Image management device, image management system, and image management method for flying robots

Abstract

To provide an image management device, image management system, and image management method, which enable appropriate determination of a monitoring terminal to be used to output multiple captured images captured by each of multiple flying robots.SOLUTION: An image management device is provided, comprising: a reception unit for receiving multiple captured images captured by each of multiple flying robots; an acquisition unit for acquiring attribute information of monitoring persons using multiple monitoring terminals, respectively; a determination unit for determining a monitoring terminal to be used to display each of the multiple captured images from among the multiple monitoring terminals on the basis of the attribute information; and an output unit for outputting each of the multiple captured images to the motoring terminal determined by the determination unit.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an image management device, an image management system, and an image management method for managing a plurality of images taken by a plurality of flying robots. [Background technology]

[0002] In recent years, flying robots have been developed that fly autonomously around monitored properties such as train stations, commercial facilities, and power plants, and transmit images of the monitored properties to a monitoring terminal used by a monitor. The monitoring terminal displays multiple images captured by multiple flying robots so that the monitor can efficiently monitor the monitored properties.

[0003] For example, Patent Document 1 discloses an information display method for displaying information including images provided by multiple flying objects. In this information display method, when remote control is performed from multiple locations using an operation panel, the display is made so that the terminals having the initiative to perform the operation can be recognized by each other. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-195174 Summary of the Invention [Problem to be solved by the invention]

[0005] When multiple captured images taken by multiple flying robots are output to multiple monitoring terminals, it is necessary to appropriately determine the monitoring terminal to which each captured image is output.

[0006] The object of the present invention is to provide an image management device, an image management system, and an image management method that can appropriately determine a monitoring terminal to output multiple captured images taken by each of multiple flying robots. [Means for solving the problem]

[0007] In order to solve such problems, the present invention provides an image management device having a receiving unit that receives multiple captured images taken by each of multiple flying robots, an acquiring unit that acquires attribute information of the monitors using each of multiple monitoring terminals, a determining unit that determines, based on the attribute information, which of the multiple monitoring terminals will display each of the multiple captured images, and an output unit that outputs each of the multiple captured images to the monitoring terminal determined by the determining unit.

[0008] In this image management device, it is preferable that the determination unit determines the number of captured images to be displayed or the upper limit of the number of images to be displayed on the monitoring terminal used by the monitor, based on attribute information of the monitor.

[0009] In this image management device, it is preferable that the attribute information includes experience information indicating the monitor's experience level of monitoring in each of the flying robot's flight areas, the acquisition unit acquires area information indicating each of the multiple flying robots' flight areas, and the determination unit determines the monitoring terminal that will display each of the multiple captured images based on the experience information and area information.

[0010] In this image management device, it is preferable that the attribute information includes experience information indicating the supervisor's experience level in each of the flying robot's tasks, the acquisition unit acquires task information indicating the tasks performed by each of the multiple flying robots, and the determination unit determines the monitoring terminal on which to display each of the multiple captured images based on the experience information and task information.

[0011] In this image management device, the attribute information preferably includes affiliation information indicating the organization to which the monitor belongs, the acquisition unit acquires area information indicating the flight areas of each of the multiple flying robots, and the determination unit identifies the organization that has jurisdiction over the flight area based on the affiliation information and area information, and determines the monitoring terminal that will display each of the multiple captured images from among the monitoring terminals of monitors belonging to that organization.

[0012] In this image management device, it is preferable that the determination unit assigns images captured by flying robots with the same flight area or flying robots with nearby flight areas to monitoring terminals used by multiple monitors belonging to the same organization.

[0013] In this image management device, the attribute information preferably includes location information indicating the seat position of the monitor, the acquisition unit acquires area information indicating the flight areas of each of the multiple flying robots, and the determination unit preferably assigns images captured by flying robots with the same flight area or flying robots with nearby flight areas to monitoring terminals used by each of the multiple monitors whose seat positions are nearby each other.

[0014] In order to solve such problems, the present invention provides an image management system having an image management device and a plurality of monitoring terminals, wherein the image management device has a receiving unit that receives a plurality of captured images taken by each of a plurality of flying robots, an acquiring unit that acquires attribute information of the monitors using each of the plurality of monitoring terminals, a determining unit that determines, based on the attribute information, which of the plurality of monitoring terminals will display each of the plurality of captured images, and an output unit that outputs each of the plurality of captured images to the monitoring terminal determined by the determining unit, and the monitoring terminal has a display unit that displays the captured images output from the image management device.

