Control device, imaging device, mobile body, control method, and computer program product

Abstract

It is desired that a camera lens is easily designed while obtaining a higher zoom ratio. A control device includes a circuit configured to perform zoom photography by changing a focal length of a camera lens whose focal length is variable and a collection range at which a partial image area is collected from an image captured using light transmitted through the camera lens. An image circle of the camera lens changes according to the focal length. The circuit is configured to set the collection range within the image circle that changes according to the focal length of the camera lens.

Description

Technical Field

[0001] This invention relates to a control device, a camera device, a moving body, a control method, and a computer program product. Background Technology

[0002] Patent document 1 discloses an image transmission system that, while transmitting high-resolution image content by converting it to a transmission resolution (the display resolution of the image reproduction terminal), also transmits scaled images at the transmission resolution in response to scaling requirements.

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2012-75030. Summary of the Invention

[0004] [The technical problem that the invention aims to solve]

[0005] We hope to increase the zoom ratio. Additionally, we hope that while achieving a high zoom ratio, the camera lens will also be easy to design.

[0006] [Technical means used to solve the problem]

[0007] One aspect of the invention relates to a control device comprising a circuit configured to perform zoom photography by changing the focal length of a variable-focal-length camera lens and the acquisition range of an image region acquired from an image captured using light transmitted through the camera lens. The image ring of the camera lens varies according to the focal length. The circuit is configured to set the acquisition range within the image ring that varies according to the focal length of the camera lens.

[0008] The circuit can be configured to perform zoom photography by changing the focal length and acquisition range of the camera lens according to at least one of the specified zoom ratio and the number of recorded pixels when at least one of the specified zoom ratio and the number of recorded pixels is specified.

[0009] The circuit can be configured such that when the user specifies the number of recording pixels, the acquisition range is determined based on the specified number of recording pixels, and the focal length of the camera lens is determined based on the determined acquisition range.

[0010] A camera lens can have an image circle that decreases with a longer focal length. The circuit can be configured to determine the focal length of the camera lens such that the area corresponding to the acquisition range in the image sensor's imaging surface, which captures images using light transmitted through the camera lens, is contained within the image circle.

[0011] The circuit can be configured such that when the user specifies a zoom level, the acquisition range is determined based on the specified zoom level, and the focal length of the camera lens is determined based on the determined acquisition range.

[0012] A camera lens can have an image circle that decreases with a longer focal length. The circuit can be configured to determine the acquisition range and the focal length of the camera lens, such that the portion of the effective imaging area of ​​the image sensor that corresponds to the acquisition range is included within the image circle.

[0013] At least at the telephoto end, the image circle diameter of the camera lens can be shorter than the long side of the effective imaging area of ​​the image sensor.

[0014] The imaging device according to one aspect of the present invention may include the above-described camera lens and the above-described control device.

[0015] One aspect of the present invention relates to a mobile body that includes the above-described camera device and moves accordingly.

[0016] One aspect of the invention relates to a control method that includes a phase of zoom photography by changing the focal length of a variable-focal-length camera lens and acquiring a portion of an image region from an image captured using light transmitted through the camera lens. The image circle of the camera lens varies according to the focal length. The zoom photography phase includes setting the acquisition range within the image circle that varies according to the focal length of the camera lens.

[0017] One aspect of the invention relates to a program that causes a computer to perform the following steps: zoom photography by changing the focal length of a variable-focal-length camera lens and acquiring a portion of the image area from an image captured using light transmitted through the camera lens. The image circle of the camera lens varies according to the focal length. The step of performing zoom photography includes setting the acquisition range within the image circle that varies according to the focal length of the camera lens.

[0018] According to one aspect of the invention, a high zoom ratio can be obtained, while the camera lens is also easy to design.

[0019] Furthermore, the above description of the invention does not list all the essential features of the invention. In addition, sub-combinations of these feature groups can also constitute an invention. Attached Figure Description

[0020] Figure 1 An example showing the appearance of the unmanned aerial vehicle (UAV) 10 and the remote operation device 300.

[0021] Figure 2 An example of a function block for UAV10 is shown.

[0022] Figure 3 This is a diagram used to illustrate the zoom photography method in this embodiment.

[0023] Figure 4 This diagram is used to illustrate the zoom photography method as a comparative example.

[0024] Figure 5 This is a flowchart illustrating the processing steps performed by the camera control unit 110.

[0025] Figure 6 This is a flowchart illustrating the processing steps performed by the camera control unit 110.

[0026] Figure 7 An example of a computer 1200 is shown.

