Imaging support system, imaging support program, imaging support method

Abstract

To provide a system for supporting the photographing of an object by a flying body.SOLUTION: An imaging support system is an imaging support system including a flight device including a camera for capturing the image of an observation surface, and a terminal. The terminal includes an image display part for displaying the image acquired by the camera on a display part provided in the terminal, a distance display part for displaying, on the display part, distances between the observation surface and a plurality of distance sensors and acquired by respective distance sensors provided in the flight device, and a notification part for performing predetermined display, when the plurality of distances are in a predetermined relation.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

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

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

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

[0005] The above-mentioned technology involves the invention of a drone that automatically photographs an object, but such dedicated drones tend to be expensive. There is a demand for a cheaper, more accurate way to photograph objects by using software-based photography support functions based on the functions of existing drones.

[0006] Therefore, one object of the present invention is to provide a system that supports photographing an object using an aircraft. [Means for solving the problem]

[0007] According to the present invention, an imaging support system is obtained which has a flying device equipped with a camera that captures images of an observation surface, and a terminal, wherein the terminal is characterized in that it has an image display unit that displays the image captured by the camera on a display unit equipped on the terminal, a distance display unit that displays on the display unit the distance between the observation surface and each of the distance sensors captured by the multiple distance sensors equipped on the flying device, and an alarm unit that displays a predetermined display when the multiple distances are in a predetermined relationship. [Effects of the Invention]

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

[0009] [Figure 1] 1 is a diagram illustrating an example of the configuration of a system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a front view of the flight device 3. [Figure 3] FIG. 2 is a plan view of the flight device 3. [Figure 4] FIG. 2 is a diagram illustrating an example of the hardware configuration of the flight device 3. [Figure 5] 10 is a diagram illustrating a method of measuring distance using a distance sensor 39. FIG. [Figure 6] 10 is another diagram illustrating a method of measuring distance using the distance sensor 39. FIG. [Figure 7] FIG. 2 is a diagram illustrating an example of the software configuration of the flight device 3. [Figure 8] FIG. 2 is a diagram illustrating an example of the hardware configuration of a user terminal 1. [Figure 9] FIG. 2 is a diagram illustrating an example of the software configuration of a user terminal 1. [Figure 10] 10A and 10B are diagrams showing examples of screens displayed by a screen display unit and a distance display unit. [Figure 11] FIG. 10 is a diagram illustrating an example of a typical process according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] The present invention will be described below by listing the contents of the embodiments. The present invention has the following configuration. [Item 1] An imaging support system having a flying device equipped with a camera that captures an image of an observation surface and a terminal, The terminal an image display unit that displays the image acquired by the camera on a display unit provided in the terminal; a distance display unit that displays, on the display unit, the distances between the observation surface and each of the distance sensors acquired by the plurality of distance sensors included in the flight device; a notification unit that displays a predetermined display when the plurality of distances satisfy a predetermined relationship; An imaging support system comprising: [Item 2] an image storage unit that stores information about the distance at the time the image was captured in association with the image; 2. The imaging support system according to item 1, further comprising: [Item 3] the notification unit issues a predetermined notification when a difference in distance between the observation surface and each of the at least two distance sensors is within a predetermined range; 3. The imaging support system according to claim 1, wherein: [Item 4] a measurement position change unit that changes the position of the observation plane measured by the distance sensor; 4. The imaging support system according to item 3, further comprising: [Item 5] the distance display unit displays the distance by superimposing it on the image displayed by the image display unit; 5. The imaging support system according to item 4, [Item 6] An imaging support program having a flying device equipped with a camera that captures an image of an observation surface and a terminal, The processor an image display step of displaying the image acquired by the camera on a display unit provided in the terminal; a distance display step of displaying, on the display unit, distances between the observation plane and each of the distance sensors acquired by the plurality of distance sensors included in the flight device; a notification step of displaying a predetermined display when the plurality of distances satisfy a predetermined relationship; Shooting support program that executes [Item 7] An imaging support method having a flying device equipped with a camera that captures an image of an observation surface and a terminal, The processor: an image display step of displaying the image acquired by the camera on a display unit provided in the terminal; a distance display step of displaying, on the display unit, distances between the observation plane and each of the distance sensors acquired by the plurality of distance sensors included in the flight device; a notification step of displaying a predetermined display when the plurality of distances satisfy a predetermined relationship; An imaging assistance method for performing the above.

