Shooting system, light emission device, control method, and program

Abstract

To provide a photographing system, a light-emitting device, a control method for the photographing system, and a program that can reliably move the light-emitting device to a light-emitting position during photographing.SOLUTION: A photographing system 10 has an imaging device 100 that photographs a subject 300 and a light-emitting device 200 that can communicate with the imaging device 100. The light-emitting device 200 includes: a movement area determination unit 209 that calculates a movable area 310, which is an area in which the light-emitting device 200 can move, using spatial information about surroundings of the light-emitting device 200; a light-emitting position determination unit 210 that determines the position of the light-emitting device 200 where light emitted by the light-emitting device 200 will be light that fits photographing of the imaging device 100 as a light-emitting position, from in the movable area 310; a drive unit 207 that moves the light-emitting device 200 toward the light-emitting position; and a light-emitting unit 206 that causes the light-emitting device 200 at the light-emitting position to emit light at timing of photographing of the imaging device 100.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to an imaging system, a light-emitting device, a control method, and a program. [Background Art]

[0002] In imaging using an external strobe, when the illumination condition of a subject changes, it is necessary to change the light-emitting position of the external strobe. In view of this, Patent Document 1 proposes a technique in which, when the illumination condition of a subject changes, a moving body having an illumination unit moves toward a position where suitable illumination can be provided for the subject. [Prior Art Literature] [Patent Literature]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 2019-139032 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] However, with the technique proposed in Patent Document 1, there is a risk that a position that cannot be moved to by the moving body may be set as a position where suitable illumination can be provided for the subject.

[0005] The present invention has been made in view of the above problem. An object of the present invention is to provide an imaging system, a light-emitting device, a control method, and a program that can facilitate movement of a device that emits light during imaging to a suitable light-emitting position. [Means for Solving the Problem]

[0006] To achieve the above objective, the present invention provides a shooting system comprising: an imaging device for photographing a subject; and a light-emitting device capable of communicating with the imaging device, the system comprising: a first calculation means for calculating a movable region, which is a region in which the light-emitting device can move, using spatial information relating to the surroundings of the light-emitting device; a determination means for determining a position of the light-emitting device from within the movable region, where the light emitted from the light-emitting device is suitable for the imaging device's shooting; a moving means provided on the light-emitting device for moving the light-emitting device toward the light-emitting position; and a light-emitting means provided on the light-emitting device for causing the light-emitting device at the light-emitting position to emit light at the timing of the imaging device's shooting. [Effects of the Invention]

[0007] According to the present invention, it is possible to easily move a device that emits light during photography to a suitable light-emitting position. [Brief explanation of the drawing]

[0008] [Figure 1] This figure shows examples of the configuration of the imaging system according to the first and second embodiments. [Figure 2] This is a block diagram showing examples of the configuration of the imaging device according to the first and second embodiments. [Figure 3] This is a block diagram showing examples of the configuration of the light-emitting device according to the first and second embodiments. [Figure 4] This figure shows examples of movable regions of the light-emitting devices of the first and second embodiments. [Figure 5] This is a flowchart illustrating the method by which the light emission position determination unit of the light emission device determines the light emission position in the first embodiment. [Figure 6] This is a flowchart illustrating the control method of the imaging system in the first and second embodiments. [Figure 7] This is a flowchart illustrating the method by which the light emission position determination unit of the light emission device determines the light emission position in the second embodiment. [Figure 8] This figure shows an example configuration of the imaging system according to the third embodiment. [Figure 9] This is a block diagram showing configuration examples of the first and second automatic imaging devices according to the third and fourth embodiments. [Figure 10] This flowchart shows the method for determining whether to perform shooting and light emission for the first automatic shooting device and the second automatic shooting device in the third embodiment. [Figure 11] This figure shows an example configuration of the imaging system according to the fourth embodiment. [Figure 12] This flowchart shows the method for determining whether to perform shooting and light emission for the first automatic shooting device and the second automatic shooting device in the fourth embodiment. [Modes for carrying out the invention]

[0009] The embodiments of the present invention will now be described in detail with reference to the drawings. However, the configurations described in the following embodiments are merely illustrative, and the scope of the present invention is not limited by the configurations described in each embodiment. For example, each part constituting the present invention can be replaced with any configuration that can perform a similar function. In addition, any additional components may be added. Furthermore, any two or more configurations (features) from each embodiment can be combined.

[0010] <First Embodiment> The first embodiment will be described below with reference to Figures 1 to 6. Figure 1 is a diagram showing an example configuration of the shooting system 10. As shown in Figure 1, the shooting system 10 has an imaging device 100 and a light-emitting device 200. The subject 300 is the object to be photographed by the imaging device 100. Figure 2 is a block diagram showing an example configuration of the imaging device 100. In the following description, a digital camera will be used as an example of the imaging device 100. However, the imaging device 100 is not limited to a digital camera, but may also be a video camera, smartphone, tablet terminal, etc. This point is also the same in the second embodiment.

[0011] As shown in Figure 2, the imaging device 100 includes a CPU 101, an imaging unit 102, an image processing unit 103, a display unit 104, a communication unit 105, a recording unit 106, and a system bus 110. In the imaging device 100, each component, such as the CPU 101, is connected to the system bus 110, and can send and receive necessary data from each other via the system bus 110. The CPU 101 controls the entire imaging device 100 and realizes each process in the flowchart described later by executing a program stored in a ROM (not shown). The imaging unit 102 consists of a lens unit, an image sensor, and an A / D conversion circuit, and performs image acquisition processing. The imaging unit 102 allows setting of shooting conditions. Shooting conditions include aperture value and ISO sensitivity.

[0012] The image processing unit 103 performs correction processing, encoding processing, and other operations on the image data captured by the imaging unit 102. The image processing unit 103 also generates recorded images and display images from the image data captured by the imaging unit 102. The display unit 104 consists of a liquid crystal display or an organic EL display, and displays the display images generated by the image processing unit 103. The communication unit 105 is wirelessly connected to the communication unit 204 of the light-emitting device 200 (described later) and communicates image data, information regarding shooting conditions, information regarding shooting timing, and light emission information. The recording unit 106 records the recorded images generated by the image processing unit 103 to an internal memory or external memory (not shown).

[0013] Figure 3 is a block diagram showing an example configuration of the light-emitting device 200. As shown in Figure 3, the light-emitting device 200 includes a CPU 201, an imaging unit 202, an image processing unit 203, a communication unit 204, a light emission necessity determination unit 205, a light emission unit 206, and a drive unit 207. Furthermore, the light-emitting device 200 includes a position information detection unit 208, a movement area determination unit 209, a light emission position determination unit 210, and a system bus 211. In the light-emitting device 200, each component, such as the CPU 201, is connected to the system bus 211, and necessary data can be sent and received from each other via the system bus 211. The CPU 201 controls the entire light-emitting device 200 and realizes each process in the flowchart described later by executing a program stored in a ROM (not shown). The imaging unit 202 consists of a lens unit, an image sensor, and an A / D conversion circuit, and performs image acquisition processing. The image processing unit 203 performs correction processing on the image data captured by the imaging unit 202. The communication unit 204 is wirelessly connected to the communication unit 105 of the imaging device 100 and communicates image data, information regarding shooting conditions, information regarding shooting timing, and light emission information.

[0014] The light emission necessity determining unit 205 determines whether light emission from the light emitting unit 206 is necessary when the imaging apparatus 100 performs imaging. The light emission necessity determining unit 205 makes the determination by detecting the illuminated condition of the subject 300 from image data received by the communication unit 204 from the communication unit 105 of the imaging apparatus 100 and imaging conditions of the imaging unit 102 of the imaging apparatus 100. Further, in the light emission necessity determining unit 205 (second setting means), whether the light emitting apparatus 200 emits light when the imaging apparatus 100 performs imaging while the light emitting apparatus 200 is moving is set in advance. Accordingly, if the user sets in advance that the light emitting apparatus 200 emits light, even when the user issues an imaging instruction for a photo opportunity that arises while the light emitting apparatus 200 is moving, it is possible to compensate for as much light amount as possible when the imaging apparatus 100 images the subject 300. Furthermore, in the light emission necessity determining unit 205 (first setting means), the light emission method of the light emitting unit 206 is set in advance to "direct light emission" or "bounce light emission". This allows the user to selectively use "direct light emission" and "bounce light emission". Here, an explanation will be given taking as an example a case where "direct light emission", which directly irradiates the subject 300 with light, is set in advance in order to irradiate the subject 300 with intense light. Therefore, in this case, the irradiation target of the light emitting unit 206 is the subject 300. The case where "bounce light emission" is set in advance will be described in a second embodiment described later.

[0015] The light emitting unit 206 is configured of a xenon tube, an LED, or the like, and emits light when the imaging apparatus 100 images the subject 300. The light emission capacity of the light emitting unit 206 is fixed or variable, and is represented by a guide number. The driving unit 207 is configured of a motor, tires, and the like, and moves the light emitting apparatus 200 toward the light emission position determined by the light emission position determining unit 210. Here, explanation is given assuming movement in the front-rear and left-right directions, but the present invention is not limited to this, and movement in the up-down direction is also possible depending on the configuration of the driving unit 207. For example, a configuration capable of floating in a form like a drone may be employed.

[0016] A position information detection unit 208 grasps a space related to the surroundings of a light-emitting device 200 from image data obtained by the imaging unit 202 imaging the surroundings of the light-emitting device 200. Accordingly, the position information detection unit 208 acquires spatial information of the light-emitting device 200, specifies the imaging device 100 and the subject 300 using the spatial information, and detects the positional relationship between the imaging device 100 and the subject 300.

[0017] A movement region determination unit 209 has technology of Simultaneous Localization and Mapping (hereinafter abbreviated as "SLAM"). The movement region determination unit 209 grasps a space related to the surroundings of the light-emitting device 200 from image data obtained by the imaging unit 202 imaging the surroundings of the light-emitting device 200. Accordingly, the movement region determination unit 209 detects the light-emitting device 200 and the surrounding structure thereof, detects steps, obstacles, and the like to acquire spatial information of the light-emitting device 200, and determines a movable region of the light-emitting device 200 using the spatial information. Note that the movement region determination unit 209 may use SLAM technology using a range scanner, a depth sensor, or the like.

