Imaging system

Abstract

SOLUTION: To provide an imaging device provided with: an image acquisition section acquiring images from a first imaging device and a second imaging device; and an image switching section switching display images on a display device from images by the first imaging device to images by the second imaging device when the second imaging device starts imaging a specific place according to a predetermined condition being met by the first image device imaging the specific place or the second imaging device not imaging the specific place. According to the invention, the imaging system may be provided with an imaging instruction section making the second imaging device move to a place where the specific place is allowed to be imaged and start imaging the specific place according to a predetermined condition being met by the first image device imaging the specific place or the second imaging device not imaging the specific place.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an imaging system. [Background technology]

[0002] Patent Document 1 states, "When the remaining charge of the batteries 105 of the drones 100c and 100d becomes low, the drones 100c and 100d are landed on the landing area to charge the batteries 105, and the drones 100a and 100b are taken off to capture images using the respective imaging devices 102." (Paragraph 0062) Patent Document 2 states, "An environmental image including the bucket 145 when the work machine 10 is destroying a building is displayed on the image output device 222." (Paragraph 0029) [Prior art document] [Patent documents] [Patent Document 1] JP 2022-188250 A [Patent Document 2] JP 2021-17696 A Summary of the Invention

[0003] In a first aspect of the present invention, there is provided an imaging system comprising: an image acquisition unit that acquires images from a first imaging device and a second imaging device, and an image switching unit that switches a display image on a display device from an image captured by the first imaging device to an image captured by the second imaging device when the second imaging device starts capturing an image of a specific location in response to a predetermined condition being satisfied by the first imaging device capturing the specific location or the second imaging device not capturing the specific location.

[0004] Any of the above photographing systems may further include a photographing instruction unit that, when the first photographing device photographing the specific location or the second photographing device not photographing the specific location satisfies the predetermined condition, causes the second photographing device to move to a location where the specific location can be photographed and start photographing the specific location.

[0005] In any of the above-described imaging systems, the first imaging device and the second imaging device may be flying objects.

[0006] In any of the above-mentioned photographing systems, the photographing instruction unit may acquire at least one of position information and photographing setting information of the first photographing device while the first photographing device is photographing the specific location, and provide the same to the second photographing device.

[0007] Any of the above-mentioned photographing systems may further include an end instruction unit that ends photographing of the specific location by the first photographing device in response to the display image of the display device being switched from an image taken by the first photographing device to an image taken by the second photographing device.

[0008] In any of the above-mentioned photographing systems, the predetermined conditions may include at least any of the following: the remaining battery charge of the first photographing device is below a predetermined threshold, an abnormality or malfunction occurs in the first photographing device, a predetermined maintenance timing for the first photographing device arrives, and the current continuous flight time of the first photographing device, which is an aircraft, is longer than a predetermined time.

[0009] In any of the above-described image capturing systems, the predetermined condition may include a condition in which a remaining battery charge of the second image capturing device is equal to or greater than a predetermined threshold.

[0010] In any of the above-mentioned photographing systems, the predetermined condition may include the first photographing device being able to interrupt photographing the specific location in response to a work machine working on a work object included in the specific location transitioning to a non-working state in which it is not performing work on the work object.

[0011] Any of the above photographing systems may further include a warning unit that warns a user when the second photographing device is in an unsuitable state for starting photographing after the first photographing device photographing the specific location satisfies the predetermined condition.

[0012] Any of the above photographing systems may further include an end instruction unit that, when the second photographing device is not in a state suitable for starting photographing after the first photographing device photographing the specific location satisfies the predetermined condition, ends photographing of the specific location by the first photographing device without waiting for the second photographing device to start photographing the specific location.

[0013] Any of the above-mentioned photographing systems may further include an information acquiring unit that acquires battery remaining amount information regarding the battery remaining amount of the two or more second photographing devices that are not photographing the specific location. Any of the above-mentioned photographing systems may further include a selection unit that selects at least one of the second photographing device having the highest battery remaining amount and the second photographing device that is fully charged among the two or more second photographing devices based on the battery remaining amount information of the two or more second photographing devices in response to the first photographing device photographing the specific location satisfying the predetermined condition, and causes the selected second photographing device to start photographing the specific location.

[0014] In a second aspect of the present invention, there is provided an imaging system comprising: an image acquisition unit that acquires images from a first imaging device and a second imaging device, a display unit that displays the images acquired by the image acquisition unit, and an image switching unit that switches the display unit from displaying the image captured by the first imaging device to displaying the image captured by the second imaging device when a specific location captured in an image captured by the first imaging device is captured in an image that has begun to be captured by the second imaging device.

[0015] In a third aspect of the present invention, there is provided an image capturing system including an image acquiring unit that acquires images from a first image capturing device and a second image capturing device, and an image switching unit that switches from recording images by the first image capturing device to recording images by the second image capturing device when the second image capturing device starts capturing images of a specific location in response to a predetermined condition being satisfied by the first image capturing device or the second image capturing device not capturing the specific location.

[0016] The above summary of the invention does not list all of the features of the present invention. Also, subcombinations of these features may also be inventions. [Brief description of the drawings]

[0017] [Figure 1] 1 is a schematic diagram of an imaging system 10 according to a first embodiment. [Diagram 2] 1 is an example of a block diagram of a control device 100 according to a first embodiment. [Diagram 3] 4 is a flowchart showing an example of an operation flow of the imaging system 10 according to the first embodiment. [Figure 4] 4 is a flowchart showing an example of an operation flow of the imaging system 10 according to the first embodiment. [Diagram 5] 4 is a flowchart showing an example of an operation flow of the imaging system 10 according to the first embodiment. [Figure 6] 4 is a flowchart showing an example of an operation flow of the imaging system 10 according to the first embodiment. [Figure 7] FIG. 11 is a schematic diagram of an imaging system 11 according to a second embodiment. [Figure 8] FIG. 11 is an example of a block diagram of a display device 406 according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] The present invention will be described below through embodiments of the invention, but the following embodiments do not limit the scope of the invention according to the claims. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0019] FIG. 1 is a schematic diagram of an image capturing system 10 according to a first embodiment. The image capturing system 10 enables a user 20 viewing images of a specific location captured in sequence by two or more image capturing devices to continuously or substantially continuously observe the specific location on the display image when the image capturing of the specific location by the leading image capturing device is switched to the image capturing of the specific location by the trailing image capturing device. The specific location may refer to only one or more stationary objects such as a wall, the ground, or an object, or may refer to both one or more stationary objects and a moving object such as a work machine. The image may be a still image or a video. The image may be an image captured in real time, or may be a recorded image captured in the past, i.e., a recorded image.

[0020] The imaging system 10 according to this embodiment captures images of a specific location at a work site 30, such as a construction site or demolition site, in sequence using two or more imaging devices, allowing a user 20 to continue observing the specific location on a displayed image.

[0021] The photography system 10 according to the present embodiment includes a control device 100. The photography system 10 may further include one or more construction machines 200 and one or more flying objects 300, each of which is equipped with one or more cameras. According to the photography system 10 of the present embodiment, as shown in FIG. 1, the photography system 10 includes one construction machine 200 and three flying objects 300, namely, a first flying object 301, a second flying object 302, and a third flying object 303. In the following description, the first flying object 301, the second flying object 302, and the third flying object 303 may be referred to as multiple flying objects 300 or multiple drones, or simply as flying object 300 or drone. In other words, when referring to a flying object 300 or drone in the following description, it may refer to any of the first flying object 301, the second flying object 302, and the third flying object 303.

[0022] In this embodiment, in the state shown in Fig. 1, the construction machine 200 is located at the work site 30, and the control device 100 is located at a location remote from the work site 30. In the state shown in Fig. 1, the first aircraft 301 is flying in the sky above the work site 30, and the second aircraft 302 and the third aircraft 303 are waiting after landing at a waiting location 40 located near the work site 30. The aircraft 300 may temporarily land at the work site 30. The waiting location 40 may be located on the construction machine 200.

[0023] The control device 100 is, for example, a management server that manages the photography system 10, and may be installed in a management company that manages the photography system 10. The control device 100 may be a computer such as a PC (personal computer), a tablet computer, a smartphone, a workstation, a server computer, or a general-purpose computer, or may be a computer system to which multiple computers are connected. Such a computer system is also a computer in a broad sense. The control device 100 may be implemented by one or more virtual computer environments that can be executed within a computer. Alternatively, the control device 100 may be a dedicated computer designed for the photography system 10, or may be dedicated hardware realized by a dedicated circuit.

[0024] In this embodiment, the control device 100 communicates wirelessly or wired with the construction machine 200 and the flying object 300 via the communication network 50. The control device 100 may receive an instruction to photograph a specific location from the construction machine 200 via the communication network 50, and may transmit an instruction to at least one flying object 300, for example, the first flying object 301, to move to a position where the specific location can be photographed and start photographing the specific location. When the flying object 300 that has been sent ahead to the specific location starts photographing the specific location and the control device 100 starts receiving image data of the specific location from the flying object 300 via the communication network 50, the control device 100 may start transmitting the image data to the construction machine 200.

[0025] The control device 100 may further transmit, in response to at least one of the three flying bodies 300 satisfying a predetermined condition, an instruction to at least one of the flying bodies 300, for example the second flying body 302, via the communication network 50 to move to a position where the specific location can be photographed and start photographing the specific location. In response to the flying body 300 that was launched later toward the specific location starting to photograph the specific location and the start of receiving image data of the specific location by the flying body 300 via the communication network 50, the control device 100 may transmit, to the construction machine 200, an instruction to switch the image displayed on the construction machine 200 from the image by the first flying body 300 to the image by the later flying body 300. The control device 100 may start transmitting image data by the later flying body 300 to the construction machine 200 via the communication network 50 together with the transmission of the instruction.

