Information processing device, information processing method, and program

Abstract

To make it possible to immediately notify information on an IoT device having a sleep function at a desired timing.SOLUTION: When a schedule is set to cycle through preset positions of pan / tilt and zoom positions, on the basis of the schedule, a sleep period for devices near an image capturing range. Thereafter, before reaching target pan / tilt and zoom positions, information on devices near the image capturing range is acquired, and after reaching the target pan / tilt and zoom positions, the acquired information is informed to a display device and the like.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an information processing device, an information processing method, and a program. [Background technology]

[0002] Conventionally, imaging devices capable of controlling IoT devices (hereinafter simply referred to as devices) have been known to be capable of connecting to as many as 100 or more devices. However, notifying the user of information about all connected devices in such imaging devices would cause confusion. Therefore, it has been necessary to select and notify the user of the devices that the user needs from the connected devices. To solve this problem, a method is known in which the devices notified to the user are limited to those in the video, and information about devices located near the shooting range is acquired and notified based on information about the shooting direction and shooting range of the imaging device.Patent Document 1 discloses a surveillance video display device that acquires shooting direction information from a camera, acquires position information and additional information about a monitored object from an external system, associates the additional information with the monitored object based on the shooting direction information and position information, and displays the additional information superimposed on the video. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-119971 Summary of the Invention [Problem to be solved by the invention]

[0004] On the other hand, some devices have a function to reduce power consumption by going into sleep mode and suspending communication with external devices. For example, when an imaging device attempts to obtain information about a device located near its imaging range based on information about the imaging direction and imaging range, if the device is in sleep mode, the imaging device cannot immediately obtain various pieces of information about the device.

[0005] The technology described in Patent Document 1 does not take into consideration the case where a device related to a monitored object is in sleep mode and cannot accept an instruction to acquire information from an imaging device. As a result, it takes a long time for the device to wake up from sleep mode and to acquire the device's status and various information, which can significantly delay notification of information to the user.

[0006] In view of the above-mentioned problems, the present invention aims to enable information about IoT devices with sleep functions to be quickly notified at a desired timing. [Means for solving the problem]

[0007] An information processing device that communicates with an external device according to the present invention includes a first acquisition means that acquires information regarding a change in a shooting range of an imaging means, a control means that controls the external device that may become a shooting range due to the change in the shooting range to perform a setting related to sleep, a second acquisition means that acquires information related to the external device from the external device that has returned from sleep based on the setting by the control means, and an output means that outputs the information acquired by the second acquisition means. The first acquisition means acquires information relating to a schedule in which the imaging range of the imaging means fluctuates, and the control means controls, based on the schedule acquired by the first acquisition means, to set sleep start and end times for external devices that may become part of the imaging range due to the fluctuation of the imaging range. [Effects of the Invention]

[0008] According to the present invention, information about an IoT device having a sleep function can be quickly notified at a desired timing. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a block diagram showing an example of the internal configuration of an imaging device according to a first embodiment and a second embodiment. [Figure 2] 5 is a flowchart showing an example of a processing procedure executed by the imaging device according to the first embodiment. [Figure 3] 10 is a flowchart illustrating an example of a processing procedure executed by an imaging device according to a second embodiment. [Figure 4]4A to 4C are diagrams illustrating an example of a rotation schedule of preset positions and a sleep schedule of related devices according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] (First embodiment) Hereinafter, embodiments of the present invention will be described with reference to the drawings. The imaging device according to this embodiment can be installed in various devices that have a function for capturing images of a subject. Examples of devices that have a function for capturing images of a subject include network cameras, video cameras, still cameras, mobile phones with imaging functions, and personal digital assistants.

[0011] In addition, the following describes an embodiment of a control method for acquiring information about devices located near the imaging range based on the pan / tilt position and zoom position in an imaging device having a communication format based on the Z-Wave wireless communication protocol. Here, a device located near the imaging range refers to a device whose at least part is captured in the image. However, the present invention is not limited to the Z-Wave wireless communication protocol, and does not limit the communication format.

[0012] In the first embodiment, an example will be described in which preset positions of pan-tilt positions and zoom positions set in the imaging device 100 are scheduled and cycled. Then, a control method will be described in which devices located near the shooting range at the target pan-tilt positions and zoom positions are put into sleep and woken up from sleep, and information about the devices is acquired.

