Monitoring device, monitoring method, and program

Abstract

A monitoring device (101) is provided with a first acquisition unit (104), a second acquisition unit (105), and an association unit (106). The first acquisition unit (104) acquires first moving body information MD1 including the position of a held device (107) held by a predetermined moving body MB. The second acquisition unit (105) acquires second moving body information MD2 including the position and type of a sensor moving body SMB, which is a moving body MB detected on the basis of sensor information SI generated by a sensor device (103). The association unit (106) associates the first moving body information MD1 and the second moving body information MD2, which relate to the same moving body MB, on the basis of the position of the held device (107) and the position and type of the sensor moving body SMB.

Description

Technical Field

[0001] The present invention relates to a monitoring device, a monitoring method, and a program.

Background Art

[0002] Examples of systems for monitoring a moving object are described in Patent Document 1 and Patent Document 2.

[0003] The position identification system described in Patent Document 1 includes a wireless terminal device held by a monitoring target as a moving object, a wireless communication unit that wirelessly communicates with the wireless terminal device, and a sensor device including a camera unit that captures an image of the monitoring target.

[0004] In the sensor device described in Patent Document 1, the position (tag position) of the wireless terminal device is detected based on a detection signal from the wireless terminal device, and the position of the monitoring target is calculated based on an image captured by the camera unit. In the position identification system described in Patent Document 1, the position of the monitoring target is identified by associating the tag position and the image position.

[0005] The position detection system described in Patent Document 2 includes a first positioning unit, a second positioning unit, and an identification unit.

[0006] The first positioning unit described in Patent Document 2 includes a plurality of transmitters that transmit electromagnetic waves and a receiver that receives electromagnetic waves transmitted by the plurality of transmitters. The first positioning unit acquires first positioning data regarding the positions of the plurality of transmitters existing in the target area based on the respective electromagnetic waves received by the receiver from the plurality of transmitters.

[0007] The second positioning unit described in Patent Document 2 acquires second positioning data regarding the position of a predetermined moving object (authenticator) and the position of a target moving object (suspicious person) existing in the target area by at least any one of a pressure sensor, a camera, an infrared sensor, and a sound wave.

[0008] The specific part described in Patent Document 2 identifies the position of the target moving object within the target area by comparing the first positioning data and the second positioning data. Patent Document 2 describes that for the specific part, by comparing the positions of a plurality of transmitters with the positions of a predetermined moving object and a target moving object, the positions of the predetermined moving object and the target moving object located at a place not overlapping with the position of the transmitter are identified.

Prior Art Documents

Patent Documents

[0009]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0010] However, in Patent Document 1, generally, errors may occur in each of the tag position and the position of the monitoring target calculated based on the image. Therefore, in the position identification system described in Patent Document 1, the association between the tag position and the image position may not be correctly associated, and as a result, there is a possibility that the moving object as the monitoring target cannot be accurately detected.

[0011] Similarly, in Patent Document 2, generally, errors may occur in each of the positions of a plurality of transmitters, a predetermined moving object, and a target moving object. Therefore, there is a possibility of erroneously determining whether the position of the transmitter overlaps with the positions of the predetermined moving object and the target moving object, and as a result, the moving object cannot be accurately detected.

[0012] An example of the object of the present invention is to provide a monitoring device, a monitoring method, and a program that solve the problem that there is a possibility that a moving object cannot be accurately detected in view of the above-described problems.

Means for Solving the Problems

[0013] According to one aspect of the present invention, a first acquisition means for acquiring first moving body information including the position of a held device held by a predetermined moving body; a second acquisition means for acquiring second moving body information including the position and type of a sensor moving body which is a moving body detected based on sensor information generated by a sensor device; and an association means for associating the first moving body information and the second moving body information regarding a common moving body based on the position of the held device, and the position and type of the sensor moving body. A monitoring device is provided.

[0014] According to one aspect of the present invention, a computer acquires first moving body information including the position of a held device held by a predetermined moving body, acquires second moving body information including the position and type of a sensor moving body which is a moving body detected based on sensor information generated by a sensor device, and includes associating the first moving body information and the second moving body information regarding a common moving body based on the position of the held device, and the position and type of the sensor moving body. A monitoring method is provided.

[0015] According to one aspect of the present invention, a program is provided for causing a computer to acquire first moving body information including the position of a held device held by a predetermined moving body, acquire second moving body information including the position and type of a sensor moving body which is a moving body detected based on sensor information generated by a sensor device, and execute associating the first moving body information and the second moving body information regarding a common moving body based on the position of the held device, and the position and type of the sensor moving body.

Advantages of the Invention

[0016] According to the present invention, it becomes possible to accurately detect a moving body.

Brief Description of the Drawings

[0017]

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Embodiments for Carrying Out the Invention

[0018] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same reference numerals are given to the same components, and the description will be omitted as appropriate.

[0019] <<Embodiment 1>> (Overview of Embodiment 1) FIG. 1 is a diagram showing an overview of a monitoring system 100 according to Embodiment 1 of the present invention. The monitoring system 100 is a system for monitoring a monitoring area MA. The monitoring system 100 includes a monitoring device 101, a positioning system 102, and a sensor device 103 that communicate with each other via a network N. The network N is a communication network configured by wire, wireless, or a combination thereof.

[0020] The monitoring device 101 includes a first acquisition unit 104, a second acquisition unit 105, and an association unit 106.

[0021] The first acquisition unit 104 acquires first moving body information MD1 including the position of a held device 107 held by a predetermined moving body MB.

[0022] The second acquisition unit 105 acquires second moving body information MD2 including the position and type of a sensor moving body SMB that is a moving body MB detected based on sensor information SI generated by the sensor device 103.

[0023] The association unit 106 associates the first moving body information MD1 and the second moving body information MD2 regarding a common moving body MB based on the position of the held device 107, and the position and type of the sensor moving body SMB.

[0024] The positioning system 102 includes the held device 107 and generates first moving body information MD1 including the position of the held device 107. The sensor device 103 generates sensor information SI.

[0025] According to this monitoring system 100, it becomes possible to accurately identify the moving body MB. Further, according to the monitoring device 101 according to Embodiment 1, it becomes possible to accurately identify the moving body MB.

[0026] FIG. 2 is a flowchart showing an example of the monitoring process according to the present embodiment. The monitoring process is a process executed by the monitoring device 101 to monitor the monitoring area MA. The monitoring device 101 starts the monitoring process, for example, in response to a start instruction from the user. The monitoring device 101 ends the monitoring process in response to an end instruction from the user to the monitoring device 101.

[0027] The first acquisition unit 104 acquires first moving body information MD1 including the position of the held device 107 held by the moving body MB (step S101).

[0028] The second acquisition unit 105 acquires second moving body information including the position and type of the sensor moving body SMB, which is a moving body detected based on the sensor information SI generated by the sensor device 103 (step S102).

[0029] The association unit 106 associates the first moving body information MD1 and the second moving body information MD2 regarding the common moving body MB based on the position of the held device 107 and the position and type of the sensor moving body SMB (step S103).

[0030] According to this monitoring process, it becomes possible to accurately identify the moving body.

[0031] Hereinafter, the details of Embodiment 1 of the present invention will be described by taking the case where the positioning system 102 includes a plurality of held devices 107a to 107d as an example. "Held device 107" is a general term for held devices 107a to 107d when not particularly distinguishing between held devices 107a to 107d.

[0032] As will be understood from the description of the outline of Embodiment 1, the monitoring system 100 may include at least one sensor device 103. Further, the positioning system 102 may include at least one held device 107.

[0033] (Details of Embodiment 1) FIG. 3 is a plan view showing an example of the situation of the monitoring area MA at time T1. Time T1 is a certain time when the monitoring system 100 is in operation.

[0034] The monitoring area MA is an area set as a monitoring target in various facilities, buildings, etc. The monitoring area MA may be either indoors or outdoors. As the monitoring area MA, in important facilities such as airports, power plants, harbors, and defense facilities, an area where entry of any moving object other than the predetermined moving object MB is prohibited or an area set on the outer periphery thereof is suitable. of the moving body An area where entry is prohibited or an area set on the outer periphery thereof where entry of any moving object other than the predetermined moving object MB is prohibited is suitable.

[0035] The moving object MB is a person or a movable object. Examples of the object as the moving object MB include automobiles, animals, motorcycles, bicycles, drones, self-propelled robots, etc. Note that the moving object MB also includes a person or an object that has stopped.

[0036] In the example shown in FIG. 3, moving objects MB1 to MB5 exist in the monitoring area MA.

[0037] Moving objects MB1 to MB4 are examples of the moving object MB that is predetermined to be allowed to enter the monitoring area MA. Each of the moving objects MB1 to MB4 allowed to enter the monitoring area MA holds the holding devices 107a to 107d as shown in the figure.

[0038] Specifically, the moving object MB1 is a worker carrying the holding device 107a.

[0039] Moving objects B2 to MB3 are security guards riding in the moving object MB4 (security vehicle). The moving object MB2 carries the holding device 107b. The moving object MB3 carries the holding device 107c.

[0040] The moving object MB4 is a security vehicle (i.e., a security automobile) equipped with the holding device 107d.

[0041] The moving object MB5 is a suspicious moving object MB (a person in the example of the figure) that does not hold the holding device 107.

[0042] The "mobile body MB" is a general term for the mobile bodies MB1 to MB5 when not particularly distinguishing between the mobile bodies MB1 to MB5.

[0043] Note that there may be a plurality of monitoring areas MA monitored by the monitoring system 100.

[0044] FIG. 4 is a diagram showing a detailed configuration example of the positioning system 102 according to the present embodiment. The positioning system 102 is a system for measuring the position of the mobile body MB that holds the held device 107.

[0045] The positioning system 102 includes a held device 107 and a communication device 108. The held device 107 and the communication device 108 perform wireless communication with each other. This wireless communication is communication using electromagnetic waves EW.

[0046] The held device 107 transmits electromagnetic waves EW used for positioning the held device 107. The electromagnetic waves EW used for positioning the held device 107 can include various types of information. The electromagnetic waves EW include, for example, the device ID (Identifier) of the held device 107 that transmits the electromagnetic waves EW. The device ID is information for identifying the held device 107.

[0047] The communication device 108 receives the electromagnetic waves EW used for positioning the held device 107 from the held device 107. The communication device 108 acquires the position of the held device 107 based on the electromagnetic waves EW used for positioning the held device 107. The communication device 108 generates first mobile body information MD1 including the position of the held device 107. The communication device 108 transmits the first mobile body information MD1 to the monitoring device 101.

[0048] The communication device 108 is installed, for example, in the monitoring area MA or within a predetermined range from the monitoring area MA so as to be able to receive the electromagnetic waves EW from the held device 107 existing in the monitoring area MA.

[0049] Note that the positioning system 102 may include a plurality of communication devices 108.

[0050] Refer to FIG. 1 again. The sensor device 103 photographs a predetermined photographing area. The sensor device 103 generates image data PD. The image data PD according to the present embodiment is image data indicating an image of the photographing area.

[0051] The photographing area according to the present embodiment is a monitoring area MA (see FIG. 3). Therefore, the sensor device 103 is installed, for example, in the monitoring area MA or within a predetermined range from the monitoring area MA so that the monitoring area MA can be photographed. Note that the monitoring system 100 may include a plurality of sensor devices 103.