[0011] <Details of implementation form> Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In this specification and drawings, components having substantially the same functional configurations are designated by the same reference numerals, and redundant description will be omitted.

[0012] <Summary> 1 is a diagram showing an example of the overall configuration of an imaging support system according to one embodiment of the present invention. The invention support system of this embodiment includes a user terminal 1 and a flight device 3. The user terminal 1 is communicably connected to the flight device 3 via a communication network 2. The communication network 2 is, for example, the Internet, and is constructed using a public telephone network, a mobile phone network, a wireless communication path, Ethernet (registered trademark), or the like.

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

[0014] <Flight device 3> First, the flight device 3 will be described. As shown in FIG. 1, the flight device 3 performs information processing via communication with the user terminal 1, thereby constituting part of the imaging support system. The flight device 3 may be, for example, any flying object capable of hovering in the air for a certain period of time, and may be, but is not limited to, a multicopter, tilt rotor, vertical take-off and landing aircraft, etc. In this disclosure, an example of a multicopter will be described.

[0015] 2 and 3 show examples of the flight device 3. Note that the flight device 3 is not limited to the following example, as it may use existing multicopter devices and flight control implementations. The flight device 3 comprises an airframe 31, a battery 32 mounted on the bottom of the airframe 31, four flight motors 34 mounted near the tips of four arms 33 that protrude approximately horizontally in the diagonal forward and backward directions of the airframe 31 and driven by the battery 32, four pitch rotors 35 that are driven to rotate by the flight motors 34 and generate thrust, and four servo motors 36 mounted two on each of the four arms 33 and driven by the battery 32 to change the pitch of the four pitch rotors 35.

[0016] By changing the rotational speed of the pitch rotor 35 using the flight motor 34 and by changing the pitch of the pitch rotor 35 using the servo motor 36, the magnitude and direction of the thrust applied to the aircraft 31 and the orientation of the aircraft 31 can be changed, allowing the aircraft to take off, fly, and hover.

[0017] The flight device 3 is equipped with a control device 37 as a flight control means in the center of the body 31, which has an inertial measurement unit (IMU) as an aircraft information acquisition means having a 3-axis acceleration sensor and a 3-axis gyro sensor for flight control, a GPS, a flight controller (FC) having a conventional microcomputer, a wireless communication unit, and a power management unit (PMU).

[0018] The flight controller of the control device 37 receives power from the battery 32 via the power management unit and performs control to stabilize the position and attitude of the airframe 31 based on the acceleration, attitude, and position information of the airframe 31 obtained from the inertial measurement unit and GPS, thereby assisting the takeoff, flight, and hovering of the flight device 3. With the assistance of the control device 37, the flight device 3 can be remotely controlled relatively easily and safely by manually operating the control device, for example, by giving control commands from a normal digital proportional control device to the flight controller via the wireless communication unit of the control device 37.

[0019] In this embodiment, the control device 37 provided in the flight device 3 may perform control related to the imaging support described below in addition to flight control. A separate control device that performs control related to imaging support may be provided in the flight device 3, but the following describes an embodiment in which the control device 37 performs imaging support.

[0020] As shown in FIG. 4 , the control device 37 includes a processor 301, a memory 302, a storage device 303, a communication interface 304, an input device 105, and an output device 106. The storage device 303 stores various data and programs, and is, for example, a hard disk drive, a solid-state drive, or a flash memory. The communication interface 304 is an interface for connecting to the communication network 2, and is, for example, an adapter for connecting to Ethernet (registered trademark), a modem for connecting to a public telephone network, a wireless communication device for wireless communication, or a USB (Universal Serial Bus) connector or an RS232C connector for serial communication. The input device 305 is, for example, a keyboard, a mouse, a touch panel, buttons, a microphone, or the like for inputting data. The output device 306 is, for example, a display (display unit), a printer, a speaker, or the like for outputting data. Note that each processing unit of the control device 37, which will be described later, is realized by the processor 301 reading a program stored in the storage device #03 into the memory 302 and executing it, and each storage unit of the control device 37 is realized as part of the storage area provided by the memory 302 and the storage device 303.

