Image display device and image display method for flying robots

Abstract

To provide an image display device and an image display method that are capable of appropriately displaying a plurality of captured images respectively captured by a plurality of flying robots.SOLUTION: An image display device includes: a first acquisition unit configured to acquire a plurality of captured images respectively captured by a plurality of flying robots; a second acquisition unit configured to acquire monitoring purposes of the respective flying robots; a determination unit configured to determine display priorities of the plurality of captured images based on the monitoring purposes; and a display control unit configured to display the plurality of captured images according to display modes based on the display priorities.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to an image display device and an image display method for displaying a plurality of captured images taken by a plurality of flying robots. [Background technology]

[0002] In recent years, flying robots have been developed that fly autonomously around monitored properties such as train stations, commercial facilities, and power plants, and transmit images of the monitored properties to an image display device used by a monitor. The image display device displays multiple images captured by multiple flying robots so that the monitor can efficiently monitor the monitored properties.

[0003] For example, Patent Document 1 discloses a monitoring system that determines how to process the video in accordance with a priority determined based on the location information of each camera that captures video of the monitored area and the location information of the monitor in the monitored area. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2018-170574 Summary of the Invention [Problem to be solved by the invention]

[0005] In an image display device that displays a plurality of captured images taken by a plurality of flying robots, it is required to appropriately display each captured image.

[0006] An object of the present invention is to provide an image display device and an image display method that can appropriately display a plurality of captured images taken by a plurality of flying robots. [Means for solving the problem]

[0007] In order to solve this problem, the present invention provides an image display device having a first acquisition unit that acquires multiple captured images taken by each of multiple flying robots, a second acquisition unit that acquires flight information for each of the multiple flying robots, a determination unit that determines the display priority of the multiple captured images based on the flight information, and a display control unit that displays the multiple captured images in accordance with a display mode based on the display priority.

[0008] In this image display device, it is preferable that the flight information is determined by at least one of the flying robot state, which is the state of the flying robot's body or flight, and the environmental state of the area in which the flying robot flies.

[0009] In this image display device, it is preferable that the determination unit uses multiple flying robot states or multiple environmental states to determine the flying risk of the flying robot, and determine the display priority based on the flight risk.

[0010] In this image display device, it is preferable that the determination unit calculates the flight risk of the flying robot using one or more flying robot states and one or more environmental states, and determines the display priority based on the flight risk.

[0011] In this image display device, the display control unit preferably highlights a predetermined number of captured images in descending order of display priority, or highlights captured images whose display priority is equal to or greater than a threshold value.

[0012] In this image display device, the display control unit preferably highlights a captured image with a higher display priority so that the higher the display priority of the captured image, the more strongly the image is highlighted.

[0013] In this image display device, it is preferable that the display control unit displays multiple captured images on the first display screen, and displays a predetermined number of captured images in descending order of display priority, or captured images whose display priority is equal to or greater than a threshold, on the second display screen.

[0014] In this image display device, it is preferable that the display control unit does not display a predetermined number of captured images in ascending order of display priority, or captured images whose display priority is less than a threshold value.

[0015] In this image display device, it is preferable that the display control unit displays a predetermined number of captured images in order of highest display priority, or captured images with a display priority above a threshold, along with flight information of the flying robot that captured the captured images.

[0016] In this image display device, it is preferable that the display control unit displays an icon image of the flying robot that captured the captured image displayed in a display mode based on the display priority in the same display mode as the captured image.

[0017] In order to solve such problems, the present invention provides an image display method that acquires multiple captured images taken by multiple flying robots, acquires flight information for each of the multiple flying robots, determines a display priority for the multiple captured images based on the flight information, and displays the multiple captured images in accordance with a display mode based on the display priority. [Effects of the Invention]

[0018] The image display device and image display method according to the present invention make it possible to appropriately display a plurality of captured images captured by a plurality of flying robots. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a diagram showing the overall system configuration of a monitoring system 1. FIG. [Figure 2] 1A is a diagram showing an example of the data structure of a task importance table 241, and FIG. 1B is a diagram showing an example of the data structure of a property importance table 242. FIG. [Figure 3] 10A is a diagram showing an example of the data structure of the robot risk table 243, and FIG. 10B is a diagram showing an example of the data structure of the environment risk table 244. FIG. [Figure 4]10A is a diagram showing an example of the data structure of the flying robot table 245, and FIG. 10B is a diagram showing an example of the data structure of the environment table 246. FIG. [Figure 5] 10A is a flowchart showing an example of the operation of a decision process, and FIG. 10B is a flowchart showing an example of the operation of a display process. [Figure 6] 10(A) to 10(C) are schematic diagrams showing examples of each display screen. DETAILED DESCRIPTION OF THE INVENTION

[0020] A monitoring system according to an embodiment will be described below with reference to the drawings.

[0021] FIG. 1 is a diagram showing the overall system configuration of a monitoring system 1. As shown in FIG. As shown in FIG. 1, the monitoring system 1 includes multiple flying robots 10, an image display device 20, a management device 30, and a server 40. The monitoring system 1 is a monitoring system that monitors and guards one or more monitoring areas set in facilities such as stations, commercial facilities, and power plants. Each monitoring area includes one or more monitored objects such as station platforms, stores, and power generation facilities. The image display device 20, the management device 30, and the server 40 are arranged on a monitoring desk or the like in a monitoring center installed within or outside the monitoring area. The image display device 20, the management device 30, and the server 40 are connected to a communication network N such as an intranet or the Internet, and each flying robot 10 is connected to the communication network N via a wireless communication network such as a wireless LAN or a mobile phone network. As a result, each flying robot 10, the image display device 20, the management device 30, and the server 40 are connected to each other for communication.

[0022] The management device 30 registers various settings in the flying robot 10 via the server 40 and controls the flying robot 10 in accordance with operations by the controller.

[0023] The server 40 sets various settings registered from the management device 30 to the flying robot 10, and also collects monitoring results from the flying robot 10 and transmits them to the image display device 20.

[0024] The flying robot 10 is an unmanned small flying object capable of autonomous flight, such as a small unmanned quadrotor or single rotor helicopter. The flying robot 10 is, for example, a drone, a multicopter, or a UAV (Unmanned Aerial Vehicle). The flying robot 10 flies within a flight area set within a monitoring area. The flying robot 10 includes a position and orientation sensor 11, an imaging unit 12, a motor 13, a temperature sensor 14, a battery 15, a first communication unit 16, a first memory unit 17, and a first control unit 18.

