JP2014192784A - Monitoring system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a monitoring system under the consideration of privacy by, even when any portion other than a monitoring region is photographed by a robot, masking the portion other than a monitoring region from the image.SOLUTION: A monitoring system for monitoring a predetermined monitoring region by displaying an image photographed by a mobile robot includes: a storage part for preliminarily storing a monitoring space map as three-dimensional space information in which at least the monitoring region and an inhibition space are set; an attitude calculation part for calculating a photographing position and attitude information in the monitoring space map of a camera loaded on the mobile robot; a photographic space calculation part for calculating the photographic space of the image in the monitoring space map from the photographing position and attitude information when the mobile robot photographs the image; and a mask processing part for calculating a region on the image in which the inhibition space is overlapped with the photographic space as a mask region, and for performing mask processing for making it difficult to view the mask region.

Description

  The present invention relates to a monitoring system using an image obtained by photographing a state in a monitoring area, and particularly to a monitoring system using an image taken by a mobile robot moving in the monitoring area.

2. Description of the Related Art Conventionally, there has been proposed a monitoring system in which various sensors are installed in a monitoring area in and around a building, and when the sensor detects an abnormality, the mobile robot is moved to a place where the abnormality is detected and the monitoring area is photographed.
For example, Patent Document 1 discloses a monitoring system in which a ground-traveling mobile robot moves to a place where an abnormality occurs and images an abnormal situation based on signals from a sensor that detects a fire or a sensor that detects an intruder. It is disclosed. Such a monitoring system may monitor a wide monitoring area such as a factory or a shopping mall where a parking lot is provided. In the system of Patent Document 1, the mobile robot travels to a place where the sensor has detected an abnormality, and performs imaging of the place where the abnormality has occurred, notification to the monitoring center, and the like.

JP 2009-181270 A

By the way, since the mobile robot moves freely in the monitoring area, a neighboring house outside the monitoring area may be reflected in an image taken by the mobile robot. For example, even if the mobile robot is only traveling in the monitoring area, depending on the shooting direction, the outside of the monitoring area may be shot from within the monitoring area, and a house outside the monitoring area is shot. Can happen. In such a case, it may happen that the resident of the house where the picture was taken feels that the picture was taken unnecessarily and feels uncomfortable. In particular, when the mobile robot is a flying robot, the shooting range is widened in order to fly at a high altitude, and the number of images that should be considered with respect to such privacy increases.

However, in the conventional monitoring system, there is no image in which privacy is taken into consideration for an image captured by a mobile robot in which the shooting direction and shooting location cannot be specified in advance.

  Therefore, the present invention has an object of realizing a privacy-conscious monitoring system by masking a portion outside the monitoring area from the image even when the outside of the monitoring area is photographed by the flying robot.

  In order to achieve such an object, the present invention is a monitoring system for monitoring a predetermined monitoring area by displaying an image taken by a robot, and at least three-dimensional space information of the monitoring area in which a prohibited space is set. A monitoring space map from a storage unit that stores a certain monitoring space map in advance, a posture calculation unit that calculates shooting position and posture information in a monitoring space map of a camera mounted on the robot, and a shooting position and shooting parameters when the robot is shooting And a mask processing unit that calculates a region on the image where the prohibited space overlaps the shooting space as a mask region, and performs a mask process that makes the mask region difficult to see. Provided a monitoring system.

  As a result, the present invention makes it difficult to visually recognize the image of the area set as the prohibited space on the three-dimensional monitoring space map even if the mobile robot freely moves and shoots the monitoring area. A careful monitoring system becomes possible.

  In addition, a moving body detection unit for detecting a moving body in the monitoring space map is further provided, and when the position of the moving body is within the mask area in the image, the moving body area where the moving body is located is removed from the mask area. It is preferable to exclude.

  Thereby, while considering privacy, the moving body existing in the monitoring area can be visually recognized with certainty, so that the monitoring accuracy can be maintained.

  ADVANTAGE OF THE INVENTION According to this invention, the monitoring system using the image image | photographed with the mobile robot is realizable, considering privacy to the neighborhood house etc. of a monitoring area | region.