[0018] FIG. 4 is a diagram showing an example of a movable region 310 of the light-emitting device 200. The movable region 310 of the light-emitting device 200 is a region free from steps 320, obstacles 330 and the like as indicated by the black-painted portion in FIG. 4, and is a region in which the driving unit 207 can cause the light-emitting device 200 to move. Note that the hatched portion in FIG. 4 is a region in which the driving unit 207 cannot cause the light-emitting device 200 to move.

[0019] Returning to Figure 3, the light emission position determination unit 210 uses the shooting conditions of the imaging unit 102 of the imaging device 100 received by the communication unit 204, the light emission capability of the light emission unit 206, and spatial information acquired by the position information detection unit 208 and the movement area determination unit 209 to determine a light emission position suitable for imaging by the imaging device 100. Furthermore, if there are multiple light emission positions suitable for imaging by the imaging device 100, the light emission position determination unit 210 determines the position that corresponds to a predetermined condition (first predetermined condition) set in advance in the light emission position determination unit 210 as the light emission position. This allows the light emission position determination unit 210 to limit the light emission position to one. For example, if the movement time of the light emission device 200 is to be shortened, the predetermined condition is "the position closest to the light emission device 200". If the light is to be shone in front of the subject 300, the predetermined condition is "a position on the straight line connecting the imaging device 100 and the subject 300". If you want to illuminate the subject 300 with strong light, the predetermined condition is "the position closest to the subject 300". If you want to illuminate the subject 300 with weak light, the predetermined condition is "the position furthest from the subject 300". Here, we will explain using the example where "the position closest to the light-emitting device 200" is set as a predetermined condition.

[0020] Figure 5 is a flowchart illustrating how the light emission position determination unit 210 of the light emission device 200 determines the light emission position. The flowchart in Figure 5 is for the case where the light emission method of the light emission unit 206 is set to "direct light emission" in advance in the light emission necessity determination unit 205. Furthermore, the flowchart in Figure 5 is started when the light emission necessity determination unit 205 determines that light emission from the light emission unit 206 is necessary when the imaging device 100 takes an image. Steps S501 to S507 of the flowchart in Figure 5 are realized in the light emission device 200 by the CPU 201 reading a program stored in a ROM (not shown) into a RAM (not shown) and executing it.

[0021] In step S501, the CPU 201 of the light-emitting device 200 calculates the distance conditions between the subject 300 and the light-emitting device 200 that are suitable for imaging by the imaging device 100 using direct light illumination, using the light emission position determination unit 210. This calculation is performed using the guide number of the light-emitting unit 206 and the shooting conditions of the imaging unit 102 of the imaging device 100. The shooting conditions of the imaging unit 102 of the imaging device 100 are, as described above, the aperture value and ISO sensitivity, and are obtained from the shooting condition information received by the communication unit 204 of the light-emitting device 200 in step S602 of Figure 6, which will be described later. Furthermore, if the guide number of the light-emitting unit 206 is variable, the light emission position determination unit 210 calculates the distance range between the subject 300 and the light-emitting device 200.

[0022] In step S502, the CPU 201 of the light-emitting device 200 calculates the position and direction conditions of the light-emitting device 200 using the light-emitting position determination unit 210 (second calculation means). The position and direction conditions of the light-emitting device 200 are the conditions for the area in which the light-emitting unit 206 can directly irradiate the subject 300 (irradiable area). This calculation is performed using the positional relationship between the imaging device 100 and the subject 300 detected by the position information detection unit 208. In step S503, the CPU 201 of the light-emitting device 200 calculates the conditions for the area in which the light-emitting device 200 can move using the movement area determination unit 209 (first calculation means, calculation means) (calculation step). Specifically, the conditions for the area in which the light-emitting device 200 can move refer to the movable area 310 of the light-emitting device 200.

[0023] In step S504, the CPU 201 of the light-emitting device 200 uses the light-emitting position determination unit 210 to calculate a region that satisfies all three conditions described above. The three conditions are the distance condition between the subject 300 and the light-emitting device 200 calculated in step S501, the position and direction conditions of the light-emitting device 200 calculated in step S502, and the region in which the light-emitting device 200 can move, calculated in step S503. In step S505, the CPU 201 of the light-emitting device 200 uses the light-emitting position determination unit 210 to determine whether the region calculated in step S504 exists. If the light-emitting position determination unit 210 determines that the region calculated in step S504 exists, the process proceeds to step S506. On the other hand, if the light-emitting position determination unit 210 determines that the region calculated in step S504 does not exist, the process proceeds to step S507.

[0024] In step S506, the CPU 201 of the light-emitting device 200 determines the light emission position using the light emission position determination unit 210 (determination means) (determination step). In this process, the position within the area calculated in step S504 that corresponds to a predetermined condition set in advance in the light emission position determination unit 210 is determined as the light emission position. Therefore, in this case, the position closest to the light-emitting device 200, which is set in advance as a predetermined condition within the area calculated in step S504, is determined as the light emission position. After that, the flowchart in Figure 5 ends. Note that if the predetermined condition set in the light emission position determination unit 210 is anything other than "the position closest to the current position of the light-emitting device 200", the process in step S506 is changed according to that setting condition.

[0025] In step S507, the CPU 201 of the light-emitting device 200 determines the light emission position using the light emission position determination unit 210. In this process, the position closest to the subject 300 among the positions that satisfy the position and direction conditions of the light-emitting device 200 determined in step S502 and the conditions for the area in which the light-emitting device 200 can move determined in step S503 is determined as the light emission position. After that, the flowchart in Figure 5 ends. The light emission position determined in this way is a position in which the light-emitting part 206 of the light-emitting device 200 can directly irradiate the subject 300 with light, and is a position in which the light-emitting device 200 can move, and is the position closest to the distance condition between the subject 300 and the light-emitting device 200 calculated in step S501. This point is the same in the third and fourth embodiments described later.

[0026] Figure 6 is a flowchart illustrating the control method of the imaging system 10. The flowchart in Figure 6 is initiated when, for example, a release switch (not shown) is half-pressed by the user in the imaging device 100. Steps S601 to S609 (control method of the imaging system) in the flowchart of Figure 6 are performed by reading a program stored in a ROM (not shown) into a RAM (not shown) in both the imaging device 100 and the light-emitting device 200. Furthermore, steps S601 to S609 of the flowchart in Figure 6 are realized when each program is executed by the CPU 101 (computer) of the imaging device 100 and the CPU 201 (computer) of the light-emitting device 200.

[0027] In step S601, the CPU 101 of the imaging device 100 uses the imaging unit 102 to image the subject 300. This imaging is performed for the purpose of taking images by the imaging unit 102 in step S607 or step S609, which will be described later. In step S602, the CPU 101 of the imaging device 100 transmits the image data acquired in the imaging in step S601 and information regarding the shooting conditions of the imaging unit 102 to the communication unit 204 of the light-emitting device 200 via the communication unit 105. As a result, the CPU 201 of the light-emitting device 200 receives the image data acquired by the imaging unit 102 of the imaging device 100 in the imaging in step S601 and information regarding the shooting conditions of the imaging unit 102 of the imaging device 100 via the communication unit 204.

[0028] In step S603, the CPU 201 of the light-emitting device 200 determines, using the light emission necessity determination unit 205 (determination means), whether or not light emission from the light-emitting unit 206 is necessary. This determination is made by detecting the illumination conditions of the subject 300 from the image data and shooting conditions received in step S602. If the light emission necessity determination unit 205 determines that light emission from the light-emitting unit 206 is necessary, the process proceeds to step S604. At this time, the CPU 201 of the light-emitting device 200 transmits information to the communication unit 105 of the imaging device 100 via the communication unit 204 that light emission from the light-emitting unit 206 is necessary. As a result, the CPU 101 of the imaging device 100 receives information via the communication unit 105 that light emission from the light-emitting unit 206 of the light-emitting device 200 is necessary. If the light emission necessity determination unit 205 of the light-emitting device 200 determines that light emission from the light-emitting unit 206 is not necessary, the process proceeds to step S608. As a result, steps S604 to S607, described later, are not executed, thus eliminating the need for each process when the light emission unit 206 is not required.

[0029] In step S604, the CPU 201 of the light-emitting device 200 determines the light emission position according to the determination method explained with reference to Figure 5 (calculation step, determination step). In step S605, the CPU 201 of the light-emitting device 200 moves the light-emitting device 200 to the light emission position determined in step S604 using the drive unit 207 (moving means) (movement step). In step S606, the CPU 101 of the imaging device 100 determines whether there is a shooting instruction from the user. If the CPU 101 of the imaging device 100 determines that there is no shooting instruction from the user, the process returns to step S606. On the other hand, if the CPU 101 of the imaging device 100 determines that there is a shooting instruction from the user, the process proceeds to step S607.

[0030] In step S607, the CPU 101 of the imaging device 100 transmits information regarding the shooting timing to the communication unit 204 of the light-emitting device 200 via the communication unit 105. As a result, the CPU 201 of the light-emitting device 200 receives information regarding the shooting timing of the imaging device 100 via the communication unit 204. The CPU 201 of the light-emitting device 200 also transmits light emission information to the communication unit 105 of the imaging device 100 via the communication unit 204. As a result, the CPU 101 of the imaging device 100 receives light emission information from the light-emitting device 200 via the communication unit 105. Therefore, the CPU 101 of the imaging device 100 performs imaging by the imaging unit 102 at the shooting timing of the imaging device 100. The CPU 201 of the light-emitting device 200 also performs light emission by the light-emitting unit 206 (light emission means) at the shooting timing of the imaging device 100 (light emission process). After that, the flowchart in Figure 6 ends. In this way, when the illumination conditions of the subject 300 are insufficient for imaging by the imaging device 100, a light emission position suitable for imaging by the imaging device 100 is determined, and the light emission device 200 moves to that position and illuminates the subject 300 with light at the timing of imaging by the imaging device 100.

[0031] Furthermore, if the user issues a shooting instruction to the imaging device 100 while the light-emitting device 200 is moving toward the light-emitting position, the CPU 201 of the light-emitting device 200 controls the emission by the light-emitting unit 206 according to the settings pre-set in the light emission necessity determination unit 205. Accordingly, the CPU 201 of the light-emitting device 200 either performs emission by the light-emitting unit 206 at the timing of the imaging device 100's shooting while the light-emitting device 200 is moving, or refrains from performing emission by the light-emitting unit 206.

