JP5811190B2 - Monitoring system - Google Patents

Description

  The present invention relates to a monitoring system.

  A security device that detects the occurrence of abnormalities is known by installing multiple security camera devices in shopping streets, store entrances, home entrances, and other streets, and monitoring surrounding images captured by the security camera device (Patent Document 1).

JP 2011-215767 A

  However, in order to cover a wide area with a security camera device installed in the city, a large number of security camera devices must be installed, and there is a problem that it takes a long communication time when the communication line is congested.

  An object of this invention is to provide the monitoring system which can transmit monitoring information in real time.

  The present invention attaches a camera to a plurality of moving bodies, acquires position information of the moving body and image information captured by the camera at a predetermined timing, and sets a transmission data amount according to a line congestion situation. Achieving the above objectives.

  According to the present invention, the image data from the cameras mounted on a plurality of mobile bodies that travel at random and the position information of the mobile body are acquired, and the transmission data amount is set according to the line congestion situation. Can optimize and send monitoring information in real time.

1 is a schematic diagram showing a monitoring system according to an embodiment of the present invention. It is a block diagram which shows the monitoring system of FIG. It is a flowchart which shows the main control content by the monitoring terminal device side of the monitoring system of FIG. 3 is a flowchart (No. 1) showing main control contents on the central monitoring device side of the monitoring system of FIG. 7 is a flowchart (No. 2) showing main control contents on the central monitoring device side of the monitoring system of FIG. It is a perspective view which shows the imaging range of the camera in the monitoring system of FIG. It is a top view which shows the example of arrangement | positioning of the camera in the monitoring system of FIG. It is a figure which shows an example of the picked-up image of a front vehicle-mounted camera. It is a figure which shows an example of the picked-up image of the right side vehicle-mounted camera. It is a figure which shows an example of the picked-up image of a rear vehicle-mounted camera. It is a figure which shows an example of the picked-up image of the left side vehicle-mounted camera. It is a figure which shows an example of the picked-up image of an indoor vehicle-mounted camera. It is a figure which shows an example of the monitoring image produced | generated based on the some image. It is a figure for demonstrating the distortion correction process of the monitoring image. It is a schematic diagram which shows an example of a projection model. It is a cross-sectional schematic diagram along xy plane of the projection model shown in FIG. It is a figure which shows the example of an image displayed on the display of a central monitoring apparatus. It is a flowchart which shows the main control content by the side of the monitoring terminal device which concerns on the other example of the monitoring system of FIG. It is a flowchart which shows the main control content by the side of the central monitoring apparatus which concerns on the other example of the monitoring system of FIG. It is a flowchart which shows the main control content by the side of the monitoring terminal device which concerns on the other example of the monitoring system of FIG. It is a flowchart which shows the main control content by the side of the central monitoring apparatus which concerns on the other example of the monitoring system of FIG.

  In the embodiment described below, the monitoring system according to the present invention is embodied as a monitoring system 1 that centrally monitors the security in a city by an authority such as a police station or a fire station. That is, the position information of each of the plurality of moving objects, the image information around the moving objects, and the time information are acquired at a predetermined timing, and the position information, the image information, and the time information are acquired via wireless communication. The position information is displayed on the map information and, if necessary, the image information and the time information are displayed on the display. Therefore, the monitoring system 1 of this example inputs and processes the monitoring information via the telecommunications network 30 and the monitoring terminal device 10 that acquires monitoring information such as position information and image information as shown in FIG. Central monitoring device 20 is provided. FIG. 2 is a block diagram illustrating a specific configuration of the monitoring terminal device 10 and the central monitoring device 20. In particular, the monitoring system 1 of this example adjusts the amount of data to be transmitted from the monitoring terminal device 10 to the central monitoring device 20 according to the congestion situation represented by the communication speed of the wireless communication line, etc. Information can be monitored.

  The monitoring terminal device 10 is a terminal device mounted on a plurality of moving bodies V, and is mounted on each of the plurality of moving bodies and a position detection function that detects position information of each of the plurality of moving bodies V. An image generation function that captures an image of the periphery of the moving body to generate image information, a time detection function, an information acquisition control function that acquires position information, image information, and time information at a predetermined timing, and the position information and image It has a communication function for outputting information and time information to the central monitoring device 20 and receiving a command from the central monitoring device 20, and a function for reporting the occurrence of an abnormality. Therefore, a plurality of in-vehicle cameras 11a to 11e, an image processing device 12, a communication device 13, an in-vehicle control device 14, a position detection device 15, and a notification button 16 are provided. The time information is information used for communication speed detection and event post-analysis.

  The mobile body V on which the monitoring terminal device 10 is mounted is not particularly limited as long as it travels in the target monitoring area, and includes mobile bodies such as automobiles, motorcycles, industrial vehicles, and trams. The vehicle V2 and the emergency vehicle V3 are included, and in particular, a taxi or a route bus V1 that travels randomly and constantly in a predetermined area is particularly preferable. FIG. 1 illustrates an emergency vehicle V3 such as a taxi V1, a private vehicle V2, a police car, a fire engine or an ambulance, but these are collectively referred to as a moving body V or a passenger vehicle V.

  Each moving body V includes a plurality of in-vehicle cameras 11a to 11e (hereinafter collectively referred to as cameras 11), an image processing device 12, a communication device 13, an in-vehicle control device 14, a position detection device 15, and a notification button 16. Is installed. The camera 11 is composed of a CCD camera or the like, images the surroundings of the moving object V, and outputs the image pickup signal to the image processing device 12. The image processing device 12 reads an imaging signal from the camera 11 and performs image processing on the image information. Details of this image processing will be described later.

  The position detection device 15 includes a GPS device and its correction device, detects the current position of the moving object V, and outputs it to the in-vehicle control device 14. The notification button 16 is an input button installed in the passenger compartment, and is a manual button that is input when a driver or a passenger finds an incident (an incident related to security such as an accident, fire, or crime).

  The in-vehicle control device 14 includes a CPU, a ROM, and a RAM, and controls the image processing device 12, the communication device 13, and the position detection device 15 when the notification button 16 is pressed, and is generated by the image processing device 12. The image information, the position information of the moving object V detected by the position detection device 15, and the time information from the clock built in the CPU are output to the central monitoring device 20 via the communication device 13 and the telecommunication network 30. . Further, it receives an information acquisition command from the central monitoring device 20 received via the telecommunications network 30 and the communication device 13, controls the image processing device 12, the communication device 13 and the position detection device 15, and controls the image processing device 12. The central monitoring device through the communication device 13 and the telecommunications network 30 includes the image information generated in step S1, the position information of the moving body V detected by the position detection device 15, and the time information from the clock built in the CPU. 20 output. Details of these controls will also be described later.

