KR102347806B1 - Image capturing system and method thereof - Google Patents

Abstract

An imaging system and method are disclosed. The imaging system and method according to an embodiment form different optical paths including the optical path changed by a predetermined mirror, and obtain a plurality of divided images detected from the object through different optical paths. .

Description

Image capturing system and method thereof

The present invention relates to an image capturing technique for widening an angle of view or increasing a camera viewpoint while maintaining a lens magnification of a camera in order to obtain higher resolution and image quality.

A camera for acquiring an image generally includes a lens and an image sensor. In order to photograph a moving object, a line scan camera or an area scan camera is used. For example, in order to photograph an article moving through a moving table such as a conveyor belt, after illuminating the article, the light reflected from the article is detected by a line scan camera or an area scan camera to generate image data. acquire

Image acquisition technology using a line scan camera or an area scan camera can be applied to automation of logistics, factory automation (FA), inspection processes, etc. depending on its purpose. Its application fields such as defect inspection are diverse.

However, when the camera needs to take pictures with a wide range or various shooting angles, multiple cameras must be installed. To install a single camera, you need a camera body and a lens, a cradle is also required, and a video server at the rear is also required to recognize or post-process it. If there is a camera with a higher frame rate than necessary, it will be more economical if it is used in a non-overlapping place using the remaining frames.

According to an embodiment, an image photographing system capable of photographing a plurality of divided images with a single camera and a method thereof are proposed.

An image capturing system according to an embodiment includes at least one mirror that changes an optical path through light reflection, and a plurality of divisions detected from an object through different optical paths, including an optical path that is changed by a predetermined mirror. and a camera that continuously acquires images.

The camera detects light reflected through the at least one first-side fixed mirror to obtain a first split image of one side of the first object, and the light directly incident on the camera or through the at least one second-side fixed mirror A second segmented image of the other side of the first object may be obtained by detecting the reflected light.

The camera acquires a first segmented image of the object by detecting light reflected through at least one fixed mirror, and detects light directly incident on the camera or light passing through at least one fixed mirror to obtain a second segmented image of the object may be obtained, and the objects may be the same or different from each other.

The camera may adjust the angle of view and focal length by changing the light path by reflection through the at least one fixed mirror.

The at least one mirror includes: a first fixed mirror including a first fixed mirror inclined in a first direction in front of the camera; and a third fixed mirror having a reflection angle of the mirror surface toward the first fixed mirror; and a second fixed mirror inclined in the second direction and disposed side by side, and a fourth fixed mirror disposed at a position symmetrical to the third fixed mirror with respect to the camera and the reflection angle of the mirror surface toward the second fixed mirror It may include a second side fixed mirror.

The at least one mirror includes a rotating mirror, and the camera detects light reflected when the rotating mirror is rotated when it is reflected on a mirror surface of the rotating mirror to obtain a first divided image of one side of the object, and the rotating mirror When the mirror surface of is opened, the second segmented image of the other side of the object may be obtained by detecting the light passing through the mirror surface of the rotating mirror.

The imaging system further includes a control unit that synchronizes the rotational speed of the rotating mirror with the shooting speed of the camera, rotates the camera to obtain a direct passing image or mirror reflection image every frame, and synchronizes the phase of the rotating mirror with the camera shutter can do.

The image capturing system is an identification mark for recognizing an identification mark of a cargo from a plurality of segmented images successively photographed at a predetermined time interval through a camera for a cargo transfer unit that transports cargo and cargoes transferred through the cargo transfer unit It may further include a recognition unit.

The imaging system selects an optical path for acquiring a focused image from the cargo according to the measurement unit for measuring the distance to the cargo by detecting at least any one of the size, position, or distance to the cargo, and the measured distance It may further include a control unit.

An image photographing method according to another embodiment includes the steps of: forming different optical paths including the optical path changed by a predetermined mirror in a state in which at least one mirror is positioned in the optical path of a camera; and continuously acquiring a plurality of segmented images detected from an object through a path.

In the continuously acquiring step, a first split image of one side of the first object is obtained by detecting light reflected from at least one first fixed mirror, and light incident directly on the camera or at least one second fixed mirror A second segmented image of the other side of the first object may be obtained by detecting light reflected from the .

In the continuous acquisition step, a first segmented image of the object is obtained by detecting light reflected from at least one first fixed mirror, and light incident directly on the camera or light passing through the at least one first fixed mirror is obtained. A second divided image of the object may be obtained by detecting the object, and the objects may be the same or different from each other.

