Evaluation support device, evaluation support program and evaluation support method

Abstract

To provide an evaluation support device for supporting evaluation of an object image captured by a flying object.SOLUTION: An evaluation support device for supporting evaluation of partial images for use in inspection of a structure, includes a partial image acquisition unit for acquiring information on a plurality of partial images obtained by capturing portions of a part of the structure and captured by a camera provided on an aircraft, and an evaluation unit for evaluating a characteristic of the partial images, where the characteristic is an overlap rate between the part included in the first partial image and that in the second partial image captured immediately before or after the first partial image.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an evaluation support device, an evaluation support program, and an evaluation support method. [Background technology]

[0002] In recent years, methods have been proposed for inspecting structures using aircraft such as drones.

[0003] Patent Document 1 discloses an invention of a drone that captures images of an object to be inspected. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 6625248 Summary of the Invention [Problem to be solved by the invention]

[0005] The above technology is an invention of a drone that automatically photographs an object, and the captured images are There has been no discussion as to whether the quality is sufficient to be used for evaluation purposes.

[0006] Therefore, the present invention aims to support the evaluation of images of objects captured by an aircraft. The purpose is to [Means for solving the problem]

[0007] According to the present invention, there is provided an evaluation support system for supporting evaluation of a partial image used for inspecting a structure. The device captures a part of the structure, which is imaged by a camera equipped on the flying object. a partial image acquisition unit that acquires information about a plurality of partial images; and an evaluation unit that evaluates characteristics of the partial images. and the characteristic is a characteristic obtained by comparing a first partial image with a second partial image captured immediately before or immediately after the first partial image. An evaluation support device is obtained that is an overlap rate of the parts included in the partial images. [Effects of the Invention]

[0008] According to the present invention, it is possible to assist in the evaluation of images of objects captured by an aircraft. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram illustrating an example of a configuration of an evaluation support system according to an embodiment of the present invention. [Figure 2] 2 is a diagram illustrating an example of a hardware configuration of a server device 1. FIG. [Figure 3] FIG. 2 is a front view of the flight device 3. [Figure 4] FIG. 2 is a plan view of the flight device 3. [Figure 5] FIG. 2 is a diagram illustrating an example of the hardware configuration of a control device 37. [Figure 6] FIG. 2 is a diagram illustrating an example of the software configuration of a control device 37. [Figure 7] 10 is a diagram showing an example of characteristic information stored in a characteristic information storage unit 332. FIG. [Figure 8] FIG. 2 is a diagram illustrating an example of the software configuration of the server device 1. [Figure 9] 10 is a diagram showing an example of a screen that the evaluation support unit 114 presents on the user terminal 4. FIG. [Figure 10] 10 is another diagram showing an example of a screen that the evaluation support unit 114 presents to the user terminal 4. FIG. [Figure 11] 10 is another diagram showing an example of a screen that the evaluation support unit 114 presents to the user terminal 4. FIG. [Figure 12] 10 is another diagram showing an example of a screen that the evaluation support unit 114 presents to the user terminal 4. FIG. [Figure 13] 10 is another diagram showing an example of a screen that the evaluation support unit 114 presents to the user terminal 4. FIG. [Figure 14] 10 is another diagram showing an example of a screen that the evaluation support unit 114 presents to the user terminal 4. FIG. [Figure 15]10 is another diagram showing an example of a screen that the evaluation support unit 114 presents to the user terminal 4. FIG. [Figure 16] FIG. 10 is a diagram illustrating an example of a typical process according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] The present invention will be described below by listing the contents of the embodiments. The present invention has the following configuration. [Item 1] An evaluation support device that supports evaluation of a partial image used in inspecting a structure, comprising: A plurality of partial images capturing parts of the structure taken by a camera equipped on the aircraft. a partial image acquisition unit for acquiring image information; an evaluation unit for evaluating characteristics of the partial image; Equipped with The characteristics are determined based on a first partial image and a second partial image captured immediately before or after the first partial image. The overlap rate of the included regions is Evaluation support device. [Item 2] The evaluation unit evaluates the overlap rate based on at least the flight speed and flight time of the aircraft. Worth it, Item 1. An evaluation support device according to item 1. [Item 3] The partial image and the information on the characteristics are linked and presented to a user terminal used by the user, an evaluation support unit that receives an operation from a user and acquires the user's evaluation of the image; 3. The evaluation support device according to claim 1, comprising: [Item 4] The evaluation support unit selects the partial image for which the user has obtained an evaluation that can be used for inspection. an image generating unit that generates a composite image of the region from the images; Item 4. An evaluation support device according to item 3, comprising: [Item 5] An evaluation support program that supports evaluation of a partial image used in inspecting a structure, On the computer, A plurality of partial images capturing parts of the structure taken by a camera equipped on the aircraft. a partial image acquisition step of acquiring image information; an evaluation step of evaluating a characteristic of the partial image; Execute The characteristics are determined based on a first partial image and a second partial image captured immediately before or after the first partial image. The overlap rate of the included regions is Evaluation support program. [Item 6] An evaluation support method for supporting evaluation of a partial image used in inspecting a structure, comprising: The computer A plurality of partial images capturing parts of the structure taken by a camera equipped on the aircraft. a partial image acquisition step of acquiring image information; an evaluation step of evaluating a characteristic of the partial image; Run The characteristics are determined based on a first partial image and a second partial image captured immediately before or after the first partial image. The overlap rate of the included regions is Evaluation support methods.

