Control device, control method, and flight vehicle device

A control device, comprising:

• a processing circuit configured to:
• control a flight of a flight vehicle device in accordance with flight information including at least flight path information of the flight vehicle device, the flight vehicle device including an imaging device,
• acquire, using a sensor, state information of the flight vehicle device,
• determine a start of a reduction in speed of the flight vehicle,
• determine, from the start of the reduction in speed of the flight vehicle, whether the flight vehicle device has entered a photographing area around a photographing point,
• determine whether the state information of the flight vehicle device indicates a stable state by determining whether a movement speed of the flight vehicle device is equal to or below a first threshold and determining whether a movement acceleration of the flight vehicle device is below a second threshold,
• determine whether the flight vehicle device reaches the photographing point, and
• control the imaging device to capture an image of a target during flight of the flight vehicle device in case that it is determined that the state information indicates the stable state of the flight vehicle at the photographing point, wherein a shutter speed and photographing gain of the imaging device are set and stored in the imaging device in advance.

A control method, comprising:

• controlling, with circuitry, a flight of a flight vehicle device in accordance with flight information including at least flight path information of the flight vehicle device, the flight vehicle device including an imaging device;
• acquiring, by the circuitry and using a sensor, state information of the flight vehicle device;
• determining, by the circuitry, a start of a reduction in speed of the flight vehicle;
• determining, by the circuitry, from the start of the reduction in speed of the flight vehicle, whether the flight vehicle device has entered a photographing area around a photographing point,
• determine, by the circuitry, whether the state information of the flight vehicle device indicates a stable state by determining whether a movement speed of the flight vehicle device is equal to or below a first threshold and determining whether a movement acceleration of the flight vehicle device is below a second threshold;
• determining, by the circuitry, whether the flight vehicle device reaches the photographing point;
• controlling, by the circuitry, the imaging device to capture an image of a target during the stable state of the flight vehicle device at the photographing point;
• and
• activating a shutter of the imaging device when the attitude of the flight vehicle device is determined to be stable.

A non-transitory computer-readable medium encoded with computer-readable instructions that, when executed by processing circuitry, cause the processing circuitry to perform a method comprising:

• controlling a flight of a flight vehicle device in accordance with flight information including at least flight path information of the flight vehicle device, the flight vehicle device including an imaging device;
• acquiring, using a sensor, state information of the flight vehicle device;
• determining a start of a reduction in speed of the flight vehicle;
• determining, from the start of the reduction in speed of the flight vehicle, whether the flight vehicle device has entered a photographing area around a photographing point;
• determining whether the state information of the flight vehicle device indicates a stable state by determining whether a movement speed of the flight vehicle device is equal to or below a first threshold and determining whether a movement acceleration of the flight vehicle device is below a second threshold;
• determining whether the flight vehicle device reaches the photographing point;
• controlling the imaging device to capture an image of a target during the stable state of the flight vehicle device at the photographing point;
• and
• activating a shutter of the imaging device when the attitude of the flight vehicle device is determined to be stable.