Patent Publication Number: US-2019196182-A1

Title: System, movable object, method, and program

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application is a continuation of International Application No. PCT/JP2016/076532, filed on Sep. 8, 2016, the entire contents of which are incorporated herein by reference. 
    
    
     FIELD 
     The disclosure relates to an imaging system, a movable object, a method, and a program. 
     BACKGROUND 
     Various techniques are proposed for removing dust and the like adhered to an optical member by vibrating the optical member, which is disposed in front of an image sensor provided in an imaging device. A technique is disclosed in Japanese Patent No. 3727903 wherein an optical element is sequentially vibrated near at least two or more resonant frequencies. 
     Patent literature 1 Japanese Patent No. 3727903
 
Patent literature 2 Japanese Patent No. 4253523
 
Patent literature 3 Japanese Patent No. 5004819
 
Patent literature 4 Japanese Patent No. 3917893
 
Patent literature 5 Japanese Patent No. 3947689
 
Patent literature 6 Japanese Patent No. 4002785
 
Patent literature 7 Japanese Patent No. 4039904
 
Patent literature 8 Japanese Patent No. 4863440
 
Patent literature 9 Japanese Patent No. 4660575
 
Patent literature 10 Japanese Patent No. 4936518
 
Patent literature 11 Japanese Patent No. 4617277
 
Patent literature 12 Japanese Patent No. 4859216
 
Patent literature 13 Japanese Patent No. 4857195
 
Patent literature 14 Japanese Patent No. 5111219
 
Patent literature 15 Japanese Patent No. 5264302
 
Patent literature 16 Japanese Patent No. 5094628
 
Patent literature 17 Japanese Unexamined Patent Application Publication No. 2014-149907
 
     SUMMARY 
     An imaging system including an optical member can be supported in any orientation. However, depending on the orientation of the optical element, removal of dust and the like may be difficult to perform sufficiently. 
     The imaging system according to an aspect of the present disclosure can include an image sensor. The imaging system can include an optical member disposed in front of the image sensor. The imaging system can include a determining unit for determining an orientation of the optical member. The imaging system can include a first control unit for vibrating the optical member when the orientation of the optical member fulfills the preset conditions. 
     The first control unit can vibrate the optical member when the normal vector facing the opposite direction of the direction going toward the image sensor from the plane of the optical member on the opposite side of the image sensor has a vertical direction component. 
     The first control unit can vibrate the optical member when the optical member is below the image sensor in the vertical direction. 
     The determining unit can further determine a height of the imaging system. The first control unit can vibrate the optical member when the height of the imaging system fulfills the preset conditions, and the orientation of the optical member fulfills the preset conditions. 
     The determining unit can further determine whether the imaging system is currently executing photography that uses the image sensor. The first control unit can vibrate the optical member when photography is not currently being executed, and the orientation of the optical member fulfills the preset conditions. 
     The imaging system can further include a second control unit for controlling an orientation of an imaging device including the image sensor and the optical member. The determining unit can further determine the height of the imaging system and whether the imaging system is currently executing photography that uses the image sensor. The second control unit can control the orientation of the imaging device to a preset orientation when the height of the imaging system fulfills the preset conditions and photography is not currently being executed. The first control unit can vibrate the optical member when the height of the imaging system fulfills the preset conditions, photography is not currently being executed, and the orientation of the optical member fulfills the preset conditions. 
     The first control unit can vibrate the optical member by gradually changing a vibration frequency of the optical member from a first frequency to a second frequency, then gradually changing the vibration frequency from the second frequency to the first frequency. 
     The imaging system can further include an electromechanical conversion element attached to the optical member. The first control unit can supply a control signal for controlling the vibration of the optical member to the electromechanical conversion element. 
     The first control unit can supply the control signal to the electromechanical conversion element with a voltage amplitude of a first size when a voltage frequency is a first frequency. The first control unit can supply the control signal to the electromechanical conversion element with a voltage amplitude of a second size, the second size being smaller than the first size, when the voltage frequency is a second frequency closer to a resonant frequency of the optical member than the first frequency. 
     The first control unit can supply the control signal to the electromechanical conversion element. The control signal has a larger voltage amplitude the farther the voltage frequency is from the second frequency. 
     The first control unit can determine a first resonant frequency and a second resonant frequency of the electromechanical conversion element. The first control unit can supply the control signal to the electromechanical conversion element based on the identified first resonant frequency and second resonant frequency. 
     A movable object according to an aspect of the present disclosure can include the imaging system. The movable object can be an unmanned aerial vehicle. 
     A method according to an aspect of the present disclosure can include determining an orientation of an optical member disposed in front of an image sensor. The method can include vibrating the optical member when the orientation of the optical member fulfills the preset conditions. 
     The method can be further can include determining a height of an imaging system comprising the image sensor and the optical member. Vibrating the optical member can include vibrating the optical member when the height of the imaging system fulfills the preset conditions, and the orientation of the optical member fulfills the preset conditions. 
     The method can further include determining whether an imaging system comprising the image sensor and the optical member is currently executing photography that uses the image sensor. Vibrating the optical member can include vibrating the optical member when photography is not currently being executed, and the orientation of the optical member fulfills the preset conditions. 
     The method can further include determining a height of an imaging system comprising the image sensor and the optical member. The method can further include determining whether the imaging system is currently executing photography that uses the image sensor. The method can further include controlling an orientation of an imaging device that includes the image sensor and the optical member to a preset orientation when the height of the imaging system fulfills the preset conditions and the photography is not currently being executed. Vibrating the optical member can include vibrating the optical member when the height of the imaging system fulfills the preset conditions, the photography is not currently being executed, and the orientation of the optical member fulfills the preset conditions. 
     A program according to an aspect of the present disclosure can cause a computer to determine an orientation of an optical member disposed in front of an image sensor. The program can cause the computer to vibrate the optical member when the orientation of the optical member fulfills the preset conditions. 
     Removal of dust and the like adhered to the optical member can be efficiently executed. 
     The features described above can also be arranged into a variety of subcombinations. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  illustrates one example of an exterior of an unmanned aerial vehicle (UAV). 
         FIG. 2  illustrates one example of a UAV function block. 
         FIG. 3  illustrates an orientation of an optical member. 
         FIG. 4  illustrates one example of a configuration of a dust removal unit. 
         FIG. 5  illustrates an exterior of one example of an imaging mechanism that is one part of an imaging device. 
         FIG. 6  illustrates one example of a relationship of a vibration frequency of a control signal and time. 
         FIG. 7  illustrates one example of a relationship of a size of a voltage amplitude of the control signal and time. 
         FIG. 8  illustrates one example of the relationship of the size of the voltage amplitude of the control signal and time. 
         FIG. 9  is a flowchart illustrating one example of a procedure for vibration control of the optical member. 
         FIG. 10  is a flowchart illustrating one example of a procedure for executing dust removal. 
         FIG. 11  is a flowchart illustrating one example of the procedure for executing dust removal. 
         FIG. 12  illustrates one example of a hardware configuration. 
     
