Resending control device, collection device, control method, and program

Abstract

Provide a video that can capture past situations. 【Solution means】 The retransmission control device includes a receiving unit that receives the video captured by one or more cameras provided in the moving body from a collecting device that collects the video, an abnormality determination unit that determines whether an abnormality has occurred in at least a part of the received video, and a transmitting unit that transmits abnormality information regarding the abnormality to the collecting device according to whether the abnormality has occurred. The collecting device is caused to retransmit the video captured by the camera by the abnormality information.

Description

Technical Field

[0001] The present invention relates to a retransmission control device, a collection device 、Control method and a program.

Background Art

[0002] In recent years, technologies for monitoring self-driving vehicles that travel without human operation, robots that act automatically, etc. (hereinafter referred to as self-driving vehicles, etc.) have been developed. For example, Patent Document 1 discloses a technique for displaying an image in which the cause of an event is imaged when an event occurs in a self-driving vehicle.

[0003] In addition, as a monitoring method, there is also a method in which the current situation of a self-driving vehicle, etc. can be grasped by transmitting the imaging video of a camera provided in the self-driving vehicle, etc., and the past situation of the self-driving vehicle, etc. can be grasped by referring to the past imaging video.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the above-described monitoring method, when a self-driving vehicle, etc. travels in an area with a poor communication environment, an abnormality (image loss or disturbance) may occur in the video distribution from the camera provided in the self-driving vehicle, etc. to the remote monitoring server. If an abnormality occurs during video distribution, the saved video may also be abnormal, and it may be difficult to grasp the past situation from the video.

[0006] Therefore, the present invention has been made in view of the above points, and an object thereof is to provide a video capable of grasping the past situation.

Means for Solving the Problems

[0007] One aspect of the present invention is a retransmission control device that includes a receiving unit that receives video imaged by one or more cameras provided in a moving body, an abnormality determination unit that determines whether an abnormality has occurred in at least a part of the received video, and a transmission unit that transmits abnormality information regarding the abnormality to the collection device according to whether the abnormality has occurred. The collection device is caused to retransmit the video imaged by the camera by the abnormality information. The abnormality determination unit determines the presence or absence of the abnormality based on whether the decoding of the frame that holds all the information of the frame in the received video is successful is. In addition, one aspect of the present invention includes a receiving unit that receives the video from a collecting device that collects the video captured by one or more cameras provided in the moving body, an abnormality determination unit that determines whether an abnormality has occurred in at least a part of the received video, and a transmitting unit that transmits abnormality information regarding the abnormality to the collecting device according to the presence or absence of the occurrence of the abnormality. The abnormality information causes the collecting device to retransmit the video captured by the camera. The video transmitted from the collecting device is provided with display information to be displayed together with the video. The abnormality determination unit is a retransmission control device that determines the presence or absence of the abnormality by performing image recognition on the display information attached to the received video In addition, one aspect of the present invention includes a receiving unit that receives the video from a collecting device that collects the video captured by one or more cameras provided in the moving body, an abnormality determination unit that determines whether an abnormality has occurred in at least a part of the received video, and a transmitting unit that transmits abnormality information regarding the abnormality to the collecting device according to the presence or absence of the occurrence of the abnormality. The abnormality information causes the collecting device to retransmit the video captured by the camera. The abnormality information includes information indicating the abnormal time zone in which the abnormality has occurred. When there is an abnormal time zone where the retransmission of the video is not completed, a display control unit is further provided that displays the time zone where the retransmission is not completed on the time axis display indicating the imaging time zone of the video. It is a retransmission control device

[0008] Also, in one aspect of the present invention, the retransmission control device creates a combined video in which the retransmitted video is combined in place of the video in the time period targeted for retransmission among the received videos, or plays the received video in a time period not targeted for retransmission and plays the retransmitted video in the time period targeted for retransmission, thereby displaying the received video to the user as the video in the time period not targeted for retransmission and displaying the retransmitted video as the video in the time period targeted for retransmission. The retransmission control device further includes a display control unit.

[0009] Also, in one aspect of the present invention, the abnormality determination unit determines the presence or absence of the abnormality based on information regarding the communication quality at the time of transmission of the video.

[0011] Also, in one aspect of the present invention, the abnormality determination unit determines the presence or absence of the abnormality by performing image recognition processing on the received video.

[0013] Also, in one aspect of the present invention, when the abnormality determination unit determines the video within a predetermined period based on the time when an alarm regarding monitoring of the moving body has occurred, the criterion for determining that no abnormality has occurred is set higher for the video within the predetermined period than for the video outside the predetermined period.

[0014] Further, in one aspect of the present invention, when the abnormality determination unit determines for the video within a preset moving body vicinity area in the video, it sets a higher criterion for determining that no abnormality has occurred than for the video outside the moving body vicinity area.

[0016] Also, in one aspect of the present invention, the retransmission control device further includes an operation reception unit that receives a user's operation. When there are a plurality of incomplete time zones, the transmission unit transmits a control signal to the collection device to cause the video of the incomplete time zone selected by the user to be retransmitted earlier than the videos of the other incomplete time zones.

[0017] In one aspect of the present invention, the retransmission control device further includes an operation reception unit that receives a user's operation. When the transmission unit receives an operation of selecting at least one of the plurality of cameras and an operation of selecting any imaging time in the imaging time zone of the video, it transmits retransmission instruction information for instructing retransmission of the video of a period corresponding to the selected imaging time among the videos captured by the selected camera. The retransmission control device further includes a display control unit that displays the video captured by the retransmitted camera.

[0018] Also, one aspect of the present invention includes an acquisition unit that acquires video captured by one or more cameras provided on a moving body, a transmission unit that transmits the video to a retransmission control device, a reception unit that receives information transmitted from the retransmission control device according to whether an abnormality has occurred in at least a part of the video received by the retransmission control device, the information being abnormality information regarding the abnormality, and a retransmission determination unit that determines whether retransmission is possible based on a predetermined condition for retransmitting the video. When it is determined by the retransmission determination unit that retransmission is to be performed, the transmission unit retransmits the video of the time zone determined by the abnormality information. The retransmission determination unit determines to retransmit the video when the current position of the collecting device is included in at least one of an area determined to have good communication quality based on the actual communication quality data for each location or an area where no failure has occurred in the communication base station It is a collection device. Also, one aspect of the present invention includes an acquisition unit that acquires video images captured by one or more cameras provided on a moving body, a transmission unit that transmits the video images to a retransmission control device, a reception unit that receives information transmitted from the retransmission control device according to whether or not an abnormality has occurred in at least a part of the video images received by the retransmission control device, and the received information includes abnormality information regarding the abnormality, and a retransmission determination unit that determines whether or not to retransmit the video images based on a predetermined condition for retransmitting the video images. When the retransmission determination unit determines that retransmission is to be performed, the transmission unit retransmits the video images in the time period determined by the abnormality information. The alarm regarding the monitoring of the moving body includes an alarm set in association with any one of the cameras. When an alarm set in association with the camera occurs, the transmission unit retransmits the video images of the camera associated with the alarm for a predetermined period based on the time when the alarm occurred. The collection device is configured to retransmit the video images of the camera associated with the alarm for a predetermined period based on the time when the alarm occurred.

[0019] Also, in one aspect of the present invention, the abnormality information includes information indicating the time zone in which the abnormality occurred, and the transmission unit transmits the video in the time zone corresponding to the abnormality time zone to the retransmission control device.

