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  • Olympus Drone Camera Patent

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    Michael Zhang
    7K vizualizări34 pagini
    Olympus Drone Camera Patent, Filed 2017 in the US, Granted Jul 2019

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    Olympus Drone Camera Patent, Filed 2017 in the US, Granted Jul 2019

    Drepturi de autor:

    © All Rights Reserved
    Descărcați ca PDF sau citiți online pe Scribd
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    7K vizualizări34 pagini

    Olympus Drone Camera Patent

    Încărcat de

    Michael Zhang
    Olympus Drone Camera Patent, Filed 2017 in the US, Granted Jul 2019

    Drepturi de autor:

    © All Rights Reserved
    Descărcați ca PDF sau citiți online pe Scribd
    Indicator pentru conținut neadecvat
    din 34
    USO 2) United States Patent ay PHOTOGRAPHING DEVICE, MOVING BODY FOR PHOTOGRAPHING, AND. PHOTOGRAPHING CONTROL APPARATUS, FOR MOVING BODY Applicant: OLYMPUS CORPORATION, Tokyo «P) Inventors Yoll Osanal, Hochioji QP); Tsutomu Igarashi, Tokyo (IP); Taichiro Kouch, Hino (JP); Osamu Nonaka, Sagamihara «e) (73) Assignee: OLYMPUS CORPORATION, Tokyo «P) (4) Notice: Subjoct to any disclaimer, the term of this patent is extended or adjusted under 35 USC. 154(b) by 134 days Appl. No. 15/457,268 Filed: Mar. 13, 2017 Prior Publication Data 'S 201810227469 AL Aug. 9, 2018 G0) Foreign Application Priority Data Mat. 23, 2016 (UP) 2016-088814 (1) Ine ch. HOIN 5232 (2006.01) HOIN 5225 (2006.01) Ga2R 27764 (2005.01) B6AC 39702 (2005.01) BosD 47/08 (2005.01) a coe HON $2254 (2013.01); B6IC 39/024 (013.01); Go2B 27/644 (3013.01), HOIN $252 (201301); HOSN 5/232 (201301) STABILITY CONTROL $1 1035629482 US 10,356,294 B2 Jul. 16, 2019 (10) Patent No.: (4s) Date of Patent: B64C 2201/127 (201301); BEC 2201/11 (2013.01); B64D 47/08 (2013.01), Field of Classification Search crc BG4C 2201/127; BO#C 39/024; BOC 2201/027; BaD 47/08; GBB 15,06: GOSB 17/561; GO2B 27/644; GOB 27/646; GOSD 1/0004; HON 5/2254; HOSN 7/18; HOAN 5/2328; GOIC 21/18; GOIC 25/00; GOIM. 1/12; GOIM 1/36 ‘See application file for complete search history 658) (56) References Cited us PATENT DOCUMENTS. core 2018 24811 8.184.965 B2* $2012 Hayashi 798450 B2* 82014 Aicher (Continved) Chia Wei A Chen Scully, Seot, Murphy & (74) Attorney, Agent, oF Frm Prosser, PC. on ABSTRACT A photographing device attachable 1 a moving body ‘includes: First control section configured to predict and joblain a change in physieal quantity bused on an alteration in a photographing state: and a communication contol section configired to transmit information related to the change in the physical quantity. The photographing device improves stability in the moving body and stability of photographing. Information related wo influence on the m0v- sng body’ based on a change in an outer shape and a ebange ‘in # postion ofthe center of gravity of the photographing ‘device mounted on the moving body is shared by the moving body to improve the stability in the moving body and the stability of photographing, 7 Claims, 18 Drawing Sheets PREDICT CHANGE IN PHYSICAL QUANTITY BEFORE ALTERATION IN DEVICE STATE $3 [ALTER DEVICE STATE IN COOPERATION WITH MOVING BODY TO KEEP BALANCE DO NOT ALTER DEVICE STATE US 10,356,294 B2 Page 2 66) References Cited USS. PATENT DOCUMENTS. 8801302 B2° 82014 OF GoxB 17561 396401 gastos B22 s2018 Hoaw 470, DSIDSAI 8 * 62018 Chen ar 2o1g001eo22 AL* 1/2018 Grecia ‘ieMt 1100 306419 2o1aons7278 14 Wang FIC I10| 390155 20190370250 AL* 122015 Bachrach c0sp 10016 7012 201610014309 AL_ 1/2016 ison ta. aovooosos4t Al* 22016 Beary {6050 10088 7012 20160171330 AL* 62016 Mente cook 95333 30170 20160286143 ALS 92016 Ohtsuka Hoax 523209 doreowisas Als 102016 Bell HOA 52328 2016Os?79S0 AL* 112016. Bachrach Gos 10016 Ale 112016 Jak Ho4N 17002 ALS “12017 Takayanagi 0" Hoan $2003 Ale 32017 Winter HON 188 dorpoogs2i4 AL* 32017. Dopey ‘cases s 0021 dorpoooatss Ale 32017 Wang G03 17861 20170106976 AI* 42017 Kubars BBs 39.004 dorpoles AL* 62017 Kang ‘wos 523287 aorpoarrtea Als $2017 Saika Flom L302 2010269604 AL* 92017 Shironiat”” AOID 44008 2oWwoo1770L AL* 12018 Beckman ‘G28 2701 2owons6H6s AL* 10.2018. Desweler OAD 102 * cited by examiner US 10,356,294 B2 Sheet 1 of 18 Sul. 16, 2019 U.S. Patent gL mmm || o ve eg] 3 +o ne nouoas | } nowoas | jy tosh3s yoo | |Nouwuado ouoas 2wuc¥o03 NOLLWASTA I I 1 Hous | 92, [ NOLOR SWUOIS 7oHLNOo NOLLWINYOANI ALTIBWIS NOLLOas oHDOL 0H a2t dNild 30¥Wl eZ SS NOT NOL WALSAS gp | tous [| [ROS t-——[_ ako raw stony avolldo jouvonnniool")|7o4LNon aa sosoW | —~-[ NOILO3S “TOWINOO PLL ral NIWNRSL eer zi ~| hous |_| (NOIOaSTOuINOD] «= PAE eo AS ooo a NOL YONONNOS | Nou.93s 1OXLNOD iL a 3OIN3 ONIHeVY9OLOHd 7 OL US 10,356,294 B2 Sheet 2 of 18 Sul. 16, 2019 U.S. Patent 9% 9G2. qg@ er ANSWOW fuzz Loy 82 NOLS “TONINOD INSNZ9ONF ] |__| ATddNs NOlO3S owvonnnog) | LNOLLVOINNWWOD AIddNS Y3IMOd YIMOd, a NOLLOIS si" NOLLO3S TOULNOD NOILOSS lunanapanr} 3UnsOd INoISindOud Noloas ONGHOOSY f=) | BuNlSOd | 922-F eras oumnoo] | “pom | [_NOWoas inanzoanr—L.