    
    
     DETAILED DESCRIPTION OF THE EMBODIMENTS 
     The present disclosure is described below using some embodiments of the disclosure, but the embodiments below do not limit the disclosure. Combinations of features described in the embodiments below are not all the combinations of features of the disclosure. 
     The scope of the claims, specification, drawings, and abstract include matters subject to protection by copyright. The owner of copyright does not raise objections to duplication by any person of these documents if it is as displayed in the files or records of the Patent Office. However, in all other cases, all copyrights are reserved. 
     The various embodiments of the present disclosure can be described referencing flowcharts and block diagrams. These blocks can illustrate (1) a step of a process that executes an operation, or (2) a “unit” of a device having a role in executing an operation. A specific step or “unit” can be implemented through a programmable circuit and/or a processor. A dedicated circuit can include a digital and/or analog hardware circuit. An integrated circuit (IC) and/or discrete circuit can be included. A programmable circuit can include a reconfigurable hardware circuit. The reconfigurable hardware circuit can include a memory element, such as a logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations; a flip-flop; a register; a field programmable gate array (FPGA); and a programmable logic array (PLA). 
     A computer-readable medium can include any tangible device that can store instructions to be executed by a suitable device. As a result, a computer-readable medium having instructions stored thereon can include a manufactured good that includes instructions that can be executed to create means for executing operations designated in a flowchart or a block diagram. As for examples of computer-readable media, electronic recording media, magnetic recording media, optical recording media, electromagnetic recording media, semiconductor recording media, and the like can be included. As for more specific examples of computer-readable media, floppy discs®, diskettes, hard discs, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray™ discs, memory sticks, integrated circuit cards, and the like can be included. 
     Computer-readable instructions can include either source code or object code written in any combination of one or more of programming languages. The source code or object code can include a conventional procedural programming language. The conventional procedural programming language can be: assembler instructions; instruction set architecture (ISA) instructions; machine instructions, machine-dependent instructions; microcode; firmware instructions; state setting data; an object-oriented programming language such as Smalltalk, JAVA®, C++, or the like; “C” programming language, or a similar programming language. The computer-readable instructions can be provided to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or another programmable data processing device either locally or via a local area network (LAN) or a wide area network (WAN) such as the Internet. The processor or programmable circuit can execute computer-readable instructions in order to create means for executing the operations designated in a flowchart or block diagram. Examples of a processor can include a computer processor, a processing unit, a microprocessor, a digital signal processor, a controller, a microcontroller, and the like. 
       FIG. 1  illustrates one example of an exterior of an unmanned aerial vehicle (UAV)  10 . The UAV  10  can include a UAV body  20 , a gimbal  50 , a plurality of imaging devices  60 , an imaging device  100 , and a lens device  200 . The gimbal  50 , the imaging device  100 , and the lens device  200  are one example of an imaging system. The UAV  10  is one example of a movable object propelled by a propulsion unit. A movable object can be a concept that includes, in addition to UAVs, other aerial vehicles moving in the air, vehicles moving on the ground, ships moving in the water, and the like. 
     The UAV body  20  can include a plurality of rotary wings. The plurality of rotary wings can be one example of a propulsion unit. The UAV body  20  can cause the UAV  10  to fly by controlling the rotation of the plurality of rotary wings. For example, the UAV body  20  can cause the UAV  10  to fly by using four rotary wings. The number of rotary wings is not limited to four. Also, the UAV  10  can be a fixed-wing aircraft that does not have rotary wings. 
     The imaging device  100  can be a camera for imaging that images a subject contained in a desired imaging range. The gimbal  50  can rotatably support the imaging device  100  and the lens device  200 . The gimbal  50  can be one example of a carrier. For example, the gimbal  50  can rotatably support the imaging device  100  and the lens device  200  on a pitch axis. The gimbal  50  can further rotatably support the imaging device  100  and the lens device  200  with the roll axis and the yaw axis each as the center. The gimbal  50  can support the imaging device  100 , and can support the lens device  200 . The imaging device  100  can include the lens device  200 . The gimbal  50  can change an orientation of the imaging device  100  by rotating the imaging device  100  and the lens device  200  with at least one of the yaw axis, the pitch axis, and the roll axis at the center. 
     The imaging device  100  can generate and record image data of optical images formed via the lens device  200 . The lens device  200  can be integrally provided with the imaging device  100 . The lens device  200  can be a so-called “interchangeable lens,” and can be detachably provided on the imaging device  100 . 
     The plurality of imaging devices  60  can be a camera for sensing that images the surroundings of the UAV  10  for controlling the flight of the UAV  10 . Two imaging devices  60  can be provided on a front face, which is the nose of the UAV  10 . Further, another two imaging devices  60  can be provided on a bottom face of the UAV  10 . The two imaging devices  60  on the front face side can act as a pair and function as what is known as a stereo camera. The two imaging devices  60  on the bottom face side can also act as a pair and function as a stereo camera. Three-dimensional spatial data of the surroundings of the UAV  10  can be generated based on the image imaged by the plurality of imaging devices  60 . The number of imaging devices  60  provided on the UAV  10  is not limited to four. The UAV  10  can include at least one imaging device  60 . The UAV  10  can include at least one imaging device  60  on each of the nose, tail, sides, lower surface, and upper surface of the UAV  10 . An angle of view that can be set by the imaging devices  60  can be wider than an angle of view that can be set on the imaging device  100 . The imaging devices  60  can have a single focus lens or a fisheye lens. 
       FIG. 2  illustrates one example of a function block of the UAV  10 . The UAV  10  can include a UAV control unit  30  (controller), a memory  32 , a communication interface  34 , a propulsion unit  40  (propulsor), the gimbal  50 , the imaging devices  60 , the imaging device  100 , and the lens device  200 . 