Image of monitoring space map of monitoring area Diagram showing the detection area of the laser sensor Overall configuration diagram of the monitoring system Example of output image after masking Functional block diagram of security equipment Functional block diagram of the robot control module Functional block diagram of a flying robot Processing flow of security device when moving object is detected Process flow of mask processing module

Embodiments of a monitoring system according to the present invention will be described below. FIG. 1 is an image of the situation of the monitoring area E. In the monitoring area E, a building B (store) with a parking lot is built on a site surrounded by fences. In addition, the monitoring area E is constructed in a state where the neighbor 8 is confronted between the fences that serve as the entrances and exits of the automobile 7, and it is necessary to consider privacy.
In addition, the monitoring system 1 has two laser sensors 4 installed diagonally so that the entire parking space in the monitoring area E becomes a detection area. In the inner / outer boundary space of the monitoring area E, a prohibited space M, which will be described later, is set on the monitoring space map. FIG. 1 shows a situation where the flying robot 3 is shooting the shooting area G while tracking the automobile 7.

FIG. 3 is a diagram schematically showing the overall configuration of the monitoring system 1. The monitoring system 1 includes a security device 2, a flying robot 3, a laser sensor 4, a building sensor 5 installed in a monitoring area E, and a center device 6 installed in a monitoring center connected via a network. ing. The center device 6 is connected to the security device 2 via an IP network, receives an image captured by the flying robot 3 from the security device 2, a detection signal from the sensor 5 in the building, and the like and displays it on the monitor. The monitor looks at this monitor to grasp the status of the monitoring area E and performs an appropriate response. Further, although the network is described as an IP network, the network is not limited to this as long as there is no problem in image transmission / reception such as a general public network or a mobile phone network.

  The laser sensor 4 is installed in the parking lot and monitors the approach to the parking lot in the monitoring area E and the surroundings of the building B. FIG. 2 is a diagram showing a detection area of the laser sensor 4. As shown in the figure, the laser sensor 4 is installed so that the building B direction from the upper left of the monitoring area E is the detection area and the building B direction from the lower right of the monitoring area E is the detection area.

The laser sensor 4 transmits a search signal that is a laser beam in a radial manner so as to scan a preset detection area, and receives the search signal that is reflected back to the object in the detection area. Then, the distance to the object is calculated from the time difference between transmission and reception, and the direction in which the search signal is transmitted and the calculated distance are obtained.

And the laser sensor 4 transmits the result of the scanning unit which scanned the detection area with the predetermined period to the security apparatus 2. As a result, the moving object tracking module 231 of the security device 2 to be described later enables the object placement status outdoors in the monitoring area E, the presence or absence of an approaching object, the tracking of the automobile, and the like. In this embodiment, since the purpose is to monitor the approach of a vehicle traveling on the ground, scanning is performed in one step in the horizontal direction. However, depending on the purpose of monitoring, scanning in a plurality of steps may be performed in the vertical direction. Also good.

The in-building sensor 5 is appropriately installed at various locations in the building B. For example, for a window or door, a magnet sensor that detects opening or closing of the window or door, a glass breakage sensor on a glass window, an infrared sensor that detects a human body inside a room, an image sensor that detects an intruder in an image, etc. It is installed at the place. Each building sensor 5 is stored in the security device 2 as building sensor arrangement information 242 in association with a detection location on the monitoring space map 241.

The flying robot 3 receives a wireless flight control signal from the security device 2, flies while photographing to a predetermined target position, and transmits the photographed image to the security device 2. FIG. 7 is a diagram showing functional blocks of the flying robot 3.

The flying robot 3 includes an antenna 31 for performing wireless communication with the security device 2, four rotors 32 for flying such as ascending / descending / turning direction / advancing, a motor for providing driving force to the rotor 32, and the like. A rotor drive unit 33, an altitude sensor 34 for projecting and receiving a laser beam vertically below to measure the current altitude of the flying robot 3, and a distance measuring sensor for projecting and receiving a laser beam in the horizontal direction and surroundings to measure the surrounding situation of the flying robot 3 35. A camera 36 that is fixed to the aircraft of the flying robot 3 and that captures a color image of the front with camera parameters such as a preset angle of view, and an LED that lights when the surroundings are dark and assists the camera 36 Illumination 37 that is illumination, a robot controller 38 that controls the entire flying robot 3, a power supply 39 that is a lithium polymer battery that supplies power to each part of the flying robot 3, a flight And a posture sensor 40 is a gyro sensor for measuring the attitude of the bot 3.

The attitude sensor 40 includes a first gyro that is directed forward and horizontally to the aircraft and a second gyro that is directed forward and vertically to the aircraft. Further, the two gyro sensors are arranged at the center of gravity common to the airframe and the camera 36. Further, the visual axis direction of the camera 36 is fixedly installed at a predetermined angle downward in front of the airframe. The attitude sensor 40 calculates attitude information of the airframe and the camera 36 based on outputs from the first gyro and the second gyro. The posture information is calculated as an angle change from the state in which the aircraft is kept horizontal to the top, bottom, left and right.

