Unmanned Aerial Vehicle and Control Method of Unmanned Aerial Vehicle

Abstract

To suppress power consumption of a mobile device.SOLUTION: The mobile device which moves with an imaging apparatus comprises: estimation means which estimates power consumption consumed by the imaging apparatus and the mobile device while the imaging apparatus and the mobile device move from a present position to a target position; and control means which performs control to give predetermined notification based on a residual power of power supply means for supplying power to the imaging apparatus and the mobile device and the power consumption estimated by the estimation means.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to Unmanned flight an apparatus and Unmanned flight a method for controlling the apparatus.

Background Art

[0002] Patent Document 1 describes a mobile device equipped with an imaging device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When the imaging device performs video shooting until the imaging device and the mobile device are moved to the destination together, the power used by the mobile device and the imaging device is supplied from the power supply unit of the mobile device. In this case, in order for the mobile device and the imaging device to reach the destination, it is required to suppress the power consumption of the imaging device.

[0005] Therefore, an object of the present invention is to be able to suppress the power consumption of the mobile device.

Means for Solving the Problems

[0006] In order to achieve the above object, a drone according to the present invention is a drone that moves together with an imaging device, and during the period from the current position to the target position of the imaging device and the drone, an estimation means for estimating the power consumption of the imaging device and the drone, a remaining power of a power supply means for supplying power to the imaging device and the drone, and a control means for controlling to give a predetermined notification when a difference between the remaining power and the power consumption estimated by the estimation means is less than a first threshold value, wherein the first threshold value is the amount of power with which the drone can move for a predetermined time in a state where the imaging device has stopped the imaging process When the difference is less than the first threshold value and lower than the second threshold value greater than 0, the control means controls to reduce the power consumption of the imaging device based on the remaining power of the power supply means and the power consumption estimated by the estimation means. It is characterized by the above.

Advantages of the Invention

[0007] According to the present invention, the power consumption of the moving device can be suppressed.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Modes for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiments.

[0010] <Embodiment 1> FIG. 1 is a block diagram for explaining a configuration example of the mobile device 100 in Embodiment 1. The mobile device 100 is, for example, an electronic device that moves together with an imaging device. The mobile device 100 can operate, for example, as an unmanned aerial vehicle (such as a drone) or a vehicle. In FIG. 1, the case where the mobile device 100 is an electronic device having an imaging device will be described, but the mobile device 100 may be an electronic device capable of mounting an imaging device.

[0011] As shown in FIG. 1, the mobile device 100 includes a CPU (Central Processing Unit) 101, an imaging unit 102, a moving unit 103, a wireless communication unit 104, a power supply unit 105, an imaging image processing unit 106, and a display data generation unit 107. The mobile device 100 further includes a position information acquisition unit 108, a moving distance acquisition unit 109, a remaining distance acquisition unit 110, a storage unit 111, a power consumption estimation unit 112, and a system bus 120. However, the imaging unit 102, the imaging image processing unit 106, and the storage unit 111 are also components of the imaging device included in the mobile device 100. Each component of the mobile device 100 has an electronic circuit for realizing one or more functions provided by each component. Each component of the mobile device 100 shown in FIG. 1 is connected to the system bus 120 and can communicate with each other via the system bus 120.

[0012] When the mobile device 100 is an electronic device capable of mounting an imaging device, the imaging unit 102 and the captured image processing unit 106 are not included in the components of the mobile device 100, but are included in the components of the imaging device mounted on the mobile device 100. When the mobile device 100 is an electronic device capable of mounting an imaging device, the CPU 101 is configured to be able to communicate with the components of the imaging device (including the imaging unit 102, the captured image processing unit 106, and the storage unit 111) via, for example, a USB interface. When the mobile device 100 is an electronic device capable of mounting an imaging device, the power supply unit 105 is configured to be able to supply power to the components of the imaging device (including the imaging unit 102, the captured image processing unit 106, and the storage unit 111) via, for example, a USB interface.

[0013] The CPU 101 can control all the components of the mobile device 100. For example, the CPU 101 has a memory storing a program and a processor (or a microcomputer) that controls all the components of the mobile device 100 by executing the program stored in the memory. Further, the CPU 101 can control all or some of the components of the mobile device 100 based on a control signal (a control signal for controlling the mobile device 100) generated by the CPU 201 of the control device 200.

[0014] The imaging unit 102 is composed of a lens unit, an imaging element, an A / D conversion circuit, etc. The imaging unit 102 generates imaging image data (video data) from the subject image by performing imaging processing (video imaging processing). The imaging unit 102 shall start imaging processing when the mobile device 100 starts moving from the starting position. When the mobile device 100 is an electronic device capable of mounting an imaging device, the imaging unit 102 is included in the components of the imaging device that can be mounted on the mobile device 100.

[0015] The moving unit 103 has various members (multiple propellers or multiple wheels) used for the movement of the mobile device 100, and can move the mobile device 100 forward, backward, left, or right. If the mobile device 100 is a flyable mobile device, the moving unit 103 can also move the mobile device 100 up, down, or rotate. The moving unit 103 moves the mobile device 100 forward, backward, left, or right, or moves the mobile device 100 up, down, or rotates by performing control of driving multiple propellers or multiple wheels according to a control signal from the CPU 101 It can do so.

[0016] The wireless communication unit 104 can communicate wirelessly with the wireless communication unit 202 of the control device 200. The wireless communication unit 104 can receive a control signal generated by the CPU 201 of the control device 200 from the wireless communication unit 202. The control signal generated by the CPU 201 of the control device 200 is received by the wireless communication unit 104 and supplied from the wireless communication unit 104 to the CPU 101. Furthermore, the wireless communication unit 104 can transmit the display data generated by the display data generation unit 107 to the wireless communication unit 202. A control signal for controlling the mobile device 100

[0017] The power supply unit 105 supplies power to the mobile device 100 and the imaging device. The power supply unit 105 is, for example, one rechargeable battery. The remaining power amount, which is the power remaining in the power supply unit 105, is calculated by the power supply unit 105 and supplied from the power supply unit 105 to the CPU 101.

