KR20230124288A - A Shooting System Comprising a Shooting Scaffolding for Standing Shooting - Google Patents

Abstract

We provide a shooting system. The photographing system according to an embodiment of the present invention includes a first scaffold 110 in which a first pressure sensor 111 is installed, a second scaffold 120 in which a second pressure sensor 121 is installed, and a lower portion of the first scaffold 110. The first scaffold support 130, which is provided in the first scaffold 110 and is configured to adjust the tilting angle and the vertical height of the first scaffold 110, is provided below the second scaffold 120, and the second scaffold 120 Compare the pressure signals output from the second scaffold support 140 and the first pressure sensor 111 and the second pressure sensor 121 configured to adjust the front and rear and left and right tilting angles and the vertical height of the Control command for calculating one of the balance state and the imbalance state, and adjusting the tilting angle and vertical height of one or more of the first scaffold 110 and the second scaffold 120 when calculated in an unbalanced state It may include a photographing scaffold 100 including a processor 150 configured to generate , and a photographing device 200 configured to perform photographing when the photographing scaffold 100 is calculated as a balanced state.

Description

Shooting system including scaffolding for standing shooting {A Shooting System Comprising a Shooting Scaffolding for Standing Shooting}

The present invention relates to a photographing system including a scaffold for standing photographing.

In the musculoskeletal area, standing radiography (X-ray, etc.), in which a subject to be photographed stands up and takes a radiographic image, accounts for a large proportion and plays an important role in obtaining accurate medical information.

Currently, an object to be photographed simply stands on a scaffold and is photographed. However, inaccurate images are often obtained due to changes in the posture of the object to be photographed, twisting, tilting (left and right and front and back), weight imbalance, and the like. Therefore, it is required to acquire an accurate radiographic image for accurate diagnosis of an object to be photographed.

The related prior art is as follows.

Korean Patent Document No. 10-2004519 relates to a device for correcting scoliosis, and relates to a pair of footrests for measuring weight, weight distribution, and foot pressure, and a user's posture using the measured data in combination with the footrests. Contents of judging imbalance and adjusting the up/down elevation/angle of the foot support accordingly are disclosed. However, it does not reach the content of controlling the footrest so that the body is balanced and then combining it with the radiographic apparatus.

Korean Registered Patent Document No. 10-1626975 relates to a two-wheeled vehicle equipped with a human body guidance device, and discloses a technology for checking the balance of an occupant with pressure data sensed from two footrests and informing the occupant's balance in various ways. . Again, it does not suggest any suggestion or motivation to adjust the balance of the occupant and combine it with radiography.

Korean Registered Patent Document No. 10-2004519 (2019.10.17.) Korea Patent Document No. 10-1626975 (2016.06.02.)

The present invention has been made to solve the above problems.

Specifically, an object of the present invention is to provide a photographing system capable of more accurate diagnosis by obtaining a photographed image in which a posture imbalance of an object to be photographed is corrected.

In addition, an object of the present invention is to provide a photographing system that can be utilized in establishing a treatment plan in the future by using information obtained in the process of correcting the posture imbalance of an object to be photographed.

In addition, even if it is determined to be in an imbalanced state, by outputting a signal requesting a posture change of the subject to be photographed, it is possible to determine whether the imbalance is due to congenital/acquired imbalance of the subject to be photographed or incorrectly standing on the shooting stool. It is an object of the present invention to provide a photographing system capable of acquiring a more precise photographed image.

In addition, in the process of calculating the imbalance/balanced state, and calculating the tilting adjustment angle of the left and right tilting and the height of the vertical adjustment to change the imbalanced state to the balanced state, as a pre-learned prediction model by artificial intelligence is used, more accurate control is achieved. Its purpose is to provide a photographing system capable of

In addition, an object of the present invention is to provide a shooting system capable of freely changing a shooting posture by further including a housing surrounding the footrest and a moving wheel installed on the housing.

In addition, as the first shooting is performed in a body imbalance state and the second shooting is performed in a state in which the body imbalance is corrected (balanced state) through the shooting footrest control, treatment is performed by comparing the captured images obtained at each stage. Its purpose is to provide a shooting system capable of establishing a plan.