[0021] Also, in one aspect of the present invention, among the time zones in which the video was captured, the transmission unit transmits the video in the target time zone where the abnormality time zone overlaps with a predetermined period based on the time when an alarm regarding the monitoring of the moving body occurred, in a state superior to the video other than the target time zone.

[0022] Also, in one aspect of the present invention, the superior state includes at least one of the following: the order of retransmission of the video in the specific time zone is prioritized over the video other than the target time zone, or the video quality at the time of transmitting the video in the target time zone is higher than the video quality at the time of transmitting the video other than the target time zone.

[0025] Also, one aspect of the present invention is A control method includes: a receiving step of receiving the video images captured by one or more cameras provided on a moving body from a collection device that collects the video images; an abnormality determination step of determining whether or not an abnormality has occurred in at least a part of the received video images; and a transmitting step of transmitting abnormality information regarding the abnormality to the collection device according to whether or not the abnormality has occurred. The collection device is caused to retransmit the video images captured by the camera according to the abnormality information. The abnormality determination step determines whether or not the abnormality has occurred based on whether or not the decoding of a frame that holds all information of the frames in the received video images has been successful. Also, one aspect of the present invention includes a receiving step of receiving the video images captured by one or more cameras provided on a moving body from a collection device that collects the video images; an abnormality determination step of determining whether or not an abnormality has occurred in at least a part of the received video images; and a transmitting step of transmitting abnormality information regarding the abnormality to the collection device according to whether or not the abnormality has occurred. The collection device is caused to retransmit the video images captured by the camera according to the abnormality information. Display information to be displayed together with the video images is added to the video images transmitted from the collection device. The abnormality determination step determines whether or not the abnormality has occurred by performing image recognition on the display information added to the received video images. Also, one aspect of the present invention includes a receiving step of receiving the video imaged by one or more cameras provided on the moving body from a collecting device that collects the video, an abnormality determination step of determining whether or not an abnormality has occurred in at least a part of the received video, and a transmitting step of transmitting abnormality information regarding the abnormality to the collecting device according to whether or not the abnormality has occurred. The collecting device is caused to retransmit the video imaged by the camera by the abnormality information. The abnormality information includes information indicating the time zone in which the abnormality has occurred. When there is a time zone in which the retransmission of the video is not completed, there is further a display control step of displaying the time zone in which the retransmission is not completed on a time axis display indicating the imaging time zone of the video. This is a control method. Also, one aspect of the present invention includes an acquisition step of acquiring the video imaged by one or more cameras provided on the moving body, a transmission step of transmitting the video to a retransmission control device, a receiving step of receiving, as information transmitted from the retransmission control device according to whether or not an abnormality has occurred in at least a part of the video received by the retransmission control device, the abnormality information regarding the abnormality, and a retransmission determination step of determining whether or not to retransmit based on a predetermined condition for retransmitting the video. The transmission step retransmits the video in the time zone determined by the abnormality information when it is determined by the retransmission determination step that retransmission is to be performed. The retransmission determination step determines to retransmit the video when the current position of the collecting device is included in at least one of an area determined to have good communication quality based on the performance data of communication quality for each location or an area where no failure has occurred in the communication base station. This is a control method. Also, one aspect of the present invention includes an acquisition step of acquiring an image captured by one or more cameras provided on a moving body, a transmission step of transmitting the image to a retransmission control device, a reception step of receiving information transmitted from the retransmission control device according to whether an abnormality has occurred in at least a part of the image received by the retransmission control device, the information being abnormality information regarding the abnormality, and a retransmission determination step of determining whether retransmission is possible based on a predetermined condition for retransmitting the image. The transmission step retransmits the image in a time period determined by the abnormality information when it is determined by the retransmission determination step that retransmission is to be performed. An alarm regarding monitoring of the moving body includes an alarm set in association with any one of the cameras. The transmission step is a control method for retransmitting the image in a predetermined period based on the time when the alarm has occurred, among the images of the camera associated with the alarm, when the alarm set in association with the camera has occurred. Also, one aspect of the present invention is a program for causing a computer to execute the above-described control method.

Advantages of the Invention

[0026] According to the present invention, it is possible to provide a video that enables grasping of past situations.

Brief Description of the Drawings

[0027]

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Mode for Carrying Out the Invention

[0028] [Embodiment] Regarding the retransmission control device, collection device, retransmission control system, and program according to the present embodiment, preferred embodiments will be listed and described in detail below with reference to the accompanying drawings. In the description of the drawings, the same or similar parts are denoted by the same or similar reference numerals. Note that the present embodiment is not limited to these embodiments, and also includes those with various modifications or improvements added. That is, the components described below include those that can be easily assumed by those skilled in the art and substantially the same ones, and the components described below can be combined as appropriate. Also, in the present embodiment, various omissions, substitutions, or changes of the components may be made without departing from the gist of the present invention.

[0029] In all the drawings for explaining the embodiments, those having the same function are denoted by the same reference numerals, and repeated explanations are omitted. In the present application, "based on XX" means "based on at least XX", and includes cases where it is based on another element in addition to XX. Also, "based on XX" is not limited to the case where XX is directly used, and includes cases where it is based on something obtained by performing operations or processing on XX. "XX" is an arbitrary element (for example, arbitrary information). Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0030] [Overview of Retransmission Control System] FIG. 1 is a diagram for explaining the overview of a retransmission control system 1 according to an embodiment. The retransmission control system 1 includes, for example, a collection device 10 and a retransmission control device 20. Further, the retransmission control system 1 may further include a monitor terminal 30. The collection device 10 and the monitor terminal 30 may be connected one by one or a plurality may be connected to one retransmission control device 20.

[0031] The collection device 10, the retransmission control device 20, and the monitor terminal 30 are communicably connected via a network NW (network NW1, network NW2). The network NW may be a network using wireless communication or a network using wired communication. The network NW may be configured using, for example, the Internet or may be configured using a local area network (LAN). The network NW may be configured by combining a plurality of networks.

[0032] The collection device 10 is provided in the moving object MO. The moving object MO is something that operates automatically, such as a robot or an autonomous vehicle. In FIG. 1, an autonomous truck is shown as an example of the moving object MO. The video imaged by the camera C is stored within the local area of the collection device 10. By being stored locally, abnormal videos due to poor communication environments do not occur in the videos possessed by the collection device 10. Abnormal videos refer to, for example, missing videos or distorted videos. The videos stored in the collection device 10 may be automatically deleted after a predetermined time has elapsed.

[0033] The retransmission control device 20 receives the video from the collection device 10. The video transmitted from the collection device 10 is transmitted, for example, to the monitor terminal 30 operated by the monitor OP via the video distribution gateway of the retransmission control device 20. Also, the video transmitted from the collection device 10 is stored in the video DB etc. of the retransmission control device 20 so that the monitor OP can refer to it later. In the following description, the real-time video among the videos transmitted from the retransmission control device 20 may be referred to as distribution video or live video. Also, the video stored in the video DB etc. of the retransmission control device 20 and transmitted in response to a request from the monitor terminal 30 may be referred to as on-demand video.

[0034] The monitor terminal 30 is operated by the monitor OP. The monitor OP monitors the moving object MO by viewing the video displayed on the monitor terminal 30 and identifies the cause of any trouble (such as detection of an obstacle) related to the moving object MO. The monitor OP may be referred to as a user, for example.