[0032] In step S608, the CPU 101 of the imaging device 100 determines whether there is a shooting instruction from the user, in the same manner as in step S606 described above. If the CPU 101 of the imaging device 100 determines that there is no shooting instruction from the user, the process returns to step S608. On the other hand, if the CPU 101 of the imaging device 100 determines that there is a shooting instruction from the user, the process proceeds to step S609. In step S609, the CPU 101 of the imaging device 100 performs shooting by the imaging unit 102 at the shooting timing of the imaging device 100. After that, the flowchart in Figure 6 ends.

[0033] Furthermore, if an event occurs after step S601 that could cause a change in the light emission position suitable for imaging by the imaging device 100, the CPU 101 of the imaging device 100 and the CPU 201 of the light emission device 200 may interrupt control and return to step S601 to resume control. Events that could cause a change in the light emission position suitable for imaging by the imaging device 100 include changes in the subject 300, movement of the subject 300, movement of the imaging device 100, changes in the illumination conditions of the subject 300, and changes in the shooting range of the imaging unit 102 of the imaging device 100. As a result, the light emission position corresponding to the event that occurred is determined.

[0034] As described above, in the imaging system 10 and light-emitting device 200 according to the first embodiment, the light-emitting position to which the light-emitting device 200 moves satisfies the conditions for the area to which the light-emitting device 200 can move. Therefore, the light-emitting device 200 can be reliably moved to the light-emitting position when the imaging device 100 takes a picture. Furthermore, the light-emitting position to which the light-emitting device 200 moves satisfies the conditions for the area to which the light-emitting part 206 of the light-emitting device 200 can directly irradiate the subject 300 with light. Therefore, when the light-emitting method of the light-emitting part 206 of the light-emitting device 200 is "direct light emission", the light-emitting device 200 that has moved to the light-emitting position can reliably directly irradiate the subject 300 with the light emitted by its light-emitting part 206.

[0035] <Second Embodiment> The second embodiment will now be described with reference to Figure 7. In the first embodiment, the case where "direct emission," which directly illuminates the subject 300, was pre-set as the emission method of the light-emitting unit 206 of the light-emitting device 200, was described. In contrast, the second embodiment will describe the case where "bounce emission," which illuminates the subject 300 with light reflected from the ceiling or walls, was pre-set as the emission method of the light-emitting unit 206 of the light-emitting device 200. With "bounce emission," natural light can be uniformly illuminated over the entire subject 300. Therefore, in this case, the purpose of illumination by the light-emitting unit 206 of the light-emitting device 200 is the ceiling or walls. Note that the configuration of the imaging device 100 and the light-emitting device 200 in the second embodiment is the same as in the first embodiment, so their description will be omitted. However, the light emission necessity determination unit 205 of the light-emitting device 200 is pre-set to the above-mentioned "bounce emission." Furthermore, the control method for the imaging system 10 in the second embodiment is the same as the control method for the imaging system 10 shown in the flowchart of Figure 6 described in the first embodiment, so its explanation will be omitted.

[0036] Figure 7 is a flowchart illustrating how the light emission position determination unit 210 of the light emission device 200 determines the light emission position. The flowchart in Figure 7 is for the case where the light emission method of the light emission unit 206 is set to "bounce emission" in advance in the light emission necessity determination unit 205. Furthermore, the flowchart in Figure 7 is started when the light emission necessity determination unit 205 determines that light emission from the light emission unit 206 is necessary when the imaging device 100 takes an image. In other words, the flowchart in Figure 7 corresponds to step S604 in Figure 6. Steps S701 to S708 of the flowchart in Figure 7 are realized in the light emission device 200 by the CPU 201 reading a program stored in a ROM (not shown) into a RAM (not shown) and executing it.

[0037] In step S701, the CPU 201 of the light-emitting device 200 detects reflective objects such as ceilings and walls used for light reflection from the image data acquired by the imaging unit 202 using the light emission position determination unit 210. In step S702, the CPU 201 of the light-emitting device 200 calculates the distance conditions between the subject 300 and the light-emitting device 200 that are suitable for imaging by the imaging device 100 due to the illumination of light via the reflective objects detected in step S701, using the light emission position determination unit 210. This calculation is performed using the guide number of the light-emitting unit 206 and the shooting conditions of the imaging unit 102 of the imaging device 100. The shooting conditions of the imaging unit 102 of the imaging device 100 are, as described above, the aperture value and ISO sensitivity, and are obtained from the shooting condition information received by the communication unit 204 of the light-emitting device 200 in step S602 of Figure 6. Furthermore, if the guide number of the light-emitting unit 206 is variable, the light-emitting position determination unit 210 calculates the range of distance between the subject 300 and the light-emitting device 200.

[0038] In step S703, the CPU 201 of the light-emitting device 200 calculates the position and direction conditions of the light-emitting device 200 using the light-emitting position determination unit 210 (second calculation means). The position and direction conditions of the light-emitting device 200 are the conditions for the area (irradiable area) in which the light-emitting unit 206 can irradiate the subject 300 with reflected light. This calculation is performed using the positional relationship between the imaging device 100 and the subject 300 detected by the position information detection unit 208, as well as the positional relationship of the reflective object detected in step S701. Reflected light refers to the light emitted by the light-emitting unit 206 that is reflected by the reflective object detected in step S701. In step S704, the CPU 201 of the light-emitting device 200 calculates the conditions for the area in which the light-emitting device 200 can move using the movement area determination unit 209 (first calculation means, calculation means) (calculation step). The conditions for the movable region of the light-emitting device 200 specifically refer to the movable region 310 of the light-emitting device 200.

[0039] In step S705, the CPU 201 of the light-emitting device 200 uses the light-emitting position determination unit 210 to calculate a region that satisfies all three conditions described above. The three conditions are the distance condition between the subject 300 and the light-emitting device 200 calculated in step S702, the position and direction conditions of the light-emitting device 200 calculated in step S703, and the region in which the light-emitting device 200 can move, calculated in step S704. In step S706, the CPU 201 of the light-emitting device 200 uses the light-emitting position determination unit 210 to determine whether the region calculated in step S705 exists. If the light-emitting position determination unit 210 determines that the region calculated in step S705 exists, the process proceeds to step S707. On the other hand, if the light-emitting position determination unit 210 determines that the region calculated in step S705 does not exist, the process proceeds to step S708.

[0040] In step S707, the CPU 201 of the light-emitting device 200 determines the light emission position using the light emission position determination unit 210 (determination means) (determination step). In this process, the position within the area calculated in step S705 that corresponds to a predetermined condition set in advance in the light emission position determination unit 210 is determined as the light emission position. Therefore, in this case, the position closest to the light-emitting device 200, which is set in advance as a predetermined condition within the area calculated in step S705, is determined as the light emission position. After that, the flowchart in Figure 7 ends. Note that if the predetermined condition set in the light emission position determination unit 210 is anything other than "the position closest to the current position of the light-emitting device 200", the process in step S707 is modified according to that setting condition.

[0041] In step S708, the CPU 201 of the light-emitting device 200 determines the light emission position using the light emission position determination unit 210. In this process, the position closest to the subject 300 among the positions that satisfy the position and direction conditions of the light-emitting device 200 calculated in step S703 and the range conditions in which the light-emitting device 200 can move calculated in step S704 is determined as the light emission position. After that, the flowchart in Figure 7 ends. The light emission position determined in this way is a position in which the light-emitting part 206 of the light-emitting device 200 can irradiate the subject 300 with reflected light and is a position in which the light-emitting device 200 can move, and is the position closest to the distance conditions between the subject 300 and the light-emitting device 200 calculated in step S702. This point is the same in the third and fourth embodiments described later.

[0042] As described above, in the shooting system 10 and light-emitting device 200 according to the second embodiment, the light-emitting position to which the light-emitting device 200 moves satisfies the conditions for the area to which the light-emitting device 200 can move. Therefore, the light-emitting device 200 can be reliably moved to the light-emitting position when the imaging device 100 takes a picture. Furthermore, the light-emitting position to which the light-emitting device 200 moves satisfies the conditions for the area to which the light-emitting part 206 of the light-emitting device 200 can illuminate the subject 300 with reflected light. Therefore, when the light-emitting method of the light-emitting part 206 of the light-emitting device 200 is "bounce emission", the light-emitting device 200 that has moved to the light-emitting position can reliably illuminate the subject 300 with the light emitted by its light-emitting part 206 as reflected light.

[0043] Furthermore, in the first and second embodiments, the light-emitting position in which the light-emitting device 200 can reliably move is determined by the light-emitting device 200, as shown in the flowchart in Figure 5 or Figure 7. Therefore, communication between the light-emitting device 200 and the imaging device 100 can be omitted during the process of determining the light-emitting position. Moreover, in the light-emitting device 200, the spatial information used when determining the light-emitting position is obtained from image data acquired by the imaging unit 202 by imaging the area around the light-emitting device 200, in the position information detection unit 208 and the movement area determination unit 209. Since the spatial information of the light-emitting device 200 used when determining the light-emitting position is obtained from image data with a large amount of information, it can be obtained using Visual SLAM technology, as in the movement area determination unit 209 of the light-emitting device 200.

[0044] Although different from the first and second embodiments, the imaging device 100 may determine the light-emitting position in which the light-emitting device 200 can reliably move and notify the light-emitting device 200 of this position. In such a case, communication between the light-emitting device 200 and the imaging device 100 is used.

[0045] <Third Embodiment> The third embodiment will be described below with reference to Figures 8 to 10. Figure 8 is a diagram showing an example configuration of the imaging system 800. The imaging system 800 has a first automatic imaging device 900a and a second automatic imaging device 900b (two imaging devices). The first subject 810a is the object to be photographed by the first automatic imaging device 900a. The second subject 810b is the object to be photographed by the second automatic imaging device 900b. Hereafter, when the first automatic imaging device 900a and the second automatic imaging device 900b are referred to collectively without distinction, they will be written as "automatic imaging device 900". This point is also the same in the fourth embodiment which will be described later. Also, when the first subject 810a and the second subject 810b are referred to collectively without distinction, they will be written as "subject 810".

[0046] In the first and second embodiments, the control of a shooting system 10, which consists of an imaging device 100 and a light-emitting device 200, was described. In contrast, the third embodiment describes the control of a shooting system 800, which consists of two automatic shooting devices 900 that perform continuous automatic shooting without requiring user instructions. Hereafter, automatic shooting will be abbreviated as "shooting." This will also be the case in the fourth embodiment, which will be described later.

