Photographing Support Method, Photographing Support System, and Program

Abstract

To enable easily photographing a photographing target.SOLUTION: There is provided a photographing support method being a method for supporting photographing by a flying object having a photographing function. The method comprises the steps of: setting a point of interest to which a photographing direction is constantly directed during flight of the flying object on an extension of a straight line from a first waypoint of the flying object toward a first photographing point; calculating a vector from a position of the first photographing point to a position of a second photographing point; and determining a position where the vector is added to the first waypoint as a position of the second waypoint of the flying object which photographs the second photographing point.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a photographing support method, a photographing support system, and a program.

Background Art

[0002] There is known an aircraft that performs photographing while flying along a preset fixed route (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the system described in Patent Document 1, when photographing a long photographing object such as a road, it takes time to set the photographing angle together with the flight route.

[0005] The present invention has been made in view of such a background, and an object thereof is to provide a technique capable of easily photographing a photographing object.

Means for Solving the Problems

[0006] The main invention of the present invention for solving the above problems is a method for supporting photographing by an aircraft having a photographing function, wherein a point of interest that always faces the photographing direction during flight of the aircraft is set on an extension line of a straight line from a first waypoint of the aircraft to a first photographing point, a vector from the position of the first photographing point to the position of a second photographing point is calculated, and a position obtained by adding the vector to the first waypoint is determined as the position of a second waypoint of the aircraft for photographing the second photographing point.

[0007] Regarding other problems disclosed in this application and their solutions, they will be clarified in the section of the embodiments of the invention and the drawings.

Advantages of the Invention

[0008] According to the present invention, it is possible to easily photograph an object to be photographed.

Brief Description of the Drawings

[0009]

Figure 1

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Modes for Carrying Out the Invention

[0010] <Summary of the Invention> The contents of the embodiments of the present invention will be listed and described. The present invention has, for example, the following configurations. [Item 1] A method for assisting photographing by an aircraft having a photographing function, Set the point of interest that always faces the shooting direction during the flight of the flying object on the extension line of the straight line from the first waypoint of the flying object to the first shooting point. Calculate the vector from the position of the first shooting point to the position of the second shooting point. Determine the position obtained by adding the vector to the first waypoint as the position of the second waypoint of the flying object for shooting the second shooting point. A shooting support method characterized by the above. [Item 2] The shooting support method according to Item 1, wherein The point of interest is set to an infinite point on the extension line. A shooting support method characterized by the above. [Item 3] The shooting support method according to Item 1 or 2, wherein It is detected that there is an obstacle between the second waypoint and the second point. When the obstacle exists, on the straight line from the position obtained by adding the vector to the first waypoint to the second shooting point, determine the position where the obstacle does not exist as the position of the second waypoint. A shooting support method characterized by the above. [Item 4] A system for supporting shooting using a flying object having a shooting function, comprising An interest point setting unit that sets the point of interest that always faces the shooting direction during the flight of the flying object on the extension line of the straight line from the first waypoint of the flying object to the first shooting point; A vector calculation unit that calculates the vector from the position of the first shooting point to the position of the second shooting point; A waypoint setting unit that determines the position obtained by adding the vector to the first waypoint as the position of the second waypoint of the flying object for shooting the second point; A shooting support system characterized by comprising the above. [Item 5] A program for shooting by a flying object having a shooting function, wherein A step of setting, on an extension line of a straight line directed from a first waypoint of the aircraft to a first shooting point, a point of interest that always faces the shooting direction during flight of the aircraft; A step of calculating a vector from the position of the first shooting point to the position of a second shooting point; A step of determining, as the position of a second waypoint of the aircraft for shooting the second point, a position obtained by adding the vector to the first waypoint; A program for causing a computer to execute the above.

[0011] <Overview of the system> Hereinafter, a shooting support system according to an embodiment of the present invention will be described. The shooting support system of the present embodiment is intended to support setting of a route of the aircraft 1 when shooting using the aircraft 1 equipped with the camera 11. In the present embodiment, it is assumed that the route is defined by a plurality of waypoints (for example, positions of the aircraft specified by latitude, longitude, and altitude). Further, in the present embodiment, as an example, it is assumed that still images of a plurality of points on a road (hereinafter referred to as shooting points) or moving images between the shooting points are shot. In the present embodiment, for the sake of simplicity of explanation, it is assumed that the route includes two waypoints, but of course, the route can include three or more waypoints.

