Imaging method

Abstract

To provide a flying body whose flight efficiency can be improved.SOLUTION: An imaging method according to the present invention images an imaging object by a plurality of flying bodies including an imaging part. The imaging method includes: a ranking step of setting predetermined ranks for the respective flying bodies; a control step of performing control based on the ranks; and an imaging step of moving the flying bodies in accordance with the control and imaging an object by the imaging part. With this configuration, it is possible to simultaneously image the plurality of imaging objects from varies angles by the plurality of flying bodies.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a photographing method, and more particularly to a method for photographing an object using a plurality of flying objects. do. [Background technology]

[0002] In recent years, unmanned aerial vehicles (UA), such as drones, have been used for a variety of purposes. V: Unmanned Aerial Vehicle) and other flying objects and rotorcraft (hereafter referred to as In the following, various services are provided that utilize aircraft (collectively referred to as "air vehicles").

[0003] On the other hand, Patent Document 1 describes a system in which multiple flying objects are coordinated to accomplish a specific purpose (gas detection). A stem is disclosed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2016-200700 A Summary of the Invention [Problem to be solved by the invention]

[0005] The flying device of Patent Document 1 detects gas leaks in specific areas using sensors on multiple flying objects. It is a technology.

[0006] The present invention provides a system that can achieve new functions by coordinating multiple aircraft. do. [Means for solving the problem]

[0007] According to the present invention, there is provided a method for photographing an object to be photographed by a plurality of flying objects each having a photographing unit. It is a law, a ranking step of setting a predetermined ranking for each of the air vehicles; A control step of performing control based on the ranking; The flying object is moved in accordance with the control, and the object is photographed by the photographing unit. and a photographing step of How to shoot. is obtained. Effect of the Invention

[0008] According to the present invention, a new aerial photography method is obtained that can be performed by coordinating multiple flying objects. [Brief description of the drawings]

[0009] [Figure 1] 1 is a configuration diagram of an imaging system according to the present invention. [Diagram 2] 2 is a functional block diagram illustrating a configuration of a management terminal of FIG. 1. [Diagram 3] FIG. 2 is a functional block diagram showing the configuration of the aircraft of FIG. 1. [Figure 4] FIG. 2 is another configuration diagram of the imaging system according to the present invention. [Diagram 5] FIG. 5 is a diagram showing the movement of information in the configuration of FIG. [Figure 6] FIG. 2 is a diagram showing the control of each flying object using the system of FIG. 1. [Figure 7] FIG. 2 is another diagram showing the control of each flying object using the system of FIG. 1. [Figure 8] FIG. 2 is yet another diagram showing the control of each flying object using the system of FIG. 1. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] The contents of the embodiments of the present invention will be listed and described below. It has the following configuration. [Item 1] A method for photographing an object to be photographed by a plurality of flying objects each having a photographing unit, comprising: a ranking step of setting a predetermined ranking for each of the air vehicles; A control step of performing control based on the ranking; The flying object is moved in accordance with the control, and the object is photographed by the photographing unit. and a photographing step of How to shoot. [Item 2] The imaging method according to item 1, The ranking step comprises: A step of setting a parent unit and at least one child unit from among the plurality of flying objects is further We are prepared for The flight of the child aircraft is controlled according to the flight state of the parent aircraft. How to shoot. [Item 3] The imaging method according to item 1, The ranking step comprises: Among the plurality of flying objects, a plurality of parent aircraft and at least one or more corresponding to one of the parent aircraft The method further includes a step of setting a child device, The flight of the child aircraft is controlled according to the flight state of the parent aircraft. How to shoot. [Item 4] The imaging method according to item 1, The ranking step comprises: The method further comprises the step of setting an equal ranking for a plurality of the flying objects; The flight of each of the aircraft is controlled according to the flight status of the other aircraft. How to shoot. [Item 5] The photographing method according to any one of items 2 to 4, The ranking step comprises: a first ranking step of setting the ranking of the flying object to a first state; A second ranking step for setting the ranking of the air vehicle to a second state different from the first state. and How to shoot. [Item 6] 6. The photographing method according to any one of items 1 to 5, A step of receiving an operation for at least one of the plurality of flying objects. P and and controlling the flying object based on the operation. How to shoot. [Item 7] Item 6. The imaging method according to any one of items 1 to 6, In the photographing step, movement of the flying objects is controlled based on relative positions of the flying objects. How to shoot. [Item 8] Item 7: The imaging method according to any one of items 1 to 7, In the photographing step, the movements of the flying objects are controlled based on the movement paths of the flying objects. How to shoot. [Item 9] The imaging method according to any one of items 1 to 8, The photographing step is a step of photographing one of the aircraft bodies according to a direction of the photographing unit of the other aircraft body. The flight is controlled How to shoot. [Item 10] The imaging method according to any one of items 1 to 9, The photographing step is a step of photographing one of the flying objects according to an activation state of the photographing unit of the flying object. The flight of the body is controlled, How to shoot. [Item 11] Item 11. The imaging method according to any one of items 10, The photographing step is a step of photographing one of the flying objects according to a photographing range of the photographing unit of the flying object. The flight of the body is controlled, How to shoot. [Item 12] The imaging method according to any one of items 1 to 11, The photographing step is a step of photographing one of the flying objects according to a photographing range of the photographing unit of the flying object. The flight of the body is controlled, How to shoot.

