JP2024054532A - Monitoring system - Google Patents

Abstract

A surveillance system capable of capturing images of blind spots of fixed cameras is provided.
[Solution] The surveillance system disclosed herein comprises a fixed camera 100 that monitors a predetermined range, a movable camera 300 that can be moved to capture images of the blind spot of the fixed camera 100, an analysis unit 221 that detects suspicious persons from images captured by the fixed camera 100, and a movement instruction unit 222 that instructs the movable camera 300 to move to the blind spot located in the direction of movement of the suspicious person detected by the analysis unit 221.
[Selected Figure] Figure 1

Description

This disclosure relates to a surveillance system.

Patent Document 1 discloses a conventional surveillance system that includes a rail extending from inside a building to outside the building, a first camera device that moves along the rail and captures an image, and if the image contains a specific object, identifies the area in which the image was captured as a surveillance area that requires monitoring, and a second camera device that approaches the surveillance area identified by the first camera device and captures an image of the surveillance area, with the multiple cameras sharing the tasks of identifying the surveillance area and capturing the image of the surveillance area.

Patent Publication No. 2020-178170

The conventional surveillance system described above had the problem of being unable to capture images of the blind spots of the first camera device that identifies the area to be monitored.

The present disclosure has been made to solve the above problems, and aims to provide a surveillance system that can capture images of blind spots of fixed cameras, which are cameras that identify areas requiring surveillance.

The surveillance system disclosed herein includes a fixed camera that monitors a predetermined range, a movable camera that can be moved to capture images of the blind spots of the fixed cameras, an analysis unit that detects suspicious individuals from images captured by the fixed cameras, and a movement instruction unit that instructs the movable camera to move to the blind spot of the fixed camera that is located in the direction of movement of the suspicious individual detected by the analysis unit.

The surveillance system disclosed herein can capture images of blind spots of fixed cameras.

1 is a configuration diagram of a monitoring system according to a first embodiment. This is an illustration of how a fixed camera calculates the direction of movement from multiple captured images when it detects a suspicious person. 3 shows an example of the arrangement of fixed cameras and movable cameras in the surveillance system according to the first embodiment. This is an image of a movable camera attached to a wire. FIG. 2 is a plan view of the imaging device. 4 is a flowchart showing the operation of the monitoring system in the first embodiment. FIG. 11 is a configuration diagram of a monitoring system according to a second embodiment. 13 is an example of a screen displayed on a display device. 9 is an example of a screen displayed when the graphic representing the movable camera in FIG. 8 is touched.

Embodiments of the present disclosure will be described below with reference to the attached drawings. In the following description, similar components are illustrated with the same reference numerals, and their names and functions are the same or similar. Therefore, detailed descriptions of them may be omitted.

Embodiment 1.
The monitoring system according to the first embodiment will be described with reference to Fig. 1. Fig. 1 is a configuration diagram of a monitoring system 10 according to the first embodiment. The monitoring system 10 includes a fixed camera 100, a central server 200, and a movable camera 300.

The fixed camera 100 monitors a pre-specified range. The fixed camera 100 is attached to a utility pole, for example. The pre-specified range is the range that can be captured at the location where the fixed camera 100 is attached. The fixed camera 100 also transmits captured images at regular intervals to a central server 200, which will be described later.

As shown in FIG. 1, the central server 200 includes a server communication device 210, an analysis device 220, an image storage device 230, and a setting storage device 240. The analysis device 220 also includes an analysis unit 221 and a movement instruction unit 222.

The server communication device 210 communicates with the fixed camera 100 and the movable camera 300 and exchanges information. The information exchanged is, for example, images captured by the fixed camera 100 and the movable camera 300, information for instructing the movable camera 300 to move, and position information of the movable camera 300. Upon receiving images from the fixed camera 100 and the movable camera 300, the server communication device 210 transmits the received images and identification information of the camera that captured the images to the analysis unit 221 of the analysis device 220. Here, the identification information is a number assigned to each of the fixed camera 100 and the movable camera 300.

The analysis unit 221 analyzes images captured by one or more fixed cameras 100 and movable cameras 300, and detects suspicious individuals from changes in the movement of people in the captured images. If the movement of a person corresponds to any of a number of predefined events, the analysis unit 221 determines that the person is suspicious. Here, a predefined event is, for example, a sudden movement of starting to run, that is, a change in movement speed of a certain value or more within a certain period of time. In addition, a predefined event may be an isolated movement, that is, a movement moving at a certain distance away from a group of people, when there is a group of people.