One embodiment of the present invention for solving the above problems, the first pressure sensor 111 is installed, the first scaffold 110, the second pressure sensor 121 is installed, the second scaffold 120, the first 1 provided at the bottom of the scaffold 110, the first scaffold support 130 configured to adjust the tilting angle and the vertical height of the first scaffold 110, the second scaffold 120, provided at the bottom, Comparison of pressure signals output from the second scaffold support 140 and the first pressure sensor 111 and the second pressure sensor 121 configured to adjust the tilting angle and the vertical height of the second scaffold 120 And, according to the comparison result, one of the balance state and the imbalance state is calculated, and when the calculation is in an imbalance state, the first scaffold 110 and the second scaffold 120. A photographing scaffold 100 including a processor 150 configured to generate a control command for adjusting a height, and a photographing device 200 configured to perform photographing when the photographing scaffold 100 is calculated to be in a balanced state. To provide a shooting system.

In one embodiment, the processor 150 compares the first pressure signal output from the first pressure sensor with the second pressure signal output from the second pressure sensor, and selects one of a balanced state and an unbalanced state. The balance calculation unit 151 configured to calculate the state of, when calculated as an unbalanced state by the balance calculation unit 151, the first scaffold 110 and the second pressure signal using the first pressure signal and the second pressure signal When calculated as being in an imbalanced state by the tilt calculation unit 152 and the balance calculation unit 151 configured to calculate tilting adjustment angles of one or more of the second scaffold 120, the first pressure signal and the second pressure signal The first scaffold 110 and the second scaffold 120 may include a height calculating unit 153 configured to calculate the height of one or more vertical adjustments of the scaffold 110 by using.

In one embodiment, the horizontal and vertical tilting adjustment angles calculated by the tilt calculator 152 and the vertical adjustment height calculated by the height calculator 153 may change the imbalanced state to the balanced state. .

In one embodiment, a plurality of first scaffold supports 130 are provided below the first scaffold 110, and a plurality of second scaffold supports 140 are provided below the second scaffold 120, The first scaffold 110 and the second scaffold 120 are controlled according to the tilt adjustment angle calculated by the tilt calculation unit 152 and the height adjustment height calculated by the height calculation unit 153 A plurality of first scaffold supporters 130 and a plurality of second scaffold support units 140 may further include a control unit 160 generating a control command.

In one embodiment, as a housing (H) surrounding the outside of the first scaffold 110 and the second scaffold 120 and a moving wheel (W) of a ball type installed in the housing (H). , The moving wheel (W) configured to be movable when a pressure less than a predetermined pressure is applied to the first scaffold 110 and the second scaffold 120 and not movable when a pressure equal to or greater than the predetermined pressure is applied can include

In one embodiment, the first pressure signal and the second pressure signal are signals in the form of pressure distribution for the areas of the first scaffold 110 and the second scaffold 120, respectively, and the balance calculation unit 151 ) Is to compare the pressure values of a plurality of points of the first pressure signal or compare the pressure values of a plurality of points of the second pressure signal to further calculate any one of the balanced state and unbalanced state of each scaffold. can

In one embodiment, the processor 150 determines one of a first pressure signal output from the first pressure sensor, a second pressure signal output from the second pressure sensor, a balanced state and an unbalanced state, and In the case of an imbalance, using a prediction model generated by learning learning data consisting of a tilting adjustment angle and an up and down adjustment height of one or more of the first and second scaffolds so that the imbalance state is changed to a balanced state, and the prediction model When the first pressure signal and the second pressure signal are input, one of a balanced state and an unbalanced state is output, and when an unbalanced state is output, a first footrest and a second footrest for changing the imbalanced state to a balanced state. It is possible to output the tilting control angle and the height of up and down control of one or more of the footrests.

In one embodiment, the photographing device 200 performs a first photograph when the processor 150 calculates that the state is in an imbalanced state, and performs a second photograph after the imbalanced state is changed to the balanced state. can

According to the present invention, a more accurate diagnosis is possible as it is possible to obtain a photographed image in which a posture imbalance of an object to be photographed is corrected.

In addition, it can be used to establish a future treatment plan by using the information obtained in the process of correcting the imbalance of the posture of the object to be photographed.