[0018] The captured image processing unit 106 performs image processing (including image correction processing, noise reduction processing, white balance processing, etc.) on the captured image data (video data) generated by the imaging unit 102. The captured image data processed by the captured image processing unit 106 is supplied to the display data generation unit 107 and the storage unit 111. Note that when the mobile device 100 is an electronic device capable of mounting an imaging device, the captured image processing unit 106 is included in the components of the imaging device that can be mounted on the mobile device 100.

[0019] The display data generation unit 107 generates display data to be displayed on the display unit 203 of the control device 200. The display data includes at least one of the captured image data (video data) processed by the captured image processing unit 106 and predetermined notification information. The predetermined notification information is supplied from the CPU 101 to the display data generation unit 107. The predetermined notification information includes, for example, any one of information for proposing to the user to change to a recommended imaging mode, information for proposing to the user to stop the imaging process, information indicating that the imaging mode of the imaging device has been changed to the recommended imaging mode, and information indicating that the imaging process has been stopped. The predetermined notification information may include at least one of information for notifying the user that the remaining power of the power supply unit 105 is insufficient to move to the target position and information for proposing to the user whether to display the captured image data on the display unit 203. The predetermined notification information may include information for notifying the user how much the movable distance or movable time of the moving device 100 is extended when the imaging process of the imaging unit 102 stops. The display data generated by the display data generation unit 107 is supplied to the wireless communication unit 104.

[0020] The position information acquisition unit 108 acquires position information indicating the current position of the moving device 100. The position information acquisition unit 108 can acquire position information indicating the current position of the moving device 100 by, for example, a technique using GPS (Global Position System). For example, the position information acquisition unit 108 acquires position information at the departure position and acquires position information at predetermined time intervals after departure. The predetermined time can be, for example, any one of 10 seconds to 1 minute. The predetermined time may be a time corresponding to a predetermined moving distance.

[0021] The moving distance acquisition unit 109 calculates the moving distance of the moving device 100. The moving distance of the moving device 100 corresponds to the distance from the departure position to the current position of the moving device 100. The moving distance of the moving device 100 is calculated based on, for example, the position information of the departure position, the position information of the current position, and the position information acquired by the position information acquisition unit 108 at predetermined time intervals.

[0022] Referring to FIG. 3, the moving distance of the moving device 100 acquired by the moving distance acquisition unit 109 will be described. The starting position P0 indicated by the white circle represents the position where the moving device 100 starts moving. The black circle indicates a plurality of calculation positions P1 to P5, which represent the positions where the moving distance acquisition unit 109 calculates the moving distance of the moving device 100. The differential distance d1 is the moving distance calculated by the moving distance acquisition unit 109 based on the position information acquired at the starting position P0 and the calculation position P1. When the current position of the moving device 100 is the calculation position P1, the moving distance acquisition unit 109 acquires d1 as the moving distance of the moving device 100. The differential distance d2 is the moving distance calculated by the moving distance acquisition unit 109 based on the position information acquired at the calculation position P1 and the calculation position P2. When the current position of the moving device 100 is the calculation position P2, the moving distance acquisition unit 109 acquires d1 + d2 as the moving distance of the moving device 100. The differential distance d3 is the moving distance calculated by the moving distance acquisition unit 109 based on the position information acquired at the calculation position P2 and the calculation position P3. When the current position of the moving device 100 is the calculation position P3, the moving distance acquisition unit 109 acquires d1 + d2 + d3 as the moving distance of the moving device 100. The differential distance d4 is the moving distance calculated by the moving distance acquisition unit 109 based on the position information acquired at the calculation position P3 and the calculation position P4. When the current position of the moving device 100 is the calculation position P4, the moving distance acquisition unit 109 acquires d1 + d2 + d3 + d4 as the moving distance of the moving device 100. The differential distance d5 is the moving distance calculated by the moving distance acquisition unit 109 based on the position information acquired at the calculation position P4 and the calculation position P5. When the current position of the moving device 100 is the calculation position P5, the moving distance acquisition unit 109 acquires d1 + d2 + d3 + d4 + d5 as the moving distance of the moving device 100. Note that the differential distances d1, d2, d3, and d4 all correspond to the distances that the moving device 100 has moved until a predetermined time has elapsed.

[0023] The residual distance acquisition unit 110 calculates a residual distance corresponding to the distance from the current position of the mobile device 100 to the target position. The position information indicating the current position of the mobile device 100 is supplied from the position information acquisition unit 108 to the residual distance acquisition unit 110. The position information of the target position is input to the CPU 201 by the user via the operation unit 204, for example. The CPU 201 supplies the position information of the target position to the wireless communication unit 202, and the wireless communication unit 202 transmits the position information of the target position to the mobile device 100. The wireless communication unit 104 receives the position information of the target position from the wireless communication unit 202, and the residual distance acquisition unit 110 receives the position information of the target position from the wireless communication unit 104. The position information of the target position is stored in the memory of the residual distance acquisition unit 110. The target position may be the starting position of the mobile device 100, any of a plurality of calculated positions, or the current position of the control device 200. The current position of the control device 200 corresponds to the current position of the user who operates the mobile device 100 using the control device 200. Note that the position information of the target position may be supplied to the residual distance acquisition unit 110 before the mobile device 100 departs from the starting position, or may be supplied to the residual distance acquisition unit 110 after the mobile device 100 departs from the starting position.

[0024] The residual distance acquisition unit 110 calculates the residual distance based on, for example, the position information indicating the current position of the mobile device 100 and the position information of the target position. The residual distance may be the straight-line distance between the current position and the target position of the mobile device 100, or may be a distance calculated by multiplying the straight-line distance between the current position and the target position of the mobile device 100 by a predetermined coefficient.

[0025] The storage unit 111 stores the captured image data processed by the captured image processing unit 106 in a storage medium (such as a memory card or a hard disk drive). The storage medium is, for example, a storage medium removable from the storage unit 111. Note that when the mobile device 100 is an electronic device capable of mounting a imaging device, the storage unit 111 is included in the components of the imaging device mountable on the mobile device 100.

