JP2010114575A - Monitoring system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a monitoring system for accurately monitoring an object to be monitored, while reducing a communication data capacity. <P>SOLUTION: The monitoring system includes: an imaging part which photographs an area including the object to be monitored and encodes a photographed image to image data to output the image data; a selection part which selects one of a plurality of pieces of image data output from the imaging part, as main image data and selects auxiliary image data from pieces of image data other than the piece of image data selected as main image data; and a display data generation part which converts the selected auxiliary image data to image data having a resolution lower than that of the main image data, by reduction and generates display data wherein the converted auxiliary image data is laid out over the inside of main image data. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a monitoring system for visually monitoring a specific object from a remote location, and more particularly to a monitoring system for monitoring a moving body moving within a specific moving area.

  In general, a monitoring system for monitoring an object is provided with a plurality of imaging means such as a camera for imaging the monitoring object, and image data obtained by these imaging means is converted into a moving image or a stationary image at a remote place such as a base station. By displaying as a picture, it is used to monitor the object. Image data picked up by the image pickup means is converted into data and then transmitted to the base station via a communication medium such as a cable or an optical fiber.

  In such a monitoring system, if the volume of the image data obtained by the imaging means increases, the amount of data communication becomes enormous and communication may fail, making it impossible to perform appropriate monitoring. For example, when a moving image is constructed by capturing 30 frames per second of image data having a commonly used resolution (for example, 640 × 480 pixels), the data capacity of the moving image is about 221 [Mbps]. When this data is transmitted, even if it is compressed to about 1/20, a communication data capacity of about 10 [Mbps] is transmitted from one camera that captures such an image. However, in the case of a communication medium used in a general wireless LAN or the like, the actual transmission speed is about 20 [Mbps]. Therefore, when the number of cameras to be captured increases, communication data transmitted from these cameras. May not be able to be processed.

  In general, therefore, processing is performed to reduce the volume of communication data transmitted from the camera. As a method for performing such processing, there are a method of converting image data into a black and white image, an image compression method with an increased image compression rate, and a method of reducing the number of cameras as imaging means. Conceivable.

  For example, in a remote object monitoring system as described in Patent Document 1, a moving device that can move a plurality of cameras is provided, and a video signal captured by these cameras is compressed or expanded. By performing processing, the amount of data transfer is reduced, and the overall communication amount is reduced by compressing and synthesizing a plurality of screens into one screen.

Further, in the monitoring system described in Patent Document 2, the image data captured by a plurality of imaging means (cameras or the like) is multiplexed to form one screen and output as one image data, so that the entire communication is performed. The amount is reduced.
JP 2004-159154 A JP 2001-128145 A

  However, in the monitoring means as described above, since image compression is performed at a high rate, distortion may occur when the captured image is compressed, and it is not suitable for accurately monitoring the monitoring object. There is. Further, when such image compression is performed, a minute time delay in principle occurs during data processing (for example, a time delay of several hundreds [msec] in the case of a compression method such as MPEG). May not be able to meet the demands of In particular, in the case of a moving body with movement, such as an autonomous moving body in which the monitoring target autonomously operates or an operation target controlled by remote control, accurate control is performed by the occurrence of these time differences. May be difficult.

  In addition, when an omnidirectional camera or the like is used as an image capturing unit, the number of image capturing units can be reduced. However, in such an omnidirectional camera, correction processing for correcting image distortion is performed by about several hundreds [ msec] is required, and the problem of time difference cannot be solved as in the above example.

  In addition, when an image that does not require color (monochrome image) is used as image data for monitoring an object, the monitoring target cannot be determined in detail from the displayed image, and thus cannot be monitored accurately.

  The present invention has been made to solve such a problem, and is a monitoring system for visually monitoring a specific object from a remote location, and reduces the data volume to be communicated and monitors it. An object of the present invention is to provide a monitoring system capable of accurately monitoring a target object.

  The monitoring system according to the present invention visually monitors a monitoring object, images a predetermined area including the monitoring object, encodes each captured image into image data, and outputs the image data And selecting one image data as the main image data from the plurality of image data output by the imaging unit, and substituting at least one of the image data other than the image data selected as the main image data. A selection unit to select as image data, and reduce and convert the image data to a resolution smaller than the resolution of the image data output from the imaging unit, and arrange the converted sub-image data so as to overlap the main image data A display data creation unit for creating the display data.

