Overhead display system, overhead display device, and overhead display method

Abstract

To provide a bird's-eye display system, a bird's-eye display device, and a bird's-eye display method capable of easily and quickly displaying a bird's-eye view of an area to be imaged.SOLUTION: A bird's-eye display system includes: a drone having an imaging unit that makes a plurality of imaged images while moving on a horizontal plane above an imaging target area and a position detection unit that detects an imaging position when each of the plurality of imaged images 56 is made; and a bird's-eye view display device having a display device storage unit 42 that stores the plurality of imaged images 56 and the imaging positions Pn when the plurality of captured images 56 is imaged respectively in association with each other, and a display control unit 52 that arranges the plurality of imaged images 56 (thumbnail images) according to the plurality of imaging positions corresponding to the plurality of imaged images 56 and displays them on a display unit 46 in a bird's-eye manner.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to an aerial view display system, an aerial view display device, and an aerial view display method for displaying an imaging target area in an aerial view on a display unit.

Background Art

[0002] Patent Document 1 discloses a system for acquiring an image capturing the entire farmland. This system moves a camera to continuously capture images of the farmland scene into a computer, determines the position and orientation of each image using the position information obtained from GPS, and synthesizes and displays them as a planar image of the entire farmland on the computer display.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The system disclosed in Patent Document 1 requires dedicated software for synthesizing a plurality of images to create a planar image of the entire farmland. Also, since the process of synthesizing a plurality of images takes time, the state of the entire farmland cannot be seen immediately after imaging.

[0005] The present invention has been made in consideration of such problems, and an object thereof is to provide an aerial view display system, an aerial view display device, and an aerial view display method capable of easily and quickly displaying an imaging target area in an aerial view.

Means for Solving the Problems

[0006] A first aspect of the present invention is an aerial view display system for displaying an imaging target area in an aerial view on a display unit, including: an imaging unit that captures a plurality of imaging images while moving above the imaging target area in a state of being moved on a horizontal plane; a position detection unit that detects an imaging position when each of the plurality of imaging images is captured; a storage unit that stores each of the plurality of imaging images in association with the imaging position when each of the plurality of imaging images is captured; and a display control unit that arranges the plurality of imaging images according to the plurality of imaging positions corresponding to the plurality of imaging images and causes the display unit to display them in an aerial view.

[0007] A second aspect of the present invention is an aerial view display device for displaying an imaging target area in an aerial view on a display unit, including: a storage unit that stores in association a plurality of imaging images captured while moving above the imaging target area in a state of being moved on a horizontal plane and the imaging position when each of the plurality of imaging images is captured; and a display control unit that arranges the plurality of imaging images according to the plurality of imaging positions corresponding to the plurality of imaging images and causes the display unit to display them in an aerial view.

[0008] A third aspect of the present invention is an aerial view display method for displaying an imaging target area in an aerial view on a display unit, including: an imaging step of capturing a plurality of imaging images while moving above the imaging target area in a state of being moved on a horizontal plane; a position detection step of detecting an imaging position when each of the plurality of imaging images is captured; a storage step of storing each of the plurality of imaging images in association with the imaging position when each of the plurality of imaging images is captured; and a display step of arranging the plurality of imaging images according to the plurality of imaging positions corresponding to the plurality of imaging images and causing the display unit to display them in an aerial view.

Advantages of the Invention

[0009] According to the present invention, the imaging target area can be easily and quickly displayed in an aerial view.

Brief Description of the Drawings

[0010]

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[0011] Hereinafter, embodiments of the overhead display system, the overhead display device, and the overhead display method according to the present invention will be given and described in detail with reference to the accompanying drawings.

[0012] [1 Configuration of the Overhead Display System 10] FIG. 1 is a diagram showing the configuration of an overhead display system 10 according to the present embodiment. FIG. 2 is a diagram showing an example of a flight route R of the drone 14. The overhead display system 10 includes a controller 12, a drone 14, and an overhead display device 16. For example, as shown in FIG. 2, a predetermined flight route R is set above the field 18. For example, the flight route R includes a plurality of routes R1 having the X direction as the traveling direction and a plurality of routes R2 having the reverse direction of the route R1 as the traveling direction. The route R1 and the route R2 are alternately arranged along the Y direction orthogonal to the X direction, and each is set at a certain height position from the field 18. The interval D between the route R1 and the route R2 is appropriately set so that the area to be imaged can be imaged without omission. The operator operates the controller 12 to fly the drone 14 along the flight route R. At this time, the drone 14 continuously captures images while moving along the flight route R. This image is referred to as a captured image 56 (FIG. 3 etc.). The overhead display device 16 acquires a plurality of captured images 56 captured by the drone 14 and displays the entire field 18 in an overhead view by arranging and simultaneously displaying thumbnail images 62 (FIG. 9) of the plurality of captured images 56.