[0021] The flight device 3 further includes a camera 38 and a distance sensor 39, examples of which are shown in FIGS.

[0022] The camera 38 may be any ordinary camera that captures images and videos. The camera 38 receives an instruction to capture an image from the control device 37 and captures an image.

[0023] The distance sensor 39 measures the distance between the sensor and the object to be imaged. The distance sensor 39 may use, for example, an existing camera (vision sensor), ultrasonic waves, electromagnetic waves, laser light, or the like, and the measurement method may be an existing implementation.

[0024] As an example, the distance sensor 39 may be disposed at approximately the target position (39a, 39b in FIG. 5) with the optical axis of the camera 38 as the center.

[0025] FIG. 5 shows an example of a distance measurement method using a distance sensor 39 (an ultrasonic sensor is shown). The flight device 3 is equipped with distance sensors 39 at at least two spaced locations. Each distance sensor 39 includes a transmitter that transmits ultrasonic waves and a receiver that receives the ultrasonic waves. Each distance sensor 39 transmits ultrasonic waves US toward the vertical plane OB of the target object, and receives the reflected waves from the vertical plane OB with the receiver. The distance sensor 39 continuously measures the distance from the distance sensor 39 to the vertical plane OB based on the time from transmission to reception of the ultrasonic waves US and the speed of sound. The distance sensor 39 then supplies a signal indicating the distance from the distance sensor 39 to the vertical plane OB to a distance information acquisition unit 312 (described later) of the control device 37. Each distance sensor 39 is positioned in the flight device 3 so that it can measure the distance to the target object in the direction of the optical axis of the camera 38 (indicated by the dotted arrow in the figure).

[0026] The distance sensor 39 may change the angle at which it emits ultrasonic waves. The angle at which it emits ultrasonic waves is changed when there is no object in front of at least one of the distance sensors 39 or at any timing, for example, when capturing an image of the edge of an object as shown in the example of Fig. 6. In this case, the angle at which it emits ultrasonic waves may be changed so that the angle (θ1, θ2) at which the distance sensor 39 emits ultrasonic waves falls within a predetermined difference when a line parallel to the direction of the optical axis of the camera (shown by the dotted line in Fig. 6) is drawn from the distance sensor 39 to the vertical plane OB (shown by the two-dot chain line in Fig. 6).

[0027] The distance sensor 39 may be a camera (vision sensor). The distance sensor 39 may measure depth using, but is not limited to, a TOF method, the principle of triangulation using a stereo camera, or the principle of distortion measurement using structured light. In this case, the camera 38 may also serve as the distance sensor 39. Even when measuring distance using a camera, the position at which the distance on the object is measured may be changed at any time. In this case, for example, if the position at which the distance sensor 39a measures the distance is point b in FIG. 6, point c may be specified so that the distance A from point a where the optical axis of the camera 38 intersects with the object to point b and the distance B between point b and point a where the distance sensor 39b measures the distance are in a predetermined relationship. The predetermined relationship between distance A and distance B may be satisfied when the difference between distance A and distance B is within a predetermined value, for example, 0 cm, 0.5 cm, 1 cm, 3 cm, or 5 cm.

[0028] The distance sensor 39 acquires distances in six directions, i.e., forward / backward, left / right, and up / down, of the airframe 31, and the distance information may be used to prevent collisions through the control device 37, for example, by changing the rotation speed of the pitch rotor 35 with the flight motor 34 and by changing the pitch of the pitch rotor 35 with the servo motor 36. Also, based on distance information acquired by a plurality of vision sensors that acquire distance information in the up / down direction, and based on image information captured using a camera with its optical axis facing up / down on the airframe 31,

[0029] 7 is a block diagram showing a functional configuration related to imaging support of the control device 37. As shown in FIG. 6, the control device 37 includes an imaging unit 311, a distance information acquisition unit 312, a transmission unit 313, an imaging instruction acquisition unit 314, an image storage unit 331, and a distance information storage unit 332.

