Evaluation support device, evaluation support program, and evaluation support method

Abstract

To assist in the evaluation of images of objects captured by aircraft. The present invention relates to an evaluation support device that supports evaluation of a partial image used for inspecting a structure. A plurality of images of a part of the structure captured by a camera equipped on the aircraft A partial image acquisition unit that acquires partial image information, and an evaluation unit that evaluates characteristics of the partial image. The characteristic is a first partial image and a second partial image captured immediately before or after the first partial image. The evaluation support device is an evaluation method that evaluates the overlap rate of the above-mentioned parts included in the image.

Description

[Technical field]

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

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

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

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

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

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

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

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

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

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

[0011] <Details of the embodiment> 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 The same reference numerals are used to denote the same components, and duplicate explanations will be omitted.

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

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

[0014] <Server device 1> As shown in FIG. 2, the server device 1 includes a processor 101, a memory 102, a storage device, The computer includes a computer-readable storage device 103, a communication interface 104, an input device 105, and an output device 106. The device 103 stores various data and programs, for example, a hard disk drive or A solid state drive, a flash memory, etc. The communication interface 104 is , 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 For example, by using a keyboard, mouse, touch panel, button, microphone, etc. The output device 106 outputs data, for example, a display (display unit) or a printer. Each processing unit of the server device 1, which will be described later, is stored in the processor 101. A program stored in the storage device 103 is read into the memory 102 and executed. Each storage unit of the server terminal 1 is realized by the memory 102 and the storage device 103. It is realized as part of the domain.

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

[0016] An example of the flying device 3 is shown in Fig. 3 and Fig. 4. The flying device 3 is an existing device for a multicopter. The flight device 3 may be implemented in any manner, and is not limited to the following example. 1, a battery 32 mounted on the body 31, and a Four flight motors 3 are mounted near the tips of four arms 33 and driven by batteries 32. 4, and four pitch rotors 3 each driven by a flight motor 34 to generate thrust. 5 and four arms 33 each equipped with two sensors each, each powered by a battery 32. and four servo motors 36 for changing the pitch of each of the pitch rotors 35. .

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

[0018] The flight device 3 is equipped with a three-axis acceleration sensor and a three-axis gyro sensor for flight control at the center of the body 31. The IMU (Inertial Measurement Unit) is used to acquire aircraft information, and the GNSS and A flight controller (FC) with a conventional microcomputer and a wireless communication unit A control device 37 is mounted as a flight control means having a power management unit (PMU). do.

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

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

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

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

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

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

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

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

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

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

[0029] The image storage unit 331 stores the images captured by the imaging unit 311 (still images, moving images, The information stored in the memory may include audio.

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

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

[0032] The characteristic information acquisition unit 312 acquires characteristic information of the image acquired by the imaging unit 311. The characteristic information may be, for example, various values ​​acquired by the inertial measurement unit described above when taking an image, image resolution, etc. Image quality, brightness (ISO sensitivity, shutter speed, aperture value, EV value, etc.), camera 38 light Information on the angle between the axis and the vertical or horizontal plane of the object, the distance obtained by the distance sensor 39, This includes, but is not limited to, the distance between the sensor 39 and the vertical or horizontal plane of the part of the object. The characteristic information acquisition unit 312 does not associate the ID of the image information acquired by the imaging unit 311 with the ID of the image information. The characteristic information is stored in the characteristic information storage unit 332.

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

[0034] The flight control unit 314 controls the flight of the flight device 3. The row processing unit 116 receives a signal transmitted from the server device 1 and performs the following in accordance with the signal: Control the flight of the flight device 3.

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

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

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

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

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

[0040] As an example, the evaluation unit 113 evaluates the image acquired by the image acquisition unit 111 and the characteristic information acquisition unit 1 12 and the characteristics acquired are evaluated.