  The robot controller 38 controls the communication control means 381 that controls the wireless communication with the security device 2 via the antenna 31, the camera 36, and the illumination 37, and associates posture information and the like with the image captured by the camera 36. The camera control means 382 for executing the processing, the altitude information measured by the distance measuring sensor 35 and the altitude sensor 34, and the scanning means 383 using the distance data between the surrounding objects and the own aircraft as scan data, and the flight control signal from the security device 2 Based on this, it is composed of flight control means 384 for controlling the rotor drive unit 33 to control the flying robot 3 to fly to the target position.

The camera control unit 382 associates the image captured by the camera 36 with the posture information calculated by the posture sensor 40 at the time of shooting and the scan data generated by the scanning unit 383. Then, the communication control unit 381 transmits the associated data together with the image from the antenna 31 to the security device 2.

Next, the security device 2 will be described in detail with reference to FIG. The security device 2 is installed inside the building B in the monitoring area E shown in FIG. The security device 2 includes a sensor 5 in the building installed at an appropriate location for detecting an intruder into the building B, a laser in the monitoring area E and outside the building B such as a parking lot. Each sensor 4 is connected.

FIG. 5 is a diagram illustrating functional blocks of the security device 2. The security device 2 includes a security mode switching unit 21 that performs a switching operation between a security set state monitored by the monitoring center and a security release state that is not monitored by the monitoring center, and various types of sensors such as the laser sensor 4 and the in-building sensor 5. A sensor interface 22 that receives input of signals from the sensors, a flying robot communication unit 25 that communicates with the flying robot 3, images captured by the flying robot 3, abnormal signals detected by various sensors, and the like are connected to the center device 6 and the network. A monitoring center communication unit 26 for performing communication, a storage unit 24 composed of peripheral components such as ROM / RAM storing programs and various data and parameters necessary for processing of the security device 2, and security The security control unit 23 is composed of a CPU, MPU, etc. for overall control of the entire apparatus 2.

  Here, information stored in the storage unit 24 will be described. The monitoring space map 241 is information that represents the monitoring area E in three dimensions, and is map information that represents a three-dimensional monitoring space from the ground to a height required for the flight of the flying robot 3. In the present embodiment, the presence of a fence separating the monitoring area E from the outside, the building B, the planting information existing in the monitoring space such as the installation position of the laser sensor 4, and the prohibited space M are stored. . Note that the monitoring space map 241 also includes three-dimensional information inside the building B, and places where people can enter and exit are registered, such as doors and windows.

The forbidden space M is set in advance as an area for which privacy is to be considered when the monitoring space map 241 is generated in advance. Here, for the purpose of giving consideration to privacy in places other than the monitoring area E, the prohibited space M is set to an area on the monitoring space map 241 indicating the extension of the monitoring area E. This forbidden space M is used when performing mask processing to be described later. FIG. 1 shows an image in which the prohibited space M is set on the monitoring space map 241.

The in-building sensor arrangement information 242 is position information in the monitoring space map 241 of the monitoring location of each in-building sensor 5. This is determined in advance by a security plan, and a position on the monitoring space map 241 is associated with each in-building sensor 5.

The laser sensor parameter 243 is information including the correspondence between the position of the laser sensor 4 in the monitoring space map 241 and the position in the detection area of the laser sensor 4 and the position on the monitoring space map 241. It is a parameter for converting the determined position into a position on the monitoring space map 241.

The various parameters 244 include the IP address of the center device 6 necessary for the security device 2 to monitor the monitoring area E, data for communication with the flying robot 3, and the camera 36 mounted on the flying robot 3. These are various parameters such as camera parameters such as angle of view. In addition to these, the storage unit 24 stores various programs for realizing the functions of the security device 2.

Next, the security control unit 23 will be described in detail. The security control unit 23 reads a software module (not shown) in the storage unit 24 and performs each process by the CPU or the like.

The moving body tracking module 231 is software for analyzing the signal of the laser sensor 4 input from the sensor interface 22. Specifically, the search signal which is the result of the laser sensor 4 scanning the detection area with laser light is analyzed in time series. If there is no new approaching object or the like in the detection area, the search signal of the laser sensor 4 input in time series does not change so much, and the analysis result indicates that there is no moving object. On the other hand, if there is a new approaching object or the like in the detection area, the search signal of the laser sensor 4 changes, and the position in the detection area where the change has occurred is obtained by analysis.