  The communication device 13 is a communication means capable of wireless communication, and exchanges information with the communication device 23 of the central monitoring device 20 via the telecommunication network 30. When the telecommunications network 30 is a commercial telephone network, a mobile phone communication device can be used widely, and when the telecommunications network 30 is a dedicated telecommunications network for the monitoring system 1 of this example, it is dedicated to it. The communication devices 13 and 23 can be used. Instead of the telecommunication network 30, a wireless LAN, WiFi (registered trademark), WiMAX (registered trademark), Bluetooth (registered trademark), a dedicated wireless line, or the like can be used.

  The central monitoring device 20 displays the information input function for inputting the position information and image information output from the monitoring terminal device 10 and the map information from the map database, and displays the received position information on the map information. A display control function for controlling and a display control function for displaying the received image information on the display 24; Therefore, a central control device 21, an image processing device 22, a communication device 23, a display 24 and an input device 25 are provided.

  The central control device 21 includes a CPU, a ROM, and a RAM, and controls the image processing device 22, the communication device 23, and the display 24, and receives position information, image information, and time information transmitted from the monitoring terminal device 10. The image is displayed on the display 24 after being subjected to image processing as necessary.

  The image processing device 24 has a map database, displays map information from the map database on the display 24, and displays position information detected by the position detection device 15 of the monitoring terminal device 10 on the map information. . Further, image processing for displaying image information captured by the vehicle-mounted camera 11 of the monitoring terminal device 10 and processed by the image processing device 12 on the display 24 is performed.

  The display 24 can be configured by a liquid crystal display device having a size capable of displaying two window screens on one screen, or two liquid crystal display devices each displaying two window screens, for example. One window screen displays a screen in which the position information of each moving object V is superimposed on the map information (see FIG. 1), and the other window screen displays an image captured by the in-vehicle camera 11. Such image information is displayed.

  The input device 25 includes a keyboard or a mouse, and is used when outputting an information acquisition command to a desired moving body V or inputting a processing command for various information displayed on the display 24.

  The communication device 23 is a communication means capable of wireless communication, and exchanges information with the communication device 13 of the monitoring terminal device 10 via the telecommunication network 30. When the telecommunications network 30 is a commercial telephone network, a mobile phone communication device can be used widely, and when the telecommunications network 30 is a dedicated telecommunications network for the monitoring system 1 of this example, it is dedicated to it. The communication devices 13 and 23 can be used.

  The communication speed detection device 17 detects the communication speed of the telecommunication network 30 and may be provided in the monitoring terminal device 10 or the central monitoring device 20. Further, the communication speed detection device 17 may be configured by the monitoring terminal device 10 and the central monitoring device 20 working together. The operation when the devices 10 and 20 are provided will be described later. For example, the communication speed of the telecommunication network 30 is determined by the time when the monitoring terminal device 10 captures image information and the time when the central monitoring device 20 receives the image information. Can be obtained from Alternatively, it is possible to obtain predetermined dummy data from the time received from one of the monitoring terminal device 10 and the central monitoring device 20 and received by the other.

  In this example, the data amount of the image information transmitted from the monitoring terminal device 10 to the central monitoring device 20 is adjusted according to the communication speed of the telecommunication network 30 detected by the communication speed detection device 17. That is, when the communication speed is low with the telecommunications network 30 congested, the data amount of the image information is set to be relatively small. Examples of a method for adjusting the data amount of image information include a method for adjusting the transmission frame rate fps of image information, a method for adjusting the size of image information to be transmitted, and a method for adjusting the compression rate of image information to be transmitted. When compressing image information, in addition to compressing all image information, as described later, when transmitting a plurality of pieces of image information at the same time, some of them may be compressed.

  When the telecommunication network 30 is congested and the communication speed is slow, the transmission frame rate fps of the image information is relatively reduced, the size of the image information to be transmitted is relatively reduced, or the image information to be transmitted The compression ratio is relatively increased. In addition, when the frame rate of the image information to be transmitted is reduced, the thinned image information may be discarded, but is temporarily stored in the memory RAM of the monitoring terminal device 10 and stored in the telecommunications network 30. It can also be sent when congestion is resolved.

Next, mounting positions and imaging ranges of the on-vehicle cameras 11a to 11e will be described. Here, a passenger car V will be described as an example of the moving body V.
The cameras 11a to 11e are configured using an imaging element such as a CCD, and the four on-vehicle cameras 11a to 11d are installed at different positions outside the passenger car V, respectively, and shoot four directions around the vehicle.

  For example, as shown in FIG. 5, the in-vehicle camera 11 a installed at a predetermined position in front of the passenger car V such as a front grill portion is an object or road surface (in the area SP1 in front of the passenger car V and in the space in front thereof) Shoot the front view. The in-vehicle camera 11b installed at a predetermined position on the left side of the passenger car V such as the left side mirror portion is an object or road surface (left side view) that exists in the area SP2 on the left side of the passenger car V and in the surrounding space. Shoot. The in-vehicle camera 11c installed at a predetermined position in the rear part of the passenger car V, such as a rear finisher part or a roof spoiler part, is an object or road surface (rear view) existing in the area SP3 behind the passenger car V and in the space behind it. Shoot. The in-vehicle camera 11d installed at a predetermined position on the right side of the passenger car V such as a right side mirror portion is an object or road surface (right side view) present in the area SP4 on the right side of the passenger car V and in the surrounding space. Shoot. Although not shown in FIG. 5, one in-vehicle camera 11e is installed, for example, on the ceiling of the passenger car interior, and images the indoor area SP5 as shown in FIG. Used for crime prevention or crime reporting.

  FIG. 6 is a view of the arrangement of the in-vehicle cameras 11a to 11e as viewed from above the passenger car V. As shown in the figure, the in-vehicle camera 11a that images the area SP1, the in-vehicle camera 11b that images the area SP2, the in-vehicle camera 11c that images the area SP3, and the in-vehicle camera 11d that images the area SP4 are It is installed along the outer periphery VE of the body along the counterclockwise direction (counterclockwise) or the clockwise direction (clockwise). That is, when viewed along the outer periphery VE of the body of the passenger vehicle V in the counterclockwise direction (counterclockwise) indicated by the arrow C in FIG. The vehicle-mounted camera 11c is installed on the left side of the vehicle-mounted camera 11c, and the vehicle-mounted camera 11a is installed on the left side of the vehicle-mounted camera 11d. Conversely, when viewed along the outer periphery VE of the body of the passenger car V in the direction opposite to the direction of the arrow C shown in the figure (clockwise), the in-vehicle camera 11d is installed on the right side of the in-vehicle camera 11a. The vehicle-mounted camera 11c is installed on the right side, the vehicle-mounted camera 11b is installed on the right side of the vehicle-mounted camera 11c, and the vehicle-mounted camera 11a is installed on the right side of the vehicle-mounted camera 11b.