[0026] The construction machine 200 is, for example, a crawler excavator, and as shown in Fig. 1, has a crawler-type lower traveling body 201 and an upper rotating body 202 mounted so as to be rotatable relative to the lower traveling body 201 via a rotating mechanism. As an example, a driver's room (cab) 203 of the construction machine 200 is provided on the front left side of the upper rotating body 202, and a work attachment 204 having a bucket 205 at its tip is provided in the front center of the upper rotating body 202. Note that a crusher or an impact device (breaker) for demolishing buildings may be attached to the tip of the work attachment 204 instead of the bucket 205.

[0027] 1, the cab 203 is provided with a display device 206. In addition to the display device 206, the cab 203 is provided with a plurality of operation devices for operating, for example, the lower traveling body 201, the upper rotating body 202, and the work attachment 204. The plurality of operation devices may be directly operated by the user 20 in the cab 203, or may be remotely operated by the user 20 in an operation room provided in a location remote from the work site 30. The user 20 referred to here is an operator who operates the construction machine 200.

[0028] The display device 206 may be, for example, a touch panel display, and may be provided in front of the cab 203 of the construction machine 200 as shown in FIG. 1. The display device 206 may display a touch button on the screen for the user 20 in the cab 203 to instruct the display of an image of a specific location. In addition to this, the display device 206 may display a touch button on the screen for the user 20 to specify a specific location, for example, a touch button for specifying only the work object 70 to be excavated, destroyed, or the like by the bucket 205, or a touch button for specifying both the work object 70 and at least the blade tip portion of the bucket 205. In response to receiving a touch button input by the user 20, the display device 206 may output an instruction signal to the controller 207 to instruct the display of an image of a specific location. Note that the above-mentioned work object 70 may refer to, for example, a portion of the work site 30 to which the blade tip of the bucket 205 is directed, or may refer to a portion of the work site 30 specified in advance by the user 20. As can be understood from the above description, the specific location may be a fixed location, i.e., a location that is always the same, or a variable location, i.e., a location that moves as appropriate. The construction machine 200 is an example of a work machine that works on a work object 70 included in the specific location.

[0029] The display device 206 displays an image on the screen based on image data input from the controller 207. The display device 206 displays, for example, an image of a specific location photographed by a photographing device on the screen. The display device 206 may display an image including at least a part of the bucket 205 and the work object 70 as the image of the specific location, as shown enlarged on the display screen 60 of FIG. 1. In this case, the specific location may be both the bucket 205 and the work object 70. The display device 206 may display text on the screen based on text data input from the controller 207. The display device 206 may additionally have a speaker and may emit sound based on voice data input from the controller 207.

[0030] The controller 207 may be provided together with, for example, the display device 206. The controller 207 may transmit an instruction signal to the control device 100 via the communication network 50 in response to an instruction signal input from the display device 206 instructing the display of an image of a specific location or the like.

[0031] The controller 207 receives image data of the above-mentioned image from the control device 100 via the communication network 50 and displays it on the display device 206. The controller 207 receives a switching signal instructing image switching from the control device 100 via the communication network 50 and switches the display image on the display device 206. The controller 207 may receive the switching signal together with new image data from the control device 100 via the communication network 50, or may receive the switching signal before or after starting to receive the new image data.

[0032] The controller 207 may determine whether the construction machine 200 has transitioned to a non-working state in which no work is being performed on the work target 70. For example, the controller 207 may consider the construction machine 200 to have transitioned to a non-working state when the engine of the construction machine 200 has stopped, when the user 20 in the cab 203 has placed one or more operating devices in the cab 203 in a neutral state or raised a safety lever (which may also be referred to as a hydraulic lock lever) to disable operation of the multiple operating devices, when the user 20 has left the cab 203, or when the construction machine 200 is performing an operation other than the work on the work target 70, such as traveling or rotating the upper rotating body 202. The controller 207 may report the transition to the non-working state to the control device 100 via the communication network 50 in response to determining that the construction machine 200 has transitioned to the non-working state.

[0033] The flying object 300 may be, for example, a wireless unmanned drone, and may be a rotorcraft having multiple wings as shown in FIG. 1. The flying object 300 may be a wired unmanned drone, or may be a manned helicopter. The flying object 300 is an example of the above-mentioned imaging device, and in the following description, the flying object 300 may be referred to as an imaging device, and one or more cameras may be simply referred to as a camera. The first flying object 301 may be an example of a first imaging device, and at least one of the second flying object 302 and the third flying object 303 may be an example of a second imaging device.

[0034] The flying object 300 further has an electric motor (actuator) for rotating the multiple wings, a group of sensors such as a GNSS sensor for detecting its own position and a gyro sensor for detecting its own attitude, and a battery for supplying power to at least the group of sensors, the electric motor, and the camera. The battery is charged by contact or non-contact from a charger provided in, for example, a waiting area 40 where the flying object 300 waits after landing.

[0035] The flying object 300 receives an instruction signal related to flight and photography from the control device 100 via the communication network 50, and moves from the waiting place 40 to a position where the specific location can be photographed according to the instruction signal, and starts photographing the specific location from that position. The flying object 300 may photograph the specific location while hovering at a position in the air where the specific location can be photographed according to the instruction signal, or may photograph the specific location while landing at any position in the work site 30 where the specific location can be photographed. Note that the position where the specific location can be photographed means a position where the flying object 300 can photograph the specific location without interfering with the construction machine 200. Note that the flying object 300 that has not photographed the specific location does not necessarily have to wait at the waiting place 40, and may wait, for example, in a safe place in the work site 30, or may photograph another place in the work site 30, for example.

[0036] The flying object 300 ends photographing the specific location in accordance with the instruction signal. Additionally or alternatively, the flying object 300 may leave the position where the specific location can be photographed in accordance with the instruction signal, or may return from the position where the specific location can be photographed to the waiting location 40 or the like.

[0037] Of the multiple flying objects 300, at least the flying object 300 that moves first toward the work site 30 receives information for identifying the specific location from the control device 100 via the communication network 50. The information may include information necessary for identifying the part to which the cutting edge of the bucket 205 of the construction machine 200 is facing, i.e., the work target 70. The information may include, for example, position information of the construction machine 200 and information on the three-dimensional shape of the bucket 205. In addition to or instead of this, the information may include, for example, position information of the construction machine 200 and attitude information of the work attachment 204.

[0038] 2 is an example of a block diagram of the control device 100 according to the first embodiment. The control device 100 includes an image acquisition unit 110 and an image switching unit 120. The control device 100 may further include a shooting instruction unit 130, an information acquisition unit 140, a selection unit 150, an end instruction unit 160, a warning unit 170, and an operation plan storage unit 180.

[0039] The image acquisition unit 110 acquires an image from the flying object 300. More specifically, the image acquisition unit 110 receives image data of an image of a specific location from the flying object 300 via the communication network 50. The image acquisition unit 110 outputs the acquired image data to the image switching unit 120. Note that the image acquisition unit 110 may record the acquired image data and store it as a recorded image.

[0040] The image switching unit 120 transmits the image data input from the image acquisition unit 110 to a display device outside the control device 100, for example, the controller 207 of the construction machine 200, via the communication network 50. When the flying object 300 not photographing the specific location starts photographing the specific location in response to the flying object 300 photographing the specific location or the flying object 300 not photographing the specific location satisfying a predetermined condition, the image switching unit 120 switches the display image of the display device, for example, the display device 206 of the construction machine 200, from the image of the flying object 300 photographing the specific location to the image of the flying object 300 not photographing the specific location. Here, in the following description, the flying object 300 photographing the specific location may be referred to as the leading flying object 300, and the flying object 300 not photographing the specific location may be referred to as the following flying object 300.

[0041] More specifically, when the image data of the subsequent flying object 300 starts to be input from the image acquisition unit 110 in response to the satisfaction of the predetermined condition, the image switching unit 120 may switch the display image of the display device 206 of the construction machine 200 by transmitting a switching signal and image data of the subsequent flying object 300 to the controller 207 of the construction machine 200 via the communication network 50. The image switching unit 120 may determine that the image data has started to be input, that is, that the subsequent flying object 300 has started to photograph a specific location, by inputting the image data from the image acquisition unit 110 for at least a predetermined time. In addition to or instead of this, the image switching unit 120 may determine that the image data has started to be input, that is, that the subsequent flying object 300 has started to photograph a specific location, by inputting the image data from the image acquisition unit 110 and a start signal indicating that photographing has started.

[0042] When image data from a leading flying object 300 is being input from the image acquisition unit 110 and image data from a subsequent flying object 300 starts to be input from the image acquisition unit 110, the image switching unit 120 may transmit both the image data from the leading flying object 300 and the image data from the subsequent flying object 300 to the controller 207 of the construction machine 200 via the communication network 50 for a certain period of time. The certain period of time may be, for example, a period from when the image data from the subsequent flying object 300 first starts to be input from the image acquisition unit 110 until a report is received from the controller 207 of the construction machine 200 that switching of the display image on the display device 206 has been completed.

[0043] The image switching unit 120 may output an instruction to end image capture to the end instruction unit 160 in response to receiving a report that switching of the display image on the display device 206 has been completed from the controller 207 of the construction machine 200 via the communication network 50. The image switching unit 120 may receive a signal from the controller 207 of the construction machine 200 via the communication network 50 reporting that the construction machine 200 has transitioned to a non-working state.

[0044] The image switching unit 120 may determine whether the leading aircraft 300 or the following aircraft 300 has satisfied a predetermined condition based on information input from the information acquisition unit 140 or the construction machine 200. In addition to or instead of this, the image switching unit 120 may refer to the work plan stored in the work plan storage unit 180 and determine whether the leading aircraft 300 or the following aircraft 300 has satisfied a predetermined condition based on the work plan. When the image switching unit 120 determines that the predetermined condition has been satisfied, it may output an instruction signal to the photographing instruction unit 130 to instruct the following aircraft 300 to start photographing a specific location. Note that the image switching unit 120 may receive an input of a signal indicating that the leading aircraft 300 or the following aircraft 300 has satisfied a predetermined condition from the information acquisition unit 140, that is, it does not have to make the above-mentioned judgment by itself, and in this case, it may output an instruction signal to the photographing instruction unit 130 in response to the input of the signal. The image switching section 120 may appropriately read out information indicating predetermined conditions that is stored in advance in a memory.

