AUTOMATIC PHOTOGRAPHY SYSTEM, AUTOMATIC PHOTOGRAPHY METHOD, PROGRAM, AND COMPUTER-READABLE RECORDING MEDIUM HAVING PROGRAM STORED THEREIN

Abstract

Provided are an automatic photography system, an automatic photography method, a program, and a computer-readable recording medium storing the program, which are capable of taking high-quality images of scrap without the risk of blurring the images at any position during the transportation of the scrap. The automatic photography system (1) automatically photographs the scrap (S) transported and moving by a transport means (50). The automatic photography system (1) includes a photography device (30) that photographs the scrap (S), a movement speed detection means (10) that detects the movement speed of the scrap (S), and a control device (20) that determines whether the movement speed of the scrap (S) detected by the movement speed detection means (10) is equal to or lower than a predetermined value, and controls the photography device (30) to photograph the scrap (S) when it is determined that the movement speed of the scrap (S) is equal to or lower than the predetermined value.

Description

[Technical field]

[0001] The present invention relates to an automatic photography system, an automatic photography method, a program, and a computer-readable recording medium storing the program, which automatically photographs scrap transported by a transport means. [Background technology]

[0002] Generally, when steelworks and other facilities receive scrap, they determine the grade of the scrap and check for taboo materials (materials that should be removed). In addition, when the scrap is melted in a blast furnace, the chemical composition of the scrap is analyzed each time and the scrap mix is ​​adjusted.

[0003] Here, even when automatically determining the presence or absence of prohibited substances contained in iron scrap, a monitoring system capable of accurately determining the presence or absence of prohibited substances without overlooking them is conventionally known, for example, as shown in Patent Document 1. The monitoring system shown in Patent Document 1 includes a photographing unit that photographs the iron scrap multiple times from different viewpoints or at different times, a taboo object identification unit that inputs the multiple images obtained by the photographing unit into a predetermined learning model to identify the type, location, and probability that the object is a taboo object, and an output unit that outputs the type and location of the taboo object when the probability identified by the taboo object identification unit exceeds a predetermined threshold. Here, the iron scrap is continuously moved by a transport device, and the single or multiple cameras that constitute the photographing unit are intended to photograph the iron scrap during transport.

[0004] Furthermore, as a scrap image photographing system that generates a still image every time iron scrap is lifted by a hoist, for example, the system shown in Patent Document 2 has been conventionally known. The scrap image capture system shown in Patent Document 2 includes a crane that lifts and transports iron scrap using a hoisting tool, and a camera that captures an area including the hoisting tool when the hoisting tool reaches a predetermined height to generate a still image. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] International Publication No. 2022 / 260133 [Patent Document 2] Patent Publication No. 2021-76711 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the conventional monitoring system disclosed in Patent Document 1 and the scrap image photographing system disclosed in Patent Document 2 have the following problems. That is, in the case of the monitoring system shown in Patent Document 1, since the iron scrap being transported, i.e., the scrap being moved at a predetermined speed, there is a risk that the image may not be captured at the appropriate time. In particular, when the scrap is moving at a speed faster than the camera's swing speed, there are problems such as the captured image of the scrap being blurred or the camera being unable to keep up. In contrast, in the case of the scrap image photographing system shown in Patent Document 2, when the suspending tool reaches a predetermined height, an image is captured of the area including the suspending tool, so that photographing can be done at the appropriate time and there is little risk of the photographed image of the scrap being blurred. However, it is only possible to photograph an image of the scrap when the suspending tool reaches a predetermined height, and it is not possible to photograph an image of the scrap at any position.

[0007] Therefore, the present invention has been made to solve this conventional problem, and its object is to provide an automatic photography system, an automatic photography method, a program, and a computer-readable recording medium on which the program is stored, which are capable of taking high-quality images of scrap without the risk of image blurring at any position during the transportation of the scrap. [Means for solving the problem]

[0008] In order to solve the above problems, an automatic photography system according to one embodiment of the present invention is an automatic photography system that automatically photographs scrap being transported and moved by a transport means, and is equipped with a photography device that photographs the scrap, a movement speed detection means that detects the movement speed of the scrap, and a control device that determines whether the movement speed of the scrap detected by the movement speed detection means is below a predetermined value, and if it is determined that the movement speed of the scrap is below the predetermined value, controls the photography device to photograph the scrap.

[0009] In addition, an automatic photography method according to another aspect of the present invention is an automatic photography method for automatically photographing scrap being transported and moved by a transport means, and includes a moving speed detection step of detecting the moving speed of the scrap by a moving speed detection step, a determination step of a control device determining whether the moving speed of the scrap detected by the moving speed detection step is below a predetermined value, and a photography control step of the control device controlling the photography device to photograph the scrap when it is determined by the determination step that the moving speed of the scrap is below the predetermined value.

[0010] In addition, a program according to another aspect of the present invention is a program for causing a control device to execute a determination step of determining whether the movement speed of the scrap detected by a movement speed detection means is below a predetermined value, and a photographing control step of controlling the photographing device to photograph the scrap when the determination step determines that the movement speed of the scrap is below the predetermined value.

[0011] In addition, a computer-readable recording medium having a program stored thereon relating to another aspect of the present invention is a computer-readable recording medium having a program stored thereon to cause a control device to execute a determination step of determining whether the movement speed of the scrap detected by a movement speed detection means is below a predetermined value, and a photographing control step of controlling a photographing device to photograph the scrap when the determination step determines that the movement speed of the scrap is below a predetermined value. Effect of the Invention

[0012] According to the automatic photography system, automatic photography method, program, and computer-readable recording medium on which the program is stored of the present invention, high-quality images of the scrap can be taken at any position during the transportation of the scrap without the risk of image blurring. [Brief description of the drawings]

[0013] [Figure 1] 1 is an overall configuration diagram of an automatic photography system according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a functional block diagram of the automatic photography system shown in FIG. [Diagram 3] 2 is a flowchart for explaining a process flow in the automatic photography system shown in FIG. 1. [Figure 4] FIG. 2 is a diagram illustrating an example of a hardware configuration of a control device. [Diagram 5] FIG. 11 is an overall configuration diagram of an automatic photography system according to a second embodiment of the present invention. [Figure 6] FIG. 6 is a functional block diagram of the automatic photography system shown in FIG. 5. [Figure 7] 6 is a flowchart for explaining a process flow in the automatic photography system shown in FIG. 5. [Figure 8] FIG. 13 shows an example of photographing scrap when it is received at a scrap yard, showing an example of photographing scrap as it is being unloaded from a dump truck. [Figure 9]This shows an example of photography when scrap is received at a scrap storage area, and is a diagram showing an example of photography of the scrap lifted by the lifting magnet and the scrap remaining in the semi-trailer when the scrap transported by a semi-trailer is lifted by a lifting magnet. [Figure 10] FIG. 13 shows an example of photographing scrap when it is stored in a scrap yard, showing an example of photographing a pile of scrap stored in the scrap yard. [Figure 11] This shows an example of photography when scrap is removed from a scrap yard, and is a diagram showing an example of photography when scrap is loaded into a furnace from a pile of scrap via a basket, including the pile of scrap, the scrap lifted by a lifting magnet, the scrap loaded into the basket, and the scrap to be loaded into the furnace. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The embodiments shown below are merely examples of devices and methods for embodying the technical concept of the present invention, and the technical concept of the present invention is not limited to the following embodiments in terms of the materials, shapes, structures, arrangements, etc. of the components. In addition, the drawings are schematic, and therefore, it should be noted that the relationship between thickness and planar dimensions, ratios, etc. may differ from the actual relationship between thickness and planar dimensions, and the drawings may include parts in which the relationship between dimensions and ratios differ from one another.