[0027] [Symbol Explanation]

[0028] 10 UAV

[0029] 20 UAV main body

[0030] 30 UAV Control Department

[0031] 36 Communication Interface

[0032] 37. Memory

[0033] 40 Propulsion Department

[0034] 41 GPS receiver

[0035] 42 Inertial Measurement Device

[0036] 43 Magnetic Compass

[0037] 44. Barometric altimeter

[0038] 45 Temperature sensor

[0039] 46 Humidity Sensor

[0040] 50 universal joint

[0041] 60 camera devices

[0042] 100 camera devices

[0043] 102 Camera Department

[0044] 110 Camera Control Department

[0045] 120 Image Sensor

[0046] 122 Effective camera area

[0047] 130 Memory

[0048] 200 Lens Section

[0049] 210 lens

[0050] 212 Lens Drive Unit

[0051] 214 Position Sensor

[0052] 220 Lens Control Unit

[0053] 222 Memory

[0054] 300 Remote Operation Device

[0055] 310 like circle

[0056] 311 like a circle

[0057] 312 like circles

[0058] 330 Optical Images

[0059] 331 Optical Images

[0060] 332 Optical Images

[0061] 340 range

[0062] 350 Recording Images

[0063] 360 Recording Images

[0064] 362 Subject Images

[0065] 370 Recording Images

[0066] 372 Subject Images

[0067] 411 like a circle

[0068] 412 like circles

[0069] 420 range

[0070] 422 Effective camera area

[0071] 1200 computers

[0072] 1210 Host Controller

[0073] 1212 CPU

[0074] 1214 RAM

[0075] 1220 Input / Output Controller

[0076] 1222 Communication Interface

[0077] 1230 ROM. Detailed Implementation

[0078] The present invention will now be described through embodiments thereof; however, these embodiments do not limit the invention as defined in the claims. Furthermore, not all combinations of features described in the embodiments are essential to the solution of the invention. It will be apparent to those skilled in the art that various modifications or alterations can be made to the following embodiments. It is evident from the description in the claims that any such modifications or alterations are included within the scope of the present invention.

[0079] The claims, description, drawings, and abstract contain the matters protected by copyright. The copyright holder will not object to any reproduction of these documents as indicated in the patent office's documents or records. However, in all other cases, all copyrights are reserved.

[0080] Various embodiments of the present invention can be described with reference to flowcharts and block diagrams, where blocks may represent (1) stages of a process for performing an operation or (2) a “part” of a device that performs the operation. Specific stages and “parts” may be implemented by programmable circuits and / or processors. Dedicated circuits may include digital and / or analog hardware circuits. They may include integrated circuits (ICs) and / or discrete circuits. Programmable circuits may include reconfigurable hardware circuits. Reconfigurable hardware circuits may include logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field-programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and other memory elements.

[0081] Computer-readable media can include any tangible device on which instructions executable by a suitable device can be stored. As a result, a computer-readable medium storing instructions thereon comprises an article of products including instructions that can be executed to create means for performing the operations specified in a flowchart or block diagram. Examples of computer-readable media include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable media include floppy disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), optical disc read-only memory (CD-ROM), digital versatile optical disc (DVD), Blu-ray (RTM) optical disc, memory sticks, integrated circuit cards, etc.

[0082] Computer-readable instructions may include any one of source code or object code described by any combination of one or more programming languages. Source code or object code includes conventional procedural programming languages. Conventional procedural programming languages ​​may include assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-specific instructions, microcode, firmware instructions, status setting data, or object-oriented programming languages ​​such as Smalltalk (registered trademark), JAVA (registered trademark), C++, and the "C" programming language or similar programming languages. Computer-readable instructions may be provided locally or via a wide area network (WAN) such as a local area network (LAN) or the Internet to the processor or programmable circuitry of a general-purpose computer, special-purpose computer, or other programmable data processing device. The processor or programmable circuitry may execute the computer-readable instructions to create means for performing the operations specified in the flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0083] Figure 1 This is an example showing the appearance of an unmanned aerial vehicle (UAV) 10 and a remote control device 300. The UAV 10 includes a UAV body 20, a gimbal 50, multiple camera devices 60, and a camera device 100. The gimbal 50 and camera device 100 are examples of a camera system. UAV 10, or mobile body, refers to the concept of flying bodies moving in the air, vehicles moving on the ground, ships moving on water, etc. The concept of flying bodies moving in the air includes not only UAVs but also other aircraft moving in the air, such as airships and helicopters.

[0084] The UAV body 20 includes multiple rotors. Multiple rotors are an example of a propulsion system. The UAV body 20 enables the UAV 10 to fly by controlling the rotation of the multiple rotors. The UAV body 20 uses, for example, four rotors to enable the UAV 10 to fly. The number of rotors is not limited to four. Alternatively, the UAV 10 can also be a fixed-wing aircraft without rotors.