[0012] In the shooting support system of the present embodiment, after setting the position of the first aircraft 1 (hereinafter referred to as the start waypoint) and the first shooting point (hereinafter referred to as the start shooting point), by simply setting the next shooting point (hereinafter referred to as the end shooting point), the waypoint corresponding to the next shooting point (hereinafter referred to as the end waypoint) can be automatically set. Details will be described below.

[0013] <Overview of the waypoint determination method> In the shooting support system of this embodiment, the method of setting the Region Of Interest (ROI) is devised. Note that it may be a Point of Interest (POI) instead of a region, and in this embodiment, the ROI is assumed to indicate a single point. The ROI is a setting for controlling the shooting direction of the camera 11 provided in the aircraft 1 to always face the direction of the ROI. The camera 11 of the aircraft 1 is assumed to be capable of controlling pan and / or tilt by a mechanism such as a gimbal, and by controlling the attitude of the aircraft 1 and the pan and / or tilt of the camera 11, it is possible to always control the shooting direction of the camera 11 to face the ROI. FIG. 1 is a diagram for explaining the setting of the ROI in this embodiment. As shown in the figure, in the shooting support system of this embodiment, according to the angle of the camera 11 provided in the aircraft 1, the ROI is set at the infinite point on the straight line of the shooting direction of the camera 11. Generally, the ROI is set on the ground, but in this embodiment, the ROI is set underground or on the back side of the earth.

[0014] FIG. 2 is a diagram for explaining the case of shooting a road. In this embodiment, the angle of the camera 11 is directed to the shooting point on the road, and the infinite point on the extension line of the straight line connecting the position (waypoint) of the aircraft 1 and the shooting point on the road is set as the ROI. Here, when the aircraft 1 shoots the start shooting point P0 on the road with the waypoint WP0 as the start waypoint and shoots the end shooting point P1 on the road with the waypoint WP1 as the end waypoint, since the ROI is an infinite point, the length of the vector V2 from WP0 to WP1 is equal to the length of the vector V1 from P0 to P1. Therefore, in the shooting support system of this embodiment, after setting WP0, P0, and the ROI, by simply setting P1 and automatically calculating WP1 by adding the vector V1 from P0 to P1 to WP0, the labor of setting WP1 is reduced.

[0015] <System Configuration Example> FIG. 3 is a diagram showing an example of the overall configuration of a shooting support system according to an embodiment of the present invention. The shooting support system of this embodiment includes a management server 2. The management server 2 can be communicably connected to the aircraft 1. The communication between the management server 2 and the aircraft 1 can be established, for example, by a wireless communication path, a mobile phone line network, etc., and communication can be performed, for example, according to the TCP / IP protocol.

[0016] <Management server 2> The management server 2 may be a general-purpose computer such as a workstation or a personal computer, or may be logically realized by cloud computing. FIG. 4 is a diagram showing an example of the hardware configuration of the management server 2. Note that the illustrated configuration is an example, and it may have other configurations. The management server 2 includes a CPU 201, a memory 202, a storage device 203, a communication interface 204, an input device 205, and an output device 206. The storage device 203 stores various data and programs, such as a hard disk drive, a solid state drive, a flash memory, etc. The communication interface 204 is an interface for connecting to a communication network, such as an adapter for connecting to Ethernet (registered trademark), a modem for connecting to a public telephone line network, a wireless communication device for performing wireless communication, a USB (Universal Serial Bus) connector or an RS232C connector for serial communication, etc. The input device 205 inputs data, such as a keyboard, a mouse, a touch panel, a button, a microphone, etc. The output device 206 outputs data, such as a display, a printer, a speaker, etc. Note that each functional unit of the management server device 2 described later is realized by the CPU 201 reading out a program stored in the storage device 203 into the memory 202 and executing it, and each storage unit of the management server 2 is realized as a part of the storage area provided by the memory 202 and the storage device 203.

[0017] FIG. 5 is a diagram showing an example of the software configuration of the management server 2. The management server 2 includes a shooting point setting unit 211, a vector calculation unit 212, a waypoint setting unit 213, an ROI setting unit 214, a flight control unit 215, a shooting point storage unit 231, a waypoint storage unit 232, and an ROI storage unit 233.

[0018] The shooting point storage unit 231 stores information regarding the shooting points (hereinafter referred to as shooting point information). The shooting point information includes a number indicating the order of shooting and a position, etc., associated with a flight body ID for identifying the flight body 1 and a mission ID for identifying a specific flight mission. Note that the position can be represented, for example, by latitude and longitude. Also, the position may be represented three-dimensionally including the altitude of the shooting point, and in this embodiment, the position is represented three-dimensionally.