[0052] The sensor device 103 generates sensor information SI including the image data PD. The sensor device 103 transmits the sensor information SI to the monitoring device 101.

[0053] (Details of the functional configuration of the monitoring device 101) Referring to FIG. 1, the details of the functional configuration of the monitoring device 101 according to Embodiment 1 will be described. The first acquisition unit 104 continuously acquires first moving body information MD1 from the communication device 108 via the network N.

[0054] The second acquisition unit 105 continuously acquires sensor information SI from the communication device 108 via the network N.

[0055] The second acquisition unit 105 processes the image data PD included in the sensor information SI, detects a sensor moving body SMB that is a moving body MB included in the image data PD, and acquires the position and type of the detected sensor moving body SMB. The type of the moving body MB is, for example, a person, an animal, an automobile, a motorcycle, a bicycle, a drone, or a self-propelled robot.

[0056] The second acquisition unit 105 acquires second moving body information MD2 including the position and type of the sensor moving body SMB.

[0057] The association unit 106 acquires the moving speed of the held device 107 based on the position included in the first moving body information MD1 acquired by the first acquisition unit 104. The association unit 106 associates the first moving body information MD1 and the second moving body information MD2 regarding the common moving body MB based on the position and moving speed of the held device 107 and the position and type of the sensor moving body SMB.

[0058] (Physical Configuration of Monitoring System 100) Each of the monitoring device 101, the sensor device 103, the held device 107, and the communication device 108 included in the monitoring system 100 is physically composed of a single different device.

[0059] Note that part or all of the monitoring device 101, the sensor device 103, the held device 107, and the communication device 108 may be physically composed of a plurality of devices.

[0060] Physically, the monitoring device 101 is, for example, a tablet PC (Personal Computer), a smartphone, etc. As shown in FIG. 5 for an example of the physical configuration, the monitoring device 101 has a bus 1010, a processor 1020, a memory 1030, a storage device 1040, an input interface 1050, an output interface 1060, and a network interface 1070.

[0061] The bus 1010 is a data transmission path for the processor 1020, the memory 1030, the storage device 1040, the input interface 1050, the output interface 1060, and the network interface 1070 to transmit and receive data to and from each other. However, the method of connecting the processor 1020, etc. to each other is not limited to bus connection.

[0062] The processor 1020 is a processor realized by a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), etc.

[0063] The memory 1030 is a main memory device implemented by, for example, a RAM (Random Access Memory).

[0064] The storage device 1040 is an auxiliary storage device implemented by, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), a memory card, or a ROM (Read Only Memory). The storage device 1040 stores program modules for realizing the functions of the monitoring device 101. By the processor 1020 loading these program modules into the memory 1030 and executing them, the functions corresponding to the program modules are realized.

[0065] The input interface 1050 is an interface for a user to input information, such as, for example, a touch panel, a keyboard, a mouse, etc. The output interface 1060 is an interface for presenting information to the user, such as, for example, a liquid crystal panel, an organic EL (Electro-Luminescence) panel, etc.

[0066] The network interface 1070 is an interface for connecting the monitoring device 101 to the network N.

[0067] (Physical configuration of the sensor device 103) Physically, the sensor device 103 is, for example, a camera that generates two-dimensional image data PD or a stereo camera that generates three-dimensional image data PD. As shown in FIG. 6 for an example of the physical configuration, the sensor device 103 has the same bus 1010, processor 1020, memory 1030, storage device 1040, and network interface 1070 as the monitoring device 101. The sensor device 103 further has a sensor 1080 and an optical system 1085.

[0068] The sensor 1080 is an image sensor that converts an image into an electrical signal. The optical system 1085 is a lens or the like used together with the sensor 1080.

[0069] Note that the sensor device 103 is not physically limited to a camera, and may be a distance measuring device that measures the distance to an object using light, radio waves (millimeter waves), ultrasonic waves, or the like. As an example of a technique for measuring distance using light, LIDAR (Light Detection and Ranging) can be cited. As an example of a technique for measuring distance using radio waves, RADER (Radio Detecting and Ranging) can be cited.

[0070] In this case, the sensor device 103 may not have the optical system 1085. Also, in this case, the sensor 1080 is an optical sensor, a radio wave sensor, an ultrasonic sensor, or the like. An optical sensor is, for example, a sensor that emits light and detects reflected light from an object. A radio wave sensor is, for example, a sensor that emits radio waves and detects radio waves reflected by an object. An ultrasonic sensor is, for example, a sensor that emits ultrasonic waves and detects ultrasonic waves reflected by an object. In this case, the sensor device 103 generates point cloud data including point cloud information instead of image data PD including an image.

[0071] Also, it is preferable that the image data PD includes data including an image suitable for detecting the sensor mobile body SMB. Therefore, the image data PD may include a visible image, a near-infrared image showing near-infrared reflection characteristics, a thermographic image visualizing temperature characteristics, and the like. In such a case, the sensor device 103 may be a camera capable of acquiring a visible image (visible camera), an infrared camera, a thermography, or the like.

[0072] (Physical Configuration of the Held Device 107 and the Communication Device 108) The positioning system 102 composed of the held device 107 and the communication device 108 is a system realized using various positioning technologies such as RTLS (Real Time Location System).

[0073] The held device 107 is physically, for example, a tag, a smartphone, or the like. As shown in FIG. 7 for an example of the physical configuration, the held device 107 has a bus 1010, a processor 1020, a memory 1030, and a storage device 1040 similar to those of the monitoring device 101. The held device 107 further has a first communication interface 1090.

[0074] The first communication interface 1090 is an interface for communicating with the communication device 108. The first communication interface 1090 is, for example, a communication interface conforming to a standard or technology such as BLE (Bluetooth Low Energy), UWB (Ultra Wide Band), or the like. Also, for example, the first communication interface 1090 is a communication interface conforming to the RFID (Radio Frequency Identification) technology. Further, for example, the first communication interface 1090 is a communication interface conforming to the wireless LAN (Local Area Network) standard (e.g., Wi-Fi).

[0075] As shown in FIG. 8 for an example of the physical configuration, the communication device 108 has a bus 1010, a processor 1020, a memory 1030, a storage device 1040, and a network interface 1070 similar to those of the monitoring device 101. The communication device 108 further has a second communication interface 1095.

[0076] The second communication interface 1095 is an interface for communicating with the held device 107. The second communication interface 1095 is a communication interface conforming to the same standard or technology as the first communication interface 1090.

[0077] Note that each of the sensor device 103, the held device 107, and the communication device 108 may have one or both of the input interface 1050 and the output interface 1060 similar to those of the monitoring device 101. Also, the sensor device 103 may be composed of a camera and a distance measuring device.

[0078] (Operation of Monitoring System 100) Hereinafter, the operation of the monitoring system 100 will be described with reference to the drawings.

[0079] The monitoring system 100 executes monitoring system processing. The monitoring system processing is processing for monitoring the monitoring area MA. The monitoring system processing includes positioning processing, sensing processing, and the above-described monitoring processing.

[0080] (Positioning Processing According to Embodiment 1) FIG. 9 is a diagram showing an example of the flow of positioning processing according to Embodiment 1 of the present invention. The positioning processing is processing executed by the positioning system 102 for monitoring the monitoring area MA.

[0081] When the positioning system 102 acquires a start signal from the monitoring device 101 that has received a user's start instruction via the network N, for example, the positioning system 102 starts the positioning processing. When the positioning system 102 acquires an end signal from the monitoring device 101 that has received a user's end instruction via the network N, for example, the positioning system 102 ends the positioning processing.

[0082] The communication device 108 transmits a request signal (step S201). The request signal is a signal for requesting the transmission of the electromagnetic wave EW used for positioning the held device 107. In step S201, the communication device 108 transmits the request signal to the entire monitoring area MA.

[0083] The held device 107 receives the request signal transmitted in step S201 (step S202). In step S202, each of the held devices 107a to 107d existing in the monitoring area MA receives the request signal.

[0084] The held device 107 transmits an electromagnetic wave EW used for positioning the held device 107 (step S203). In step S203, each of the held devices 107a to 107d that has received the request signal transmits an electromagnetic wave EW used for positioning. The electromagnetic wave EW used for positioning includes the device ID of the held device 107 that transmits it.

[0085] The communication device 108 receives the electromagnetic wave EW transmitted in step S203 (step S204). In step S204, the communication device 108 receives the electromagnetic wave EW used for positioning from each of the held devices 107a to 107d.

[0086] The communication device 108 acquires the position of the held device 107 based on the reception intensity, direction, etc. of the electromagnetic wave EW received in step S204 (step S205).

[0087] For example, based on the reception intensity, direction, etc. of the electromagnetic wave EW used for positioning received from the held device 107a, the position of the held device 107a is acquired. The communication device 108 performs the same processing for each of the held devices 107b to d. In this way, in step S205, the communication device 108 acquires the positions of each of the held devices 107a to 107d.

[0088] The communication device 108 generates first moving body information MD1 including the positions acquired in step S205 (step S206).

[0089] Specifically, in step S206, the communication device 108 generates first moving body information MD1 as shown in FIG. 10.

[0090] FIG. 10 is a diagram showing an example of the first moving body information MD1. The first moving body information MD1 is information in which the device ID, the positioning time, and the position are associated. The first moving body information MD1 associates the device ID, the positioning time, and the position for each electromagnetic wave EW used for positioning.

[0091] The first moving body information MD1 shown in the figure includes the first moving body information MD1a to MD1d of the held devices 107a to 107d, respectively.

[0092] For example, the first moving body information MD1a associates the device ID "CD1", the positioning time "T1", and the position "X1" for the held device 107a.

[0093] The device ID "CD1" is the device ID of the held device 107a. The device ID "CD1" is included in the electromagnetic wave EW received from the held device 107a in step S204.

[0094] The positioning time "T1" is the time when the positioning of the held device 107a is performed. The positioning time is, for example, the time when the electromagnetic wave EW is received from the held device 107a in step S204. If the electromagnetic wave EW transmitted by the held device 107a in step S203 includes the transmission time, the positioning time may be the transmission time. Also, the positioning time may be the time when the request signal is transmitted in step S201.

[0095] The position "X1" indicates the position of the held device 107a at time T1. The position "X1" is the position acquired in step S205 based on the electromagnetic wave EW received from the held device 107a in step S204. The position is represented, for example, in a three-dimensional coordinate system corresponding to the real space or a two-dimensional coordinate system corresponding to the plane of the real space viewed from above.

[0096] Refer to FIG. 9 again. The communication device 108 transmits the first moving body information MD1 generated in step S206 to the monitoring device 101 via the network N (step S207).

[0097] The communication device 108 executes step S201 again. That is, the positioning system 102 repeatedly executes steps S201 to S207. As a result, the positioning system 102 can continuously transmit the first moving body information MD1 in real time.

[0098] At this time, after a predetermined time has elapsed since the communication device 108 executes step S207, the communication device 108 may execute step S201 again. Thereby, the communication device 108 can continuously transmit the real-time first moving body information MD1 at a predetermined time interval.