In the continuous acquisition step, the first segmented image of one side of the object is obtained by detecting the light reflected when it is reflected on the mirror surface of the rotating mirror through the rotation of the rotating mirror, and when the mirror surface of the rotating mirror is open A second segmented image of the other side of the object may be obtained by detecting light passing through the mirror surface of the rotating mirror.

The image photographing method may further include the steps of transporting the cargo and recognizing the identification mark of the object from a plurality of divided images successively photographed at a predetermined time interval from a camera for the transported cargo.

According to an image capturing system and method according to an embodiment, it is possible to acquire a plurality of divided images through different optical paths including an optical path formed using reflection of a mirror formed in front of a camera. Accordingly, the photographing width of the camera is widened, and thus a wide object may be photographed through a single camera. Alternatively, by adjusting the angle of view and focal length of a single camera, the angle of view of the camera may be widened, images of various angles of view may be acquired, or images of objects having various heights may be acquired.

1 is a view showing the structure of an image capturing system for dividing an image using a fixed mirror according to an embodiment of the present invention;
2 is a view showing a three-dimensional appearance of two fixed mirrors placed in front of the camera of FIG. 1;
3 is a view showing the structure of an image capturing system for dividing images with different angles of view and focal lengths according to an embodiment of the present invention;
4 is a view showing the structure of an image capturing system for dividing an image using a rotating mirror according to an embodiment of the present invention;
5 is a diagram showing the configuration of an image capturing system according to an embodiment of the present invention;
6 is a diagram illustrating a flow of an image capturing method according to an embodiment of the present invention.

Advantages and features of the present invention, and a method for achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the technical field to which the present invention belongs It is provided to fully inform the possessor of the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

In describing the embodiments of the present invention, if it is determined that a detailed description of a well-known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description will be omitted, and the terms to be described later are used in the embodiment of the present invention. As terms defined in consideration of the function of Therefore, the definition should be made based on the content throughout this specification.

Each block in the accompanying block diagram and combinations of steps in the flowchart may be executed by computer program instructions (execution engine), which computer program instructions are executed by the processor of a general-purpose computer, special-purpose computer, or other programmable data processing device. It may be mounted so that its instructions, which are executed by the processor of a computer or other programmable data processing device, create means for performing the functions described in each block of the block diagram or in each step of the flowchart.

These computer program instructions may also be stored in a computer usable or computer readable memory that may direct a computer or other programmable data processing device to implement a function in a particular manner, and thus the computer usable or computer readable memory. It is also possible to produce an article of manufacture containing instruction means for performing the functions described in each block of the block diagram or each step of the flowchart, the instructions stored in the block diagram.

And since the computer program instructions may be mounted on a computer or other programmable data processing device, a series of operational steps is performed on the computer or other programmable data processing device to create a computer-executable process to create a computer or other programmable data processing device. It is also possible that instructions for performing the data processing apparatus provide steps for executing functions described in each block in the block diagram and in each step in the flowchart.

In addition, each block or step may represent a module, segment, or portion of code comprising one or more executable instructions for executing specified logical functions, and in some alternative embodiments the blocks or steps referred to in some alternative embodiments. It should be noted that it is also possible for functions to occur out of sequence. For example, it is possible that two blocks or steps shown one after another may be performed substantially simultaneously, and also the blocks or steps may be performed in the reverse order of the corresponding functions, if necessary.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the embodiments of the present invention illustrated below may be modified in various other forms, and the scope of the present invention is not limited to the embodiments described below. The embodiments of the present invention are provided to more completely explain the present invention to those of ordinary skill in the art to which the present invention pertains.

In the case of a camera with an area image sensor, continuous shooting (video) can be performed. In this case, when a moving object (moving object, hereinafter referred to as 'moving object') is photographed, a lot of overlapping information occurs. As the performance of the camera increases, this situation becomes more and more common. However, if the speed of the moving object is not that fast, it will not be used even if the frame rate is high.

On the other hand, if you need to shoot a wide range or a variety of shooting angles, you need to install multiple cameras. To install a single camera, you need a camera body and a lens, a cradle is also required, and a video server at the rear is also required to recognize or post-process it. If there is a camera with a higher frame rate than necessary, it will be more economical if it is used in a non-overlapping place by using the remaining frames.

