Camera for controlling logistics using multi-channel sensor and camera control method

Abstract

The present invention provides a camera comprising: a first channel sensor which is provided vertically on a movement path of an object and captures an upper surface of the object on the basis of a variable focal length; a second channel sensor which is provided horizontally on the movement path of the object and captures a side surface of the object; and a processor which recognizes height information of the object on the basis of a side surface image of the object obtained from the second channel sensor and adjusts the focal length of the first channel sensor on the basis of the height information of the object.

Description

Cameras and camera control methods for controlling logistics using multi-channel sensors

[0001] Embodiments of the present invention relate to a camera and a camera control method for controlling logistics using a multi-channel sensor.

[0002] Users can obtain information about an item to monitor its distribution process within a logistics system. For example, the information may include barcode information. Liquid lenses are sometimes used to obtain this information, but these lenses require an adjustable focal length.

[0003] The present invention aims to address various issues, including those described above, by providing a camera and camera control method for monitoring logistics using multi-channel sensors. However, these tasks are exemplary and do not limit the scope of the present invention.

[0004] According to one aspect of the present invention, a camera is provided, including a first channel sensor provided in a vertical direction to a path along which an object moves and photographing an upper surface of the object based on a variable focal length, a second channel sensor provided in a horizontal direction to a path along which the object moves and photographing a side surface of the object, and a processor that recognizes height information of the object based on a side image of the object acquired from the second channel sensor and adjusts the focal length of the first channel sensor based on the height information of the object.

[0005] The first channel sensor can capture a barcode attached to the upper surface of an object based on a focal length adjusted based on the starting point of the angle of view of the first channel sensor.

[0006] The second channel sensor can capture a side image of an object by dividing the image into a plurality of levels with preset intervals based on the height from the bottom surface of the object at the starting point of the angle of view of the first channel sensor to the first channel sensor.

[0007] The second channel sensor can generate a virtual grid line indicating the height of the object based on the bottom surface of the object at the starting point of the field of view of the first channel sensor based on the plurality of levels.

[0008] The processor can recognize height information of an object based on the plurality of levels and the virtual grid lines, calculate a distance from the first channel sensor to the object based on the height information of the object, and adjust the focal length of the first channel sensor based on the distance from the first channel sensor to the object.

[0009] The first channel sensor includes a liquid lens,

[0010] The processor can adjust the focal length of the first channel sensor based on a preset lookup table indicating height information of an object corresponding to each focal length of the first channel sensor.

[0011] According to one aspect of the present invention, a camera control method is provided, including the steps of: photographing a side surface of an object using a second channel sensor provided in a horizontal direction along a path along which the object moves and photographing a side surface of the object; recognizing height information of the object based on a side image of the object acquired from the second channel sensor and adjusting a focal length of the first channel sensor based on the height information of the object; and photographing an upper surface of the object using a first channel sensor provided in a vertical direction along a path along which the object moves and photographing an upper surface of the object based on a variable focal length.

[0012] The step of photographing the upper surface of the object may include a step of photographing a barcode attached to the upper surface of the object based on a focal length adjusted based on a starting point of the angle of view of the first channel sensor.

[0013] The step of photographing the side of the object may include a step of dividing the side image of the object into a plurality of levels having preset intervals based on the height from the bottom surface of the object at the starting point of the angle of view of the first channel sensor to the first channel sensor.

[0014] The step of photographing the side of the object may include a step of generating a virtual grid line representing the height of the object based on the bottom surface of the object at the starting point of the angle of view of the first channel sensor based on the plurality of levels.

[0015] The step of adjusting the focal length may include a step of recognizing height information of an object based on the plurality of levels and the virtual grid lines, a step of calculating a distance from the first channel sensor to the object based on the height information of the object, and a step of adjusting the focal length of the first channel sensor based on the distance from the first channel sensor to the object.

[0016] The first channel sensor includes a liquid lens,

[0017] The step of adjusting the focal length may include a step of adjusting the focal length of the first channel sensor based on a preset lookup table indicating height information of an object corresponding to each focal length of the first channel sensor.

[0018] According to one aspect of the present invention, a computer program stored in a recording medium is provided to execute the above-described method using a computer.

[0019] Other aspects, features and advantages other than those described above will become apparent from the following detailed description, claims and drawings for carrying out the invention.

