Imaging support system, imaging support program, and imaging support method

Abstract

To provide a system for supporting photographing of an object by a flying object.SOLUTION: The present invention is an imaging support system including a flying device including a camera that captures an image of an observation surface, and a terminal, in which the terminal includes an image display unit that displays the image acquired by the camera on a display unit included in the terminal, a distance display unit that displays distances between the observation surface and a plurality of distance sensors included in the flying device, which are acquired by the plurality of distance sensors, on the display unit, and a notification unit that performs a predetermined display when the plurality of distances have a predetermined relationship.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an imaging support system, an imaging support program, and an imaging 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-mentioned technology is an invention of a drone that automatically photographs an object, and Drones tend to be expensive. There is a demand for software-based photography support functions to enable more accurate photography at lower cost. are.

[0006] Therefore, the present invention aims to provide a system that supports photographing an object using an aircraft. The objectives are as follows: [Means for solving the problem]

[0007] According to the present invention, a flying device equipped with a camera for capturing an image of an observation surface and a terminal are provided. In the imaging support system, the terminal is provided with a camera that stores the image acquired by the camera. an image display unit that displays the image on a display unit that can be displayed; and a plurality of distance sensors that the flying device has. a distance display unit that displays the distance between the observation surface and each of the distance sensors on the display unit; and a notification unit that displays a predetermined display when the plurality of distances are in a predetermined relationship. An imaging support system characterized by the above is obtained. [Effects of the Invention]

[0008] According to the present invention, it is possible to assist in photographing an object using an aircraft. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram illustrating an example of the configuration of a system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a front view of the flight device 3. [Figure 3] FIG. 2 is a plan view of the flight device 3. [Figure 4] FIG. 2 is a diagram illustrating an example of the hardware configuration of the flight device 3. [Figure 5] 10 is a diagram illustrating a method of measuring distance using a distance sensor 39. FIG. [Figure 6] 10 is another diagram illustrating a method of measuring distance using the distance sensor 39. FIG. [Figure 7] FIG. 2 is a diagram illustrating an example of the software configuration of the flight device 3. [Figure 8] FIG. 2 is a diagram illustrating an example of the hardware configuration of a user terminal 1. [Figure 9] FIG. 2 is a diagram illustrating an example of the software configuration of a user terminal 1. [Figure 10] 10A and 10B are diagrams showing examples of screens displayed by a screen display unit and a distance display unit. [Figure 11] 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 imaging support system having a flying device equipped with a camera for capturing images of an observation surface and a terminal And, The terminal an image display unit that displays the image acquired by the camera on a display unit provided in the terminal; The observation plane and the distance sensors acquired by the plurality of distance sensors provided in the flight device a distance display unit that displays the distance between the points A and B on the display unit; a notification unit that displays a predetermined display when the plurality of distances satisfy a predetermined relationship; An imaging support system comprising: [Item 2] an image storage unit that stores information about the distance at the time the image was captured in association with the image; and, 2. The imaging support system according to item 1, further comprising: [Item 3] The notification unit notifies the distance between the observation surface and each of the at least two distance sensors. When the difference is within a predetermined range, a predetermined notification is made. 3. The imaging support system according to claim 1, wherein: [Item 4] a measurement position change unit that changes the position of the observation plane measured by the distance sensor; 4. The imaging support system according to item 3, further comprising: [Item 5] The distance display unit displays the distance by superimposing it on the image displayed by the image display unit. thing, 5. The imaging support system according to item 4, [Item 6] An imaging support program having a flying device equipped with a camera for capturing images of an observation surface and a terminal It is The processor an image display step of displaying the image acquired by the camera on a display unit provided in the terminal; and, The observation plane and the distance sensors acquired by the plurality of distance sensors provided in the flight device a distance display step of displaying the distance between the points A and B on the display unit; a notification step of displaying a predetermined display when the plurality of distances satisfy a predetermined relationship; Shooting support program that executes [Item 7] An imaging support method having a flying device equipped with a camera that captures images of an observation surface and a terminal. So, The processor: an image display step of displaying the image acquired by the camera on a display unit provided in the terminal; and, The observation plane and the distance sensors acquired by the plurality of distance sensors provided in the flight device a distance display step of displaying the distance between the points A and B on the display unit; a notification step of displaying a predetermined display when the plurality of distances satisfy a predetermined relationship; An imaging assistance method for performing the above.