There is also a method of changing the camera shooting angle while adjusting the reflection angle of the mirror by attaching a mirror in front of the camera and controlling the mirror with a mirror driver. However, for example, if the frame rate of the camera is 30 fps, this method may cause mechanical difficulties to control the angle of the mirror by changing the angle 30 times per second. The present invention relates to a system and method for expanding an angle of view or acquiring images of various angles by taking a split image using a mirror with a single camera in a different way. By using a high-resolution camera sensor to widen the angle of view or to acquire images of various angles, the combination of a fixed mirror that divides the image and reflects only part of it, reflection through a rotating mirror, and continuous control through the synchronous control of the position of the rotating mirror and the shooting shutter We propose a method to obtain various images from various shooting angles with a single camera through shooting.

Hereinafter, an image capturing system having the above-described characteristics and an image acquisition method using the same will be described in detail with reference to the drawings to be described later.

1 is a diagram illustrating the structure of an image capturing system for dividing an image using a fixed mirror according to an embodiment of the present invention, and FIG. 2 is a three-dimensional view of two fixed mirrors placed in front of the camera of FIG. It is a drawing.

1 and 2 , the image photographing system 1 includes first-side fixed mirrors 20-1 and 22-1, second-side fixed mirrors 20-2 and 22-2, and a camera 16. includes

Image resolution and shooting angle are important in the problem of finding and recognizing a moving object (moving object) to find and recognize features or identification marks. However, in this problem, even if the resolution in the direction parallel to the movement direction is high, if the frame rate (fps) is high, only overlapping information is generated and the utility value is decreased. On the other hand, the resolution in the moving direction and the vertical direction is important because it has the effect of widening the shooting angle. However, in most cameras, since the shooting range is circular due to the characteristics of the lens, the area sensor has a rectangular shape with no large difference in width and height.

The image capturing system 1 according to an embodiment proposes a method for obtaining the effect of dividing these sensors into two and attaching them to each other. For example, if the resolution is 4000x3000, you want to achieve a similar effect to 8000x1500 by adding a longer resolution of 4000x1500. This has the effect of scanning (monitoring) a wider width.

To this end, the image capturing system 1 according to an embodiment places two fixed mirrors 20-1 and 20-2 in front of the lens of the camera 16, and each fixed mirror 20-1 and 20-2 Reflecting some light as it includes a part of the angle of view of the camera 16 , the two fixed mirrors 20 - 1 and 20 - 2 are arranged at different angles to target the object 100 from one camera 16 . It is a method of shooting two or more divided images separated from each other by

In front of the camera 16 , as shown in FIG. 2 , two fixed mirrors 20 - 1 and 20 - 2 are arranged to be inclined in different directions. For example, the first fixed mirror 20-1 is inclined in the first direction in front of the camera 16, and the second fixed mirror 20-2 is arranged side by side with the first fixed mirror 20-1, inclined in the second direction. Accordingly, the first fixed mirror 20 - 1 faces one side of the camera 16 , and the second fixed mirror 20 - 2 faces the other half of the camera 16 .

Then, fixed mirrors 22-1 and 22-2 are additionally disposed on both sides so that light reflected from each of the fixed mirrors 20-1 and 20-2 can be reflected again. For example, the third fixed mirror 22-1 is disposed so that the reflection angle of the mirror surface faces the first fixed mirror 20-1. And the fourth fixed mirror 22-2 disposed at a position symmetrical to the third fixed mirror 22-1 with the camera 16 as the center, and the reflection angle of the mirror surface faces the second fixed mirror 20-2 ) is placed.

By disposing the fixed mirrors 20, 1, 20-2, 22-1, and 22-2 in this way, the sensor area of one camera 16 can be divided up and down to look left and right. At this time, the camera 16 detects the light reflected through the first-side fixed mirrors 20-1 and 22-1 provided on the left side of the camera 16, and the first divided image of the left side of the object 100 to obtain a second split image of the right side of the object 100 by detecting the light reflected through the second-side fixed mirrors 20-2 and 22-2 provided on the right side of the camera 16. can Accordingly, since the angle of view of the camera 16 can be widened, a larger cargo can be photographed for a long time. Since the object 100 is a moving object, the band of the object 100 is photographed, but as a result, the entire object 100 is photographed or scanned. If the shooting speed (fps) of the camera is high, it is possible to shoot continuously without missing all areas of the object 100 .

