Control device, control method, and program

Abstract

This control device is provided with a first processor. The first processor performs: a process for acquiring, from a target position, the brightness of an imaging target region imaged by the imaging device, at a point in time before a first moving body on which the imaging device is mounted reaches the target position; obtaining a shutter speed corresponding to the brightness and a moving speed corresponding to the shutter speed; at the target position, the first moving body is moved at the moving speed, and at the same time, the image pickup device captures an image pickup target area at the shutter speed.

Description

Technical Field

[0001] The technology of the present invention relates to a control device, a control method, and a program. Background Art

[0002] Japanese Patent Application Publication No. 2021-96865 discloses an information processing device for instructing control based on the flight of an aircraft. The information processing device includes a processing unit. The processing unit obtains the illuminance around the aircraft detected by an illuminance sensor provided by the aircraft, and obtains relationship information indicating the relationship between the illuminance and the upper limit of the flight speed of the aircraft. The processing unit derives the upper limit of the flight speed of the aircraft corresponding to the obtained illuminance based on the relationship information, and instructs the control of the flight speed so that the flight speed of the aircraft becomes a flight speed below the upper limit of the flight speed.

[0003] Japanese Patent Publication No. 2020-50261 discloses an information processing device for instructing control based on the flight of an aircraft. The information processing device includes a processing unit. The processing unit obtains information about the shutter speed of the aircraft for shooting, and obtains information about the distance of each pixel in the real space in the camera image shot by the aircraft. The processing unit determines the upper limit of the flight speed of the aircraft based on the shutter speed and the distance of each pixel in the real space, and instructs the control of the flight speed in a manner that makes the flight speed of the aircraft become a flight speed below the upper limit of the flight speed.

[0004] An information processing device is disclosed in the pamphlet of International Publication No. 2021 / 014752, which includes a map making unit, a shape extraction unit, a composition setting unit, and a path determination unit. The map making unit makes a map of the range in which a mobile body equipped with a camera moves while photographing, i.e., the moving range. The shape extraction unit extracts shapes existing in the map. The composition setting unit sets the composition of the image photographed by the camera. The path determination unit determines the moving path within the moving range of the mobile body based on the shape and composition.

[0005] Japanese Patent Application No. 2018-535487 discloses a method for controlling a movable object. The method comprises the following steps: estimating a reference point of the movable object and one or more movement characteristics of the movable object at the reference point according to a target direction; and generating a movement path of the movable object from the position of the movable object to the reference point according to the position of the movable object and one or more movement characteristics of the movable object at the reference point.

[0006] Japanese Patent Application No. 2019-507924 discloses a system for changing the autonomous flight of an unmanned aerial vehicle. The system includes a first user interface and a second user interface. The first user interface is configured to receive a first user input, and the first user input provides one or more instructions for performing the autonomous flight of the UAV. The second user interface is configured to receive a second user input, and the second user input provides one or more instructions for changing the autonomous flight of the UAV.

[0007] A shape generation method is disclosed in the pamphlet of International Publication No. 2018 / 167893. The shape generation method includes the step of acquiring information related to multiple camera positions of a flying body having multiple camera devices. The shape generation method includes the following steps: from multiple camera devices, a camera device for shooting is selected for each of multiple camera positions. The shape generation method includes the step of shooting by the camera device selected at each camera position. The shape generation method includes the following steps: for each camera device, the shape of the subject is restored according to the captured image. The shape generation method includes the step of synthesizing the restored shape for each camera device. The step of selecting a camera device includes the following steps: selecting at least one camera device from multiple camera devices according to the proportion of the portion below the specified light amount in the camera area at the camera position.

[0008] Japanese Patent Publication No. 2019-87073 discloses a mobile manipulator, which includes: a mobile device for moving from a first position to a second position; a manipulator connected to the mobile device; a controller for controlling the mobile device and the manipulator; and an environment acquisition sensor for acquiring environment data by establishing a correspondence association with the position of the mobile device. The controller is configured as follows: at least one of the mobile device or the manipulator is controlled based on the environment data acquired by the environment acquisition sensor and established a correspondence association with the position of the mobile destination or any point on the moving path between the first position and the second position. Summary of the invention

[0009] As an example, an embodiment of the technology involved in the present invention provides a control device, a control method and a program that can move a first movable body at an object position at a moving speed corresponding to a shutter speed while causing a camera device to capture an image of an object area at a shutter speed corresponding to the brightness of the object area.

[0010] Means for solving technical problems

[0011] The first method involved in the technology of the present invention is a control device, which has a first processor, and the first processor performs the following processing: before the first moving body equipped with a camera device reaches the object position, the brightness of the camera object area photographed by the camera device is obtained from the object position; the shutter speed corresponding to the brightness and the moving speed corresponding to the shutter speed are obtained; at the object position, the first moving body is moved at the moving speed, and the camera device is caused to photograph the camera object area at the shutter speed.

[0012] According to a second aspect of the present invention, in the control device according to the first aspect, the first processor performs the following processing: based on relationship information indicating the relationship between brightness, shutter speed and moving speed, a shutter speed corresponding to brightness and a moving speed corresponding to the shutter speed are obtained.

[0013] A third aspect according to the technology of the present invention is the control device according to the second aspect, further comprising a memory storing the relationship information.

[0014] A fourth aspect according to the technology of the present invention is the control device according to any one of the first to third aspects, wherein the brightness is brightness detected from a target position using a sensor.

[0015] A fifth aspect according to the technology of the present invention is the control device according to the fourth aspect, wherein the sensor is a control device mounted on the second moving body.

[0016] A sixth aspect of the technology of the present invention is a control device according to the fifth aspect, wherein the target position is set on the movement route, and the brightness is the brightness detected while the second moving body moves on the movement route at a speed higher than the moving speed.

[0017] A seventh aspect according to the technology of the present invention is the control device according to any one of the first to third aspects, wherein the brightness is brightness detected using a bird's-eye view camera that overlooks a subject including an imaging target area.

[0018] An eighth aspect according to the technology of the present invention is the control device according to the seventh aspect, wherein the subject includes a plurality of imaging target areas.

[0019] In the control device of the 9th mode involved in the technology of the present invention, in the control device involved in any one of the 1st to 8th modes, the object position is set on the moving route, and the brightness is the brightness detected at the moment before the first moving body starts moving relative to the moving route.

[0020] The 10th mode involved in the technology of the present invention is a control device involved in any one of the 1st to 8th modes, wherein the object position is set on a moving route, and the brightness is the brightness detected at a moment after the first moving body starts moving relative to the moving route and before the first moving body reaches the object position.

[0021] The 11th mode involved in the technology of the present invention is that in the control device involved in any one of the 1st to 10th modes, multiple object positions are set as the moving destinations of the first moving body, and the first processor causes the camera device to capture the camera object area at the multiple object positions with a constant aperture value.

[0022] The twelfth method involved in the technology of the present invention is that in a control device involved in any one of the first to tenth methods, multiple object positions are set as moving destinations of the first moving body, and the first processor causes the camera device to capture the camera object area with an aperture value corresponding to the brightness and / or shutter speed for each object position.

[0023] The 13th mode involved in the technology of the present invention is that in the control device involved in any one of the 1st to 12th modes, multiple object positions are set as the moving destinations of the first moving body, and the first processor obtains, for each object position, a composite image obtained by causing the camera device to capture the camera object area, and the composite image is an image in which adjacent composite images partially overlap each other.

[0024] A fourteenth aspect of the present invention is a control device according to the thirteenth aspect, further comprising a second processor that generates a composite image by combining adjacent composite images, and performs specific processing on the composite image according to brightness.

[0025] A fifteenth aspect according to the technology of the present invention is the control device according to the fourteenth aspect, wherein the specific processing includes a correction processing of correcting the brightness of the synthesized image.

[0026] A sixteenth aspect according to the technology of the present invention is the control device according to the fifteenth aspect, wherein the correction process includes a process of correcting a brightness difference between the synthesis images.

[0027] A seventeenth aspect according to the technology of the present invention is the control device according to the fifteenth aspect or the sixteenth aspect, wherein the correction process includes a process of correcting a luminance distribution of the synthesized image based on a brightness distribution.

[0028] An eighteenth aspect according to the technology of the present invention is a control device according to any one of the fourteenth to seventeenth aspects, wherein the specific processing includes a notification processing for performing a notification when a brightness difference between imaging target areas exceeds a predetermined value.

[0029] The 19th method involved in the technology of the present invention is a control method, which includes the following steps: before the first moving body equipped with a camera device reaches the object position, the brightness of the camera object area photographed by the camera device is obtained from the object position; the shutter speed corresponding to the brightness and the moving speed corresponding to the shutter speed are obtained; at the object position, the first moving body is moved at the moving speed, and the camera device photographs the camera object area at the shutter speed.

[0030] The 20th method involved in the technology of the present invention is a program, which is used to cause a computer to execute a processing including the following steps: before the first moving body equipped with a camera device reaches the object position, the brightness of the camera object area photographed by the camera device is obtained from the object position; the shutter speed corresponding to the brightness and the moving speed corresponding to the shutter speed are obtained; at the object position, the first moving body is moved at the moving speed, and the camera device photographs the camera object area at the shutter speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a front view showing an example of a plurality of imaging target areas and an imaging system according to the first embodiment.

[0032] Figure 2 This is a block diagram showing an example of the hardware configuration of the flying imaging device according to the first embodiment.

[0033] Figure 3 This is a block diagram showing the hardware configuration of the imaging device according to the first embodiment.

[0034] Figure 4 This is a block diagram showing an example of a functional configuration for realizing the flying imaging process according to the first embodiment.

[0035] Figure 5 This is an explanatory diagram for explaining an example of the operation of the data request unit and the brightness acquisition unit according to the first embodiment.