[0025] The position and orientation sensor 11 acquires the current position and orientation of the flying robot 10. The position and orientation sensor 11 includes, for example, a receiver that receives radio waves (navigation signals) transmitted from navigation satellites (artificial satellites) such as a Global Navigation Satellite System (GNSS), an acceleration sensor that measures acceleration, an electronic compass that measures orientation, and a gyro sensor that measures angular velocity. The receiver receives navigation signals transmitted from multiple navigation satellites and outputs them to the first control unit 18. The acceleration sensor, electronic compass, and gyro sensor output measurement signals indicating the measured acceleration, orientation, and angular velocity to the first control unit 18. The position and orientation sensor 11 may acquire the current position of the flying robot 10 using other known sensors such as a laser scanner and a barometric pressure sensor. The position and orientation sensor 11 may also acquire the orientation of the flying robot 10 using other known sensors.

[0026] The imaging unit 12 includes a visible light camera. The visible light camera includes a photoelectric conversion element sensitive to visible light, such as a CCD element or a C-MOS element, an imaging optical system that forms an image on the photoelectric conversion element, and an A / D converter, and generates and outputs a visible light image based on visible light. The imaging unit 12 sequentially generates visible light images at a predetermined frame rate and outputs them to the first control unit 18 as captured images. The imaging unit 12 may also include a thermal imaging camera that acquires thermal images. The thermal imaging camera includes, for example, two-dimensionally arranged sensors that detect radiant energy of two types of wavelengths of electromagnetic radiation from an object, and an A / D converter that amplifies and analog-to-digital (A / D) converts the electrical signal output from the sensor. The thermal imaging camera generates a thermal image based on a temperature value calculated from the ratio of the two types of radiant energy and outputs it to the first control unit 18 as a captured image at a predetermined frame rate.

[0027] The motor 13 includes one or more (for example, four) motors. A rotor (rotor blade, propeller) is connected to the rotation shaft of each motor. The motor 13 receives a drive signal from the first control unit 18, rotates in accordance with the received drive signal, and generates a drive force to rotate each rotor. The flying robot 10 can generate acceleration in any direction by independently rotating one or more rotors, and can adjust the movement and attitude of the aircraft.

[0028] The temperature sensor 14 detects the temperature inside the flying robot 10 and outputs the detected temperature to the first control unit 18.

[0029] The battery 15 is a storage battery. The battery 15 supplies power to the position and orientation sensor 11, the imaging unit 12, the motor 13, the temperature sensor 14, the first communication unit 16, the first storage unit 17, and the first control unit 18. The battery 15 also outputs the remaining amount of power to the first control unit 18.

[0030] The first communication unit 16 has, for example, an antenna for transmitting and receiving wireless signals and a wireless communication interface circuit for transmitting and receiving signals through a wireless communication line in accordance with a wireless communication protocol such as wireless LAN, and connects to the communication network N via an access point. Alternatively, the first communication unit 16 has, for example, a communication interface circuit compliant with the W-CDMA system or the LTE system, and connects to the communication network N via a network such as a base station and a mobile communication network. The first communication unit 16 outputs data received from the communication network N to the first control unit 18, and transmits data input from the first control unit 18 to the communication network N. The first communication unit 16 also detects the signal strength of the wireless communication and outputs it to the first control unit 18.

[0031] The first storage unit 17 has semiconductor memory such as ROM and RAM, a magnetic disk or an optical disk drive such as a CD-ROM or DVD-ROM, and a recording medium thereof. The first storage unit 17 stores computer programs and various data for controlling the flying robot 10, and inputs and outputs this information to and from the first control unit 18. The computer programs may be installed into the first storage unit 17 from a computer-readable portable recording medium such as a CD-ROM or DVD-ROM using a known setup program. The computer programs may also be stored in a recording medium owned by a specified server and installed via a network. The first memory unit 17 also stores data such as position and attitude information 171 and route information 172. The position and attitude information 171 indicates the current position and current attitude of the flying robot 10 detected based on the signals acquired by the position and attitude sensor 11. The route information 172 is information indicating the planned flight route along which the flying robot 10 will move, and is represented by a coordinate sequence on the flight route. The route information 172 is set from the management device 30 via the server 40.

[0032] The first control unit 18 has a processor such as a CPU or MPU, memories such as a ROM or RAM, and peripheral circuits, and executes various signal processing for the flying robot 10. The first control unit 18 has a flight control unit 181 and the like implemented as a functional module of a program running on the processor. Note that the first control unit 18 may also be a DSP, LSI, ASIC, FPGA, or the like.

[0033] The flight control unit 181 calculates the current position and current attitude of the flying robot 10 in a three-dimensional movement area (e.g., flight space) from the output of the position / attitude sensor 11 and stores it as position / attitude information 171 in the first memory unit 17. The flight control unit 181 calculates latitude, longitude, and altitude from the navigation signal output from the position / attitude sensor 11, and converts it into a position in the coordinate system of the movement area using pre-stored conversion rules to calculate the current position. The flight control unit 181 also calculates the current attitude in the coordinate system of the movement area from measurement signals of the acceleration sensor and gyro sensor output from the position / attitude sensor 11. The flight control unit 181 may calculate the direction in the coordinate system of the movement area from measurement signals of the electronic compass output from the position / attitude sensor 11, and may also calculate the current attitude using measurement signals from other sensors. Every time the flight control unit 181 calculates the current position and / or current attitude, it transmits the calculated current position and / or current attitude to the server 40 via the first communication unit 16, and transmits the calculated current position and / or current attitude to the management device 30 and the image display device 20 via the server 40. In addition, every time the imaging unit 12 generates an image, the flight control unit 181 transmits the generated image to the server 40 via the first communication unit 16, and transmits the generated image to the image display device 20 via the server 40.

[0034] The flight control unit 181 receives control signals from the management device 30 or the server 40 via the first communication unit 16 and drives and controls the motors 13 so that the flying robot 10 performs flight such as ascending, descending, turning (turning), moving forward, and hovering (stationary) in accordance with the received control signals. The flying robot 10 autonomously performs predetermined operations such as calculating its own position, calculating a target position, calculating a route, flying along the route, attitude control, and reporting, without requiring operation by an operator. The flying robot 10 executes one of a plurality of tasks. The control signal specifies the flight area and object to be monitored by the flying robot 10, as well as the task to be executed by the flying robot 10. Tasks are processes executed by the flying robot 10, classified by content (purpose). Tasks are set according to instructions from a controller at a monitoring center or security center using the management device 30 or the server 40, or according to a task schedule preset in the server 40. The task may be any of a patrol task, a return task, an emergency return task, a tracking task, a detection and movement task, and a designated point movement task, etc. Tasks other than security tasks, such as an inspection task, a rescue task, a delivery task, a surveying task, and a pesticide spraying task, may also be set.