[0030] The imaging unit 311 acquires images and videos using the camera 38. The imaging unit 311 may perform imaging without receiving an instruction from the control device 37 after activation, or may perform imaging when the imaging instruction acquisition unit 314 acquires an instruction to capture images from the user terminal 1. The imaging unit 311 may acquire an image when the imaging instruction acquisition unit 314, described later, acquires an instruction to capture images from the user terminal 1 while transmitting an image of the object to the user terminal 1, or may acquire a frame of the video being captured corresponding to the timing at which the imaging instruction was acquired as an image. The imaging unit 311 stores the acquired images and videos in the image storage unit 331. The imaging unit 311 may store the acquired images and videos in association with distance information, described later.

[0031] The distance information acquisition unit 312 acquires the distance between the distance sensor 39 and the vertical plane of the object using the distance sensor 39. The distance is measured by the method described above. The distance information acquisition unit 312 stores the distance information in the distance information storage unit 332.

[0032] The transmitting unit 313 transmits the video captured by the imaging unit 311 and the distance information acquired by the distance information acquiring unit 312 to the user terminal 1 .

[0033] The imaging instruction acquisition unit 314 acquires an instruction to capture an image from the user terminal 1. When the imaging instruction acquisition unit 314 acquires the instruction, the imaging unit 311 acquires an image of the target object at that time, as described above.

[0034] <User device 1> 1, the user terminal 1 constitutes part of the imaging support system by performing information processing via communication with the flight device 3. The user terminal 1 may be, for example, a general-purpose computer such as a workstation or personal computer, or may be a mobile communication device such as a smartphone or tablet.

[0035] As shown in FIG. 8, the user terminal 1 includes a processor 101, a memory 102, a storage device 103, a communication interface 104, an input device 105, and an output device 106. The storage device 103 stores various data and programs, and is, for example, a hard disk drive, a solid-state drive, or a flash memory. The communication interface 104 is an interface for connecting to the communication network 2, and is, for example, an adapter for connecting to Ethernet (registered trademark), a modem for connecting to a public telephone network, a wireless communication device for wireless communication, or a USB (Universal Serial Bus) connector or an RS232C connector for serial communication. The input device 105 is, for example, a keyboard, a mouse, a touch panel, buttons, a microphone, or the like for inputting data. The output device 106 is, for example, a display (display unit), a printer, a speaker, or the like for outputting data. Note that each processing unit of the user terminal 1, which will be described later, is realized by the processor 101 reading a program stored in the storage device 103 into the memory 102 and executing it, and each storage unit of the user terminal 1 is realized as part of the storage area provided by the memory 102 and the storage device 103.

[0036] 9 is a block diagram showing the functional configuration of the user terminal 1. The user terminal 1 includes processing units, namely, an image acquisition unit 111, a distance information acquisition unit 112, an image display unit 113, a distance display unit 114, a notification unit 115, an instruction information transmission unit 116, and a measurement position change unit 117, as well as storage units, namely, an image storage unit 331 and a distance information storage unit 332.

[0037] As an example, the image acquisition unit 111 acquires images acquired and transmitted by the flying device 3. The image acquisition unit 111 stores the acquired images in the image storage unit 131. Note that the image storage unit 131 may store distance information acquired by the distance information acquisition unit 112 (described later) in association with the images.

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

[0039] The image display unit 113 displays the image acquired by the image acquisition unit 111 on a display unit included in the user terminal 1, for example.

[0040] The distance display unit 114 displays the distance information acquired by the distance information acquisition unit 112 on a display unit included in the user terminal 1, for example.

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

[0042] Marks (413a, 413b) indicating positions on the object to which distances have been acquired by distance sensor 39 may be displayed on screen 41. The distance corresponding to position 413a is 412a, and the distance corresponding to position 413b is 412b. Screen 41 is an example, and there may be two or more positions on the object.

[0043] The image display unit 113 may display, on the user terminal 1, a button or the like (413) for acquiring an instruction to capture an image from the user, as shown in an example in FIG.