[0015] In order to solve this problem, the present invention provides an image management method that receives multiple captured images taken by multiple flying robots, acquires attribute information of the monitors using each of multiple monitoring terminals, determines which of the multiple monitoring terminals will display each of the multiple captured images based on the attribute information, and outputs each of the multiple captured images to the determined monitoring terminal. [Effects of the Invention]

[0016] The image management device, image management system, and image management method according to the present invention make it possible to appropriately determine the monitoring terminal to which multiple captured images taken by each of multiple flying robots are output. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a diagram showing the overall system configuration of a monitoring system 1. FIG. [Figure 2] (A) is a diagram showing an example of the data structure of attribute table 321, (B) is a diagram showing an example of the data structure of first area table 322, and (C) is a diagram showing an example of the data structure of second area table 323. [Figure 3] 10A is a flowchart showing an example of the operation of a decision process, and FIG. 10B is a flowchart showing an example of the operation of an output process. [Figure 4] FIG. 10 is a diagram showing the configuration of another image display device 40 and a plurality of display devices 50. DETAILED DESCRIPTION OF THE INVENTION

[0018] A monitoring system according to an embodiment will be described below with reference to the drawings.

[0019] FIG. 1 is a diagram showing the overall system configuration of a monitoring system 1. As shown in FIG. As shown in FIG. 1, the monitoring system 1 includes multiple flying robots 10, one or more image display devices 20, a server 30, and a management device M. The monitoring system 1 is an example of an image management system. The monitoring system 1 monitors and guards one or more monitoring areas S set in facilities such as train stations, commercial facilities, and power plants. Each monitoring area S includes one or more monitored objects, such as station platforms, stores, and power generation facilities. One or more flying robots 10 are assigned to each monitoring area S, and each flying robot 10 flies and monitors and guards a flight area set within one or more monitoring areas S. The monitoring system 1 includes one or more monitoring centers T, each installed within one of the monitoring areas S or outside the monitoring area S. The monitoring center T is an example of a center. Each image display device 20 is installed on a monitoring desk or the like in one of the monitoring centers T. One or more monitors belong to each monitoring center T, and each monitor monitors the captured images transmitted from each flying robot 10 using one of the image display devices 20 located in the monitoring center T. One monitor is assigned to one image display device 20. The server 30 is located on a monitoring desk or the like in one of the monitoring centers T. The monitoring center T is not limited to one physically defined by a specific building / site, but may also be one virtually configured via a network. For example, monitors and image display devices 20 may exist in multiple remote office environments, and multiple monitors and image display devices 20 may be virtually configured as belonging to a single monitoring center T. Each image display device 20, server 30, and management device M are connected to a communication network N such as an intranet or the Internet, and each flying robot 10 is connected to the communication network N via a wireless communication network such as a wireless LAN or a mobile phone network. As a result, each flying robot 10, each image display device 20, server 30, and management device M are connected to each other for communication.

[0020] The management device M is installed on a monitoring desk or the like in a security center operated by a security company. The management device M registers various settings in the flying robot 10 via the server 30 and controls the flying robot 10 according to the operations of a controller at the security center.

[0021] The flying robot 10 is an unmanned small flying object capable of autonomous flight, such as a quad-rotor or single-rotor small unmanned helicopter. The flying robot 10 is also, for example, a drone, a multicopter, or a UAV (Unmanned Aerial Vehicle).

[0022] The flying robot 10 has a position and attitude sensor that acquires the current position and attitude of the flying robot 10. The position and attitude sensor includes, for example, a receiver that receives radio waves (navigation signals) transmitted from navigation satellites (artificial satellites) such as the Global Navigation Satellite System (GNSS), an acceleration sensor that measures acceleration, an electronic compass that measures orientation, and a gyro sensor that measures angular velocity. Every time the flying robot 10 acquires its current position and / or current attitude, it transmits the acquired current position and / or current attitude to the server 30.

[0023] The flying robot 10 has an imaging unit. The imaging unit includes a visible light camera. The visible light camera includes a photoelectric conversion element sensitive to visible light, such as a CCD element or a C-MOS element, an imaging optical system that forms an image on the photoelectric conversion element, and an A / D converter, and generates a visible light image based on visible light. The imaging unit may also include a thermal imaging camera that acquires thermal images. The thermal imaging camera includes, for example, two-dimensionally arranged sensors that detect radiant energy of two wavelengths of electromagnetic radiation from an object, and an A / D converter that amplifies and analog-to-digital (A / D) converts the electrical signal output from the sensor. The thermal imaging camera generates a thermal image based on a temperature value calculated from the ratio of the two types of radiant energy. The flying robot 10 sequentially generates visible light images or thermal images at a predetermined frame period and transmits them to the server 30 as captured images.

[0024] The flying robot 10 has one or more (e.g., four) motors. A rotor (rotor blade, propeller) is connected to the rotation shaft of each motor. The flying robot 10 generates acceleration in any direction by independently rotating one or more rotors, thereby adjusting the movement and attitude of the aircraft. The flying robot 10 receives control signals from the management device M or the server 30, and drives and controls the motors to perform flight such as ascending, descending, changing direction (turning), moving forward, and hovering (stationary) in accordance with the received control signals. The flying robot 10 autonomously performs predetermined operations such as calculating its own position, calculating a target position, calculating a route, flying along the route, attitude control, and reporting, without requiring operation by an operator.