[0036] Figure 6 This is an explanatory diagram for explaining an example of the operation of the brightness acquisition unit and the imaging condition acquisition unit according to the first embodiment.

[0037] Figure 7 This is an explanatory diagram for explaining an example of the operation of the imaging condition acquisition unit and the flight speed control unit according to the first embodiment.

[0038] Figure 8 This is an explanatory diagram for explaining an example of the operations of the imaging condition acquisition unit, the arrival determination unit, and the imaging control unit according to the first embodiment.

[0039] Fig. 9 This is a flowchart showing an example of the flow of the flying imaging process according to the first embodiment.

[0040] Fig.10 This is an explanatory diagram for explaining an example of the operation of the data request unit and the brightness acquisition unit according to the second embodiment.

[0041] Fig.11 This is an explanatory diagram for explaining an example of the operation of the data request unit and the brightness acquisition unit according to the third embodiment.

[0042] Fig.12 This is an explanatory diagram for explaining an example of the operation of the data request unit and the brightness acquisition unit according to the fourth embodiment.

[0043] Fig.13 This is a block diagram showing an example of a functional configuration for realizing the synthetic image generation processing involved in the fifth embodiment.

[0044] Fig.14 This is an explanatory diagram for explaining an example of the operations of the image synthesis unit, the brightness information acquisition unit, and the correction processing unit according to the fifth embodiment.

[0045] Fig.15 This is a flowchart showing an example of the flow of the synthetic image generation process according to the fifth embodiment. DETAILED DESCRIPTION

[0046] Hereinafter, an example of an embodiment of a control device, a control method, and a program according to the technology of the present invention will be described with reference to the drawings.

[0047] First, the words and phrases used in the following description are explained.

[0048] I / F is the abbreviation of “Interface”. RAM is the abbreviation of “Random Access Memory”. CPU is the abbreviation of “Central Processing Unit”. GPU is the abbreviation of “Graphics Processing Unit”. HDD is the abbreviation of “Hard Disk Drive”. SSD is the abbreviation of “Solid State Drive”. DRAM is the abbreviation of “Dynamic Random Access Memory”. SRAM is the abbreviation of “Static Random Access Memory”. GNSS is the abbreviation of “Global Navigation Satellite System”. GPS is the abbreviation of “Global Positioning System”. LiDAR is the abbreviation of “light detection and ranging”. NVM is the abbreviation of “Non-Volatile Memory”. ASIC is the abbreviation of “Application Specific Integrated Circuit”. FPGA is the abbreviation of "Field-Programmable Gate Array". PLD is the abbreviation of "Programmable Logic Device". CMOS is the abbreviation of "Complementary Metal Oxide Semiconductor". CCD is the abbreviation of "Charge Coupled Device". RGB is the abbreviation of "Red Green Blue". CIE is the abbreviation of "Commission Internationale de l'Eclairage". TPU is the abbreviation of "Tensor processing unit". USB is the abbreviation of "Universal Serial Bus". SoC is the abbreviation of "System-on-a-Chip". IC is the abbreviation of "Integrated Circuit".

[0049] In the description of this specification, "vertical direction" means a vertical direction that includes a vertical direction that is generally allowed in the technical field to which the technology of the present invention belongs, and a vertical direction with an error that does not violate the main purpose of the technology of the present invention, in addition to a completely vertical direction. In the description of this specification, "horizontal direction" means a horizontal direction that includes a horizontal direction that is generally allowed in the technical field to which the technology of the present invention belongs, and a horizontal direction with an error that does not violate the main purpose of the technology of the present invention, in addition to a completely horizontal direction. In the description of this specification, "quadrilateral" means a quadrilateral that includes a quadrilateral that is generally allowed in the technical field to which the technology of the present invention belongs, and a quadrilateral with an error that does not violate the main purpose of the technology of the present invention, in addition to a completely vertical direction. In the description of this specification, "vertical" means a vertical direction that includes a vertical direction that is generally allowed in the technical field to which the technology of the present invention belongs, and a vertical direction with an error that does not violate the main purpose of the technology of the present invention, in addition to a completely vertical direction. In the description of this specification, "constant" means a constant direction that includes a constant direction that is generally allowed in the technical field to which the technology of the present invention belongs, and a constant direction with an error that does not violate the main purpose of the technology of the present invention, in addition to a completely constant direction.

[0050] [First embodiment]

[0051] First, the first embodiment will be described.

[0052] As an example, Figure 1 As shown, the imaging system S includes a flying imaging device 10 and a bird's-eye view camera 160. The flying imaging device 10 includes a flying function and an imaging function, and images a wall surface 2A of the object 2 while flying.

[0053] As an example, the wall surface 2A is a plane. A plane refers to a two-dimensional surface (i.e., a surface along a two-dimensional direction). Furthermore, in the description of this specification, the concept of "plane" does not include the meaning of a mirror surface. In the present embodiment, for example, the wall surface 2A is a plane defined in the horizontal direction and the vertical direction (i.e., a surface extending in the horizontal direction and the vertical direction). The wall surface 2A includes projections and depressions. The projections and depressions mentioned here include projections and depressions accompanied by defects and / or flaws in addition to the projections and depressions caused by the material forming the wall surface 2A. As an example, the object 2 having the wall surface 2A is a pier provided on a bridge. The pier is made of, for example, reinforced concrete. Here, a pier is cited as an example of the object 2, but the object 2 may also be an object other than a pier (e.g., a tunnel or a dam, etc.).

[0054] The flying camera device 10 includes a flying object 20 and a camera device 60. The flying object 20 is, for example, an unmanned aircraft such as a drone. The flying function of the flying camera device 10 is realized by the flying object 20. The flying object 20 has a plurality of propellers 42, and flies by the rotation of the plurality of propellers 42. The flying of the flying object 20 has the same meaning as the flying of the flying camera device 10. The flying object 20 is an example of a "moving object" involved in the technology of the present invention.

[0055] The imaging device 60 is, for example, a digital camera or a video camera. The imaging function of the flying imaging device 10 is realized by the imaging device 60. The imaging device 60 is mounted on the flying object 20. As an example, the imaging device 60 is provided at the lower part of the flying object 20. The imaging device 60 is an example of the "imaging device" involved in the technology of the present invention.

[0056] A flight path 4 is set for the object 2. Figure 1 In the example shown, the flight path 4 is set on a virtual surface facing the wall surface 2A. As an example, the flight path 4 is set in a sawtooth shape connecting a horizontal path extending in the horizontal direction and a vertical path extending in the vertical direction. As described later, the flight camera device 10 stores the flight path information 116 indicating the flight path 4 (see Figure 8 ) and is capable of autonomously flying flight route 4 without relying on flight instruction signals from a transmitter (omitted in the figure) or a base station (omitted in the figure).

[0057] The flying camera device 10 moves in a zigzag manner by flying on the flight route 4 and repeatedly moving in the horizontal direction and in the vertical direction alternately. A plurality of path points 5 are set on the flight route 4. At each path point 5, the flying camera device 10 photographs the wall surface 2A. The flight route 4 is an example of a "movement route" involved in the technology of the present invention, and the path point 5 is an example of an "object position" involved in the technology of the present invention.

[0058] In addition, here, an example is given in which the flying camera device 10 autonomously flies on the flight route 4, but the flying camera device 10 may also fly on the flight route 4 in response to a flight instruction signal from a transmitter or a base station.

[0059] The flying camera 10 sequentially captures a plurality of imaging target areas 3 in the wall surface 2A by capturing the wall surface 2A at each path point 5. Each imaging target area 3 corresponds to each path point 5. The imaging target area 3 is an area determined based on the field of view of the flying camera 10. Figure 1In the example shown, a quadrilateral region is shown as an example of the imaging target region 3. The flying imaging device 10 moves in a zigzag manner by alternately and repeatedly moving in the horizontal direction and in the vertical direction, thereby sequentially imaging a plurality of imaging target regions 3 connected in a zigzag manner.

[0060] A plurality of synthesis images 132 are obtained by sequentially photographing a plurality of imaging target areas 3 by the imaging device 60. The synthesis image 130 is generated by synthesizing the plurality of synthesis images 132. The plurality of synthesis images 132 are synthesized in such a manner that adjacent synthesis images 132 overlap each other partially. As an example of the synthesis image 130, a two-dimensional panoramic image can be cited. The two-dimensional panoramic image is only an example, and a three-dimensional image (for example, a three-dimensional panoramic image, etc.) can also be generated as the synthesis image 130 in the same manner as the two-dimensional panoramic image is generated as the synthesis image 130.

[0061] The synthetic image 130 may be generated each time each synthetic image 132 after the second frame is obtained, or may be generated after a plurality of synthetic images 132 are obtained with respect to the wall surface 2A. Furthermore, the process of generating the synthetic image 130 may be performed by the flying imaging device 10, or may be performed by an external device (not shown) connected to the flying imaging device 10 in a communicable manner. The synthetic image 130 is used, for example, to inspect or measure the wall surface 2A of the object 2.

[0062] exist Figure 1 In the example shown, the optical axis OA (reference Figure 2 ) A method of photographing each imaging target area 3 by the imaging device 60 in a state where the optical axis OA of the imaging device 60 is perpendicular to the wall surface 2A. The following description is based on an example in which each imaging target area 3 is photographed by the imaging device 60 in a state where the optical axis OA of the imaging device 60 is perpendicular to the wall surface 2A.

[0063] The plurality of imaging target areas 3 are photographed in such a manner that adjacent imaging target areas 3 partially overlap each other. The plurality of imaging target areas 3 are photographed in such a manner that adjacent imaging target areas 3 partially overlap each other in order to synthesize the synthetic image 132 corresponding to the adjacent imaging target areas 3 based on the feature points included in the overlapping portions of the adjacent imaging target areas 3. Hereinafter, the case where adjacent imaging target areas 3 partially overlap each other and the case where adjacent synthetic images 132 partially overlap each other are sometimes referred to as "overlapping", respectively.