[0015] (First embodiment) FIG. 1 shows the overall configuration of an automatic photography system according to a first embodiment of the present invention. The automatic photography system 1 shown in FIG. 1 automatically photographs scrap S that is being transported and moved by a dump truck 50 serving as transportation means. The automatic photography system 1 includes a PTZ (Panoramac-Tilt-Zoom) camera 30 as a photography device for photographing the scrap S, a movement speed detection means 10 for detecting the movement speed of the scrap S, a control device 20, and a photographed image output device 40.

[0016] First, the PTZ camera 30 has a PTZ function, can be remotely controlled to swing in the horizontal and vertical directions at a predetermined speed, and has a zoom function for enlarging and reducing to capture images of the scrap S. The PTZ camera 30 is controlled by an imaging condition control unit 25 (see FIG. 2) so as to track the scrap S under imaging conditions of the PTZ camera 30 determined by an imaging condition calculation unit 24 (see FIG. 2) of the control device 20 (described later). When a determination unit 27 of the control device 20 (described later) determines that the moving speed of the scrap S is equal to or lower than a predetermined value, the PTZ camera 30 is controlled by an imaging timing control unit 28 so as to capture an image of the scrap S, and captures an image of the scrap S under imaging conditions such as the imaging direction and zoom magnification of the PTZ camera 30 determined by the imaging condition calculation unit 24 (see FIG. 2). In this embodiment, as shown in FIG. 1, the PTZ camera 30 photographs the shooting area B where the scrap S that has been dumped and unloaded into the scrap yard is located when the moving speed of the scrap S transported by the dump truck 50 becomes 0 m / s as the dump truck 50 stops.

[0017] The moving speed detection means 10 detects the moving speed of the scrap S, and as shown in Figures 1 and 2, is composed of a fixed visible camera 11 that captures the entire scrap storage area A as the subject of the image multiple times, an image acquisition unit 21 (described later) of the control device 20, a scrap detection unit 22, a position identification unit 23, and a speed detection unit 26.

[0018] The visible camera 11 is fixed to a fixed member (not shown) so that the entire scrap yard A is captured, and captures the entire scrap yard A multiple times regardless of whether scrap S is present in the scrap yard. The method of capturing images by the visible camera 11 is not particularly limited, and may be a method of capturing still images intermittently or continuously, or a method of capturing a video and extracting it as a still image. As shown in FIG. 1, scrap S is transported by a dump truck 50 as a transport means, the dump truck 50 stops at the scrap yard, and dumps up to unload the scrap S into the scrap yard. In this case, by capturing the entire scrap yard A multiple times by the visible camera 11, multiple images of the scrap S transported and moving by the dump truck 50 can be obtained. Based on the multiple images of the scrap S obtained, the image acquisition unit 21, scrap detection unit 22, position identification unit 23, and speed detection unit 26 of the control device 20 detect the moving speed of the scrap S. The detailed configurations and functions of the image acquisition unit 21, scrap detection unit 22, position identification unit 23, and speed detection unit 26 of the control device 20 will be described later.

[0019] The control device 20 has a function of determining whether the moving speed of the scrap S detected by the moving speed detection means 10 is equal to or lower than a predetermined value, and when it is determined that the moving speed of the scrap S is equal to or lower than the predetermined value, controlling the PTZ camera 30 as an imaging device to capture an image of the scrap S. The control device 20 also has a function of calculating and determining the imaging conditions of the PTZ camera 30 as an imaging device based on the position of the scrap S in each image identified by the position identification unit 23 of the moving speed detection means 10, and controlling the PTZ camera 30 to track the scrap S under the determined imaging conditions of the PTZ camera 30. The control device 20 also has a function of outputting the captured image captured by the PTZ camera 30 to the captured image output device 40.

[0020] 2, the control device 20 includes an image acquisition unit 21, a scrap detection unit 22, a position identification unit 23, and a speed detection unit 26, which constitute the moving speed detection means 10. The control device 20 also includes a determination unit 27 and an image capture timing control unit 28. The control device 20 also includes an image capture condition calculation unit 24, an image capture condition control unit 25, and an image capture acquisition unit 29. 4, the hardware configuration of the control device 20 will be described. The control device 20 is composed of an arithmetic processing device 201 equipped with a CPU 202. To the CPU 202, an internal storage device 204 such as a RAM or a ROM, an external storage device 205, an input device 206 such as a keyboard or a mouse, and an output device 207 that outputs captured image data to a captured image output device 40 (see FIG. 2) are connected via an internal bus 203.

[0021] The external storage device 205 of the control device 20 includes a disk drive capable of reading data from a hard disk drive, a solid state drive, etc., and a drive device for CD, DVD, BD, etc. that reads data from a recording medium. A recording medium 208 is set in the external storage device 205, and stores a program for causing the control device 20 to execute the image acquisition function by the image acquisition unit 21, the scrap detection function by the scrap detection unit 22, the position identification function by the position identification unit 23, the speed detection function by the speed detection unit 26, the judgment function by the judgment unit 27, the shooting timing control function by the shooting timing control unit 28, the shooting condition calculation function by the shooting condition calculation unit 24, the shooting condition control function by the shooting condition control unit 25, and the shooting image acquisition function by the shooting image acquisition unit 29 (steps S2 to S11 described later), and the read program is installed in the disk drive. This program installation is not limited to using the recording medium 208, and the program may be downloaded via a network.

[0022] The CPU 202 of the control device 20 executes the image acquisition function, scrap detection function, position identification function, speed detection function, judgment function, shooting timing control function, shooting condition calculation function, shooting condition control function, and captured image acquisition function (steps S2 to S11 described below) in accordance with the instructions of the installed program, and outputs data of the captured image to the captured image output device 40. Here, the image acquisition unit 21 of the control device 20 (movement speed detection means 10) acquires a plurality of images of the entire scrap yard A captured by the visible camera 11 a plurality of times.

[0023] Furthermore, the scrap detection unit 22 of the control device 20 (movement speed detection means 10) performs image processing on multiple images of the entire scrap yard A captured by the visible camera 11, i.e., multiple images acquired by the image acquisition unit 21, to detect scrap S in each image. Specifically, the scrap detection unit 22 inputs the multiple images acquired by the image acquisition unit 21 into a scrap detection model generated by a model generation unit (not shown) and determines whether scrap S is detected in each image. The scrap detection model is a model that is machine-learned using image data of the state in which scrap S moves in the entire scrap yard A as learning data.

[0024] Furthermore, the position identification unit 23 of the control device 20 (movement speed detection means 10) identifies the position (coordinates) of the scrap S in each image detected by the scrap detection unit 22. In other words, when it is determined that the scrap S is detected in each image by the scrap detection unit 22, the position identification unit 23 identifies the position (coordinates) of the scrap S in each image. Note that the position identification unit 23 may identify the position (coordinates) of the dump truck 50 transporting the scrap S, instead of the scrap S in the image. In this case, the position identification unit 23 estimates the position (coordinates) of the scrap S on the dump truck 50 from the position of the dump truck 50.

[0025] Further, the photographing condition calculation unit 24 of the control device 20 calculates and determines photographing conditions such as the photographing direction and zoom magnification of the PTZ camera 30 based on the position of the scrap S in each image specified by the position specifying unit 23 . Further, the photographing condition control unit 25 of the control device 20 controls the PTZ camera 30 so as to track the scrap S under the photographing conditions of the PTZ camera 30 determined by the photographing condition calculation unit 24 .

