Information processing apparatus, control method, program, and system

Abstract

To reduce a burden on operation when AF fails compared with before.SOLUTION: An information processing apparatus has control means that controls imaging means for photographing an object to be inspected to photograph the object to be inspected while dividing the object to be inspected into a plurality of areas, while moving the imaging means. The control means performs distance measuring processing for each of the plurality of areas by using an autofocus function of the imaging means, determines whether focus is adjusted to a subject to be photographed, photographs an area, of the plurality of areas, in which the focus is determined to be adjusted to the subject to be photographed, and controls to photograph an area, of the plurality of areas, in which the focus is determined not to be adjusted to the subject to be photographed when changing a focus detection position for performing the distance measuring processing, thereby determining that the focus is adjusted to the subject to be photographed.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a system for taking images of an inspection target to detect the presence or absence of defects such as cracks when inspecting the exterior walls of a structure or the like. [Background technology]

[0002] When inspecting the exterior walls of structures, the presence or absence of cracks or other abnormalities is determined by performing image analysis on high-resolution images of the inspection target. The images used for this image analysis are taken by dividing the inspection target into multiple regions and photographing them using a camera that is panned or tilted. In this case, in order to capture a large number of images that cover the entire inspection target without missing any areas, a system is used in which the camera is attached to a pan head, and the pan head automatically pans or tilts the camera to take sequential images.

[0003] In such a system, the camera uses a camera platform to move the camera's shooting area, and the camera performs autofocus (AF) and photographing operations, which are repeated until photographing is completed for all areas without omission. However, for example, if the area to be photographed has unevenness, overlapping pillars, or a complex depth shape, photographing may occur in a state where the focus is set on a subject other than the subject being photographed (AF failed state). If AF fails, the user may manually adjust the focus and photograph again, or may estimate the range of the focus detection position for the area where AF failed based on the focus detection position (focus detection point) when photographing the area where AF succeeded and photograph again (Patent Document 1), or may photograph the area where AF failed at a focus detection position manually set by the user (Patent Document 2). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6891071 [Patent Document 2] Patent No. 6626954 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when re-shooting an area where AF failed, the following problems arise.

[0006] When the user manually adjusts the focus and resumes shooting, the operation of the camera platform and camera is temporarily stopped and the user operates the camera to adjust the focus. This means that the operation of the camera platform and camera is interrupted every time AF fails, and the user must remain near the camera during long periods of shooting.

[0007] Furthermore, in Patent Document 1, the photographing and composition processes for focus bracketing take time, making it impossible to streamline work time and increasing the operational burden when AF fails.In Patent Document 2, the user must manually set the focus detection position, which requires the user to be near the camera, increasing the operational burden when AF fails.

[0008] The present invention has been made in view of the above-mentioned problems, and its object is to realize a system that can reduce the operational burden when AF fails compared to conventional systems. [Means for solving the problem]

[0009] In order to solve the above problems and achieve the object, the information processing device of the present invention has a control means that controls the imaging means that photographs the inspection object to divide the inspection object into a plurality of areas and photograph them while moving the imaging means, and the control means uses the autofocus function of the imaging means to perform distance measurement processing for each of the plurality of areas and determine whether the subject of the object to be photographed is in focus, and photographs an area of ​​the plurality of areas where it is determined that the subject of the object to be photographed is in focus, and controls the imaging of an area of ​​the plurality of areas where it is determined that the subject of the object to be photographed is not in focus by changing the focus detection position where the distance measurement processing is performed, so that it photographs the area if it is determined that the subject of the object to be photographed is in focus. [Effects of the Invention]

[0010] According to the present invention, the operational burden when AF fails can be reduced compared to the conventional art. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a system configuration diagram of the present embodiment. [Figure 2] FIG. 2 is a functional block diagram of the system according to the present embodiment. [Figure 3A] FIG. 1 is a block diagram showing the configuration of an imaging apparatus according to an embodiment of the present invention. [Figure 3B] FIG. 2 is a block diagram showing the configuration of the camera platform device according to the present embodiment. [Figure 3C] FIG. 1 is a block diagram showing the configuration of an information processing apparatus according to an embodiment of the present invention. [Figure 4A] 3A to 3C are diagrams for explaining a method for photographing an inspection object using the system of this embodiment. [Figure 4B] 3A to 3C are diagrams for explaining a method for photographing an inspection object using the system of this embodiment. [Figure 4C] 3A to 3C are diagrams for explaining a method for photographing an inspection object using the system of this embodiment. [Figure 5] 3A to 3C are diagrams illustrating images captured by the system of the present embodiment. [Figure 6]3 is a flowchart showing the operation of the system of the present embodiment. [Figure 7] 7 is a flowchart showing the photographing process of FIG. 6. [Figure 8] 8 is a flowchart showing the distance measurement point prediction process in FIG. 7; [Figure 9] 7A and 7B are diagrams for explaining the photographing direction in the photographing process of FIG. 6; [Figure 10] 7A and 7B are diagrams illustrating distance measurement processing results in the photographing processing of FIG. 6. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the scope of the invention claimed. Although multiple features are described in the embodiments, not all of these multiple features are necessarily essential to the invention, and multiple features may be combined arbitrarily. Furthermore, in the accompanying drawings, the same reference numerals are used to designate the same or similar components, and redundant explanations will be omitted.

[0013] First, the configuration and functions of the system of this embodiment will be described with reference to FIGS.

[0014] FIG. 1 is a diagram showing the system configuration of this embodiment.

[0015] The system 100 of this embodiment includes an imaging device 101, a pan head device 102 to which the imaging device 101 is attached, an information processing device 103 that controls the imaging device 101 and the pan head device 102, and a tripod 104 that supports the pan head device 102.

[0016] The imaging device 101 is a digital camera to which a lens device can be attached. The pan head device 102 is an accessory device to which the imaging device 101 can be attached. The pan head device 102 is an electric pan head that serves as an attitude control device that variably controls the attitude of the imaging device 100, and drives the imaging device 101 in at least one of a pan direction and a tilt direction to change the shooting direction of the imaging device 100. The information processing device 103 is a personal computer (PC), a tablet PC, or a smartphone.

[0017] The imaging device 101 has a lens device including a zoom lens, a focus lens, an aperture, a shutter, and the like.

[0018] The camera platform device 102 includes a pan mechanism 105 that drives the imaging device 101 in a pan direction, and a tilt mechanism 106 that drives the imaging device 101 in a tilt direction. The imaging device 101 and the camera platform device 102 are communicatively connected by a cable 108. The camera platform device 102 and the information processing device 103 are communicatively connected by a cable 109. The imaging device 101 and the information processing device 103 can communicate via the camera platform device 102. The imaging device 101 and the information processing device 103 may also be communicatively connected by a cable. Furthermore, the imaging device 101 and the camera platform device 102 may also be wirelessly connected to the information processing device 103.