In addition, even if it is determined to be in an imbalanced state, by outputting a signal requesting a posture change of the subject to be photographed, it is possible to determine whether the imbalance is due to congenital/acquired imbalance of the subject to be photographed or incorrectly standing on the shooting stool. Therefore, it is possible to obtain a more precise photographed image.

In addition, in the process of calculating the imbalance/balanced state, and calculating the tilting adjustment angle of the left and right tilting and the height of the vertical adjustment to change the imbalanced state to the balanced state, as a pre-learned prediction model by artificial intelligence is used, more accurate control is achieved. The advantage that is possible is achieved.

In addition, a housing surrounding the scaffold and a moving wheel installed in the housing are further provided so that the shooting posture can be freely changed.

In addition, as the first shooting is performed in a body imbalance state and the second shooting is performed in a state in which the body imbalance is corrected (balanced state) through the shooting footrest control, treatment is performed by comparing the captured images obtained at each stage. It is possible to make a plan.

1 and 2 are diagrams for explaining a shooting scaffold used in a shooting system according to an embodiment of the present invention.
3 is a schematic block diagram for explaining a photographing system according to an embodiment of the present invention.
4 is a view for explaining a shooting scaffold according to another embodiment of the present invention.
5 is a flowchart illustrating a photographing method according to an embodiment of the present invention.
6 is a diagram for explaining the posture of an object to be photographed for left/front/right side photographing.
7 is a diagram illustrating a state in which a photographing of an object to be photographed is being performed by a photographing device.
8 is an x-ray frontal image of an object to be photographed with a hip joint height difference due to pelvic distortion.
9 is an x-ray side image of an object to be photographed with a difference in the angles of both ankles.
10 is a diagram showing the pressure distribution (right side) when a photographed subject with flat feet stands up on a shooting stool, and is a diagram showing changes in the pressure distribution (left side) as the outside of the stool is tilted low.
11 is an x-ray side/frontal photographic image of an object to be photographed with a short right leg and flat feet.
12 is an x-ray side/front image of an object to be photographed having a concave foot.
13 is an x-ray front image of an object to be photographed wearing a prosthetic leg.
14 is an x-ray lateral/frontal photographic image of an object to be photographed with a short left leg and a shortened heel due to Achilles tendon contracture.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

Hereinafter, the system is to be understood as a "thing".

First, with reference to Figures 1 to 4 will be described in detail the shooting scaffold 100 according to an embodiment of the present invention.

1, the shooting scaffold 100 includes a first scaffold 110, a second scaffold 120, a first scaffold support 130, a second scaffold support 140, a processor 150, and a control unit 160. ), an input unit 170, an output unit 180 and a memory 190.

The left or right foot of the subject to be photographed is placed on the first footrest 110, and the right or left foot of the subject to be photographed is placed on the second footrest 120.

On the other hand, the first pressure sensor 111 is installed in the first scaffold 110, and the second pressure sensor 121 is installed in the second scaffold 120.

The first pressure sensor 111 and the second pressure sensor 121 are each configured to output a pressure signal according to an externally applied pressure. As shown in FIG. 10 , the output pressure signal may be output as a signal in the form of a pressure distribution with respect to the area of the first scaffold 110 and the second scaffold 120 .

The shape of the first pressure signal output from the first pressure sensor 111 and the second pressure signal output from the second pressure sensor 121 may be different according to the posture of the subject to be photographed or congenital/acquired body imbalance. there is.

The pressure signal output from each pressure sensor is transmitted to the processor 150, and the processor 150 calculates the posture balance/imbalance of the object to be photographed through comparative analysis of the first pressure signal and the second pressure signal, If it is calculated as an unbalanced state, a control command for changing it to a balanced state is generated.

The first scaffold support 130 and the second scaffold support 140 are provided under the first scaffold 110 and the second scaffold 120, respectively.

The first scaffold support 130 is, for example, the first scaffold 110, as shown in FIG. 2, the fixing member 131 fixed to the bottom, the first scaffold 131 installed at both ends of the fixing member 131, respectively. It may have a form including a moving member 132 and a second moving member 133 . The tilting angle and vertical height of the first scaffold 110 can be controlled in such a way that the moving axis where the first movable member 132 and the second movable member 133 meet moves away from or approaches the fixing member 131. there is. The second scaffold support 140 may also have the same shape as the first scaffold support 130 .