3 is a diagram illustrating a structure of an image capturing system for dividing images having different angles of view and focal lengths according to an embodiment of the present invention.

Referring to FIG. 3 , it is also applicable to use a mirror to focus on an object having a different focal plane distance from the camera as well as dividing an image with a single camera. To this end, the imaging system 1 adjusts the angle of view and focal length by changing the optical path by reflection through at least one fixed mirror 10-1 and 10-2. This method divides the image and shoots it, and allows a part of the image to be in focus within a certain range without a separate focusing step. For example, the camera 16 detects light reflected through the first fixed mirror 10 - 1 and the second fixed mirror 10 - 2 to generate a first divided image of the first object 100 - 1 . acquire In contrast, the second object 100-2 by detecting light passing through the first fixed mirror 10-1 and the second fixed mirror 10-2 (passing through without reflection) or directly incident on the camera. ) to acquire a second segmented image.

If the objects 100 - 1 and 100 - 2 move on a belt, only a part of the light in front of the sensor of the camera 16 is reflected by the fixed mirrors 10 - 1 and 10 - 2 to move the light path farther away. configurable. In this way, the distance to the focal plane 30 - 1 of the first object 100 - 1 with respect to the camera 16 is measured to the second focal plane 30 - 2 of the second object 100 - 2 . It can be configured differently from the distance. In this case, a clear image may be acquired without separately focusing within the range covered by the depths 32-1 and 32-2 for each object. This method is a method for acquiring one or more partially focused images as the camera divides images of an object, particularly a moving object, and shoots continuously. This method uses the reflection of the fixed mirrors 10 - 1 and 10 - 2 , and it is possible to obtain various focal lengths while widening the angle of view of the band for photographing the object. In addition, images of various angles of view can be obtained by dividing the image and shooting it. 3 shows an example of acquiring divided images with different angles of view and different focal lengths for different objects 100-1 and 100-2. It is also possible to obtain an example.

As shown in FIG. 3 , the optical path is separated by the light reflection of the fixed mirrors 10-1 and 10-2, so that the camera 16 moves to the first angle of view 30-1 and the first focal plane 32-1. ), it is possible to obtain a first segmented image from a relatively high cargo (pallet). On the other hand, when the light passes through (exceeds) the two fixed mirrors 10-1 and 10-2, the second angle of view 30-2 and the second focal plane 32-2 are formed, resulting in a relatively low height. A second segmented image can be obtained from the cargo (pallet) of Accordingly, identification marks can be recognized from cargoes of different heights. The object 100 may be a moving object, for example, a cargo moving through a moving platform such as a conveyor belt.

4 is a diagram illustrating the structure of an image capturing system for dividing an image by using a rotating mirror according to an embodiment of the present invention.

Referring to FIG. 4 , the image capturing system 1 includes a rotating mirror 12 , a mirror driving unit 14 , and a camera 16 , and may further include a fixed mirror 10 and a control unit 18 .

The rotating mirror 12 changes the light path input to the camera 16 or passes the light according to the reflection angle of the mirror surface attached to the wing rotating about the axis of rotation. The rotation mirror 12 may include blades that rotate in a direction perpendicular to the rotation direction of the rotation shaft. The mirror driving unit 14 rotates the rotating mirror 12 . The mirror driving unit 14 may be a motor.

The camera 16 detects the light directly incident on the camera 16 or the light that has passed through the rotating mirror 12 to obtain a first divided image of the object 100 and the light reflected by the rotating mirror 12 A second segmented image is obtained by detection. For example, the camera 16 may acquire a first segmented image from the light that has passed through the rotating mirror 12 (not reflected by the rotating mirror) from the object 100, and the rotating mirror ( 12), a second segmented image may be obtained from the reflected light.

The control unit 18 applies a control signal to the mirror driving unit 14 to rotate the rotating mirror 12 . The control unit 18 synchronizes the rotation speed of the rotating mirror 12 with the shooting speed (fps) of the camera 16 and rotates the camera 16 to obtain a direct passing image or a mirror reflection image in every frame. In addition, the phase of the rotating mirror 12 is synchronized with the shutter of the camera 16 .

For example, since one rotation of the rotation mirror 12 is taken 4 times, the rotation mirror 12 rotates at 7.5 rotations per second. Of course, the phase of the rotating mirror 12 must also be synchronized with the shutter of the camera 16 . With this configuration, the same effect as having a 15 fps frame rate can be obtained by installing two cameras at different angles with one camera 16 having a 30 fps frame rate. If the wing of the rotating mirror 12 does not cover the camera 16 , the camera 16 directly detects the light reflected from the object 100 and directly acquires an image. The rotating mirror 12 blocks the lens of the camera 16 so that the camera 16 detects the light reflected from the rotating mirror 12 to acquire an image.