[0026] On the other hand, the speed detection unit 26 of the control device 20 (movement speed detection means 10) detects the movement speed of the scrap S based on the change in the position of the scrap S in each image identified by the position identification unit 23 of the movement speed detection means 10. Specifically, the movement speed of the scrap S may be the absolute speed of the scrap S or the relative speed of the scrap S with respect to the PTZ camera 30. When the movement speed of the scrap S is the absolute speed of the scrap S, the value obtained by dividing the change in the position of the scrap in each image in the multiple images identified by the position identification unit 23 by the multiple shooting intervals (time) of the visible camera 11 is set as the movement speed of the scrap S. On the other hand, when the movement speed of the scrap S is the relative speed of the scrap S with respect to the PTZ camera 30, the value obtained by subtracting the swing speed of the PTZ camera 30 from the value obtained by dividing the change in the position of the scrap in each image in the multiple images identified by the position identification unit 23 by the multiple shooting intervals (time) of the visible camera 11 is set as the movement speed of the scrap S.

[0027] Further, the determination unit 27 of the control device 20 determines whether the moving speed of the scrap S detected by the speed detection unit 26 of the moving speed detection means 10 is equal to or less than a predetermined value. Here, the "predetermined value" is appropriately set according to the performance of the camera, etc., but for example, when the moving speed of the scrap S is the absolute speed of the scrap S, it is preferably 10 m / s, more preferably 5 m / s, and particularly preferably 0 m / s, i.e., the scrap S is stopped. As shown in FIG. 1, when the dump truck 50 stops at the scrap yard, the scrap S is considered to be stopped, and the determination unit 27 determines that the moving speed of the scrap S is equal to or less than a predetermined value. Furthermore, when the moving speed of the scrap S is the relative speed of the scrap S with respect to the PTZ camera 30, the "predetermined value" is preferably 2 m / s, more preferably 1 m / s, and particularly preferably 0 m / s, i.e., the moving speed of the scrap S and the swing speed of the PTZ camera 30 are the same speed.

[0028] Furthermore, the photographing timing control section 28 of the control device 20 controls the PTZ camera 30 as a photographing device to photograph the scrap S when the determination section 27 determines that the moving speed of the scrap S is equal to or lower than a predetermined value. As described above, the PTZ camera 30 is controlled by the shooting condition control unit 25 to track the scrap S, but when the judgment unit 27 determines that the moving speed of the scrap S is below a predetermined value, the PTZ camera 30 is controlled by the shooting timing control unit 28 to photograph the scrap S, and photographs the scrap S under the shooting conditions of the PTZ camera 30, such as the shooting direction and zoom magnification, determined by the shooting condition calculation unit 24.

[0029] Then, the photographed image acquisition section 29 of the control device 20 acquires the photographed image of the scrap S photographed by the PTZ camera 30, and outputs the acquired photographed image data of the scrap S to the photographed image output device 40. Furthermore, the photographed image output device 40 outputs the photographed image of the scrap S based on the data of the photographed image of the scrap S output from the photographed image acquisition section 29. When the photographed image output device 40 is configured as a display, the photographed image output device 40 displays the photographed image of the scrap S. The photographed image output device 40 may not only be configured as a display and display the photographed image of the scrap S, but may also be configured as a printer and print the photographed image of the scrap S, or transmit the photographed image of the scrap S to another device via a network.

[0030] The photographed image of the scrap S output from the photographed image output device 40 is input to a scrap image utilization device (not shown), which performs at least one of the following: determining the grade of the scrap S, detecting prohibited substances, and estimating the chemical components of the scrap S. In addition, the captured image output device 40 may be connected to this scrap image utilization device, and the captured images of the scrap S may be automatically input from the captured image output device 40 to the scrap image utilization device, so that the scrap image utilization device may automatically perform at least one of grading the scrap S, detecting prohibited substances, and estimating the chemical components of the scrap S.

[0031] Here, when judging the grade of the scrap S, the scrap image utilization device judges the grade of the scrap S by inputting the photographed image of the scrap S from the photographed image output device 40 into a grade judgment model that has been trained in advance with images of the scrap S so that it can make a grade judgment. In addition, when detecting prohibited objects, the scrap image utilization device detects prohibited objects by inputting the captured image of the scrap S from the captured image output device 40 into a prohibited object detection model that has been trained in advance with images of the scrap S so that prohibited objects can be detected.

[0032] Furthermore, when estimating the chemical components of the scrap S, the scrap image utilization device inputs the photographed image of the scrap S from the photographed image output device 40 into a type discrimination model that has been trained on images of the scrap S in advance so that the type of scrap S can be discriminated, thereby discriminating the type of scrap S shown in the photographed image. The scrap image utilization device then estimates the chemical components of the scrap S in the photographed image from the ratio of each type of scrap S and the components of each type that are known in advance. This makes it possible to estimate the components of the scrap S before melting the scrap S in a blast furnace, making it possible to efficiently manufacture metal products with the desired component ratios.

[0033] Next, the flow of processing in the automatic photography system 1 will be described with reference to Fig. 3. Fig. 3 is a flowchart for explaining the flow of processing in the automatic photography system shown in Fig. 1. First, in step S1, the visible camera 11 of the moving speed detection means 10 captures an image of the entire scrap yard A as an object to be captured a plurality of times (fixed capturing step). Next, in step S2, the image acquisition unit 21 of the control device 20 (movement speed detection means 10) acquires a plurality of images of the entire scrap yard A photographed a plurality of times in step S1 (image acquisition step).

[0034] Next, in step S3, the scrap detection unit 22 of the control device 20 (movement speed detection means 10) determines whether or not scrap S is detected in each of the multiple images of the entire scrap bin A acquired in step S2 (scrap detection step). If the determination result in step S3 is YES, the process proceeds to step S4, and if the determination result is NO, the process returns to step S1. In step S4, the position specifying unit 23 of the control device 20 (movement speed detection means 10) specifies the position (coordinates) of the scrap S in each image detected in step S3 (position specifying step). After step S4 is completed, steps S5 and S7 are carried out simultaneously.

[0035] In step S5, the shooting condition calculation unit 24 of the control device 20 calculates and determines shooting conditions such as the shooting direction and zoom magnification of the PTZ camera 30 based on the position of the scrap S in each image identified in step S4 (shooting condition calculation step). Next, in step S6, the shooting condition control unit 25 of the control device 20 controls the PTZ camera 30 to track the scrap S under the shooting conditions of the PTZ camera 30 determined in step S5 (shooting condition control step), and proceeds to step S8 (determination step) described later.

[0036] On the other hand, in step S7, the speed detection unit 26 of the control device 20 (movement speed detection means 10) detects the movement speed of the scrap S based on the change in the position of the scrap S in each image identified in step S4 (speed detection step). Specifically, the movement speed of the scrap S may be the absolute speed of the scrap S or the relative speed of the scrap S with respect to the PTZ camera 30. When the movement speed of the scrap S is the absolute speed of the scrap S, the value obtained by dividing the change in the position of the scrap S in each image in the multiple images identified in step S4 by the interval (time) between multiple shots taken by the visible camera 11 is set as the movement speed of the scrap S. On the other hand, when the movement speed of the scrap S is the relative speed of the scrap S with respect to the PTZ camera 30, the value obtained by subtracting the swing speed of the PTZ camera 30 from the value obtained by dividing the change in the position of the scrap S in each image in the multiple images identified in step S4 by the interval (time) between multiple shots taken by the visible camera 11 is set as the movement speed of the scrap S.