In addition, the first scaffold support 130 and the second scaffold support 140 are installed one by one on the left and right edges of the first scaffold 110 and the second scaffold 120, as shown in FIG. It may be in the form provided for each scaffold.

However, the first scaffold support 130 and the second scaffold support 140 adjust the heights of the first scaffold 110 and the second scaffold 120 in various ways such as airbags, so that the first scaffold 110 and the second scaffold 110 2 It will be said that it is not limited to the above example if it is configured to control the tilting angle of the front and back and left and right of the footrest 120.

The processor 150 compares the first pressure signal output from the first pressure sensor 111 and the second pressure signal output from the second pressure sensor 121 to calculate the posture imbalance/balance state of the object to be photographed. And, if it is calculated as an imbalanced state, it is configured to calculate information (front, rear, left, right tilting adjustment angle and up and down adjustment height) to change it to a balanced state.

Referring to FIG. 3 , the processor 150 includes a balance calculation unit 151 , a gradient calculation unit 152 and a height calculation unit 153 .

The balance calculator 151 compares the first pressure signal and the second pressure signal to calculate one of a balanced state and an imbalanced state of the object to be photographed. Also, any one of the balanced state and the unbalanced state may be calculated by comparing the pressure distribution within an arbitrary pressure signal.

As a method of calculation, when the difference between the first pressure signal and the second pressure signal (or the difference between the pressure values of two or more points in the first pressure signal) is greater than a preset threshold value, it is calculated as an imbalance state, , when the difference value is less than or equal to a predetermined threshold value, a method of calculating a balance state may be used.

In other words, depending on the user's postural imbalance, pressure bias may occur on either the left foot or the right foot, and the balance calculation unit 151 calculates such a tilt phenomenon as a postural imbalance state.

When both the tilt calculation unit 152 and the height calculation unit 153 are calculated as being in an unbalanced state by the balance calculation unit 151, they are configured to calculate the front/back/left/right tilt adjustment angle of the scaffold and the height of the scaffold up/down adjustment (in a balanced state). If it is calculated, it is necessary to perform shooting immediately in the corresponding state, so there is no need to calculate information for adjusting the footrest).

The tilt calculation unit 152 calculates a front-backward, left-right tilting adjustment angle of one or more of the first scaffold 110 and the second scaffold 120, and the height calculation unit 153 calculates the first scaffold 110 and the second scaffold 120. Calculate the height of one or more of the up and down adjustments. It is preferable that the imbalanced state is changed to a balanced state when the scaffolding support is controlled according to the tilting adjustment angle and the vertical adjustment height calculated by the tilt calculation unit 152 and the height calculation unit 153.

The control unit 160 generates a command for controlling components constituting the photographing scaffold 100 .

For example, a command for controlling the shape of the signal output from the output unit 180 to be different may be generated according to the balance/imbalance calculated by the balance calculation unit 151 (light emission when calculated as a balance state). It is possible to generate a command to output a green signal from a negative output unit and to output a red signal from an output unit when it is calculated to be in an unbalanced state).

In addition, the control unit 160 controls the first scaffold support 130 and the second scaffold support 140 according to the tilting adjustment angle and the vertical adjustment height calculated by the tilt calculation unit 152 and the height calculation unit 153 You can create commands for The generated command is transmitted to a driving unit (not shown) connected to the first scaffold support 130 and the second scaffold support 140, respectively, and the driving unit operates the first scaffold support 130 and the second scaffold support according to the transmitted command. The height control of 140 is performed.

Meanwhile, in another embodiment of the present invention, the calculation by the processor 150 may be performed using a prediction model generated through prior learning.

Pre-training may be performed using an artificial neural network model, where the artificial neural network model is a Deep Neural Network (DNN), Convolutional Neural Network (CNN), Deep Convolutional Neural Network (DCNN), Recurrent Neural Network (RNN), RBM ( It may be a model based on Restricted Boltzmann Machine), DBN (Deep Belief Network), SSD (Single Shot Detector), MLP (Multi-layer Perceptron), or Attention Mechanism, but is not limited thereto, and various artificial neural network models This can be applied to the present invention.