[0044] When multiple pieces of distance information acquired by the flight device 3 from different distance sensors 39 at the same time and transmitted to the user terminal 1 have a predetermined relationship, the notification unit 115 notifies, on part or all of the screen, that it is appropriate timing for capturing an image. Methods of notification may include, but are not limited to, highlighting on the screen of the user terminal 1, emitting a predetermined sound from the user terminal 1, or vibrating the user terminal 1. As an example, the notification unit may change the color of the button 413 in FIG. 10 for inputting an image capture command.

[0045] For example, when the difference in distances acquired at the same time from the multiple distance sensors 39 is within a predetermined value, for example, within 1 cm, 3 cm, 5 cm, or 10 cm, the notification unit 115 may highlight the difference on the screen of the user terminal 1. The highlighting may be, but is not limited to, a change in the color of the button, blinking, enlarging, or repeatedly enlarging and reducing the button.

[0046] The notification unit 115 may notify by indicating the degree of direct facing between the target and the flight device 3, as shown in 414 in FIG. 10. 414 in FIG. 10 consists of, for example, five zones, with the second zone from the right being highlighted by coloring. This indicates that the distance between 413a and the corresponding distance sensor is 1.8 m (412a), and the distance between 413b and the corresponding distance sensor is 1.75 m (412b), indicating that 413a is farther from the target than 413b, and that the distance is slightly greater. When the notification unit 115 highlights the middle zone of 414 by coloring, it indicates that the target and the flight device 3 are almost directly facing each other, but there is no difference between the distance between 413a and the corresponding distance sensor and the distance between 413b and the corresponding distance sensor.

[0047] For example, when the difference in distances acquired at the same time from the multiple distance sensors 39 is within a predetermined value, for example, within 1 cm, 3 cm, 5 cm, or 10 cm, the notification unit 115 may highlight the difference on the screen of the user terminal 1. Examples of highlighting include, but are not limited to, changing the color of the button (413), blinking, enlarging, or repeatedly enlarging and reducing the button.

[0048] The instruction information transmission unit 116 acquires image capture instruction information from the user and transmits it to the flying device 3. The instruction information transmission unit 116 may transmit an image capture instruction to the flying device 3 when the user taps a button or the like that is presented on the user terminal 1 by the image display unit 113 and that acquires an image capture instruction from the user.

[0049] The measurement position change unit 117 changes the position of the observation plane measured by the distance sensor 39. Specifically, it changes the angle at which the distance sensor 39 emits ultrasonic waves using the method described above. The measurement position change unit 117 may analyze the image acquired by the image acquisition unit 111 and change the measurement position if there is no observation target at a predetermined position on the screen. Alternatively, the measurement position change unit 117 may measure the time between when multiple distance sensors 39 emit ultrasonic waves and when the ultrasonic receivers receive them, and change the measurement position if the respective times are separated by a predetermined time or more. Alternatively, the measurement position change unit 117 may present 413a and 413b shown in FIG. 10 on the user terminal 1 so that the user can tap them, and change the measurement position when the user changes the measurement position to any position on the screen. In this case, the measurement position change unit 117 may automatically shift 413b 10 cm to the right if the user shifts 413a by 10 cm to the left, for example.

[0050] A typical processing flow of this embodiment will be described using FIG. 11. The imaging unit 311 of the flying device 3 captures an image (3001). The distance information acquisition unit 312 acquires distance information (3002). The transmission unit 313 transmits the image and distance information to the user terminal 1 (3003). The image acquisition unit 111 of the user terminal 1 acquires an image, and the distance information acquisition unit 112 acquires distance information (1001). The image display unit 113 and the distance display unit 114 display the image and distance information on the user terminal 1 (1002). The notification unit 115 notifies the user that it is time to take a photo when the distance information has a predetermined relationship (1003). The instruction information transmission unit 116 acquires an instruction to take a photo from the user via the user terminal 1 and transmits it to the flying device 3 (1004). When the imaging instruction acquisition unit 314 receives an instruction to take a photo from the user terminal 1, the imaging unit 311 captures an image (3004). The distance information acquisition unit 312 acquires distance information at the time the imaging unit 311 captured the image (3005). The transmission unit 313 transmits the image and distance information to the user terminal 1 (3006). The image acquisition unit 111 and the distance information acquisition unit 112 acquire the image and distance information (1005). The image acquisition unit 111 and the distance information acquisition unit 112 associate the image and distance information and store them in the user terminal 1 (1006).

