Imaging device and information processing method

Abstract

To reduce a processing load by appropriately determining an imaging device for searching for a search object.SOLUTION: An imaging device is used in a mobile body, and includes an imaging part, a search information acquisition part for acquiring search information including information related to an object of a search object and position information of an imaging device to be used by another mobile body searching for the object from an information processing device, a determination part for determining whether or not to search for the object on the basis of the search information, and a detection part for detecting the object determined to search by the determination part from an image acquired by the imaging part.SELECTED DRAWING: Figure 16

Description

Technical Field

[0001] The present invention relates to an imaging apparatus and an information processing method.

Background Art

[0002] Technologies for detecting a person from an image captured by an in-vehicle camera are known. For example, Patent Document 1 discloses a technology for detecting the behavior of a person included in an image captured by an in-vehicle camera and evaluating the behavior of the person.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] Incidentally, in a system using a plurality of in-vehicle cameras and a server, it is assumed that search objects such as persons are caused to be searched. In this case, it is desired to determine the search object for each of the plurality of in-vehicle cameras so that the processing load on the in-vehicle cameras can be reduced.

[0005] An object of the present invention is to provide an imaging apparatus and an information processing method capable of appropriately determining an imaging apparatus that searches for a search object and reducing the processing load.

Means for Solving the Problem

[0006] The imaging device of the present invention is an imaging device used in a moving object, comprising: an imaging unit; a search information acquisition unit that acquires search information from an information processing device, including information about an object to be searched and position information of an imaging device used in another moving object that is searching for the object; a decision unit that determines whether or not to search for the object based on the search information; and a detection unit that detects the object that the decision unit has decided to search for from an image acquired by the imaging unit.

[0007] The information processing method of the present invention includes the steps of: obtaining search information from an information processing device, which includes information about an object to be searched and position information of an imaging device used in another mobile device that is searching for the object; determining whether or not to search for the object based on the search information; and detecting the object that has been determined to be searched from an image acquired by the self-imaging unit. [Effects of the Invention]

[0008] According to the present invention, it is possible to appropriately determine the imaging device for searching for the target object and reduce the processing load. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a diagram illustrating an example configuration of a search system according to the first embodiment. [Figure 2] Figure 2 is a diagram illustrating the overview of the imaging device according to the first embodiment. [Figure 3] Figure 3 is a diagram illustrating an example configuration of an information processing device according to the first embodiment. [Figure 4] Figure 4 is a block diagram showing an example configuration of an imaging device according to the first embodiment. [Figure 5] Figure 5 is a flowchart showing the processing content of the information processing device according to the first embodiment. [Figure 6] Figure 6 is a diagram illustrating a method for determining the imaging device used to search for an object according to the first embodiment. [Figure 7]Figure 7 is a flowchart showing the processing details of the imaging device according to the first embodiment. [Figure 8] Figure 8 is a flowchart showing the processing content of the information processing device according to the second embodiment. [Figure 9] Figure 9 is a flowchart showing the processing content of the information processing device according to the third embodiment. [Figure 10] Figure 10 is a flowchart showing the processing content of the information processing device according to the fourth embodiment. [Figure 11] Figure 11 is a diagram illustrating a method for setting an object in the imaging device according to the fourth embodiment. [Figure 12] Figure 12 is a diagram illustrating a first method for determining an imaging device to search for an object according to the fourth embodiment. [Figure 13] Figure 13 is a diagram illustrating a second method for determining an imaging device to search for an object according to the fourth embodiment. [Figure 14] Figure 14 is a flowchart showing the processing content of the information processing device according to the fifth embodiment. [Figure 15] Figure 15 is a diagram illustrating an example configuration of an information processing device according to the sixth embodiment. [Figure 16] Figure 16 is a block diagram showing an example configuration of an imaging device according to the sixth embodiment. [Figure 17] Figure 17 is a flowchart showing the processing content of the information processing device according to the sixth embodiment. [Figure 18] Figure 18 is a flowchart showing the processing details of the imaging device according to the sixth embodiment. [Modes for carrying out the invention]

[0010] Embodiments of the present invention will be described in detail below with reference to the attached drawings. However, the present invention is not limited by these embodiments, and in the following embodiments, the same parts are denoted by the same reference numerals to omit redundant explanations.

[0011] [First Embodiment] (Search System) A configuration example of the search system according to the first embodiment will be described with reference to FIG. 1. FIG. 1 is a diagram for explaining a configuration example of the search system according to the first embodiment.

[0012] As shown in FIG. 1, the search system 1 includes an information processing apparatus 10 and a plurality of imaging apparatuses 12. The information processing apparatus 10 and the plurality of imaging apparatuses 12 are communicably connected via a network N. The search system 1 is a system in which the information processing apparatus 10 determines a target object to be searched for by the plurality of imaging apparatuses 12, and the plurality of imaging apparatuses 12 search for the search object.

[0013] An outline of the imaging apparatus according to the first embodiment will be described with reference to FIG. 2. FIG. 2 is a diagram for explaining an outline of the imaging apparatus according to the first embodiment.