[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 imaging support system according to an embodiment of the present invention. The invention support system of the embodiment includes a user terminal 1 and a flying device 3. The terminal 1 is communicably connected to the flight device 3 via a communication network 2. Network 2 is, for example, the Internet, public telephone network, mobile phone network, wireless It is constructed using communication channels such as Ethernet (registered trademark).

[0013] <Hardware configuration> The user terminal 1 and the flight device 3 according to this embodiment have the following hardware configuration: The following configuration is an example, and other configurations may be used.

[0014] <Flight device 3> First, the flight device 3 will be described. As shown in FIG. 1, the flight device 3 is a user terminal. By performing information processing via communication with the terminal 1, it forms part of the imaging support system. The flying device 3 may be, for example, a flying object that has the function of hovering in the air for a certain period of time. , multicopters, tilt rotors, vertical take-off and landing aircraft, etc., but are not limited to these. In this disclosure, examples of multicopters are described.

[0015] An example of the flying device 3 is shown in Fig. 2 and Fig. 3. 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 bottom of the body 31, and a battery 33 projecting diagonally forward and backward from the body 31 and approximately horizontally. Four flying models are mounted near the tips of the four arms 33 that extend outward and are powered by batteries 32. and four pitch rotors, each of which is driven by a flight motor 34 to generate thrust. The robot has four arms 33 each equipped with two sensors 35 and four sensors 32 driven by batteries 32. and four servo motors 36 for changing the pitch of each of the four pitch rotors 35. do.

[0016] The flight motor 34 changes the rotation speed of the pitch rotor 35, and the servo motor 36 By changing the pitch of the pitch rotor 35 by It can change the size, direction and orientation of the aircraft 31 to take off, fly and hover. can.

[0017] 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 inertial measurement unit (IMU) and GPS are used to acquire aircraft information. a flight controller (FC) having a microcomputer, a wireless communication unit, The aircraft is equipped with a control device 37 as a flight control means, which has a power management unit (PMU). .

[0018] The flight controller of the control unit 37 receives power from the battery 32 via a power management unit. The acceleration, attitude and other information of the aircraft 31 obtained from the inertial measurement unit and GPS are supplied by the power supply. and performs 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 a conventional digital proportional type control device to a control device 37 By giving control commands to the flight controller via It can be remotely controlled relatively easily and safely.

[0019] 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 imaging support may also perform the control related to the imaging support described in the above. The flight device 3 may be provided with a separate device, but the following embodiment will be described in which the control device 37 performs imaging support. Here is an example.

[0020] As shown in FIG. 4, the control device 37 includes a processor 301, a memory 302, a storage device The device 303, the communication interface 304, the input device 105, and the output device 106. The device 303 stores various data and programs, such as a hard disk drive, The communication interface 304 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 305 is a data Input, for example, using a keyboard, mouse, touch panel, button, microphone, etc. The output device 306 outputs data, for example, a display (display unit) or a printer. , a speaker, etc. Each processing unit of the control device 37, which will be described later, is stored by the processor 301. By reading out the program stored in the storage device #03 into the memory 302 and executing it, Each storage unit of the control device 37 is realized by the memory 302 and the storage device 303. It is realized as part of the domain.

[0021] The flight device 3 further includes a camera 38 and a distance sensor 39, as shown in FIGS. 2 and 3. And, it is equipped with.

[0022] The camera 38 may be a general camera and captures images and videos. An instruction to take an image is received from the control device 37, and the image is taken.

[0023] 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.

[0024] The distance sensor 39 measures the approximate position of the target ( It is sufficient that they are arranged at 39a and 39b in FIG.

[0025] An example of a method for measuring distance using a distance sensor 39 (an example of an ultrasonic type is shown) is shown in FIG. The driving device 3 is provided with distance sensors 39 at at least two locations spaced apart. Each distance sensor 39 has a transmitter that transmits ultrasonic waves and a receiver that receives ultrasonic waves. The ultrasonic wave US is emitted from the transmitter toward the vertical surface OB of the object, and the ultrasonic wave The distance sensor 39 receives the reflected waves from the front surface OB. Based on the time from signal transmission to reception and the speed of sound, the distance from the distance sensor 39 to the vertical plane OB is calculated. The distance sensor 39 continuously measures the distance to the vertical plane OB, and the signal indicating the distance from the distance sensor 39 to the vertical plane OB is transmitted to the control device 3 The distance information is supplied to the distance information acquisition unit 312 of the flight device 7, which will be described later. 3, the distance to the object in the direction of the optical axis of the camera 38 (shown by the dotted arrow in the figure) is measured. It will be distributed so that it can be used.