[0013] The overhead display device 16 does not accurately display the field 18, but displays the field 18 in an overhead view to such an extent that an overall image can be grasped. For this reason, the overhead display device 16 does not perform a process of creating a composite image using a plurality of captured images 56 or thumbnail images 62, and does not require a process of accurately arranging the plurality of captured images 56 or thumbnail images 62 without gaps.

[0014] [1.1 Controller 12] The controller 12 is a transmitting device that wirelessly transmits an instruction signal according to the operator's operation to the drone 14. The controller 12 is also a receiving device that receives the imaging information 54 (Fig. 3) wirelessly transmitted from the drone 14. The controller 12 can transfer the imaging information 54 to the overhead display device 16 via a wired connection such as a cable, short-range wireless communication, or a communication line such as the Internet. Alternatively, the controller 12 can store the imaging information 54 in a removable storage medium such as an SD card or a USB memory.

[0015] [1.2 Drone 14] Fig. 3 is a diagram showing the functional blocks of the drone 14. The drone 14 may be a rotary-wing drone or a fixed-wing drone. The drone 14 includes a drone control unit 20, a drone storage unit 22, an imaging unit 24, a position detection unit 26, a receiving unit 28, a transmitting unit 30, a plurality of amplifiers 32, and a plurality of motors 34.

[0016] The drone control unit 20 is composed of, for example, a processor such as a CPU. In this case, each function is realized by the program stored in the drone storage unit 22 being executed by the processor. The drone control unit 20 flies the drone 14 along the flight route R by means of an operation signal transmitted from the controller 12 or by autonomous flight. Further, the drone control unit 20 starts imaging by the imaging unit 24 in response to an imaging start signal transmitted from the controller 12, and ends imaging by the imaging unit 24 in response to an imaging end signal transmitted from the controller 12. The drone control unit 20 recognizes the flight position of the drone 14 based on the position detected by the position detection unit 26. The drone control unit 20 may start imaging by the imaging unit 24 when the flight position of the drone 14 reaches the start position Ps of a preset flight route R. Further, the drone control unit 20 may end imaging by the imaging unit 24 when the flight position of the drone 14 reaches the end position Pe of a preset flight route R. Note that the drone control unit 20 may be composed of, for example, an integrated circuit such as an ASIC or an FPGA. Further, the drone control unit 20 may be composed of an electronic circuit including discrete devices.

[0017] The drone storage unit 22 is composed of storage media such as a RAM and a ROM. The drone storage unit 22 stores various programs executed by the drone control unit 20. Further, during imaging processing, the drone storage unit 22 sequentially stores the captured image 56 captured by the imaging unit 24 and information (position information 58) on the imaging position Pn detected by the position detection unit 26.

[0018] The imaging unit 24 is composed of an optical element such as a lens and an imaging device. The imaging unit 24 captures a captured image 56 directly below the drone 14 at every predetermined imaging period T. The position detection unit 26 is composed of a GNSS receiver that receives radio waves transmitted from positioning satellites. The position detection unit 26 constantly detects the position (latitude, longitude, altitude) of the imaging unit 24. Note that as the imaging unit 24 and the position detection unit 26, a camera with a GNSS function that adds a geotag to the captured image 56 may be used.

[0019] The receiving unit 28 is composed of a receiving device that receives various signals wirelessly transmitted from the controller 12 and outputs them to the drone control unit 20. The transmitting unit 30 is composed of a transmitting device that wirelessly transmits the imaging information 54 composed of the captured image 56 and the position information 58 to the controller 12.

[0020] The amplifier 32 is provided for each motor 34, and supplies current to the motor 34 according to the drive signal output from the drone control unit 20. When current is supplied from the amplifier 32, the motor 34 rotates the propeller to fly the drone 14.

[0021] The drone 14 can also store the imaging information 54 in a removable storage medium such as an SD card or a USB memory.