[0025] The flying robot 10 executes one of a plurality of tasks. The control signal specifies the flight area and object to be monitored by the flying robot 10, as well as the task to be executed by the flying robot 10. Tasks are processes executed by the flying robot 10, classified by content (purpose). Tasks are set according to instructions from a controller at the monitoring center T or security center using the management device M or server 30, or according to a task schedule preset in the server 30. The tasks may be any of a patrol task, a return task, an emergency return task, a tracking task, a detection and movement task, and a designated point movement task. Tasks with purposes other than security, such as an inspection task, a rescue task, a delivery task, a surveying task, and a pesticide spraying task, may also be set.

[0026] The patrol task involves flying along a pre-set flight path (patrol path), taking photographs at check points set on the flight path, and determining whether or not there are any abnormalities at the check points. The return task is a task that, when other tasks are completed or interrupted, searches (calculates) a return route to the takeoff and landing point in accordance with return instructions from the controller, and automatically lands at the takeoff and landing point. The emergency return task is a task that, in the event of an emergency such as aircraft trouble, searches (calculates) a return route to the takeoff and landing point in accordance with return instructions from a controller, and automatically lands at the takeoff and landing point. The tracking task is a task of flying so as to track a specified target (person, vehicle, etc.) according to a target designation operation by a controller using the management device M or the server 30. The detection movement task is a task in which, when a human intrusion is detected by a sensor or fixed camera installed in the monitoring area S, the robot flies (or waits to fly) near the sensor or fixed camera that detected the human intrusion and checks the location and cause of the abnormality. The designated point movement task is a task of flying to a position designated by a controller using the management device M or the server 30.

[0027] The image display device 20 is an example of a monitoring terminal. The image display device 20 is an information processing device such as a personal computer, tablet PC, or notebook PC. The image display device 20 has a display unit (not shown). The display unit has an output device such as a liquid crystal display or an organic EL display, and an interface circuit that outputs images to the output device, and displays various information such as images and text. Each image display device 20 receives one or more captured images transmitted from one or more flying robots 10 from the server 30 and displays them on the display unit. That is, the display unit displays the captured images output from the server 30.

[0028] The server 30 is an example of an image management device. The server 30 sets various settings registered from the management device M in the flying robot 10, and also collects monitoring results (such as captured images) by the flying robot 10 and transmits them to each image display device 20. The server 30 includes a communication unit 31, a memory unit 32, a control unit 33, and the like.

[0029] The communication unit 31 is an example of an output unit. The communication unit 31 has a communication interface circuit that complies with, for example, TCP / IP or the like, and is connected to the communication network N. Alternatively, the communication unit 31 has, for example, an antenna that transmits and receives wireless signals, and a wireless communication interface circuit that transmits and receives signals through a wireless communication line in accordance with a wireless communication protocol such as a wireless LAN, and is connected to the communication network N via an access point. The communication unit 31 outputs data received from the communication network N to the control unit 33, and transmits data input from the control unit 33 to the communication network N.

[0030] The storage unit 32 has semiconductor memory such as ROM and RAM, a magnetic disk or an optical disk drive such as a CD-ROM or DVD-ROM, and a recording medium thereof. The storage unit 32 stores computer programs and various data for controlling the server 30, and inputs and outputs this information to and from the control unit 33. The computer programs may be installed into the storage unit 32 from a computer-readable portable recording medium such as a CD-ROM or DVD-ROM using a known setup program or the like. The computer programs may also be stored in a recording medium owned by a predetermined server and installed via a network. The storage unit 32 also stores data such as an attribute table 321, a first area table 322, and a second area table 323. Details of each table will be described later. The storage unit 32 also stores, for each of the multiple flying robots 10, the flight area, monitored object, and task specified in the control signal transmitted to each flying robot 10.

[0031] The control unit 33 has a processor such as a CPU or an MPU, memories such as a ROM or a RAM, and peripheral circuits thereof, and executes various signal processing for the server 30. The control unit 33 has a receiving unit 331, an acquiring unit 332, a determining unit 333, an output control unit 334, and the like, which are implemented as functional modules of a program running on the processor. Note that the control unit 33 may be a DSP, an LSI, an ASIC, an FPGA, or the like.

