Management device, imaging system, management method, and management program

Abstract

Provided are a management device, an imaging system, a management method, and a management program which enable mutual utilization of captured images captured by a plurality of imaging devices that are at different distances to a subject.　A management device (11) comprises a CPU6 (0A) and can communicate with: a monitoring camera (10) that captures images of a subject; and terminal equipment (100) that is located within an area that can be imaged by the monitoring camera (10). The CPU6 (0A) acquires attribute information of the terminal equipment (100) on the basis of: the results of image processing performed on first imaging data obtained by the monitoring camera (10); and / or information concerning the imaging by the monitoring camera (10).

Description

Management device, imaging system, management method, and management program

[0001] The present invention relates to a management device, an imaging system, a management method, and a management program.

[0002] Patent Document 1 describes an information processing system in which, when a request to confirm a specified field is received from field images captured by a fixed camera, the confirmation request is sent from an information processing terminal to a mobile terminal together with the camera ID (identification) of the fixed camera of the specified field, and if the sent camera ID matches the camera ID of a fixed camera separately carried by the mobile terminal, a detailed image of the specified field is captured by the mobile terminal and the acquired image data is sent to a server device.

[0003] Patent document 2 describes a work support system in which a full-area image captured by an imaging device is displayed on a user's mobile terminal, and when an arbitrary position on the full-area image displayed on the mobile terminal is designated, an image of the designated position is displayed on the mobile terminal.

[0004] Patent document 3 describes an image storage management system that determines the location of a camera from its position information, sends shooting instruction information to the camera to take a photo, and then sends the acquired image data to an image management device via a network.

[0005] Patent document 4 describes a damage information collection and management device in which image data taken with a mobile information terminal is sent to a disaster information center with attached location information of the shooting location, and a determination unit in the disaster information center determines the distance between the position of the representative point of each damage area and the shooting location of the image data, and the image data is stored in a damage information storage unit in association with the damage area with the shortest determined distance.

[0006] Japanese Patent Publication No. 2019-121055 Japanese Patent Publication No. 2018-164220 Japanese Patent Publication No. 2004-032608 Japanese Patent Publication No. 2001-344285

[0007] One embodiment of the technique of the present disclosure provides a management device, an imaging system, a management method, and a management program that enable images captured by a plurality of imaging devices with different distances to a subject to be mutually utilized.

[0008] (1) A management device that is capable of communicating with a first imaging device that captures an image of a subject and a second imaging device that is located within an area where the first imaging device can capture images, and that includes a processor, wherein the processor acquires attribute information of the second imaging device based on at least one of the results of image processing of first imaging data acquired by the first imaging device and information related to the imaging of the first imaging device.

[0009] (2) The management device according to (1), wherein the processor transmits imaging instruction information indicating imaging conditions for the subject to the second imaging device based on the attribute information.

[0010] (3) The management device according to (2), wherein the image capturing conditions are specified by a user of the management device.

[0011] (4) The management device according to (2), wherein the imaging condition is a condition for compensating for a deficiency in the first imaging data.

[0012] (5) The management device according to (4), wherein the imaging conditions are indicated by a standard tool.

[0013] (6) A management device according to any one of (2) to (5), wherein the processor causes a display device to output at least one of a first captured image represented by the first imaging data and a second captured image represented by second imaging data acquired by the second imaging device, and receives a designation of the imaging conditions from a user.

[0014] (7) The management device according to any one of (1) to (6), wherein the information relating to the imaging is a range set based on an imaging direction of the first imaging device.

[0015] (8) The management device according to (7), in which the range is set based on an angle of view of the first imaging device.

[0016] (9) The management device according to (7) or (8), wherein the range is set based on position information associated with the imaging direction.

[0017] (10) The management device according to any one of (7) to (9), wherein the processor acquires the attribute information based on the range and GPS information of a plurality of imaging devices including the second imaging device.

[0018] (11) A management device according to any one of (1) to (10), wherein the processor acquires attribute information of the second imaging device based on the recognition result of the owner of the second imaging device or the installation target of the second imaging device by the image processing.