[0026] The power consumption estimation unit 112 calculates the power consumption per unit distance. The power consumption per unit distance is calculated based on, for example, the amount of power supplied by the power supply unit 105 to the imaging device and the mobile device 100 from the starting position to the current position of the mobile device 100, and the moving distance of the mobile device 100. Until the mobile device 100 moves from the starting position to the current position of the mobile device 100 the amount of power supplied by the power supply unit 105 to the imaging device and the mobile device 100 is calculated by the power consumption estimation unit 112. The moving distance of the mobile device 100 is calculated by the moving distance acquisition unit 109 and supplied from the moving distance acquisition unit 109 to the power consumption estimation unit 112. The amount of power supplied by the power supply unit 105 to the imaging device and the mobile device 100 until the mobile device 100 moves from the starting position to the current position of the mobile device 100 includes the amount of power consumed by the imaging unit 102, the imaging image processing unit 106, and the moving unit 103.

[0027] The power consumption estimation unit 112 calculates the estimated power consumption based on the power consumption per unit distance and the remaining distance calculated by the remaining distance acquisition unit 110. The estimated power consumption corresponds to the amount of power consumed by the imaging device and the mobile device 100 until the mobile device 100 moves from the current position to the target position. The estimated power consumption calculated by the power consumption estimation unit 112 is supplied from the power consumption estimation unit 112 to the CPU 101.

[0028] The CPU 101 can determine a recommended imaging mode in order to suppress the power consumption of the imaging device. When the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is less than a predetermined threshold, the CPU 101 determines a recommended imaging mode different from the current imaging mode of the imaging device. The predetermined threshold corresponds to, for example, the amount of power that the mobile device 100 can move for a predetermined time (e.g., 5 minutes) with the imaging unit 102 in a state where the imaging process is stopped. The predetermined threshold may be 0. The predetermined threshold may be a value that can be changed by the user. The recommended imaging mode is such that at least one of the image quality, frame rate, and viewing angle is different from that of the current imaging mode of the imaging device. When the image quality is different, the image quality of the recommended imaging mode is one or more levels lower than the image quality of the current imaging mode. When the frame rate is different, the frame rate of the recommended imaging mode is one or more levels lower (or slower) than the frame rate of the current imaging mode. When the viewing angle is different, the viewing angle of the recommended imaging mode is one or more levels lower (or narrower) than the viewing angle of the current imaging mode.

[0029] The recommended imaging mode determined by the CPU 101 is an imaging mode in which the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is equal to or greater than a predetermined threshold value. The CPU 101 has a memory that stores a power consumption table in which the power consumption per unit distance for each imaging mode that can be set in the imaging device is registered in advance. The CPU 101 selects one of the imaging modes that can be set in the imaging device as the selected imaging mode. The CPU 101 calculates a difference (first difference) between the amount of power consumed when the mobile device 100 moves the remaining distance in the current imaging mode and the amount of power consumed when the mobile device 100 moves the remaining distance in the selected imaging mode. The first difference is calculated based on the power consumption table and the remaining distance calculated by the remaining distance acquisition unit 110. The first difference corresponds to the amount of power reduced when moving the remaining distance in the selected imaging mode. The CPU 101 calculates a difference (second difference) between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105. The CPU 101 determines whether or not the value obtained by subtracting the second difference from the first difference is equal to or greater than a predetermined threshold value. When the value obtained by subtracting the second difference from the first difference is equal to or greater than a predetermined threshold value, the CPU 101 determines the selected imaging mode as the recommended imaging mode. When the value obtained by subtracting the second difference from the first difference is not equal to or greater than a predetermined threshold value, the CPU 101 selects another imaging mode as the new selected imaging mode. The CPU 101 determines whether or not a new selected imaging mode can be determined as the recommended imaging mode by repeating the above-described processing. When a plurality of imaging modes are determined as the recommended imaging mode, the CPU 101 selects the recommended imaging mode according to a predetermined selection criterion. For example, the CPU 101 selects a recommended imaging mode that has the best image quality, the highest frame rate, and the largest viewing angle within a range where the image quality, frame rate, and viewing angle do not exceed the image quality, frame rate, and viewing angle of the current imaging mode.

[0030] Next, referring to FIG. 2, a block diagram showing a configuration example of the control device 200 in the first embodiment It is so. The control device 200 is, for example, a controller for remotely controlling the mobile device 100. The control device 200 is, for example, an electronic device operable as a smartphone or a tablet.

[0031] As shown in FIG. 2, the control device 200 includes a CPU (Central Processing Unit) 201, a wireless communication unit 202, a display unit 203, and an operation unit 204. Each component of the control device 200 has an electronic circuit for realizing one or more functions provided by each component.

[0032] The CPU 201 can control all components of the control device 200. For example, the CPU 201 includes a memory storing a program and a processor (or microcomputer) that controls all components of the control device 200 by executing the program stored in the memory. Further, the CPU 201 can generate a control signal for controlling the mobile device 100. The control signal generated by the CPU 201 is generated by the CPU 201 and supplied to the wireless communication unit 202.

[0033] The wireless communication unit 202 can communicate wirelessly with the wireless communication unit 104 of the mobile device 100. The wireless communication unit 202 can transmit the control signal generated by the CPU 201 to the wireless communication unit 104. Further, the wireless communication unit 202 can receive the display data generated by the display data generation unit 107 of the mobile device 100 from the wireless communication unit 104. The display data generated by the display data generation unit 107 of the mobile device 100 is received by the wireless communication unit 202 and supplied to the display unit 203.

[0034] The display unit 203 has a display such as a liquid crystal display. The display unit 203 can display the display data generated by the display data generation unit 107 of the mobile device 100. By displaying the display data generated by the display data generation unit 107, the predetermined notification information described above can be presented to the user who remotely controls the mobile device 100 using the control device 200. Further, the display unit 203 can also display the display data or notification information generated by the CPU 201. Note that the predetermined notification information is not limited to being displayed on the display unit 203, and may be output as sound from the speaker of the control device 200.