When a suspicious person is detected, the analysis unit 221 further calculates the direction and speed of movement of the suspicious person. FIG. 2 is an image diagram of calculating the direction of movement from multiple captured images when a suspicious person is detected by a fixed camera 100. For example, when the image analysis unit 221 obtains the image on the right in FIG. 2, which was captured 30 seconds after the image on the left, the image analysis unit 221 calculates that the direction of movement of the suspicious person 700 is the direction of arrow X. Furthermore, when a suspicious person detected in an image captured by one fixed camera 100 or movable camera 300 moves outside the captured image, the image analysis unit 221 detects the suspicious person from images captured by the other fixed cameras 100 or movable cameras 300, calculates the direction of movement, and tracks the suspicious person. This tracking is repeated until the suspicious person leaves the monitored area.

The analysis unit 221 also transmits to the movement instruction unit 222 the identification information of the camera that captured the image of the person determined to be suspicious, and information on the direction and speed of movement of the suspicious person.

Furthermore, the analysis unit 221 transmits the captured images received from the fixed camera 100 and the movable camera 300, the camera identification information, and the capture time information associated with the captured images to the image storage device 230. The image storage device 230 stores the captured images received from the analysis unit 221 in association with the camera identification information and the capture time of the images. The images stored in the image storage device 230 can be played back using a media player.

The setting storage device 240 stores the imaging range of the fixed camera 100, the initial position of the movable camera 300, and the movement range within which the movable camera 300 can move. This information is set in advance by the user.

Figure 3 shows an example of the arrangement of the fixed camera 100 and the movable camera 300 in the monitoring system 10 of the first embodiment. The movable camera 300 is movable and is arranged so as to be able to capture an area including the blind spot of the fixed camera 100. Here, the blind spot of the fixed camera 100 refers to a part of the monitored area that is not included in the imaging range of the fixed camera 100 and a part of the imaging range of the fixed camera 100 that cannot be imaged due to buildings or other obstacles. In other words, the movable camera 300 is arranged so as to be able to capture a part or all of the blind spot of the fixed camera 100 in an area where pedestrians can pass between the imaging ranges of the adjacent fixed cameras 100. For example, as shown in Figure 3, if there is a blind spot 900 caused by a building 800 within the imaging range of the fixed camera 100a, the movable camera 300a that can capture the blind spot 900 is installed. In this case, the movable camera 300a moves within the moving range indicated by the arrow A and captures images.

When the movement instruction unit 222 receives the camera identification information and information on the direction of movement of the suspicious person from the analysis unit 221, the movement instruction unit 222 instructs the movable camera 300 to move to the blind spot of the fixed camera 100 located in the direction of movement of the suspicious person via the server communication device 210. At this time, the analysis unit 221 first refers to the setting storage device 240 to confirm the movable camera 300 that is closest to the fixed camera 100 that detected the suspicious person. For example, as shown in FIG. 3, when a suspicious person 700 is detected from an image captured by fixed camera 100b, the analysis unit 221 confirms that the movable camera 300b is closest.

Then, the movement instruction unit 222 instructs the movable camera 300 closest to the fixed camera 100 that detected the suspicious individual to move in the direction of the suspicious individual via the server communication device 210. In the example shown above, in FIG. 3, the movement instruction unit 222 instructs the movable camera 300b to move within the movement range of arrow B toward the fixed camera 100c. At this time, the movement instruction unit 222 may instruct the movement speed of the movable camera 300 according to the movement speed of the suspicious individual.

The movement instruction unit 222 also instructs another movable camera 300 in the direction of movement of the movable camera 300 to approach the end point of the movement range of the moving movable camera 300 or the point in the movement range of the other movable camera 300 that is closest to the movement range of the moving movable camera 300, i.e., the intersection of the movement ranges. Here, the end point of the movement range refers to the end point in the movement direction of the movement range assigned to the movable camera 300. For example, in FIG. 3, if the movable camera 300b is moving in the direction of the fixed camera 100c, the movement instruction unit 222 instructs the movable camera 300c to move to the point closest to the arrow B in the movement range of the arrow C.