[0051] Although preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, the technical scope of the present disclosure is not limited to such examples. The above-described embodiments are merely examples for facilitating understanding of the present invention and are not intended to limit the scope of the present disclosure. The present invention can be modified and improved without departing from the spirit thereof, and it goes without saying that the present invention includes equivalents thereof. Furthermore, it is clear that a person skilled in the art of the present disclosure can conceive of various modified or altered examples within the scope of the technical ideas described in the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure.

[0052] The devices described in this specification may be realized by a plurality of devices (e.g., cloud servers) that are partly or entirely connected via a network. For example, the processor and storage device of the user terminal 1 may be realized by different servers that are connected to each other via a network.

[0053] The series of processes performed by the device described herein may be implemented using software, hardware, or a combination of software and hardware. A computer program for implementing each function of the user terminal 1 according to this embodiment may be created and installed on a PC or the like. A computer-readable recording medium on which such a computer program is stored may also be provided. Examples of the recording medium include a magnetic disk, an optical disk, a magneto-optical disk, and a flash memory. The computer program may also be distributed, for example, via a network, without using a recording medium.

[0054] Additionally, the processes described herein do not necessarily have to be performed in the order described, some process steps may be performed in parallel, additional process steps may be employed, and some process steps may be omitted.

[0055] Furthermore, the effects described herein are merely descriptive or exemplary and are not limiting. In other words, the technology according to the present disclosure may achieve other effects that will be apparent to those skilled in the art from the description of this specification, in addition to or in place of the above-described effects. [Explanation of symbols]

[0056] 1. User terminal 2 Network 3 Flight equipment 31 aircraft 32 Battery 33 Arms 34 Flight Motor 35 pitch rotor 36 Servo motor 37 Control Device 38 Camera 39 Distance Sensor 101 processors 102 memory 103 Storage device 104 Communication Interface 105 Input Device 106 Output Device 111 Image acquisition unit 112 Distance information acquisition section 113 Image display unit 114 Distance display section 115 Information Department 116 Instruction information transmission unit 117 Measurement position change unit 131 Image storage unit 132 Distance information storage unit 301 processor 302 memory 303 Storage device 304 Communication Interface 305 Input Device 311 Imaging unit 312 Distance information acquisition section 313 Transmitter 314 Imaging instruction acquisition unit 331 Image storage unit 332 Distance information storage unit

Claims

1. An imaging support system having a flying device equipped with a camera that captures an image of an observation surface and a terminal, The terminal an image display unit that displays the image acquired by the camera on a display unit provided in the terminal; a distance display unit that displays, on the display unit, the distances between the observation surface and each of the distance sensors acquired by the plurality of distance sensors included in the flight device; a notification unit that displays a predetermined display on the display unit to visually indicate the degree of alignment between the observation surface and the flight device when the plurality of distances are in a predetermined relationship; An imaging support system comprising:

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

3. a measurement position change unit that changes the position of the observation plane measured by the distance sensor; 3. The imaging support system according to claim 1, further comprising:

4. the distance display unit displays the distance by superimposing it on the image displayed by the image display unit; 3. The imaging support system according to claim 1, wherein:

5. An imaging support program having a flying device equipped with a camera that captures an image of an observation surface and a terminal, The processor an image display step of displaying the image acquired by the camera on a display unit provided in the terminal; a distance display step of displaying, on the display unit, distances between the observation plane and each of the distance sensors acquired by the plurality of distance sensors included in the flight device; a notification step of displaying a predetermined display on the display unit visually indicating the degree of alignment between the observation plane and the flight device when the plurality of distances are in a predetermined relationship; Shooting support program that executes

6. An imaging support method having a flying device equipped with a camera that captures an image of an observation surface and a terminal, The processor: an image display step of displaying the image acquired by the camera on a display unit provided in the terminal; a distance display step of displaying, on the display unit, distances between the observation plane and each of the distance sensors acquired by the plurality of distance sensors included in the flight device; a notification step of displaying a predetermined display on the display unit visually indicating the degree of alignment between the observation plane and the flight device when the plurality of distances are in a predetermined relationship; An imaging assistance method for performing the above.

Images