[0011] <Details of implementation form> Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In this specification and drawings, components having substantially the same functional configuration are referred to as , the same reference numerals are used to avoid redundant explanation.

[0012] <Summary> FIG. 1 is a diagram showing an example of the overall configuration of an evaluation support system according to one embodiment of the present invention. The invention support system of the embodiment includes a server device 1 and a flight device 3. The server device 1 is communicably connected to the flight device 3 via a communication network 2. The communication network 2 is, for example, the Internet, a public telephone line network, a mobile phone line network, etc. It is constructed using wireless communication channels, Ethernet (registered trademark), etc. The communication device 2 may be a short-range communication device such as Bluetooth (registered trademark).

[0013] The server device 1, the flight device 3, and the user terminal 4 according to this embodiment are configured as follows: The following configuration is an example, and other configurations may also be used. Good too.

[0014] <Server device 1> As shown in FIG. 2, the server device 1 includes a processor 101, a memory 102, a storage device The device includes a storage device 103, a communication interface 104, an input device 105, and an output device 106. The device 103 stores various data and programs, such as a hard disk drive, The communication interface 104 is a solid state drive, a flash memory, etc. , an interface for connecting to a communication network 2, such as Ethernet (registered adapters for connecting to the public telephone network, modems for connecting to the public telephone network, wireless communication a wireless communication device for serial communication, and a USB (Universal Serial The input device 105 is a data input device. Input, for example, using a keyboard, mouse, touch panel, button, microphone, etc. The output device 106 outputs data, for example, a display (display unit) or a printer. , a speaker, etc. Each processing unit of the server device 1, which will be described later, is stored by the processor 101. By reading out the program stored in the storage device 103 into the memory 102 and executing it, Each storage unit of the server terminal 1 is realized by the memory 102 and the storage device 103. It is realized as part of the domain.

[0015] <Flight device 3> As shown in FIG. 1, the flight device 3 communicates with the server device 1 or the user terminal 4. The flight device 3 performs information processing and constitutes a part of the evaluation support system. For example, any aircraft that can hover in the air for a certain period of time, such as a multicopter, The aircraft may be, but is not limited to, a tilt rotor, a vertical take-off and landing aircraft, etc. Here, we will provide an example of a multicopter.

[0016] An example of the flying device 3 is shown in Fig. 3 and Fig. 4. The flying device 3 is an existing device for a multicopter. The flight device 3 is not limited to the following example, as it can be implemented using any suitable device and flight control. 1, a battery 32 mounted on the body 31, and a battery 33 protruding diagonally in the front-rear direction of the body 31 and approximately horizontally. Four flight motors 3 mounted near the tips of four arms 33 and driven by batteries 32 4, and four pitch rotors 3 each driven by a flight motor 34 to generate thrust. 5 and four arms 33 each equipped with two sensors, each powered by a battery 32. and four servo motors 36 for changing the pitch of each of the pitch rotors 35. .