[0014] As shown in FIG. 2, the imaging apparatus 12 may be an in-vehicle camera mounted on a vehicle 2. The imaging apparatus 12 can be implemented, for example, by a drive recorder mounted on the vehicle 2 that images the surroundings of the vehicle. The imaging apparatus 12 images an image within a predetermined range 3 centered on the vehicle 2, for example. The imaging apparatus 12 may be mounted not only on the vehicle 2 but also on a moving body such as an aircraft. The imaging apparatus 12 may be mounted on a portable terminal carried by a person. In other words, the imaging apparatus 12 only needs to be in a form used in a moving body. The imaging apparatus 12 detects a target object (for example, a person U) designated by the information processing apparatus 10 based on a captured image, for example. The person U is a search target person including, for example, a missing person. In the present invention, examples of the target object to be searched include, but are not limited to, people, vehicles, animals such as pets, and lost items.

[0015] The information processing device 10 can specify multiple objects to be searched for by the imaging device 12. However, as the number of objects to be searched increases, the processing load on the imaging device 12 increases. This increased processing load on the imaging device 12 may lead to a decrease in processing speed, potentially resulting in the inability to detect objects or an increase in power consumption. Furthermore, as the number of imaging devices 12 searching for objects increases, the processing load on the entire search system 1 increases, potentially increasing the time required for the search. Therefore, in this embodiment, in order to reduce the processing load on the search system 1, a process is executed to determine which imaging device among the multiple imaging devices 12 will search for objects.

[0016] (Information processing device) An example configuration of the information processing device according to the first embodiment will be explained using Figure 3. Figure 3 is a diagram illustrating an example configuration of the information processing device according to the first embodiment.

[0017] As shown in Figure 3, the information processing device 10 comprises a communication unit 20, a storage unit 22, and a control unit 24. The information processing device 10 can be implemented, for example, as a server device located in the management center of the search system 1.

[0018] The communication unit 20 is a communication interface that performs communication between the information processing device 10 and an external device. For example, the communication unit 20 performs communication between the information processing device 10 and the imaging device 12.

[0019] The memory unit 22 stores various types of information. The memory unit 22 stores the calculation contents of the control unit 24 and information such as programs. The memory unit 22 includes, for example, at least one of the following: RAM (Random Access Memory), main memory such as ROM (Read Only Memory), and external memory such as HDD (Hard Disk Drive).

[0020] The memory unit 22 stores object information about the object to be searched. The memory unit 22 stores as object information the information necessary for the imaging device 12 to detect the object from the image. The object information may be, for example, still image data and moving image data of the object. If the object is a person, the object information may also include information indicating the gender, age, hairstyle, clothing including bags and hats, facial features, possessions such as glasses and canes, height, build, and gait of the person being searched. The object information can be input externally, for example, by a user using the search system 1.

[0021] The control unit 24 controls each part of the information processing device 10. The control unit 24 includes, for example, an information processing device such as a CPU (Central Processing Unit) or an MPU (Micro Processing Unit), and a storage device such as RAM (Random Access Memory) or ROM (Read Only Memory). The control unit 24 executes a program that controls the operation of the information processing device 10 according to the present invention. The control unit 24 may be implemented by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). The control unit 24 may be implemented by a combination of hardware and software.

[0022] The control unit 24 comprises a location information acquisition unit 30, a identification unit 32, a determination unit 34, and a communication control unit 36.

[0023] The location information acquisition unit 30 acquires location information indicating the current location from each of the multiple imaging devices 12 via the communication unit 20.

[0024] The identification unit 32 identifies objects that are to be searched by the multiple imaging devices 12. The identification unit 32 identifies objects based on information input by a user using the search system 1 via an external device, for example. The identification unit 32 may identify one object or multiple objects. Furthermore, the identification unit 32 may choose not to identify any objects.

[0025] The determination unit 34 determines which of the multiple imaging devices 12 will search for the object identified by the identification unit 32. For example, the determination unit 34 determines which imaging device 12 will search for the object identified by the identification unit 32 based on the location information of each of the multiple imaging devices 12 acquired by the location information acquisition unit 30. The determination unit 34 specifies the object to be searched by transmitting object information to the determined imaging device 12 via the communication unit 20.

[0026] The communication control unit 36 ​​controls the communication unit 20 to control communication between the information processing device 10 and an external device. For example, the communication control unit 36 ​​controls communication between the information processing device 10 and the imaging device 12.

[0027] (Imaging device) An example of the configuration of the imaging device according to the first embodiment will be described using Figure 4. Figure 4 is a block diagram showing an example of the configuration of the imaging device according to the first embodiment.

[0028] As shown in Figure 4, the imaging device 12 includes an input unit 40, an imaging unit 42, a display unit 44, an audio output unit 46, a storage unit 48, a communication unit 50, a GNSS (Global Navigation Satellite System) receiving unit 52, and a control unit 54.

[0029] The input unit 40 receives various operations for the imaging device 12. The input unit 40 can be implemented as a microphone, switch, button, touch panel, etc.

[0030] The imaging unit 42 captures images. The imaging unit 42 is configured to capture images around the vehicle 2. The imaging unit 42 captures images of, for example, the front of the vehicle 2. The imaging device 12 may include a plurality of imaging units 42 that capture images of the front, rear, and sides of the vehicle 2, respectively. The imaging unit 42 captures images of, for example, still images or moving images. The imaging unit 42 may be, for example, a camera including an optical element and an image sensor. The imaging unit 42 may be, for example, a visible light camera or an infrared camera.