[0020] According to one embodiment of the present invention, as described above, a camera and camera control method for effectively monitoring logistics using multi-channel sensors can be implemented. Of course, the scope of the present invention is not limited by these effects.

[0021] FIG. 1 and FIG. 2 are drawings for explaining the configuration and operation of a camera provided in a logistics control system according to one embodiment of the present invention.

[0022] FIG. 3 is a flowchart showing a camera control method according to one embodiment of the present invention.

[0023] FIG. 4 is a drawing for explaining a camera control method according to one embodiment of the present invention.

[0024] FIG. 5 is a drawing for explaining a camera control method according to another embodiment of the present invention.

[0025] FIG. 6 and FIG. 7 are drawings for explaining a camera control method according to another embodiment of the present invention.

[0026] The present invention is capable of various modifications and embodiments. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention, as well as the methods for achieving them, will become clearer with reference to the embodiments described in detail below, along with the drawings. However, the present invention is not limited to the embodiments disclosed below and can be implemented in various forms.

[0027] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. When describing with reference to the drawings, identical or corresponding components are given the same reference numerals and redundant descriptions thereof will be omitted.

[0028] In the following examples, terms such as "first" and "second" are not used in a limiting sense, but rather to distinguish one component from another. Furthermore, singular expressions include plural expressions unless the context clearly dictates otherwise. Furthermore, terms such as "include" and "have" imply the presence of features or components described in the specification, but do not exclude the possibility that one or more other features or components may be added.

[0029] For convenience of explanation, the sizes of components in the drawings may be exaggerated or reduced. For example, the sizes and thicknesses of each component shown in the drawings are arbitrarily indicated for convenience of explanation, and thus the present invention is not necessarily limited to what is shown.

[0030] In the following embodiments, when a part such as an area, component, sub-part, block or module is said to be on or above another part, this includes not only the case where it is directly on top of the other part, but also the case where another area, component, sub-part, block or module is interposed therebetween. And when it is said that an area, component, sub-part, block or module is connected, this includes not only the case where the areas, components, sub-parts, blocks or modules are directly connected, but also the case where another area, component, sub-part, block or module is interposed therebetween and is indirectly connected therebetween.

[0031] Hereinafter, various embodiments of the present invention will be described in detail with reference to the attached drawings so that a person having ordinary skill in the art to which the present invention pertains can easily practice the present invention.

[0032] FIG. 1 and FIG. 2 are drawings for explaining the configuration and operation of a camera provided in a logistics control system according to one embodiment of the present invention.

[0033] Referring to FIG. 1, a camera (100) according to one embodiment of the present invention may include a first channel sensor (111) and a second channel sensor (112). However, the present invention is not limited thereto, and the logistics control system may further include other components, or some components may be omitted. Some components of the logistics control system may be separated into multiple devices, or multiple components may be combined into a single device.

[0034] The camera (100) may have multiple channels. For example, as illustrated in FIG. 1, the camera (100) may include a first channel sensor (111) that is integrally provided in the main body of the camera (100). In addition, the camera (100) may include a second channel sensor (112) that is connected to the main body of the camera (100) via an extension cable. For example, the second channel sensor (112) may be a pinhole camera. Although only one first channel sensor (111) and one second channel sensor (112) are illustrated in FIG. 1, the camera (100) according to an embodiment of the present invention may have a plurality of first channel sensors (111) and / or a plurality of second channel sensors (112).

[0035] According to one embodiment of the present invention, the first channel sensor (111) may be a sensor that includes two sensors, a color sensor and a mono sensor, integrated into a single body and mounted on a camera (100). For example, the mono sensor can acquire barcode information of an item attached to the item. Additionally, the color sensor can acquire image information about the item.

[0036] Additionally, the color sensor and the mono sensor can be synchronized in their capture times. For example, the time when the mono sensor recognizes an item's barcode and the time when the color sensor captures an image of the same item can be synchronized. This allows the logistics control system according to the present invention to count items based on both image and barcode information, rather than just barcode information.

[0037] The first channel sensor (111) is installed in a direction perpendicular to the path (30) along which the object moves and can capture the upper surface of the object based on a variable focal length. For example, the first channel sensor (111) can capture a barcode attached to the upper surface of the object based on a focal length adjusted based on the starting point of the angle of view (50) of the first channel sensor.