[0035] The patrol task involves flying along a preset flight path (patrol path), taking photographs at checkpoints set on the flight path, and determining whether or not there are any abnormalities at the checkpoints. The flight control unit 181 detects a change area in the captured image generated at the checkpoint. If the size of the detected change area is within a range corresponding to the size of a person, the flight control unit 181 determines that a person has intruded, and if no change area corresponding to the size of a person is detected, it determines that a person has not intruded.

[0036] The return task is a task that, when other tasks are completed or interrupted, searches (calculates) a return route to the takeoff and landing point in accordance with return instructions from the controller, and automatically lands at the takeoff and landing point.

[0037] The emergency return task is a task that, in the event of an emergency such as aircraft trouble, searches (calculates) a return route to the takeoff and landing point in accordance with return instructions from a controller, and automatically lands at the takeoff and landing point.

[0038] The tracking task is a task of flying to track a specified target (person, vehicle, etc.) in accordance with a target designation operation by a controller using the management device 30 and / or server 40. The flight control unit 181 extracts, as a changed area, an area in each captured image where a group of adjacent high-temperature or high-brightness pixels (e.g., pixels above a threshold) is equal to or larger than a certain size. The flight control unit 181 tracks changed areas extracted within a predetermined distance in consecutive captured images as changed areas containing the same target. The flight control unit 181 controls the motor 13 so that the changed area containing the specified target is included in the captured image at a predetermined position and size.

[0039] The detection movement task is a task in which, when a human intrusion is detected by a sensor or fixed camera installed in the monitored area, the robot flies (or waits to fly) near the sensor or fixed camera that detected the human intrusion and checks the location and cause of the abnormality.

[0040] The designated point movement task is a task of flying to a position designated by a controller using the management device 30 or the server 40. The designated point movement task may include a movement task and a waiting task as subtasks. The movement task is a task of searching for a route from the current position to a designated position and autonomously moving along the searched route. The waiting task is a task of maintaining a hovering state at a designated position.

[0041] The image display device 20 is an information processing device such as a personal computer, a tablet PC, a notebook PC, etc. The image display device 20 includes an operation unit 21, a display unit 22, a second communication unit 23, a second storage unit 24, a second control unit 25, etc.

[0042] The operation unit 21 has input devices such as buttons, a touch panel, and a keyboard, and an interface circuit that acquires signals from the input devices, accepts operations by an operator, and outputs a signal according to the accepted operation to the second control unit 25.

[0043] The display unit 22 has an output device such as a liquid crystal display or an organic EL display and an interface circuit that outputs images to the output device, and displays various information such as images and text according to instructions from the second control unit 25. The display unit 22 has one or more display screens.

[0044] The second communication unit 23 has a communication interface circuit that complies with, for example, TCP / IP, and is connected to the communication network N. Alternatively, the second communication unit 23 has, for example, an antenna that transmits and receives wireless signals, and a wireless communication interface circuit that transmits and receives signals through a wireless communication line in accordance with a wireless communication protocol such as a wireless LAN, and is connected to the communication network N via an access point. The second communication unit 23 outputs data received from the communication network N to the second control unit 25, and transmits data input from the second control unit 25 to the communication network N.

[0045] The second storage unit 24 has a semiconductor memory such as a ROM or RAM, a magnetic disk or an optical disk drive such as a CD-ROM or DVD-ROM, and a recording medium thereof. The second storage unit 24 stores a computer program and various data for controlling the image display device 20, and inputs and outputs this information to and from the second control unit 25. The computer program may be installed into the second storage unit 24 from a computer-readable portable recording medium such as a CD-ROM or DVD-ROM using a known setup program or the like. The computer program may also be stored in a recording medium owned by a predetermined server and installed via a network. The second storage unit 24 also stores, as data, a task importance table 241, a property importance table 242, a robot risk table 243, an environmental risk table 244, a flying robot table 245, an environment table 246, etc. Details of each table will be described later. The second storage unit 24 also stores, as data, map information. The map information indicates, for each divided region within each monitoring area monitored by the monitoring system 1, whether each region is an inhabited area or an uninhabited area and / or a public road area or a private land area.

[0046] The second control unit 25 has a processor such as a CPU or an MPU, memories such as a ROM or a RAM, and peripheral circuits thereof, and executes various signal processing for the image display device 20. The second control unit 25 has a first acquisition unit 251, a second acquisition unit 252, a determination unit 253, a display control unit 254, and the like, which are implemented as functional modules of a program that runs on the processor. Note that a DSP, an LSI, an ASIC, an FPGA, or the like may also be used as the second control unit 25.

[0047] 2(A) is a diagram showing an example of the data structure of the task importance table 241. As shown in FIG. 2(A), in the task importance table 241, a task importance is set in advance for each of a plurality of tasks. The task importance is an index indicating the importance of each task. The task importance is set, for example, according to the degree of necessity for visual confirmation by an observer (or a controller), and the greater the necessity for visual confirmation by an observer (or a controller), the higher the value set for the task importance. The observer must visually check the designated target in the tracking task, the person detected by the sensor or fixed camera in the detection and movement task, and the flying robot 10 that has experienced aircraft trouble in the emergency return task. On the other hand, the observer only needs to confirm that no problems have occurred in the patrol task and the designated point movement task, and only needs to confirm that the flying robot 10 returns in the return task. Therefore, the task importance is set to a high value in the tracking task, the detection and movement task, and the emergency return task, a low value in the patrol task and the designated point movement task, and an even lower value in the return task. The task importance may be set by further subdividing the task. For example, among the designated point movement tasks, the task importance of a waiting task may be set to a higher value than the task importance of a movement task. The task importance may also be set based on the position of the flying robot 10. For example, in the designated point movement task, the task importance when the flying robot 10 is at the designated position may be set to a higher value than the task importance when the flying robot 10 is not at the designated position.