[0037] A moving speed detection step is made up of step S1 (fixed shooting step), step S2 (image acquisition step), step S3 (scrap detection step), step S4 (position specification step) and step S7 (speed detection step). Next, in step S8, the judgment unit 27 of the control device 20 judges whether the moving speed of the scrap S detected in step S7 is equal to or lower than a predetermined value (judgment step). Here, the "predetermined value" is appropriately set depending on the performance of the camera, etc., but for example, when the moving speed of the scrap S is the absolute speed of the scrap S, it is preferably 10 m / s, more preferably 5 m / s, and particularly preferably 0 m / s, i.e., the scrap S is stopped. Also, when the moving speed of the scrap S is the relative speed of the scrap S with respect to the PTZ camera 30, the "predetermined value" is preferably 2 m / s, more preferably 1 m / s, and particularly preferably 0 m / s, i.e., the moving speed of the scrap S and the swing speed of the PTZ camera 30 are the same speed.

[0038] If the determination result in step S8 is YES (if the moving speed of the scrap S is equal to or lower than a predetermined value), the process proceeds to step S9, and if the determination result is NO, the process returns to step S1. In step S9, the photographing timing control section 28 of the control device 20 controls the PTZ camera 30, which serves as a photographing device, to photograph the scrap S (photographing control step). Next, in step S10, the PTZ camera 30 captures an image of the scrap S under the capture conditions, such as the capture direction and zoom magnification of the PTZ camera 30, determined in step S5 (scrap capture step). Next, in step S11, the photographed image acquisition unit 29 of the control device 20 acquires the photographed image of the scrap S photographed in step S10, and outputs data of the acquired photographed image of the scrap S to the photographed image output device 40 (photographed image acquisition step).

[0039] Finally, in step S12, the photographed image output device 40 outputs the photographed image of the scrap S based on the data of the photographed image of the scrap S output in step S11. Thus, the automatic photography system 1 of the first embodiment is equipped with a PTZ camera 30 as a photography device that photographs the scrap S, a movement speed detection means 10 that detects the movement speed of the scrap S, and a control device 20 that determines whether the movement speed of the scrap S detected by the movement speed detection means 10 is below a predetermined value, and if it is determined that the movement speed of the scrap S is below the predetermined value, controls the PTZ camera 30 as a photography device to photograph the scrap S.

[0040] As a result, when the moving speed of the scrap S falls below a predetermined value, the PTZ camera 30 as an imaging device captures an image of the scrap S, so that high-quality images of the scrap S can be captured at any position during the transportation of the scrap S without risk of blurring. Furthermore, by using the high-quality images of the scrap S, it becomes possible to accurately determine the grade of the scrap S, detect prohibited substances, and estimate the chemical components of the scrap S.

[0041] Moreover, according to the automatic photography system 1 of the first embodiment, the photography device is the PTZ camera 30 that can swivel at a predetermined speed. This allows the PTZ camera 30 to track the moving scrap S while swivel, and accurately photograph the moving scrap S. In addition, according to the automatic photography system 1 of the first embodiment, the movement speed detection means 10 includes a fixed visible camera 11 that photographs the subject to be photographed multiple times, a scrap detection unit 22 that performs image processing on the multiple images photographed by the visible camera 11 to detect the scrap S in each image, a position identification unit 23 that identifies the position of the scrap S in each image detected by the scrap detection unit 22, and a speed detection unit 26 that detects the movement speed of the scrap S based on changes in the position of the scrap S in each image identified by the position identification unit 23. This makes it possible to accurately detect the position and movement speed of the scrap S by using two cameras, the visible camera 11 that constitutes the movement speed detection means 10 and the PTZ camera 30 as an imaging device that photographs the scrap S.

[0042] In addition, according to the automatic photography system 1 of the first embodiment, the control device 20 is equipped with a photography condition calculation unit 24 that calculates and determines the photography conditions of the PTZ camera 30 as a photography device based on the position of the scrap S in each image identified by the position identification unit 23 of the movement speed detection means 10, and a photography condition control unit 25 that controls the PTZ camera 30 to track the scrap S under the photography conditions of the PTZ camera 30 determined by the photography condition calculation unit 24. This makes it possible to control the PTZ camera 30 so as to appropriately track the scrap S depending on the position of the scrap S.

[0043] Furthermore, the automatic photography method of the first embodiment includes a moving speed detection step (steps S1, S2, S3, S4 and S7) in which the moving speed of the scrap S is detected by the moving speed detection means 10, a determination step (step S8) in which the control device 20 determines whether the moving speed of the scrap S detected by the moving speed detection step is below a predetermined value or not, and a photography control step (step S9) in which the control device 20 controls the PTZ camera 30 as a photography device to photograph the scrap if it is determined by the determination step that the moving speed of the scrap S is below the predetermined value. As a result, when the moving speed of the scrap S falls below a predetermined value, the PTZ camera 30 as an imaging device captures an image of the scrap S, so that high-quality images of the scrap S can be captured at any position during the transportation of the scrap S without risk of blurring. Furthermore, by using the high-quality images of the scrap S, it becomes possible to accurately determine the grade of the scrap S, detect prohibited substances, and estimate the chemical components of the scrap S.

[0044] Furthermore, the program according to the first embodiment is a program for causing the control device 20 to execute a determination step (step S8) of determining whether the movement speed of the scrap S detected by the movement speed detection means 10 is below a predetermined value, and an imaging control step (step S9) of controlling the PTZ camera 30, as an imaging device, to photograph the scrap S when the determination step determines that the movement speed of the scrap S is below the predetermined value. This allows an image of the scrap S to be taken when the moving speed of the scrap S falls below a predetermined value, thereby making it possible to take a high-quality image of the scrap S at any position during the transportation of the scrap S without risk of the image being blurred.

[0045] Furthermore, according to the computer-readable recording medium 208 having stored therein a program relating to the first embodiment, the computer-readable recording medium 208 has stored therein a program for causing the control device 20 to execute a judgment step (step S8) of judging whether or not the movement speed of the scrap S detected by the movement speed detection means 10 is below a predetermined value, and an imaging control step (step S9) of controlling the PTZ camera 30 as an imaging device to photograph the scrap S when it is judged by the judgment step that the movement speed of the scrap S is below the predetermined value. This allows an image of the scrap S to be taken when the moving speed of the scrap S falls below a predetermined value, thereby making it possible to take a high-quality image of the scrap S at any position during the transportation of the scrap S without risk of the image being blurred.

[0046] Second embodiment Next, an automatic photography system, an automatic photography method, a program, and a computer-readable recording medium storing the program according to a second embodiment of the present invention will be described with reference to Figs. 5 to 7. Fig. 5 is an overall configuration diagram of the automatic photography system according to the second embodiment of the present invention. Fig. 6 is a functional block diagram of the automatic photography system shown in Fig. 5. Fig. 7 is a flowchart for explaining the flow of processing in the automatic photography system shown in Fig. 5. The automatic photography system 1 shown in FIG. 5 automatically photographs scrap S that is being transported and moved by a lifting magnet 51 serving as a transport means. The automatic photography system 1, similar to the automatic photography system 1 of the first embodiment shown in Figure 1, is equipped with a PTZ camera 30 as a photography device for photographing the scrap S, a movement speed detection means 10 for detecting the movement speed of the scrap S, a control device 20, and a photographed image output device 40.

