Patent Description:
For example, a resolution such as capturing an image of a merchandise rack installed in a store by a camera, analyzing the captured image, and thus checking whether information on a shelf label attached to the merchandise rack is correct or not, is employed. For such a resolution, the characters on the shelf label need to be recognized from the captured image and therefore a camera with a high resolution and a narrow image capture range, that is, a so-called narrow-range camera, is preferable. Meanwhile, in the merchandise rack, many kinds of merchandise items are displayed separately on a plurality of shelves, and the width, height and the like of the shelf required for display vary depending on the merchandise item. Therefore, the shelf labels showing the prices of the individual merchandise items are not arranged at an equal interval in vertical and horizontal directions.

In such circumstances, in order to capture an image of a shelf label no matter what position in the merchandise rack the shelf label is attached, a plurality of narrow-range cameras are installed next to each other in the direction of the height of the merchandise rack on a wheeled platform automatically traveling in the direction of the width in front of the merchandise rack. Each narrow-range camera repeatedly captures an image of the merchandise rack in timing with the automatic traveling of the wheeled platform. Constructing such an image capture system enables the acquisition of an image of the merchandise rack in which all the shelf labels attached to the merchandise rack are captured with a high resolution, and the execution of image processing for recognizing the characters on the shelf labels.

<CIT> relates to a robot for use in acquiring high resolution imaging data. The robot is particularly suited to acquire images indoors-for example in a retail or warehouse premises. Acquired images may be analyzed to identify inventory and the like. The robot includes a conveyance for moving the robot along a path. The robot captures, using a line scan camera, a series of images of objects along the path as the robot moves. A controller controls the locomotion of the robot and the acquisition of individual images through the camera. Each individual acquired image of the series of images has at least one vertical line of pixels.

<CIT> relates to an information processing system including at least one image capturer, a moving unit, and a controller. The at least one image capturer included in the information processing sys-tem captures a store shelf. The moving unit included in the information processing system moves the at least one image capturer. The controller included in the information process-ing system controls image capturing by the at least one image capturer and movement of the at least one image capturer by the moving unit at a predetermined timing.

<CIT> relates to a store profile generation system including a mobile base and an image capture assembly mounted on the base. The assembly includes at least one image capture device for acquiring images of product display units in a retail environment. A control unit acquires the images captured by the at least one image capture device at a sequence of locations of the mobile base in the retail environment. The control unit extracts product-related data from the acquired images and generates a store profile indicating locations of products and their associated tags throughout the retail environment, based on the extracted product-related data.

According to a specific embodiment where multi-resolution imaging for barcode detection is performed, the mobile base includes at least two cameras that extend vertically. A first camera is used to acquire large FOV images of low resolution of the shelf face in order to identify local ROIs where shelf price tags are suspected to be present. Given one or more of these ROIs, a second camera is used to acquire high resolution images of the identified ROIs before the mobile base <NUM> is moved to its next position along the shelf face. The second camera may have PTZ capability.

<CIT> relates to a system for imaging a face of a rack including a camera and lighting array, a positioning system, a computer system and a wheeled platform. The array includes multiple cameras located in a first plane orthogonal to a second plane and each camera has a first field of view in a first axis of the second plane. Collectively, the first fields of view extend from one end of the face to another end of the face. The positioning system is operable to move the array from a starting point to an ending point via multiple intermediate points along an axis in a third plane parallel to the first plane.

However, in the related-art image capture system, each camera repeatedly captures an image of the merchandise rack regardless of whether a shelf label is present or not, and therefore even an image that does not include any shelf label is processed. Thus, there are problems to be solved, such as an increase in the capacity of a memory storing image data and a reduction in the image processing speed.

An embodiment described herein is to provide an image capture system and a control device therefor that can achieve a reduction in the capacity of the memory storing image data and an improvement in the image processing speed.

In general, according to one embodiment, a control device includes a traveling control unit and an image capture control unit. The traveling control unit controls traveling of a wheeled platform traveling along an image capture plane where a plurality of image capture target objects are arranged, spaced apart from each other in vertical and horizontal directions. The image capture control unit controls an image capture operation of a plurality of cameras installed in a direction perpendicular to a traveling direction of the wheeled platform, according to an image capture timing list set on a per camera basis, of the plurality of cameras.

An embodiment of an image capture system and a control device therefor will now be described with reference to the drawings.

In this embodiment, an image capture system for checking whether information on a shelf label attached to the front of a merchandise rack is corrected or not is described as an example.

<FIG> is a schematic view showing a schematic configuration of an image capture system <NUM> according to this embodiment. The image capture system <NUM> includes an image capture device <NUM> and a control device <NUM>. The image capture device <NUM> and the control device <NUM> are connected to each other, for example, via a wireless LAN (local area network). The image capture device <NUM> and the control device <NUM> may be connected to each other via a communication cable for wired communication.

The image capture device <NUM> is formed of a wheeled platform <NUM> with a camera installation unit <NUM> loaded thereon. The wheeled platform <NUM> is a vehicle freely moving on a floor surface spreading in front of a merchandise rack where a shelf label that is an image capture target object is attached. The wheeled platform <NUM> is self-propelled to travel in response to a traveling instruction from the control device <NUM>. Such a wheeled platform <NUM> can be paraphrased as self-propelled robot.

The camera installation unit <NUM> is formed of a first camera installation unit <NUM> and a second camera installation unit <NUM>. Each of the first camera installation unit <NUM> and the second camera installation unit <NUM> is fixed to a top part of the wheeled platform <NUM>.

The first camera installation unit <NUM> is a structure where a plurality of first cameras <NUM> are installed in a line, spaced apart from each other with a predetermined space in a direction (arrow Z) perpendicular to a traveling direction (arrow X) of the wheeled platform <NUM> and with the lenses thereof facing the same direction. The first camera <NUM> is a high-resolution narrow-range camera suitable for image capture for the shelf label. In this embodiment, the number of first cameras <NUM> is seven. The first cameras <NUM> are given reference numbers "<NUM>", "<NUM>", "<NUM>", "<NUM>", "<NUM>", "<NUM>", and "<NUM>" in order from the nearest first camera <NUM> to the wheeled platform <NUM> and thus distinguished from each other. In the description below, the reference number "<NUM>" is used to collectively refer to the first cameras and the reference numbers "<NUM>" to "<NUM>" are used in the case of describing the individual first cameras <NUM>.

The second camera installation unit <NUM> is a structure which has substantially the same shape and size as the first camera installation unit <NUM> and where one second camera <NUM> is installed at a center part in the direction of the height and with the lens thereof facing the same direction as each of the first cameras <NUM>. The second camera <NUM> is a wide-range camera having a wider angle of view than the first camera <NUM>. The second camera <NUM> is a wide-range camera having an angle of view that enables image capture covering the entirety of the front of at least one merchandise rack.