[0019] FIG. 2 is a functional block diagram of the system of this embodiment.

[0020] The imaging device 101 includes an imaging unit 202 that captures images, an imaging control unit 203 that controls the imaging device 101, and an image storage unit 204 that stores captured images. The imaging device 101 also has an autofocus function (hereinafter referred to as AF) that automatically focuses on a subject. The imaging device 101 also includes a focus drive unit 205 and a distance measurement unit 206. The focus drive unit 205 drives the focus lens of the lens device. The distance measurement unit 206 performs distance measurement processing to detect the amount of deviation from a focused state (in-focus state) for a subject located at a focus detection position (focus measurement point). The distance measurement processing uses well-known methods such as a phase difference detection method, a contrast detection method, or an image plane phase difference method. The distance measurement unit 206 can also calculate the subject distance and the shooting distance based on the focal length of the focus lens when the subject is in focus. The shooting distance is the distance from the subject to the imaging plane of the image sensor of the imaging unit 202 when the focus lens of the lens device is extended, and corresponds to the sum of the subject distance, the image distance, and the distance between the principal points of the lenses. The imaging device 101 also includes a zoom drive unit 207 that drives the zoom lens of the lens device, and a communication unit 208 that communicates with the camera platform device 102 and the information processing device 103.

[0021] The pan head device 102 includes a pan head control unit 209 that controls the pan head device 102, a pan drive unit 210 that drives the pan mechanism 105, and a tilt drive unit 211 that drives the tilt mechanism 106. The pan head device 102 also includes a communication unit 212 for communicating with the imaging device 101 and the information processing device 103.

[0022] The information processing device 103 includes an imaging control unit 214 that controls the zoom drive unit 207 of the imaging device 101 and the pan mechanism 105 and tilt mechanism 106 of the camera platform device 102 to drive them to a predetermined PTZ position and acquires the current PTZ position. The information processing device 103 also includes a ranging point prediction unit 215 and a ranging result recording unit 216. The ranging point prediction unit 215 predicts the ranging point for performing ranging processing for AF in the imaging processing, which will be described later with reference to FIGS. 6 to 8. The ranging result recording unit 216 records the results of ranging processing performed by the ranging unit 206. The results of ranging processing, the details of which will be described later with reference to FIG. 10, include information on the shooting direction number, whether AF was successful, the shooting distance, the amount of change in the shooting distance, and the validity of the ranging point. The information processing device 103 also includes a communication unit 217 that communicates with the camera platform device 102 and the imaging device 101. The detailed operation and processing of each functional block in the information processing device 103 will be described later.

[0023] PTZ is an abbreviation of the initials of Panoramic, Tilt, and Zoom. Pan is horizontal movement. Tilt is vertical movement. Zoom is zooming up (telephoto) and zooming out (wide angle). The PTZ position corresponds to the pan angle, tilt angle, and zoom position.

[0024] 3A to 3C are block diagrams showing the internal configurations of the imaging device 101, the camera platform device 102, and the information processing device 103 that constitute the system of this embodiment.

[0025] FIG. 3A shows the internal configuration of the imaging device 101.

[0026] The controller 301 has an arithmetic processor such as a CPU or MPU that controls the entire imaging device 101. The controller 301 executes a program stored in a nonvolatile memory 302 (to be described later) and controls each module of the imaging device 101, thereby realizing the processing of a flowchart (to be described later).

[0027] The non-volatile memory 302 is a ROM that stores an OS (operating system), which is basic software executed by the controller 301, programs, and operational constants required to execute the programs. Here, the programs refer to programs for executing the flowchart processing described later in this embodiment.

[0028] The volatile memory 303 is a RAM used as a work memory into which constants and variables for the operation of the controller 301, programs read from the nonvolatile memory 302, and the like are loaded.

[0029] The imaging module 304 has an image sensor that receives subject light incident through a lens device, converts it into an analog image signal, and outputs it, and an AD converter that converts the analog image signal output from the image sensor into a digital signal and outputs it. Furthermore, the imaging module 304 performs various image processing on the digital image signal output from the AD converter to generate image data, and writes it directly or indirectly to a storage module 311, which will be described later.

[0030] The ranging module 305 is a sensor module that detects the amount of deviation from a focused state (in-focus state) of a subject located at a ranging point, and calculates the shooting distance based on the focal length of the focus lens in the focused state, etc.

[0031] The lens control module 306 controls the lens device. The focus drive module 307 includes a circuit that controls the focus drive unit 205 of the image capture device 101 under the control of the lens control module 306, and an actuator that drives the focus lens of the lens device. The iris drive module 308 includes an actuator that drives the iris under the control of the lens control module 306. The zoom drive module 309 includes a circuit that controls the zoom drive unit 207 of the image capture device 101 under the control of the lens control module 306, and an actuator that drives the zoom lens of the lens device.

[0032] The input / output module 310 is an interface (I / F) that accepts operation instructions for the image capture device 101 so that the user can make various settings related to the image capture device 101.

[0033] The communication module 310 is an interface for the imaging device 101 to communicate with the pan head device 102 and the information processing device 103 via the pan head device 102 .

[0034] The storage module 312 has a storage device such as a memory card or hard disk that stores images captured by the imaging module 304 .

[0035] The bus 313 includes an address bus, a data bus, and a control bus for connecting the above-mentioned modules.

[0036] Fig. 3B shows the internal configuration of the camera head device 102. Note that in Fig. 3B, the configurations and functions of the controller 321, nonvolatile memory 322, volatile memory 323, input / output module 327, and bus 329 are similar to those of the controller 301, nonvolatile memory 302, volatile memory 303, input / output module 310, and bus 313 of the imaging device 101, and therefore description thereof will be omitted.

[0037] The first communication module 324 is an interface for the camera platform device 102 to communicate with the imaging device 101 .

[0038] The pan drive module 325 includes a circuit for controlling the pan drive unit 210 of the pan head device 102 and an actuator for driving the pan mechanism 105 of the pan head device 102 .

[0039] The tilt drive module 326 includes a circuit for controlling the tilt drive unit 211 of the pan head device 102 and an actuator for driving the tilt mechanism 106 of the pan head device 102 .

[0040] The second communication module 328 is an interface for the camera platform device 102 to communicate with the information processing device 103 .

[0041] Fig. 3C shows the internal configuration of the information processing device 103. In Fig. 3C, the configurations and functions of the controller 331, nonvolatile memory 332, volatile memory 333, and bus 338 are similar to those of the controller 301, nonvolatile memory 302, volatile memory 303, and bus 313 of the imaging device 101, and therefore description thereof will be omitted.

[0042] The display device 334 has a display device such as a liquid crystal panel or organic EL panel for presenting various information of the information processing device 103 to the user.

[0043] The input device 335 includes operation members such as a mouse, keyboard, and touch panel that allow the user to input various information related to the information processing device 103 .