  According to such a monitoring system, it is possible to reduce the data capacity necessary for display by collecting and displaying image data obtained from a plurality of imaging units in one image (display data). Therefore, when such image data is displayed on a display unit in a remote place, the volume of data to be communicated can be reduced. In addition, by displaying all the image data obtained from a plurality of imaging units in one image, it is possible to monitor using images obtained from a plurality of cameras that image the object to be monitored. The object to be monitored can be accurately monitored.

  The display data creation unit converts the sub image data selected by the selection unit into image data having a resolution smaller than the resolution of the main image data, and converts the converted sub image data into the main image. You may make it produce the display data arrange | positioned on the inside of data.

  Further, when there are a plurality of image data other than the main image data captured by a plurality of image capturing units, all of these may be sub-image data, or only a part of the image data may be sub-image data. When there are a plurality of sub-image data, the display data creation unit is preferably arranged so that the plurality of sub-image data do not overlap with the main image data. In this way, since a plurality of displayed sub-image data can be viewed visually at the same time, the situation of the object to be monitored can be accurately grasped. Further, when it is not necessary to display the sub image data, only the main image data may be used as the display data.

  Further, when the sub image data is arranged in the main image data in this way, it is more preferable that the sub image data to be arranged can be selected based on an externally input signal or the like. That is, the display data creation unit selects a plurality of sub-image data to be displayed to be superimposed inside the main image data based on a signal input from the outside, and the selected sub-image data is stored inside the main image data. It is more preferable if they can be arranged in an overlapping manner. In this way, it is possible to provide display data that displays only the sub-image data necessary for monitoring the object to be monitored, so that the object to be monitored can be grasped more accurately.

  Furthermore, it is more preferable that the main image data and the sub image data as the image data to be displayed can be switched and displayed. That is, it is more preferable that the display data creation unit can create display data in which the main image data selected by the selection unit and one sub-image data are replaced based on a signal input from the outside. In this way, it is possible to arbitrarily select image data to be mainly confirmed from image data obtained by a plurality of imaging units and display it in detail.

  Further, the display data creation unit further converts the main image data selected by the selection unit by reducing the image data to a resolution smaller than the resolution of the image data output from the imaging unit, and the conversion Display data in which the main image data and the converted sub-image data are overlaid may be created.

  The present invention can also be applied to a monitoring system used for building security, etc., but the object to be monitored visually confirms the time when the object is imaged and the display data displayed on the display unit. It is more effective when the object is such that it is preferable that there is no time difference between the work. Examples of such an object include a moving body that moves in a specific area, an operation target controlled by remote operation, and the like, when the present invention is applied when monitoring such an object. Is more preferable.

  As described above, according to the present invention, in the monitoring system for visually monitoring a specific object from a remote place, the communication data volume can be reduced and the object to be monitored can be accurately monitored. Is possible.

Embodiment 1 of the Invention
Below, the monitoring system 1 concerning Embodiment 1 of this invention is demonstrated, referring a figure. FIG. 1 schematically shows a monitoring system 1 according to the first embodiment. A predetermined space (moving region) 100 in which a moving body M to be monitored moves is represented by cameras 11 and 12 as imaging units. , 13, and 14 are taken from four directions. In this embodiment, image data obtained by these cameras is transmitted to a terminal 30 that is separated from the space 100 via a communication path 200 such as a LAN, and a monitor displays a display unit 31 included in the terminal 30. The state of the moving body M is visually monitored by watching. Details will be described below.

  The cameras 11 to 14 are respectively installed at four locations in the space 100, and their positions and imaging directions are fixed so as to perform imaging near the center of the space 100. These cameras digitally encode the captured images and continuously acquire them as image data, and output these image data to the server 20. Since all the areas in the space 100 are included in the area obtained by adding up the imaging ranges of the respective cameras, the moving object M that moves in the space 100 can be located anywhere in the space 100 regardless of the location. Images are taken by a camera. In the present embodiment, it is assumed that the resolution of images obtained by these cameras 11 to 14 is 640 × 480 pixels.