[0022] [1.3 Overhead Display Device 16] FIG. 4 is a diagram showing the functional blocks of the overhead display device 16. The overhead display device 16 is, for example, a personal computer. The overhead display device 16 includes a display device control unit 40, a display device storage unit 42, an input unit 44, a display unit 46, and a communication unit 48.

[0023] The display device control unit 40 is composed of, for example, a processor such as a CPU or a GPU. In this case, each function is realized by the program stored in the display device storage unit 42 being executed by the processor. In the present embodiment, the display device control unit 40 functions as an image processing unit 50 and a display control unit 52. The image processing unit 50 and the display control unit 52 will be described in [2.2] and [2.3] below. Note that the display device control unit 40 may be composed of, for example, an integrated circuit such as an ASIC or an FPGA. Also, the display device control unit 40 may be composed of an electronic circuit including discrete devices.

[0024] The display device storage unit 42 is composed of storage media such as a RAM and a ROM. The display device storage unit 42 stores various programs executed by the display device control unit 40. Further, the display device storage unit 42 stores the imaging information 54 (imaging image 56 and position information 58) transmitted from the controller 12.

[0025] The input unit 44 is composed of a man-machine interface such as a keyboard, a mouse, a touch pad, etc. The input unit 44 outputs the input information input by the operator to the display device control unit 40. The display unit 46 is composed of a liquid crystal display or the like. The display unit 46 displays an image in response to a display instruction output from the display device control unit 40. The communication unit 48 is composed of a communication interface for inputting and outputting information between the display device control unit 40 and an external device, such as a short-range wireless communication device, an input / output port, a LAN port, a USB port, etc.

[0026] [2 Processing of the overhead display system 10] In the overhead display system 10, the drone 14 performs a process of imaging a partial imaging image 56 of the field 18 (imaging process), and then the overhead display device 16 performs a process of overhead displaying the entire field 18 using a plurality of imaging images 56 (overhead display process). Each process will be described below.

[0027] [2.1 Imaging process] FIG. 5 is a flowchart showing the flow of the imaging process. FIG. 6 is a diagram showing consecutive imaging positions Pn (here n = 1 to 6) and partial regions Zn (here n = 1 to 6) corresponding to the imaging positions Pn. The controller 12 transmits a flight start signal and an imaging start signal according to the operation performed by the operator. When the drone control unit 20 receives the flight start signal via the receiving unit 28, it causes the drone 14 to fly along a predetermined flight route R. Further, when the drone control unit 20 receives the imaging start signal via the receiving unit 28, it starts imaging by the imaging unit 24. Alternatively, the drone control unit 20 starts imaging by the imaging unit 24 when the flight position of the drone 14 reaches the start position Ps of the preset flight route R.

[0028] In step S1, the imaging unit 24 captures a captured image 56. For example, as shown in FIG. 6, when the time point tn is the imaging timing of the imaging unit 24, the imaging unit 24 captures the captured image 56 of the field 18 directly below the drone 14 at that time, that is, the partial area Zn. The drone control unit 20 acquires the captured image 56 from the imaging unit 24.

[0029] In step S2, when the imaging unit 24 captures the captured image 56, the drone control unit 20 acquires the position information 58 indicating the imaging position Pn (latitude, longitude, altitude) from the position detection unit 26.

[0030] In step S3, the drone control unit 20 generates imaging information 54 in which the captured image 56 and the position information 58 are associated with each other. The drone storage unit 22 stores the imaging information 54.

[0031] In step S4, the drone control unit 20 determines whether all imaging has been completed. The drone control unit 20 determines that all imaging has been completed when the drone 14 reaches the end position Pe of the flight route R, and determines that all imaging has not been completed when it has not reached. Alternatively, when the drone control unit 20 receives an imaging end signal via the receiving unit 28, it determines that the imaging has been completed. When all imaging has been completed (step S4: YES), the process proceeds to step S5. On the other hand, when all imaging has not been completed (step S4: NO), the process returns to step S1 and the imaging continues. Note that the process of step S1 is performed at intervals of the imaging cycle T.

[0032] In step S5, the drone control unit 20 causes the imaging information 54 to be transmitted. The transmitting unit 30 transmits all the imaging information 54 to the controller 12 in a lump. Note that the drone control unit 20 may cause the imaging information 54 to be transmitted not after all imaging has been completed but at the time when each individual imaging has been completed (for example, after step S3). The controller 12 receives the imaging information 54 transmitted from the drone 14 and stores it in a storage unit (not shown).