The control device <NUM> is a computer device remotely controlling the traveling of the wheeled platform <NUM> in the image capture device <NUM> and the image capture operation of the first camera <NUM> and the second camera <NUM>. The control device <NUM> has a processor <NUM>, a main memory <NUM>, an auxiliary memory device <NUM>, an image capture device interface <NUM>, a timer <NUM>, a touch panel <NUM>, a communication interface <NUM>, and a system transmission path <NUM>. The system transmission path <NUM> includes an address bus, a data bus, a control signal line or the like. The system transmission path <NUM> connects the processor <NUM> to the other parts directly or via a signal input/output circuit and transmits a data signal sent and received between the processor <NUM> and the other parts. The control device <NUM> forms a computer by having the processor <NUM> connected to the main memory <NUM>, the auxiliary memory device <NUM>, the image capture device interface <NUM>, the timer <NUM>, the touch panel <NUM>, and the communication interface <NUM> via the system transmission path <NUM>.

The processor <NUM> is equivalent to a control center of the computer. The processor <NUM> controls each part so as to implement various functions as the control device <NUM> according to an operating system or an application program. The processor <NUM> is a CPU (central processing unit), for example.

The main memory <NUM> is equivalent to a main memory part of the computer. The main memory <NUM> includes a non-volatile memory area and a volatile memory area. The main memory <NUM> stores an operating system or an application program in the non-volatile memory area. The main memory <NUM> may store data that is necessary for the processor <NUM> to execute processing for controlling each part, in the non-volatile or volatile memory area. The main memory <NUM> uses the volatile memory area as a work area where data is suitably rewritten by the processor <NUM>. The non-volatile memory area is a ROM (read-only memory), for example. The volatile memory area is a RAM (random-access memory), for example.

The auxiliary memory device <NUM> is equivalent to an auxiliary memory part of the computer. For example, an EEPROM (electrically erasable programmable read-only memory), an HDD (hard disk drive), or an SSD (solid-state drive) or the like can serve as the auxiliary memory device <NUM>. In the auxiliary memory device <NUM>, data used by the processor <NUM> to execute various kinds of processing and data generated through the processing by the processor <NUM>, or the like, are saved. The auxiliary memory device <NUM> may store the application program.

The image capture device interface <NUM> is an interface for performing data communication with the image capture device <NUM>, using wireless or wired communication. The image capture device interface <NUM> transmits, for example, a data signal relating to a traveling instruction such as the start, the stop, the traveling velocity, or the traveling direction of the wheeled platform <NUM>, to the image capture device <NUM>. The image capture device interface <NUM> receives image data captured by each of the first camera <NUM> and the second camera <NUM>.

The timer <NUM> is a peripheral circuit having a function of tracking a set time in response to an instruction from the processor <NUM> and reporting a time-out every time the timer <NUM> finishes the tracking of time. The set time will be described later.

The touch panel <NUM> functions as an input device and a display device of the control device <NUM>. An operator of the control device <NUM> can operate the touch panel <NUM> to input necessary data for the control of the image capture device <NUM>, or the like, to the control device <NUM>. The operator can also check the result of image processing by an image processing device <NUM>, described later, from information displayed on the touch panel <NUM>.

The communication interface <NUM> is an interface for performing data communication with the image processing device <NUM> connected via a communication line, for example, the internet or the like. The image processing device <NUM> is a computer device having a processing function of checking whether information on a shelf label is correct or not, based on an image of the shelf label captured by the image capture device <NUM>. The image processing by the image processing device <NUM> may be implemented, for example, by cloud computing technology.

<FIG> is a plan view showing an example of a situation where the image capture system <NUM> according to this embodiment is applied. In <FIG>, a configuration where four merchandise racks Sa, Sb, Sc, and Sd are installed in a line along an X-axis direction on a floor surface in a store that is equivalent to an XY plane is illustrated as an example. The wheeled platform <NUM> of the image capture device <NUM> employs, as a standby point, a floor surface at a position illustrated further to the left of the merchandise rack Sa illustrated at the left end of the four merchandise racks Sa, Sb, Sc, Sd.

The merchandise racks Sa, Sb, Sc, Sd have substantially the same depth and height but have different lateral widths. In an example, a lateral width Wa of the merchandise rack Sa and a lateral width Wc of the merchandise rack Sc are equal, whereas a lateral width Wb of the merchandise rack Sb is narrower than the lateral width Wa or the lateral width Wc, and a lateral width Wd of the merchandise rack Sd is even narrower than the lateral width Wb. The merchandise racks Sa, Sb, Sc, Sd may have any number of shelves. Each shelf may be at any height and is suitably changed according to the number of merchandise items displayed there, the size of the merchandise items, and the like.

<FIG> is a front view of the merchandise rack Sa and the merchandise rack Sb as an example. The illustration of the merchandise rack Sc and the merchandise rack Sd is omitted. As shown in <FIG>, the number of shelves in the merchandise rack Sa is five. Three shelf labels are attached to each of the first shelf at the bottom, the second shelf, and the fourth shelf. Two shelf labels are attached to the third shelf. Four shelf labels are attached to the fifth shelf at the top. That is, at the front of the merchandise rack Sa, a total of <NUM> shelf labels <NUM>, which are image capture target objects, are arranged, spaced apart from each other with a suitable space in the direction of the height of the merchandise rack Sa, that is, the vertical direction, and in the direction of the lateral width, that is, the horizontal direction.

Meanwhile, the number of shelves in the merchandise rack Sb is four. Two shelf labels are attached to the first shelf at the bottom and the third shelf. Three shelf labels are attached to the second shelf and the fourth shelf. That is, at the front of the merchandise rack Sb, a total of <NUM> shelf labels <NUM>, which are image capture target objects, are arranged, spaced apart from each other with a suitable space in the direction of the height of the merchandise rack Sb, that is, the vertical direction, and in the direction of the lateral width, that is, the horizontal direction.

In this way, the merchandise rack Sa and the merchandise rack Sb have different numbers of shelves from each other. Also, the height of each shelf is different between the merchandise rack Sa and the merchandise rack Sb. Therefore, the shelf labels <NUM> arranged in the merchandise rack Sa and the shelf labels <NUM> arranged in the merchandise rack Sb are arranged at positions that are different in the vertical direction.

In such a configuration, the control device <NUM> stores a rack data table <NUM> having a data structure shown in <FIG>, for example, in the auxiliary memory device <NUM>. The rack data table <NUM> is a data table describing each rack data of rack ID, X-coordinate, Y-coordinate, width and angle in correlation with a serial number, as shown in <FIG>. The rack data table <NUM> may be stored in the main memory <NUM>.

The serial number is a successive number starting with "<NUM>" and the maximum value thereof coincides with the number of merchandise racks to which a shelf label as an image capture target object is attached. Therefore, in the example shown in <FIG>, the four merchandise racks Sa, Sb, Sc, Sd are the targets and therefore serial numbers "<NUM>" to "<NUM>" are described in the rack data table <NUM>.