     The communication interface  34  can communicate with an external transmitter. The communication interface  34  receives a variety of instructions for the UAV control unit  30  from a remote transmitter. The memory  32  stores programs and the like necessary for the UAV control unit  30  to control the propulsion unit  40 , the gimbal  50 , the imaging devices  60 , the imaging device  100 , and the lens device  200 . The memory  32  can be a recordable medium that is computer-readable, and can include at least one from among SRAM, DRAM, EPROM, EEPROM, and flash memory such as USB memory. The memory  32  can be provided in the interior of the UAV body  20 . The memory  32  can be provided such that it is detachable from the UAV body  20 . 
     The UAV control unit  30  can control the flight and imaging of the UAV  10  following a program stored in the memory  32 . The UAV control unit  30  can be configured from a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like. The UAV control unit  30  can control the flight and imaging of the UAV  10  following instructions received from a remove transmitter via the communication interface  34 . The propulsion unit  40  can propel the UAV  10 . The propulsion unit  40  can have a plurality of rotary wings and a plurality of drive motors for rotating the plurality of rotary wings. The propulsion unit  40  can cause the UAV  10  to fly by rotating the plurality of rotary wings via the plurality of drive motors, following the instructions from the UAV control unit  30 . 
     The lens device  200  can include a plurality of lenses  210 , a lens movement mechanism  212 , and a lens control unit  220  (lens controller). The plurality of lenses  210  can function as a zoom lens, a varifocal lens, and a focus lens. At least one, or all, of the plurality of lenses  210  can be disposed movably along an optical axis. The plurality of lenses  210  can be an interchangeable lens provided such that the lenses can be attached to or removed from the lens device  200 . The lens movement mechanism  212  can move at least one, or all, of the plurality of lenses  210  along the optical axis. The lens control unit  220  can drive the lens movement mechanism  212  following lens control instructions from the imaging device  100  and can move one or a plurality of the lenses  210  along an optical axis direction. The lens control command instructions can be, for example, zoom control instructions and focus control instructions. 
     The imaging device  100  can include an image sensor  120 , a control unit  110  (controller), a memory  130 , and a dust removal unit  300  (dust remover). The dust removal unit  300  can have an optical member  302  (optical element) and an electromechanical conversion element  303  (electromechanical converter). The optical member  302  can be disposed in front of the image sensor  120 . The optical member  302  can be configured from a material having transparency, such as glass or quartz. The optical member  302  can be configured in a plate shape. “Transparency” means having a property of transmitting light. A material having transparency can be a material having a property such that the light transmissivity in the visual spectrum (350 nm to 780 nm) exceeds at least 50%. The electromechanical conversion element  303  can be attached to the optical member  302 . The electromechanical conversion element  303  can convert electrical energy to mechanical energy. The electromechanical conversion element  303  can be, for example, a piezoelectric element. 
     The control unit  110  can have an imaging control unit  112  (imaging controller), a vibration control unit  114  (vibration controller), and a determining unit  116  (determining circuit). The imaging control unit  112  can control the imaging performed by the imaging device  100 . The vibration control unit  114  can control vibration caused by the dust removal unit  300 . The vibration control unit  114  can control the vibration of the dust removal unit  300  according to vibration control instructions from the UAV control unit  30 . The determining unit  116  can determine an orientation of the optical member  302 . The determining unit  116  can determine the orientation of the optical member  302  by determining an orientation of the imaging device  100 . The determining unit  116  can determine the orientation of the optical member  302  based on information from an acceleration sensor provided in the imaging device  100 . The determining unit  116  can acquire control information for the gimbal  50  via the UAV control unit  30  and determine the orientation of the optical member  302  based on the acquired control information. The determining unit  116  can acquire as control information a rotation angle illustrating an amount the imaging device  100  has rotated from a reference rotation angle with a pitch axis of the gimbal  50  as the center, via the UAV control unit  30 . 
     The determining unit  116  can further determine a height of the imaging system. The determining unit  116  can determine an elevation of the UAV  10  as the height of the imaging system. The determining unit  116  can acquire via the UAV control unit  30  information illustrating the elevation acquired from a barometric altimeter or a GPS receiver provided on the UAV  10 . The determining unit  116  can determine the height of the imaging system from information illustrating that height. 
     The determining unit  116  can further determine whether the imaging system is currently executing photography that uses the image sensor  120 . The determining unit  116  can determine whether the imaging system is currently capturing still-images or moving images as photography that uses the image sensor  120 . 
     The control unit  110  can be configured from a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like. The memory  130  can be a computer-readable recording medium, and can include at least one from among SRAM, DRAM, EPROM, EEPROM, and flash memory such as USB memory. The imaging control unit  112 , the vibration control unit  114 , and the determining unit  116  can be configured from one or a plurality of microcontrollers. The imaging control unit  112 , the vibration control unit  114 , and the determining unit  116  can each be configured as individual microcontrollers. The memory  130  can be provided in the interior of the housing of the imaging device  100 . The memory  130  can be provided such that it is removable from the housing of the imaging device  100 . 
     The image sensor  120  can generate and output to the imaging control unit  112  image data of an optical image formed via the lens  210 . The image sensor  120  can be configured from CCD or CMOS. The imaging control unit  112  can store image data output from the image sensor  120  in the memory  130 . The imaging control unit  112  can output image data to the memory  32  to be stored therein, via the UAV control unit  30 . The imaging control unit  112  can control the lens device  200  according to action instructions for the lens device  200  provided from the UAV control unit  30 . 
     When the imaging device  100  having the dust removal unit  300  is installed on the UAV  10  via the gimbal  50 , the UAV  10  can control the orientation of the imaging device  100  via the gimbal  50 . When the gimbal  50  is controlling the orientation of the imaging device  100  so that the imaging device  100  faces upward, the face of the optical member  302  on the opposite side of the image sensor  120  can face upward. When the dust removal unit  300  activates in such a state, dust adhering to the face of the optical member  302  on the opposite side of the image sensor  120  cannot easily fall off below in the vertical direction. Meanwhile, when the gimbal  50  is controlling the orientation of the imaging device  100  so that the imaging device  100  faces downward, the face of the optical member  302  on the opposite side of the image sensor  120  can face downward. When the dust removal unit  300  activates in such a state, dust adhering to the face of the optical member  302  on the opposite side of the image sensor  120  can be easily caused to fall off below in the vertical direction. In this manner, by activating the dust removal unit  300  considering the orientation of the imaging device  100 , that is, considering the orientation of the optical member  302 , removal of dust adhering to the optical member  302  can be effectively executed. 
