Imaging control device, control method of imaging control device and program

Abstract

To obtain an image focused on the entire imaging object surface efficiently.SOLUTION: A distance map is created by mapping an inspection object surface to each coordinate, and identification processing of a plane region is performed by using the distance map. Grouping is then performed on the basis of the inclination of each region; facing is performed for each group to the inspection object surface constituted by a plurality of regions that are not the same plane; and imaging processing is performed for each region within the same group.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] In particular, the present invention relates to an imaging control device, a control method for an imaging control device, and a program suitable for use in obtaining an image that is in focus over the entire surface of an imaging target. [Background technology]

[0002] In order to inspect a wide area of ​​a target surface for damage (cracks, etc.), the target surface is imaged, and it is desirable to obtain an image that is in focus over the entire target surface. Patent Document 1 discloses that an imaging device is positioned directly opposite the surface to be inspected, and then the imaging device is moved so that it is within a predetermined distance range from the surface to be inspected, and then an image is captured. By using the technology described in Patent Document 1, an image that is in focus over a wide range can be obtained in one capture by moving the imaging device so that it is positioned directly opposite the surface to be inspected and capturing an image. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-90210 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the surface to be inspected is not necessarily on the same plane. For example, when inspecting a bridge, there are unevenness caused by structures such as deck slabs and main girders, and in a single image capture, there may be areas that are out of focus due to differences in distance. Therefore, even if an image is captured facing a major surface such as a deck slab, the main girders will be out of focus due to differences in distance. Furthermore, even if the image is facing a major surface, it may not be facing other surfaces, resulting in out-of-focus images for those surfaces. Therefore, in order to obtain images that are in focus for these surfaces, the image capture device must be moved frequently, which is time-consuming.

[0005] SUMMARY OF THE INVENTION In view of the above-mentioned problems, an object of the present invention is to make it possible to obtain an image that is in focus over the entire surface of an object to be imaged more efficiently than ever before. [Means for solving the problem]

[0006] The imaging control device of the present invention comprises an imaging means for imaging a subject having multiple surfaces, an identification means for identifying the multiple surfaces of the subject, a grouping means for grouping surfaces of an inclination within a predetermined range from among the multiple surfaces identified by the identification means, and a moving means for moving the imaging means so that it is directly opposed to each surface grouped by the grouping means, and is characterized in that the imaging means performs imaging processing on each of the grouped surfaces after being moved by the moving means. [Effects of the Invention]

[0007] According to the present invention, it is possible to obtain an image that is in focus over the entire image pickup target surface more efficiently than in the past. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a block diagram showing an example of the internal configuration of an imaging control device according to a first embodiment. [Figure 2] 5 is a flowchart illustrating an example of a processing procedure according to the first embodiment. [Figure 3] FIG. 2 is a diagram for explaining an overview of the imaging control device as viewed from above. [Figure 4] FIG. 10 is a block diagram showing an example of the internal configuration of an imaging control device according to a second embodiment. [Figure 5] 10 is a flowchart illustrating an example of a processing procedure according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings. The imaging control device according to this embodiment is for imaging the surface of a structure to be inspected as part of social infrastructure, and in particular for easily obtaining an image that is in focus over the entire surface. Examples of structures that are subject to inspection as part of social infrastructure include bridges, tunnels, buildings, and roads.

[0010] When a bridge is the object of inspection, an imaging device is used to capture images of the bridge from below and from the side, and multiple captured images (multiple images in which different parts of the bridge are captured) are acquired by dividing the inspection area. Images are captured while moving appropriately in the direction of the bridge's extension and in a direction perpendicular to that. Note that, depending on the conditions around the bridge, it may be difficult for an inspector to move and capture images, so a mobile mechanism that can move along the bridge can be provided to capture images. Note that in this embodiment, a drone is used as the mobile mechanism, but other vehicles, robots, and other flying objects may also be used. Furthermore, such a mobile mechanism may further be provided with a lifting mechanism and a rotation mechanism (a mechanism for panning and / or tilting) for the imaging device.

