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

Abstract

This imaging assistance device comprises a processor and a memory connected to or built in the processor. The processor performs control for, when an image of a region, an image of which is to be captured, is captured by an imaging device, causing a projection device to make a transition from a state in which projection light indicating at least the position of the region in a subject is projected onto the subject by the projection device to a state in which the projection light is suppressed.

Description

Technical Field

[0001] The technology of the present disclosure relates to an imaging support device, an imaging system, an imaging support method, and a program.

Background Art

[0002] Japanese Unexamined Patent Application Publication No. 2018-189564 discloses an image inspection apparatus having a plurality of light-emitting elements that generate illumination light of a plurality of different lighting colors, an illumination unit that irradiates an object with the illumination light of each lighting color, an imaging unit that receives reflected light from the object and generates a spectral image of the object, a control unit that controls the illumination unit and the imaging unit, a generation unit that synthesizes a plurality of spectral images acquired by the imaging unit to generate an inspection image, and an inspection unit that inspects the object using the inspection image. The control unit turns off the plurality of light-emitting elements, causes the imaging unit to receive reflected light from the object due to ambient light to acquire an ambient light image of the object, and the generation unit has a subtraction unit that subtracts the ambient light image from each of the plurality of spectral images, and a synthesis unit that synthesizes the plurality of spectral images from which the ambient light image has been subtracted to generate an inspection image.

[0003] Japanese Unexamined Patent Application Publication No. 2019-45724 discloses a mobile device including a light-emitting means, a movement control means for controlling the movement of the mobile device, a light-emitting means for indicating the movement status of the mobile device, an acquisition means for acquiring an exposure setting of an imaging means connected to the mobile device, and a light-emitting control means for controlling the light emission of the light-emitting means based on the exposure setting.

[0004] Japanese Patent Application Laid-Open No. 2018-515958 discloses an apparatus for performing dual-mode imaging under different illumination conditions, including a sensor configured to image a target, and a dual-mode illumination light source configured to illuminate the target while the sensor images the target. The dual-mode illumination light source is configured to illuminate the target with light of a first wavelength under a first illumination condition and with light of a second wavelength under a second illumination condition.

Summary of the Invention

[0005] One embodiment of the technology of this disclosure provides, for example, an imaging support device, imaging system, imaging support method, and program that can suppress the influence of projected light on an image obtained by imaging a target area, compared to the case where the target area is imaged by an imaging device while projected light representing at least the position of the target area on the subject is projected onto the subject. [Means for solving the problem]

[0006] A first aspect of the technology of this disclosure is an imaging support device comprising a processor and a memory connected to or built into the processor, wherein the processor controls the projection device to transition from a state in which projection light representing at least the position of the area to be imaged on the subject is projected onto the subject by a projection device to a state in which projection light is suppressed when the area to be imaged is imaged by an imaging device.

[0007] A second aspect of the technology of this disclosure is an imaging support device according to the first aspect, wherein when an area to be imaged is imaged by an imaging device, the processor receives an imaging instruction to be given to the imaging device.

[0008] A third aspect of the technology of this disclosure is an imaging support device according to the second aspect, wherein the imaging instruction includes an imaging preparation instruction caused by half-pressing the release button of the imaging device.

[0009] A fourth aspect of the technology of this disclosure is an imaging support device relating to any one of the first to third aspects, wherein the state in which projection light is suppressed is a state in which projection light is stopped.

[0010] A fifth aspect of the technology of this disclosure is an imaging support device relating to any one of the first to fourth aspects, wherein the processor controls the projection device to project projection light onto the subject.

[0011] A sixth aspect of the technology of this disclosure is an imaging support device relating to any one of the first to fifth aspects, wherein the projection light includes projection light representing the position of the edge of the area to be imaged.

[0012] A seventh aspect of the technology of this disclosure is an imaging support device relating to any one of the first to sixth aspects, wherein the projection light includes projection light representing the position of the center of the area to be imaged.

[0013] An eighth aspect of the technology of this disclosure is an imaging support device relating to any one of the first to seventh aspects, wherein the projection light includes projection light representing the range of the area to be imaged.

[0014] A ninth aspect of the technology of this disclosure is an imaging support device relating to any one of the first to eighth aspects, wherein the projection light includes projection light displayed in a grid pattern.

[0015] A tenth aspect of the technology of this disclosure is an imaging support device relating to any one of the first to eighth aspects, wherein the projection light includes projection light displayed in a rectangular shape.

[0016] An eleventh aspect of the technology of this disclosure is an imaging support device relating to any one of the first to tenth aspects, wherein the projection light includes projection light representing the imaging sequence.

[0017] A twelfth aspect of the technology of this disclosure is an imaging support device relating to any one of the first to eleventh aspects, wherein the processor controls the projection device to move the projected light along the subject.

[0018] A thirteenth aspect of the technology of this disclosure is an imaging support device according to the twelfth aspect, wherein a part of a first imaging area corresponding to the projection light before movement and a part of a second imaging area corresponding to the projection light after movement overlap.

[0019] A fourteenth aspect of the technology of this disclosure is an imaging support device relating to any one of the first to thirteenth aspects, wherein the projection light includes projection light that represents dimensions.

[0020] A fifteenth aspect of the technology of this disclosure is an imaging support device relating to any one of the first to fourteenth aspects, wherein the projection light includes projection light that represents information about the subject.

[0021] A sixteenth aspect of the technology of this disclosure is an imaging support device relating to any one of the first to fifteenth aspects, wherein the processor controls the projection of projection light onto a subject according to a predetermined plan.

[0022] A 17th aspect of the technology of this disclosure is an imaging support device according to the 16th aspect, wherein the plan includes at least one of a projection position, projection range, and projection sequence for projecting projection light onto a subject.

[0023] An eighteenth aspect of the technology of this disclosure is an imaging support device relating to any one of the first to seventeenth aspects, wherein the projection light includes projection light representing the damaged area of ​​the subject.

[0024] A 19th aspect of the technology of this disclosure is an imaging support device relating to any one of the first to 18th aspects, wherein the processor outputs relative information representing the relative relationship between the imaging range of the imaging device and the area to be imaged.

[0025] A 20th aspect of the technology of this disclosure is an imaging support device relating to any one of the first to 19th aspects, wherein the processor controls the imaging device to image a subject when predetermined imaging conditions are met.

[0026] The 21st aspect according to the technology of the present disclosure is an imaging support device according to any one of the 1st to 20th aspects, wherein when the imaging device images the imaging region, the processor further controls the projection device to maintain the projection light.

[0027] The 22nd aspect according to the technology of the present disclosure is an imaging system including an imaging support device according to any one of the 1st to 21st aspects, a projection device, and an imaging device.

[0028] The 23rd aspect according to the technology of the present disclosure is an imaging support method including projecting projection light representing at least the position of the imaging region on the subject by a projection device, and suppressing the projection light with respect to the projection device when the imaging device images the imaging region.

[0029] The 24th aspect according to the technology of the present disclosure is a program for causing a computer to execute a process including performing control to transition from a state where projection light representing at least the position of the imaging region on the subject is projected by a projection device to a state where the projection light is suppressed with respect to the projection device when the imaging device images the imaging region.

Brief Description of Drawings

[0030] [Figure 1] It is a perspective view showing an example of the configuration of an inspection system according to an embodiment of the technology of the present disclosure. [Figure 2] It is a block diagram showing an example of the configuration of an imaging support device according to an embodiment. [Figure 3] It is a block diagram showing an example of the configuration of a projection device according to an embodiment. [Figure 4] It is a block diagram showing an example of the configuration of an imaging device according to an embodiment. [Figure 5] It is a block diagram showing an example of the functional configuration of a processor included in an imaging support device according to an embodiment. [Figure 6]This is a block diagram showing an example of the functional configuration of a processor included in a projection device according to this embodiment. [Figure 7] This block diagram shows an example of the functional configuration of a processor included in an imaging device according to this embodiment. [Figure 8] This block diagram shows an example of the operation of the imaging system when projection light is projected onto an object to be inspected according to the embodiment. [Figure 9] This block diagram shows an example of the operation of the imaging system when an image for visual inspection according to the embodiment is acquired. [Figure 10] This block diagram shows an example of the operation of the imaging system when the imaging device according to the embodiment transitions to an imaging preparation state. [Figure 11] This block diagram shows an example of the operation of the imaging system when the projection light projected onto the object to be inspected according to the embodiment is stopped. [Figure 12] This block diagram shows an example of the operation of the imaging system when an image for analysis according to the embodiment is acquired. [Figure 13] This block diagram shows an example of the operation of the imaging system when the projection and imaging processes according to the embodiment are completed. [Figure 14] This flowchart shows an example of the flow of the visual inspection image acquisition process, which is one of the imaging support processes performed in the imaging support device according to the embodiment. [Figure 15] This flowchart shows an example of the flow of the analysis image acquisition process, which is one of the imaging support processes performed in the imaging support device according to the embodiment. [Figure 16] This flowchart shows an example of the flow of the projection process performed in the projection device according to the embodiment. [Figure 17] This flowchart shows an example of the flow of the visual inspection image acquisition process, which is one of the imaging processes performed in the imaging device according to the embodiment. [Figure 18] This flowchart shows an example of the flow of the image acquisition process for analysis, which is one of the imaging processes performed in the imaging device according to the embodiment. [Figure 19]This is a perspective view of an object to be inspected and an imaging support device showing a first modified example relating to the projection light projected onto the object to be inspected according to the embodiment. [Figure 20] This is a perspective view of an object to be inspected, showing a second modified example relating to the projected light projected onto the object to be inspected according to the embodiment. [Figure 21] This is an enlarged front view of the main part of an object to be inspected, showing a third modified example relating to the projected light projected onto the object to be inspected according to the embodiment. [Figure 22] This is an enlarged front view of the main part of an object to be inspected, showing a fourth modified example relating to the projected light projected onto the object to be inspected according to the embodiment. [Figure 23] This is an enlarged front view of the main part of an object to be inspected, showing a fifth modified example relating to the projected light projected onto the object to be inspected according to the embodiment. [Figure 24] This is an enlarged front view of the main part of an object to be inspected, showing a sixth modified example relating to the projected light projected onto the object to be inspected according to the embodiment. [Figure 25] This is an enlarged front view of the main part of an object to be inspected, showing a seventh modified example relating to the projected light projected onto the object to be inspected according to the embodiment. [Figure 26] This is an enlarged front view of the main part of an object to be inspected, showing an eighth modified example relating to the projected light projected onto the object to be inspected according to the embodiment. [Figure 27] This is an enlarged front view of the main part of an object to be inspected, showing a ninth modified example relating to the projected light projected onto the object to be inspected according to the embodiment. [Figure 28] This is an enlarged front view of the main part of an object to be inspected, showing a tenth modified example relating to the projected light projected onto the object to be inspected according to the embodiment. [Figure 29] This is an enlarged front view of the main part of an object to be inspected, showing an eleventh modified example relating to the projected light projected onto the object to be inspected according to the embodiment. [Figure 30] This is an enlarged front view of the main part of an object to be inspected, showing a twelfth modified example relating to the projected light projected onto the object to be inspected according to the embodiment. [Figure 31] This is a block diagram of an imaging system showing a 13th modified example relating to the projection light projected onto the object to be inspected according to the embodiment. [Figure 32]This is a block diagram of an imaging system showing a 14th modified example relating to the projection light projected onto an object to be inspected according to the embodiment. [Figure 33] This is a block diagram of an imaging system showing a 15th modified example relating to the projection light projected onto an object to be inspected according to the embodiment. [Figure 34] This is a block diagram of an imaging system showing a 16th modified example relating to the projection light projected onto an object to be inspected according to the embodiment. [Figure 35] This is a block diagram of an imaging system showing a 17th modified example relating to the projection light projected onto an object to be inspected according to the embodiment. [Figure 36] This is a block diagram of an imaging system showing an 18th modified example relating to the projection light projected onto an object to be inspected according to the embodiment. [Figure 37] This is a block diagram of an imaging system showing a 19th modified example relating to the imaging operation of the imaging system according to the embodiment. [Figure 38] This is a block diagram of an imaging system showing a 20th modified example relating to the imaging operation of the imaging system according to the embodiment. [Figure 39] This is a block diagram of an imaging support device and an external device showing a 21st modified example relating to the imaging support device according to the embodiment. [Figure 40] This is a block diagram of an imaging support device and a storage medium showing a 22nd modified example of the imaging support device according to the embodiment. [Modes for carrying out the invention]

[0031] The imaging support device, imaging system, imaging support method, and program related to the technology of this disclosure will be described below in accordance with the attached drawings.