[0017] The flight device 3 changes the rotation speed of the pitch rotor 35 by the flight motor 34, and The pitch of the pitch rotor 35 is changed by the servo motor 36, and the airframe 31 The magnitude and direction of the thrust applied to the aircraft 31 and the orientation of the aircraft 31 are changed to perform lift-off, flight and hovering. It can be done.

[0018] The flight device 3 has a three-axis acceleration sensor and a three-axis gyro sensor for flight control at the center of the body 31. The aircraft information acquisition means is an inertial measurement unit (IMU) with a sensor, and the GNSS and A flight controller (FC) with a conventional microcomputer and a wireless communication unit A control device 37 is mounted as a flight control means, and the control device 37 has a power management unit (PMU). do.

[0019] The flight controller of the control unit 37 receives power from the battery 32 via a power management unit. The acceleration, attitude and and performing control to stabilize the position and attitude of the aircraft 31 based on the position information. With the assistance of the control device 37, the flight device 3 For example, a wireless communication unit of the control device 37 may be used to control a normal digital proportional type control device. By giving control commands to the flight controller via the can be remotely controlled relatively easily and safely through automatic operation.

[0020] In this embodiment, the control device 37 of the flight device 3 performs the following functions in addition to flight control: The control device for controlling the evaluation support may also perform the control related to the evaluation support described in the above. The flight device 3 may be provided with a separate device, but the control device 37 will be described below as an example of an implementation in which the control device 37 performs evaluation support. Here is an example.

[0021] As shown in FIG. 5, the control device 37 includes a processor 301, a memory 302, a storage device The storage device 303 includes a communication interface 304 and an input device 305. Hard disk drives and solid-state drives that store data and programs The communication interface 304 is a communication network. 2, for example, to connect to Ethernet (registered trademark). adapters for connecting to the public telephone network, modems for connecting to the public telephone network, and wireless Communication device, USB (Universal Serial Bus) connector for serial communication The input device 305 is a device for inputting data, e.g. Examples include keyboards, mice, touch panels, buttons, microphones, etc. Each processing unit of the control device 37 is a processor 301 that processes the program stored in the storage device 303. The program is read into the memory 302 and executed. The unit is realized as part of the storage area provided by the memory 302 and the storage device 303 .

[0022] The flight device 3 further includes a camera 38 and a distance sensor 39, as shown in FIGS. 3 and 4. and

[0023] The camera 38 may be any ordinary camera, and captures images (which may include video). The camera 38 receives an instruction to take an image from the control device 37 and takes an image. The optical axis may be oriented either horizontally or vertically.

[0024] The distance sensor 39 measures the distance between the sensor and the object being imaged. For example, existing cameras (vision sensors), ultrasonic waves, electromagnetic waves, laser light, etc. The measurement method may be an existing implementation.

[0025] The distance sensor 39 measures the approximate position of the target ( It is sufficient that they are arranged at 39a and 39b in FIG.

[0026] <User terminal 4> The user terminal 4 is, for example, a computer operated by a user who performs evaluation. These include smartphones, tablet computers, and personal computers. may be equipped with an input device such as a touch panel, a camera, or a microphone. is transmitted to the server by, for example, an application or a web browser executed on the user terminal 4. Device 1 can be accessed.

[0027] <Software configuration> The following describes the software of the server device 1 and the flight device 3 (control device 37) according to this embodiment. The following software configuration is an example, and other configurations may also be used. Good too.

[0028] FIG. 6 is a block diagram showing the functional configuration of the control device 37 related to imaging support. As shown in the figure, the control device 37 includes an imaging unit 311, a characteristic information acquisition unit 312, and a transmission unit 313. , each processing unit of the flight control unit 314, the image storage unit 331, and the characteristic information storage unit 332 The system includes a storage unit.