[0035] When an abnormality occurs in the video transmitted to the retransmission control device 20, the video is retransmitted from the collection device 10 to the retransmission control device 20. In the following description, a video in which no abnormality has occurred at the time of reception by the retransmission control device 20 may be referred to as a normal video, and a video in which an abnormality has occurred may be referred to as an abnormal video. Also, the retransmitted video may be referred to as a retransmission video. The mobile body MO is provided with one or a plurality of cameras C. The mobile body MO may image the outside of the mobile body MO or may image the inside of the mobile body MO.

[0036] FIG. 2 is a block diagram for explaining a configuration example of the retransmission control system 1 according to the embodiment. With reference to FIG. 2, an example of the configuration and functions of the collection device 10, the retransmission control device 20, and the monitor terminal 30 will be specifically described.

[0037] [Configuration Example of Collection Device] The collection device 10 includes an arithmetic unit 11 and a storage unit 12. The arithmetic unit 11 includes a Central Processing Unit (CPU) and operates based on programs and data stored in the storage unit 12 to provide various functions. The storage unit 12 is constituted by, for example, a hard disk drive or a semiconductor memory (flash memory, RAM, ROM), etc., and stores various information such as programs and data read by the arithmetic unit 11. The storage unit 12 may be realized by a virtual storage device such as a cloud server outside the collection device 10. The retransmission control device 20 and the monitor terminal 30 also have the same configuration as that of the arithmetic unit 11 and the storage unit 12. Note that it is desirable that the storage unit 12 be mounted locally inside the collection device 10.

[0038] The arithmetic unit 11 of the collection device 10 includes an acquisition unit 111, an individual video combining unit 112, a transmission unit 113, a reception unit 114, a retransmission determination unit 115, a position information acquisition unit 116, and an alarm acquisition unit 117 as its functional units. Each of these functional units may be realized using an electronic circuit as needed. Furthermore, each functional unit does not have to be included in a single device, and may be in a form that constitutes the collection device 10 from a plurality of devices.

[0039] [Configuration example of retransmission control device] The retransmission control device 20 includes an arithmetic unit 21 and a storage unit 22. The storage unit 22 may be, for example, a video DB or the like. The arithmetic unit 21 of the retransmission control device 20 includes a reception unit 211, an abnormality determination unit 212, a transmission unit 213, a retransmission video combining unit 214, a display control unit 215, and an operation reception unit 216 as its functional units. Each of these functional units may be realized using an electronic circuit as needed. Furthermore, each functional unit does not have to be included in a single device, and may be in a form that constitutes the retransmission control device 20 from a plurality of devices.

[0040] [Configuration example of monitor terminal] The monitor terminal 30 is, for example, an information processing device such as a personal computer, a tablet, or a smartphone. The monitor terminal 30 includes, for example, a display unit, an operation unit, an arithmetic unit, and a storage unit. Note that each configuration included in the monitor terminal 30 is not shown in the figure. The display unit includes, for example, a liquid crystal display and displays various images. In the following description, the display unit displaying an image is also referred to as presenting an image to the monitor OP. The monitor OP is, for example, a person who uses the monitor terminal 30.

[0041] [Function of retransmission control system] The acquisition unit 111 included in the collection device 10 acquires the video imaged by the camera C from each camera C. The video imaged by each camera C may also be referred to as an individual video or a camera video.

[0042] The individual video combining unit 112 included in the collection device 10 creates one or more overall videos by aligning and combining the imaging times of the videos captured by the respective cameras C. The overall videos include the videos of the plurality of cameras C. According to the overall videos, the videos of the plurality of cameras C captured at a certain time can be easily confirmed. Also, according to the overall videos, the communication volume can be reduced compared to the case where each camera video is transmitted separately and independently. The collection device 10 locally stores the videos captured by the camera C. The videos stored locally may be individual videos, overall videos, or both.

[0043] The transmission unit 113 included in the collection device 10 transmits the videos captured by the camera C to the retransmission control device 20. The videos transmitted by the transmission unit 113 may be individual videos or overall videos. Hereinafter, the case of transmitting overall videos will be described as an example.

[0044] The reception unit 211 included in the retransmission control device 20 receives the videos transmitted from the collection device 10. The abnormality determination unit 212 included in the retransmission control device 20 determines whether an abnormality has occurred in at least a part of the time period of the received videos. Further, the abnormality determination unit 212 may further determine the abnormal time period in which the abnormality has occurred by associating the presence or absence of the abnormality with the time.

[0045] The abnormality determination unit 212 may determine the presence or absence of an abnormality based on, for example, information regarding the communication quality during the transmission of video (hereinafter also referred to as communication quality information). The transmission of video refers to communication, and it may also be referred to as the reception of video. The communication quality information is measured by, for example, the reception unit 211. The communication quality information includes at least any one of the packet loss rate, the number of packet losses, the packet drop rate, and the number of packet drops. The higher these values are, the worse the communication environment is, and the more likely an abnormality will occur in the video. The abnormality determination unit 212 may determine that an abnormality has occurred when any of these values is equal to or greater than a predetermined threshold within a predetermined time. Since the communication quality information can be easily measured by the reception unit 211, the configuration of the retransmission control device 20 can be simplified while efficiently performing the abnormality determination.

[0046] Further, the abnormality determination unit 212 may determine the presence or absence of an abnormality based on, for example, whether the decoding of a frame (I-frame) that holds all the information of the frame has been successful. Specifically, the collection device 10 encodes the video to be transmitted. The collection device 10 uses a video compression technique to encode the video into video data including an I-frame (intra-coded frame) and a P-frame (predicted frame). An I-frame is a frame that holds all the information of the frame. The retransmission control device 20 can decode the I-frame without referring to other frames. A P-frame is a frame that holds the difference information between the previously transmitted I-frame or the previously transmitted P-frame. The retransmission control device 20 can decode the P-frame by referring to the previously transmitted I-frame or the previously transmitted P-frame. An example of the video compression technique conforms to a video compression standard such as H.264 Baseline Profile. In video transmission using an image compression codec such as H264, H265, or VP9, if the decoding of the I-frame or P-frame fails, the video will be distorted until the decoding of the next I-frame is successful regardless of the subsequent reception status. Therefore, based on whether the decoding of the I-frame is successful, the presence or absence of an abnormality can be reliably determined. Also, since the decodability is information that can be easily obtained, it is efficient without the need to add a complex configuration.

[0047] Further, the abnormality determination unit 212 may determine the presence or absence of an abnormality by, for example, performing image recognition processing on the received video and evaluating the video. Various techniques can be utilized for the image recognition processing. The evaluation of the image may adopt, for example, either a full-reference metric that calculates a score by comparing the original image and the received image or a no-reference metric that calculates a score from the received image. The abnormality determination unit 212 determines the presence or absence of an occurrence of an abnormality by comparing the calculated score with a predetermined threshold value. By determining the presence or absence of an abnormality based on the image itself, the possibility of erroneously determining the presence or absence of an abnormality can be reduced. According to this, it is possible to prevent an excessive increase in the number of retransmission targets and efficiently determine the presence or absence of an abnormality.

[0048] FIG. 3 is a diagram showing an example of the received overall video OIM. In FIG. 3, the overall video OIM combines the first camera video CIM1 to the fifth camera video CIM5. Further, display information DI is attached to the overall video OIM. The display information DI is information that is attached to the video and displayed together with the video. The display information DI may be a time stamp indicating the imaging time or an image not related to the video, etc. The target of the image recognition processing by the abnormality determination unit 212 may be the video itself (for example, the entire video) or the display information DI.