[0032] Fig. 2(A) is a diagram showing an example of the data structure of the attribute table 321. As shown in Fig. 2(A), attribute information is stored in the attribute table 321 for each of multiple monitors. The attribute information includes device information, center information, location information, qualification information, experience period, affiliation information, age, monitoring time, area experience information, task experience information, etc. The attribute table 321 is set in advance by an administrator and updated periodically. The device information indicates the image display device 20 used by each monitor. The center information indicates the monitoring center T to which each monitor belongs. The center information is an example of affiliation information, and the monitoring center T is an example of an organization. The location information indicates the seat location of each monitor, and represents the relative positions of each monitor's seat. The qualification information indicates the rank assigned to the qualification held by each monitor. The experience period indicates the total period during which each monitor has performed (experienced) monitoring work up to the present. The affiliation information indicates the company or organization to which each monitor belongs, for example, whether it is a security company or not. The age is the age of each monitor. The monitoring time is the continuous monitoring time from the start of monitoring by each monitor to the present, or the cumulative monitoring time for a predetermined period up to the present (for example, one hour or one day). The area experience information indicates the area experience value of each monitor in each flight area of ​​the flying robot 10. The area experience value is set to a larger value the greater the number of times or cumulative period that each monitor has performed (experienced) monitoring work using the flying robot 10 in each flight area up to now. The task experience information indicates the task experience value of each supervisor for each task of the flying robot 10. The task experience value is set to a larger value the greater the number of times or cumulative period that each supervisor has performed each task using the flying robot 10 to date.

[0033] FIG. 2(B) is a diagram showing an example of the data structure of the first area table 322. As shown in FIG. 2(B), the first area table 322 stores area information for each of multiple flying robots 10. Each piece of area information indicates a flight area in which each flying robot 10 flies to monitor and guard. The first area table 322 is set in advance by an administrator. The first area table 322 may be updated each time the management device M or the server 30 sends a control signal to the flying robot 10 to specify a flight area. The flying robot 10 may be set to fly in multiple flight areas.

[0034] FIG. 2(C) is a diagram showing an example of the data structure of the second area table 323. As shown in FIG. 2(C), the second area table 323 stores area information for each of multiple monitoring centers T. Each piece of area information indicates a monitoring area S monitored and guarded by the monitoring center T. For example, the monitoring area S monitored and guarded by each monitoring center T is set based on the physical distance between the location of each monitoring center T and the location of each monitoring area S. For example, the monitoring center T located closest to each monitoring area S is set as the monitoring center T that monitors and guards that monitoring area S. This allows a monitor belonging to each monitoring center T to monitor the monitoring area S in the same area as their residence, and can monitor each monitoring area S by taking advantage of their local knowledge. The second area table 323 is set in advance by an administrator. Note that the monitoring center T may be set to monitor and guard multiple monitoring areas S.

[0035] Fig. 3(A) is a flowchart showing an example of the operation of the decision process by the server 30. This flowchart is executed mainly by the control unit 33 in cooperation with each element of the server 30, based on a program stored in advance in the storage unit 32. The decision process shown in Fig. 3(A) is executed periodically.

[0036] First, the acquiring unit 332 acquires attribute information of the monitor who uses each image display device 20 (step S101). The acquiring unit 332 acquires the attribute information of each monitor by reading it from the attribute table 321.

[0037] Next, the acquisition unit 332 acquires area information of each flying robot 10 (step S102). The acquisition unit 332 acquires the area information of each flying robot 10 by reading it from the first area table 322.

[0038] Next, the acquisition unit 332 acquires task information indicating the task to be executed by each flying robot 10 (step S103). The acquisition unit 332 acquires the task information by reading from the storage unit 32 the latest task specified in the control signal transmitted to each flying robot 10.

[0039] Next, the determination unit 333 determines, from among the multiple image display devices 20 possessed by the monitoring system 1, an image display device 20 that displays the multiple captured images captured by each flying robot 10 possessed by the monitoring system 1 (step S104). Hereinafter, the image display device 20 that displays the captured images captured by the flying robot 10 may be referred to as a target device. The determination unit 333 determines the target device based on the attribute information, area information, and / or task information acquired by the acquisition unit 332.

[0040] For example, the determination unit 333 determines the number of images to be displayed or the maximum number of images to be displayed on the image display device 20 used by each monitor based on the attribute information of each monitor, and determines the target device so as to satisfy the determined number of images to be displayed or the maximum number of images to be displayed. For example, the determination unit 333 determines the number of captured images to be displayed or the maximum number of images to be displayed on each image display device 20 based on the proficiency level of each monitor. In this case, the determination unit 333 first determines the proficiency level of each monitor. The determination unit 333 identifies the experience period included in the attribute information of each monitor and determines the proficiency level of each monitor so that the longer the experience period, the higher the proficiency level of each monitor. The determination unit 333 also identifies the qualification information included in the attribute information of each monitor and determines the proficiency level of each monitor so that the higher the rank indicated in the qualification information, the higher the proficiency level of each monitor. That is, the determination unit 333 determines the proficiency level of each monitor so that the proficiency level of a monitor who has a predetermined qualification is higher than the proficiency level of a monitor who does not have that qualification. The determination unit 333 also determines the proficiency level of each monitor so that the proficiency level of a monitor who has a qualification of a high rank (level) is higher than the proficiency level of a monitor who only has a qualification of a low rank (level). Furthermore, the determination unit 333 identifies the affiliation information included in the attribute information of each monitor, and determines the proficiency level of each monitor such that the proficiency level of a monitor whose affiliation information indicates a security company is higher than the proficiency level of a monitor whose affiliation information indicates a company other than a security company. The determination unit 333 determines the number of displays or the upper limit number of displays such that the higher the determined proficiency level, the higher the number of displays or the upper limit number of displays on the image display device 20 used by each monitor. As a result, the monitoring system 1 can improve the monitoring efficiency of captured images by displaying a large number of captured images on the image display device 20 used by a highly skilled monitor. On the other hand, the monitoring system 1 can prevent less skilled monitors from overlooking abnormalities by displaying only a small number of captured images on the image display device 20 used by a less skilled monitor.