[0045] In any of the above cases, the image switching unit 120 may set a flag when a predetermined condition is satisfied, and may transmit a switching signal to the controller 207 of the construction machine 200 via the communication network 50 in response to image data of a specific location by the subsequent flying object 300 being input from the image acquisition unit 110 while the flag is set. In addition to or instead of this, the image switching unit 120 may set a flag when image data of a specific location by the subsequent flying object 300 is input from the image acquisition unit 110 under circumstances in which the predetermined condition is not satisfied, and may transmit a switching signal to the controller 207 of the construction machine 200 via the communication network 50 in response to the predetermined condition being satisfied while the flag is set.

[0046] The photographing instruction unit 130 moves the flying object 300 to a place where the specific location can be photographed and starts photographing the specific location. More specifically, the photographing instruction unit 130 may output an instruction to acquire information to the information acquisition unit 140 in response to receiving an instruction to photograph the specific location from the controller 207 of the construction machine 200 via the communication network 50, for example. The photographing instruction unit 130 may further transmit a start instruction to the flying object 300 (the first flying object 300) indicated in the selection result input from the selection unit 150 via the communication network 50 to move the specific location to a place where the specific location can be photographed and start photographing the specific location. Alternatively, the photographing instruction unit 130 may transmit a start instruction via the communication network 50 to the flying object 300 that is determined to be the first to depart in advance in response to receiving an instruction to photograph the specific location from the controller 207 of the construction machine 200 via the communication network 50, for example.

[0047] The photographing instruction unit 130, in response to a predetermined condition being satisfied by a first flying object 300 photographing a specific location or a later flying object 300 not photographing a specific location, moves the later flying object 300 to a location where the specific location can be photographed and starts photographing the specific location. More specifically, the photographing instruction unit 130 may output an instruction to acquire information to the information acquisition unit 140 in response to, for example, an instruction signal being input from the image switching unit 120. The photographing instruction unit 130 may further transmit a start instruction via the communication network 50 to the flying object 300 (later flying object 300) indicated in the selection result input from the selection unit 150. Alternatively, the photographing instruction unit 130 may transmit a start instruction via the communication network 50 to a flying object 300 that is determined to be later in advance in response to, for example, an instruction signal being input from the image switching unit 120.

[0048] The photographing instruction unit 130 may obtain at least one of the position information and the photographing setting information of the leading aircraft 300 photographing a specific location, and provide it to the following aircraft 300. More specifically, the photographing instruction unit 130 may receive at least one of the position information and the photographing setting information from the leading aircraft 300 via the communication network 50 in response to, for example, an instruction signal being input from the image switching unit 120. The photographing instruction unit 130 may further transmit the information received from the leading aircraft 300 to the following aircraft 300 via the communication network 50.

[0049] As described above, the photographing instruction unit 130 transmits instruction signals (start instructions) related to flight and photographing, position information, photographing setting information, and the like to the flying object 300 via the communication network 50. The photographing instruction unit 130 may control the flight and photographing of the flying object 300 via the communication network 50. Alternatively, the photographing instruction unit 130 may not control at least one of the flight and photographing of the flying object 300, that is, the flying object 300 may perform at least one of autonomous flight and autonomous photographing according to the instruction signals and the like received from the photographing instruction unit 130 and a program previously incorporated therein. In addition to or instead of this, part of the flight and photographing of the flying object 300 may be manually controlled by wireless communication by the user 20 operating the controller of the flying object 300. The user 20 referred to here may be the same as or different from the user 20 who operates the construction machine 200, and may be, for example, a supervisor who monitors the work status of the construction machine 200 from outside the construction machine 200 at the work site 30.

[0050] The information acquisition unit 140 acquires remaining battery information on the remaining battery power of two or more flying bodies 300 that are not photographing a specific location. More specifically, the information acquisition unit 140 may receive remaining battery information of two or more flying bodies 300 waiting at the waiting place 40 or the like via the communication network 50 in response to, for example, an instruction to acquire information being input from the photographing instruction unit 130. In addition to this or instead, the information acquisition unit 140 may receive remaining battery information from one or more flying bodies 300 waiting at the waiting place 40 or the like via the communication network 50, for example, by periodically requesting the one or more flying bodies 300 waiting at the waiting place 40 or the like via the communication network 50. In addition to this or instead, the information acquisition unit 140 may unilaterally receive remaining battery information from one or more flying bodies 300 waiting at the waiting place 40 or the like via the communication network 50, for example.

[0051] The information acquisition unit 140 outputs the remaining battery information and the like received from the flying object 300 to at least one of the image switching unit 120, the selection unit 150, the termination instruction unit 160, and the warning unit 170. The flying object 300 may be either the first flying object 300 or the subsequent flying object 300. The remaining battery information of the flying object 300 is information on the remaining battery capacity of the battery of the flying object 300, and may be, for example, information on the charge rate of 0 to 100%, with 100% being fully charged.

[0052] For example, the information acquisition unit 140 may output a request signal to the image switching unit 120 in response to receiving a request signal requesting a change of position from the leading flying object 300 that satisfies a predetermined condition via the communication network 50. The request signal may be a signal indicating that the leading flying object 300 has satisfied a predetermined condition, or may be a criterion for determining whether the condition has been satisfied.

[0053] The selection unit 150 selects at least one of the aircraft 300 with the highest remaining battery power and the aircraft 300 that has completed charging among the two or more subsequent aircraft 300 based on the remaining battery power information of the two or more subsequent aircraft 300 that have not photographed the specific location in response to the first aircraft 300 photographing the specific location satisfying a predetermined condition. The selection unit 150 further causes the selected aircraft 300 to start photographing the specific location. More specifically, the selection unit 150 may receive the remaining battery power information of the two or more subsequent aircraft 300 from the information acquisition unit 140 when the photographing instruction unit 130, which has received an instruction signal from the image switching unit 120 that has received the above-mentioned request signal, outputs an instruction to the information acquisition unit 140 to acquire information. The selection unit 150 may select, for example, the aircraft 300 with the highest charging rate among two or more subsequent aircraft 300, and may output the selection result including identification information for identifying the selected aircraft 300 to the shooting instruction unit 130.

[0054] The end instruction unit 160 may end the shooting of a specific location by the leading flying object 300 in response to the display image of the display device, for example the display device 206 of the construction machine 200, being switched from the image by the leading flying object 300 to the image by the following flying object 300. More specifically, the end instruction unit 160 may transmit an instruction signal to end shooting to the leading flying object 300 via the communication network 50 in response to input of an instruction to end shooting from the image switching unit 120.

[0055] When the later flying object 300 is not in a state suitable for starting shooting after the earlier flying object 300 shooting the specific location satisfies a predetermined condition, the termination instruction unit 160 may terminate shooting of the specific location by the earlier flying object 300 without waiting for the later flying object 300 to start shooting the specific location. More specifically, after an instruction signal is transmitted from the shooting instruction unit 130 to the later flying object 300, the termination instruction unit 160 may determine that the later flying object 300 is not in a state suitable for starting shooting when the information acquisition unit 140 inputs remaining battery information indicating that the remaining battery level is insufficient for the later flying object 300 to head to shoot the specific location, or information indicating that an abnormality or malfunction has occurred while the later flying object 300 is heading to shoot the specific location. The end instruction unit 160 may further send an instruction signal to the leading aircraft 300 to end image capture via the communication network 50 in response to determining that the subsequent aircraft 300 is in an unsuitable state for starting image capture.

[0056] In addition to or instead of sending an instruction signal to the leading aircraft 300 via the communication network 50 to end photographing, the end instruction unit 160 may also send an instruction signal to the leading aircraft 300 to leave a position from which a specific location can be photographed, or may send an instruction signal to return from a position from which a specific location can be photographed to a waiting location 40, etc.

[0057] The warning unit 170 warns the user 20 when the subsequent flying object 300 is not in a state suitable for starting shooting after the leading flying object 300 photographing a specific location satisfies a predetermined condition. More specifically, the warning unit 170 may determine that the subsequent flying object 300 is not in a state suitable for starting shooting when, after an instruction signal is transmitted from the photography instruction unit 130 to the subsequent flying object 300, the information acquisition unit 140 inputs remaining battery information indicating that the remaining battery power is insufficient for the subsequent flying object 300 to head to photograph a specific location, or information indicating that an abnormality or malfunction has occurred while the subsequent flying object 300 is heading to photograph a specific location.

[0058] The warning unit 170 may transmit text data or voice data for warning the user 20 about the image display of the specific location to the controller 207 of the construction machine 200 via the communication network 50 in response to determining that the subsequent flying object 300 is not in a suitable state to start shooting. The text data or voice data for warning the user 20 about the image display of the specific location may be data for conveying to the user 20, for example, that the first flying object 300 cannot continue shooting the specific location and that the subsequent flying object 300 cannot start shooting the specific location. In other words, warning the user 20 may mean conveying to the user 20 at least one of that the first flying object 300 cannot continue shooting the specific location and that the subsequent flying object 300 cannot start shooting the specific location. In addition, the warning unit 170 may also transmit information about the waiting location 40 of the subsequent flying object 300, as well as identification information and location information for identifying potentially subsequent flying objects 300 other than the subsequent flying object 300 selected by the selection unit 150, to the controller 207 of the construction machine 200 via the communication network 50.

[0059] The work plan storage unit 180 stores a work plan for demolition work or construction work that is scheduled to be performed by the construction machine 200 at the work site 30. The work plan may be received by the image switching unit 120 from the controller 207 of the construction machine 200 via the communication network 50, for example, and in this case, the work plan may be stored in the work plan storage unit 180 by the image switching unit 120. The work plan stored in the work plan storage unit 180 may be read out by the image switching unit 120.