When the moving movable camera 300 reaches the end point or intersection of the moving range, the movement instruction unit 222 instructs the other movable cameras 300 that have been instructed to approach the end point or intersection of the moving range to move in the direction of the suspicious person's movement. The direction of movement of the suspicious person instructed at this time is calculated by the image analysis unit 221 from the images captured by the moving movable camera 300 and the fixed camera 100 near the end point or intersection of the moving range. In addition, the movement instruction unit 222 instructs the movable camera 300 that has reached the end point or intersection of the moving range to return to the initial position stored in the setting storage device 240. For example, when the movable camera 300b reaches the end point of the moving range B in FIG. 3, if it is detected from the image captured by the fixed camera 100c that the suspicious person 700 is moving upward on the paper, the movement instruction unit 222 instructs the movable camera 300c to move in the direction of movement of the suspicious person in the moving range C, i.e., upward on the paper. In addition, the movement instruction unit 222 instructs the movable camera 300b to return to the initial position.

When the movable camera 300 reaches an end point or an intersection of its movement range, the movement instruction unit 222 may instruct the movable camera 300 to stop there and continue capturing images. In this case, the movable camera 300 captures images such that at least a part of the area in the movement direction of the suspicious person within the movement range of the other movable camera 300 is included in the viewing angle.

Returning to FIG. 1, the movable camera 300 includes a communication device 310, a movement control device 320, a movement device 330, an imaging device 340, and a self-position detection device 350.

The communication device 310 receives a movement instruction from the server communication device 210 of the central server 200. In addition, the communication device 310 transmits to the server communication device 210 an image captured by the imaging device 340 (described later) and information on the self-position detected by the self-position detection device 350.

The mobile control device 320 controls the mobile device 330 based on the movement instructions received via the communication device 310.

The moving device 330 is a motor that can rotate forward and backward. Figure 4 is an image diagram of the movable camera 300 attached to a wire. As shown in Figure 4, the movable camera 300 is suspended from a wire 370. The moving device 330 is connected to wheels that can be attached to the wire 370, and the wheels rotate as the motor rotates, causing the movable camera 300 to move.

The imaging device 340 is a camera capable of capturing images or videos. As shown in FIG. 4, the imaging device 340 is attached to the lower part of the movable camera 300 suspended from the wire 370. FIG. 5 is a plan view of the imaging device 340. As shown in FIG. 5, the imaging device 340 includes a visible camera 340a and an infrared camera 340b. Here, the visible camera 340a is a camera capable of capturing visible light. The infrared camera 340b is a camera that visualizes infrared light. Note that the infrared camera 340b may not be included. Furthermore, the imaging device 340 may have a PTZ (Panoramac Tilt Zoom) function, which is a function that enables the lens to be rotated and zoomed by remote control. The PTZ function allows the imaging device 340 to rotate a full 360°. Alternatively, the imaging device 340 may have a viewing angle of 100° and rotate 360° in 90° increments. In this case, the imaging device 340 is dome-shaped with a hemispherical bottom.

The imaging device 340 may be a combination of four visible cameras 340a and four infrared cameras 340b, arranged at 90° different orientations, to capture 360° images.

The self-location detection device 350 measures the position of the movable camera 300 using GPS or other satellite positioning systems. The self-location detection device 350 also transmits the measured self-location information to the central server 200 and the mobile control device 320. When the mobile control device 320 receives an instruction from the central server 200 to return to its initial position, it calculates the positional relationship between the self-location information received from the self-location detection device 350 and the initial position received from the central server 200, and controls the mobile device 330 to return to its initial position.

Next, the operation of the monitoring system 10 of the first embodiment will be described with reference to FIG. 6. FIG. 6 is a flowchart showing the operation of the monitoring system 10.

When monitoring by the fixed camera 100 begins, the fixed camera 100 transmits a captured image to the central server 200 (ST1). After transmitting the captured image, the analysis unit 221 of the central server 200 analyzes the image and determines whether or not there is a suspicious person (ST2). If it determines that there is no suspicious person, the process returns to ST1.

If it is determined in ST2 that a suspicious person is present, the analysis unit 221 transmits the identification number of the fixed camera 100 that detected the suspicious person and information on the direction of movement of the suspicious person to the movement instruction unit 222. Next, the movement instruction unit 222 refers to the setting storage device 240 and confirms the position of the fixed camera 100 from the identification number of the fixed camera 100. Then, from the position of the fixed camera 100 and the information on the direction of movement of the suspicious person, it selects a movable camera 300 that needs to be moved (ST3). At this time, the movable camera that needs to be moved refers to the movable camera 300 that is closest among the movable cameras 300 that are located in the direction of movement of the suspicious person relative to the fixed camera 100 that detected the suspicious person, and other movable cameras 300 that can approach the end point or intersection of the movement range of the movable camera 300.