  FIG. 7A shows an example of an image GSP1 in which the front in-vehicle camera 11a images the area SP1, FIG. 7B shows an example of the image GSP2 in which the left in-vehicle camera 11b images the area SP2, and FIG. 7D shows an example of an image GSP3 in which the area SP3 is imaged, FIG. 7D shows an example of an image GSP4 in which the right-side in-vehicle camera 11d images the area SP4, and FIG. 7E shows an indoor in-vehicle camera 11e. It is an image figure which shows an example of image GSP5 which imaged indoor area SP5. Incidentally, the size of each image is vertical 480 pixels × horizontal 640 pixels. The image size is not particularly limited, and may be any size as long as a general terminal device can reproduce a moving image.

  The number and position of the in-vehicle camera 11 can be determined as appropriate according to the size, shape, detection area setting method, etc. of the passenger car V. The plurality of in-vehicle cameras 11 described above are assigned identifiers corresponding to the respective arrangements, and the in-vehicle control device 14 can identify each of the in-vehicle cameras 11 based on each identifier. Moreover, the vehicle-mounted control apparatus 14 can send an imaging command and other commands to a specific vehicle-mounted camera 11 by attaching an identifier to the command signal.

  The in-vehicle control device 14 controls the image processing device 12 to acquire each image signal picked up by the in-vehicle camera 11, and the image processing device 12 processes the image pickup signal from each in-vehicle camera 11 to perform FIG. 7E is converted into image information. The in-vehicle control device 14 generates monitoring image information based on the four pieces of image information shown in FIGS. 7A to 7D (monitoring image generation function), and sets the monitoring image information on the side of the projection model of the column. The mapping information to be projected onto the projected plane is associated with the monitoring image information (mapping information adding function) and output to the central monitoring device 20. Hereinafter, the monitoring image generation function and the mapping information addition function will be described in detail.

  Note that the monitoring image information is generated based on the four pieces of image information obtained by imaging the periphery of the passenger car V, and the process of associating the mapping information with this is performed by the monitoring terminal device 10 as in this example, and the central monitoring device 20 You can also run In this case, four pieces of image information obtained by imaging the periphery of the passenger car V are transmitted as they are from the monitoring terminal device 10 to the central monitoring device 20, and are monitored by the image processing device 22 and the central control device 21 of the central monitoring device 20. Image information may be generated and mapping information may be associated to perform projection conversion.

  First, the monitoring image generation function will be described. The vehicle-mounted control device 14 of the monitoring terminal device 10 according to the present embodiment controls the image processing device 12 to acquire the imaging signals of the vehicle-mounted cameras 11a to 11e, respectively, and further rotates clockwise along the outer periphery of the body of the passenger car V. One monitoring image is generated so that the image information of the in-vehicle cameras 11a to 11d installed in the counterclockwise direction is arranged in the installation order of these in-vehicle cameras 11a to 11d.

  As described above, in the present embodiment, the four in-vehicle cameras 11a to 11d are installed in the order of the cameras 11a, 11b, 11c, and 11d in the counterclockwise direction along the outer periphery VE of the body of the passenger car V. Therefore, the vehicle-mounted control device 14 integrates the four images captured by the vehicle-mounted cameras 11a to 11d in accordance with the installation order of the vehicle-mounted cameras 11a to 11d (vehicle-mounted cameras 11a → 11b → 11c → 11d). Are connected in the horizontal direction to generate a single monitoring image. In the monitoring image of the present embodiment, the images are arranged such that the ground contact surface (road surface) of the passenger vehicle V is the lower side, and the images are connected to each other at sides in the height direction (vertical direction) with respect to the road surface.

  FIG. 8 is a diagram illustrating an example of the monitoring image K. As shown in the figure, the monitoring image K of the present embodiment includes a captured image GSP1 in which the front in-vehicle camera 11a images the area SP1 along the direction P from the left side to the right side in the drawing, and the left in-vehicle camera 11b. A captured image GSP2 obtained by imaging the area SP2, a captured image GSP3 obtained by the rear vehicle-mounted camera 11c imaging the area SP3, and a captured image GSP4 obtained by the right-side vehicle-mounted camera 11d imaging the area SP4 are arranged in this order in the horizontal direction. These four images are arranged as a series of images. The monitor image K generated in this way is displayed in order from the left end to the right side with the image corresponding to the road surface (vehicle contact surface) facing down, so that the monitor can rotate the periphery of the vehicle V counterclockwise. It can be visually recognized on the display 24 in a manner similar to the look around.

  Note that when one monitoring image K is generated, four images acquired at substantially the same time as the imaging timings of the in-vehicle cameras 11a to 11d are used. Thereby, since the information contained in the monitoring image K can be synchronized, the situation around the vehicle at a predetermined timing can be accurately expressed.

  In addition, the monitoring image K generated from the respective captured images having substantially the same imaging timing of the camera is stored with time, and the moving image monitoring image K including the plurality of monitoring images K per predetermined unit time is generated. It may be. By generating the moving image monitoring image K based on the images having the same imaging timing, it is possible to accurately represent changes in the situation around the vehicle.

  By the way, when the image of each imaging area is memorize | stored each time and the monitoring image K of the moving image produced | generated for every imaging area is transmitted to the central monitoring apparatus 20, depending on the function of the central monitoring apparatus 20, a several You may not be able to play videos at the same time. In such a conventional central monitoring apparatus 20, since a plurality of moving images cannot be reproduced and displayed at the same time, when reproducing each moving image, the moving images must be reproduced one by one by switching the screen. In other words, the conventional central monitoring device 20 has a disadvantage in that it cannot simultaneously watch images (moving images) in a plurality of directions and cannot monitor the entire vehicle periphery on a single screen.

  On the other hand, since the vehicle-mounted control apparatus 14 of this embodiment produces | generates one monitoring image K from several images, regardless of the function of the central monitoring apparatus 20, it can reproduce simultaneously the moving image reproduction of the image of a different imaging direction. it can. That is, by continuously playing back the monitoring image K (moving image playback), the four images included in the monitoring image K are played back continuously (moving image playback), and the state change of the regions in different directions is displayed on one screen. Can be monitored.

  In addition, the monitoring terminal device 10 of the present embodiment generates the monitoring image K by compressing the image data amount so that the number of pixels of the monitoring image K is substantially the same as the number of pixels of the images of the in-vehicle cameras 11a to 11d. You can also While the size of each image shown in FIGS. 7A to 7D is 480 × 640 pixels, in this embodiment, compression processing is performed so that the size of the monitoring image K becomes 1280 × 240 pixels as shown in FIG. Do. As a result, the size of the monitoring image K (1280 × 240 = 307,200 pixels) becomes equal to the size of each image (480 × 640 × 4 = 307,200 pixels). Regardless of the function on the apparatus 20 side, image processing and image reproduction can be performed.