[0085] The imaging device 100 is a camera for imaging a subject contained within a desired imaging range. A gimbal 50 rotatably supports the imaging device 100. The gimbal 50 is an example of a support mechanism. For example, the gimbal 50 uses an actuator to rotatably support the imaging device 100 about the pitch axis. The gimbal 50 further uses actuators to rotatably support the imaging device 100 about the roll axis and yaw axis, respectively. The gimbal 50 can change the posture of the imaging device 100 by rotating it about at least one of the yaw axis, pitch axis, and roll axis.

[0086] Multiple camera devices 60 are sensing cameras used to capture images of the surroundings of the UAV10 for controlling its flight. Two camera devices 60 can be located on the nose of the UAV10, i.e., the front. Two other camera devices 60 can be located on the bottom of the UAV10. The two front-facing camera devices 60 can be paired, functioning as stereo cameras. The two bottom-facing camera devices 60 can also be paired, functioning as stereo cameras. Three-dimensional spatial data of the UAV10's surroundings can be generated based on the images captured by the multiple camera devices 60. The number of camera devices 60 included in the UAV10 is not limited to four. The UAV10 only needs to include at least one camera device 60. The UAV10 may also include at least one camera device 60 on its nose, tail, sides, bottom, and top. The settable angle of view of the camera device 60 can be larger than the settable angle of view of the camera device 100. The camera device 60 may also have a single-focus lens or a fisheye lens.

[0087] The remote operating device 300 communicates with the UAV 10 to remotely operate the UAV 10. The remote operating device 300 can wirelessly communicate with the UAV 10. The remote operating device 300 sends instruction information to the UAV 10, representing various commands related to the movement of the UAV 10, such as ascending, descending, accelerating, decelerating, moving forward, reversing, and rotating. The instruction information includes, for example, instructions to raise the height of the UAV 10. The instruction information may indicate the height at which the UAV 10 should be located. The UAV 10 moves to reach the height indicated by the instruction information received from the remote operating device 300. The instruction information may include an ascent command to raise the UAV 10. The UAV 10 rises while receiving the ascent command. Even if an ascent command is received, the ascent of the UAV 10 may be limited if the height of the UAV 10 has already reached its upper limit.

[0088] Figure 2 An example of the functional blocks of UAV10 is shown. UAV10 includes UAV control unit 30, memory 37, communication interface 36, propulsion unit 40, GPS receiver 41, inertial measurement unit 42, magnetic compass 43, barometric altimeter 44, temperature sensor 45, humidity sensor 46, gimbal 50, camera device 60, and camera device 100.

[0089] The communication interface 36 communicates with other devices such as the remote operating device 300. The communication interface 36 can receive instruction information, including various commands to the UAV control unit 30, from the remote operating device 300. The memory 37 stores programs required by the UAV control unit 30 to control the propulsion unit 40, GPS receiver 41, inertial measurement unit (IMU) 42, magnetic compass 43, barometric altimeter 44, temperature sensor 45, humidity sensor 46, gimbal 50, camera device 60, and camera device 100. The memory 37 can be a computer-readable recording medium, including at least one of SRAM, DRAM, EPROM, EEPROM, USB memory, and solid-state drive (SSD) flash memory. The memory 37 can be located inside the UAV body 20. It can be configured to be removable from the UAV body 20.

[0090] The UAV control unit 30 controls the flight and filming of the UAV 10 according to the program stored in the memory 37. The UAV control unit 30 may be composed of a microprocessor such as a CPU or MPU, or a microcontroller such as an MCU. The UAV control unit 30 controls the flight and filming of the UAV 10 according to the instructions received from the remote operation device 300 via the communication interface 36. The propulsion unit 40 propels the UAV 10. The propulsion unit 40 includes multiple rotors and multiple drive motors that rotate the multiple rotors. The propulsion unit 40 rotates the multiple rotors via the multiple drive motors according to the instructions from the UAV control unit 30, so that the UAV 10 flies.

[0091] GPS receiver 41 receives multiple signals indicating the time of transmission from multiple GPS satellites. GPS receiver 41 calculates its position (latitude and longitude), i.e., the position (latitude and longitude) of UAV 10, based on the received signals. IMU 42 detects the attitude of UAV 10. IMU 42 detects the acceleration of UAV 10 in the three axes of forward / backward, left / right, and up / down, and the angular velocities in the three axes of pitch, roll, and yaw, as the attitude of UAV 10. Magnetic compass 43 detects the azimuth of the UAV 10's nose. Barometric altimeter 44 detects the flight altitude of UAV 10. Barometric altimeter 44 detects the air pressure around UAV 10 and converts the detected air pressure into altitude to determine the altitude. Temperature sensor 45 detects the temperature around UAV 10. Humidity sensor 46 detects the humidity around UAV 10.