[0041] The determination unit 333 may determine the number of captured images to be displayed or the upper limit of the number of images to be displayed on each image display device 20 based on the fatigue level of each monitor. In this case, the determination unit 333 first determines the fatigue level of each monitor. For example, the determination unit 333 identifies the monitoring time (continuous monitoring time or cumulative monitoring time) included in the attribute information of each monitor, and determines the fatigue level of each monitor so that the longer the monitoring time, the higher the fatigue level of each monitor. The determination unit 333 also identifies the age included in the attribute information of each monitor, and determines the fatigue level of each monitor so that the fatigue level of a monitor whose age is equal to or greater than a threshold value (e.g., 65 years old) is higher than the fatigue level of a monitor whose age is less than the threshold value. The determination unit 333 determines the number of images to be displayed or the upper limit of the number of images to be displayed on the image display device 20 used by each monitor so that the higher the determined fatigue level, the lower the number of images to be displayed or the upper limit of the number of images to be displayed on the image display device 20 used by each monitor. As a result, the monitoring system 1 can display only a small number of captured images on the image display device 20 used by a fatigued monitor, thereby preventing the fatigued monitor from overlooking an abnormality, etc. On the other hand, the monitoring system 1 can display a large number of captured images on the image display device 20 used by a monitor who is not fatigued, thereby improving the efficiency of monitoring captured images.

[0042] The determination unit 333 may also determine the target device based on the area experience information included in the attribute information of each monitor and the area information of each flying robot 10. In this case, the determination unit 333 identifies the area experience information of the flight area in which each flying robot 10 flies, which is included in the attribute information of each monitor. The determination unit 333 determines, as the target device for each flying robot 10, the image display device 20 used by the monitor with the highest area experience value for the flight area in which each flying robot 10 flies, among the image display devices 20 included in the monitoring system 1. The determination unit 333 determines, as the target device for each flying robot 10, the image display device 20 used by the monitor with the highest area experience value for the flight area of ​​the flying robot 10, among the image display devices 20 currently displaying captured images that have not reached the upper limit.

[0043] In a monitoring system 1 having image display devices A to C used by monitors A to C, respectively, the area experience values ​​of monitor A for areas A, B, and C are 20, 5, and 0, respectively, monitor B for areas A, B, and C are 10, 40, and 15, respectively, and monitor C for areas A, B, and C are 0, 0, and 10, respectively. In this case, the target device for the flying robot 10 flying in area A is image display device A used by monitor A, who has the highest area experience value for area A. The target device for the flying robot 10 flying in area B is image display device B used by monitor B, who has the highest area experience value for area B. The target device for the flying robot 10 flying in area C is image display device C used by monitor C, who has the highest area experience value for area C. For example, when a new flying robot 10 flying in area B is added, if the number of captured images displayed on image display device B has not reached the upper limit, the target device for the newly added flying robot 10 is image display device B. If the number of captured images displayed on image display device B reaches the upper limit, the target device for the newly added flying robot 10 becomes image display device A used by monitor A with the second highest area experience value for area B.

[0044] As a result, the monitoring system 1 can improve the monitoring efficiency of the captured images by displaying the captured images by each flying robot 10 on the image display device 20 used by a monitor who has a lot of experience monitoring the flight area where each flying robot 10 flies. On the other hand, the monitoring system 1 can prevent the captured images by each flying robot 10 from being displayed on the image display device 20 used by a monitor who has little experience monitoring the flight area where each flying robot 10 flies, thereby preventing the occurrence of anomalies being overlooked by a monitor who has little experience monitoring the flight area. The server 30 may have a normal mode and a training mode for allowing less experienced observers to gain experience as modes for determining the target device. When the training mode is set, the determination unit 33 may determine, as the target device for each flying robot 10, an image display device 20 used by an observer whose area experience value for the flight area in which the flying robot 10 flies is equal to or less than a predetermined threshold, among the image display devices 20 included in the monitoring system 1.

[0045] The determination unit 333 may also determine the target device based on task experience information included in the attribute information of each monitor and task information of each flying robot 10. In this case, the determination unit 333 identifies the task experience information of the task performed by each flying robot 10, which is included in the attribute information of each monitor. The determination unit 333 determines, as the target device for each flying robot 10, the image display device 20 used by the monitor with the highest task experience value for the task performed by each flying robot 10, among the image display devices 20 included in the monitoring system 1. The determination unit 333 determines, as the target device for each flying robot 10, the image display device 20 used by the monitor with the highest task experience value for the task performed by that flying robot 10, among the image display devices 20 currently displaying captured images that have not reached the upper limit number.