[0033] [2.2 First Overhead Display Process] FIG. 7 is a flowchart showing the flow of the first overhead display process. FIG. 8 is a diagram showing consecutive captured images 56 and trimmed images 60. FIG. 9 is a diagram showing a plurality of thumbnail images 62 and a screen 66 for overhead display of the farm field 18. FIG. 10 is a diagram showing a screen transition from a screen 66 displaying the entire image of the farm field 18 to a screen 66 for magnified display of a part of the farm field 18. FIG. 11 is a diagram showing a screen transition from a screen 66 for magnified display of a part of the farm field 18 to a screen 66 displaying the entire image of the farm field 18.

[0034] The controller 12 transfers the imaging information 54 to the overhead display device 16 via a wired connection such as a cable, short-range wireless communication, or a communication line such as the Internet. Alternatively, the controller 12 stores the imaging information 54 in a storage medium such as an SD card or a USB memory. The storage medium is attached to a card reader or a USB port of the overhead display device 16.

[0035] In step S11, the display device control unit 40 acquires the imaging information 54 via the communication unit 48 and stores it in the display device storage unit 42. The display device storage unit 42 stores the imaging information 54. At this time, the display device storage unit 42 stores the captured image 56 and the position information 58 in association with each other.

[0036] In step S12, the image processing unit 50 (trimming processing unit) trims the captured image 56 included in each imaging information 54. For example, the image processing unit 50 creates a trimmed image 60 trimmed at a preset angle of view. The display device storage unit 42 stores the trimmed image 60 in association with the original captured image 56 and the position information 58.

[0037] Note that, as shown in FIG. 8, the image processing unit 50 may create a trimmed image 60 trimmed at an angle of view corresponding to the overlapping range of two adjacent captured images 56. In this case, the image processing unit 50 calculates the moving distance during the imaging period T from the position information 58 of the imaging position Pn and the position information 58 of the imaging position Pn+1, and calculates the moving speed. Then, the image processing unit 50 calculates the overlap rate based on the moving speed of the imaging unit 24 during the imaging process, the imaging period T, and the altitude included in the position information 58, and determines the angle of view after trimming based on the calculated overlap rate.

[0038] The relationship between the overlap rate and the angle of view may be set via the input unit 44 or may be stored in advance in the display device storage unit 42. The angle of view may be set so that the partial areas Zn (subjects) shown in two adjacent trimmed images 60 overlap each other, may be set to be in contact with each other, or may be set to Separation be set in such a way.

[0039] When the image processing unit 50 performs trimming at an angle of view corresponding to the overlapping range, the angle of view may be determined based on a preset overlap rate. For example, the drone control unit 20 can calculate any one of the moving speed, the imaging period T, and the altitude based on a preset overlap rate, and perform flight control of the drone 14 or imaging control of the imaging unit 24 based on the calculation result. In such a case, the image processing unit 50 can use the set overlap rate.

[0040] The image processing unit 50 may determine the trimming position of the captured image 56 based on the position information 58 included in the imaging information 54. When the actual flight trajectory of the drone 14 is shifted laterally from the original flight route R, the captured image 56 shows a range shifted laterally from the range that should originally be captured. In such a case, the image processing unit 50 determines the trimming location according to the amount of position shift.

[0041] In step S13, the image processing unit 50 creates a thumbnail of the trimming image 60. The image created here is referred to as a thumbnail image 62 (FIG. 9). The image processing unit 50 appropriately determines the size of the thumbnail image 62. The display device storage unit 42 stores the thumbnail image 62 in association with the original captured image 56, the position information 58, and the trimming image 60. Note that the image processing unit 50 may display the trimming image 60 in a reduced size instead of reducing the trimming image 60 as the thumbnail image 62.

[0042] In step S14, the display control unit 52 determines the positional relationship of the plurality of thumbnail images 62 on the horizontal plane based on the position information 58 associated with each thumbnail image 62, here the latitude and longitude, and determines the arrangement of the plurality of thumbnail images 62. Then, the display control unit 52 arranges the plurality of thumbnail images 62 according to the determined arrangement and simultaneously displays them on the display unit 46. Then, as shown in FIG. 9, the display unit 46 displays an overall view of the field 18 by arranging a plurality of thumbnail images 62 on the screen 66.