The rack ID is a unique code set on a per merchandise rack basis in order to identify each of the merchandise racks Sa, Sb, Sc, Sd. In the rack data table <NUM>, the rack IDs are described in order from the merchandise rack near the standby point of the wheeled platform <NUM>, in correlation with the serial numbers "<NUM>" to "<NUM>". Therefore, in the example shown in <FIG>, the rack IDs are described in order of the merchandise racks Sa, Sb, Sc, Sd in correlation with the serial numbers "<NUM>" to "<NUM>".

The X-coordinate and the Y-coordinate are coordinate values on the XY plane of a bottom end near the standby position of the wheeled platform <NUM>, of the merchandise racks Sa, Sb, Sc, Sd identified by the corresponding rack ID. Therefore, in the example shown in <FIG>, the values of coordinates (Xa, Ya) are described as the X-coordinate and the Y-coordinate of the merchandise rack Sa. The values of coordinates (Xb, Yb) are described as the X-coordinate and the Y-coordinate of the merchandise rack Sb. The values of coordinates (Xc, Yc) are described as the X-coordinate and the Y-coordinate of the merchandise rack Sc. The values of coordinates (Xd, Yd) are described as the X-coordinate and the Y-coordinate of the merchandise rack Sd.

The width is the lateral width of the merchandise racks Sa, Sb, Sc, Sd identified by the corresponding rack ID. Therefore, in the example shown in <FIG>, the value Wa is described as the width of the merchandise rack Sa. The value Wb is described as the width of the merchandise rack Sb. The value Wc is described as the width of the merchandise rack Sc. The value Wd is described as the width of the merchandise rack Sd.

The angle is the angle formed by the direction of the lateral width of the merchandise rack Sa, Sb, Sc, Sd identified by the corresponding rack ID to the X-axis of the XY plane. Therefore, in the example shown in <FIG>, <NUM> degrees is described as the angle of all the merchandise racks Sa, Sb, Sc, Sd. By the way, for example, if the merchandise rack Sd is installed in a direction at a right angle to the direction of the width of the merchandise rack Sc, that is, if the merchandise rack Sc and the merchandise rack Sd are installed in an L-shape, <NUM> degrees is described as the angle of the merchandise rack Sd.

The rack data table <NUM> having such a data structure is a data table describing data that is necessary for the processor <NUM> of the control device <NUM> to control the traveling of the wheeled platform <NUM> of the image capture device <NUM> and to control the image capture timing of the first camera <NUM> and the second camera <NUM>.

In <FIG>, a plurality of points indicated by single circles represent the image capture points of the first camera <NUM> for the corresponding merchandise rack Sa, Sb, Sc, Sd. The first camera <NUM>, which is a narrow-range camera, is used to capture an image of the shelf label <NUM>. Therefore, the image capture points of the first camera <NUM> are spaced apart from the front of the merchandise racks Sa, Sb, Sc, Sd by a distance La suitable for the first camera <NUM> to capture an image of the shelf label <NUM>. The image capture points indicated by the single circles can be paraphrased as narrow-range image capture points. The narrow-range image capture point is an intermediate point in each section formed by dividing the lateral width of the corresponding merchandise racks Sa, Sb, Sc, Sd at a predetermined interval, at the position spaced apart from the front of the merchandise racks Sa, Sb, Sc, Sd by the distance La. The predetermined interval depends on the image capture range employed when the first camera <NUM> at the narrow-range image capture point captures an image of the merchandise rack.

<FIG> is a schematic view showing an image capture range <NUM> employed when the first camera <NUM> at the narrow-range image capture point captures an image of the merchandise rack. The image capture range <NUM> is a rectangular area having a length T on a side equivalent to the horizontal direction, that is, the direction of the width of the merchandise rack, and a length H on a side equivalent to the vertical direction, that is, the direction of the height of the merchandise rack. The predetermined interval is equal to the length T of the side in the horizontal direction of the image capture range <NUM>.

In <FIG>, a plurality of points indicated by double circles represent the image capture points of the second camera <NUM> for the corresponding merchandise racks Sa, Sb, Sc, Sd. The second camera <NUM>, which is a wide-range camera, is used to capture an image of the merchandise racks Sa, Sb, Sc, Sd. Therefore, the image capture points of the second camera <NUM> are spaced apart by a distance Lb such that the second camera <NUM> can capture an image of the entire front of the merchandise rack having the largest size, of the merchandise racks Sa, Sb, Sc, Sd. The image capture points indicated by the double circles can be paraphrased as wide-range image capture points. The wide-range image capture point is a point half the lateral width of the corresponding merchandise racks Sa, Sb, Sc, Sd, at the position spaced apart from the front of the merchandise racks Sa, Sb, Sc, Sd by the distance Lb.

The processor <NUM> controls the traveling of the wheeled platform <NUM> in such a way that the image capture device <NUM> arrives at the image capture point of the first camera <NUM> or the image capture point of the second camera <NUM> for each merchandise rack Sa, Sb, Sc, Sd, based on the data in the rack data table <NUM>. The processor <NUM> also controls the image capture timing of the first camera <NUM> and the second camera <NUM> in such a way that the first camera <NUM> performs image capture at the image capture point of the first camera <NUM> and that the second camera <NUM> performs image capture at the image capture point of the second camera <NUM>.

<FIG> is an explanatory view of main functions of the processor <NUM> of the control device <NUM>. As shown in <FIG>, the processor <NUM> has functions as a traveling control unit <NUM>, an image capture control unit <NUM>, a list generation unit <NUM>, an image capture point decision unit <NUM>, an image acquisition unit <NUM>, and an output unit <NUM>.

The traveling control unit <NUM> is a function of controlling the constant-velocity traveling of the wheeled platform <NUM> traveling along an image capture plane where a plurality of image capture target objects, that is, the shelf labels <NUM>, are arranged, spaced apart from each other in the vertical and horizontal directions, that is, along the front of the merchandise racks Sa, Sb, Sc, Sd.

The image capture control unit <NUM> is a function of controlling the image capture operation at the narrow-range image capture point, of a plurality of cameras, that is, the first cameras <NUM>, installed in the direction perpendicular to the traveling direction of the wheeled platform <NUM>, according to an image capture timing list set on a per first camera <NUM> basis, of the plurality of first cameras <NUM>.

The list generation unit <NUM> is a function of specifying the positions of a plurality of image capture target objects, that is, the shelf labels <NUM>, arranged on the image capture plane, from a captured image of the image capture plane, that is, the front of the merchandise racks Sa, Sb, Sc, Sd, and generating an image capture timing list, based on the positions of the plurality of image capture target objects and the image capture ranges of the plurality of first cameras <NUM>.