[0064] The bird's-eye view camera 160 is a digital camera or a video camera with a wider angle than the camera device 60. The bird's-eye view camera 160 is, for example, arranged opposite to the wall surface 2A. Furthermore, the bird's-eye view camera 160 is disposed at a position farther from the wall surface 2A than the flying camera device 10. The bird's-eye view camera 160 has a field of view capable of photographing the entire wall surface 2A. Although not shown in the figure, the bird's-eye view camera 160 includes an imaging lens, an image sensor, a processor, a storage device, a RAM, and the like. The bird's-eye view camera 160 is an example of a "bird's-eye view camera" involved in the technology of the present invention.

[0065] As an example, Figure 2 As shown, the flying object 20 includes a flying device 22, an input / output I / F 24, a computer 26, a positioning unit 28, an acceleration sensor 30, and a communication device 32. The computer 26 is an example of a "control device" and a "computer" involved in the technology of the present invention.

[0066] The computer 26 includes a processor 34, a storage device 36, and a RAM 38. The processor 34, the storage device 36, and the RAM 38 are connected to each other via a bus 40, and the bus 40 is connected to the input / output I / F 24. In addition, the positioning unit 28, the acceleration sensor 30, and the communication device 32 are also connected to the input / output I / F 24.

[0067] The processor 34 has, for example, a CPU, and controls the entire flight camera device 10. Here, an example is given in which the processor 34 has a CPU, but this is only an example. For example, the processor 34 may have a CPU and a GPU. In this case, for example, the GPU operates under the control of the CPU and is responsible for performing image processing. The processor 34 is an example of the "first processor" involved in the technology of the present invention.

[0068] The storage device 36 is a nonvolatile storage device that stores various programs and various parameters. Examples of the storage device 36 include a HDD and an SSD. In addition, the HDD and the SSD are only examples, and a flash memory, a magnetoresistive memory, and / or a ferroelectric memory may be used in place of or in addition to the HDD and / or the SSD.

[0069] The RAM 38 is a memory for temporarily storing information, and is used as a working memory by the processor 34. Examples of the RAM 38 include DRAM and / or SRAM.

[0070] The communication device 32 is connected to the bird's-eye view camera 160 in a communicative manner by wire or wirelessly. The communication device 32 is responsible for sending and receiving information with the bird's-eye view camera 160. For example, the communication device 32 sends information corresponding to a request from the processor 34 to the bird's-eye view camera 160. In addition, the communication device 32 receives data sent from the bird's-eye view camera 160 and outputs the received data to the processor 34 via the bus 40.

[0071] The flying device 22 has a plurality of propellers 42, a plurality of motors 44, and a motor driver 46. The motor driver 46 is connected to the processor 34 via the input / output I / F 24 and the bus 40. The motor driver 46 controls the plurality of motors 44 respectively according to instructions from the processor 34. The number of the plurality of motors 44 is the same as the number of the plurality of propellers 42.

[0072] A propeller 42 is fixed to the rotating shaft of each motor 44. Each motor 44 rotates the propeller 42. The flying body 20 flies due to the rotation of the plurality of propellers 42. In addition, as an example, the number of the plurality of propellers 42 (in other words, the number of the plurality of motors 44) provided in the flying body 20 is 4, but this is only an example, and the number of the plurality of propellers 42 may be, for example, 3 or 5 or more.

[0073] The positioning unit 28 is a device for detecting the position of the flying object 20. The position of the flying object 20 is detected using, for example, GNSS (e.g., GPS). The positioning unit 28 has a GNSS receiver (not shown). The GNSS receiver, for example, receives radio waves transmitted from a plurality of satellites. The positioning unit 28 detects the position of the flying object 20 based on the radio waves received by the GNSS receiver, and outputs positioning data 48 (e.g., data indicating latitude, longitude, and altitude) corresponding to the detected position.

[0074] The acceleration sensor 30 detects the acceleration of each axis of the pitch axis, the yaw axis, and the roll axis of the flying object 20. The acceleration sensor 30 outputs acceleration data 50 corresponding to the acceleration of each axis of the flying object 20. The processor 34 obtains the position of the flying object 20 based on the positioning data 48 and / or the acceleration data 50.

[0075] In addition, when the processor 34 acquires the position of the flying object 20 only based on the positioning data 48, the acceleration sensor 30 may be omitted. On the other hand, when the processor 34 acquires the position of the flying object 20 only based on the acceleration data 50, the positioning unit 28 may be omitted.

[0076] When the processor 34 obtains the position of the flying object 20 based on the positioning data 48, the position in the absolute coordinate system is derived based on the positioning data 48. On the other hand, when the processor 34 obtains the shooting position based on the acceleration data 50, the amount of change in the position relative to the reference position specified in the relative coordinate system is derived based on the acceleration data 50.

[0077] Furthermore, the flying object 20 may also include other devices for detecting the position of the flying object 20 instead of the positioning unit 28 and / or the acceleration sensor 30, or in addition to the positioning unit 28 and / or the acceleration sensor 30. Examples of the other devices include a LiDAR scanner, a stereo camera, a magnetic compass, a barometric altimeter, or an ultrasonic sensor.

[0078] As an example, Figure 3 As shown, the imaging device 60 includes an imaging lens 62 , an aperture 64 , an aperture actuator 66 , a mechanical shutter 68 , a shutter actuator 70 , a controller 72 , an image sensor 74 , and an image sensor driver 76 .

[0079] The controller 72 and the image sensor driver 76 are connected to the processor 34 via the input / output I / F 24 and the bus 40. The imaging lens 62 includes, for example, an objective lens (not shown) and a focus lens (not shown). In addition, the camera device 60 includes a zoom lens (not shown). The imaging lens 62 is arranged on the object side relative to the aperture 64, and the zoom lens is arranged between the aperture 64 and the mechanical shutter 68.

[0080] The aperture actuator 66 has a power transmission mechanism (not shown) and an aperture motor (not shown). The aperture 64 has an opening 64A, and is an aperture whose size is variable. The opening 64A is formed by a plurality of blades (not shown). The plurality of blades are connected to the power transmission mechanism. The aperture motor is connected to the power transmission mechanism, and the power transmission mechanism transmits the power of the aperture motor to the plurality of blades. The plurality of blades operate by receiving the power transmitted from the power transmission mechanism, thereby changing the size of the opening 64A. The aperture 64 adjusts the exposure by changing the size of the opening 64A. The aperture value is determined according to the size of the opening 64A. The aperture actuator 66 is connected to the controller 72.

[0081] Although not shown in the figure, the controller 72 is a device including a computer including a CPU, NVM, and RAM, etc. In addition, here, a computer is illustrated, but this is only an example, and a device including an ASIC, FPGA, and / or PLD may also be applied. In addition, as the controller 72, for example, a device implemented by a combination of a hardware structure and a software structure may also be used. The controller 72 controls the aperture actuator 66 according to the instruction from the processor 34.

[0082] The image sensor 74 includes a photoelectric conversion element 78 and a signal processing circuit 80. As an example, the image sensor 74 is a CMOS image sensor. In this embodiment, a CMOS image sensor is exemplified as the image sensor 74, but the technology of the present invention is not limited thereto. For example, even if the image sensor 74 is another type of image sensor such as a CCD image sensor, the technology of the present invention is also applicable. The photoelectric conversion element 78 is connected to the image sensor driver 76. The image sensor driver 76 controls the photoelectric conversion element 78 according to the instruction from the processor 34.

[0083] The photoelectric conversion element 78 has a light receiving surface 78A provided with a plurality of pixels (not shown). The photoelectric conversion element 78 outputs the electrical signals output from the plurality of pixels to the signal processing circuit 80 as image data 82. The signal processing circuit 80 digitizes the analog image data 82 input from the photoelectric conversion element 78. The signal processing circuit 80 is connected to the input / output I / F 24. The digitized image data 82 is image data representing the synthetic image 132, and is stored in the storage device 36 after various processing is performed by the processor 34.

[0084] As an example, the mechanical shutter 68 is a focal plane shutter and is arranged between the aperture 64 and the light receiving surface 78A. The mechanical shutter 68 includes a front curtain 68A and a rear curtain 68B. As an example, the front curtain 68A and the rear curtain 68B each include a plurality of blades (not shown). The front curtain 68A is arranged closer to the subject side than the rear curtain 68B.

[0085] The shutter actuator 70 includes a link mechanism (not shown), a front curtain solenoid (not shown), and a rear curtain solenoid (not shown). The front curtain solenoid is a driving source for the front curtain 68A, and is mechanically connected to the front curtain 68A via the link mechanism. The rear curtain solenoid is a driving source for the rear curtain 68B, and is mechanically connected to the rear curtain 68B via the link mechanism. The shutter actuator 70 is connected to a controller 72. The controller 72 controls the shutter actuator 70 according to instructions from the processor 34.

[0086] The front curtain solenoid generates power under the control of the controller 72, and applies the generated power to the front curtain 68A, thereby selectively rolling up and pulling down the front curtain 68A. The rear curtain solenoid generates power under the control of the controller 72, and applies the generated power to the rear curtain 68B, thereby selectively rolling up and pulling down the rear curtain 68B. In the imaging device 60, the exposure amount to the image sensor 74 is adjusted by controlling the opening and closing of the front curtain 68A and the opening and closing of the rear curtain 68B by the processor 34. In addition, the shutter speed of the mechanical shutter 68 is determined according to the time when the front curtain 68A and the rear curtain 68B are opened.