The learning data learned by the artificial neural network model is a first pressure signal output from the first pressure sensor - a second pressure signal output from the second pressure signal - an unbalanced state in case of any one of a balanced state/imbalanced state/unbalanced state It may be made of a tilting adjustment angle and an up and down adjustment of one or more of the first footrest and the second footrest so that the is changed to a balanced state.

As the artificial neural network model learns a plurality of learning data, when the first pressure signal and the second pressure signal are queried, one of a balance state and an imbalance state is output, and when an imbalance state is output, the above A predictive model outputting at least one of a front/back/left/right tilting adjustment angle and an up/down adjustment height of one or more of the first footrest and the second footrest allowing the imbalance state to be changed to a balanced state is generated.

The generated prediction model is stored in the memory 190, and the processor 150 uses the prediction model stored in the memory 190 to perform balance/imbalance operation, left and right tilting adjustment angle operation, and vertical adjustment height operation. possible.

Next, referring to FIG. 4, a photographing scaffold 100 according to another embodiment of the present invention will be described in detail.

The shooting scaffold 100 according to FIG. 4 is different from the shooting scaffold 100 of FIG. 1 in that it further includes a housing H surrounding the first scaffold 110 and the second scaffold 120 .

A moving wheel (W) is installed in the lower part of the housing (H), and in the present invention, a ball-type moving wheel is adopted. The housing (H) is movable by the moving wheel (W), and accordingly, the first scaffold 110 and the second scaffold 120 surrounded by the housing (H) also move together.

Referring to FIG. 6 , depending on the object to be photographed, there may be cases in which frontal imaging is required, and there may be cases in which side imaging is required.

That is, as the moving wheel (W) is provided, it is possible to move the housing (H) according to the photographing posture.

The moving wheel (W) may be provided to be movable when a pressure less than a predetermined pressure is applied to the first scaffold 110 and the second scaffold 120, and when a pressure equal to or greater than the predetermined pressure is applied (ie, When an object to be photographed climbs on the first and second scaffolds) may be provided so as not to be movable. That is, in normal times, the housing (H) is located at a position spaced a predetermined distance from the ground and the moving wheel (W) provided under the housing (H) is movable, but the first footrest 110 and the second footrest 120 When pressure is applied to the housing (H) is lowered, it may be configured to make the movement of the moving wheel (W) impossible in contact with the ground.

Meanwhile, the photographing system according to an embodiment of the present invention includes the above-described photographing scaffold 100 and a photographing device 200 for photographing an object to be photographed.

The imaging device 200 may be, for example, a radiographic imaging device, and more specifically, other imaging devices such as an X-ray imaging device and a CT imaging device that perform imaging of an object to be imaged while the object is standing upright. Alternatively, it may be a concept including a scanning device.

The photographing device 200 is electrically connected to the photographing scaffold 100, and when the balance calculation unit 151 of the photographing scaffold 100 calculates that the photographing device 200 is in a balanced state, photographing of an object to be photographed by the photographing apparatus 200 is performed. can

That is, since radiography is performed in a balanced state of the object to be imaged, an advantage of obtaining accurate medical images is achieved.

Next, referring to FIG. 5 , a photographing method according to an embodiment of the present invention will be described in detail.

First, the position of the photographing scaffold 100 according to the prescription of the object to be photographed (frontal photographing prescription and/or side photographing prescription) is set.

Next, as the object to be photographed climbs onto the scaffold 100 , a first pressure signal is output from the first pressure sensor 111 and a second pressure signal is output from the second pressure sensor 121 .

Next, the balance calculation unit 151 calculates any one of the balanced state/imbalanced state using the first pressure signal and the second pressure signal. If it is calculated as being in a balanced state by the balance calculation unit 151, a signal (green output signal) informing of the balance state is output to the outside through the output unit 180, and photography is performed by the photographing device 200. .