[0011] <Details of the embodiment of the present invention> Hereinafter, a photographing method according to an embodiment of the present invention will be described with reference to the drawings. The following embodiment is merely an example, and may be changed depending on the application, purpose, scale, etc. , other known elements or alternatives may be employed.

[0012] <Configuration of the present invention> As shown in FIG. 1, a photographing system embodying a photographing method according to the present invention includes a management terminal 10, a repeater 20, an aircraft 30m, an aircraft 30s (an aircraft 30m and an aircraft 30s The aircraft shown in the figure includes the aircraft 30. To facilitate this, there are three units, but there is no limit to the number.

[0013] Flight information (described later) of each flying object 30m and flying object 30s is transmitted to the management terminal 20 via the repeater 20. In this embodiment, the signal is transmitted to the aircraft 30 via the repeater 20. However, flight information is sent directly from the aircraft 30 to the management terminal 10. Alternatively, one aircraft may act as a hub. In addition, the flight information of all other flying objects may be transmitted to the management terminal 10 all at once.

[0014] <Hardware configuration: Management terminal> FIG. 2 is a diagram showing the hardware configuration of the management terminal 10. This is merely an example, and other configurations may be used.

[0015] As shown in the figure, a management terminal 10 is connected to a database 3 and constitutes a part of the system. The management terminal 10 is a general-purpose computer such as a workstation or a personal computer. It can be a personal computer or logically through cloud computing. It may be realized.

[0016] The management terminal 10 includes at least a processor 10, a memory 11, a storage 12, a transmission / reception device, and a These are electrically connected to each other via a bus 15.

[0017] The processor 10 controls the overall operation of the management terminal 10 and transmits and receives data between each element. A computing device that controls communication, and processes information required for application execution and authentication processing. For example, the processor 10 is a CPU (Central Processing Unit). It is a program stored in the storage 12 and deployed in the memory 11. Each information processing is carried out.

[0018] Memory 11 is a Dynamic Random Access Memory (DRAM). The main memory is made up of volatile storage devices such as flash memory and HDD (Hard Disk Drive). and auxiliary storage configured with non-volatile storage devices such as a disk drive. 11 is used as a work area for the processor 10 and is also used when the management terminal 10 is started up. BIOS (Basic Input / Output System), which runs on It also stores various setting information, etc.

[0019] The storage 12 stores various programs such as application programs. A database storing data used in the processing may be constructed in the storage 12. stomach.

[0020] The transmitting / receiving unit 13 may connect the management terminal 10 to a network. The receiving unit 13 is a device that supports Bluetooth (registered trademark) and BLE (Bluetooth Lo The device may be equipped with a short-range communications interface for wireless energy (W Energy).

[0021] The input / output unit 14 is a device for inputting information such as a keyboard and a mouse, and a device for outputting information such as a display. It is equipment.