Further, using the laser sensor parameter 243 of the storage unit 24, the position is converted into a position on the monitoring space map 241 to calculate the position / size / movement direction of the approaching object, and the approaching object is tracked on the monitoring space map 241. . Further, when the approaching object stops, there is no change in the signal thereafter, so it can be determined that the car or person being tracked has stopped or stopped. Further, it detects that an approaching object that is being tracked has gone out of the monitoring area E. The analysis result of the moving body tracking module 231 is output to an abnormality determination module 232, a robot control module 233, and a mask processing module 234, which will be described later. Is done.

The abnormality determination module 232 receives a security set / release signal from the security mode switching unit 21 and signals from the in-building sensor 5 and the laser sensor 4 and determines whether an abnormality has occurred in the monitoring area E. When receiving the security set signal from the security mode switching unit 21, the abnormality determination module 232 sets the monitoring area E to the security set mode, and when receiving the security release signal, the abnormality determination module 232 sets the monitoring area E to the security release mode in which the warning is not set. In the security release mode, no special processing is performed even if a detection signal from the in-building sensor 5 or the laser sensor 4 is received.

On the other hand, in the security set mode, when a detection signal from the in-building sensor 5 or the laser sensor 4 is received, it is determined that an abnormality has occurred, and the monitoring center communication unit 26 notifies the center device 6 of the abnormality. Along with the abnormality report, the robot control module 233 is controlled to start the flying robot 3. In the security set mode, the process of transmitting the image captured by the flying robot 3 received from the flying robot communication unit 25 from the monitoring center communication unit 26 to the center device 6 is continued until the abnormal state is released. Although there are various methods for canceling the abnormal state, the description thereof is omitted because it is not relevant to the present invention.

When the robot control module 233 receives the activation signal of the flying robot 3 from the abnormality determination module 232, the robot control module 233 performs flight control of the flying robot 3 from the flying robot communication unit 25.

Here, the robot control module 233 will be described in detail with reference to FIG. FIG. 6 is a functional block diagram of the robot control module 233. The robot control module 233 includes target position setting means A for determining a target position to be reached by the flying robot 3, flight path calculation means RO for calculating a flight path for reaching the target position set by the target position setting means A, Robo control means C for generating and transmitting a flight control signal to the flying robot 3 so as to fly along the flight path calculated by the flight path calculation means B, and a current flight position on the monitoring space map 241 of the flying robot 3 Flight position calculating means D for calculating

The target position setting means a sets the position on the monitoring space map 241 of the car or person that is the approaching object calculated by the moving body tracking module 231 as a target position where the position can be taken from an altitude of about 5 m above. Here, the distance of about 5 m varies depending on various performances such as the resolution and angle of view of the camera 36, but is high enough to allow the flying robot 3 to photograph the entire vehicle or person. Note that when shooting a license plate of an automobile, the altitude of about 2 m is set depending on the depression angle of the camera 36, and a position where the image can be taken from the rear of the automobile is set as a target position.

The flight position calculation means D receives the scan data acquired by the scan position 383 of the flight robot 3 and calculates a place where the scan data matches the monitoring space map 241, thereby the flight robot. 3 is calculated. In the present embodiment, the current position is calculated based on the scan data. However, the present invention is not limited to this, and the flying robot 3 is provided with a GPS signal receiving function, and the current position is calculated based on the GPS signal. Also good.

The flight path calculation means B uses the target position set by the target position setting means a, the current position of the flying robot 3 calculated by the flight position calculation means D, and the monitoring space map 241 according to the A * path search algorithm. Calculate the flight path. The A * route search algorithm is a logic that calculates a route that can be reached safely and in the shortest time by setting the current position and the target position and taking into consideration the arrangement of the monitoring space map 241 and the size of the flying robot 3. Since it is a general method, detailed description is omitted. Other route calculation algorithms may be applied.

The robot control means C calculates the flight control signal of the flying robot 3 so that the flying robot 3 can fly on the route calculated by the flight path calculation means B. A specific flight control signal is the number of rotations of each of the four rotors 32 in the flying robot 3. Then, a flight control signal is transmitted from the flying robot communication unit 25 as a radio signal.

Here, the control flow of the robot control module 233 will be described with reference to FIG. First, when the automobile 7 enters the monitoring area E during the security set, the security device 2 detects an abnormality based on the signal from the laser sensor 4. The security device 2 notifies the center device 6 of an abnormality when the abnormality occurs, and starts control of the flying robot 3.