[0044] The communication module 336 is an interface for the information processing device 103 to communicate with the camera platform device 102 .

[0045] The storage device 337 is an auxiliary storage device such as a memory card or a hard disk.

[0046] 4A to 4C are diagrams illustrating the operations of the imaging device 101, the camera platform device 102, and the information processing device 103 when an image of an inspection object is captured by the system of this embodiment.

[0047] FIG. 4A is a simplified top view showing a state in which the first area is photographed when photographing is performed while the imaging device 101 is continuously driven in the pan direction by the camera platform device 102. FIG.

[0048] Reference numeral 401 indicates the mounting position of the imaging device 101 relative to the pan head device 102. Reference numeral 402 indicates the structure to be inspected. Reference numeral 403 indicates the wall surface of the structure 402 to be inspected. Note that it is desirable that the mounting position 401 of the imaging device 101 be installed on a perpendicular line (center line) to the horizontal center position of the wall surface 403 of the structure 402 to be inspected, but in an actual shooting site, the imaging device 101 may be positioned off the center line due to the influence of obstacles such as the presence of other structures. Furthermore, reference numeral 404 indicates the center direction of a field angle 419, which is the range in which the imaging device 101 captures the first area when the imaging device 101 is continuously driven in the pan direction by the pan head device 102.

[0049] Reference numeral 410 denotes the intersection point between the center direction 404 of the angle of view 419 and the wall surface 403 of the structure 402 to be inspected. The imaging device 101 sets the intersection point 410 with the center direction 404 of the angle of view 419 on the wall surface 403 as the AF position. Reference numeral 416 denotes the focal plane at which the subject image can be focused into the smallest circle on the imaging surface of the image sensor when the intersection point 410 is set as the AF position. In reality, even if the distance from the imaging surface to the subject (shooting distance) deviates from the distance to the focal plane 416 and the size of the circle on which the subject image is focused is not the smallest, if the size of the circle is equal to or smaller than the pixel size of the image sensor, the out-of-focus state cannot be detected. This distance range in which out-of-focus state cannot be detected is called the depth of field, and can be calculated using the pixel size of the image sensor, the focal length and aperture value of the lens device, and the shooting distance. 4A, the depth of field in front of the in-focus plane 416 is plane 417, and the depth of field behind it is plane 418, and wall surface 403 located in the distance range between planes 417 and 418 can also be considered to be in focus. Therefore, when photographing wall surface 403 shown in FIG. 4A, it is necessary to prepare in advance the mounting position 401 of imaging device 101 and the focal length and aperture value of the lens device, taking the depth of field into consideration.

[0050] FIG. 4B is a simplified top view showing a state in which, after the imaging device 101 has photographed the first area, the imaging device 101 is continuously driven in the pan direction by the pan head device 102 to photograph at each predetermined pan position.

[0051] Similar to the angle of view 419 and center direction 404 in FIG. 4A , reference numerals 405 to 409 indicate the center direction of the angles of view 420 to 424, which are the range of images captured by the imaging device 101 while the pan head device 102 is continuously driven at a predetermined pan angle. If the wall surface 403 to be inspected continues further to the right in the figure, the angle of capture relative to the wall surface 403 becomes even more acute, making it impossible to capture high-resolution images suitable for inspection. In this case, the imaging device 101 is moved to the right, and similar images are taken at multiple mounting positions as necessary. For simplicity's sake, in this embodiment, the imaging device 101 is driven only in the pan direction, not in the tilt direction, in the height direction of the structure 402, and the wall surface 403 of the structure 402 to be inspected is divided into six sections, and six images are taken.

[0052] Reference numerals 411 to 415 denote intersections between central directions 405 to 409 of angles of view 420 to 424 and a wall surface 403 of a structure 402 to be inspected, similar to intersection 410 in FIG. 4A. The imaging device 101 sets intersections 411 to 415 with central directions 405 to 409 of angles of view 420 to 424 on the wall surface 403 as AF positions. Note that in this embodiment, similar to focal plane 416, front depth of field 417, and rear depth of field 418 in FIG. 4A, the focal plane, front depth of field, and rear depth of field when AF is performed at intersections 411 to 415 with the wall surface 403 are indicated by a thick solid line, a fine dotted line, and a coarse dotted line, respectively. In this case, it is known that the range of the rear depth of field is wider than the range of the front depth of field. Similarly, as shown in FIG. 4B, it is known that the depth of field range increases as the shooting distance increases. Furthermore, as shown in FIG. 4B, when the wall surface 403 of the structure 402 to be inspected is divided into multiple regions and photographed, the images captured at each of the angles of view 419 to 424 are made to partially overlap. This is to ensure that the entire subject to be inspected, i.e., the wall surface 403 of the structure 402, is covered, and at the same time, by using the central portion of the image captured by the lens device, a higher-quality image suitable for inspection can be obtained. Note that in the example of FIG. 4B, the edge of the angle of view of the previous frame is set as the center of the angle of view of the next frame, but the overlapping ratio between the images (overlap ratio) is not limited to this and may be a different ratio.

[0053] FIG. 4C illustrates an example of a finder screen displaying a live view image captured by the imaging device 101, with reference numeral 425 indicating the finder screen and reference numerals 426 to 434 indicating distance measurement points where distance measurement processing for AF is performed. Rectangular marks are displayed on the finder screen 425 at positions corresponding to the distance measurement points 426 to 434. The distance measurement points 426 to 434 are present across almost the entire surface of the finder screen 425, but when photographing the inspection object shown in FIGS. 4A and 4B, the more accurate distance measurement point 426 in the center is used. Note that FIGS. 4A to 4C explain a method of photographing a wall surface 403 of a structure 402 to be inspected while continuously driving the imaging device 101 in the pan direction using the camera platform device 102. For this reason, it is assumed that AF was successful for all of the intersections 410 to 415.

[0054] 5(a) and (b) are diagrams illustrating the processing of a plurality of images captured by the system of this embodiment.

[0055] 5(a) illustrates images 501-506 of the inspection target captured at predetermined pan positions by continuously driving the imaging device 101 in the pan direction using the camera platform 102, so that the imaging direction of the imaging device 101 moves from the upper left corner to the upper right corner of the wall surface 403 of the inspection target structure 402 in FIGS. 4A and 4B. In FIG. 5(a), the images 501-506 are arranged with a vertical offset for ease of explanation, but in reality, there is no vertical offset. Also, FIG. 5(b) illustrates images 501-507 of the inspection target captured at predetermined pan positions by continuously driving the imaging device 101 in the pan direction using the camera platform 102, so that the imaging direction of the imaging device 101 moves from the upper left corner to the upper right corner of the wall surface 403 of the inspection target structure 402 in FIGS. 4A and 4B. Furthermore, FIG. 5(b) illustrates a plurality of images including portions of images 508 and 509 of the inspection object captured at each predetermined tilt position while the camera-mounted device 102 continuously drives the imaging device 101 in the tilt direction.

