Photographing device and program

Abstract

To provide a photographing device effectively photographing an object by flying a camera, and a program.SOLUTION: According to an embodiment, a photographing device comprises a camera interface, a flight control interface, and a processor. The camera interface transmits and receives data to and from a camera for photographing images. The flight control interface transmits and receives data to and from a flight mechanism that flies the camera. The processor uses the camera to photograph a first image including an object at a first distance, extracts an object region showing the object from the first image, sets a flight route on the basis of the object region, and uses the flight mechanism to fly the camera according to the flight route to thereby photograph a second image including the object at a second distance closer to the object than the first distance.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an imaging device and a program. [Background technology]

[0002] In a store or the like that sells products, an imaging device is provided that captures an image of a shelf label associated with the product. Such an imaging device moves in front of the shelf label by itself or by an operator. The imaging device captures an image including the shelf label. The imaging device extracts the shelf label from the image and reads information written on the shelf label. As a photographing device for photographing shelf tags, a device that photographs shelf tags by flying a camera is desired. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2015 / 140851 Summary of the Invention [Problem to be solved by the invention]

[0004] In order to solve the above problems, an imaging device and a program are provided that effectively capture images of an object by flying a camera. [Means for solving the problem]

[0005] According to an embodiment, an image capture device includes a camera interface, a flight control interface, and a processor. The camera interface transmits and receives data to and from a camera that captures an image. The flight control interface transmits and receives data to and from a flight mechanism that flies the camera. The processor uses the camera to capture a first image including an object from a first distance, extracts an object region of the object from the first image, sets a flight path based on the object region, and flies the camera according to the flight path using the flight mechanism to capture a second image including the object from a second distance closer to the object than the first distance. [Brief description of the drawings]

[0006] [Figure 1] FIG. 1 is a diagram conceptually illustrating an example of the configuration of an imaging system according to an embodiment. [Diagram 2] FIG. 2 is a block diagram showing an example of the configuration of the imaging device according to the embodiment. [Diagram 3] FIG. 3 is a diagram showing an example of the operation of the imaging device according to the embodiment. [Figure 4] FIG. 4 is a diagram showing an example of a shelf label area extracted by the imaging device according to the embodiment. [Diagram 5] FIG. 5 is a diagram showing an example of a flight route set by the imaging device according to the embodiment. [Figure 6] FIG. 6 is a diagram showing an example of a flight route set by the imaging device according to the embodiment. [Figure 7] FIG. 7 is a diagram showing an example of a flight route set by the imaging device according to the embodiment. [Figure 8] FIG. 8 is a diagram showing an example of the operation of the imaging device according to the embodiment. [Figure 9] FIG. 9 is a flowchart showing an example of the operation of the imaging device according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] Hereinafter, embodiments will be described with reference to the drawings.

[0008] The photography system according to the embodiment photographs an object using a photography device. Here, the photography system photographs a shelf label as the object. The photography device photographs the shelf label while flying. The photography device reads information written on the shelf label from the photographed shelf label.

[0009] For example, the photography system photographs shelf labels related to products displayed on shelves in a store or the like. The photography system may also photograph shelf labels related to items stored on shelves in a warehouse or a logistics center. The photography system may also photograph objects other than shelf labels. The objects photographed by the photography system are not limited to a specific configuration.

[0010] 1 shows an example of the configuration of an image capturing system 1 according to an embodiment. Here, the image capturing system 1 captures an image of a shelf label 101 placed on a shelf 100.

[0011] The shelf 100 stores products (articles). Here, the shelf 100 has four shelves. The shelf 100 stores products on each shelf.

[0012] The shelf 100 includes shelf labels 101. The shelf labels 101 are attached to the front surfaces of the shelf boards that form a shelf level. That is, the shelf labels 101 are attached to the front surfaces of the four shelf boards.

[0013] Predetermined information is displayed on the shelf label 101. For example, the shelf label 101 displays information related to the corresponding product (such as the product name and price). The shelf label 101 may also display a code (such as a barcode or a two-dimensional code).