[0038] The second channel sensor (112) can be installed horizontally along the path (30) along which the object moves to capture the side of the object. For example, the second channel sensor (112) can be installed at a position a preset distance away from the starting point of the angle of view (50) of the first channel sensor to measure the height of the object at the time when the first channel sensor (111) captures the object within the angle of view (50) of the first channel sensor. For example, the first channel sensor (111) can capture the object based on the starting point of the angle of view (50) of the first channel sensor. However, the present invention is not limited thereto, and the shooting time point of the first channel sensor (111) and the installation position of the second channel sensor (112) can be adjusted.

[0039] Referring to FIGS. 1 and 2 together, a camera (100) according to one embodiment of the present invention may include a sensor unit (110), a communication unit (120), a user interface unit (130), a memory (140), and a processor (150).

[0040] The sensor unit (110) may include a first channel sensor (111), a second channel sensor (112), and an n-th channel sensor (113).

[0041] The processor (150) can recognize height information of an object based on a side image of the object obtained from the second channel sensor (112), and adjust the focal length of the first channel sensor (111) based on the height information of the object.

[0042] For example, the processor (150) can recognize height information of an object based on a plurality of levels and virtual grid lines, calculate a distance from the first channel sensor (111) to the object based on the height information of the object, and adjust the focal length of the first channel sensor (111) based on the distance from the first channel sensor (111) to the object.

[0043] The first channel sensor (111) according to one embodiment of the present invention may include a liquid lens. For example, if the first channel sensor (111) represents a sensor in which two sensors, a color sensor and a mono sensor, are integrated into a single body and provided in a camera (100), the first channel sensor (111) may be provided with a mono sensor and a liquid lens, or the first channel sensor (111) may be provided with a color sensor and a liquid lens.

[0044] A liquid lens is a plastic pouch-shaped lens filled with a liquid substance. By sending a driving signal (current or voltage) to change the shape (curvature) of the liquid lens, the focal length can be adjusted. Liquid lenses offer the advantage of reducing the number of lenses and the size of the lens module. Furthermore, they allow for rapid focusing to the desired focal length.

[0045] The second channel sensor (112) according to one embodiment of the present invention may be a head-separated IP camera (e.g., a pinhole camera). For example, the second channel sensor (112) may measure the height of an object placed on a conveyor in a logistics system using image information.

[0046] For example, the processor (150) can adjust the focal length of the first channel sensor (111) based on a preset lookup table that indicates height information of an object corresponding to each focal length of the first channel sensor (111).

[0047] The communication unit (120) may provide a function for communicating with an external device via a network. For example, a request generated by the processor (150) according to a program code stored in a recording device such as a memory (140) may be transmitted to an external device via a network under the control of the communication unit (120). Conversely, control signals, commands, content, files, etc. provided from an external device may be received by the processor (150) via the communication unit (120) via a network. For example, control signals or commands from an external device received via the communication unit (120) may be transmitted to the processor (150) or the memory (140).

[0048] The communication method is not limited, and may include not only a communication method that utilizes a communication network that the network may include (e.g., a mobile communication network, a wired Internet, a wireless Internet, a broadcasting network), but also short-range wireless communication between devices. For example, the network may include any one or more of a personal area network (PAN), a local area network (LAN), a campus area network (CAN), a metropolitan area network (MAN), a wide area network (WAN), a broadband network (BBN), and the Internet. In addition, the network may include any one or more of a network topology including, but not limited to, a bus network, a star network, a ring network, a mesh network, a star-bus network, a tree, or a hierarchical network.

[0049] Additionally, the communication unit (120) can communicate with an external server via a network. The communication method is not limited, but the network may be a short-range wireless communication network. For example, the network may be a Bluetooth, BLE (Bluetooth Low Energy), or Wi-Fi communication network.

[0050] In addition, the camera (100) according to the present invention may include a user interface unit (130). The user interface unit (130) may be a means for interfacing with an input / output device. For example, the input device may include a device such as a keyboard or a mouse, and the output device may include a device such as a display for displaying a communication session of an application. As another example, the user interface unit (130) may be a means for interfacing with a device that integrates input and output functions, such as a touch screen. As a more specific example, the processor (150) may process commands of a computer program loaded in the memory (140), and a service screen or content configured using data provided by an external device may be displayed on the display through the user interface unit (130).

[0051] The memory (140) is a computer-readable recording medium and may include a non-volatile memory (permanent mass storage device) such as a random access memory (RAM), a read-only memory (ROM), and a disk drive. In addition, a program code for controlling a logistics control system may be temporarily or permanently stored in the memory (140).