[0049] When the video itself is the object to be processed, it is difficult to obtain the original image, so it is evaluated using a no-reference metric. For example, the abnormality determination unit 212 performs machine learning in advance using the video and the teacher data in which the label of the presence or absence of abnormality in the video is associated, and calculates a score for the received video. On the other hand, when the display information DI is the object to be processed, since it is easy to obtain the display information DI with few patterns and no direct relationship with the video, it can be evaluated using either a full-reference metric or a no-reference method. In addition, since the display information DI has no direct relationship with the video, it is not affected by the disturbance of the video due to the shooting situation such as subject blur in the video. Therefore, according to the determination of abnormality based on the display information DI, it is possible to prevent the disturbance of the video based on the shooting situation from being determined as an abnormality of the video due to the communication environment. In addition, since the time stamp, which is one of the display information DIs, is often added at the time of shooting or combining the video, it can be implemented without providing an additional configuration.

[0050] Note that the abnormality determination unit 212 may determine the abnormality by any of the above-described abnormality determination methods, or may determine the abnormality by combining a plurality of methods.

[0051] The transmission unit 213 included in the retransmission control device 20 transmits retransmission instruction information for instructing the collection device 10 to perform retransmission. An example of the retransmission instruction information is abnormality information. Abnormality information is information regarding an abnormality and serves as a criterion for determining retransmission. The abnormality information includes information indicating the presence or absence of an abnormality, an abnormal time period, and the like. For example, based on information indicating that an abnormality has occurred or an abnormal time period, it can be determined that an abnormality has occurred and retransmission should be performed. Also, by transmitting information indicating that no abnormality has occurred while no abnormality has occurred, such as an ACK (ACKnowledgement), and not transmitting information when an abnormality has occurred, it can be determined that an abnormality has occurred and retransmission should be performed. By transmitting abnormality information according to the presence or absence of an abnormality, the transmission unit 213 can cause the normal video stored locally in the collection device 10 to be retransmitted. Hereinafter, the case where the abnormality information includes an abnormal time period will be described. Note that the receiving unit 211 and the transmitting unit 213 are not limited to being used for information communication with the collection device 10 and may be used for information communication with the monitor terminal 30.

[0052] The receiving unit 114 included in the collection device 10 acquires abnormality information (retransmission instruction information) from the retransmission control device 20. The receiving unit 114 causes, for example, the abnormal time period included in the abnormality information to be stored in the storage unit 12 or the like.

[0053] When the retransmission determination unit 115 included in the collection device 10 determines whether to retransmit the video based on a predetermined condition, more precisely, whether retransmission is possible, when the abnormal time zone is stored in the storage unit 12. For example, the retransmission determination unit 115 may determine whether retransmission is possible based on the position information. The position information acquisition unit 116 included in the collection device 10 acquires the position information of the moving body MO or the collection device 10. For the acquisition of the position information, a known technique may be adopted. For example, GNSS (Global Navigation Satellite System), SLAM (Simultaneous Localization and Mapping), or the like may be adopted. The retransmission determination unit 115 determines that retransmission is possible when the current position acquired by the position information acquisition unit 116 is included in a predetermined area on the map. The map is a map corresponding to the method of acquiring the position information by the position information acquisition unit 116, and may be, for example, a global map of GNSS or an environmental map of SLAM. The predetermined area is an area with a good communication environment. For example, it is at least one of an area determined to have good communication quality based on the actual communication quality data for each location or an area where no failure has occurred in the communication base station. Since the moving body MO is moving, the communication environment around the moving body MO is likely to change. Therefore, when determining whether retransmission is possible using the parameter indicating the communication environment, there may be a case where, despite being in a communication environment suitable for retransmission, the determination of retransmission possible and retransmission impossible frequently alternates and appropriate retransmission cannot be performed. By determining whether retransmission is possible based on the positional relationship between the position information of the moving body MO and the predetermined area, it is possible to avoid a situation where the determination of retransmission possible and retransmission impossible frequently alternates and appropriately retransmit the video. In addition, since there may be a case where the collection device 10 and the retransmission control device 20 are connected by wire after the operation of the moving body MO (for example, autonomous driving, etc.) ends, the predetermined condition may be, for example, when connected to a specific network NW such as wire. In this case, since the communication environment around the moving body MO does not affect retransmission, it is an environment suitable for retransmission. Also, the predetermined condition may be, for example, when the communication quality is equal to or higher than a predetermined threshold value.

[0054] When it is determined that retransmission is possible, the transmission unit 113 retransmits the video of the time zone corresponding to the abnormal time zone to the retransmission control device 20, and does not retransmit when it is determined that retransmission is impossible. The time zone corresponding to the abnormal time zone may be, for example, the abnormal time zone itself, or a time zone with a margin of a predetermined time at least before or after the abnormal time zone. By limiting the retransmission to only the video of the time zone corresponding to the abnormal time zone, the communication volume required for retransmission can be reduced, and the possibility of an abnormality occurring in the retransmitted video can be reduced. Also, by limiting it to the video of the time zone corresponding to the abnormal time zone, the time required for retransmission can be shortened, and the monitor OP can confirm the retransmitted video earlier.

[0055] In the above, an example has been described in which the abnormal information includes an abnormal time zone and the transmission unit 113 retransmits the video of the time zone corresponding to the abnormal time zone, but the present embodiment is not limited to this example. The collection device 10 may specify the abnormal time zone from the information indicating the presence or absence of an abnormality. Also, when the collection device 10 specifies that an abnormality has occurred based on the abnormal information, a predetermined time after or before the time when the abnormality occurred may be set as the abnormal time zone. Also, when it is specified that an abnormality has occurred, the video stored in the storage unit 12 may be retransmitted. Note that when retransmitting the video, the transmission unit 113 transmits at the maximum retransmission throughput within a range that does not affect the live distribution based on the current throughput. Specifically, the transmission unit 113 transmits so that the throughput required for the communication of the real-time video and the throughput required for the transmission of the retransmitted video do not exceed the throughput of the collection device 10 or the retransmission control device 20.

[0056] Note that the communication method when the real-time distribution video is transmitted from the collection device 10 to the retransmission control device 20 and the communication method when the retransmitted video is transmitted may be the same as each other or different from each other. When the communication methods for the distribution video and the retransmitted video are different, for example, UDP (User Datagram Protocol) that performs lightweight and high-speed communication may be adopted for the communication of the distribution video, and TCP (Transmission Control Protocol) that performs accurate and highly reliable transmission and reception of information may be adopted for the communication of the retransmitted video.

[0057] The receiving unit 211 included in the retransmission control device 20 acquires the retransmission video. The retransmission video combining unit 214 included in the retransmission control device 20 combines the normal video and the retransmission video. Combining the normal video and the retransmission video may, for example, be to create a combined video by replacing the abnormal video among the received videos with the retransmission video and editing. Also, combining the normal video and the retransmission video may, for example, be to associate and store the abnormal time period that becomes the abnormal video with the retransmission video.

[0058] The display control unit 215 included in the retransmission control device 20 controls the display of the monitor terminal 30. For example, the display control unit 215 generates a screen to be displayed on the display unit of the monitor terminal 30 and transmits it to the monitor terminal 30 via the transmission unit 213. The monitor terminal 30 displays the screen generated by the display control unit 215.