[0087] In addition, here, as an example of the mechanical shutter 68, a focal plane shutter is cited and described, but this is only an example, and the mechanical shutter 68 may also be a lens shutter. In addition, an example in which the shutter speed of the mechanical shutter 68 is derived and set is cited and described, but this is only an example. For example, the shutter speed of an electronic shutter (for example, an electronic front curtain shutter or a fully electronic shutter, etc.) may also be derived and set with the same instructions as above.

[0088] And, in Figure 2 and Figure 3 In the example shown, the common computer 26 is used for the flying object 20 and the imaging device 60, but the computer 26 may be composed of a first computer provided in the flying object 20 and a second computer provided in the imaging device 60. The computer 26 is mounted on the flying object 20, but may also be mounted on the imaging device 60. Furthermore, the computer 26 may be mounted on a transmitter or a base station. An example of the hardware configuration of the flying imaging device 10 is described above.

[0089] Next, the subject of the first embodiment is described. As a technique for causing the imaging device 60 to capture the imaging target area 3 corresponding to the target path point 5 (hereinafter referred to as the "target path point 5") when the flying object 20 equipped with the imaging device 60 reaches the target path point 5, the following technique is envisioned.

[0090] That is, in the envisioned technology (hereinafter referred to as the "envisioned technology"), before the flying body 20 reaches the target path point 5, the camera device 60 captures the area corresponding to the flight position of the flying body 20 (hereinafter referred to as the "flight position corresponding area"), and detects the brightness of the flight position corresponding area based on the image obtained by the capture. Next, the shutter speed corresponding to the detected brightness and the flight speed corresponding to the shutter speed are calculated. Then, at the target path point 5, while the flying body 20 flies at the calculated flight speed, the camera device 60 captures the imaging target area 3 at the calculated shutter speed.

[0091] In the above-mentioned assumed technology, the flight position corresponding area is photographed by the camera device 60 at a moment before the flying body 20 reaches the target path point 5, and the brightness of the flight position corresponding area is detected based on the image obtained by the photographing. The flight position corresponding area photographed by the camera device 60 is an area located closer to the front than the imaging target area 3 corresponding to the target path point 5. Therefore, the brightness of the flight position corresponding area photographed by the camera device 60 is sometimes different from the brightness of the imaging target area 3 corresponding to the target path point 5. In this way, when the brightness of the flight position corresponding area is different from the brightness of the imaging target area 3, the imaging target area 3 cannot be photographed at a shutter speed corresponding to the brightness of the imaging target area 3.

[0092] Therefore, in order to capture the image capturing target area 3 at a shutter speed corresponding to the brightness of the image capturing target area 3, the following corresponding method can be considered. That is, the following corresponding method can be considered: when the flying body 20 reaches the target path point 5, the flying body 20 is set to a state of temporarily stopping at the target path point 5, and the brightness of the image capturing target area 3 is detected from the image obtained by capturing the image capturing target area 3 by the imaging device 60 in this state, thereby calculating the shutter speed corresponding to the detected brightness.

[0093] However, in the above-mentioned corresponding method, since the flying body 20 is temporarily stopped at the target path point 5, there is a problem that it is impossible to make the camera device 60 capture the image capturing area 3 while the flying body 20 is flying. Therefore, in the first embodiment, at the target path point 5, the flying body 20 is made to fly at a flying speed corresponding to the shutter speed, and the camera device 60 captures the image capturing area 3 at a shutter speed corresponding to the brightness of the image capturing area 3. In order to achieve this, in the first embodiment, the processor 34 performs the following flight image capturing processing (refer to Figures 4 to 9 ).

[0094] As an example, Figure 4 As shown, a flight imaging program 90 is stored in the storage device 36. The processor 34 reads the flight imaging program 90 from the storage device 36 and executes the read flight imaging program 90 on the RAM 38. The processor 34 performs a flight imaging process in which the flight imaging device 10 photographs the imaging target area 3 while flying according to the flight imaging program 90 executed on the RAM 38. The flight imaging process is realized by the processor 34 operating as a data request unit 92, a brightness acquisition unit 94, an imaging condition acquisition unit 96, a flight speed control unit 98, an arrival determination unit 100, and an imaging control unit 102 according to the flight imaging program 90.

[0095] As an example, Figure 5 As shown, the overhead camera 160 captures the entire wall surface 2A including the plurality of imaging target areas 3 before the flying object 20 reaches the target path point 5 (for example, before the flying object 20 starts flying on the flight route 4). By capturing the entire wall surface 2A with the overhead camera 160, an image 162 (hereinafter referred to as “wall surface image 162”) including the entire wall surface 2A as an image is obtained.

[0096] The overhead camera 160 derives the brightness of each imaging target area 3 corresponding to each path point 5 based on the wall image 162. For example, the wall image 162 is an RGB image formed by the three primary colors of light, and the overhead camera 160 generates an image 164 based on the RGB image. Image 164 is an image in which the color space of the RGB image is converted into a color space different from RGB. Hereinafter, image 164 is referred to as "converted image 164". The converted image 164 includes a brightness component representing the degree of brightness. As the color space of the converted image 164, Lab color space, Lch color space, or HSV color space can be cited. The overhead camera 160 derives the brightness of each imaging target area 3 corresponding to each path point 5 based on the brightness component contained in the converted image 164.

[0097] In addition, the brightness of the imaging target area 3 may be derived based on a standard light source (e.g., D50 or D65) specified in CIE. Furthermore, the brightness of the imaging target area 3 may be a representative value (e.g., a minimum value, a maximum value, or a center value) of the brightness of the entire imaging target area 3, or may be an average value of the brightness of the entire imaging target area 3. Furthermore, the brightness of the imaging target area 3 may be the brightness of the entire imaging target area 3, or may be the brightness of a part of the imaging target area 3. The brightness of a part of the imaging target area 3 may be the brightness of the central part of the imaging target area 3, or may be the brightness of a part different from the central part of the imaging target area 3.

[0098] Then, the bird's-eye view camera 160 generates information on the brightness of each imaging target area 3 corresponding to each waypoint 5 as brightness information 166, and stores the generated brightness information 166. For example, the brightness information 166 is information on the relationship between the number indicating the order of each waypoint 5 (hereinafter referred to as "waypoint number") and the brightness of the imaging target area 3. Figure 5 , an example of a specific value of the brightness of the imaging target area 3 corresponding to each path point number is shown as an example of the brightness information 166. The brightness is represented by, for example, brightness indicating the degree of brightness.

[0099] The data request unit 92 transmits a request signal 104 for requesting brightness data 168 to the bird's-eye view camera 160 via the communication device 32. The brightness data 168 is data indicating the brightness of the imaging target area 3 corresponding to the target waypoint 5. The request signal 104 includes information indicating the waypoint number corresponding to the target waypoint 5.

[0100] When receiving the request signal 104, the bird's-eye view camera 160 extracts the brightness corresponding to the waypoint number indicated by the request signal 104 from the brightness information 166, and transmits brightness data 168 indicating the extracted brightness to the communication device 32. Figure 5 In the example shown, the waypoint number indicated by the request signal 104 is “NO. 1”, and brightness data 168 indicating the brightness level “20” corresponding to “NO. 1” is transmitted to the communication device 32 via the bird's-eye view camera 160 .

[0101] The brightness acquisition unit 94 acquires the brightness of the imaging target area 3 corresponding to the target path point 5 based on the brightness data 168 received by the communication device 32. Figure 5 In the illustrated example, the brightness acquired by the brightness acquisition unit 94 is the brightness detected at a time before the flying object 20 starts moving along the flight path 4 .

[0102] As an example, Figure 6 As shown, a table 110 is stored in the storage device 36. The table 110 is an example of the "relationship information" involved in the technology of the present invention, and the storage device 36 is an example of the "memory" involved in the technology of the present invention. The table 110 has a first table 112 and a second table 114. The first table 112 shows the relationship between brightness, shutter speed and aperture value, and the second table 114 shows the relationship between shutter speed and flight speed.

[0103] exist Figure 6 In the example, the first table 112 shows an example of specific values ​​of brightness, shutter speed, and aperture value, and the second table 114 shows an example of specific values ​​of shutter speed and flight speed. The unit of shutter speed is "second (s)", and the unit of flight speed is "meter per second (m / s)".

[0104] The shutter speed is set, for example, to a value that allows the image jitter generated during exposure on the light-receiving surface 78A to fall within an allowable range. Image jitter is defined, for example, by the moving distance of the image on the light-receiving surface 78A (for example, a moving distance equivalent to the number of pixels). The allowable range is set, for example, based on the image quality required for the synthetic image 132 (for example, an image quality that can identify feature points). The aperture value is set based on brightness and / or shutter speed. The flight speed is set to a value that allows the image jitter to fall within the allowable range for each shutter speed.

[0105] In addition, Figure 6 In the example shown, the table 110 includes a first table 112 and a second table 114, but it may be a single table showing the relationship between brightness, shutter speed, aperture value, and flight speed. Figure 6In the example shown, the storage device 36 stores the first table 112 and the second table 114, but the first table 112 may store a first relational expression indicating the relationship between brightness, shutter speed, and aperture value, and the second table 114 may store a second relational expression indicating the relationship between shutter speed and flight speed. Furthermore, the first table 112 stores different aperture values ​​depending on brightness and shutter speed, but the aperture value may be constant.

[0106] The imaging condition acquisition unit 96 acquires the imaging condition based on the brightness acquired by the brightness acquisition unit 94. The imaging condition includes a shutter speed, an aperture value, and a flight speed. The imaging condition acquisition unit 96 acquires the shutter speed and the aperture value corresponding to the brightness acquired by the brightness acquisition unit 94 based on the first table 112. Furthermore, the imaging condition acquisition unit 96 acquires the flight speed corresponding to the shutter speed acquired based on the first table 112 based on the second table 114.