[0060] Note that some or all of the components of the control device 100 described above may be provided in the construction machine 200, a control device provided at the work site 30, or a remote control device provided in an operation room for remotely operating the construction machine 200 at a location remote from the work site 30. For example, the control device 100 may include the image acquisition unit 110, and the construction machine 200 may include the image switching unit 120. For example, the control device 100 may be integrated into the construction machine 200, that is, the construction machine 200 may include the image acquisition unit 110, the image switching unit 120, etc.

[0061] FIG. 3 is an example of a flowchart of the operation flow of the photography system 10 according to the first embodiment. As an example, the operation flow shown in FIG. 3 may be started by the first flying object 301 receiving an instruction signal from the control device 100 via the communication network 50, moving to a position where the specific location can be photographed, and starting to photograph the specific location. At the time when the operation flow shown in FIG. 3 starts, the second flying object 302 and the third flying object 303 are waiting while being powered at the waiting location 40. In addition, in response to the start of the operation flow shown in FIG. 3, the controller 207 of the construction machine 200 starts receiving image data of the specific location by the first flying object 301 via the control device 100, and causes the display device 206 to display the image of the specific location.

[0062] The first aircraft 301 photographing the specific location continues to photograph the specific location in accordance with an instruction signal from the control device 100 unless a predetermined condition is satisfied (step S101: NO), and upon satisfaction of the predetermined condition (step S101: YES), it transmits a request signal to the control device 100 via the communication network 50 to request a change of location (step S103).

[0063] Here, the predetermined condition may include at least any of the following: the remaining battery charge of the first aircraft 301 photographing the specific location is equal to or less than a predetermined threshold, an abnormality or malfunction occurs in the first aircraft 301, a predetermined maintenance timing of the first aircraft 301 is reached, and the current continuous flight time of the first aircraft 301 is equal to or more than a predetermined time. The first aircraft 301 may store in advance in a memory the above threshold value related to the remaining battery charge, a schedule indicating the above maintenance timing, the above predetermined time, etc., and may measure the continuous flight time using a timer.

[0064] In response to receiving a request signal from the first flying object 301 via the communication network 50, the control device 100 requests the second flying object 302 and the third flying object 303 for battery remaining information (step S105). More specifically, in response to receiving a request signal from the first flying object 301 via the communication network 50, the information acquisition unit 140 of the control device 100 outputs a request signal to the image switching unit 120. When the request signal is input from the information acquisition unit 140, the image switching unit 120 determines that the first flying object 301 has satisfied a predetermined condition, and outputs an instruction signal to the photographing instruction unit 130 to instruct the second flying object 302 or the third flying object 303 to start photographing a specific location.

[0065] In response to an instruction signal being input from the image switching unit 120, the photographing instruction unit 130 outputs an instruction to acquire information to the information acquisition unit 140. In response to an instruction to acquire information being input from the photographing instruction unit 130, the information acquisition unit 140 requests remaining battery level information from the second aircraft 302 and the third aircraft 303 via the communication network 50.

[0066] In response to receiving the remaining battery level information from the second aircraft 302 and the third aircraft 303 via the communication network 50 (step S107), the control device 100 selects one of the second aircraft 302 and the third aircraft 303 (step S109). More specifically, the information acquisition unit 140 of the control device 100 receives the remaining battery level information from the second aircraft 302 and the third aircraft 303 via the communication network 50 and outputs the remaining battery level information to the selection unit 150. Based on the remaining battery level information of the second aircraft 302 and the third aircraft 303, the selection unit 150 selects one of the second aircraft 302 and the third aircraft 303 as the aircraft 300 that will start photographing a specific location. The selection unit 150 outputs the selection result to the photographing instruction unit 130.

[0067] The control device 100 requests the first flying object 301, which is photographing a specific location, to transmit current position information and photographing setting information via the communication network 50 (step S111). More specifically, in response to receiving the selection result from the selection unit 150, the photographing instruction unit 130 of the control device 100 requests the first flying object 301, which is photographing a specific location, to transmit current position information and photographing setting information via the communication network 50.

[0068] In response to receiving the position information and the shooting setting information from the first flying object 301 via the communication network 50 (step S113), the control device 100 instructs the subsequent flying object 300 selected in step S109 to move to a specific location and start shooting (step S115). More specifically, in response to receiving the position information and the shooting setting information from the first flying object 301 via the communication network 50, the shooting instruction unit 130 of the control device 100 transmits the position information and the shooting setting information of the first flying object 301 to the subsequent flying object 300 selected by the selection unit 150, and transmits an instruction signal to move to a specific location and start shooting. For example, the shooting instruction unit 130 may receive at least any of the following data from the first flying object 301: GNSS data, attitude data (shooting direction data), depth of field data (focal length data), zooming data, white balance data, brightness data, etc. The photography instruction unit 130 may further transmit the data received from the first flying object 301 to the selected subsequent flying object 300 via the communication network 50.

[0069] The control device 100 judges whether the selected later flying object 300 is in an unsuitable state for starting image capture via the communication network 50 (step S117), and if the state is not unsuitable for starting image capture (step S117: NO), judges whether the control device 100 has started acquiring images of a specific location from the later flying object 300 (step S119). If the control device 100 has not started acquiring images of a specific location from the later flying object 300 (step S119: NO), the control device 100 returns to step S117. In step S119, if the control device 100 has started acquiring images of a specific location (step S119: YES), the control device 100 instructs the construction machine 200 to switch images via the communication network 50 and starts supplying images from the later flying object 300 to the construction machine 200 (step S121). In step S117, if the selected subsequent aircraft 300 is not in a state suitable for starting photographing (step S117: YES), the control device 100 reselects another subsequent aircraft 300 that was not selected (step S118) and returns to step S115.

[0070] More specifically, when the information acquisition unit 140 of the control device 100 does not receive, via the communication network 50, from the subsequent flying object 300, information indicating that the battery level is insufficient to photograph a specific location, or information indicating that an abnormality or failure has occurred while traveling to photograph a specific location, i.e., the subsequent flying object 300 is not in a state unsuitable for starting photographing, and the image acquisition unit 110 starts receiving image data of a specific location from the subsequent flying object 300, the image switching unit 120 transmits a switching signal to the controller 207 of the construction machine 200 to instruct image switching. The image switching unit 120 also starts transmitting image data of the subsequent flying object 300 to the controller 207 of the construction machine 200 via the communication network 50.

[0071] When the information acquisition unit 140 receives the above-mentioned information from the later flying object 300 via the communication network 50, that is, when the later flying object 300 is in a state not suitable for starting shooting, it outputs an instruction to the selection unit 150 to exclude the later flying object 300 and reselect one flying object 300 from the remaining one or more later flying objects 300. In response to the instruction input from the information acquisition unit 140, the selection unit 150 reselects another later flying object 300 and outputs the reselection result to the shooting instruction unit 130. In response to the reselection result input from the selection unit 150, the shooting instruction unit 130 transmits the position information and shooting setting information of the first flying object 301 to the later flying object 300 reselected by the selection unit 150 via the communication network 50, and also transmits an instruction signal to move to a specific location and start shooting.

[0072] The controller 207 of the construction machine 200 switches the display image of the display device 206 in response to receiving a switching signal from the control device 100 via the communication network 50 (step S123). The controller 207 may quickly and continuously switch the leading image of the specific location captured by the first flying object 301, which is displayed on the display device 206, to the following image of the specific location captured by the following flying object 300 in accordance with the switching signal. Alternatively, the controller 207 may switch to the following image after temporarily blacking out the screen of the display device 206 displaying the leading image, displaying another image, or turning off the display in accordance with the switching signal, or may switch from a single display of the leading image to a dual display of the leading image and the following image, and then switch to a single display of the following image.

[0073] The controller 207 of the construction machine 200 transmits a completion report to the control device 100 via the communication network 50 in response to the completion of switching of the display image of the display device 206 (step S125). In response to receiving the report of the completion of switching of the display image of the display device 206 from the controller 207 of the construction machine 200 via the communication network 50, the control device 100 instructs the first flying object 301 to end the image capture and return (step S127). More specifically, in response to receiving the report from the controller 207 of the construction machine 200 via the communication network 50, the image switching unit 120 of the control device 100 outputs an instruction to the end instruction unit 160 to end the image capture and return to the waiting place 40. The end instruction unit 160 transmits an instruction signal to the first flying object 301 via the communication network 50 to end the image capture and return to the waiting place 40.

[0074] Upon receiving the instruction signal from the control device 100 via the communication network 50, the first aircraft 301 stops photographing the specific location and returns to the waiting location 40 (step S129), thereby completing the operation flow.

[0075] In the operational flow of the photographing system 10 shown in the example flowchart of Figure 3, in steps S105 to S109, the selection unit 150 of the control device 100 selects an aircraft 300 that will start photographing a specific location based on remaining battery information of two or more aircraft 300 that have not photographed the specific location.

[0076] In addition to or instead of this, the selection unit 150 may receive distance information on the distance from each of the positions of two or more flying bodies 300 that are not photographing the specific location to the specific location from the information acquisition unit 140, and select an flying body 300 that will start photographing the specific location based on the distance information. In this case, the two or more flying bodies 300 that are not photographing the specific location may be waiting in different locations.

[0077] As a specific example, of two flying bodies 300 that do not photograph a specific location, one flying body 300 is waiting at a location P1 close to the specific location and is capable of continuous flight and continuous photography for 15 minutes, and the other flying body 300 is waiting at a location P2 that requires a flight movement of 5 minutes to the specific location and is capable of continuous flight and continuous photography for 15 minutes. In this case, the selection unit 150 may select the one flying body 300 that can photograph the specific location for a longer period of time based on the distance information and the remaining battery information input from the information acquisition unit 140. In this case, the end instruction unit 160 may end the photographing of the specific location by the one flying body 300 in response to an instruction to end the photographing being input from the image switching unit 120, and may return the one flying body 300 to the location P1, which is closer to the specific location, of the locations P1 and P2.