  Furthermore, the vehicle-mounted control apparatus 14 of this embodiment can also attach the line figure which shows the boundary of each arrange | positioned image to the monitoring image K. FIG. Taking the monitoring image K shown in FIG. 8 as an example, the in-vehicle controller 14 forms a rectangular partition image Bb, Bc, Bd, Ba, Ba ′ between the images as a line figure indicating the boundary between the arranged images. Can be attached to the monitoring image K. In this manner, by arranging the partition images at the boundaries of the four images, it is possible to recognize each image having a different imaging direction in the series of monitoring images K. That is, the partition image functions as a frame of each captured image. In addition, since the image distortion is large in the vicinity of the boundary of each captured image, it is possible to hide the image of the region with large distortion or to suggest that the distortion is large by arranging the partition image at the boundary of the captured image. .

  Moreover, the vehicle-mounted control apparatus 14 of this embodiment can also generate | occur | produce the monitoring image K, after correct | amending the distortion at the time of projecting four images on the projection surface set to the side surface of the projection model mentioned later. . In the peripheral area of the captured image, image distortion is likely to occur. In particular, in the case of the in-vehicle camera 11 using the wide-angle lens, the distortion of the captured image tends to be large, so in order to correct the image distortion in advance. It is desirable to correct the distortion of the captured image using the defined image conversion algorithm and correction amount.

  Although not particularly limited, as shown in FIG. 9, the in-vehicle control device 14 reads out information of the same projection model as the projection model for projecting the monitoring image K in the central monitoring device 20 from the ROM, and images it on the projection plane of the projection model. It is also possible to project an image and correct in advance distortion generated on the projection surface. The image conversion algorithm and the correction amount can be appropriately defined according to the characteristics of the in-vehicle camera 11 and the shape of the projection model. In this way, by correcting in advance the distortion when the image K is projected with respect to the projection plane of the projection model, it is possible to provide the monitoring image K with good visibility with less distortion. Further, by correcting the distortion in advance, it is possible to reduce the positional deviation between the images arranged side by side.

  Next, the mapping information addition function will be described. In the monitoring terminal device 10 of the present embodiment, the in-vehicle control device 14 projects the generated monitoring image K on the projection plane set on the side surface of the projection model M of the columnar body with the ground contact surface of the passenger car V as the bottom surface. A process for associating the mapping information for monitoring with the monitoring image K is executed. The mapping information is information for allowing the central monitoring device 20 that has received the monitoring image K to easily recognize the projection reference position. FIG. 10 is a diagram illustrating an example of the projection model M of the present embodiment, and FIG. 11 is a schematic cross-sectional view along the xy plane of the projection model M illustrated in FIG.

  As shown in FIGS. 10 and 11, the projection model M of the present embodiment is a regular octagonal prism body having a regular octagonal bottom surface and a height along the vertical direction (z-axis direction in the figure). Note that the shape of the projection model M is not particularly limited as long as it is a column having side surfaces adjacent to each other along the boundary of the bottom surface, and is a cylinder, or a prism, such as a triangular column, a quadrangular column, or a hexagonal column, or An anti-rectangular column having a polygonal bottom surface and a triangular side surface can also be used.

  Further, as shown in the figure, the bottom surface of the projection model M of the present embodiment is parallel to the ground contact surface of the passenger car V. Projection surfaces Sa, Sb, Sc, and Sd (hereinafter collectively referred to as a projection surface S) that project an image around the passenger vehicle V that contacts the bottom surface of the projection model M are provided on the inner surface of the side surface of the projection model M. Is set. The projection surface S includes a part of the projection surface Sa and a part of the projection surface Sb, a part of the projection surface Sb and a part of the projection surface Sc, a part of the projection surface Sc and a part of the projection surface Sd, and the projection surface Sd. And a part of the projection surface Sa. The monitoring image K is projected onto the projection plane S as an image of the passenger car V viewed from above the viewpoint R (R1 to R8, hereinafter collectively referred to as viewpoint R) above the projection model M surrounding the passenger car V.

  The in-vehicle control device 14 according to the present embodiment associates the reference coordinates of the captured image arranged at the right end or the left end with the monitoring image K as mapping information. Taking the monitoring image K shown in FIG. 8 as an example, the in-vehicle control device 14 is arranged at the right end as mapping information (reference coordinates) indicating the start end position or the end position of the monitoring image K when projected onto the projection model M. The coordinates A (x, y) of the upper left vertex of the captured image GSP1 and the coordinates B (x, y) of the upper right vertex of the captured image GSP2 arranged at the left end are attached to the monitoring image K. Note that the reference coordinates of the captured image indicating the start position or the end position are not particularly limited, and may be the lower left vertex of the monitoring image K arranged at the left end or the lower right vertex of the monitoring image K arranged at the right end. The mapping information may be attached to each pixel of the image data of the monitoring image K, or may be managed as a file different from the monitoring image K.

  As described above, the information indicating the start position or the end position of the monitoring image K, that is, the reference coordinates used as a reference in the projection processing is associated with the monitoring image K as mapping information, whereby the central monitoring apparatus 20 that has received the monitoring image K Since the reference position at the time of the projection process can be easily recognized, the monitoring images K arranged in the arrangement order of the in-vehicle cameras 11a to 11d are easily and rapidly projected onto the projection surface S on the side surface of the projection model M. be able to. That is, as shown in FIG. 11, the captured image GSP1 in front of the vehicle is projected onto the projection surface Sa positioned in the imaging direction of the in-vehicle camera 11a, and the captured image on the right side of the vehicle is projected onto the projection surface Sb positioned in the imaging direction of the in-vehicle camera 11b. GSP2 is projected, a captured image GSP3 behind the vehicle is projected onto a projection plane Sc located in the imaging direction of the in-vehicle camera 11c, and a captured image GSP4 on the left side of the vehicle is projected onto the projection plane Sd positioned in the imaging direction of the in-vehicle camera 11d. can do.

  As a result, the monitoring image K projected on the projection model M can show an image as if looking around the passenger car V. That is, since the monitoring image K including the four images arranged in a line in the horizontal direction according to the installation order of the in-vehicle cameras 11a to 11d is projected on the side surfaces that are also aligned in the horizontal direction in the column of the projection model M. An image around the passenger car V can be reproduced in the monitoring image K projected on the projection surface S of the projection model M of the columnar body while maintaining the positional relationship.

  Note that the in-vehicle control device 14 of the present embodiment stores the correspondence relationship between each coordinate value of the monitoring image K and the coordinate value of each projection plane S of the projection model M as mapping information, and attaches it to the monitoring image K. However, it may be stored in the central monitoring device 20 in advance.