[0107] As an example, Figure 7 As shown, the flight speed control unit 98 controls the plurality of motors 44 via the motor driver 46 according to the flight speed acquired by the imaging condition acquisition unit 96, thereby setting the flight speed of the aircraft 20 to the flight speed acquired by the imaging condition acquisition unit 96. Thus, the rotation speeds of the plurality of propellers 42 are adjusted, and the flight speed of the aircraft 20 is set to the flight speed acquired by the imaging condition acquisition unit 96.

[0108] As an example, Figure 8 As shown, the flight route information 116 indicating the flight route 4 is stored in the storage device 36. The flight route information 116 includes position information indicating the positions of a plurality of waypoints 5 set on the flight route 4.

[0109] The arrival determination unit 100 acquires the position of the flying object 20 based on the positioning data 48 input from the positioning unit 28 and / or the acceleration data 50 input from the acceleration sensor 30. Then, the arrival determination unit 100 determines whether the flying object 20 has arrived at the target path point 5 based on the acquired position of the flying object 20 and the position of the target path point 5 indicated by the flight path information 116.

[0110] When the arrival determination unit 100 determines that the flying object 20 has arrived at the target waypoint 5 , the imaging control unit 102 causes the imaging device 60 to image the imaging target area 3 corresponding to the target waypoint 5 at the shutter speed and aperture value acquired by the imaging condition acquisition unit 96 .

[0111] Specifically, the imaging control unit 102 controls the shutter actuator 70 via the controller 72 to open and close the front curtain 68A and the rear curtain 68B at a time corresponding to the shutter speed acquired by the imaging condition acquisition unit 96. Furthermore, the aperture actuator 66 is controlled via the controller 72 to adjust the size of the opening 64A of the aperture 64 to a size corresponding to the aperture value acquired by the imaging condition acquisition unit 96. Furthermore, the imaging control unit 102 controls the image sensor 74 via the image sensor driver 76 to output imaging data 82 from the image sensor 74. The imaging data 82 is image data representing the synthetic image 132 obtained by capturing the imaging target area 3, and is output to the image sensor 74 by the processor 34 (refer to FIG. 1 ). Figure 2 )After various processing is performed, it is stored in the storage device 36.

[0112] In addition, the flight speed of the flying object 20 is maintained at the flight speed acquired by the imaging condition acquisition unit 96 until the imaging control unit 102 captures the imaging target area 3. After the imaging control unit 102 captures the imaging target area 3, the flight speed of the flying object 20 may be changed to a flight speed higher than the flight speed acquired by the imaging condition acquisition unit 96 until the flight speed is controlled again by the flight speed control unit 98 corresponding to the next target path point 5. By changing the flight speed to a flight speed higher than the flight speed acquired by the imaging condition acquisition unit 96, the efficiency of the imaging operation can be achieved.

[0113] Next, refer to Fig. 9 The function of the flying imaging device 10 according to the first embodiment will be described. Fig. 9 An example of the flow of the flying imaging process according to the first embodiment is shown in FIG.

[0114] exist Fig. 9 In the flight imaging process shown in FIG. 1 , first, in step ST10, the data request unit 92 transmits a request signal 104 for requesting brightness data 168 indicating the brightness of the imaging target area 3 corresponding to the target path point 5 to the bird's-eye view camera 160 (see FIG. 1 ) via the communication device 32. Figure 5 ). After executing the process of step ST10, the flight imaging process is transferred to step ST12.

[0115] In step ST12, the brightness acquisition unit 94 acquires the brightness of the imaging target area 3 corresponding to the target path point 5 based on the brightness data 168 transmitted from the bird's-eye view camera 160 and received by the communication device 32 (see FIG. 1 ). Figure 5 ). After executing the processing of step ST12, the flight imaging processing is transferred to step ST14.

[0116] In step ST14, the imaging condition acquisition unit 96 acquires the shutter speed and aperture value corresponding to the brightness acquired in step ST12 based on the first table 112 stored in the storage device 36 (see FIG. Figure 6 ). In addition, the imaging condition acquisition unit 96 acquires the flight speed corresponding to the shutter speed acquired from the first table 112 based on the second table 114 stored in the storage device 36 (reference Figure 6 ). After executing the processing of step ST14, the flight imaging processing is transferred to step ST16.

[0117] In step ST16, the flight speed control unit 98 controls the plurality of motors 44 via the motor driver 46 to set the flight speed of the flying object 20 to the flight speed acquired in step ST14 (see FIG. Figure 7 ). Thus, the rotation speeds of the plurality of propellers 42 are adjusted, and the flight speed of the flying object 20 is set to the flight speed acquired in step ST14. After the processing of step ST16 is executed, the flight imaging processing is transferred to step ST18.

[0118] In step ST18, the arrival determination unit 100 acquires the position of the flying object 20 based on the positioning data 48 input from the positioning unit 28 and / or the acceleration data 50 input from the acceleration sensor 30 (refer to Figure 8 Then, the arrival determination unit 100 determines whether the flying body 20 has reached the target path point 5 (refer to Figure 8 ). In step ST18, if the flying object 20 reaches the target path point 5, the determination is affirmative, and the flight imaging process is transferred to step ST20. In step ST18, if the flying object 20 does not reach the target path point 5, the determination is negative, and the flight imaging process executes the process of step ST18 again.

[0119] In step ST20, the imaging control unit 102 causes the imaging device 60 to capture the imaging target area 3 (reference numeral 20 ) corresponding to the target path point 5 at the shutter speed and aperture value acquired in step ST14. Figure 8 ). After executing the process of step ST20, the flight imaging process is transferred to step ST22.

[0120] In step ST22, the processor 34 determines whether the condition for terminating the flying camera processing (termination condition) is satisfied. As an example of the termination condition, there can be cited the condition that the imaging target area 3 corresponding to the final path point 5 is photographed by the imaging device 60, or the condition that the user gives the flying camera device 10 an instruction to terminate the flying camera processing. In step ST22, if the termination condition is not satisfied, the determination is negative, and the flying camera processing is transferred to step ST10. In step ST22, if the termination condition is satisfied, the determination is positive, and the flying camera processing ends. In addition, the control method described as the function of the above-mentioned flying camera device 10 is an example of the "control method" involved in the technology of the present invention.

[0121] As described above, in the flying imaging device 10 according to the first embodiment, the processor 34 obtains the brightness of the imaging target area 3 captured by the imaging device 60 from the target path point 5 at a time before the flying body 20 reaches the target path point 5 (reference Figure 5 ). In addition, the processor 34 obtains the shutter speed corresponding to the acquired brightness and the flight speed corresponding to the shutter speed (refer to Figure 6 Then, the processor 34 causes the flying object 20 to fly at the target path point 5 at the acquired flight speed (reference Figure 7 ), so that the imaging device 60 captures the imaging target area 3 (reference Figure 8 ). Therefore, at the target path point 5, the flying body 20 can be made to fly at a flying speed corresponding to the shutter speed, and the imaging device 60 can capture the imaging target area 3 at a shutter speed corresponding to the brightness of the imaging target area 3.

[0122] Then, the processor 34 obtains the shutter speed corresponding to the brightness and the flight speed corresponding to the shutter speed based on the table 110 indicating the relationship among brightness, shutter speed, and flight speed (see FIG. Figure 6 ). Therefore, the shutter speed and the flying speed predetermined by the table 110 can be acquired according to the brightness.

[0123] Furthermore, the computer 26 includes a storage device 36 (see Figure 6 ). Therefore, for example, the shutter speed and the flight speed can be acquired based on the table 110 stored in the storage device 36 directly connected to the processor 34.

[0124] The brightness is the brightness detected by the overhead camera 160 (refer to Figure 5 ). Therefore, for example, it is possible to detect the brightness of a plurality of imaging target areas 3 from a position farther from the wall surface 2A than the flying imaging device 10.

[0125] Furthermore, the bird's-eye view camera 160 captures the entire wall surface 2A including the plurality of imaging target areas 3 (see FIG. Figure 5 Therefore, for example, compared with the case where the brightness of each imaging target area 3 is detected individually based on images obtained by capturing a plurality of imaging target areas 3 one by one, the number of capture times can be reduced, and thus the operability when detecting the brightness of a plurality of imaging target areas 3 can be improved.

[0126] The brightness is the brightness detected at the time before the flying object 20 starts flying on the flight route 4 (refer to Figure 5 ). Thus, based on the brightness detected at the moment before the flying body 20 starts flying on the flight route 4, the shutter speed corresponding to the brightness and the flight speed corresponding to the shutter speed are acquired. Therefore, for example, compared with the case where the brightness is detected at the moment when the flying camera device 10 reaches the target path point 5, it is possible to make the flying camera device 10 shoot in a state where an appropriate shutter speed and flight speed (for example, a shutter speed and flight speed that do not generate image shake) are set at the target path point 5.

[0127] Furthermore, a plurality of path points 5 are set on the flight path 4, and the processor 34 causes the camera 60 to capture images at an aperture value corresponding to the brightness and / or shutter speed (reference Figure 6 ) captures the imaging target area 3 at each path point 5. Therefore, even when the conditions related to brightness and / or shutter speed are different at each path point 5, the imaging target area 3 can be captured with an aperture value corresponding to the brightness and / or shutter speed.

[0128] Then, the imaging device 60 captures the imaging target area 3 at each path point 5 to obtain a synthesis image 132 (see Figure 8 The synthesized image 132 is an image in which adjacent synthesized images 132 partially overlap each other. Therefore, the synthesized image 132 corresponding to the adjacent imaging target area 3 can be synthesized based on the feature points included in the overlapping portion of the adjacent imaging target area 3.