[0043] As described above, the overhead display device 16 can display an overall view of the field 18. Further, as will be described below, the overhead display device 16 can appropriately switch between the screen 66 for overhead display and the screen 66 for displaying the captured image 56 corresponding to the thumbnail image 62.

[0044] In step S15, the display control unit 52 determines whether or not one of the plurality of thumbnail images 62 arranged on the screen 66 is designated by the pointer 68 (designating unit). As shown in FIG. 10, the pointer 68 moves within the screen 66 in response to an input operation by the operator on the input unit 44, for example, a mouse operation, and can designate one thumbnail image 62 in response to a click operation. If no thumbnail image 62 is designated (step S15: NO), the process proceeds to step S16. On the other hand, if a thumbnail image 62 is designated (step S15: YES), the process proceeds to step S17.

[0045] In step S16, the display control unit 52 determines whether an end instruction for display has been input via the input unit 44. If an end instruction has been input (step S16: YES), the first top-down display process ends. On the other hand, if an end instruction has not been input (step S16: NO), the process returns to step S14. In this case, the display unit 46 continues to display the top-down view of the field 18.

[0046] In step S17, the display control unit 52 causes the captured image 56 corresponding to the specified thumbnail image 62 to be displayed. For example, as shown by arrow A in FIG. 10, the display control unit 52 causes the display content on the screen 66 of the display unit 46 to transition from the top-down view of the field 18 with a plurality of thumbnail images 62 arranged side by side to the display of the captured image 56 corresponding to the specified thumbnail image 62. Note that the display control unit 52 may display the trimming image 60 instead of the captured image 56. Then, the display unit 46 displays the captured image 56 or the trimming image 60.

[0047] In step S18, the display control unit 52 determines whether an instruction to return to the top-down view has been input via the input unit 44. If an instruction to return to the top-down view has been input (step S18: YES), the process returns to step S14. On the other hand, if an instruction to return to the top-down view has not been input (step S18: NO), the process proceeds to step S19.

[0048] When returning from step S18 to step S14, as shown by arrow B in FIG. 11, the display control unit 52 causes the display content on the screen 66 of the display unit 46 to transition from the display of the captured image 56 to the top-down view of the field 18 with a plurality of thumbnail images 62 arranged side by side. At this time, the display control unit 52 makes the corresponding thumbnail image 62 be discriminatively displayed in order to make it easier to distinguish the thumbnail image 62 corresponding to the captured image 56 that was displayed before the screen transition. For example, the display control unit 52 displays a frame 70 around the outer periphery of the thumbnail image 62. Also, the display control unit 52 may change the display color of the thumbnail image 62.

[0049] In step S19, the display control unit 52 determines whether an end instruction for display has been input via the input unit 44. If an end instruction has been input (step S19: YES), the first top-down display process ends. On the other hand, if an end instruction has not been input (step S19: NO), the process returns to step S17. In this case, the display unit 46 continues to display the captured image 56.

[0050] [2.3 Second top-down display process] It is also possible to perform a second top-down display process instead of the first top-down display process. FIG. 12 is a flowchart showing the flow of the second top-down display process. FIG. 13 is a diagram showing the remaining captured images 56 (solid lines) and the decimated captured images 56 (dashed lines) among the consecutive captured images 56.

[0051] The process of step S21 is the same as the process of step S11 shown in FIG. 7.

[0052] In step S22, the image processing unit 50 (decimation processing unit) performs a process of decimating some of the plurality of captured images 56 from the plurality of captured images 56. For example, as shown in FIG. 13, the image processing unit 50 decimates every other captured image 56 from the consecutive captured images 56. Note that the image processing unit 50 may decimate a plurality of consecutive captured images 56 instead of one captured image 56.

[0053] In step S23, the image processing unit 50 creates a thumbnail (thumbnail image 62) of the captured image 56 remaining after the decimation process. The image processing unit 50 determines the size of the thumbnail image 62 so that all the thumbnail images 62 fit on one screen. The display device storage unit 42 stores the thumbnail image 62 in association with the original captured image 56 and the position information 58.

[0054] The processes of steps S24 to S29 are the same as the processes of steps S14 to S19 shown in FIG. 7.