| [Nouoas | 22 |__nowoawa | [| woaraw 3UNUSOd ONY 3GNLL TV TEs) Warenneeriray ua NoILoas INaWa0GNF |_| |ANANSAONT\p2z | Noistndoud NOLLOSYIC CNY NOLUSOd ezz NOLLO3S NOLLISINOOV NOLLOaS NOLLO3S TOMLNOD NOLLVWHOANI30vds [7] | TO¥LNOS ee ? 02 ab ‘Sls U.S. Patent Jul. 16,2019 Sheet 3 of 18 US 10,356,294 B2 FIG. 2A 30 t PHOTOGRAPHING REMOTE CONTROL APPARATUS 32_ 32a 34 COMMUNICATION n mea. To} | pyspray contro | | SECTION SECTION STORAGE| | 36 OPERATION SECTION | |” SECTION 31 FIG. 2B 40 ? MOVEMENT REMOTE CONTROL APPARATUS. a 42 42a 44 EATON eomunicarow_ | eormascial| [spray SECTON 7 contro. | | SECTION “745._| SECTION Co == ‘comupucaron f STORAGE seoToN | [OPERATION] *| section |] 46 _ SECTION t al U.S. Patent Jul. 16,2019 Sheet 4 of 18 US 10,356,294 B2 FIG. 3 STABILITY CONTROL, St PREDICT CHANGE IN PHYSICAL QUANTITY BEFORE ALTERATION IN DEVICE STATE $3 DO NOT ALTER DEVICE STATE ALTER DEVICE STATE IN COOPERATION WITH MOVING BODY TO KEEP BALANCE I U.S. Patent Tul. 16, 2019 Sheet 5 of 18 US 10,356,294 B2 FIG. 4 Gt G2 § G3 G4G5 FC A aie elit HEH ecie G2 $ G3 G4G5 FC ™ ar Am on fl GI G2sas G4 GSFC 4 mrara on am ——— fhe ea U.S. Patent Sul. 16, 2019 Sheet 6 of 18 CAMERA CONTROL JUDGE COMMUNICATION STATE|~-S11 START AE AND IMAGE PICKUP }~-S12 DRONE MODE? YES 4 <{§ THERE DRONE COMMUNICATIONS YES TRansutT Mage [S'S $17 > 27 NO_ FOLLOW OTHER OPERATION HOTOGRAPHING OPERATION RECENVED YES _;S! PHOTOGRAPH AND RECORD $21 Gove scion ore Sea. >-NS I $28 [yes _-s22 US 10,356,294 B2 S15 TRANSMIT TO DRONE ISSUE WARNING] NOCE CHANGE PHYSICAL QUANTITY q $23 CCONMUNIGATE VATH DRONE S24 {UDGED AVAILABILITY? S26 S25 ALTERDEWGE STATE AOCORONG TOSTHBLE AERA TON CONDON PRONPT TO DISPLAY WARNING CN DISPLAY SECTION ee eee eee in $29 0 << STOP DRONE? YES STOP U.S. Patent Tul. 16, 2019 Sheet 7 of 18 US 10,356,294 B2 MOVING BODY CONTROL WOGE STATE earl (ALTITUDE, RADAR BUILT-IN CAMERA, GPS) $32 1S THERE PROGRAM OR IS MOVEMENT S,, NO HANDLING SCNAL RECENED! $33 i FLIGHT BE STOPPED {S THERE MOVENENT OBSTACLE? YES NO__-$38 ‘MOVE ACCORDING TO PROGRAM $34 OR HANDLING RESULT {§ RETURN BETTER? YES $35 $36 PERFORM RETURN CONTROL | [ PERFORM STILL CONTROL TRANSMIT STATE INFORMATION| ‘TO HANDLING SIDE {8 THERE CAMERA COMMUNICATION? ACQUIRE DATA FROM PHOTOGRAPHING DEVICE |-~S42. ;~S39 I JUDGE WHETHER TT CAN BE HANDLED [~-S43 S44 YES S47 $45 TRANSMIT CONDITION GENERATE UNAVAILABLE RESPONSE I $48 I S46 EAT AO CONTROL UNeRSPECCcoRDTON] [DISPLAY ON HANDLING SECTION siDE| | U.S. Patent Jul. 16,2019 Sheet 8 of 18 US 10,356,294 B2 FIG. 7A 44a { 62 —< 34a U.S. Patent Jul. 16,2019 Sheet 9 of 18 US 10,356,294 B2 U.S. Patent Sul. 16, 2019 Sheet 10 of 18 US 10,356,294 B2 FIG. 9A CENTER OF GRAVITY TIME PERIOD. BACK FIG. 9B FORWARD LIFTING / POWER TIME PERIOD, U.S. Patent Jul. 16,2019 Sheet 11 of 18 US 10,356,294 B2 FIG. 10 STABILITY CONTROL JUDGE WHETHER OPERATION Is PHOTOGRAPHING DEVICE STATE ALTERATION OPERATION I PREDICT CHANGE IN PHYSICAL QUANTITY |~S52 f~S51 NO $3 DO NOT ALTER DEVICE STATE [ALTER DEVICE STATE IN COOPERATION |WITH MOVING BODY TO KEEP BALANCE | I U.S. Patent Jul. 16,2019 Sheet 12 of 18 US 10,356,294 B2 FIG. 11 CAMERA CONTROL JUDGE COMMUNICATION STATE}~S11 I START AE AND IMAGE PICKUP }~S12 $13 DRONE MODE? YES No_ FOLLOW OTHER OPERATION ‘TRANSMIT IMAGE $21 PHOTOGRAPH AND RECORD (MOVABLE SECTION OPERATION SIGNAL? 1 $28 [YES 822 TRANSMIT TO DRONE JUDGE CHANGE IN PHYSICAL QUANTITY] 1 S61 [COMMUNICATE WITH MOVEMENT REMOTE CONTROL APPARATUS: NO [ATERDEVICE STATE ACCORDING | [PRONPT TO DISPLAY WARNING| [TOSTABLE ALTERATION CONDITION} | ON DISPLAY SECTION $29 ‘STOP DRONE? YES U.S. Patent Jul. 16,2019 Sheet 13 of 18 US 10,356,294 B2 FIG. 12 MOVING BODY CONTROL JUDGE STATE (ALTITUDE, RADAR, BUILT-IN GAMERA, GPS) $32 {S THERE PROGRAN ORS HOVEHENT, NO. HANDLING SINAL REOENED? {s THERE MOVEMENT OBSTACLE? NO__-s38 MOVE ACCORDING TO PROGRAM OR HANDLING RESULT S31 $36 PERFORM RETURN CONTROL | | PERFORM STILL CONTROL —— 871 {INFORMATION REQUEST FROM MOVEMENT REMOTE CONTROL APPARATUS? [TRANSMIT STATE INFORMATION ‘TO HANDLING SIDE U.S. Patent Jul. 16,2019 Sheet 14 of 18 US 10,356,294 B2 FIG. 13 Gometeprconet) BODY CONTROL FEOUEST TRANSMISSION OF STATE nrORUATION}/“S8" | RECEIVE STATE INFORMATION |S THERE COMMUNICATION FROM PHOTOGRAPHING REMOTE CONTROL APPARATUS? YES [ACQUIRE DATA FROM PHOTOGRAPHING] S84 REMOTE CONTROL APPARATUS Fo JUDGE WHETHER IT CAN BE HANDLED |~S43 S44 CAN IT BE HANDLED? YES S47 $82 $83 $45 TRANSMIT CONDITION GENERATE UNAVAILABLE RESPONSE 1 S48, 1 S46 [reAT ao cowTROL DER SPEOFAG CoNDTION] [DISPLAY ON HANDLING SECTION SIDE I U.S. Patent Jul. 16,2019 Sheet 15 of 18 US 10,356,294 B2 FIG. 14A 40 Q 76 76a | 1» t-44a 77_|_|__ POSSBLENOVEUENT OF ~~ 75 a CENTER OF GRAVITY 78_| Leenrer oF} wn 11 | 79 GRAVITY | |VELOcITY U.S. Patent Jul. 16,2019 Sheet 16 of 18 US 10,356,294 B2 FIG. 15 ZOOM PHOTOGRAPHING CONTROL ALTER TO ELECTRONIC ZOOM I ‘SET ANGLE OF VIEW ACCORDING TO INCLINATION ANGLE |~S93 