[0019] The waypoint storage unit 232 stores information regarding the waypoints (hereinafter referred to as waypoint information). The waypoint information has the same configuration as the shooting point information. Note that the altitude included in the position included in the waypoint information indicates the altitude of the flight body 1.

[0020] The ROI storage unit 233 stores information regarding the ROI (hereinafter referred to as ROI information). The ROI information includes a flight body ID for identifying the flight body 1, a mission ID for identifying the flight mission, and the position of the ROI. The position of the ROI is also represented three-dimensionally. In this embodiment, the ROI includes a negative altitude below the ground surface where the shooting point exists, but it is also possible to arbitrarily update the ROI information according to the designation of the user who sets the waypoint.

[0021] The shooting point setting unit 211 sets the shooting point. The shooting point setting unit 211 can, for example, display a two-dimensional or three-dimensional map image and accept the designation of the shooting point from the map image. In addition, if the management server 2 manages altitude information, the shooting point setting unit 211 can obtain the latitude and longitude specified on the map and the altitude corresponding to the latitude and longitude from the altitude information, and use them as the position of the shooting point. The shooting point setting unit 211 can create shooting point information with the accepted shooting point set and register it in the shooting point storage unit 231.

[0022] The vector calculation unit 212 calculates the vector between shooting points. The vector calculation unit 212 can calculate the vector from the position of the immediately preceding shooting point (starting shooting point, P0) to the position of the shooting point in this order (ending shooting point, P1). In addition, the vector calculation unit 212 can also calculate the vector from the position of the waypoint to the position of the shooting point.

[0023] The waypoint setting unit 213 accepts the position of the starting waypoint. The waypoint setting unit 213 can, for example, display a two-dimensional or three-dimensional map image and accept the designation of the shooting point from the map image. The waypoint setting unit 213 may accept the designation of altitude together with the latitude and longitude on the map, or may accept the input of the angle of the camera 11 and calculate the altitude of the aircraft 1 so that the position where the shooting direction of the camera 11 intersects the ground surface becomes the shooting point. In addition, the waypoint setting unit 213 may accept the designation of latitude, longitude, and altitude from a three-dimensional map image. The waypoint setting unit 213 can create waypoint information including the accepted position and register it in the waypoint storage unit 232.

[0024] In addition, for waypoints after the start waypoint (the end waypoint in this embodiment), the waypoint setting unit 213 can calculate based on the shooting point and determine the calculation result as the position of the waypoint. That is, the waypoint setting unit 213 can calculate the position obtained by adding the vector calculated by the vector calculation unit 212 to the position of the immediately preceding waypoint (start waypoint, WP0), and determine this calculated position as the position of the waypoint of this order (end waypoint, WP1).

[0025] Also, if there is an obstacle (barrier) between the position of the determined waypoint (the end waypoint in this embodiment) or from the waypoint to the shooting point (the end shooting point in this embodiment), the waypoint setting unit 213 can correct the position of the waypoint. Whether there is an obstacle can be detected based on, for example, information (structure information) about structures (houses, bridges, towers, etc.) installed on the ground and stored in the management server 2. The structure information can identify the structure by its position on the map such as latitude and longitude and height. The structure information can also be represented, for example, as a 3D model. The waypoint setting unit 213 can correct the waypoint to a position where there is no obstacle on the straight line connecting the waypoint and the shooting point. That is, the waypoint setting unit 213 can determine the position where there is no obstacle on the straight line towards the end shooting point from the position obtained by adding the vector calculated by the vector calculation unit 212 to the start waypoint as the position of the end waypoint. The waypoint setting unit 213 can register the determined position of the waypoint in the waypoint storage unit 232.

[0026] The ROI setting unit 214 (region of interest setting unit) sets the ROI. As described above, in this embodiment, the ROI setting unit 214 sets the ROI at the infinite point on the extension line of the straight line from the waypoint to the shooting point. Further, the ROI setting unit 214 may receive the ROI input from the user, or may change the ROI set at the infinite point according to an instruction from the user. The ROI setting unit 214 can set the ROI related to the flight mission of the flying object 1 by registering the ROI in the ROI storage unit 233.