[0048] 2(B) is a diagram showing an example of the data structure of the property importance table 242. As shown in FIG. 2(B), the property importance table 242 has property importance preset for each type of multiple monitored property of the monitoring system 1 (flying robot 10). The property importance is an index that indicates the importance of monitoring each monitored property. The property importance is set, for example, according to the risk of an abnormality occurring or the monitoring service contract content (service guarantee level), and the property importance is set to a higher value as the risk or service guarantee level increases. For properties such as theme parks, tourist destinations, and train stations, the property importance is set to a high value because many people exist within the area and the damage would be great if a security incident such as an incident or accident were to occur. On the other hand, for farmland, forests, rivers, and the like, the property importance is set to a low value because few people exist within the area, security incidents are unlikely to occur, and the damage would be relatively small if a security incident were to occur. Furthermore, for properties such as factories and residential areas, the property importance of properties that have a contract to check and notify even the slightest abnormality is set to a higher value than the property importance of properties that have a contract to notify only if a security incident occurs.

[0049] FIG. 3A is a diagram showing an example of the data structure of the robot risk table 243. As shown in FIG. 3A, the robot risk table 243 pre-sets a robot risk for each flying robot state. The flying robot state is the body or flight state of the flying robot 10, and includes battery state, flight abnormality, communication state, flight speed, or flight altitude. The flying robot state may include at least one of battery state, flight abnormality, communication state, flight speed, and flight altitude. The robot risk is an index indicating the magnitude of risk in the flight of the flying robot. The robot risk is set based on the probability of a problem occurring, such as the flying robot 10 being unable to properly perform a task due to factors related to the flying state of the flying robot 10, or the magnitude of damage if a problem occurs. The robot risk is set based on the probability of a problem occurring or the magnitude of damage, for example. The robot risk is set to a higher value the lower the remaining battery power. The robot risk when an abnormality such as abnormal shaking or abnormal heat occurs is set to a higher value than the robot risk when no abnormality occurs. The robot risk when the communication state is poor is set to a higher value than the robot risk when the communication state is good. The robot risk is set to a higher value the higher the flight speed. The robot risk is set to a higher value the higher the flight altitude.

[0050] FIG. 3B illustrates an example of the data structure of the environmental risk table 244. As illustrated in FIG. 3B, the environmental risk table 244 presets an environmental risk for each environmental condition. The environmental condition includes wind speed, weather, brightness, area attributes, and the like. The environmental condition may include at least one of wind speed, weather, brightness, and area attributes. The area attributes include whether the flight area is a manned or unmanned area, a public road or private property, and / or a small area less than a predetermined area or a large area equal to or greater than a predetermined area. The environmental risk is an index indicating the magnitude of risk for each environmental condition. The environmental risk is set based on, for example, the probability of a problem occurring, such as the flying robot 10 being unable to properly perform a task due to environmental factors in the flight area of ​​the flying robot 10, or the magnitude of damage if a problem occurs. The higher the probability of a problem occurring or the magnitude of damage, the higher the environmental risk is set. The stronger (higher) the wind speed, the higher the environmental risk is set. The higher the environmental risk is set when the weather is rainy, the lower the environmental risk is set when the weather is snowy, and the lower the environmental risk is set even more when the weather is sunny. The darker the environment, the higher the environmental risk is set. The environmental risk when the flight area is a manned area is set to a higher value than the environmental risk when the flight area is an unmanned area. The environmental risk when the flight area is a public road area is set to a higher value than the environmental risk when the flight area is a private property area. The environmental risk when the flight area is a small area is set to a higher value than the environmental risk when the flight area is a large area.

[0051] FIG. 4(A) is a diagram showing an example of the data structure of the flying robot table 245. As shown in FIG. 4(A), the flying robot table 245 stores, for each flying robot 10, a task, a monitored object, a flight area, a flying robot status, and the like, in association with each other. A task is a task currently being executed by each flying robot 10. A monitored object is a monitored object currently being monitored by each flying robot 10. A flight area is a flight area in which each flying robot 10 is currently flying. A flying robot status is the current flying robot status of each flying robot 10. The flying robot table 245 is updated by the second control unit 25 in the determination process described below.

[0052] Fig. 4(B) is a diagram showing an example of the data structure of the environment table 246. As shown in Fig. 4(B), the environment table 246 stores the current environmental conditions of each flight area in which the flying robot 10 is currently flying, in association with each other. The environment table 246 is updated by the second control unit 25 in the determination process described below.

[0053] Fig. 5(A) is a flowchart showing an example of the operation of the decision processing by the image display device 20. This flowchart is executed mainly by the second control unit 25 in cooperation with each element of the image display device 20, based on a program stored in advance in the second storage unit 24. The decision processing shown in Fig. 5(A) is executed periodically.

[0054] First, the second acquisition unit 252 acquires the monitoring purpose of each flying robot 10 of the monitoring system 1 (step S101). The monitoring purpose of each flying robot 10 includes the task performed by each flying robot 10 and the monitored object monitored by each flying robot 10. The monitoring purpose of each flying robot 10 is determined by at least one of the content of the task performed by each flying robot 10 and the type of monitored object monitored by each flying robot 10.

[0055] The second acquisition unit 252 transmits a monitoring purpose request signal requesting acquisition of the monitoring purpose of each flying robot 10 to the management device 30 or the server 40 via the second communication unit 23. The management device 30 or the server 40 identifies the latest monitoring target object and task specified for each flying robot 10 and transmits a monitoring purpose notification signal indicating the identified monitoring target object and task to the image display device 20. The second acquisition unit 252 acquires the monitoring purpose of each flying robot 10 by receiving the monitoring purpose notification signal from the management device 30 or the server 40 via the second communication unit 23. The second acquisition unit 252 may acquire the monitoring purpose of each flying robot 10 by transmitting the monitoring purpose request signal to each flying robot 10 via the second communication unit 23 and receiving the monitoring purpose notification signal from each flying robot 10 via the second communication unit 23. The second acquisition unit 252 stores the tasks and monitoring targets included in the acquired monitoring purpose in the flying robot table 245.

[0056] Next, the determination unit 253 determines the importance of the monitoring purpose of each flying robot 10 based on the monitoring purpose acquired by the second acquisition unit 252 (step S102). The determination unit 253 refers to the task importance table 241 to identify the task importance of the task performed by each flying robot 10 for each flying robot 10 included in the monitoring system 1. The determination unit 253 also refers to the property importance table 242 to identify the property importance of the monitored property monitored by each flying robot 10. The determination unit 253 determines the sum, product, weighted sum, or the like of the identified task importance and property importance as the importance of the monitoring purpose of each flying robot 10. That is, the determination unit 253 calculates the importance of the monitoring purpose of each flying robot 10 using the content of the task performed by each flying robot 10 and the type of monitored property monitored by each flying robot 10.