[0029] The image storage unit 331 stores the images (still images, moving images, etc.) captured by the imaging unit 311. (which may include audio in some cases)

[0030] The characteristic information storage unit 332 stores characteristic information, an example of which is shown in FIG. Linked to the image ID, the image capture time, various data acquired by the inertial measurement unit (acceleration, aircraft angle, data acquired by GNSS, image resolution, brightness (ISO sensitivity, shutter -speed, aperture value, EV value, etc.), the distance sensor 39 and the target These include, but are not limited to, the distance to a plane of an object.

[0031] The image capturing unit 311 captures an image using the camera 38. The image capturing unit 311 is After the start-up, the image capturing unit 311 may capture an image without any instruction, or the image capturing unit 311 may capture an image without any instruction from the server device 1 or the user. The imaging unit 311 may perform imaging when it receives an instruction to perform imaging from the user terminal 4. While the image of the object is being transmitted to the server device 1 or the user terminal 4, the image capturing unit 311 When image capture instruction information is received from the server device 1 or the user terminal 4, an image may be captured. Alternatively, the frame of the video being captured that corresponds to the timing at which the image capture instruction information is acquired is used as the image. The image capturing unit 311 stores the captured image in the image storage unit 331. The imaging unit 311 may store the acquired images and videos in association with characteristic information, which will be described later. .

[0032] The characteristic information acquisition unit 312 acquires characteristic information of the image acquired by the imaging unit 311. The characteristic information may include, for example, various values ​​acquired by the inertial measurement unit when taking an image, image resolution, etc. Image quality, brightness (ISO sensitivity, shutter speed, aperture value, EV value, etc.), camera light Information on the angle between the axis and the vertical or horizontal plane of the object, distance acquired by the distance sensor 39, This includes, but is not limited to, the distance between the sensor 39 and the vertical or horizontal plane of the object. The characteristic information acquisition unit 312 associates the image information acquired by the image capture unit 311 with the ID of the image information. The characteristic information is stored in the characteristic information storage unit 332.

[0033] The transmission unit 313 transmits the image captured by the imaging unit 311 to the server device 1 or the user terminal 4. Then, the characteristic information acquisition unit 312 transmits the acquired characteristic information.

[0034] The flight control unit 314 controls the flight of the flight device 3. The flight control unit 314 controls the flight of the flight device 3. The signal transmitted from the server device 1 is received by the processing of the row processing unit 116, and the Control the flight of the flight device 3.

[0035] 8 is a block diagram showing the functional configuration of the server device 1. The server device 1 is a characteristic information acquisition unit 112; an evaluation unit 113; an evaluation support unit 114; and an image generation unit The processing units 115, the flight processing unit 116, the image storage unit 131, the characteristic information storage unit 1 32 and each of the storage units.

[0036] The image storage unit 131 stores images acquired by the image acquisition unit 111, which will be described later. The image may be the same as the image stored in the image storage unit 331 .

[0037] The characteristic information storage unit 132 stores the characteristic information acquired by the characteristic information acquisition unit 112, which will be described later. The characteristic information is the same as the characteristic information stored in the characteristic information storage unit 332. good.

[0038] As an example, the image acquisition unit 111 acquires an image acquired and transmitted by the flight device 3. The image acquisition unit 111 stores the acquired image in the image storage unit 131. 1 stores the characteristic information acquired by the characteristic information acquisition unit 112 described later in association with the image. Good too.

[0039] The characteristic information acquisition unit 112 acquires, for example, characteristic information acquired and transmitted by the flight device 3. The characteristic information acquisition unit 112 stores the acquired characteristic information in the characteristic information storage unit 132. The characteristic information acquisition unit 112 identifies or calculates various indices based on the acquired characteristic information. The characteristic information may be determined, evaluated, etc., and stored as linked to the image ID. The unit 112 calculates the shutter speed and aperture value associated with a certain image. The characteristic information acquisition unit 112 may also specify the EV value of the flight device when capturing an image. The appropriateness of the acceleration is determined based on the relationship with a predetermined appropriate value. Furthermore, the characteristic information acquisition unit 112 may calculate a value converted into a value indicating the characteristic information. , the distance (separation distance) between the camera 38 associated with each image in a certain image group and the object Based on the information of the appropriate value stored in advance, the error from the appropriate value, ,Identifying the minimum error and maximum error values ​​from the separation distance of each image in the image group, The average value of the error and the standard deviation of the error may be calculated. The unit 112 measures the angle of the airframe (at least the yaw angle, roll angle, and pitch angle) when the image is acquired. The appropriateness of the evaluation is shown based on the relationship between the appropriate value and the appropriate value for each. The characteristic information acquisition unit 112 may specify various indices and calculate or determine the evaluation value. Examples of calculations, evaluations, etc. are not limited to those described above.