[0011] (First embodiment) An imaging control device according to a first embodiment will be described below with reference to FIGS.

[0012] 1 is a block diagram showing an example of the internal configuration of an imaging control device 10 according to this embodiment. The imaging control device 10 according to this embodiment includes an imaging device 100 that captures moving images or still images periodically / irregularly, a pan head device 110 that rotates the imaging device 100, and a moving device 120 that moves the imaging device 100 and the pan head device 110. In FIG. 1, the imaging device 100 has the following configuration.

[0013] The system bus 101 is a general-purpose bus for sending control signals, instruction signals, image data, and various parameters to each block of the imaging device 100 , the camera platform device 110 , and the moving device 120 . The system control unit 102 executes computer programs to perform various processes, controls the imaging device 100, the camera platform device 110, and the moving device 120, and controls data transfer between the various devices. Upon receiving an instruction from the system control unit 102, the focus control unit 103 drives a focus lens included in the imaging optical system to perform focus adjustment.

[0014] The imaging unit 104 includes a CMOS sensor and its peripheral circuits, and converts a subject image formed by an imaging optical system into electric charges and stores them. The accumulated electric charges are then read out to generate an analog image signal, which is then converted into a digital image signal, which is then subjected to various image processing operations and output as image data.

[0015] Each pixel of the image sensor constituting the image capturing unit 104 is equipped with two different microlenses in the imaging optical system, and receives light beams that pass through each of them to form an image. Therefore, the amount of defocus can be detected from the amount of deviation between two images, one obtained through one microlens at each pixel and the other obtained through the other microlens. As a result, the focus lens position for focusing at that pixel, i.e., the distance to the subject, can be calculated based on the current focus lens position and the detected amount of defocus. This makes it possible to obtain distance information for all pixels, allowing a distance map corresponding to the captured image to be created.

[0016] As described above, the imaging unit 104 can be driven in two modes: an imaging drive mode for generating image data, and a distance map creation mode for creating a distance map, and can be switched between each mode by instructions from the system control unit 102.

[0017] The data processing unit 105 receives the distance map generated by the imaging unit 104 as an input and performs data processing, which will be described later, to identify, classify, and the like the surface to be inspected. The recording unit 106 receives an instruction from the system control unit 102 and records the image data generated by the imaging unit 104 on a recording medium. The recording medium may be a recording medium built into the imaging device 100 or a removable recording medium. Specific examples include any type of recording medium, such as a hard disk, a nonvolatile semiconductor memory, or a flash memory.

[0018] The communication unit 107 communicates wirelessly or wired with a controller device (external device) (not shown) operated by a user. For example, various operation signals are received from the user, and the system control unit 102 identifies the operation signals and causes the imaging device 100 to perform imaging processing or controls the camera platform device 110 and the moving device 120. Image data generated by the imaging device 100 can also be transmitted to the user via the communication unit 107.

[0019] The imaging device 100 is placed on the camera platform device 110, which rotates the imaging device 100 in the vertical direction (rotation axis = tilt axis) and the horizontal direction (rotation axis = pan axis). The camera platform device 110 also inputs change instructions for changing the pan angle and tilt angle.

[0020] The camera platform control unit 111 receives an instruction to change the pan angle or tilt angle from the system control unit 102, and operates the pan axis and tilt axis to rotate the imaging direction of the imaging device 100. The camera platform control unit 111 can also receive an operation signal from a controller device operated by the user to operate the pan axis and tilt axis.

[0021] The moving device 120 is, for example, a drone. The imaging device 100 and the camera platform device 110 are mounted on the moving device 120, and the position and attitude of the imaging device 100 are controlled to move them by flight. The moving device 120 also receives input of information on the direction and distance of movement required for movement.