[0022] A bus 15 is commonly connected to each of the above elements, and transmits, for example, address signals, data signals, and The control signal is transmitted.

[0023] <Hardware configuration: flying vehicle> The flying object 30 in this embodiment is a drone, a multicopter, lti copter), unmanned aerial vehicle (unmanned aerial vehicle) e:UAV), RPAS (remote piloted aircraft system) EMS), or UAS (Unmanned Aircraft Systems), etc. You may be called.

[0024] The aircraft 30 has the functional blocks shown in FIG. is a minimum reference configuration.

[0025] The flight controller is a so-called processing unit. The processing unit is a programmable A processor (e.g., a central processing unit (CPU)) that has one or more processors. The processing unit has a memory 22 and can access the memory. The memory 22 may include a processor operable to execute one or more steps. A memory may store logic, code, and / or program instructions, e.g. Separable media or external storage such as SD cards or random access memory (RAM) The data acquired from the camera and sensors 27 is directly stored in the memory 22. For example, still and video data captured by a camera or the like may be directly transmitted and stored. The data is recorded in the internal memory or the external memory.

[0026] The processing unit includes a control module configured to control a state of the air vehicle. For example, the control module has six degrees of freedom (translational motion x, y, and z, and rotational motion θ x , θ y and θ z ) to adjust the spatial arrangement, speed, and / or acceleration of the flying object. The control module controls the propulsion mechanism (motors, etc.) of the aircraft to carry out the mission. The control may control one or more of the following states:

[0027] The processing unit may interface with one or more external devices (e.g., a terminal, a display device, or other remote A transceiver configured to transmit and / or receive data from a remote controller The transceiver may use any suitable communication means, such as wired or wireless communication. For example, the transceiver can be used in a local area network (LAN), wireless Area Network (WAN), Infrared, Wireless, WiFi, Point-to-Point (P 2P) network, telecommunications network, cloud communication, etc. The transmitter / receiver transmits and receives data acquired by sensors and processed data generated by the processing unit. among processing results, predetermined control data, user commands from a terminal or a remote controller, etc. One or more may be sent and / or received.

[0028] The sensors according to this embodiment include inertial sensors (acceleration sensors, gyro sensors), GP S sensor, proximity sensor (e.g. LiDAR), or vision / image sensor (e.g. , camera).

[0029] <Hardware configuration: Repeater> In this embodiment, a repeater 20 is installed between the aircraft 30 and the control terminal 10. That is, the flight status input from each flying object 30 to the management terminal 10 is All the signals and control signals output from the management terminal 10 to each flying object 30 are transmitted to the repeater 20. However, the configuration according to this embodiment is not limited to this. For example, (some or all) of the aircraft 30 and the management terminal 10 do not communicate directly with each other. In addition, the means of communication is not limited to IP-based computer networks. Not only that, but also carrier networks (4G-LTE, 5G-LTE, etc.) for mobile phones and smartphones G, etc.), LPWA networks (SIGFOX, LoRa (LoRa WAN), Wi-Fi HaLow, Wi-SUN, RPMA, F lexnet, IM920, Cat.M1, Cat.NB1, etc.) It is also possible to apply them (alone or in combination).

[0030] <Data: Flight Information> In this embodiment, the data obtained from the flying object includes position information, altitude information, speed camera information, battery level, signal strength, camera image information, camera direction, zoom in / out Any data that can be acquired from the sensors equipped on the aircraft 30, such as a drone out, etc. .

[0031] In addition, each flying object 30 has information regarding its own ranking (master / slave). The subordinate aircraft 30 flies according to the higher-ranking aircraft 30, and the subordinate aircraft 30 flies according to the main flight. The flight will follow the rules set by the user. The time may be set in advance, and may be changed by some trigger or manually by the user. It may also be stated as follows.

[0032] <Control example 1> Hereinafter, a first example of flight control according to the present embodiment will be described with reference to Figs. In this example, as shown in FIG. 4, the aircraft 30m is the parent aircraft, and two aircraft 30 s is ranked as a child unit.