[0047] Here, the PTZ camera 30 has a PTZ function, can be remotely controlled to swing in the horizontal and vertical directions at a predetermined speed, and has a zoom function for enlarging and reducing to capture images of the scrap S. The PTZ camera 30 is controlled by an imaging condition control unit 25 (see FIG. 6) so as to track the scrap S under imaging conditions of the PTZ camera 30 determined by an imaging condition calculation unit 24 (see FIG. 6) of the control device 20 (described later). When a determination unit 27 of the control device 20 (described later) determines that the moving speed of the scrap S is equal to or lower than a predetermined value, the PTZ camera 30 is controlled by an imaging timing control unit 28 so as to capture an image of the scrap S, and captures an image of the scrap S under imaging conditions such as the imaging direction and zoom magnification of the PTZ camera 30 determined by the imaging condition calculation unit 24 (see FIG. 6). In this embodiment, the PTZ camera 30 captures an image of the shooting area C containing the scrap S suspended by the lifting magnet 51 when the moving speed of the scrap S transported by the lifting magnet 51 becomes 0 m / s as the lifting magnet 51 stops, as shown in Figure 5.

[0048] The moving speed detection means 10 detects the moving speed of the scrap S, but unlike the moving speed detection means 10 in the automatic photography system 1 of the first embodiment, as shown in Figures 5 and 6, it is a PTZ camera 30 that can swivel at a predetermined speed and also serves as a photography device, and is composed of the PTZ camera 30 that swivels to photograph the moving scrap S as the photography target multiple times, an image acquisition unit 21 of the control device 20 (described later), a scrap detection unit 22, a position identification unit 23, and a speed detection unit 26.

[0049] Before photographing the photographing area C where the scrap S is suspended after the lifting magnet 51 described above is stopped, the PTZ camera 30 photographs the moving scrap S carried by the lifting magnet 51 multiple times while oscillating. By photographing the moving scrap S multiple times by the PTZ camera 30 while oscillating, multiple images of the moving scrap S can be obtained. Based on the multiple images of the scrap S obtained, the image acquisition unit 21, scrap detection unit 22, position identification unit 23, and speed detection unit 26 of the control device 20 detect the moving speed of the scrap S. Detailed configurations and functions of the image acquisition unit 21, scrap detection unit 22, position identification unit 23, and speed detection unit 26 of the control device 20 will be described later. In this way, the PTZ camera 30 as an imaging device also serves as a camera that constitutes the movement speed detection means 10, making it possible to detect the position of the scrap S, the movement speed of the scrap S, and photograph the scrap S using a single camera.

[0050] The control device 20 has a function of determining whether the moving speed of the scrap S detected by the moving speed detection means 10 is equal to or lower than a predetermined value, and when it is determined that the moving speed of the scrap S is equal to or lower than the predetermined value, controlling the PTZ camera 30 as an imaging device to capture an image of the scrap S. The control device 20 also has a function of calculating and determining the imaging conditions of the PTZ camera 30 as an imaging device based on the position of the scrap S in each image identified by the position identification unit 23 of the moving speed detection means 10, and controlling the PTZ camera 30 to track the scrap S under the determined imaging conditions of the PTZ camera 30. The control device 20 also has a function of outputting the captured image captured by the PTZ camera 30 to the captured image output device 40.

[0051] 6, the control device 20 includes an image acquisition unit 21, a scrap detection unit 22, a position identification unit 23, and a speed detection unit 26, which constitute the moving speed detection means 10. The control device 20 also includes a determination unit 27 and an image capture timing control unit 28. The control device 20 also includes an image capture condition calculation unit 24, an image capture condition control unit 25, and an image capture acquisition unit 29.

[0052] The hardware configuration of the control device 20 is the same as that shown in Fig. 4, and the description thereof will be omitted. A recording medium 208 storing a program for causing the control device 20 to execute the image acquisition function by the image acquisition unit 21, the scrap detection function by the scrap detection unit 22, the position identification function by the position identification unit 23, the speed detection function by the speed detection unit 26, the judgment function by the judgment unit 27, the shooting timing control function by the shooting timing control unit 28, the shooting condition calculation function by the shooting condition calculation unit 24, the shooting condition control function by the shooting condition control unit 25, and the shooting image acquisition function by the shooting image acquisition unit 29 (steps S22 to S31 described later) is set in the external storage device 205 of the control device 20, and the read program is installed in the disk drive. This program installation is not limited to using the recording medium 208, and the program may be downloaded via a network. The image acquisition unit 21 of the control device 20 (movement speed detection means 10 ) acquires a plurality of images of the moving scrap S captured a plurality of times by the PTZ camera 30 of the movement speed detection means 10 .

[0053] Furthermore, the scrap detection unit 22 of the control device 20 (movement speed detection means 10) performs image processing on multiple images of the moving scrap S captured multiple times by the PTZ camera 30, i.e., multiple images acquired by the image acquisition unit 21, to detect the scrap S in each image. Specifically, the scrap detection unit 22 inputs the multiple images acquired by the image acquisition unit 21 into a scrap detection model generated by a model generation unit (not shown) and determines whether or not the scrap S is detected in each image.

[0054] Furthermore, the position identifying unit 23 of the control device 20 (movement speed detection means 10) identifies the position (coordinates) of the scrap S in each image detected by the scrap detection unit 22. That is, when it is determined that the scrap detection unit 22 has detected the scrap S in each image, the position identifying unit 23 identifies the position (coordinates) of the scrap S in each image. Note that the position identifying unit 23 may identify the position (coordinates) of the lifting magnet 51 that transports the scrap S, rather than the scrap S in the image. In this case, the position identifying unit 23 estimates the position (coordinates) of the scrap S located below the lifting magnet 51 from the position of the lifting magnet 51.

[0055] In addition, the shooting condition calculation unit 24 of the control device 20 calculates and determines shooting conditions such as the shooting direction and zoom magnification of the PTZ camera 30 as an imaging device based on the position of the scrap S in each image identified by the position identification unit 23. Further, the photographing condition control unit 25 of the control device 20 controls the PTZ camera 30 so as to track the scrap S under the photographing conditions of the PTZ camera 30 determined by the photographing condition calculation unit 24 .

[0056] On the other hand, the speed detection unit 26 of the control device 20 (movement speed detection means 10) detects the movement speed of the scrap S based on the position of the scrap S in each image specified by the position specification unit 23 and the swing speed of the PTZ camera 30. Specifically, the movement speed of the scrap S may be the absolute speed of the scrap S or the relative speed of the scrap S with respect to the PTZ camera 30. A case where the movement speed of the scrap S is the absolute speed of the scrap S will be described. The scrap detection unit 22 detects the scrap S in multiple images of the moving scrap S photographed multiple times by the PTZ camera 30, and the position specification unit 23 specifies the position (coordinates) of the scrap S in each image detected by the scrap detection unit 22. Therefore, it is assumed that the PTZ camera 30 can track the scrap S, and the speed detection unit 26 calculates the swing speed of the PTZ camera 30 at this time. Then, the calculated swing speed of the PTZ camera 30 becomes the movement speed (absolute speed) of the scrap S. In addition, when the movement speed of the scrap S is the relative speed of the scrap S with respect to the PTZ camera 30, the difference between the oscillating speed of the PTZ camera 30 and the movement speed of the scrap S is estimated from the change in the position of the scrap S in each image identified by the position identification unit 23, and this estimated speed difference becomes the movement speed (relative speed) of the scrap S.