[0022] The movement control unit 121 processes information measured by various sensors (gyro sensor, acceleration sensor, barometric pressure sensor, distance sensor, etc.) to recognize a specific position on the x-axis, y-axis, and z-axis in its own space, and controls flight to maintain the position and attitude of the imaging control device 10. Therefore, even if a disturbance such as a sudden gust of wind occurs, the imaging control device 10 can return to its original position through flight control by the movement control unit 121. Furthermore, the movement control unit 121 performs flight control in response to a movement instruction from the system control unit 102, and moves the position of the imaging control device 10. The movement control unit 121 can also perform flight control in response to an operation signal from a controller device operated by a user.

[0023] Next, the operation of the imaging control device 10 in this embodiment will be described with reference to Figures 2 and 3. The system control unit 102 performs this processing in accordance with a computer program. First, the user uses the controller device to control the moving device 120 to bring it close to the inspection object, and controls the camera platform device 110 and the moving device 120 to point the front of the imaging device 100 roughly toward the inspection object. Then, the user starts the operation of the imaging control device 10 in this embodiment shown in FIG.

[0024] In S200, the system control unit 102 drives the imaging unit 104 in a distance map creation mode for creating a distance map, and the imaging unit 104 creates a distance map of the surface to be inspected. FIG. 3 is a diagram for explaining an overview of the imaging control device 10 according to this embodiment as seen from above. As shown in FIG. 3(a), before starting the processing of FIG. 2, the imaging control device 10 is placed at the origin on a two-dimensional plane. Here, assuming that the imaging direction is the y-axis and the direction perpendicular thereto is the x-axis, the distance map is created by mapping the surface to be inspected to each coordinate. In this way, the imaging unit 104 performs the process of mapping the surface to be inspected to each coordinate.

[0025] In S201, upon receiving an instruction from the system control unit 102, the data processing unit 105 performs a process of identifying planar areas on the surface to be inspected. As shown in FIG. 3(a), the surface to be inspected is mapped to each coordinate, and in this process, the amount of change (slope) of the y coordinate of each surface is first calculated. Then, areas where the slope is constant or within a predetermined range are identified as planar areas. In the example of FIG. 3(a), areas a to e are identified as planar areas.

[0026] Depending on the surface to be inspected, the range in which the tilt is constant may be very small. On the other hand, since there is a range (depth of field) of the focal distance depending on the aperture value at the time of image capture, when identifying a planar area, an area whose tilt falls within a predetermined range within the depth of field depending on the aperture value at the time of image capture may be identified as a planar area. For convenience of explanation, even an area whose tilt falls within a predetermined range will be defined as a planar area.

[0027] In S202, the data processing unit 105 performs classification processing for each planar region identified in S201 in response to an instruction from the system control unit 102. In the example of Fig. 3(a), the data processing unit 105 classifies each planar region identified in S201 into regions a to e.

[0028] In S203, the data processing unit 105 performs grouping for each classified region in response to an instruction from the system control unit 102. In the example of Fig. 3(a), the data processing unit 105 groups regions with the same slope or slopes within a predetermined range into the same group as parallel planes for the regions a to e classified in S202 based on the slope of each region. That is, the regions a, c, and e are grouped into a first group, and the regions b and d into a second group.

[0029] Furthermore, depending on the surface to be inspected, grouping areas with the same inclination may result in too many groups, making it difficult to efficiently perform imaging processing. In such cases, grouping areas with inclinations within a predetermined range will enable more efficient imaging processing. Here, the predetermined range is a range in which, when the area in the group is directly opposed to the area in the group, each area belonging to the group can be placed within the depth of field simply by adjusting the focal position, as will be described later.