[0032] First, let's explain the terminology used in the following explanation.

[0033] CPU stands for "Central Processing Unit". GPU stands for "Graphics Processing Unit". NVM stands for "Non-Volatile Memory". RAM stands for "Random Access Memory". IC stands for "Integrated Circuit". ASIC stands for "Application Specific Integrated Circuit". PLD stands for "Programmable Logic Device". FPGA stands for "Field-Programmable Gate Array". SoC stands for "System-on-a-chip". SSD stands for "Solid State Drive". HDD stands for "Hard Disk Drive". EEPROM stands for "Electrically Erasable and Programmable Read Only Memory". DRAM stands for "Dynamic Random Access Memory". SRAM stands for "Static Random Access Memory". I / F stands for "Interface". USB stands for "Universal Serial Bus". CMOS stands for "Complementary Metal Oxide Semiconductor". CCD stands for "Charge Coupled Device". LAN stands for "Local Area Network". WAN stands for "Wide Area Network". EL stands for "Electro Luminescence". DLP stands for "D i MEMS is an abbreviation for "digital light processing."

[0034] In this specification, “match” means not only a perfect match, but also a match that includes errors that are generally acceptable in the art to which the disclosed art pertains, and that do not contradict the spirit of the disclosed art.

[0035] As an example, as shown in Figure 1, the inspection system S is equipped with an imaging support device 10, a projection device 100, an imaging device 200, and an image analysis device 300, and inspects the object to be inspected 2. As an example, the object to be inspected 2 is a bridge pier. As an example, the bridge pier is made of reinforced concrete. Here, a bridge pier is given as an example of the object to be inspected 2, but the object to be inspected 2 may be road facilities other than bridge piers. Examples of road facilities include road surfaces, tunnels, guardrails, traffic lights, and / or windbreak fences. The object to be inspected 2 may also be social infrastructure other than road facilities (e.g., airport facilities, port facilities, water storage facilities, gas facilities, medical facilities, fire-fighting facilities, and / or educational facilities, etc.), or it may be privately owned property. Furthermore, the object to be inspected 2 may also be land (e.g., state-owned land and / or privately owned land, etc.).

[0036] The bridge pier exemplified as the object to be inspected 2 may be a bridge pier made of a material other than reinforced concrete. Furthermore, in this embodiment, inspection refers to, for example, the inspection of the condition of the object to be inspected 2. For example, the presence or absence of damage to the object to be inspected 2 and / or the extent of the damage are inspected by the inspection system S. The object to be inspected 2 is an example of a "subject" related to the technology of this disclosure.

[0037] The imaging support device 10, the projection device 100, and the imaging device 200 form an imaging system 1. The imaging system 1 is a system that provides image data obtained by imaging the object to be inspected 2 by the imaging device 200 to an image analysis device 300. The image analysis device 300 performs image analysis processing on the image data and outputs inspection results regarding the presence or absence of damage to the object to be inspected 2 and / or the degree of damage. As an example, the image analysis processing is a process that analyzes images using artificial intelligence or the like.

[0038] The imaging support device 10 is, for example, a notebook personal computer. Here, a notebook personal computer is used as an example of the imaging support device 10, but this is merely an example, and it may also be a desktop personal computer. Furthermore, it is not limited to a personal computer; it may also be a server. The server may be a mainframe used on-premises with the projection device 100 and / or imaging device 200, or it may be an external server implemented by cloud computing. Alternatively, the server may be an external server implemented by network computing such as fog computing, edge computing, or grid computing. The imaging support device 10 is communicated with the projection device 100, the imaging device 200, and the image analysis device 300.

[0039] The projection device 100 is, for example, a laser light source type projector. Here, a laser light source type projector is given as an example of the projection device 100, but this is merely an example, and it may also be a liquid crystal panel type projector or a DLP type projector. The projection device 100 is installed in a position where projection light 4 can be projected onto the entire surface of the object to be inspected 2.

[0040] The imaging device 200 is, for example, a digital camera with interchangeable lenses. Here, a digital camera with interchangeable lenses is given as an example of the imaging device 200, but this is merely one example, and it may also be a digital camera built into various electronic devices such as smart devices or wearable terminals. Furthermore, the imaging device 200 may also be a pair of eyeglasses or a head-mounted display terminal worn on the head.

[0041] As an example, as shown in Figure 2, the imaging support device 10 includes a computer 12, a reception device 14, a display 16, an external I / F 18, a first communication I / F 20, a second communication I / F 22, and a third communication I / F 24.

[0042] Computer 12 is an example of a “computer” relating to the technology of this disclosure. Computer 12 comprises a processor 30, storage 32, and RAM 34. The processor 30 is an example of a “processor” relating to the technology of this disclosure, and the RAM 34 is an example of “memory” relating to the technology of this disclosure.

[0043] The processor 30, storage 32, RAM 34, external I / F 18, first communication I / F 20, second communication I / F 22, and third communication I / F 24 are connected to bus 36. In the example shown in Figure 2, for illustrative purposes, one bus is shown as bus 36, but there may be multiple buses. Bus 36 may be a serial bus, or a parallel bus including a data bus, address bus, and control bus, etc.

[0044] The processor 30, for example, has a CPU and controls the entire imaging support device 10. Here, an example is given where the processor 30 has a CPU, but this is only one example. For example, the processor 30 may have both a CPU and a GPU. In this case, for example, the GPU operates under the control of the CPU and is responsible for performing image processing.

[0045] Storage 32 is a non-volatile memory device that stores various programs and parameters. Examples of storage 32 include HDDs and SSDs. Note that HDDs and SSDs are merely examples, and flash memory, magnetoresistive memory, and / or ferroelectric memory may be used instead of, or in conjunction with, HDDs and / or SSDs.

[0046] RAM34 is memory that temporarily stores information and is used as work memory by the processor 30. Examples of RAM34 include DRAM and / or SRAM.

[0047] The reception device 14 has a keyboard, mouse, and touch panel, and receives instructions from a user such as the imager 6. The display 16 displays various information (e.g., images and text) under the control of the processor 30. Examples of the display 16 include an EL display (e.g., an organic EL display or an inorganic EL display). However, it is not limited to EL displays; other types of displays such as liquid crystal displays may also be used.

[0048] The external I / F 18 is responsible for the exchange of various types of information between the imaging support device 10 and devices located outside of it (e.g., smart devices, personal computers, servers, USB memory sticks, memory cards, and / or printers). An example of the external I / F 18 is a USB interface. Various devices (not shown) such as smart devices, personal computers, servers, USB memory sticks, memory cards, and / or printers are directly or indirectly connected to the USB interface.

[0049] The first communication interface 20 is connected to the projection device 100 in a communicative manner. Here, the first communication interface 20 is connected to the projection device 100 in a wireless communication manner using a predetermined wireless communication standard. A predetermined wireless communication standard is, for example, Bluetooth®. However, other wireless communication standards (e.g., Wi-Fi or 5G) may also be used. Although wireless communication is used as an example here, the technology of this disclosure is not limited thereto, and wired communication may be applied instead of wireless communication. The first communication interface 20 is responsible for the exchange of information with the projection device 100. For example, the first communication interface 20 transmits information to the projection device 100 in response to a request from the processor 30. The first communication interface 20 also receives information transmitted from the projection device 100 and outputs the received information to the processor 30 via the bus 36.

[0050] The second communication interface 22 is connected to the imaging device 200 in a communicative manner. Here, the second communication interface 22 is connected to the imaging device 200 wirelessly using a predetermined wireless communication standard. Although wireless communication is used as an example here, the technology of this disclosure is not limited thereto, and wired communication may be applied instead of wireless communication. The second communication interface 22 is responsible for the exchange of information with the imaging device 200. For example, the second communication interface 22 transmits information to the imaging device 200 in response to a request from the processor 30. The second communication interface 22 also receives information transmitted from the imaging device 200 and outputs the received information to the processor 30 via the bus 36.

[0051] The third communication interface 24 is connected to the image analysis device 300 in a communicative manner. Here, the third communication interface 24 is connected to the image analysis device 300 wirelessly using a predetermined wireless communication standard. Although wireless communication is used as an example here, the technology of this disclosure is not limited thereto, and wired communication may be applied instead of wireless communication. The third communication interface 24 is responsible for the exchange of information with the image analysis device 300. For example, the third communication interface 24 transmits information to the image analysis device 300 in response to a request from the processor 30. The third communication interface 24 also receives information transmitted from the image analysis device 300 and outputs the received information to the processor 30 via the bus 36.

[0052] As an example, as shown in Figure 3, the projection device 100 includes a computer 102, a laser light source 104, a laser light source driver 106, a scanner mechanism 108, a scanner driver 110, an input / output interface 112, and a communication interface 114.

[0053] The input / output interface 112 is connected to the computer 102, the communication interface 114, the laser light source driver 106, and the scanner driver 110.

[0054] Computer 102 comprises a processor 120, storage 122, and RAM 124. The processor 120, storage 122, and RAM 124 are interconnected via a bus 126, which is connected to an input / output interface 112. In the example shown in Figure 3, for illustrative purposes, a single bus is shown as bus 126, but there may be multiple buses. Bus 126 may be a serial bus or a parallel bus including a data bus, address bus, and control bus, etc.

[0055] The processor 120, for example, has a CPU and controls the entire projection device 100.

[0056] Storage 122 is a non-temporary storage medium that stores various parameters and programs. For example, storage 122 is an EEPROM. However, this is merely an example, and an HDD and / or SSD may be used as storage 122 instead of, or in conjunction with, an EEPROM. RAM 124 temporarily stores various information and is used as work memory.

[0057] The processor 120 reads the necessary program from the storage 122 and executes the read program in the RAM 124. The processor 120 controls the entire projection device 100 according to the program executed on the RAM 124. In the example shown in Figure 3, the communication I / F 114, the laser light source driver 106, and the scanner driver 110 are controlled by the processor 120.

[0058] The laser light source 104 is, for example, a laser diode and outputs laser light. The laser light is, for example, laser light in the red wavelength band, but it may also be laser light in the wavelength band of a color other than red. A laser light source driver 106 is connected to the laser light source 104. The laser light source driver 106 controls the laser light source 104 according to instructions from the processor 120.

[0059] The scanner mechanism 108 is, for example, a galvanometer mirror scanner or a MEMS mirror scanner, and comprises a scanner mirror (not shown) and a scanner actuator (not shown). The scanner mirror reflects the laser light. The laser light reflected by the scanner mirror is projected in front of the projection device 100 through the laser light output window 116. The scanner actuator changes the angle of the scanner mirror. As the angle of the scanner mirror changes, the laser light is scanned. As the laser light is scanned, projection light 4 (see Figure 1) representing information including characters and / or graphics is projected onto the object (for example, the object to be inspected 2 shown in Figure 1). The projection light 4 will be described in detail later. The scanner driver 110 controls the scanner actuator according to instructions from the processor 120.