     The vibration control unit  114  can vibrate the optical member  302  when the orientation of the optical member  302  identified by the determining unit  116  fulfills preset conditions. The vibration control unit  114  can be one example of a first control unit. For example, as illustrated in  FIG. 3 , the vibration control unit  114  can vibrate the optical member  302  when a normal vector  312  facing an opposite direction of a direction going toward the image sensor  120  from a plane  310  of the optical member  302  on the opposite side of the image sensor  120  has a vertical direction  314  component. The vibration control unit  114  can vibrate the optical member  302  when the optical member  302  is below the image sensor  120  in the vertical direction. The vibration control unit  114  can vibrate the optical member  302  when the rotation angle illustrating the amount the imaging device  100  has rotated from the reference rotation angle with a pitch axis of the gimbal  50  as the center is in a preset rotation angle range. The vibration control unit  114  can determine that the normal vector  312  has the vertical direction  314  component when the rotation angle of the imaging device  100  on the pitch axis is in a preset rotation angle range. The vibration control unit  114  can determine that the optical member  302  is below the image sensor  120  in the vertical direction when the rotation angle of the imaging device  100  on the pitch axis is in a preset rotation angle range. 
     The vibration control unit  114  can vibrate the optical member when the height of the imaging system identified by the determining unit  116  fulfills preset conditions, and the orientation of the optical member  302  fulfills preset conditions. The vibration control unit  114  can vibrate the optical member  302  when photography is not currently being executed, and the orientation of the optical member  302  fulfills preset conditions. The vibration control unit  114  can vibrate the optical member  302  when still-image photography and video photography is not currently being executed, and the orientation of the optical member  302  fulfills preset conditions. 
     The vibration control unit  114  can instruct the UAV control unit  30  to control the orientation of the imaging device  100  that includes the image sensor  120  and the optical member  302 . The UAV control unit  30  can control the orientation of the imaging device  100  that includes the image sensor  120  and the optical member  302  via the gimbal  50 . At least one of the vibration control unit  114  and the UAV control unit  30  is one example of a second control unit. 
     The vibration control unit  114  can control the orientation of the imaging device  100  to a preset orientation via the UAV control unit  30  and the gimbal  50  when the height of the imaging system meets the preset conditions and photography is not currently being executed. The vibration control unit  114  can vibrate the optical member  302  when the height of the imaging system meets the preset conditions, photography is not currently being executed, and the orientation of the optical member  302  fulfills preset conditions. 
     For example, in a case that the lens device  200  is large, when the UAV  10  is in a state of being landed and the gimbal  50  is activated to attempt to make the orientation of the imaging device  100  face downward, there is a possibility of the lens device  200  colliding with the ground. Now, it is preferable to raise the height of the imaging system that includes the imaging device  100  and the lens device  200  to a reasonable height before the orientation of the imaging device  100  can be made to face downward. That is, it is preferable to keep the UAV  10  raised until the height of the UAV  10  reaches a certain elevation before making the orientation of the imaging device  100  face downward. Then, the vibration control unit  114  controls the orientation of the imaging device  100  to a preset orientation via the UAV control unit  30  and the gimbal  50  when the height of the imaging system meets the preset conditions. 
     There can be instances in which the imaging device  100  is already executing photography from before when the UAV  10  takes off. Thus, when the orientation of the imaging device  100  is made to face downward in response to the UAV  10  reaching the preset elevation, there can be an effect on the photography of the imaging device  100  already being executed. The vibration control unit  114  can control the orientation of the imaging device  100  to the preset orientation via the UAV control unit  30  and the gimbal  50  when the height of the imaging system fulfills preset conditions and photography is not currently being executed by the imaging device  100 . The vibration control unit  114  can control the orientation of the imaging device  100  so that the imaging device  100  faces downward via the UAV control unit  30  and the gimbal  50  when the height of the imaging system fulfills preset conditions, and photography is not currently being executed by the imaging device  100 . 
     In the above manner, dust and the like adhering to the optical member  302  can be effectively removed by the vibration control unit  114  vibrating the optical member  302  considering the orientation of the optical member  302 . 
       FIG. 4  illustrates one example of a configuration of the dust removal unit  300 . The dust removal unit  300  can have a frame  301 , the optical member  302 , the electromechanical conversion element  303 , wires  304 , and wires  305 . The frame  301  can support the optical member  302 . The electromechanical conversion element  303  can be attached to the optical member  302  via the frame  301 . The electromechanical conversion element  303  can be electrically connected to the vibration control unit  114  via the wires  304  and the wires  305 . A control signal supplied from the vibration control unit  114  can be transmitted to the electromechanical conversion element  303  via the wires  304  and the wires  305 . The electromechanical conversion element  303  can vibrate according to the control signal, and can cause the optical member  302  to vibrate. Dust and the like adhered to the optical member  302  can be removed by the vibration of the optical member  302 . 