[0052] The specific operation of the camera (100) that controls logistics using the multi-channel sensor below will be described with reference to the flow chart of the camera control method of FIG. 3.

[0053] FIG. 3 is a flowchart showing a camera control method according to one embodiment of the present invention.

[0054] Referring to FIG. 3, in step S110, a camera (100) according to one embodiment of the present invention can capture the side of an object by using a second channel sensor that is provided in a horizontal direction along the path along which the object moves and captures the side of the object.

[0055] A camera (100) according to one embodiment of the present invention can capture a side image of an object by dividing the image into a plurality of levels having preset intervals based on the height from the bottom surface of the object to the first channel sensor at the starting point of the angle of view of the first channel sensor.

[0056] A camera (100) according to one embodiment of the present invention can generate a virtual grid line indicating the height of an object based on the bottom surface of the object at the starting point of the field of view of the first channel sensor based on a plurality of levels.

[0057] In step S120, the camera (100) according to one embodiment of the present invention can recognize height information of the object based on a side image of the object obtained from the second channel sensor, and adjust the focal length of the first channel sensor based on the height information of the object.

[0058] According to one embodiment of the present invention, a camera (100) can recognize height information of an object based on multiple levels and virtual grid lines. Furthermore, the camera (100) can calculate the distance from a first channel sensor to the object based on the height information of the object. Furthermore, the camera (100) can adjust the focal length of the first channel sensor based on the distance from the first channel sensor to the object.

[0059] A camera (100) according to one embodiment of the present invention can adjust the focal length of the first channel sensor based on a preset lookup table indicating height information of an object corresponding to each focal length of the first channel sensor.

[0060] In step S130, a camera (100) according to one embodiment of the present invention can capture the upper surface of an object using a first channel sensor that is provided in a direction perpendicular to the path along which the object moves and captures the upper surface of the object based on a variable focal length.

[0061] A camera (100) according to one embodiment of the present invention can capture a barcode attached to the upper surface of an object based on a focal length adjusted based on the starting point of the angle of view of the first channel sensor.

[0062] FIG. 4 is a drawing for explaining a camera control method according to one embodiment of the present invention.

[0063] Referring to FIG. 4, an example screen from the viewpoint of the second channel sensor (112) according to one embodiment of the present invention is illustrated.

[0064] For example, the second channel sensor (112) can divide the side image of the object into a plurality of levels with preset intervals based on the height from the bottom surface of the object to the first channel sensor (111) at the starting point of the field of view (50) of the first channel sensor and capture the image.

[0065] For example, the second channel sensor (112) can generate a virtual grid line representing the height of an object based on the bottom surface of the object at the starting point of the field of view (50) of the first channel sensor based on a plurality of levels.

[0066] The starting point of the field of view (50) of the first channel sensor may indicate the starting point of the object in the direction in which the object enters the field of view (50) of the first channel sensor. In this case, the height of the object may be leveled based on the starting point, and the focal length of the liquid lens may be adjusted based on the leveled height of the object. However, the starting point is not limited to the starting point of the field of view because a delay time (image or lens driving, algorithm processing, etc.) may occur.

[0067] For example, as illustrated in FIG. 4, a plurality of levels from 0 to n may be set in the height direction of the object based on the bottom surface of the object on the conveyor belt, based on the starting point of the field of view (50) of the first channel sensor, on the example screen from the viewpoint of the second channel sensor (112). For example, the intervals of the plurality of levels may be adjusted according to the lens characteristics of the first channel sensor. Here, the first line (60) representing the plurality of levels may represent a virtual line shown on the example screen from the viewpoint of the second channel sensor (112).

[0068] For example, the second channel sensor (112) can sequentially measure height information of each object along the path (30) along which the object moves on the conveyor belt. For example, as illustrated in FIG. 4, the second channel sensor (112) can generate a second line (80) indicating the height of the object based on the bottom surface of the object on the conveyor belt, based on the starting point (55) of the field of view (50) of the first channel sensor.

[0069] A camera (100) according to one embodiment of the present invention can measure height information of each object based on the first line (60) and the second line (80). In addition, the camera (100) can adjust the focal length of the first channel sensor (111) based on a lookup table preset based on the spacing of the first line (60) and the focal length of the first channel sensor (111). For example, a liquid lens can have its focal length adjusted based on a voltage value corresponding to the focal length. For example, a lookup table according to the present invention can include data representing a voltage value according to height information of an object.