  Further, the positions of the viewpoint R and the projection plane S shown in FIGS. 10 and 11 are examples, and can be arbitrarily set. In particular, the viewpoint R can be changed by the operation of the operator. The relationship between the viewpoint R and the projection position of the monitoring image K is defined in advance, and when the position of the viewpoint R is changed, a predetermined coordinate transformation is performed, so that the viewpoint R is viewed from the newly set viewpoint R. The monitoring image K can be projected onto the projection surface S (Sa to Sd). A known method can be used for this viewpoint conversion processing.

  As described above, the in-vehicle control device 14 according to the present embodiment generates a monitoring image K based on image information captured at a predetermined timing, and the monitoring image K includes a line figure (mapping information, reference coordinates, and boundary). (Partition image) information is associated and stored over time according to the imaging timing. Although not particularly limited, the in-vehicle control device 14 may store the monitoring image K as a single moving image file including a plurality of monitoring images K per predetermined unit time, or can be transferred / reproduced by a streaming method. The monitoring image K may be stored in

  On the other hand, the communication device 23 of the central monitoring device 20 receives the monitoring image K transmitted from the monitoring terminal device 10 and the mapping information associated with the monitoring image K. In addition, the image information image | photographed with the indoor vehicle-mounted camera 11e is received separately. In this monitoring image K, as described above, images of the four in-vehicle cameras 11 installed at different positions of the body of the passenger car V are installed along the outer periphery of the body of the passenger car V along the clockwise or counterclockwise direction. The vehicle-mounted cameras 11a to 11d are arranged according to the installation order (clockwise or counterclockwise order along the outer periphery of the body of the vehicle V). The monitoring image K is associated with mapping information for projecting the monitoring image K onto the projection plane S of the octagonal prism projection model M. The communication device 23 sends the acquired monitoring image K and mapping information to the image processing device 22.

  The image processing device 22 reads the projection model M stored in advance, and sets the projection model M on the side surface of the octagonal prism projection model M with the ground contact surface of the passenger car V shown in FIGS. 10 and 11 as the bottom surface based on the mapping information. A display image is generated by projecting the monitoring image K onto the projected planes Sa to Sd. Specifically, according to the mapping information, each pixel of the received monitoring image K is projected onto each pixel of the projection surfaces Sa to Sd. Further, when projecting the monitoring image K onto the projection model M, the image processing device 22 recognizes the start point of the monitoring image K (the right end or the left end of the monitoring image K) based on the reference coordinates received together with the monitoring image K. Then, the projection processing is performed so that the start point coincides with the start point (the right end or the left end of the projection surface S) defined in advance on the projection model M. Further, when projecting the monitoring image K onto the projection model M, the image processing device 22 arranges a line figure (partition image) indicating the boundary of each image on the projection model M. The partition image can be attached to the projection model M in advance, or can be attached to the monitoring image K after the projection processing.

  The display 24 displays the monitoring image K projected on the projection plane S of the projection model M. FIG. 12 shows an example of a display image of the monitoring image K. In addition, by using the input device 25 such as a mouse or a keyboard or the display 24 as the touch panel type input device 25, the viewpoint can be freely set and changed by the operation of the supervisor. Since the correspondence relationship between the viewpoint position and the projection plane S is defined in advance in the image processing device 22 or the display 24 described above, the monitoring image K corresponding to the changed viewpoint is displayed on the display 24 based on this correspondence relationship. can do.

  Next, the operation of the monitoring system 1 according to this embodiment will be described. FIG. 3 is a flowchart showing the operation on the monitoring terminal device 10 side, and FIGS. 4A and 4B are flowcharts showing the operation on the central monitoring device 20 side. The example shown in the figure is an example in which the communication speed detection device 17 is provided in the monitoring terminal device 10. The monitoring terminal device 10 detects the communication speed of the telecommunication network 30 and according to the detected communication speed. It is an example which adjusts the data amount of image information.

  As shown in FIG. 3, in the monitoring terminal device 10, the surrounding video and the indoor video are acquired from the in-vehicle camera 11 at a predetermined time interval (one routine shown in FIG. 3), and image information is obtained by the image processing device 12. Conversion is performed (step ST1). Further, the current position information of the passenger car V on which the monitoring terminal device 10 is mounted is detected from the position detection device 15 (step ST2).

  In step ST3, the congestion status of the telecommunication network 30, that is, the communication speed is detected. For example, the congestion status of the telecommunications network 30 is grasped by transmitting dummy data by a known technique and detecting the uplink speed and the downlink speed. In step ST4, it is determined whether or not the telecommunication network 30 is congested based on the detected communication speed. For example, if the communication speed is equal to or less than a predetermined threshold, it is determined that the telecommunication network 30 is congested. Proceed to step ST5.

  In step ST5, any one of a frame rate, an image size, and an image compression rate (all or a part) of image information to be transmitted is set according to the communication speed. That is, the data amount of the image information is set to be smaller as the communication speed is lower.

  In step ST6, it is determined whether or not the notification button 16 has been pressed. If the notification button 16 has been pressed, the process proceeds to step ST7, and the image information before adjusting the data amount in step ST5 is displayed on the in-vehicle control device 14. Temporarily save in memory RAM. Then, the process proceeds to step ST8, where the image information acquired in step ST1 and adjusted in step ST5 is associated with the position information acquired in step ST2 and the time information of the CPU, and these are abnormalities indicating that an abnormality has occurred. Along with the information, the information is transmitted to the central monitoring device 20 via the communication device 13 and the telecommunication network 30. As a result, the occurrence of an abnormality related to security such as an accident or crime is automatically transmitted to the central monitoring device 20 together with the position information of the passenger car V and the image information around the passenger car V, thereby further strengthening the monitoring in the city. Will be. In addition, when the telecommunication network 30 is congested, image information with a small data amount is transmitted, so that the central monitoring device 20 can monitor real-time image information.

  Returning to step ST <b> 6, if the notification button 16 is not pressed, the process proceeds to step ST <b> 9 and an image transmission command is input from the central monitoring device 20. If there is an image transmission command from the central monitoring device 20 in step ST10, the process proceeds to step ST11, the image information acquired in step ST1 and the data amount adjusted in step ST5, and the position acquired in step ST2. The information is associated with the CPU time information, and these are transmitted to the central monitoring device 20 via the communication device 13 and the telecommunication network 30. Thereby, even if the passenger of the passenger car V does not press the notification button 16, the required image information can be appropriately transmitted when requested by the supervisor operating the central monitoring device 20. Note that the image information in this case is also the amount of data corresponding to the congestion status of the telecommunication network 30, so that the central monitoring device 20 can monitor the image information in real time.