[0033] In the illustrated example, the 30m aircraft is operated by the user using a remote control, etc. The flying object 30s is controlled to follow the flying object 30s at an equal distance. In other words, the flying object 30m and the flying object 30s maintain their initial three-dimensional relative positional relationship. In the following explanation, the "30m flying object" will be referred to as the "30m parent unit" and the " The "Flying vehicle 30s" is referred to as the "Child aircraft 30s."

[0034] More specifically, as shown in FIG. 5, the user controls the 30m master unit with a remote control. This control sends a control signal from the transmitter to the master unit 30m. (SQ01), coordinate information regarding movement is input to the terminal 10 via the repeater 20 (SQ 02, SQ03). The management terminal 10 transmits to the child devices 30s_1 and 30s_2. The signal for the flight is generated and transmitted as a flight instruction (SQ04) through the repeater 20 (and further through the child The control signal is sent to each of the child units 30s_1 and 30s_2 via the radios of the child units 30s_1 and 30s_2. and transmits it to the child device 30s_2 (SQ05_1 and SQ05-2).

[0035] In the control of the flying object 30 according to the present embodiment, the movement control of the parent aircraft 30m is The same control was applied to the child unit 30s. However, the amount of movement of the child unit 30s was always For example, the distance traveled by the parent unit 30m may be set to a predetermined parameter. By adding and controlling the data, the movement amount of the child unit can be increased / decreased, and the movement amount of the parent unit can be adjusted according to the movement amount. Applying a predetermined movement pattern, etc., reads out some criteria based on the parent unit's movement amount and position information. The movement of the child device may be controlled by calculating the distance between the child device and the child device.

[0036] By the above-mentioned control signal, as shown in FIG. 6, the master unit 30m moves to the initial position P 00 from P 01 At this time, the parent unit is moved to the initial position P 00 Let the spatial coordinates at (X 0,Y0,Z0), the position coordinates after the user's movement are P 01 (X a ,Y b , Z c ) can be expressed as follows. Note that the initial position P 00 Move to P 01 Amount of change in coordinates up to was set to (+a,+b,+c).

[0037] When the parent device 30m moves in this way, the child device 30s_1 that receives the control signal returns to the initial position. P 10 (X α ,Y β ,Z γ) to P 11 (X α+a ,Y β+b ,Z γ+c ) to In addition, the child device 30s_2 is at the initial position P 20 (X p ,Y q ,Z r ) to P 21 (X p+a , Y q+b ,Z r+c ) to

[0038] According to this configuration, the user can restore the parent unit and the parent unit in the initial state by controlling only the parent unit. It is possible to take pictures while maintaining the relative positional relationship with the child unit. The concept of controlling the child devices according to their state is to route the same control to the child devices as to the parent device. In addition, the child devices 30s_1 and 30s_2 are located approximately 30m away from the parent device. The system controlled the movement at the same timing with almost no delay, but now it is possible to set a certain time difference, The flight speed may also be changed.

[0039] <Control 2> Next, another control example will be described with reference to FIG. 7. In the same manner as the above example, in this control example, However, the master unit 30m is manually controlled. The left side of the keyer moves backward (P 00 ) to the front (P 01 ) Make a move.

[0040] In response to this, the child unit 30s moves the right side of the skier backward (P 00 ) to the front (P 01 ) moves symmetrically to the parent unit 30m.

[0041] <Control 3> In the case of the control example of the above control 2, depending on the altitude of the parent unit 30m and the child unit 30s and the direction of the camera, For example, if the parent unit is 30m away, the other unit may be captured. If the child unit is included in the shooting range at the new location when the child unit is moved, The control unit 10 controls the camera 1 to move the camera 1 out of the imaging range.

[0042] Specifically, as shown in FIG. 8, skiers A and B were placed on a flying object 30 m away from the flying object and In this control example, each flying object 30 is In this way, multiple users are operating the aircraft. In such a case, it may be difficult for each user to take pictures while taking into account the other aircraft 30.

[0043] As shown in the figure, the flying object 30m away from the ground is P 01 From P 02 Move to When the skier b tried to move, the aircraft 30s, which was photographing the skier b, 10 From P 11 To When trying to move it, the P after moving the aircraft 30m 02 At the position of Within the shooting range V of m, 11 There is a possibility that the aircraft 30s located in the area may be captured on camera.