The image capture point decision unit <NUM> is a function of deciding the image capture point of the second camera <NUM> to the image capture plane, that is, the wide-range image capture point for each of the merchandise racks Sa, Sb, Sc, Sd. By the way, the narrow-range image capture point from the point of the coordinates (X, Y) in each of the merchandise racks Sa, Sb, Sc, Sd described in the rack data table <NUM> is a point shifted by half the length T (T/<NUM>) of the side in the horizontal direction of the image capture range <NUM>. The other narrow-range image capture points are points shifted by the length T of the side in the horizontal direction of the image capture range <NUM>.

The image acquisition unit <NUM> is a function of moving the wheeled platform <NUM> to the wide-range image capture point decided by the image capture point decision unit <NUM> before the traveling control unit <NUM> controls the traveling of the wheeled platform <NUM>, then causing the second camera <NUM> to perform image capture, and thus acquiring an image that is necessary for generating the image capture timing list.

The output unit <NUM> is a function of outputting the images captured by the plurality of first cameras <NUM> under the control of the image capture control unit <NUM>, to the image processing device <NUM>.

All of the functions as the traveling control unit <NUM>, the image capture control unit <NUM>, the list generation unit <NUM>, the image capture point decision unit <NUM>, the image acquisition unit <NUM>, and the output unit <NUM> are implemented by information processing executed by the processor <NUM> according to a control program. The control program is a type of application program stored in the main memory <NUM> or the auxiliary memory device <NUM>. The method of installing the control program in the main memory <NUM> or the auxiliary memory device <NUM> is not particularly limited. The control program may be recorded in a removable recording medium or distributed by communication via a communication network and thus can installed in the main memory <NUM> or the auxiliary memory device <NUM>. The recording medium may be any form of recording medium that can store a program and is readable by a device, such as a CD-ROM or a memory card.

<FIG> are flowcharts showing main procedures of the information processing executed by the processor <NUM> of the control device <NUM> according to the control program. <FIG> are diagrams used for supplementary explanation of the information processing. Principal operations of the image capture system <NUM> including the control device <NUM> will now be described, using the drawings.

For example, when the control start time comes and the control program starts, the processor <NUM> starts the procedures shown in the flowchart of <FIG>. First, in ACT <NUM>, the processor <NUM> reads the rack data table <NUM> from the auxiliary memory device <NUM> or the main memory <NUM>. In ACT <NUM>, the processor <NUM> describes the maximum value of the serial numbers in the rack data table <NUM> as the number of processing target merchandise racks in a register memory N. In ACT <NUM>, the processor <NUM> resets a first counter n.

After finishing the processing of ACT <NUM> and ACT <NUM>, the processor <NUM> increments the value of the first counter n by "<NUM>" in ACT <NUM>. In ACT <NUM>, the processor <NUM> checks whether the value of the first counter n exceeds the value of the register memory N or not.

If the value of the first counter n does not exceed the value of the register memory N (NO in ACT <NUM>), the processor <NUM> proceeds to ACT <NUM>. In ACT <NUM>, the processor <NUM> acquires n-th rack data (rack ID, X-coordinate, Y-coordinate, width, angle) corresponding to a serial number equal to the value of the first counter n, from the rack data table <NUM>. For example, if the value of the first counter n is "<NUM>", the processor <NUM> acquires the rack data of the merchandise rack Sa.

In ACT <NUM>, the processor <NUM> decides a wide-range image capture point for the merchandise rack identified by the rack ID of the rack data. For example, if the value of the first counter n is "<NUM>", the processor <NUM> decides a point that is advanced from the point of the coordinates (Xa, Ya) by a distance half the width Wa in a direction tilting from the X-axis by an angle θa and that is spaced apart from the front of the merchandise rack Sa by the distance Lb, as the wide-range image capture point.

In ACT <NUM>, the processor <NUM> moves the wheeled platform <NUM> of the image capture device <NUM> to the wide-range image capture point. For example, if the value of the first counter n is "<NUM>", the wheeled platform <NUM> is standing still at the standby point. The processor <NUM> controls the traveling direction, the traveling velocity and the like of the wheeled platform <NUM> in such a way that the wheeled platform <NUM> moves from the standby point to the wide-range image capture point and stops there.

When the wheeled platform <NUM> has stopped at the wide-range image capture point, the processor <NUM> executes wide-range image capture processing in ACT <NUM>. Details of the wide-range image capture processing will be described later. During the execution of the wide-range image capture processing, the wheeled platform <NUM> does not move from the wide-range image capture point. After finishing the wide-range image capture processing, the processor <NUM> in ACT <NUM> decides a narrow-range image capture start point for the merchandise rack identified by the rack ID of the rack data. For example, if the value of the first counter n is "<NUM>", the processor <NUM> decides a point spaced apart from the point of the coordinates (Xa, Ya) by the distance La, as the narrow-range image capture start point.

In ACT <NUM>, the processor <NUM> moves the wheeled platform <NUM> of the image capture device <NUM> to the narrow-range image capture start point. For example, if the value of the first counter n is "<NUM>", the processor <NUM> controls the traveling direction, the traveling velocity and the like of the wheeled platform <NUM> in such a way that the wheeled platform <NUM> moves from the wide-range image capture point to the narrow-range image capture start point for the merchandise rack Sa and stops there.

When the wheeled platform <NUM> stopped at the narrow-range image capture start point, the processor <NUM> in ACT <NUM> executes narrow-range image capture processing. Details of the narrow-range image capture processing will be described later. After finishing the narrow-range image capture processing, the processor <NUM> returns to ACT <NUM>. The processor <NUM> increments the value of the first counter n further by "<NUM>". If the value of the first counter n does not exceed the value of the register memory N, the processor <NUM> executes the processing of ACT <NUM> to ACT <NUM> similarly to the above. That is, the processor <NUM> decides a wide-range image capture point for the merchandise rack Sb, for example, based on the rack data of the merchandise rack Sb, then moves the wheeled platform <NUM> to the wide-range image capture point, and executes the wide-range image capture processing. The processor <NUM> also decides a narrow-range image capture start point for the merchandise rack Sb, based on the rack data of the merchandise rack Sb, then moves the wheeled platform <NUM> to the narrow-range image capture start point, and executes the narrow-range image capture processing.

From this point onward, the processor <NUM> alternately executes the wide-range image capture processing and the narrow-range image capture processing, for example, based on the rack data of the merchandise rack Sc and also the rack data of the merchandise rack Sd. If the value of the first counter n exceeds the value of the register memory N (YES in ACT <NUM>), the processor <NUM> proceeds to ACT <NUM>. In ACT <NUM>, the processor <NUM> outputs the image data captured by the plurality of first cameras <NUM> to the image processing device <NUM> via the communication interface <NUM>. In ACT <NUM>, the processor <NUM> controls the traveling direction, the traveling velocity and the like of the wheeled platform <NUM> in such a way that the wheeled platform <NUM> moves to the standby position and stops there. Then, the processor <NUM> ends the information processing according to the control program.