[0060] The communication interface 114 controls the transmission and reception of information between the projection device 100 and the imaging support device 10. As an example, as shown in Figure 3, the communication interface 114 is connected to the imaging support device 10 (see Figure 2) in a communicative manner. Here, the communication interface 114 is wirelessly connected to the first communication interface 20 of the imaging support device 10 using a predetermined wireless communication standard. Although wireless communication is used as an example here, the technology of this disclosure is not limited thereto, and wired communication may be applied instead of wireless communication. The communication interface 114 is responsible for the exchange of information between the processor 30 of the imaging support device 10 and the processor 120 of the projection device 100. For example, the communication interface 114 transmits information to the imaging support device 10 in response to a request from the processor 120. The communication interface 114 also receives information transmitted from the processor 30 of the imaging support device 10 via the first communication interface 20 and outputs the received information to the processor 120 via the bus 126.

[0061] As an example, as shown in Figure 4, the imaging device 200 includes an interchangeable lens 202 and an imaging device body 204. The interchangeable lens 202 is interchangeably mounted on the imaging device body 204.

[0062] The imaging device body 204 is equipped with an image sensor 206. The image sensor 206 is, for example, a CMOS image sensor. The image sensor 206 captures an image of the subject (for example, the inspection object 2 shown in Figure 1). When the interchangeable lens 202 is attached to the imaging device body 204, the subject light representing the subject passes through the interchangeable lens 202 and is imaged by the image sensor 206, and image data representing the image of the subject is generated by the image sensor 206.

[0063] Although a CMOS image sensor is used as an example for image sensor 206 in this document, the technology of this disclosure is not limited to this, and other image sensors may also be used.

[0064] The image sensor 206 includes a photoelectric conversion element 208. The photoelectric conversion element 208 has a light-receiving surface 208A. The photoelectric conversion element 208 is positioned within the imaging device body 204 such that the center of the light-receiving surface 208A coincides with the optical axis OA of the interchangeable lens 202. The photoelectric conversion element 208 has a plurality of photosensitive pixels (not shown) arranged in a matrix, and the light-receiving surface 208A is formed by the plurality of photosensitive pixels. The photosensitive pixels are physical pixels having photodiodes (not shown), which photoelectrically convert the received light and output an electrical signal corresponding to the amount of light received.

[0065] The interchangeable lens 202 includes an imaging lens 210. The imaging lens 210 has an objective lens 210A, a focusing lens 210B, a zoom lens 210C, and an aperture 210D. The objective lens 210A, focusing lens 210B, zoom lens 210C, and aperture 210D are arranged in the order of objective lens 210A, focusing lens 210B, zoom lens 210C, and aperture 210D along the optical axis OA from the subject side (object side) to the imaging device body 204 side (image side).

[0066] The interchangeable lens 202 includes a control device 212, a first actuator 214, a second actuator 216, and a third actuator 218. The control device 212 controls the entire interchangeable lens 202 according to instructions from the imaging device body 204. The control device 212 is a device having a computer, for example, including a CPU, NVM, and RAM. Although a computer is used as an example here, this is merely one example, and devices including ASICs, FPGAs, and / or PLDs may also be used. Furthermore, the control device 212 may be a device realized by a combination of hardware and software configurations, for example.

[0067] The first actuator 214 includes a focusing slide mechanism (not shown) and a focusing motor (not shown). A focusing lens 210B is mounted on the focusing slide mechanism so as to be slidable along the optical axis OA. A focusing motor is also connected to the focusing slide mechanism, and the focusing slide mechanism operates by receiving power from the focusing motor, thereby moving the focusing lens 210B along the optical axis OA.

[0068] The second actuator 216 includes a zoom slide mechanism (not shown) and a zoom motor (not shown). A zoom lens 210C is mounted on the zoom slide mechanism so as to be slidable along the optical axis OA. A zoom motor is also connected to the zoom slide mechanism, and the zoom slide mechanism operates by receiving power from the zoom motor, thereby moving the zoom lens 210C along the optical axis OA.

[0069] Here, we have given an example where the focus slide mechanism and the zoom slide mechanism are provided separately, but this is merely one example, and an integrated slide mechanism capable of both focusing and zooming may also be used. In this case, instead of using separate motors for focusing and zooming, the power generated by a single motor can be transmitted to the slide mechanism.

[0070] The third actuator 218 includes a power transmission mechanism (not shown) and an aperture motor (not shown). The aperture 210D has an opening 210D1, and the size of the opening 210D1 is variable. The opening 210D1 is formed by a plurality of blades 210D2. The plurality of blades 210D2 are connected to the power transmission mechanism. An aperture motor is also connected to the power transmission mechanism, and the power transmission mechanism transmits the power of the aperture motor to the plurality of blades 210D2. The plurality of blades 210D2 change the size of the opening 210D1 by operating in response to the power transmitted from the power transmission mechanism. The aperture 210D adjusts the exposure by changing the size of the opening 210D1.

[0071] The focus motor, zoom motor, and aperture motor are connected to the control device 212, and the control device 212 controls the drive of each of these motors. In this embodiment, stepping motors are used as an example of the focus motor, zoom motor, and aperture motor. Therefore, the focus motor, zoom motor, and aperture motor operate in synchronization with pulse signals in response to commands from the control device 212. Although an example is shown here in which the focus motor, zoom motor, and aperture motor are provided on the interchangeable lens 202, this is merely an example, and at least one of the focus motor, zoom motor, and aperture motor may be provided on the imaging device body 204. The components and / or operating method of the interchangeable lens 202 can be changed as needed.

[0072] The interchangeable lens 202 is equipped with a first sensor (not shown). The first sensor detects the position of the focus lens 210B on the optical axis OA. An example of the first sensor is a potentiometer. The detection result from the first sensor is acquired by the control device 212 and output to the imaging device body 204. The imaging device body 204 adjusts the position of the focus lens 210B on the optical axis OA based on the detection result from the first sensor.

[0073] The interchangeable lens 202 is equipped with a second sensor (not shown). The second sensor detects the position of the zoom lens 210C on the optical axis OA. An example of the second sensor is a potentiometer. The detection result from the second sensor is acquired by the control device 212 and output to the imaging device body 204. The imaging device body 204 adjusts the position of the zoom lens 210C on the optical axis OA based on the detection result from the second sensor.

[0074] The interchangeable lens 202 is equipped with a third sensor (not shown). The third sensor detects the size of the aperture 210D1. An example of the third sensor is a potentiometer. The detection result from the third sensor is acquired by the control device 212 and output to the imaging device body 204. The imaging device body 204 adjusts the size of the aperture 210D1 based on the detection result from the third sensor.

[0075] In the imaging device 200, MF mode and AF mode are selectively set according to instructions given to the imaging device body 204. MF mode is an operation mode in which the focus is adjusted manually. In MF mode, for example, the user operates the focus ring (not shown), causing the focus lens 210B to move along the optical axis OA by an amount corresponding to the amount of movement of the focus ring, thereby adjusting the focus.

[0076] In AF mode, the imaging unit 204 calculates the focus position according to the subject distance and adjusts the focus by moving the focus lens 210B toward the calculated focus position. Here, the focus position refers to the position of the focus lens 210B on the optical axis OA when the image is in focus. For the sake of explanation, the control that aligns the focus lens 210B to the focus position will also be referred to as "AF control" below.

[0077] The imaging device body 204 includes an image sensor 206, a computer 222, an image memory 224, a UI device 226, an external I / F 228, a communication I / F 230, a photoelectric conversion element driver 232, a mechanical shutter driver 234, a mechanical shutter actuator 236, a mechanical shutter 238, and an input / output interface 240. The image sensor 206 also includes a photoelectric conversion element 208 and a signal processing circuit 242.

[0078] The input / output interface 240 is connected to a computer 222, image memory 224, UI device 226, external I / F 228, communication I / F 230, photoelectric conversion element driver 232, mechanical shutter driver 234, and signal processing circuit 242. The input / output interface 240 is also connected to a control device 212 for the interchangeable lens 202.

[0079] Computer 222 comprises a processor 250, storage 252, and RAM 254. The processor 250, storage 252, and RAM 254 are interconnected via a bus 256, which is connected to an input / output interface 240. In the example shown in Figure 4, for illustrative purposes, a single bus 256 is shown, but there may be multiple buses. Bus 256 may be a serial bus, or a parallel bus including a data bus, address bus, and control bus, etc.

[0080] The processor 250, for example, has a CPU and a GPU, and controls the entire imaging device 200. The GPU operates under the control of the CPU and is responsible for performing image processing.

[0081] Storage 252 is a non-temporary storage medium that stores various parameters and programs. For example, storage 252 is an EEPROM. However, this is merely an example, and an HDD and / or SSD may be used as storage 252 instead of, or in conjunction with, an EEPROM. RAM 254 temporarily stores various information and is used as work memory.

[0082] The processor 250 reads the necessary program from the storage 252 and executes the read program in the RAM 254. The processor 250 controls the entire imaging device 200 according to the program executed on the RAM 254. In the example shown in Figure 4, the image memory 224, UI device 226, external I / F 228, communication I / F 230, photoelectric conversion element driver 232, mechanical shutter driver 234, and control device 212 are controlled by the processor 250.

[0083] A photoelectric converter driver 232 is connected to the photoelectric converter 208. The photoelectric converter driver 232 supplies imaging timing signals, which define the timing of imaging performed by the photoelectric converter 208, to the photoelectric converter 208 according to instructions from the processor 250. The photoelectric converter 208 performs reset, exposure, and output of electrical signals according to the imaging timing signals supplied by the photoelectric converter driver 232. Examples of imaging timing signals include a vertical synchronization signal and a horizontal synchronization signal.

[0084] When the interchangeable lens 202 is attached to the imaging device body 204, the subject light incident on the imaging lens 210 is imaged onto the light-receiving surface 208A by the imaging lens 210. Under the control of the photoelectric conversion element driver 232, the photoelectric conversion element 208 converts the subject light received by the light-receiving surface 208A into electrical signals and outputs an electrical signal corresponding to the amount of subject light as analog image data representing the subject light to the signal processing circuit 242. Specifically, the signal processing circuit 242 reads out the analog image data from the photoelectric conversion element 208 in units of one frame and for each horizontal line using an exposure sequential readout method.

[0085] The signal processing circuit 242 generates digital image data by digitizing analog image data. For the sake of explanation, in the following, when it is not necessary to distinguish between the digital image data that is processed internally by the imaging device body 204 and the image shown by the digital image data (i.e., the image that is visualized based on the digital image data and displayed on the display 260, etc.), the term "imaging image" will be used.

[0086] The mechanical shutter 238 is a focal-plane shutter and is positioned between the aperture 210D and the light-receiving surface 208A. The mechanical shutter 238 has a front curtain (not shown) and a rear curtain (not shown). Each of the front and rear curtains has multiple blades. The front curtain is positioned closer to the subject than the rear curtain.

[0087] The mechanical shutter actuator 236 is an actuator having a link mechanism (not shown), a front curtain solenoid (not shown), and a rear curtain solenoid (not shown). The front curtain solenoid is the drive source for the front curtain and is mechanically connected to the front curtain via the link mechanism. The rear curtain solenoid is the drive source for the rear curtain and is mechanically connected to the rear curtain via the link mechanism. The mechanical shutter driver 234 controls the mechanical shutter actuator 236 according to instructions from the processor 250.