[0040] For example, the evaluation unit 113 compares the image acquired by the image acquisition unit 111 with the characteristic information acquired by the characteristic information acquisition unit 112. 12 and the characteristics acquired are evaluated.

[0041] The evaluation unit 113 evaluates the characteristics of the image acquired by the image acquisition unit 111. For example, the evaluation unit 113 determines whether the image is in focus. When the acceleration value of the flight device 3 at the time of image capture is within a predetermined range, the image is in focus. Alternatively, the evaluation unit 113 may perform a Fourier transform on the image to determine that the image is The frequency distribution of the image is analyzed, and if a high frequency component of a predetermined proportion or more is included, the peak is detected. However, it is not limited to the above method, and any other known method may be used to determine whether the image is correct. It is sufficient to determine whether or not the image is in focus.

[0042] The evaluation unit 113 determines, for example, whether the brightness of the image is appropriate. For example, at least one of the ISO sensitivity, shutter speed, aperture value, EV value, etc. If the brightness falls within the range of the predetermined values ​​set for each, the brightness is determined to be sufficient. The evaluation unit 113 may determine whether the image is sufficiently bright by other known methods. It may also be determined whether or not

[0043] The evaluation unit 113 determines, for example, whether the distance between the plane of the object shown in the image and the flying device 3 is appropriate. Here, the distance between the object and the flight device 3 is determined by the distance between the object and the camera 38 or The distance between the sensor 39 and the sensor 39 may be used, and the same applies hereinafter when the term "distance" is used. For example, the evaluation unit 113 may be configured to determine whether the distance between the flight device 3 and the target object when the image is captured is within a predetermined range. If the object is included in the area, the distance between the plane of the object shown in the image and the flight device 3 is appropriate. Further, as an example, the evaluation unit 113 may determine that the part A of the object is The distance between the flight device 3 and part A when taking the images of part A is When an image of part B around part A is taken, the distance between the flight device 3 and part B of the object is within a predetermined range. When the distance difference is within the range of 1 / 2, the distance between the plane of the object part shown in the image and the flight device 3 is appropriate. It is sufficient to determine that the signal is off.

[0044] The evaluation unit 113 determines, for example, whether the angle of the aircraft when acquiring the image is appropriate. 13 is an example of a camera 38 whose optical axis is oriented vertically and captures an object to be inspected that is approximately horizontal. The value of the aircraft's yaw angle obtained by the inertial measurement unit (IMU) of flight device 3 at the time of image capture was If it is within a predetermined range, it can be determined that the yaw angle of the aircraft at the time of image acquisition is appropriate. In addition, the evaluation unit 113, as an example, assumes that the optical axis of the camera 38 is oriented horizontally and is approximately vertical. The aircraft's inertial measurement unit (IMU) and other components of the flight device 3 are used to capture images of the object being inspected. The roll angle (or pitch angle, which corresponds to the optical axis direction of the camera 38) of the If the aircraft is within the specified range, the roll angle (or pitch angle) of the aircraft when acquiring the image is appropriate. For example, the evaluation unit 113 may determine the distances obtained from the two distance sensors 39. The distance sensors 39 and the characteristic information included in the characteristic information of the image acquired by the characteristic information acquisition unit 112 If the distance between the flight device 3 and the object to be inspected, or the difference in the distances, is within a predetermined range, In this case, it may be determined that the angle of the aircraft when the image was acquired is appropriate.

[0045] The evaluation unit 113 determines, for example, whether the overlap rate between the image and another image is appropriate. For example, the evaluation unit 113 may be configured to measure the time from capturing the immediately preceding image to capturing the image to be evaluated. At this time, if the flight device 3 is flying at a predetermined speed for a predetermined time, the overlap of the images The evaluation unit 113 determines that the rate of change is appropriate. The image acquired by the image sensor is a partial image including a part of the structure to be inspected. The overlapping parts of the partial images containing the adjacent parts are overlapped. If the overlap rate is within a predetermined range, it may be determined that the image overlap rate is appropriate.