  In step ST10, if there is no image transmission command from the central monitoring device 20, the process proceeds to step ST12, and it is determined from the position information whether or not the host vehicle V exists in a predetermined priority monitoring area. Priority monitoring areas are areas that require stronger monitoring than other locations, such as banks, government offices, and other public institutions. If the host vehicle V is present in the predetermined priority monitoring area, the process proceeds to step ST13, the image information acquired in step ST1 and the data amount adjusted in step ST5, the position information acquired in step ST2, and the CPU Are transmitted to the central monitoring device 20 via the communication device 13 and the telecommunication network 30. Thereby, even if there is no image transmission command from the central monitoring device 20, the image information required from the monitoring terminal device 10 can be transmitted suitably. Note that the image information in this case is also the amount of data corresponding to the congestion status of the telecommunication network 30, so that the central monitoring device 20 can monitor the image information in real time. Moreover, since this step ST8 overlaps with step ST23 of FIG. 4B, either one may be omitted.

  In step ST12, when the own vehicle V is not in the predetermined priority monitoring region, the process proceeds to step ST11, and only the position information acquired in step ST2 is transmitted to the central monitoring device 20 via the communication device 13 and the telecommunication network 30. . Since the current position of each passenger car V is displayed on the map information on the central monitoring device 20 side (step ST12 in FIG. 4A), the current position of each passenger car V can be grasped in a timely manner.

  Returning to step ST4, if the telecommunication network 30 is not congested, the process proceeds to step ST14, where it is detected whether image information is stored in the memory RAM of the in-vehicle control device 14 in the previous routine (step ST7). . When image information is stored in the memory RAM, the image information is transmitted to the central monitoring device 20 together with the acquired position information and time information. Although this image information is past information, if it is transmitted when the telecommunication network 30 is not congested, it can be used for post-mortem analysis of accidents and crimes.

  On the other hand, as shown in FIG. 4A, the central monitoring device 20 acquires position information and abnormality information from all the passenger cars equipped with the monitoring terminal device 10 (step ST111). If the communication load is not high, the image information may be acquired at this timing.

  In step ST112, the passenger car V is displayed on the map information of the map database displayed on the display 24 as shown in the upper left of FIG. 1 based on the position information acquired in step ST111. Since the position information of the passenger car V is acquired and transmitted at a predetermined timing for each routine in FIG. 3, the supervisor can grasp the current position of the passenger car V in a timely manner.

  In step ST113, it is determined whether or not abnormality information notified from the monitoring terminal device 10 of the passenger car V, that is, a notification that an abnormality relating to security such as an accident or a crime has occurred has been received. This abnormality information is output when the passenger of the passenger car V presses the notification button 16 of the monitoring terminal device 10. If there is abnormality information, the passenger vehicle V to which the abnormality information is output is identified in step ST114, image information and time information are received from the monitoring terminal device 10 of the passenger vehicle, and the image information is displayed on the display 24. Further, as shown in the upper left of FIG. 1, highlighting is performed such as changing the color so that the passenger car displayed on the map information can be distinguished from other passenger cars. Thereby, the position where the abnormality has occurred can be visually recognized on the map information, and the abnormality content can be grasped on the display 24.

  In the next step ST115, the passenger vehicle V traveling in the vicinity (within a predetermined distance) of the passenger vehicle V that has output the abnormality information is detected, and a transmission command of image information and time information is output to the passenger vehicle V. As a result, the image information can be acquired from the passenger car V that travels in the vicinity of the passenger vehicle V that has output the abnormality information. Therefore, the abnormality information can be obtained from a plurality of image information in addition to the image information from the passenger vehicle V that has output the abnormality information. The contents can be grasped in detail.

  In step ST116, the position information of the passenger vehicle V that has output the abnormality information is transmitted to an emergency vehicle such as a police car, an ambulance, or a fire engine. In this case, image information may be attached and transmitted in order to notify the abnormal content. As a result, the emergency vehicle can be dispatched before a report from the site is entered, and a quick response to an accident or crime is possible.

  In step ST117, all position information, image information, and time information received from the monitoring terminal device 10 are recorded on the recording medium. This record is used to resolve these after an accident or crime. If there is no abnormality information in step ST113, the process proceeds to step ST118 without performing the processes in steps ST114 to ST117.

  In step ST118, it is determined whether there is an image information transmission command from an emergency vehicle such as a police car, an ambulance, or a fire engine. If a transmission command is input, the process proceeds to step ST119. In step ST119, it is determined whether or not the passenger car V exists in the area specified by the image information transmission command. If the passenger car V exists, the process proceeds to step ST120. Then, in step ST120, an image information transmission command is output to the passenger vehicle V existing in the area specified by the image information transmission command. Thereby, in step ST111 of the next routine, the image information from the passenger vehicle V can be acquired, and this can be transferred to the emergency vehicle or the meaning of the transmission command from the emergency vehicle can be grasped. . In addition, when it does not correspond to step ST118 and ST119, it progresses to step ST121, without performing the process of steps ST118-ST120.

  In step ST121, it is determined whether or not there is a passenger vehicle V in a region near a suspicious location such as a crime-prone area that has been set in advance, and if it exists, the process proceeds to step ST122 and image information is transmitted to the passenger vehicle V. Outputs a command. Thereby, monitoring of a suspicious part can be strengthened and it can be expected to prevent crime. If the passenger vehicle V does not exist in the vicinity region of the suspicious part, the process proceeds to step ST123 without performing the process of step ST122.

  In step ST123, it is determined whether or not the passenger car V is present in the vicinity of the preset priority monitoring area. If present, the process proceeds to step ST124 and an image information transmission command is output to the passenger car V. . As a result, monitoring of the priority monitoring area can be strengthened, and crime prevention can be expected. If the passenger vehicle V does not exist in the vicinity area of the priority monitoring area, the process proceeds to step ST125 without performing the process of step ST124.

  In step ST125, based on the positional information received from each passenger vehicle V, the passenger vehicle V has not traveled within a predetermined time within a predetermined area that is required to be monitored (not limited to the suspicious location and the priority monitoring area). It is determined whether there is a route, and when there is such a route, it is monitored whether there is a passenger vehicle V traveling on the route. If there is a passenger car V traveling on the route most recently, the process proceeds to step ST126, and an image information transmission command is output to the passenger car V. Thereby, it is possible to automatically acquire image information of a route that is a region other than the suspicious portion or the priority monitoring region and has a small traffic volume of the passenger car V. If there is no route that satisfies the condition of step ST125, the process returns to step ST111 without performing the process of step ST126.

