KR20230172390A - Apparatus and method for identifying objects - Google Patents

Abstract

The present invention relates to an object identification device, comprising: a camera module that rotates or moves a plurality of objects placed on a base module and photographs them from a plurality of angles; and a processor that identifies the plurality of objects using image data captured from a plurality of angles by the camera module.

Description

Object identification device and method {APPARATUS AND METHOD FOR IDENTIFYING OBJECTS}

The present invention relates to an object identification device and method, and more specifically, to an object identification device and method that improves object identification in a system that photographs and identifies objects.

Recently, unmanned payment counters have been installed in many businesses, and the number of stores that operate only with unmanned payment systems without managers is also increasing.

These unmanned payment systems were mainly used in the past where users had to recognize the barcodes of objects (e.g. products) one by one through a barcode reader, but recently, single or multiple objects (e.g. products) placed on a product stand have been used. There is a shift to a method of recognizing (identifying) objects at once by photographing them.

However, there is a problem in that the unmanned payment system's low identification power makes it unable to accurately identify objects placed on the product stand, which may cause errors in the amount to be paid, causing losses to the store or user.

Therefore, in order to prevent these problems, there is a need for technology that can improve the identification of objects.

The background technology of the present invention is disclosed in Korean Patent Publication No. 10-2023-0015618 (January 31, 2023).

The present invention is intended to solve the above problems, and its purpose is to provide an object identification device and method that can improve object identification in a system that photographs and identifies objects.

An object identification device according to an aspect of the present invention includes a camera module for photographing a plurality of objects placed on a base module from a plurality of angles while rotating or moving with respect to the base module; and a processor that identifies the plurality of objects using image data captured from a plurality of angles by the camera module.

An object identification device according to another aspect of the present invention includes a base module on which an object to be identified can be placed; a support module formed at a specified angle with respect to the base module; A camera module that rotates or moves through the support module and can take pictures of objects placed on the base module from various angles; And the camera module rotates or moves to generate a two-dimensional image, a depth image, or a three-dimensional image captured from various angles of an object placed on the base module, and at least one two-dimensional image captured by an object placed on the base module. or a processor that identifies the object using the depth image or the three-dimensional image.

An object identification method according to another aspect of the present invention includes the steps of a processor rotating or moving a camera module in a designated direction and photographing an object placed on a base module; The processor rotates or moves and generates a two-dimensional image, a depth image, or a three-dimensional image captured by the camera module at various angles of an object placed on the base module; and identifying the object by the processor using at least one two-dimensional image, the depth image, or the three-dimensional image in which the object placed on the base module is photographed.

The present invention makes it possible to improve the identification of an object by photographing the object from multiple angles or in three dimensions in a system that photographs the object and identifies the object in the captured image.

Additionally, the present invention allows objects to be photographed from multiple angles or in three dimensions even when using a single camera by rotating or moving the camera.

1 is an exemplary diagram showing the schematic configuration of an object identification device according to an embodiment of the present invention.
Figure 2 is a flowchart for explaining the learning mode operation of the object identification device according to an embodiment of the present invention.
Figure 3 is a flowchart for explaining the identification mode operation of the object identification device according to an embodiment of the present invention.
Figure 4 is an example diagram for explaining a method of rotating a camera module according to an embodiment of the present invention.
Figure 5 is an example diagram showing the rotation range of the camera module in Figure 4.
Figure 6 is an example diagram for explaining a method of rotating the camera module using a plurality of support modules in Figure 4.
Figure 7 is an example diagram for explaining a method of moving a camera module according to an embodiment of the present invention.
Figure 8 is an example diagram for explaining a method of moving a plurality of camera modules in Figure 7.
Figure 9 is an exemplary diagram showing the schematic form of an object identification device according to an embodiment of the present invention.
Figure 10 is an example diagram showing a photograph taken during a test process of an object identification device according to an embodiment of the present invention.

Hereinafter, embodiments of an object identification device and method according to the present invention will be described with reference to the attached drawings.

In this process, the thickness of lines or sizes of components shown in the drawing may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

An object identification device that uses a camera to identify objects must photograph objects from various directions and learn from the captured images in order to improve identification, but problems may arise in which objects cannot be accurately identified depending on lighting or shooting angles. there is. Therefore, in order to solve this problem, a plurality of cameras capable of photographing objects from various angles can be fixedly installed. However, in this case, as the number of cameras increases, a problem may occur in which the manufacturing cost of the object identification device increases.