[0035] The operation unit 204 is a user interface for receiving an instruction from the user for remotely controlling the mobile device 100. The instruction received by the operation unit 204 is notified to the CPU 201. The CPU 201 generates a control signal for controlling the mobile device 100 based on the instruction received by the operation unit 204.

[0036] Next, with reference to the flowchart of FIG. 4, the power consumption monitoring process 400 in Embodiment 1 will be described. The power consumption monitoring process 400 is a process of monitoring every predetermined time whether the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is less than a predetermined threshold value.

[0037] The power consumption monitoring process 400 is started when the mobile device 100 starts moving from the starting position. In step S401, the CPU 101 determines whether a predetermined time has elapsed since the start of movement from the starting position or the immediately preceding calculated position. As described above, the predetermined time can be either 10 seconds to 1 minute. The predetermined time may be a time corresponding to a predetermined moving distance. If the predetermined time has elapsed (step S401: YES), the CPU 101 proceeds to step S402. If the predetermined time has not elapsed since the starting position or the immediately preceding calculated position (step S401: NO), the CPU 101 returns to step S401 and repeats the process of step S401.

[0038] In step S402, the CPU 101 causes the power consumption estimation unit 112 to calculate the estimated power consumption. The power consumption estimation unit 112 calculates the estimated power consumption based on the power consumption per unit distance and the remaining distance calculated by the remaining distance acquisition unit 110. The estimated power consumption corresponds to the power consumption of the imaging device and the mobile device 100 from the current position of the mobile device 100 to the target position. The estimated power consumption calculated by the power consumption estimation unit 112 is supplied from the power consumption estimation unit 112 to the CPU 101.

[0039] In step S403, the CPU 101 acquires the remaining power amount of the power supply unit 105 from the power supply unit 105. Further, the CPU 101 determines whether the difference between the estimated power consumption calculated in step S402 and the remaining power amount of the power supply unit 105 is less than a predetermined threshold. As described above, the predetermined threshold corresponds to the power amount that the mobile device 100 can move for a predetermined time (for example, 5 minutes) in a state where the imaging unit 102 has stopped the imaging process. The predetermined threshold may be 0. The predetermined threshold may be a value that can be changed by the user. When the difference between the estimated power consumption calculated in step S402 and the remaining power amount of the power supply unit 105 is less than the predetermined threshold (step S403: YES), the CPU 101 proceeds to step S404. When the difference between the estimated power consumption calculated in step S402 and the remaining power amount of the power supply unit 105 is less than the predetermined threshold, the CPU 101 determines that the remaining power amount of the power supply unit 105 is not sufficient for the mobile device 100 to move to the target position. On the other hand, when the difference between the estimated power consumption calculated in step S402 and the remaining power amount of the power supply unit 105 is not less than the predetermined threshold (step S403: NO), the CPU 101 returns to step S401. When the difference between the estimated power consumption calculated in step S402 and the remaining power amount of the power supply unit 105 is not less than the predetermined threshold, the CPU 101 determines that the remaining power amount of the power supply unit 105 is sufficient for the mobile device 100 to move to the target position.

[0040] In step S404, the CPU 101 determines a recommended imaging mode in order to suppress the power consumption of the imaging device. As described above, the recommended imaging mode is an imaging mode in which the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is equal to or greater than a predetermined threshold value. When the CPU 101 can determine the recommended imaging mode, the CPU 101 supplies predetermined notification information including information for proposing to the user a change to the recommended imaging mode to the display data generation unit 107. When the CPU 101 cannot determine the recommended imaging mode, the CPU 101 supplies predetermined notification information including information for proposing to the user the stop of the imaging process to the display data generation unit 107. The predetermined notification information may include at least one of information for notifying the user that the remaining power of the power supply unit 105 is insufficient to move to the target position and information for proposing to the user whether to display the captured image data on the display unit 203. The predetermined notification information may include information for notifying the user of how much the movable distance or movable time of the mobile device 100 is extended when the imaging process of the imaging unit 102 stops. Note that how much the movable distance or movable time of the mobile device 100 is extended when the imaging process of the imaging unit 102 stops is calculated by the CPU 101.

[0041] Furthermore, in step S404, the display data generation unit 107 generates display data including the predetermined notification information supplied from the CPU 101, and supplies the generated display data to the wireless communication unit 104. Here, the display data may include the captured image data (moving image data) processed by the captured image processing unit 106. The wireless communication unit 104 transmits the display data generated by the display data generation unit 107 to the control device 200. The wireless communication unit 202 receives the display data generated by the display data generation unit 107 from the wireless communication unit 104, and supplies the display data received by the wireless communication unit 104 to the display unit 203. The display unit 203 displays the display data generated by the display data generation unit 107. Thereby, the CPU 101 provides the predetermined notification information to the user who remotely controls the mobile device 100 using the control device 200. It can be shown. By viewing the predetermined notification information displayed on the display unit 203, the user can instruct the mobile device 100 to change to the recommended imaging mode or stop the imaging process using the control device 200.

[0042] Here, with reference to FIGS. 5(A) to 5(D), an example of the display data generated by the display data generation unit 107 and displayed by the display unit 203 will be described. The display data shown in FIG. 5(A) does not include imaging image data (video data), but is display data including notification information "The remaining battery level is getting low. Please change to low-quality shooting." The notification information "The remaining battery level is getting low. Please change to low-quality shooting." is an example of predetermined notification information and is an example of information for proposing to the user to change to the recommended imaging mode. When a user who has seen the information for proposing to the user to change to the recommended imaging mode inputs the change to the recommended imaging mode (low-quality imaging mode) to the operation unit 204, the CPU 201 generates a control signal for changing the imaging mode of the imaging device to the recommended imaging mode. The control signal for changing the imaging mode of the imaging device to the recommended imaging mode (low-quality imaging mode) is supplied to the CPU 101 via the wireless communication unit 202 and the wireless communication unit 104. The CPU 101 changes the imaging mode of the imaging device to the recommended imaging mode based on the control signal for changing the imaging mode of the imaging device to the recommended imaging mode (low-quality imaging mode).