[0013] FIG. 1 is a block diagram showing an example of the internal configuration of an imaging device 100 according to this embodiment. The imaging device 100 according to this embodiment includes a CPU 101, an imaging unit 102, an A / D conversion unit 103, an image input controller 104, an image processing unit 105, a RAM 107, a driving unit 108, a ROM 109, a sensor 110, and a camera platform 111. The imaging device 100 also includes an actuator 112, a storage device 113, an I / F 114, an input device 115, a display device 116, an image analysis unit 118, a compression / decompression unit 119, and a communication unit 120.

[0014] The CPU 101 is a central processing unit and has the following functional components: a pan / tilt control unit 101-1, a lens control unit 101-2, a preset control unit 101-3, a communication control unit 101-4, a notification unit 101-5, and a control unit 101-6. The imaging unit 102 has a zoom lens 102-1, a focus lens 102-2, an aperture 102-3, an infrared cut filter 102-4, and an imaging element 102-5 configured by an image sensor or the like.

[0015] The zoom lens 102-1 and the focus lens 102-2 are moved along the optical axis by a drive unit 108. The diaphragm 102-3 is driven by the drive unit 108 to adjust the amount of light that passes through. The infrared cut filter 102-4 is driven and operated by the drive unit 108. The infrared cut filter 102-4 is inserted when sufficient illumination of the subject to be photographed is obtained, and the image sensor 102-5 receives light that does not contain infrared light. The infrared cut filter 102-4 is removed when sufficient illumination of the subject to be photographed is not obtained, and the image sensor 102-5 receives light that includes infrared light. When the infrared cut filter 102-4 is removed, an infrared light may be turned on toward the subject to enhance visibility of dark areas, ensuring sufficient illumination by infrared light.

[0016] The driving unit 108 is controlled by the lens control unit 101-2, and drives the zoom lens 102-1, the focus lens 102-2, the diaphragm 102-3, and the infrared cut filter 102-4 in the imaging unit 102 as described above. The sensor 110 is a sensor consisting of one or more of an acceleration sensor, an angular velocity sensor, and a geomagnetic sensor, and detects the acceleration, angular velocity, and azimuth displacement related to the imaging unit 102 at a predetermined sampling rate and notifies the CPU 101 via the bus 106.

[0017] The camera platform 111 comprises a pan drive unit and a tilt drive unit. The pan drive unit of the camera platform 111 has a bottom case and a turntable, and the turntable rotates horizontally to pan the imaging unit 102. The pan drive unit of the camera platform 111 of this embodiment can rotate left and right from -175 degrees to +175 degrees. The tilt drive unit of the camera platform 111 has a support column provided on the turntable and the imaging unit 102, and the imaging unit 102 rotates vertically. The tilt drive unit of the imaging device 100 of this embodiment can rotate from 0 degrees horizontally to 90 degrees directly upward. In this way, the imaging unit 102 can rotate horizontally and vertically via the actuator 112 to change the imaging direction and take an image. The actuator 112 is controlled by a pan / tilt control unit 101-1.

[0018] The image sensor 102-5 photoelectrically converts light that has passed through the zoom lens 102-1, focus lens 102-2, aperture 102-3, and infrared cut filter 102-4 to generate an analog image signal. The generated analog image signal undergoes amplification processing using sampling processing such as correlated double sampling, and is then provided to the A / D conversion unit 103. Parameters used in the amplification processing are supplied by the CPU 101. The A / D conversion unit 103 converts the amplified analog image signal into a digital image signal, and outputs the digital image signal obtained by the conversion to the image processing unit 105.

[0019] The image input controller 104 receives the digital image signal provided by the A / D conversion unit 103 and outputs it to the image processing unit 105 . The image processing unit 105 performs various digital image processing on the digital image signal input from the image input controller 104 based on sensitivity information at the time of image capture output from the image sensor 102-5. The sensitivity information at the time of image capture includes, for example, AGC (Automatic Gain Control) gain and ISO (International Organization for Standardization) sensitivity. The image processing unit 105 then stores the processed digital image signal in RAM 107 via bus 106. Examples of the various digital image processing include optical black processing, pixel defect correction, aberration correction, peripheral light falloff correction, gain processing, white balance processing, RGB interpolation processing, and dynamic range expansion processing. Other processing includes color difference signal conversion, offset processing, gamma correction, noise reduction, contour correction, color tone correction, light source type determination processing, and scaling processing.