[0057] Further, the determination unit 27 of the control device 20 determines whether the moving speed of the scrap S detected by the speed detection unit 26 of the moving speed detection means 10 is equal to or less than a predetermined value. Here, the "predetermined value" is appropriately set depending on the performance of the camera, etc., but for example, when the moving speed of the scrap S is the absolute speed of the scrap S, it is preferably 10 m / s, more preferably 5 m / s, and particularly preferably 0 m / s, i.e., the scrap S is stopped. When the moving speed of the scrap S is the relative speed of the scrap S with respect to the PTZ camera 30, the "predetermined value" is preferably 2 m / s, more preferably 1 m / s, and particularly preferably 0 m / s, i.e., the moving speed of the scrap S and the swing speed of the PTZ camera 30 are the same speed.

[0058] Furthermore, the photographing timing control section 28 of the control device 20 controls the PTZ camera 30 as a photographing device to photograph the scrap S when the determination section 27 determines that the moving speed of the scrap S is equal to or lower than a predetermined value. As described above, the PTZ camera 30 is controlled by the shooting condition control unit 25 to track the scrap S, but when the judgment unit 27 determines that the moving speed of the scrap S is below a predetermined value, the PTZ camera 30 is controlled by the shooting timing control unit 28 to photograph the scrap S, and photographs the scrap S under the shooting conditions of the PTZ camera 30, such as the shooting direction and zoom magnification, determined by the shooting condition calculation unit 24. Then, the photographed image acquisition section 29 of the control device 20 acquires the photographed image of the scrap S photographed by the PTZ camera 30, and outputs data of the acquired photographed image of the scrap S to the photographed image output device 40.

[0059] Further, the photographed image output device 40 outputs the photographed image of the scrap S based on the data of the photographed image of the scrap S output from the photographed image acquisition section 29 . As in the first embodiment, the captured image of the scrap S output from the captured image output device 40 is input to a scrap image utilization device (not shown), where at least one of the following is performed: determining the grade of the scrap S, detecting prohibited substances, and estimating the chemical components of the scrap S. As in the first embodiment, the captured image output device 40 may be connected to this scrap image utilization device, and the captured images of the scrap S may be automatically input from the captured image output device 40 to the scrap image utilization device, so that the scrap image utilization device may automatically perform at least one of grading the scrap S, detecting prohibited substances, and estimating the chemical components of the scrap S.

[0060] Next, a process flow in the automatic photography system 1 according to the second embodiment will be described with reference to Fig. 7. Fig. 7 is a flowchart for explaining a process flow in the automatic photography system shown in Fig. 5. First, in step S21, the PTZ camera 30 of the moving speed detection means 10 captures images of the scrap S, which is a target to be captured and is being transported and moved by the lifting magnet 51, multiple times while swiveling (swiveling image capturing step). Next, in step S22, the image acquiring unit 21 of the control device 20 (movement speed detection means 10) acquires a plurality of images of the moving scrap S photographed a plurality of times in step S21 (image acquiring step).

[0061] Next, in step S23, the scrap detection unit 22 of the control device 20 (movement speed detection means 10) determines whether or not the scrap S is detected in each of the multiple images of the moving scrap S acquired in step S22 (scrap detection step). If the determination result in step S23 is YES, the process proceeds to step S24, and if the determination result is NO, the process returns to step S21. In step S24, the position specifying unit 23 of the control device 20 (movement speed detection means 10) specifies the position (coordinates) of the scrap S in each image detected in step S23 (position specifying step). After step S24 is completed, steps S25 and S27 are carried out simultaneously.

[0062] In step S25, the shooting condition calculation unit 24 of the control device 20 calculates and determines shooting conditions such as the shooting direction and zoom magnification of the PTZ camera 30 based on the position of the scrap S in each image identified in step S24 (shooting condition calculation step). Next, in step S26, the shooting condition control unit 25 of the control device 20 controls the PTZ camera 30 to track the scrap S under the shooting conditions of the PTZ camera 30 determined in step S25 (shooting condition control step), and proceeds to step S28 (determination step) described later.

[0063] On the other hand, in step S27, the speed detection unit 26 of the control device 20 (movement speed detection means 10) detects the movement speed of the scrap S based on the position of the scrap S in each image identified in step S24 and the swing speed of the PTZ camera 30 (speed detection step). Specifically, when the movement speed of the scrap S is the absolute speed of the scrap S, the scrap detection unit 22 detects the scrap S in multiple images of the moving scrap S captured multiple times by the PTZ camera 30, and the position identification unit 23 identifies the position (coordinates) of the scrap S in each image detected by the scrap detection unit 22. Therefore, assuming that the PTZ camera 30 can track the scrap S, the speed detection unit 26 calculates the swing speed of the PTZ camera 30 at this time. Then, this calculated swing speed of the PTZ camera 30 becomes the movement speed (absolute speed) of the scrap S. In addition, when the movement speed of the scrap S is the relative speed of the scrap S with respect to the PTZ camera 30, the difference between the oscillating speed of the PTZ camera 30 and the movement speed of the scrap S is estimated from the change in the position of the scrap S in each image identified by the position identification unit 23, and this estimated speed difference becomes the movement speed (relative speed) of the scrap S.

[0064] Step S21 (swivel photographing step), step S22 (image acquiring step), step S23 (scrap detecting step), step S24 (position specifying step), and step S27 (speed detecting step) constitute a moving speed detecting step. Next, in step S28, the judgment unit 27 of the control device 20 judges whether or not the moving speed of the scrap S detected in step S2S7 is equal to or lower than a predetermined value (judgment step). Here, the "predetermined value" is appropriately set depending on the performance of the camera, etc., but when the moving speed of the scrap S is the absolute speed of the scrap S, it is preferably 10 m / s, more preferably 5 m / s, and particularly preferably 0 m / s, i.e., the scrap S is stopped. Also, when the moving speed of the scrap S is the relative speed of the scrap S with respect to the PTZ camera 30, the "predetermined value" is preferably 2 m / s, more preferably 1 m / s, and particularly preferably 0 m / s, i.e., the moving speed of the scrap S and the swing speed of the PTZ camera 30 are the same speed.

[0065] If the determination result in step S28 is YES (if the moving speed of the scrap S is equal to or lower than a predetermined value), the process proceeds to step S29, and if the determination result is NO, the process returns to step S21. In step S29, the photographing timing control section 28 of the control device 20 controls the PTZ camera 30, which serves as a photographing device, to photograph the scrap S (photographing control step). Next, in step S30, the PTZ camera 30 captures an image of the scrap S under the capture conditions, such as the capture direction and zoom magnification, of the PTZ camera 30 determined in step S25 (scrap capture step). Next, in step S31, the photographed image acquisition unit 29 of the control device 20 acquires the photographed image of the scrap S photographed in step S10, and outputs data of the acquired photographed image of the scrap S to the photographed image output device 40 (photographed image acquisition step). Finally, in step S32, the photographed image output device 40 outputs the photographed image of the scrap S based on the data of the photographed image of the scrap S output in step S31.

[0066] Thus, the automatic photography system 1 of the second embodiment is equipped with a PTZ camera 30 as a photography device that photographs the scrap S, a movement speed detection means 10 that detects the movement speed of the scrap S, and a control device 20 that determines whether the movement speed of the scrap S detected by the movement speed detection means 10 is below a predetermined value, and if it is determined that the movement speed of the scrap S is below the predetermined value, controls the PTZ camera 30 as a photography device to photograph the scrap S. As a result, when the moving speed of the scrap S falls below a predetermined value, the PTZ camera 30 as an imaging device captures an image of the scrap S, so that high-quality images of the scrap S can be captured at any position during the transportation of the scrap S without risk of blurring. Furthermore, by using the high-quality images of the scrap S, it becomes possible to accurately determine the grade of the scrap S, detect prohibited substances, and estimate the chemical components of the scrap S.