Accordingly, the present invention allows three-dimensional photography of objects from various angles even when using a single camera by rotating or moving the camera, thereby lowering the manufacturing cost of the object identification device and improving identification ability.

1 is an exemplary diagram showing the schematic configuration of an object identification device according to an embodiment of the present invention.

The object identification device according to this embodiment shown in FIG. 1 may include a camera module 120 and a processor 150. Alternatively, as shown in FIG. 1, the object identification device according to an embodiment of the present invention includes a support module 110, a camera module 120, a base module 130, a sensor module 140, a processor 150, It may include a communication module 160, a lighting module 170, and a database (DB).

The support module 110 is formed at a specified angle on one inner side of the body (or frame) of the object identification device, and the camera module 120 can be attached to it.

The support module 110 is formed with a track of a designated shape (e.g., circular, square, oval, C-shaped, U-shaped, etc.) corresponding to the rotation direction or moving direction of the camera module 120, or a track of a designated shape is attached. You can.

At least one camera module 120 may be attached to the support module 110.

The support module 110 can be rotated or moved in a specified direction at a specified speed while the camera module 120 is attached.

The support module 110 may include an electric motor (not shown).

A plurality of support modules 110 may be arranged at multiple heights based on the base module 130 in order to photograph objects placed on the base module 130 from various heights. When the support modules 110 are configured at multiple heights, a camera module 120 may be provided in each support module 110 correspondingly.

The camera module 120 may be fixedly attached to the support module 110 and may actively rotate or move along the orbit of the support module 110.

The camera module 120 may be equipped with an electric motor (not shown) to actively rotate or move along the trajectory of the support module 110.

The camera module 120 may be fixedly attached to the support module 110 and passively rotated or moved according to the rotation or movement of the support module 110.

The camera module 120 rotates or moves and can continuously photograph objects (eg, products, articles, etc.) placed on the base module 130 from various angles.

The camera module 120 may have its shooting angle adjusted inward or outward based on the center of the base module 130.

The camera module 120 may be arranged at multiple heights based on the base module 130 in order to photograph objects placed on the base module 130 from various heights.

The camera module 120 includes a 3D camera such as a 2D camera, a depth camera, and a stereo camera. The camera module 120 is capable of acquiring two-dimensional images or three-dimensional images including depth information, and rotates or moves to capture two-dimensional images or three-dimensional images including depth information taken from various angles of objects placed on the base module 130. Based on this, a depth image or a three-dimensional image can be generated.

The base module 130 performs the function of an item support.

The base module 130 extracts the position and pose of the camera module 120 or the position, size, and characteristics of the object to extract a predetermined reference pattern (not shown) that improves object recognition performance by extracting at least one of the base module 130. It can be provided on the side. These reference patterns enable more robust object recognition performance.

The base module 130 may be rotated in a specified direction at a specified speed by an electric motor (not shown) and may also be vibrated at a specified intensity.

The sensor module 140 may include an encoder and a position sensor, and the processor 150 determines the shooting angle or shooting angle of the camera module 120 based on sensing information (e.g., position, angle, etc.) from the sensor module 140. Enables accurate detection and control of rotation or movement position.

The processor 150 identifies each object based on images taken continuously from various angles of the object placed on the base module 130 by the rotating or moving camera module 120. In addition, the processor 150 contains two-dimensional images, depth images (e.g., data containing distance values between objects from the camera's viewpoint), and/or three-dimensional images (e.g., three-dimensional location information on the x-axis, y-axis, and z-axis). image data) can be generated, and objects are identified through pre-processing and post-processing of the generated images. In addition, since the camera module 120 is capable of acquiring two-dimensional images or three-dimensional images including depth information, three-dimensional images including two-dimensional images or depth information captured from various angles of objects placed on the base module 130 while rotating or moving Based on the dimensional image, the processor 150 may generate a depth image or a three-dimensional image and use it to identify objects.

When identifying an object placed on the base module 130, the processor 150 performs object identification using results learned in advance (e.g., pattern matching, machine learning, or deep learning learning). Alternatively, the processor 150 may change the position, shape, and form of the object placed on the base module 130 and the state conditions of the object (e.g., luminous intensity of the lighting module, influence of external light, etc.) based on the results of an experiment. Pattern matching, machine learning, or deep learning are performed and the results are stored in the database (DB).

