a previously set preceding trajectory, so that the positional relationship between the imaging device 400 and the object can be finely adjusted during actual imaging. To flexibly perform continuous speed control according to the movement of the object during actual imaging, it is desirable to use a UI on which a continuous value can be input, such as Figure 5 A or Figure 8 as shown. When there is no input, for example, when a finger is removed, the moving object 100 continues to move at a speed of 1x. Therefore, more focus can be placed on photographic work. Smooth acceleration or deceleration can be performed according to the input if necessary.

[0167] As a specific example of the usage mode of the present technology, an example of an unmanned aerial vehicle (UAV) performing an aerial photographing of a racing car traveling on a race track as the moving object 100 can be exemplified. The traveling route and speed distribution of an ideal racing car in a specific race can be assumed in advance. The assumed information can be used to determine the preceding trajectory of the UAV, such as a "lane" as the flight route for performing ideal imaging.

[0168] The photographer can accelerate or decelerate the UAV moving along the "lane" with a joystick to adjust the distance and direction relative to the object using the present technology, while focusing on framing operations through a pan-tilt-zoom camera mounted on the UAV moving on the "lane".

[0169] For example, when it is assumed that a certain racing car deviates from the route and thus stops, the UAV can be stopped or moved backward by operating the input device 200 to continue imaging while maintaining an appropriate position. The operation of the UAV can be converted into manual operation.

[0170] <2. Modified Example>

[0171] The embodiments of the present technology have been specifically described, but the present technology is not limited to the above embodiments, and various modifications can be made based on the technical spirit and essence of the present technology.

[0172] In this embodiment, the magnification factor is used as the speed control value, but a specific speed value can be specified as the speed control value, and the speed can also be adjusted by an offset value. For example, a speed to be added such as +1 km / h, +2 km / h, or +3 km / h can be directly specified as the current speed, or the moving speed of the moving object 100, such as 43 km / h or 50 km / h, can be directly specified. In this case, the speed of the moving object 100 is controlled by addition / subtraction. When the speed control value is the magnification factor, the speed of the moving object is determined by multiplication.

[0173] In the embodiment, an example in which the imaging device 400 is mounted on the moving object 100 has been described. However, the present technology can be applied to the speed control of the moving object 100 on which another device rather than the imaging device 400 is mounted, and can also be applied to the speed control of the moving object 100 on which no other device is mounted.

[0174] In the embodiment, the moving object 100 and the imaging device 400 can be separate devices. However, the moving object 100 and the imaging device 400 can be configured as an integrated device.

[0175] The drone used as the moving object 100 is not limited to the drone with rotors described in this embodiment, but can be a so-called fixed-wing drone.

[0176] The moving object 100 according to the present technology is not limited to a drone, but can be an automobile, a ship, a robot, a wheelchair, etc. that are not operated by humans and move autonomously. A semi-moving object that can be operated by humans and / or can move autonomously can be used.

[0177] In the second exemplary configuration of the input device 200, the wheels WH1 and WH2 have been included as described above, but the number of wheels is not limited to two. For example, a wheel that rotates about an axis in the vertical direction of the housing BD or a wheel that is manipulated left and right on the rear surface of the housing BD with the middle finger can be provided as the wheel WH3. In addition, in addition to the wheel shape, a sliding type input mechanism that can be realized with a thin structure can be provided.

[0178] Imaging using the present technology can be used for a wide range of purposes, such as movies or sports. In the embodiment, aerial imaging performed using a drone has been illustrated, but the present technology can also be applied to, for example, a lane moving camera that assumes contact with the ground, such as in track and field sports.

[0179] Any device can be used as the imaging device 400 as long as it has an imaging function and can be mounted on the moving object 100, such as a digital camera, a smart phone, a mobile phone, a portable game device, a notebook PC, a tablet terminal, etc.

[0180] The imaging device 400 may include an input unit and a display unit. When the imaging device 400 is not connected to the moving object 100, the imaging device 400 may be used as a single imaging device.

[0181] The information processing device 300 may not be provided in the moving object 100 but in the input device 200.

[0182] The present technology may be configured as follows. (1)

[0184] An information processing system, comprising:

[0185] An information processing device configured to control the speed of a moving object that autonomously moves along a preset trajectory; and

[0186] An input device including an input unit that receives an input from a user and configured to provide an input value input from the user and used to control the speed of the moving object to the information processing device. (2)

[0188] The information processing system according to (1),

[0189] wherein the moving object autonomously moves through any preset target position on the trajectory at a preset target time or target speed, and

[0190] wherein the information processing device controls the speed by updating the target position and / or target speed based on a speed control value obtained from the input value. (3)

[0192] The information processing system according to (2), wherein the speed of the moving object is controlled based on the difference between the updated target speed and the current speed of the moving object. (4)

[0194] The information processing system according to (2), wherein the speed of the moving object is controlled based on the difference between the updated target position and the current position of the moving object. (5)

[0196] The information processing system according to any one of (1) to (4), wherein the input unit is constituted by a single-axis operator. (6)

[0198] The information processing system according to (5), wherein the input unit is constituted by a wheel and / or a joystick. (7)