[0078] In addition to or instead of this, the selection unit 150 may select an aircraft 300 that will start photographing the specific location based on the weight of each of two or more aircraft 300 that have not photographed the specific location, the strength of the wind, the wind direction, etc. The heavier the aircraft 300 is, the stronger the wind is on a flight route, and the more susceptible it is to the effects of wind direction such as a tailwind or headwind, the less battery power that can be consumed to photograph the specific location may tend to be.

[0079] In the operation flow of the photographing system 10 according to the example flowchart of FIG. 3, a configuration has been described in which the end instruction unit 160 of the control device 100 transmits an instruction signal to the first flying object 301 via the communication network 50 instructing the first flying object 301 to end photographing and return in step S127. The first flying object 301 can save power compared to continuing photographing by quickly ending photographing in response to a change in the image displayed on the display device 206, and the saved power can be used for returning to the waiting location 40, etc. Alternatively, the end instruction unit 160 may transmit an instruction signal to the first flying object 301 via the communication network 50 to return to the waiting location 40 without ending photographing.

[0080] In the operation flow of the photography system 10 according to the example flowchart of FIG. 3, in steps S101 to S103, the control device 100 has been described as being configured to determine that the first flying object 301 has satisfied a predetermined condition when a request signal is received from the first flying object 301 via the communication network 50. Instead of transmitting a request signal to the control device 100 via the communication network 50, the first flying object 301 may transmit battery remaining information or danger information indicating the occurrence of an abnormality or a malfunction to the control device 100. In this case, the image switching unit 120 of the control device 100 may determine whether the battery remaining amount of the first flying object 301 has become equal to or less than a predetermined threshold based on the battery remaining amount information of the first flying object 301 input from the information acquisition unit 140. In addition to or instead of this, the image switching unit 120 may determine that the predetermined condition has been satisfied when danger information of the first flying object 301 is input from the information acquisition unit 140. In addition or instead, the control device 100 may determine whether a predetermined maintenance timing has occurred for the first flying body 301, or whether the current continuous flight time of the first flying body 301 has exceeded a predetermined time, without receiving a request signal, battery remaining capacity information, etc. from the first flying body 301.

[0081] FIG. 4 is an example of a flowchart of the operation flow of the photography system 10 according to the first embodiment. As an example, the operation flow shown in FIG. 4 may be started by the first flying object 301 receiving an instruction signal from the control device 100 via the communication network 50 moving to a position where the specific location can be photographed and starting to photograph the specific location. In the operation flow shown in FIG. 4, the only flying object 300 that has not photographed the specific location at the time the operation flow starts is the second flying object 302, and the third flying object 303 is not used. At the time the operation flow shown in FIG. 4 starts, the second flying object 302 is waiting while being powered at the waiting location 40. In addition, in response to the start of the operation flow shown in FIG. 4, the controller 207 of the construction machine 200 starts receiving image data of the specific location by the first flying object 301 via the control device 100 and causes the display device 206 to display the image of the specific location.

[0082] The first aircraft 301 photographing the specific location continues to photograph the specific location in accordance with an instruction signal from the control device 100 unless a predetermined condition is satisfied (step S201: NO), and upon satisfaction of the predetermined condition (step S201: YES), it transmits a request signal to the control device 100 via the communication network 50 to request a change of location (step S203).

[0083] In response to receiving a request signal from the first flying object 301 via the communication network 50, the control device 100 requests the first flying object 301, which is photographing a specific location, to provide current location information and shooting setting information (step S205). More specifically, in response to receiving a request signal from the first flying object 301 via the communication network 50, the information acquisition unit 140 of the control device 100 outputs a request signal to the image switching unit 120. When the request signal is input from the information acquisition unit 140, the image switching unit 120 determines that the first flying object 301 has satisfied a predetermined condition, and outputs an instruction signal to the shooting instruction unit 130 to instruct the second flying object 302 to start photographing a specific location. In response to receiving an instruction signal from the image switching unit 120, the shooting instruction unit 130 requests the first flying object 301, which is photographing a specific location, to provide current location information and shooting setting information via the communication network 50.

[0084] In response to receiving the position information and the shooting setting information from the first flying object 301 via the communication network 50 (step S207), the control device 100 instructs the second flying object 302 to move to a specific location and start shooting (step S209). More specifically, in response to receiving the position information and the shooting setting information from the first flying object 301 via the communication network 50, the shooting instruction unit 130 of the control device 100 transmits the position information and the shooting setting information of the first flying object 301 to the second flying object 302 and transmits an instruction signal to move to a specific location and start shooting.

[0085] The control device 100 judges whether the second aircraft 302 is in an unsuitable state for starting image capture via the communication network 50 (step S211), and if the second aircraft 302 is not in an unsuitable state for starting image capture (step S211: NO), judges whether the control device 100 has started acquiring images of a specific location from the second aircraft 302 (step S213). If the control device 100 has not started acquiring images of a specific location from the second aircraft 302 (step S213: NO), the control device 100 returns to step S211. In step S213, if the control device 100 has started acquiring images of a specific location (step S213: YES), the control device 100 instructs the construction machine 200 to switch images via the communication network 50 and starts supplying images from the second aircraft 302 to the construction machine 200 (step S215).

[0086] More specifically, when the information acquisition unit 140 of the control device 100 has not received information such as the above-mentioned abnormality from the second flying object 302 via the communication network 50, i.e., the second flying object 302 is not in a state unsuitable for starting image capture, and the image acquisition unit 110 has started receiving image data of a specific location from the second flying object 302, the image switching unit 120 sends a switching signal to the controller 207 of the construction machine 200 to instruct image switching. The image switching unit 120 also starts sending image data of the second flying object 302 to the controller 207 of the construction machine 200 via the communication network 50.

[0087] In step S211, if the second flying object 302 is not in a state suitable for starting image capture (step S211: YES), the control device 100 warns the user 20 in the cab 203 of the construction machine 200 (step S212). More specifically, the warning unit 170 of the control device 100 determines that the second flying object 302 is not in a state suitable for starting image capture when the information acquisition unit 140 inputs remaining battery level information or the like indicating that the remaining battery level of the second flying object 302 is insufficient for the second flying object 302 to head to capture a specific location. In response to determining that the second flying object 302 is not in a state suitable for starting image capture, the warning unit 170 transmits text data or voice data for warning the user 20 about the image display of the specific location to the controller 207 of the construction machine 200 via the communication network 50.

[0088] Following step S212, the control device 100 instructs the first flying object 301 to end image capture and return (step S221). More specifically, when the above-mentioned information and the like are input from the information acquisition unit 140, the end instruction unit 160 of the control device 100 determines that the second flying object 302 is not in a state suitable for starting image capture, and accordingly transmits an instruction signal via the communication network 50 to the first flying object 301 to end image capture and return to the waiting location 40.

[0089] If the controller 207 of the construction machine 200 receives a switching signal from the control device 100 via the communication network 50 without receiving text data or audio data to warn the user 20 about the image display of a specific location (step S214: NO), the controller 207 switches the display image on the display device 206 (step S217).

[0090] The controller 207 of the construction machine 200 transmits a completion report to the control device 100 via the communication network 50 in response to the completion of switching of the display image of the display device 206 (step S219). In step S214, when the controller 207 receives text data or voice data for warning the user 20 about the image display of the specific location from the control device 100 via the communication network 50 (step S214: YES), the controller 207 warns the user 20 through the display device 206 (step S216). The controller 207 may receive text data for warning the user 20 about the image display of the specific location from the control device 100 via the communication network 50 and cause the display device 206 to display the warning text. In addition to or instead of this, the controller 207 may receive voice data for warning the user 20 about the image display of the specific location from the control device 100 via the communication network 50 and cause the display device 206 to emit a warning voice. Both the warning text and the warning audio are configured to inform the user 20 that the first flying object 301 cannot continue photographing the specific location, and that the second flying object 302 cannot start photographing the specific location.

[0091] In response to receiving a report from the controller 207 of the construction machine 200 via the communication network 50 that switching of the display image on the display device 206 has been completed, the control device 100 instructs the first flying object 301 to end image capture and return (step S221). More specifically, in response to receiving the report from the controller 207 of the construction machine 200 via the communication network 50, the image switching unit 120 of the control device 100 outputs an instruction to the end instruction unit 160 to end image capture and return to the waiting location 40. The end instruction unit 160 transmits an instruction signal via the communication network 50 to the first flying object 301 to end image capture and return to the waiting location 40.

[0092] Following step S221, the first aircraft 301, upon receiving the instruction signal from the control device 100 via the communication network 50, ends photographing the specific location and returns to the waiting location 40 (step S223), thereby ending the operation flow.

[0093] Fig. 5 is an example of a flowchart of the operation flow of the imaging system 10 according to the first embodiment. As an example, the operation flow shown in Fig. 5 is started in the same situation as the operation flow shown in Fig. 4, and a duplicated description will be omitted.

[0094] The control device 100 periodically requests the second flying object 302 for remaining battery level information via the communication network 50 (step S301). More specifically, the information acquisition unit 140 of the control device 100 requests the second flying object 302 for remaining battery level information via the communication network 50.

[0095] In response to receiving the remaining battery level information from the second flying object 302 via the communication network 50 (step S303), the control device 100 judges whether the remaining battery level of the second flying object 302 is equal to or greater than a predetermined threshold (step S305), and if the remaining battery level is not equal to or greater than the threshold (step S305: NO), returns to step S301. More specifically, the information acquisition unit 140 of the control device 100 receives the remaining battery level information from the second flying object 302 via the communication network 50 and outputs the remaining battery level information to the image switching unit 120. The image switching unit 120 judges whether the remaining battery level of the second flying object 302 is equal to or greater than a predetermined threshold based on the remaining battery level information, thereby judging whether the second flying object 302 satisfies a predetermined condition.