[0019] (12) A management device capable of communicating with a first imaging device that captures an image of a subject and a second imaging device that is located at a different location from the first imaging device, and including a processor, wherein the processor causes the first imaging device to capture an image based on at least one of location information of the second imaging device and imaging conditions specified by the second imaging device, and transmits first imaging data acquired by the first imaging device to the second imaging device.

[0020] (13) The management device according to (12), wherein the processor causes a display device to output at least one of a first captured image represented by first imaging data acquired by the first imaging device and a second captured image represented by second imaging data acquired by the second imaging device.

[0021] (14) A management device according to any one of (1) to (13), capable of communicating with a rotation device that rotates the first imaging device, wherein the processor acquires correspondence information between a control value of the rotation device and a position of an object to be imaged by the first imaging device.

[0022] (15) A management device according to (14), wherein the processor controls the rotation device to change the imaging direction of the first imaging device while synthesizing multiple image data acquired by the first imaging device to generate first composite image data, and generates correspondence information between the coordinates of the first composite image represented by the first composite image data and the control value of the rotation device.

[0023] (16) An imaging system comprising: a first imaging device that captures an image of a subject; a second imaging device that is located within an area where the first imaging device can capture images; and a management device that can communicate with the first imaging device and the second imaging device, wherein a processor of the management device acquires attribute information of the second imaging device based on at least one of a result of image processing on first imaging data acquired by the first imaging device and information related to imaging by the first imaging device.

[0024] (17) An imaging system comprising: a first imaging device that captures an image of a subject; a second imaging device that is located at a different location from the first imaging device; and a management device that can communicate with the first imaging device and the second imaging device, wherein a processor of the management device causes the first imaging device to capture an image based on at least one of location information of the second imaging device and imaging conditions specified by the second imaging device, and transmits first imaging data acquired by the first imaging device to the second imaging device.

[0025] (18) A management method using a management device capable of communicating with a first imaging device that captures an image of a subject and a second imaging device that is located within an area where the first imaging device can capture images, wherein a processor of the management device acquires attribute information of the second imaging device based on at least one of a result of image processing on first imaging data acquired by the first imaging device and information related to the imaging of the first imaging device.

[0026] (19) A management method using a management device capable of communicating with a first imaging device that captures an image of a subject and a second imaging device that is located at a different location from the first imaging device, wherein a processor of the management device causes the first imaging device to capture an image based on at least one of location information of the second imaging device and imaging conditions specified by the second imaging device, and transmits first imaging data acquired by the first imaging device to the second imaging device.

[0027] (20) A management program for a management device capable of communicating with a first imaging device that captures an image of a subject and a second imaging device that is located within an area where the first imaging device can capture images, the management program causing a processor of the management device to execute a process of acquiring attribute information of the second imaging device based on at least one of the results of image processing on first imaging data acquired by the first imaging device and information related to the imaging of the first imaging device.

[0028] (21) A management program for a management device capable of communicating with a first imaging device that captures an image of a subject and a second imaging device that is located at a different location from the first imaging device, the management program causing a processor of the management device to execute a process of causing the first imaging device to capture an image based on at least one of location information of the second imaging device and imaging conditions specified by the second imaging device, and transmitting first imaging data acquired by the first imaging device to the second imaging device.

[0029] According to the present invention, it is possible to provide a management device, an imaging system, a management method, and a management program that are capable of mutually utilizing images captured by a plurality of imaging devices with different distances to the subject.