[0129] In the first embodiment, the processor 34 may cause the imaging device 60 to capture the imaging target area 3 at a constant aperture value at a plurality of waypoints 5. In this case, the process of operating the aperture 64 at each waypoint 5 can be omitted.

[0130] [Second embodiment]

[0131] Next, a second embodiment will be described.

[0132] In the first embodiment, the bird's-eye view camera 160 images the entire wall surface 2A including the plurality of imaging target areas 3 before the flying object 20 starts flying on the flight path 4. In the second embodiment, the timing at which the bird's-eye view camera 160 images the wall surface 2A is different from that in the first embodiment. This will be described in detail below.

[0133] As an example, Fig.10 As shown, the data request unit 92 transmits a request signal 104 for requesting brightness data 168 to the overhead camera 160 via the communication device 32 after the flying object 20 starts to move toward the flight path 4 and before the flying object 20 reaches the target path point 5. The brightness data 168 is data indicating the brightness of the imaging target area 3 corresponding to the target path point 5. The request signal 104 includes information indicating the path point number corresponding to the target path point 5.

[0134] When receiving the request signal 104, the bird's-eye view camera 160 captures the entire wall surface 2A including the plurality of imaging target areas 3. Thus, a wall surface image 162 is obtained. Furthermore, the bird's-eye view camera 160 converts the wall surface image 162 into a conversion image 164, and derives the brightness of the imaging target area 3 corresponding to the target path point 5 based on the brightness component included in the conversion image 164. The method of deriving the brightness of the imaging target area 3 is the same as that of the first embodiment. Then, the bird's-eye view camera 160 transmits brightness data 168 indicating the derived brightness to the communication device 32.

[0135] In addition, the bird's-eye view camera 160 can extract an image including only the imaging target area 3 corresponding to the waypoint number indicated by the request signal 104 from the wall surface image 162 obtained by imaging the entire wall surface 2A. Then, the bird's-eye view camera 160 can convert the extracted image into a conversion image 164, and derive the brightness of only the imaging target area 3 corresponding to the target waypoint 5 based on the brightness component included in the converted conversion image 164.

[0136] Furthermore, the bird's-eye view camera 160 may capture only the imaging target area 3 corresponding to the waypoint number indicated by the request signal 104. Then, the bird's-eye view camera 160 may convert the image obtained by capturing into a conversion image 164, and derive the brightness of the imaging target area 3 corresponding only to the target waypoint 5 based on the brightness component included in the converted conversion image 164.

[0137] The brightness acquisition unit 94 acquires the brightness of the imaging target area 3 corresponding to the target waypoint 5 based on the brightness data 168 received by the communication device 32 .

[0138] As described in detail above, in the second embodiment, the brightness acquired by the brightness acquisition unit 94 is the brightness detected at a time after the flying body 20 starts to move toward the flight path 4 and before the flying body 20 reaches the target path point 5. Thus, after the flying body 20 starts to move toward the flight path 4 and before the flying body 20 reaches the target path point 5, the shutter speed corresponding to the brightness and the flight speed corresponding to the shutter speed are acquired based on the brightness detected. Therefore, for example, compared with the case where the brightness is detected at the time when the flying camera device 10 reaches the target path point 5, the flying camera device 10 can be made to shoot in a state where an appropriate shutter speed and flight speed (for example, a shutter speed and flight speed that does not generate image shake) are set at the target path point 5.

[0139] Furthermore, even if the brightness changes after the flying object 20 starts to move toward the flight path 4, the changed brightness can be detected before the flying object 20 reaches the target path point 5. Thus, for example, compared with the case where the brightness is detected before the flying object 20 starts to move toward the flight path 4, the brightness detection accuracy can be improved.

[0140] [Third Embodiment]

[0141] Next, a third embodiment will be described.

[0142] In the first embodiment, the brightness of each imaging target area 3 corresponding to each path point 5 is detected based on the wall surface image 162 obtained by photographing with the overhead camera 160. In the third embodiment, the method of detecting the brightness of each imaging target area 3 corresponding to each path point 5 is different from that in the first embodiment. The following is a specific description.

[0143] As an example, Fig.11 As shown, in the third embodiment, a flying camera device 210 different from the flying camera device 10 is used instead of the bird's-eye view camera 160. Hereinafter, when it is necessary to distinguish between the flying camera devices 10 and 210, the flying camera device 10 will be referred to as the "first flying camera device 10" and the flying camera device 210 will be referred to as the "second flying camera device 210".

[0144] The second flight camera device 210 has the same hardware structure as the first flight camera device 10. Specifically, the second flight camera device 210 includes a flying body 220 and a camera device 260. The flying body 220 has the same structure as the flying body 20 included in the first flight camera device 10, and the camera device 260 has the same structure as the camera device 60 included in the first flight camera device 10. The flying body 220 included in the second flight camera device 210 is an example of the "second moving body" involved in the technology of the present invention. The camera device 260 included in the second flight camera device 210 is an example of the "sensor" involved in the technology of the present invention.

[0145] Before the first flight imaging device 10 reaches the target path point 5 (for example, before the first flight imaging device 10 starts flying on the flight route 4), the second flight imaging device 210 flies on the flight route 4 and captures the imaging target area 3 corresponding to each path point 5 each time it reaches the path point 5. By capturing each imaging target area 3, an image 262 (hereinafter referred to as "imaging target area image 262") including the imaging target area 3 as an image can be obtained.

[0146] As an example, the second flying imaging device 210 flies on the flight route 4 at a higher flight speed than the first flying imaging device 10 when flying on the flight route 4. The flight speed can be calculated, for example, by the average of the flight speeds from the start of the flight on the flight route 4 to the end of the flight. By setting the flight speed of the second flying imaging device 210 to be higher than the flight speed of the first flying imaging device 10, the efficiency of the imaging operation by the second flying imaging device 210 can be achieved.

[0147] The second flying camera 210 derives the brightness of each imaging target area 3 corresponding to each path point 5 based on the imaging target area image 262 obtained each time the path point 5 is reached. For example, the imaging target area image 262 is an RGB image formed by the three primary colors of light, and the second flying camera 210 converts the RGB image into an image 264. Hereinafter, the image 264 is referred to as a "converted image 264". The converted image 264 is different from the converted image 164 of the first embodiment (see Figure 5 Then, the second flying imaging device 210 derives the brightness of each imaging target area 3 corresponding to each path point 5 based on the brightness component included in the conversion image 264. The method of deriving the brightness of each imaging target area 3 is the same as that of the first embodiment.

[0148] Furthermore, the second flight imaging device 210 generates information on the brightness of the imaging target area 3 corresponding to each path point 5 as brightness information 266, and stores the generated brightness information 266. The brightness information 266 is similar to the brightness information 166 of the first embodiment (see Figure 5 ). Fig.11 , as an example of the brightness information 266, an example of a specific value of the brightness of the imaging target area 3 corresponding to each path point number is shown.

[0149] The data request unit 92 transmits a request signal 104 for requesting brightness data 268 to the second flight imaging device 210 via the communication device 32. The brightness data 268 is data indicating the brightness of the imaging target area 3 corresponding to the target path point 5. The request signal 104 includes information indicating the path point number corresponding to the target path point 5.

[0150] When receiving the request signal 104, the second flight imaging device 210 extracts the brightness corresponding to the path point number indicated by the request signal 104 from the brightness information 266, and transmits brightness data 268 indicating the extracted brightness to the communication device 32 of the first flight imaging device 10. Fig.11 In the example shown, the path point number indicated by the request signal 104 is “NO. 1”, and the brightness data 268 indicating the brightness level “20” corresponding to “NO. 1” is transmitted from the second flight imaging device 210 to the communication device 32 .

[0151] The brightness acquisition unit 94 acquires the brightness of the imaging target area 3 corresponding to the target waypoint 5 based on the brightness data 268 received by the communication device 32 .

[0152] As described in detail above, in the third embodiment, the brightness acquired by the brightness acquisition unit 94 is the brightness detected at the time before the first flight camera device 10 starts to move to the flight route 4. Thus, based on the brightness detected at the time before the flying body 20 starts to fly on the flight route 4, the shutter speed corresponding to the brightness and the flight speed corresponding to the shutter speed are acquired. Therefore, for example, compared with the case where the brightness is detected at the time when the flight camera device 10 reaches the target path point 5, the flight camera device 10 can be set to shoot in a state where an appropriate shutter speed and flight speed (for example, a shutter speed and flight speed that does not generate image shake) are set at the target path point 5.

[0153] Furthermore, the brightness acquired by the brightness acquisition unit 94 is the brightness detected from the target path point 5 using the imaging device 60 of the second flight imaging device 210. Therefore, for example, compared with the brightness detected from a position farther from the wall surface 2A than the target path point 5 using the imaging device 60, the detection accuracy of the brightness can be improved.

[0154] Furthermore, the imaging device 60 is mounted on the second flying imaging device 210. Therefore, the brightness of the imaging target area 3 can be detected at each path point 5 while the second flying imaging device 210 is being flown.

[0155] Furthermore, the second flying imaging device 210 flies on the flight route 4 at a higher speed than the first flying imaging device 10. Therefore, the time required for the second flying imaging device 210 to fly on the flight route 4 can be made shorter than the time required for the first flying imaging device 10 to fly on the flight route 4.

[0156] In the third embodiment, the imaging device 260 is used to detect the brightness of the imaging target area 3, but an illuminance sensor (not shown) may be used instead of the imaging device 260. The illuminance sensor is an example of a "sensor" according to the technique of the present invention.

[0157] Furthermore, in the third embodiment, the second flying imaging device 210 different from the first flying imaging device 10 is used, but the first flying imaging device 10 may be used instead of the second flying imaging device 210. In this case, the flying object 20 provided in the first flying imaging device 10 is an example of the "first moving object" and the "second moving object" involved in the technology of the present invention.