[0092] The camera device 100 includes a camera unit 102 and a lens unit 200. The lens unit 200 is an example of a lens device. The camera unit 102 includes an image sensor 120, a camera control unit 110, a memory 130, and a range sensor. The image sensor 120 can be composed of a CCD or a CMOS sensor. The image sensor 120 captures optical images imaged by multiple lenses 210 and outputs the captured images to the camera control unit 110. The camera control unit 110 generates a recording image through image processing based on pixel information read from the image sensor 120 and stores it in the memory 130. The camera control unit 110 can be composed of a microprocessor such as a CPU or MPU, or a microcontroller such as an MCU. The camera control unit 110 can control the camera device 100 according to operation instructions from the camera device 100 received from the UAV control unit 30. The camera control unit 110 is an example of a circuit. The memory 130 can be a computer-readable recording medium, including at least one of SRAM, DRAM, EPROM, EEPROM, USB memory, and flash memory such as solid-state drive (SSD). The memory 130 stores programs required by the camera control unit 110 to control the image sensor 120, etc. The memory 130 can be disposed inside the housing of the camera device 100. The memory 130 can be configured to be removable from the housing of the camera device 100.

[0093] A range sensor measures the distance to a subject. Range sensors can be infrared sensors, ultrasonic sensors, stereo cameras, TOF (Time of Flight) sensors, etc.

[0094] The lens unit 200 includes multiple lenses 210, multiple lens drive units 212, and a lens control unit 220. The multiple lenses 210 can function as zoom lenses, varifocal lenses, and focusing lenses. At least some or all of the multiple lenses 210 are configured to move along the optical axis. The lens unit 200 may be an interchangeable lens configured to be detachable from the camera unit 102. The lens drive units 212 move at least some or all of the multiple lenses 210 along the optical axis via a mechanism such as a cam ring. The lens drive unit 212 may include an actuator. The actuator may include a stepper motor. The lens control unit 220 drives the lens drive units 212 according to lens control commands from the camera unit 102 to move one or more lenses 210 along the optical axis via the mechanism. The lens control commands are, for example, zoom control commands and focus control commands.

[0095] The lens unit 200 also includes a memory 222 and a position sensor 214. The lens control unit 220 controls the movement of the lens 210 along the optical axis via the lens drive unit 212 according to lens operation commands from the camera unit 102. Part or all of the lens 210 moves along the optical axis. The lens control unit 220 performs at least one of zoom and focus operations by moving at least one of the lenses 210 along the optical axis. The position sensor 214 detects the position of the lens 210. The position sensor 214 can detect the current zoom position or focus position.

[0096] The lens drive unit 212 may include a shake correction mechanism. The lens control unit 220 can perform shake correction by moving the lens 210 along the optical axis or perpendicular to the optical axis via the shake correction mechanism. The lens drive unit 212 can drive the shake correction mechanism with a stepper motor to perform shake correction. Furthermore, the shake correction mechanism can be driven by a stepper motor to move the image sensor 120 along the optical axis or perpendicular to the optical axis to perform shake correction.

[0097] The memory 222 stores control values ​​for the plurality of lenses 210 driven by the lens drive unit 212. The memory 222 may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory.

[0098] The zoom control performed by the camera control unit 110 will now be explained. The camera control unit 110 performs zoom photography by changing the focal length of the variable-focal-length lens 210 and the acquisition range of a portion of the image area captured from the image taken using light transmitted through the lens 210. The image circle of the lens 210 varies according to its focal length. The camera control unit 110 sets the image acquisition range within the image circle that varies according to the focal length of the lens 210.

[0099] In this embodiment, the camera control unit 110 can acquire a partial image region from an image by reading pixel information of a portion of pixels within the effective imaging area of ​​the image sensor 120. Alternatively, the camera control unit 110 can crop a partial image region from an image obtained by reading all pixel information within the effective imaging area of ​​the image sensor 120, thereby acquiring a partial image region from the image. Thus, the image acquisition range can be set by setting at least one of two settings: setting the range of the image partially read from the image sensor 120, and setting the cropping range of the partial image cropped from the image read from the image sensor 120.

[0100] When at least one of the zoom ratio and the number of recorded pixels is specified, the camera control unit 110 can change the focal length and acquisition range of the lens 210 according to the specified zoom ratio and the number of recorded pixels, thereby performing zoom photography.