[0096] In step S305, if the remaining battery charge of the second flying object 302 is equal to or greater than a predetermined threshold (step S305: YES), the control device 100 requests the current position information and shooting setting information from the first flying object 301, which is shooting a specific location, via the communication network 50 (step S307). More specifically, the image switching unit 120 of the control device 100 outputs an instruction signal to the shooting instruction unit 130 to instruct the second flying object 302 to start shooting a specific location in response to determining that the remaining battery charge of the second flying object 302 is equal to or greater than a predetermined threshold. In response to receiving the instruction signal from the image switching unit 120, the shooting instruction unit 130 requests the current position information and shooting setting information from the first flying object 301, which is shooting a specific location, via the communication network 50.

[0097] In response to receiving the position information and the shooting setting information from the first flying object 301 via the communication network 50 (step S309), the control device 100 instructs the second flying object 302 to move to a specific location and start shooting (step S311). More specifically, in response to receiving the position information and the shooting setting information from the first flying object 301 via the communication network 50, the shooting instruction unit 130 of the control device 100 transmits the position information and the shooting setting information of the first flying object 301 to the second flying object 302 and transmits an instruction signal to move to a specific location and start shooting.

[0098] The control device 100 judges whether the second aircraft 302 is in an unsuitable state for starting image capture via the communication network 50 (step S313), and if the second aircraft 302 is not in an unsuitable state for starting image capture (step S313: NO), judges whether the control device 100 has started acquiring images of a specific location from the second aircraft 302 (step S315). If the control device 100 has not started acquiring images of a specific location from the second aircraft 302 (step S315: NO), the control device 100 returns to step S313. In step S315, if the control device 100 has started acquiring images of a specific location (step S315: YES), the control device 100 instructs the construction machine 200 to switch images via the communication network 50 and starts supplying images from the second aircraft 302 to the construction machine 200 (step S317).

[0099] More specifically, when the information acquisition unit 140 of the control device 100 has not received information such as the above-mentioned abnormality from the second flying object 302 via the communication network 50, i.e., the second flying object 302 is not in a state unsuitable for starting image capture, and the image acquisition unit 110 has started receiving image data of a specific location from the second flying object 302, the image switching unit 120 sends a switching signal to the controller 207 of the construction machine 200 to instruct image switching. The image switching unit 120 also starts sending image data of the second flying object 302 to the controller 207 of the construction machine 200 via the communication network 50.

[0100] In step S313, if the second flying object 302 is not in a state suitable for starting image capture (step S313: YES), the control device 100 alerts the user 20 in the cab 203 of the construction machine 200 (step S314). More specifically, the warning unit 170 of the control device 100 determines that the second flying object 302 is not in a state suitable for starting image capture when the information acquisition unit 140 inputs remaining battery level information or the like indicating that the remaining battery level of the second flying object 302 is insufficient for the second flying object 302 to head to capture a specific location. In response to determining that the second flying object 302 is not in a state suitable for starting image capture, the warning unit 170 transmits text data or audio data for alerting the user 20 regarding the image display of the specific location to the controller 207 of the construction machine 200 via the communication network 50.

[0101] Following step S314, the control device 100 instructs the first flying object 301 to end image capture and return (step S323). More specifically, when the above-mentioned information and the like are input from the information acquisition unit 140, the end instruction unit 160 of the control device 100 determines that the second flying object 302 is not in a state suitable for starting image capture, and accordingly transmits an instruction signal via the communication network 50 to the first flying object 301 to end image capture and return to the waiting location 40.

[0102] If the controller 207 of the construction machine 200 receives a switching signal from the control device 100 via the communication network 50 without receiving text data or audio data to alert the user 20 regarding the image display of a specific location (step S316: NO), the controller 207 switches the display image on the display device 206 (step S319).

[0103] The controller 207 of the construction machine 200 transmits a completion report to the control device 100 via the communication network 50 in response to the completion of switching of the display image of the display device 206 (step S321). In step S316, when the controller 207 receives text data or voice data for calling the attention of the user 20 regarding the image display of the specific location from the control device 100 via the communication network 50 (step S316: YES), the controller 207 calls the attention of the user 20 through the display device 206 (step S318), and the flow ends. The controller 207 may receive text data for calling the attention of the user 20 regarding the image display of the specific location from the control device 100 via the communication network 50 and cause the display device 206 to display the attention text. In addition to or instead of this, the controller 207 may receive voice data for calling the attention of the user 20 regarding the image display of the specific location from the control device 100 via the communication network 50 and cause the display device 206 to emit the attention voice. Both the warning text and the warning audio are configured to convey to the user 20 that while the first flying object 301 can continue photographing the specific location, the second flying object 302 cannot start photographing the specific location.

[0104] In response to receiving a report from the controller 207 of the construction machine 200 via the communication network 50 that switching of the display image on the display device 206 has been completed, the control device 100 instructs the first flying object 301 to end image capture and return (step S323). More specifically, in response to receiving the report from the controller 207 of the construction machine 200 via the communication network 50, the image switching unit 120 of the control device 100 outputs an instruction to the end instruction unit 160 to end image capture and return to the waiting location 40. The end instruction unit 160 transmits an instruction signal via the communication network 50 to the first flying object 301 to end image capture and return to the waiting location 40.

[0105] In response to receiving the instruction signal from the control device 100 via the communications network 50 (step S325: YES), the first aircraft 301 ends photographing the specific location and returns to the waiting location 40 (step S327), thereby ending the operation flow. If the first aircraft 301 does not receive the instruction signal from the control device 100 via the communications network 50 in step S325 (step S325: NO), it continues photographing the specific location without ending it, and the operation flow ends.

[0106] Fig. 6 is an example of a flowchart of the operation flow of the imaging system 10 according to the first embodiment. As an example, the operation flow shown in Fig. 6 is started in the same situation as the operation flow shown in Fig. 4, and a duplicated description will be omitted.

[0107] The controller 207 of the construction machine 200 continues to determine whether the construction machine 200 has transitioned to the non-working state described above (step S401), and if it determines that the construction machine 200 has transitioned to the non-working state (step S401: YES), it reports the transition to the non-working state to the control device 100 via the communication network 50 (step S403).

[0108] When the control device 100 receives a report of a transition to a non-working state from the construction machine 200 via the communication network 50, it determines that at least one of the first aircraft 301 and the second aircraft 302 has satisfied a predetermined condition, and requests current position information and shooting setting information from the first aircraft 301, which is shooting a specific location, via the communication network 50 (step S407). Step S407 corresponds to step S307 in the flowchart of FIG. 5, so a duplicated description will be omitted. In the operation flow shown in FIG. 6, the photography system 10 executes steps S409 to S427 corresponding to steps S309 to S327 in the flowchart of FIG. 5 after step S407, so a duplicated description will be omitted.

[0109] Here, the above-mentioned predetermined condition may include a state in which the image capturing of the first flying object 301 can be interrupted in response to the construction machine 200 transitioning to a non-working state in which the construction machine 200 does not perform work on the work target 70. For example, the image switching unit 120 of the control device 100 may determine that the image capturing of the first flying object 301 can be interrupted when a signal reporting a transition to a non-working state is received from the controller 207 of the construction machine 200 via the communication network 50, that is, when information on the interruption of work is acquired, as in the operation flow of FIG. 6. In addition to or instead of this, the image switching unit 120 of the control device 100 may refer to the work plan of the construction machine 200 stored in the work plan storage unit 180, and determine that the image capturing of the first flying object 301 can be interrupted when it is time for the construction machine 200 to transition to a non-working state based on the work plan, or when a predetermined time has elapsed since the construction machine 200 transitioned to a non-working state.

[0110] The predetermined condition may include a time a predetermined time before the time when the construction machine 200 transitions from a non-working state in which no work is performed on the work target 70 to a working state in which work is performed on the work target 70 based on the work plan, and the second flying object 302 is in a state in which it can start photographing the specific location. In this case, the first flying object 301 photographs the specific location when the construction machine 200 is in a state before transitioning to the non-working state, i.e., a working state, and may end photographing the specific location in response to the construction machine 200 transitioning from the working state to the non-working state, or may return to the waiting place 40 or the like in addition to or instead of this. In this case, neither the first flying object 301 nor the second flying object 302 may photograph the specific location during at least a portion of the time period in which the construction machine 200 is in the non-working state. The image switching unit 120 of the control device 100 may send an instruction signal to the controller 207 via the communication network 50 to instruct the display device 206 of the construction machine 200 to display, during at least a portion of the time period, a recorded image of the specific location captured just before the first flying object 301 finished capturing imagery of the specific location.

[0111] As a first comparative example of the imaging system 10 according to the first embodiment described above, a monitoring system that monitors the work of construction machinery using multiple wireless drones equipped with cameras is assumed. More specifically, in the monitoring system of the first comparative example, when one or more wireless drones monitoring the work of the construction machinery return to the home position due to insufficient battery power, one or more other wireless drones that have been charging at the home position take off and start monitoring the work of the construction machinery. According to such a system of the first comparative example, a user who is viewing the monitoring image captured by the wireless drone cannot view the monitoring image during the wireless drone replacement time, and must interrupt work or perform other work that does not require monitoring during the replacement time.

[0112] As a second comparative example, a monitoring system is assumed that monitors the work of construction machinery using a wired drone equipped with a camera. More specifically, in the monitoring system of the second comparative example, when one or more wired drones monitoring the work of the construction machinery return to their home positions due to a breakdown or abnormality, one or more other wired drones that have been charging at the home positions take off and start monitoring the work of the construction machinery. Even with such a system of the second comparative example, a user who is watching the monitoring images captured by the wired drones cannot watch the monitoring images during the time when the wired drones are being replaced, and must interrupt their work or do other work that does not require monitoring during the time when the drones are being replaced.