[0046] The evaluation support unit 114 supports the user in evaluating the image. The evaluation image data acquired by the information acquisition unit 112 includes information necessary for the user to evaluate the image. A surface is generated and presented to the user terminal 4.

[0047] The evaluation support unit 114 performs, for example, the following: verification of the stoppage of image capture by the user; verification of brightness; It has support functions for spacing verification, angle verification, and overlap verification.

[0048] FIG. 9 is an example of an evaluation screen generated by the evaluation support unit 114 and presented to the user terminal 4. The evaluation support unit 114, for example, receives one or more images and the characteristic information acquired by the characteristic information acquisition unit 112. The characteristic information stored in association with the image is also uploaded. The support unit 114 receives a user's selection operation from among the images that have been accepted for upload, Identify images to assist with evaluation.

[0049] The evaluation support unit 114 supports the verification of the stoppage during shooting, as shown in Figs. 10 and 11. As a function, the characteristic information acquisition unit 112 acquires the flight device 3 at the time of capturing the image to be evaluated. The acceleration value or a value converted into a value indicating the suitability thereof is presented to the user terminal 4. In addition, a predetermined range (good, sufficient, insufficient, etc.) is set for the focus judgment value, and the evaluation target The image is displayed in different colors on the user terminal 4 depending on the range of focus determination values ​​of the image. Good too.

[0050] The evaluation support unit 114 supports the user in verifying brightness, as shown in FIG. 12. As a function, the ISO sensitivity, shutter speed, etc. of the image to be evaluated acquired by the characteristic information acquisition unit 112 are The shutter speed, aperture value, EV value, etc. are presented on the user terminal 4.

[0051] The evaluation support unit 114 has a function for supporting the user in verifying the interval, as shown in FIG. 13 as an example. As a function, the characteristic information acquisition unit 112 acquires the separation distance, appropriate value, and Error from the correct value, minimum error, maximum error, average error, standard deviation of error, etc. can be displayed on the user terminal. 4. In addition, the evaluation support unit 114 may, for example, plot the error on the vertical axis and the filename on the horizontal axis. As a member, a graph may be generated and displayed on the user terminal 4.

[0052] The evaluation support unit 114 has a function to support angle verification by the user, as shown in FIG. 14 as an example. As a function, the characteristic information acquisition unit 112 acquires the image to be evaluated by the camera 38. aircraft tilt, distance for checking alignment (left), distance for checking alignment (right), aircraft yaw (a), gyro Baluyo (b), correct value (c), error (a+bc), minimum error, maximum error, average error The evaluation support unit 114 displays the value, the standard deviation of the error, etc. on the user terminal 4. A graph is generated with the error on the vertical axis and the file number on the horizontal axis, and is displayed on the user terminal 4. You may do so.

[0053] The evaluation support unit 114 performs overlap verification by the user, as shown in an example in FIG. As a function of supporting the above, the characteristic information acquisition unit 112 acquires the image of the camera 38 to be evaluated. The altitude of the aircraft when the image was captured, and the altitude at which the image to be evaluated was captured immediately before the image was captured. The absolute value (called ascent / descent distance) obtained by subtracting the altitude of the aircraft 31 when the immediately preceding image was captured. value, the proper value of the ascent / descent distance, the error obtained by subtracting the proper value from the ascent / descent distance, Maximum distance, minimum distance, average distance, standard deviation, etc. is displayed on the user terminal 4. In addition, the evaluation support unit 114 may display, for example, the ascending / descending distance on the vertical axis, A graph may be generated with the file number on the horizontal axis and displayed on the user terminal 4. The above example is an example in which the inspection object is a substantially vertical structure. If the object is a substantially horizontal structure, the evaluation support unit 114 As a function to support the verification, the characteristic information acquisition unit 112 acquires the characteristic information of the camera 38 as the evaluation target. The aircraft is evaluated based on at least either the latitude or longitude of the aircraft when the image is captured. The image to be captured is taken immediately before the image to be captured. is the absolute value of the value obtained by subtracting one of the longitudes (called the forward and backward distance), and the appropriate value of the forward and backward distance value, the error obtained by subtracting the appropriate value from the forward distance, the maximum forward distance, The minimum distance, the average value of the forward and backward distances, the standard deviation of the forward and backward distances, etc. are displayed on the user terminal 4. Further, the evaluation support unit 114 may, for example, plot the forward and backward distance on the vertical axis and the file number on the horizontal axis. A graph may be generated and displayed on the user terminal 4.