  The server 20 includes a computer having a CPU, a memory, and the like, receives image data output from the cameras 11 to 14, and displays display data to be displayed on the terminal 30 from the received image data. create. A block diagram showing a simplified internal structure of the server 20 is shown in FIG. As shown in FIG. 2, in the server 20, display is performed from a selection unit 21 for selecting image data transmitted from the cameras 11 to 14, and main image data and sub-image data selected by the selection unit 21. A display data creation unit 22 for creating data and an output unit 23 for outputting display data created by the display data creation unit 22 are provided.

  The selection unit 21 selects main image data and sub image data from the image data transmitted from the cameras 11 to 14. In this embodiment, one main image data is selected from four cameras, and the other image data is selected as sub-image data. In this embodiment, the moving body M is most imaged in the initial state. Image data obtained from a camera (for example, camera 11) at a position where it is easy to perform is used as main image data.

  The display data creation unit 22 creates display data based on the main image data and the sub image data selected by the selection unit 21. For display data, each sub-image data selected by the selection unit 21 is compression-converted into a reduced image (for example, an image having a resolution of 160 × 120 pixels) having a resolution smaller than that of the main image data, and the converted sub-image data is converted into the main data. It is created by superimposing it at a predetermined position in the image data. The display data created in this way is an image with a resolution of 640 × 480 pixels. In this display data, the position where each reduced sub-image data is arranged is determined in advance, and in this embodiment, each sub-image data is arranged so as to be arranged side by side in the upper right part of the main image data. Shall. The data capacity of the display data created in this way is significantly smaller than the total data capacity of all the original image data (640 × 480 pixels × 4).

  An example of display data created in this way is shown in FIG. In the example of the display data, the sub image data is arranged so as to be arranged in the left direction in order from the upper right end of the main image data, and the vertical / horizontal reduction ratio of the main image data and the sub image data is 4: 1. It is set to become.

  According to such display data, the supervisor can visually confirm all images captured by the cameras 11 to 14 using the terminal 30 described later. In the present embodiment, the sub image data is arranged side by side in the vicinity of the upper right of the main image data. However, in the present invention, the position where the sub image data is arranged is not particularly limited. It can be arbitrarily changed as necessary, such as being arranged in the vertical direction.

  The output unit 23 compresses the display data created by the display data creation unit 22 using a compression technique such as MPEG, and outputs the display data (compressed data) compressed via communication means such as a LAN to the terminal 30. . At this time, processing such as encryption of the compressed data may be performed. In the terminal 30, the display data is displayed on the display unit 31 by continuously receiving the compressed data output from the output unit 23 and performing predetermined measures such as decompressing the compressed data.

  In the above-described embodiment, all the image data captured by a plurality of cameras is displayed on the display unit 31 of the terminal 30 as display data. However, the present invention is not limited to this. That is, by designating what is displayed as sub-image data to the selecting unit 21 by an operation from the terminal 30, the selecting unit 21 displays display data as sub-image data among the image data transmitted from each camera. The image data to be included may be selected as appropriate.

  Further, the degree of reduction of the sub-image data to be displayed in the display data is not particularly limited, but due to the arrangement within the main image data, the reduction is performed so that the aspect ratio is about a fraction. It is preferable. Such a reduction ratio may be determined according to the number of cameras to be arranged, that is, according to the number of sub-image data arranged in the main image data. For example, the sub-image data arranged in the main image data If there are many, the reduction ratio may be reduced. Further, the resolution may be changed according to the reduction ratio.

  In the above-described example, the camera as the imaging unit is described with a fixed position as an example. However, the present invention is not limited to this, for example, the imaging unit rotates. However, the imaging direction may be variable, or the imaging unit itself may be able to move in the monitoring target area.

  The moving body M shown in this embodiment is not particularly limited in structure or the like, but to some extent, such as a wheel-driven moving body that drives a plurality of wheels that are in contact with the floor. It may be an autonomous mobile body that moves autonomously at a speed of 5 mm. As an example of such an autonomous mobile body, for example, a transport means for traveling on a rail defined in a factory and transporting an object can be cited.

Embodiment 2 of the Invention
Next, a second embodiment of the present invention will be described with reference to FIGS. In the present embodiment, the same components as those of the above-described embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  FIG. 4 is a block diagram showing a simplified internal structure of the server 20 ′ of the monitoring system according to the second embodiment. Similar to the above-described embodiment, the selection unit 21 ′, the display data creation unit 22 ′, A state in which an output unit 23 'is provided is shown. In the present embodiment, selection of main image data and sub image data can be controlled by the input signal transmitted from the terminal 30 to the server 20 ′. Details will be described below.