[0158] [Fourth embodiment]

[0159] Next, a fourth embodiment will be described.

[0160] In the third embodiment, the second flight imaging device 210 photographs the imaging target area 3 corresponding to each path point 5 each time it reaches the path point 5 while flying on the flight route 4 before the first flight imaging device 10 starts flying on the flight route 4. In the fourth embodiment, the timing at which the second flight imaging device 210 photographs the imaging target area 3 corresponding to each path point 5 is different from that in the third embodiment. This will be described in detail below.

[0161] As an example, Fig.12As shown, the second flying camera device 210 first flies relative to the first flying camera device 10. The distance between the centers of the first flying camera device 10 and the second flying camera device 210 along the flight route 4 can be set to a distance suitable for the distance between the centers of adjacent path points 5, or can be set to a distance longer than the distance between adjacent path points 5.

[0162] The second flying imaging device 210 first flies on the flight route 4 relative to the first flying imaging device 10, and images the imaging target area 3 corresponding to each path point 5 each time it reaches the path point 5. By imaging each imaging target area 3, an imaging target area image 262 is obtained.

[0163] The second flying imaging device 210 converts the imaging target area image 262 obtained each time the path point 5 is reached into a conversion image 264, and derives the brightness of each imaging target area 3 corresponding to each path point 5 based on the brightness component included in the conversion image 264. The method of deriving the brightness of each imaging target area 3 is the same as that of the third embodiment.

[0164] Furthermore, the second flight imaging device 210 generates information on the brightness of the imaging target area 3 corresponding to each path point 5 as brightness information 266, and stores the generated brightness information 266. The brightness information 266 is the same as that of the third embodiment. Fig.12 , as an example of the brightness information 266, an example of a specific value of the brightness of the imaging target area 3 corresponding to each path point number is shown.

[0165] The data request unit 92 transmits a request signal 104 for requesting brightness data 268 to the second flight imaging device 210 via the communication device 32 after the first flight imaging device 10 starts to move toward the flight route 4 and before the first flight imaging device 10 reaches the target path point 5. The brightness data 268 is data indicating the brightness of the imaging target area 3 corresponding to the target path point 5. The request signal 104 includes information indicating the path point number corresponding to the target path point 5.

[0166] When receiving the request signal 104, the second flight imaging device 210 extracts the brightness corresponding to the path point number indicated by the request signal 104 from the brightness information 266, and transmits brightness data 268 indicating the extracted brightness to the communication device 32 of the first flight imaging device 10. Fig.12 In the example shown, the path point number indicated by the request signal 104 is “NO.3”, and brightness data 268 indicating the brightness level corresponding to “NO.3”, that is, “60”, is sent from the second flight imaging device 210 to the communication device 32 .

[0167] The brightness acquisition unit 94 acquires the brightness of the imaging target area 3 corresponding to the target waypoint 5 based on the brightness data 268 received by the communication device 32 .

[0168] As described in detail above, in the fourth embodiment, the brightness acquired by the brightness acquisition unit 94 is the brightness detected at the time after the first flight camera device 10 starts to move toward the flight route 4 and before the first flight camera device 10 reaches the target path point 5. Thus, after the flying body 20 starts to move toward the flight route 4 and before the flying body 20 reaches the target path point 5, the shutter speed corresponding to the brightness and the flight speed corresponding to the shutter speed are acquired based on the detected brightness. Therefore, for example, compared with the case where the brightness is detected at the time when the flight camera device 10 reaches the target path point 5, the flight camera device 10 can be made to shoot in a state where an appropriate shutter speed and flight speed (for example, a shutter speed and flight speed that does not generate image shake) are set at the target path point 5.

[0169] Furthermore, even if the brightness changes after the flying object 20 starts to move toward the flight path 4, the changed brightness can be detected before the flying object 20 reaches the target path point 5. Thus, for example, compared with the case where the brightness is detected before the flying object 20 starts to move toward the flight path 4, the brightness detection accuracy can be improved.

[0170] [Fifth embodiment]

[0171] Next, a fifth embodiment will be described.

[0172] In the fifth embodiment, the processor 34 included in the flight imaging device 10 acquires a plurality of synthesis images 132, and generates a synthesized image 130 by synthesizing adjacent synthesis images 132. Furthermore, the processor 34 performs correction processing on the synthesized image 130. The correction processing is an example of the “specific processing” and “correction processing” involved in the technology of the present invention, and will be described in detail below.

[0173] As an example, Fig.13 As shown, a synthetic image generation program 120 is stored in the storage device 36. The processor 34 reads the synthetic image generation program 120 from the storage device 36 and executes the read synthetic image generation program 120 on the RAM 38. The processor 34 performs synthetic image generation processing according to the synthetic image generation program 120 executed on the RAM 38. The synthetic image generation processing is realized by the processor 34 operating as an image synthesis unit 122, a brightness information acquisition unit 124, and a correction processing unit 126 according to the synthetic image generation program 120. The processor 34 is an example of the "second processor" involved in the technology of the present invention.

[0174] As an example, Fig.14 As shown, the image synthesis unit 122 generates a synthesized image 130 by synthesizing adjacent synthesizing images 132 among a plurality of synthesizing images 132 obtained by imaging the respective imaging target regions 3 .

[0175] The brightness information acquisition unit 124 acquires brightness information 166 generated by the bird's-eye view camera 160. As described in the first embodiment, the brightness information 166 is information generated based on the brightness component included in the conversion image 164 and is information indicating the brightness of each imaging target area 3 corresponding to each waypoint 5.

[0176] The correction processing unit 126 performs correction processing on the synthesized image 130 synthesized by the image synthesis unit 122. Specifically, the correction processing is a process of correcting the brightness of the synthesized image 130 based on the brightness information 166 acquired by the brightness information acquisition unit 124. In the correction processing, the brightness of the region other than the region representing the feature point in the synthesized image 130 is corrected.

[0177] For example, as correction processing, processing is performed to reduce the brightness of the area with the highest brightness (for example, an area where all white occurs) in the synthesized image 130. Also, for example, as correction processing, processing is performed to correct the brightness difference between adjacent synthesized images 132. Also, for example, as correction processing, processing is performed to correct the brightness difference between synthesized images 132 located at separate positions. As synthesized images 132 located at separate positions, for example, there can be cited a synthesized image 132 located in a positional relationship in which one synthesized image 132 is arranged between synthesized images 132 located at separate positions, or a synthesized image 132 located in a positional relationship in which two of the four corners arranged in the synthesized image 130 are arranged.

[0178] As a process for correcting the brightness difference between the synthetic images 132, for example, a process for making the brightness between the synthetic images 132 close to each other can be cited. Also, as a correction process, for example, a process for correcting the brightness distribution of the synthetic image 130 based on the distribution of the brightness of the plurality of imaging target areas 3 is performed. As a process for correcting the brightness distribution of the synthetic image 130, for example, a process for correcting uneven brightness can be cited. The above correction process is performed on the synthetic image 130. The correction process is an example of the "specific process" and the "correction process" involved in the technology of the present invention.

[0179] The synthetic image generation process may be executed, for example, after all synthetic images 132 for the wall surface 2A are obtained, or may be executed every time a synthetic image 132 after the second frame is obtained.

[0180] Next, refer to Fig.15 , the fifth embodiment of the present invention will now describe the function of the flying imaging device 10. Fig.15 An example of the flow of the synthetic image generation process according to the fifth embodiment is shown in FIG.

[0181] exist Fig.15 In the composite image generation process shown, first, in step ST30, the image synthesis unit 122 synthesizes adjacent composite images 132 of a plurality of composite images 132 obtained by imaging the respective imaging target areas 3, thereby generating a composite image 130. After executing the process of step ST30, the composite image generation process moves to step ST32.

[0182] In step ST32, the brightness information acquisition unit 124 acquires the brightness information 166 generated by the bird's-eye view camera 160. After the process of step ST32 is executed, the synthetic image generation process proceeds to step ST34.

[0183] In step ST34, the correction processing unit 126 performs correction processing based on the brightness information 166 acquired in step ST32, thereby correcting the brightness of the synthesized image 130 generated in step ST30. Thus, a brightness-corrected synthesized image 130 is obtained. After the processing of step ST34 is performed, the synthesized image generation processing ends.

[0184] As described in detail above, in the fifth embodiment, the composite image 130 is generated by combining adjacent composite images 132. Then, correction processing is performed on the composite image 130 based on the brightness information 166 indicating the brightness of each imaging target area 3, thereby correcting the brightness of the composite image 130. Therefore, for example, it is possible to suppress the appearance of the composite image 130 from being deteriorated due to uneven brightness caused by combining adjacent composite images 132.

[0185] Furthermore, the correction process includes a process of correcting the brightness difference between the synthesis images 132. Therefore, it is possible to obtain the synthesis image 130 in which the brightness difference between the synthesis images 132 is corrected according to the brightness of each imaging target area 3.

[0186] Furthermore, the correction process includes a process of correcting the luminance distribution of the composite image 130 according to the brightness distribution of the plurality of imaging target areas 3. Therefore, the composite image 130 in which the luminance distribution is corrected according to the brightness distribution of the plurality of imaging target areas 3 can be obtained.

[0187] In the above description, the synthetic image generation process is executed in the flight imaging device 10 , but the synthetic image generation process may be executed in an external device (not shown) connected to the flight imaging device 10 so as to be communicable therewith.