[0014] As shown in Fig. 1, shelf 100 has nine shelf labels 101a to 101i. Shelf labels 101a and 101b are installed on the front of the first shelf. Shelf labels 101c and 101d are installed on the front of the second shelf. Shelf labels 101e, 101f, and 101g are installed on the front of the third shelf. Shelf labels 101h and 101i are installed on the front of the fourth shelf. The positions and number of shelf labels 101 placed on shelf 100 are not limited to a specific configuration.

[0015] The photographing device 10 photographs the shelf label 101. The photographing device 10 has a flying function. That is, the photographing device 10 flies to a position where it can photograph the shelf label 101 and photographs the shelf label 101. The photographing device 10 reads information displayed on the shelf label 101. The photographing device 10 transmits the read information to the management device 50.

[0016] For example, the imaging device 10 may be a drone or the like. The imaging device 10 will be described in detail later.

[0017] The management device 50 manages information from the imaging device 10. For example, the management device 50 checks whether there is any defect in the shelf tag 101 based on information from the imaging device 10. For example, the management device 50 is a desktop PC, a notebook PC, a tablet PC, a smartphone, or the like.

[0018] Fig. 2 is a block diagram showing an example of the configuration of the image capture device 10. As shown in Fig. 2, the image capture device 10 includes a processor 11, a memory 12, a communication unit 13, a camera interface 14, a flight control interface 15, an image capture camera 20, and a flight mechanism 30. The flight mechanism 30 includes a motor 31 and a control camera 32.

[0019] The processor 11, the memory 12, the communication unit 13, the camera interface 14, and the flight control interface 15 are connected to one another via a data bus or a predetermined interface, etc. The camera interface 14 is connected to the photographing camera 20. The flight control interface 15 is connected to the motor 31 and the control camera 32.

[0020] The photographing device 10 may further include components as necessary in addition to the components shown in FIG. 2, and certain components may be excluded from the photographing device 10.

[0021] The processor 11 controls the overall operation of the imaging device 10. For example, the processor 11 controls the flight of the imaging device 10. The processor 11 also uses the imaging camera 20 to capture an image of the shelf label 101.

[0022] For example, the processor 11 is configured with a CPU or the like. The processor 11 may also be configured with an ASIC (Application Specific Integrated Circuit) or the like. The processor 11 may also be configured with an FPGA (Field Programmable Gate Array) or the like.

[0023] The memory 12 stores various data. For example, the memory 12 functions as a ROM, a RAM, and an NVM. For example, the memory 12 stores a control program, control data, etc. The control program and control data are pre-installed according to the specifications of the photographing device 10. For example, the control program is a program that supports functions realized by the photographing device 10.

[0024] Furthermore, the memory 12 temporarily stores data being processed by the processor 11. The memory 12 may also store data necessary for executing application programs and execution results of application programs.

[0025] The communication unit 13 is an interface for transmitting and receiving data to and from the management device 50. For example, the communication unit 13 supports wireless LAN (Local Area Network) connection.

[0026] The camera interface 14 is an interface for transmitting and receiving data to and from the photographing camera 20. For example, the camera interface 14 transmits a signal instructing the photographing camera 20 to take a photograph, based on the control of the processor 11. The camera interface 14 also acquires an image obtained by photographing from the photographing camera 20. The camera interface 14 may also supply power to the photographing camera 20. For example, the camera interface 14 may support a USB (universal serial bus) connection, or may support a connection via Camera Link.

[0027] The photographing camera 20 photographs the shelf tag 101. The photographing camera 20 is installed in the housing of the photographing device 10. The photographing camera 20 is installed so as to face in the horizontal direction. The photographing camera 20 may also be equipped with a mechanism for changing the angle based on the control from the processor 11.

[0028] The photographing camera 20 transmits the captured image to the processor 11 via the camera interface 14 .