[0043] The display data shown in FIG. 5(B) is display data including captured image data (video data) and a notification "The remaining battery level is getting low. Please stop video shooting." The notification information "The remaining battery level is getting low. Please stop video shooting." is an example of predetermined notification information and an example of information for proposing to the user to stop the imaging process. When a user who has seen the information for proposing to the user to stop the imaging process inputs the stop of the imaging process to the operation unit 204, the CPU 201 generates a control signal for stopping the imaging process of the imaging unit 102. The control signal for stopping the imaging process of the imaging unit 102 is supplied to the CPU 101 via the wireless communication unit 202 and the wireless communication unit 104. The CPU 101 stops the imaging process of the imaging unit 102 based on the control signal for stopping the imaging process of the imaging unit 102.

[0044] The display data shown in FIG. 5(C) is display data including captured image data (video data) and notification information "The remaining battery level is getting low. Please change to low-quality shooting." The notification information "The remaining battery level is getting low. Please change to low-quality shooting." is the same as the notification information shown in FIG. 5(A). In the example of FIG. 5(C), in order to prevent the captured image data from becoming difficult to see, the predetermined notification information is displayed in a strip shape above and below the display unit 203. When a user who has seen the information for proposing to the user to change to the recommended imaging mode inputs the change to the recommended imaging mode (low-quality imaging mode) to the operation unit 204, the CPU 201 generates a control signal for changing the imaging mode of the imaging device to the recommended imaging mode. The control signal for changing the imaging mode of the imaging device to the recommended imaging mode (low-quality imaging mode) is supplied to the CPU 101 via the wireless communication unit 202 and the wireless communication unit 104. The CPU 101 changes the imaging mode of the imaging device to the recommended imaging mode based on the control signal for changing the imaging mode of the imaging device to the recommended imaging mode (low-quality imaging mode).

[0045] The display data shown in FIG. 5(D) includes captured image data (video data) and notification information saying "The remaining battery level is getting low. Please stop video shooting." The notification information saying "The remaining battery level is getting low. Please stop video shooting." is the same as the notification information shown in FIG. 5(B). The "YES" button and "NO" button shown in FIG. 5(D) are user interfaces (GUIs) controlled by the CPU 201 and are displayed on the display unit 203 together with the display data generated by the display data generation unit 107. When a user who has seen the information for suggesting to the user to stop the imaging process selects the "YES" button in this case, the CPU 201 generates a control signal for stopping the imaging process of the imaging unit 102. The control signal for stopping the imaging process of the imaging unit 102 is supplied to the CPU 101 via the wireless communication unit 202 and the wireless communication unit 104. The CPU 101 stops the imaging process of the imaging unit 102 based on the control signal for stopping the imaging process of the imaging unit 102.

[0046] Note that the display data generated by the display data generation unit 107 and displayed by the display unit 203 is not limited to the examples shown in FIGS. 5(A) to 5(D). The display data shown in FIGS. 5(A) to 5(D) may include information for notifying the user that the remaining power of the power supply unit 105 is insufficient to move to the target position. The display data shown in FIGS. 5(A) to 5(D) may include information for suggesting to the user whether to display the captured image data on the display unit 203 or not. For example, the display data shown in FIGS. 5(A) and 5(C) may include information for notifying the user how much the movable distance or movable time of the moving device 100 is extended when the imaging mode is changed. For example, the display data shown in FIGS. 5(B) and 5(D) may include information for notifying the user how much the movable distance or movable time of the moving device 100 is extended when the imaging process of the imaging unit 102 is stopped. For example, the display data shown in FIGS. 5(A) and 5(C) may include information for suggesting not only to lower the image quality but also to lower the frame rate or reduce the viewing angle.

[0047] As described above, in Embodiment 1, the mobile device 100 can monitor every predetermined time whether the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is below a predetermined threshold. And when the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is below the predetermined threshold, it is possible to propose to the user to change to the recommended imaging mode or stop the imaging process. When the user instructs the mobile device 100 to change to the recommended imaging mode using the control device 200, the mobile device 100 can change the imaging mode of the imaging device to the recommended imaging mode so that the power consumption of the imaging device is reduced. When the user instructs the mobile device 100 to change to the recommended imaging mode using the control device 200, since the power consumption of the imaging device is reduced, the mobile device 100 can move to the target position together with the imaging device. On the other hand, when the user instructs the mobile device 100 to stop the imaging process using the control device 200, the mobile device 100 can stop the imaging process of the imaging unit 102 so that the power consumption of the imaging device is reduced. When the user instructs the mobile device 100 to stop the imaging process using the control device 200, since the power consumption of the imaging device is reduced, the mobile device 100 can move to the target position together with the imaging device.

[0048] In addition, in Embodiment 1, an example in which the power supply unit 105 is one rechargeable battery has been described, but the power supply unit 105 may be a plurality of rechargeable batteries. When the power supply unit 105 is a plurality of rechargeable batteries, a part of the plurality of rechargeable batteries may supply power to the imaging unit 102 and the imaging image processing unit 106, and the remainder of the plurality of rechargeable batteries may supply power to the moving unit 103.

[0049] <Embodiment 2> In Embodiment 2, an example will be described in which when the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is below a predetermined threshold, the recommended imaging conditions are automatically changed or the imaging process is stopped.

[0050] Next, referring to the flowchart of FIG. 6, the power consumption monitoring process 600 in Embodiment 2 will be described. The power consumption monitoring process 600 is a process of monitoring every predetermined time whether the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power amount of the power supply unit 105 is below a predetermined threshold. In Embodiment 2, the estimated When the difference between the power consumption amount calculated by the power consumption estimation unit 112 and the remaining power amount of the power supply unit 105 is below a predetermined threshold, the shooting mode of the imaging device can be changed to the recommended shooting mode, or the imaging process of the imaging unit 102 can be stopped.