END U.S. Patent Jul. 16,2019 Sheet 17 of 18 US 10,356,294 B2 FIG. 16 U.S. Patent Sul. 16, 2019 Sheet 18 of 18 US 10,356,294 B2 FIG. 17A a7 18 96 97 91b 96 RS zs] =} LS \ : : ) 95 95 oe FIG. 17B a7 8% 96 97 82 96 a7 92° R FIG. 17C 96 97 93 96 98¢ 96 US 10,356,294 B2 1 PHOTOGRAPHING DEVICE, MOVING BODY FOR PHOTOGRAPHING, AND. PHOTOGRAPHING CONTROL APPARATUS FOR MOVING BODY CROSS REFERENCE TO RELATED APPLICATION ‘This application claim is honfit of Japanese Application No. 2016-058814 filed in Japan on Mar. 23, 2016, the ‘contents of which are incorporated by this reference. BACKGROUND OF THE INVENTION 1. Field of the Invention ‘The present invention relates to a photographing device, ‘4 moving boy for photographing, and a photopraphing ‘control apparatus for moving body suitable for a remote handling or autonomous fying objeet such as a drone. 2. Description of the Related Art In revent years, an unmanned aera, such as a drone, that flies in a remotely handled or stonomous manner has been commercialized. For example, @ relatively stall ‘unmanned aizceat is utilized due to an advantage that information can be safely and efficiently acquired in a ‘dangerous area tha shard fora manned aircraft to reach, an accident site of a disaster area in which observation at relatively low altitude is required, and the like. A camera is bul in the drone othe ike to stain the objec However, a relatively small lens or image pickup device js often used in the built-in eamera, and a picked-up image with sufficiently satisfactory image quality may not be ‘obtained. Therefore, photographing device with high fune~ tionality and high performance may be adopted and attached ‘wo the unmanned areral. Particularly, a camera that can be ‘equipped with a high-performance leas having a zoom Junetion, an autofocus Function, and the lke ean be adopted ‘o easily obtain an image with image quality desired by a ‘Note that a gimbal system that can aecurately support a photographing device on a moving body, such as an airera 's disclosed in the specification of U.S. Patent Application Publication No, 20150014309, SUMMARY OF THE INVENTION An aspect ofthe present invention provides photograph= ing device atachable w a moving body, the photographing ‘device including a fist control section configured to predict tnd obtain a change in physical quantity. based on an alteration in a photographing sate; and a communication ‘contol section configured to transmit information related to the change in the physical quantity. "An aspect of the present invention provides a moving body for photographing to which a photographing device is tached, the moving body for photographing including: & ‘communication contol section coatighzed to receive 8 ‘change in physical quantity related to the photographing ‘device generated based on an alteration in a photographing state of the photographing device; «second control section ‘configured 0 generate information based on the change in the physical quantity or based om ® moment generated acconling to the change in the physical quantity; and a 0 o 2 propulsive force control seotion configured to contol pro- pulsive force based on the information generated by’ the second control section, ‘An aspect of the preset invention provides a photograph ing control apparatus for moving body including: a lst control section configured to obisin a change in physical quantity related to 3 photographing device attached to moving body based on a photographing state alteration ‘operation ofthe photographing device; anda second control section configured to predict and obtain the change in the pysieal quantity oe a moment to be generated inthe moving body acconting to the change in the physical quantity and szenemite information based on the obtained change in the physical quantity or dhe obtained momeat. ‘The above and other objects, features and advantages of ‘he invention will become more clearly understood from the following description refering tothe accompanying draw- ings BRIEF DESCRIPTION OF THE DRAWINGS PIG. 1A is a block diagram showing photographing device according to a first embodiment of the present invention, the photographing device configuring part of @ photographing coatrol apparatus for moving body: FIG. 1B is a block diagram showing a moving body for photographing according to the first embodiment, the mov~ jing body configuring part of the photographing contol Apparat for moving body; FIG. 2A is a block diagram showing a photogrpbing remote control apparatus of the photographing device of FIG. 1A; FIG. 2B isa block diagram showing a moves ccantrol apparatus of the moving body of FIG, 1B FIG, 3s a flowehar showing stability comtol by the photographing device of the present embodiment; FIG. 4 isa cross-sectional view of Tens showing an ‘example ofa configuration of respective lenses in an optical system Ma; FIG. § is a flowchart showing camera conta; FIG. 6 is a owchart showing moving body control; PIG. TAs an explanatory diagram showing a situation