[0047] Figure 9 is a block diagram showing an example configuration of the automatic imaging device 900. As shown in Figure 9, the automatic imaging device 900 includes a CPU 901, an imaging unit 902, an image processing unit 903, a communication unit 904, a light emission determination unit 905, a light emission unit 906, and a drive unit 907. Furthermore, the automatic imaging device 900 includes a position information detection unit 908, a movement area determination unit 909, a light emission position determination unit 910, and a system bus 911. In the automatic imaging device 900, each component, such as the CPU 901, is connected to the system bus 911, and necessary data can be sent and received from each other via the system bus 911.

[0048] The CPU 901 controls the entire automatic shooting device 900 and executes programs stored in a ROM (not shown) to realize each process in the flowchart described later. The imaging unit 902 consists of a lens unit, an image sensor, and an A / D conversion circuit, and performs image capture processing. The imaging unit 902 allows setting of shooting conditions. These shooting conditions include aperture value and ISO sensitivity. The image processing unit 903 performs correction processing on the image data captured by the imaging unit 902. The communication unit 904 is wirelessly connected to the communication unit 904 of the other automatic shooting device 900 and communicates image data from the imaging unit 902, information on shooting conditions, information on shooting timing, and light emission information.

[0049] The light emission determination unit 905 determines whether or not light emission from the light emission unit 906 is necessary when the automatic shooting device 900 is taking a picture. The light emission determination unit 905 makes this determination by detecting the illumination conditions of the subject 810 from the image data captured by the imaging unit 902 and the shooting conditions of the imaging unit 902. In addition, the light emission determination unit 905 (first setting means) pre-sets the light emission method of the light emission unit 906 to either "direct emission" or "bounce emission". This allows the user to use either "direct emission" or "bounce emission" interchangeably.

[0050] The light-emitting unit 906 is composed of a xenon tube or LED, and emits light when the automatic shooting device 900 photographs the subject 810. The light-emitting capability of the light-emitting unit 906 is fixed or variable and is expressed by a guide number. The drive unit 907 is composed of a motor and wheels, and moves the automatic shooting device 900 toward the light-emitting position determined by the light-emitting position determination unit 910. Here, we assume and explain movement in the forward, backward, left, and right directions, but it is not limited to these, and depending on the configuration of the drive unit 907, movement in the up and down direction is also possible.

[0051] The position information detection unit 908 grasps the spatial relationship around the automatic camera 900 from the image data acquired by the imaging unit 902 as it images the area around the automatic camera 900. As a result, the position information detection unit 908 acquires spatial information of the first automatic camera 900, uses that spatial information to identify the other automatic camera 900 and the subject 810 of the other automatic camera 900, and detects the positional relationship between them and the first automatic camera 900.

[0052] The movement area determination unit 909 utilizes SLAM technology. The movement area determination unit 909 grasps the spatial area surrounding the automatic imaging device 900 from image data acquired by the imaging unit 902 when imaging the area around the automatic imaging device 900. Based on this, the movement area determination unit 909 detects the structure of the automatic imaging device 900 and its surroundings, and by detecting steps, obstacles, etc., acquires spatial information of the automatic imaging device 900. Using this spatial information, the movement area determination unit 909 determines the movable area of ​​the automatic imaging device 900. The movable area of ​​the automatic imaging device 900 is an area free from steps and obstacles, where the drive unit 907 can move the automatic imaging device 900. In other words, the movable area of ​​the automatic imaging device 900 is the same as the movable area 310 of the light-emitting device 200, as shown in the blacked-out area of ​​Figure 4 above. The movement area determination unit 909 may also utilize SLAM technology using a range scanner or depth sensor.

[0053] The light emission position determination unit 910 uses the shooting conditions of the imaging unit 902, the light emission capability of the light emission unit 906, and spatial information acquired by the position information detection unit 908 and the movement area determination unit 909 to determine a light emission position suitable for shooting by the automatic shooting device 900. Furthermore, if there are multiple light emission positions suitable for shooting by the shooting-side automatic shooting device 900, the light emission position determination unit 910 determines the position that corresponds to a predetermined condition (first predetermined condition) set in advance in the light emission position determination unit 910 as the light emission position. This allows the light emission position determination unit 910 to limit the light emission position to one. For example, if the movement time of the light emission-side automatic shooting device 900 is to be shortened, the predetermined condition is "the position closest to the light emission-side automatic shooting device 900". If the light is to be shone in front of the subject 810, the predetermined condition is "a position on the straight line connecting the shooting-side automatic shooting device 900 and the subject 810 on the shooting-side automatic shooting device 900". If you want to illuminate the subject 810 with strong light, the predetermined condition is "the position on the automatic shooting device 900 on the shooting side closest to the subject 810". If you want to illuminate the subject 810 with weak light, the predetermined condition is "the position on the automatic shooting device 900 on the shooting side furthest from the subject 810". Here, as in the first and second embodiments, it is assumed that "the position closest to the automatic shooting device 900 on the light-emitting side" is set in advance as a predetermined condition.

[0054] As described above, the first automatic imaging device 900a and the second automatic imaging device 900b have the same components but perform different operations. In the following description, the letter 'a' will be used to denote the reference numerals of each component of the first automatic imaging device 900a, and the letter 'b' will be used to denote the reference numerals of each component of the second automatic imaging device 900b. This also applies to the fourth embodiment described later.

[0055] Figure 10 is a flowchart showing the method for determining whether to perform imaging and light emission for the first automatic imaging device 900a and the second automatic imaging device 900b. In the following description, the CPU 901a of the first automatic imaging device 900a executes each process in the flowchart of Figure 10. At that time, the CPU 901a of the first automatic imaging device 900a communicates with the communication unit 904b of the second automatic imaging device 900b via the communication unit 904a as necessary. However, the CPU 901b of the second automatic imaging device 900b may also execute each process in the flowchart of Figure 10. At that time, the CPU 901b of the second automatic imaging device 900b communicates with the communication unit 904a of the first automatic imaging device 900a via the communication unit 904b as necessary. Alternatively, the CPU 901a of the first automatic imaging device 900a and the CPU 901b of the second automatic imaging device 900b may share and execute each process in the flowchart of Figure 10. In this process, the CPU 901 of one automatic camera 900 communicates with the communication unit 904 of the other automatic camera 900 via the communication unit 904 as needed.

[0056] The flowchart in Figure 10 is initiated in the first automatic imaging device 900a when, for example, a switch (not shown) is pressed by the user. Steps S1001 to S1011 of the flowchart in Figure 10 are realized by the CPU 901a of the first automatic imaging device 900a reading a program stored in a ROM (not shown) into a RAM (not shown) and executing it. In step S1001, the CPU 901a of the first automatic imaging device 900a determines whether the first automatic imaging device 900a is in a ready state for shooting. If the CPU 901a of the first automatic imaging device 900a determines that the first automatic imaging device 900a is in a ready state for shooting, the process proceeds to step S1002. On the other hand, if the CPU 901a of the first automatic imaging device 900a determines that the first automatic imaging device 900a is not in a ready state for shooting, the process proceeds to step S1007.

[0057] In step S1002, the CPU 901a of the first automatic imaging device 900a determines whether light emission is necessary for imaging by the first automatic imaging device 900a. This determination is made based on the determination of the light emission necessity determination unit 905a of the first automatic imaging device 900a. If the CPU 901a of the first automatic imaging device 900a determines that light emission is not necessary for imaging by the first automatic imaging device 900a, the process proceeds to step S1003. On the other hand, if the CPU 901a of the first automatic imaging device 900a determines that light emission is necessary for imaging by the first automatic imaging device 900a, the process proceeds to step S1004.

[0058] In step S1003, the CPU 901a of the first automatic imaging device 900a decides that the first automatic imaging device 900a will take a picture without flashing. After that, the flowchart in Figure 10 ends. In step S1004, the CPU 901a of the first automatic imaging device 900a determines whether the second automatic imaging device 900b is ready to take a picture. If the CPU 901a of the first automatic imaging device 900a determines that the second automatic imaging device 900b is not ready to take a picture, the process proceeds to step S1005. On the other hand, if the CPU 901a of the first automatic imaging device 900a determines that the second automatic imaging device 900b is ready to take a picture, the process proceeds to step S1006.

[0059] In step S1005, the CPU 901a of the first automatic imaging device 900a decides that the second automatic imaging device 900b should emit light when the first automatic imaging device 900a is taking a picture. The flowchart in Figure 10 then ends. In step S1006, the CPU 901a of the first automatic imaging device 900a decides that the first automatic imaging device 900a should emit light when the first automatic imaging device 900a is taking a picture, and the second automatic imaging device 900b should emit light when the second automatic imaging device 900b is taking a picture. As a result, the first automatic imaging device 900a and the second automatic imaging device 900b can each take a picture and emit light simultaneously, individually. The flowchart in Figure 10 then ends.

[0060] In step S1007, the CPU 901a of the first automatic imaging device 900a determines whether the second automatic imaging device 900b is ready for imaging. If the CPU 901a of the first automatic imaging device 900a determines that the second automatic imaging device 900b is not ready for imaging, the process returns to step S1001. On the other hand, if the CPU 901a of the first automatic imaging device 900a determines that the second automatic imaging device 900b is ready for imaging, the process proceeds to step S1008.

[0061] In step S1008, the CPU 901a of the first automatic imaging device 900a determines whether light emission is necessary for imaging by the second automatic imaging device 900b. This determination is made based on the determination of the light emission necessity determination unit 905b of the second automatic imaging device 900b. If the CPU 901a of the first automatic imaging device 900a determines that light emission is necessary for imaging by the second automatic imaging device 900b, the process proceeds to step S1009. On the other hand, if the CPU 901a of the first automatic imaging device 900a determines that light emission is not necessary for imaging by the second automatic imaging device 900b, the process proceeds to step S1011.

[0062] In step S1009, the CPU 901a of the first automatic imaging device 900a determines whether the first automatic imaging device 900a is in a state ready for imaging. If the CPU 901a of the first automatic imaging device 900a determines that the first automatic imaging device 900a is in a state ready for imaging, the process proceeds to step S1006 described above. On the other hand, if the CPU 901a of the first automatic imaging device 900a determines that the first automatic imaging device 900a is not in a state ready for imaging, the process proceeds to step S1010.