[0051] The processes from step S401 to step S403 of the power consumption monitoring process 600 are the same as the processes from step S401 to step S403 of the power consumption monitoring process 400 in Embodiment 1, so the descriptions thereof are omitted. However, when the difference between the estimated power consumption amount calculated in step S402 and the remaining power amount of the power supply unit 105 is below a predetermined threshold (step S403: YES), the CPU 101 proceeds to step S604. As described above, the predetermined threshold corresponds to the amount of power that the mobile device 100 can move for a predetermined time (for example, 5 minutes) with the imaging unit 102 in a state where the imaging process is stopped. The predetermined threshold may be 0. The predetermined threshold may also be a value that can be changed by the user.

[0052] In step S604, the CPU 101 determines a recommended imaging mode in order to suppress the power consumption of the imaging device. As described above, the recommended imaging mode is an imaging mode in which the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is equal to or greater than a predetermined threshold value. If the CPU 101 can determine the recommended imaging mode, the CPU 101 changes the imaging mode of the imaging device to the recommended imaging mode, and supplies predetermined notification information including information indicating that the imaging mode of the imaging device has been changed to the recommended imaging mode to the display data generation unit 107. If the CPU 101 cannot determine the recommended imaging mode, the CPU 101 stops the imaging process of the imaging unit 102, and supplies predetermined notification information including information indicating that the imaging process has been stopped to the display data generation unit 107. The predetermined notification information may include at least one of information for notifying the user that the remaining power of the power supply unit 105 is insufficient to move to the target position, and information for proposing to the user whether to display the captured image data on the display unit 203. The predetermined notification information may include information for notifying the user of how much the movable distance or movable time of the moving device 100 is extended when the imaging process of the imaging unit 102 is stopped. Note that how much the movable distance or movable time of the moving device 100 is extended when the imaging process of the imaging unit 102 is stopped is calculated by the CPU 101.

[0053] Furthermore, in step S604, the display data generation unit 107 generates display data including predetermined notification information supplied from the CPU 101, and supplies the generated display data to the wireless communication unit 104. Here, the display data may include captured image data (moving image data) processed by the captured image processing unit 106. The wireless communication unit 104 transmits the display data generated by the display data generation unit 107 to the control device 200. The wireless communication unit 202 receives the display data generated by the display data generation unit 107 from the wireless communication unit 104, and supplies the display data received by the wireless communication unit 104 to the display unit 203. The display unit 203 displays the display data generated by the display data generation unit 107. Thereby, the CPU 101 can present predetermined notification information to the user who remotely controls the mobile device 100 using the control device 200. The user can, by viewing the predetermined notification information displayed on the display unit 203, instruct the mobile device 100 using the control device 200 that the imaging mode of the imaging device has been changed to the recommended imaging mode or that the imaging process has been stopped.

[0054] Also, in the example of FIG. 6, the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is compared with one threshold value, but may be compared with a plurality of threshold values. For example, when the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is less than the threshold value 1, the CPU 101 may change the imaging mode of the imaging device to the recommended imaging mode. Further, when the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is less than the threshold value 2 smaller than the threshold value 1, the CPU 101 may stop the imaging process. For example, the threshold value 1 is the amount of power that the mobile device 100 can move for a predetermined time (for example, 5 minutes) with the imaging unit 102 in a state where the imaging process is stopped, and the threshold value 2 may be half the amount of power of the threshold value 1 or 0.

[0055] As described above, in Embodiment 2, the mobile device 100 can monitor, at predetermined time intervals, whether the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is less than a predetermined threshold value. When the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is less than a predetermined threshold value, the imaging mode of the imaging device can be automatically changed to the recommended imaging mode, or the imaging process of the imaging unit 102 can be automatically stopped. As a result, the power consumption of the imaging device is reduced, so that the mobile device 100 can move to the target position together with the imaging device.

[0056] <Embodiment 3> In Embodiment 3, an example will be described in which, based on the first threshold value and the second threshold value, a user is proposed to change to the recommended imaging conditions or stop the imaging process, or the change to the recommended imaging conditions or the stop of the imaging process is automatically performed.

[0057] Next, referring to the flowchart of FIG. 7, the power consumption monitoring process 700 in Embodiment 3 will be described. The power consumption monitoring process 700 is a process of monitoring, at predetermined time intervals, whether the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is less than a predetermined threshold value.

[0058] The processes of step S401 and step S402 of the power consumption monitoring process 700 are the same as the processes of step S401 and step S402 of the power consumption monitoring process 400 in Embodiment 1, so the descriptions thereof are omitted.

[0059] In step S703, the CPU 101 acquires the remaining power amount of the power supply unit 105 from the power supply unit 105. Further, the CPU 101 determines whether the difference between the estimated power consumption calculated in step S402 and the remaining power amount of the power supply unit 105 is less than the first threshold value. The first threshold value corresponds to the power amount that the mobile device 100 can move for a predetermined time (for example, 5 minutes) with the imaging unit 102 in a state where the imaging process is stopped. The first threshold value may be a value that can be changed by the user. If the difference between the estimated power consumption calculated in step S402 and the remaining power amount of the power supply unit 105 is less than the first threshold value (step S703: YES), the CPU 101 proceeds to step S704. If the difference between the estimated power consumption calculated in step S402 and the remaining power amount of the power supply unit 105 is less than the first threshold value, the CPU 101 determines that the remaining power amount of the power supply unit 105 is not sufficient for the mobile device 100 to move to the target position. On the other hand, if the difference between the estimated power consumption calculated in step S402 and the remaining power amount of the power supply unit 105 is not less than the first threshold value (step S703: NO), the CPU 101 returns to step S701. If the difference between the estimated power consumption calculated in step S402 and the remaining power amount of the power supply unit 105 is not less than the first threshold value, the CPU 101 determines that the remaining power amount of the power supply unit 105 is sufficient for the mobile device 100 to move to the target position.