  The selection unit 21 ′ reads an input signal transmitted from the terminal 30, and selects a main image data and sub image data from the image data transmitted from the cameras 11 to 14 based on the read signal. Do. Specifically, the input signal transmitted from the terminal 30 includes a signal for specifying the main image data and the sub image data, and the selection unit specifies the signal based on this signal. Image data to be selected as main image data (for example, image data transmitted from the camera 11) and image data to be selected as sub image data are selected. At this time, the image to be selected as the sub image data is selected from the image data not selected as the main image data, but the input signal includes a signal indicating that the sub image data is unnecessary. Does not have to select the sub-image data.

  Then, the selected main image data and sub-image data are transmitted to the display data creation unit 22 ′, and the display data creation unit 22 ′ creates display data based on these image data. At this time, the display data creating unit 22 ′ creates display data in which the selected sub-image data is arranged in a predetermined order from the upper right end in the main image data to the left. Also in this embodiment, it is assumed that the sub image data arranged in the main image data is compressed and converted into a reduced image with a small resolution (for example, an image having a resolution of 160 × 120 pixels).

  The display data created in this way is transmitted to the output unit 23 ′, and the received display data is compressed by a compression method such as MPEG and compressed via a communication means such as a LAN. Display data (compressed data) is output to the terminal 30. Thereby, in the terminal 30, only the sub-image data designated by the supervisor can be displayed on the display unit (screen) of the terminal 30. FIG. 5 shows an example of display data displayed on the display unit of the terminal 30. When the image data of the camera 11 is set as main image data, image data of other cameras (for example, transmitted from the camera 12). FIG. 6 shows an example in which image data transmitted from another camera (camera 12) is not selected as sub image data.

  As described above, in the present embodiment, the monitor can select the sub-image data to be displayed on the display data among the image data to be included in the screen to be displayed on the terminal 30. For example, by changing the number of sub-image data to be displayed, only the sub-image data that needs to be displayed can be displayed as shown in FIG. As a result, the display data to be displayed can be displayed as much as possible without partially hiding the main image data with unnecessary sub-image data.

Embodiment 3 of the Invention
Next, a third embodiment of the present invention will be described with reference to FIGS. In the present embodiment, the same components as those of the above-described embodiment are denoted by the same reference numerals and the description thereof is omitted.

  In the monitoring system according to the present embodiment, the main image data and the sub image data selected by the selection unit can be displayed in a switchable manner. When switching between the main image data and the sub image data, the display unit creates new display data by switching the image data selected as the main image data and the image selected as the sub image data in the selection unit. However, when an operation for creating such display data is performed, there may be a slight time difference in the timing for displaying the display data. Therefore, in order to perform such a switching operation quickly, the display data creation unit simultaneously creates display data in which main image data and sub-image data are switched in advance, and temporarily stores the image after switching. Thus, when it is necessary to switch images, display data can be displayed quickly without creating new display data. FIG. 8 is a simplified block diagram showing the internal structure of the server 20 ″ for quickly switching between the main image data and the sub-image data, and FIG. 8 is a flowchart showing the image data switching process in the server 20 ″. As shown in FIG.

  First, when an input signal for selecting main image data and sub-image data is transmitted from the terminal 30, the selection unit 21 "transmits an image transmitted from the cameras 11 to 14 based on the transmitted signal. Processing for selecting main image data and sub-image data from the data is performed (STEP 101) In this embodiment, it is assumed that only an image transmitted from one camera is selected as the sub-image data.

  The selection unit 21 ″ transmits the image data selected as the main image data and the image data selected as the sub image data from the image data transmitted from the cameras 11 to 14 to the display data creation unit 22 ″ (STEP 102). .

  Next, in the display data creation unit 22 ″, display data is created based on the main image data and the sub image data transmitted from the selection unit 21 ″. At this time, the display data creation unit 22 ", in addition to the first display data created as the main image data, the image data selected as the sub image data, as the main image data, as the sub image data, Second display data is created by creating the image data selected as the main image data as the sub image data and the sub image data as the main image data (STEP 103).