[0030] 15 is a diagram showing an example of an imaging system 1 equipped with a management device 11 of this embodiment. FIG. 16 is a diagram showing an example of rotation of the surveillance camera 10 in the pitch direction by the rotation mechanism 16. FIG. 17 is a diagram showing an example of rotation of the surveillance camera 10 in the yaw direction by the rotation mechanism 16. FIG. 18 is a block diagram showing an example of the configuration of the optical system and electrical system of the surveillance camera 10. FIG. 19 is a diagram showing an example of the configuration of the electrical system of the rotation mechanism 16 and the management device 11. FIG. 19 is a diagram showing an example of the hardware configuration of a terminal device carried by an operator in the monitored area. FIG. 20 is a diagram showing an example of an image displayed by the management device 11. FIG. 21 is a flowchart showing an example of a first embodiment of processing by the management device 11. FIG. 22 is a sequence diagram showing an example of the first embodiment of processing by the imaging system 1. FIG. 23 is a diagram showing an example of a captured image transmitted from the terminal device 100. FIG. 24 is a diagram showing a first modified example of the imaging system 1. FIG. 25 is a diagram showing an example of the configuration of the electrical system of the management device 11 shown in FIG. 26. FIG. 27 is a diagram showing an example of an image displayed by the management device 11 in the configuration shown in FIG. 27 and FIG. 28. FIG. 10 is a diagram showing an example of a process for checking for unwell persons, injured persons, etc. FIG. 11 is a flowchart showing an example of a second form of processing by the management device 11. FIG. 12 is a sequence diagram showing an example of a second form of processing by the imaging system 1. FIG. 13 is a sequence diagram showing another example of the second form of processing by the imaging system 1. FIG. 14 is a diagram showing an example of a manner in which a management program for management control is installed into the control device 60 of the management device 11 from a storage medium on which the management program is stored.

[0031] Hereinafter, an example of an embodiment of the present invention will be described with reference to the drawings.

[0032] <Imaging System of the Embodiment> Fig. 1 is a diagram showing an example of an imaging system 1 equipped with a management device of the present embodiment. As shown in Fig. 1 as an example, the imaging system 1 includes a surveillance camera 10, a management device 11, and a rotation mechanism 16. The surveillance camera 10 is an example of a first imaging device in the present invention.

[0033] The surveillance camera 10 is a camera used to monitor facilities that are the foundation of daily life and industrial activity. The surveillance camera 10 monitors, for example, construction sites, rivers, bridges, and the like. The surveillance camera 10 may be a camera capable of telephoto shooting, an ultra-high-resolution camera, or the like. A wide-angle camera may also be used. The surveillance camera 10 is installed via a swivel mechanism 16 on a pillar, a wall, or a part of a building (e.g., a rooftop), indoors or outdoors, and captures an image of a subject. The surveillance camera 10 transmits the captured image and imaging information related to the image to the management device 11 via a communication line 12.

[0034] The management device 11 includes a display 13a, a keyboard 13b, a mouse 13c, and a secondary storage device 14. Examples of the display 13a include a liquid crystal display, a plasma display, an organic EL (Electro-Luminescence) display, and a CRT (Cathode Ray Tube) display. The display 13a is an example of a display device of the present invention.

[0035] An example of the secondary storage device 14 is a hard disk drive (HDD). The secondary storage device 14 is not limited to an HDD, and may be a non-volatile memory such as a flash memory, a solid state drive (SSD), or an electrically erasable and programmable read-only memory (EEPROM).

[0036] The management device 11 receives the captured images and imaging information transmitted from the monitoring camera 10 , and displays the received captured images and imaging information on the display 13 a and stores them in the secondary storage device 14 .

[0037] The management device 11 performs imaging control to control imaging by the surveillance camera 10. For example, the management device 11 performs imaging control by communicating with the surveillance camera 10 via the communication line 12. The imaging control is a control to set imaging parameters for the surveillance camera 10 to capture images and to cause the surveillance camera 10 to capture images. The imaging parameters include parameters related to exposure and parameters for the zoom position.

[0038] The management device 11 also controls the rotation mechanism 16 to control (pan and tilt) the imaging direction of the surveillance camera 10. For example, the management device 11 sets the rotation direction, rotation amount, rotation speed, etc. of the surveillance camera 10 in response to operations on the keyboard 13b or mouse 13c, or touch operations on the screen of the display 13a.

[0039] <Rotation of surveillance camera 10 by rotation mechanism 16> Fig. 2 is a diagram showing an example of rotation of surveillance camera 10 in the pitch direction by rotation mechanism 16. Fig. 3 is a diagram showing an example of rotation of surveillance camera 10 in the yaw direction by rotation mechanism 16. The surveillance camera 10 is attached to the rotation mechanism 16. The rotation mechanism 16 can change the imaging direction of the surveillance camera 10 by rotating the surveillance camera 10.