<FIG> is a flowchart showing main procedures of the wide-range image capture processing. In the description below, the wide-range image capture processing for the merchandise rack Sa is described. The wide-range image capture processing for the other merchandise racks Sb, Sc, Sd involves similar procedures and therefore the description thereof is omitted.

On entering the wide-range image capture processing, the processor <NUM> in ACT <NUM> outputs an image capture ON signal to the wide-range camera, that is, the second camera <NUM>. On receiving the image capture ON signal, the second camera <NUM> executes an image capture operation. Thus, an image of the entire front of the merchandise rack Sa is captured by the second camera <NUM> and the image data thereof is sent to the control device <NUM> via the image capture device interface <NUM>.

In ACT <NUM>, the processor <NUM> estimates the position of the shelf label <NUM> arranged in the merchandise rack Sa, based om the image data. For the estimation of the shelf label position, for example, a learning technique of a hierarchical neural network called deep neural network (DNN) is used. That is, a DNN model for the detection of the shelf label is designed and the DNN model is installed in the control device <NUM>. The processor <NUM> inputs the captured image of the merchandise rack Sa to the DNN model. Then, due to the action of the DNN model, each shelf label <NUM> arranged in the merchandise rack Sa is detected and the position of each shelf label <NUM> is estimated. In ACT <NUM>, the processor <NUM> generates a shelf label position image <NUM> in which the position of the shelf label <NUM> is filled in black, as shown in <FIG>.

If an image of the merchandise rack Sb having a narrower lateral width than the merchandise rack Sa is captured by the second camera <NUM>, the shelf label <NUM> in the merchandise rack Sa or the merchandise rack Sc next to the merchandise rack Sb may appear in the captured image. In this case, the processor <NUM> ignores the shelf label <NUM> detected outside the frame of the merchandise rack Sb and specifies only the position of the shelf label <NUM> detected within the frame.

In ACT <NUM>, the processor <NUM> calculates a number of times of narrow-range image capture Tm. Specifically, the processor <NUM> divides the lateral width Wa of the merchandise rack Sa included in the rack data by the length T of the side in the horizontal direction of the image capture range <NUM> employed when the first camera <NUM> at the narrow-range image capture point captures an image of the merchandise rack Sa, and defines the quotient (where the numbers after the decimal point are rounded up) as the number of times of narrow-range image capture Tm.

<FIG> is a schematic view showing an image capture range <NUM> of the seven first cameras <NUM> installed in the first camera installation unit <NUM> of the image capture device <NUM>. In <FIG>, an image capture range <NUM> is the image capture range of the first camera <NUM>. An image capture range <NUM> is the image capture range of the first camera <NUM>. An image capture range <NUM> is the image capture range of the first camera <NUM>. An image capture range <NUM> is the image capture range of the first camera <NUM>. An image capture range <NUM> is the image capture range of the first camera <NUM>. An image capture range <NUM> is the image capture range of the first camera <NUM>. An image capture range <NUM> is the image capture range of the first camera <NUM>. In this way, the image capture range <NUM> is a rectangular area where the length of a side equivalent to the vertical direction, that is, the direction of the height of the merchandise rack Sa, is seven times the length H of the side in the vertical direction of the image capture range <NUM> and where the length of a side equivalent to the horizontal direction, that is, the direction of the lateral width of the merchandise rack Sa, is equal to the length T of the side in the horizontal direction of the image capture range <NUM>. Therefore, shifting this image capture range <NUM> sequentially in the direction of the lateral width of the merchandise rack Sa at the interval of the length T by the number of times of narrow-range image capture Tm causes the entire front of the merchandise rack Sa to be included in the image capture range of the first cameras <NUM>.

In ACT <NUM>, the processor <NUM> generates a timing list <NUM> (see <FIG> shows an example of the timing list <NUM>. The timing list <NUM> is a data area in a matrix format where the number of first cameras <NUM> is equivalent to the number of rows and where the number of times of narrow-range image capture Tm is equivalent to the number of columns. In each data area PQ specified by a row number P and a column number Q, an image capture flag PQF is described. The image capture flag PQF is <NUM>-bit data for identifying whether the first camera <NUM> corresponding to the row number P performs image capture at the narrow-range image capture point corresponding to the column number Q, or not. In this embodiment, an image capture flag PQF indicating that the first camera <NUM> performs image capture is set to "<NUM>" and an image capture flag PQF indicating that the first camera <NUM> does not perform image capture is set to "<NUM>". By the way, at the point of ACT <NUM>, all the image capture flags PQF are uniformly set to "<NUM>" or "<NUM>".

In ACT <NUM>, the processor <NUM> resets the value of a second counter Q to "<NUM>". Next, in ACT <NUM>, the processor <NUM> increments the value of the second counter Q by "<NUM>". In ACT <NUM>, the processor <NUM> checks whether the value of the second counter Q exceeds the number of times of narrow-range image capture Tm or not.

If the value of the second counter Q does not exceed the number of times of narrow-range image capture Tm (NO in ACT <NUM>), the processor <NUM> proceeds to ACT <NUM>. In ACT <NUM>, the processor <NUM> resets the value of a third counter P to "<NUM>". Next, in ACT <NUM>, the processor <NUM> increments the value of the third counter P by "<NUM>". In ACT <NUM>, the processor <NUM> checks whether the value of the third counter P exceeds the number of first cameras <NUM> or not.

If the value of the third counter P does not exceed the number of first cameras <NUM> (NO in ACT <NUM>), the processor <NUM> proceeds to ACT <NUM>. In ACT <NUM>, the processor <NUM> superimposes, on the shelf label position image <NUM>, the image capture range <NUM> employed when the first camera <NUM> corresponding to the row number P performs image capture at the narrow-range image capture point corresponding to the column number Q.

In ACT <NUM>, the processor <NUM> checks whether the shelf label <NUM> is included in the area where the image capture range <NUM> is superimposed, in the shelf label position image <NUM>, or not. If the shelf label <NUM> is not included in the area where the image capture range <NUM> is superimposed, in the shelf label position image <NUM> (NO in ACT <NUM>), the processor <NUM> proceeds to ACT <NUM>. In ACT <NUM>, the processor <NUM> sets the image capture flag PQF of the data area PQ specified by the row number P and the column number Q to "<NUM>". If the shelf label <NUM> is included in the area where the image capture range <NUM> is superimposed, in the shelf label position image <NUM> (YES in ACT <NUM>), the processor <NUM> proceeds to ACT <NUM>. In ACT <NUM>, the processor <NUM> sets the image capture flag PQF of the data area PQ to "<NUM>".