       FIG. 5  illustrates one example of an exterior of an imaging mechanism  400  that is a part of the imaging device  100 . The imaging mechanism  400  can have a support substrate  401 , a heat sink  402 , a lens mount  407 , and the dust removal unit  300 . The support substrate  401  can be provided on one face of the heat sink  402 . The support substrate  401  can support the image sensor  120 . The optical member  302  can be provided via the frame  301  on a plane of the support substrate  401  on an opposite side of the heat sink  402 . The lens mount  407  can be provided on a face of the frame  301  on an opposite side of the support substrate  401 . A support body  404  can be provided on the outer periphery part of the lens mount  407 . The support body  404  can be integrally configured with the lens mount  407 . The support body  404  can be fixed to the support substrate  401  via a spring  403 . The spring  403  can adjust the pitch of the support substrate  401 . The support substrate  401  can have wires  405 . The support substrate  401  can be connected to the control unit  110  via the wires  405 . The lens mount  407  can have at least one electrical contact  408  and wires  406 . The electrical contact  408  can be connected to the control unit  110  via the wires  406 . The lens control instructions can be transmitted from the imaging device  100  to the lens device  200  via the electrical contact  408 . 
     In the imaging device  100  configured in the aforementioned manner, dust and the like adhering to the optical member  302  can be removed by vibrating the optical member  302 . The vibration characteristics of the optical member  302  can change according to the surrounding environment, such as temperature and air pressure. For example, the UAV  10  with the imaging device  100  installed thereon flies through the sky, where the surrounding environment changes significantly. When the dust removal unit  300  is used in such surrounding environments, the vibration characteristics of the optical member  302  can fluctuate, and there is a possibility of the optical member  302  not vibrating sufficiently and dust and the like adhered to the optical member  302  not being removed. 
     The vibration control unit  114  can control the vibration frequency of the optical member  302 . The vibration control unit  114  can supply a control signal for controlling the vibration frequency of the optical member  302  to the electromechanical conversion element  303 . The vibration control unit  114  can supply to the electromechanical conversion element  303  a control signal at a preset vibration frequency and at a voltage amplitude of a preset size. The electromechanical conversion element  303  can vibrate the optical member  302  based on the control signal from the vibration control unit  114 . 
     The vibration control unit  114  can supply a control signal to the electromechanical conversion element  303  based on a resonant frequency of the electromechanical conversion element  303 . Resonant frequencies of the electromechanical conversion element  303  can change with the temperature, humidity, or the mounting state of the electromechanical conversion element  303 . The vibration control unit  114  can monitor the amplitude of the vibration of the electromechanical conversion element  303  via a vibration sensor or the like and determine a resonant frequency of the electromechanical conversion element  303 . For example, the vibration control unit  114  can monitor the amplitude of the vibration of the electromechanical conversion element  303  via a vibration sensor or the like and determine a plurality of resonant frequencies of the electromechanical conversion element  303 . The vibration control unit  114  can supply a control signal based on an identified first resonant frequency and second resonant frequency to the electromechanical conversion element  303 . The vibration control unit  114  can vibrate the electromechanical conversion element  303  sequentially at the first resonant frequency and the second resonant frequency by supplying a control signal based on the first resonant frequency and the second resonant frequency to the electromechanical conversion element  303 . The vibration control unit  114  can determine a primary resonant frequency as the first resonant frequency and a secondary resonant frequency as the second resonant frequency of the electromechanical conversion element  303 . The vibration control unit  114  sequentially vibrates the electromechanical conversion element  303  at the identified primary resonant frequency and secondary resonant frequency of the piezoelectric element by supplying a control signal to the electromechanical conversion element  303  based on the primary resonant frequency and the secondary resonant frequency of the electromechanical conversion element  303 . 
     The vibration control unit  114  can gradually change the vibration frequency of the optical member  302  from the first frequency to the second frequency, then can gradually change the vibration frequency from the second frequency to the first frequency. The first frequency can be either a minimum frequency or a maximum frequency controllable by the vibration control unit  114 . The second frequency can be the other frequency of either the minimum frequency or maximum frequency controllable by the vibration control unit  114 . For example, the vibration control unit  114  can be configured from a drive driver IC that can output a voltage pulse (rectangular-wave voltage) from the first frequency that is the minimum rated frequency (for example, 10 kHz) to the second frequency that is the maximum rated frequency (for example, 50 kHz). The minimum frequency and the maximum frequency controllable by the vibration control unit  114  can be preset in electronic parts at a factory before shipping electronic parts such as a drive driver IC that configures the vibration control unit  114 . A resonant frequency of the optical member  302  can be included between the first frequency and the second frequency. The resonant frequency can be a central frequency between the first frequency and the second frequency. The vibration control unit  114  can gradually change the vibration frequency of the optical member  302  to sweep all controllable frequencies. The vibration control unit  114  can gradually change the vibration frequency of the optical member  302  at a preset time interval. The vibration control unit  114  can gradually change the vibration frequency of the optical member  302  in preset frequency intervals. The vibration control unit  114  can repeat a preset number of times the action of gradually changing the vibration frequency of the optical member  302  from the first frequency to the second frequency and then gradually changing from the second frequency to the first frequency. 
     In the aforementioned manner, the vibration control unit  114  can gradually change the vibration frequency of the optical member  302  from the first frequency to the second frequency, then can gradually change the vibration frequency from the second frequency to the first frequency. This can allow the effect of fluctuations in the vibration characteristics of the optical member  302  that can occur when the dust removal unit  300  is used in a surrounding environment with large fluctuations to be inhibited. Thus, even when the dust removal unit  300  is used in a surrounding environment with large fluctuations, the optical member  302  can be efficiently vibrated. This can allow the phenomenon of the optical member  302  not sufficiently vibrating and dust and the like adhering to the optical member  302  not being removed to be inhibited. For example, the vibration control unit  114  can detect a resonant frequency of the optical member  302  that changes according to the surrounding environment and not control the control signal according to the detected resonant frequency. Thus, a complex configuration of the dust removal unit  300  can be avoided. 