  When the abnormality determination module 232 of the security device 2 detects the automobile 7 and determines that an abnormality has occurred, the target position setting means a of the robot control module 233 is the current center-of-gravity position of the automobile 7 analyzed by the moving body tracking module 231. A position at a distance of 3.5 m from the position and an altitude of 5 m is set as a target position as a position on the monitoring space map 241 (step S71).

Then, the flight path calculation means B calculates the flight path using the target position set in step S71, the current position of the flying robot 3, and the monitoring space map 241 (step S72). Since the flying robot 3 is located at a predetermined standby position until the activation signal is received, that position is the current position. At other times, the flight position calculation means D receives the scan data acquired by the scanning means 383 of the flying robot 3 and calculates a place where the scan data matches the monitoring space map 241. The current position is calculated. In the present embodiment, the current position is calculated based on the scan data. However, the present invention is not limited to this, and the flying robot 3 is provided with a GPS signal receiving function, and the current position is calculated based on the GPS signal. Also good.

Next, it is determined from the tracking result of the mobile object tracking module 231 whether or not the mobile object that is an automobile or a person is moving (step S73). If it is determined in step S73 that the moving body is not moving (step S73-No), the process proceeds to step S77, and a flight control signal for flying to the target position is transmitted from the robot control module 233 to the flying robot 3.

On the other hand, if it determines with the mobile body which is a motor vehicle or a person having moved in step S73 (step S73-Yes), it will be further determined whether the motor vehicle 7 moved out of the monitoring area | region E (step S74). Here, since the outside of the monitoring region E is outside the detection area of the laser sensor 4, it means that the moving body tracked by the laser sensor 4 has disappeared. That is, when the mobile body tracking module 231 cannot detect a mobile body that is a car or a person being tracked, it is determined that the mobile body tracking module 231 has moved out of the monitoring area E.

If a moving body that is a car or a person is detected in the monitoring area E in which tracking can be continued in step S74 (step S74-No), the target position is changed and set based on the current position of the moving body that is a car or a person. In step S75, the robot control module 233 transmits a flight control signal for flying to the target position to the flying robot 3.

On the other hand, when a moving body that is a car or a person comes out of the monitoring area E in step S74 (step S74-Yes), the position at which the car or moving body leaves the monitoring area E is changed to the target position as the escape position. (Step S76), the process proceeds to Step S77, and a flight control signal for flying to the target position is transmitted from the robot control module 233 to the flying robot 3. Although not described in this flow, when a moving body that is a car or a person leaves the monitoring area E, shooting on the spot is continued for about 10 seconds, and then designated in advance. The standby place is set as the target position and the process returns to the standby place.

In step S77, the robot control means C calculates the flight control signal of the flying robot 3 so that the flying robot 3 can fly along the route calculated by the flight path calculation means B. A specific flight control signal is the number of rotations of each of the four rotors 32 in the flying robot 3. Then, a flight control signal is transmitted from the flying robot communication unit 25 as a radio signal.

When the flying robot 3 receives the flight control signal from the antenna 31, the flying robot 3 flies based on the received flight control signal. Specifically, the flight control signal received from the antenna 31 is input to the flight control means 384, and the number of rotations of each rotor 32 is individually controlled from the rotor drive unit 33 to fly. After the flight is started, these steps S72 to S77 are repeatedly performed, and shooting is performed while tracking a car or the like.

Here, although not described in the flow shown in FIG. 8, when the flying robot 3 first receives a flight control signal, the scanning unit 383 activates the distance measuring sensor 35 and the altitude sensor 34. Further, the camera control means 382 activates the camera 36 and the attitude sensor 40. And the camera control means 382 continues the process which matches scan data and attitude | position information with the image image | photographed with the camera 36, and transmits to the security apparatus 2. FIG.

Returning to FIG. 5, the mask processing module 234 processes the image captured by the flying robot 3 received from the flying robot communication unit 25. Here, the mask processing module 234 will be described in detail with reference to FIG. FIG. 9 is a flow when the mask processing module 234 processes an image captured by the flying robot 3, and processing is performed for each acquired image.