[0059] The display control unit 215 causes the normal video to be displayed during the time period of the normal video that is not the retransmission target, and causes the retransmission video to be displayed instead of the abnormal video during the abnormal time period that is the retransmission target. When the retransmission video combining unit 214 creates a combined video by replacing the abnormal video with the retransmission video, the display control unit 215 displays the combined video. Also, when the retransmission video combining unit 214 associates the abnormal time period with the retransmission video, the display control unit 215 switches so as to play the normal video during the time period that becomes the retransmission target and play the retransmission video during the time period of the retransmission target, thereby substantially displaying the combined video. According to this, the monitor OP can check the video in which no abnormality has occurred without being affected by the deterioration of the communication environment between the collection device 10 and the retransmission control device 20. Also, since the normal video can be checked without having to switch to playing the retransmission video in the middle of the video, the trouble of switching can be reduced.

[0060] [Variation Example of Abnormality Determination Criteria] An example in which the abnormality determination unit 212 determines the presence or absence of an abnormality in the video based on a predetermined criterion has been described above. The determination criterion may vary as appropriate according to the situation. FIG. 4 is a diagram showing an example in which the height of the determination criterion is varied. For example, the determination criterion may be made stricter in a situation where a higher-quality video is desired to be confirmed. Raising the determination criterion may be, for example, lowering the threshold value of the packet loss rate or raising the threshold value of the score at the time of image recognition. By relatively relaxing the determination criteria for other videos with a low confirmation priority and reducing the possibility of being determined for retransmission, the communication volume required for retransmission can be reduced.

[0061] The abnormality determination unit 212 may vary the determination criteria based on a temporal standard. For example, the abnormality determination unit 212 may set the abnormality determination criteria for the video within a predetermined range based on the time when the alarm related to the monitoring of the moving object MO occurs to be higher than that for the video outside the predetermined period. The alarm related to the monitoring of the moving object MO is for prompting the monitor OP to make a confirmation. The alarm related to the monitoring of the moving object MO may include, for example, at least one of a moving object alarm and a monitoring alarm. Hereinafter, the alarm related to the monitoring of the moving object MO may sometimes be simply referred to as an alarm. The moving object alarm is an alarm regarding the normality of the moving object MO itself (e.g., an autonomous driving truck) or the automatic operation system of the moving object MO. The moving object alarm may be, for example, an MRM (Minimal Risk Maneuver) due to the detection of an obstacle on the driving route of an autonomous driving truck. The monitoring alarm is an alarm regarding the normality of the remote monitoring system. The monitoring alarm may be, for example, a decrease in video reception quality, a decrease in video reception delay, the presence or absence of reception of information related to the moving object MO, etc. The alarm may be acquired, for example, by the alarm acquisition unit 117 provided in the collection device 10. The alarm acquisition unit 117 may acquire, for example, from a control unit that performs MRM control, a determination unit that performs image recognition on the video captured by the camera C, and various unillustrated functional units such as various sensors provided in the moving object MO. Note that the alarm acquisition unit 117 may be provided in the retransmission control device 20. In this case, the alarm acquisition unit 117 may acquire from an unillustrated detection unit that detects a monitoring alarm based on the reception quality of the reception unit 211, the number and type of received information, etc. When an alarm occurs, the monitor OP may be required to perform operations such as checking the situation and analyzing the cause. By making the determination criteria stricter before and after the occurrence of the alarm, it is possible to acquire high-quality videos that require confirmation, and it becomes easier to identify the cause of the alarm.

[0062] In addition, the abnormality determination unit 212 may vary the determination criteria based on the level of confirmation priority. For example, the abnormality determination unit 212 may set the criteria for abnormality determination for the video in the vicinity area A of the moving object higher than those for the video outside the vicinity area A of the moving object. FIG. 5 is a diagram for explaining the vicinity area A of the moving object. The vicinity area A of the moving object is an area in the video captured by the camera C where the vicinity of the moving object MO is captured. The vicinity area A of the moving object may be preset by the monitor OP or the designer of the retransmission control system 1. Since the vicinity area A of the moving object may lead to a collision accident if there are obstacles or the like, it is a place that the monitor OP should pay attention to and confirm. Also, the moving object alarm is likely to occur depending on obstacles or the condition of the ground that are close to the moving object MO to the extent that they are captured in the vicinity area A of the moving object. By making the determination criteria for the vicinity area A of the moving object stricter, it is possible to acquire the video of the vicinity area A of the moving object with high quality.

[0063] [Examples of variations in the retransmission method] In the above, the collection device 10 has described an example of retransmitting the video to be retransmitted to the retransmission control device 20. The retransmission method may vary appropriately according to the situation. For example, the retransmission method may be changed according to the requirements for the video to be retransmitted. By retransmitting the video with a high confirmation priority in a more advantageous state than other videos, the communication volume required for retransmitting the video with a low confirmation priority can be reduced.

[0064] The collection device 10 may vary the retransmission method when an event with a high confirmation priority such as an alarm occurs. For example, the transmission unit 113 transmits the video in a time zone (hereinafter sometimes referred to as the target time zone) where a predetermined period (for example, the period before and after) based on the time when the alarm occurs overlaps with the abnormal time zone in a more advantageous state than the video in other time zones. The more advantageous state is a state more suitable for confirmation by the monitor OP. When an alarm related to the moving object MO occurs, the monitor OP needs to review the situation for the target time zone. By transmitting the video in the target time zone in a situation more suitable for confirmation, the confirmation by the monitor OP can be appropriately advanced.

[0065] The advantageous state may be, for example, transmitting with a higher video quality than videos in time periods other than the target time period, or the retransmission order may be prioritized over videos in time periods other than the target time period. FIG. 6 is a diagram showing an example of the advantageous state. The video quality may be, for example, the resolution, frame rate, bit rate, etc. at the time of transmitting the video. By transmitting the video with a high video quality, the monitor OP can analyze the cause of an alarm related to the moving object MO based on the high-quality video. Also, by increasing the retransmission priority of the target time period, the monitor OP can quickly check the occurrence status of the alarm and start corresponding earlier.

[0066] Further, when an alarm related to a specific camera C occurs, the retransmission control device 20 may vary the retransmission method. The alarm related to the monitoring of the moving object MO may include at least an alarm set in association with any one of the cameras C (hereinafter may be referred to as a camera alarm). The alarm set in association with the camera C may be, for example, a front camera alarm or the like. The transmission unit 113 may retransmit, for example, a predetermined period (for example, the period before and after) based on the occurrence time of the camera alarm among the videos of the camera C associated with the camera alarm when the camera alarm occurs. That is, the individual video of the camera C targeted by the camera alarm may be retransmitted. By retransmitting the individual video of the camera C targeted by the camera alarm, the video quality can be increased and transmitted compared to the combined video. According to this, the monitor OP can appropriately proceed with the confirmation by referring to the individual video more suitable for confirmation.

[0067] [Operation Example of Retransmission Control System] FIG. 7 is a flowchart for explaining the operation of each component of the retransmission control system 1. The flowchart shown in FIG. 7 is merely an example, and the present embodiment is not limited to the operation shown in FIG. 7. Based on the operation of the moving object MO or the operation of the monitor OP, video distribution is started. The monitor OP checks the distributed video to check the current status of the moving object MO, and checks the past status of the moving object MO as necessary.

[0068] (Step S101) The retransmission control device 20 determines whether an abnormality has occurred in the video transmitted from the collection device 10. When the retransmission control device 20 determines that an abnormality has occurred, it transmits (notifies) abnormality information to the collection device 10. The collection device 10 stores the retransmission instruction information (more specifically, the abnormal time zone) notified from the retransmission control device 20 in the storage unit 12.