[0063] In step S1010, the CPU 901a of the first automatic imaging device 900a decides that the first automatic imaging device 900a should emit light when the second automatic imaging device 900b takes an image. After that, the flowchart in Figure 10 ends. In step S1011, the CPU 901a of the first automatic imaging device 900a decides that the second automatic imaging device 900b will take an image without emitting light. After that, the flowchart in Figure 10 ends.

[0064] Furthermore, when the first automatic imaging device 900a on the imaging side is taking a picture and the second automatic imaging device 900b on the light-emitting side is also taking a picture, the CPU 901b of the second automatic imaging device 900b on the light-emitting side determines the light emission position according to the flowchart described in Figure 5 or Figure 7. The CPU 901b of the second automatic imaging device 900b on the light-emitting side moves the second automatic imaging device 900b on the light-emitting side to the determined light emission position using the drive unit 907b (moving means), and causes the light-emitting unit 906b (light-emitting means) to emit light when the first automatic imaging device 900a on the imaging side is taking a picture. Conversely, when the first automatic imaging device 900a on the light-emitting side is also taking a picture and the second automatic imaging device 900b on the imaging side is also taking a picture, the CPU 901a of the first automatic imaging device 900a on the light-emitting side determines the light emission position according to the flowchart described in Figure 5 or Figure 7. The CPU 901a of the first automatic imaging device 900a on the light-emitting side moves the first automatic imaging device 900a on the light-emitting side to the determined light-emitting position using the drive unit 907a (moving means), and causes the light-emitting unit 906a (light-emitting means) to emit light when the second automatic imaging device 900b on the imaging side takes a picture.

[0065] Furthermore, when the first automatic camera 900a emits light during imaging, the CPU 901a of the first automatic camera 900a determines the light emission position according to the flowchart described in Figure 5 or Figure 7. The CPU 901a of the first automatic camera 900a moves the first automatic camera 900a to the determined light emission position using the drive unit 907a, and causes the light emission unit 906a to emit light when the first automatic camera 900a is imaging. In contrast, when the second automatic camera 900b emits light during imaging, the CPU 901b of the second automatic camera 900b determines the light emission position according to the flowchart described in Figure 5 or Figure 7. The CPU 901b of the second automatic camera 900b moves the second automatic camera 900b to the determined light emission position using the drive unit 907b, and causes the light emission unit 906b to emit light when the second automatic camera 900b is imaging.

[0066] In either case, the usage of the flowcharts described in Figure 5 or Figure 7 is as follows: When the emission method of the light-emitting unit 906 is pre-set to "direct emission" in the emission necessity determination unit 905, the emission position is determined according to the flowchart described in Figure 5. On the other hand, when the emission method of the light-emitting unit 906 is pre-set to "bounce emission" in the emission necessity determination unit 905, the emission position is determined according to the flowchart described in Figure 7.

[0067] Furthermore, if light emission is not required for the automatic camera 900 to take an image, the determination of the light emission position according to the flowcharts described in Figures 5 and 7 is not performed. In addition, the automatic camera 900 is not moved to the light emission position by the drive unit 907 and the light emission unit 906 is not activated. Therefore, each process that is unnecessary when light emission is not required for the automatic camera 900 to take an image is omitted.

[0068] Furthermore, if an event occurs in step S1001 or later that could cause a change in the light emission position suitable for the shooting of the automatic shooting device 900, the CPU 901 of the automatic shooting device 900 may interrupt control and return to step S1001 to resume control. Such events include a change in the subject 810 of the automatic shooting device 900, movement of the subject 810 of the automatic shooting device 900, movement of the automatic shooting device 900, and a change in the illumination conditions of the subject 810 of the automatic shooting device 900. In addition, a change in the shooting range of the imaging unit 902 of the automatic shooting device 900 is also an event that could cause a change in the light emission position suitable for the shooting of the automatic shooting device 900. As a result, the light emission position is determined according to the event that occurred.

[0069] Furthermore, the automatic camera 900 on the shooting side may take a picture before or while the automatic camera 900 on the flashing side begins moving to the flashing position. This ensures that the photo opportunity is not missed. In such cases, the automatic camera 900 on the shooting side may take another picture after the automatic camera 900 on the flashing side has finished moving to the flashing position.

[0070] As explained above, in the shooting system 800 and automatic shooting device 900 according to the third embodiment, the light emission position, which is the destination of the light-emitting automatic shooting device 900, satisfies the conditions for the area in which the light-emitting automatic shooting device 900 can move, as shown in the flowchart of Figure 5 or Figure 7. Therefore, when the shooting-side automatic shooting device 900 takes a picture, the light-emitting automatic shooting device 900 can be reliably moved to the light emission position. Furthermore, the light emission position, which is the destination of the light-emitting automatic shooting device 900, satisfies the conditions for the area in which the light-emitting unit 906 of the light-emitting automatic shooting device 900 can irradiate the subject 810 with light, as shown in the flowchart of Figure 5 or Figure 7. Therefore, the light-emitting automatic shooting device 900, once moved to the light emission position, can reliably irradiate the subject 810 with light emitted from its light-emitting unit 906. In addition, in the shooting system 800 and automatic shooting device 900 according to the third embodiment, when the illumination conditions of the subject 810 are insufficient for shooting by the shooting-side automatic shooting device 900, a light emission position suitable for shooting by the shooting-side automatic shooting device 900 is determined. Furthermore, the automatic camera 900 on the light-emitting side, which has moved to the light-emitting position, can illuminate the subject 810 with light at the timing of the automatic camera 900 on the shooting side.

[0071] In the third embodiment, the light emission determination unit 905 (second setting means) may pre-set whether the light emission automatic camera 900 will emit light when the shooting-side automatic camera 900 takes a picture while the light emission-side automatic camera 900 is moving. If the light emission-side automatic camera 900 is pre-set to emit light, for example, if the shooting-side automatic camera 900 takes a picture of the subject 810 at a shutter opportunity that occurs while the light emission-side automatic camera 900 is moving, it will be able to compensate for as much light as possible at that time. This point is also the same in the fourth embodiment which will be described later.

[0072] <Fourth Embodiment> The fourth embodiment will now be described with reference to Figures 11 and 12. Figure 11 is a diagram showing an example configuration of the shooting system 1100. The shooting system 1100 includes a first automatic shooting device 900a and a second automatic shooting device 900b. The subject 1110 is the target of the first automatic shooting device 900a and the second automatic shooting device 900b. In the third embodiment, the control when the first automatic shooting device 900a photographs a first subject 810a and the second automatic shooting device 900b photographs a second subject 810b different from the first subject 810a was described. In contrast, in the fourth embodiment, the control when the first automatic shooting device 900a and the second automatic shooting device 900b photograph the same subject 1110 will be described.

[0073] The components of the first automatic photographing device 900a and the second automatic photographing device 900b in the fourth embodiment are the same as those in the third embodiment, so their description will be omitted. However, the light emission position determination unit 910 of the automatic photographing device 900 is pre-set with conditions for taking good photographs (second predetermined conditions). For example, if you want to photograph the subject 1110 larger, the condition for taking a good photograph is that "the distance between the automatic photographing device 900 and the subject 1110 is close". Also, if you want to take a photograph with high resolution, the condition for taking a good photograph is that "the image sensor of the imaging unit 902 has a large number of pixels". Also, if you want to reduce the size of the image to be saved, the condition for taking a good photograph is that "the image sensor of the imaging unit 902 has a small number of pixels". Also, if you want to take a photograph with less noise, the condition for taking a good photograph is that "the area per pixel of the image sensor of the imaging unit 902 is large". Here, we will explain using the example where "the distance between the automatic camera 900 and the subject 1110 is close" is pre-set as a condition for taking a good photograph. If the conditions for taking a good photograph are pre-set in both the light emission position determination unit 910a of the first automatic camera 900a and the light emission position determination unit 910b of the second automatic camera 900b, the setting condition that takes precedence in the default settings will be used.

[0074] Figure 12 is a flowchart showing the method for determining whether to perform imaging and light emission for the first automatic imaging device 900a and the second automatic imaging device 900b. In the following description, the CPU 901a (distribution means) of the first automatic imaging device 900a executes each process in the flowchart of Figure 12. At that time, the CPU 901a of the first automatic imaging device 900a communicates with the communication unit 904b of the second automatic imaging device 900b via the communication unit 904a as necessary. However, the CPU 901b (distribution means) of the second automatic imaging device 900b may also execute each process in the flowchart of Figure 12. At that time, the CPU 901b of the second automatic imaging device 900b communicates with the communication unit 904a of the first automatic imaging device 900a via the communication unit 904b as necessary. Alternatively, the CPU 901a (distribution means) of the first automatic imaging device 900a and the CPU 901b (distribution means) of the second automatic imaging device 900b may share and execute each process in the flowchart of Figure 12. In this case, the CPU 901 of one automatic imaging device 900 may communicate with the communication unit 904 of the other automatic imaging device 900 via the communication unit 904 as needed.

[0075] The flowchart in Figure 12 is initiated in the first automatic imaging device 900a, for example, when a switch (not shown) is pressed by the user. Steps S1201 to S1211 of the flowchart in Figure 12 are realized in the first automatic imaging device 900a by the CPU 901a reading a program stored in a ROM (not shown) into a RAM (not shown) and executing it.

[0076] In step S1201, the CPU 901a of the first automatic imaging device 900a determines whether the first automatic imaging device 900a is in a state ready for imaging. If the CPU 901a of the first automatic imaging device 900a determines that the first automatic imaging device 900a is in a state ready for imaging, the process proceeds to step S1202. On the other hand, if the CPU 901a of the first automatic imaging device 900a determines that the first automatic imaging device 900a is not in a state ready for imaging, the process proceeds to step S1208.

[0077] In step S1202, the CPU 901a of the first automatic imaging device 900a determines whether light emission is necessary for imaging by the first automatic imaging device 900a. This determination is made based on the determination of the light emission necessity determination unit 905a of the first automatic imaging device 900a. If the CPU 901a of the first automatic imaging device 900a determines that light emission is not necessary for imaging by the first automatic imaging device 900a, the process proceeds to step S1203. On the other hand, if the CPU 901a of the first automatic imaging device 900a determines that light emission is necessary for imaging by the first automatic imaging device 900a, the process proceeds to step S1204. In step S1203, the CPU 901a of the first automatic imaging device 900a decides that the first automatic imaging device 900a will take images without light emission. After that, the flowchart in Figure 12 ends.