When it is calculated as being in an imbalanced state by the balance calculation unit 151, a notification signal requesting a posture change of the object to be photographed is output multiple times through the output unit 180 for a predetermined time (about 3 minutes), and during the predetermined time When the balance calculation unit 151 does not determine that the state is in a balanced state (ie, when the state is continuously determined to be in an unbalanced state), the tilt calculation unit 152 ) and the tilting adjustment angle and mutual adjustment height by the height calculation unit 153 are calculated.

Next, the inclination/height adjustment of the first scaffold support 130 and the second scaffold support 140 is performed according to the calculated tilting adjustment angle and the vertical adjustment height.

When the tilt/height adjustment of the first scaffold support 130 and the second scaffold support 140 is completed and calculated as a balanced state by the balance calculation unit 151, a signal indicating the balance state is generated through the output unit 180. It is output to the outside and taken by the photographing device 200 .

In one embodiment of the present invention, both a photographed image (first photographed image) and a photographed image (second photographed image) of an object to be photographed in a balanced state may be acquired, and the first photographed image and Through comparison of the second captured image, it is possible to utilize it for establishing a treatment plan.

On the other hand, the photographing result (eg, X-ray image) by the photographing device 200, the calculated tilting adjustment angle and height adjustment, and the pressure signal output from the first pressure sensor and the second pressure sensor (Pressure distribution) can be stored in a separate storage server of a medical institution, and it is possible to use it for future treatment.

Hereinafter, with reference to FIGS. 8 to 14 , a detailed control method of the photographing scaffolding for each object to be photographed with a body imbalance will be described.

8 is an x-ray front image of an object to be photographed with a difference in hip joint height due to pelvic distortion, and an x-ray image of an object to be photographed whose right leg is about 1 cm shorter than the left leg. In this case, the height calculation unit 153 can calculate the height of the up and down adjustment that the height of the second scaffold 120 on which the right leg is raised must be raised by 1 cm (+1 cm), and the balance of the object to be photographed through the scaffold height control. It is possible to adjust the condition.

9 is an x-ray side image of an object to be photographed with a difference in the angle of both ankles, and in this case, the pressure signal distribution of both feet will be observed differently. In the case of FIG. 9, it will be measured that the pressure of the front part of the left leg is higher than that of the right leg, and the height at which the front height of the first scaffold 110 to which the left leg is raised must be raised, and the front and rear pressure signal distribution becomes even. It is possible to adjust the balance of the object to be photographed by calculating the left and right tilting adjustment angle and adjusting the height of the scaffolding/front and rear left and right tilting angles according to the calculated information.

10 is a diagram showing the pressure distribution (right side) when a photographed subject with flat feet stands up on a shooting stool. In the case of flat feet, it can be seen that the pressure of the inner foot is measured high, and the pressure distribution diagram is obtained by tilting the outside of the stool low. It can be seen that is even (see left figure).

11 is an x-ray side/front image of an object to be photographed with a short right leg and flat feet, and a balanced state of the object to be photographed by increasing the height of the second scaffold 120 on which the right leg is raised by about 1.5 cm. It is possible to fit

12 is an x-ray side/front photographed image of an object to be photographed having a concave foot, and it is possible to balance the object to be photographed by tilting the inner sides of the first footrest 110 and the second footrest 120 low. .

13 is an x-ray front image of an object to be photographed wearing a prosthetic leg, and it is possible to balance the object to be photographed by increasing the height of the first scaffold 110 on which the left leg is raised by about 3 cm.

14 is an x-ray side/front image of an object to be photographed with a short left leg and a shortened heel due to Achilles tendon contracture, so that the height and rear portion of the first footrest 110 on which the left leg is raised are raised. By adjusting the angle, it is possible to adjust the balance of the object to be photographed.

In the above, the present specification has been described with reference to the embodiments shown in the drawings so that those skilled in the art can easily understand and reproduce the present application, but this is only exemplary, and various modifications and equivalent other It will be appreciated that embodiments are possible. Therefore, the protection scope of the present application should be determined by the claims.