[0041] The evaluation unit 113 evaluates the characteristics of the image acquired by the image acquisition unit 111. For example, the evaluation unit 113 determines whether the image is in focus. When the acceleration value of the flying device 3 at the time of taking an image is within a predetermined range, the image is in focus. Alternatively, the evaluation unit 113 may perform a Fourier transform on the image to determine that the image is in a non-zero state. The frequency distribution of the image is analyzed, and if a certain percentage or more of high frequency components are included, the peak is However, the method is not limited to the above, and any other known method may be used to determine whether the image is correct. It is only necessary to determine whether or not the image is in focus.

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

[0043] The evaluation unit 113 determines, for example, whether the distance between the plane of the object shown in the image and the flying device 3 is appropriate. Here, the distance between the object and the flying device 3 is determined by the distance between the object and the camera 38 or The distance between the sensor 39 and the sensor 39 may be used. The value unit 113 is, for example, a unit for determining whether the distance between the flying device 3 and the target part during image capture is within a predetermined range. If the object is included in the range, the distance between the plane of the object shown in the image and the flying device 3 is appropriate. In addition, the evaluation unit 113 may determine that the part A of the object is not a part of the object. The distance between the flying device 3 and part A when taking the images of part A is The distance between the flying device 3 and the part B of the target object when the image of the part B around the part A is taken is within a predetermined range. When the difference in distance is within the range of 100 mm, the distance between the plane of the object shown in the image and the flying device 3 is appropriate. It is then judged that the signal is off.

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

[0045] The evaluation unit 113 judges, for example, whether or not the overlap rate between the image and another image is appropriate. The evaluation unit 113 may, for example, measure the time from capturing the immediately preceding image to capturing the image to be evaluated. At time t, if the flying device 3 flies at a predetermined speed for a predetermined time, The evaluation unit 113 determines that the rate of change is appropriate. A partial image including a part of a structure to be inspected is acquired by The overlapping parts of the partial images including the adjacent parts of the If the overlap rate is within a predetermined range, it may be determined that the image overlap rate is appropriate.

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

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

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

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

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

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

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

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

[0054] The evaluation support unit 114 determines whether an image to be evaluated is appropriate or not in response to a user operation. The evaluation support unit 114 also acquires the evaluation result of the evaluation unit 113 and stores it in association with the image. The evaluation result may be linked to the image to be evaluated and presented to the user terminal 4.

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

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

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

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

[0059] The flight processing unit 116 flies the flying device 3 at a predetermined speed for a predetermined time. For example, if the distance traveled is affected by wind and there is a certain error from the expected distance, Return the flight device 3 to the point where the previous flight started, and fly again at the specified speed for the specified time. In addition, the flight processing unit 116 may perform a process of transmitting a signal to the controller 114 so as to detect the influence of the wind, for example. If the camera is affected by noise or other factors and the travel distance differs from the expected distance, the camera will Alternatively, a signal may be sent to the flight device 3 to return it to the designated shooting point. The excess distance from the target point may be displayed on the user terminal 4.

[0060] A typical process flow of this embodiment will be described with reference to FIG. The control unit 116 transmits signals related to flight and imaging to the flight device 3 (1001). The flight control unit 314 flies the flight device 3, and the imaging unit 311 captures images (3001). The characteristic information acquisition unit 312 acquires characteristic information (3002). The transmission unit 313 transmits the image and the characteristic information to the The image acquisition unit 111 of the server device 1 transmits the image information to the server device 1 (3003). The characteristic information acquisition unit 112 acquires characteristic information of the image (1002). The image is evaluated based on the information (1003). The evaluation support unit 114 generates an image evaluation support screen. The result is displayed on the server device 1 (1004).

[0061] The preferred embodiments of the present disclosure have been described above in detail 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 or improved without departing from the spirit and scope of the present invention. It goes without saying that the present disclosure includes those having ordinary skill in the art. If a person makes such a claim, he / she 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 of course within the scope of the present disclosure. It is understood to be within the scope of the art.