       FIG. 6  illustrates one example of a relationship between a vibration frequency of a control signal supplied to the electromechanical conversion element  303  and time. For example, the vibration control unit  114  can supply a control signal to the electromechanical conversion element  303 . The control signal can cause the vibration frequency to increase every 10 ms by 10 kHz at a time to 50 kHz, and then can cause the vibration frequency to decrease by 10 kHz at a time to 10 kHz every 10 ms. 
       FIG. 7  illustrates one example of a relationship between an amplitude of a voltage of a control signal supplied to the electromechanical conversion element and time. The vibration control unit  114  can supply a control signal to the electromechanical conversion element  303  that has a constant voltage amplitude. For example, the vibration control unit  114  can supply a control signal with a voltage amplitude of 80V to the electromechanical conversion element  303 . Control signals with a constant voltage amplitude can include control signals with a voltage amplitude that fluctuates within a preset permissible range. Control signals with a constant voltage amplitude can include control signals with a voltage amplitude that fluctuates within a width of 5V, for example. 
     In the example above, an example wherein the vibration control unit  114  can supply a control signal with a constant voltage amplitude to the electromechanical conversion element  303  was described. However, the vibration control unit  114  can fluctuate the voltage amplitude of the control signal according to the size of the frequency. The vibration control unit  114  can supply to the electromechanical conversion element  303  a control signal with a voltage amplitude of a first size when the voltage frequency is a first frequency. The vibration control unit  114  can supply to the electromechanical conversion element  303  with a voltage amplitude of a second size that is smaller than the first size when the voltage frequency is a second frequency that is closer to a resonant frequency of the optical member  302  than is the first frequency. The vibration control unit  114  can supply a control signal to the electromechanical conversion element  303  with a voltage amplitude that increases as the voltage frequency becomes farther from the second frequency. The second frequency can be a resonant frequency of the optical member  302 . 
     The vibration control unit  114  can supply a control signal to the electromechanical conversion element that gradually changes the voltage frequency from a first frequency to a second frequency while gradually changing the voltage amplitude from a first size to a second size. The first frequency can be smaller than the second frequency. The second frequency can be a resonant frequency. The vibration control unit  114  can supply to the electromechanical conversion element a control signal. The control signal can gradually change the voltage frequency from the first frequency to the second frequency while gradually changing the voltage amplitude from the first size to the second size. And then, the control signal can gradually change the voltage frequency from the second frequency to a third frequency that is larger than the second frequency while gradually changing the voltage amplitude from the second size to a third size that is larger than the second size. 
     The vibration control unit  114  can supply to the electromechanical conversion element  303  a control signal. The control signal can gradually change the voltage frequency from the second frequency to the third frequency while gradually changing the voltage amplitude from the second size to the third size. And then, the control signal can gradually change the voltage frequency from the third frequency to the second frequency while gradually changing the voltage amplitude from the third size to the second size. Further, the vibration control unit  114  can supply to the electromechanical conversion element  303  a control signal that gradually changes the voltage frequency from the second frequency to the first frequency while gradually changing the voltage amplitude from the second size to the first size. For example, the vibration control unit  114  can function as a voltage generator that can output a voltage pulse (rectangular-wave voltage) from the first frequency (for example, 10 kHz) to the third frequency (for example, 50 kHz). 
     The vibration control unit  114  can repeat the supplying of the control signal to the electromechanical conversion element  303  a preset number of times. The vibration control unit  114  can supply to the electromechanical conversion element  303  a control signal wherein the size of the voltage frequency and voltage amplitude can gradually change at a preset time interval. The vibration control unit  114  can supply to the electromechanical conversion element  303  a control signal wherein the voltage frequency gradually can change at a preset frequency interval, and the size of the voltage amplitude can gradually change at a preset size interval. 
     The vibration control unit  114  can supply to the electromechanical conversion element  303  a control signal wherein the voltage of the control signal can become a minimum when the voltage frequency of the control signal is near a resonant frequency of the optical member  302 . For example, the vibration control unit  114  can supply to the electromechanical conversion element  303  a control signal of a first frequency with the size of the voltage amplitude being 80V. Then, the vibration control unit  114  can supply to the electromechanical conversion element  303  a control signal wherein the size of the voltage amplitude becomes smaller as the frequency approaches a resonant frequency of the optical member  302 . Further, the vibration control unit  114  can supply to the electromechanical conversion element  303  a control signal wherein the size of the voltage amplitude becomes larger as the frequency gets farther from a resonant frequency of the optical member  302 . The size of the voltage amplitude of the control signal supplied to the electromechanical conversion element  303  can reach a minimum near a resonant frequency of the optical member  302 . 
       FIG. 8  illustrates one example of a relationship between a size of a voltage amplitude of a control signal supplied to the electromechanical conversion element  303  and time. In this example, a resonant frequency of the optical member  302  can be near 25 kHz. The vibration control unit  114  can gradually reduce the voltage of the control signal from a maximum voltage of 80V to a minimum voltage of 10V while gradually increasing the frequency of the control signal from 10 kHz to 25 kHz. Next, the vibration control unit  114  can gradually increase the voltage of the control signal from the minimum voltage of 10V to the maximum voltage of 80V while gradually increasing the frequency of the control signal from 25 kHz to 50 kHz. Further, the vibration control unit  114  can gradually reduce the voltage of the control signal from the maximum voltage of 80V to the minimum voltage of 10V while gradually reducing the frequency of the control signal from 50 kHz to 25 kHz. Next, the vibration control unit  114  can gradually increase the voltage of the control signal from the minimum voltage of 10V to the maximum voltage of 80V while gradually reducing the frequency of the control signal from 25 kHz to 10 kHz. 