[0055] [3 Application examples] FIG. 14 is a diagram showing a screen 66 on which a plurality of thumbnail images 62 are superimposed and displayed on a map 72. As shown in FIG. 14, the display control unit 52 can cause the display unit 46 to display a map 72 provided by an external server or the like via the Internet. Note that the map 72 may be stored in the display device storage unit 42. The display control unit 52 can also superimpose and display a plurality of thumbnail images 62 on the farm field 18 in the map 72 in a state where the map 72 is displayed on the display unit 46.

[0056] The map 72 includes information on the positions (latitude, longitude) of each point. The display control unit 52 collates the position information 58 corresponding to the thumbnail image 62 with the information of the map 72, and superimposes and displays the thumbnail image 62 at a location in the map 72 where the latitude and longitude match.

[0057] [4 Modification Example] In the above-described embodiment, the imaging information 54 is transmitted from the drone 14 to the controller 12 and transferred from the controller 12 to the overhead display device 16. Alternatively, the transmission unit 30 of the drone 14 and the communication unit 48 of the overhead display device 16 may be configured to communicate via short-range wireless communication or a communication line or the like, and the transmission unit 30 of the drone 14 may transmit the imaging information 54 to the communication unit 48 of the overhead display device 16.

[0058] The drone 14 may transfer the imaging information 54 to the overhead display device 16 via a wired connection such as a cable. Alternatively, the imaging information 54 may be stored in a storage medium such as an SD card or a USB memory attached to the drone 14. In this case, the imaging information 54 is transferred to the overhead display device 16 when the recording medium is attached to a card reader or a USB port of the overhead display device 16.

[0059] In the above-described embodiment, the drone 14 equipped with the imaging unit 24 is used, but another moving body equipped with the imaging unit 24 may be used. For example, an aircraft such as a radio-controlled helicopter may be used. Further, a camera with a GNSS function may be fixed to the upper end of a support rod, and a plurality of imaging images 56 may be captured as an operator moves within the farm field 18 while holding the support rod.

[0060] In the above embodiment, the imaging target area is the field 18, but the imaging target area is not limited. The present invention is particularly suitable for use in situations where it is desired to quickly grasp the overall image of a wide-area imaging target area, such as a mountain forest or a disaster area, in addition to the field 18.

[0061] [Technical ideas obtained from the 5th embodiment] The technical ideas that can be grasped from the above embodiment will be described below.

[0062] A first aspect of the present invention is an overhead display system 10 that displays an imaging target area (field 18) in an overhead view on a display unit 46, and includes an imaging unit 24 that captures a plurality of imaging images 56 while moving above the imaging target area in a state of being moved on a horizontal plane, a position detection unit 26 that detects an imaging position Pn when each of the plurality of imaging images 56 is captured, a storage unit (display device storage unit 42) that stores each of the plurality of imaging images 56 in association with the imaging position Pn when each of the plurality of imaging images 56 is captured, and a display control unit 52 that causes the plurality of imaging images 56 (thumbnail images 62) to be arranged side by side and displayed in an overhead view on the display unit 46 according to the plurality of imaging positions Pn corresponding to the plurality of imaging images 56.

[0063] According to the above configuration, the entire imaging target area (field 18) can be displayed in an overhead view on the display unit 46 by an easy process of arranging a plurality of thumbnail images 62 side by side. Further, according to the above configuration, since a process that requires time, such as creating a composite image, is not necessary, the imaging target area can be quickly displayed in an overhead view on the display unit 46.

[0064] In the first aspect of the present invention, the imaging unit 24 includes a trimming processing unit (image processing unit 50) that captures the plurality of imaging images 56 such that a part of two adjacent imaging images 56 overlaps, and performs trimming at an angle of view corresponding to a range in which two adjacent imaging images 56 overlap, and the display control unit 52 may cause the plurality of imaging images 56 (thumbnail images 62) after trimming to be arranged side by side and simultaneously displayed in an overhead view on the display unit 46.

[0065] According to the above configuration, in order to remove the overlapping portions of two adjacent captured images 56, when the imaging target area (field 18) is displayed in a bird's-eye view, the boundary portions of two adjacent thumbnail images 62 become easier to see.

[0066] In the first aspect of the present invention, the trimming processing unit (image processing unit 50) may determine the field of view angle based on the moving speed of the imaging unit 24, the imaging period T of the imaging unit 24, and the altitude of the imaging unit 24.