[0056] 5(b), after capturing an image 507 of the upper right corner of the wall surface 403 of the structure 402 to be inspected, the camera platform device 102 moves the imaging direction of the imaging device 101 downward by one section (including the overlapping area) in the tilt direction, and then captures an image while continuously driving the imaging device 101 in the pan direction from the right end to the left end. Thereafter, the camera platform device 102 repeatedly drives the imaging device 101 in the pan direction from the left end to the right end and in the tilt direction downward by one row, and in the pan direction from the right end to the left end and in the tilt direction downward by one section, thereby capturing an image of the entire wall surface 403 of the structure 402 to be inspected (an image from the upper left end to the lower right end).

[0057] All the images shown in Fig. 5(b) are synthesized into a single image using the central portions of the images, and are used as if they were a high-resolution image of the entire wall surface 403 of the structure 402 to be inspected. When inspecting the wall surface 403 of the structure 402, an inspector uses the synthesized image in this way to check for any minute abnormalities in the wall surface 403. Details of the inspection method are well known, so a description thereof will be omitted.

[0058] Next, the operation of the system of this embodiment will be described with reference to the flowcharts shown in FIGS.

[0059] 6 to 8 are flowcharts illustrating the operation of the system of this embodiment.

[0060] In the following description, the imaging device 101, the camera platform device 102, and the information processing device 103 will be described as the main actors in the processing, but in reality, the processing is realized by the controllers 301, 321, and 331 of the imaging device 101, the camera platform device 102, and the information processing device 103 controlling each module by executing programs stored in nonvolatile memories 302, 322, and 332. It is assumed that the selection of the mounting position of the imaging device 101, the lens device to be used for shooting, the focal length and depth of field of the lens device, the aperture value, etc., as described in Figures 4A and 4B, has been completed before the processing in Figure 6 is started.

[0061] In step S601, the information processing device 103 inputs the imaging range and image overlap rate for the inspection target to the pan head device 102. The imaging range and image overlap rate for the pan head device 102 may be input directly by a user from the input / output module 327 of the pan head device 102. Alternatively, they may be input from the input device 335 of the information processing device 103, and the input information may be transmitted to the pan head device 102 via the communication module 336. Furthermore, the imaging range may be determined by storing pan and tilt positions that include the upper left image 501, upper right image 507, lower left image 508, and lower right image 5098 of the composite image shown in FIG. 5(b), and using the stored information as input information.

[0062] In step S602, the information processing device 103 sets control parameters for driving the pan mechanism 105 and tilt mechanism 106 of the pan head device 102 in order to drive the imaging device 101 in the pan direction and tilt direction to capture an image of the inspection target. The control parameters include information for driving the pan mechanism 105 and tilt mechanism 106 of the pan head device 102. The control parameters of the pan head device 102 may be set directly by a user via the input / output module 327 of the pan head device 102, or may be input via the input device 335 of the information processing device 103, and the input information may be transmitted to the pan head device 102 via the communication module 336. Furthermore, the control parameters of the pan head device 102 may be calculated and set based on the shooting range, image overlap rate, focal length and depth of field of the lens device, and aperture value input in step S601.

[0063] In step S603, the information processing device 103 sets shooting parameters such as the shutter speed, ISO sensitivity, and white balance of the imaging device 101. The information processing device 103 also sets control parameters for driving the zoom drive unit 207 of the imaging device 101 in order to drive the zoom lens of the lens device to capture an image of the inspection target. Note that the shooting parameters of the imaging device 101 may be set directly by the user via the input / output module 310, or may be input via the input device 335 of the information processing device 103 and the input information may be transmitted to the imaging device 101 via the communication module 336.

[0064] In step S604, in response to the user inputting a shooting start instruction to the information processing device 103, the information processing device 103 transmits the shooting start instruction to the camera platform device 102 and the imaging device 101 via the communication module 336.

[0065] In step S605, the information processing device 103 controls the pan head device 102 in response to the shooting start command input in step S604. The information processing device 103 performs pan head control to drive the pan mechanism 105 and tilt mechanism 106 of the pan head device 102 based on the control parameters set in step S602.

[0066] In step S606, in response to the shooting start instruction input in step S604, the information processing device 103 controls the imaging device 101. The information processing device 103 controls the shooting operation of the imaging device 101 based on the shooting parameters set in step S603.

[0067] In step S607, the information processing device 103 determines whether or not imaging of the entire imaging range of the inspection object input in step S601 has been completed. When imaging of the imaging range including the upper left angle of view 501 and the lower right angle of view 508 of the composite image shown in FIG. 5B has been completed, the information processing device 103 determines that imaging of the entire inspection object has been completed. If the information processing device 103 determines that imaging of the entire inspection object has not been completed, the process returns to step S605, and the information processing device 103 controls the camera platform device 102 and the imaging device 101 again. If it determines that imaging of the entire inspection object has been completed, the process ends.

[0068] FIG. 7 is a flowchart showing the photographing process in S606 of FIG.

[0069] 7 is executed by the imaging device 101 under the control of the information processing device 103, and is also executed by the information processing device 103 based on information received from the imaging device 101.

[0070] In step S701, the imaging device 101 performs distance measurement processing using the distance measurement unit 206. When an inspection object is divided into multiple areas and photographed, appropriate distance measurement processing is performed on the subject to be photographed in the first area, and AF can be considered to be successful.

[0071] In step S702, if the imaging device 101 determines that the distance measurement process in step S701 was performed for the first area (first image capture), the process proceeds to step S708. If the imaging device 101 determines that the distance measurement process in step S701 was not performed for the first area (first image capture), the process proceeds to step S703.

[0072] In step S703, the image capturing device 101 reads the first shooting distance of the subject to be captured when distance measurement processing was performed in the previous shooting (AF success) from the distance measurement result recording unit 216. The image capturing device 101 also acquires the second shooting distance of the subject to be captured when distance measurement processing was performed in the current shooting (AF success / failure determination) using the distance measurement unit 206.

[0073] In step S704, the imaging device 101 compares the first shooting distance acquired in step S703 with the second shooting distance, and acquires the absolute value of the amount of change in shooting distance, which is the difference between the first shooting distance and the second shooting distance.

[0074] In step S705, the information processing device 103 acquires the first shooting distance and the second shooting distance from the imaging device 101 and determines whether AF was successful based on the distance measurement processing result performed in step S701 for the current shooting. The information processing device 103 determines that AF was successful if the absolute value of the change amount between the first shooting distance and the second shooting distance is less than a predetermined threshold α (e.g., 4 steps), and determines that AF was unsuccessful if the absolute value is equal to or greater than the predetermined threshold α. If the information processing device 103 determines that AF was successful based on the distance measurement processing result performed in step S701 for the current shooting, the process proceeds to step S708. If the information processing device 103 determines that AF for the current shooting was unsuccessful, the process proceeds to step S706. The shooting distance determination threshold α may be arbitrarily set by the user. The determination result may also be displayed on the display device 334 of the information processing device 103 to notify the user. This allows the user to confirm that re-shooting will be performed for the area of ​​the subject for which AF failed. Alternatively, the image capturing apparatus 101 may determine whether or not AF has been successful based on the absolute value of the amount of change in the shooting distance, and transmit the determination result to the information processing apparatus 103.