[0031] The display unit 44 displays various images. The display unit 44 is a display including, for example, a liquid crystal display or an organic EL (Electro-Luminescence) display.

[0032] The audio output unit 46 is a speaker that outputs various types of audio.

[0033] The memory unit 48 stores various types of information. The memory unit 48 stores the calculation contents of the control unit 54 and information such as programs. The memory unit 48 includes, for example, RAM, and at least one of the following: a main memory device such as ROM, or an external memory device such as an HDD.

[0034] The communication unit 50 is a communication interface that performs communication between the imaging device 12 and an external device. For example, the communication unit 50 performs communication between the imaging device 12 and the information processing device 10.

[0035] The GNSS receiving unit 52 consists of a GNSS receiver and other components that receive GNSS signals from GNSS satellites. The GNSS receiving unit 52 outputs the received GNSS signals to the position information acquisition unit 60.

[0036] The control unit 54 controls each part of the imaging device 12. The control unit 54 includes, for example, an information processing device such as a CPU or MPU and a storage device such as RAM or ROM. The control unit 54 executes a program that controls the operation of the imaging device 12 according to the present invention. The control unit 54 may be implemented by an integrated circuit such as an ASIC or FPGA. The control unit 54 may be implemented by a combination of hardware and software.

[0037] The control unit 54 includes a position information acquisition unit 60, an object information acquisition unit 62, an imaging control unit 64, a detection unit 66, and a communication control unit 68.

[0038] The location information acquisition unit 60 acquires the current location information of the vehicle 2 on which the imaging device 12 is mounted. The location information acquisition unit 60 acquires the current location information of the vehicle based on the GNSS signal received by the GNSS receiver unit 52. In addition, the location information acquisition unit 60 may acquire the current location information based on information from a vehicle speed sensor (not shown).

[0039] The object information acquisition unit 62 acquires object information about the object to be searched from the information processing device 10 via the communication unit 50.

[0040] The imaging control unit 64 controls the imaging unit 42 to take images of the area around the vehicle 2. The imaging control unit 64 acquires the images taken by the imaging unit 42 from the imaging unit 42.

[0041] The detection unit 66 detects objects from images acquired by the imaging control unit 64 from the imaging unit 42. For example, the detection unit 66 performs image recognition processing on the images acquired by the imaging control unit 64 from the imaging unit 42 and detects objects indicated by the object information acquired by the object information acquisition unit 62. For example, the detection unit 66 detects objects using still image data, facial features, clothing, and other information of the object information. The detection unit 66 may also detect objects from information obtained from radar, LIDAR (Light Detection and Ranging), distance image sensors, etc. (not shown). The method for detecting objects from images is not limited to known methods. When the detection unit 66 detects an object, it transmits information indicating that an object has been detected to the information processing device 10 via the communication unit 50.

[0042] The communication control unit 68 controls the communication unit 50 to control communication between the imaging device 12 and an external device. For example, the communication control unit 68 controls communication between the imaging device 12 and the information processing device 10.

[0043] (Processing details of the information processing device) The processing content of the information processing device according to the first embodiment will be explained using Figure 5. Figure 5 is a flowchart showing the processing content of the information processing device according to the first embodiment.

[0044] The identification unit 32 identifies the object to be searched by the multiple imaging devices 12 (step S10). Then, the process proceeds to step S11.

[0045] The identification unit 32 determines whether the number of objects is 1 or more (step S11). If the number of objects is 0 (step S11; No), the process in Figure 5 is terminated. In this case, the process in Figure 5 may be started again after a certain period of time has elapsed. If the number of objects is 1 or more (step S11; Yes), the process proceeds to step S12.

[0046] The location information acquisition unit 60 acquires the current location information of each of the multiple imaging devices 12 via the communication unit 50 (step S12). Then, the process proceeds to step S14.

[0047] The determination unit 34 determines the imaging device 12 to search for the object identified by the identification unit 32 (step S14). Specifically, the determination unit 34 determines the imaging device 12 to search for the object based on the positional information of each of the multiple imaging devices 12. For example, the determination unit 34 extracts all imaging devices 12 located within a predetermined search range as a group of candidate imaging devices 12 to search for the object. The predetermined search range is, for example, within a circular area on a map with a radius of several kilometers to tens of kilometers, or within an administrative division such as an arbitrary city area on a map, but is not limited to these. The size and shape of the search range may be changed depending on the type of object. The determination unit 34 determines that fewer imaging devices 12 than the total number of candidates in the extracted group of candidate imaging devices 12 will be used to search for the object. By reducing the number of imaging devices 12 to search for the object, the determination unit 34 can reduce the processing load of the search system 1.