[0027] The flight control unit 215 controls the flying object 1. For example, the flight control unit 215 receives the designation of a flight mission, reads the positions of the waypoints and the ROI corresponding to the mission ID indicating the received flight mission from the waypoint storage unit 232 and the ROI storage unit 233, and controls the flight of the flying object 1 so that the flying object 1 is located at the positions of the waypoints in numerical order. Note that the flight speed of the flying object 1 may be determined according to a designation from the user, or the shooting time may be designated for each waypoint, and the flight speed of the flying object 1 may be controlled so that it is located at the waypoint at the shooting time.

[0028] <Operation> Next, the operation of the shooting support system of this embodiment will be described. FIG. 6 is a diagram showing the flow of the process of setting the flight path of the flying object 1. FIG. 7 is a diagram for explaining an example of a user interface for designating the shooting point and the waypoint. When starting the process shown in FIG. 6, it is assumed that the flying object 1 and the flight mission are designated.

[0029] First, the start shooting point is designated (S301), the start waypoint is designated (S302), and the direction of the camera 11 is determined (S303).

[0030] The shooting point setting unit 211 and the waypoint setting unit 232 can receive the specification of the position P0 of the starting shooting point and the position WP0 of the starting waypoint using the user interface shown in FIG. 7. Note that the user interface may be output by the management server 2 to the output device 206, or may create screen data such as a web page and transmit it to a user terminal (not shown) such as a smartphone, tablet computer, or personal computer operated by the user. The user terminal may display a user interface as shown in FIG. 7, receive an input from the user, and transmit it to the management server 2.

[0031] In the example of FIG. 7, a camera icon C indicating the position of the flying object 1 (i.e., the camera 11) is displayed. By moving the icon C, the position WP0 of the starting waypoint can be specified, and the waypoint setting unit 232 can acquire the position of WP0. In the interface of the two-dimensional map display (2D map), in addition to the position (latitude and longitude) on the map, the waypoint setting unit 232 can receive the altitude of the flying object 1 or receive the specification of the angle of the camera 11 and calculate the altitude. In the interface of the three-dimensional map display (3D view), the waypoint setting unit 232 can also receive the specification of the height in the vertical direction of the icon C on the screen.

[0032] In addition, the shooting point setting unit 211 can receive the specification of the starting shooting point P0 by receiving a tap or click on the map. The shooting point setting unit 211 can receive the specification of the starting shooting point P0 assuming that the position on the ground surface is specified in the 2D map or 3D view.

[0033] The waypoint setting unit 232 can determine the direction from the position WP0 of the starting waypoint to the position P0 of the starting shooting point as the shooting direction of the camera 11. This shooting direction can also be calculated by the vector calculation unit 212 as a vector (hereinafter referred to as a shooting vector).

[0034] The shooting point setting unit 211 can register, in association with the aircraft ID indicating the aircraft 1 and the mission ID indicating the flight mission, a number indicating the first order (which can be, for example, 0 or 1) and P0 in the shooting point storage unit 231. The waypoint setting unit 232 can register, in association with the aircraft ID indicating the aircraft 1 and the mission ID indicating the flight mission, a number indicating the first order and WP0 in the waypoint storage unit 232.

[0035] Next, set the ROI (S304).

[0036] The ROI setting unit 214 determines the ROI at the infinite point on the extension line of the straight line (shooting vector) from WP0 to P0. FIG. 8 is a diagram for explaining the determination of the ROI. R indicates a road. G indicates the ground surface. WP0 and P0 are specified in the user interface shown in FIG. 7, and the infinite point of the straight line L obtained by extending the shooting vector V3 from WP0 to P0 is determined as the ROI. The ROI setting unit 214 registers this position ROI in the ROI storage unit 233 in association with the aircraft ID indicating the aircraft 1 and the mission ID indicating the flight mission.

[0037] Next, specify the end shooting point (S305).

[0038] In the user interface shown in FIG. 7, the shooting point setting unit 211 can accept the specification of the position P1 of the end shooting point on the ground surface as a position specified in the 2D map or 3D view. The shooting point setting unit 211 can register, in association with the aircraft ID indicating the aircraft 1 and the mission ID indicating the flight mission, a number indicating the last order (which can be, for example, 1 or 2) and P1 in the shooting point storage unit 231.

[0039] Next, calculate the vector from the position P0 of the start shooting point to the position P1 of the end shooting point (S306), and calculate the position WP1 of the end waypoint by adding this vector to the position WP0 of the start waypoint (S307).