     In the aforementioned manner, the vibration control unit  114  can change the size of the voltage amplitude of the control signal according to the frequency of the control signal. When the frequency of the control signal is near a resonant frequency of the optical member  302 , the vibration amplitude of the optical member  302  can become larger, even when the size of the voltage amplitude of the control signal is small. Meanwhile, when the frequency of the control signal is far from a resonant frequency of the optical member  302 , when the size of the voltage amplitude of the control signal is the same as near a resonant frequency, the vibration amplitude of the optical member  302  can become smaller. By making the size of the voltage amplitude of the control signal larger than near a resonant frequency, the vibration amplitude of the optical member  302  can be made larger. This can allow inconsistency in vibration amplitude of the optical member  302  caused by differences in the size of the frequency supplied to the electromechanical conversion element  303  to be inhibited. Thus, the phenomenon of the optical member  302  not sufficiently vibrating and dust and the like adhering to the optical member  302  not being removed due to differences in the size of the frequency supplied to the electromechanical conversion element  303  can be inhibited. 
     Further, the vibration control unit  114  can gradually change the vibration frequency of the optical member  302  from the first frequency to the third frequency, then can gradually change the vibration frequency from the third frequency to the first frequency. This can allow for inhibiting the effect of fluctuations in the vibration characteristics of the optical member  302  that can occur when the dust removal unit  300  is used in a surrounding environment with large fluctuations. Thus, even when the dust removal unit  300  is used in a surrounding environment with large fluctuations, the optical member  302  can be efficiently vibrated. This can allow the phenomenon of the optical member  302  not sufficiently vibrating and dust and the like adhering to the optical member  302  not being removed to be inhibited. For example, the vibration control unit  114  does not need to detect a resonant frequency of the optical member  302  that changes according to the surrounding environment and control the control signal according to the detected resonant frequency. Thus, a complex configuration of the dust removal unit  300  can be avoided. 
       FIG. 9  is a flowchart illustrating one example of a procedure for vibration control of the optical member  302 . The vibration control unit  114  can supply to the electromechanical conversion element  303  a control signal wherein the vibration frequency increases when predetermined period of time elapses until the vibration frequency reaches predetermined frequency (S 100 ). Next, the vibration control unit  114  can supply to the electromechanical conversion element  303  a control signal wherein the vibration frequency decreases at a preset frequency (S 102 ). While executing step S 100  to step S 102 , the vibration control unit  114  can adjust the voltage of the control signal so the size of the voltage amplitude of the control signal can become a minimum near a resonant frequency of the optical member  302 . The vibration control unit  114  can determine whether the process of step S 100  and step S 102  has been executed a preset number of times n (n: a natural number) (S 104 ). The vibration control unit  114  can repeat the process of step S 100  and step S 102  until the measures have been executed the preset number of times n. 
       FIG. 10  is a flowchart illustrating one example of a procedure for executing dust removal. The UAV  10  can execute the procedure illustrated in the flowchart of  FIG. 9  when the imaging device  100  having the dust removal unit  300  is installed thereon. 
     The UAV  10  can start take off (S 200 ). The determining unit  116  can determine the elevation of the UAV  10  as the height of the imaging system. After the UAV  10  takes off, the vibration control unit  114  can determine whether the UAV  10  has risen to a preset height (S 202 ). If the UAV  10  has risen to at least the preset height, the vibration control unit  114  can control the gimbal  50  via the UAV control unit  30  and can control the orientation of the imaging device  100  to a preset orientation (S 204 ). The vibration control unit  114  can control the gimbal  50  via the UAV control unit  30  to control the orientation of the imaging device  100  so the imaging device  100  faces downward. When the orientation of the imaging device  100  is controlled to a preset orientation, the vibration control unit  114  can activate the dust removal unit  300  and can start dust removal (S 206 ). 
     According to the procedure described above, when the UAV  10  reaches at least a preset height, for example, the orientation of the imaging device  100  can be changed to face downward. Thus, even if the lens device  200  provided on the imaging device  100  is large, collision of the lens device  200  into the landing surface of the UAV  10  such as the ground when the orientation of the imaging device  100  is made to face downward can be prevented. When the orientation of the imaging device  100  is made to face downward, the face of the optical member  302  on the opposite side of the image sensor  120  can face downward. When the dust removal unit  300  is activated in this state, dust adhering to the face of the optical member  302  on the opposite side of the image sensor  120  can be easily caused to fall off below in the vertical direction. Thus, the removal of dust can be efficiently executed. 
       FIG. 11  is a flowchart illustrating one example of a procedure for executing dust removal. The flowchart differs from the flowchart illustrated in  FIG. 10  in that the vibration control unit  114  can determine whether photography is currently being executed by the imaging device  100  before controlling the orientation of the imaging device  100 . 
     The UAV  10  can start take off (S 200 ). The determining unit  116  can determine the elevation of the UAV  10  as the height of the imaging system. After the UAV  10  takes off, the vibration control unit  114  can determine whether the UAV  10  has risen to a preset height (S 202 ). If the UAV  10  has risen to at least the preset height, the determining unit  116  can determine whether photography is currently being executed by the imaging device  100 . The vibration control unit  114  can determine whether photography is currently being executed by the imaging device  100  based on the identification result of the determining unit  116  (S 203 ). If photography is not currently being executed by the imaging device  100 , the vibration control unit  114  can control the gimbal  50  via the UAV control unit  30 , and can control the orientation of the imaging device  100  to a preset orientation (S 204 ). The vibration control unit  114  can control the orientation of the imaging device  100  so the imaging device  100  can face downward by controlling the gimbal  50  via the UAV control unit  30 . When the orientation of the imaging device  100  is controlled to the preset orientation, the vibration control unit  114  can activate the dust removal unit  300  and starts dust removal (S 206 ). 
     According to the procedure described above, the orientation of the imaging device  100  can be changed when photography is not being executed by the imaging device  100 . As such, when photography is currently being executed by the imaging device  100 , the orientation of the imaging device  100  does not need to be changed, regardless of photography. This does not have an effect on the photography of the imaging device  100 , and the dust removal unit  300  can be activated in a state of the face of the optical member  302  on the opposite side of the image sensor  120  facing downward. Thus, the dust removal of the dust removal unit  300  does not have an effect on the photography of the imaging device  100 , and can be efficiently executed. 