[0020] The RAM 107 is a volatile memory such as an SRAM or a DRAM. The ROM 109 is a non-volatile memory such as an EEPROM or a flash memory. The storage device 113 is a hard disk drive (HDD), a solid state drive (SSD), an eMMC (embedded multimedia card), or the like. Programs for realizing the functions according to this embodiment and data used when the programs are executed are stored in the ROM 109 or the storage device 113. These programs and data are appropriately loaded into the RAM 107 via the bus 106 under the control of the CPU 101, and are executed by the CPU 101 to function as the various units according to this embodiment.

[0021] The I / F 114 is a variety of I / Fs related to input and output. The I / F 114 is connected to an input device 115, receives instruction information, and notifies the CPU 101 via the bus 106. Here, the input device 115 is an operation key including a release switch and a power switch, a cross key, a joystick, a touch panel, a keyboard, a pointing device (e.g., a mouse), etc. The I / F 114 is also connected to a display device 116 such as an LCD display, and displays information such as images temporarily stored in the RAM 107 and operation menus. The I / F 114 is also connected to a network 117 via a LAN. The image analysis unit 118 performs image analysis such as face detection, person detection, moving object detection, passage detection, crowding detection, trajectory detection, and abandonment / removal detection. The image analysis results are notified to the CPU 101 via the bus 106.

[0022] The compression / decompression unit 119 performs compression processing on images to generate compressed data in accordance with control instructions from the CPU 101 via the bus 106. The compression / decompression unit 119 outputs the generated compressed data to the display device 116 or the network 117 via the I / F 114. The compression / decompression unit 119 also performs decompression processing in a predetermined format on the compressed data stored in the storage device 113 to generate uncompressed data. As the predetermined format compression / decompression processing, a compression method conforming to the JPEG standard is used for still images, and compression / decompression processing conforming to standards such as MOTION-JPEG, MPEG2, AVC / H.264, and AVC / H.265 is used for moving images. The communication unit 120 is controlled by the communication control unit 101-4, and communicates with devices by performing wireless communication based on the Z-Wave wireless communication protocol.

[0023] The preset control unit 101-3 manages the preset positions of the pan-tilt and zoom positions set by the user, and the schedule for cycling through these preset positions. The cycling through the preset positions of the pan-tilt and zoom positions is performed by the pan-tilt control unit 101-1 controlling the pan and tilt and the lens control unit 101-2 controlling the zoom, based on instructions from the preset control unit 101-3. Here, the schedule for cycling through the preset positions of the pan-tilt and zoom positions is an example of information related to fluctuations in the shooting range of the imaging device 100.

[0024] The communication control unit 101-4 performs sleep-related settings for each device so that devices located near the shooting range will wake up from sleep before the target pan / tilt and zoom positions are reached. In addition, before the target pan / tilt and zoom positions are reached, the communication control unit 101-4 acquires information about devices located near the shooting range at the target pan / tilt and zoom positions. After the target pan-tilt and zoom positions are reached, the notification unit 101-5 notifies the display device 116 and the like of the device information acquired by the communication control unit 101-4. The control unit 101-6 identifies devices located near the shooting range of each preset position and creates a sleep schedule for the devices associated with each preset position. The control unit 101-6 also performs various other controls required in this embodiment. The sleep schedule will be described in detail later.

[0025] An example of a processing procedure according to the first embodiment will be described below with reference to the flowchart in Fig. 2. The processing of this flow is performed at predetermined intervals. In step S201, the preset control unit 101-3 determines whether or not there has been a change in at least one of the preset positions of the pan / tilt position and the zoom position, or the schedule for cycling through the preset positions.

[0026] If the preset control unit 101-3 determines that there has been a change in at least one of the preset positions of the pan-tilt and zoom positions or the schedule for cycling through the preset positions, it proceeds to step S202. On the other hand, if the preset control unit 101-3 determines that there has been no change in either the preset positions of the pan-tilt and zoom positions or the schedule for cycling through the preset positions, it proceeds to step S205.