[0075] In step S706, the information processing device 103 transmits to the image capturing device 101 the shooting parameters used when distance measurement processing is performed at the distance measurement point set by distance measurement point prediction processing, which will be described later with reference to FIG.

[0076] In step S707, the information processing device 103 determines the predicted number n of ranging points in step S706. If the information processing device 103 determines that the predicted number n of ranging points in step S706 exceeds a predetermined number β (for example, 9 times), the process proceeds to step S708. If the information processing device 103 determines that the predicted number n of ranging points in step S706 is equal to or less than the predetermined number β, the process returns to step S701. In this embodiment, as shown in a finder screen 425 in FIG. 4(c), there are eight candidate ranging points 427 to 434 around ranging point 426, with ranging point 426 at the center. In this embodiment, the more accurate ranging point 426 in the center is used, so if the subject corresponding to ranging point 426 is different from the subject to be photographed (if AF fails), it is necessary to determine whether the other ranging points 427 to 434 are in focus on the subject to be photographed (if AF fails). For this reason, the determination threshold β for the predicted number n of ranging points is set to 9. Note that the determination threshold β is set according to the number of ranging point candidates, but may also be set arbitrarily by the user.

[0077] In step S708, the information processing device 103 records in the distance measurement result recording unit 216 information about the distance measurement point where distance measurement processing was performed when the imaging device 101 succeeded in AF (see FIG. 10).

[0078] In step S709, the information processing device 103 records in the distance measurement result recording unit 216 the shooting distance (see FIG. 10) when the imaging device 101 succeeds in AF.

[0079] In step S710, if it is determined that AF has been successful, the image capturing apparatus 101 performs a photographing process of the subject to be photographed.

[0080] FIG. 8 is a flowchart showing the ranging point prediction process in step S706 of FIG.

[0081] The processing in FIG. 8 is executed by the photographing control unit 214 and the ranging point prediction unit 215 of the information processing device 103.

[0082] In step S801, the ranging point prediction unit 215 determines whether the ranging point used for ranging processing in this shooting is the same as the ranging point used for ranging processing in the previous shooting recorded in step S708 of Fig. 7. If the ranging point prediction unit 215 determines that the ranging point used for ranging processing in this shooting is the same as the ranging point used for ranging processing in the previous shooting, the process proceeds to step S810. If the ranging point prediction unit 215 determines that the ranging point used for ranging processing in this shooting is not the same as the ranging point used for ranging processing in the previous shooting, the process proceeds to step S802.

[0083] In step S802, the shooting control unit 214 sets the distance measurement point where distance measurement processing is performed in the current shooting to the distance measurement point where distance measurement processing was performed in the previous shooting, and the process proceeds to step S707 in FIG.

[0084] In step S810, the ranging point prediction unit 215 counts up the number n of ranging point predictions, and the process proceeds to step S803.

[0085] In step S803, the ranging point prediction unit 215 determines whether the predicted number n of ranging points is 1, 7, or 8. If the ranging point prediction unit 215 determines that the predicted number n of ranging points is 1, 7, or 8, the process proceeds to step S804. If the ranging point prediction unit 215 determines that the predicted number n of ranging points is not 1, 7, or 8, the process proceeds to step S805.

[0086] In step S804, the ranging point prediction unit 215 sets the ranging point for which ranging processing is performed in this shooting to a position moved one step to the right, and the process proceeds to step S707 in Fig. 7. For example, if the predicted number of ranging points n is 1, then in the finder screen 425 shown in Fig. 4C, ranging point 427 is set, which is moved one step to the right from ranging point 426, which was subjected to ranging processing in the first shooting in step S701. Similarly, if the predicted number of ranging points n is 7, then in the finder screen 425 shown in Fig. 4C, ranging point 433 is set, which is moved one step to the right from ranging point 432, which was subjected to ranging processing seven times in step S701. Similarly, if the predicted number of ranging points n is 8, then ranging point 434 is set, which is moved one step to the right from ranging point 433, which was subjected to ranging processing eighth time in step S701.

[0087] In step S805, the ranging point prediction unit 215 determines whether the number of ranging point predictions n is two or not, and if it is two, the process proceeds to step S806, and if it is not two, the process proceeds to step S807.

[0088] In step S806, the ranging point prediction unit 215 sets the ranging point for performing ranging processing in this shooting to a position moved one step downward, and the process proceeds to step S707 in Fig. 7. For example, if the number of ranging point predictions n is 2, ranging point 428 is set, which is moved one step downward from ranging point 427, which was used for the second ranging processing in step S701, on the finder screen 425 shown in Fig. 4C.

[0089] In step S807, the ranging point prediction unit 215 determines whether the predicted number of ranging points n is 3 or 4, and if it is 3 or 4, proceeds to step S808, and if it is not 3 or 4, proceeds to step S809.

[0090] In step S808, the ranging point prediction unit 215 sets the ranging point for which ranging processing is performed in this shooting to a position moved one step to the left, and the process proceeds to step S707 in Fig. 7. For example, if the predicted number of ranging points n is 3, ranging point 429 is set, which is moved one step to the left from ranging point 428, which was subjected to ranging processing for the third time in step S701, on the finder screen 425 shown in Fig. 4C. Similarly, if the predicted number of ranging points n is 4, ranging point 430 is set, which is moved one step to the left from ranging point 429, which was subjected to ranging processing for the fourth time in step S701, on the finder screen 425 shown in Fig. 4C.

[0091] In step S809, since the predicted number of times n of the ranging point is 5 or 6, the ranging point to be subjected to ranging processing in this shooting is set to a ranging point at a position moved one step upward, and the process proceeds to step S707 in Fig. 7. For example, if the predicted number of times n of the ranging point is 5, ranging point 431, which is moved one step upward from ranging point 430, where ranging processing was performed for the fifth time in step S701, is set on finder screen 425 shown in Fig. 4C. Similarly, if the predicted number of times n of the ranging point is 6, ranging point 432, which is moved one step upward from ranging point 431, where ranging processing was performed for the sixth time in step S701, is set on finder screen 425 shown in Fig. 4C.

[0092] 8, the information processing device 103 performs distance measurement processing while sequentially changing from the distance measurement point 426 to the distance measurement points surrounding the distance measurement point 426, with the distance measurement point 426 used in the initial shooting as the center. As a result, if AF fails because distance measurement processing is performed on a subject other than the subject to be photographed, the photographing processing is not performed, and distance measurement processing is performed again on the subject to be photographed, and photographing processing is performed if AF is successful, so that it is possible to acquire an image in focus on the subject to be photographed while reducing the operational burden when AF fails.