[0078] In step S1204, the CPU 901a of the first automatic imaging device 900a determines whether the second automatic imaging device 900b is ready for shooting. If the CPU 901a of the first automatic imaging device 900a determines that the second automatic imaging device 900b is not ready for shooting, the process proceeds to step S1205. On the other hand, if the CPU 901a of the first automatic imaging device 900a determines that the second automatic imaging device 900b is ready for shooting, the process proceeds to step S1206. In step S1205, the CPU 901a of the first automatic imaging device 900a determines that the second automatic imaging device 900b will emit light when the first automatic imaging device 900a takes a picture. After that, the flowchart in Figure 12 ends.

[0079] In step S1206, the CPU 901a of the first automatic camera 900a determines whether the first automatic camera 900a is closer to the subject 1110 than the second automatic camera 900b. If the CPU 901a of the first automatic camera 900a determines that the first automatic camera 900a is closer to the subject 1110 than the second automatic camera 900b, the process proceeds to step S1205 described above. On the other hand, if the CPU 901a of the first automatic camera 900a determines that the first automatic camera 900a is not closer to the subject 1110 than the second automatic camera 900b, the process proceeds to step S1207. Furthermore, if the conditions for taking a good photograph set in the light emission position determination unit 910 are conditions other than "the distance between the automatic camera 900 and the subject 1110 is short", the CPU 901a of the first automatic camera 900a modifies the process in step S1206 according to those conditions. In step S1207, the CPU 901a of the first automatic imaging device 900a decides to emit light when the second automatic imaging device 900b takes an image. After that, the flowchart in Figure 12 ends.

[0080] In step S1208, the CPU 901a of the first automatic imaging device 900a determines whether the second automatic imaging device 900b is ready for imaging. If the CPU 901a of the first automatic imaging device 900a determines that the second automatic imaging device 900b is not ready for imaging, the process returns to step S1201. On the other hand, if the CPU 901a of the first automatic imaging device 900a determines that the second automatic imaging device 900b is ready for imaging, the process proceeds to step S1209.

[0081] In step S1209, the CPU 901a of the first automatic imaging device 900a determines whether light emission is necessary for imaging by the second automatic imaging device 900b. This determination is made based on the determination of the light emission necessity determination unit 905b of the second automatic imaging device 900b. If the CPU 901a of the first automatic imaging device 900a determines that light emission is necessary for imaging by the second automatic imaging device 900b, the process proceeds to step S1210. On the other hand, if the CPU 901a of the first automatic imaging device 900a determines that light emission is not necessary for imaging by the second automatic imaging device 900b, the process proceeds to step S1211.

[0082] In step S1210, the CPU 901a of the first automatic imaging device 900a determines whether the first automatic imaging device 900a is ready to take a picture. If the CPU 901a of the first automatic imaging device 900a determines that the first automatic imaging device 900a is ready to take a picture, the process proceeds to step S1206 described above. On the other hand, if the CPU 901a of the first automatic imaging device 900a determines that the first automatic imaging device 900a is not ready to take a picture, the process proceeds to step S1207 described above. In step S1211, the CPU 901a of the first automatic imaging device 900a decides that the second automatic imaging device 900b will take a picture without flashing. After that, the flowchart in Figure 12 ends.

[0083] Furthermore, when the first automatic imaging device 900a on the imaging side is taking a picture and the second automatic imaging device 900b on the light-emitting side is also taking a picture, the CPU 901b of the second automatic imaging device 900b on the light-emitting side determines the light emission position according to the flowchart described in Figure 5 or Figure 7. The CPU 901b of the second automatic imaging device 900b on the light-emitting side moves the second automatic imaging device 900b on the light-emitting side to the determined light emission position using the drive unit 907b (moving means), and causes the light-emitting unit 906b (light-emitting means) to emit light when the first automatic imaging device 900a on the imaging side is taking a picture. Conversely, when the first automatic imaging device 900a on the light-emitting side is also taking a picture and the second automatic imaging device 900b on the imaging side is also taking a picture, the CPU 901a of the first automatic imaging device 900a on the light-emitting side determines the light emission position according to the flowchart described in Figure 5 or Figure 7. The CPU 901a of the first automatic imaging device 900a on the light-emitting side moves the first automatic imaging device 900a on the light-emitting side to the determined light-emitting position using the drive unit 907a (moving means), and causes the light-emitting unit 906a (light-emitting means) to emit light when the second automatic imaging device 900b on the imaging side takes a picture.

[0084] In either case, the usage of the flowcharts described in Figure 5 or Figure 7 is as follows: When the emission method of the light-emitting unit 906 is pre-set to "direct emission" in the emission necessity determination unit 905, the emission position is determined according to the flowchart described in Figure 5. On the other hand, when the emission method of the light-emitting unit 906 is pre-set to "bounce emission" in the emission necessity determination unit 905, the emission position is determined according to the flowchart described in Figure 7.

[0085] Furthermore, if light emission is not required for the automatic camera 900 to take an image, the determination of the light emission position according to the flowcharts described in Figures 5 and 7 is not performed. In addition, the automatic camera 900 is not moved to the light emission position by the drive unit 907 and the light emission unit 906 is not activated. Therefore, each process that is unnecessary when light emission is not required for the automatic camera 900 to take an image is omitted.

[0086] Furthermore, if an event occurs in step S1201 or later that could cause a change in the light emission position suitable for the shooting of the automatic shooting device 900 on the shooting side, the CPU 901 of the automatic shooting device 900 may interrupt control and return to step S1201 to resume control. Such events include a change in the subject 1110, a movement of the subject 1110, a movement of the automatic shooting device 900 on the shooting side, a change in the illumination conditions of the subject 1110, or a change in the shooting range of the imaging unit 902 of the automatic shooting device 900 on the shooting side. This determines the light emission position according to the event that occurred.

[0087] Furthermore, the automatic camera 900 on the shooting side may take a picture before or while the automatic camera 900 on the flashing side begins moving to the flashing position. This ensures that the photo opportunity is not missed. In such cases, the automatic camera 900 on the shooting side may take another picture after the automatic camera 900 on the flashing side has finished moving to the flashing position.

[0088] As explained above, in the shooting system 1100 and automatic shooting device 900 according to the fourth embodiment, the light emission position, which is the destination of the light-emitting automatic shooting device 900, satisfies the conditions for the area in which the light-emitting automatic shooting device 900 can move, as shown in the flowchart of Figure 5 or Figure 7. Therefore, when the shooting-side automatic shooting device 900 takes a picture, the light-emitting automatic shooting device 900 can reliably move to the light emission position. Furthermore, the light emission position, which is the destination of the light-emitting automatic shooting device 900, satisfies the conditions for the area in which the light-emitting unit 906 of the light-emitting automatic shooting device 900 can irradiate the subject 1110 with light, as shown in the flowchart of Figure 5 or Figure 7. Therefore, the light-emitting automatic shooting device 900, once moved to the light emission position, can reliably irradiate the subject 1110 with light emitted from its light-emitting unit 906. In addition, in the shooting system 1100 and automatic shooting device 900 according to the fourth embodiment, when the illumination conditions of the subject 1110 are insufficient for shooting by the shooting-side automatic shooting device 900, a light emission position suitable for shooting by the shooting-side automatic shooting device 900 is determined. Furthermore, the automatic camera 900 on the light-emitting side, which has moved to the light-emitting position, can illuminate the subject 1110 with light at the timing of the automatic camera 900 on the shooting side.

[0089] Furthermore, in the shooting system 1100 and automatic shooting device 900 according to the fourth embodiment, the two automatic shooting devices 900 are compared using conditions for taking good photographs that are pre-set in the light emission position determination unit 910. As a result, of the two automatic shooting devices 900, the one that meets the conditions for taking good photographs takes on the shooting side, and the one that does not meet the conditions for taking good photographs takes on the light emission side, thus enabling the capture of good photographs.

[0090] Furthermore, in the third and fourth embodiments, the light-emitting position in which the light-emitting automatic imaging device 900 can reliably move is determined by the light-emitting automatic imaging device 900, as shown in the flowchart of Figure 5 or Figure 7. Therefore, communication between the light-emitting automatic imaging device 900 and the imaging automatic imaging device 900 can be omitted during the process of determining the light-emitting position. Moreover, in the light-emitting automatic imaging device 900, the spatial information used when determining the light-emitting position is obtained from image data acquired by the imaging unit 902 by imaging the area around the light-emitting automatic imaging device 900, in the position information detection unit 908 and the movement area determination unit 909. Since the spatial information of the light-emitting automatic imaging device 900 used when determining the light-emitting position is obtained from image data with a large amount of information, it can be obtained using Visual SLAM technology, as in the movement area determination unit 909 of the light-emitting automatic imaging device 900.

[0091] Although different from the third and fourth embodiments, the automatic imaging device 900 on the imaging side may determine the light-emitting position that the light-emitting automatic imaging device 900 can reliably move to, and notify the light-emitting automatic imaging device 900 of this position. In such a case, communication between the light-emitting automatic imaging device 900 and the automatic imaging device 900 on the imaging side is utilized.