[0054] The evaluation support unit 114 determines whether an image to be evaluated is appropriate or not in response to a user operation. The evaluation support unit 114 acquires the evaluation result and stores it in association with the image. The evaluation result may be linked to the image to be evaluated and presented to the user terminal 4.

[0055] For example, the image generating unit 115 connects a plurality of partial images to generate a structure to be evaluated. The image generating unit 115 generates a combined image that covers the entire object or the area to be evaluated. The group of images that the evaluation unit 113 has evaluated as appropriate, or the group of images that the evaluation support unit 114 has evaluated as appropriate by the user, A plurality of images selected as relevant may be used to generate a combined image. The technique for joining these may be a known technique, and the explanation will be omitted.

[0056] The evaluation support unit 114 evaluates the overlap rate of the images in the combined image generated using the image group. In this case, the evaluation support unit 114 may calculate, for example, (area of ​​overlapping portion ÷ total The overlap rate may be calculated by a formula such as (area of ​​the image) × 100. The overlap rate of the image group may be displayed. If the overlap rate exceeds a predetermined value, the evaluation unit 113 If so, the image group may be evaluated as suitable for inspection.

[0057] The flight processing unit 116 performs processing to transmit signals to the flight device 3 as flight instructions. .

[0058] The flight processing unit 116 detects whether adjacent images captured by the imaging unit 311 overlap each other at a predetermined overlap rate. The flight control signal and the image capturing unit 311 are controlled so that the aircraft moves at a desired speed. For example, the flight processing unit 116 transmits a signal to the flight device 3 at a predetermined speed for a predetermined time. After flying the flight device 3, the flight device 3 stops flying and hovers at that position. The image capturing unit 311 repeats the cycle of capturing images of the object, and the images are partially overlapped. The flight processing unit 116 determines at least one of the flight speed and flight time. If either of these is changed, the lap rate can be changed. While the flight device 3 is flying at the predetermined speed, the image capturing unit 311 captures the image at a time corresponding to the predetermined speed. The object may be imaged at intervals.

[0059] The flight processing unit 116 flies the flight device 3 at a predetermined speed for a predetermined time. For example, if the distance traveled is affected by wind and the estimated distance deviates from the predetermined error, Return the flight device 3 to the point where the previous flight started, and fly again at the specified speed for the specified time. The flight processing unit 116 may also perform processing to transmit a signal to the aircraft in response to, for example, wind conditions. If the distance traveled deviates from the expected distance due to noise, etc., Alternatively, a signal may be sent to return the flying device 3 to the designated shooting point. The user terminal 4 may be notified of the excess distance from the target point.

[0060] A typical processing flow of this embodiment will be described with reference to FIG. The control unit 116 transmits signals related to flight and imaging to the flight device 3 (1001). The flight control unit 314 flies the flight device 3, and the imaging unit 311 takes an image (3001). The characteristic information acquisition unit 312 acquires the characteristic information (3002). The transmission unit 313 transmits the image and the characteristic information. The image acquisition unit 111 of the server device 1 acquires the image. The characteristic information acquisition unit 112 acquires characteristic information from the image (1002). The image is evaluated based on the information (1003). The evaluation support unit 114 generates an image evaluation support screen. The result is displayed on the server device 1 (1004).

[0061] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. The technical scope of the disclosure is not limited to such examples. The above-described embodiments are intended to facilitate understanding of the present invention. The above is merely an example for ease of understanding and is not intended to limit the present invention. The present invention can be modified and improved without departing from the spirit of the invention. It goes without saying that the present disclosure includes those having ordinary skill in the art. Any person who wishes to make such a modification may make various modifications within the scope of the technical idea described in the claims. It is apparent that various modifications and variations are possible, which are within the scope of the present disclosure. It is understood to be within the scope of science.