of controling photographing: FIG. TB is an explanatory diagram showing a situation of controling photographing; FIG. 8A isan explanatory diagram for deseribing contol of the moving body when the photographing device 10 is poomings FIG. 8B isan explanatory diagram for deseribing contol of the moving body when the photographing device 10 is ‘zooming: FIG. 9A is an explanatory diagram showing a change ia the contr of gravity ofthe photographing device 10; PIG. 9B is an explanatory diagram showing a change in forward lifting power comesponding to the change in the center of gravity of FIG. 8 FIG. 10 isa flowchart adopted in second embodiment of the present inveation FIG. 11 is an explanatory diagram showing camera con- two by the photographing remote control apparatus; PIG. 12 isan explanatory diagram shoving moving body control by the moving body: FIG. 13 isan explanatory diagram shoving moving body ‘control by the movement emote contol spparats; FIG. 144 isan explanatory diagram showing a situation of controlling the moving boey: at remote US 10,356,294 B2 3 FIG. 148 is an explanatory diagram ‘of controlling the moving body’ IG, 18 is flowchart for deserihing contol adopted ia & fourth embodiment FIG. 16 is an explanatory diagram for describing the fourth embodiment TIG. 17A is an explanatory dingram for describing the fourth embodiment TIG. 178 is an explanatory dingram for describing the fourth embodiment; and FIG. 17C isan explanatory dingram for describing the fourth embodiment owing a situation DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference tothe drawings, First Embodiment FIG. 14 is a block diagram showing @ photographing device according to a first embodiment of the prescat invention, the photographing device configuring part of a photographing control apparatus for moving bod FIG. 1B 184 block diagram showing a moving body for photogzaph ing according to the first embodiment, the moving body ‘configuring part ofthe photographing contol apparatus for moving body. FIG. 2A is a block diagram showing @ photographing remote contol apparatus of the photograph- tng device of FIG. 1, PIG, 28 isa block diagram showing ‘a movement remote contol upparats ofthe moving body of FIG. 1B. The moving body may be, for example, an unmanned aircraft, such as a drone, or may be a radio control vehicle ‘or & radio coateol ship. The moving body is @ remote handling or autonomous unmanned moving object. In the present embodiment, the photographing device configuring the photographing control apparatus for moving. body ‘obtains, aa change inthe physica quantity, movement of the center of gnivity or a change in the shape of the photographing device which affects the movement and the Posture ofthe moving body, and traits the change in the physical quantity toward the moving body. Inthe moving body, the change in the physical quamity ean be used to ‘control the movement and the posture ofthe moving body to improve the stability of the moving body. The movement of the center of gravity or the change in the shape of the photographing device is permitted nd controlled while the Stability of the moving body is ensured, and this allows securing photographing while stabilizing the moving body. FIG. 3 isa flowchart showing the stability control by the photographing device of the present embodiment. In step SI, the photographing device predicts the change Jn the physical quantity based on an alteration in the device state (photographing state) before the alteration of the device state. For example, a movement of a 700m lens ora focus Jens ofthe photographing device changes the position ofthe ‘center of gravity of the photographing device. When, for ‘example, @ stroboseope part built in the photographing ‘device pops up, and the shape of the photographing device js changed, the change in the shape ofthe stroboseope part ‘changes the wind resistance, When a photographing state alteration operation is done, such a the lens movement and the pop-up of the stroboscope part, the photographing device predicts, as an amount of change inthe physical quantity, the ‘change inthe position of he center of privity othe change 4 in the wind resistance base on the alteration in the device state (photographing state), prior to the alteration in the device sate In step S2, the photographing device communicates with the moving body’ to transmit the change in the physical quantity to the moving body and obisins an answer for ‘Whether the change inthe physical quantity ean be allowed in the moving body. [fan answer of not allowing the change is obtained from the moving body, the photographing device does ot permit the alteration in the device sate instep 3. For example even if he user performs a zoom operation, the ‘operation is not performed ‘On the ther hand, if the photographing device obtains an answer of allowing the change from the moving body instep S2, the photographing device alters the device state in cooperation with the moving body in step $4. That