[0093] FIG. 9 is a diagram for explaining each imaging direction in which the inspection object is divided into a plurality of regions in the imaging process of FIG.

[0094] In FIG. 9, imaging position 901 corresponds to mounting position 401 of imaging device 101 relative to camera-mounted device 102 described in FIGS. 4A and 4B. Inspection target 902 corresponds to wall surface 403 of structure 402, which is the inspection target described in FIGS. 4A and 4B. Imaging directions 903 to 917 correspond to the center direction of the angle of view, which is the range captured by imaging device 101 while continuously driving camera-mounted device 102 at a predetermined pan angle, similar to center directions 404 to 409 of the angle of view described in FIGS. 4A and 4B. Note that recess 918 indicates a recessed portion such as a hole or groove present on wall surface 902 of the inspection target. Furthermore, dotted line 919 in FIG. 9 virtually indicates the position of the subject of the imaging target to be focused on as wall surface 902 of the inspection target.

[0095] 10(a) to 10(d) are diagrams illustrating distance measurement processing results when photographing is performed sequentially in each of the photographing directions 903 to 917 in Fig. 9. The distance measurement processing results include information regarding the success or failure of AF, the photographing distance, the amount of change in the photographing distance, and the validity of the distance measurement point for each photographing direction.

[0096] In FIG. 10, "shooting direction number" is identification information assigned to each of the shooting directions 903 to 917 in FIG. 9. "AF success / failure" is information indicating whether AF was successful or unsuccessful during shooting corresponding to the shooting direction number. "Shooting distance" is information indicating the number of steps, which is the amount of lens extension corresponding to the shooting distance obtained by distance measurement processing during shooting corresponding to the shooting direction number. "Change in shooting distance" is information that numerically indicates the difference (difference in lens extension amount) between the first shooting distance during the previous shooting and the second shooting distance during the current shooting. "Validity of focusing point" indicates whether the change in shooting distance is less than a predetermined threshold α, and is information indicating whether the focusing point was the one where distance measurement processing was performed when AF was successful.

[0097] The processes of FIGS. 6 to 8 will be described below based on the examples of FIGS.

[0098] When the system of this embodiment starts the processing of FIG. 6 with wall surface 902 in FIG. 9 as the inspection target, steps S601 to S603 execute preparatory processing for the shooting processing of step S606, such as setting the shooting range, image overlap rate, and control parameters for the camera platform device 102, and setting shooting parameters for the image capture device 101. Thereafter, in step S605, the pan mechanism 105 and tilt mechanism 106 of the camera platform device 102 are driven in response to a user's instruction to start shooting in step S604. As a result, the camera platform device 102 is driven to the initial shooting direction 903, and the shooting processing of step S606 executes the processing for the first shooting in FIG. 7.

[0099] When taking the first photograph, it can be assumed that AF will be successful if, for example, the edge of the structure 402, i.e., the edge of the wall surface 403, is aligned with the focus point 426 in the center of the viewfinder screen 425 of the imaging device 101 and distance measurement processing is performed.

[0100] In step S702, since the current imaging is the first imaging in each of the imaging directions 903 to 917 shown in FIG. 9, the process proceeds to step S708.

[0101] In steps S708 and S709, the ranging point (AF success / failure in FIG. 10: O) and the shooting distance (shooting distance in FIG. 10: 19) for which ranging processing was performed for the first shooting direction 903 in step S701 are recorded, and shooting processing is performed in step S710. Thereafter, in step S607, since shooting of the entire shooting range of the inspection object has not been completed, the camera platform device 102 is driven in step S605 to shoot in the next shooting direction 904, and shooting processing is performed in step S606.

[0102] At the next photographing time, distance measurement processing is performed in the photographing direction 904 in step S701, and since it is determined in step S702 that this is not the first photographing, the processing proceeds to step S703.

[0103] In steps S703 and S704, the amount of change in the second shooting distance in the current shooting direction 904 is calculated relative to the first shooting distance in the previous shooting direction 903. Here, as shown in Fig. 10(a), "21" is acquired as the second shooting distance in the current shooting direction 904, and "19" is acquired as the first shooting distance in the previous shooting direction 903, so the amount of change in the shooting distance in the shooting direction 904 in Fig. 10(a) is "2".

[0104] Thereafter, in step S705, since the absolute value of the amount of change in the second shooting distance in the current shooting direction 904 is less than 4, it is determined that AF has been successful, and the process proceeds to step S708.

[0105] In steps S708 and S709, the ranging point (AF success / failure in FIG. 10(a): O) and the shooting distance (shooting distance in FIG. 10(a): 21) for which ranging processing was performed for shooting direction 904 in step S701 are recorded, and shooting processing is performed in step S710. Thereafter, in step S607, since shooting of the entire shooting range of the inspection object has not been completed, the pan head device 102 is driven in step S605 to shoot in the next shooting direction 905, and shooting processing is performed in step S606.

[0106] Thereafter, the processing of steps S605 to S607 in FIG. 6 is repeated for the image capturing directions 906 to 909, and the distance measurement processing result shown in FIG. 10(b) is obtained.

[0107] In photographing in the next photographing direction 910, in step S704 in FIG. 7, "-4" is calculated as the amount of change in the second photographing distance in the current photographing direction 910 relative to the previous photographing direction 909.

[0108] Thereafter, in step S705, since the absolute value of the amount of change in the second shooting distance in the current shooting direction 910 is not less than 4, it is determined that AF has failed, and the process proceeds to step S706.

[0109] In step S706, the distance measurement point prediction process of FIG. 8 is performed, and the distance measurement point for performing distance measurement process for AF is predicted so as to focus on the subject to be photographed (dotted line 919 corresponding to recess 918 in FIG. 9).

[0110] In step S801 of FIG. 8, if the ranging point for performing ranging processing in this shooting is different from the ranging point for performing ranging processing in the previous shooting, in step S802 the ranging point for performing ranging processing in this shooting is set to the ranging point for performing ranging processing in the previous shooting, and processing proceeds to step S707 of FIG. 7.

[0111] In step S707, since the number of times that the distance measurement point prediction process in FIG. 8 has been performed is 9 or less, the distance measurement point and shooting distance recording process in steps S708 to S709 and the shooting process in step S710 are not performed for the shooting direction 910, and the process returns to step S701.

[0112] In step S701, distance measurement processing is performed again in the shooting direction 910 at the distance measurement point set by the distance measurement point prediction processing in FIG. 8, and since it is determined in step S702 that this is not the first time shooting, the processing proceeds to step S703.

[0113] In steps S703 and S704, the amount of change in the second shooting distance in the current shooting direction 910 relative to the first shooting distance in the previous shooting direction 909 is calculated. Here, as shown in FIG. 10(c), "20" is acquired as the second shooting distance in the current shooting direction 910, and "24" is acquired as the first shooting distance in the previous shooting direction 909. Therefore, "-4" is calculated as the amount of change in the second shooting distance in the current shooting direction 910 relative to the first shooting distance in the previous shooting direction 909.