[0099] Here, an example has been described in which the held device 107 receives a request signal from the communication device 108 and transmits the electromagnetic wave EW used for positioning. However, the held device 107 and the communication device 108 do not have to execute the transmission and reception of the request signal (steps S201 to S202). In this case, the held device 107 may transmit the electromagnetic wave EW used for positioning, for example, at a predetermined time interval.

[0100] (Sensing process according to Embodiment 1) FIG. 11 is a flowchart showing an example of the sensing process according to Embodiment 1 of the present invention. The sensing process is a process executed by the sensor device 103 to monitor the monitoring area MA.

[0101] When the sensor device 103 acquires a start signal from the monitoring device 101 that has received a user's start instruction via the network N, for example, the sensor device 103 starts the sensing process. When the sensor device 103 acquires an end signal from the monitoring device 101 that has received a user's end instruction via the network N, for example, the sensor device 103 ends the sensing process.

[0102] The sensor device 103 photographs the monitoring area MA (step S301).

[0103] The sensor device 103 generates image data PD showing an image of the monitoring area MA photographed in step S101 (step S302).

[0104] The sensor device 103 generates sensor information SI including the image data PD generated in step S302 (step S303).

[0105] Specifically, in step S303, the sensor device 103 generates sensor information SI as shown in FIG. 12.

[0106] FIG. 12 is a diagram showing an example of the sensor information SI. As shown in the figure, the sensor information SI is information in which a shooting area ID, a shooting time, and image data are associated. The sensor information SI associates, for each shooting process (step S301), the shooting area ID, the shooting time, and the image data related to the shooting process (step S301).

[0107] The shooting area ID is information for identifying the shooting area of the sensor device 103. The shooting area ID "MA" is the shooting area ID of the monitoring area MA which is the shooting area of the sensor device 103. The sensor device 103 holds a preset shooting area ID "MA".

[0108] The shooting time is information indicating the time when the shooting was performed. The shooting time "T1" indicates the time when the shooting in step S301 was performed.

[0109] The image data is data indicating an image generated in step S302 based on the shooting in step S301. The image data of the sensor information SI indicates an image obtained by shooting the shooting area identified by the shooting area ID associated with the image data PD at the shooting time associated with the image data PD.

[0110] The sensor information SI shown in the figure includes image data PD_T1 as the image data. The sensor information SI associates the shooting area ID "MA" and the shooting time "T1" with the image data PD_T1. That is, the image data PD_T1 indicates an image obtained by shooting the shooting area MA at time T1.

[0111] The image data PD_T1 includes moving bodies MB1, MB4, and MB5. Since the moving bodies B2 to MB3 are on board the moving body MB4 (security vehicle), they are not included in the image of the image data PD_T1 or are not included to such an extent that they can be detected from the image.

[0112] Refer to FIG. 11 again. The sensor device 103 transmits the sensor information SI generated in step S303 to the monitoring device 101 via the network N (step S304).

[0113] The sensor device 103 executes step S301 again. That is, the sensor device 103 repeatedly executes steps S301 to S304. As a result, the sensor device 103 can continuously transmit the sensor information SI in real time.

[0114] At this time, the sensor device 103 may execute step S301 again after a predetermined time has elapsed since executing step S304. Thereby, the communication device 108 can continuously transmit the real-time sensor information SI at a predetermined time interval.

[0115] (Details of the monitoring process according to Embodiment 1) As described above, the monitoring device 101 starts the monitoring process in response to the user's start instruction. Specifically, during operation, the monitoring device 101 receives the start instruction. Thereafter, after executing the preparation process according to the start instruction, the monitoring device 101 starts the monitoring process.

[0116] FIG. 13 is a flowchart showing an example of the preparation process according to this embodiment.

[0117] The monitoring device 101 transmits a predetermined start signal to each of the sensor device 103 and the communication device 108 (step S11). The first acquisition unit 104 executes the first acquisition process (step S101). The second acquisition unit 105 executes the second acquisition process (step S102). The monitoring device 101 ends the preparation process.

[0118] Refer to FIG. 2 again. The first acquisition unit 104 acquires the first moving body information MD1 transmitted in step S207 via the network N (step S101). The first acquisition unit 104 holds the acquired first moving body information MD1. Here, the first moving body information MD1 transmitted in step S207 is the first moving body information MD1 generated in step S206 as described with reference to FIG. 10.

[0119] The second acquisition unit 105 acquires second moving body information including the position and type of the sensor moving body SMB detected based on the sensor information SI generated in step S303 (step S102).

[0120] FIG. 14 is a flowchart showing an example of the second acquisition process (step S102) according to the present embodiment.

[0121] The second acquisition unit 105 acquires the sensor information SI transmitted in step S304 via the network N (step S102a).

[0122] The second acquisition unit 105 holds the acquired sensor information SI. Here, the sensor information SI transmitted in step S304 is the sensor information SI generated in step S303 as described with reference to FIG. 11.

[0123] The second acquisition unit 105 processes the image data PD included in the sensor information SI acquired in step S102a to acquire the position and type of the sensor moving body SMB (step S102b).

[0124] The process performed on the image data PD in step S102b is, for example, known image processing using image mapping, machine learning, a learned learning model, or the like.

[0125] When using a learning model, the second acquisition unit 105 inputs the image data PD into a learned learning model that has performed machine learning to acquire the position and type of the moving body MB, and acquires the position and type of the moving body MB included in the image data PD.

[0126] The input data to the learning model during learning is, for example, image data PD. Machine learning is, for example, supervised learning that takes the position and type of the moving body MB included in the image data PD as the correct answers.

[0127] For example, the image data PD_T1 included in the sensor information SI shown in FIG. 12 includes the moving bodies MB1, MB4, and MB5 as detectable moving bodies MB as described above. As a result of executing step S102b, the second acquisition unit 105 detects the sensor moving bodies SMB1, SMB2, and SMB3 based on the respective images of the moving bodies MB1, MB4, and MB5, for example. Then, the second acquisition unit 105 acquires the position and type of each of the sensor moving bodies SMB1 to SMB3. The position is represented in the same coordinate system as the position included in the first moving body information MD1.

[0128] "Sensor moving body SMB" is a general term for SMB1 to SMB3 when SMB1 to SMB3 are not particularly distinguished.

[0129] For example, the second acquisition unit 105 acquires the position "Y1" and the type "person" for the sensor moving body SMB1. The second acquisition unit 105 acquires the position "Y2" and the type "automobile" for the sensor moving body SMB2. The second acquisition unit 105 acquires the position "Y3" and the type "person" for the sensor moving body SMB3.

[0130] The second acquisition unit 105 acquires second moving body information MD2 including the position and type of the moving body MB acquired in step S102b (step S102c).

[0131] Specifically, in step S102c, the second acquisition unit 105 acquires second moving body information MD2 as shown in FIG. 15.

[0132] FIG. 15 is a diagram showing an example of the second moving body information MD2. As shown in the figure, the second moving body information MD2 is information in which a sensor moving body ID, a position, a type, and a shooting time are associated. The second moving body information MD2 associates a sensor moving body ID, a position, a type, and a shooting time for each sensor moving body SMB detected based on the sensor information SI.

[0133] The second moving body information MD2 shown in the figure includes the second moving body information MD2a to MD2c of the sensor moving bodies SMB1 to SMB3, respectively.

[0134] For example, the second moving body information MD2a associates the sensor moving body ID "SMB1", the position "Y1", the type "person", and the shooting time "T1" for the sensor moving body SMB1.

[0135] The sensor moving body ID "SMB1" is information for identifying the sensor moving body SMB1. When the second acquisition unit 105 detects the sensor moving body SMB in step S102b, it appropriately assigns the sensor moving body ID of each detected sensor moving body SMB according to a predetermined rule, for example. The sensor moving body ID "SMB1" is information assigned to the sensor moving body SMB1.

[0136] The position and the type are the position and the type acquired for the sensor moving body SMB1 in step S102b.

[0137] The shooting time is the shooting time included in the sensor information SI acquired in step S102a. The second moving body information MD2a to MD2c is information obtained based on the image data PD_T1 at the common shooting time T1. Therefore, the shooting time of each of the second moving body information MD2a to MD2c is "T1".

[0138] The second acquisition unit 105 holds the acquired second moving body information MD2. The second acquisition unit 105 returns to the monitoring process shown in FIG. 2.

[0139] The association unit 106 associates first moving body information MD1 and second moving body information MD2 regarding a common moving body MB based on the position of the held device 107 and the position and type of the sensor moving body SMB (step S103).

[0140] The association unit 106 according to the present embodiment associates first moving body information MD1 and second moving body information MD2 regarding a common moving body MB based on the position and moving speed of the held device 107 and the position and type of the sensor moving body SMB.

[0141] Here, the association unit 106 acquires the position and speed of the held device 107 using the device ID and position included in the first moving body information MD1 acquired in step S101. Further, the association unit 106 acquires the position and type of the sensor moving body SMB using the sensor moving body ID, position, and type included in the second moving body information MD2 acquired in step S102.

[0142] FIG. 16 is a flowchart showing an example of the association process (step S103) according to the present embodiment.

[0143] The association unit 106 acquires the moving speed of the held device 107 based on the position of the held device 107 (step S103a).

[0144] Specifically, for example, the association unit 106 acquires the moving speed for each held device 107 with the device ID included in the first moving body information MD1 (hereinafter referred to as "the most recent first moving body information MD1") acquired in the most recent step S101.

[0145] For example, assume that the first moving body information MD1 shown in FIG. 10 is the most recent first moving body information MD1. The first moving body information MD1 includes first moving body information MD1a to d with device IDs "CD1" to "CD4". Therefore, the association unit 106 performs processing for acquiring the moving speed for each of the first moving body information MD1a to d.

[0146] For example, the association unit 106, for the first moving body information MD1a, the past of the acquires the first moving body information MD1 (for example, the first moving body information MD1 including the device ID "CD1" and the closest measurement time).

[0147] The association unit 106 acquires the time difference between the measurement time included in the first moving body information MD1a and the measurement time included in the past of the first moving body information MD1. The association unit 106 acquires the distance between the measurement position included in the first moving body information MD1a and the measurement position included in the past of the first moving body information MD1. The association unit 106 divides the distance by the time difference. As a result, the association unit 106 acquires the moving speed of the held device 107a.

[0148] The association unit 106 performs the same process for each of the first moving body information MD1b to d. As a result, the association unit 106 acquires the moving speeds of the held devices 107a to 107d.

[0149] Note that the past first moving body information MD1 is not limited to the one with the closest positioning time. For example, the association unit 106 may further acquire the past first moving body information MD1 by adding as an additional condition that the positioning time is before a predetermined time.

[0150] The association unit 106 acquires the standard speed of the sensor moving body SMB based on the type of the sensor moving body SMB (step S103b).

[0151] More specifically, for example, the association unit 106 holds in advance standard speed data indicating the standard speed corresponding to the type of the moving body MB. FIG. 17 is a diagram showing an example of the standard speed data SV. The standard speed data SV shown in the figure is data in which the type of the moving body MB and the standard speed are associated. The standard speed is, for example, the standard upper limit value when the moving body MB of the associated type moves. Note that an appropriate speed may be set as the standard speed.

[0152] The association unit 106 refers to the standard speed data SV and acquires, as the standard speed of the sensor mobile body SMB, the standard speed associated with the same type as the type of the sensor mobile body SMB.