[0057] Next, the second acquisition unit 252 acquires flight information of each flying robot 10 possessed by the monitoring system 1 (step S103). The flight information of each flying robot 10 includes the flying robot state of each flying robot 10 and the environmental state of the flight area in which each flying robot 10 flies. The flight information of each flying robot 10 is determined by at least one of the flying robot state of each flying robot 10 and the environmental state of the flight area in which the flying robot 10 flies.

[0058] The second acquisition unit 252 transmits a flying robot status request signal requesting acquisition of the flying robot status to each flying robot 10 via the second communication unit 23. The flight control unit 181 of each flying robot 10 acquires the remaining power from the battery 15 to determine the battery status. The flight control unit 181 acquires the current position and attitude of the flying robot 10 from the position / attitude sensor 11 to determine whether an abnormal shaking has occurred. The flight control unit 181 acquires the internal temperature of the flying robot 10 from the temperature sensor 14 to determine whether an abnormal heat generation has occurred. The flight control unit 181 acquires the signal strength of the wireless communication from the first communication unit 16 to determine whether the communication state is good or bad. The flight control unit 181 determines the flight speed from the drive amount of the motor 13. Alternatively, the flight control unit 181 determines the flight speed from the change in the position of the flying robot 10 over time. The flight control unit 181 determines the flight altitude from the current position of the flying robot 10. Then, the flight control unit 181 transmits a flying robot state notification signal indicating the current flying robot state to the image display device 20 via the first communication unit 16. The second acquisition unit 252 acquires the flying robot state of each flying robot 10 by receiving the flying robot state notification signal from each flying robot 10 via the second communication unit 23. Note that each flying robot 10 may periodically transmit a flying robot state notification signal to the management device 30 or the server 40. In this case, the second acquisition unit 252 may acquire the flying robot state of each flying robot 10 by transmitting a flying robot state request signal to the management device 30 or the server 40 via the second communication unit 23 and receiving the flying robot state notification signal from the management device 30 or the server 40 via the second communication unit 23. The second acquisition unit 252 stores the acquired flying robot state in the flying robot table 245.

[0059] The second acquisition unit 252 also transmits a flight area request signal requesting acquisition of the flight area of ​​each flying robot 10 to the management device 30 or the server 40 via the second communication unit 23. The management device 30 or the server 40 identifies the most recent flight area designated for each flying robot 10 and transmits a flight area notification signal indicating the identified flight area to the image display device 20. The second acquisition unit 252 acquires the flight area of ​​each flying robot 10 by receiving the flight area notification signal from the management device 30 or the server 40 via the second communication unit 23. The second acquisition unit 252 may acquire the flight area of ​​each flying robot 10 by transmitting the flight area request signal to each flying robot 10 via the second communication unit 23 and receiving the flight area notification signal from each flying robot 10 via the second communication unit 23. The second acquisition unit 252 stores the acquired flight area in the flying robot table 245.

[0060] The second acquisition unit 252 also transmits a weather information request signal requesting weather information for the flight area of ​​each flying robot 10 to the Japan Meteorological Agency's Regional Meteorological Observation System (AMeDAS) or other weather observation system via the second communication unit 23, and receives weather information for each flight area from the weather observation system. The second acquisition unit 252 determines the wind speed, weather, and brightness of each flight area from the received weather information. The second acquisition unit 252 may have an observer input the wind speed, weather, and brightness of each flight area using the operation unit 21. The second acquisition unit 252 may also obtain the wind speed, weather, or brightness of each flight area from the flying robot 10. In this case, each flying robot 10 further includes a wind speed sensor to measure the wind speed associated with each flying robot 10. Each flying robot 10 also includes a humidity sensor to estimate the weather from the humidity and / or temperature of each flying robot 10. Each flying robot 10 also determines the brightness around the flying robot 10 from the grayscale value of each pixel included in the captured image. The second acquisition unit 252 transmits a flight area information request signal requesting acquisition of flight area information indicating the wind speed, weather, or brightness of each flight area to each flying robot 10 via the second communication unit 23, and acquires the wind speed, weather, or brightness of each flight area by receiving the flight area information from each flying robot 10. The second acquisition unit 252 stores the acquired wind speed, weather, and brightness of each flight area in the environment table 246.

[0061] The second acquisition unit 252 also references the map information stored in the second memory unit 24 and identifies whether each flight area is a manned area or an unmanned area, and whether it is a public road area or a private land area. Furthermore, the second acquisition unit 252 determines whether each flight area is equal to or larger than a predetermined area. Based on this, the second acquisition unit 252 acquires the area attributes of each flight area. The second acquisition unit 252 may acquire the area attributes of each flight area by having an observer input the area attributes of each flight area using the operation unit 21. The second acquisition unit 252 stores the acquired area attributes of each flight area in the environment table 246.

[0062] Next, the determination unit 253 determines the risk of each flying robot 10 based on the flight information acquired by the second acquisition unit 252 (step S104). The determination unit 253 refers to the robot risk table 243 to identify the robot risk for each flying robot state of each flying robot 10 in the monitoring system 1. The determination unit 253 also refers to the environmental risk table 244 to identify the environmental risk for each environmental state of the flight area of ​​each flying robot 10. The determination unit 253 determines the risk of each flying robot 10 as the sum, product, weighted sum, or the like of the identified robot risk and environmental risk. That is, the determination unit 253 calculates the flight risk of the flying robot 10 using one or more flying robot states and one or more environmental states. The risk calculated here is an example of flight risk and means the risk (representing the probability and amount of damage) that the flying robot 10 will not be able to properly perform the task.

[0063] Next, the determination unit 253 determines the display priority of the captured images captured by each flying robot 10 in the monitoring system 1 based on the importance of the monitoring purpose of each flying robot 10 and the risk of each flying robot 10 (step S105). The determination unit 253 sets the display priority of the captured images captured by each flying robot 10 so that the higher the importance of the monitoring purpose of each flying robot 10, the higher the display priority. Furthermore, the determination unit 253 sets the display priority of the captured images captured by each flying robot 10 so that the higher the risk of each flying robot 10, the higher the display priority. For example, the determination unit 253 determines the sum, product, weighted sum, or the like of the importance of the monitoring purpose of each flying robot 10 and the risk of each flying robot 10 as the display priority of the captured images captured by each flying robot 10.