The processor 150 uses a depth image or three-dimensional image generated from an image of an object placed on the base module 130, or an image of an object placed on the base module 130 to identify the object. Perform learning (e.g. pattern matching, machine learning, or deep learning).

At this time, the above pattern matching, machine learning, or deep learning may be performed within the object identification device by the processor 150, but the object identification device and the communication module 160 may be used depending on the implementation environment or implementation intention. It is performed on a server or a pre-designated cloud (not shown) connected by wired/wireless means, and the learning results are transmitted again and stored in a database (DB), and are used by the processor 150 to identify objects.

The processor 150 includes a learning mode for learning objects placed on the base module 130 and an identification mode for identifying objects placed on the base module 130.

The processor 150 controls electric motors (not shown) included in the support module 110, camera module 120, and base module 130 when performing the learning mode and identification mode.

When performing the learning mode and identification mode, the processor 150 determines the image captured through the camera module 120 and the position (i.e., rotation/movement position) of the camera module 120 detected through the sensor module 140. Or, angle information is matched and stored in a database (DB).

The database DB stores images captured through the camera module 120 (e.g., two-dimensional images, depth images, and stereoscopic images) in correspondence with location information and/or angle information detected through the sensor module 140. The database (DB) contains at least one of the programs for performing learning mode and identification mode, learning-related information, learning results, object characteristic information (e.g. length, volume, height, color, etc.), and object price information. It is saved.

The communication module 160 communicates with at least one external device (e.g., display module, user terminal, server, etc.) in a wired or wireless manner to input or output information related to performing the learning mode and identification mode.

For example, the display module can output a guidance message for performing learning in the learning mode, and the display module can also output the name and price information of the identified object in the identification mode. The user terminal can output the name, price information, and payment information of the identified object in identification mode. The server allows information learned from one object identification device to be shared with other object identification devices. For example, the learning information learned about the first object from the first object identification device is transmitted to the second object identification device so that learning information about the same object can be shared with each other. Additionally, the server allows updating operating programs or data for the object identification device.

At this time, in another embodiment, the display module may be formed by being integrally combined with the object identification device.

The lighting module 170 is attached to one inner side of the body (or frame) and illuminates.

The lighting module 170 may illuminate in at least one color, and the brightness may be adjusted when illuminated.

At this time, adjusting the color or brightness of the lighting is for clear photography of the object (i.e., improving identification), for example, the material of the object's packaging (e.g. vinyl, paper, aluminum, etc.) and the information printed on the packaging. Depending on the type of object (e.g. trademark, design, barcode, hologram, etc.), the color or brightness of the lighting can be adjusted for clear photography.

The lighting module 170 may include a visible light LED (LED), and may additionally include a plurality of lighting elements with different lighting characteristics (e.g., halogen, infrared, ultraviolet, etc.).

At this time, the selection of the lighting element is for clear photography of the object (i.e., improved identification), for example, the material of the object's packaging (e.g. vinyl, paper, aluminum, etc.) and the information printed on the packaging (e.g. the object) Depending on the type (brand, design, barcode, hologram, etc.), a lighting device may be selected for clear photography.

Figure 2 is a flowchart for explaining the learning mode operation of the object identification device according to an embodiment of the present invention.

Referring to FIG. 2, when the current mode of the object identification device is the learning mode (example of S101) and an object is mounted on the base module 130 (example of S102), the processor 150 operates the camera module 120. Rotates or moves in a designated direction at a designated speed, and photographs an object placed on the base module 130 (S103).

At this time, the processor 150 can control an electric motor (not shown) to actively rotate or move the camera module 120 according to the shape (e.g., track shape) of the support module 110, or the support module 110. By fixing the camera module 120 to the module 110, the camera module 120 may be manually rotated or moved according to the rotation or movement of the support module 110 (see FIGS. 4 to 8).

Accordingly, the processor 150 produces an image (i.e., two-dimensional image) captured of an object placed on the base module 130 while the camera module 120 rotates or moves (i.e., active/passive rotation or movement). Or, learning to identify (or recognize) an object using depth images and/or three-dimensional images generated from images of objects placed on the base module 130 (e.g., pattern matching, machine learning, or deep learning learning) ) is performed (S104), and the learning information (i.e., object identification or recognition information) and the corresponding sales information (e.g., price) are stored in the database (DB) (S105). In addition, if the camera module 120 is capable of acquiring not only a two-dimensional image but also a three-dimensional image including depth information, a two-dimensional image captured from various angles of an object placed on the base module 130 while rotating or moving or including depth information A depth image or stereoscopic image is generated based on the 3D image, and the processor 150 may learn to identify objects using the depth image or stereoscopic image. Alternatively, the learning may be performed on a server or cloud (not shown), so in this case, the processor 150 transmits the image (two-dimensional image) or the generated depth image and/or stereoscopic image to an external device. It is transmitted to a server or cloud (not shown).