[0046] In a monitoring system 1 having image display devices A to C used by monitors A to C, respectively, the following example will be described: monitor A's task experience values ​​for tasks A, B, and C are 20, 5, and 0, monitor B's task experience values ​​for tasks A, B, and C are 10, 40, and 15, respectively; and monitor C's task experience values ​​for tasks A, B, and C are 0, 0, and 10, respectively. In this case, the target device for the flying robot 10 performing task A is the image display device A used by monitor A, who has the greatest task experience value for task A. The target device for the flying robot 10 performing task B is the image display device B used by monitor B, who has the greatest task experience value for task B. The target device for the flying robot 10 performing task C is the image display device C used by monitor C, who has the greatest task experience value for task C. For example, when a flying robot 10 performing task B is newly added, if the number of captured images displayed on image display device B has not reached the upper limit, the target device for the newly added flying robot 10 is the image display device B. If the number of captured images displayed on image display device B reaches the upper limit, the target device for the newly added flying robot 10 becomes image display device A used by supervisor A who has the second highest task experience value for task B.

[0047] As a result, the monitoring system 1 can improve the efficiency of monitoring the captured images by displaying the captured images taken by each flying robot 10 on the image display device 20 used by a monitor who has ample experience in monitoring the tasks performed by each flying robot 10. On the other hand, the monitoring system 1 does not display the captured images taken by each flying robot 10 on the image display device 20 used by a monitor who has little experience in monitoring the tasks performed by each flying robot 10, thereby preventing the occurrence of anomalies being overlooked by a monitor who has little experience in monitoring the tasks. In addition, when the training mode is set, the determination unit 33 may determine the target device for each flying robot 10 to be, among the image display devices 20 possessed by the monitoring system 1, the image display device 20 used by a monitor whose task experience value for the task performed by the flying robot 10 is below a predetermined threshold.

[0048] The determination unit 333 may also determine the target device based on the center information included in the attribute information of each monitor and the area information of each flying robot 10. In this case, the determination unit 333 identifies the monitoring center T that has jurisdiction over the flight area based on the affiliation information in the attribute table 321 and the area information in the first area table 322, and determines the image display device 20 that will display each captured image from among the image display devices 20 of monitors belonging to the monitoring center T. Specifically, the determination unit 333 refers to the second area table 323 to identify the monitoring center T associated with the monitoring area S that includes the flight area of ​​each flying robot 10. The determination unit 333 also refers to the attribute table 431 to identify the monitor who belongs to the identified monitoring center T. The determination unit 333 determines the target device of each flying robot 10 to be the image display device 20 used by the monitor who belongs to the monitoring center T associated with the monitoring area S that includes the flight area of ​​each flying robot 10. The determination unit 333 determines the target device for each flying robot 10 to be any one of the identified image display devices 20 that is currently displaying captured images that has not reached the upper limit number. As a result, the monitoring system 1 can improve the efficiency of monitoring captured images by displaying the captured images by each flying robot 10 on the image display device 20 used by a monitor who is familiar with the flight area in which each flying robot 10 flies. On the other hand, the monitoring system 1 can prevent the monitor from overlooking abnormalities by not displaying the captured images by each flying robot 10 on the image display device 20 used by a monitor who is not familiar with the flight area in which each flying robot 10 flies.

[0049] The determination unit 333 may also assign captured images captured by flying robots 10 in the same flight area or flying robots 10 in nearby flight areas to the image display devices 20 used by each monitor belonging to the same monitoring center T. In this case, the memory unit 32 is assumed to have stored in advance the proximity relationship (geographical positional relationship) of each flight area. The determination unit 333 groups flying robots 10 in the same flight area or flying robots 10 in nearby flight areas to create a robot group. The determination unit 333 identifies a monitoring center T that can display captured images equal to the number of flying robots 10 included in each robot group, in descending order of the number of flying robots 10 included in each robot group, that is, a monitoring center T where the remaining number of displayable captured images is equal to or greater than the number of robots. The determination unit 333 assigns captured images captured by the flying robots 10 included in each robot group to the image display devices 20 used by each monitor belonging to the identified monitoring center T. This allows each monitor belonging to the same monitoring center T to work together to monitor images captured by flying robots 10 flying in the same flight area or nearby flight areas, and to respond flexibly to various situations.

[0050] The determination unit 333 may assign captured images captured by flying robots 10 in the same flight area or flying robots 10 in adjacent flight areas to the image display devices 20 used by monitors whose seating positions are close to each other. The determination unit 333 identifies the seating positions indicated by the position information included in the attribute information of each monitor, and groups the monitors whose seating positions are close to each other to create a monitor group. The determination unit 333 identifies monitor groups that can monitor captured images of the number of flying robots 10 included in each robot group, in order of the robot group with the largest number of flying robots 10 included in each robot group, that is, monitor groups whose remaining number of displayed captured images on the image display device 20 is equal to or greater than the number of robots. The determination unit 333 assigns captured images captured by the flying robots 10 included in each robot group to the image display devices 20 used by each monitor included in the identified monitor group. This allows each monitor sitting in a seat close to each other to work together to monitor images captured by flying robots 10 flying in the same flight area or in nearby flight areas, and to respond flexibly to various situations.