is, the ‘moving body allows the change inthe physical quantity of the photognphing device while setting a condition neves- say’ for maintaining the stability ofthe moving body. ‘The photogruphing device alles the device slate forchanging the Physical quantity while following the condition designated by the moving body. ‘In this way, the photographing device predicts in advance ‘the change in the physical quantity that alfets the service of the moving body and transmits the information to the :moving body inthe present embodiment. The photographing device andthe moving body provided with the photograph ing device peeform the canto] in cooperation to ensie the stability of the moving body even when the state of the photographing device is altered. The stateof the photograph dng device can he altered while the stability of the moving body is maintained, and the stability of photographing is censured even when the state of the photographing device is altered. ‘Note that although most of the configunition of the photographing control apparatus for moving body is pro- ¥ided inthe photographing device inthe example illustrat inthe present embodiment, the photographing control appa rus for moving body may be provided ina photograpsing remote control apparatus configured to remotely control the photographing device or may be provided in the moving body such as. drone, The photographing contol apparatus {or moving body may be provided in a movement emote control apparatus configured to remotely conieol the moving body or may be dispersed and provided in the apparatuses ‘The photographing contol apparatus for moving body may be provided in an apparatus other than the apparatuses. In FIG. 1, an attachment member not shown ean attach a photographing device 10 to 9 moving body 20 of FIG, 1B. The photographing device 10 includes an image pickup section I. The image pickup section fis provided with an image pickup device not shown configured by a CCD or (CMOS sensor or the lke, and an optical system a leads aa ‘object optical image to an image pickup surface ofthe image pickup device. A photographing control section 12a of a feontral section 12 is configured to control a mechanical section not shown of the optical system to drive and control focus lens, 700m lens, anda diaphragm configured in the ‘optical system Ta, The image pickup device photoclett- cally converts the object optical image to obtain a picked-up mage. Noe tha the contol section 12 may be configured by 8 processor, such as a CPU, net shown and may be config- ‘ured to realize each funetion aeconding to programs stored in fa memory not shown, Tn the present embodiment, a stability information storage section II configured to hold information related to the ‘optical system Hr is provided in the image pickup section US 10,356,294 B2 5 1, Note that although the optical system Mais provided i the image pickup section 11 in the example illustrated ia FIG. A, an interchangeable lens attachable to and detachable from a housing of the photographing device 10 may be adopted as an optical system, and an object optical image fom the interchangeable lens may be formed onthe image pickup surface of the image pickup device FIG. 4 is a cross-sectional view of lens showing an ‘example ofa configuration of respective enses in the optical system Ha. An upper row of FIG. shows a wide-angle end slate. in which an infinite objet point is focused, A middle row shows an intermediate state B, anda lower row shows telephoto end state C. In the example of FIG. 4, the optical system includes, in ‘onder om the objec side a first lens group GH with positive reffactive power, a second lens group G2 with negative refiaetive power, an aperture diaphragm S, third lens group (G3 with positive refractive power, a fourth lens group Ga with negative effective power, and a filth lens group GS With positive refractive power In FIG. 4, P represents @ parallel plate configuring a low-pass filter provided with @ Wavelengih band restriction coat for restricting infrared light, C represents a parallel plate of a cover glass of an ‘electronic image pickup device, and I represents an image plane. Note that # multilayer fl for restricting the wave: Jength band may be applied on the surface ofthe cover glass C. The cover glass C may have a low-pass filter function, ‘With the lens configuration the first lens yroup G1 moves toward the object side during zooming from the wide-angle ‘end to the telephoto end, The second Tens group G2 moves toward the image side. ‘The third lens group G3 moves toward the object side. The fourth lens group G4 moves toward the object side. The fifth lens grup GS moves toward the object side and then moves toward the image side. Therefore, as fr intervals among the lens groups the Jnerval between the fist lens group GI and the second lens ‘group G2 increases, the interval between the second fens group G2 and the thid lens group G3 decreases, the interval between the thing lens group C3 and the fourth lens