[0029] For example, the photographing camera 20 is composed of a CCD (Charge Coupled Device) camera or a CMOS (Complementary Metal Oxide Semiconductor) camera. Furthermore, the photographing camera 20 may be equipped with lighting.

[0030] The flight control interface 15 is an interface for transmitting and receiving data to and from the flight mechanism 30. The flight control interface 15 supplies power, various control signals, and the like to the flight mechanism 30 under control of the processor 11. For example, the flight control interface 15 transmits power, control signals, and the like to the motor 31. The flight control interface 15 also transmits images from the control camera 32 to the processor 11.

[0031] The flight mechanism 30 is a mechanism that flies the image capture device 10. The flight mechanism 30 causes the image capture device 10 to hover, turn, move forward, move backward, rise, and descend. As described above, the flight mechanism 30 includes the motor 31, the control camera 32, and the like.

[0032] The motor 31 drives a propeller or the like for flying the image capture device 10. The motor 31 may be composed of a plurality of motors.

[0033] The control camera 32 captures images for controlling the flight of the photographing device 10. The control camera 32 is installed on the housing of the photographing device 10. The control camera 32 captures images of the surroundings of the photographing device 10. The control camera 32 transmits the captured images to the processor 11. The control camera 32 may also be composed of multiple cameras.

[0034] For example, the control camera 32 is composed of a CCD camera or a CMOS camera.

[0035] The control camera 32 may also be configured with a distance sensor that measures the distance to the surroundings. For example, the control camera 32 may be configured with LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging). In this case, the control camera 32 transmits information indicating the distance to surrounding objects to the processor 11.

[0036] The photographing camera 20 and the control camera 32 may be the same camera. Also, the photographing device 10 does not have to include the control camera 32. Moreover, the imaging device 10 may be provided with an engine for driving a propeller or the like, instead of or together with the motor 31 .

[0037] Next, a description will be given of functions realized by the photographing device 10. The functions realized by the photographing device 10 are realized by the processor 11 executing a program stored in the internal memory, the memory 12, or the like.

[0038] First, the processor 11 has a function of using the photographing camera 20 to photograph the shelf label 101 from a first distance.

[0039] The processor 11 uses the flying mechanism 30 to move the photographing device 10 to a position (wide-area photographing position) where the distance between the photographing camera 20 and the shelf labels 101 is a first distance (for example, one to several meters). That is, the processor 11 moves to a position where the distance between the photographing camera 20 and a plane including each shelf label 101 is the first distance. Here, the first distance is a distance at which the photographing camera 20 can photograph the shelves 100 including each shelf label 101.

[0040] A flight map for autonomous flight and a wide-area photographing position are stored in advance in the memory 12. The processor 11 flies from the current position to the wide-area photographing position using flight control software stored in the memory 12.

[0041] For example, the processor 11 acquires its own position relative to the flight map using a flight map and an image from the control camera 32 acquired via the flight control interface 15. After acquiring its own position, the processor 11 generates a flight path from its own position to the wide-area shooting position. After generating the flight path, the processor 11 controls the flight mechanism 30 to fly according to the generated flight path.

[0042] The processor 11 may also fly to the wide-area photographing position using a GPS or the like. For example, the processor 11 may detect an obstacle based on an image of the surroundings acquired from the control camera 32, and fly to the wide-area photographing position while avoiding the detected obstacle. In this case, the processor 11 may use radio wave intensity or a marker (such as a two-dimensional code) arranged in advance at a predetermined position to manage the wide-area photographing position and the processor's own position.

[0043] The processor 11 may also acquire the wide-area shooting position through the communication unit 13. Furthermore, the processor 11 may obtain its own location from the management device 50 through the communication unit 13. For example, the processor 11 transmits an image of the surroundings obtained from the control camera 32 to the management device 50 through the communication unit 13. The management device 50 identifies the location of the image capturing device 10 based on the image from the image capturing device 10 and transmits the image to the image capturing device 10.