After finishing the processing of ACT <NUM> or ACT <NUM>, the processor <NUM> returns to ACT <NUM>. The processor <NUM> then executes the processing from ACT <NUM> onward, similarly to the above. That is, the processor <NUM> repeatedly executes the processing of ACT <NUM> to ACT <NUM> until the value of the third counter P exceeds the number of first cameras <NUM>.

If the third counter P exceeds the number of first cameras <NUM> (YES in ACT <NUM>), the processor <NUM> returns to ACT <NUM>. The processor <NUM> then executes the processing from ACT <NUM> onward, similarly to the above. That is, the processor <NUM> increments the value of the second counter Q further by "<NUM>". If the value of the second counter Q does not exceed the number of times of narrow-range image capture Tm, the processor <NUM> resets the value of the third counter P to "<NUM>". Subsequently, the processor <NUM> executes the processing of ACT <NUM> to ACT <NUM> every time the value of the third counter P is incremented. Then, if the value of the third counter P exceeds the number of first cameras <NUM>, the processor <NUM> returns to ACT <NUM> again and increments the value of the second counter Q further by "<NUM>".

If the value of the second counter Q exceeds the number of times of narrow-range image capture Tm (YES in ACT <NUM>), the processor <NUM> proceeds to ACT <NUM>. In ACT <NUM>, the processor <NUM> saves, in the auxiliary memory device <NUM>, the timing list <NUM> where the image capture flag PQF of "<NUM>" or "<NUM>" is described in the P×Q data areas PQ corresponding to the individual row numbers P and the individual column numbers Q. Then, the processor <NUM> exits the wide-range image capture processing for the merchandise rack Sa.

<FIG> is a schematic view showing an example where the image capture ranges <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> of the seven first cameras <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> are superimposed on the shelf label position image <NUM> for the merchandise rack Sa by the number of times of narrow-range image capture Tm while being shifted by the length T each. In this example, with respect to the image capture range <NUM> of the first camera <NUM> corresponding to the row number P=<NUM>, the shelf label is included in the areas of the column numbers Q=<NUM>, <NUM>, <NUM>, <NUM>. Consequently, image capture flags 12F, 14F, 15F, 16F are "<NUM>" and image capture flags 11F, 13F are "<NUM>", as shown in <FIG>.

Similarly, with respect to the image capture range <NUM> of the first camera <NUM> corresponding to the row number P=<NUM>, the shelf label is included in the areas of the column numbers Q=<NUM>, <NUM>, <NUM>, <NUM>, <NUM>. Consequently, image capture flags 21F, 22F, 23F, 24F, 25F are "<NUM>" and an image capture flag 26F is "<NUM>", as shown in <FIG>.

With respect to the image capture range <NUM> of the first camera <NUM> corresponding to the row number P=<NUM>, the shelf label is not included in any one of the areas of all the column numbers Q. Consequently, all of image capture flags 31F, 32F, 33F, 34F, 35F, 36F are "<NUM>", as shown in <FIG>.

With respect to the image capture range <NUM> of the first camera <NUM> corresponding to the row number P=<NUM>, the shelf label is included in the areas of the column numbers Q=<NUM>, <NUM>, <NUM>, <NUM>. Consequently, image capture flags 42F, 43F, 44F, 45F are "<NUM>" and image capture flags 41F, 46F are "<NUM>", as shown in <FIG>.

With respect to the image capture range <NUM> of the first camera <NUM> corresponding to the row number P=<NUM>, the shelf label is included in the areas of the column numbers Q=<NUM>, <NUM>, <NUM>, <NUM>, <NUM>. Consequently, image capture flags 51F, 52F, 54F, 55F, 56F are "<NUM>" and an image capture flag 53F is "<NUM>", as shown in <FIG>.

With respect to the image capture range <NUM> of the first camera <NUM> corresponding to the row number P=<NUM>, the shelf label is not included in any one of the areas of all the column numbers Q. Consequently, all of image capture flags 61F, 62F, 63F, 64F, 65F, 66F are "<NUM>".

With respect to the image capture range <NUM> of the first camera <NUM> corresponding to the row number P=<NUM>, the shelf label is included in the areas of all the column numbers Q. Consequently, all of image capture flags 71F, 72F, 73F, 74F, 75F, 76F are "<NUM>".

Thus, in the wide-range image capture processing for the merchandise rack Sa, the timing list <NUM> shown in <FIG> is generated for the merchandise rack Sa. By the way, it is a matter of course that the value of the image capture flag PQF varies among the timing lists <NUM> generated for the merchandise rack Sb, for the merchandise rack Sc, and for the merchandise rack Sd in the wide-range image capture processing for the merchandise rack Sb, the merchandise rack Sc, and the merchandise rack Sd, respectively.

<FIG> is a flowchart showing main procedures of the narrow-range image capture processing. In the description below, the narrow-range image capture processing for the merchandise rack Sa is described. The narrow-range image capture processing for the other merchandise racks Sb, Sc, Sd involves similar procedures and therefore the description thereof is omitted.

On entering the narrow-range image capture processing, the processor <NUM> in ACT <NUM> resets the value of a fourth counter R to "<NUM>". Next, in ACT <NUM>, the processor <NUM> increments the value of the fourth counter R by "<NUM>". In ACT <NUM>, the processor <NUM> checks whether the value of the fourth counter R is "<NUM>" or not. If the value of the fourth counter R is "<NUM>" (YES in ACT <NUM>), the processor <NUM> proceeds to ACT <NUM>. In ACT <NUM>, the processor <NUM> sets a time-out time t/<NUM> in the timer <NUM>. The time-out time t/<NUM> is half the time taken for the wheeled platform <NUM> to move the length T of the side in the horizontal direction of the image capture range <NUM>.

If the value of the fourth counter R is not "<NUM>", that is, if the value is "<NUM>" or greater (NO in ACT <NUM>), the processor <NUM> proceeds to ACT <NUM>. In ACT <NUM>, the processor <NUM> checks whether the value of the fourth counter R exceeds the number of times of narrow-range image capture Tm or not.

If the value of the fourth counter R does not exceed the number of times of narrow-range image capture Tm (NO in ACT <NUM>), the processor <NUM> proceeds to ACT <NUM>. In ACT <NUM>, the processor <NUM> sets a time-out time t in the timer <NUM>. The time-out time t is the time taken for the wheeled platform <NUM> to move the length T of the side in the horizontal direction of the image capture range <NUM>.

After finishing the processing of ACT <NUM> or ACT <NUM>, the processor <NUM> proceeds to ACT <NUM>. In ACT <NUM>, the processor <NUM> controls the start of the traveling of the wheeled platform <NUM>. In ACT <NUM>, the processor <NUM> causes the timer <NUM> to start. In ACT <NUM>, the processor <NUM> waits for the timer <NUM> to reach a time-out. If the timer <NUM> reaches a time-out (YES in ACT <NUM>), the processor <NUM> proceeds to ACT <NUM>. In ACT <NUM>, the processor <NUM> causes the wheeled platform <NUM> to stop traveling.