Furthermore, the movement instruction unit 222 instructs the movable camera 300 that needs to move to move by specifying the movement direction (ST4). The movement direction specified at this time is the movement direction of the suspicious person, or the direction of the end point of the movement range of another movable camera 300. Upon receiving the movement instruction, the movable camera 300 starts moving in the specified direction (ST5). During the movement, the movable camera 300 captures images within the movement range and transmits them to the central server 200 (ST6). At this time, the movable camera 300 also transmits information on its own position to the central server 200 at the same time.

When the analysis unit 221 receives the captured image of the movable camera 300 and the self-location information of the movable camera 300, it checks whether the captured image of the movable camera 300 includes the suspicious person detected in ST3 (ST7). If the captured images of all the movable cameras 300 do not include the suspicious person, it instructs the movable cameras 300 to return to their initial positions, and the movable cameras 300 move to their initial positions (ST8). Then, it returns to ST1, and the central server 200 waits until the next captured image is transmitted from the fixed camera 100.

If the image captured by the movable camera 300 contains the suspicious person detected in ST3, it is confirmed whether the movable camera 300 that detected the suspicious person is located at the end of its range of movement (ST9). If the movable camera 300 is not located at the end of its range of movement, the process returns to ST6, and the central server 200 waits until the next captured image and self-location information are transmitted from the movable camera 300. If the movable camera 300 is located at the end of its range of movement in ST8, the process returns to ST3, and the central server 200 selects a movable camera that needs to be moved again.

In this way, in a surveillance system 10 including a fixed camera 100 that monitors a predetermined range, a movable camera 300 that can move to capture the blind spot of the fixed camera 100, an analysis unit 221 that detects a suspicious person from the image captured by the fixed camera 100, and a movement instruction unit 222 that instructs the movable camera 300 to move in the direction of movement of the suspicious person detected by the analysis unit 221, the movement range of the movable camera 300 is set so that the blind spot of the fixed camera 100 can be captured. Also, the analysis unit 221 of the central server 200 detects the suspicious person and his/her movement direction from the image captured by the fixed camera 100. Furthermore, the movement instruction unit 222 instructs the movable camera 300 to move in a range including the blind spot of the fixed camera 100 in the movement direction of the suspicious person, and the movable camera 300 captures images within the movement range. As a result, the surveillance system 10 of the first embodiment has the effect of being able to capture the blind spot of the fixed camera 100 by the movable camera 300.

The movement instruction unit 222 also moves the movable camera 300 to the blind spot of the fixed camera 100 located in the direction of movement of the suspicious person. As a result, the surveillance system 10 of the first embodiment has the effect of reducing the number of cameras required compared to a case in which the fixed cameras 100 are positioned so that they can capture images of the entire area to be monitored.

Moreover, the movable camera 300 captures images by combining the infrared camera 340b with the visible camera 340a. This allows the surveillance system 10 of the first embodiment to detect suspicious people even at night.

Note that, although the event in which the analysis unit 221 determines that a suspicious person is present can be detected from the images captured by the fixed camera 100 and the movable camera 300, sound may also be used in addition to this. In this case, an event in which a suspicious person is determined to be present is, for example, when an abnormal sound is detected by a sensor attached to a utility pole in the monitored area, the fixed camera 100, or the movable camera 300. This provides the effect that the monitoring system 10 of embodiment 1 can detect a suspicious person by sound, who could not be detected as a suspicious person from the captured images.

Next, a monitoring system 10b according to the second embodiment will be described with reference to FIG. 7. FIG. 7 is a configuration diagram of the monitoring system 10b according to the second embodiment. In the figure, the same reference numerals as in FIG. 1 indicate the same or corresponding parts. The monitoring system 10b differs from the monitoring system 10 according to the first embodiment in that the central server 200 includes an alarm device 250 and a display device 260. The rest of the configuration is the same.

The alarm device 250 issues an alarm to the user when the analysis unit 221 detects a suspicious person. In this embodiment 2, the alarm is a sound.