[0069] (Step S102) The collection device 10 determines whether the communication environment, etc. is in a state suitable for retransmission and whether an abnormal time zone is stored in the storage unit 12. If either condition is not satisfied (Step S102; NO), the collection device 10 does not perform retransmission and continues to transmit the distribution video.

[0070] (Step S103) When the state is suitable for retransmission and an abnormal time zone is stored in the storage unit 12 (Step S102; Yes), the collection device 10 retransmits the video of the time zone corresponding to the abnormal time zone in addition to transmitting the distribution video. Also, the collection device 10 deletes the abnormal time zone for which retransmission has been completed from the storage unit 12.

[0071] (Step S104) The processing from Step S101 to Step S103 described above continues until the distribution of the video ends. In addition, if there is a video for which retransmission is not completed, it may be retransmitted after the end of the video distribution. As a result, the retransmission of the abnormal time zone is completed, and the retransmission control device 20 can obtain normal videos for all the captured videos.

[0072] [Example of display for the monitor] FIG. 8 is a diagram for explaining an example of a display screen D displayed for a monitor OP. A display control unit 215 included in the retransmission control device 20 causes the monitor OP to display the display screen D. The monitor OP remotely monitors the moving body by referring to the display screen D displayed on the display unit of the monitor terminal 30. The display screen D has, for example, a seek bar D1, an alarm occurrence time D2, one or more retransmission incomplete time zones D3, a playback time D4, and first to fifth camera images CIM1 to CIM5 as a screen configuration. The first retransmission incomplete time zone D3-1 and the second retransmission incomplete time zone D3-2 illustrate a plurality of retransmission incomplete time zones D3.

[0073] The seek bar D1 indicates the imaging time zone of the video by a horizontal time axis. The seek bar D1 may be referred to as a time axis display. For example, the left end of the seek bar D1 may be the distribution start time, and the right end of the seek bar D1 may be the current time. When the distribution is continuing, the overall length of the seek bar D1 may not change, and the time zone indicated by a predetermined length in the seek bar D1 may become longer.

[0074] The alarm occurrence time D2 indicates the occurrence time of the alarm. The alarm occurrence time D2 is displayed at a position on the seek bar D1 corresponding to the time when the alarm occurred with respect to the entire imaging time. The alarm occurrence time D2 may be displayed regardless of whether the monitor OP has confirmed it, or the display content (for example, a change in color, etc.) may be changed or the display may be deleted by the confirmation of the monitor OP. The monitor OP grasps and confirms the occurrence of the alarm based on the alarm occurrence time D2.

[0075] The retransmission incomplete time zone D3 indicates a time zone within the abnormal time zones determined by the retransmission control device 20 to have an abnormality in the received video, where the retransmission of the video has not been completed. The retransmission incomplete time zone D3 is displayed at a position on the seek bar D1 corresponding to the time zone of the retransmission incomplete with respect to the entire imaging time. Since the retransmission of the video in the retransmission incomplete time zone D3 has not been completed, the video in the retransmission incomplete time zone D3 that can be confirmed by the monitor OP is abnormal video. Since the video in the retransmission incomplete time zone D3 is abnormal video, there may be video loss, distortion, etc., and it may not be suitable for confirmation by the monitor OP. By displaying the retransmission incomplete time zone D3 and indicating to the monitor OP that there is video distortion, the monitor OP can appropriately set the priority of confirmation for each time zone among the past videos. Therefore, by displaying the retransmission incomplete time zone D3 on the seek bar D1, the efficiency of confirmation by the monitor OP can be improved. Note that the display of the retransmission incomplete time zone D3 may be deleted after the retransmission is completed, or may be changed to display content indicating the completion of retransmission (for example, a color change).

[0076] For each of the retransmission incomplete time zones D3, the time required for retransmission (hereinafter, may be referred to as the retransmission time) may be displayed. The retransmission time may be calculated, for example, based on the data amount of the video to be retransmitted and the throughput. Also, the total time of each retransmission time may be displayed on the display screen D. Thereby, the monitor OP can schedule the confirmation timing in his / her own mind and efficiently confirm the video.

[0077] For each of the retransmission incomplete time zones D3, the retransmission order is displayed. The retransmission order may be, for example, the order of the times when abnormalities are determined, that is, the order of the older videos. The retransmission order may be changed based on the operation of the monitor OP. Specifically, the monitor OP operates on the retransmission incomplete time zone D3 for which the retransmission priority is to be increased. The monitor terminal 30 detects the operation of the monitor OP and transmits operation information to the retransmission control device 20. The operation reception unit 216 provided in the retransmission control device 20 receives the selection operation of the monitor OP by acquiring the operation information, and causes various functional units provided in the retransmission control device 20 to function. Specifically, the transmission unit 213 may transmit a control signal (reproduction instruction information) for causing the collection device 10 to retransmit the video of the time zone selected by the monitor OP first. For example, when there are a retransmission time zone including the time when the alarm occurred and a retransmission time zone not including the time when the alarm occurred, the monitor OP wants to preferentially check the video of the retransmission time zone including the time when the alarm occurred in order to identify the situation of the moving body MO and the cause of the alarm. By enabling the video of the time zone with urgency to be preferentially retransmitted, the efficiency of confirmation by the monitor OP can be improved. Also, by quickly checking the video of the retransmission time zone including the time when the alarm occurred, it is possible to respond to the problem that occurred earlier.

[0078] The reproduction time D4 indicates the imaging time of the video displayed for the monitor OP. The reproduction time D4 is displayed at a position on the seek bar D1 corresponding to the imaging time of the video being displayed with respect to the entire imaging time. The monitor OP can visually understand the time relationship between the currently reproduced video and the time when the alarm occurred and the retransmission incomplete time zone by referring to the reproduction time D4. When the monitor OP operates at any position on the seek bar D1, the reproduction time D4 is displayed at the operation location, and the video of the time corresponding to the operation location is displayed.

[0079] Although an example is shown in which the overall image OIM obtained by combining the first camera image CIM1 to the fifth camera image CIM5 is displayed on the display screen D in the above description, the present embodiment is not limited to this example. The display control unit 215 may display any of the camera images individually. Specifically, the monitor OP selects any one of the cameras C. The selection operation of the camera C may be, for example, operating the display area of the camera image captured by the selected camera C, or other various selection methods may also be used. In addition, the monitor OP selects the imaging time to be confirmed by operating an arbitrary position on the seek bar D1. The operation reception unit 216 receives the selection operation of the camera C and the selection operation of the imaging time. The transmission unit 213 transmits retransmission instruction information for instructing retransmission of the camera image captured by the selected camera C during a period corresponding to the selected imaging time (for example, a predetermined period before and after). The collection device 10 retransmits the target camera image to the retransmission control device 20 according to the retransmission instruction information. The display control unit 215 displays the retransmitted camera image to the monitor OP. Since the overall image OIM combines a plurality of camera images, the image quality of each individual camera image is low and the display size is also small. By retransmitting individual camera images, the retransmission control device 20 can display a higher-quality camera image, making it easier for the monitor OP to perform the confirmation work. In addition, since the camera images are not always sent for each camera C, the communication volume other than when individual camera images are requested can be reduced.

[0080] In the description with reference to FIG. 8, an example in which the operation reception unit 216 receives the operation of one imaging time selected by the monitor OP has been described, but the present embodiment is not limited to this example. The operation reception unit 216 may receive the selection of a plurality of imaging times by the monitor OP. For example, the monitor OP may select two imaging times by operating the position on the seek bar D1 twice. The operation reception unit 216 may receive, for example, that the time zone between the two selected times is selected. Note that the monitor OP may select the first selected imaging time and the imaging time after sliding by sliding while selecting the imaging time.