Additionally, although not shown in the drawing, the processor 150 may output a guidance message for performing learning in the learning mode through the display module.

Figure 3 is a flowchart for explaining the identification mode operation of the object identification device according to an embodiment of the present invention.

Referring to FIG. 3, when the current mode of the object identification device is the identification mode (example of S201) and an object is mounted on the base module 130 (example of S202), the processor 150 operates the camera module 120. Rotates or moves in a designated direction according to a designated speed, and photographs an object placed on the base module 130 (S203).

At this time, as in the learning mode, the processor 150 controls an electric motor (not shown) to actively rotate or rotate the camera module 120 according to the shape (e.g., orbital shape) of the support module 110. It can be moved, or when the camera module 120 is fixedly attached to the support module 110, the camera module 120 can be manually rotated or moved according to the rotation or movement of the support module 110 (Figure 4 to 8).

Accordingly, the processor 150 captures an image (i.e., a two-dimensional image) of an object placed on the base module 130 while the camera module 120 rotates or moves (i.e., active/passive rotation or movement). , or using a depth image and/or three-dimensional image generated from images of an object placed on the base module 130, identify (or recognize) the object (S204), and attach the object to the identified (or recognized) object. Corresponding sales information (e.g. price) is loaded from the database (DB) (S205). In addition, if the camera module 120 is capable of acquiring not only a two-dimensional image but also a three-dimensional image including depth information, a two-dimensional image captured from various angles of an object placed on the base module 130 while rotating or moving or including depth information A depth image or three-dimensional image may be generated based on the three-dimensional image, and the processor 150 may identify (or recognize) an object using the depth image or three-dimensional image (S204), and the object thus identified (or recognized) may be generated. Sales information (e.g. price) corresponding to can be loaded from the database (DB) (S205).

In addition, although not shown in the drawing, the processor 150 outputs (i.e. transmits or displays) payment information summing up sales information (e.g. price) corresponding to the identified (or recognized) object to the display module or user terminal. )can do.

Hereinafter, a method of rotating or moving the camera module 120 will be described with reference to FIGS. 4 to 8.

Figure 4 is an example diagram for explaining a method of rotating a camera module according to an embodiment of the present invention.

As shown in FIG. 4, the support module 110 is formed at a designated angle on one inner side of the body (or frame), and the camera module 120 is attached to it.

For example, as shown in (a) and (b) of Figures 4, the support module 110 may be formed horizontally on the inner upper side of the body (or frame), specifically as shown in (a). One camera module 120 may be attached to the support module 110, or a plurality of camera modules 120 may be attached to one support module 110 as shown in (b).

Additionally, as shown in (c) and (d) of Figures 4, the support module 110 may be formed at a specified angle on one inner side of the body (or frame), and as shown in (c), the support module 110 may be formed at a specified angle. The support module 110 may be formed at a designated angle, or, as shown in (d), a plurality of support modules 110 may each be formed at a designated angle.

Figure 5 is an example diagram showing the rotation range of the camera module in Figure 4.

As shown in (a) of FIG. 5, the camera module 120 rotates 360 degrees and can capture objects placed on the base module 130 from 360 degrees in all directions.

Alternatively, as shown in (b) of FIG. 5, the camera module 120 rotates within a specified angle range (e.g., 180 degrees, 270 degrees, etc.) and detects an object placed on the base module 130 within the specified angle range (e.g. : You can also shoot at 180 degrees, 270 degrees, etc.)

Figure 6 is an example diagram for explaining a method of rotating the camera module using a plurality of support modules in Figure 4.

Referring to FIG. 6, a plurality of support modules 110 are formed at different heights (e.g., upper and lower sides) inside the body (or frame) of the object identification device, and are at different heights as shown in (a). A plurality of support modules 110 formed on the upper and lower sides (e.g., upper and lower sides) may all be formed in a form that allows the camera module 120 to rotate 360 degrees, or may be formed at different heights as shown in (b). Example: One of the plurality of support modules 110 formed on the upper and lower sides is formed in a shape that can rotate the camera module 120 360 degrees, and the other one supports the camera module 120 within a specified angle range (e.g. : It is formed in an arc shape that can be rotated within 270 degrees, or as shown in (c), a plurality of support modules 110 formed at different heights (e.g., upper and lower sides) are all connected to the camera module 120. ) can be formed in the form of an arc that can be rotated within a specified angle range (e.g. 270 degrees).