[0044] The management device 50 may also control the flight of the photographing device 10. For example, the management device 50 may determine the direction of movement of the photographing device 10, determine whether the photographing device 10 has arrived at a wide-area photographing position or whether it is hovering, and instruct the photographing device 10 to fly.

[0045] The method by which the processor 11 moves the image capturing device 10 to the wide-area image capturing position is not limited to a specific method.

[0046] When the photographing device 10 is moved to the wide-area photographing position, the processor 11 causes the photographing device 10 to hover at the wide-area photographing position using the flying mechanism 30. During hovering, the processor 11 photographs an image (first image) showing the shelf label 101 using the photographing camera 20. Here, the processor 11 obtains the first image in which the entire shelf 100 including each of the shelf labels 101a to 101i is photographed.

[0047] Fig. 3 shows an example of an operation in which the processor 11 captures a first image. In Fig. 3, the photographing device 10 hovers at a wide-area photographing position. As shown in Fig. 3, the distance between the photographing camera 20 and each shelf label 101 is a first distance. Furthermore, the photographing camera 20 has a photographing area 201 as a photographing range. The photographing area 201 includes the shelf 100 and each shelf label 101.

[0048] The processor 11 captures a first image using the photographing camera 20 while the photographing device 10 is hovering at a wide-area photographing position.

[0049] The processor 11 also has a function of extracting a shelf label area (object area) corresponding to the shelf label 101 from the first image. The shelf label area is an area in the first image in which the shelf label 101 appears. In other words, the shelf label area is an area in which the shelf label 101 is cut out from the first image. For example, the shelf label area is a rectangle that surrounds the shelf label 101. The shelf label area may also be specified in pixel units.

[0050] The processor 11 extracts the shelf label area from the first image using area extraction software previously stored in the memory 12. For example, the processor 11 extracts the shelf label area using a YOLO (You Only Look Once) network (deep learning), which is an object detection technology.

[0051] The processor 11 may also use a single shot multibox detector (SSD) or a fully convolutional instance-aware semantic segmentation (FCIS). The processor 11 may also use AdaBoost using Haar-like features used in face detection. The processor 11 may also use a recognition engine using local features such as Scaled Invariance Feature Transform (SIFT). The method by which the processor 11 extracts the shelf label area is not limited to a particular configuration.

[0052] Fig. 4 shows an example of a shelf label area extracted by the processor 11. As shown in Fig. 4, the processor 11 extracts a shelf label area 111 from the first image. Here, the processor 11 extracts shelf label areas 111a to 111i corresponding to the shelf labels 101a to 101i, respectively.

[0053] The processor 11 also has a function of setting a flight path for photographing each shelf label 101 based on the extracted shelf label area 111.

[0054] As will be described in detail later, the processor 11 brings the imaging device 10 close to each shelf label 101 to capture an image of each shelf label 101. The processor 11 sets a flight path for capturing an image of each shelf label 101.

[0055] Here, the processor 11 sets a flight path based on the position of each shelf label area 111 (for example, the central coordinates of the shelf label area). For example, the processor 11 sets a path connecting each shelf label area 111. The processor 11 sets a flight path that projects the set path into three-dimensional space. The processor 11 sets as the flight path a path that moves the set path to a position a predetermined distance away from the shelf label 101. In other words, the flight path is a path that passes in front of each shelf label 101.

[0056] For example, the processor 11 sets a flight path with the shortest flight distance. That is, the processor 11 sets a flight path that connects the fronts of the shelf labels 101 at the shortest distance. The processor 11 sets the flight path by setting the shortest path that connects the centers of the shelf label areas 111.

[0057] Fig. 5 shows an example of a flight path set by the processor 11. In the example shown in Fig. 5, the flight path 301 is the flight path with the shortest flight distance. In other words, the flight path 301 is the shortest flight path that passes in front of each shelf label 101.

[0058] 5, the flight path 301 is a flight path that connects the shelf labels 101 in the following order: shelf labels 101h, 101f, 101e, 101c, 101a, 101d, 101b, 101g, and 101i. Note that the flight path 301 may also be a flight path that connects the shelf labels 101 in the reverse order.