       FIG. 12  illustrates a computer  1200  that can entirely or partially realize a plurality of aspects of the present disclosure. A program installed on the computer  1200  can cause the computer  1200  to function as operations related to devices according to an embodiment of the present disclosures or a single or a plurality of “units”. Alternatively, the program can cause the computer  1200  to execute the operations or the single or plurality of “units”. The program can cause the computer  1200  to execute a process or the steps of a process according to an embodiment of the present disclosure. Such a program can execute specific operations related to some or all of the blocks of the flowcharts and block diagrams described in the present specification by executing via a CPU  1212 . 
     The computer  1200  according to the present embodiment can include the CPU  1212  and a RAM  1214 , and these can be mutually connected by a host controller  1210 . The computer  1200  can further include a communication interface  1222  and an input/output unit, and these can be connected to the host controller  1210  via an input/output controller  1220 . The computer  1200  can further include a ROM  1230 . The CPU  1212  can act following the program stored in the ROM  1230  and the RAM  1214 , and can control each unit thereby. 
     The communication interface  1222  can communicate with other electronic devices via a network. A hard disc drive  1224  can store the programs and data to be used by the CPU  1212  in the computer  1200 . The ROM  1230  can store therein boot programs and the like that are executed by the computer  1200  during activation and/or programs that depend on hardware of the computer  1200 . The programs can be provided via a computer-readable recording medium like a CR-ROM, USB memory, or an IC card, or a network. The programs can be installed on the RAM  1214  or the ROM  1230  that are examples of a computer-readable recording medium, and can be executed by the CPU  1212 . The information processes written in these programs can be read by the computer  1200 , and can bring about the coordination between the programs and the various types of hardware resources described above. Devices or methods can be configured by actualizing the operations or processing of information by following the use of the computer  1200 . 
     For example, when communication is executed between the computer  1200  and an external device, the CPU  1212  can execute a communication program loaded in the RAM  1214 , and can instruct the communication interface  1222  to perform communication processes based on the processes written in the communication program. Under the control of the CPU  1212 , the communication interface  1222  can read sending data stored in a sending buffer process region provided on a recording medium such as the RAM  1214  or USB memory and can send the read sending data to a network, or can write receiving data received from a network to a receiving buffer process region or the like provided on the recording medium. 
     Further, the CPU  1212  can make the entirety or necessary portions of files or a database stored on an external recording medium such as USB memory be read by the RAM  1214 , and can execute a variety of types of processes relating to the data on the RAM  1214 . The CPU  1212  then writes back the processed data to the external recording medium. 
     A variety of types of programs and a variety of types of information like data, tables, and databases can be stored on the recording medium and receive information processing. The CPU  1212  can execute a variety of types of processes designated by an instruction sequence of the program described throughout the present disclosure relating to data read from the RAM  1214 , and can write back the results to the RAM  1214 . The variety of types of processes can include a variety of types of operations, information processes, condition determination, condition branching, unconditional branching, information search/replace, and the like. Further, the CPU  1212  can search the information in the files, databases, and the like on the recording medium. For example, a plurality of entries can be stored in the recording medium. Each of the plurality of entries can have an attribute value of a first attribute related to an attribute value of a second attribute. When the plurality of entries are stored on the recording medium, the CPU  1212  can search from the plurality of entries for an entry that matches the conditions and for which the attribute value of the first attribute is designated. The CPU  1212  can then read the attribute value of the second attribute stored in the entry; thus allowing the attribute value of the second attribute related to the first attribute that fulfills preset conditions to be acquired. 
     The program or software module described above can be stored on the computer  1200  or on a computer-readable medium near the computer  1200 . Further, a recording medium like a hard disc or RAM provided in a server system connected to a private communications network or the interne can be used as a computer-readable medium, and the program is thereby provided to the computer  1200  via the network. 
     The present disclosure is described using embodiments, but the technical scope of the disclosure is not limited to the scope in the above embodiments. It should be clear to a person skilled in the art that the above embodiments are susceptible to various modifications or improvements. It should also be clear from the scope of the claims that forms having such modifications or improvements can be included in the technical scope of the present disclosure. 
     The order of each process in the operations, procedures, steps, stages, and the like of the devices, systems, programs, and methods in the scope of the claims, specification, and drawings is not specifically disclosed using “beforehand”, “in advance”, and the like, and any order is possible as long as a postprocess does not use the output of a preprocess. Even if “first”, “next”, and the like are used for convenience in describing the flow of operations in the scope of the claims, specification, and drawings, it is not meant that the operations must be executed in this order. 
     DESCRIPTION OF REFERENCE NUMERALS 
     
         
           10  UAV 
           20  UAV body 
           30  UAV control unit 
           32 ,  130  Memory 
           34  Communication interface 
           40  Propulsion unit 
           50  Gimbal 
           60  Imaging device 
           100  Imaging device 
           110  Control unit 
           112  Imaging control unit 
           114  Vibration control unit 
           120  Image sensor 
           200  Lens device 
           210  Lens 
           212  Lens movement mechanism 
           220  Lens control unit 
           300  Dust removal unit 
           301  Frame 
           302  Optical member 
           303  Electromechanical conversion element 
           304 ,  305 ,  405 ,  406  Wires 
           400  Imaging mechanism 
           401  Support substrate 
           402  Heat sink 
           404  Support body 
           407  Lens mount 
           408  Electrical contact