[0067] Moreover, according to the automatic photography system 1 of the second embodiment, the photography device is a PTZ camera 30 that can swivel at a predetermined speed. This allows the PTZ camera 30 to track the moving scrap S while swivel, and accurately photograph the moving scrap S. In addition, according to the automatic photography system 1 of the second embodiment, the movement speed detection means 10 is a PTZ camera 30 that doubles as a photography device and is capable of swiveling at a predetermined speed, and is equipped with a PTZ camera 30 that photographs the subject to be photographed multiple times while swiveling, a scrap detection unit 22 that processes the multiple images photographed by the PTZ camera 30 to detect the scrap S in each image, a position identification unit 23 that identifies the position of the scrap S in each image detected by the scrap detection unit 22, and a speed detection unit 26 that detects the movement speed of the scrap S based on the position of the scrap S in each image identified by the position identification unit 23 and the swiveling speed of the PTZ camera 30. As a result, the PTZ camera 30 as an imaging device also serves as a camera constituting the movement speed detection means 10, so that the position of the scrap S, the movement speed of the scrap S, and the image of the scrap S can be detected by a single camera.

[0068] In addition, according to the automatic photography system 1 of the second embodiment, the control device 20 is equipped with a photography condition calculation unit 24 that calculates and determines the photography conditions of the PTZ camera 30 as a photography device based on the position of the scrap S in each image identified by the position identification unit 23 of the movement speed detection means 10, and a photography condition control unit 25 that controls the PTZ camera 30 to track the scrap S under the photography conditions of the PTZ camera 30 determined by the photography condition calculation unit 24. This makes it possible to control the PTZ camera 30 so as to appropriately track the scrap S depending on the position of the scrap S.

[0069] In addition, the automatic photography method of the second embodiment includes a moving speed detection step (steps S21, S22, S23, S24 and S27) in which the moving speed of the scrap S is detected by the moving speed detection means 10, a determination step (step S28) in which the control device 20 determines whether the moving speed of the scrap S detected by the moving speed detection step is below a predetermined value or not, and a photography control step (step S29) in which the control device 20 controls the PTZ camera 30 as a photography device to photograph the scrap if it is determined by the determination step that the moving speed of the scrap S is below the predetermined value. As a result, when the moving speed of the scrap S falls below a predetermined value, the PTZ camera 30 as an imaging device captures an image of the scrap S, so that high-quality images of the scrap S can be captured at any position during the transportation of the scrap S without risk of blurring. Furthermore, by using the high-quality images of the scrap S, it becomes possible to accurately determine the grade of the scrap S, detect prohibited substances, and estimate the chemical components of the scrap S.

[0070] In addition, the program according to the second embodiment is a program for causing the control device 20 to execute a judgment step (step S28) of judging whether the movement speed of the scrap S detected by the movement speed detection means 10 is below a predetermined value, and an imaging control step (step S29) of controlling the PTZ camera 30, as an imaging device, to photograph the scrap S when it is judged in the judgment step that the movement speed of the scrap S is below the predetermined value. This allows an image of the scrap S to be taken when the moving speed of the scrap S falls below a predetermined value, thereby making it possible to take a high-quality image of the scrap S at any position during the transportation of the scrap S without risk of the image being blurred.

[0071] Furthermore, according to the computer-readable recording medium 208 having a program stored therein relating to the second embodiment, the control device 20 is a computer-readable recording medium 208 having a program stored therein for causing the control device 20 to execute a judgment step (step S28) of judging whether the movement speed of the scrap S detected by the movement speed detection means 10 is below a predetermined value, and an imaging control step (step S29) of controlling the PTZ camera 30 as an imaging device to photograph the scrap S when it is judged by the judgment step that the movement speed of the scrap S is below the predetermined value. This allows an image of the scrap S to be taken when the moving speed of the scrap S falls below a predetermined value, thereby making it possible to take a high-quality image of the scrap S at any position during the transportation of the scrap S without risk of the image being blurred.

[0072] (Scrap photo example) In the automatic photography system 1 according to the first embodiment shown in Fig. 1, the subject of photography is the scrap S that has been dumped up and unloaded into a scrap yard. In the automatic photography system 1 according to the second embodiment shown in Fig. 5, the subject of photography is the scrap S that is suspended by the lifting magnet 51 when the lifting magnet 51 stops. However, the photographing of the scrap S in the present invention is not limited to this, and can be performed at any time, such as when the scrap S is received in the scrap yard, when the scrap S is stored in the scrap yard, and when the scrap S is removed from the scrap yard. For example, when photographing the scrap S when it is received at the scrap yard, as shown in Figure 8, the scrap S may be photographed as it is being unloaded from the dump truck 50, the scrap S before it is unloaded from the dump truck 50, or the scrap S after it has been unloaded from the dump truck 50.

[0073] In addition, when photographing the scrap S when it is received at the scrap storage area, as shown in Figure 9, when the scrap S transported in a semi-trailer 52 is lifted by a lifting magnet 51, it is possible to photograph the scrap S lifted by the lifting magnet 51 or the scrap S remaining in the semi-trailer 52. Furthermore, when photographing the scrap S while it is stored in the scrap yard, as shown in FIG. 10, a pile of the scrap S stored in the scrap yard may be photographed. In addition, when photographing the scrap S when it is removed from the scrap storage area, as shown in FIG. 11, when the scrap S is loaded from the pile of scrap S into the furnace via the basket 53, photographs may be taken of the pile of scrap S, the scrap S lifted by the lifting magnet 51, the scrap S loaded into the basket 53, and the scrap S being loaded from the basket 53 into the furnace.

[0074] Although the embodiment of the present invention has been described above, the present invention is not limited to this and various modifications and improvements can be made. For example, the automatic photography system 1 according to the first embodiment uses a visible (fixed) camera 11 as the moving speed detection means 10, and the automatic photography system 1 according to the second embodiment uses a PTZ camera 30. However, the moving speed detection means 10 may be a speed sensor provided on the transport means to detect the moving speed of the scrap S. Specifically, a speed sensor is attached to the dump truck 50 or the lifting magnet 51 as the transport means, and the speed of the dump truck 50 or the lifting magnet 51 is detected by this speed sensor. Then, the speed of the dump truck 50 or the lifting magnet 51 is estimated as the moving speed of the scrap S, and when the moving speed is equal to or less than a predetermined value, the PTZ camera 30 as the photographing device is controlled to photograph the scrap S.