[0048] Figure 6 is a diagram illustrating the method for determining the imaging devices 12 that will search for an object according to the first embodiment. Specifically, the determination unit 34 divides the search range 4 into an arbitrary number of equal areas and determines the imaging devices 12 that will search for an object so that the number of imaging devices 12 that will search for an object is equal in each area. In the example shown in Figure 6, the determination unit 34 divides the search range 4 into four equal areas: search range 4-1, search range 4-2, search range 4-3, and search range 4-4. In other words, the determination unit 34 determines the imaging devices 12 that will search for an object to be searched so that the imaging devices 12 that will search for an object are distributed within the search range. In the example shown in Figure 6, the vehicle 2 shown in darker colors is equipped with imaging devices 12 that will search for an object, and the vehicle 2 shown in lighter colors is equipped with imaging devices 12 that do not search for an object. That is, in the example shown in Figure 6, there are three imaging devices 12 that will search for an object in each of the search ranges 4-1 to 4-4.

[0049] The decision unit 34 does not have to divide the search range 4 into an arbitrary number of equal regions. For example, it may divide it into search ranges of different sizes based on the number of vehicles 2 per unit area. In this case, the search range is divided so that it becomes larger when the number of vehicles 2 per unit area is small, and so that it becomes smaller when the number of vehicles 2 per unit area is large.

[0050] The communication control unit 36 ​​controls the communication unit 20 to transmit object information regarding the object to be searched to all imaging devices 12 determined by the determination unit 34 (step S15). Then, the process proceeds to step S16.

[0051] The control unit 24 determines whether or not to terminate the process (step S16). For example, the control unit 24 determines to terminate the process when it receives information from the information processing device 10 indicating that the search should be terminated. If the process is to be terminated, the communication control unit 36 ​​may transmit information to all imaging devices 12 indicating that the search for the target object has been terminated. If it is determined that the process should be terminated (step S16; Yes), the process shown in Figure 5 is terminated. If it is not determined that the process should be terminated (step S16; No), the process in step S16 is repeated.

[0052] (Processing details of the terminal device) The processing details of the imaging device according to the first embodiment will be explained using Figure 7. Figure 7 is a flowchart showing the processing details of the imaging device according to the first embodiment.

[0053] The object information acquisition unit 62 acquires object information of the object to be searched from the information processing device 10 via the communication unit 50 (step S20). Then, the process proceeds to step S22.

[0054] The imaging control unit 64 controls the imaging unit 42 to image the area around the vehicle (step S22). For example, the imaging control unit 64 may change the direction in which the imaging unit 42 images based on the object information acquired by the object information acquisition unit 62. For example, if there are multiple imaging units 42 depending on the imaging direction, and the object information is a person's face, the imaging control unit 64 may control only the imaging unit 42 that images the sidewalk side to image only the sidewalk side. In other words, the imaging control unit 64 may control only the imaging unit 42 in the direction in which the object is assumed to be present to image. The imaging control unit 64 can reduce the processing load on the imaging device 12 by reducing the number of imaging units 42 it controls. The imaging control unit 64 may also control the imaging unit 42 to switch between using a visible light camera during the day and an infrared camera at night. The imaging control unit 64 may also control the imaging unit 42 to reduce the frame rate depending on the vehicle speed of the vehicle 2, for example, when the vehicle speed is low or when the vehicle is stopped. Then the process proceeds to step S24.

[0055] The imaging control unit 64 acquires the image captured by the imaging unit 42 from the imaging unit 42 (step S24). Then, the process proceeds to step S26.

[0056] The detection unit 66 determines whether or not it was able to detect an object from the image acquired by the imaging control unit 64 (step S26). If it is determined that an object was detected (step S26; Yes), the process proceeds to step S28. If it is determined that an object was not detected (step S26; No), the process proceeds to step S30.

[0057] If the result in step S26 is determined to be Yes, the detection unit 66 transmits information to the information processing device 10 indicating that an object has been detected (step S28). For example, the detection unit 66 transmits information to the information processing device 10 indicating that an object has been detected and information indicating the location where the object was detected. At this point, the detection unit 66 may infer the direction of movement of the object from the direction of the face of the detected object based on the image acquired by the imaging control unit 64, and transmit information about the direction of movement of the object to the information processing device 10. Then, the process proceeds to step S30.

[0058] If the result in step S26 is No, or after step S28, the control unit 54 determines whether or not to terminate the process (step S30). For example, the control unit 54 determines to terminate the process when it receives information from the information processing device 10 indicating that the search for the object has ended. If it is determined that the process should be terminated (step S30; Yes), the process shown in Figure 7 is terminated. If it is not determined that the process should be terminated (step S30; No), the process proceeds to step S22.

[0059] As described above, the first embodiment determines which imaging device 12 will search for the target object based on the positional information of the multiple imaging devices 12. As a result, the first embodiment can search for the target object using only a specific imaging device 12 out of the multiple imaging devices 12, thereby reducing the overall processing load of the search system 1.

[0060] [Second Embodiment] A second embodiment will now be described. In the second embodiment, a process is performed to dynamically change the imaging device 12 that searches for an object.

[0061] (Processing details of the information processing device) The processing content of the information processing device according to the second embodiment will be explained using Figure 8. Figure 8 is a flowchart showing the processing content of the information processing device according to the second embodiment. The configuration of the information processing device according to the second embodiment is the same as that of the information processing device 10 shown in Figure 3, so the explanation will be omitted.

[0062] The processes from steps S40 to S44 are the same as those from steps S10 to S14 shown in Figure 5, so their explanation will be omitted.