group ‘G4 changes, and the interval between the fourth lens group (G4 and the fifth Jens group GS increases. The eperture emote control apparatus alters the device state in eoupent- tion with the moving body. The photographing. remote ‘control apparatus follows the condition designated hy the moving body and controls the photographing. device by enerating an operation signal for altering the device state that changes the physical quantity: [Note that respective processes of respective sleps SS $552, and S2 to $4 of FIG. 10 are enabled by, for example, ring information for the processes in a storage section provided in the photographing remote control apparatus. In this way, the photographing remote eontrol apparatus ‘configured to remotely conte the photographing device and the moving body provided with the photographing device perform the cooperative contol in the present embodiment to ensure the sibility of the moving body even whea the state ofthe photographing device is altered. The state of the Photographing devive can be altered while the stability of the moving body is maintained, and the stability of photo- traphing is ensured even when the state of the photogzaph- fing device is altered ‘Note that although the stability control by the photograph ing control apparains for moving body is executed by the ‘cooperative control through the communication between the photographing remote contol apparatus and the moving body inthe example illustrated in the present emboctiment, itis apparent thatthe same stability contro can be exceed by cooperative contro through communication between the Photographing device and the movement remote control apparatus. ‘Third Embodiment FIGS. 11 10 13 are flowehants for describing contol ‘adopted in third embodiment ofthe present invention, FIG, AL shows camera control by the photographing remote ‘control apparatus. FIG. 12 shows moving body conteol by the moving body: PIG, 13 shows moving body contol by the ‘movement remote contro apparatus, In FIGS, 11 to 13, the same procedures as in FIGS, 5 and 6 are provided with the same reference signs, and the description will not be repented. The hardware configuration ofthe present embodi- ment isthe same asin the first embodiment o 20 ‘The present embodiment illustrates another example of | the photographing control spparatus for moving body, wherein the stability control is realized by cooperative ‘control through communication between the photographing remote contro apparatus configured to remotely operate the Photographing device and the movement remote control apparatus contigured to remotely operate the moving body. To increase the quality of an image obtained by photo- araphing, control of the zoom, the exposure, the focus, and the Tike tends to be complicated, and concentrating. on handling the moving body becomes difficult. Therefore, the present embodiment shows an example in wick different persons separately operate the moving body, suchas a drone, and the photographing device FIGS. 14A and 14B are explanatory diagrams showing 3 simation of controlling the moving body. As shew ia FIG. T4A, an operator 71 uses, for example, a right hand 72 0 rasp s housing 40 ofthe movement remote control sppa- ‘atus 40 and uses lft hand 73 to operate an operation lever 4405 Yor operating the moving hody 20, Note that as showa in FIG. 7A, itis assumed thatthe photographer 61 operates the photographing remote control appamitis 30 t0 control photographing by the photogmphing device 10. FIG. 14B shows an operation screen 7S displayed on a splay screen 4 of thedisplay'section 44 ofthe movement emote contro! apparatus 40. In the example of FIG. 14B, a ‘map display 76 indicating the position of the drone 50 is splayed in the operation sereen 78, A map is displayed in the map display 76, and a point display 76a indicates the position of the drone $0, A message display region 77 is raved inthe operation sercen 75, and messages according {o operation of message display buttons 78 and 79 are splayed in the message display region 7. The message splay button 78 is a bution for displaying a message of ‘whether to transmit an availability response or to transmit an “unavailability response Tor the movement of the center of gravity ofthe photographing device 10. Inthe example of FIG. 143, the display of “possible movement of center of aravity” indicates that the availabilty response is to be {ransmitted, The message display button 79 isa button for splaying « display indicating the wind velocity in the message display region 77. ‘The camera control of FIG. 11 is different from the camera control of FIG. § in that the execution subject of each process is the photogrephing remote control apparatus 30 (panier, the contr section 32) instead of the photo- graphing device 10 (particularly, the contol section 12). In the present embodiment, the photographing remote control ‘ppsints 0 and the movement remote contrl apparats 0 ‘communicate with each other for cooperative conto, and