[0088] The front curtain solenoid generates power under the control of the mechanical shutter driver 234 and selectively winds up and down the front curtain by applying the generated power to the front curtain. The rear curtain solenoid generates power under the control of the mechanical shutter driver 234 and selectively winds up and down the rear curtain by applying the generated power to the rear curtain. In the imaging device 200, the opening and closing of the front curtain and the opening and closing of the rear curtain are controlled by the processor 250, thereby controlling the amount of exposure to the photoelectric conversion element 208.

[0089] In the imaging device 200, imaging for live view images and imaging for recording still images and / or moving images are performed using a sequential exposure readout method (rolling shutter method). The image sensor 206 has an electronic shutter function, and imaging for live view images is achieved by activating the electronic shutter function without operating the mechanical shutter 238 while it is fully open.

[0090] In contrast, imaging with actual exposure, that is, imaging for still images (hereinafter also referred to as "actual imaging"), is achieved by activating the electronic shutter function and operating the mechanical shutter 238 to transition from the front curtain closed state to the rear curtain closed state.

[0091] The image memory 224 stores the captured image generated by the signal processing circuit 242. In other words, the signal processing circuit 242 causes the image memory 224 to store the captured image.

[0092] The UI device 226 is equipped with a display 260, and the processor 250 displays various information on the display 260. The UI device 226 is also equipped with a reception device 262. The reception device 262 is equipped with a touch panel 264 and a release button 266, etc.

[0093] The release button 266 functions as both an image preparation instruction unit and an image acquisition instruction unit, and can detect two stages of pressing: an image preparation instruction state and an image acquisition instruction state. The image preparation instruction state refers to the state in which the button is pressed from the standby position to an intermediate position (half-press position), for example, while the image acquisition instruction state refers to the state in which the button is pressed beyond the intermediate position to the final pressed position (full-press position). Hereinafter, the state in which the button is pressed from the standby position to the half-press position will be referred to as the "half-press state," and the state in which the button is pressed from the standby position to the full-press position will be referred to as the "full-press state."

[0094] When the release button 266 is pressed to the half-press position, an imaging preparation instruction is given to the imaging device 200, and control to adjust the exposure and control to adjust the focus are executed. Furthermore, when the release button 266 is pressed to the fully-press position, an imaging instruction is given to the imaging device 200, and the actual imaging is executed. Depending on the configuration of the imaging device 200, the imaging preparation instruction state may be the state in which the user's finger is in contact with the release button 266, and the imaging instruction state may be the state in which the user's finger has moved away from the state in which it was in contact with the release button 266.

[0095] External I / F228 is responsible for the exchange of various types of information between the imaging device 200 and devices located outside of it (hereinafter also referred to as "external devices"). An example of an external I / F228 is a USB interface.

[0096] The communication interface 230 controls the transmission and reception of information by the imaging device 200 to the imaging support device 10. As an example, as shown in Figure 4, the communication interface 230 is connected to the imaging support device 10 (see Figure 2) in a communicative manner. Here, the communication interface 230 is connected wirelessly to the second communication interface 22 of the imaging support device 10 using a predetermined wireless communication standard. Although wireless communication is used as an example here, the technology of this disclosure is not limited thereto, and wired communication may be applied instead of wireless communication. The communication interface 230 is responsible for the exchange of information between the processor 30 of the imaging support device 10 and the processor 250 of the imaging device 200. For example, the communication interface 230 transmits information to the imaging support device 10 in response to a request from the processor 250. The communication interface 230 also receives information transmitted from the processor 30 of the imaging support device 10 via the second communication interface 22 and outputs the received information to the processor 250 via the bus 256.

[0097] As an example, as shown in Figure 5, the storage 32 of the imaging support device 10 stores an imaging support processing program 40. The imaging support processing program 40 is an example of a "program" related to the technology of this disclosure.

[0098] The processor 30 reads the imaging support processing program 40 from the storage 32 and executes the read imaging support processing program 40 on the RAM 34. The processor 30 performs imaging support processing according to the imaging support processing program 40 executed on the RAM 34. By executing the imaging support processing program 40, the processor 30 operates as the operation mode setting unit 42, the visual inspection image acquisition mode processing unit 44, and the analysis image acquisition mode processing unit 46.

[0099] The imaging support device 10 has two operating modes: a visual inspection image acquisition mode and an analysis image acquisition mode. The operating mode setting unit 42 sets the operating mode of the imaging support device 10 to either the visual inspection image acquisition mode or the analysis image acquisition mode. As an example, the operating mode of the imaging support device 10 is alternately switched between the visual inspection image acquisition mode and the analysis image acquisition mode by the operating mode setting unit 42. The visual inspection image acquisition mode is an example of the "first mode" relating to the technology of this disclosure, and the analysis image acquisition mode is an example of the "second mode" relating to the technology of this disclosure.

[0100] When the operating mode of the imaging support device 10 is set to the visual inspection image acquisition mode by the operating mode setting unit 42, the processor 30 operates as the visual inspection image acquisition mode processing unit 44. The visual inspection image acquisition mode processing unit 44 includes a projection instruction unit 52, a first imaging instruction unit 54, and a first storage control unit 56.

[0101] When the operating mode of the imaging support device 10 is set to the analysis image acquisition mode by the operating mode setting unit 42, the processor 30 operates as the analysis image acquisition mode processing unit 46. The analysis image acquisition mode processing unit 46 operates as the second imaging instruction unit 58, the imaging preparation completion determination unit 60, the projection light stop instruction unit 62, the second storage control unit 64, the termination determination unit 66, and the termination instruction unit 68.

[0102] As an example, as shown in Figure 6, the projection processing program 130 is stored in the storage 122 of the projection device 100.

[0103] The processor 120 reads the projection processing program 130 from the storage 122 and executes the read projection processing program 130 on the RAM 124. The processor 120 performs projection processing according to the projection processing program 130 executed on the RAM 124. By executing the projection processing program 130, the processor 120 operates as the projection control unit 132 and the projection light stopping unit 134.

[0104] As an example, as shown in Figure 7, the imaging processing program 270 is stored in the storage 252 of the imaging device 200.

[0105] The processor 250 reads the imaging processing program 270 from the storage 252 and executes the read imaging processing program 270 on the RAM 254. The processor 250 performs imaging processing according to the imaging processing program 270 executed on the RAM 254. By executing the imaging processing program 270, the processor 250 operates as the operation mode setting unit 272, the visual inspection image acquisition mode processing unit 274, and the analysis image acquisition mode processing unit 276.

[0106] The imaging device 200 has two operating modes: a visual inspection image acquisition mode and an analysis image acquisition mode. The operating mode setting unit 272 sets the operating mode of the imaging device 200 to either the visual inspection image acquisition mode or the analysis image acquisition mode. For example, the operating mode of the imaging device 200 is alternately switched between the visual inspection image acquisition mode and the analysis image acquisition mode by the operating mode setting unit 272.

[0107] When the operating mode of the imaging device 200 is set to the visual inspection image acquisition mode by the operating mode setting unit 272, the processor 250 operates as the visual inspection image acquisition mode processing unit 274. The visual inspection image acquisition mode processing unit 274 includes a first imaging determination unit 282 and a first image output unit 284.

[0108] When the operating mode of the imaging device 200 is set to the analysis image acquisition mode by the operating mode setting unit 272, the processor 250 operates as the analysis image acquisition mode processing unit 276. The analysis image acquisition mode processing unit 276 operates as the imaging preparation determination unit 286, the imaging preparation signal output unit 288, the second imaging determination unit 290, and the second image output unit 292.

[0109] In addition, Imaging support device In this system, the imaging support process is initiated when the imaging support device 10 is given a start instruction to begin the imaging support process. Furthermore, the projection process in the projection device 100 and the imaging process in the imaging device 200 are initiated when the imaging support process is started.

[0110] The following describes the visual inspection image acquisition process executed by the visual inspection image acquisition mode processing unit 44 when the operating mode of the imaging support device 10 is set to the visual inspection image acquisition mode by the operating mode setting unit 42.

[0111] As an example, as shown in Figure 8, in the imaging support device 10, when the visual inspection image acquisition mode is set, the projection instruction unit 52 outputs a projection instruction to the processor 120 of the projection device 100. The projection instruction is an instruction to project projection light 4 onto the object to be inspected 2. The projection instruction includes instructions regarding the projection position and projection range for projecting the projection light 4 onto the object to be inspected 2. As an example, the storage 32 of the imaging support device 10 stores planning information 70. The planning information 70 is information that represents a predetermined plan regarding the projection content of the projection light 4 to be projected onto the object to be inspected 2, and the projection position and projection range for projecting the projection light 4 onto the object to be inspected 2. The projection instruction unit 52 generates a projection instruction according to the planning information 70 and outputs the projection instruction.

[0112] In the projection device 100, when the projection control unit 132 receives a projection instruction, it generates a first control instruction and a second control instruction based on the projection instruction. The projection control unit 132 then outputs the first control instruction to the laser light source driver 106 and the second control instruction to the scanner driver 110. When the laser light source driver 106 receives the first control instruction, it causes the laser light source 104 to output laser light so that the laser light is projected onto the object to be inspected 2. When the scanner driver 110 receives the second control instruction, it drives the scanner mechanism 108 to scan the laser light so that the projected light 4 is formed by the laser light at the projection position and projection range specified by the projection instruction.

[0113] In the example shown in Figure 8, the projected light 4 is displayed in a grid pattern on the object to be inspected 2. The projected light 4 divides the wall surface of the object to be inspected 2 into multiple imaging areas 2A. In other words, the area inside each frame of the grid displayed by the projected light 4 is an imaging area 2A. An imaging area 2A is the area that the imager 6 should image using the imaging device 200 (see Figure 1). Multiple imaging areas 2A are imaged in a predetermined order. The projected light 4 represents the position of the edge of each imaging area 2A. In other words, each frame of the grid displayed by the projected light 4 defines the position of the edge of each imaging area 2A. Furthermore, the projected light 4 represents the range of each imaging area 2A. In other words, each frame of the grid displayed by the projected light 4 defines the range of each imaging area 2A.

[0114] As an example, as shown in Figure 9, in the imaging support device 10, the first imaging instruction unit 54 outputs a first imaging instruction to the processor 250 of the imaging device 200 after a projection instruction is output from the projection instruction unit 52 (see Figure 8). When the processor 250 of the imaging device 200 receives the first imaging instruction, it sets the operation mode to the visual inspection image acquisition mode. When the processor 250 of the imaging device 200 sets the operation mode to the visual inspection image acquisition mode, a message prompting the imager 6 to take an image may be displayed on the display 260 of the imaging device 200.

[0115] The imager 6 uses the imaging device 200 to image multiple target areas 2A in a predetermined order. Figure 9 shows an example of how the imager 6 has the imaging device 200 image the upper left target area 2A among the multiple target areas 2A. When the imager 6 has the imaging device 200 image a target area 2A, the imager 6 adjusts the position of the imaging device 200 relative to the target area 2A so that the target area 2A fits within the imaging range 200A of the imaging device 200. Then, when the imager 6 presses the release button 266 of the imaging device 200 to its fully pressed position, the imaging device 200 images the target area 2A.