In the narrow-range image capture processing after the wheeled platform <NUM> moves to the narrow-range image capture start point in ACT <NUM> in <FIG>, the value of the fourth counter R is "<NUM>" and therefore the time-out time t/<NUM> is set in the timer <NUM>. In this state, the processor <NUM> controls the wheeled platform <NUM> in such a way that the wheeled platform <NUM> moves at a constant velocity along the direction of the width of the merchandise rack Sa (X-direction) from the narrow-range image capture start point of the coordinates (Xa, Ya). The velocity of the wheeled platform <NUM> is such a velocity that the wheeled platform <NUM> moves half the length T of the side in the horizontal direction of the image capture range <NUM> while the timer <NUM> tracks the time t/<NUM>. Therefore, at the point when the timer <NUM> reaches a time-out, the wheeled platform <NUM> stops at a point away from the narrow-range image capture start point of the coordinates (Xa, Ya) by a distance T/<NUM> in the direction of the width of the merchandise rack Sa (X-direction).

After finishing the processing of ACT <NUM>, the processor <NUM> in ACT <NUM> acquires the image capture flag PQF in a column R of the column number Q corresponding to the value of the fourth counter R, from the timing list <NUM>. In ACT <NUM>, the processor <NUM> selects the first camera <NUM> corresponding to the image capture flag PQF of "<NUM>".

In ACT <NUM>, the processor <NUM> outputs an image capture ON signal to the selected first camera <NUM>. The processor <NUM> does not output an image capture ON signal to the first camera <NUM> that is not selected. The first camera <NUM> received the image capture ON signal executes an image capture operation. In ACT <NUM>, the processor <NUM> takes in the image captured by the first camera <NUM> received the image capture ON signal and stores the image in a memory M for storing the captured image. The memory M is a part of the volatile area in the main memory <NUM>.

Therefore, when the value of the fourth counter R is "<NUM>", the processor <NUM> acquires the image capture flags 11F, 21F, 31F, 41F, 51F, 61F, 71F. As shown in <FIG>, the image capture flag 11F is "<NUM>". The image capture flag 21F is "<NUM>". The image capture flag 31F is "<NUM>". The image capture flag 41F is "<NUM>". The image capture flag 51F is "<NUM>". The image capture flag 61F is "<NUM>". The image capture flag 71F is "<NUM>". Therefore, the processor <NUM> outputs an image capture ON signal to the first camera <NUM>, the first camera <NUM>, and the first camera <NUM>. The processor <NUM> does not output an image capture ON signal to the first camera <NUM>, the first camera <NUM>, the first camera <NUM>, and the first camera <NUM>. Consequently, images captured by the first camera <NUM>, the first camera <NUM>, and the first camera <NUM> are stored in the memory M.

After finishing storing all of the images captured by the first camera <NUM>, the first camera <NUM>, and the first camera <NUM> in the memory M, the processor <NUM> returns to ACT <NUM>. That is, the processor <NUM> increments the value of the fourth counter R further by "<NUM>". Thus, the value of the fourth counter R becomes "<NUM>", which does not exceed the number of times of narrow-range image capture Tm. Therefore, the processor <NUM> sets the time-out time t in the timer <NUM>. The processor <NUM> then controls the start of the traveling of the wheeled platform <NUM> and causes the timer <NUM> to start. If the timer <NUM> reaches a time-out, the processor <NUM> causes the wheeled platform <NUM> to stop traveling. The velocity of the wheeled platform <NUM> in this case, too, is such a velocity that the wheeled platform <NUM> moves half the length T of the side in the horizontal direction of the image capture range <NUM> while the timer <NUM> tracks the time t/<NUM>, that is, such a velocity that the wheeled platform <NUM> moves the length T of the side in the horizontal direction of the image capture range <NUM> while the timer <NUM> tracks the time t. Therefore, the wheeled platform <NUM> stops at a point away from the narrow-range image capture start point of the coordinates (Xa, Ya) by a distance 3T/<NUM> in the direction of the width of the merchandise rack Sa (X-direction).

At this time, the processor <NUM> acquires the image capture flags 12F, 22F, 32F, 42F, 52F, 62F, 72F. As shown in <FIG>, the image capture flag 12F is "<NUM>". The image capture flag 22F is "<NUM>". The image capture flag 32F is "<NUM>". The image capture flag 42F is "<NUM>". The image capture flag 52F is "<NUM>". The image capture flag 62F is "<NUM>". The image capture flag 72F is "<NUM>". Therefore, the processor <NUM> outputs an image capture ON signal to the first camera <NUM>, the first camera <NUM>, the first camera <NUM>, the first camera <NUM>, and the first camera <NUM>. The processor <NUM> does not output an image capture ON signal to the first camera <NUM> and the first camera <NUM>. Consequently, images captured by the first camera <NUM>, the first camera <NUM>, the first camera <NUM>, the first camera <NUM>, and the first camera <NUM> are stored in the memory M.

Subsequently, the value of the fourth counter R becomes "<NUM>". In this case, too, the processor <NUM> sets the time-out time t in the timer <NUM> because the value of the fourth counter R does not exceed the number of times of narrow-range image capture Tm. The processor <NUM> then controls the start of the traveling of the wheeled platform <NUM> and causes the timer <NUM> to start. If the timer <NUM> reaches a time-out, the processor <NUM> causes the wheeled platform <NUM> to stop traveling. The velocity of the wheeled platform <NUM> in this case, too, is the same as when the value of the fourth counter R is "<NUM>" or "<NUM>". Therefore, the wheeled platform <NUM> stops at a point away from the narrow-range image capture start point of the coordinates (Xa, Ya) by a distance 5T/<NUM> in the direction of the width of the merchandise rack Sa (X-direction).

At this time, the processor <NUM> acquires the image capture flags 13F, 23F, 33F, 43F, 53F, 63F, 73F. As shown in <FIG>, the image capture flag 13F is "<NUM>". The image capture flag 23F is "<NUM>". The image capture flag 33F is "<NUM>". The image capture flag 43F is "<NUM>". The image capture flag 53F is "<NUM>". The image capture flag 63F is "<NUM>". The image capture flag 73F is "<NUM>". Therefore, the processor <NUM> outputs an image capture ON signal to the first camera <NUM>, the first camera <NUM>, and the first camera <NUM>. The processor <NUM> does not output an image capture ON signal to the first camera <NUM>, the first camera <NUM>, the first camera <NUM>, and the first camera <NUM>. Consequently, images captured by the first camera <NUM>, the first camera <NUM>, and the first camera <NUM> are stored in the memory M.