[0081] [Summary of this embodiment] According to the above-described embodiment, the retransmission control device 20 includes a receiving unit 211 that receives a video imaged by one or more cameras C provided in the mobile body MO from a collecting device 10 that collects the video, an abnormality determination unit 212 that determines whether or not an abnormality has occurred in at least a part of the received video, and a transmitting unit 213 that transmits abnormality information regarding the abnormality to the collecting device 10 according to whether or not the abnormality has occurred. The collecting device 10 is caused to retransmit the video imaged by the camera C by the abnormality information. That is, when there is an abnormality in the received video, the retransmission control device 20 causes the collecting device 10 to retransmit the normal video stored locally in the collecting device 10. According to this, when the mobile body MO enters an area with a poor communication environment and an abnormality occurs in the received video, it is possible to receive a video in which no abnormality has occurred later. Therefore, the retransmission control device 20 can provide the monitor OP with a normal video in which the past situation can be grasped.

[0082] Further, according to the above-described embodiment, an acquisition unit 111 that acquires a video imaged by one or more cameras C provided in the mobile body MO, a transmission unit 113 that transmits the video to the retransmission control device 20, and information transmitted from the retransmission control device 20 according to whether or not an abnormality has occurred in at least a part of the video received by the retransmission control device 20, a receiving unit 114 that receives abnormality information regarding the abnormality, and a retransmission determination unit 115 that determines whether or not retransmission is possible based on a predetermined condition for retransmitting the video. When it is determined by the retransmission determination unit 115 that retransmission is to be performed, the transmission unit 113 retransmits the video in the time period determined by the abnormality information. If the video is abnormal and retransmitted immediately, the retransmitted video may be abnormal. In this case, in order for the retransmission control device 20 to acquire a normal video, retransmission is required again, and the communication volume used for the first retransmission may be wasted. According to the collecting device 10 that determines whether or not to retransmit based on the abnormality information and retransmits, it is possible to reduce the communication volume required for retransmission while providing the monitor OP with a normal video in which the past situation can be grasped.

[0083] [Example of hardware configuration] FIG. 9 is a diagram showing an outline of a hardware configuration example of an information processing apparatus 90 to which the embodiment is applied. The information processing apparatus 90 includes a processor 91, a main storage device 92, a communication interface 93, an auxiliary storage device 94, an input / output interface 95, and an internal bus 96. The processor 91, the main storage device 92, the communication interface 93, the auxiliary storage device 94, and the input / output interface 95 are communicably connected to each other via the internal bus 96. The information processing apparatus 90 may be applied to, for example, the collection device 10 and the retransmission control device 20. In this case, for example, the acquisition unit 111, the transmission unit 113, the reception unit 114, the reception unit 211, and the transmission unit 213 may be configured using the communication interface 93. For example, the storage unit 12 and the storage unit 22 may be configured using the auxiliary storage device 94. Further, the calculation units 11 and 21 may be configured using the processor 91 and the main storage device 92.

[0084] The collection device 10 or the retransmission control device 20 may be implemented using a plurality of information processing apparatuses. Further, for example, the retransmission control device 20 may be implemented using a device such as a cloud. For example, in the retransmission control device 20, the calculation unit 21 and the storage unit 22 may be implemented in different information processing apparatuses, respectively. For example, the storage unit 22 of the retransmission control device 20 may be implemented in a distributed manner in a plurality of information processing apparatuses.

[0085] Note that the entire function or a part of each function of the collection device 10 and the retransmission control device 20 in the above-described embodiment may be realized by recording a program for realizing these functions on a computer-readable recording medium, reading the program recorded on this recording medium into a computer system, and executing it. Here, the "computer system" is assumed to include hardware such as an OS and peripheral devices.

[0086] The "computer-readable recording medium" refers to a recording unit such as a flexible disk, a magneto-optical disk, a ROM, a portable medium such as a CD-ROM, or a hard disk built into a computer system. Further, the "computer-readable recording medium" also includes, like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line, something that dynamically holds a program for a short period of time, or something like a volatile memory inside a computer system that serves as a server or a client in that case and holds a program for a certain period of time. Also, the above program may be for realizing a part of the functions described above, or may further be something that can be realized in combination with a program already recorded in a computer system for realizing the functions described above.

[0087] As described above, one embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to the above, and various design changes and the like can be made without departing from the gist of the present invention. Also, the configurations described in the above-described embodiments and each example may be combined.

[0088] According to the retransmission control device, collection device, retransmission control system, and program of the embodiment, it is assumed that traffic safety will be improved so that all people can use a safe, affordable, easy-to-use, and sustainable transportation system. Therefore, it becomes possible to contribute to Goal 11, "Sustainable cities and communities," of the Sustainable Development Goals (SDGs) led by the United Nations.

Explanation of Reference Numerals

[0089] 1…Redelivery control system, 10…Collection device, 11…Calculation unit, 111…Acquisition unit, 112…Individual video combining unit, 113…Transmission unit, 114…Receiving unit, 115…Redelivery determination unit, 116…Position information acquisition unit, 117…Alarm acquisition unit, 12…Memory unit, 20…Redelivery control device, 21…Calculation unit, 211…Receiving unit, 212…Abnormality determination unit, 213…Transmission unit…, 214…Redelivery video combining unit, 215…Display control unit, 216…Operation reception unit, 22…Memory unit, 30…Monitor terminal, OP…Monitor, MO…Moving body, C…Camera

Claims

1. A receiving unit that receives the video captured by one or more cameras provided on a moving body from a collecting device that collects the video; An abnormality determination unit that determines whether or not an abnormality has occurred in at least a part of the received video; A transmission unit that transmits abnormality information regarding the abnormality to the collecting device according to whether or not the abnormality has occurred; Comprising: Causing the collecting device to retransmit the video captured by the camera by the abnormality information; The abnormality determination unit determines the presence or absence of the abnormality based on whether or not the decoding of the frame that holds all the information of the frame has been successful in the received video; A retransmission control device.

2. A receiving unit that receives the video captured by one or more cameras provided on a moving body from a collecting device that collects the video; An abnormality determination unit that determines whether or not an abnormality has occurred in at least a part of the received video; A transmission unit that transmits abnormality information regarding the abnormality to the collecting device according to whether or not the abnormality has occurred; Comprising: Causing the collecting device to retransmit the video captured by the camera by the abnormality information; The video transmitted from the collecting device is provided with display information to be displayed together with the video; The abnormality determination unit determines the presence or absence of the abnormality by performing image recognition on the display information given to the received video; A retransmission control device.

3. A receiving unit that receives the video captured by one or more cameras provided on a moving body from a collecting device that collects the video; An abnormality determination unit that determines whether or not an abnormality has occurred in at least a part of the received video; A transmission unit that transmits abnormality information regarding the abnormality to the collecting device according to whether or not the abnormality has occurred; Comprising: Causing the collecting device to retransmit the video captured by the camera by the abnormality information; The abnormality information includes information indicating the abnormal time zone in which the abnormality has occurred; Further comprising a display control unit that, when there is an abnormal time zone in which the retransmission of the video is not completed, displays the time zone in which the retransmission is not completed on a time axis display indicating the imaging time zone of the video; A retransmission control device.