[0026] The distance sensor 39 may change the angle at which it emits ultrasonic waves. When there is no object in front of the sensor 39 or at any timing, for example, as shown in FIG. As shown in the figure, when imaging the edge of an object, the angle at which the ultrasonic waves are emitted is changed. In this case, a line parallel to the direction of the optical axis of the camera (shown by the dotted line in FIG. 6) is drawn from the distance sensor 39 to the vertical plane. When the distance sensor 39 is pulled toward the OB (shown by the two-dot chain line in FIG. 6), the distance sensor 39 emits ultrasonic waves. By changing the angle at which the ultrasonic waves are emitted, the difference between the angles (θ1, θ2) can be adjusted to within a specified range. good.

[0027] The distance sensor 39 may be a camera (vision sensor). F method, principle of triangulation using stereo cameras, distortion using structured light However, the method is not limited to these. In this case, the camera 38 may also function as the distance sensor 39. When determining the distance, the position at which the distance is measured on the object may be changed at any time. In that case, for example, in FIG. 6, the position where the distance sensor 39a measures the distance is point b. If there is a distance A from point a where the optical axis of the camera 38 intersects with the object to point b, the distance center The point c is designated so that the distance B between the point b and the point a measured by the sensor 39b has a predetermined relationship. It is sufficient that the difference between distance A and distance B is within a predetermined value, for example, 0 cm, 0.5 cm When distance A and distance B are within a specified relationship, such as within m, 1 cm, 3 cm, or 5 cm, It would be best to have them in charge.

[0028] The distance sensor 39 acquires distances in six directions, i.e., forward / backward, left / right, and up / down, of the aircraft 31. , through the control device 37, for example, the rotation speed of the pitch rotor 35 by the flight motor 34 The servo motor 36 changes the pitch of the pitch rotor 35. By doing so, the distance information may be used to prevent collisions. Based on distance information acquired by a plurality of vision sensors, light is projected in the vertical direction of the body 31. Based on the image information captured using a camera with an axis facing

[0029] 7 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 distance information acquisition unit 312, and a transmission unit 313. , an imaging instruction acquisition unit 314, an image storage unit 331, and a distance information storage unit 332. It is done.

[0030] The imaging unit 311 acquires images and videos using the camera 38. The imaging unit 311 is 37 may start capturing images without instructions after startup, or the image capturing instruction acquisition unit 314 may start capturing images without instructions after startup. The imaging unit 311 may take an image when it receives an instruction to take an image from the While the image is being transmitted to the user terminal 1, the image capture instruction acquisition unit 314 (to be described later) When an instruction to take a picture is received from the camera 1, the image may be taken. Alternatively, the image capturing unit 311 may capture a frame of a video image corresponding to a timing. The image capturing unit 311 stores the acquired images and videos in the image storage unit 331. The image or video may be stored in association with distance information, which will be described later.

[0031] The distance information acquisition unit 312 uses the distance sensor 39 to acquire the distance information based on the vertical plane of the distance sensor 39 and the object. The distance information acquisition unit 312 acquires the distance. The distance measurement method is the same as that described above. The distance information storage unit 332 stores the information on the distance.

[0032] The transmission unit 313 transmits the image captured by the image capturing unit 311 and the distance information acquired by the distance information acquiring unit 313 to the user terminal 1. 12 transmits the distance information it has acquired.

[0033] The imaging instruction acquisition unit 314 acquires an imaging instruction from the user terminal 1. The imaging unit 311 When the imaging instruction acquisition unit 314 acquires the instruction, the object at that time is Acquire an image of

[0034] <User device 1> As shown in FIG. 1, the user terminal 1 executes information processing via communication with the flight device 3. The user terminal 1 is, for example, a work station. It may be a general-purpose computer such as a station or personal computer, or a smartphone. The communication device may be a mobile communication device such as a smartphone or tablet.

[0035] As shown in FIG. 8, the user terminal 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 user terminal 1, which will be described later, is stored in 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 user terminal 1 is realized by the memory 102 and the storage device 103. It is realized as part of the domain.

[0036] 9 is a block diagram showing the functional configuration of the user terminal 1. The user terminal 1 is a distance information acquisition unit 112; an image display unit 113; a distance display unit 114; and a notification unit The image recording unit 115, the instruction information transmitting unit 116, and the measurement position changing unit 117 are included in the image recording unit 115. The image processing device 300 includes a storage unit 331 and a distance information storage unit 332.