[0188] Furthermore, the specific processing may include a notification processing for notifying when the brightness difference between the imaging target areas 3 exceeds a specified value. The specified value is set, for example, as an upper limit value of the brightness difference that does not affect the inspection or measurement of the wall surface 2A based on the synthetic image 130. For example, as the notification processing, a process of emitting a warning sound may be performed. The notification processing is an example of the "specific processing" and "notification processing" involved in the technology of the present invention. In this way, if the notification processing for notifying when the brightness difference between the imaging target areas 3 exceeds the specified value is performed, it is possible to enable the user or the like to recognize that the brightness difference between the imaging target areas 3 exceeds the specified value.

[0189] Furthermore, in the above embodiment, the flying camera device 10 is illustrated as an example of a moving object, but any moving object may be used as long as it moves along a moving route. For example, the moving object may include a car, a motorcycle, a bicycle, a trolley, a hot air balloon, an airplane, a flying object, or a ship.

[0190] Furthermore, in the above-mentioned embodiment, the plurality of waypoints 5 refers to all the waypoints 5 set on the flight route 4, but may also refer to some waypoints 5 among all the waypoints 5 set on the flight route 4. Furthermore, the number of waypoints 5 may be any number.

[0191] Furthermore, in the above-described embodiment, the waypoint 5 set on the flight path 4 is used as an example of the target position, but a conceptual position different from the waypoint 5 , that is, the target position may be used.

[0192] Furthermore, in the above-described embodiment, the imaging device 60 images the imaging target region 3 in order to obtain the synthesis image 132 , but the imaging target region 3 may be imaged for purposes other than obtaining the synthesis image 132 .

[0193] Furthermore, in the above embodiment, the processor 34 is illustrated as an example, but at least one other CPU, at least one GPU and / or at least one TPU may be used instead of or together with the processor 34 .

[0194] Furthermore, in the above-mentioned embodiment, an example of a method in which the flight imaging program 90 and the synthetic image generation program 120 are stored in the storage device 36 is given for explanation, but the technology of the present invention is not limited to this. For example, the flight imaging program 90 and / or the synthetic image generation program 120 can be stored in a portable non-temporary computer-readable storage medium such as an SSD or a USB memory (hereinafter referred to as a "non-temporary storage medium"). The flight imaging program 90 and / or the synthetic image generation program 120 stored in the non-temporary storage medium can be installed in the computer 26 of the flight imaging device 10.

[0195] In addition, the flight camera program 90 and / or the synthetic image generation program 120 can also be stored in a storage device such as another computer or server device connected to the flight camera device 10 via a network, and the flight camera program 90 and / or the synthetic image generation program 120 can be downloaded and installed on the computer 26 in response to a request from the flight camera device 10.

[0196] Furthermore, it is not necessary to store the entire flight camera program 90 and / or the synthetic image generation program 120 in a storage device or storage device 36 of another computer or server device connected to the flight camera device 10, and a portion of the flight camera program 90 and / or the synthetic image generation program 120 may be stored.

[0197] Furthermore, although the computer 26 is built into the flight imaging device 10 , the technology of the present invention is not limited thereto, and for example, the computer 26 may be provided outside the flight imaging device 10 .

[0198] Furthermore, in the above embodiment, the computer 26 including the processor 34, the storage device 36, and the RAM 38 is illustrated, but the technology of the present invention is not limited thereto, and a device including an ASIC, an FPGA, and / or a PLD may be applied instead of the computer 26. Furthermore, a combination of a hardware structure and a software structure may be used instead of the computer 26.

[0199] Furthermore, as hardware resources for executing various processes described in the above embodiments, various processors shown below can be used. As a processor, for example, a general-purpose processor, i.e., a CPU, which functions as a hardware resource for executing various processes by executing software, i.e., a program, can be cited. Furthermore, as a processor, for example, a processor, i.e., a dedicated circuit, such as an FPGA, a PLD, or an ASIC, which has a circuit structure specially designed for executing specific processes can be cited. Each processor has a built-in or connected memory, and each processor executes various processes by using the memory.

[0200] The hardware resources for executing various processing may be composed of one of these various processors, or may be composed of a combination of two or more processors of the same type or different types (for example, a combination of multiple FPGAs or a combination of a CPU and an FPGA). Furthermore, the hardware resources for executing various processing may be one processor.

[0201] As an example of a system composed of one processor, first, there is a system in which one processor is composed of a combination of one or more CPUs and software, and the processor functions as a hardware resource for executing various processes. Secondly, as represented by SoC, there is a system in which a processor is used to realize the functions of the entire system including multiple hardware resources for executing various processes by one IC chip. In this way, various processes are realized by using one or more of the above-mentioned various processors as hardware resources.

[0202] Moreover, as the hardware structure of these various processors, more specifically, a circuit composed of a combination of circuit elements such as semiconductor elements can be used. In addition, the above-mentioned sight line detection processing is only an example. Therefore, it is of course possible to delete unnecessary steps, add new steps, or change the processing order within the scope of the subject matter.

[0203] The recorded contents and illustrated contents shown above are detailed descriptions of the parts involved in the technology of the present invention, and are only an example of the technology of the present invention. For example, the description of the above-mentioned structure, function, action and effect is a description of an example of the structure, function, action and effect of the parts involved in the technology of the present invention. Therefore, of course, it is also possible to delete unnecessary parts, add new elements or replace the recorded contents and illustrated contents shown above without departing from the main purpose of the technology of the present invention. In addition, in order to avoid trouble and facilitate understanding of the parts involved in the technology of the present invention, in the recorded contents and illustrated contents shown above, descriptions of technical common sense that does not need to be specifically explained when implementing the technology of the present invention are omitted.

[0204] In this specification, "A and / or B" has the same meaning as "at least one of A and B". That is, "A and / or B" means that it can be only A, only B, or a combination of A and B. In addition, in this specification, when three or more items are expressed in association with "and / or", the same concept as "A and / or B" also applies.

[0205] All documents, patent applications, and technical standards described in this specification are incorporated herein by reference to the same extent as if each document, patent application, and technical standard was specifically and individually incorporated by reference.

Claims

1. A control device comprising a first processor, The first processor performs the following processing: At a time before a first moving body equipped with an imaging device reaches a target position, acquiring brightness of an imaging target area captured by the imaging device from the target position; Acquire a shutter speed corresponding to the brightness and a moving speed corresponding to the shutter speed; and At the target position, the first moving body is moved at the moving speed, and the imaging device is caused to capture the imaging target area at the shutter speed.

2. The control device according to claim 1, wherein: The first processor performs processing for acquiring the shutter speed corresponding to the brightness and the moving speed corresponding to the shutter speed based on relationship information indicating a relationship among the brightness, the shutter speed, and the moving speed. 3 . The control device according to claim 2 , further comprising a memory for storing the relationship information.

4. The control device according to any one of claims 1 to 3, wherein: The brightness is brightness detected from the object position using a sensor.

5. The control device according to claim 4, wherein: The sensor is mounted on the second moving body.

6. The control device according to claim 5, wherein: The object position is set on the moving route, The brightness is brightness detected while the second moving object is moving on the moving route at a speed higher than the moving speed.

7. The control device according to any one of claims 1 to 3, wherein: The brightness is brightness detected using a bird's-eye view camera that overlooks a subject including the imaging target area.

8. The control device according to claim 7, wherein: The object includes a plurality of imaging target areas.

9. The control device according to any one of claims 1 to 8, wherein: The object position is set on the moving route, The brightness is the brightness detected at a time before the first moving object starts moving with respect to the moving route.

10. The control device according to any one of claims 1 to 8, wherein: The object position is set on the moving route, The brightness is brightness detected at a time point after the first moving object starts moving relative to the moving route and before the first moving object reaches the target position.

11. The control device according to any one of claims 1 to 10, wherein: A plurality of target positions are set as destinations to be moved by the first moving body. The first processor causes the imaging device to capture the imaging target area at a constant aperture value at a plurality of the target positions.

12. The control device according to any one of claims 1 to 10, wherein: A plurality of target positions are set as destinations to be moved by the first moving body. The first processor causes the imaging device to capture the imaging target area at an aperture value corresponding to the brightness and / or the shutter speed for each of the target positions.

13. The control device according to any one of claims 1 to 12, wherein: A plurality of target positions are set as destinations to be moved by the first moving body. The first processor acquires, for each of the target positions, a synthesis image obtained by causing the imaging device to capture the imaging target area. The synthesis image is an image in which adjacent synthesis images partially overlap.

14. The control device according to claim 13, further comprising: The second processor generates a composite image by combining adjacent composite images. The second processor performs specific processing on the synthesized image according to the brightness.

15. The control device according to claim 14, wherein: The specific processing includes a correction processing of correcting the brightness of the synthesized image.

16. The control device according to claim 15, wherein: The correction processing includes processing for correcting the brightness difference between the synthesis images.

17. The control device according to claim 15 or 16, wherein: The correction processing includes processing for correcting the luminance distribution of the synthesized image according to the brightness distribution.

18. The control device according to any one of claims 14 to 17, wherein: The specific processing includes a notification processing of performing a notification when the brightness difference between the imaging target areas exceeds a predetermined value.

19. A control method comprising the following steps: At a time before a first moving body equipped with an imaging device reaches a target position, acquiring brightness of an imaging target area captured by the imaging device from the target position; Acquire a shutter speed corresponding to the brightness and a moving speed corresponding to the shutter speed; and At the target position, the first moving body is moved at the moving speed, and the imaging device is caused to capture the imaging target area at the shutter speed.

20. A program for causing a computer to execute a process comprising the following steps: At a time before a first moving body equipped with an imaging device reaches a target position, acquiring brightness of an imaging target area captured by the imaging device from the target position; Acquire a shutter speed corresponding to the brightness and a moving speed corresponding to the shutter speed; and At the target position, the first moving body is moved at the moving speed, and the imaging device is caused to capture the imaging target area at the shutter speed.

Images