[0044] In such a case, the management terminal 10 (see FIG. 5) transmits information regarding the shooting range of each flying object. If there is a possibility that another aircraft may enter within the shooting range of each aircraft, In the illustrated example, the flying object 30s is controlled so as not to enter the shooting range. P 11 The P in front of 12 and stop the aircraft 30s at the position so that it does not enter the shooting range V. do.

[0045] As described above, according to this embodiment, the flying objects are controlled as a group. This makes it possible to capture a single subject from various angles simultaneously.

[0046] For example, the relationship between the parent and child units may be changed according to a predetermined condition (for example, the subject competition ranking, , attention level, etc.) may be changed as appropriate.

[0047] In addition, as an example of automatic flight control of the child aircraft 30s, This may be done depending on whether recording is in progress, the shooting range, etc.

[0048] In addition, at least one of the parent unit and the child unit may be configured for automatic flight control. In this case, route (flight route) information may be input in advance to the management terminal 10.

[0049] In addition, some or all of the functions of the management terminal 10 may be performed by any of the aircraft 30 (either alone or in a distributed manner). The flying objects 30 may share the same role, and communication may be performed between each other.

[0050] The above-described embodiment is merely an example for facilitating understanding of the present invention, and does not limit the present invention. The present invention is not intended to be interpreted as being based on the principles of the present invention. It goes without saying that the present invention includes equivalents thereof. [Explanation of symbols]

[0051] 10 Management terminal 20 Repeater 30, 30m, 30s flying vehicle

Claims

1. A method for photographing an object to be photographed by a plurality of flying objects each having a photographing unit, comprising: a ranking step of setting a predetermined ranking for each of the air vehicles; A control step of performing control based on the ranking; The flying object is moved in accordance with the control, and the object is photographed by the photographing unit. and a photographing step of How to shoot.

2. The photographing method according to claim 1 , The ranking step comprises: A step of setting a parent unit and at least one child unit from among the plurality of flying objects is further We are prepared for The flight of the child aircraft is controlled according to the flight state of the parent aircraft. How to shoot.

3. The photographing method according to claim 1 , The ranking step comprises: Among the plurality of flying objects, a plurality of parent aircraft and at least one or more corresponding to one of the parent aircraft The method further includes a step of setting a child device, The flight of the child aircraft is controlled according to the flight state of the parent aircraft. How to shoot.

4. The photographing method according to claim 1 , The ranking step comprises: The method further comprises the step of setting an equal ranking for a plurality of the flying objects; The flight of each of the aircraft is controlled according to the flight status of the other aircraft. How to shoot.

5. The imaging method according to any one of claims 2 to 4, The ranking step comprises: a first ranking step of setting the ranking of the flying object to a first state; A second ranking step for setting the ranking of the air vehicle to a second state different from the first state. and How to shoot.

6. The imaging method according to any one of claims 1 to 5, A step of receiving an operation for at least one of the plurality of flying objects. P and and controlling the flying object based on the operation. How to shoot.

7. 7. The imaging method according to claim 1, further comprising: In the photographing step, movement of the flying objects is controlled based on relative positions of the flying objects. How to shoot.

8. The imaging method according to any one of claims 1 to 7, In the photographing step, the movements of the flying objects are controlled based on the movement paths of the flying objects. How to shoot.

9. The imaging method according to any one of claims 1 to 8, The photographing step is a step of photographing one of the aircraft bodies according to a direction of the photographing unit of the other aircraft body. The flight is controlled How to shoot.

10. 10. The imaging method according to claim 1, further comprising: The photographing step is a step of photographing one of the flying objects according to an activation state of the photographing unit of the flying object. The flight of the body is controlled, How to shoot.

11. The imaging method according to claim 10, The photographing step is a step of photographing one of the flying objects according to a photographing range of the photographing unit of the flying object. The flight of the body is controlled, How to shoot.

12. The imaging method according to any one of claims 1 to 11, The photographing step is a step of photographing one of the flying objects according to a photographing range of the photographing unit of the flying object. The flight of the body is controlled, How to shoot.

Images