[0037] 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 distance information acquired by a distance information acquisition unit 112 (to be described later) in association with an image. Good too.

[0038] The distance information acquisition unit 112 acquires, for example, distance information acquired and transmitted by the flight device 3. Distance information acquisition unit 112 stores the acquired distance information in distance information storage unit 132.

[0039] The image display unit 113 is, for example, a display unit provided in the user terminal 1 that displays the image acquired by the image acquisition unit 111. Displays the acquired image.

[0040] The distance display unit 114 is, for example, a display unit provided in the user terminal 1 that displays the distance information acquired by the distance information acquisition unit 1 12 displays the distance information obtained.

[0041] An example of an image displayed on the user terminal 1 by the image display unit 113 is shown in FIG. 10 (screen 41). The image display unit 113 displays the image (411) acquired by the flying device 3 on the user terminal 1. The image and the distance information (412a, 412b) that the distance display unit 114 displays on the user terminal 1 ) may be displayed in an overlapping manner as shown in FIG. 10.

[0042] The screen 41 displays marks (413a, The distance corresponding to the position 413a is 412a, and the distance corresponding to the position 413b may be displayed. The distance corresponding to 3b is 412b. Screen 41 is an example, so the position on the object is 2 There may be more than one.

[0043] As shown in FIG. 10, the image display unit 113 receives an instruction to take an image from the user. A button or the like (413) may be displayed on the user terminal 1.

[0044] The notification unit 115 receives data from different distance sensors 39 at the same time from the flight device 3 and notifies the user terminal When multiple pieces of distance information sent to 1 have a predetermined relationship, the image of the image is displayed on part or the entire screen. The timing is suitable for the user to make a decision. The user terminal 1 may be configured to emit a predetermined sound or vibrate. The notification unit may be, but is not limited to, the notification unit 413 in FIG. The color of the button for inputting the image capture instruction may be changed.

[0045] The notification unit 115 may, for example, notify the user that the difference between the distances acquired at the same time from the plurality of distance sensors 39 is a predetermined value. Within a certain value, for example, within 1 cm, within 3 cm, within 5 cm, within 10 cm, etc. The button can be highlighted on the screen of the user terminal 1. The image may be changed, blinked, enlarged, or repeatedly enlarged or reduced, but is not limited to these.

[0046] For example, as shown in 414 of FIG. 10, the notification unit 115 notifies the target object and the flying device 3 of the facing direction. The alarm may be given by indicating the degree of the temperature. 414 in FIG. 10 is made up of, for example, five zones. , the second zone from the right is highlighted by coloring it. This is the same as 413a and The distance between the corresponding distance sensors is 1.8 m (412a), and the distance between the corresponding distance sensor 413b is 1.8 m (412b). The distance between them is 1.75m (412b), so the object is closer to 413a than to 413b. The notification unit 115 indicates that the object is far from the target object, and that the distance is small. However, when highlighting the middle zone of 414 by coloring it, the object and the flight equipment The difference is such that the distance between 413a and the corresponding distance sensor is almost exactly the same as the distance between 413a and the corresponding distance sensor. and 413b and the distance between the corresponding distance sensor.

[0047] The notification unit 115 may, for example, notify the user that the difference between the distances acquired at the same time from the plurality of distance sensors 39 is a predetermined value. Within a certain value, for example, within 1 cm, within 3 cm, within 5 cm, within 10 cm, etc. The button can be highlighted on the screen of the user terminal 1. The image may be changed (413), blinking, expanding, or repeatedly expanding and contracting, but is not limited to these. I can't.

[0048] The instruction information transmission unit 116 acquires image capture instruction information from the user and transmits it to the flight device 3. The instruction information transmission unit 116 receives the image captured by the user and presented to the user terminal 1 by the image display unit 113. When the user taps a button or the like for acquiring an instruction for capturing an image, the flying device 3 is given an instruction for capturing an image. All you have to do is send a notice.

[0049] The measurement position change unit 117 changes the position of the observation plane measured by the distance sensor 39. Specifically, the angle at which the distance sensor 39 emits ultrasonic waves is changed in the manner described above. The position change unit 117 analyzes the image acquired by the image acquisition unit 111 and changes the image to a predetermined position on the screen. If there is no target, the measurement position may be changed. The distance sensor 39 measures the time from when the ultrasonic wave is emitted until when the receiver receives it, and If the time interval is longer than a predetermined time, the measurement position may be changed. The unit 117 may, for example, configure the user terminal so that the user can tap 413a and 413b shown in FIG. 1, and when the measurement position is changed to any position on the screen by the user, the measurement In this case, the measurement position change unit 117 may change the fixed position. If you move the position of 10 cm to the left, 413b will automatically move 10 cm to the right. Processing may be performed.