[0064] The determination unit 253 may correct the importance of the monitoring purpose of each flying robot 10 so that the higher the risk of each flying robot 10, the higher the importance of the monitoring purpose, and determine the corrected importance of the monitoring purpose of each flying robot 10 as the display priority of the captured image captured by each flying robot 10. Furthermore, the determination unit 253 may correct the risk of each flying robot 10 so that the higher the importance of the monitoring purpose of each flying robot 10, the higher the risk, and determine the corrected risk of each flying robot 10 as the display priority of the captured image captured by each flying robot 10. Furthermore, the determination unit 253 may determine the display priority of the captured image captured by each flying robot 10 using only either the importance of the monitoring purpose of each flying robot 10 or the risk of each flying robot 10. In this case, the determination unit 253 determines the importance of the monitoring purpose of each flying robot 10 itself or the risk of each flying robot 10 itself as the display priority of the captured image captured by each flying robot 10.

[0065] Next, the determination unit 253 determines the display mode of each captured image based on the display priority of the captured image captured by each flying robot 10 (step S106), and ends the series of steps.

[0066] For example, the determination unit 253 determines the display mode of each captured image so as to highlight a predetermined number of captured images in descending order of display priority among the captured images captured by each flying robot 10 of the monitoring system 1. The predetermined number is set in advance to an arbitrary number of one, two, or more depending on the ability of the monitor who monitors the captured images captured by each flying robot 10 using the image display device 20. The determination unit 253 may determine the display mode of each captured image so as to highlight captured images having a display priority equal to or higher than a threshold among the captured images captured by each flying robot 10 of the monitoring system 1. The threshold is set in advance to an arbitrary value depending on the ability of the monitor who monitors the captured images captured by each flying robot 10 using the image display device 20. The determination unit 253 determines the display mode of each captured image so that the higher the display priority of the captured image, the more strongly it is highlighted. The determination unit 253 may determine the display mode so as to highlight each captured image in a stepwise manner. For example, the determination unit 253 determines the display mode so that the higher the display priority or the greater the display priority, the stronger the highlighting. For example, the determination unit 253 determines the display mode so that the frame line surrounding the specific captured image is displayed thicker than the frame lines surrounding the other captured images. Furthermore, the determination unit 253 may determine the display mode so that the frame line surrounding the specific captured image is displayed in a color different from the frame lines surrounding the other captured images. Furthermore, the determination unit 253 may determine the display mode so that the frame line surrounding the specific captured image is displayed in a pattern different from the frame lines surrounding the other captured images (solid line, dotted line, wavy line, etc.). Furthermore, the determination unit 253 may determine the display mode so that a specific symbol (star, check mark, etc.) is displayed on or around the specific captured image. This allows the observer to easily visually identify captured images of flying robots 10 that should be monitored with priority. Therefore, the monitoring system 1 can improve the monitoring accuracy of the observer, thereby improving the safety of the monitored area. In particular, the monitoring system 1 highlights specific captured images without changing the layout or size of each captured image on the display screen of the display unit 22, allowing the observer to monitor each captured image without becoming confused. This allows the monitoring system 1 to improve the monitoring accuracy of the observer, thereby improving the safety of the monitored area. The determination unit 253 may determine the display mode so that a specific captured image is positioned above and / or to the left of other captured images on the display screen, or so that the size of the specific image is larger than the size of other images.

[0067] Furthermore, the determination unit 253 may determine the display mode of each captured image so as not to display a predetermined number of captured images in ascending order of display priority among the captured images captured by each flying robot 10 possessed by the monitoring system 1. In this case, the predetermined number may be set to a value obtained by subtracting the maximum number of captured images that can be simultaneously displayed on the display screen from the total number of flying robots 10 possessed by the monitoring system 1. Alternatively, the determination unit 253 may determine the display mode of each captured image so as not to display captured images whose display priority is lower than a threshold among the captured images captured by each flying robot 10 possessed by the monitoring system 1. This allows the observer to concentrate on the captured images of the flying robot 10, which is the object of priority monitoring. The monitoring system 1 can improve the monitoring accuracy of the observer, and as a result, can improve the safety of the monitored area.

[0068] The determination unit 253 may also determine the display mode of each captured image so as to display a predetermined number of captured images, in descending order of display priority, among the captured images captured by each flying robot 10 included in the monitoring system 1, together with the monitoring purpose and / or flight information of the flying robot 10 that captured the captured image. Alternatively, the determination unit 253 may determine the display mode of each captured image so as to display, among the captured images captured by each flying robot 10 included in the monitoring system 1, captured images having a display priority equal to or higher than a threshold, together with the monitoring purpose and / or flight information of the flying robot 10 that captured the captured image. The determination unit 253 determines the display mode so as to display the monitoring purpose and / or flight information of each flying robot 10 on or in the vicinity of each captured image captured by the respective flying robot 10. In particular, the determination unit 253 determines the display mode so as to display the monitoring purpose and / or flight information of each flying robot 10 that is the cause of the corresponding captured image having a higher display priority. For example, the determination unit 253 determines the display mode to display the task, monitored object, flying robot state, and / or environmental state of each flying robot 10. The determination unit 253 may determine the display mode to display the task as the monitoring objective when the task importance is greater than the object importance, and to display the monitored object as the monitoring objective when the object importance is greater than the task importance. Furthermore, the determination unit 253 may determine the display mode to display, as flight information, the flying robot state or environmental state that poses the greatest robot risk or environmental risk among the flying robot states and environmental states. This allows the observer to accurately recognize points that require attention regarding the flying robot 10 that should be monitored with priority. Therefore, the monitoring system 1 can improve the monitoring accuracy of the observer, and as a result, can improve the safety of the monitored area.

[0069] FIG. 6(A) is a schematic diagram showing an example of the first display screen 600 of the display unit 22 on which captured images are displayed. In the example shown in FIG. 6(A), the number of flying robots 10 in the monitoring system 1 is six, and the maximum number of captured images that can be simultaneously displayed on the first display screen 600 is four. Captured images 601 to 604 are images captured by the first to fourth flying robots 10, respectively, of the six flying robots 10. Captured images captured by the fifth and sixth flying robots are not displayed on the first display screen 600. Of the captured images captured by the six flying robots 10, the display priority of the captured image 603 captured by the third flying robot is the highest, and the display priority of the captured image 603 captured by the second flying robot is the second highest. The display priority of the captured image 601 captured by the first flying robot and the captured image 604 captured by the fourth flying robot is the third highest, and the display priority of the captured images captured by the fifth and sixth flying robots is the lowest.