[0075] Also, the speed of the scrap S or the transport means may be detected by another speed detection means, such as a speed measuring device, provided outside the automatic photography system 1. Furthermore, the configuration of the automatic photography system 1 according to the first embodiment and the configuration of the automatic photography system 1 according to the second embodiment may be combined. Specifically, for example, in the first embodiment, the position and the movement speed of the scrap S are detected based on the image captured by the visible (fixed) camera 11, but it is also possible to detect only the position of the scrap S from the image of the visible (fixed) camera 11 and detect the movement speed of the scrap S based on the swing speed of the PTZ camera 30. [Explanation of symbols]

[0076] 1 Automatic photography system 10. Means for detecting moving speed 11 Visible (fixed) cameras 20 Control device 21 Image acquisition unit 22 Scrap detector 23 Location identification part 24 Shooting condition calculation section 25 Shooting condition control section 26 Speed ​​detection section 27 Judgment section 28 Shooting timing control section 29 Image acquisition section 30 PTZ camera (photography device) 40. Photographic image output device 50 Dump truck (vehicle) 51 Lifting magnet (means of transportation) 201 Processing unit 202 CPU 203 Internal Bus 204 Internal storage 205 External storage device 206 Input Device 207 Output Device 208 Recording media S Scrap

Claims

1. An automatic photography system for automatically photographing scrap transported by a transport means, comprising: A photographing device for photographing the scrap; a moving speed detection means for detecting a moving speed of the scrap; a control device that determines whether or not the moving speed of the scrap detected by the moving speed detection means is equal to or lower than a predetermined value, and controls the photographing device to photograph the scrap when it is determined that the moving speed of the scrap is equal to or lower than the predetermined value; Equipped with The photographing device is a PTZ camera that can be swiveled at a predetermined speed, The automatic photography system is characterized in that the moving speed detection means comprises a visible camera that photographs the subject multiple times, a scrap detection unit that processes the multiple images photographed by the visible camera to detect scrap in each image, a position identification unit that identifies the position of the scrap in each image detected by the scrap detection unit, and a speed detection unit that detects the moving speed of the scrap based on changes in the position of the scrap in each image identified by the position identification unit.

2. An automatic photography system for automatically photographing scrap transported by a transport means, comprising: A photographing device for photographing the scrap; a moving speed detection means for detecting a moving speed of the scrap; a control device that determines whether or not the moving speed of the scrap detected by the moving speed detection means is equal to or lower than a predetermined value, and controls the photographing device to photograph the scrap when it is determined that the moving speed of the scrap is equal to or lower than the predetermined value; Equipped with The photographing device is a PTZ camera that can be swiveled at a predetermined speed, The automatic photography system is characterized in that the movement speed detection means is a PTZ camera that can oscillate at a predetermined speed and also serves as the photography device, and takes multiple photographs of the subject while oscillating, the PTZ camera comprising: a scrap detection unit that processes the multiple images taken by the PTZ camera to detect scraps in each image; a position identification unit that identifies the position of the scrap in each image detected by the scrap detection unit; and a speed detection unit that detects the movement speed of the scrap based on the position of the scrap in each image identified by the position identification unit and the oscillating speed of the PTZ camera.

3. The automatic photography system described in claim 1 or 2, characterized in that the control device includes a photography condition calculation unit that calculates and determines the photography conditions of the PTZ camera as the photography device based on the position of the scrap in each image identified by the position identification unit of the moving speed detection means, and a photography condition control unit that controls the PTZ camera to track the scrap under the photography conditions of the PTZ camera determined by the photography condition calculation unit.

4. An automatic photographing method for automatically photographing scrap transported by a transport means, comprising: a moving speed detection step of detecting a moving speed of the scrap by a moving speed detection means; a determination step in which a control device determines whether or not the moving speed of the scrap detected by the moving speed detection step is equal to or lower than a predetermined value; a photographing control step of controlling the control device to photograph the scrap when it is determined in the determination step that the moving speed of the scrap is equal to or less than a predetermined value; Including, This automatic photography method is characterized in that in the moving speed detection step, the object to be photographed is photographed multiple times using a visible camera, a scrap detection unit processes the multiple images taken by the visible camera to detect scrap in each image, a position identification unit identifies the position of the scrap in each image detected by the scrap detection unit, and a speed detection unit detects the moving speed of the scrap based on changes in the position of the scrap in each image identified by the position identification unit.

5. The control device includes: a determination step of determining whether or not the moving speed of the scrap detected in the moving speed detection step is equal to or lower than a predetermined value; an image capturing control step of controlling an image capturing device to capture an image of the scrap when the moving speed of the scrap is determined to be equal to or lower than a predetermined value by the determining step; This is a program for executing The program is characterized in that, in the moving speed detection step, the object to be photographed is photographed multiple times using a visible camera, a scrap detection unit processes the multiple images taken by the visible camera to detect scrap in each image, a position identification unit identifies the position of the scrap in each image detected by the scrap detection unit, and a speed detection unit detects the moving speed of the scrap based on changes in the position of the scrap in each image identified by the position identification unit.

6. The control device includes: a determination step of determining whether or not the moving speed of the scrap detected in the moving speed detection step is equal to or lower than a predetermined value; an image capturing control step of controlling an image capturing device to capture an image of the scrap when the moving speed of the scrap is determined to be equal to or lower than a predetermined value by the determining step; A computer-readable recording medium storing a program for executing the above. A computer-readable recording medium having stored thereon a program characterized in that in the moving speed detection step, the object to be photographed is photographed multiple times using a visible camera, a scrap detection unit processes the multiple images taken by the visible camera to detect scrap in each image, a position identification unit identifies the position of the scrap in each image detected by the scrap detection unit, and a speed detection unit detects the moving speed of the scrap based on changes in the position of the scrap in each image identified by the position identification unit.

7. An automatic photographing method for automatically photographing scrap transported and moving by a transport means, comprising: a moving speed detection step of detecting a moving speed of the scrap by a moving speed detection means; a determination step in which a control device determines whether or not the moving speed of the scrap detected by the moving speed detection step is equal to or lower than a predetermined value; a photographing control step of controlling the control device to photograph the scrap when it is determined in the determination step that the moving speed of the scrap is equal to or less than a predetermined value; Including, This automatic photography method is characterized in that in the movement speed detection step, the subject is photographed multiple times while being swung using a PTZ camera that also serves as the photography device and is capable of swiveling at a predetermined speed, a scrap detection unit processes the multiple images taken by the PTZ camera to detect scrap in each image, a position identification unit identifies the position of the scrap in each image detected by the scrap detection unit, and a speed detection unit detects the movement speed of the scrap based on the position of the scrap in each image identified by the position identification unit and the swiveling speed of the PTZ camera.

8. A control device comprising: a determination step of determining whether or not the moving speed of the scrap detected in the moving speed detection step is equal to or lower than a predetermined value; an image capturing control step of controlling an image capturing device to capture an image of the scrap when the moving speed of the scrap is determined to be equal to or lower than a predetermined value by the determining step; This is a program for executing The program is characterized in that, in the movement speed detection step, the subject is photographed multiple times while being swung using a PTZ camera that also serves as the photographing device and is capable of swiveling at a predetermined speed, a scrap detection unit processes the multiple images taken by the PTZ camera to detect scraps in each image, a position identification unit identifies the position of the scrap in each image detected by the scrap detection unit, and a speed detection unit detects the movement speed of the scrap based on the position of the scrap in each image identified by the position identification unit and the swiveling speed of the PTZ camera.

9. A control device comprising: a determination step of determining whether or not the moving speed of the scrap detected in the moving speed detection step is equal to or lower than a predetermined value; an image capturing control step of controlling an image capturing device to capture an image of the scrap when the moving speed of the scrap is determined to be equal to or lower than a predetermined value by the determining step; A computer-readable recording medium storing a program for executing the above. A computer-readable recording medium having stored thereon a program characterized in that in the movement speed detection step, the object to be photographed is photographed multiple times while being swung using a PTZ camera that also serves as the photographing device and is capable of swiveling at a predetermined speed, a scrap detection unit processes the multiple images taken by the PTZ camera to detect scraps in each image, a position identification unit identifies the position of the scrap in each image detected by the scrap detection unit, and a speed detection unit detects the movement speed of the scrap based on the position of the scrap in each image identified by the position identification unit and the swiveling speed of the PTZ camera.

Images