When the mask processing module 234 acquires the image, the mask processing module 234 calculates the shooting space G from the monitoring space map 241 in which the image is shot (step S91). Specifically, the shooting space G of the camera 36 on the monitoring space map 241 is calculated from the posture information and scan data associated with the image. First, by matching the scan data with the monitoring space map 241, the position on the monitoring space map 241 and the forward direction of the flying robot 3 when the flying robot 3 is photographed are calculated. Next, using the calculated position / front direction of the flying robot 3 as a reference, the visual axis direction is obtained by associating the posture information on the monitoring space map 241. Then, the shooting space G of the image on the monitoring space map 241 is calculated by combining the camera parameters such as the angle of view of the camera with the monitoring space map 241.

  Next, in step S92, it is determined whether the shooting space G and the prohibited space M overlap. That is, it is determined by matching processing whether there is an area where the prohibited space M set in advance in the monitoring space map 241 of the storage unit 24 overlaps the imaging space G calculated in step S91. If there is an overlap (Yes in step S93), the overlapping area is set as the mask area R in step S94. On the other hand, if they do not overlap (No at Step S93), the process proceeds to Step S98, and the image is output from the monitoring center communication unit 26 to the center device 6.

  In step S95, whether the result of determination by the moving body tracking module 231 based on the signal from the laser sensor 4 is that the moving body such as the automobile 7 or a person is within the mask region R calculated in step S94. judge. If it is present (step S95-Yes), the region where the moving body is located is excluded from the mask region R in step S96 to form a new mask region R. On the other hand, if it is not present (step S95-No), the process proceeds to step S97 while keeping the mask region R set in step S94.

In step S97, a mask process that makes it difficult to visually recognize the image in the mask region R is performed on the image. That is, the mask area R on the monitoring space map 241 is projected on the acquired image, and the mask area R is filled with a pure color. In the present embodiment, the filling process is performed with a pure color. However, any process may be used as long as it can be made difficult to visually recognize, such as “roughening pixels” and “performing fine hatching”. FIG. 4 shows an image when the mask process is performed. The shooting space G and the prohibition space M overlap the image shot in the situation shown in FIG. 1, and the car 7 is shown in the image. As shown in FIG. 4, a car 7 located on the mask area R indicated by diagonal lines, and the ground and the fence in the site are photographed. Thus, in the situation of FIG. 1, although the neighbor 8 is in the image, it is in the mask region R and thus cannot be visually recognized in the output image.

  Thereafter, the image subjected to the mask process in step S98 is output from the monitoring center communication unit 26 to the center device 6. Thereby, even if the flying robot 3 captures an area corresponding to the prohibited space M, the mask process is performed, so privacy can be considered. Furthermore, even when the moving body is in the monitoring area E, the moving body is not subjected to mask processing, so that the monitoring accuracy can be maintained.

As described above, in the monitoring system 1, the monitor can monitor the monitor of the monitoring center and quickly check the image of the car or the like.

In this embodiment, the flight robot 3 is controlled by the security control unit 23 of the security device 2, but all or part of the functions of the security device 2 are appropriately mounted on the flight robot 3. Also good.

In the present embodiment, the position of the flying robot 3 is calculated from the scan data by the security device 2, but the position may be calculated by a GPS signal.

In the present embodiment, the moving object is tracked using the signal of the laser sensor 4, but after the distance measuring sensor 35 of the flying robot 3 can capture the moving object, the moving object is moved based on the scan data. The body may be tracked.

In the present embodiment, the form of the flying robot 3 is shown. However, a ground traveling type robot may be used instead of the flying robot 3.

Although the autonomous flying robot 3 is shown in the present embodiment, it may be a remotely operated robot by a person.

DESCRIPTION OF SYMBOLS 1 ... Monitoring system 2 ... Security apparatus 3 ... Flying robot 4 ... Laser sensor 5 ... Sensor in building

Claims (2)

A monitoring system that displays an image captured by a robot and monitors a predetermined monitoring area,
A storage unit that stores in advance a monitoring space map that is three-dimensional space information of the monitoring region in which at least a prohibited space is set;
A posture calculation unit that calculates shooting position and posture information in the monitoring space map of the camera mounted on the robot;
A shooting space calculation unit that calculates a shooting space of an image in the monitoring space map from the shooting position and orientation information when the robot has shot;
A monitoring system comprising: a mask processing unit that calculates a region on the image in which the prohibited space overlaps the photographing space as a mask region, and performs a mask process that makes the mask region difficult to visually recognize. Furthermore, it has a moving body detection unit for detecting a moving body in the monitoring space map,
The monitoring system according to claim 1, wherein the mask processing unit excludes the moving body region of the image where the moving body is located from the mask region when the position of the moving body is within the mask region.