[0153] The association unit 106 associates the first moving body information MD1 and the second moving body information MD2 that are in a relationship satisfying the matching condition (step S103c).

[0154] The matching condition is a condition for associating the first moving body information MD1 and the second moving body information MD2. The matching condition includes a condition A regarding time, a condition B regarding position, and a condition C regarding the type of the moving body MB.

[0155] Condition A is that the difference between the positioning time and the shooting time is within a predetermined time.

[0156] Condition B is, for example, "the position of the held device 107 and the position of the moving body included in the sensor information S1 match". However, the two positions matching includes not only the case where the two positions completely match but also the case where the two positions are within a predetermined range, and the same applies hereinafter.

[0157] Condition C1, which is an example of condition C, is, for example, "the moving speed of the held device 107 is less than or equal to the standard speed".

[0158] The association unit 106 determines whether condition A is satisfied based on the positioning time included in the first moving body information MD1 acquired in step S101 and the shooting time included in the second moving body information MD2 acquired in step S102c.

[0159] The association unit 106 determines whether condition B is satisfied based on the position included in the first moving body information MD1 acquired in step S101 and the position of the moving body MB acquired in step S102b.

[0160] The association unit 106 determines whether or not the condition C1 is satisfied based on the moving speed of the held device 107 acquired in step S103a and the standard speed acquired in step S103b.

[0161] The association unit 106 determines that the matching condition is satisfied when all of the conditions A to C are satisfied. The association unit 106 determines that the matching condition is not satisfied when at least one of the conditions A to C is not satisfied.

[0162] The association unit 106 associates the first moving body information MD1 and the second moving body information MD2 that are in a relationship satisfying the matching condition as the first moving body information MD1 and the second moving body information MD2 regarding the common moving body.

[0163] For example, the first moving body information MD1 shown in FIG. 10 includes the first moving body information MD1_a to MD1_d. Further, the second moving body information MD2 shown in FIG. 15 includes the second moving body information MD2_a to MD2_c.

[0164] In this example, the positioning times of the first moving body information MD1_a to MD1_d are T1. The shooting times of the second moving body information MD2_a to MD2_c are T1. Therefore, the first moving body information MD1_a to MD1_d and the second moving body information MD2_a to MD2_c are in a relationship satisfying the condition A.

[0165] The first moving body information MD1_a to MD1_d is information regarding the moving bodies MB1 to MB4, respectively. The second moving body information MD2_a, MD2_b, MD2_c is information regarding the moving bodies MB1, MB4, MB5, respectively. Therefore, the positions of the first moving body information MD1_a and the second moving body information MD2_a regarding the moving body MB1 match. The positions of the first moving body information MD1_d and the second moving body information MD2_b regarding the moving body MB4 match.

[0166] On the other hand, there is no second moving body information MD2 regarding the moving bodies MB2 and MB3. Therefore, there is no second moving body information MD2 including positions that match the positions included in each of the first moving body information MD1_b and MD1_c. Also, there is no first moving body information MD1 regarding the moving body MB5. Therefore, there is no first moving body information MD1 including positions that match the positions included in the second moving body information MD2_c.

[0167] Since the moving body MB1 is a person as shown in FIG. 3, its moving speed is equal to or less than the standard speed V1. Since the moving body MB4 is an automobile as shown in FIG. 3, its moving speed is equal to or less than the standard speed V2.

[0168] In this way, the first moving body information MD1_a and the second moving body information MD2_a satisfy conditions A to C. The first moving body information MD1_d and the second moving body information MD2_b satisfy conditions A to C.

[0169] As a result, the association unit 106 associates the first moving body information MD1_a and the second moving body information MD2_a regarding the common moving body MB1. The association unit 106 associates the first moving body information MD1_d and the second moving body information MD2_b regarding the common moving body MB4.

[0170] The association unit 106 generates association information MI indicating the result of the association in step S103c (step S103d).

[0171] Specifically, for example, the association unit 106 generates authentication information (first information) COI based on the associated information MD1 and MD2. The authentication information COI is information regarding the moving body MB (authenticated moving body) that has succeeded in authentication by associating the first moving body information MD1 and the second moving body information MD2.

[0172] Further, the association unit 106 generates suspicious candidate information SCI based on the first moving body information MD1 or the second moving body information MD2 that could not be associated. The suspicious candidate information SCI is information regarding a moving body MB (suspicious candidate moving body) that has failed in the authentication performed by associating the first moving body information MD1 and the second moving body information MD2.

[0173] The association unit 106 generates association information MI including authentication information COI and suspicious candidate information SCI. The association unit 106 holds the association information MI.

[0174] FIG. 18 is a diagram showing a first example of the association information MI. The association information MI includes authentication information COI and suspicious candidate information SCI.

[0175] The authentication information COI is information in which an authenticated moving body ID, a device ID, a sensor moving body ID, a position, a type, and a detection time are associated.

[0176] The authenticated moving body ID is information for identifying the authenticated moving body. When the first moving body information MD1 and the second moving body information MD2 are associated, the association unit 106 assigns an authenticated moving body ID according to, for example, a predetermined rule.

[0177] The device ID of the authentication information COI is the device ID included in the first moving body information MD1 among the associated first moving body information MD1 and second moving body information MD2.

[0178] The sensor moving body ID of the authentication information COI is the sensor moving body ID included in the second moving body information MD2 among the associated first moving body information MD1 and second moving body information MD2.

[0179] The position of the authentication information COI is a position obtained based on the positions included in each of the associated first moving body information MD1 and second moving body information MD2. For example, the position of the authentication information COI is the middle of the position included in the first moving body information MD1 and the position included in the second moving body information MD2. The position of the authentication information COI is not limited to this, and may be, for example, a position included in either the first moving body information MD1 or the second moving body information MD2.

[0180] The type of the authentication information COI is the type included in the second moving body information MD2 among the associated first moving body information MD1 and second moving body information MD2.

[0181] The detection time of the authentication information COI is the time when the moving body MB indicated by the associated first moving body information MD1 and second moving body information MD2 is detected. The detection time is, for example, the positioning time included in the first moving body information MD1 or the shooting time included in the second moving body information MD2.

[0182] The suspicious candidate information SCI is information in which a suspicious candidate moving body ID, device ID, sensor moving body ID, position, type, and detection time are associated.

[0183] Suspicious candidate The moving body ID is information for identifying a suspicious candidate moving body. When there is unassociated first moving body information MD1 and second moving body information MD2, the association unit 106 assigns a suspicious moving body ID according to, for example, a predetermined rule.

[0184] The device ID of the suspicious candidate information SCI is the device ID included in the first moving body information MD1. When there is first moving body information MD1 that is not associated with the second moving body information MD2, the association unit 106 sets the device ID of the suspicious candidate information SCI.

[0185] The sensor mobile ID of the suspicious candidate information SCI is the sensor mobile ID included in the second mobile information MD2. When there is second mobile information MD2 that cannot be associated with the first mobile information MD1, the association unit 106 sets the device ID of the suspicious candidate information SCI.

[0186] The position of the suspicious candidate information SCI is the position included in the first mobile information MD1 or the second mobile information MD2 that could not be associated.

[0187] The type of the suspicious candidate information SCI is the type included in the second mobile information MD2. When there is second mobile information MD2 that cannot be associated with the first mobile information MD1, the association unit 106 sets the type of the mobile body MB.

[0188] The detection time of the suspicious candidate information SCI is the positioning time included in the first mobile information MD1 that could not be associated, or the shooting time of the second mobile information MD2 that could not be associated. That is, when there is first mobile information MD1 that cannot be associated with the second mobile information MD2, the association unit 106 sets the positioning time as the detection time of the suspicious candidate information SCI. When there is second mobile information MD2 that cannot be associated with the first mobile information MD1, the association unit 106 sets the shooting time as the detection time of the suspicious candidate information SCI.

[0189] The association information MI shown in FIG. 18 is information obtained based on the first mobile information MD1 shown in FIG. 10 and the second mobile information MD2 shown in FIG. 15.

[0190] Specifically, the authentication information COI shown in FIG. 18 includes information regarding the associated first mobile information MD1_a and second mobile information MD2_a, and information regarding the associated first mobile information MD1_d and second mobile information MD2_b.

[0191] The suspicious candidate information SCI shown in FIG. 18 includes information regarding each of the first mobile information MD1_b, MD1_c, and information regarding the second mobile information MD2_c.

[0192] Refer to FIG. 16 again. The association unit 106 generates detection result information DRI regarding the moving body MB detected in the monitoring area MA (step S103e).

[0193] Specifically, the association unit 106 identifies information regarding the moving body MB to be excluded from the suspicious candidate information SCI. The moving body MB to be excluded may be determined in advance. For example, it is the moving body MB indicated by the suspicious candidate information SCI based on the first moving body information MD1.

[0194] The association unit 106 generates holding body information (second information) HBI including information regarding the identified moving body MB. The holding body information HBI is information regarding the moving body MB (holding moving body) indicated by the first moving body information MB1 that is not associated with the second moving body information MB2.

[0195] association unit 106 generates suspicious information (third information) SOI obtained by excluding information regarding the identified moving body MB from the suspicious candidate information SCI. The suspicious information SOI is information regarding the moving body MB (suspicious moving body MB) indicated by the second moving body information MB2 that is not associated with the first moving body information MB1.

[0196] Here, the suspicious candidate information SCI based on the above-described first moving body information MD1 is information regarding the moving body MB that holds the held device 107. Since the held device 107 is held by the moving body MB permitted to enter the monitoring area MA, the moving body MB that holds the held device 107 is likely not a suspicious moving body MB. Therefore, the information based on the first moving body information MD1 is excluded from the suspicious candidate information SCI.

[0197] Therefore, the holding body information HBI is information regarding the moving body MB that has failed authentication but is likely not a suspicious moving body MB. The suspicious information SOI is information regarding the suspicious moving body MB.

[0198] The association unit 106 generates detection result information DRI including authentication information COI, holder information HBI, and suspicious information SOI. The association unit 106 holds the detection result information DRI. The association unit 106 returns to the monitoring process.

[0199] FIG. 19 is a diagram showing an example of the detection result information DRI. The detection result information DRI shown in the figure is the detection result information DRI generated based on the association information MI shown in FIG. 18.

[0200] The authentication information COI included in the detection result information DRI is the same as the authentication information COI included in the association information MI.

[0201] Each of the holder information HBI and the suspicious information SOI is composed of information similar to the suspicious candidate information SCI. The holder information HBI shown in FIG. 19 includes information regarding the first moving body information MD1_b, MD1_c. The suspicious information SOI shown in FIG. 19 is the information obtained by excluding the information regarding the first moving body information MD1_b, MD1_c from the suspicious candidate information SCI shown in FIG. 18.

[0202] Note that the association unit 106 may generate any one or more of the authentication information COI, the holder information HBI, and the suspicious information SOI.

[0203] Refer to FIG. 2 again. The first acquisition unit 104 executes step S101 again. The monitoring device 101 repeatedly executes steps S101 to S103. As a result, the monitoring device 101 can continuously associate the information MD1, MD2 regarding the common moving body MB in real time. Therefore, authentication of the moving body MB in the monitoring area MA and detection of a suspicious moving body MB can be performed in real time.