[0067] In the first aspect of the present invention, the imaging unit 24 captures a plurality of the captured images 56 such that a part of two adjacent captured images 56 overlaps, and includes a thinning processing unit (image processing unit 50) that performs a thinning process of thinning out some of the captured images 56 from among the plurality of consecutive captured images 56, and the display control unit 52 may display a bird's-eye view of the plurality of captured images 56 (thumbnail images 62) remaining after the thinning process side by side on the display unit 46 at the same time.

[0068] According to the above configuration, in order to thin out some of the captured images 56 from among the plurality of captured images 56, when the imaging target area (field 18) is displayed in a bird's-eye view, the boundary portions of two adjacent thumbnail images 62 become easier to see.

[0069] In the first aspect of the present invention, the display control unit 52 may display a map 72 of the area including the imaging target area (field 18) on the display unit 46, and may also display a plurality of the captured images 56 (thumbnail images 62) superimposed on the imaging target area within the map 72.

[0070] When there are a plurality of imaging target areas (fields 18), the operator may sometimes not know which imaging target area the displayed imaging target area is. According to the above configuration, it becomes easier to identify the position of the imaging target area (field 18).

[0071] In a first aspect of the present invention, it further includes a specifying unit (pointer 68) for specifying a part of the image displayed on the display unit 46, and the display control unit 52 arranges thumbnail images 62 corresponding to the respective captured images 56 to cause the display unit 46 to display an overhead view of the imaging target area (field 18). Also, when the specifying unit specifies one of the plurality of thumbnail images 62 from among the plurality of thumbnail images 62 while the display unit 46 is displaying an overhead view of the imaging target area, the captured image 56 corresponding to the specified thumbnail image 62 may be displayed on the display unit 46.

[0072] According to the above configuration, a part of the imaging target area (field 18) can be made easier to view. For example, when the situation (such as color) of a partial area within the imaging target area is different from the overall situation, the cause can be investigated by displaying the captured image 56 of that partial area.

[0073] In a first aspect of the present invention, when the display control unit 52 returns from the state where the display unit 46 is displaying the captured image 56 corresponding to the thumbnail image 62 to the state of displaying an overhead view of the imaging target area (field 18), the display control unit 52 arranges the thumbnail images 62 corresponding to the respective captured images 56 to cause the display unit 46 to display an overhead view of the imaging target area, and the thumbnail image 62 corresponding to the captured image 56 that the display unit 46 has been displaying may be displayed in an identifiable manner.

[0074] In a first aspect, the imaging target area may be a field 18.

[0075] A second aspect of the present invention is an overhead display device 16 for displaying an overhead view of an imaging target area (field 18) on a display unit 46, including a storage unit (display device storage unit 42) that stores in association a plurality of captured images 56 captured in a state where the imaging target area is moved horizontally above the imaging target area and the imaging positions Pn when each of the plurality of captured images 56 is captured, and a display control unit 52 that arranges the plurality of captured images 56 according to the plurality of imaging positions Pn corresponding to the plurality of captured images 56 and causes the display unit 46 to display an overhead view.

[0076] A third aspect of the present invention is an overhead display method for overhead displaying an imaging target area (field 18) on a display unit 46, including: an imaging step (step S1) of imaging a plurality of imaging images 56 in a state where the upper side of the imaging target area is moved on a horizontal plane; a position detection step (step S2) of detecting an imaging position Pn when each of the plurality of imaging images 56 is imaged; a storage step (steps S11, S21) of associating and storing each of the plurality of imaging images 56 with the imaging position Pn when each of the plurality of imaging images 56 is imaged; and a display step (steps S14, S24) of arranging the plurality of imaging images 56 (thumbnail images 62) according to the plurality of imaging positions Pn corresponding to the plurality of imaging images 56 and overhead displaying them on the display unit 46.

[0077] Note that the overhead display system, the overhead display device, and the overhead display method according to the present invention are not limited to the above-described embodiments, and various configurations can be adopted without departing from the gist of the present invention.