  Next, the operation of the monitoring system 1 according to another embodiment will be described. FIG. 13 is a flowchart showing the operation on the monitoring terminal device 10 side, FIG. 14 is a flowchart showing the operation on the central monitoring device 20 side, and corresponds to FIG. 4A. The example shown in the figure is an example in which the communication speed detection device 17 is provided in the monitoring terminal device 10, the central monitoring device 20 detects the communication speed of the telecommunication network 30, and according to the detected communication speed. It is an example which adjusts the data amount of image information.

  In this example, steps ST112A to 112C in FIG. 14 and step ST4 in FIG. 13 are different from the examples in FIGS. 3 and 4A and 4B. That is, as shown in steps ST112A to ST112C in FIG. 14, the central monitoring device 20 side is instructed to set the congestion status of the telecommunication network 30, that is, the communication speed, and the frame rate, image size, and image compression rate corresponding to the communication speed. A value is obtained and output to the monitoring terminal device 10. The monitoring terminal device 10 determines whether or not this setting command value has been transmitted in step ST4, and if received, adjusts the data amount of the image information according to the setting command value.

  15 and 16 are flowcharts showing the operation of the monitoring system 1 according to still another embodiment. The example shown in the figure is an example in which the function of the communication speed detection device 17 is shared by both the monitoring terminal device 10 and the central monitoring device 20, and the central monitoring device 20 detects the communication speed of the telecommunication network 30. This is an example of determining the congestion state according to the communication speed detected by the monitoring terminal device 10 and adjusting the data amount of the image information. In this example, steps ST3A to 3B in FIG. 15 and steps ST112A and 112B in FIG. 16 are different from the examples in FIGS. 3 and 4A and 4B. That is, as shown in steps ST112A to ST112B in FIG. 16, the central monitoring device 20 side obtains the congestion status of the telecommunications network 30, that is, the communication time, and outputs this to the monitoring terminal device 10. The monitoring terminal device 10 calculates a communication speed from the communication time, obtains a set value of a frame rate, an image size, and an image compression rate according to the communication speed, and adjusts the data amount of the image information according to the set value.

As described above, the monitoring system of the present embodiment has the following effects.
(1) Since the monitoring system 1 of this example attaches the vehicle-mounted camera 11 to a plurality of passenger vehicles V, images the surroundings with the vehicle-mounted camera, and detects the position information of the passenger vehicle V with the position detection device 15, the fixed camera Compared with, it is possible to monitor a wide range with a small number of in-vehicle cameras. Further, since the plurality of passenger cars V travel at random, the number of blind spots can be reduced with a small number of in-vehicle cameras as compared with the fixed cameras. In addition, since the camera is mounted on the passenger car V, it is less likely to be destroyed for the purpose of monitoring prevention compared to a fixed camera. Moreover, since a wide range can be monitored, it is possible to reduce the patrol work of the supervisor.

(2) Since the monitoring system 1 of this example transmits image information with a small data amount when the telecommunication network 30 is congested, the central monitoring device 20 monitors real-time image information. be able to.

(3) Since the monitoring system 1 of this example also acquires time information in addition to position information and image information, the position information and image information are arranged along the time information when performing a postmortem analysis of an accident or a crime. Can contribute to the resolution of the case.

(4) Since the monitoring system 1 of this example always acquires and transmits the position information, the image information is acquired and transmitted in the abnormal state or when requested by the central monitoring device 20. The capacity can be minimized, and a decrease in communication speed can be suppressed. Further, the information recording capacity can be minimized, and an inexpensive and small system can be obtained.

(5) Since the notification button 16 is provided in the monitoring terminal device 10 of this example, when the passenger of the passenger car V finds an abnormality, the central monitoring device 20 is immediately notified together with the position information and the image information. can do. As a result, it is possible to grasp the contents of the abnormality more accurately, quickly and easily than the explanation by telephone or the like, and to contribute to the initial investigation of the incident.

(6) Since the monitoring system 1 of this example transmits image information together with position information when the passenger vehicle V enters a suspicious area such as a crime-prone area, a priority monitoring area such as a bank or a public office, and other predetermined areas, an abnormality is detected. It is possible to monitor a specific area in detail before it occurs, and to prevent an abnormality from occurring.

(7) Since the monitoring terminal device 10 in this example receives the image transmission command from the central monitoring device 20, the monitoring terminal device 10 transmits the image information together with the position information. Can be confirmed at the place where the central monitoring device 20 is installed.

(8) Since the central monitoring device 20 of the present example displays the position information received from the monitoring terminal device on the map information on the display 24, the central monitoring device 20 grasps the arrangement of the passenger vehicle V capable of detecting information. Can do. As a result, it is possible to grasp the distribution of the area from which image information can be acquired, and to contribute to the monitoring plan of the supervisor. Moreover, since the image information received from the monitoring terminal device 10 is displayed on the display 24 as necessary, the monitor can view the video of the desired position at the place where the central monitoring device 20 is installed without going to the site. Can be confirmed.

(9) When the central monitoring device 20 of this example receives the abnormality information from the monitoring terminal device 10, the central monitoring device 20 highlights the display of the passenger car V notified on the display 24 and displays the image information received from the passenger car V on the display 24. Since it is displayed, it is possible to immediately confirm the position and the video, and prompt response to the incident can be expected.

(10) When the central monitoring device 20 of this example receives the abnormality information from the monitoring terminal device 10, the central monitoring device 20 transmits an image transmission command to the passenger vehicle V that travels in the vicinity of the passenger vehicle V that has transmitted the abnormality information. Not only the image information from the passenger car V but also the image information from the plurality of passenger cars V can be acquired immediately, and the contents of the abnormality can be easily grasped.

(11) When the central monitoring device 20 of this example receives the abnormality information from the monitoring terminal device 10, it transmits the abnormality information to emergency vehicles such as police cars, ambulances, and fire engines, so that the incident can be quickly handled. Can do. Further, by transmitting the position information and the image information together with the abnormality information to the emergency vehicle, it is possible to quickly and accurately grasp the abnormality content on the emergency vehicle side.

(12) The central monitoring device 20 of this example acquires image information together with position information when the passenger vehicle V enters a suspicious area such as a crime-prone area, a priority monitoring area such as a bank or a public office, and other abnormal areas. It is possible to monitor a specific area in detail before the occurrence of an anomaly and prevent an occurrence of an abnormality.

(13) Since the central monitoring device 20 of this example determines the traffic volume severe region based on the position information from the passenger car V, and acquires the image information when the passenger vehicle V enters the severe region, the suspicious location Even in areas other than the priority monitoring areas, it is possible to efficiently monitor areas with a small amount of traffic, and to reduce the patrol work by the supervisor.