[0204] At this time, after a predetermined time has elapsed since the first acquisition unit 104 executes step S103c, it may execute step S101 again. Thereby, the monitoring device 101 can continuously transmit real-time associations at predetermined time intervals. Also in this case, authentication of the moving body MB in the monitoring area MA and detection of a suspicious moving body MB can be performed in real time.

[0205] So far, the first embodiment of the present invention has been described.

[0206] According to this embodiment, the monitoring device 101 includes a first acquisition unit 104, a second acquisition unit 105, and an association unit 106.

[0207] The first acquisition unit 104 acquires first moving body information MD1 including the position of the held device 107 held by a predetermined moving body MB. The second acquisition unit 105 acquires second moving body information MD2 including the position and type of the sensor moving body SMB which is the moving body MB detected based on the sensor information SI generated by the sensor device 103. The association unit 106 associates the first moving body information MD1 and the second moving body information MD2 regarding the common moving body MB based on the position of the held device 107, the position and type of the sensor moving body SMB.

[0208] Generally, measurement errors usually occur in the positions measured by the positioning system 102. Errors also usually occur in the positions obtained based on the image data PD. Therefore, for example, when a plurality of moving bodies MB holding the held device 107 are located relatively close to each other, if only the positions of the held device 107 and the sensor moving body SMB are used, there is a possibility that the information MB1 and MB2 cannot be correctly associated.

[0209] In this embodiment, the information MB1 and MB2 can be associated using the moving speed of the device 107 to be held obtained based on the position of the device 107 to be held and the type of the sensor moving body SMB. Therefore, not only the positions of the device 107 to be held and the sensor moving body SMB, but also the moving speed of the device 107 to be held and the type of the sensor moving body SMB can be used to associate the information MB1 and MB2. As a result, the information MB1 and MB2 can be associated more accurately than when associating the information MB1 and MB2 using only the positions of the device 107 to be held and the sensor moving body SMB. Therefore, the moving body MB can be specified with high accuracy.

[0210] According to this embodiment, the association unit 106 associates the first moving body information MD1 and the second moving body information MD2 regarding the common moving body MB based on the moving speed obtained based on the position of the device 107 to be held.

[0211] Therefore, the first moving body information MB1 and the second moving body information MB2 can be associated more accurately using the moving speed of the device 107 to be held and the type of the sensor moving body SMB than when using only the position. Therefore, the moving body MB can be detected with high accuracy.

[0212] (Modification 1) In Embodiment 1, an example in which the communication device 108 acquires the position of the device 107 to be held based on the electromagnetic wave EW transmitted by the device 107 to be held has been described. In this modification, an example in which the device 107 to be held acquires the position of the device 107 to be held based on the electromagnetic wave EW from the communication device 108 will be described.

[0213] FIG. 20 is a diagram showing an example of the configuration of the positioning system 102 according to Modification 1.

[0214] The communication device 108 transmits an electromagnetic wave EW for positioning at a predetermined time interval, for example.

[0215] The held device 107 receives the electromagnetic wave EW for positioning transmitted from the communication device 108. The held device 107 acquires the position of the held device 107 based on the reception intensity, direction, etc. of the received electromagnetic wave EW for positioning. The held device 107 generates first moving body information MD1 including the position of the held device 107. The held device 107 transmits the first moving body information MD1 to the monitoring device 101 via the network N.

[0216] In this modification, the held device 107 further has a network interface 1070.

[0217] The positioning process according to this modification will be described with reference to FIG. 9. The communication device 108 executes step S203, for example, at a predetermined time interval. The held device 107 repeatedly executes steps S204 to S207.

[0218] This modification also has the same effect as that of Embodiment 1.

[0219] (Modification 2) In Embodiment 1, an example in which the association unit 106 uses the position of the held device 107 and the position and type of the sensor moving body SMB to associate the first moving body information MD1 and the second moving body information MD2 regarding the common moving body MB has been described. In this modification, another example of a method in which the association unit 106 associates the first moving body information MD1 and the second moving body information MD2 regarding the common moving body MB based on the position of the held device 107 and the position and type of the sensor moving body SMB will be described.

[0220] The association unit 106 according to this modification acquires the type of the moving body MB that holds the held device 107 instead of acquiring the moving speed of the held device 107 based on the first moving body information MD1 acquired by the first acquisition unit 104.

[0221] For this purpose, the association unit 106 according to this modification holds device information HDI as shown in FIG. 21 in advance, for example.

[0222] FIG. 21 is a diagram showing an example of device information HDI.

[0223] The device information HDI is information in which a device ID is associated with the type of the mobile body MB that holds the held device 107 indicated by the device ID.

[0224] The association unit 106 specifies the device ID included in the first mobile body information MD1 acquired by the first acquisition unit 104. The association unit 106 acquires the type of the mobile body MB associated with the specified device ID based on the device information HDI.

[0225] The association unit 106 according to this modification example associates the first mobile body information MD1 and the second mobile body information MD2 regarding the common mobile body MB based on the position of the held device 107 and the position and type of the sensor mobile body SMB. The association unit 106 according to this modification example further associates the first mobile body information MD1 and the second mobile body information MD2 regarding the common mobile body MB based on the type of the mobile body MB that holds the held device 107 acquired based on the device ID.

[0226] In this modification example, the device ID included in the first mobile body information MD1 is an example of specific information for specifying the type of the mobile body MB.

[0227] That is, the association unit 106 according to this modification example associates the first mobile body information MD1 and the second mobile body information MD2 regarding the common mobile body MB based on the specific information, the position of the held device 107, and the position and type of the sensor mobile body SMB.

[0228] Note that the specific information is not limited to the device ID of the held device 107, and may be a mobile body ID which is information for identifying the mobile body MB that holds the held device 107, or information indicating the type of the mobile body MB that holds the held device 107. In such a case, for example, the user may preset the mobile body ID, the type of the mobile body MB, etc. in the held device 107.

[0229] The association unit 106 according to this modification example executes the step S103 shown in FIG. 22 instead of the step S103 according to the first embodiment. FIG. 22 is a flowchart showing an example of the association process (step S103) according to this modification example.

[0230] The association unit 106 identifies the device ID included in the first moving body information MD1 acquired in step S101. The association unit 106 device ID based on this, acquires the held device 107 type of the moving body that holds (step S103f).

[0231] The association unit 106 associates the first moving body information MD1 and the second moving body information MD2 that are in a relationship satisfying the matching condition (step S103g).

[0232] The matching condition according to this modification example includes the same conditions A and B as in the first embodiment. The matching condition according to this modification example includes a condition C2 which is another example of the condition C regarding the type of the moving body MB. The condition C2 is that the type of the moving body MB obtained based on the device ID is the same as the type of the sensor moving body SMB.

[0233] Also in this modification example, similar to the first embodiment, the association unit 106 determines that the matching condition is satisfied when all of the conditions A to C are satisfied. The association unit 106, similar to the first embodiment, determines that the matching condition is not satisfied when at least one of the conditions A to C is not satisfied. The association unit 106 associates the first moving body information MD1 and the second moving body information MD2 that are in a relationship satisfying the matching condition as the first moving body information MD1 and the second moving body information MD2 regarding the common moving body.

[0234] The association unit 106 executes the same step S103d as in the first embodiment.

[0235] Note that in this modification example, the preparation process may not be executed.

[0236] According to this modification example, the first mobile body information MD1 includes a device ID as specific information for specifying the type of the mobile body MB that holds the held device 107. The association unit 106 associates the first mobile body information MD1 and the second mobile body information MD2 regarding the common mobile body MB based on the specific information, the position of the held device 107, and the position and type of the sensor mobile body SMB.

[0237] The association unit 106 can obtain the type of the mobile body MB that holds the held device 107 by using the specific information. Therefore, by using the type of the mobile body MB that holds the held device 107 and the type of the sensor mobile body SMB, the first mobile body information MB1 and the second mobile body information MB2 can be associated more accurately than when only using the position. Accordingly, it becomes possible to accurately detect the mobile body MB.

[0238] (Modification Example 3) The positioning system 102 measures the position of the held device 107 by using the electromagnetic wave EW. Therefore, due to the influence such as the propagation state of the electromagnetic wave EW, the measurement accuracy of the position of the held device 107 may decrease. In this modification example, an example of changing the association method according to the measurement accuracy of the position of the held device 107 will be described.

[0239] The association unit 106 obtains a first reliability, which is the reliability of the position included in the first mobile body information, based on a predetermined first element. The association unit 106 associates the first mobile body information MD1 and the second mobile body information MD2 regarding the common mobile body MB based on the position of the held device 107 for which the first reliability satisfies the first condition, and the position and type of the sensor mobile body SMB.

[0240] The first element includes at least one of the following elements A to D, for example.

[0241] Element A is the reception intensity of the electromagnetic wave EW used for positioning the held device 107. The lower the reception intensity, the lower the positioning accuracy of the positioning system 102.

[0242] The communication device 108 generates first mobile body information MD1 including the reception intensity of the electromagnetic wave EW and transmits it to the monitoring device 101. The association unit 106 acquires the reception intensity of the electromagnetic wave EW based on the first mobile body information MD1.

[0243] Element B is the positional relationship between the communication device 108 that transmits or receives the electromagnetic wave EW and the held device 107. The positional relationship is, for example, the distance between the communication device 108 and the held device 107, and the direction of the held device 107 as seen from the communication device 108. The longer the distance, the accuracy lower the positioning of the positioning system 102. The greater the difference in the angle between the direction of the held device 107 as seen from the communication device 108 and, for example, a predetermined reference direction, the accuracy lower the positioning of the positioning system 102.

[0244] The association unit 106 acquires the positional relationship between the communication device 108 and the held device 107 based on the image data PD included in the sensor information SI.

[0245] Element C is whether there is an obstacle that inhibits the propagation of the electromagnetic wave EW between the held device 107 and the communication device 108. If there is an obstacle such as a vehicle between the held device 107 and the communication device 108, the obstacle inhibits the propagation of the electromagnetic wave EW. The positioning accuracy of the positioning system 102 when there is an obstacle is lower than when there is no obstacle.

[0246] The association unit 106 determines the presence or absence of an obstacle based on the image data PD included in the sensor information SI.

[0247] Element D is the direction of the mobile body MB with respect to the communication device 108. For example, assume that the mobile body MB is a person and the held device 107 is hung from the neck and carried. In this case, when the person faces away from the communication device 108, the body becomes an obstacle that inhibits the propagation of the electromagnetic wave EW, and the positioning accuracy is lower than when the person faces the communication device 108.

[0248] Based on the image data PD included in the sensor information SI, the association unit 106 acquires direction information indicating the orientation of the mobile body MB with respect to the communication device 108.

[0249] For example, the association unit 106 acquires a first reliability based on a relational expression including at least one of elements A to D as a parameter. The relational expression may be defined based on experiments.

[0250] The first condition is a condition regarding the first reliability, and includes as a condition being equal to or higher than a predetermined reliability.

[0251] Based on the position of the held device 107 for which the first reliability satisfies the first condition, the position of the sensor mobile body SMB, and the type thereof, the association unit 106 associates the first mobile body information MD1 and the second mobile body information MD2 regarding the common mobile body MB.