the judgement process of the drone communication in step SM of FIG. 5 is not included in FIG. 11. The flow of FIG. 11 is provided with step S61 for communication wi the ‘movement remote contol appara 40, in place of step S23 of IG. §, ‘The flow of FIG. 12 shows control by the moving body 20, and steps S31 to S39 ofthe Now of FIG, 6 are adopted Note that although state information is transmitted in response 10 an information request from the movement remote control apparatus 40 instep S71 of FIG. 12, the state information may be trasmitted to the movement remote ceontrol apparates 40 regardless ofthe information request. FIG, 14 shows control by the movement emote contol pparats. Steps S43 to S48 in the flo of FIG. Gare adopted in the flow of FIG. 13. The moving body contol of FIG. 13 is different fom the moving body contol af FIG. 6 in that the execution subject of exch process is the movemes US 10,356,294 B2 Pi emote contol apparatus 40 (particularly. the control sti 42) instead of the moving body 20 (particulary, the contol section 22), The contol section 42 of the movement remote contol apparatus 40 requests the moving body 20 to transmit the sate information in step SBI and receives the state infor mation instep $82, In step S83, the contro section 42 judges ‘whether communication from the photographing remote ‘control apparatus 30 is done. When the result of the judge ment ofthe change in the physical quantity is transmitted from the photographing remote contro] apparatus 30 in step S61 of FIG. 11, the contol section 42 feccives the trans mission dat, The state information from the moving body 20 and the information related to the change in the physical quantity from the photographing remote control apparatus 30 are tiven to the contol section 42, and the control section 42 ‘obtains the stable alteration condition in the moving body 20, Note thatthe contol section 42 may take the information ‘of the wind power into aecount in calculating the stable alteration condition. Ifthe eontrl section 42 judges that the ‘change in the physical quantity due to the contol of the movable section of the photographing device 10 by the photographing remote coatrol apparatus 30 cannot maintain the stability ofthe moving body 20, the contol section 42 shils the process to step S48, The control section 42 generates an unavailability response and displays the “unavailability response on the display section 44 ‘When the contol section 42 generates an availabilty response, the control section 42 transmits, to the moving body 20, te operation signal for controling the propulsive {orce of the moving body 20 according tothe stable altens- tion condition and transmits, 10 the photographing remote control apparatus 30, the device state alteration contol information including the stable alteration condition, The ‘control section 32 of the photographing remote contol apparatus 30 controls the movable section of the photo- tniphing device 10 while satisfying the stable alteration ‘condition, In this way, the stability of the moving body and the stability of photographing ean also be maintained in the present embodiment when an operation of moving the movable section of the photographing device is performed. Note that the communication distance between the photo- graphing device and the photographing remote control spp ral is shorter than the comaunication distanee between the ‘moving body and the movement remote control apparats ia some eases, Even in seh a eas, the photographing remote ‘contol apparatus and the movement remote control apps ratus communicate With each other to perfoan cooperative ‘contol for maintaining the stability in the present embod ‘ment, and the contro canbe surely performed even when the distance between the photographing remote control appara tus and the moving body is relatively long. Allo par ofthe remote control apparatus and the movement remote control apparatus can be configured by smartphone in some cases, ‘The degree of fisedom of display is relatively high in the smartphone, Therefore, the present embodiment has an ‘advaotage that a user-friendly GUI ean be provided when & user operation is necessary for controlling the stability Fourth Embodiment FIGS, 18, 16, and 178 to 17C relate ta fourth embod ‘ment of the present invention. FIG. 18 is a flowchart for describing contol adopted in the fourth embodiment, and FIGS. 16 and 174 10 17C are explanatory diagrams for 0 o 2 describing the fourth embodiment, The hardware coatign- ‘ition ofthe present cibodiment is the same as in the first embodiment ‘Even when the availabilty response is generated forthe change in the physical quantity, sueh as the movement ofthe center of gravity, of the photographing device 10, the ‘moving body 20 may be tilted to some extent in some cases due to the movement of the center of gravity or the like of the photographing device 10. The present embodiment improves the stability of photographing even inthis case ‘The low of FIG. 18 shows a 200m