[0030] In S204, the system control unit 102 controls the camera platform control unit 111 and the movement control unit 121 to move and rotate the imaging control device 10 so as to orient it squarely with respect to the first group of regions. Specifically, first, upon receiving an instruction from the system control unit 102, the data processing unit 105 calculates the movement direction, movement amount, and rotation amount of the imaging control device 10 based on the distance L to the inspection surface corresponding to the imaging center and the tilt θ1 of the region belonging to the first group. As shown in FIG. 3B, the movement direction is the direction obtained by rotating the imaging control device 10 by θ1 with respect to the x-axis direction, the movement amount is L×cos(90°−θ1), and the rotation amount is θ1. The system control unit 102 instructs the movement direction and movement amount calculated by the data processing unit 105 to the movement control unit 121 to perform movement control, and instructs the rotation amount to the camera platform control unit 111 to perform rotation control, thereby orienting it squarely with respect to the first group of regions.

[0031] In S205, the system control unit 102 acquires image data of the inspection target surface by driving the imaging unit 104 in an imaging drive mode that generates image data. At this time, the system control unit 102 causes the focus control unit 103 to perform focus adjustment for each region. In FIG. 3(b), the focus is adjusted sequentially to regions a, c, and e, and imaging processing is performed three times. Then, when imaging processing for all regions in the first group is completed, the system control unit 102 controls the platform control unit 111 and movement control unit 121 to return the imaging control device 10 to the position and orientation it had before it was facing the first group.

[0032] In S206, the system control unit 102 repeatedly performs the same processes for all groups as the orientation correction process for the first group in S204 and the image capture process in S205. Specifically, first, upon receiving an instruction from the system control unit 102, the data processing unit 105 calculates the movement direction, movement amount, and rotation amount of the image capture control device 10 based on the distance L to the inspection surface corresponding to the image capture center and the tilt θ2 of the area belonging to the second group. As shown in FIG. 3(c), the movement direction is the direction rotated by θ2 relative to the negative direction of the x-axis (because θ2 is a negative tilt), the movement amount is L × cos(90°-θ2), and the rotation amount is θ2. The system control unit 102 instructs the movement control unit 121 on the movement direction and movement amount calculated by the data processing unit 105 to perform movement control, and instructs the pan head control unit 111 on the rotation amount to perform rotation control, thereby orienting the area in the second group.

[0033] Next, the system control unit 102 acquires image data of the inspection target surface by driving the imaging unit 104 in an imaging drive mode that generates image data. At this time, the system control unit 102 causes the focus control unit 103 to perform focus adjustment for each region. In Figure 3(c), the system control unit 102 performs two imaging processes by focusing on regions b and d in turn.

[0034] If there are any remaining groups, the system control unit 102 controls the camera platform control unit 111 and the movement control unit 121 to return the imaging control device 10 to the position and orientation before orienting the first group in order to perform imaging processing for the next group. Then, similar processing is performed. On the other hand, if orientation and imaging processing for all groups have been completed, the processing ends, and the imaging control device 10 is moved automatically or manually to the next inspection area.

[0035] In this embodiment, the imaging control device 10 has been described on a two-dimensional plane as viewed from above, but similar processing can also be performed in three dimensions by expanding the dimension upward (z-axis). In this case, the system control unit 102 additionally instructs the camera platform control unit 111 and the movement control unit 121 to move and rotate in the vertical direction.

[0036] As described above, according to this embodiment, even for an inspection surface that is composed of areas a to e that are not coplanar, each group is faced forward and imaging processing is performed for each area within the same group. This makes it possible to efficiently obtain an image that is in focus overall.

[0037] In this embodiment, focus adjustment was performed for each region in S205. However, other processing may also be performed, such as exposure control to ensure proper exposure for each region, strobe light emission control according to the distance to each region, or other processing. This allows for obtaining more optimal image data for inspecting each region.

[0038] Furthermore, when performing imaging processing for each region, the system control unit 102 may further control the movement control unit 121 to achieve an optimal position. For example, instead of adjusting the focus for each region by control of the focus control unit 103, the imaging control device 10 itself may be moved to a position where the focus is achieved and the surface to be inspected is imaged. In this way, the distance when imaging each region can be kept constant, and therefore the resolution of the image data for each region can be kept constant.