[0113] In contrast, according to the photography system 10 of the first embodiment, when the later flying object 300 starts photographing the specific location in response to the earlier flying object 300 photographing the specific location or the later flying object 300 not photographing the specific location satisfying a predetermined condition, the display image of the display device is switched from the image of the earlier flying object 300 to the image of the later flying object 300. According to the photography system 10 having such a configuration, the user 20 who views the images of the specific location photographed in sequence by two or more flying objects 300 can continue to observe the specific location continuously or almost continuously when switching from the photographing of the specific location by the earlier flying object 300 to the photographing of the specific location by the later flying object 300. Therefore, the user 20 can observe the specific location for a long time.

[0114] In the above embodiment, when the photographing instruction unit 130 of the control device 100 controls the flight and photographing of the multiple flying objects 300 via the communication network 50, the photographing instruction unit 130 may control the flight of at least the subsequent flying object 300 so that the position where the leading flying object 300 photographs a specific location and the position where the subsequent flying object 300 photographs the specific location are close to each other. In this case, the image switching unit 120 may switch the display image on the display device 206 of the construction machine 200 in response to the subsequent flying object 300 starting to photograph a specific location while parked at such a target location.

[0115] For example, the photographing instruction unit 130 may position the later flying object 300 in the vicinity of the earlier flying object 300 photographing a specific location from a specific position in the air in at least one of the horizontal direction, vertical direction, and perspective direction, and cause the later flying object 300 to start photographing the specific location. The perspective direction may mean the forward and backward directions toward the specific location. The photographing instruction unit 130 may stop the later flying object 300 at a position where at least a part of the photographing range of the later flying object 300 overlaps with the photographing range of the earlier flying object 300. The photographing instruction unit 130 may stop the later flying object 300 at a position where the photographing field of view of the later flying object 300 includes the center of the photographing field of view of the earlier flying object 300.

[0116] As a more specific example, the photographing instruction unit 130 may park the subsequent flying object 300 at a position vertically adjacent to and shifted in the near direction relative to the stopping position of the leading flying object 300 in such a state, thereby preventing the downdraft generated by the rotors of one flying object 300 from hindering the stable flight of the other flying object 300. As another more specific example, the photographing instruction unit 130 may park the subsequent flying object 300 at a position rearward and adjacent in the near direction relative to the stopping position of the leading flying object 300 in such a state, and in this case, the image switching unit 120 may switch the display image of the display device 206 of the construction machine 200 between a real-time image of a specific location by the leading flying object 300, a recorded image of a specific location by the leading flying object 300, and a real-time image of a specific location by the subsequent flying object 300, in that order. In this case, the photography instruction unit 130 may cause the leading aircraft 300 to leave so that the leading aircraft 300 is not included in the photography field of view of the subsequent aircraft 300 while the recorded image of the specific location by the leading aircraft 300 is being displayed on the display device 206. In this case, the photography instruction unit 130 may receive zooming data from the first aircraft 301 and adjust the zoom in and out of the second aircraft 302 so that the angle of view of the second aircraft 302 matches or approaches the angle of view of the first aircraft 301.

[0117] When controlling the flight and photography of the multiple flying bodies 300 in this manner, the photography instruction unit 130 may change the separation distance between two or more flying bodies 300 flying near a specific location according to the strength of natural wind, thereby preventing the two or more flying bodies 300 from contacting each other. In this case, at least one of the multiple flying bodies 300 may have an anemometer to measure the strength of natural wind, and measurement data of the anemometer may be transmitted to the photography instruction unit 130 of the control device 100. The anemometer may be attached to the flying body 300 at a position that is not affected by wind such as a downdraft generated by the rotors of the flying body 300, for example.

[0118] When controlling the flight and photography of multiple flying objects 300 in this manner, the photography instruction unit 130 may set a flight path for the leading flying object 300 such that the leading flying object 300 does not come into contact with the subsequent flying object 300 when leaving the position where it is photographing a specific location.

[0119] In the above embodiment, when the photographing instruction unit 130 of the control device 100 controls the flight and photographing of the multiple flying objects 300 via the communication network 50, the photographing instruction unit 130 may set at least one of the orientation for photographing a specific location, zooming in and out during photographing, white balance, brightness, and focus for the leading flying object 300 and the following flying object 300 so that they coincide within a predetermined range. For example, the photographing instruction unit 130 may set at least one of the photographing position, photographing direction (pan, tilt, roll), and photographing setting so that the zooming in and out and focus do not cause a change in the display image greater than a predetermined depth of field range and angle of view range before and after switching the display image on the display device 206 of the construction machine 200. In this case, the image switching unit 120 may switch the display image on the display device 206 of the construction machine 200 in response to the input of an image of a specific location by the following flying object 300 based on such a target setting.

[0120] In the above embodiment, the image switching unit 120 of the control device 100 may control the timing of image switching on the display device 206 of the construction machine 200. For example, the image switching unit 120 may switch the display image on the display device 206 of the construction machine 200 from an image by the first flying object 300 to an image by the second flying object 300 in response to receiving a report from the construction machine 200 that the construction machine 200 has transitioned to a non-working state, i.e., acquiring information to suspend work on the work target 70. In addition to or instead of this, the image switching unit 120 may, for example, use the display device 206 to notify the user 20 of the image switching before causing the display device 206 to switch the display image. In addition to or instead of this, the image switching unit 120 may, for example, use the display device 206 to instruct the user 20 to switch the image, in response to an instruction to switch the image from the user 20 using the display device 206. In any of these cases, the control device 100 can avoid giving a sense of incongruity to the user 20 who is observing a specific location through images by multiple flying objects 300 before and after the image switching.

[0121] In the above embodiment, the construction machine 200 may additionally include a sensor that detects the line of sight of the user 20 in the cab 203, and the controller 207 of the construction machine 200 may switch the display image in response to detecting that the line of sight of the user 20 has moved away from the display screen of the display device 206 after receiving a switching signal from the control device 100. Note that, if the line of sight of the user 20 has moved away from the display screen of the display device 206 at the time when the switching signal is received from the control device 100, the controller 207 may quickly switch the display image.

[0122] In the above embodiment, the photographing system 10 may include a control device having only an image acquisition unit and an image switching unit, instead of the control device 100 having the above configuration. In this case, the control device does not need to instruct the movement or photographing of the multiple photographing devices, for example, and the movement and photographing of the multiple photographing devices may be instructed by another device, or each photographing device may perform autonomously according to a program previously built in. Alternatively, the control device may instruct only one of the movement and photographing of the multiple photographing devices, and in this case, the other of the movement and photographing of the multiple photographing devices may be instructed by another device, or each photographing device may perform autonomously according to a program previously built in. In either case, when an image of a specific location is acquired from a first photographing device photographing the specific location, if the first photographing device photographing the specific location or the second photographing device not photographing the specific location satisfies the above-mentioned predetermined condition, the control device starts acquiring an image of the specific location from the second photographing device, and switches the display image of the display device from the image by the first photographing device to the image by the second photographing device.

[0123] 7 is a schematic diagram of the photography system 11 according to the second embodiment. The photography system 11 according to the second embodiment differs from the photography system 10 according to the first embodiment in that the photography system 11 according to the second embodiment includes a construction machine 400 that integrates the control device 100 and the construction machine 200 included in the photography system 10 according to the first embodiment. Other components of the photography system 11 according to the second embodiment, such as the aircraft 300, are similar to the corresponding components of the photography system 10 according to the first embodiment, so the same reference numbers as those of the corresponding components of the photography system 10 according to the first embodiment are used and redundant explanations are omitted.

[0124] The construction machine 400 according to the second embodiment differs from the construction machine 200 according to the first embodiment in that the construction machine 400 according to the second embodiment is equipped with a display device 406 instead of the display device 206 and controller 207 equipped in the construction machine 200 according to the first embodiment. Other components of the construction machine 400 according to the second embodiment, such as the lower traveling body 401, the upper rotating body 402, the operator's cab 403, the work attachment 404, the bucket 405, etc., are similar to the corresponding components of the construction machine 200 according to the first embodiment, so the same reference numbers as those of the corresponding components of the construction machine 200 according to the first embodiment are used and duplicated explanations will be omitted.

[0125] 8 is an example of a block diagram of the display device 406 according to the second embodiment. The display device 406 according to the second embodiment has the same configuration as the control device 100 according to the first embodiment, so the same reference numbers as the corresponding configuration of the control device 100 according to the first embodiment are used. Specifically, the display device 406 has an image acquisition unit 410, an image switching unit 420, a shooting instruction unit 430, an information acquisition unit 440, a selection unit 450, an end instruction unit 460, a warning unit 470, and an operation plan storage unit 480, and also has a user input unit 408 and a display unit 415. The same configuration of the display device 406 according to the second embodiment as that of the control device 100 according to the first embodiment will not be described again.

[0126] The user input unit 408 may be, for example, a touch button displayed on the display unit 415, and accepts input from the user 20 in the cab 203. The user input unit 408 may accept, for example, an input from the user 20 to instruct display of an image of a specific location, or may accept an input from the user 20 to specify a specific location. The user input unit 408 outputs the input information to the information acquisition unit 440.

[0127] The display unit 415 displays the image acquired by the image acquisition unit 410. More specifically, the display unit 415 displays images of one or more flying objects 300 input from the image acquisition unit 410 on a display screen. The display unit 415 may have the same arrangement and function as the display device 206 of the construction machine 200 according to the first embodiment, as shown in Fig. 7, and a duplicated description will be omitted.

[0128] The image switching unit 420 according to the second embodiment differs from the image switching unit 120 according to the first embodiment in that, instead of setting the condition for image switching as the later flying object 300 starts photographing a specific location in response to the earlier flying object 300 photographing the specific location or the later flying object 300 not photographing the specific location satisfying a predetermined condition, the condition is that the specific location shown in the image by the earlier flying object 300 is shown in the image started to be acquired from the later flying object 300. More specifically, the image switching unit 420 causes the display unit 415 to switch from displaying the image by the earlier flying object 300 to displaying the image by the later flying object 300 in response to the specific location shown in the image by the earlier flying object 300 being shown in the image started to be acquired from the later flying object 300. For example, when a leading flying object 300 is photographing a specific location, the image switching unit 420 may switch the image displayed on the display unit 415 in response to the specific location being captured in an image taken by a subsequent flying object 300.