[0027] In step S202, the preset control unit 101-3 acquires information on the preset positions of the pan / tilt position and the zoom position, and information on the schedule for circulating the preset positions, from the preset control unit 101-3. In step S203, the control unit 101-6 identifies devices located near the shooting range of each preset position based on the preset position information of the pan / tilt position and zoom position acquired in step S202. Also, the control unit 101-6 creates a sleep schedule for the devices associated with each preset position based on the schedule information for cycling through the preset positions acquired in step S202.

[0028] FIG. 4 is a diagram showing an example of a schedule for cycling through preset positions of pan-tilt positions and zoom positions, and a sleep schedule for related devices. Time lapse 401 indicates the time lapse during which the pan / tilt position and zoom position are cycled through preset positions. Time lapses 402-1, 402-2, and 402-3 indicate the time lapse during which devices 1 to 3 that communicate with the image capture device 100 are started up and put to sleep. Devices 1, 2, and 3 are located near the shooting ranges of preset positions A, B, and C, respectively.

[0029] Device 1 is located near the shooting range of preset position A. Therefore, control unit 101-6 creates a sleep schedule for device 1 so that device 1 starts up before reaching preset position A and goes to sleep after a predetermined time has passed since reaching preset position A. Device 2 is located near the shooting range of preset position B. Therefore, control unit 101-6 creates a sleep schedule for device 2 so that device 2 starts up before reaching preset position B and goes to sleep after a predetermined time has passed since reaching preset position B. Device 3 is located near the shooting range of preset position C. Therefore, control unit 101-6 creates a sleep schedule for device 3 so that device 3 starts up before reaching preset position C and goes to sleep after a predetermined time has passed since reaching preset position C.

[0030] However, this embodiment does not limit the sleep schedule of the device related to the preset positions of the pan / tilt position and the zoom position. In step S204, communication control unit 101-4 performs sleep-related settings for each device based on the sleep schedule for the device created in step S203. The sleep-related settings include settings regarding the timing at which the device wakes up from sleep and starts up, and the timing at which the device starts sleep. In step S205, preset control unit 101-3 acquires information about the next preset position as a target for pan / tilt and zoom from the schedule for cycling through the preset positions.

[0031] In step S206, the control unit 101-6 identifies devices located near the shooting range of the target preset position of pan / tilt and zoom acquired in step S205. Then, the communication control unit 101-4 acquires information about those devices via the network 117. At this stage, the target devices have returned from sleep due to the sleep settings based on the device sleep schedule set in step S204. By performing this processing before reaching the target preset position, it is possible to quickly notify the user of device information after reaching the target preset position. The content of the information acquired from the devices at this time is not particularly limited, but may include information about the operating status of the devices and additional information about the devices.

[0032] In step S207, the pan / tilt control unit 101-1 controls the camera platform 111 via the actuator 112 based on the target pan / tilt position instructed by the preset control unit 101-3, and moves the imaging unit 102 to the target pan / tilt position. Also, the lens control unit 101-2 controls the drive unit 108 based on the target zoom position instructed by the preset control unit 101-3, and drives the zoom lens 102-1 to move the imaging unit 102 to the target zoom position. In step S208, notification unit 101-5 displays or notifies the information about the device acquired in step S206 via I / F 114 to display device 116 or an external device via network 117. For example, if the device is included in the image acquired via image sensor 102-5, the information about the device acquired in step S206 is displayed in association with the image.

[0033] In step S209, the preset control unit 101-3 determines whether to continue cycling through the pan / tilt and zoom preset positions. If the preset control unit 101-3 determines to continue cycling, it returns the process to step S201. On the other hand, if the preset control unit 101-3 determines not to continue cycling, it ends this flow. In step S210, communication control unit 101-4 sets the sleep period of each device to a predetermined value, and then ends the process. The predetermined value may be, for example, a default value.

[0034] As described above, according to this embodiment, the sleep periods of devices located near the shooting range of the target pan / tilt and zoom positions are optimized based on a schedule for cycling through preset positions of the pan / tilt and zoom positions. Also, before the target pan / tilt and zoom positions are reached, devices located near the shooting range of the target pan / tilt and zoom positions are woken up from sleep and information is acquired. This makes it possible to quickly provide device information to the user after the target pan / tilt and zoom positions are reached.