The fixed mirror 10 changes the path of light passing through the rotating mirror 12 in a fixed form. There may or may not be a fixed mirror 10 for redirecting light passing through the rotating mirror 12 .

As described above, as the image is divided and photographed using the rotating mirror 12 , the camera 16 not only shoots from multiple angles, but also can be applied to increase the resolution of the camera 16 . That is, the high frame rate of the camera 16 is used to photograph a wider area. This method is a method of expanding the photographing range of a single camera 16 as the divided images are acquired using the rotating mirror 12 .

Referring to FIG. 4 , by alternately photographing both sides of the object 100 using the rotating mirror 12 rotated by the mirror driving unit 14 , an effect of photographing a wide range can be obtained. That is, by using the rotation of the rotating mirror 12 to obtain a plurality of angles of view, it is possible to widen the photographing possible width. For example, when the rotating mirror 12 is rotated, if the blade of the rotating mirror 12 is in a position that does not cover the camera 16 , the camera 16 is directly moved to one side (eg, the right side) of the object 100 . ), a second segmented image of the object 100 is obtained by detecting the reflected light. In contrast, when the rotating mirror 12 is rotated, when the blade of the rotating mirror 12 is in a position to cover the camera 16 , the camera 16 detects the light reflected by the rotating mirror 12 , and thus the object A first segmented image is obtained from the other side (eg, the left side) of (100). At this time, the controller 18 controls the reflection angle through the rotation of the rotating mirror 12 so that the camera 16 acquires the first divided image and the second divided image of the object 100 . Accordingly, when the wide object 100 is photographed through the camera 16, if the angle of view of the lens is narrow, the wide object 100 is single It can be photographed through the camera 16 of

Meanwhile, although the embodiment of the present invention has been mainly described as an image capturing system for recognizing a moving object, it may be applied to an image inspection apparatus, an acquisition apparatus, and a photographing apparatus for various purposes, and the use is not limited to the embodiment of the present invention. Therefore, the moving object can be applied to various uses of photographing and recognizing moving objects as well as logistics.

5 is a diagram illustrating the configuration of an image capturing system according to an embodiment of the present invention.

Referring to FIG. 5 , the imaging system 1 includes a mirror 50 , a camera 16 , a cargo transfer unit 52 , an identification mark recognition unit 54 , a measurement unit 56 , and a control unit 18 . .

The cargo transfer unit 52 transfers cargoes. For example, the cargo transport unit 52 transports goods to be supplied to the transport path. At this time, the cargo transfer unit 52 changes the direction of each article to change the flow of the article to process the article. The processing of goods includes registration, receipt, sorting, sorting, storage, inspection, etc. of goods. The cargo transfer unit 52 may be in the form of a conveyor belt.

The identification mark recognition unit 54 analyzes a plurality of segmented images continuously taken at a predetermined time interval through the camera 16 for freight transferred through the freight transfer unit 52, Recognize the identification mark. Identification signs include barcodes, QR codes, characters, and figures. Hereinafter, the bar code will be mainly described, but the present invention is not limited thereto. Pallets loaded with boxes have a height of about 500mm to 1900mm. In order to know which products are loaded, barcodes printed on the cargo must be recognized. Pallets are sometimes moved by forklift trucks or moved on pallet conveyors. In the future, it could be moved by a transfer robot or an unmanned forklift. Although the transfer speed is not very fast, it is necessary to manage the arrival and departure of which pallets went out and entered when receiving and leaving, and we want to automate this. Due to the large variations in pallet height, multiple cameras are usually required to handle this. However, the image capturing system according to an exemplary embodiment attempts to achieve this with one camera or a small number of cameras.

The measuring unit 56 measures the distance to the cargo by detecting at least any one of the size, position, and distance to the cargo. In this case, the control unit 18 may select an optical path for obtaining a focused image from the cargo according to the distance measured by the measuring unit 56 . For example, the camera 16 detects light passing through the mirror 50 or reflected by the mirror 50 using the mirror 50 . When the light is reflected by the mirror 50, a second angle of view and a second focal plane are formed, and the image acquisition unit 54 acquires a first divided image from a cargo (pallet) having a relatively high height from the camera 16, , when the light passes through the mirror 50, a second angle of view and a second focal plane are formed, and the image acquisition unit 54 acquires a second segmented image from a cargo (pallet) having a relatively low height from the camera 16 can do. The mirror 50 may be any one of the mirrors described above with reference to FIGS. 1 to 4 .