[0116] In the imaging device 200, the first imaging determination unit 282 determines whether or not imaging has been performed by the imaging device 200. For example, the first imaging determination unit 282 determines that imaging has been performed by the imaging device 200 when it receives a full-press detection signal output from the receiving device 262 (see Figure 4) in conjunction with the release button 266 of the imaging device 200 being pressed to the full-press position. When the imaging device 200 images the area to be imaged 2A, a visual inspection image is obtained as the imaged image. When the visual inspection image is acquired, projection light 4 is projected onto the object to be inspected 2, so the visual inspection image includes an image corresponding to the area to be imaged 2A as well as an image corresponding to the projection light 4. That is, the projection light 4 is captured as an image in the image corresponding to the area to be imaged 2A.

[0117] In the imaging device 200, the first image output unit 284 outputs a visual inspection image to the processor 30 of the imaging support device 10 when the first imaging determination unit 282 determines that imaging has been performed by the imaging device 200.

[0118] In the imaging support device 10, when the first storage control unit 56 receives a visual inspection image, it stores the visual inspection image in the storage 32. For example, the visual inspection image is stored in the storage 32 together with information regarding the order in which it was captured. That is, the visual inspection image and the information regarding the order in which it was captured are stored in the storage 32 in an associated state.

[0119] In this way, during the visual inspection image acquisition process, the area to be imaged 2A is imaged while the projection of the projection light 4 onto the object to be inspected 2 is maintained, thereby acquiring a visual inspection image in which the projection light 4 is included as part of the image.

[0120] When the first memory control unit 56 stores the visual inspection image in the storage 32, the operation mode setting unit 42 sets the operation mode of the imaging support device 10 to the analysis image acquisition mode.

[0121] The following describes the analysis image acquisition process executed by the analysis image acquisition mode processing unit 46 when the operation mode of the imaging support device 10 is set to the analysis image acquisition mode by the operation mode setting unit 42.

[0122] As an example, as shown in Figure 10, when the analysis image acquisition mode is set in the imaging support device 10, the second imaging instruction unit 58 outputs a second imaging instruction to the processor 250 of the imaging device 200. When the processor 250 of the imaging device 200 receives the second imaging instruction, it sets the operation mode to the analysis image acquisition mode. When the processor 250 of the imaging device 200 is set to the analysis image acquisition mode, a message prompting the imager 6 to take an image may be displayed on the display 260 of the imaging device 200.

[0123] The imager 6 instructs the imaging device 200 to image the same area 2A that was used to acquire the visual inspection image. Figure 10 shows an example of the imager 6 instructing the imaging device 200 to image the upper left area 2A of the multiple areas 2A. When the imager 6 instructs the imaging device 200 to image the area 2A, the imager 6 adjusts the position of the imaging device 200 relative to the area 2A so that the area 2A is contained within the imaging range 200A of the imaging device 200. Then, when the imager 6 presses the release button 266 of the imaging device 200 to the half-press position, the imaging device 200 enters an imaging preparation state for imaging the area 2A.

[0124] In the imaging device 200, the imaging preparation determination unit 286 determines whether the imaging device 200 is in an imaging preparation state. For example, the imaging preparation determination unit 286 determines that the imaging device 200 is in an imaging preparation state when it receives a half-press detection signal output from the receiving device 262 (see Figure 4) in conjunction with the release button 266 of the imaging device 200 being pressed to the half-press position.

[0125] In the imaging device 200, the imaging preparation signal output unit 288 outputs an imaging preparation signal to the processor 30 of the imaging support device 10 when the imaging preparation determination unit 286 determines that the imaging device 200 is in an imaging preparation state.

[0126] In the imaging support device 10, the imaging preparation completion determination unit 60 determines whether or not the imaging device 200 is ready for imaging. For example, if the imaging preparation completion determination unit 60 receives an imaging preparation signal, it determines that the imaging device 200 is ready for imaging. The imaging preparation completion determination unit 60 receiving the imaging preparation signal corresponds to the processor 30 of the imaging support device 10 receiving an imaging preparation instruction given to the imaging device 200.

[0127] As an example, as shown in Figure 11, in the imaging support device 10, the projection light stop instruction unit 62 outputs a projection light stop instruction to the processor 120 of the projection device 100 when the imaging preparation completion determination unit 60 determines that the imaging preparation of the imaging device 200 is complete.

[0128] In the projection device 100, when the projection light stop unit 134 receives a projection light stop instruction, it outputs a first stop instruction to the laser light source driver 106 and a second stop instruction to the scanner driver 110. When the laser light source driver 106 receives the first stop instruction, it stops the output of laser light from the laser light source 104. When the scanner driver 110 receives the second stop instruction, it stops the driving of the scanner mechanism 108. As a result, the projection light 4 (see Figures 8 to 10) that was projected onto the object to be inspected 2 disappears.

[0129] As an example, as shown in Figure 12, the imager 6 confirms that the projected light 4 (see Figures 8 to 10) that was projected onto the object to be inspected 2 has disappeared, and then presses the release button 266 of the imaging device 200 to its fully depressed position. When the imager 6 presses the release button 266 of the imaging device 200 to its fully depressed position, the imaging device 200 captures the area to be imaged 2A.

[0130] In the imaging device 200, the second imaging determination unit 290 determines whether or not imaging has been performed by the imaging device 200. For example, the second imaging determination unit 290 determines that imaging has been performed by the imaging device 200 when it receives a full-press detection signal output from the receiving device 262 (see Figure 4) in conjunction with the release button 266 of the imaging device 200 being pressed to the full-press position. When the area to be imaged 2A is imaged by the imaging device 200, an analysis image is obtained as the imaged image. When the analysis image is acquired, the projection light 4 projected onto the object to be inspected 2 is stopped, so the analysis image includes an image corresponding to the area to be imaged 2A, but does not include an image corresponding to the projection light 4. In other words, the projection light 4 is not captured as an image in the image corresponding to the area to be imaged 2A.

[0131] In the imaging device 200, the second image output unit 292 outputs an analysis image to the processor 30 of the imaging support device 10 when the second imaging determination unit 290 determines that imaging has been performed by the imaging device 200.

[0132] In the imaging support device 10, when the second storage control unit 64 receives an image for analysis, it stores the image for analysis in the storage 32. For example, the image for analysis is stored in the storage 32 together with information about the order in which it was captured. That is, the storage 32 stores the image for analysis and the information about the order in which it was captured in an associated state.

[0133] Furthermore, the storage 32 does not necessarily need to store information regarding the order in which the images were captured together with the images for analysis. Instead, in order for the image analysis device 300 to seamlessly stitch together multiple images for analysis, it is preferable that adjacent images for analysis are overlapped by a predetermined amount (for example, about 30% of one frame) without any positional shift in the stitching direction (for example, vertical and horizontal directions), and then captured one frame at a time by the imaging device 200. One reason for the overlap is that in the stitching process, matching feature points between adjacent images for analysis are referenced and stitched together, and for this purpose, a certain number of feature points are necessary.

[0134] As an example, as shown in Figure 13, in the imaging support device 10, the termination determination unit 66 determines whether or not the conditions for terminating the imaging support process have been met. For example, the planning information 70 stored in the storage 32 specifies the number of multiple imaging regions 2A set for the object to be inspected 2. If the number of analysis images acquired by the imaging device 200 is less than the number of multiple imaging regions 2A, the termination determination unit 66 determines that the conditions for terminating the imaging support process have not been met.

[0135] If the conditions for terminating the imaging support process are not met, the imaging support process by the imaging support device 10 described above is repeatedly executed. As the imaging support process by the imaging support device 10 is repeatedly executed, the imager 6 causes the imaging device 200 to image multiple target areas 2A in a predetermined order, so that multiple visual inspection images and multiple analysis images are stored in the storage 32.

[0136] The termination determination unit 66 determines that the conditions for terminating the imaging support process have been met when the number of analysis images acquired by the imaging device 200 reaches the number of multiple imaging regions 2A. Figure 13 shows an example in which the imager 6 has the imaging device 200 image multiple imaging regions 2A in a predetermined order, and the imager 6 has the imaging device 200 image the lower right imaging region 2A (i.e., the last imaging region 2A) among the multiple imaging regions 2A.

[0137] In the imaging support device 10, if the termination determination unit 66 determines that the imaging support process should be terminated, the termination instruction unit 68 outputs a first termination instruction to the processor 120 of the projection device 100 and a second termination instruction to the processor 250 of the imaging device 200. Upon receiving the first termination instruction, the processor 120 of the projection device 100 terminates the projection process, and upon receiving the second termination instruction, the processor 250 of the imaging device 200 terminates the imaging process.

[0138] In this way, when the imaging support processing is executed, multiple images for visual inspection and multiple images for analysis are stored in the storage 32. The multiple images for visual inspection are used for visual inspection, and the multiple images for analysis are provided to the image analysis device 300 as image data for image analysis.

[0139] Next, the operation of imaging system 1 will be explained with reference to Figures 14 to 18.

[0140] First, an example of the flow of imaging support processing performed by the processor 30 of the imaging support device 10 will be described with reference to Figures 14 and 15. This explanation assumes that the operating mode of the imaging support device 10 is set to either the visual inspection image acquisition mode or the analysis image acquisition mode.

[0141] In the imaging support process shown in Figure 14, first, in step ST10, the operation mode setting unit 42 sets the operation mode to the visual inspection image acquisition mode. After the process in step ST10 is executed, the imaging support process proceeds to step ST11.

[0142] In step ST11, the projection instruction unit 52 outputs a projection instruction to the processor 120 of the projection device 100, causing the projection device 100 to project projection light 4 onto the object to be inspected 2. After the processing in step ST11 is completed, the imaging support processing proceeds to step ST12.

[0143] In step ST12, the first imaging instruction unit 54 outputs a first imaging instruction to the processor 250 of the imaging device 200. Accordingly, the operating mode of the imaging device 200 is switched to the visual inspection image acquisition mode. After the processing in step ST12 is completed, the imaging support processing proceeds to step ST13.

[0144] In step ST13, the first memory control unit 56 acquires the visual inspection image output from the imaging device 200 by executing the process shown in step ST44 in Figure 17. After the process in step ST13 is executed, the imaging support process moves on to step ST14.

[0145] In step ST14, the first memory control unit 56 stores the visual inspection image acquired in step ST13 in the storage 32. After step ST13 is executed, the imaging support process proceeds to step ST15 shown in Figure 15.

[0146] In step ST15 shown in Figure 15, the operation mode setting unit 42 sets the operation mode to the analysis image acquisition mode. After the processing in step ST15 is executed, the imaging support process proceeds to step ST16.

[0147] In step ST16, the second imaging instruction unit 58 outputs a second imaging instruction to the processor 250 of the imaging device 200. Accordingly, the operating mode of the imaging device 200 is switched to the analysis image acquisition mode. After the processing in step ST16 is completed, the imaging support processing proceeds to step ST17.

[0148] In step ST17, the imaging preparation completion determination unit 60 determines whether the imaging device 200 is ready for imaging. If the imaging device 200 is not ready for imaging in step ST17 (i.e., the imaging preparation completion determination unit 60 has not received the imaging preparation signal output from the imaging device 200 as a result of the execution of the process in step ST47 included in the imaging process shown in Figure 18), the determination is denied and the determination in step ST17 is repeated. If the imaging device 200 is ready for imaging in step ST17 (i.e., the imaging preparation completion determination unit 60 has received the imaging preparation signal output from the imaging device 200 as a result of the execution of the process in step ST47 included in the imaging process shown in Figure 18), the determination is affirmed and the imaging support process proceeds to step ST18.

[0149] In step ST18, the projection light stop instruction unit 62 outputs a projection light stop instruction to the processor 120 of the projection device 100, thereby stopping the projection light 4 projected onto the object to be inspected 2 by the projection device 100. After the processing in step ST18 is completed, the imaging support processing proceeds to step ST19.