100: shooting footrest
110: first scaffold
111: first pressure sensor
120: second scaffold
121: second pressure sensor
130: first scaffold support
140: second scaffold support
150: processor
151: balance calculation unit
152: gradient calculation unit
153: height calculation unit
160: control unit
170: input unit
180: output unit
190: memory
H: Housing
W: movement wheel

Claims (8)

A first scaffold 110 having a first pressure sensor 111 installed thereon;
a second footrest 120 in which a second pressure sensor 121 is installed;
A first scaffold support 130 provided under the first scaffold 110 and configured to adjust a tilting angle and a vertical height of the first scaffold 110;
A second scaffold support 140 provided under the second scaffold 120 and configured to adjust the tilting angle and vertical height of the second scaffold 120; and
The pressure signals output from the first pressure sensor 111 and the second pressure sensor 121 are compared, and one of a balanced state and an unbalanced state is calculated according to the comparison result, and when the unbalanced state is calculated, the A first scaffold 110 and a processor 150 configured to generate a control command for adjusting a tilting angle and a vertical height of any one or more of the scaffold 110 and the second scaffold 120;
Including a photographing device 200 configured to perform photographing when the photographing scaffold 100 is calculated as a balanced state,
shooting system.
According to claim 1,
The processor 150,
a balance calculation unit 151 configured to compare a first pressure signal output from the first pressure sensor with a second pressure signal output from the second pressure sensor and calculate one of a balanced state and an unbalanced state;
When it is calculated as being in an imbalanced state by the balance calculation unit 151, one or more of the first scaffold 110 and the second scaffold 120 is front, rear, left and right using the first pressure signal and the second pressure signal. a tilt calculation unit 152 configured to calculate a tilt adjustment angle; and
When it is calculated as being in an imbalanced state by the balance calculation unit 151, the height of one or more of the first and second scaffolds 110 and 120 is adjusted up and down by using the first pressure signal and the second pressure signal. Including; height calculation unit 153 configured to calculate
shooting system.
According to claim 2,
The vertical and horizontal tilting adjustment angles calculated by the tilt calculation unit 152 and the up and down adjustment heights calculated by the height calculation unit 153 change the imbalanced state to the balanced state,
shooting system.
According to claim 2,
The first scaffold support 130 is provided in plurality under the first scaffold 110,
The second scaffold support 140 is provided in plurality under the second scaffold 120,
The first scaffold 110 and the second scaffold 120 are controlled according to the tilt adjustment angle calculated by the tilt calculation unit 152 and the height adjustment height calculated by the height calculation unit 153 Further comprising a control unit 160 generating control commands for each of the plurality of first scaffold supports 130 and the plurality of second scaffold supports 140,
shooting system.
According to claim 1,
A housing (H) surrounding the outside of the first scaffold 110 and the second scaffold 120; and
As a moving wheel (W) of the ball (ball) type installed in the housing (H), it is movable when a pressure less than a predetermined pressure is applied to the first scaffold 110 and the second scaffold 120, the Further comprising a moving wheel (W) configured to be immovable when a pressure higher than a predetermined pressure is applied.
shooting system.
According to claim 2,
The first pressure signal and the second pressure signal are signals in the form of pressure distribution over the areas of the first scaffold 110 and the second scaffold 120, respectively,
The balance calculation unit 151 compares pressure values of a plurality of points of the first pressure signal or compares pressure values of a plurality of points of the second pressure signal to determine any one of a balanced state and an unbalanced state of each scaffold. further computing the state,
shooting system.
According to claim 6,
The processor 150,
A first pressure signal output from the first pressure sensor, a second pressure signal output from the second pressure sensor, a state of one of a balanced state and an unbalanced state, and in the case of an unbalanced state, to change the unbalanced state to a balanced state Using a prediction model generated by learning learning data consisting of a tilting adjustment angle and an up and down adjustment height of one or more of the first and second scaffolds,
The prediction model outputs one of a balanced state and an imbalanced state when the first pressure signal and the second pressure signal are input, and changes the imbalanced state to a balanced state when the imbalanced state is output. And outputting at least one front, rear, left and right tilting adjustment angle and up and down adjustment height of the second scaffold,
shooting system.
According to claim 3,
The photographing device 200 performs a first photograph when the processor 150 calculates that the state is in an imbalanced state, and performs a second photograph after the state is changed from the imbalanced state to the balanced state.
shooting system.

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