[0050] A typical processing flow of this embodiment will be described with reference to FIG. 11 captures an image (3001). The distance information acquisition unit 312 acquires distance information (3002). The transmitting unit 313 transmits the image and distance information to the user terminal 1 (3003). The image acquisition unit 111 included in the device 1 acquires an image, and the distance information acquisition unit 112 acquires distance information ( 001). The image display unit 113 and the distance display unit 114 display the image and distance information on the user terminal 1. The notification unit 115 notifies the user of the timing of photographing when the distance information has a predetermined relationship (1002). The instruction information transmitting unit 116 notifies the user through the user terminal 1 that the instruction information is correct (1003). The imaging instruction acquisition unit 31 acquires an imaging instruction from the user and transmits it to the flight device 3 (1004). When the image capturing unit 311 receives an instruction to capture an image from the user terminal 1, the image capturing unit 311 captures an image. 004). The distance information acquisition unit 312 acquires distance information at the time when the image capturing unit 311 captures an image. The transmitting unit 313 transmits the image and distance information to the user terminal 1 (300 6). The image acquisition unit 111 and the distance information acquisition unit 112 acquire the image and the distance information (1005 The image acquisition unit 111 and the distance information acquisition unit 112 link the image and the distance information and transmit the image to the user terminal 1. (1006).

[0051] 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.

[0052] The devices described herein may be comprised of multiple devices connected in part or in whole via a network. For example, the user terminal 1 may be implemented by a device (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.

[0053] 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 is created to realize each function of the user terminal 1 according to the embodiment, 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.

[0054] 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.

[0055] 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]

[0056] 1. User terminal 2 Network 3 Flight equipment 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 Distance information acquisition section 113 Image display unit 114 Distance display section 115 Information Department 116 Instruction information transmission unit 117 Measurement position change unit 131 Image storage unit 132 Distance information storage unit 301 processor 302 memory 303 Storage device 304 Communication Interface 305 Input Device 311 Imaging unit 312 Distance information acquisition section 313 Transmitter 314 Imaging instruction acquisition unit 331 Image storage unit 332 Distance information storage unit

Claims

1. An imaging support system having a flying device equipped with a camera for capturing images of an observation surface and a terminal And, The terminal an image display unit that displays the image acquired by the camera on a display unit provided in the terminal; The observation plane and the distance sensors acquired by the plurality of distance sensors provided in the flight device a distance display unit that displays the distance between the points A and B on the display unit; a notification unit that displays a predetermined display when the plurality of distances satisfy a predetermined relationship; An imaging support system comprising:

2. an image storage unit that stores information about the distance at the time the image was captured in association with the image; and, The imaging support system according to claim 1 , further comprising:

3. The notification unit notifies the distance between the observation surface and each of the at least two distance sensors. When the difference is within a predetermined range, a predetermined notification is made.

3. The imaging support system according to claim 1, wherein:

4. a measurement position change unit that changes the position of the observation plane measured by the distance sensor; The imaging support system according to claim 3 , further comprising:

5. The distance display unit displays the distance by superimposing it on the image displayed by the image display unit. thing, 5. The imaging support system according to claim 4,

6. An imaging support program having a flying device equipped with a camera for capturing images of an observation surface and a terminal It is The processor an image display step of displaying the image acquired by the camera on a display unit provided in the terminal; and, The observation plane and the distance sensors acquired by the plurality of distance sensors provided in the flight device a distance display step of displaying the distance between the points A and B on the display unit; a notification step of displaying a predetermined display when the plurality of distances satisfy a predetermined relationship; Shooting support program that executes

7. An imaging support method having a flying device equipped with a camera that captures images of an observation surface and a terminal. So, The processor: an image display step of displaying the image acquired by the camera on a display unit provided in the terminal; and, The observation plane and the distance sensors acquired by the plurality of distance sensors provided in the flight device a distance display step of displaying the distance between the points A and B on the display unit; a notification step of displaying a predetermined display when the plurality of distances satisfy a predetermined relationship; An imaging assistance method for performing the above.

Images