[0114] Thereafter, in step S705, since the absolute value of the amount of change in the second shooting distance in the current shooting direction 910 is not less than 4, it is determined that AF has failed, and the process proceeds to step S706.

[0115] In step S706, the distance measurement point prediction process of FIG. 8 is performed, and the distance measurement point for performing distance measurement process for AF is predicted so as to focus on the subject to be photographed (dotted line 919 corresponding to recess 918 in FIG. 9).

[0116] In step S801 of FIG. 8, the distance measurement point for which distance measurement processing is performed in this shooting is the same as the distance measurement point for which distance measurement processing was performed in the previous shooting, so the process proceeds to step S810.

[0117] In step S810, the number of times that the distance measurement point prediction process has been executed is counted, and in step S803, the number of times that the distance measurement point prediction process has been executed is one, so the process proceeds to step S804.

[0118] In step S804, the distance measurement point 426 on the viewfinder screen 425 shown in FIG. 4C, which was used for distance measurement processing in the previous shooting, is moved one step to the right and set as the distance measurement point 427, which will be used for distance measurement processing in the current shooting, and the process proceeds to step S707 in FIG.

[0119] In step S707, since the number of times that the distance measurement point prediction process has been executed is 9 or less, the distance measurement point and shooting distance recording process of steps S708 to S709 and the shooting process of step S710 are not performed for the shooting direction 910, and the process returns to step S701.

[0120] In step S701, distance measurement processing is performed again in the shooting direction 910 at the distance measurement point set by the distance measurement point prediction processing in FIG. 8, and since it is determined in step S702 that this is not the first time shooting, the processing proceeds to step S703.

[0121] In steps S703 and S704, the amount of change in the second shooting distance in the current shooting direction 910 relative to the first shooting distance in the previous shooting direction 909 is calculated. Here, as shown in FIG. 10(d), "24" is acquired as the second shooting distance in the current shooting direction 910, and "24" is also acquired as the first shooting distance in the previous shooting direction 909. Therefore, "0" is calculated as the amount of change in the second shooting distance in the current shooting direction 910 relative to the first shooting distance in the previous shooting direction 909.

[0122] Thereafter, in step S705, since the absolute value of the amount of change in the second shooting distance in the current shooting direction 910 is less than 4, it is determined that AF has been successful, and the process proceeds to step S708.

[0123] Thereafter, the processing of steps S605 to S607 in FIG. 6 is repeated for the imaging directions 911 to 917, until imaging of the inspection object is completed and the distance measurement processing result shown in FIG. 10(d) is obtained.

[0124] As described above, in the system of this embodiment, after AF is successful during the first shooting, it is determined whether or not the subject to be photographed is in focus during the current shooting based on the amount of change in shooting distance during the current shooting relative to the shooting distance during the previous shooting. Furthermore, if AF fails during the current shooting, the system repeatedly performs ranging processing while changing the ranging point used for ranging processing during the current shooting based on the ranging point used during ranging processing during the previous shooting, until it is determined that AF is successful. This makes it possible to continue photographing images with the subject to be photographed in focus.

[0125] Furthermore, in the system of this embodiment, pre-AF is performed before actual shooting to determine whether the subject to be shot is in focus before shooting, thereby reducing memory consumption in the storage module 312 of the imaging device 101, the storage device 337 of the information processing device 103, and the like.

[0126] In this embodiment, an example of a system configured with multiple devices has been described, but any one of the devices may include the other devices, or the system may be configured with a single device. Also, in this embodiment, a configuration has been described in which the image capture device 101 and the information processing device 103 set the focus points and acquire their positions, but the image capture device 101 or the information processing device 103 may be configured to grasp all information related to setting the focus points and acquiring their positions. This makes it possible to support systems in which only relative instructions can be given about the focus points for AF.

[0127] [Other embodiments] The present invention can also be realized by supplying a program that realizes one or more functions of each embodiment to a system or device via a network or storage medium, and having one or more processors in the computer of the system or device read and execute the program. The present invention can also be realized by a circuit (e.g., ASIC) that realizes one or more functions.

[0128] The disclosure of this specification includes the following information processing device, control method, program, and system. [Configuration 1] a control means for controlling the imaging means for imaging the inspection object so as to divide the inspection object into a plurality of regions and perform imaging while moving the imaging means, the control means performs distance measurement processing for each of the plurality of areas using an autofocus function of the imaging means, and determines whether or not a subject to be photographed is in focus; Among the plurality of areas, an area determined to be in focus on the subject to be photographed is photographed, An information processing device characterized in that, when photographing an area among the plurality of areas where it is determined that the subject to be photographed is not in focus, the information processing device controls the photographing so that it performs photographing when it is determined that the subject to be photographed is in focus by changing the focus detection position where the distance measurement processing is performed. [Configuration 2] 2. The information processing apparatus according to configuration 1, wherein the control means determines whether the subject to be photographed is in focus based on a photographing distance related to the subject to be photographed. [Configuration 3] an acquisition means for acquiring a shooting distance of a subject to be photographed; a comparison means for comparing a first shooting distance for the subject to be photographed when distance measurement processing was performed in the previous photographing with a second shooting distance for the subject to be photographed when distance measurement processing was performed in the current photographing, The information processing device according to configuration 2, wherein the control means determines that the subject being photographed is in focus when the amount of change between the first shooting distance and the second shooting distance is less than a predetermined threshold. [Configuration 4] a prediction means for predicting a focus detection position for performing distance measurement processing in the current photographing when it is determined that the subject to be photographed is not in focus; 4. The information processing apparatus according to configuration 3, wherein the prediction means predicts a focus detection position at which distance measurement processing is performed in the current photographing operation based on a focus detection position at which distance measurement processing is performed in the previous photographing operation. [Configuration 5] the comparing means compares an absolute value of the amount of change between the first shooting distance and the second shooting distance with the predetermined threshold value; The information processing device according to configuration 4, wherein the prediction means performs processing to predict the focus detection position when an absolute value of a change amount between the first shooting distance and the second shooting distance is equal to or greater than the predetermined threshold value. [Configuration 6] The information processing device according to configuration 4 or 5, wherein the control means performs distance measurement processing at the focus detection position predicted by the prediction means and determines whether the focus is on the subject to be photographed. [Configuration 7] the prediction means, when the focus detection position at which distance measurement processing was performed in the previous photographing is different from the focus detection position at which distance measurement processing was performed in the current photographing, sets the focus detection position at which distance measurement processing was performed in the previous photographing; An information processing device according to any one of configurations 4 to 6, characterized in that, if the focus detection position where distance measurement processing was performed in the previous shooting is the same as the focus detection position where distance measurement processing was performed in the current shooting, the focus detection position is predicted by sequentially changing to surrounding focus detection positions centered on the focus detection position where distance measurement processing was performed in the previous shooting. [Configuration 8] 8. The information processing device according to any one of configurations 1 to 7, further comprising a recording means for recording the results of the distance measurement process for each of the plurality of regions. [Configuration 9] 9. The information processing device according to configuration 8, wherein the recording means records the focus detection position and the shooting distance at which the distance measurement process was performed when it is determined that the subject to be photographed is in focus. [Configuration 10] 10. The information processing apparatus according to configuration 9, wherein the recording means records the amount of change and a determination result as to whether or not the subject to be photographed is in focus for each of the plurality of regions. [Configuration 11] The information processing device according to any one of configurations 4 to 7, wherein the control means controls the device to capture an image of an area of ​​the subject to be photographed that is determined to be out of focus when the number of times the focus detection position is predicted by the prediction means exceeds a predetermined number of times when the subject to be photographed is determined to be out of focus. [Configuration 12] 12. The information processing device according to any one of configurations 1 to 11, further comprising a notification unit that notifies a result of determination as to whether or not the subject to be photographed is in focus. [Configuration 13] A control method for an information processing device, comprising: a step of controlling an imaging means for imaging an object to be inspected so as to divide the object to be inspected into a plurality of regions and perform imaging while moving the imaging means; In the controlling step, a distance measurement process is performed for each of the plurality of areas using an autofocus function of the imaging means, and it is determined whether or not a subject to be photographed is in focus; Among the plurality of areas, an area determined to be in focus on the subject to be photographed is photographed, A control method for an information processing device, characterized in that when it is determined that the subject of the photographing target is not in focus among the plurality of areas, photographing of the area is performed by changing the focus detection position where the distance measurement processing is performed, so that photographing is performed when it is determined that the subject of the photographing target is in focus. [Configuration 14] A program for causing a computer to function as each means of the information processing device described in any one of configurations 1 to 12. [Configuration 15] an imaging device that captures an image of the object to be inspected; a camera platform device to which the imaging device is attached and which changes the imaging direction of the imaging device; 13. A system including: an information processing device according to any one of configurations 1 to 12.