[0062] The device described herein may be a plurality of devices connected in part or in whole via a network. For example, the server device 1 may be implemented by a program such as a cloud server. The processor and the storage device are realized by different servers connected to each other via a network. This is also fine.

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

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

[0065] In addition, 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 in place of the above-mentioned effects. In addition, other effects that will be apparent to those skilled in the art from the description of this specification may be achieved. [Explanation of symbols]

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

Claims

1. an image acquisition unit that acquires a partial image group that is a plurality of partial images captured by an imaging device of an imaging object; a characteristic information acquisition unit for acquiring characteristic information for each of the partial images; an evaluation support unit that outputs to a display unit the altitude of the aircraft when the selected image was captured, a value obtained by subtracting from said altitude the altitude of the aircraft when the other partial images adjacent to the selected image were captured, and characteristic information of the selected image, for verifying an overlap rate between the selected image and other partial images adjacent to the selected image for a selected image selected from the group of partial images, and receives a user evaluation based on the displayed information; An image evaluation support device comprising:

2. The characteristic information includes at least one of a focus of an image captured by the imaging device, a brightness of the image, and an imaging condition of the imaging device. The image evaluation support device according to claim 1 .

3. the evaluation support unit displays the group of partial images in the order in which they were captured, and generates and displays a graph showing a time series change in characteristic information of the partial images. The image evaluation support device according to claim 1 .

4. an evaluation unit that evaluates each partial image of the partial image group based on the characteristic information; Further equipped with the evaluation support unit displays the evaluation result by the evaluation unit on a user terminal in association with a corresponding partial image, and receives an evaluation input by a user for the corresponding partial image. The image evaluation support device according to claim 1 .

5. the evaluation support unit sets a predetermined range for the value of the characteristic information, determines in which section of the predetermined range the value of the corresponding characteristic information of each partial image of the partial image group falls, and displays the determination result in a visually identifiable manner. The image evaluation support device according to claim 1 .

6. the evaluation support unit calculates an overlap rate between adjacent partial images based on a moving speed and an image capturing interval of the imaging device, and displays the overlap rate in chronological order. The image evaluation support device according to claim 4.

7. the evaluation support unit displays the overlap rate between adjacent partial images calculated based on the moving speed and the image capturing interval of the imaging device, and a result of the evaluation performed by the evaluation unit on the overlap rate between the adjacent partial images. The image evaluation support device according to claim 6.

8. The imaging conditions include at least one of: attitude information of the imaging device at the time of imaging, positional relationship information with respect to the imaging object, and imaging setting information of the imaging device. The image evaluation support device according to claim 2.

9. On the computer, an image acquisition step of acquiring a partial image group which is a plurality of partial images captured by an imaging device of an imaging object; a characteristic information acquisition step of acquiring characteristic information for each of the partial images; an evaluation support step of outputting to a display unit the altitude of the aircraft when the selected image was captured, a value obtained by subtracting from said altitude the altitude of the aircraft when the other partial images adjacent to the selected image were captured, and characteristic information of the selected image, for verifying an overlap rate between the selected image and other partial images adjacent to the selected image for a selected image selected from the group of partial images, and receiving a user evaluation based on the displayed information; An image evaluation support program that executes the above.

10. The computer an image acquisition step of acquiring a partial image group which is a plurality of partial images captured by an imaging device of an imaging object; a characteristic information acquisition step of acquiring characteristic information for each of the partial images; an evaluation support step of outputting to a display unit the altitude of the aircraft when the selected image was captured, a value obtained by subtracting from said altitude the altitude of the aircraft when the other partial images adjacent to the selected image were captured, and characteristic information of the selected image, for verifying an overlap rate between the selected image and other partial images adjacent to the selected image for a selected image selected from the group of partial images, and receiving a user evaluation based on the displayed information; The image evaluation assistance method performs the above.

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