Figure 7 is an example diagram for explaining a method of moving a camera module according to an embodiment of the present invention.

As shown in (a) of FIG. 7, the camera module 120 moves in the horizontal direction (or X, Y direction) from the corner along the support module 110 formed at the inner corner of the body (or frame). The support module 110 can move in the vertical direction (or Z direction) at the corner and is formed horizontally with respect to one inner side (e.g., upper side) of the body (or frame) as shown in (b) and (c). ), it can move in the It can move within a specified angle range (e.g., 270 degrees) along the support module 110 formed in the shape, and as shown in (e), it moves from one point on one side of the body (or frame) to the other side of the body (or frame). It may also move in a straight direction (or diagonal direction) along the support module 110 formed in a straight line (or a straight line with an inclination) to one point.

Figure 8 is an example diagram for explaining a method of moving a plurality of camera modules in Figure 7.

As shown in (a) of FIG. 8, a plurality of camera modules 120 can move horizontally in the X-axis direction along the support module 110 formed horizontally with respect to one inner side of the body (or frame), As shown in (b), a plurality of camera modules 120 may move horizontally in the Y-axis direction along the support module 110 formed horizontally with respect to one inner side of the body (or frame).

In this embodiment, three-dimensional photography of objects is possible with only one camera module 120, but there is an effect of minimizing image acquisition and recognition time by using a plurality of camera modules 120, and the plurality of camera modules 120 ), the object recognition (identification) rate can be improved by configuring the angle of view of each camera module 120 differently.

Figure 9 is an exemplary diagram showing the schematic form of an object identification device according to an embodiment of the present invention. As shown in (a), the object identification device has an open front side and places an object on the base module 130. It can be formed into a form that can be placed and easily recovered. In addition, as shown in (b) and (c), the object identification device has a completely open front and left and right sides, so that objects can be more easily placed on or retrieved from the base module 130. . And, as in (c), the upper side may be formed in a circular shape, and the rear side may be formed to be narrower than the width of the base module 130 when viewed from the front. The object identification device according to the present invention can be formed in various forms. It goes without saying that it can be designed and is not limited to the examples illustrated.

Although not specifically shown in the drawing, the processor 150 can identify objects in the scanning (photography) area on the base module 130 through the camera module 120 or sensor module 140 and can identify the user's actions (e.g. : Real-time detection of changes due to actions such as placing or removing an object, approaching the object identification device for payment, placing an object on the base module and waiting for payment, moving away from the object identification device after payment is completed, etc. can do.

Additionally, the object identification device according to this embodiment is combined with a payment system (e.g., POS system), allowing immediate payment based on object identification (recognition) information.

Figure 10 is an exemplary diagram showing a photograph taken during a test process of an object identification device according to an embodiment of the present invention. In a state in which the body (frame) of the object identification device is opened, (a) is a photograph taken from the front. , (b) is a photo taken from the side, and (c) is a photo taken from the top inside the body (frame).

As described above, the present invention has been described with reference to the embodiments shown in the drawings, but these are merely illustrative, and various modifications and equivalent embodiments can be made by those skilled in the art. You will understand the point. Therefore, the scope of technical protection of the present invention should be determined by the claims below. Implementations described herein may also be implemented as, for example, a method or process, device, software program, data stream, or signal. Although discussed only in the context of a single form of implementation (eg, only as a method), implementations of the features discussed may also be implemented in other forms (eg, devices or programs). The device may be implemented with appropriate hardware, software, firmware, etc. The method may be implemented in a device such as a processor, which generally refers to a processing device that includes a computer, microprocessor, integrated circuit, or programmable logic device. Processors also include communication devices such as computers, cell phones, portable/personal digital assistants (“PDAs”) and other devices that facilitate communication of information between end-users.