[0101] When the user specifies the number of recording pixels, the camera control unit 110 can determine the image acquisition range based on the specified number of recording pixels, and determine the focal length of the camera lens based on the determined acquisition range. The lens 210 has an image circle that decreases with increasing focal length. For example, at least at the telephoto end, the diameter of the image circle of the lens 210 is shorter than the long side of the effective imaging area of ​​the image sensor 120.

[0102] The focal length of the lens 210 is determined so that the camera control unit 110 includes the area of ​​the image sensor 120 that corresponds to the acquisition range within the image circle of the lens 210.

[0103] When the user specifies a zoom level, the camera control unit 110 determines the image acquisition range based on the specified zoom level, and determines the focal length of the lens 210 based on the determined acquisition range. Specifically, the camera control unit 110 determines the acquisition range and the focal length of the camera lens such that the portion of the effective imaging area of ​​the image sensor 120 corresponding to the determined acquisition range is included within the image circle.

[0104] Figure 3 This is a diagram used to illustrate the zoom photography method in this embodiment. Figure 3 This schematically illustrates the relationship between zoom position, image circle, and image acquisition range. Figure 3 The image shows image ring 310 at the wide-angle end, image ring 311 in zoom position 1, and image ring 312 in zoom position 2. In zoom position 1, the camera control unit 110 generates an image with a higher magnification than the image generated at the wide-angle end. In zoom position 2, the camera control unit 110 generates an image with a higher magnification than the image generated in zoom position 1. The zoom position is determined by the zoom magnification specified by the user.

[0105] Optical image 330 is an optical image of the subject formed by lens 210 at the wide-angle end. Effective imaging area 122 is the area where effective pixels of image sensor 120 are arranged. Image control unit 110 uses at least a portion of the pixel information from the effective pixels of image sensor 120 to generate a recording image. At the wide-angle end, image control unit 110 sets the effective imaging area 122 as the image acquisition range. Therefore, at the wide-angle end, image control unit 110 uses pixel information from all pixels arranged in the effective imaging area 122 to generate recording image 350. The recording image 350 includes a subject image 352.

[0106] In zoom position 1, the camera control unit 110 sets the range 340, which is narrower than the effective imaging area 122, as the image acquisition range without changing the focal length of the lens 210. In zoom position 1, the camera control unit 110 uses pixel information of pixels located within the range 340 to generate a recording image 360. The focal length of the lens 210 in zoom position 1 is the same as the focal length of the lens 210 at the wide-angle end. Therefore, the image circle 311 of the lens 210 is substantially the same as the image circle 310 at the wide-angle end. Moreover, the optical image 331 formed by the lens 210 in zoom position 1 is substantially the same as the optical image 330 at the wide-angle end.

[0107] Therefore, at zoom position 1, in the recorded image 360, the subject image 362 corresponding to the optical image 331 is magnified by an amount corresponding to the narrowing of the image acquisition range compared to the subject image 352. Thus, from the wide-angle end to zoom position 1, the camera control unit 110 gradually narrows the image acquisition range from the effective imaging area 122 to the range 340 without changing the focal length of the lens 210. That is, the camera control unit 110 performs digital zoom from the wide-angle end to zoom position 1.

[0108] In zoom position 2, the camera control unit 110 sets range 340 as the image acquisition range. The camera control unit 110 zooms by increasing the focal length of the lens 210. In zoom position 2, the camera control unit 110 uses pixel information of pixels located within range 340 to generate a recording image 370. Although the image circle 312 in zoom position 2 is smaller than the image circle 311 in zoom position 1, the image circle 312 covers range 340.

[0109] The optical image 332 formed by lens 210 at zoom position 2 is larger than the optical image 331 at zoom position 1. Therefore, in the recorded image 370, the subject image 372 corresponding to the optical image 332 is magnified by an amount corresponding to the increase in the focal length of lens 210 compared to the subject image 362. Thus, the image control unit 110 continuously increases the focal length of lens 210 from zoom position 1 to zoom position 2 without changing the image acquisition range. That is, the image control unit 110 performs optical zoom from zoom position 1 to zoom position 2. Although the image circle of lens 210 becomes smaller due to optical zoom, the image circle 312 at zoom position 2 covers the area 340 of the image acquired at zoom position 2. Therefore, image quality degradation can be suppressed.