[0063] The position information acquisition unit 60 determines whether the current position information of each of the multiple imaging devices 12 has changed from the last acquired position information (step S46). Specifically, the position information acquisition unit 60 acquires position information from each of the multiple imaging devices 12 at predetermined intervals (for example, 1 minute) and determines whether the position information has changed. The predetermined interval is not limited to 1 minute and can be set arbitrarily. If it is determined that the position information of each of the multiple imaging devices 12 has changed (step S46; Yes), the process proceeds to step S48. If it is not determined that the position information of each of the multiple imaging devices 12 has changed (step S46; No), the process proceeds to step S49.

[0064] The determination unit 34 re-determines the imaging device 12 to search for the target object (step S48). Specifically, the determination unit 34 re-determines the imaging device 12 to search for the target object in accordance with the change in the position information of each of the multiple imaging devices 12. For example, the determination unit 34 may identify the direction of movement of the multiple imaging devices 12 based on the change in the position information of the multiple imaging devices 12, and determine the imaging device 12 to search for the target object according to the direction of movement of the multiple imaging devices 12. For example, the determination unit 34 may determine multiple imaging devices 12 moving in the same direction as the imaging device 12 to search for the target object. For example, the determination unit 34 may determine multiple imaging devices 12 moving in different directions as the imaging device 12 to search for the target object. Then, the process proceeds to step S49.

[0065] The processes in steps S49 and S50 are the same as steps S15 and S16 shown in Figure 5, respectively, so their explanation will be omitted.

[0066] As described above, the second embodiment dynamically changes which imaging device 12 searches for an object based on changes in the positional information of the multiple imaging devices 12. As a result, even when the positions of the multiple imaging devices 12 change, the second embodiment can search for an object using only a specific imaging device 12, thereby reducing the overall processing load of the search system 1.

[0067] [Third Embodiment] A third embodiment will now be described. In the third embodiment, when the object is a person or the like, the imaging device 12 that searches for the object is dynamically changed so that it can track the moving person or the like after the object has been detected.

[0068] (Processing details of the information processing device) The processing content of the information processing apparatus according to the third embodiment will be explained using Figure 9. Figure 9 is a flowchart showing the processing content of the information processing apparatus according to the third embodiment. The configuration of the information processing apparatus according to the third embodiment is the same as that of the information processing apparatus 10 shown in Figure 3, so the explanation will be omitted.

[0069] The processes from steps S60 to S64 are the same as the processes from steps S10 to S14 shown in Figure 5, so their explanation will be omitted.

[0070] The control unit 24 determines whether or not an object has been detected (step S66). Specifically, the control unit 24 determines that an object has been detected if it receives information from at least one of the multiple imaging devices 12 indicating that an object has been detected. If it is determined that an object has been detected (step S66; Yes), the process proceeds to step S68. If it is determined that an object has not been detected (step S66; No), the process proceeds to step S72.

[0071] If the result in step S66 is determined to be Yes, the control unit 24 changes the search range for the object (step S68). Specifically, the control unit 24 changes the search range for the object based on the location information of the object received along with information indicating that the object has been detected. For example, the control unit 24 narrows the predetermined search range centered on the location where the object was detected. Then, the process proceeds to step S70.

[0072] The determination unit 34 re-determines the imaging device 12 that will search for the target object (step S70). Specifically, the determination unit 34 re-determines the imaging device 12 that will search for the target object in accordance with the change in the search range. For example, the determination unit 34 determines the imaging device 12 that will search for the target object from among a plurality of imaging devices 12 located within the changed search range. Then, the process proceeds to step S71.

[0073] The processes in steps S71 and S72 are the same as steps S15 and S16 shown in Figure 5, respectively, so their explanation will be omitted.

[0074] As described above, in the third embodiment, when an object such as a person is detected, the search range is changed, and the imaging device 12 that searches for the object is dynamically changed based on the changed search range. This allows the third embodiment to determine which imaging device 12 will search for the object in order to track it.

[0075] [Fourth Embodiment] A fourth embodiment will now be described. In the fourth embodiment, when there are multiple objects to be searched, the search targets for each of the multiple imaging devices 12 are determined in such a way that the processing load on each of the multiple imaging devices 12 is reduced.

[0076] (Processing details of the information processing device) An example of the configuration of the information processing device according to the fourth embodiment will be explained using Figure 10. Figure 10 is a flowchart showing the processing content of the information processing device according to the fourth embodiment.

[0077] The processes from step S80 to step S82 are the same as the processes from step S10 to step S12 shown in Figure 5, so their explanation will be omitted.

[0078] The identification unit 32 determines whether or not there are multiple objects (step S84). If it is determined that there are multiple objects (step S84; Yes), the process proceeds to step S86. If it is not determined that there are multiple objects (step S84; No), the process proceeds to step S90.

[0079] The process in step S86 is generally the same as the process in step S14 shown in Figure 5, but the decision unit 34 may decide that all of the candidate group of imaging devices 12 extracted in step S86 are to be used as imaging devices 12 to search for the target object. In other words, all imaging devices 12 located within a predetermined search range may be decided as imaging devices 12 to search for the target object.