[0062] The devices described herein may be comprised of multiple devices connected in part or in whole via a network. For example, the server device 1 may be implemented by a program (e.g., a cloud server). The processor and storage device are implemented by different servers connected to each other via a network. That's fine.

[0063] The series of processes performed by the apparatus described in this specification may be implemented by software, hardware, and This implementation may be implemented using either software or a combination of software and hardware. A computer program for realizing each function of the server device 1 according to the embodiment is created, and It is possible to implement it in C, etc. Also, such a computer program can be stored In addition, a computer-readable recording medium can also be provided. Examples include magnetic disks, optical disks, magneto-optical disks, flash memory, etc. The computer program is distributed, for example, via a network, without using a recording medium. This may be done.

[0064] Additionally, the processes described herein do not necessarily have to be performed in the order described. Some processing steps may be performed in parallel, and additional processing steps may be performed in parallel. A step may be adopted, and some processing steps may be omitted.

[0065] Furthermore, the effects described in this specification are merely illustrative or exemplary and are not limiting. In other words, the technology according to the present disclosure has the above-mentioned effects in addition to or instead of the above-mentioned effects. In addition, other effects that will be apparent to those skilled in the art from the description of this specification may be achieved. [Explanation of symbols]

[0066] 1. Server device 2 Network 3 Flight equipment 4. User terminal 31 aircraft 32 Battery 33 Arms 34 Flight Motor 35 pitch rotor 36 Servo motor 37 Control Device 38 Camera 39 Distance Sensor 101 processors 102 memory 103 Storage device 104 Communication Interface 105 Input Device 106 Output Device 111 Image acquisition unit 112 Characteristics information acquisition unit 113 Evaluation Department 114 Evaluation Support Department 115 Image Generation Unit 116 Flight Processing Unit 131 Image storage unit 132 Characteristic information storage unit 301 processor 302 memory 303 Storage device 304 Communication Interface 305 Input Device 311 Imaging unit 312 Characteristics information acquisition unit 313 Transmitter 314 Flight Control Unit 331 Image storage unit 332 Characteristic information storage unit

Claims

1. An evaluation support device that supports evaluation of a partial image used in inspecting a structure, comprising: A plurality of partial images capturing parts of the structure taken by a camera equipped on the aircraft. a partial image acquisition unit for acquiring image information; an evaluation unit for evaluating characteristics of the partial image; Equipped with The characteristics are determined based on a first partial image and a second partial image captured immediately before or after the first partial image. The overlap rate of the included regions is Evaluation support device.

2. The evaluation unit evaluates the overlap rate based on at least the flight speed and flight time of the aircraft. Worth it, The evaluation support device according to claim 1 .

3. The partial image and the information on the characteristics are linked and presented to a user terminal used by the user, an evaluation support unit that receives an operation from a user and acquires the user's evaluation of the image; The evaluation support device according to claim 1 or 2, comprising:

4. The evaluation support unit selects the partial image for which the user has obtained an evaluation that can be used for inspection. an image generating unit that generates a composite image of the region from the images; The evaluation support device according to claim 3 , comprising:

5. An evaluation support program that supports evaluation of a partial image used in inspecting a structure, On the computer, A plurality of partial images capturing parts of the structure taken by a camera equipped on the aircraft. a partial image acquisition step of acquiring image information; an evaluation step of evaluating a characteristic of the partial image; Execute The characteristics are determined based on a first partial image and a second partial image captured immediately before or after the first partial image. The overlap rate of the included regions is Evaluation support program.

6. An evaluation support method for supporting evaluation of a partial image used in inspecting a structure, comprising: The computer A plurality of partial images capturing parts of the structure taken by a camera equipped on the aircraft. a partial image acquisition step of acquiring image information; an evaluation step of evaluating a characteristic of the partial image; Run The characteristics are determined based on a first partial image and a second partial image captured immediately before or after the first partial image. The overlap rate of the included regions is Evaluation support methods.

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