# US 10,308,359 B2 · Moving device, method of controlling moving device and storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,308,359 B2 - Document ID: US10308359B2 - Status: Granted - Kind: B2 - Application number: 15/608,449 - Filed: 2017-05-30 - Published: 2017-12-28 - Granted: 2019-06-04 - Earliest claimed: 2016-06-23 - Assignees: Casio Computer Co., Ltd. - Applicants: Casio Computer Co., Ltd. - Inventors: Shunsuke Yamada; Takahiro Mizushina; Hideaki Matsuda; Toshihiro Takahashi - Web page: https://patentgrep.com/patent/US10308359B2 ## CPC - H04N 23/667: Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes - B64U 10/14: with four distinct rotor axes, e.g. quadcopters - B64U 30/20: Rotors; Rotor supports - B64U 70/10: for releasing or capturing UAVs by hand - G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target} - H04N 23/632: {for displaying or modifying preview images prior to image capturing, e.g. variety of image resolutions or capturing parameters} - H04N 23/72: Combination of two or more compensation controls - B64U 2101/30: for imaging, photography or videography - B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] - B64U 2201/20: Remote controls - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A moving device includes an imaging unit, an acquiring unit, a determining unit and an imaging control unit. The acquiring unit is configured to acquire a state at a time when the moving device is released from a user. The determining unit is configured to determine an imaging manner to control the imaging unit after the time of being released, based on the state acquired by the acquiring unit. The imaging control unit is configured to control the imaging unit in the imaging manner determined by the determining unit. ## Claims ### Claim 1 A moving device comprising: an imaging device; a flight sensor; and a hardware processor which executes processes comprising: an acquiring process of acquiring a state of the moving device at a time when the moving device is released from a user, based on angular velocities, accelerations, or velocities of the moving device detected by the flight sensor at the time when the moving device is released from the user; a determining process of determining an imaging manner in which to control the imaging device after the time when the moving device is released from the user, based on results of comparisons between (i) values calculated based on respective output values output from the flight sensor at the time when the moving device is released from the user and (ii) respective predetermined thresholds; and an imaging control process of controlling the imaging device in the imaging manner determined in the determining process. ### Claim 2 (depends on 1) The moving device according to claim 1, wherein the determining process determines the imaging manner in which to control the imaging device after the time when the moving device is released by the user, when the moving device is released by the user by being thrown by the user. ### Claim 3 (depends on 1) The moving device according to claim 1, wherein the imaging manner comprises one of an imaging mode and an imaging condition. ### Claim 4 (depends on 3) The moving device according to claim 3, wherein the imaging mode includes at least one of turning imaging, spinning imaging, self-timer imaging, automatic follow-up imaging, normal imaging, and imaging prohibition. ### Claim 5 (depends on 3) The moving device according to claim 3, wherein the imaging condition includes at least one of a shutter speed, an aperture, an imaging interval, and an imaging timing of a still image or a video. ### Claim 6 (depends on 1) The moving device according to claim 1, wherein in a case where only acceleration in the direction of the force of gravity is detected by the flight sensor, when the state of the moving device is acquired at the time when the moving device is released from the user, the determining process determines an imaging mode for self-timer imaging as the imaging manner. ### Claim 7 (depends on 1) The moving device according to claim 1, wherein: the flight sensor outputs the output values of the angular velocities, accelerations, or velocities in the direction of individual coordinate axes of a predetermined absolute coordinate system at the time when the moving device is released from the user, the determining process calculates values of the angular velocities, the accelerations, or the velocities in the directions of the coordinate axes parallel to or perpendicular to the ground, based on the output values output from the flight sensor at the time when the moving device is released from the user, or based on calculation processes performed based on the output values, and the determining process compares the calculated values with the respective predetermined thresholds, and determines the imaging manner to control the imaging device based on results of the comparisons. ### Claim 8 (depends on 1) The moving device according to claim 1, wherein in a case where the user throws the moving device for each of a plurality of imaging manners in advance, the determining process (i) obtains values by changing, by predetermined amounts, respective values which are based on the respective output values output from the flight sensor at the time when the moving device is thrown, and (ii) automatically sets the obtained values as the respective predetermined thresholds. ### Claim 9 (depends on 1) The moving device according to claim 1, further comprising at least one propeller that is configured to drive the moving device to fly in the air after the time when the moving device is released from the user. ### Claim 10 (depends on 9) The moving device according to claim 9, wherein in a case where the acquiring process acquires, as the state of the moving device at the time when the moving device is released from the user, a state where the moving device stays at a place, the at least one propeller drives the moving device to hover at said place. ### Claim 11 An imaging method of a moving device having an imaging device and a flight sensor, the method comprising: acquiring a state of the moving device at a time when the moving device is released from a user, based on angular velocities, accelerations, or velocities of the moving device detected by the flight sensor at the time when the moving device is released from the user; determining an imaging manner in which to control the imaging device after the time when the moving device is released from the user, based on results of comparisons between (i) values calculated based on respective output values output from the flight sensor at the time when the moving device is released from the user and (ii) respective predetermined thresholds; and controlling the imaging device in the imaging manner determined in the determining. ### Claim 12 A non-transitory computer readable storage medium storing a program for controlling a computer of a moving device having an imaging device and a flight sensor to cause the computer to perform operations comprising: acquiring a state of the moving device at a time when the moving device is released from a user, based on angular velocities, accelerations, or velocities of the moving device detected by the flight sensor at the time when the moving device is released from the user; determining an imaging manner in which to control the imaging device after the time when the moving device is released from the user, based on results of comparisons between (i) values calculated based on respective output values output from the flight sensor at the time when the moving device is released from the user and (ii) respective predetermined thresholds; and controlling the imaging device in the imaging manner determined in the determining. ### Claim 13 (depends on 1) The moving device according to claim 1, wherein the flight sensor comprises an acceleration sensor and a gyro sensor.