[0150] In step ST19, the second memory control unit 64 acquires the analysis image output from the imaging device 200 by executing the process shown in step ST49 in Figure 18. After the process in step ST19 is executed, the imaging support process moves on to step ST20.

[0151] In step ST20, the second memory control unit 64 stores the analysis image acquired in step ST19 in the storage 32. After the processing in step ST20 is completed, the imaging support process proceeds to step ST21.

[0152] In step ST21, the termination determination unit 66 determines whether the conditions for terminating the imaging support process (hereinafter referred to as "imaging support process termination conditions") have been met. An example of an imaging support process termination condition is obtained from the imaging device 200 in step ST19. Image for analysisOne condition is that the number of frames reaches the number of target imaging regions 2A defined by the planning information 70. In step ST21, if the imaging support processing termination condition is not met, the determination is denied, and the imaging support processing proceeds to step ST10 shown in Figure 14. In step ST21, if the imaging support processing termination condition is met, the determination is affirmed, and the imaging support processing ends.

[0153] If the determination in step ST21 is affirmative, the termination instruction unit 68 outputs a first termination instruction to the processor 120 of the projection device 100, thereby terminating the projection process in the projection device 100. The termination instruction unit 68 also outputs a second termination instruction to the processor 250 of the imaging device 200, thereby terminating the imaging process in the imaging device 200. .

[0154] The imaging support method using the imaging support device 10 described above is an example of an "imaging support method" relating to the technology of this disclosure.

[0155] Next, with reference to Figure 16, an example of the projection process flow performed by the processor 120 in the projection device 100 will be described.

[0156] In step S31, the projection control unit 132 determines whether or not a projection instruction has been input from the imaging support device 10, which is output by the processing of step ST11, which is included in the imaging support processing shown in Figure 14. If no projection instruction has been input in step ST31, the determination is denied, and the projection process proceeds to step ST33. If a projection instruction has been input in step ST31, the determination is affirmed, and the projection process proceeds to step ST32.

[0157] In step ST32, the projection control unit 132 instructs the projection device 100 to project projection light 4 onto the object to be inspected 2. After the processing in step ST32 is completed, the projection process proceeds to step ST33.

[0158] In step ST33, the projection light stop unit 134 determines whether or not a projection light stop instruction output from the imaging support device 10 has been input by executing the process of step ST18, which is included in the imaging support process shown in Figure 15. If no projection light stop instruction has been input in step ST33, the determination is denied, and the projection process proceeds to step ST35. If a projection light stop instruction has been input in step ST33, the determination is affirmed, and the projection process proceeds to step ST34.

[0159] In step ST34, the projection light stop unit 134 stops the projection light 4 projected onto the object to be inspected 2 by the projection device 100. After the process in step ST34 is completed, the projection process proceeds to step ST35.

[0160] In step ST35, the processor 120 determines whether the conditions for terminating the projection process (hereinafter referred to as "projection process termination conditions") have been met. An example of a projection process termination condition is that the processor 120 receives a first termination instruction from the imaging support device 10. In step ST34, if the projection process termination conditions have not been met, the determination is denied, and the projection process proceeds to step ST31. In step ST34, if the projection process termination conditions have been met, the determination is affirmed, and the projection process ends.

[0161] Next, with reference to Figure 17, an example of the imaging process flow performed by the processor 250 in the imaging device 200 will be described. This explanation assumes that the operating mode of the imaging support device 10 is set to either the visual inspection image acquisition mode or the analysis image acquisition mode.

[0162] In step ST41, the operation mode setting unit 272 determines whether the operation mode of the imaging support device 10 is the visual inspection image acquisition mode. If, in step ST41, the operation mode of the imaging support device 10 is not the visual inspection image acquisition mode (i.e., the operation mode of the imaging support device 10 is the analysis image acquisition mode), the determination is denied, and the imaging process proceeds to step ST45 shown in Figure 18. If, in step ST41, the operation mode of the imaging support device 10 is the visual inspection image acquisition mode, the determination is affirmed, and the imaging process proceeds to step ST42.

[0163] In step ST42, the operation mode setting unit 272 sets the operation mode of the imaging device 200 to the visual inspection image acquisition mode. After the processing in step ST42 is completed, the imaging process proceeds to step ST43.

[0164] In step ST43, the first imaging determination unit 282 determines whether or not imaging has been performed by the imaging device 200. Here, for example, if the release button 266 of the imaging device 200 is pressed all the way down, the first imaging determination unit 282 determines that imaging has been performed by the imaging device 200. If imaging has not been performed by the imaging device 200 in step ST43, the determination is denied, and the determination in step ST43 is repeated. If imaging has been performed by the imaging device 200 in step ST43, the determination is affirmed, and the imaging process proceeds to step ST44.

[0165] In step ST44, the first image output unit 284 outputs a visual inspection image obtained by imaging the area to be imaged 2A by the imaging device 200 to the processor 30 of the imaging support device 10. After the processing in step ST44 is completed, the imaging process proceeds to step ST45 shown in Figure 18.

[0166] In step ST45, the operation mode setting unit 272 sets the operation mode of the imaging device 200 to the analysis image acquisition mode. After the processing in step ST45 is completed, the imaging process proceeds to step ST46.

[0167] In step ST46, the imaging preparation determination unit 286 determines whether the imaging device 200 is ready to take images. Here, for example, the imaging preparation determination unit 286 determines that the imaging device 200 is ready to take images if the release button 266 of the imaging device 200 is pressed to the half-press position. If the imaging device 200 is not ready to take images in step ST46, the determination is denied, and the determination in step ST46 is repeated. If the imaging device 200 is ready to take images in step ST46, the determination is affirmed, and the imaging process proceeds to step ST47.

[0168] In step ST47, the imaging preparation signal output unit 288 outputs an imaging preparation signal to the processor 30 of the imaging support device 10. After the processing in step ST47 is completed, the imaging process proceeds to step ST48.

[0169] In step ST48, the second imaging determination unit 290 determines whether or not imaging has been performed by the imaging device 200. Here, for example, if the release button 266 of the imaging device 200 is pressed all the way down, the second imaging determination unit 290 determines that imaging has been performed by the imaging device 200. If imaging has not been performed by the imaging device 200 in step ST48, the determination is denied, and the determination in step ST48 is repeated. If imaging has been performed by the imaging device 200 in step ST48, the determination is affirmed, and the imaging process proceeds to step ST49.

[0170] In step ST49, the second image output unit 292 outputs an analysis image obtained by imaging the target area 2A with the imaging device 200 to the processor 30 of the imaging support device 10. After the processing in step ST49 is completed, the imaging process moves on to step ST50.

[0171] In step ST50, the processor 250 determines whether the conditions for terminating the imaging process (hereinafter referred to as "imaging process termination conditions") have been met. An example of an imaging process termination condition is that the processor 250 receives a second termination instruction from the imaging support device 10. If the imaging process termination conditions are not met in step ST50, the determination is denied, and the imaging process proceeds to step ST41 shown in Figure 17. If the imaging process termination conditions are met in step ST50, the determination is affirmed, and the imaging process ends.

[0172] As explained above, in the image acquisition process for analysis, the processor 30 controls the projection device 100 to stop the projection light 4 when the imaging device 200 captures the target area 2A while the projection light 4 is being projected onto the object 2 by the projection device 100. Therefore, compared to, for example, when the imaging device 200 captures the target area 2A while the projection light 4 is being projected onto the object 2, the influence of the projection light 4 on the image for analysis can be suppressed.

[0173] Furthermore, the imaging device 200 captures the target area 2A when the processor 30 receives an imaging preparation instruction given to the imaging device 200. Therefore, the projection light 4 can be stopped in conjunction with the processor 30 receiving the imaging preparation instruction.

[0174] Furthermore, the instruction to prepare for imaging is given when the release button 266 of the imaging device 200 is half-pressed. Therefore, the projection light 4 can be stopped in conjunction with the half-pressing of the release button 266 by the imager 6.

[0175] Furthermore, during the image acquisition process for analysis, the processor 30 controls the stopping of the projection light 4. Therefore, compared to, for example, the case where control is performed to suppress the projection light 4 more than when the projection light 4 is projected onto the object to be inspected 2, the influence of the projection light 4 on the analysis image can be suppressed.

[0176] Furthermore, the processor 30 controls the projection device 100 to project the projection light 4 onto the object to be inspected 2. Therefore, the imager 6 does not need to perform the operation to project the projection light 4 onto the projection device 100.

[0177] Furthermore, the projected light 4 includes projected light that represents the position of the edge of the imaging area 2A. Therefore, the position of the imaging area 2A can be indicated to the imager 6 by the projected light 4.

[0178] Furthermore, the projected light 4 includes projected light that represents the range of the area to be imaged 2A. Therefore, the projected light 4 can be used to inform the imager 6 of the range of the area to be imaged 2A.

[0179] Furthermore, the projection light 4 includes projection light displayed in a grid pattern. Therefore, the projection light 4 can be used to inform the imager 6 of the position and range of the area to be imaged 2A.

[0180] Furthermore, the processor 30 controls the projection of projection light 4 onto the object to be inspected 2 according to the plan defined by the planning information 70. Therefore, the imager 6 can be instructed to perform imaging according to the predetermined plan.

[0181] Furthermore, the plan defined by the planning information 70 includes the projection position and projection range for projecting the projection light 4 onto the object to be inspected 2. Therefore, based on the projection light 4 projected according to the defined plan, the imager 6 can be instructed to image the area to be imaged 2A.

[0182] Furthermore, in the visual inspection image acquisition process, the processor 30 controls the projection device 100 to maintain the projection of projection light 4 when the imaging device 200 captures the area to be imaged 2A, and in the analysis image acquisition process, the processor 30 controls the projection device 100 to stop projection light 4 when the imaging device 200 captures the area to be imaged 2A. Therefore, in the visual inspection image acquisition process, a visual inspection image including the image corresponding to projection light 4 can be acquired, and in the analysis image acquisition process, an analysis image not including the image corresponding to projection light 4 can be acquired.

[0183] In the above embodiment, the processor 30 in the imaging support device 10 operates as a projection light stop instruction unit 62, outputting a projection light stop instruction to the processor 120 of the projection device 100. However, the processor 30 may also operate as a projection light suppression instruction unit, outputting a projection light suppression instruction to the processor 120 of the projection device 100, thereby suppressing the projection light 4 projected onto the object to be inspected 2. In this case, the projection light 4 projected onto the object to be inspected 2 based on the projection light suppression instruction may have a reduced light intensity and a changed color compared to the projection light 4 projected onto the object to be inspected 2 based on the projection instruction. This modified example also makes it possible to suppress the influence of the projection light 4 on the analysis image during the analysis image acquisition process, for example, compared to the case where the imaging area 2A is imaged by the imaging device 200 while the projection light 4 is projected onto the object to be inspected 2.

[0184] Furthermore, in the above embodiment, the projected light 4 is displayed in a grid pattern on the object to be inspected 2, but as an example, as shown in Figure 19, the projected light 4 may be displayed in a rectangular shape on the object to be inspected 2. In the example shown in Figure 19, the projected light 4 defines one imaging area 2A. That is, the area inside the rectangular frame displayed by the projected light 4 is the imaging area 2A. The projected light 4 represents the position of the edge of the imaging area 2A. That is, the rectangular frame displayed by the projected light 4 defines the position of the edge of the imaging area 2A. In addition, the projected light 4 represents the range of the imaging area 2A. That is, the rectangular frame displayed by the projected light 4 defines the range of the imaging area 2A. According to this modified example, the position and range of the imaging area 2A can be taught to the imager 6 by the projected light 4 displayed in a rectangular shape.