Explanation of Reference Numerals

[0078] 10... Overhead display system 16... Overhead display device 18... Field (imaging target area) 24... Imaging unit 26... Position detection unit 42... Display device storage unit (storage unit) 46... Display unit 50... Image processing unit (trimming processing unit, extraction processing unit) 52... Display control unit 56... Imaging image 62... Thumbnail image 68... Pointer (designation unit) 72... Map

Claims

1. An aerial view display system that displays an imaging target area in an aerial view on a display unit, an imaging unit that obtains a plurality of imaging images by imaging the imaging target area while moving above the imaging target area in a predetermined traveling direction, a position detection unit that detects an imaging position when each of the plurality of imaging images is captured, a storage unit that stores each of the plurality of imaging images in association with the imaging position when each of the plurality of imaging images is captured, a trimming processing unit that creates a trimming image that is an image obtained by trimming the imaging image, a display control unit that arranges the plurality of trimming images according to the plurality of imaging positions corresponding to the plurality of trimming images and causes the display unit to display them in an aerial view, comprising: the imaging unit captures the plurality of imaging images such that a part of two adjacent imaging images overlaps, the trimming processing unit creates each trimming image such that the imaging target area is displayed in an aerial view when the plurality of trimming images are arranged so that two adjacent trimming images are separated from each other, the display control unit arranges the plurality of trimming images so that two adjacent trimming images are separated from each other and causes the display unit to display them in an aerial view at the same time. An aerial view display system.

2. The aerial view display system according to claim 1, wherein the trimming processing unit trims the imaging image based on a moving speed of the imaging unit, an imaging period of the imaging unit, and an altitude of the imaging unit. An aerial view display system.

3. The aerial view display system according to claim 1 or 2, wherein the display control unit causes the display unit to display a map of an area including the imaging target area, and overlays and displays the plurality of trimming images on the imaging target area in the map. An aerial view display system.

4. The aerial view display system according to any one of claims 1 to 3, further comprising a specifying unit that specifies a part of an image displayed on the display unit. The display control unit causes the display unit to display an overhead view of the imaging target area by arranging thumbnail images corresponding to the trimming images corresponding to the respective imaging images. Further, when the designation unit designates one of the plurality of thumbnail images while the display unit is displaying an overhead view of the imaging target area, the imaging image corresponding to the designated thumbnail image is displayed on the display unit. An overhead view display system.

5. The overhead view display system according to claim 4, When the display control unit returns from the state in which the display unit is displaying the imaging image corresponding to the thumbnail image to the state of displaying an overhead view of the imaging target area, the display control unit arranges the thumbnail images corresponding to the respective imaging images to cause the display unit to display an overhead view of the imaging target area, and discriminately displays the thumbnail image corresponding to the imaging image that the display unit has been displaying. An overhead view display system.

6. The overhead view display system according to any one of claims 1 to 5, wherein the imaging target area is a farm field. An overhead view display system.

7. An overhead view display device for displaying an overhead view of an imaging target area on a display unit, a storage unit that stores, in association with each other, a plurality of imaging images obtained by imaging the imaging target area while moving above the imaging target area in a predetermined traveling direction, and imaging positions when each of the plurality of imaging images is taken; a trimming processing unit that creates a trimming image that is an image obtained by trimming the imaging image; a display control unit that arranges the plurality of trimming images according to the plurality of imaging positions corresponding to the plurality of trimming images and causes the display unit to display an overhead view; comprising: the plurality of imaging images are captured such that a part of two adjacent imaging images overlaps; the trimming processing unit creates each trimming image such that the imaging target area is displayed in an overhead view when the plurality of trimming images are arranged so that two adjacent trimming images are separated from each other; the display control unit arranges the plurality of trimming images so that two adjacent trimming images are separated from each other and simultaneously causes the display unit to display an overhead view. An overhead view display device.

8. An overhead view display method for displaying an overhead view of an imaging target area on a display unit, An imaging step of obtaining a plurality of imaging images by imaging the imaging target area while moving above the imaging target area in a predetermined traveling direction; A position detection step of detecting an imaging position when each of the plurality of imaging images is captured; A storage step of associating and storing each of the plurality of imaging images with the imaging position when each of the plurality of imaging images is captured; A trimming step of creating a trimming image which is an image obtained by trimming the imaging image; A display step of arranging the plurality of trimming images according to the plurality of imaging positions corresponding to the plurality of trimming images and causing the display unit to perform an overhead display; Comprising; In the imaging step, the plurality of imaging images are captured such that a part of two adjacent imaging images overlaps; In the trimming step, each trimming image is created such that the imaging target area is overhead-displayed when the plurality of trimming images are arranged such that two adjacent trimming images are separated from each other; An overhead display method, in the display step, the plurality of trimming images are arranged such that two adjacent trimming images are separated from each other and simultaneously overhead-displayed on the display unit.

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