6 is a diagram illustrating a flow of an image capturing method according to an embodiment of the present invention.

5 and 6 , in the image capturing system 1 , in a state in which at least one mirror is positioned in the optical path of the camera 16 , different optical paths including the optical path changed by a predetermined mirror to form (510). In this case, different light paths may be formed by reflecting light by a predetermined mirror, passing light through the corresponding mirror, or forming different reflection angles during reflection.

Next, the camera 16 successively acquires a plurality of divided images detected from the object through the formed different optical paths ( 520 ).

The camera 16 according to an exemplary embodiment acquires a divided image of the object by using at least one first-side fixed mirror and at least one second-side fixed mirror that have a symmetrical relationship with each other. For example, the camera 16 detects light reflected through the first-side fixed mirror to obtain a first split image of one side of the object, and the light incident directly on the camera 16 or the second-side fixed mirror A second segmented image of the other side of the object may be obtained by detecting the light reflected through the .

In the segmented image acquisition step 520 according to an embodiment, the camera 16 obtains a segmented image of the object according to whether light is reflected or passed through the fixed mirror. For example, a first segmented image of the object is obtained by detecting light reflected through at least one fixed mirror, and light incident directly on the camera 16 or light passing through at least one fixed mirror is detected to detect the object. A second segmented image of The objects may be the same or different from each other. In this case, as the camera 16 adjusts the angle of view and focal length by changing the optical path by reflection through at least one fixed mirror, the focal plane and focal length of each object are different from each other.

In the image segmentation obtaining step 520 according to an embodiment, the camera 16 obtains segmented images using a rotating mirror. For example, when the rotating mirror is rotated, the camera 16 detects light reflected when it is reflected by the mirror surface of the rotating mirror to obtain a first divided image of one side of the object, and the mirror surface of the rotating mirror is When it is opened, a second segmented image of the other side of the object may be obtained by detecting light passing through the mirror surface of the rotating mirror. At this time, by synchronizing the rotation speed of the rotating mirror with the shooting speed of the camera, the camera 16 rotates to obtain a direct passing image or mirror reflection image in every frame, and the phase of the rotating mirror can be synchronized with the camera shutter.

Furthermore, the identification mark recognition unit 54 may recognize the identification mark of the object from a plurality of sequentially acquired divided images through the camera 16 ( 530 ). The camera 16 continuously shoots a plurality of times at a predetermined time interval, and the identification mark recognition unit 54 selects one or a plurality of images that are in focus within the depth of the camera from among the images acquired by continuously shooting and corresponding It is possible to recognize the identification mark included in the image. In this case, a clear image may be acquired without separately focusing within a range covered by the depth of the object. Since a focused image can be acquired at any one position within the depth of field, a focused image can be acquired by continuously acquiring images.

In the step of recognizing the identification mark of the object 530 , the object may be cargo transferred through the cargo transfer unit 52 . In this case, the identification mark recognition unit 54 analyzes a plurality of divided images continuously taken at a predetermined time interval through the camera 16 for the goods transferred through the freight transfer unit 52, and from this, Identification marks can be recognized.

According to an embodiment, the method may further include measuring a distance to the object through the measurement unit 56 . The measuring unit 56 may simply measure the distance to the object using an ultrasonic wave or an infrared sensor, or may measure a position, a volume, etc. using a three-dimensional sensor or the like. That is, the distance to the object, which may vary depending on the size of the article, may be more accurately measured. In this case, in the optical path forming step 510 , the controller 18 may select an optical path for obtaining a focused image from the object according to the measured distance.

So far, the present invention has been focused on the embodiments thereof. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention can be implemented in modified forms without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is indicated in the claims rather than the foregoing description, and all differences within the scope equivalent thereto should be construed as being included in the present invention.