[0185] Furthermore, in the example shown in Figure 19, the processor 30 may control the projection device 100 (see Figure 8) to move the projection light 4 along the object to be inspected 2. In the example shown in Figure 19, the projection light 4 moves in a meandering manner from the upper left to the lower right of the object to be inspected 2. According to this modified example, the moving projection light 4 can be used to teach the imager 6 the area to be imaged 2A. In this modified example, a part of the first area to be imaged 2A corresponding to the projection light 4 before movement and a part of the second area to be imaged 2A corresponding to the projection light 4 after movement may overlap. Dimension OL represents the amount of overlap between the projection light 4 before and after movement. By overlapping in this way, in the image analysis device 300's process of seamlessly stitching together multiple analysis images, matching feature points between adjacent analysis images are referenced and stitched together.

[0186] Furthermore, in the example shown in Figure 19, the projected light 4 moves in a meandering manner from the upper left corner to the lower right corner of the object to be inspected 2. However, as an example, as shown in Figure 20, the projected light 4 may also move in a meandering manner from the upper left corner to the lower right corner of the object to be inspected 2.

[0187] Furthermore, in the examples shown in Figures 19 and 20, the projected light 4 is represented by a solid line in the shape of a frame, but as an example shown in Figure 21, the projected light 4 may also be represented by a dashed line in the shape of a frame. In addition, although not specifically shown, the projected light 4 may also be represented by a dashed line in the shape of a frame, or by a double-dotted line in the shape of a frame. Furthermore, the projected light 4 may also be represented by a line of a type other than a solid line, dashed line, dashed line, or double-dotted line. With this modification as well, the position and range of the imaged area 2A can be taught to the imager 6 by the projected light 4.

[0188] Furthermore, in the examples shown in Figures 19 and 20, the projected light 4 is displayed in the shape of a frame surrounding the imaging area 2A. However, as an example, as shown in Figure 22, the projected light 4 may display four corner marks 4A located at each corner of the imaging area 2A. In the example shown in Figure 22, the projected light 4 defines one imaging area 2A. That is, the area inside the four corner marks 4A is the imaging area 2A. The projected light 4 represents the position of the edge of the imaging area 2A. That is, the four corner marks 4A define the position of each corner of the imaging area 2A as an example of the edge of the imaging area 2A. In addition, the projected light 4 represents the range of the imaging area 2A. That is, the four corner marks 4A define the range of the imaging area 2A. With this modified example as well, the position and range of the imaging area 2A can be taught to the imager 6 by the projected light 4.

[0189] Furthermore, in the example shown in Figure 22, the projected light 4 displays four corner marks 4A located at each corner of the imaging area 2A. However, as an example, as shown in Figure 23, the projected light 4 may display one corner mark 4A located at one corner of the imaging area 2A. In the example shown in Figure 23, the projected light 4 defines one imaging area 2A. The projected light 4 also represents the position of the edge of the imaging area 2A. In other words, the corner mark 4A defines the position of one corner of the imaging area 2A as an example of the edge of the imaging area 2A. Although not specifically shown, the projected light 4 may also display two corner marks 4A located at two corners of the imaging area 2A, or three corner marks 4A located at three corners of the imaging area 2A. According to this modified example, the position of the imaging area 2A can be taught to the imager 6 by the projected light 4.

[0190] Furthermore, in the examples shown in Figures 22 and 23, the projected light 4 displays a corner mark 4A located at the corner of the imaging area 2A. However, as an example, as shown in Figure 24, the projected light 4 may display a cross mark 4B located at the center of the imaging area 2A. In the example shown in Figure 24, the projected light 4 defines one imaging area 2A. The projected light 4 also represents the position of the center of the imaging area 2A. In other words, the cross mark 4B defines the position of the center of the imaging area 2A. Although not specifically shown, the projected light 4 representing the position of the center of the imaging area 2A may also display a mark with a shape other than a cross. According to this modified example, the position of the imaging area 2A can be indicated to the imager 6 by the projected light 4.

[0191] Furthermore, as shown in Figure 25 as an example, the projection light 4 may include projection light 4D representing the imaging order in addition to projection light 4C displayed in a grid pattern. Also, as shown in Figure 26 as an example, the projection light 4 may include projection light 4D representing the imaging order in addition to projection light 4E displayed in a rectangular pattern. In the examples shown in Figures 25 and 26, projection light 4D includes a number that defines the imaging order. The plan defined by the planning information 70 (see Figure 8) includes the projection order. Projection light 4D is displayed based on the projection order defined by the planning information 70 (see Figure 8). According to this modified example, the imaging order can be taught to the imager 6.

[0192] Furthermore, as shown in Figure 27 as an example, the projected light 4D may also be an arrow that defines the imaging order. Although not specifically shown, the projected light 4D may also represent information including letters and / or symbols that define the imaging order. The projected light 4D is an example of a "projected light representing the imaging order" according to the technology of this disclosure. This modified example also allows the imaging operator 6 to be instructed on the imaging order.

[0193] Furthermore, as shown in Figure 28 as an example, the projected light 4 may include a projected light 4F that represents dimensions. In the example shown in Figure 28, the projected light 4F represents a length of 1 meter, but it may represent a length other than 1 meter. Also, the unit of length represented by the projected light 4F may be a unit other than meters. The projected light 4F is an example of a "projected light that represents dimensions" related to the technology of this disclosure. According to this modification, information representing dimensions can be provided to the imager 6.

[0194] Furthermore, as shown in Figure 29 as an example, the projected light 4 may include projected light 4G that represents information about the object to be inspected 2. In the example shown in Figure 29, the projected light 4G represents information that identifies the subject, such as the name of the bridge with piers and the number of the piers, which are the object to be inspected 2. The projected light 4G also includes the height, length, and / or thickness that represent the size of the subject. If part of the subject is circular, the projected light 4G includes the diameter and / or radius of the circular portion. If part of the subject is straight, it includes the angle of the straight portion with respect to the horizontal direction. The projected light 4G may represent any information relating to the object to be inspected 2. The projected light 4G is an example of "projected light representing information about a subject" relating to the technology of this disclosure. According to this modification, information about the object to be inspected 2 can be provided to the imager 6.

[0195] Furthermore, as shown in Figure 30 as an example, the projected light 4 may include a projected light 4H representing the date and / or a projected light 4I representing the name of the person in charge. In addition, the projected light 4 may represent other information in addition to the projected light 4H and / or projected light 4I. According to this modified example, the projected light 4H can inform the imager 6 of the work date. Also, the projected light 4I can inform the imager 6 of the name of the person in charge who should be performing the work.

[0196] Furthermore, as shown in Figure 31 as an example, in the imaging support device 10, the projection instruction unit 52 determines the damage of the object to be inspected 2 based on the damage information 72 stored in the storage 32. location Information regarding the damage to the object being inspected 2 may be included in the projection instructions. In the projection device 100, the projection control unit 132 may include projection light 4J representing the damaged area of ​​the object being inspected 2 in the projection light 4 according to the projection instructions. Projection light 4J is an example of "projection light representing the damaged area of ​​the subject" according to the technology of this disclosure. According to this modified example, the damage to the object being inspected 2 is shown to the imager 6. location It is possible to teach this.

[0197] Furthermore, as an example, as shown in Figure 32, in the imaging support device 10, the projection instruction unit 52 may calculate the relative positional displacement between the imaging range 200A and the area to be imaged 2A based on the live view image input from the processor 250 of the imaging device 200. If the positional displacement exceeds a predetermined amount, the projection instruction unit 52 may output a projection instruction to the imager 6 to include the projection light 4K, which indicates that a positional displacement has occurred in the imaging range, in the projection light 4 projected onto the object to be inspected 2. The relative positional displacement between the imaging range 200A and the area to be imaged 2A is an example of the "relative relationship between the imaging range and the area to be imaged by the imaging device" related to the technology of this disclosure, and the projection instruction to include the projection light 4K in the projection light 4 is an example of "relative information representing a relative relationship" related to the technology of this disclosure. According to this modified example, the relative positional displacement between the imaging range 200A and the area to be imaged 2A can be taught to the imager 6.

[0198] Furthermore, as an example, as shown in Figures 33 and 34, in the imaging support device 10, the projection instruction unit 52 may calculate the relative size difference between the imaging range 200A and the area to be imaged 2A based on the live view image input from the processor 250 of the imaging device 200. If the size difference exceeds a predetermined value, the projection instruction unit 52 may output a projection instruction to the imager 6 indicating that the imaging range is too wide or too narrow, and to include the projection light 4L projected onto the object to be inspected 2 in the projection light 4. The relative size difference between the imaging range 200A and the area to be imaged 2A is an example of the "relative relationship between the imaging range and the area to be imaged by the imaging device" related to the technology of this disclosure, and the projection instruction to include the projection light 4L in the projection light 4 is an example of "relative information representing a relative relationship" related to the technology of this disclosure. According to this modified example, the imager 6 can be informed of the relative size difference between the imaging range 200A and the area to be imaged 2A.

[0199] Furthermore, as an example, as shown in Figure 35, when the operating mode of the imaging support device 10 is the visual inspection image acquisition mode, the projection instruction unit 52 may output a projection instruction to include the projection light 4M, which indicates that it is the visual inspection image acquisition mode, in the projection light 4 projected onto the object to be inspected 2. Similarly, as an example, as shown in Figure 36, when the operating mode of the imaging support device 10 is the analysis image acquisition mode, the projection instruction unit 52 may output a projection instruction to include the projection light 4N, which indicates that it is the analysis image acquisition mode, in the projection light 4 projected onto the object to be inspected 2. According to this modified example, the imager 6 can be informed whether the current operating mode is the visual inspection image acquisition mode or the analysis image acquisition mode.

[0200] Furthermore, as an example, as shown in Figure 37, when the operating mode of the imaging support device 10 is the visual inspection image acquisition mode, the first imaging instruction unit 54 may determine whether or not the predetermined imaging conditions have been met based on the live view image input from the processor 250 of the imaging device 200. If the first imaging instruction unit 54 determines that the predetermined imaging conditions have been met, it may output a first imaging instruction to the processor 250 of the imaging device 200 to image the object to be inspected 2. Examples of the predetermined imaging conditions include the following conditions: the image area 2A is in focus, the relative positional displacement between the imaging range 200A and the image area 2A is less than or equal to a predetermined amount, and the relative size difference between the imaging range 200A and the image area 2A is less than or equal to a predetermined value. Outputting a first imaging instruction to the processor 250 of the imaging device 200 to image the object to be inspected 2 is an example of "controlling the imaging device to image a subject" according to the technology of this disclosure. According to this modified example, Visual inspection In the inspection image acquisition process, the imaging device 200 can be made to take an image when the predetermined imaging conditions are met.

[0201] Similarly, as shown in Figure 38 as an example, when the operating mode of the imaging support device 10 is the analysis image acquisition mode, the second imaging instruction unit 58 may determine whether or not the predetermined imaging conditions have been met based on the live view image input from the processor 250 of the imaging device 200. If the second imaging instruction unit 58 determines that the predetermined imaging conditions have been met, it may output a second imaging instruction to the processor 250 of the imaging device 200 to image the object to be inspected 2. Examples of the predetermined imaging conditions include the following conditions: the image area 2A is in focus, the relative positional displacement between the imaging range 200A and the image area 2A is less than or equal to a predetermined amount, and the relative size difference between the imaging range 200A and the image area 2A is less than or equal to a predetermined value. Outputting a second imaging instruction to the processor 250 of the imaging device 200 to image the object to be inspected 2 is an example of "controlling the imaging device to image a subject" according to the technology of this disclosure. According to this modified example, Visual inspection In the inspection image acquisition process, the imaging device 200 can be made to take an image when the predetermined imaging conditions are met.