[0129] The invention is not limited to the above-described embodiments, and various changes and modifications can be made without departing from the spirit and scope of the invention. Accordingly, the following claims are appended to apprise the public of the scope of the invention. [Explanation of symbols]

[0130] 101...imaging device, 102...platform device, 103...information processing device, 202...imaging unit, 206...distance measurement unit, 210...pan drive unit, 214...photography control unit, 215...distance measurement point prediction unit, 216...distance measurement result recording unit

Claims

1. A control means for controlling the movement of the photographing means so that the inspection object is divided into a plurality of regions and photographed, The control means performs distance measurement processing and determines whether or not the inspection object is in focus for an area in which an image is captured among the plurality of areas; When the object of inspection is in focus, the imaging means captures an image of the object of inspection and then moves the imaging means to another area; When the inspection object is not in focus, the information processing device controls to change the focus detection position where the distance measurement process is performed, to focus on the inspection object using an autofocus function, and then to photograph the inspection object, and to move the photographing means to another area.

2. 2. The information processing apparatus according to claim 1, wherein the control means determines whether or not the inspection object is in focus based on a shooting distance related to the inspection object.

3. An acquisition means for acquiring a shooting distance related to the inspection object; a comparison means for comparing a first shooting distance to the object when distance measurement processing is performed in the previous shooting with a second shooting distance to the object when distance measurement processing is performed in the current shooting, 3. The information processing apparatus according to claim 2, wherein the control means determines that the object to be inspected is in focus when an amount of change between the first shooting distance and the second shooting distance is less than a predetermined threshold value.

4. a prediction means for predicting a focus detection position for performing distance measurement processing in the current photographing when the object to be inspected is not in focus; 4. The information processing apparatus according to claim 3, wherein the prediction means predicts a focus detection position where distance measurement processing is performed in the current photographing based on a focus detection position where distance measurement processing is performed in the previous photographing.

5. the comparing means compares an absolute value of an amount of change between the first shooting distance and the second shooting distance with the predetermined threshold value; 5. The information processing apparatus according to claim 4, wherein the prediction means predicts the focus detection position when an absolute value of an amount of change between the first shooting distance and the second shooting distance is equal to or greater than the predetermined threshold value.

6. 5. The information processing apparatus according to claim 4, wherein said control means performs distance measurement processing at the focus detection position predicted by said prediction means, and judges whether or not the inspection object is in focus.

7. the prediction means, when the focus detection position at which the distance measurement process was performed in the previous photographing is different from the focus detection position at which the distance measurement process was performed in the current photographing, sets the focus detection position at which the distance measurement process was performed in the previous photographing to the focus detection position at which the distance measurement process was performed in the current photographing; 5. The information processing device according to claim 4, wherein, when the focus detection position where distance measurement was performed in the previous shooting is the same as the focus detection position where distance measurement was performed in the current shooting, the focus detection position is predicted by sequentially changing the focus detection position around the focus detection position where distance measurement was performed in the previous shooting.

8. 4. The information processing apparatus according to claim 3, further comprising a recording means for recording a result of the distance measurement process for each of the plurality of regions.

9. 9. The information processing apparatus according to claim 8, wherein the recording means records the focus detection position and the shooting distance at which the distance measuring process was performed when it is determined that the inspection object is in focus.

10. 10. The information processing apparatus according to claim 9, wherein said recording means records the amount of change and a determination result as to whether or not the inspection object is in focus for each of said plurality of regions.

11. 5. The information processing apparatus according to claim 4, wherein the control means controls the area of ​​the inspection object determined to be out of focus to be photographed if the number of times the focus detection position is predicted by the prediction means exceeds a predetermined number when the control means determines that the inspection object is out of focus.

12. 2. The information processing apparatus according to claim 1, further comprising a notification unit that notifies a result of a determination as to whether or not the inspection object is in focus.

13. A method for controlling an information processing device, comprising: A step of controlling the movement of the photographing means so that the inspection object is divided into a plurality of regions and photographed, In the step of controlling, a distance measurement process is performed, and it is determined whether or not the inspection object is in focus in an area to be photographed among the plurality of areas; When the object of inspection is in focus, the imaging means captures an image of the object of inspection and then moves the imaging means to another area; A control method for an information processing device, characterized in that, when the inspection object is not in focus, a focus detection position where the distance measurement process is performed is changed, and the inspection object is focused on using an autofocus function before photographing is performed, and the photographing means is controlled to move to another area.

14. A program for causing a computer to function as each of the means of the information processing device according to any one of claims 1 to 12.

15. An imaging device for imaging an object to be examined; a camera platform device to which the photographing device is attached and which changes the photographing direction of the photographing device; A system comprising: an information processing device according to any one of claims 1 to 12.

Images