[0080] The determination unit 34 sets the target object to be searched for for each imaging device 12 (step S88). For example, the determination unit 34 sets the objects to be searched for by the imaging devices 12 so that the imaging devices 12 that search for each of the multiple objects are distributed within the search range. For example, the determination unit 34 sets the number of imaging devices 12 that search for each of the multiple objects to be uniform within the search range.

[0081] For example, the determination unit 34 sets only one target object to be searched for for each imaging device 12 that is to be used to search for an object within the search range. For example, the determination unit 34 may set two or three target objects to be searched for, as long as the processing load on the imaging device 12 does not become too high. In other words, the determination unit 34 may change the number of objects to be set as targets to be searched for depending on the processing capacity of the imaging device 12.

[0082] Using Figure 11, a method for setting an object in the imaging device according to the fourth embodiment will be explained. Figure 11 is a diagram illustrating a method for setting an object in the imaging device according to the fourth embodiment. In Figure 11, a method for setting three objects, object A, object B, and object C, as objects in each imaging device will be explained.

[0083] Figure 11 shows six vehicles: Vehicle 2-1, Vehicle 2-2, Vehicle 2-3, Vehicle 2-4, Vehicle 2-5, and Vehicle 2-6. Vehicles 2-1 through 2-6 are located within the search range. Vehicle 2-1 is equipped with imaging device 12-1. Vehicle 2-2 is equipped with imaging device 12-2. Vehicle 2-3 is equipped with imaging device 12-3. Vehicle 2-4 is equipped with imaging device 12-4. Vehicle 2-5 is equipped with imaging device 12-5. Vehicle 2-6 is equipped with imaging device 12-6.

[0084] The determination unit 34 sets the target of imaging device 12-1 to object A, for example. The determination unit 34 sets the target of imaging device 12-2 to object B, for example. The determination unit 34 sets the target of imaging device 12-3 to object C, for example. The determination unit 34 sets the target of imaging device 12-4 to object A, for example. The determination unit 34 sets the target of imaging device 12-5 to object B, for example. The determination unit 34 sets the target of imaging device 12-6 to object C, for example.

[0085] In other words, if there are multiple objects, the determination unit 34 sets only one of the objects A to object C as the search target for each of the imaging devices 12-1 to 12-6, such that the number of imaging devices 12 searching for object A to object C is distributed evenly. In this case, as shown in Figure 11, the determination unit 34 may set the search targets for each of the imaging devices 12-1 to 12-6 so that the number of imaging devices 12 searching for object A to object C is uniform.

[0086] The determination unit 34 may change the number of objects to be set as search targets according to the processing capacity of each of the imaging devices 12-1 to 12-6. For example, for imaging device 12, which has high processing capacity, the determination unit 34 may set two or three of objects A, B, and C as search targets.

[0087] The determination unit 34 may change the method of setting the search targets according to the density of vehicles 2-1 to 2-6. For example, if the distance between vehicles 2-1 to 2-6 is 500m or more, the determination unit 34 may set all of the targets A, B, and C for each of the imaging devices 12-1 to 12-6 as search targets in order to avoid missing any search targets. Also, if there are few vehicles per unit area, for example, if each of vehicles 2-1 to 2-6 is located in a place where there are no more than a certain number of vehicles per 1km square meter, the determination unit 34 may set all of the targets A, B, and C for each of the imaging devices 12-1 to 12-6 as search targets.

[0088] Furthermore, the determination unit 34 may divide the search range into any number of equal regions and determine which imaging devices 12 to search for objects in each region such that the number of imaging devices 12 to search for multiple objects is equal. Figure 12 is a diagram illustrating a first method for determining which imaging devices 12 to search for objects according to the fourth embodiment. In the example shown in Figure 12, similar to Figure 6, the vehicle 2 shown in darker colors is equipped with an imaging device 12 to search for objects, and the vehicle 2 shown in lighter colors is equipped with an imaging device 12 that does not search for objects. The bubbles attached to the vehicles 2 indicate the objects to be searched. That is, in the example shown in Figure 12, there is one imaging device 12 each in the search ranges 4-1 to 4-4, which is used to search for object A, object B, and object C.

[0089] Figure 13 is a diagram illustrating a second method for determining the imaging devices 12 that will search for an object according to the fourth embodiment. In the example shown in Figure 13, in step S86 shown in Figure 10, all imaging devices 12 mounted on the vehicle 2 within the search range 4 are determined to be imaging devices 12 that will search for an object. The nozzle attached to the vehicle 2 indicates the object to be searched, as in Figure 12. That is, in the example shown in Figure 13, there are two imaging devices 12 each located in the search ranges 4-1 to 4-4, which will search for object A, object B, and object C.

[0090] The processes from step S90 to step S92 are the same as the processes from step S14 to step S16 shown in Figure 5, so their explanation will be omitted.

[0091] As described above, in the fourth embodiment, when there are multiple objects to be searched, the search targets are distributed and set across multiple imaging devices 12. As a result, even when there are multiple objects to be searched, in the fourth embodiment, each imaging device 12 only needs to search for fewer objects than the set number of search targets, thus reducing the processing load of each imaging device 12 and the overall processing load of the search system 1.