The display device 260 is a monitor that presents information to the operator and accepts operations from the operator. The presented information is, for example, roads and buildings in the area to be monitored, other map information, and the status of the fixed camera 100 and the movable camera 300. FIG. 8 is an example of a screen displayed on the display device 260. As shown in FIG. 8, the fixed camera 100 and the movable camera 300 are shown by predetermined figures. In addition, a display indicating that the moving movable camera 3 is being tracked is displayed. Furthermore, as shown in FIG. 8, when a suspicious person is detected, the display device 260 displays the tracking start position and the suspicious person's current position, which is the suspicious person's position, and the tracking start time. Here, the displayed suspicious person position is calculated by the analysis unit 221 from the self-position of the movable camera 300 received from the self-position detection device 350 via the server communication device 210 and the captured image of the movable camera 300.

Furthermore, the display device 260 displays the images captured by the fixed camera 100 and the movable camera 300 that have been sent to the image storage device 230 in response to an operation by the operator. The operation at this time may be, for example, touching a figure representing the fixed camera 100 displayed on the display device 260. The display device 260 may also display a button for selecting an image captured at a specific time.

The display device 260 also accepts movement instructions to the movable camera 300 through the operator's operation. For example, if the operator recognizes a suspicious person in the image captured by the fixed camera 100, the operator touches the figure representing the movable camera 300 displayed on the display device 260 to issue a movement instruction. FIG. 9 is an example of a screen that is displayed when the operator touches the figure representing the movable camera 2 in FIG. 8. As shown in FIG. 9, the display device 260 displays buttons for selecting whether to move the movable camera 2 in the direction of arrow A or arrow B. When the operator touches the button to issue a movement instruction, the display device 260 transmits the operator's instruction to the movable camera 300 via the server communication device 210.

Movement instructions by the operator's operation may also be given to the movable camera 300 that is moving in response to instructions from the movement instruction unit 222. In this case, regardless of the operation of the flowchart in FIG. 6, the movable camera 300 moves according to the operator's instructions within its movement range until it reaches the end point of the instructed direction or an intersection of the movement range. When the movable camera 300 reaches the end point or intersection of the movement range, it again accepts movement instructions from the central server 200.

In the surveillance system 10b configured in this manner, similar to the surveillance system 10 of embodiment 1, the movable camera 300 moves and captures an area including the blind spot of the fixed camera 100, thereby achieving the effect of being able to capture an image of the blind spot of the fixed camera 100.

In addition, by displaying images captured by the fixed camera 100 and the movable camera 300 to the operator on the display device 260 and accepting movement instructions from the operator, the monitoring system 10b can move the movable camera 300 to capture images of the monitored area even when there is no instruction from the movement instruction unit 222. As a result, the monitoring system 10b of embodiment 2 has the effect of being able to capture images by the movable camera 300 even when a suspicious person is not detected by the analysis of the image analysis unit 221 and there is no movement instruction from the movement instruction unit 222.

In addition, in the monitoring system 10b of the second embodiment, the alarm device 250 issues an alarm when a suspicious person is detected from the captured image. This allows the operator using the monitoring system 10b to immediately recognize the presence of the suspicious person. Furthermore, when a suspicious person is detected, the display device 260 of the monitoring system 10b displays the tracking start position and the suspicious person's position, which is the suspicious person's current position. Also, the display device 260 displays the captured image of the fixed camera 100 or the movable camera 300 by the operator's operation. This allows the operator, who recognizes the presence of a suspicious person due to the alarm issued by the alarm device 250, to confirm the position and movement of the suspicious person. As a result, it is possible to take measures such as reporting the presence of a suspicious person or heading to the location of the suspicious person if the operator deems it necessary.

In addition, in each of the above embodiments described in this specification, the shape, relative positional relationship, or implementation conditions of each component may be described, but these are merely examples in all aspects and each embodiment is not limited to what has been described. Therefore, countless variations not exemplified are expected within the scope of each embodiment. For example, this includes cases in which any component is modified, added, or omitted, and further cases in which at least one component in at least one embodiment is extracted and combined with a component in another embodiment. In other words, each embodiment can be freely combined, and each embodiment can be modified or omitted as appropriate.

Also, unless a contradiction arises, a component described in each of the above embodiments as being provided with "one" may be provided with "one or more." Furthermore, each component is a conceptual unit, and includes cases where one component is made up of multiple structures and cases where one component corresponds to a part of a structure.

Various aspects of this disclosure are summarized below as appendices.