[0110] In addition, Figure 3For ease of explanation, the following examples illustrate how the image acquisition range is gradually narrowed from the wide-angle end to zoom position 1 without changing the focal length of lens 210, and how the focal length of lens 210 is increased from zoom position 1 to zoom position 2 without changing the image acquisition range. However, it is also possible that from the wide-angle end to zoom position 1, the camera control unit 110 narrows the image acquisition range while simultaneously increasing the focal length of lens 210. As the focal length of lens 210 increases, the image circle becomes smaller. However, by setting the image acquisition range within this image circle through the camera control unit 110, a high-magnification image with reduced image quality is generated.

[0111] Figure 4 This diagram illustrates a zoom photography method as a comparative example. In this comparative example, optical zoom is performed from the wide-angle end to zoom position 1, and digital zoom is performed from zoom position 1 to zoom position 2. From the wide-angle end to zoom position 1, the focal length of the camera lens increases due to the optical zoom. Therefore, the camera lens needs to be designed so that the image circle 411 at zoom position 1 covers the effective imaging area 422 of the image sensor.

[0112] Furthermore, at zoom position 2, digital zoom is performed by setting the image acquisition range to a range 420 that is narrower than the effective imaging area 422. In this case, since the focal length of the camera lens does not change, the size of the image circle 412 is substantially the same as that of the image circle 411. Compared to the image circle 412, the area of ​​range 420 is very narrow. Image information outside the range 420 in the image sensor is not used for recording the image. Therefore, according to the comparative example, the useless area within the image circle that is not used for recording the image becomes larger.

[0113] With reference Figure 4 Compared to the zoom photography method described above, the zoom photography method of this embodiment facilitates the miniaturization design of the lens 210. Furthermore, according to the zoom photography method of this embodiment, since the image acquisition range is set based on the narrowing of the image circle, image information within the image circle can be effectively utilized. Moreover, in recent years, image sensors have seen advancements in pixel count, and the image quality degradation caused by digital zoom is no longer a major issue. For example, even when acquiring an image equivalent to 6k pixels from an image sensor with an equivalent of 8k pixels, it can be said that sufficient image quality can be maintained, except in cases used for special purposes.

[0114] Figure 5 This is a flowchart illustrating the processing steps performed by the camera control unit 110. This flowchart shows the steps of executing the zoom control method when the user specifies the number of recording pixels.

[0115] In S500, the camera control unit 110 acquires the number of recorded pixels based on the instruction information from the user. In S502, the camera control unit 110 determines whether to change the number of recorded pixels. For example, when the user specifies a number of recorded pixels different from the currently set number, the camera control unit 110 determines to change the number of recorded pixels. If the number of recorded pixels is not changed, the processing in this flowchart ends. When the number of recorded pixels is changed, the camera control unit 110 sets the number of recorded pixels to the number specified by the user (S504). Next, the camera control unit 110 determines the range of the cropped area from the image captured by the image sensor 120 based on the specified number of recorded pixels (S506). For example, the camera control unit 110 can refer to correspondence information showing the correspondence between the position of the cropped pixels and the number of recorded pixels to determine the cropping range. Furthermore, the correspondence information can be pre-stored in the memory 130.

[0116] Next, in S508, the camera control unit 110 instructs the lens control unit 220 to perform a zoom operation on the lens 210. At this time, the camera control unit 110 zooms the lens 210 so that the image circle of the lens 210 covers the acquisition range determined in S506. For example, the camera control unit 110 can refer to correspondence information showing the relationship between the position of the zooming lens 210 and the number of recorded pixels, and send control information showing the position of the zooming lens 210 to the lens control unit 220 to cause the lens 210 to perform a zoom operation. Furthermore, the correspondence information between the position of the lens 210 and the number of recorded pixels can be pre-stored in the memory 130. Once the zoom operation of the lens 210 is completed, the processing of this flowchart ends.

[0117] Furthermore, after the image sensor 120 captures an image, the camera control unit 110 crops the portion of the image captured by the image sensor 120 from the portion determined in S506, generates a recording image with a number of recording pixels specified by the user, and records it in the memory 130.

[0118] Figure 6 This is a flowchart illustrating the processing steps performed by the camera control unit 110. This flowchart shows the steps of executing the zoom control method when the user specifies zoom.

[0119] In S600, the camera control unit 110 acquires the zoom value based on the instruction information from the user. In S602, the camera control unit 110 determines whether to change the zoom value. For example, when the user specifies a zoom value different from the currently set zoom value, the camera control unit 110 determines to change the zoom value. If the zoom value is not changed, the processing in this flowchart ends. When the zoom value is changed, the camera control unit 110 sets the number of recording pixels based on the zoom value (S604). Next, the camera control unit 110 determines the range of the area to be cropped from the image captured by the image sensor 120 based on the number of recording pixels (S606). Furthermore, in S604, the camera control unit 110 can set the number of recording pixels by referring to correspondence information showing the correspondence between the zoom value and the number of recording pixels. The correspondence information can be pre-stored in the memory 130.