[0060] In step S704, the CPU 101 determines whether the difference between the estimated power consumption calculated in step S402 and the remaining power amount of the power supply unit 105 is less than the second threshold value. The second threshold value is a value smaller than the first threshold value and corresponds to the power amount that the mobile device 100 can move for a predetermined time (for example, 2 minutes) with the imaging unit 102 in a state where the imaging process is stopped. The second threshold value may be 0. The second threshold value may be a value that can be changed by the user. If the difference between the estimated power consumption calculated in step S402 and the remaining power amount of the power supply unit 105 is less than the second threshold value (step S704: YES), the CPU 101 proceeds to step S705. On the other hand, if the difference between the estimated power consumption calculated in step S402 and the remaining power amount of the power supply unit 105 is less than the 2When it does not fall below the threshold value (step S704: NO), the CPU 101 proceeds to step S706.

[0061] In step S705, the CPU 101 determines a recommended imaging mode in order to suppress the power consumption of the imaging device. As described above, the recommended imaging mode is an imaging mode in which the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is equal to or greater than a predetermined threshold value. When the CPU 101 can determine the recommended imaging mode, the CPU 101 changes the imaging mode of the imaging device to the recommended imaging mode, and supplies predetermined notification information including information indicating that the imaging mode of the imaging device has been changed to the recommended imaging mode to the display data generation unit 107. When the CPU 101 cannot determine the recommended imaging mode, the CPU 101 stops the imaging process of the imaging unit 102, and supplies predetermined notification information including information indicating that the imaging process has been stopped to the display data generation unit 107. The predetermined notification information may include at least one of information for notifying the user that the remaining power of the power supply unit 105 is insufficient to move to the target position and information for proposing to the user whether to display the captured image data on the display unit 203. The predetermined notification information may include information for notifying the user of how much the movable distance or movable time of the moving device 100 is extended when the imaging process of the imaging unit 102 is stopped. Note that how much the movable distance or movable time of the moving device 100 is extended when the imaging process of the imaging unit 102 is stopped is calculated by the CPU 101.

[0062] Furthermore, in step S705, the display data generation unit 107 generates display data including predetermined notification information supplied from the CPU 101, and supplies the generated display data to the wireless communication unit 104. Here, the display data may include captured image data (video data) processed by the captured image processing unit 106. The wireless communication unit 104 transmits the display data generated by the display data generation unit 107 to the control device 200. The wireless communication unit 202 receives the display data generated by the display data generation unit 107 from the wireless communication unit 104, and supplies the display data received by the wireless communication unit 104 to the display unit 203. The display unit 203 displays the display data generated by the display data generation unit 107. Thereby, the CPU 101 can present predetermined notification information to the user who remotely controls the mobile device 100 using the control device 200. By viewing the predetermined notification information displayed on the display unit 203, the user can instruct the mobile device 100 using the control device 200 that the imaging mode of the imaging device has been changed to the recommended imaging mode or that the imaging process has been stopped.

[0063] In step S706, the CPU 101 determines a recommended imaging mode in order to suppress the power consumption of the imaging device. As described above, the recommended imaging mode is an imaging mode in which the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is equal to or greater than a predetermined threshold value. When the CPU 101 can determine the recommended imaging mode, the CPU 101 supplies predetermined notification information including information for proposing to the user a change to the recommended imaging mode to the display data generation unit 107. When the CPU 101 cannot determine the recommended imaging mode, the CPU 101 supplies predetermined notification information including information for proposing to the user to stop the imaging process to the display data generation unit 107. The predetermined notification information may include at least one of information for notifying the user that the remaining power of the power supply unit 105 is insufficient to move to the target position and information for proposing to the user whether to display the captured image data on the display unit 203. The predetermined notification information may include information for notifying the user of how much the movable distance or movable time of the mobile device 100 is extended when the imaging process of the imaging unit 102 is stopped.

[0064] Furthermore, in step S706, the display data generation unit 107 generates display data including the predetermined notification information supplied from the CPU 101, and supplies the generated display data to the wireless communication unit 104. Here, the display data is the captured image processed by the captured image processing unit 106 It may also include data (video data). The wireless communication unit 104 transmits the display data generated by the display data generation unit 107 to the control device 200. The wireless communication unit 202 receives the display data generated by the display data generation unit 107 from the wireless communication unit 104 and supplies the display data received by the wireless communication unit 104 to the display unit 203. The display unit 203 displays the display data generated by the display data generation unit 107. Thereby, the CPU 101 can present predetermined notification information to the user who remotely controls the mobile device 100 using the control device 200. By viewing the predetermined notification information displayed on the display unit 203, the user can instruct the mobile device 100 to change to the recommended imaging mode or stop the imaging process using the control device 200.

[0065] As described above, in the third embodiment, the mobile device 100 can monitor every predetermined time whether the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is less than the first threshold or the second threshold. When the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is less than the first threshold but not less than the second threshold, it is possible to propose to the user to change to the recommended imaging mode or stop the imaging process. On the other hand, when the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is less than both the first threshold and the second threshold, it is possible to change the imaging mode of the imaging device to the recommended imaging mode or stop the imaging process of the imaging unit 102. Here, changing the imaging mode of the imaging device to the recommended imaging mode and stopping the imaging process of the imaging unit 102 are automatically performed. Thereby, since the power consumption of the imaging device is reduced, the mobile device 100 can move to the target position together with the imaging device.

[0066] Note that the threshold values used by the CPU 101 are not limited to two, and three or more may be used. For example, a case will be described where a new third threshold value is prepared such that the first threshold value > the third threshold value > the second threshold value. When the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is less than the first threshold value, the CPU 101 notifies the user that the remaining power of the power supply unit 105 is insufficient to move to the target position. Next, when the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is less than the third threshold value, the CPU 101 proposes to the user a change to the recommended imaging mode or a stop of the imaging process. Then, when the difference between the estimated power consumption calculated by the power consumption estimation unit 112 and the remaining power of the power supply unit 105 is less than the second threshold value, the CPU 101 automatically changes the imaging mode of the imaging device to the recommended imaging mode or automatically stops the imaging process of the imaging unit 102. The first to third threshold values can be, for example, the amounts of power that the mobile device 100 can move for 7 minutes, 5 minutes, and 2 minutes, respectively, with the imaging process of the imaging unit 102 stopped. Note that the first to third threshold values are not limited to the values prepared in advance, and may be values that can be changed by the user.