[0059] The processor 11 may also set a flight path based on the power consumption (energy consumption) of the flight mechanism 30. For example, the flight mechanism 30 consumes more power in ascending than in moving left and right. Therefore, the processor 11 sets a flight path with the least amount of ascending and descending. The processor 11 sets the flight path by setting a path that connects the centers of the shelf label areas 111 so that the distance in the up-down direction is the shortest.

[0060] Fig. 6 shows another example of a flight path set by the processor 11. In the example shown in Fig. 6, a flight path 302 is a flight path with the least amount of vertical movement.

[0061] 6, the flight path 302 is a flight path that connects the shelf labels 101 in the following order: shelf labels 101a, 101b, 101d, 101c, 101e, 101f, 101g, 101i, and 101h. Note that the flight path 302 may be a flight path that connects the shelf labels 101 in the reverse order.

[0062] The flight path 302 passes preferentially over shelf labels 101 that are arranged side by side. That is, the flight path 302 passes over shelf labels 101 at the same height and then moves to shelf labels 101 at another height.

[0063] Furthermore, the processor 11 may set a flight route that minimizes power consumption of the flight mechanism 30. The processor 11 sets a flight route that minimizes power consumption based on the vertical movement distance and the total movement distance, etc. For example, the processor 11 sets the shortest route calculated by weighting the vertical movement as the flight route that minimizes power consumption.

[0064] Fig. 7 shows yet another example of a flight path set by processor 11. In the example shown in Fig. 7, flight path 303 is the flight path that consumes the least amount of power for flight mechanism 30.

[0065] As shown in FIG. 7, the flight path 303 is a flight path that connects the shelf tags 101 in the following order: 101c, 101a, 101d, 101b, 101g, 101f, 101e, 101h, and 101i.

[0066] As shown in FIG. 7, flight path 303 reduces the overall flight distance while limiting vertical movement.

[0067] The processor 11 may also set a flight path that prevents sudden stops, sudden accelerations, and sudden turns. For example, the processor 11 may set a flight path that smoothly forms corners.

[0068] The method by which the processor 11 sets the flight path is not limited to a specific method.

[0069] The processor 11 also has a function of flying the imaging device 10 along a flight path using the flight mechanism 30 to capture an image of each shelf label 101 at a second distance that is closer to the object than the first distance.

[0070] The processor 11 flies the photographing device 10 along a set flight path using the flight mechanism 30. The processor 11 determines whether the photographing device 10 has reached the front of the shelf label 101 while flying. For example, the processor 11 determines whether the self-position has reached the position of the shelf label 101 on the flight path. The processor 11 may also determine whether the self-position has reached the front of the shelf label 101 based on an image from the photographing camera 20 or the control camera 32, etc.

[0071] When it is determined that the photographing camera 10 has reached the front of the shelf label 101, the processor 11 uses the flying mechanism 30 to move the photographing device 10 to a position (narrow-area photographing position) where the distance between the photographing camera 20 and the shelf label 101 is a second distance. The second distance is closer to the object than the first distance. For example, the second distance is several tens of centimeters.

[0072] For example, the processor 11 moves the photographing device 10 closer to the shelf label 101 until the size of the shelf label 101 captured by the photographing camera 20 reaches a predetermined size (the size captured by the photographing camera 20 at the second distance).

[0073] The processor 11 may fly the photographing device 10 along the flight path while maintaining a state in which the distance between the photographing camera 20 and the surface including the shelf label 101 is the second distance.

[0074] When the photographing device 10 is moved to the narrow-area photographing position, the processor 11 causes the photographing device 10 to hover at the narrow-area photographing position using the flying mechanism 30. During hovering, the processor 11 uses the photographing camera 20 to photograph a second image in which one shelf label 101 is captured.