(Appendix 1)
A fixed camera that monitors a predetermined range;
A movable camera that can be moved to capture an image of a blind spot of the fixed camera;
An analysis unit that detects a suspicious person from an image captured by the fixed camera;
a movement instruction unit that instructs the movable camera to move to a blind spot of the fixed camera that is located in a moving direction of the suspicious person detected by the analysis unit;
A surveillance system comprising:
(Appendix 2)
The surveillance system described in Appendix 1, wherein the movement instruction unit instructs the other movable cameras to move in the direction of movement of the suspicious person when the movable camera reaches an end point of its own movement range, which is its own movable area, or an intersection point with the movement range of another movable camera.
(Appendix 3)
The surveillance system described in Appendix 1 or 2, wherein the movement instruction unit instructs the movable camera to return to its initial position when the movable camera reaches an end point of its own movement range, which is an area in which the movable camera can move, or an intersection point with the movement range of another movable camera.
(Appendix 4)
A surveillance system as described in any one of appendices 1 to 3, comprising a display device that receives movement instructions from an operator to the movable camera and transmits instructions to the movable camera in the movement direction specified by the operator when giving the movement instruction.
(Appendix 5)
A surveillance system according to any one of claims 1 to 4, comprising an alarm device that issues an alarm to a user when a suspicious person is detected by the analysis unit.
(Appendix 6)
The movable camera includes a self-position detection device that measures its own position,
The analysis unit calculates a position of a suspicious person from position information measured by the self-location detection device and an image captured by the movable camera,
The display device displays the position of the suspicious person calculated by the analysis unit.
6. The monitoring system of claim 4 or 5.
(Appendix 7)
7. The surveillance system according to claim 4, wherein the display device displays a message indicating that the movable camera is being tracked when the movable camera is moving.
(Appendix 8)
A surveillance system as described in any one of appendix 1 to 7, comprising a movement control device that controls the rotation of wheels so that the movable camera moves on a wire via the wheels.
(Appendix 9)
The surveillance system according to any one of claims 1 to 8, wherein the movable camera has a visible camera capable of capturing visible light and an infrared camera that visualizes infrared light.

10, 10b Surveillance system, 100, 100a, 100b, 100c Fixed camera, 200 Central server, 210 Server communication device, 220 Analysis device, 221 Image analysis unit, 222 Movement instruction unit, 230 Image storage device, 240 Setting storage device, 250 Alarm device, 260 Display device, 300, 300a, 300b, 300c Movable camera, 310 Communication device, 320 Movement control device, 330 Movement device, 340 Imaging device, 350 Self-location detection device, 370 Wire, 700 Suspicious person, 800 Building, 900 Blind spot

Claims (9)

A fixed camera that monitors a predetermined range;
A movable camera that can be moved to capture an image of a blind spot of the fixed camera;
An analysis unit that detects a suspicious person from an image captured by the fixed camera;
a movement instruction unit that instructs the movable camera to move to a blind spot of the fixed camera that is located in a moving direction of the suspicious person detected by the analysis unit;
A surveillance system comprising: The surveillance system of claim 1, wherein the movement instruction unit instructs the other movable cameras to move in the direction of movement of the suspicious person when the movable camera reaches an end point of its own movement range, which is an area in which the movable camera can move, or an intersection point with the movement range of another movable camera. The surveillance system of claim 1, wherein the movement instruction unit instructs the movable camera to return to its initial position when the movable camera reaches an end point of its own movable range or an intersection point with the range of movement of another movable camera. The surveillance system of claim 1 further comprises a display device that receives a movement instruction from an operator to the movable camera and transmits to the movable camera an instruction to move in the direction specified by the operator when issuing the movement instruction. The surveillance system of claim 1, further comprising an alarm device that issues an alarm to a user when a suspicious person is detected by the analysis unit. The movable camera includes a self-position detection device that measures its own position,
The analysis unit calculates a position of a suspicious person from position information measured by the self-location detection device and an image captured by the movable camera,
The display device displays the position of the suspicious person calculated by the analysis unit.
The monitoring system according to claim 4. The surveillance system of claim 4, wherein the display device displays a message indicating that the movable camera is being tracked when the movable camera is moving. The surveillance system of claim 1, further comprising a movement control device that controls the rotation of the wheels so that the movable camera moves on the wire via the wheels. The surveillance system of claim 1, wherein the movable camera has a visible camera capable of capturing visible light and an infrared camera that visualizes infrared light.