[0252] According to this modification example, in associating the information MD1 and MD2, the association unit 106 uses, among the positions of the held device 107 included in the first mobile body information, the position of the held device 107 for which the first reliability satisfies the first condition. Therefore, the association can be performed based on highly accurate information. Accordingly, it becomes possible to accurately detect the mobile body MB.

[0253] (Modification Example 4) In Modification Example 3, an example was described in which the position of the held device 107 for which the first reliability does not satisfy the first condition is not used in associating the information MD1 and MD2. However, the matching condition may be changed according to the first reliability.

[0254] The association unit 106 according to this modification example changes the condition B included in the matching condition according to the first reliability. For example, as the first reliability is lower, the predetermined range for determining that the two positions match is widened.

[0255] According to this modification example, it is possible to reduce the possibility of incorrect association based on a position with a low first reliability. Accordingly, it becomes possible to accurately detect the mobile body MB.

[0256] (Modification Example 5) The second acquisition unit 105 acquires the position of the sensor mobile body SMB based on the sensor information. For example, outdoors, due to the influence of the sensing environment such as sunlight, the image quality included in the sensor information may deteriorate, and the accuracy of the position of the sensor mobile body SMB may decrease. In this modification example, an example of changing the association method according to the accuracy of the position of the sensor mobile body SMB will be described.

[0257] The second acquisition unit 105 acquires a second reliability that is the reliability of the position of the sensor mobile body SMB. For example, when acquiring the position and type of the sensor mobile body SMB using a learning model, the learning model according to this modification example further outputs the second reliability.

[0258] The association unit 106 associates the first mobile body information MD1 and the second mobile body information MD2 regarding the common mobile body MB based on the position of the held device 107 and the position and type of the sensor mobile body SMB whose second reliability satisfies the second condition.

[0259] The second condition is a condition regarding the second reliability, and includes a condition that it is equal to or higher than a predetermined reliability.

[0260] According to this modification example, the association unit 106 uses, for the association of the information MD1 and MD2, the position of the sensor mobile body SMB obtained based on the sensor information, among which the second reliability satisfies the second condition. Therefore, the association can be performed based on highly accurate information. Accordingly, it becomes possible to accurately detect the mobile body MB.

[0261] (Modification Example 6) In modification example 5, an example was described in which the position of the sensor mobile body SMB for which the second reliability does not satisfy the 2 condition is not used for the association of the information MD1 and MD2. However, the matching condition may be changed according to the second reliability.

[0262] The association unit 106 according to this modification example changes condition B included in the matching condition according to the second reliability. For example, the lower the second reliability, the wider the predetermined range for determining that two positions match.

[0263] According to this modification example, it is possible to reduce the possibility of incorrect association based on the position with low second reliability. Therefore, it becomes possible to accurately detect the moving body MB.

[0264] (Modification example 7) The association unit 106 may correct one or both of the position included in the first moving body information MD1 and the position of the sensor moving body SMB. When correcting the position included in the first moving body information MD1, the association unit 106 associates the information MD1 and D2 regarding the common moving body MB using the corrected position included in the first moving body information MD1. When correcting the position included in the second moving body information MD2, the association unit 106 associates the information MD1 and D2 regarding the common moving body MB using the corrected position of the sensor moving body SMB.

[0265] Specifically, the association unit 106 corrects the position included in the first moving body information MD1. In this case, the association unit 106 associates the first moving body information MD1 and the second moving body information MD2 regarding the common moving body MB based on the corrected position, the position and type of the sensor moving body SMB.

[0266] Also, the association unit 106 corrects the position of the sensor moving body SMB. In this case, the association unit 106 associates the first moving body information MD1 and the second moving body information MD2 regarding the common moving body MB based on the position of the holding device 107, the corrected position of the sensor moving body SMB, and the type of the sensor moving body SMB.

[0267] FIG. 23 is a diagram for explaining an example of a method for correcting a position.

[0268] The association unit 106 predicts the position PZ1_T4 at time T4 based on the position history Z1_T1, Z1_T2, Z1_T3. In FIG. 23, the positions Z1_T1, Z1_T2, Z1_T3 represent the positions at times T1, T2, T3 respectively. The time T4 is a time after times T1, T2, T3. The association unit 106 predicts the position PZ1_T4 at time T4 based on, for example, an approximate straight line of the position history Z1_T1, Z1_T2, Z1_T3.

[0269] When the position Z1_T4 exceeds a predetermined range from the predicted position PZ1_T4, the association unit 106 corrects the position Z1_T4 included in the first moving body information MD1. The position Z1_T4 is the position included in the first moving body information MD1 or the position of the sensor moving body SMB. The association unit 106 sets, for example, the midpoint between the predicted position PZ1_T4 and the position Z1_T4 included in the first moving body information MD1 as the corrected position MZ1_T4. In FIG. 23, the position MZ1_T4 indicates the corrected position.

[0270] According to this modification example, since correction is performed, a more accurate position can be obtained. Therefore, the possibility of incorrect association can be reduced. Accordingly, the moving body MB can be detected with high accuracy.

[0271] <<Embodiment 2>> In this embodiment, an example in which the monitoring device 101 causes the display unit to display the result of association will be described.

[0272] FIG. 24 is a diagram showing an overview of a monitoring system 200 according to Embodiment 2 of the present invention. The monitoring system 200 includes a monitoring device 201 that replaces the monitoring device 101 according to Embodiment 1. The monitoring device 201 includes a display control unit 221 and a display unit 222 in addition to the configuration included in the monitoring device 101 according to Embodiment 1. Except for these points, the monitoring system 200 may be configured in the same manner as the monitoring system 100 according to Embodiment 1.

[0273] The display control unit 221 causes the display unit 222 to display various information. The display unit 222 displays various information according to the control of the display control unit 221.

[0274] For example, the display control unit 221 causes the display unit 222 to display the detection result information DRI. Note that the display control unit 221 may cause the display unit 222 to display any one or more of the authentication information COI, the holder information HBI, and the suspicious information SOI.

[0275] The physical configuration of the monitoring system 200 may be the same as that of the monitoring system 100 according to the first embodiment.

[0276] (Operation of the monitoring system 200) The monitoring system 200 executes the same positioning process and sensing process as in the first embodiment.

[0277] FIG. 25 is a flowchart showing an example of the monitoring process according to the present embodiment. In the monitoring process according to the present embodiment, after the monitoring device 201 executes the same steps S101 to S103 as in the first embodiment, it executes step S204.

[0278] The display control unit 221 causes the display unit 222 to display the detection result information DRI (step S204).

[0279] Specifically, for example, the display control unit 221 causes the display unit 222 to display a mapping diagram obtained by mapping the positions included in the detection result information DRI onto a diagram showing the monitoring area MA. The diagram showing the monitoring area MA is an overhead view, a plan view, or the like of the monitoring area MA.

[0280] For example, the display control unit 221 may cause the display unit 222 to display the positions included in each piece of information in different modes according to whether the position to be mapped in the mapping diagram is included in any of the authentication information COI, the holder information HBI, and the suspicious information SOI. Different modes in the display refer to the shape, color, whether it blinks, the blinking speed, etc. of the mark indicating the position.

[0281] For example, the display control unit 221 causes the display unit 222 to display a mapping diagram including the shielding area SA. The shielding area SA is an area where the propagation of the electromagnetic wave EW is inhibited as seen from the communication device 108 that transmits or receives the electromagnetic wave EW used for positioning the held device 107.

[0282] Generally, for the electromagnetic wave EW, relatively large objects such as automobiles or people intervening between the held device 107 and the communication device 108 may act as obstacles and inhibit the propagation. The display control unit 221 specifies, as the shielding area SA, an area farther from the obstacle that inhibits the propagation of the electromagnetic wave EW as seen from the communication device 108.

[0283] Examples of the obstacles include objects such as automobiles and pillars provided in the monitoring area MA, which are predetermined. The display control unit 221 performs image processing on the image data PD to identify the obstacles. The area farther from the obstacle is, for example, an area within the area surrounded by a straight line connecting the outer edge of the obstacle from the communication device 108 and that is farther from the obstacle as seen from the communication device 108.

[0284] FIG. 26 is a diagram showing an example of the mapping diagram. P1 to P5 in the figure respectively indicate moving bodies MB1 to MB5.

[0285] In the figure, the positions P1 and P4 indicated by solid circles are positions included in the authentication information COI. The positions P2 and P3 indicated by dotted circles are positions included in the holder information HBI. The position P5 indicated by double circles is a position included in the suspicious information SOI.

[0286] Also in the figure, the hatched area is the shielding area SA. Note that the method of indicating the shielding area SA in the mapping diagram may be changed as appropriate.

[0287] Even if the positioning system 102 can measure the position of the held device 107 existing in the shielding area SA, there is a high possibility that the accuracy is poor. Therefore, when there is a position based on the authentication information COI and the holder information HBI in the shielding area SA of the mapping diagram, the user can easily recognize that there may be a large error in that position by referring to the mapping diagram.

[0288] Note that the display control unit 221 may cause the display unit 222 to display, in the mapping diagram, the position included in any one or more of the authentication information COI, the holder information HBI, and the suspicious information SOI in a manner different from the position included in other information. The display control unit 221 may cause the display unit 222 to display the position in a different manner according to the type of the moving body MB corresponding to each position in the mapping diagram. The display control unit 221 may cause the display unit 222 to display the mapping diagram using characters, tables, etc.

[0289] So far, the second embodiment of the present invention has been described.

[0290] According to the present embodiment, the display control unit 221 causes the display unit 222 to display a mapping diagram in which the position included in the detection result information DRI is mapped to a diagram showing the monitoring area MA. The position included in the detection result information DRI is the position of the moving body MB detected by the monitoring system 100. Therefore, the user can easily know the position of the moving body MB in the monitoring area MA by referring to the mapping diagram. Therefore, it becomes possible to improve the convenience for the user.

[0291] According to the present embodiment, the mapping diagram includes a shielding area SA which is an area where the propagation of the electromagnetic wave EW is inhibited as viewed from the communication device 108 that transmits or receives the electromagnetic wave EW used for positioning the held device 107.

[0292] <<Embodiment 3>> In the present embodiment, an example in which the monitoring device 101 makes a notification based on the associated result will be described.

[0293] FIG. 27 is a diagram showing an overview of a monitoring system 300 according to Embodiment 3 of the present invention. The monitoring system 300 includes a monitoring device 301 that replaces the monitoring device 301 according to Embodiment 1. The monitoring system 300 further includes a security device 323.

[0294] The security device 323 is an example of a predetermined device and is a device used for security. The security device 323 is connected to the monitoring device 301 via the network N. The security device 323 is, for example, a device mounted on a security vehicle, and notifies a person on board (for example, a security guard) of, for example, the notification information described later using image display, sound, etc.

[0295] In addition to the configuration included in the monitoring device 101 according to Embodiment 1, the monitoring device 301 includes a notification unit 324 and a risk level specifying unit 325. Except for these points, the monitoring system 300 may be configured in the same manner as the monitoring system 100 according to Embodiment 1.

[0296] When there is second moving object information MD2 that is not associated with the first moving object information MD1, the notification unit 324 notifies the held device 107 or the security device 323 of the notification information.