[0040] FIG. 9 is a diagram for explaining the determination of the end waypoint. A vector V1 from a start shooting point P0 set on a road R toward an end shooting point P1 is calculated by a vector calculation unit 212. In the user interface shown in FIG. 7, the vector V1 can also be drawn as an arrow A. A waypoint setting unit 232 can calculate the position WP1 of the end waypoint by adding the vector V1 to the position WP0 of the start waypoint. The vector V2 from WP0 to WP1 shown in FIG. 9 is equal to V1 when the ROI is set at an infinite point.

[0041] As described above, by specifying the end shooting point P1, the end waypoint can be automatically determined. For the second to the Nth shooting points and waypoints, steps S305 to S307 are repeated with the immediately preceding shooting point and waypoint as the start shooting point and start waypoint, and the shooting point and waypoint of the current order as the end shooting point and end waypoint. By specifying a plurality of shooting points, the corresponding plurality of waypoints can be automatically determined.

[0042] FIG. 10 is a diagram for explaining the modification of the waypoint. As described above, the waypoint setting unit 213 can modify the waypoint when there is an obstacle on the end waypoint or between the end waypoint and the end shooting point. The example of FIG. 10 shows the case where there is an obstacle B at the calculated WP1. In this case, the waypoint setting unit 213 can move WP1 on a straight line L connecting the calculated WP1 and P1. In FIG. 10, WP1 can be moved in the direction of arrow A1 or A2. The waypoint setting unit 213 can move WP1 to a position where there are no other obstacles.

[0043] In addition, when there is an obstacle on the path RT from WP0 to WP1, the waypoint setting unit 213 can also move WP1 on the straight line L so that the obstacle does not enter the path RT.

[0044] Although the above embodiment has been described, the above embodiment is for facilitating the understanding of the present invention and is not for limiting the interpretation of the present invention. The present invention can be changed and improved without departing from its gist, and equivalents thereof are also included in the present invention.

[0045] For example, in the present embodiment, it is assumed that the distance from the flying object 1 to the ROI is infinite. However, the present invention is not limited thereto, and it may be a distance that is sufficiently long compared to the length of the path of the flying object 1 or at least the length between waypoints. For example, the length from the start point WP0 to the intersection of the straight line extended in the direction of the vector V1 from P0 to P1 and the extension of the straight line from the ROI to P1, minus the length of V1, is a predetermined threshold value (for example, it can be any value such as 1 m, 10 cm, 1 cm, etc.). The ROI can be set at a position such that it is below.

Explanation of Reference Numerals

[0046] 1 Flying object 2 Management server

Claims

1. A method for assisting photography by a flying object having a photographing function, comprising: setting, during flight of the flying object, a point of interest that always faces the photographing direction on an extension line of a straight line directed from a first waypoint of the flying object to a first photographing point; calculating a vector from the position of the first photographing point to the position of a second photographing point; determining, as the position of a second waypoint of the flying object for photographing the second photographing point, a position obtained by adding the vector to the first waypoint; A photographing assistance method characterized by the above.

2. The photographing assistance method according to claim 1, comprising: setting the point of interest at an infinite point on the extension line; A photographing assistance method characterized by the above.

3. The photographing assistance method according to claim 1 or 2, comprising: detecting that an obstacle exists between the second waypoint and the second photographing point; when the obstacle exists, determining, as the position of the second waypoint, a position on a straight line directed from the position obtained by adding the vector to the first waypoint to the second photographing point, where the obstacle does not exist; A photographing assistance method characterized by the above.

4. A system for assisting photography using a flying object having a photographing function, comprising: a point-of-interest setting unit that sets, during flight of the flying object, a point of interest that always faces the photographing direction on an extension line of a straight line directed from a first waypoint of the flying object to a first photographing point; a vector calculation unit that calculates a vector from the position of the first photographing point to the position of a second photographing point; a waypoint setting unit that determines, as the position of a second waypoint of the flying object for photographing the second photographing point, a position obtained by adding the vector to the first waypoint; A photographing assistance system characterized by the above.

5. A program for photographing using a flying object having a photographing function, comprising: a step of setting, during flight of the flying object, a point of interest that always faces the photographing direction on an extension line of a straight line directed from a first waypoint of the flying object to a first photographing point; a step of calculating a vector from the position of the first photographing point to the position of a second photographing point; a step of determining, as the position of a second waypoint of the flying object for photographing the second photographing point, a position obtained by adding the vector to the first waypoint; A program for causing a computer to execute the above.

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