[0067] <Embodiment 4> At least one of the various functions, processes, and methods described in the above embodiments can also be realized by a personal computer, a microcomputer, a CPU, or a microprocessor executing a program. Hereinafter, in Embodiment 4, a personal computer, a microcomputer, a CPU, or a microprocessor will be referred to as "computer X". In Embodiment 4, a program for controlling computer X, which realizes at least one of the various functions, processes, and methods described in the above embodiments, will be referred to as "program Y".

[0068] At least one of the various functions, processes, and methods described in the above embodiments is realized by computer X executing program Y. In this case, program Y is supplied to computer X via a computer-readable storage medium. The computer-readable storage medium in Embodiment 4 includes at least one of a hard disk device, a magnetic storage device, an optical storage device, a magneto-optical storage device, a memory card, a volatile memory, a non-volatile memory, and the like. The computer-readable storage medium in Embodiment 4 is a non-transitory storage medium.

Description of Reference Numerals

[0069] 100: Mobile device, 101: CPU, 102: Imaging unit, 105: Power supply unit, 112: Power consumption estimation unit, 200: Control device, 201: CPU

Claims

1. A drone that moves together with an imaging device, Estimation means for estimating the power consumption of the imaging device and the drone until they move from the current position to the target position, Control means for controlling to give a predetermined notification when the difference between the remaining power of the power supply means for supplying power to the imaging device and the drone and the power consumption estimated by the estimation means is less than a first threshold value having, The first threshold value is the amount of power that the drone can move for a predetermined time with the imaging device in a state where the imaging process is stopped, The control means controls to reduce the power consumption of the imaging device based on the remaining power of the power supply means and the power consumption estimated by the estimation means when the difference is less than a second threshold value that is smaller than the first threshold value and greater than 0. A drone characterized by that.

2. The drone according to claim 1, further comprising display means for displaying the predetermined notification.

3. The predetermined notification includes any one of information for proposing a change in the imaging mode to the user and information for proposing a stop of the imaging process to the user. The drone according to claim 1 or 2.

4. The information for proposing a change in the imaging mode to the user is information for proposing a change in image quality, frame rate, or viewing angle to the user. The drone according to claim 3.

5. The estimation means estimates the power consumption of the imaging device and the drone based on the power consumption per unit distance and the distance from the current position to the target position. The drone according to any one of claims 1 to 4.

6. The control means controls at least one of the imaging device and the unmanned aerial vehicle based on an instruction from a user in response to the predetermined notification. The unmanned aerial vehicle according to any one of claims 1 to 5, characterized in that the control means controls at least one of the imaging device and the unmanned aerial vehicle.

7. The control means when the difference is less than the first threshold value, notifies that the remaining power is insufficient, when the difference is less than a third threshold value that is smaller than the first threshold value and larger than the second threshold value, controls to notify either information for proposing a change in the imaging mode to the user or information for proposing a stop of the imaging process to the user. The unmanned aerial vehicle according to any one of claims 1 to 6, characterized in that.

8. The estimation means estimates the power consumption of the imaging device and the unmanned aerial vehicle until moving to the target position every time a predetermined time elapses. The unmanned aerial vehicle according to any one of claims 1 to 7, characterized in that.

9. An unmanned aerial vehicle that moves together with an imaging device, estimation means for estimating the power consumption of the imaging device and the unmanned aerial vehicle until the imaging device and the unmanned aerial vehicle move from the current position to the target position, based on the power consumption per unit distance and the distance from the current position to the target position; control means for controlling to give a predetermined notification when the difference between the remaining power of the power supply means for supplying power to the imaging device and the unmanned aerial vehicle and the power consumption estimated by the estimation means is less than a first threshold value; and the first threshold value is the amount of power with which the unmanned aerial vehicle can move for a predetermined time in a state where the imaging device has stopped the imaging process. The power consumption per unit distance is obtained based on (1) the position information of the starting position of the unmanned aircraft, the position information of the current position, and the position information obtained at each predetermined time during the movement from the starting position to the current position, which is the moving distance of the unmanned aircraft, and (2) the amount of power supplied during the period from the starting position to the current position of the imaging device and the unmanned aircraft. The unmanned aircraft is characterized in that it is calculated using these.

10. A control method for an unmanned aircraft that moves together with an imaging device, comprising: An estimation step of estimating the power consumption of the imaging device and the unmanned aircraft during the period from the current position to the target position; A control step of controlling to perform a predetermined notification when the difference between the remaining power of the power supply means for supplying power to the imaging device and the unmanned aircraft and the estimated power consumption falls below a first threshold; having The first threshold is the amount of power that the unmanned aircraft can move for a predetermined time in a state where the imaging device has stopped the imaging process. In the control step, when the difference is smaller than the first threshold and lower than a second threshold greater than 0, based on the remaining power of the power supply means and the power consumption estimated in the estimation step, the control method is characterized in that it controls to reduce the power consumption of the imaging device.

11. A control method for an unmanned aircraft that moves together with an imaging device, comprising: An estimation step of estimating the power consumption of the imaging device and the unmanned aircraft during the period from the current position to the target position based on the power consumption per unit distance and the distance from the current position to the target position; A control step of controlling to give a predetermined notification when the difference between the remaining power of the power supply means for supplying power to the imaging device and the unmanned aircraft and the estimated power consumption falls below a first threshold; having The first threshold value is the amount of electric power that allows the unmanned aircraft to move for a predetermined time while the imaging device has stopped the imaging process. The power consumption per unit distance is obtained based on (1) the movement distance of the unmanned aircraft obtained based on the position information of the departure position of the unmanned aircraft, the position information of the current position, and the position information obtained at each predetermined time during the movement from the departure position to the current position, and (2) the amount of electric power supplied until the imaging device and the unmanned aircraft move from the departure position to the current position. A control method characterized by being calculated using.

12. A program for causing a computer to execute each step of the control method according to claim 10 or 11.

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