[0120] Next, in S608, the camera control unit 110 causes the lens control unit 220 to zoom the lens 210. At this time, the camera control unit 110 zooms the lens 210 so that the image circle of the lens 210 covers the acquisition range determined in S606. Because of this... Figure 5 The processing is the same as that of S508, so the processing description for S608 is omitted here.

[0121] Furthermore, after the image sensor 120 captures an image, the camera control unit 110 crops a portion of the image captured by the image sensor 120 from the portion determined in S606, generates a recording image with the number of recording pixels set in S604, and records it in the memory 130.

[0122] As described above, by performing zoom control through the camera control unit 110, it becomes possible for the image circle to decrease as the focal length of the lens 210 increases. Furthermore, the lens 210 can be designed so that the image circle size at the wide-angle end covers the effective imaging area 122. This facilitates the miniaturization of the lens 210.

[0123] In the above embodiment, the camera device 100 is a camera device mounted on the UAV 10. However, the camera device 100 may not be a camera device mounted on a moving body such as the UAV 10. For example, the camera device 100 may be a camera device supported by a handheld gimbal. Alternatively, the camera device 100 may be a camera device not supported by the UAV 10 or a handheld gimbal. For example, the camera device 100 may be a camera device that can be handheld by a user. The camera device 100 may be a fixed camera device similar to a surveillance camera.

[0124] Figure 7An example of a computer 1200 that may embody all or part of the various aspects of the present invention is shown. A program installed on the computer 1200 enables the computer 1200 to function as an operation associated with a device according to embodiments of the present invention, or as one or more “parts” of that device. Alternatively, the program enables the computer 1200 to perform that operation or the one or more “parts.” The program enables the computer 1200 to perform a process or a stage of that process according to embodiments of the present invention. Such a program may be executed by the CPU 1212 to cause the computer 1200 to perform specified operations associated with some or all of the blocks in the flowcharts and block diagrams described in this specification.

[0125] The computer 1200 of this embodiment includes a CPU 1212 and RAM 1214, which are interconnected via a host controller 1210. The computer 1200 also includes a communication interface 1222 and an input / output unit, which are connected to the host controller 1210 via an input / output controller 1220. The computer 1200 also includes a ROM 1230. The CPU 1212 operates according to programs stored in the ROM 1230 and RAM 1214, thereby controlling the various units.

[0126] Communication interface 1222 communicates with other electronic devices via a network. The hard disk drive can store programs and data used by the CPU 1212 within the computer 1200. ROM 1230 stores boot programs and / or programs dependent on the hardware of the computer 1200 that are executed by the computer 1200 during runtime. Programs are provided via computer-readable recording media such as CR-ROM, USB memory, or IC cards, or via a network. Programs are installed in RAM 1214 or ROM 1230, which are also examples of computer-readable recording media, and are executed by the CPU 1212. The information processing described in these programs is read by the computer 1200, causing cooperation between the programs and the aforementioned types of hardware resources. An apparatus or method can be constructed by implementing the manipulation or processing of information according to the use of the computer 1200.

[0127] For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 can execute a communication program loaded in the RAM 1214 and, based on the processing described in the communication program, command the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer provided in a recording medium such as the RAM 1214 or a USB memory, and sends the read transmission data to the network, or writes received data received from the network into a receive buffer provided in the recording medium.

[0128] Furthermore, the CPU 1212 can enable the RAM 1214 to read all or a portion of files or databases stored on external recording media such as USB flash drives, and perform various types of processing on the data in the RAM 1214. Then, the CPU 1212 can write the processed data back to the external recording media.

[0129] Various types of information, such as programs, data, tables, and databases, can be stored in the recording medium and processed. For data read from RAM 1214, CPU 1212 can perform various types of processing described throughout this disclosure, including operations specified by a sequence of program instructions, information processing, condition determination, conditional jumps, unconditional jumps, information retrieval / replacement, etc., and write the results back to RAM 1214. Furthermore, CPU 1212 can retrieve information from files, databases, etc., within the recording medium. For example, when multiple entries with attribute values ​​of a first attribute respectively associated with the attribute value of a second attribute are stored in the recording medium, CPU 1212 can retrieve from these multiple entries an entry that matches a condition specifying the attribute value of the first attribute, and read the attribute value of the second attribute stored in that entry, thereby obtaining the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0130] The programs or software modules described above can be stored on computer 1200 or on a computer-readable storage medium near computer 1200. Alternatively, recording media such as hard disks or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as computer-readable storage media, thereby enabling the programs to be provided to computer 1200 via the network.