[0039] Furthermore, when adjusting the focus for each region in S205, it may be possible to determine whether there are other regions included in the depth of field when adjusting the focus for a region. If images of multiple regions included in the depth of field are captured in a single imaging process, it becomes possible to obtain an image that is in focus overall more efficiently.

[0040] Furthermore, when imaging a bridge as an inspection target, in addition to the inspection target surface such as the deck slab and main girders, natural objects such as structures unrelated to the bridge and trees may exist as obstacles within the imaging range. Alternatively, when imaging the edge of a bridge, an area where no subject exists may be included within the imaging range. Such areas that are not included in the inspection target surface do not need to be targeted for focusing. Therefore, when identifying the planar area of ​​the inspection target surface in S201, areas that are not within a predetermined distance from the imaging device 100 may be determined to be not the inspection target surface and excluded from identification. This makes it possible to avoid unnecessary imaging processing, making it possible to obtain an image that is in focus overall more efficiently.

[0041] Furthermore, according to this embodiment, distance and plane information of the inspection target surface and obstacles can be obtained, which can be applied to automatic flight control information for an imaging control device (e.g., a drone). For example, the imaging control device can be controlled by calculating the movement direction and distance from the distance and plane information, such as moving parallel to the inspection target surface while maintaining a constant distance, or flying to identify and avoid obstacles. In addition, the distance and plane information of the inspection target surface and obstacles obtained by this embodiment can be used for various processes not limited to imaging of inspection surfaces.

[0042] (Second embodiment) An imaging control device according to a second embodiment of the present invention will be described below with reference to FIGS.

[0043] 4 is a block diagram showing an example of the internal configuration of the imaging control device 10 according to this embodiment. In FIG. 4, the same configuration as in FIG. 1 will not be described. 4, the imaging control device 10 according to this embodiment includes an imaging device 100, a camera platform device 110, and a moving device 120, similar to the first embodiment, but there is no bus for transmitting control signals between these devices. A bus 108 connects the components of the imaging device 100. As such, in this embodiment, the system control unit 102 is configured not to be able to control the camera platform device 110 or the moving device 120.

[0044] The pan head communication unit 112 is provided in the pan head device 110 and communicates wirelessly or via a wire with a controller device (not shown) operated by a user. Upon receiving an instruction from the user to change the pan angle or tilt angle, the pan head control unit 111 controls the pan head device 110 and rotates the imaging direction of the imaging device 100. The mobile device communication unit 122 is provided in the mobile device 120 and communicates wirelessly or via a wired connection with a controller device operated by a user. Upon receiving an operation instruction from the user, the movement control unit 121 controls the mobile device 120 to move its own position.

[0045] Next, the operation of the imaging control device in this embodiment will be described with reference to Fig. 5. The system control unit 102 performs this processing in accordance with a computer program. In Fig. 5, S represents a step.

[0046] First, the user uses the controller device to control the moving device 120 to bring the imaging device 100 closer to the inspection object, and controls the camera platform device 110 and the moving device 120 to orient the front of the imaging device 100 roughly toward the inspection object. Then, the operation of the imaging control device 10 in this embodiment shown in Fig. 5 is started. Note that S200 to S203 and S205 in Fig. 5 are the same processes as S200 to S203 and S205 in Fig. 2 of the first embodiment, respectively, and therefore description thereof will be omitted.

[0047] In S500, the system control unit 102 notifies the user how to control the camera platform device 110 and the moving device 120 to orient the imaging control device 10 relative to the first group of regions. Specifically, first, using a method similar to S204 in FIG. 2, the data processing unit 105 calculates the direction of movement, amount of movement, and amount of rotation of the imaging control device 10 to orient it relative to the first group of regions. Then, the system control unit 102 transmits the calculated direction of movement, amount of movement, and amount of rotation to a controller device operated by the user via the communication unit 107. The received direction of movement, amount of movement, and amount of rotation are displayed on the controller device operated by the user, and the user controls the camera platform device 110 and the moving device 120 using the controller device in accordance with the values.