photographing contol ‘ow executed in step 826 of FIG. § or 11, For example, assuming thatthe process of step S26 is executed by the control section 12 of the photographing deviee 10, the ‘control section 12 judges in step S91 of FIG. 18 whether the ‘moving body 20 is inclined equal to or more than a prede- termined angle due to the movement ofthe center of gravity or the like of the photogmphing device 10, The control sections 12 and 32 acquire the information related to the ‘moving body 20 in step $23 of FIG. $ oF step S61 of FIG. 1 and the information also inclades information related the inclination angle of the moving hody 20, The control section 12 uses the information related to the inclination ‘angle of the moving body 20 acquired in step $28 to julge ‘whether the inctinstion angle of the moving body 20 is changed equal to or more than the predetermined angle FIG. 16 deseribes the inclination ofthe drone 80 provided. with the photographing deviee 10, A wide-angle state 81 indicates a state in which the lens barrel 10a is extremely contracted, and an angle of view 8a is in a widest state. An intermediate state 2 isa state in which the lens barrel 1a is extended a Title, and an angle of view 856 is in an intrmdite state. telephoto state 83 isa state in which the Jens barrel 10a is extremely extended, and an angle of view cis in w narrowest slate. In the respective states 81 to 83, the inclination angle ofthe drone $0 varies as indicated by altemate fong and shor dash line. The inclination angle of the state BI is the smallest, The inclination angle ofthe state 82 is Langer, and the inclination angle of the state 83 is the largest FIGS, 17A to ITC show picked-yp images in substantially the same field of view ditcction picked up by the photo- araphing device 10. FIG. 17A shows a picked-up image ‘when the photographing device 10 is fixed on the ground. FIGS. 178 and 17C show picked-up images when the photographing device 10 is attehed 0 the drone $0, Now. itis assumed, for example, that picked-up images 91a to De shown in FIG. 17A are picked up in the wide-angle state, the intermediate state, nnd the telephoto state when the photographing, device 10 is fixed on the sarund, The picked-up images 91a to 9c include sn image ff ground 98, an image of cloud 96 floating inthe sky and ‘an image of an airplane 97 flying in the shy. FIG. 17B shows picked-up images 92a to 92c when the same photographing direction as in FIG. 17A is photo- ‘graphed by the photographing device 10 attached 0 the Grone $0. The picked-up images 92a t0 92c are photo- raphe in the whleeangle state 81, the intermediate state 82, fand the telephoto state 83 of FIG. 16, respectively. The mage 926 is an image of part of the image 92a, and the image 92¢ isan image of part ofthe image 926. When the ‘mages are picked up on the telephoto sie, the fens barrel 109 ofthe photographing devi 10 extends forwaed, and the position ofthe center of gravity moves forward. As a result ff the movement, the drone $0 is in a state extremely fnclined forward and downward as indicated by the tele- photo state 83. As a result of the inclination, the image 2c US 10,356,294 B2 23 js an image expanding the lower part of the image 926, and most of the airplane 97 sticks out from the photographing range “Therefore, when the control section 12 detects that the inclination ofthe drone 80 is changed equal to oF more than the prodctermined angle in step SL in the present embodi- ‘ment, the conto section 12 switehes the optical zoom to the ‘electronic zoom instep $92. The control section 12 then sts the angle of view according to the inclination angle of the ‘drone $0 in step $93. For example, when the front of the “drone 50 js inclined downward, the image ofthe upper pat js eu y the elecitoic 200m Toran angle of view equivalent to the inclination angle FIG. 17C shows picked-up images 930 to 9%c in the swidesangle state 81, the intermediate state 82, and the telephoto state 83 in this ease, The images 930 and 936 are the same images as the images 82a and 92b, respectively. “The image 93e picked up on the tlephoto side is obtained by cutting a range of the upper part by the electronic 200m, ‘equivalent to the angle of view corresponding t the incl nation angle of the drane 50. As a rest the airplane 97 is surely photographed inthe image 93c as in the casein which the photographing device 10 is fixed on the ground to pick up an image, In this way, even when the moving body is inlined, the zoom is switched to the electronic 200m on the telephoto side to cut the range corresponding tote inclination angle if the inclination angle is equal to oF more than the prede- termined range in the present embodiment. Stable photo- araphing is possible regardless of the inclination of the ‘moving body. ‘Although a digital camera is used to describe the device {or photographing in each ofthe embodiments, the camera may be a digital singleslens reflex camera oF a compact

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