[0035] (Second embodiment) In the first embodiment, the processing based on a schedule for cycling through preset positions of pan / tilt positions and zoom positions set in the imaging device 100 has been described. In the second embodiment, an example will be described in which a predicted imaging range is calculated and the sleep period of devices located near the predicted imaging range is shortened when an instruction to change the pan / tilt position and zoom position is given to the imaging device 100. Then, a control method will be described in which, based on the specified target pan / tilt position and zoom position, devices located near the imaging range at the target pan / tilt position and zoom position are woken up from sleep and device information is acquired.

[0036] An example of the internal configuration of an imaging device according to this embodiment will be described below with reference to Fig. 1. Note that descriptions of parts that overlap with the first embodiment will be omitted, and only parts that are different from the first embodiment will be described. The pan / tilt control unit 101-1 controls the pan / tilt so that the pan / tilt position specified by the user is reached, and the lens control unit 101-2 controls the zoom so that the zoom position specified by the user is reached.

[0037] The control unit 101-6 predicts pan / tilt and zoom movements based on information from the pan / tilt control unit 101-1 and lens control unit 101-2. The communication control unit 101-4 cancels or shortens the sleep period of devices located within the predicted shooting range based on the movement prediction information. In addition, the communication control unit 101-4 acquires information about devices located near the shooting range at the target pan / tilt and zoom positions. After the target pan-tilt and zoom positions are reached, the notification unit 101-5 notifies the display device 116 and the like of the device information acquired by the communication control unit 101-4.

[0038] An example of a processing procedure according to the second embodiment will be described below with reference to the flowchart in Fig. 3. The processing of this flow is performed at a predetermined cycle. Note that when the same processing as in the first embodiment is performed, the description will be omitted. First, in step S301, control unit 101-6 determines whether or not an instruction to change at least one of the target pan / tilt position and the target zoom position has been received via I / F 114. If the control unit 101-6 determines that an instruction to change at least one of the target pan-tilt position or the target zoom position has been received, the process proceeds to step S302. If the control unit 101-6 determines that an instruction to change neither the target pan-tilt position nor the target zoom position has been received, the process proceeds to step S308.

[0039] In step S302, the pan / tilt control unit 101-1 acquires information on the target pan / tilt position from the control unit 101-6, and the lens control unit 101-2 acquires information on the target zoom position from the control unit 101-6. In step S303, the control unit 101-6 and the communication control unit 101-4 perform the same process as in step S206 in the first embodiment.

[0040] In step S304, the pan / tilt control unit 101-1 and the lens control unit 101-2 perform the same processing as in step S207 in the first embodiment. In step S305, notification unit 101-5 performs the same process as in step S208 in the first embodiment.

[0041] In step S306, the control unit 101-6 calculates the amount of change in the pan / tilt position and zoom position calculated in step S304. Then, based on the past pan / tilt position and zoom position and the calculated amount of change in the pan / tilt position and zoom position, it predicts the pan / tilt position and zoom position that may change in the future. Furthermore, the control unit 101-6 calculates the predicted shooting range that may be captured in the future based on the predicted pan / tilt position and zoom position. The predicted shooting range is not limited to the range calculated as described above. For example, taking into account prediction errors, the predicted shooting range may be set to a range wider than the shooting range at the pan-tilt position and zoom position in step S304.

[0042] In step S307, the communication control unit 101-4 sets the sleep period of the devices located near the predicted capture range calculated in step S306 to be shorter. Also, the communication control unit 101-4 sets the sleep period of the devices other than the devices located near the predicted capture range to be a predetermined value. The predetermined value is, for example, a default value. Note that communication control unit 101-4 may disable the sleep function of devices located near the predicted capture range calculated in step S306.

[0043] In step S308, the control unit 101-6 determines whether or not an instruction to change at least one of the target pan-tilt position and the target zoom position has been received within a predetermined period of time. If the control unit 101-6 determines that an instruction to change at least one of the target pan-tilt position and the target zoom position has been received within the predetermined period of time, or if the control unit 101-6 determines that the predetermined period of time has not elapsed, the control unit 101-6 continues the processing of this flow and returns the processing to S301. On the other hand, if the control unit 101-6 determines that an instruction to change neither the target pan-tilt position nor the target zoom position has been received within the predetermined period of time, the control unit 101-6 proceeds to S209. In step S309, the communication control unit 101-4 performs the same process as in step S210 in the first embodiment.