[0092] Each embodiment of the disclosure includes the following configurations, methods, and programs. (Configuration 1) A shooting system comprising an imaging device for photographing a subject and a light-emitting device capable of communicating with the imaging device, A first calculation means calculates a movable region, which is the region in which the light-emitting device can move, using spatial information relating to the surroundings of the light-emitting device. A determination means for determining the position of the light-emitting device from within the movable region, such that the light emitted by the light-emitting device is suitable for imaging by the imaging device, as the light-emitting position, A moving means provided in the light-emitting device for moving the light-emitting device toward the light-emitting position, A shooting system characterized by comprising a light-emitting means provided in the light-emitting device, which causes the light-emitting device located at the light-emitting position to emit light at the timing of the imaging device's shooting. (Configuration 2) The system includes a second calculation means for calculating the irradiable region, which is the region in which the light emitted by the light-emitting device can irradiate for the purpose of irradiation, using spatial information relating to the surroundings of the light-emitting device. The imaging system according to configuration 1, characterized in that the determination means determines the light emission position from among the regions belonging to the movable region and the irradiable region. (Configuration 3) The imaging system according to Configuration 2, characterized in that the light-emitting device comprises the first calculation means, the determination means, and the second calculation means. (Configuration 4) The imaging system according to any one of Configurations 1 to 3, characterized in that, when there are multiple positions that can be determined as the light emission position, the determination means determines the position that meets the first predetermined condition as the light emission position. (Configuration 5) The imaging system according to Configuration 4, characterized in that the first predetermined condition is the position closest to the light-emitting device. (Configuration 6) The imaging system according to Configuration 4, characterized in that the first predetermined condition is a position on a straight line connecting the imaging device and the subject. (Configuration 7) The shooting system according to Configuration 4, characterized in that the first predetermined condition is the position closest to the subject. (Configuration 8) The shooting system according to Configuration 4, characterized in that the first predetermined condition is the position furthest from the subject. (Configuration 9) The imaging system according to any one of Configurations 1 to 8, characterized in that, if there is no position of the light-emitting device in which the light emitted by the light-emitting device is suitable for imaging by the imaging device, the determination means determines the position closest to the subject among the positions in which the light-emitting device can move and in which the light emitted by the light-emitting device can illuminate for the purpose of illumination as the light-emitting position. (Configuration 10) The imaging system according to any one of Configurations 1 to 9, characterized in that the determination means re-determines the light emission position when at least one of the following occurs: a change in the illumination conditions of the subject, a change in the shooting range of the imaging device, a change in the subject, a movement of the subject, and a movement of the imaging device. (Configuration 11) The imaging system according to any one of Configurations 1 to 10, characterized by comprising a first setting means for setting the light emitted by the light-emitting device to direct emission or bounce emission. (Configuration 12) The imaging system according to any one of Configurations 1 to 11, further comprising a second setting means for setting whether or not the light-emitting device emits light at the timing of the imaging device taking a picture when the imaging device is taking a picture while the light-emitting device is moving toward the light-emitting position. (Configuration 13) The configuration includes a determination means for determining whether or not light emission from the light-emitting device is necessary based on the image data acquired by the imaging device and the illumination conditions of the subject detected based on the shooting conditions of the imaging device, The imaging system according to any one of configurations 1 to 12, characterized in that when the emission of light by the light-emitting device is not required, the first calculation means, the determination means, the movement means, and the light-emitting means are not performed, and the imaging device is used to take photographs. (Configuration 14) A light-emitting device capable of communicating with an imaging device that photographs a subject, A calculation means for calculating a movable region, which is the region in which the light-emitting device can move, using spatial information relating to the surroundings of the light-emitting device, A determination means for determining the position of the light-emitting device from within the movable region, such that the light emitted by the light-emitting device is suitable for imaging by the imaging device, as the light-emitting position, A moving means for moving the light-emitting device toward the aforementioned light-emitting position, A light-emitting device characterized by comprising a light-emitting means that causes the light-emitting device located at the light-emitting position to emit light at the timing of the imaging device's shooting. (Configuration 15) A shooting system having two imaging devices that are capable of automatically photographing a subject and communicating with each other, and which are responsible for either the shooting side or the light-emitting side, A first calculation means calculates a movable region, which is the region in which the light-emitting imaging device can move, using spatial information relating to the surroundings of the light-emitting imaging device, A determination means for determining the position of the light-emitting imaging device from within the movable region, such that the light emitted from the light-emitting imaging device matches the light captured by the imaging device on the shooting side, as the light emission position, A moving means is provided in the light-emitting imaging device and moves the light-emitting imaging device toward the light-emitting position, A shooting system characterized by comprising a light-emitting means provided in the light-emitting side imaging device, which causes the light-emitting side imaging device located at the light-emitting position to emit light at the timing of automatic shooting by the shooting side imaging device. (Configuration 16) The system includes a second calculation means for calculating an irradiable region, which is a region that can be irradiated for the purpose of irradiation by the light emitted by the imaging device on the light-emitting side, using spatial information relating to the surroundings of the imaging device on the light-emitting side. The imaging system according to configuration 15, characterized in that the determination means determines the light emission position from among the regions belonging to the movable region and the irradiable region. (Configuration 17) The imaging system according to Configuration 16, characterized in that the light-emitting imaging device comprises the first calculation means, the determination means, and the second calculation means. (Configuration 18) The imaging system according to any one of Configurations 15 to 17, characterized in that, when there are multiple positions that can be determined as the light emission position, the determination means determines the position that meets the first predetermined condition as the light emission position. (Configuration 19) The imaging system according to Configuration 18, characterized in that the first predetermined condition is the position closest to the imaging device on the light-emitting side. (Configuration 20) The imaging system according to Configuration 18, characterized in that the first predetermined condition is a position on a straight line connecting the imaging device on the imaging side and the subject of the imaging device on the imaging side. (Configuration 21) The imaging system according to Configuration 18, characterized in that the first predetermined condition is the position closest to the subject of the imaging device on the imaging side. (Configuration 22) The imaging system according to Configuration 18, characterized in that the first predetermined condition is the position furthest from the subject of the imaging device on the imaging side. (Configuration 23) The imaging system according to any one of Configurations 15 to 22, characterized in that, if there is no position for the light-emitting imaging device where the light emitted by the light-emitting imaging device is suitable for imaging by the imaging device on the shooting side, the determination means determines the position closest to the subject of the imaging device on the shooting side, among positions to which the light-emitting imaging device can move and in which the light emitted by the light-emitting imaging device can illuminate for the purpose of illumination, as the light-emitting position. (Configuration 24) The imaging system according to any one of Configurations 15 to 23, characterized in that the determination means performs the determination of the light emission position again when at least one of the following occurs: a change in the illumination conditions of the subject of the imaging device on the imaging side, a change in the shooting range of the imaging device on the imaging side, a change in the subject of the imaging device on the imaging side, a movement of the subject of the imaging device on the imaging side, and a movement of the imaging device on the imaging side. (Configuration 25) The imaging system according to any one of Configurations 15 to 24, characterized by comprising a first setting means for setting the light emitted by the light-emitting imaging device to direct emission or bounce emission. (Configuration 26) The imaging system according to any one of Configurations 15 to 25, further comprising a second setting means for setting whether or not the light-emitting imaging device emits light at the timing of automatic shooting by the shooting-side imaging device when automatic shooting is performed by the shooting-side imaging device while the light-emitting imaging device is moving toward the light-emitting position. (Configuration 27) The configuration includes a determination means for determining whether or not light emission from the light-emitting imaging device is necessary based on the image data acquired by the imaging device on the shooting side and the illumination conditions of the subject of the imaging device on the shooting side, which are detected based on the imaging conditions of the imaging device on the shooting side, The imaging system according to any one of configurations 15 to 26, characterized in that when the light-emitting imaging device does not require light emission, the first calculation means, the determination means, the movement means, and the light-emitting means are not performed, and the imaging device on the shooting side performs automatic shooting. (Configuration 28) The imaging system according to any one of claims 15 to 27, characterized in that the two imaging devices are each responsible for the imaging side and the light-emitting side. (Configuration 29) When the subject of the two imaging devices is the same, the configuration includes a distribution means that distributes the two imaging devices to either the shooting side or the light-emitting side. The imaging system according to any one of the configurations 15 to 27, characterized in that the distribution means assigns the imaging device that meets the second predetermined condition to handle the imaging side, and the imaging device that does not meet the second predetermined condition to handle the light-emitting side. (Configuration 30) The imaging system according to Configuration 29, characterized in that the second predetermined condition is the imaging device closer to the subject. (Configuration 31) Each of the two imaging devices comprises an imaging unit having an image sensor for taking pictures of the subject, The imaging system according to configuration 29, characterized in that the second predetermined condition is an imaging device with a larger number of pixels in the image sensor of the imaging unit. (Configuration 32) Each of the two imaging devices comprises an imaging unit having an image sensor for taking pictures of the subject, The imaging system according to configuration 29, characterized in that the second predetermined condition is an imaging device with a smaller number of pixels in the image sensor of the imaging unit. (Configuration 33) Each of the two imaging devices comprises an imaging unit having an image sensor for taking pictures of the subject, The imaging system according to configuration 29, characterized in that the second predetermined condition is an imaging device in which the area per pixel of the image sensor of the imaging unit is larger. (Configuration 34) The imaging system according to any one of Configurations 15 to 33, characterized in that the imaging device on the shooting side performs automatic shooting before or while the imaging device on the light-emitting side is moving toward the light-emitting position. (Configuration 35) A shooting system having two imaging devices that are capable of automatically photographing a subject and communicating with each other, and which are responsible for either the shooting side or the light-emitting side, A shooting system characterized in that the imaging device on the shooting side emits light at the timing of automatic shooting by the imaging device on the shooting side. (Method 1) A method for controlling a shooting system having an imaging device for photographing a subject and a light-emitting device capable of communicating with the imaging device, A calculation step of calculating a movable region, which is the region in which the light-emitting device can move, using spatial information relating to the surroundings of the light-emitting device, A determination step of determining the position of the light-emitting device from within the movable area, such that the light emitted by the light-emitting device is suitable for imaging by the imaging device, A moving step is provided for the light-emitting device and for moving the light-emitting device toward the light-emitting position, A method for controlling an imaging system, characterized by comprising a light emission step, which is provided in the light emission device and causes the light emission device located at the light emission position to emit light at the timing of the imaging device's shooting. (Method 2) A method for controlling a light-emitting device that can communicate with an imaging device that photographs a subject, A calculation step of calculating a movable region, which is the region in which the light-emitting device can move, using spatial information relating to the surroundings of the light-emitting device, A determination step of determining the position of the light-emitting device from within the movable area, such that the light emitted by the light-emitting device is suitable for imaging by the imaging device, A moving step of moving the light-emitting device toward the light-emitting position, A method for controlling a light-emitting device, characterized by comprising a light-emitting step of causing the light-emitting device located at the light-emitting position to emit light at the timing of the imaging device taking a picture. (Program 1) A program for causing a computer to execute each of the means of the imaging system described in any one of the configurations 1 to 13. (Program 2) A program that causes a computer to execute each of the means of the light-emitting device described in Configuration 14.