[0202] Furthermore, although the above embodiment uses the object to be inspected 2 as an example subject, this is merely an example, and other objects besides the object to be inspected 2 may also be used. In other words, the imaging system 1 may be used for purposes other than inspection.

[0203] Furthermore, in the above embodiment, the image acquisition process for visual inspection and the image acquisition process for analysis are executed alternately in the imaging support process, but the image acquisition process for visual inspection and the image acquisition process for analysis do not necessarily have to be executed alternately. For example, the image acquisition process for visual inspection may be omitted, or after the image acquisition process for visual inspection is executed at the beginning of the imaging support process, the image acquisition process for visual inspection may not be executed again, or one image acquisition process for visual inspection may be executed for multiple image acquisition processes for analysis.

[0204] Furthermore, in the above embodiment, the projection device 100 projects the projection light 4 onto the object to be inspected 2 based on the projection instruction output by the projection instruction unit 52. However, the projection device 100 may also project the projection light 4 onto the object to be inspected 2 based on the projection instruction given to the projection device 100 by the imager 6.

[0205] Furthermore, in the above embodiment, the projection light 4 projected onto the object to be inspected 2 is stopped when the release button 266 is pressed to the half-press position. However, if the release button 266 is pressed to the fully-press position, the projection light 4 projected onto the object to be inspected 2 may be stopped before imaging by the imaging device 200 is performed. In this case, the processor 30 of the imaging support device 10 receives the imaging instruction signal output from the imaging device 200 in response to the release button 266 being pressed to the fully-press position, thereby receiving the imaging instruction given to the imaging device 200.

[0206] Furthermore, although the above embodiment describes an example in which imaging support processing is performed by a computer 12 within the imaging support device 10, the technology of this disclosure is not limited thereto. For example, as shown in Figure 39, imaging support processing may be performed by a computer 402 in an external device 400 that is communicably connected to the imaging support device 10 via a network 500 such as a LAN or WAN. In the example shown in Figure 39, the computer 402 includes a processor 410, storage 412, and RAM 414. The storage 412 stores the imaging support processing program 40.

[0207] The imaging support device 10 requests the external device 400 to perform imaging support processing via the network 500. In response, the processor 410 of the external device 400 reads the imaging support processing program 40 from the storage 412 and executes the imaging support processing program 40 on the RAM 414. The processor 410 performs imaging support processing according to the imaging support processing program 40 executed on the RAM 414. The processor 410 then provides the processing results obtained from the execution of the imaging support processing to the imaging support device 10 via the network 500.

[0208] Furthermore, the imaging support device 10 and the external device 400 may perform the imaging support processing in a distributed manner, or multiple devices including the imaging support device 10 and the external device 400 may perform the imaging support processing in a distributed manner. In the example shown in Figure 39, the imaging support device 10 and the external device 400 are examples of the "imaging support device" related to the technology of this disclosure.

[0209] Furthermore, the imaging support device 10, projection device 100, and imaging device 200 may perform imaging support processing in a distributed manner. In this case, the imaging support device 10, projection device 100, and imaging device 200 are examples of the "imaging support device" related to the technology of this disclosure.

[0210] Furthermore, although the above embodiment described an example in which the imaging support processing program 40 is stored in storage 32, the technology of this disclosure is not limited thereto. For example, as shown in Figure 40, the imaging support processing program 40 may be stored in a storage medium 600. The storage medium 600 is a non-temporary storage medium. An example of the storage medium 600 is any portable storage medium such as an SSD or a USB memory.

[0211] The imaging support processing program 40 stored in the storage medium 600 is installed in the computer 12. The processor 30 executes imaging support processing according to the imaging support processing program 40.

[0212] Alternatively, the imaging support processing program 40 may be stored in the storage of another computer or server device connected to the computer 12 via a communication network (not shown), and the imaging support processing program 40 may be downloaded and installed on the computer 12 in response to a request from the imaging support device 10.

[0213] Furthermore, it is not necessary to store the entire imaging support processing program 40 on the storage of another computer or server device connected to computer 12; it is acceptable to store only a portion of the imaging support processing program 40.

[0214] Furthermore, while Figure 40 shows an example in which the computer 12 is built into the imaging support device 10, the technology of this disclosure is not limited to this, and for example, the computer 12 may be provided outside the imaging support device 10.

[0215] Furthermore, in the example shown in Figure 40, the processor 30 may be a single CPU or multiple CPUs. Alternatively, a GPU may be used instead of a CPU.

[0216] Furthermore, although a computer 12 is exemplified in the above embodiment, the technology of this disclosure is not limited thereto, and devices including ASICs, FPGAs, and / or PLDs may be used instead of the computer 12. Alternatively, a combination of hardware and software configurations may be used instead of the computer 12.

[0217] The hardware resources used to perform the imaging support processing described in the above embodiment include the following types of processors. Examples of processors include a CPU, which is a general-purpose processor that functions as a hardware resource for performing imaging support processing by executing software, i.e., a program. Other examples of processors include dedicated electrical circuits, which are processors with circuit configurations specifically designed to perform particular processing, such as FPGAs, PLDs, or ASICs. Each processor has built-in or connected memory, and each processor performs imaging support processing by using this memory.

[0218] The hardware resources that perform the imaging support processing may consist of one of these various processors, or a combination of two or more processors of the same or different types (for example, a combination of multiple FPGAs, or a combination of a CPU and an FPGA). Alternatively, the hardware resources that perform the imaging support processing may consist of a single processor.

[0219] Examples of configurations using a single processor include, firstly, a configuration in which one or more CPUs and software are combined to form a single processor, and this processor functions as a hardware resource that performs imaging support processing. Secondly, there is a configuration using a processor that realizes the functions of the entire system, including multiple hardware resources that perform imaging support processing, on a single IC chip, as exemplified by SoCs. In this way, imaging support processing is realized using one or more of the above types of processors as hardware resources.

[0220] Furthermore, the hardware structure of these various processors can more specifically utilize electrical circuits combining circuit elements such as semiconductor devices. Also, the above imaging support processing is merely an example. Therefore, it goes without saying that unnecessary steps can be deleted, new steps added, or the processing order rearranged, as long as it does not deviate from the main purpose.

[0221] Furthermore, the above embodiments and some of the multiple modified examples that can be combined may be implemented in appropriate combinations.

[0222] The descriptions and illustrations presented above are detailed explanations of the technical aspects of this disclosure and are merely examples of the technical aspects. For example, the above descriptions of the structure, function, operation, and effect are examples of the structure, function, operation, and effect of the technical aspects of this disclosure. Therefore, it goes without saying that you may delete unnecessary parts, add new elements, or replace elements in the descriptions and illustrations presented above, as long as you do not deviate from the essence of the technical aspects of this disclosure. Furthermore, in order to avoid confusion and facilitate understanding of the technical aspects of this disclosure, explanations of common technical knowledge and the like that do not require special explanation to enable the implementation of the technical aspects of this disclosure have been omitted from the descriptions and illustrations presented above.

[0223] In this specification, "A and / or B" is synonymous with "at least one of A and B." That is, "A and / or B" means that it may be A alone, or B alone, or a combination of A and B. Furthermore, in this specification, the same concept as "A and / or B" applies when expressing three or more things linked by "and / or."

[0224] All documents, patent applications, and technical standards described herein are incorporated by reference to the same extent as if each individual document, patent application, and technical standard were specifically and individually noted to be incorporated by reference.

[0225] The following additional information is disclosed regarding the embodiments described above.

[0226] (Note 1) From a state in which projection light representing at least the position of the area to be imaged on the subject is projected onto the subject by a projector, it is determined whether or not the area to be imaged is imaged by the imaging device, and If the above determination is affirmed, control is performed on the projector to transition to a state in which the projected light is suppressed. A program that causes a computer to perform a process that includes [a specific action].

Claims

1. Processor and An imaging support device comprising a memory connected to or built into the processor, The processor, when a projection light representing at least the position of the area to be imaged on the subject is projected onto the subject by the projection device, and when the imaging support device is set to an analysis image acquisition mode, and when it receives an imaging preparation instruction due to the release button of the imaging device being half-pressed, controls the projection device to transition to a state in which the projection light is suppressed. Imaging support device.

2. The state in which the projection light is suppressed is the state in which the projection light is stopped. The imaging support device according to claim 1.

3. The processor controls the projection device to project the projection light onto the subject. The imaging support device according to claim 1.

4. The projected light includes projected light that represents the position of the edge of the area to be captured. The imaging support device according to claim 1.

5. The projected light includes a projection light that represents the position of the center of the area to be imaged. The imaging support device according to claim 1.

6. The projected light includes projected light representing the range of the area to be imaged. The imaging support device according to claim 1.

7. The projected light includes projected light displayed in a grid pattern. The imaging support device according to claim 1.

8. The aforementioned projected light includes projected light displayed in a rectangular shape. The imaging support device according to claim 1.

9. The aforementioned projection light includes projection light representing the imaging sequence. The imaging support device according to claim 1.

10. The processor controls the projection device to move the projected light along the subject. The imaging support device according to claim 1.

11. A portion of the first imaging region, which corresponds to the projection light before movement, and a portion of the second imaging region, which corresponds to the projection light after movement, overlap. The imaging support device according to claim 10.

12. The aforementioned projected light includes projected light representing dimensions. The imaging support device according to claim 1.

13. The projected light includes projected light that represents information about the subject. The imaging support device according to claim 1.

14. The processor controls the projection of the projection light onto the subject according to a predetermined plan. The imaging support device according to claim 1.

15. The plan includes at least one of the projection position, projection range, and projection sequence for projecting the projection light onto the subject. The imaging support device according to claim 14.

16. The projected light includes projected light representing the damaged area of ​​the subject. The imaging support device according to claim 1.

17. The processor outputs relative information representing the relative relationship between the imaging range of the imaging device and the area to be imaged. The imaging support device according to claim 1.

18. The processor, when the predetermined imaging conditions are met, controls the imaging device to image the subject. The imaging support device according to claim 1.

19. When the imaging device captures the area to be imaged, the processor further controls the projection device to maintain the projection light. The imaging support device according to claim 1.

20. When the imaging device captures the area to be imaged and obtains an image for visual inspection of the area to be imaged, the processor controls the projection device to maintain the projection light. The imaging support device according to claim 1.

21. Imaging support device, Projection device and Imaging device and Equipped with, The aforementioned imaging support device, Processor and The processor comprises, The processor, when a projection light representing at least the position of the area to be imaged on the subject is projected onto the subject by the projection device, and when the imaging support device is set to an analysis image acquisition mode, and when it receives an imaging preparation instruction due to the release button of the imaging device being half-pressed, controls the projection device to transition to a state in which the projection light is suppressed. Imaging system.

22. An imaging support method using an imaging support device, Controlling the projection device to project a projection light onto the subject that represents at least the position of the area to be imaged within the subject, and When the projection light is being projected onto the subject by the projection device, and the imaging support device is set to an analysis image acquisition mode, and the imaging support device receives an imaging preparation instruction due to the release button of the imaging device being half-pressed, the projection device is controlled to suppress the projection light. An imaging support method comprising:

23. A program for causing a computer of an imaging support device to perform processing, The process includes, when a projection light representing at least the position of the area to be imaged on the subject is projected onto the subject by the projection device, and when the imaging support device is set to an analysis image acquisition mode, and an imaging preparation instruction is received due to the release button of the imaging device being half-pressed, the process includes controlling the projection device to transition to a state in which the projection light is suppressed. program.

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