[0070] FIG. 5 is a drawing for explaining a camera control method according to another embodiment of the present invention.

[0071] Referring to FIG. 5, in step S210, the camera (100) according to one embodiment of the present invention can measure the height of an object based on the starting point of the angle of view (50) of the first channel sensor and adjust the focal length of the first channel sensor based on the height information of the object.

[0072] In step S220, the camera (100) according to one embodiment of the present invention can recognize an object by photographing the object based on the starting point of the angle of view (50) of the first channel sensor based on the adjusted focal length. In this case, the first channel sensor can photograph the upper surface of the object and recognize barcode information attached to the upper surface of the object.

[0073] In step S230, when the camera (100) recognizes an object in step S220, the camera (100) according to one embodiment of the present invention can adjust the focal length of the first channel sensor according to the height of the object.

[0074] In step S240, if the camera (100) does not recognize an object in step S220, the camera (100) according to one embodiment of the present invention may determine that there is no object and maintain the previous focal length of the first channel sensor.

[0075] The present invention describes a method for acquiring height information for controlling a liquid lens. The invention relates to a method for controlling lens focus through height, and is not limited to a liquid lens. For example, the invention can also be applied to a step motor lens that adjusts a short focal length. Furthermore, the present invention is not limited to lens control through the acquired height information. For example, the acquired height information can be used for various functions, such as classifying cargo by size or type, through height information.

[0076] In the present invention, when the second channel sensor has one channel, it can be used in a lens focus control method using height information, and depending on the installation environment, width and depth information can also be acquired.

[0077] In the present invention, when the second channel sensor is used with two or more channels, it is possible to obtain width x depth x height information (e.g., volume information of the object) of an object (cargo information in the case of a BCR camera), and at this time, data can be obtained by combining the barcode information of the object (cargo with invoice information) and the volume information with the lens focus control using the height. For example, referring to FIGS. 1 and 6, a camera according to an embodiment of the present invention may include a plurality of channel sensors. For example, the camera may include a first channel sensor (111), a second channel sensor (112), and a third channel sensor (113). For example, the third channel sensor may include a plurality of sensors (113, 114). For example, the plurality of sensors (113, 114) may be arranged perpendicular to each other.

[0078] For example, the first channel sensor (111) may be a sensor that is installed in a vertical direction along the path of an object and recognizes a barcode by photographing the upper surface of the object based on a variable focal length. In addition, the second channel sensor (112) may be a sensor that is installed in a horizontal direction along the path of an object and photographs the side surface of the object to provide height information of the object. In addition, the third channel sensor (113) may be a sensor that is installed in a vertical direction along the path of an object and photographs the upper surface of the object based on height information of the object to provide area information of the upper surface of the object.

[0079] For example, referring to FIG. 7, in step S310, the processor (150) can obtain height information of the object based on the side image of the object obtained from the second channel sensor (112).

[0080] Next, in step S320, the processor (150) can obtain area information of the upper surface of the object based on the upper surface image of the object and the height information of the object obtained from the third channel sensor (113). In addition, the processor (150) can obtain volume information of the object based on the height information of the object and the area information of the upper surface of the object. For example, the processor (150) can obtain volume information of the object using a preset lookup table that estimates area information of the upper surface of the object based on the height information of the object. For example, since the installation height of the third channel sensor (113) is a fixed value, the area information of the upper surface of the object may change depending on the height of the object.

[0081] In step S330, the processor (150) can adjust the focal length of the first channel sensor based on the height information of the object, and recognize a barcode attached to the upper surface of the object based on the adjusted focal length based on the starting point of the angle of view of the first channel sensor.

[0082] The devices and / or systems described above may be implemented as hardware components, software components, and / or a combination of hardware components and software components. The devices and components described in the embodiments may be implemented using one or more general-purpose computers or special-purpose computers, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing instructions and responding to them. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. In addition, the processing device may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device is sometimes described as being used alone; however, one of ordinary skill in the art will recognize that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing unit may include multiple processors, or a processor and a controller. Other processing configurations, such as parallel processors, are also possible.

[0083] Software may include computer programs, code, instructions, or a combination of one or more of these, which may configure a processing device to perform a desired operation or may independently or collectively command the processing device. Software and data may be stored on one or more computer-readable recording media.