From this point onward, every time the value of the fourth counter R is incremented to "<NUM>", "<NUM>", and "<NUM>", the processor <NUM> executes processing similar to when the value of the fourth counter R is "<NUM>" or "<NUM>". Consequently, when the value of the fourth counter R is "<NUM>", images captured by the first camera <NUM>, the first camera <NUM>, the first camera <NUM>, the first camera <NUM>, and the first camera <NUM> are stored in the memory M. When the value of the fourth counter R is "<NUM>", again, images captured by the first camera <NUM>, the first camera <NUM>, the first camera <NUM>, the first camera <NUM>, and the first camera <NUM> are stored in the memory M. When the value of the fourth counter R is "<NUM>", images captured by the first camera <NUM>, the first camera <NUM>, and the first camera <NUM> are stored in the memory M.

Subsequently, the value of the fourth counter R becomes "<NUM>", which exceeds the number of times of narrow-range image capture Tm. If the value of the fourth counter R exceeds the number of times of narrow-range image capture Tm (YES in ACT <NUM>), the processor <NUM> proceeds to ACT <NUM>. In ACT <NUM>, the processor <NUM> clears the timing list <NUM>. Then, the processor <NUM> exits the narrow-range image capture processing for the merchandise rack Sa.

Subsequently, the processor <NUM> decides a wide-range image capture point for the merchandise rack Sb, moves the wheeled platform <NUM> to the wide-range image capture point, and executes the wide-range image capture processing for the merchandise rack Sb. Then, the processor <NUM> decides a narrow-range image capture start point for the merchandise rack Sb, moves the wheeled platform <NUM> to the narrow-range image capture start point, and executes the narrow-range image capture processing for the merchandise rack Sb.

The processor <NUM> executes the processing of ACT <NUM> to ACT <NUM> in <FIG> and thus implements the function as the traveling control unit <NUM>. The processor <NUM> executes the processing of ACT <NUM> to ACT <NUM> in <FIG> and thus implements the function as the image capture control unit <NUM>.

The processor <NUM> executes the processing of ACT <NUM> and ACT <NUM> in <FIG> and thus implements the function as the image capture point decision unit <NUM>. The processor <NUM> executes the processing of ACT <NUM> in <FIG> and ACT <NUM> in <FIG> and thus implements the function as the image acquisition unit <NUM>. The processor <NUM> executes the processing of ACT <NUM> and ACT <NUM> in <FIG> and thus implements the function as the list generation unit <NUM>. The processor <NUM> executes the processing of ACT <NUM> in <FIG> and thus implements the function as the output unit <NUM>.

In this way, with the control device <NUM> having the functions as the traveling control unit <NUM> and the image capture control unit <NUM>, each first camera <NUM> does not capture an image that does not include the shelf label <NUM>. Therefore, the capacity of the memory M storing image data captured by each first camera <NUM> can be saved. Also, since the control device <NUM> does not process image data that does not include the shelf label <NUM>, the overall speed for data processing can be increased.

The control device <NUM> has the list generation unit <NUM>. Thus, a separate device for generating the timing list <NUM> is not needed and therefore the time and effort taken for generating the timing list <NUM> can be reduced.

The control device <NUM> also has the image capture point decision unit <NUM> and the image acquisition unit <NUM>. The control device <NUM> causes the list generation unit <NUM> to generate the timing list <NUM>, based on an image acquired by the image acquisition unit <NUM>. Therefore, for example, even if the position where the shelf label <NUM> is attached in a merchandise rack is changed, the timing list <NUM> corresponding to the change can be easily generated and this enhances versatility.

The control device <NUM> also has the output unit <NUM>. Therefore, the image processing device <NUM> does not process unwanted image data of an image that does not include the shelf label <NUM>, either. This can achieve a load reduction effect on the image processing device <NUM>. Also, the amount of communication traffic between the control device <NUM> and the image processing device <NUM> can be reduced.

Thus, the image capture system <NUM> that can achieve a reduction in the capacity of a memory storing image data and an improvement in the image processing can be provided.

An embodiment of the image capture system <NUM> and the control device <NUM> therefor was described above. However, this embodiment is not limiting.

For example, the control device <NUM> can also be applied to other cases than recognizing characters on the shelf label <NUM> arranged in a merchandise rack. For example, the control device <NUM> can also be applied to an image capture system where a first camera captures an image of a barcode printed on a cardboard box randomly placed in a warehouse or the like and where the barcode is recognized from the captured image.

In the embodiment, the case where the individual merchandise racks have the same height is described as an example. However, the individual merchandise racks may have different heights from each other. In this case, the number of first cameras <NUM> installed in the first camera installation unit <NUM> may be decided, based on the tallest merchandise rack.

In the embodiment, the predetermined interval between the narrow-range image capture points next to each other is equal to the length T of the side in the horizontal direction of the image capture range <NUM>. This interval may be slightly shorter than the length T and images sequentially captured by the same first camera <NUM> may partly overlap each other.

In the embodiment, the case where the wide-range image capture processing is executed for one merchandise rack so as to generate a timing list <NUM>, then the narrow-range image capture processing using the timing list <NUM> is executed, and the timing list <NUM> is cleared, is described as an example. In this regard, first, the wide-range image capture processing may be sequentially executed for two or more merchandise racks so as to generate a timing list <NUM> for each of the merchandise racks, and subsequently, the narrow-range image capture processing may be executed on a per merchandise rack basis, using the timing list <NUM> corresponding to the merchandise rack.

The timing list <NUM> may not necessarily correspond one-to-one to the merchandise rack. If two merchandise racks Sa, Sb are next to each other as shown in <FIG> and the second camera <NUM> can capture an image of the entire front of the two merchandise racks Sa, Sb, one timing list <NUM> may be generated for the two merchandise racks Sa, Sb. Doing so reduces the number of time the wheeled platform <NUM> needs to move for the wide-range image capture processing and therefore can increase the processing efficiency.

Claim 1:
A control device (<NUM>), comprising:
a traveling controller configured to control traveling of a wheeled platform (<NUM>) traveling along an image capture plane where a plurality of image capture target objects are arranged, spaced apart from each other in vertical and horizontal directions;
an image capture controller configured to control an image capture operation at first image capture points (Q) along the image capture plane, of a plurality of first cameras (<NUM>) installed in a direction perpendicular to a traveling direction of the wheeled platform (<NUM>), according to an image capture timing list set on a per camera basis, of the plurality of first cameras (<NUM>); and
a list generation component configured to specify positions of the plurality of image capture target objects arranged on the image capture plane, from an image of the image capture plane captured, by a second camera (<NUM>) installed on the wheeled platform (<NUM>), at a second image capture point where the wheeled platform (<NUM>) has been moved before the image capture operation of the plurality of first cameras (<NUM>), and generate the image capture timing list, based on the positions of the plurality of image capture target objects, the first image capture points and image capture ranges of the plurality of first cameras,
wherein first cameras (<NUM>) are narrow range cameras and the second camera (<NUM>) is a wide range camera; and
wherein first image capture points are narrow-range image capture points and the second image capture point is a wide-range image capture point.