[0297] The notification information is information for notifying that a suspicious moving object MB has been detected in the monitoring area MA. For example, the notification information includes the position included in the second moving object information MD2 that is not associated with the first moving object information MD1.

[0298] The risk level specifying unit 325 specifies the risk level of the suspicious moving object MB.

[0299] For example, the display control unit 221 causes the display unit 222 to display the detection result information DRI. Note that the display control unit 221 may cause the display unit 222 to display any one or more of the authentication information COI, the holder information HBI, and the suspicious information SOI.

[0300] The physical configuration of the monitoring system 200 may be the same as that of the monitoring system 100 according to Embodiment 1. The physical configuration of the security device 323 may be the same as that of the monitoring device 301.

[0301] (Operation of the monitoring system 300) The monitoring system 300 executes the same positioning process and sensing process as in Embodiment 1.

[0302] FIG. 28 is a flowchart showing an example of the monitoring process according to the present embodiment. In the monitoring process according to the present embodiment, after the monitoring device 201 executes the same steps S101 to S103 as in Embodiment 1, it executes step S305.

[0303] The notification unit 324 determines whether there is suspicious information SOI (step S305).

[0304] As described above, the suspicious information SOI is information regarding the suspicious moving body MB indicated by the second moving body information MB2 that is not associated with the first moving body information MB1. Therefore, the notification unit 324 can execute step S305 to determine whether there is second moving body information MB2 that is not associated with the first moving body information MD1. In other words, it can be determined whether there is a suspicious moving body MB in the monitoring area MA.

[0305] For example, in step S305, the notification unit 324 may determine whether the second moving body information MB2 that is not associated with the first moving body information MB1 exists for a longer time than a predetermined time.

[0306] For example, in step S305, the notification unit 324 may determine whether the second moving body information MB2 that is not associated with the first moving body information MB1 stays within a predetermined range for a longer time than a predetermined time.

[0307] For example, in step S305, the notification unit 324 may determine whether the number N1 of the held devices 107 in the monitoring area MA is different from the number N2 of the suspicious moving objects MB in the monitoring area MA, and whether there is suspicious information SOI.

[0308] In this case, the notification unit 324 acquires, as the first number N1, for example, the number of device IDs included in the authentication information COI and the holder information HBI including the position in the monitoring area MA. The notification unit 324 acquires, as the number N2 of the suspicious moving objects MB in the monitoring area MA, for example, the number of pieces of suspicious information SOI (for example, the number of sensor moving object IDs) including the position in the monitoring area MA.

[0309] When it is determined that there is no suspicious information SOI (step S305; No), the first acquisition unit 104 executes step S101.

[0310] When it is determined that there is suspicious information SOI (step S305; Yes), the notification unit 324 notifies the notification information (step S306).

[0311] FIG. 29 is a flowchart showing an example of the notification process (step S305) according to the present embodiment.

[0312] The risk level specifying unit 325 specifies the risk level of the suspicious moving object MB (step S306a).

[0313] For example, the risk level specifying unit 325 specifies the risk level based on the difference between the number N3 of security guards in the first area, which is a predetermined range from the position of the suspicious moving object MB, and the number N2 of the suspicious moving objects MB in the monitoring area MA.

[0314] The risk determination unit 325 identifies a first area, for example, based on the position included in the suspicious information SOI. For example, the first area is an area within a predetermined distance D1 from the position included in the suspicious information SOI. The notification unit 324 acquires the authentication information COI including the position within the first area and the device ID included in the holder information HBI. The notification unit 324 refers to the device information HDI (see FIG. 21) and acquires the number of device IDs associated with the security guards among the acquired device IDs. The number of device IDs associated with the security guards is the number N3 of security guards within the first area.

[0315] When the number N2 of suspicious moving bodies MB is greater than the number N3 of security guards within the first area, the risk determination unit 325 determines a higher risk when the number N3 of security guards within the first area is greater than when the number N2 of suspicious moving bodies MB is the same as the number N3 of security guards within the first area. Such a risk is, for example, the difference between the number N2 of suspicious moving bodies MB and the number N3 of security guards within the first area.

[0316] Also, for example, the risk determination unit 325 determines the risk of the suspicious moving body MB based on whether the suspicious moving body MB possesses dangerous items such as knives and guns using microwaves, radar, etc. Known techniques can be used for the technique of determining whether a dangerous item is possessed. (For example, see https: / / jpn.nec.com / techrep / journal / g21 / n01 / pdf / 210121.pdf).

[0317] Note that the display control unit 221 according to Embodiment 3 may acquire a risk and generate suspicious information SOI including the risk.

[0318] The notification unit 324 notifies notification information to the held device 107 or the security device 323 (step S306b).

[0319] The notification unit 324 notifies notification information to the held device 107 via the network N and the communication device 108. The notification unit 324 notifies notification information to the security device 323 via the network N.

[0320] For example, the notification unit 324 notifies notification information including the risk level specified in step S306a.

[0321] For example, the notification unit 324 identifies the held device 107 held by a security guard located in the first area, and notifies the identified held device 107 of the notification information.

[0322] The notification unit 324 refers to, for example, the device information HDI (see FIG. 21), and identifies the device ID associated with the security guard among the authentication information COI including the position within the first area and the device ID of the holder information HBI. The device ID identified here is information indicating the held device 107 held by a security guard located within the first area. The notification unit 324 notifies the identified device ID of the notification information. Note that the authentication information COI and the holder information HBI are information based on the first moving body information.

[0323] The notification information in this case may include, for example, an instruction to head towards the position of the sensor mobile body SMB (the position included in the second moving body information MD2). Also, for example, the notification information may include content according to the risk level (for example, the risk level). Further, for example, when the risk object specifying unit 325 detects a dangerous object, the notification information may include the content of the dangerous object.

[0324] The notification unit 324 determines whether or not it has received the first request information from the held device 107 located within the second area, which is a predetermined range from the position of the suspicious mobile body MB (step S306c).

[0325] The first request information is information including a request from a person holding the held device 107 such as a security guard. The request is, for example, a request for support for dealing with the suspicious mobile body MB. The second area is narrower than the first area. For example, the second area is an area within a predetermined distance D2 from the position included in the suspicious information SOI. Here, the distance D2 is shorter than the distance D1.

[0326] Since the first request information is transmitted from the held device 107 located within the second area, the mobile body MB that holds the held device 107 is near the suspicious mobile body MB. When it is difficult for the mobile body MB to respond to the suspicious mobile body MB, the held device 107 is used to transmit the first request information. The held device 107 that transmits the first request information is typically the held device 107 held by a security guard, but it may also be a held device 107 held by someone other than a security guard. For example, the held device 107 that transmits the first request information may be the held device 107 held by a worker who has discovered the suspicious mobile body MB.

[0327] When it is determined that the first request information has not been received (step S306c; No), the notification unit 324 returns to the monitoring process (see FIG. 28). The first acquisition unit 104 executes step S101.

[0328] When it is determined that the first request information has been received (step S306c; Yes ), the notification unit 324 notifies the second request information to the held devices 107 other than the held device 107 that has transmitted the first request information (step S306d).

[0329] The second request information is information for a person holding a held device 107 such as a security guard to request support. The second request information is information notified when a held device 107 held by a security guard or the like near the suspicious mobile body MB receives the first request information. Therefore, when the second request information is notified, there is a possibility that a security guard or the like near the suspicious mobile body MB is exposed to danger. Therefore, the second request information may include an instruction to immediately go to support the response to the suspicious mobile body MB. The second request information may include the position of the suspicious mobile body MB.

[0330] For example, the notification unit 324 notifies the second request information to the held device 10 held by a security guard located in the monitoring area MA.

[0331] In this case, the notification unit 324 identifies, for example, the held device 107 held by the security guard located in the first area, and notifies the identified held device 107 of the second request information.

[0332] Specifically, for example, the notification unit 324 refers to the first moving body information MD1 acquired within a predetermined time before the first acquisition unit 104 receives the first request information, and identifies the device ID including the position within the monitoring area MA. The notification unit 324 refers to the device information HDI (see FIG. 21), and identifies the device ID associated with the security guard among the device IDs including the position within the monitoring area MA. The device ID identified here is information indicating the held device 107 held by the security guard who is likely to be located within the monitoring area MA. The notification unit 324 notifies the identified device ID of the second request information.

[0333] So far, the third embodiment of the present invention has been described.

[0334] According to the present embodiment, when there is second moving body information MD2 not associated with the first moving body information MD1, the notification unit 324 notifies the held device 107 or a predetermined device of the notification information.

[0335] The user of the held device 107 or the predetermined device that has received the notification information knows that the suspicious moving body MB is in the monitoring area MA, and can respond to the suspicious moving body MB. Therefore, it is possible to improve the safety of the monitoring area MA.

[0336] Generally, in the image data PD, there may be a case where correct association cannot be performed because a plurality of moving bodies MB overlap. In such a case, there is a risk of erroneously notifying the notification information even though the suspicious moving body MB is not in the monitoring area MA.

[0337] According to this embodiment, when the second moving body information MD2 not associated with the first moving body information MD1 stays within a predetermined range longer than a predetermined time, the notification unit 324 notifies the notification information. Thereby, the possibility of erroneously notifying the notification information can be reduced. Therefore, it becomes possible to improve the convenience for the user of the monitoring device 301.

[0338] According to this embodiment, when the second moving body information MD2 not associated with the first moving body information MD1 stays within a predetermined range longer than a predetermined time, the notification unit 324 notifies the notification information. Thereby, the possibility of erroneously notifying the notification information can be reduced. Therefore, it becomes possible to improve the convenience for the user of the monitoring device 301.

[0339] Generally, when the first moving body information MD1 is in the shielding area SA, the first reliability may be low. Even in such a case, it may be possible to correctly detect the number of the held devices 107 existing in the monitoring area MA using the first moving body information MD1.

[0340] According to this embodiment, when the number of the held devices 107 located in the monitoring area MA is different from the number of the sensor moving bodies SMB located in the monitoring area MA, and there is second moving body information MD2 not associated with the first moving body information MD1, the notification unit 324 notifies the notification information. Thereby, the possibility of erroneously notifying the notification information can be reduced. Therefore, it becomes possible to improve the convenience for the user of the monitoring device 301.

[0341] According to this embodiment, the moving body M B includes security guards. The notification unit 324 notifies the notification information to the held device 107 held by a security guard located in a first area which is a predetermined range from the position of the suspicious moving body MB. Thereby, the security guard can know that there is a suspicious moving body MB in the monitoring area MA. Therefore, it becomes possible to improve the security of the monitoring area MA.

[0342] According to this embodiment, when the notification unit 324 further acquires first request information for requesting support from the held device 107 located within a second area, which is a predetermined range from the position of the suspicious moving body MB, the notification unit 324 notifies the held device 107 other than the held device 107 that transmitted the first request information of the second request information. The second area is an area narrower than the first area.

[0343] Thereby, a moving body near the suspicious moving body MB can request support. Therefore, it becomes possible to improve the safety of the monitoring area MA.

[0344] According to this embodiment, a risk level specifying unit 325 for specifying the risk level of the suspicious moving body MB is further provided. The notification information includes content according to the risk level. Thereby, a moving body that has received the notification can know the risk level of the suspicious moving body MB and can take appropriate measures. Therefore, it becomes possible to improve the safety of the monitoring area MA.