[0048] Note that the system control unit 102 may periodically repeat the processes of S200 to S203 and S500 until the user's operation to orient the object to the first group of regions is complete. This allows the user to perform movement and rotation operations while obtaining the latest values ​​of the movement direction, movement amount, and rotation amount in real time. Once the user has completed the orientation to the first group of regions, the user sends a notification to the system control unit 102 via the controller device that orientation has been completed.

[0049] In S501, the system control unit 102 waits until it receives a notification from the controller device operated by the user that the orientation has been completed. If the system control unit 102 receives a notification from the controller device operated by the user that the orientation has been completed, the process proceeds to S205.

[0050] In S502, the system control unit 102 repeatedly performs, for all groups, the same processes as the notification process for performing orientation on the first group and the image capture process in S205 after orientation. Then, when the notification process and image capture process for orientation on all groups have been completed, the process ends and the imaging control device 10 moves to the next inspection area.

[0051] As described above, according to this embodiment, even in the imaging control device 10 that does not have a bus for transmitting control signals between the imaging device 100, the camera platform device 110, and the movement device 120, it is possible to prompt the controller device operated by the user to perform an appropriate movement operation. This makes it possible to efficiently obtain an image that is in focus overall.

[0052] (Other embodiments) Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of the gist of the present invention. The present invention can also be realized by supplying a program that realizes one or more functions of the above-described embodiments to a system or device via a network or a 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.

[0053] The disclosure of this embodiment includes the following configuration, method, and program.

[0054] (Configuration 1) an imaging means for imaging a subject having multiple surfaces; an identification means for identifying a plurality of surfaces of the subject; a grouping means for grouping surfaces having an inclination within a predetermined range among the plurality of surfaces identified by the identifying means; a moving means for moving the imaging means so as to face each of the faces grouped by the grouping means; and The imaging control device is characterized in that the imaging means performs imaging processing on each of the grouped faces after being moved by the moving means.

[0055] (Configuration 2) a notification unit that notifies an external device of information on a movement direction, a movement amount, and a rotation amount of the imaging unit when the imaging unit is brought into direct confrontation with each of the grouped surfaces; 2. The imaging control device according to configuration 1, wherein the moving means moves the imaging means based on control from the external device notified by the notifying means.

[0056] (Configuration 3) further comprising an acquisition means for acquiring a distance map for the subject; 3. The imaging control device according to configuration 1 or 2, wherein the identifying means identifies a range in which the inclination is within a predetermined range as one surface based on the distance map acquired by the acquiring means.

[0057] (Configuration 4) 4. The imaging control device according to any one of configurations 1 to 3, wherein the grouping means performs grouping based on the depth of field of the imaging means.

[0058] (Configuration 5) 5. The imaging control device according to any one of configurations 1 to 4, wherein the imaging means, after being moved by the moving means, focuses on each of the grouped surfaces and performs imaging processing.

[0059] (Configuration 6) 6. The imaging control device according to configuration 5, wherein the imaging means performs imaging processing on a plurality of the grouped surfaces that fall within a depth of field.

[0060] (Configuration 7) 6. The imaging control device according to configuration 5, wherein the imaging means performs imaging processing by moving the imaging means in a direction in which the imaging means is in focus using the moving means.

[0061] (Configuration 8) 8. The imaging control device according to any one of configurations 1 to 7, wherein the identification means does not identify an area whose distance from the imaging means is not within a predetermined range as the surface of the subject.

[0062] (Configuration 9) The imaging control device according to configuration 2, characterized in that the processes of the identification means, the grouping means, and the notification means are repeated at a predetermined cycle until the movement of the imaging means by the movement means based on control from the external device is completed.