[0075] Fig. 8 shows an example of the operation of the processor 11 to capture a second image. In Fig. 8, the photographing device 10 hovers at a narrow-area photographing position. As Fig. 8 shows, the distance between the photographing camera 20 and the shelf label 101 is a second distance. Furthermore, the photographing camera 20 has a photographing area 202 as a photographing range. The photographing area 201 includes one shelf label 101.

[0076] The processor 11 captures a second image using the photographing camera 20 while the photographing device 10 is hovering at the narrow-area photographing position.

[0077] After capturing the second image, the processor 11 uses the flight mechanism 30 to fly the imaging device 10 again along the flight path. That is, the processor 11 uses the flight mechanism 30 to move the imaging device 10 to the next shelf label 101. In the same manner as above, the processor 11 captures a second image in which the next shelf label 101 is captured.

[0078] The processor 11 repeats the above operations to capture second images in which each shelf label 101 appears.

[0079] When the imaging device 10 has flown to the end of the flight path, the processor 11 finishes photographing each shelf label 101.

[0080] When the processor 11 has finished photographing each shelf label 101, the processor 11 may fly the camera 10 to the next wide-area photographing position. When the processor 11 has flown the camera 10 to the next wide-area photographing position, the processor 11 performs the same operation as described above. The processor 11 flies the image capturing device 10 to each wide-area image capturing position in turn to perform the same operation.

[0081] The processor 11 also has a function of reading the information written on the shelf label 101 from the second image.

[0082] The processor 11 reads the information written on the shelf label 101 using recognition software that is pre-stored in the memory 12 .

[0083] If a character string consisting of numbers, symbols, text, or the like is written on the shelf tag 101, the processor 11 recognizes the character string from the second image by OCR (Optical Character Recognition) processing. For example, the processor 11 extracts an area on the shelf tag 101 in which the character string appears. After extracting the area in which the character string appears, the processor 11 recognizes the character string from the extracted area.

[0084] Furthermore, if a code is printed on the shelf tag 101, the processor 11 extracts the area in which the code appears. When the area in which the code appears is extracted, the processor 11 decodes the code in the extracted area to obtain information.

[0085] It should be noted that the method by which the processor 11 reads the information and the contents of the information are not limited to a specific configuration.

[0086] The processor 11 transmits the read information to the management device 50 via the communication unit 13 or the like. The processor 11 may transmit a plurality of read information to the management device 50 at the same time.

[0087] Next, an example of the operation of the photographing device 10 will be described. FIG. 9 is a flowchart for explaining an example of the operation of the photographing device 10. As shown in FIG.

[0088] Here, it is assumed that the image capturing device 10 is activated and in an operable state.

[0089] The processor 11 of the photographing device 10 moves the photographing device 10 to a wide-area photographing position using the flight mechanism 30 (ACT11). When the photographing device 10 is moved to the wide-area photographing position, the processor 11 uses the photographing camera 20 to photograph a first image showing the shelf label 101 from a first distance (ACT12).

[0090] When the first image is captured, the processor 11 extracts a shelf label area from the first image (ACT 13). When the shelf label area is extracted, the processor 11 sets a flight path based on the extracted shelf label area (ACT 14).

[0091] When the flight path is set, the processor 11 moves the photographing device 10 to the narrow-area photographing position according to the flight path using the flight mechanism 30 (ACT15). When the photographing device 10 is moved to the narrow-area photographing position, the processor 11 uses the photographing camera 20 to photograph a second image showing one shelf label 101 from a second distance (ACT16).

[0092] After capturing the second image, the processor 11 determines whether there are any other shelf labels 101 that have not been photographed (ACT17). If it is determined that there are any other shelf labels 101 that have not been photographed (ACT17, YES), the processor 11 returns to ACT15.

[0093] If it is determined that there are no other shelf labels 101 that have not yet been photographed (ACT17, NO), the processor 11 reads the information written on each shelf label 101 from each second image (ACT18).

[0094] After reading the information written on each shelf label 101, the processor 11 determines whether there are other wide-area shooting positions (ACT19). If it is determined that there are other wide-area shooting positions (ACT19, YES), the processor 11 returns to ACT11.