  The display data creation unit 22 "transmits the created first display data to the output unit 23" and stores the created second display data in a storage area such as a memory in the server 20 (STEP 104). . In this storage area, the second display data is preferably stored in a compressed format. The first display data transmitted to the output unit is transmitted to the terminal 30 in a predetermined compression format such as MPEG2, and displayed on the display unit 31 (STEP 105).

  Next, the display data creation unit 22 "determines whether or not a signal for switching between the main image data and the sub image data is input from the terminal 30 (STEP 106). In the display data creation unit 22", the main image data If it is determined that a signal for switching between the sub image data and the sub image data is not input, the process returns to STEP 105.

  On the other hand, if it is determined in STEP 106 that the display data creation unit 22 "has received a signal for switching between the main image data and the sub image data, the second display data is output instead of the first display data. (STEP 107) At this time, the first display data whose output has been stopped is stored in the aforementioned storage area.

  Then, the display data creating unit 22 "determines whether or not a signal for ending the process of displaying such display data has been input (STEP 108). If not, the second display data is displayed. Then, the process returns to STEP 106 to continue the step of determining whether or not a signal for switching between the main image data and the sub image data is input. It is preferable to determine whether or not is input continuously at a minute fixed time interval.

  If it is determined in STEP 108 that display data display is to be terminated, the display data creation is terminated by performing a predetermined termination process, and display data display on the terminal 30 is terminated as necessary (STEP 109). ).

  Thus, the 1st display data which displayed main image data and sub-image data, and the 2nd display data which changed these images are shown in Drawing 10 and 11, respectively. It is possible to monitor an object to be monitored in real time from a plurality of viewpoints by instantaneously switching and displaying images obtained from different viewpoints.

  In the above example, one image data is selected as the sub image data, but the present invention is not limited to this. That is, the present invention can be applied even when a plurality of pieces of image data are selected as sub-image data. In this case, any other sub-image data in the display data can be switched to the main image data by creating and storing in advance another display data in which each of the selected plurality of sub-image data is the main image data. Even so, it is possible to display a screen in which images are switched quickly.

  In the embodiment, the main image data and the sub image data are switched by an operation from the terminal 30, but the present invention is not limited to this. For example, the main image data and the sub image data may be automatically switched by a signal from another sensor. As an example of this, for example, a detection unit that detects an object to be monitored such as a distance sensor or a heat detection sensor is provided in a camera as an imaging unit, and image data to be selected as main image data is designated from such a detection unit. A signal to be transmitted may be transmitted to the selection unit. In this case, a method of automatically transmitting a signal such that the main image data is image data captured by a camera that is closest to the object to be monitored (moving body) to the selection unit. Can be considered.

Embodiment 4 of the Invention
In the above-described embodiment, the display data creation unit 22 creates display data in which only the sub-image data is reduced to image data having a resolution smaller than the resolution of the main image data, and is superposed inside the main image data. However, in the fourth embodiment, the main image data is also reduced in the same manner as the sub image data, and is superimposed to create display data.

The internal structure of the server 20 of the monitoring system according to the fourth embodiment is the same as that shown in FIG. 1, and will be described with reference to FIG. Similar to the first embodiment, 640 × 480 pixel image data is transmitted from the cameras 11 to 14 to the server 20.
The selection unit 21 selects main image data and sub image data from the image data transmitted from the cameras 11 to 14. In this embodiment, one main image data is selected from four cameras, and the other image data is selected as sub-image data. In this embodiment, the moving body M is most imaged in the initial state. Image data obtained from a camera (for example, camera 11) at a position where it is easy to perform is used as main image data.

  The display data creation unit 22 creates display data based on the main image data and the sub image data selected by the selection unit 21. The display data is compression-converted for each of the main image data and the sub-image data into a reduced image (for example, an image having a resolution of 320 × 240 pixels) having a smaller resolution than that of the image data transmitted from the cameras 11 to 14 and converted. It is created by superimposing main image data and sub-image data. In this example, the main image data and the sub image data are all compressed and converted into reduced images having the same resolution. The display data created in this way is an image with a resolution of 640 × 480 pixels.

  For example, when one main image data and three sub-image data are superimposed and displayed, the display data is created so as to be arranged in two rows on the upper and lower sides and two columns on the left and right. Since the data capacity of the display data created in this way is 640 × 480 pixels, it becomes a quarter of the total data capacity of all the original image data (640 × 480 pixels × 4), Significantly smaller.