[0200] The information processing system according to any one of (1) to (6), wherein the input unit is constituted by a touch panel having an input area with an input value. (8)

[0202] The information processing system according to (7), wherein an input area for an input value is configured in a slider shape capable of inputting a continuous value. (9)

[0204] The information processing system according to (7), wherein an input area for an input value is configured in a button shape capable of inputting a discrete value. (10)

[0206] The information processing system according to any one of (1) to (9), wherein a range is set for an input value for performing control to make the speed of a moving object become a predetermined speed. (11)

[0208] The information processing system according to any one of (1) to (10), wherein the input device includes a notification unit that notifies a user that an input from the user is within and / or outside the range of the input value. (12)

[0210] The information processing system according to any one of (1) to (11), wherein the input unit includes a notification unit that notifies a user that an input from the user is an input value at which the speed of a moving object is a predetermined speed. (13)

[0212] The information processing system according to any one of (1) to (12), wherein the speed is controlled based on a magnification factor of the speed used as a speed control value. (14)

[0214] The information processing system according to any one of (1) to (13), wherein the speed is controlled based on a numerical value of the speed used as a speed control value. (15)

[0216] The information processing system according to any one of (1) to (14),

[0217] wherein the information processing device includes a conversion unit that converts an input value into a speed control value, and

[0218] wherein the input value and the speed control value have a linear or curved relationship. (16)

[0220] The information processing system according to any one of (1) to (15), wherein the information processing device is provided in the moving object. (17)

[0222] The information processing system according to any one of (1) to (15), wherein the information processing device is provided in the input device. (18)

[0224] An information processing method, comprising controlling a speed of a moving object that autonomously moves along a preset trajectory based on an input value input from a user to an input device including an input unit that receives an input from the user. (19)

[0226] An information processing program that causes a computer to execute an information processing method that controls a speed of a moving object that autonomously moves along a preset trajectory based on an input value input from a user to an input device including an input unit that receives an input from the user.

[0227] [Reference mark list]

[0228] 100 Moving object

[0229] 200 Input device

[0230] 204A Input unit

[0231] WH Wheel

[0232] LV Joystick

[0233] 300 Information processing device

[0234] 1000 Information processing system

Claims

1. An information processing system, comprising: an information processing device configured to control the speed of a moving object that moves autonomously so that the moving object passes through any target position preset on a preset trajectory at a preset target speed; and an input device including an input unit that receives an input from a user and is configured to provide an input value input by the user and used to control the speed of the moving object to the information processing device, wherein the information processing device converts the input value into a speed control value based on conversion information, where the conversion information is set to maintain the speed control value within a specific value range so that the speed control value matches the specific value, updates the target speed based on the speed control value, and controls the speed of the moving object based on the difference between the current speed of the moving object and the updated target speed.

2. The information processing system according to claim 1, wherein the input unit is constituted by a single-axis operator.

3. The information processing system according to claim 2, wherein the input unit is constituted by a wheel and / or a rod.

4. The information processing system according to claim 1, wherein the input unit is constituted by a touch panel having an input area for an input value.

5. The information processing system according to claim 4, wherein the input area for the input value is configured in a slider shape capable of inputting a continuous value.

6. The information processing system according to claim 4, wherein the input area for the input value is configured in a button shape capable of inputting a discrete value.

7. The information processing system according to claim 1, wherein the input device includes a notification unit that notifies the user that the input from the user is within and / or outside the range of the input value.

8. The information processing system according to claim 1, wherein the input unit includes a notification unit that notifies the user that the input from the user is an input value that causes the speed of the moving object to become a predetermined speed.

9. The information processing system according to claim 1, wherein the speed is controlled based on a magnification factor of the speed used as the speed control value.

10. The information processing system according to claim 1, wherein the speed is controlled based on the numerical value of the speed used as the speed control value.

11. The information processing system according to claim 1, wherein the information processing device includes a conversion unit that converts the input value into the speed control value, and wherein the input value and the speed control value have a linear or curved relationship.

12. The information processing system according to claim 1, wherein the information processing device is provided in the moving object.

13. The information processing system according to claim 1, wherein the information processing device is provided in the input device.

14. An information processing method for controlling the speed of a moving object that moves autonomously so that the moving object passes through any target position preset on a preset trajectory at a preset target speed, comprising: inputting, by a user, an input value to an input device, the input device including an input unit that receives an input from the user, Convert the input value into a speed control value based on conversion information, where the conversion information is set such that the speed control value is maintained within a specific value range to match the specific value. Update the target speed based on the speed control value, and Control the speed of the moving object based on the difference between the current speed of the moving object and the updated target speed.

15. A computer program product, comprising computer program instructions, wherein, when the computer program instructions are executed by a processor, an information processing method is implemented, and the information processing method is used to control the speed of a moving object that autonomously moves along a preset trajectory. The method includes: Input an input value to an input device by a user, and the input device includes an input unit that receives an input from the user. Convert the input value into a speed control value based on conversion information, where the conversion information is set such that the speed control value is maintained within a specific value range to match the specific value. Update the target speed based on the speed control value, and Control the speed of the moving object based on the difference between the current speed of the moving object and the updated target speed.

Images