Claims (14)

at least one mirror that changes the path of light through reflection of light; and
a camera for successively acquiring a plurality of divided images detected from an object through different optical paths, including an optical path changed by a predetermined mirror; includes,
the camera
The optical path is separated by the reflection of at least one fixed mirror to form a first angle of view and a first focal plane, and the reflected light is detected to obtain a first segmented image of the first object,
A second angle of view and a second focal plane are formed by light directly incident on the camera or light passing through at least one fixed mirror, and the second object having a height lower than that of the first object is detected by detecting the light directly incident or passing. Acquire 2 split images,
An image capturing system, wherein a distance to a focal plane of the first object and a distance to a second focal plane of the second object are different from the camera. The method of claim 1, wherein the camera is
Obtaining a first segmented image of one side of the first object by detecting light reflected through at least one first-side fixed mirror,
An image capturing system, characterized in that a second divided image of the other side of a second object is obtained by detecting light directly incident on the camera or light reflected through at least one second-side fixed mirror. delete The method of claim 1, wherein the camera is
An imaging system, characterized in that the angle of view and the focal length are adjusted by changing the optical path by reflection through at least one fixed mirror. The method of claim 1 , wherein the at least one mirror comprises:
a first fixed mirror including a first fixed mirror inclined in a first direction in front of the camera, and a third fixed mirror in which a reflection angle of the mirror surface faces the first fixed mirror; and
A fourth fixed mirror disposed side by side with the first fixed mirror and tilted in the second direction, and disposed at a position symmetrical to the third fixed mirror with respect to the camera, the reflection angle of the mirror surface toward the second fixed mirror a second side fixed mirror comprising a mirror;
An image capturing system comprising a. The method of claim 1 , wherein the at least one mirror comprises:
a rotating mirror;
the camera
When the rotating mirror is rotated, the first segmented image of one side of the object is obtained by detecting the light reflected when it is reflected on the mirror surface of the rotating mirror,
An imaging system, characterized in that when the mirror surface of the rotating mirror is opened, a second divided image of the other side of the object is obtained by detecting light passing through the mirror surface of the rotating mirror. The method of claim 6, wherein the imaging system is
a control unit that synchronizes the rotational speed of the rotating mirror with the shooting speed of the camera, rotates the camera to obtain a direct passing image or mirror reflection image in every frame, and synchronizes the phase of the rotating mirror with the camera shutter;
An image capturing system further comprising a. According to claim 1, wherein the imaging system is
a cargo transport unit for transporting cargo; and
an identification mark recognition unit for recognizing an identification mark of a freight from a plurality of segmented images successively photographed at predetermined time intervals through a camera for the freight transferred through the freight transfer unit;
An image capturing system further comprising a. The method of claim 8, wherein the imaging system is
a measuring unit for measuring the distance to the cargo by detecting at least one of the size, position, or distance to the cargo; and
a control unit for selecting an optical path for obtaining a focused image from the cargo according to the measured distance;
An image capturing system further comprising a. forming different optical paths including the optical path changed by a predetermined mirror in a state in which at least one mirror is positioned in the optical path of the camera; and
continuously acquiring a plurality of divided images detected from an object through different formed optical paths; includes,
The step of forming different optical paths is
A light path is separated by light reflection of the at least one fixed mirror to form a first angle of view and a first focal plane, and a second angle of view and a second focus are caused by light directly incident on the camera or light passing through the at least one fixed mirror form the side
Successive acquisition steps
A first segmented image of a first object is obtained by detecting light reflected through at least one fixed mirror, and a second segmented image of a second object having a height lower than that of the first object by detecting light that is directly incident or passed through. to obtain,
An image capturing method, characterized in that a distance to the focal plane of the first object and a distance to the second focal plane of the second object are different from the camera. 11. The method of claim 10, wherein the successively acquiring
Detecting light reflected from at least one first fixed mirror to obtain a first segmented image of one side of the first object,
An image capturing method, comprising: detecting light directly incident on a camera or light reflected from at least one second fixed mirror to obtain a second divided image of the other side of the second object. delete 11. The method of claim 10, wherein the successively acquiring
A first segmented image of one side of the object is obtained by detecting the reflected light when it is reflected on the mirror surface of the rotating mirror through the rotation of the rotating mirror,
An image taking method, characterized in that when the mirror surface of the rotating mirror is opened, a second divided image of the other side of the object is obtained by detecting light passing through the mirror surface of the rotating mirror. 11. The method of claim 10, wherein the image capturing method
transporting cargo; and
Recognizing an identification mark of an object from a plurality of segmented images successively photographed at predetermined time intervals from a camera for transported cargo;
Image taking method further comprising a.

Images