[0063] (method) A control method for an imaging control device having an imaging means for imaging a subject having multiple surfaces, comprising: an identification step of identifying a plurality of surfaces of the object; a grouping step of grouping faces having inclinations within a predetermined range from among the plurality of faces identified in the identifying step; a moving step of moving the imaging means so as to face each of the faces grouped in the grouping step; an imaging step of performing imaging processing on each of the grouped faces by the imaging means after the movement in the moving step; A control method for an imaging control device, comprising:

[0064] (program) A program for controlling an imaging means for imaging a subject having multiple surfaces, an identification step of identifying a plurality of surfaces of the object; a grouping step of grouping faces having inclinations within a predetermined range from among the plurality of faces identified in the identifying step; a moving step of moving the imaging means so as to face each of the faces grouped in the grouping step; an imaging step of performing imaging processing on each of the grouped faces by the imaging means after the movement in the moving step; A program that causes a computer to execute the following. [Explanation of symbols]

[0065] 102 system control unit, 104 imaging unit, 105 data processing unit

Claims

1. Imaging means for imaging a subject having a plurality of surfaces, Identification means for identifying a plurality of surfaces of the subject, Grouping means for grouping surfaces having an inclination within a predetermined range among the plurality of surfaces identified by the identification means, Moving means for moving the imaging means so as to face each surface grouped by the grouping means, having After being moved by the moving means, the imaging means performs imaging processing on each grouped surface, and the imaging control device is characterized in that.

2. Further having notification means for notifying information on the moving direction, moving amount, and rotation amount of the imaging means when facing each grouped surface to an external device, The moving means moves the imaging means based on control from the external device notified by the notification means, and the imaging control device according to claim 1 is characterized in that.

3. Further having acquisition means for acquiring a distance map for the subject, The identification means identifies a range having an inclination within a predetermined range as one surface based on the distance map acquired by the acquisition means, and the imaging control device according to claim 1 or 2 is characterized in that.

4. The grouping means groups based on the depth of field of the imaging means, and the imaging control device according to claim 1 or 2 is characterized in that.

5. After being moved by the moving means, the imaging means performs imaging processing with focus on each grouped surface, and the imaging control device according to claim 1 or 2 is characterized in that.

6. The imaging means performs imaging processing on a plurality of surfaces within a range that falls within the depth of field among the grouped surfaces, and the imaging control device according to claim 5 is characterized in that.

7. The imaging control device according to claim 5, wherein the imaging means performs imaging processing by moving in a direction in which the imaging means is focused by the moving means.

8. The imaging control device according to claim 1 or 2, wherein the identifying means does not identify, as a surface of the subject, an area where the distance from the imaging means is not within a predetermined range.

9. The imaging control device according to claim 2, wherein the processes of the identifying means, the grouping means, and the notifying means are repeated at a predetermined cycle until the movement of the imaging means by the moving means based on the control from the external device is completed.

10. A control method for an imaging control device having imaging means for imaging a subject having a plurality of surfaces, comprising: an identifying step of identifying a plurality of surfaces of the subject; a grouping step of grouping surfaces having an inclination within a predetermined range among the plurality of surfaces identified in the identifying step; a moving step of moving the imaging means so as to face each surface grouped in the grouping step; an imaging step of performing imaging processing on each surface grouped in the grouping step by the imaging means after moving in the moving step; and a control method for an imaging control device, characterized by comprising the above steps.

11. A program for controlling imaging means for imaging a subject having a plurality of surfaces, comprising: an identifying step of identifying a plurality of surfaces of the subject; a grouping step of grouping surfaces having an inclination within a predetermined range among the plurality of surfaces identified in the identifying step; a moving step of moving the imaging means so as to face each surface grouped in the grouping step; an imaging step of performing imaging processing on each surface grouped in the grouping step by the imaging means after moving in the moving step; A program for causing a computer to execute.

Images