[0345] According to this embodiment, the held device 107 or the predetermined device notified by the notification unit 324 is the held device 107 held by the security guard or the security device 323. Thereby, the notification information can be notified to the security guard who guards the monitoring area MA. Therefore, it becomes possible to improve the safety of the monitoring area MA.

[0346] As described above, the embodiments and modifications of the present invention have been described with reference to the drawings, but these are examples of the present invention, and various configurations other than the above can also be adopted.

[0347] Also, in the plurality of flowcharts used in the above description, a plurality of steps (processes) are described in order, but the execution order of the steps executed in each of the embodiments is not limited to the described order. In each of the embodiments, the order of the illustrated steps can be changed within a range that does not substantially affect the content. Also, the above-described embodiments and modifications can be combined within a range where the contents do not conflict.

[0348] Some or all of the above embodiments may be described as follows, but are not limited thereto.

[0349] 1. A first acquisition means for acquiring first moving body information including the position of a held device held by a predetermined moving body; A second acquisition means for acquiring second moving body information including the position and type of a sensor moving body which is a moving body detected based on sensor information generated by a sensor device; And an association means for associating the first moving body information and the second moving body information regarding a common moving body based on the position of the held device and the position and type of the sensor moving body. Monitoring device. 2. The association means associates the first moving body information and the second moving body information regarding the common moving body further based on a moving speed obtained based on the position of the held device. The monitoring device according to Addendum 1. 3. The first moving body information includes specific information for specifying the type of the moving body holding the held device. The association means associates the first moving body information and the second moving body information regarding the common moving body further based on the specific information. The monitoring device according to Addendum 1. or 2. 4. The association means acquires a first reliability which is the reliability of the position included in the first moving body information based on at least one of (A) the reception intensity of an electromagnetic wave used for positioning the held device, (B) the positional relationship between a communication device that transmits or receives the electromagnetic wave and the held device, (C) whether there is an obstacle that inhibits the propagation of the electromagnetic wave between the held device and the communication device, and (D) the direction of the moving body with respect to the communication device, and associates the first moving body information and the second moving body information regarding the common moving body based on the position of the held device, the position and type of the sensor moving body, where the first reliability satisfies a first condition. The monitoring device according to any one of Addenda 1. to 3. 5. The association means obtains a first reliability, which is the reliability of the position included in the first moving body information, based on at least one of (A) the reception intensity of the electromagnetic wave used for positioning the held device, (B) the positional relationship between the communication device that transmits or receives the electromagnetic wave and the held device, (C) whether there is an obstacle that inhibits the propagation of the electromagnetic wave between the held device and the communication device, and (D) the orientation of the moving body with respect to the communication device, and changes the relationship between the position of the held device and the position of the sensor moving body included in the matching condition for associating the first moving body information and the second moving body information according to the first reliability. The monitoring device according to any one of Appendices 1 to 4. 6. The association means obtains a second reliability, which is the reliability of the position of the sensor moving body, and associates the first moving body information and the second moving body information regarding the common moving body based on the position of the held device and the position and type of the sensor moving body where the second reliability satisfies a second condition. The monitoring device according to any one of Appendices 1 to 5. 7. The association means obtains a second reliability, which is the reliability of the position of the sensor moving body, and changes the relationship between the position of the held device and the position of the sensor moving body included in the matching condition for associating the first moving body information and the second moving body information according to the second reliability. The monitoring device according to any one of Appendices 1 to 5. 8. The association means corrects the position included in the first moving body information, and associates the first moving body information and the second moving body information regarding the common moving body based on the corrected position, the position and type of the sensor moving body. The monitoring device according to any one of Appendices 1 to 7. 9. The association means corrects the position of the sensor moving body, and associates the first moving body information and the second moving body information regarding the common moving body based on the position of the held device, the corrected position of the sensor moving body, and the type of the sensor moving body. The monitoring device according to any one of Supplementary Notes 1 to 8. 10. The association means generates detection result information including at least one of: first information including the position of the moving body indicated by the associated first moving body information and second moving body information; second information including the position of the moving body indicated by the first moving body information not associated with the second moving body information; and third information including the position of the moving body indicated by the second moving body information not associated with the first moving body information. The monitoring device according to any one of Supplementary Notes 1 to 9. 11. The monitoring device further includes display control means for causing a display means to display the position included in the detection result information. The display control means causes the display means to display a mapping diagram in which the position included in the detection result information is mapped on a diagram showing the monitoring area. The monitoring device according to Supplementary Note 10. 12. The mapping diagram includes a shielding area that is an area where the propagation of the electromagnetic wave is inhibited as seen from a communication device that transmits or receives the electromagnetic wave used for positioning the held device. The monitoring device according to Supplementary Note 11. 13. When there is second moving body information not associated with the first moving body information, the monitoring device further includes notification means for notifying notification information to the held device or a predetermined device. The monitoring device according to any one of Supplementary Notes 1 to 12. 14. The notification means notifies the notification information when the second moving body information not associated with the first moving body information exists for a longer time than a predetermined time. The monitoring device according to Supplementary Note 13. 15. The notification means notifies the notification information when the second moving body information not associated with the first moving body information remains within a predetermined range for a longer time than a predetermined time. The monitoring device according to Supplementary Note 13 or 14. 16. The notification means notifies the notification information when the number of the held devices located in the monitoring area is different from the number of sensor mobile bodies located in the monitoring area, and there is second mobile body information that is not associated with the first mobile body information. The monitoring device according to any one of Appendices 13 to 15. 17. The mobile body includes a security guard. When there is second mobile body information that is not associated with the first mobile body information, the notification means notifies the notification information to the held device held by a security guard located in a first area that is a predetermined range from the position of the mobile body indicated by the second mobile body information. The monitoring device according to any one of Appendices 13 to 16. 18. When the notification means acquires first request information for requesting support from the held device located in a second area that is a predetermined range from the position of the mobile body indicated by the second mobile body information that is not associated with the first mobile body information, the notification means notifies second request information to the held devices other than the held device that transmitted the first request information. The second area is a narrower area than the first area. The monitoring device according to any one of Appendices 13 to 17. 19. The monitoring device further includes a risk level specifying means for specifying the risk level of the mobile body indicated by the second mobile body information that is not associated with the first mobile body information. The notification information includes content according to the risk level. The monitoring device according to any one of Appendices 13 to 18. 20. The mobile body includes a security guard. The held device or the predetermined device notified by the notification means is a held device held by a security guard or a security device. The monitoring device according to any one of Appendices 13 to 19. 21. The sensor information includes image data or point cloud data. The monitoring device according to any one of Appendices 1 to 20. 22. A monitoring system comprising the monitoring device described in Appendices 1 to 21, a positioning system, and a sensor device that communicate with the monitoring device via a network, wherein the positioning system includes the device to be held, and generates first moving body information including the position of the device to be held, and the sensor device generates the sensor information. Monitoring system. 23. A computer obtains first moving body information including the position of a device to be held held by a predetermined moving body, obtains second moving body information including the position and type of a sensor moving body, which is a moving body detected based on sensor information generated by a sensor device, and associates the first moving body information and the second moving body information regarding a common moving body based on the position of the device to be held, and the position and type of the sensor moving body. Monitoring method. Monitoring method. 24. A program for causing a computer to obtain first moving body information including the position of a device to be held held by a predetermined moving body, obtain second moving body information including the position and type of a sensor moving body, which is a moving body detected based on sensor information generated by a sensor device, and associate the first moving body information and the second moving body information regarding a common moving body based on the position of the device to be held, and the position and type of the sensor moving body. Program.

Explanation of Signs

[0350] 100, 200, 300 Monitoring system 101, 201, 301 Monitoring device 102 Positioning system 103 Sensor device 104 First acquisition unit 105 Second acquisition unit 106 Association unit 107 Device to be held 108 Communication device 221 represents the control unit 222 represents the display unit 323 is the security device 324 is the notification unit 325 is the risk level determination unit COI authentication information DRI detection result information EW is the electromagnetic wave HBI holder information HDI device information MA is the monitoring area MB is the moving body MD1 is the first moving body information MD2 is the second moving body information MI is the association information PD is the image data SA is the shielding area SCI is the suspicious candidate information SI is the sensor information SMB is the sensor moving body SOI is the suspicious information SV is the standard speed data

Claims

1. a first acquisition means for acquiring first moving body information including the position of a held device held by a predetermined moving body; a second acquisition means for acquiring second moving body information including the position and type of a sensor moving body which is a moving body detected based on sensor information generated by a sensor device; and an association means for associating the first moving body information and the second moving body information regarding a common moving body based on the position of the held device and the position and type of the sensor moving body. A monitoring device.

2. The association means associates the first moving body information and the second moving body information regarding the common moving body further based on a moving speed obtained based on the position of the held device. The monitoring device according to claim 1.

3. The first moving body information includes specific information for specifying the type of the moving body holding the held device, and the association means associates the first moving body information and the second moving body information regarding the common moving body further based on the specific information. The monitoring device according to claim 1 or 2.

4. The association means generates detection result information including at least one of: first information including the position of the moving body indicated by the associated first moving body information and second moving body information; second information including the position of the moving body indicated by the first moving body information not associated with the second moving body information; and third information including the position of the moving body indicated by the second moving body information not associated with the first moving body information. The monitoring device according to any one of claims 1 to 3.

5. further comprising display control means for causing a display means to display the position included in the detection result information, and the display control means causes the display means to display a mapping diagram in which the position included in the detection result information is mapped on a diagram showing a monitoring area. The mapping diagram includes a shielding region, which is a region where the propagation of the electromagnetic wave is inhibited, as seen from a communication device that transmits or receives the electromagnetic wave used for positioning the held device. The monitoring device according to claim 4.

6. When there is the second moving body information not associated with the first moving body information, it further includes a notification means for notifying notification information to the held device or a predetermined device. The monitoring device according to any one of claims 1 to 5.

7. The moving body includes a security guard. The notification means notifies the notification information to the held device held by a security guard located in a first region, which is a predetermined range from the position of the moving body indicated by the second moving body information not associated with the first moving body information. Further, when acquiring first request information for requesting support from the held device located within a second region, which is a predetermined range from the position of the moving body indicated by the second moving body information not associated with the first moving body information, the notification means notifies second request information to the held devices other than the held device that transmitted the first request information. The second region is a region narrower than the first region. The monitoring device according to claim 6.

8. It further includes a risk level specifying means for specifying the risk level of the moving body indicated by the second moving body information not associated with the first moving body information. The notification information includes content according to the risk level. The monitoring device according to claim 6 or 7.

9. A computer acquires first moving body information including the position of a held device held by a predetermined moving body, acquires second moving body information including the position and type of a sensor moving body, which is a moving body detected based on sensor information generated by a sensor device, Including associating the first moving body information and the second moving body information regarding a common moving body based on the position of the held device, the position and type of the sensor moving body Monitoring method.

10. To a computer, Obtain first moving body information including the position of a held device held by a predetermined moving body, Obtain second moving body information including the position and type of a sensor moving body which is a moving body detected based on sensor information generated by a sensor device, A program for causing execution of associating the first moving body information and the second moving body information regarding a common moving body based on the position of the held device, the position and type of the sensor moving body

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