[0070] The captured image 603, which has the highest display priority, is surrounded by a solid frame F1 that is thicker than the frame lines F2 and F3 of the captured images 602, 601, and 604. The captured image 602, which has the second highest display priority, is surrounded by a dotted frame F2 that is thicker than the frame line F3 of the captured images 601 and 604. The frame F1 of the captured image 603, which has the highest display priority, is red. The frame F2 of the captured image 602, which has the second highest display priority, is yellow. The frame F3 of the captured images 601 and 604 is black. Two star marks M1 are displayed on the captured image 603, which has the highest display priority, one star mark M2 is displayed on the captured image 602, which has the second highest display priority, and no star marks M2 are displayed on the captured images 601 and 604. This allows the monitor to visually easily identify the captured images of the flying robot 10 that require priority monitoring. Instead of displaying the star M2, the display priority, the importance of the monitoring objective, or the environmental risk may be displayed numerically. In this case, it is preferable to highlight the numerical value (by using a larger font size, a bolder font, etc.) so that the larger the numerical value, the easier it is for the monitor to distinguish.

[0071] Furthermore, the first display screen 600 does not display images captured by the fifth and sixth flying robots, which have the lowest display priority. Instead, buttons 605 and 606 are displayed for displaying images captured by the fifth and sixth flying robots, respectively. When buttons 605 and 606 are pressed, images captured by the flying robot 10 corresponding to the pressed button are displayed in a pop-up window or another display screen. When buttons 605 and 606 are pressed, the display of the image currently displayed with the lowest display priority may be stopped, and instead, the image captured by the flying robot 10 corresponding to the pressed button may be displayed. This allows the monitor to focus on images captured by the flying robot 10 that should be monitored, while also being able to view images captured by other flying robots 10 as needed.

[0072] Additionally, the captured image 603 with the highest display priority and the captured image 602 with the second highest display priority display a task T1 among the monitoring objectives of the flying robot 10 that captured each captured image and a flying robot state T2 among the flight information, thereby enabling the observer to accurately recognize points that require particular attention in each captured image.

[0073] Furthermore, the determination unit 253 may determine the display mode of each captured image so that a plurality of captured images to be displayed are displayed on a first display screen, while a predetermined number of captured images having a display priority higher than the first display screen are displayed on a second display screen different from the first display screen. Alternatively, the determination unit 253 may determine the display mode of each captured image so that a plurality of captured images to be displayed are displayed on a plurality of first display screens, while a captured image having a display priority higher than a threshold is displayed on the second display screen. This allows the observer to easily visually identify the captured image of the flying robot 10 that should be monitored intensively. Therefore, the monitoring system 1 can improve the monitoring accuracy of the observer, and as a result, can improve the safety of the monitored area.

[0074] 6(B) is a schematic diagram showing an example of the first display screen 600 and the second display screen 610 of the display unit 22 on which captured images are displayed. In the example shown in FIG. 6(B), the number of flying robots 10 in the monitoring system 1 is four. The first display screen 600 displays captured images 601 to 604 captured by the first to fourth flying robots 10, respectively, while the second display screen 610 displays the captured image 603 with the highest display priority. This allows the monitor to visually easily identify the captured image of the flying robot 10 that should be monitored with priority.

[0075] The determination unit 253 may also determine the display mode of the display unit 22 so as to display an icon image of the flying robot 10 that captured each captured image according to the display mode for displaying the multiple captured images to be displayed. That is, the determination unit 253 may determine the display mode of the display unit 22 so as to display the icon image of the flying robot 10 that captured the captured image displayed in the display mode based on the display priority in the same display mode as the display mode. In this case, the determination unit 253 determines the display mode so as to display the icon image of each flying robot 10 at a position corresponding to the current position of each flying robot 10 on a map indicating the monitoring area. The current position of each flying robot 10 is periodically transmitted from the flying robot 10 via the server 40. For example, the determination unit 253 determines the display mode so as to surround the icon image of each flying robot 10 with a frame having the same thickness, pattern, or color as the frame surrounding the captured image captured by each flying robot 10. This allows the observer to easily visually identify the flying robot 10 itself, which should be monitored with priority. Therefore, the monitoring system 1 can improve the monitoring accuracy of the observer, and as a result, can improve the safety of the monitored area.

[0076] FIG. 6(C) is a schematic diagram showing another example of the first display screen 600 and the second display screen 610 of the display unit 22 on which captured images are displayed. In the example shown in FIG. 6(C), the number of flying robots 10 in the monitoring system 1 is four. The first display screen 600 displays captured images 601 to 604 captured by the first to fourth flying robots 10, respectively, while the second display screen 610 displays a monitoring area 611 for the flying robots 10. In the monitoring area 611, icon images 621 to 624 representing the first to fourth flying robots, respectively, are displayed surrounded by a frame similar to the frame surrounding each captured image 601 to 604. This allows the monitor to visually easily identify the location of the flying robot 10 that should be monitored with priority. In this embodiment, a map showing the monitoring area 611 is displayed on the second display screen 610, and icon images 621-624 of each flying robot 10 are arranged at positions on the map corresponding to the current positions of the flying robots 10, and the display mode of the icon images 621-624 is displayed according to the display mode for displaying the captured image of the corresponding flying robot 10. However, without being limited to this, the icon images 621-624 of each flying robot 10 may be aligned and displayed on the second display screen 610, and the display mode of the icon images 621-624 may be displayed according to the display mode for displaying the captured image of the corresponding flying robot 10.

[0077] In this embodiment, the monitoring objective may include only one of the tasks performed by each flying robot 10 and the monitored object monitored by each flying robot 10. In this case, in step S102, the determination unit 253 determines the task importance or the object importance itself of each flying robot 10 as the importance of the monitoring objective. In this embodiment, the flight information may include only one of the flying robot state of each flying robot 10 and the environmental state of the flight area in which each flying robot 10 flies. In this case, in step S104, the determination unit 253 determines the sum, product, or weighted sum of each robot risk, or the sum, product, or weighted sum of each environmental risk, as the risk of each flying robot 10. That is, the determination unit 253 may determine the risk of each flying robot 10 using multiple flying robot states or multiple environmental states. This concludes the explanation of the determination process.

[0078] Fig. 5(B) is a flowchart showing an example of the operation of the display processing by the image display device 20. This flowchart is executed mainly by the second control unit 25 in cooperation with each element of the image display device 20, based on a program stored in advance in the second storage unit 24. The display processing shown in Fig. 5(B) is executed periodically.

[0079] First, the first acquisition unit 251 acquires a plurality of captured images captured by each flying robot 10 included in the monitoring system 1 (step S201). The first acquisition unit 251 acquires each captured image transmitted to the server 40 by each flying robot 10 by receiving the captured image from the server 40 via the second communication unit 23.