[0051] The determination unit 333 may also assign captured images captured by flying robots 10 in the same flight area or flying robots 10 in nearby flight areas to the image display devices 20 used by a single monitor. This allows a single monitor to monitor captured images captured by flying robots 10 flying in the same flight area or nearby flight areas, and the monitoring system 1 can improve the monitoring efficiency of captured images. This concludes the explanation of the determination process.

[0052] Fig. 3(B) is a flowchart showing an example of the operation of output processing by server 30. This flowchart is executed mainly by control unit 33 in cooperation with each element of server 30, based on a program stored in advance in storage unit 32. The output processing shown in Fig. 3(B) is executed in parallel with the determination processing shown in Fig. 3(A).

[0053] First, the receiving unit 331 receives a plurality of captured images captured by each flying robot 10 included in the monitoring system 1 (step S201). The receiving unit 331 acquires each captured image transmitted by each flying robot 10 each time it is generated by receiving the captured image via the communication unit 31.

[0054] Next, the output control unit 334 outputs each captured image received by the receiving unit 331 by transmitting it to the image display device 20 determined by the determination unit 333 (step S202), and returns the process to step S201. The image display device 20 receives the captured image from the server 30 and displays it. This concludes the description of the output process.

[0055] As described above, the server 30 determines the image display device 20 that will display the captured images captured by each flying robot 10, based on the attribute information of the observer who uses the image display device 20. Therefore, the server 30 can appropriately determine the image display device 20 that will output the multiple captured images captured by each of the multiple flying robots 10. The observer can monitor the captured images that match his or her attributes, and can monitor the captured images safely and efficiently.

[0056] FIG. 4 is a diagram showing the configuration of an image display device 40 and a plurality of display devices 50 according to another embodiment. The image display device 40 and the display device 50 shown in FIG. 4 are used instead of the image display device 20. In this embodiment, the image display device 40 is an example of an image management device, and the display device 50 is an example of a monitoring terminal. Each monitor uses one of the display devices 50 connected to each image display device 40 to monitor the captured images transmitted from each flying robot 10. One monitor is assigned to one display device 50. Each display device 50 has a display unit such as a display for displaying one or more captured images output from the image display device 40. The image display device 40 has a second communication unit 41, an interface unit 42, a second memory unit 43, a second control unit 44, etc.

[0057] The second communication unit 41 has a configuration similar to that of the communication unit 31, and outputs data received from the communication network N to the second control unit 44, and transmits data input from the second control unit 44 to the communication network N.

[0058] The interface unit 42 is an example of an output unit. The interface unit 42 has an interface circuit that complies with an interface standard such as DisplayPort or a serial bus standard such as USB, and is communicatively connected to the display device 50 to transmit and receive various signals. A plurality of display devices 50 are connected to the interface unit 42.

[0059] The second storage unit 43 has a configuration similar to that of the storage unit 32, stores a computer program and various data for controlling the image display device 40, and inputs and outputs this information to and from the second control unit 44. The computer program may be installed into the second storage unit 43 from a computer-readable portable recording medium such as a CD-ROM or DVD-ROM using a known setup program or the like. The computer program may also be stored in a recording medium owned by a predetermined server and installed via a network. The second storage unit 43 also stores, as data, an attribute table 431, a first area table 432, a second area table 433, etc. The attribute table 431, the first area table 432, and the second area table 433 contain the same information as the attribute table 321, the first area table 322, and the second area table 323, respectively. However, in the attribute information contained in the attribute table 321, the device information indicates the display device 50 used by each monitor.

[0060] The second control unit 44 has a configuration similar to that of the control unit 33, and executes various signal processes for the image display device 40. The second control unit 44 has a receiving unit 441, an acquiring unit 442, a determining unit 443, an output control unit 444, and the like, which are implemented as functional modules of a program that runs on a processor. The receiving unit 441, the acquiring unit 442, the determining unit 443, and the output control unit 444 have the same functions as the receiving unit 331, the acquiring unit 332, the determining unit 333, and the output control unit 334, respectively.

[0061] In this embodiment, the determination process shown in FIG. 3(A) and the output process shown in FIG. However, in step S103 of Figure 3 (A), the acquisition unit 442 may also acquire the task information by transmitting a task information request signal to the server 30 via the second communication unit 41 and receiving the task information from the server 30 via the second communication unit 41. In step S104, the determination unit 443 determines, from among the multiple display devices 50 connected to the image display device 40, a display device 50 that displays multiple captured images captured by each flying robot 10 of the monitoring system 1. In this embodiment, the display device 50 that displays the captured images captured by the flying robot 10 is the target device. If all of the display devices 50 are located in one monitoring center T, the determination unit 443 does not need to determine the target device based on center information. In step S201 of FIG. 3B, the receiving unit 441 receives a plurality of captured images captured by each flying robot 10 of the monitoring system 1 via the second communication unit 41 and the server 30. In step S202, the output control unit 444 outputs each captured image received by the receiving unit 441 by displaying it on the display device 50 determined by the determining unit 443 via the interface unit .