[0084] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., alone or in combination. The program commands recorded on the medium may be those specially designed and configured for the embodiment or may be those known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs and flash memories. Examples of the program commands include not only machine language codes generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc. The above-mentioned hardware devices may be configured to operate as one or more software modules to perform the operations of the embodiment, and vice versa.

[0085] Although the embodiments described above have been described by way of limited examples and drawings, those skilled in the art will appreciate that various modifications and variations can be made based on the above teachings. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0086] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

Claims

1. A first channel sensor provided in a direction perpendicular to the path along which the object moves and photographing the upper surface of the object based on a variable focal length; A second channel sensor provided in the horizontal direction along the path of movement of the object to photograph the side of the object; and A processor that recognizes height information of an object based on a side image of the object obtained from the second channel sensor and adjusts the focal length of the first channel sensor based on the height information of the object; A camera, including:

2. In paragraph 1, The above first channel sensor is a camera that photographs a barcode attached to the upper surface of an object based on a focal length adjusted based on the starting point of the angle of view of the first channel sensor.

3. In paragraph 2, A camera in which the second channel sensor divides the side image of the object into a plurality of levels with preset intervals based on the height from the bottom surface of the object at the starting point of the angle of view of the first channel sensor to the first channel sensor.

4. In paragraph 3, A camera in which the second channel sensor generates a virtual grid line representing the height of the object based on the bottom surface of the object at the starting point of the field of view of the first channel sensor based on the plurality of levels.

5. In paragraph 4, A camera in which the processor recognizes height information of an object based on the plurality of levels and the virtual grid lines, calculates a distance from the first channel sensor to the object based on the height information of the object, and adjusts the focal length of the first channel sensor based on the distance from the first channel sensor to the object.

6. In paragraph 5, The first channel sensor includes a liquid lens, A camera wherein the processor adjusts the focal length of the first channel sensor based on a preset lookup table indicating height information of an object corresponding to each focal length of the first channel sensor.

7. In paragraph 1, It further includes a third channel sensor that is installed in a vertical direction along the path of movement of the object and photographs the upper surface of the object based on height information of the object. The above processor is a camera that obtains area information of the upper surface of the object based on the upper surface image of the object and height information of the object obtained from the third channel sensor, and obtains volume information of the object based on the height information and the area information.

8. In paragraph 7, The above processor is a camera that obtains volume information of an object using a preset lookup table that estimates the area information based on the height information.

9. A step of photographing the side of an object using a second channel sensor that is provided in a horizontal direction along the path along which the object moves and photographs the side of the object; A step of recognizing height information of an object based on a side image of the object acquired from the second channel sensor, and adjusting the focal length of the first channel sensor based on the height information of the object; and A step of photographing the upper surface of an object using a first channel sensor that is provided in a direction perpendicular to the path along which the object moves and photographs the upper surface of the object based on a variable focal length; A camera control method comprising:

10. In paragraph 9, A camera control method, wherein the step of photographing the upper surface of the object includes the step of photographing a barcode attached to the upper surface of the object based on a focal length adjusted based on the starting point of the angle of view of the first channel sensor.

11. In paragraph 10, A camera control method, wherein the step of photographing the side of the object includes the step of dividing the side image of the object into a plurality of levels having preset intervals based on the height from the bottom surface of the object at the starting point of the angle of view of the first channel sensor to the first channel sensor.

12. In paragraph 11, A camera control method, wherein the step of photographing the side of the object includes the step of generating a virtual grid line representing the height of the object based on the bottom surface of the object at the starting point of the angle of view of the first channel sensor based on the plurality of levels.

13. In paragraph 12, The step of adjusting the above focal length is: A step of recognizing height information of an object based on the plurality of levels and the virtual grid lines; A step of calculating a distance from the first channel sensor to the object based on height information of the object; and A camera control method comprising a step of adjusting the focal length of the first channel sensor based on a distance from the first channel sensor to an object.

14. In paragraph 13, The first channel sensor includes a liquid lens, A camera control method, wherein the step of adjusting the focal length includes the step of adjusting the focal length of the first channel sensor based on a preset lookup table indicating height information of an object corresponding to each focal length of the first channel sensor.

15. A computer program stored on a recording medium for executing the method of any one of claims 9 to 14 using a computing device.

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