[0092] [Fifth Embodiment] A fifth embodiment will now be described. In the fifth embodiment, when there are multiple objects to be searched, the search target for each of the multiple imaging devices 12 is determined in a manner that reduces the processing load on each of the multiple imaging devices 12, taking into consideration the direction of travel of each of the multiple imaging devices 12.

[0093] (Processing details of the information processing device) The processing content of the information processing device according to the fifth embodiment will be explained using Figure 14. Figure 14 is a flowchart showing the processing content of the information processing device according to the fifth embodiment.

[0094] The processes from step S100 to step S106 are the same as the processes from step S80 to step S86 shown in Figure 10, so their explanation will be omitted.

[0095] The determination unit 34 determines the direction of travel of the imaging device 12 (step S108). Specifically, the determination unit 34 determines the direction of travel of each of the multiple imaging devices 12 based on the changes in the position information of each of the multiple imaging devices 12 acquired by the position information acquisition unit 60. Then, the process proceeds to step S110.

[0096] The determination unit 34 sets the target object to be searched for each imaging device 12 according to the direction of travel of the imaging device 12 (step S110). Specifically, the determination unit 34 sets the same target object as the search target for imaging devices 12 that are traveling in the same direction among a plurality of imaging devices 12. By setting the same target object as the search target for imaging devices 12 that are traveling in the same direction, the accuracy of object search can be improved. The determination unit 34 may also set the same target object as the search target for imaging devices 12 that are traveling in opposite directions among a plurality of imaging devices 12. By setting the same target object as the search target for imaging devices 12 traveling in opposite directions, the search range for objects can be expanded.

[0097] The processes from step S112 to step S114 are the same as the processes from step S14 to step S16 shown in Figure 5, so their explanation will be omitted.

[0098] As described above, the fifth embodiment sets the object to be searched according to the direction of travel of the imaging device 12. This enables the fifth embodiment to appropriately search for the object.

[0099] [Sixth Embodiment] A sixth embodiment will now be described. In the sixth embodiment, the imaging device determines which target object to search for based on the search information from the information processing device.

[0100] (Information processing device) An example configuration of the information processing device according to the sixth embodiment will be described using Figure 15. Figure 15 is a diagram illustrating an example configuration of the information processing device according to the sixth embodiment.

[0101] The information processing device 10A shown in Figure 15 differs from the information processing device 10 shown in Figure 3 in that it does not have a determination unit 34. The control unit 24A of the information processing device 10A differs from the information processing device 10 shown in Figure 3 in that it does not have a location information acquisition unit 30 but has a search information update unit 38. Below, only the parts that differ from the information processing device 10 will be explained.

[0102] The search information update unit 38 updates the search information based on the search information received from the imaging device 12 via the communication unit 20. The search information update unit 38 also transmits the current search information to the imaging device 12 via the communication unit 20. Here, the search information includes, for example, object information relating to the object to be searched identified by the identification unit 32, and information on the locations of multiple imaging devices 12 that are searching for the object. There may be one object or multiple objects. The search information may also include information on the search range of the object.

[0103] (Imaging device) An example of the configuration of the imaging device according to the sixth embodiment will be described using Figure 16. Figure 16 is a block diagram showing an example of the configuration of the imaging device according to the sixth embodiment.

[0104] The control unit 54A of the imaging device 12A shown in Figure 16 differs from the imaging device 12 shown in Figure 4 in that it does not have an object information acquisition unit 62, but instead has a search information acquisition unit 70 and a determination unit 72. Below, only the parts that differ from the imaging device 12 will be explained.

[0105] The search information acquisition unit 70 acquires search information, which is information related to the search, from the information processing device 10A via the communication unit 50.

[0106] The decision unit 72 determines whether or not to search for an object based on the search information obtained from the information processing device 10A, and if the search information includes multiple objects, it determines which object to search for. Based on the position information of each of the multiple imaging devices 12A included in the search information, the decision unit 72 determines which imaging device 12 will search for the object. The specific process by which the decision unit 72 determines the object is the same as that of the decision unit 34 of the information processing device 10 shown in Figure 5, so the explanation is omitted.

[0107] (Processing details of the information processing device) The processing content of the information processing apparatus according to the sixth embodiment will be explained using Figure 17. Figure 17 is a flowchart showing the processing content of the information processing apparatus according to the sixth embodiment.

[0108] The processes in steps S120 and S122 are the same as those in steps S10 and S11 shown in Figure 5, so their explanation will be omitted.

[0109] The search information update unit 38 transmits the search information to the imaging device 12A via the communication unit 20 (step S124). For example, the search information update unit 38 transmits the search information only to imaging devices located within the search range included in the search information. The search information update unit 38 then checks whether or not it has acquired the determined object and location information from the imaging device (step S126). If information has been acquired from the imaging device (step S126; Yes), the process proceeds to step S128. If information has not been acquired from the imaging device 12A (step S126; No), step S126 is repeated.

[0110] The search information update unit 38 updates the search information based on the determined object and location information acquired from the imaging device 12A (step S128). Specifically, the search information update unit 38 adds information about the imaging device 12A that is searching for the object to the search information. The process in step S130 is the same as the process in step S16 shown in Figure 5, so the explanation is omitted.

[0111] (Processing details of the terminal device) The processing details of the imaging device according to the sixth embodiment will be explained using Figure 18. Figure 18 is a flowchart showing the processing details of the imaging device according to the sixth embodiment.