[0129] According to the photographing system 11 of the second embodiment having such a configuration, the same effect as the photographing system 10 of the first embodiment is achieved. The photographing system 11 of the second embodiment may be provided with a display device having only an image acquisition unit, a display unit, and an image switching unit, instead of the display device 406 described above. In this case, the display device does not need to instruct the movement or photographing of the multiple photographing devices, for example, and the movement and photographing of the multiple photographing devices may be instructed by another device, or each photographing device may perform autonomously according to a program previously built in. Alternatively, the display device may instruct only one of the movement and photographing of the multiple photographing devices, and in this case, the other of the movement and photographing of the multiple photographing devices may be instructed by another device, or each photographing device may perform autonomously according to a program previously built in. In either case, when the display device is acquiring an image of a specific location from a first photographing device that is photographing the specific location, if the specific location shown in the image taken by the first photographing device appears in an image that has begun to be acquired from the second photographing device, the display device switches the display unit from displaying the image taken by the first photographing device to displaying the image taken by the second photographing device.

[0130] In the above embodiments, instead of or in addition to the shooting instruction unit controlling at least the shooting settings of the second shooting device, the image acquisition unit may perform specific image processing on the image captured by the second shooting device. More specifically, the image acquisition unit may process the image of the second shooting device so as to match the depth of field of the image of the first shooting device. In addition or instead, the image acquisition unit may process the image of the second shooting device so as to match the white balance of the image of the first shooting device. In addition or instead, the image acquisition unit may process the image of the second shooting device so as to match the brightness of the image of the first shooting device. In addition or instead, the image acquisition unit may process the image of the second shooting device so as to match the angle of view of the image of the first shooting device. In addition or instead, the image acquisition unit may process the image of the second shooting device so that the display image does not change more than a predetermined depth of field range and angle of view range before and after switching. In addition or instead, the image acquisition unit may instruct the image switching unit to switch images after finishing processing the image of the second shooting device.

[0131] In the above embodiments, the photographing instruction unit may have the first photographing device wait in a landed state in a safe place such as the waiting place 40 or the work site 30 in response to receiving information of work interruption from a work machine performing work at a specific location while the first photographing device is photographing a specific location, thereby reducing the power consumption of the first photographing device. In this case, the photographing instruction unit may determine whether the first photographing device can continue photographing the specific location for a predetermined time or more at the time of receiving information of work interruption, and may have the first photographing device wait in such a state if it is determined that the first photographing device can continue. In this case, the photographing instruction unit may return the first photographing device to at least one of the waiting line position, photographing direction, zoom in / out, white balance, brightness, and focus in response to receiving information of work resumption from the work machine.

[0132] In the above embodiments, the photographing device has been described as an aircraft equipped with a camera. However, instead of this, it may be a walking or running mobile robot equipped with a camera, or a camera fixed to an arbitrary location in, for example, the work site 30, where a specific location can be photographed. The photographing device, which is a fixed camera, may be a battery-powered type, and the battery may be a battery that can be repeatedly charged by self-generation or may be replaceable. The fixed photographing device may be a battery-replaceable type photographing device, or may be a photographing device that is connected to an external power source and is constantly powered. In the case of a fixed photographing device that is constantly powered, the above-mentioned predetermined condition may be, for example, that an abnormality or failure has occurred in the fixed first photographing device, that it is time for maintenance of the fixed first photographing device, or the like. In the case of a fixed photographing device of a battery-replaceable type, the above-mentioned predetermined condition may be that the battery of the fixed second photographing device has been replaced from a battery with a remaining battery charge less than a predetermined threshold to a battery with a remaining battery charge equal to or greater than the threshold.

[0133] In the above embodiments, when the flying object 300 not photographing the specific location starts photographing the specific location in response to the flying object 300 photographing the specific location or the flying object 300 not photographing the specific location satisfying a predetermined condition, the image switching unit may switch from recording images by the flying object 300 photographing the specific location to recording images by the flying object 300 not photographing the specific location. In this case, the photographing system may include, in addition to the flying object, a control device having the image switching unit and a construction machine other than the control device, as in the photographing system according to the first embodiment, or may include, in addition to the flying object, a construction machine having the image switching unit, as in the photographing system according to the second embodiment. Alternatively, unlike the photographing system according to the first embodiment and the photographing system according to the second embodiment, the photographing system may include only the flying object having the image switching unit, that is, images photographed at the specific location by each flying object 300 may be recorded, and the user 20 can observe the specific location for a long time by observing recorded images photographed in sequence by two or more flying objects 300 at the specific location.

[0134] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It is clear to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the description of the claims that such modifications and improvements can also be included in the technical scope of the present invention.

[0135] For example, in the above embodiments, a crawler excavator has been given as an example of a construction machine equipped with the imaging system, but the invention is not limited thereto, and the construction machine may be a crane, a wheel loader, etc. Furthermore, the imaging system may be equipped with an agricultural machine such as a tractor, a work machine such as a forklift, an automobile, a ship, etc., instead of or in addition to a construction machine. Furthermore, the imaging system may display an image of a specific location on a monitoring monitor for monitoring a work site, etc., instead of or in addition to displaying an image of a specific location on a display device of the construction machine.

[0136] It should be noted that the order of execution of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before," "prior to," etc., and may be realized in any order unless the output of a previous process is used in a later process. Even if the operational flow in the claims, specifications, and drawings is explained using "first," "next," etc. for convenience, it does not mean that it is essential to perform the process in this order. [Explanation of symbols]

[0137] 10. Shooting System 20 users 30 Work Site 40 Waiting Area 50 Communication Network 60 display screen 70 Work Target 100 Control device 110 Image acquisition unit 120 Image switching section 130 Shooting instruction section 140 Information Acquisition Department 150 Selection Department 160 End Indicator 170 Warning section 180 Work Plan Memory Unit 200 Construction Machinery 201 Undercarriage 202 Upper rotating body 203 Cab 204 Work attachment 205 Bucket 206 Display device 207 Controller 300 Flying Objects 301 1st flight vehicle 302 2nd flight vehicle 303 3rd flight vehicle 11. Shooting System 400 Construction Machinery 401 Undercarriage 402 Upper rotating body 403 Cab 404 Work Attachment 405 Bucket 406 Display device 408 User Input Section 410 Image acquisition unit 415 Display section 420 Image Switching Unit 430 Shooting Instructions 440 Information Acquisition Department 450 Selection Department 460 End Indicator 470 Warning section 480 Work Plan Memory Unit

Claims

1. an image acquisition unit that acquires images from the first image capture device and the second image capture device; an image switching unit that switches a display image of a display device from an image captured by the first photographing device to an image captured by the second photographing device when the second photographing device starts photographing the specific location in response to a predetermined condition being satisfied by the first photographing device or the second photographing device not photographing the specific location; An imaging system comprising:

2. and a photographing instruction unit that, when the first photographing device photographing the specific location or the second photographing device not photographing the specific location satisfies the predetermined condition, causes the second photographing device to move to a location where the specific location can be photographed and start photographing the specific location. The imaging system according to claim 1 .

3. The first imaging device and the second imaging device are flying objects. The imaging system according to claim 2 .

4. the photographing instruction unit acquires at least one of position information and photographing setting information of the first photographing device in a state where the first photographing device is photographing the specific location, and provides the acquired information to the second photographing device; The imaging system according to claim 3 .

5. and a termination instruction unit that terminates the photographing of the specific location by the first photographing device in response to the display image of the display device being switched from the image by the first photographing device to the image by the second photographing device. The imaging system according to claim 1 .

6. The predetermined condition includes at least one of the following: the remaining battery charge of the first photographing device is equal to or lower than a predetermined threshold; an abnormality or failure occurs in the first photographing device; a predetermined maintenance timing of the first photographing device is reached; and the current continuous flight time of the first photographing device, which is an aircraft, is equal to or longer than a predetermined time. The imaging system according to claim 1 .

7. the predetermined condition includes a remaining battery charge of the second photographing device being equal to or greater than a predetermined threshold. The imaging system according to claim 1 .

8. the predetermined condition includes that the first photographing device is in a state capable of suspending photographing of the specific location in response to a work machine working on a work object included in the specific location transitioning to a non-working state in which the work machine is not working on the work object, The imaging system according to claim 1 .

9. a warning unit that warns a user when the second photographing device is in an unsuitable state for starting photographing after the first photographing device photographing the specific location satisfies the predetermined condition, The imaging system according to claim 1 .

10. and a termination instruction unit that terminates the photographing of the specific location by the first photographing device without waiting for the second photographing device to start photographing the specific location when the second photographing device is not in a suitable state to start photographing after the first photographing device photographing the specific location satisfies the predetermined condition. The imaging system according to claim 1 .

11. an information acquisition unit that acquires battery remaining amount information regarding remaining battery amounts of two or more of the second photographing devices that are not photographing the specific location; a selection unit that, when the first photographing device photographing the specific location satisfies the predetermined condition, selects, among the two or more second photographing devices, at least one of the second photographing device having the highest remaining battery level and the second photographing device that has completed charging based on the remaining battery level information of the two or more second photographing devices, and causes the selected second photographing device to start photographing the specific location. The imaging system according to claim 1 .

12. an image acquisition unit that acquires images from the first image capture device and the second image capture device; a display unit that displays an image acquired by the image acquisition unit; an image switching unit that switches the display unit from displaying the image captured by the first photographing device to displaying the image captured by the second photographing device in response to a specific location captured in the image captured by the first photographing device being captured in the image that has begun to be acquired from the second photographing device; An imaging system comprising:

13. an image acquisition unit that acquires images from the first image capture device and the second image capture device; an image switching unit that switches from recording an image by the first photographing device to recording an image by the second photographing device when the second photographing device starts photographing the specific location in response to the first photographing device photographing the specific location or the second photographing device not photographing the specific location satisfying a predetermined condition; An imaging system comprising:

Images