  As described above, the monitoring system according to the present invention collects and displays image data obtained from a plurality of imaging units (cameras) in an image (display data), thereby displaying a data capacity necessary for display. Can be reduced. Therefore, when displaying such image data on a display unit in a remote place, the volume of data to be communicated can be reduced. In addition, by displaying all the image data obtained from a plurality of imaging units (cameras) in one image, it is possible to perform monitoring using images obtained from a plurality of cameras that image the object to be monitored. Therefore, the object to be monitored can be accurately monitored.

  In the embodiment described above, an example in which the object to be monitored is a moving object is shown. However, the present invention is not limited to this, and an operation object controlled by remote operation (for example, remote control) The present invention can also be applied to a robot that performs operations by operation. In addition to such specific objects, the present invention can also be applied to monitoring systems used for building security and the like.

1 is a schematic diagram schematically showing a monitoring system 1 according to a first embodiment of the present invention. It is a block diagram which simplifies and shows the internal structure of the server contained in the monitoring system 1 shown in FIG. It is a figure which shows an example of the display data produced by the monitoring system 1 shown in FIG. It is a block diagram which simplifies and shows the internal structure of server 20 'contained in the monitoring system which concerns on the 2nd Embodiment of this invention. It is a figure which shows an example of the display data produced in the monitoring system which concerns on 2nd Embodiment. It is a figure which shows an example of the display data produced in the monitoring system which concerns on 2nd Embodiment similarly to the display data shown in FIG. It is a figure which shows an example of the display data produced in the monitoring system which concerns on 2nd Embodiment similarly to the display data shown in FIG. It is a block diagram which simplifies and shows the internal structure of server 20 "contained in the monitoring system which concerns on the 3rd Embodiment of this invention. It is a flowchart which shows the flow for switching the main image data and sub image data in the monitoring system which concerns on 3rd Embodiment. It is a figure which shows an example of the display data produced in the monitoring system which concerns on 3rd Embodiment. FIG. 11 is a diagram illustrating an example of display data obtained by switching between main image data and sub image data in the display data illustrated in FIG. 10.

Explanation of symbols

1 ... Monitoring system 11, 12, 13, 14 ... Camera (imaging part)
20, 20 '... servers 21, 21', 21 "... selection units 22, 22 ', 22" ... data display units 23, 23'. 23 "... output unit 30 ... terminal 31 ... display unit 200 ... communication path M ... moving body (monitoring object)

Claims (8)

A monitoring system for visually monitoring a monitoring object,
An image capturing unit that captures a predetermined area including the monitoring target, encodes each captured image into image data, and outputs the image data;
One image data is selected as main image data from a plurality of image data output from the imaging unit, and at least one of the image data other than the image data selected as the main image data is a sub-image. A selection part to select as data;
The sub image data selected by the selection unit is reduced and converted into image data having a resolution smaller than the resolution of the image data output from the imaging unit, and the converted sub image data is superimposed on the main image data. And a display data creation unit that creates display data arranged together.   The display data creation unit converts the sub-image data selected by the selection unit into image data having a resolution smaller than the resolution of the main image data, and converts the converted sub-image data of the main image data. The monitoring system according to claim 1, wherein display data arranged in an overlapping manner is created.   The monitoring system according to claim 2, wherein when there are a plurality of sub-image data, the display data creation unit arranges the sub-image data so as not to overlap the main image data.   The display data creation unit selects a plurality of sub-image data to be displayed superimposed on the main image data based on an externally input signal, and superimposes the selected sub-image data on the main image data. The monitoring system according to claim 3, wherein the monitoring system is arranged.   The display data creation unit can create display data in which main image data selected by a selection unit and one sub-image data are exchanged based on an externally input signal. The monitoring system according to any one of 1 to 4.   The display data creation unit further converts the main image data selected by the selection unit into image data having a resolution smaller than the resolution of the image data output from the imaging unit, and converts the converted main image. The monitoring system according to claim 1, wherein display data is created by arranging the data and the converted sub-image data in an overlapping manner.   The monitoring system according to claim 1, wherein the monitoring target is a moving body that moves in the specific area.   The monitoring system according to claim 1, wherein the monitoring target is an operation target controlled by remote operation.

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