4. By creating a combined video in which the retransmitted video is combined in place of the video in the time period targeted for retransmission among the received videos, or by playing the received video in a time period not targeted for retransmission and playing the retransmitted video in a time period targeted for retransmission, a display control unit is provided that displays the received video for the user as the video in the time period not targeted for retransmission and displays the retransmitted video for the user as the video in the time period targeted for retransmission. The retransmission control device according to any one of claims 1 to 3, further comprising.

5. The abnormality determination unit determines the presence or absence of the abnormality based on information regarding the communication quality at the time of transmission of the video. The retransmission control device according to any one of claims 1 to 3.

6. The abnormality determination unit determines the presence or absence of the abnormality by performing image recognition processing on the received video. The retransmission control device according to any one of claims 1 or 3.

7. When the abnormality determination unit determines the video within a predetermined period based on the time when the alarm regarding the monitoring of the moving body occurred, the criterion for determining that no abnormality has occurred is set higher for the video within the predetermined period than for the video outside the predetermined period. The retransmission control device according to any one of claims 1 or 2.

8. When the abnormality determination unit determines the video within a preset area near the moving body among the videos, the criterion for determining that no abnormality has occurred is set higher for the video within the area near the moving body than for the video outside the area near the moving body. The retransmission control device according to any one of claims 1 or 2.

9. An operation reception unit that receives a user's operation. Further comprising. When there are a plurality of the incomplete time periods, the transmission unit transmits a control signal to the collection device to cause the video of the incomplete time period selected by the user to be retransmitted earlier than the videos of the other incomplete time periods. The retransmission control device according to claim 3.

10. Further comprising an operation reception unit that receives a user's operation. When the transmission unit receives an operation of selecting at least one of the plurality of cameras and an operation of selecting any imaging time in the imaging time period of the video, the transmission unit transmits retransmission instruction information instructing retransmission of the video of a period corresponding to the selected imaging time among the videos captured by the selected camera. A display control unit that displays the video captured by the re-sent camera; The retransmission control device according to claim 3, further comprising the above.

11. An acquisition unit that acquires video images captured by one or more cameras provided on a moving body; A transmission unit that transmits the video to a retransmission control device; A receiving unit that receives information transmitted from the retransmission control device according to whether or not an abnormality has occurred in at least a part of the video received by the retransmission control device, and receives abnormality information regarding the abnormality; A retransmission determination unit that determines whether retransmission is possible based on a predetermined condition for retransmitting the video; Comprising When the transmission unit is determined to retransmit by the retransmission determination unit, it retransmits the video in the time zone determined by the abnormality information. When the current position of the collection device is included in at least one of an area determined to have good communication quality based on actual communication quality data for each location or an area where no failure has occurred in the communication base station, the retransmission determination unit determines to retransmit the video. Collection device.

12. An acquisition unit that acquires video images captured by one or more cameras provided on a moving body; A transmission unit that transmits the video to a retransmission control device; A receiving unit that receives information transmitted from the retransmission control device according to whether or not an abnormality has occurred in at least a part of the video received by the retransmission control device, and receives abnormality information regarding the abnormality; A retransmission determination unit that determines whether retransmission is possible based on a predetermined condition for retransmitting the video; Comprising When the transmission unit is determined to retransmit by the retransmission determination unit, it retransmits the video in the time zone determined by the abnormality information. The alarm regarding the monitoring of the moving body includes an alarm set in association with any one of the cameras. When an alarm set in association with the camera occurs, the transmission unit retransmits the video of the camera associated with the alarm for a predetermined period based on the time when the alarm occurred. Collection device.

13. The abnormality information includes information indicating the abnormal time zone in which the abnormality occurred. The transmission unit transmits the video in the time zone corresponding to the abnormal time zone to the retransmission control device. The collection device according to claim 11 or claim 12.

14. The transmission unit transmits the video in the target time period where the abnormal time period overlaps with a predetermined period based on the time when an alarm regarding the monitoring of the moving body occurred, among the time periods when the video was captured, in a state superior to the video outside the target time period. The collection device according to claim 13.

15. The superior state includes at least either that the retransmission order of the video in the target time period is prioritized over the video outside the target time period, or that the video quality at the time of transmitting the video in the target time period is higher than the video quality at the time of transmitting the video outside the target time period. The collection device according to claim 14.

16. A receiving step of receiving the video from a collection device that collects the video captured by one or more cameras provided in a moving body, An abnormality determination step of determining whether an abnormality has occurred in at least a part of the received video, A transmission step of transmitting abnormality information regarding the abnormality to the collection device according to the presence or absence of the occurrence of the abnormality, and having causing the collection device to retransmit the video captured by the camera by the abnormality information, The abnormality determination step determines the presence or absence of the abnormality based on whether the decoding of the frame that holds all the information of the frame is successful in the received video. Control method.

17. A receiving step of receiving the video from a collection device that collects the video captured by one or more cameras provided in a moving body, An abnormality determination step of determining whether an abnormality has occurred in at least a part of the received video, A transmission step of transmitting abnormality information regarding the abnormality to the collection device according to the presence or absence of the occurrence of the abnormality, and having causing the collection device to retransmit the video captured by the camera by the abnormality information, Display information to be displayed together with the video is attached to the video transmitted from the collection device, The abnormality determination step determines the presence or absence of the abnormality by performing image recognition on the display information attached to the received video. Control method.

18. A receiving step of receiving the video from a collection device that collects the video captured by one or more cameras provided in a moving body, An abnormality determination step of determining whether an abnormality has occurred in at least a part of the received video, A transmission step of transmitting the abnormality information regarding the abnormality to the collection device according to the presence or absence of the occurrence of the abnormality; It has: By the abnormality information, causing the collection device to retransmit the video imaged by the camera; The abnormality information includes information indicating the abnormal time zone in which the abnormality occurred; When there is an abnormal time zone in which the retransmission of the video is not completed, it further has a display control step of displaying the time zone in which the retransmission is not completed on the time axis display indicating the imaging time zone of the video. Control method.

19. An acquisition step of acquiring video imaged by one or more cameras provided on a moving body; A transmission step of transmitting the video to a retransmission control device; A reception step of receiving information transmitted from the retransmission control device according to whether or not an abnormality has occurred in at least a part of the video received by the retransmission control device, and receiving the abnormality information regarding the abnormality; A retransmission determination step of determining whether or not to retransmit based on a predetermined condition for retransmitting the video; It has: In the case where it is determined by the retransmission determination step that retransmission is to be performed, the transmission step retransmits the video in the time zone determined by the abnormality information; The retransmission determination step determines to retransmit the video when the current position of the collection device is included in at least one of an area determined to have good communication quality based on the performance data of communication quality for each location, or an area where no failure has occurred in the communication base station. Control method.

20. An acquisition step of acquiring video imaged by one or more cameras provided on a moving body; A transmission step of transmitting the video to a retransmission control device; A reception step of receiving information transmitted from the retransmission control device according to whether or not an abnormality has occurred in at least a part of the video received by the retransmission control device, and receiving the abnormality information regarding the abnormality; A retransmission determination step of determining whether or not to retransmit based on a predetermined condition for retransmitting the video; It has: In the case where it is determined by the retransmission determination step that retransmit is to be performed, the transmission step retransmits the video in the time zone determined by the abnormality information; The alarm regarding the monitoring of the moving body includes an alarm set in association with any one of the cameras. The sending step retransmits the video of the camera associated with the alarm for a predetermined period based on the time when the alarm occurred, among the videos of the camera associated with the alarm when the alarm set in association with the camera occurs. Control method.

21. A program for causing a computer to execute the control method according to any one of Claims 16 to 20.

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