[0131] It should be noted that the execution order of actions, sequences, steps, and stages in the apparatus, systems, programs, and methods shown in the claims, specification, and drawings can be implemented in any order, unless specifically stated as "before" or "beforehand," and provided that the output of the preceding process is not used in the subsequent process. The operation flow in the claims, specification, and drawings is described using terms such as "firstly" and "next" for convenience, but this does not imply that it must be implemented in this order.

[0132] The present invention has been described above using various embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. It is obvious from the description of the claims that such modifications or improvements are included within the technical scope of the present invention.

Claims

1. A control device characterized by comprising: The circuitry includes a system configured to perform zoom photography by changing the focal length of a variable-focal-length camera lens and the acquisition range of a portion of an image region captured from an image obtained using light transmitted through the camera lens. The image circle of the camera lens varies according to the focal length. The circuit is configured to set the acquisition range within the image circle, which varies according to the focal length of the camera lens; Wherein, (a) the circuit is configured such that: when the user specifies the number of recorded pixels, the acquisition range is determined according to the specified number of recorded pixels, the focal length of the camera lens is determined according to the determined acquisition range, and the acquisition range is set within the image circle that varies according to the focal length of the camera lens; or (b) The circuit is configured such that when the user specifies a zoom ratio, the acquisition range is determined according to the specified zoom ratio, the focal length of the camera lens is determined according to the determined acquisition range, and the acquisition range is set within the image circle that varies according to the focal length of the camera lens. The circuit achieves zoom photography through multiple stages: The first stage corresponds to the wide-angle end, and the circuit sets the effective imaging area as the acquisition range; The second stage corresponds to the first zoom position. Without changing the focal length of the camera lens, the circuit sets the target range narrower than the effective imaging area as the acquisition range and uses digital zoom to generate a recording image with a magnification higher than that of the first stage. The third stage corresponds to the second zoom position. The circuit keeps the target range unchanged as the acquisition range and increases the focal length of the camera lens to achieve optical zoom. The image circle at the second zoom position is smaller than the image circle at the first zoom position and covers the target range.

2. The control device according to claim 1, characterized by The camera lens has an image circle that decreases with longer focal lengths. The circuit is configured to determine the focal length of the camera lens such that the area corresponding to the acquisition range in the image sensor's imaging surface, which captures images using light transmitted through the camera lens, is included within the image circle.

3. The control device according to claim 1, characterized in that, The camera lens has an image circle that decreases with longer focal lengths. The circuit is configured to determine the acquisition range and the focal length of the camera lens, such that the portion of the effective imaging area of ​​the image sensor that corresponds to the acquisition range is included within the image circle when the light transmitted through the camera lens is used to capture images.

4. The control device according to claim 3, characterized in that, At least at the telephoto end, the image circle diameter of the camera lens is shorter than the long side of the effective imaging area of ​​the image sensor.

5. A camera device, characterized in that, include: The camera lens; as well as The control device according to claim 1.

6. A mobile body, characterized in that, It includes the camera device according to claim 5 and moves it.

7. A control method, characterized in that, This includes the stage of zoom photography by changing the focal length of a variable-focal-length camera lens and by acquiring a portion of the image area from an image captured using light transmitted through the camera lens. The image circle of the camera lens varies according to the focal length. The zoom photography phase includes setting the acquisition range within an image circle that varies according to the focal length of the camera lens; Wherein, (a) the zoom photography stage includes: when the user specifies the number of recording pixels, determining the acquisition range according to the specified number of recording pixels, determining the focal length of the camera lens according to the determined acquisition range, and setting the acquisition range within the image circle that varies according to the focal length of the camera lens; or (b) The zoom photography stage includes: when the user specifies a zoom ratio, determining the acquisition range according to the specified zoom ratio, determining the focal length of the camera lens according to the determined acquisition range, and setting the acquisition range within the image circle that varies according to the focal length of the camera lens; The control method achieves zoom photography through multiple stages: The first stage corresponds to the wide-angle end, where the effective camera area is set as the acquisition range; The second stage corresponds to the first zoom position. Without changing the focal length of the camera lens, the target range narrower than the effective camera area is set as the acquisition range, and digital zoom is used to generate a recording image with a magnification higher than that of the first stage. The third stage corresponds to the second zoom position. While keeping the target range unchanged as the acquisition range, the focal length of the camera lens is increased to achieve optical zoom. The image circle at the second zoom position is smaller than the image circle at the first zoom position and covers the target range.

8. A computer program product, comprising a computer program, characterized in that, The computer is made to execute the control method as described in claim 7.

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