[0044] As described above, the imaging device according to this embodiment can optimize the sleep periods of devices located near the predicted shooting range based on the target pan / tilt and zoom positions specified by the user. By then acquiring information about devices located near the shooting range at the target pan / tilt and zoom positions, it is possible to quickly provide device information to the user after the target pan / tilt and zoom positions are reached.

[0045] (Other embodiments) In the above-described embodiment, an image capturing device having an image capturing unit has been described as an example, but when applied to a network camera such as a surveillance camera, the pan, tilt, and zoom of the surveillance camera having an image capturing unit may be controlled wirelessly or via a wired connection. In this case, the configuration shown in Fig. 1 is applied to an information processing device that controls the surveillance camera. The present invention can also be realized by supplying a program that realizes one or more functions of the above-described embodiments to a system or device via a network or a storage medium, and having one or more processors in the computer of the system or device read and execute the program.The present invention can also be realized by a circuit (e.g., ASIC) that realizes one or more functions. [Explanation of symbols]

[0046] 101-4 communication control unit, 101-5 notification unit, 101-6 control unit, 102 imaging unit, 120 communication unit

Claims

1. An information processing device that communicates with an external device, a first acquisition means for acquiring information regarding fluctuations in the imaging range of the imaging means; a control unit that controls the external device that may become a subject of the photographing range due to the change in the photographing range to perform a sleep setting; a second acquiring means for acquiring information about the external device from the external device that has returned from sleep based on the setting by the control means; an output means for outputting the information acquired by the second acquisition means; and the first acquisition means acquires information relating to a schedule in which the imaging range of the imaging means changes; The information processing device is characterized in that the control means controls to set sleep start and end times for external devices that may become part of the shooting range due to changes in the shooting range based on the schedule acquired by the first acquisition means.

2. 2. The information processing apparatus according to claim 1, wherein the second acquisition means acquires information about the external device before the image capturing range changes to become within the image capturing range.

3. the first acquisition means acquires information on a target photographing range, 3. The information processing device according to claim 1, wherein the control means predicts a range that can be photographed based on the information acquired by the first acquisition means, and controls the external device to shorten a sleep period within the predicted range.

4. 4. The information processing apparatus according to claim 3, wherein the control means predicts the range that can be photographed based on the amount of change in the photographing range.

5. 5. The information processing apparatus according to claim 3, wherein the control means predicts, as a possible photographable range, a range wider than the target photographing range acquired by the first acquisition means.

6. 6. The information processing apparatus according to claim 1, further comprising an imaging control means for controlling the pan, tilt and zoom of the imaging means to thereby control the imaging range.

7. 7. The information processing apparatus according to claim 1, wherein the information processing apparatus is an imaging apparatus having the imaging means.

8. An information processing method executed by an information processing device that communicates with an external device, a first acquisition step of acquiring information regarding fluctuations in the imaging range of the imaging means; a control step of controlling the external device that may become a subject of the photographing range due to the change in the photographing range to perform a sleep setting; a second acquisition step of acquiring information about the external device from the external device that has returned from sleep based on the setting made by the control step; an output step of outputting the information acquired by the second acquisition step; and the first acquisition step acquires information relating to a schedule in which the imaging range of the imaging means changes; The information processing method is characterized in that the control step controls to set sleep start and end times for external devices that may become part of the shooting range due to fluctuations in the shooting range, based on the schedule acquired by the first acquisition step.

9. A program for controlling an information processing device that communicates with an external device, a first acquisition step of acquiring information regarding fluctuations in the imaging range of the imaging means; a control step of controlling the external device that may become a subject of the photographing range due to the change in the photographing range to perform a sleep setting; a second acquisition step of acquiring information about the external device from the external device that has returned from sleep based on the setting made by the control step; an output step of outputting the information acquired by the second acquisition step; on the computer, the first acquisition step acquires information relating to a schedule in which the imaging range of the imaging means changes; The control process is a program for controlling the setting of sleep start and end times for external devices that may become part of the shooting range due to fluctuations in the shooting range, based on the schedule acquired by the first acquisition process.

Images