[0095] When it is determined that there are no other wide-area shooting positions (ACT19, NO), the processor 11 transmits the information read from each shelf label 101 to the management device 50 via the communication unit 13 (ACT20). After transmitting the information read from each shelf label 101 to the management device 50, the processor 11 ends the operation.

[0096] Each time the processor 11 captures a second image, the processor 11 may read the information written on the shelf label 101 from the second image. Furthermore, each time the processor 11 reads the information written on the shelf label 101, the processor 11 may transmit the read information to the management device 50 via the communication unit 13.

[0097] Furthermore, the processor 11 does not have to read the information written on the shelf label 101 from the second image. The processor 11 may transmit the second image to the management device 50 via the communication unit 13. In this case, the management device 50 may read the information written on the shelf label 101 from the second image.

[0098] Processor 11 may also check whether there are any defects in shelf labels 101 based on information read from shelf labels 101. For example, processor 11 acquires management information indicating the positions and contents of shelf labels 101. Processor 11 determines whether any shelf labels 101 have been omitted from being attached, whether unnecessary shelf labels 101 have been attached, whether there are any mistakes in the information written on shelf labels 101, and the like, based on the management information. Processor 11 transmits the determination result to management device 50 via communication unit 13.

[0099] Furthermore, if the processor 11 cannot extract the shelf label area 111 from the first image, it is not necessary to capture the second image.

[0100] Furthermore, when the processor 11 extracts one shelf label area 111 from the first image, it is not necessary to set a flight path. In this case, the processor 11 moves the image capturing device 10 to a narrow-area capturing position corresponding to the one shelf label area 111 and captures the second image.

[0101] The processor 11 may also cause the photographing camera 20 to photograph the second image while moving the photographing device 10 along the flight path. That is, the processor 11 may cause the photographing camera 20 to photograph the image without hovering the photographing device 10 at the narrow-area photographing position. In this case, the processor 11 may move the photographing device 10 at a low speed at the narrow-area photographing position. The second image may also capture a plurality of shelf tags 101.

[0102] The camera configured as described above captures a wide-area image of a shelf label, which is an object of photography. The camera extracts a shelf label area from the captured image. The camera sets a flight path for capturing a narrow-area image of the shelf label from the shelf label area. The camera captures a narrow-area image of the shelf label while flying along the flight path. As a result, the camera can effectively capture a close-range image of the shelf label. In other words, the camera can save flight time and energy consumption for capturing a close-range image of the shelf label.

[0103] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0104] 1...photography system, 10...photography device, 11...processor, 12...memory, 13...communication unit, 14...camera interface, 15...flight control interface, 20...photography camera, 30...flight mechanism, 31...motor, 32...control camera, 50...management device, 100...shelf, 101 (101a to 101i)...shelf label, 111 (111a to 111i)...shelf label area, 201 and 202...photography area, 301 to 303...flight path.

Claims

1. A camera that captures images and a camera interface that transmits and receives data; a flight control interface for transmitting and receiving data to and from a flight mechanism for flying the camera; and using the camera to capture a first image including an object from a first distance; Extracting an object region of the object from the first image; setting a flight path based on the object region; flying the camera along the flight path using the flight mechanism to capture a second image including the object from a second distance that is closer to the object than the first distance; A processor; An imaging device comprising:

2. the processor sets the flight path to pass in front of the object. The imaging device according to claim 1 .

3. The processor sets the flight path based on an energy consumption of the flight mechanism.

3. The imaging device according to claim 1.

4. The object is a shelf label. The imaging device according to any one of claims 1 to 3.

5. The camera; The flight mechanism; Equipped with The imaging device according to any one of claims 1 to 4.

6. A program executed by a processor, The processor, capturing a first image including an object from a first distance using a camera; Extracting an object region of the object from the first image; Setting a flight path based on the object region; a function of flying the camera along the flight path using a flight mechanism that flies the camera to capture a second image including the object from a second distance that is closer to the object than the first distance; A program to achieve this.

Images