[0093] Although preferred embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above, and various modifications and changes are possible within the scope of its gist. The present invention can also be realized by supplying a program that implements one or more of the functions of the above embodiments to a system or device via a network or storage medium, and by having one or more processors in the computer of that system or device read and execute the program. Furthermore, the present invention can also be realized by a circuit (e.g., an ASIC) that implements one or more functions. [Explanation of Symbols]

[0094] 10. Shooting System 100 Imaging device 200 Light-emitting devices 206 Light-emitting section (light-emitting means) 207 Drive unit (means of movement) 209 Movement area determination unit (first calculation means) 210 Light emission position determination unit (determination means) 300 subjects 310 Movable area

Claims

1. A photographic system comprising an imaging device for photographing a subject, and a light-emitting device capable of communicating with the imaging device, A first calculation means calculates a movable region, which is the region in which the light-emitting device can move, using spatial information relating to the surroundings of the light-emitting device. A determination means for determining the position of the light-emitting device from within the movable region, such that the light emitted by the light-emitting device is suitable for imaging by the imaging device, as the light-emitting position, A moving means provided in the light-emitting device for moving the light-emitting device toward the light-emitting position, A shooting system characterized by comprising a light-emitting means provided in the light-emitting device, which causes the light-emitting device located at the light-emitting position to emit light at the timing of the imaging device's shooting.

2. The system includes a second calculation means for calculating the irradiable region, which is the region in which the light emitted by the light-emitting device can irradiate for the purpose of irradiation, using spatial information relating to the surroundings of the light-emitting device. The imaging system according to claim 1, characterized in that the determination means determines the light emission position from among the regions belonging to the movable region and the irradiable region.

3. The imaging system according to claim 2, characterized in that the light-emitting device comprises the first calculation means, the determination means, and the second calculation means.

4. The imaging system according to any one of claims 1 to 3, characterized in that, when there are multiple positions that can be determined as the light emission position, the determination means determines the position that meets the first predetermined condition as the light emission position.

5. The imaging system according to claim 4, characterized in that the first predetermined condition is the position closest to the light-emitting device.

6. The imaging system according to claim 4, characterized in that the first predetermined condition is a position on a straight line connecting the imaging device and the subject.

7. The shooting system according to claim 4, characterized in that the first predetermined condition is the position closest to the subject.

8. The shooting system according to claim 4, characterized in that the first predetermined condition is the position furthest from the subject.

9. The imaging system according to claim 2, characterized in that, if there is no position of the light-emitting device in which the light emitted by the light-emitting device is suitable for imaging by the imaging device, the determination means determines the position closest to the subject among the positions in which the light-emitting device can move and in which the light emitted by the light-emitting device can illuminate for the purpose of illumination as the light-emitting position.

10. The imaging system according to claim 1, characterized in that the determination means performs the determination of the light emission position again if at least one of the following occurs: a change in the illumination conditions of the subject, a change in the shooting range of the imaging device, a change in the subject, a movement of the subject, and a movement of the imaging device.

11. The imaging system according to claim 1, further comprising a first setting means for setting the light emitted by the light-emitting device to direct emission or bounce emission.

12. The imaging system according to claim 1, further comprising a second setting means for setting whether or not the light-emitting device emits light at the timing of the imaging device's shooting, when the imaging device is shooting while the light-emitting device is moving toward the light-emitting position.

13. The system includes a determination means for determining whether or not light emission from the light-emitting device is necessary based on the image data acquired by the imaging device and the illumination conditions of the subject detected based on the shooting conditions of the imaging device. The imaging system according to claim 1, characterized in that when the emission of light from the light-emitting device is not required, the first calculation means, the determination means, the movement means, and the light-emitting means are not performed, and the imaging device is used to take photographs.

14. A light-emitting device capable of communicating with an imaging device that photographs a subject, A calculation means for calculating a movable region, which is the region in which the light-emitting device can move, using spatial information relating to the surroundings of the light-emitting device, A determination means for determining the position of the light-emitting device from within the movable region, such that the light emitted by the light-emitting device is suitable for imaging by the imaging device, as the light-emitting position, A moving means for moving the light-emitting device toward the aforementioned light-emitting position, A light-emitting device characterized by comprising a light-emitting means that causes the light-emitting device located at the light-emitting position to emit light at the timing of the imaging device's shooting.

15. A shooting system having two imaging devices that can automatically photograph a subject and communicate with each other, and which can either take pictures or emit light, A first calculation means calculates a movable region, which is the region in which the light-emitting imaging device can move, using spatial information relating to the surroundings of the light-emitting imaging device, A determination means for determining the position of the light-emitting imaging device from within the movable region, such that the light emitted by the light-emitting imaging device matches the light captured by the imaging device on the shooting side, as the light emission position, A moving means is provided in the light-emitting imaging device and moves the light-emitting imaging device toward the light-emitting position, A shooting system characterized by comprising a light-emitting means provided in the light-emitting side imaging device, which causes the light-emitting side imaging device located at the light-emitting position to emit light at the timing of automatic shooting by the shooting side imaging device.

16. The system includes a second calculation means for calculating the irradiable region, which is the region that can be illuminated for the purpose of illumination by the light emitted by the light-emitting imaging device, using spatial information relating to the surroundings of the light-emitting imaging device. The imaging system according to claim 15, characterized in that the determination means determines the light emission position from among the regions belonging to the movable region and the irradiable region.

17. The imaging device on the light-emitting side is characterized by comprising the first calculation means, the determination means, and the second calculation means, as described in claim 16.

18. The imaging system according to any one of claims 15 to 17, characterized in that, when there are multiple positions that can be determined as the light emission position, the determination means determines the position that meets the first predetermined condition as the light emission position.

19. The imaging system according to claim 18, characterized in that the first predetermined condition is the position closest to the imaging device on the light-emitting side.

20. The imaging system according to claim 18, characterized in that the first predetermined condition is a position on a straight line connecting the imaging device on the imaging side and the subject of the imaging device on the imaging side.

21. The imaging system according to claim 18, characterized in that the first predetermined condition is the position closest to the subject of the imaging device on the imaging side.

22. The imaging system according to claim 18, characterized in that the first predetermined condition is the position furthest from the subject of the imaging device on the imaging side.

23. The imaging system according to claim 16, characterized in that, if there is no position for the light-emitting imaging device where the light emitted by the light-emitting imaging device is suitable for imaging by the imaging device on the shooting side, the determination means determines the position closest to the subject of the imaging device on the shooting side, among positions where the light emitted by the light-emitting imaging device can be moved and where the light emitted by the light-emitting imaging device can be used for illumination purposes, as the light emission position.

24. The imaging system according to claim 15, characterized in that the determination means performs the determination of the light emission position again if at least one of the following occurs: a change in the illumination conditions of the subject of the imaging device on the shooting side, a change in the shooting range of the imaging device on the shooting side, a change in the subject of the imaging device on the shooting side, a movement of the subject of the imaging device on the shooting side, and a movement of the imaging device on the shooting side.

25. The imaging system according to claim 15, further comprising a first setting means for setting the light emitted by the light-emitting imaging device to direct emission or bounce emission.

26. The imaging system according to claim 15, further comprising a second setting means for setting whether or not the light-emitting imaging device emits light at the timing of automatic shooting by the shooting-side imaging device when the light-emitting imaging device is moving toward the light-emitting position.

27. The system includes a determination means for determining whether or not light emission from the light-emitting imaging device is necessary, based on the image data acquired by the imaging device on the shooting side and the illumination conditions of the subject of the imaging device on the shooting side, which are detected based on the shooting conditions of the imaging device on the shooting side. The imaging system according to claim 15, characterized in that, when light emission from the light-emitting imaging device is not required, the first calculation means, the determination means, the movement means, and the light-emitting means are not performed, and the imaging device on the shooting side performs automatic shooting.

28. The imaging system according to claim 15, characterized in that the two imaging devices are, respectively, responsible for the imaging side and the light-emitting side.

29. When the subject of the two imaging devices is the same, the system includes a distribution means for distributing the two imaging devices to either the shooting side or the light-emitting side. The imaging system according to claim 15, characterized in that the distribution means assigns the imaging device that meets the second predetermined condition to handle the imaging side, and the imaging device that does not meet the second predetermined condition to handle the light-emitting side.

30. The imaging system according to claim 29, characterized in that the second predetermined condition is the imaging device closer to the subject.

31. Each of the two imaging devices comprises an imaging unit having an image sensor for photographing the subject, The imaging system according to claim 29, characterized in that the second predetermined condition is an imaging device with a larger number of pixels in the image sensor of the imaging unit.

32. Each of the two imaging devices comprises an imaging unit having an image sensor for photographing the subject, The imaging system according to claim 29, characterized in that the second predetermined condition is an imaging device with a smaller number of pixels in the image sensor of the imaging unit.

33. Each of the two imaging devices comprises an imaging unit having an image sensor for photographing the subject, The imaging system according to claim 29, characterized in that the second predetermined condition is an imaging device in which the area per pixel of the imaging sensor of the imaging unit is larger.

34. The imaging system according to claim 15, characterized in that the imaging device on the shooting side automatically takes a photograph before or while the imaging device on the light-emitting side is moving toward the light-emitting position.

35. A control method for a shooting system having an imaging device for photographing a subject and a light-emitting device capable of communicating with the imaging device, A calculation step of calculating a movable region, which is the region in which the light-emitting device can move, using spatial information relating to the surroundings of the light-emitting device, A determination step of determining the position of the light-emitting device from within the movable region, such that the light emitted by the light-emitting device is suitable for imaging by the imaging device, A moving step is provided for the light-emitting device and for moving the light-emitting device toward the light-emitting position, A method for controlling an imaging system, characterized by comprising a light emission step, which is provided in the light emission device and causes the light emission device located at the light emission position to emit light at the timing of the imaging device's shooting.

36. A control method for a light-emitting device that can communicate with an imaging device that photographs a subject, A calculation step of calculating a movable region, which is the region in which the light-emitting device can move, using spatial information relating to the surroundings of the light-emitting device, A determination step of determining the position of the light-emitting device from within the movable region, such that the light emitted by the light-emitting device is suitable for imaging by the imaging device, A movement step of moving the light-emitting device toward the aforementioned light-emitting position, A method for controlling a light-emitting device, characterized by comprising a light-emitting step of causing the light-emitting device located at the light-emitting position to emit light at the timing of the imaging device taking a picture.

37. A program for causing a computer to execute each of the means of the imaging system described in claim 1.

38. A program for causing a computer to execute each of the means of the light-emitting device described in claim 14.

Images