  In the above-described embodiment, the position information of the passenger car V and the image information from the in-vehicle cameras 11a to 11e are acquired. However, in combination with the image information from the fixed camera 11f installed in the city shown in FIG. May be obtained. Moreover, as for the passenger car V which acquires positional information and image information, it is desirable to use the taxi V1 and bus | bath which drive | work a predetermined area | region as shown in FIG. 1, but even if it uses private car V2 and emergency car V3 Good.

  Further, in the above-described embodiment, five cameras are mounted on the passenger car V, and images around 360 ° are acquired as image information using four on-vehicle cameras 11a to 11d, but the on-vehicle camera 11e is omitted. May be. In addition, the number of the four on-vehicle cameras 11a to 11d may be three or less as long as it is an environment where image information can be acquired from many passenger cars V as in a monitoring area where there is a lot of traffic.

  The passenger vehicle V corresponds to a moving body according to the present invention, the position detection device 15 corresponds to a position detection unit according to the present invention, and the in-vehicle camera 11 and the image processing device 12 correspond to an image generation unit according to the present invention. The in-vehicle control device 14 corresponds to the control means according to the present invention, the CPU of the in-vehicle control device 14 corresponds to the time detection means according to the present invention, and the communication speed detection device 17 corresponds to the communication speed according to the present invention. The communication device 13 corresponds to a command receiving means and an information output device according to the present invention, and the communication device 23 corresponds to an information input device, an abnormality information receiving device and a command output device according to the present invention. The display 24 corresponds to first display control means and second display control means according to the present invention.

DESCRIPTION OF SYMBOLS 1 ... Vehicle monitoring system 10 ... Monitoring terminal device 11, 11a-11e ... Car-mounted camera 11f ... Town fixed camera 12 ... Image processing device 13 ... Communication apparatus 14 ... Car-mounted control apparatus 15 ... Position detection apparatus 16 ... Notification button 17 ... Communication speed Detection device 20 ... Central monitoring device 21 ... Central control device 22 ... Image processing device 23 ... Communication device 24 ... Display 25 ... Input device 30 ... Telecommunication network V, V1, V2, V3 ... Moving object M ... Projection model S, Sa, Sb, Sc, Sd ... Projection planes R1 to R8 ... Viewpoint

Claims (9)

A monitoring system comprising a monitoring terminal device that outputs monitoring information via wireless communication to a central monitoring device,
The monitoring terminal device
Position detecting means for detecting position information of each of the plurality of moving bodies;
An image generating means attached to each of the plurality of moving bodies, for imaging the surroundings of the moving bodies and generating image information;
A communication speed detecting means for detecting a communication speed of the wireless communication;
Timing at which the position detection unit and the image generation unit are controlled, the position information is acquired at a predetermined timing and output to the central monitoring device, and an input operation by an occupant of the moving body is performed at the predetermined timing When an abnormal state is detected, when an image transmission command is issued from the central monitoring device, when the moving body exists in the priority monitoring area, or when no moving body exists in the predetermined area for a certain time or more Information acquisition control means for outputting the image information to the central monitoring device at a timing when a moving object is present in the predetermined area;
And a control unit configured to set the data amount of the image information to be smaller as the communication speed is lower. The monitoring terminal device includes time detection means for detecting time information,
The monitoring system according to claim 1, wherein the control unit acquires time information at which the position information or the image information is acquired in association with the position information or image information. A monitoring device comprising: position detection means for detecting position information of each of the plurality of moving bodies; and image generation means that is attached to each of the plurality of moving bodies and images the surroundings of the moving bodies to generate image information. From the terminal device
A monitoring system comprising a central monitoring device for inputting monitoring information via wireless communication,
The central monitoring device is
A communication speed detecting means for detecting a communication speed of the wireless communication;
Image information data amount command means for outputting to the monitoring terminal device a command value for setting a smaller data amount of the image information as the communication speed is slower;
Position information output from the monitoring terminal device at a predetermined timing, timing when an input operation is performed by an occupant of the moving body of the predetermined timing, timing when an abnormal state is detected, image transmission from the central monitoring device Output when the command is issued, when the moving object is present in the priority monitoring area, or when there is no moving object in the predetermined area for a certain period of time Information input means for inputting the processed image information;
A monitoring system comprising: first display control means for displaying map information from a map database and controlling display of the position information on the map information.   The monitoring system according to claim 3, wherein the central monitoring device includes second display control means for controlling display of the image information.   The monitoring system according to claim 1, wherein the control unit sets the frame rate of the image information to be lower as the communication speed is lower.   The monitoring system according to claim 1, wherein the control unit sets the image size of the image information to be smaller as the communication speed is slower.   The monitoring system according to claim 1, wherein the control unit sets a compression rate of a part or all of the image information to be larger as the communication speed is lower. A monitoring system comprising: a monitoring terminal device that acquires monitoring information; and a central monitoring device that inputs the monitoring information via wireless communication,
Position detecting means for detecting position information of each of the plurality of moving bodies;
An image generating means attached to each of the plurality of moving bodies, for imaging the surroundings of the moving bodies and generating image information;
Timing at which the position detection means and the image generation means are controlled, the position information is acquired at a predetermined timing and output to the central monitoring device, and an input operation by an occupant of the moving body is performed at the predetermined timing When an abnormal state is detected, when an image transmission command is issued from the central monitoring device, when the moving body exists in the priority monitoring area, or when no moving body exists in the predetermined area for a certain time or more Information acquisition control means for outputting the image information to the central monitoring device at a timing when a moving object is present in the predetermined area;
A communication speed detecting means for detecting a communication speed of the wireless communication;
Control means for setting the data amount of the image information to be smaller as the communication speed is slower, and outputting the image information and the position information to the central monitoring device;
Information input means for inputting position information output from the monitoring terminal device via the wireless communication and image information set to a data amount corresponding to the communication speed;
A monitoring system provided in the central monitoring device, comprising: first display control means for displaying map information from a map database and controlling display of the position information on the map information. Using a monitoring system comprising position detection means, image generation means, information acquisition control means, communication speed detection means, control means, information input means, and first display control means,
Acquiring the position information of each of the plurality of moving bodies at a predetermined timing by the position detecting means and transmitting the information via wireless communication;
Imaging the surroundings of the moving body by the image generating means to generate image information;
Detecting the communication speed of the wireless communication by the communication speed detecting means and the control means, and setting the data amount of the image information smaller as the communication speed is slower;
The information acquisition control means and the information input means monitor the image information through the predetermined timing when an input operation is performed by an occupant of the moving body, when an abnormal state is detected, and via the wireless communication. The timing at which an image transmission command is issued from the central monitoring device that inputs information, the timing at which the moving body exists in the priority monitoring area, or the moving body in the predetermined area when the moving body does not exist in the predetermined area for a predetermined time or more. Transmitting via the wireless communication at the timing when
Displaying the position information on map information by the first display control means;
And a step of displaying the image information by the first display control means.