[0080] Next, the display control unit 254 displays the plurality of captured images acquired by the first acquisition unit 251 on the display unit 22 in accordance with the display mode determined by the determination unit 253 (step S202). That is, the display control unit 254 highlights a predetermined number of captured images in descending order of display priority, or captured images whose display priority is equal to or greater than a threshold. The display control unit 254 highlights captured images with a higher display priority so that the higher the display priority, the stronger the highlighting. The display control unit 254 displays multiple captured images on the first display screen, and displays a predetermined number of captured images in descending order of display priority, or captured images whose display priority is equal to or greater than a threshold, on the second display screen. The display control unit 254 does not display a predetermined number of captured images in descending order of display priority, or captured images whose display priority is less than the threshold. The display control unit 254 displays a predetermined number of captured images in descending order of display priority, or captured images whose display priority is equal to or greater than a threshold, along with the monitoring purpose or flight information of the flying robot that captured the captured images. The display control unit 254 displays an icon image of the flying robot 10 that captured each captured image according to a display mode for displaying multiple captured images. That is, the display control unit 254 displays the icon image of the flying robot 10 that captured the captured image displayed in the display mode based on the display priority in the same display mode as that display mode. Thereafter, the second control unit 25 repeats the processes of steps S201 and S202. This concludes the description of the display process.

[0081] As described above, the image display device 20 determines the display priority of the images captured by each flying robot 10 based on the monitoring purpose or flight information of each flying robot 10, and displays each captured image according to the display mode based on the determined display priority. This allows the image display device 20 to display captured images of high importance or high risk in a manner that allows the monitor to monitor multiple captured images safely and efficiently. Therefore, the image display device 20 can appropriately display the captured images captured by each flying robot 10. The monitoring purpose includes a task to be performed by the flying robot 10 or a monitored object to be monitored by the flying robot 10. This allows the image display device 20 to extract important captured images with higher accuracy and display them in a manner that allows them to be distinguished from other captured images. The flight information also includes the flying robot status of the flying robot 10 or the environmental status of the flight area in which the flying robot 10 flies. This allows the image display device 20 to more accurately extract high-risk captured images and display them in a manner that allows them to be distinguished from other captured images.

[0082] Although preferred embodiments have been described above, the embodiments are not limited to the above examples. For example, the image display device 20 may set the property importance taking into consideration the risk of an abnormality or accident occurring. In this case, the image display device 20 stores the occurrence history of abnormalities or accidents for each monitored property in the second storage unit 24. The determination unit 253 sets the property importance of each monitored property so that the property importance increases as the number of abnormalities or accidents occurring, the frequency of occurrence, or the scale of accidents (such as the amount of damage) for each monitored property increases.

[0083] Furthermore, when displaying the icon images of each flying robot 10, the image display device 20 may omit displaying the captured images captured by each flying robot 10. In this case, the determination unit 253 determines the display priority of the icon image of each flying robot 10 based on the monitoring purpose or flight information of each flying robot 10, in the same way as when determining the display priority of each captured image. The determination unit 253 determines the display mode of the icon image of each flying robot 10 based on the display priority of the icon image of each flying robot 10, in the same way as when determining the display mode of each captured image. The display control unit 254 displays the icon image of each flying robot 10 according to the determined display mode. In this case, the image display device 20 can also display flying robots 10 that are highly important or pose a high risk so that they can be distinguished from other flying robots 10, allowing monitors to safely and efficiently monitor multiple flying robots 10. Therefore, the image display device 20 can appropriately display each flying robot 10.

[0084] The server 40 may be omitted from the monitoring system 1. In that case, the flying robot 10, the image display device 20, and / or the management device 30 transmit and receive information to and from each other without going through the server 40.

[0085] The image display device and image display method according to one embodiment of the present invention can contribute to solving social issues such as a declining labor force and long working hours. In addition, the image display device and image display method according to one embodiment of the present invention can also contribute to Goal 9 of the Sustainable Development Goals (SDGs) adopted by the United Nations, which is to "build resilient infrastructure, promote inclusive and sustainable industrialization, and promote innovation and infrastructure." [Explanation of symbols]

[0086] 10 Flying robot, 20 Image display device, 251 First acquisition unit, 252 Second acquisition unit, 253 Decision unit, 254 Display control unit

Claims

1. a first acquisition unit that acquires a plurality of captured images captured by each of a plurality of flying robots; a second acquisition unit that acquires flight information of each of the plurality of flying robots; a determination unit that determines display priorities of the plurality of captured images based on the flight information; a display control unit that displays the plurality of captured images in accordance with a display mode based on the display priority; An image display device comprising:

2. The image display device according to claim 1 , wherein the flight information is determined by at least one of a flying robot state, which is the state of the flying robot's body or flight, and an environmental state of the area in which the flying robot flies.

3. The image display device described in claim 2, wherein the determination unit determines the flight risk of the flying robot using a plurality of the flying robot states or a plurality of the environmental states, and determines the display priority based on the flight risk.

4. The image display device described in claim 2, wherein the determination unit calculates the flight risk of the flying robot using one or more of the flying robot states and one or more of the environmental states, and determines the display priority based on the flight risk.

5. The image display device according to any one of claims 1 to 4, wherein the display control unit highlights a predetermined number of captured images in descending order of display priority, or captured images whose display priority is equal to or greater than a threshold value.

6. The image display device according to claim 5 , wherein the display control unit highlights a captured image with a higher display priority so that the higher the display priority of the captured image is highlighted.

7. The image display device according to any one of claims 1 to 4, wherein the display control unit displays the plurality of captured images on a first display screen, and displays a predetermined number of captured images in order of the highest display priority, or captured images whose display priority is equal to or greater than a threshold, on a second display screen.

8. The image display device according to any one of claims 1 to 4, wherein the display control unit does not display a predetermined number of captured images in order of decreasing display priority, or captured images whose display priority is less than a threshold value.

9. The display control unit displays a predetermined number of captured images in order of highest display priority, or captured images whose display priority is equal to or higher than a threshold, together with flight information of the flying robot that captured the captured images. An image display device as described in any one of claims 1 to 4.

10. The display control unit displays an icon image of a flying robot that captured an image displayed in a display mode based on the display priority in the same display mode as the image display mode. An image display device according to any one of claims 1 to 4.

11. Acquire a plurality of captured images captured by each of a plurality of flying robots; Acquire flight information for each of the plurality of flying robots; determining a display priority of the plurality of captured images based on the flight information; displaying the plurality of captured images in accordance with a display mode based on the display priority; An image display method comprising:

Images