[0062] As described above, in this embodiment, the image display device 40 determines the display device 50 that will display the captured images captured by each flying robot 10 based on the attribute information of the observer using the display device 50. This allows the image display device 40 to appropriately determine the display device 50 that will output the multiple captured images captured by each of the multiple flying robots 10.

[0063] Although preferred embodiments have been described above, the embodiments are not limited to the above examples. For example, in the monitoring system 1, it is possible to appropriately change whether the components of the server and the image display device are located on the server or on the image display device. Furthermore, in order to provide a decision-making processing service in the form of cloud computing, multiple servers may be distributed and located on a network, and each server may cooperate to share each process.

[0064] An image management device, an image management system, and an image display method according to one embodiment of the present invention can contribute to solving social issues such as a declining labor force and long working hours. In addition, the image management device, image management system, and image display method according to one embodiment of the present invention can also contribute to Goal 9 of the Sustainable Development Goals (SDGs) adopted by the United Nations, "Build resilient infrastructure, promote inclusive and sustainable industrialization, and promote inclusive and sustainable industrialization." [Explanation of symbols]

[0065] 1 monitoring system, 10 flying robot, 20, 40 image display device, 30 server, 331, 441 receiving unit, 332, 442 acquiring unit, 333, 443 determining unit, 334, 444 output control unit, 50 display device

Claims

1. a receiving unit that receives a plurality of captured images captured by each of a plurality of flying robots; an acquisition unit that acquires attribute information of a monitor who uses each of the plurality of monitoring terminals; a determination unit that determines, from among the plurality of monitoring terminals, a monitoring terminal that is to display each of the plurality of captured images based on the attribute information; an output unit that outputs each of the plurality of captured images to the monitoring terminal determined by the determination unit; An image management device comprising:

2. The image management device according to claim 1 , wherein the determination unit determines the number of captured images to be displayed or the upper limit of the number of images to be displayed on the monitoring terminal used by the monitor based on the attribute information of the monitor.

3. The attribute information includes experience information indicating the monitor's monitoring experience level in each flight area of ​​the flying robot, the acquisition unit acquires area information indicating flight areas of the plurality of flying robots, The image management device according to claim 1 , wherein the determination unit determines a monitoring terminal on which to display each of the plurality of captured images based on the experience information and the area information.

4. the attribute information includes experience information indicating an experience level of the supervisor in each task of the flying robot; the acquisition unit acquires task information indicating a task to be executed by each of the plurality of flying robots; The image management device according to claim 1 , wherein the determination unit determines a monitoring terminal on which to display each of the plurality of captured images based on the experience information and the task information.

5. the attribute information includes affiliation information indicating an organization to which the monitor belongs, the acquisition unit acquires area information indicating flight areas of the plurality of flying robots, The image management device described in claim 1 or 2, wherein the determination unit identifies the organization that has jurisdiction over the flight area based on the affiliation information and the area information, and determines the monitoring terminal that will display each of the multiple captured images from among the monitoring terminals of the monitors belonging to the organization.

6. The image management device described in claim 5, wherein the determination unit assigns images captured by flying robots with the same flight area or flying robots with nearby flight areas to monitoring terminals used by each of multiple monitors belonging to the same organization.

7. the attribute information includes position information indicating a seat position of the monitor; the acquisition unit acquires area information indicating flight areas of the plurality of flying robots, The image management device described in claim 1, wherein the determination unit assigns images captured by flying robots with the same flight area or flying robots with nearby flight areas to monitoring terminals used by multiple monitors whose seating positions are nearby each other.

8. An image management system having an image management device and a plurality of monitoring terminals, The image management device a receiving unit that receives a plurality of captured images captured by each of a plurality of flying robots; an acquisition unit that acquires attribute information of a monitor who uses each of the plurality of monitoring terminals; a determination unit that determines, from among the plurality of monitoring terminals, a monitoring terminal that is to display each of the plurality of captured images based on the attribute information; an output unit that outputs each of the plurality of captured images to the monitoring terminal determined by the determination unit, the monitoring terminal has a display unit that displays the captured image output from the image management device; An image management system characterized by:

9. receiving a plurality of captured images captured by each of a plurality of flying robots; Acquire attribute information of the monitors who use each of the multiple monitoring terminals; determining a monitoring terminal among the plurality of monitoring terminals to display each of the plurality of captured images based on the attribute information; outputting each of the plurality of captured images to the determined monitoring terminal; An image management method comprising:

Images