[0112] The search information acquisition unit 70 acquires search information from the information processing device 10A via the communication unit 50 (step S140). Then, the process proceeds to step S142.

[0113] The decision unit 72 determines whether or not to search for the object included in the search information (step S142). For example, the decision unit 72 determines whether or not to search for the object based on whether the imaging device 12A and the multiple imaging devices 12A included in the search information are dispersed within a predetermined range. For example, if there are multiple objects, the decision unit 72 determines which of the multiple objects to search based on whether the imaging device 12A and the multiple imaging devices included in the search information are dispersed.

[0114] Here, the decision unit 72 may acquire route information from a navigation device (not shown) of the vehicle 2 on which the imaging device 12A is mounted, and decide whether or not to search for an object based on the route information. For example, if the route information is a route that goes outside the search range included in the search information, the decision unit decides not to search for an object. In other words, it decides whether or not to search for an object based on the direction of travel of the imaging device 12A. The decision unit 72 may also decide whether or not to search for an object depending on the processing capacity of the control unit 54A of the imaging device 12A. For example, if the processing capacity of the control unit 54A is high, the decision unit 72 decides to search for a larger number of objects. If the processing capacity of the control unit 54A is low, it decides to search for a smaller number of objects, or not to search for any objects at all. This makes it possible to set a more appropriate processing load for the imaging device 12A. Then, the process proceeds to step S144.

[0115] The determination unit 72 transmits the information of the determined object and the current location information of the vehicle 2 to the information processing device 10A via the communication unit 50 (step S144). The information of the determined object here also includes information for cases where there is no determined object, that is, when no object is searched for. If no object is searched for at this point, the flow in Figure 18 may be terminated. Then, the process proceeds to step S146.

[0116] The processes from steps S146 to S154 are the same as those from steps S22 to S30 shown in Figure 7, so their explanation will be omitted.

[0117] As described above, in the sixth embodiment, the imaging device determines which target object to search for based on search information from the information processing device. This allows the sixth embodiment to optimize the processing load of the imaging device.

[0118] Each component of the illustrated device is a functional concept and does not necessarily have to be physically configured as shown. In other words, the specific forms of distribution and integration of each device are not limited to those shown, and all or part of them can be functionally or physically distributed and integrated in any unit according to various loads and usage conditions. Furthermore, this distribution and integration configuration may be performed dynamically.

[0119] Although embodiments of the present invention have been described above, the present invention is not limited by the content of these embodiments. Furthermore, the aforementioned components include those that can be easily conceived by those skilled in the art, those that are substantially the same, and those that fall within the so-called equivalent range. Moreover, the aforementioned components can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the components can be made without departing from the gist of the embodiments described above.

[0120] This disclosure includes matters that contribute to the realization of the SDG (Sustainable Development Goal) "Build resilient infrastructure, promote inclusive and sustainable industrialization and foster innovation," and contribute to value creation through IoT solutions. [Explanation of symbols]

[0121] 1. Search System 10,10A Information Processing Device 12,12A Imaging device 20,50 Communications Department 22,48 Storage part 24, 24A, 54, 54A Control Unit 30,60 Location information acquisition part 32 Specific part 34,72 Decision Section 36,68 Communication Control Unit 38 Search information update section 40 Input section 42 Imaging Department 44 Display section 46 Audio output section 52 GNSS receiver 62 Object Information Acquisition Unit 64 Imaging Control Unit 66 Detection unit 70 Search information acquisition unit

Claims

1. An imaging device used in a moving object, Imaging unit, A search information acquisition unit acquires search information from an information processing device, including information about the object to be searched and position information of an imaging device used in another mobile device that is searching for the object. Based on the search information, a determination unit determines whether or not to search for the object so that the number of imaging devices searching for the object is equal in each of the regions into which a predetermined range is divided equally, A detection unit that detects the object that the determination unit has decided to search for from the image acquired by the imaging unit, An imaging device equipped with the following features.

2. The determination unit determines whether or not to search for the object based on the direction of travel of the imaging device. The imaging apparatus according to claim 1.

3. The determination unit determines whether or not to search for the object in each region obtained by dividing the predetermined range into search ranges of different sizes based on the number of imaging devices per unit area, such that the number of imaging devices that search for the object is equal in each region. The imaging apparatus according to claim 1.

4. An imaging device used in a moving object, Imaging unit, A search information acquisition unit acquires search information from an information processing device, including information about the object to be searched and position information of an imaging device used in another mobile device that is searching for the object. Based on the search information, if there are multiple objects, a determination unit determines which of the multiple objects to search based on whether the imaging device and the imaging device used in the other mobile body are dispersed, A detection unit that detects the object that the determination unit has decided to search for from the image acquired by the imaging unit, An imaging device equipped with the following features.

5. The steps include obtaining search information from an information processing device, which includes information about the object to be searched and location information of an imaging device used in another mobile device that is searching for the object, Based on the search information, the step of determining whether or not to search for the object so that the number of imaging devices searching for the object is equal in each of the regions into which a predetermined range is divided equally, The steps include detecting the object determined to be searched from the image acquired by the self-imaging unit, Information processing methods, including those mentioned above.

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