110,111,112: Support module 120: Camera module
130: Base module 140: Sensor module
150: processor 160: communication module
170: Lighting module DB: Database

Claims (17)

A camera module that rotates or moves a plurality of objects placed on a base module with respect to the base module and photographs them from a plurality of angles; and
An object identification device comprising a processor that identifies the plurality of objects using image data captured from a plurality of angles by the camera module.
A base module on which objects subject to identification can be placed;
a support module formed at a specified angle with respect to the base module;
A camera module that rotates or moves through the support module and can take pictures of objects placed on the base module from various angles; and
The camera module rotates or moves to generate a two-dimensional image, a depth image, or a three-dimensional image captured from various angles of an object placed on the base module, and at least one two-dimensional image captured by an object placed on the base module is captured. An object identification device comprising a processor that identifies the object using the depth image or the stereoscopic image.
The method of claim 2, wherein the support module is:
An object identification device characterized in that it is formed into a trajectory of a designated shape corresponding to the rotation direction or moving direction of the camera module, or is formed so that a trajectory of a designated shape can be attached.
The method of claim 2, wherein the support module is:
An object identification device, characterized in that it is formed to be rotated or moved in a specified direction according to a specified speed when the camera module is attached.
The method of claim 1 or 2, wherein the camera module,
Actively rotate or move along the orbit of the support module,
An object identification device that is fixedly attached to the support module and passively rotates or moves according to the rotation or movement of the support module.
The method of claim 1 or 2, wherein the camera module,
An object identification device that can be arranged at multiple heights based on the base module in order to photograph objects placed on the base module from multiple heights.
The method of claim 1 or 2, wherein the base module,
An object identification device comprising a designated reference pattern on at least one side that improves object recognition performance by extracting the position and pose of the camera module or the position, size and characteristics of the object.
According to claim 1 or 2,
An object identification device further comprising a sensor module for detecting rotational position, moving position or angle information of the camera module in order to rotate or move the camera module.
The method of claim 1 or 2, wherein the processor:
A learning mode for learning objects placed on the base module, or
An object identification device characterized in that it operates in an identification mode for identification of objects placed on the base module.
According to claim 1 or 2,
It further includes a database that stores image information captured through the camera module and rotation or movement position and/or angle information of the camera module detected through the sensor module in correspondence,
The database is,
Program for performing learning mode and identification mode; learning-related information; Learning outcomes: object characteristic information, including color, volume, height and length; and an object identification device that stores at least one of the object's price information.
According to claim 1 or 2,
It further includes a communication module that connects to communicate in a wired or wireless manner with at least one external device for inputting or outputting information related to performing the learning mode and identification mode,
The external device is,
A display module capable of outputting a guidance message for performing learning in a learning mode and outputting the name and price information of an object identified in an identification mode; A server that allows information learned from one object identification device to be shared with another object identification device; and an object identification device comprising at least one of a user terminal capable of performing payment and information identified in the identification mode.
According to claim 1 or 2,
It further includes a lighting module attached to one side of the interior to illuminate,
The lighting module is,
Can be illuminated with at least one color, the brightness can be adjusted,
An object identification device comprising a plurality of lighting elements having different lighting characteristics.
A step where the processor rotates or moves the camera module in a designated direction and photographs an object placed on the base module;
generating, by the processor, a two-dimensional image, a depth image, or a three-dimensional image captured by the camera module at various angles of an object placed on the base module while rotating or moving; and
An object identification method comprising: the processor identifying an object using at least one two-dimensional image, the depth image, or the three-dimensional image in which an object placed on the base module is photographed.
According to clause 13,
In the step of rotating or moving the camera module in a designated direction,
The camera module is,
A method for identifying objects, characterized in that at least one object is formed to enable rotation or movement at different heights or different angles.
According to clause 14,
The camera module is,
A shape that can be rotated 360 degrees, an arc shape that can be rotated within a specified angle range, a shape that can be moved horizontally or vertically, a shape that has a specified angle from a point on one side of the body to a point on the other side. A method for identifying an object, characterized in that it is formed in at least one of a form that can be moved in an arc shape, a form that can be moved in a straight direction from a point on one side of the body to a point on the other side.
According to clause 13,
The camera module rotates or moves and generates a depth image or three-dimensional image based on a two-dimensional image or a three-dimensional image including depth information taken from various angles of an object placed on the base module, and the processor generates the depth image or three-dimensional image. An object identification method characterized by identifying an object using the three-dimensional image.
According to claim 1 or 2,
The camera module is capable of acquiring two-dimensional images or three-dimensional images including depth information, and rotates or moves to capture objects placed on the base module from various angles based on the two-dimensional images or three-dimensional images including depth information. An object identification device that generates a depth image or three-dimensional image, and the processor identifies the object using the depth image or three-dimensional image.

Images