[0040] Specifically, as shown in Fig. 2 as an example, the rotation mechanism 16 is a two-axis rotation mechanism that can rotate the surveillance camera 10 in a rotation direction (pitch direction) that intersects with the yaw direction and has the pitch axis PA as the central axis, and in a rotation direction (yaw direction) that has the yaw axis YA as the central axis, as shown in Fig. 3 as an example. Note that, although the rotation mechanism 16 according to the present embodiment is an example of a two-axis rotation mechanism, the technology of the present disclosure is not limited to this, and may be a three-axis rotation mechanism or a single-axis rotation mechanism.

[0041] <Configuration of Optical System and Electrical System of Surveillance Camera 10> FIG. 4 is a block diagram showing an example of the configuration of the optical system and electrical system of the surveillance camera 10. As shown in FIG. 4, the surveillance camera 10 includes an optical system 15 and an image sensor 25. The image sensor 25 is located downstream of the optical system 15. The optical system 15 includes an objective lens 15A and a lens group 15B. The objective lens 15A and the lens group 15B are arranged in this order along the optical axis OA of the optical system 15 from the target subject side (object side) to the light receiving surface 25A side (image side) of the image sensor 25. The lens group 15B includes an anti-vibration lens 15B1, a focus lens (not shown), a zoom lens 15B2, and the like. The zoom lens 15B2 is supported by a lens actuator 21 (described later) so as to be movable along the optical axis OA. The anti-vibration lens 15B1 is supported by a lens actuator 17 (described later) so as to be movable in a direction perpendicular to the optical axis OA.

[0042] By increasing the focal length with the zoom lens 15B2, the surveillance camera 10 becomes telephoto, thereby narrowing the angle of view (narrowing the imaging range). By decreasing the focal length with the zoom lens 15B2, the surveillance camera 10 becomes wide-angle, thereby widening the angle of view (widening the imaging range).

[0043] The optical system 15 may include various lenses (not shown) in addition to the objective lens 15A and the lens group 15B. The optical system 15 may also include an aperture. The positions of the lenses, lens group, and aperture included in the optical system 15 are not limited, and the technology of the present disclosure is valid even if they are located at positions different from those shown in FIG. 4 .

[0044] The vibration-proof lens 15B1 is movable in a direction perpendicular to the optical axis OA, and the zoom lens 15B2 is movable along the optical axis OA.

[0045] The optical system 15 includes lens actuators 17 and 21. The lens actuator 17 applies a force to the vibration-proof lens 15B1 that fluctuates in a direction perpendicular to the optical axis of the vibration-proof lens 15B1. The lens actuator 17 is controlled by an OIS (Optical Image Stabilizer) driver 23. When the lens actuator 17 is driven under the control of the OIS driver 23, the position of the vibration-proof lens 15B1 fluctuates in a direction perpendicular to the optical axis OA.

[0046] The lens actuator 21 applies a force to the zoom lens 15B2 to move it along the optical axis OA of the optical system 15. The lens actuator 21 is controlled by the lens driver 28. When the lens actuator 21 is driven under the control of the lens driver 28, the position of the zoom lens 15B2 moves along the optical axis OA. When the position of the zoom lens 15B2 moves along the optical axis OA, the focal length of the surveillance camera 10 changes.

[0047] In addition, if the outline of the captured image is, for example, a rectangle with a short side in the pitch axis PA direction and a long side in the yaw axis YA direction, the angle of view in the pitch axis PA direction is narrower than the angle of view in the yaw axis YA direction and is narrower than the angle of view of the diagonal.

[0048] By the optical system 15 configured in this manner, light representing the object to be imaged is formed on the light receiving surface 25A of the image sensor 25, and the image of the object to be imaged is captured by the image sensor 25.

[0049] Incidentally, the vibrations that are applied to the surveillance camera 10 include, if outdoors, vibrations caused by passing cars, vibrations caused by wind, vibrations caused by road construction, etc., and if indoors, vibrations caused by the operation of an air conditioner, vibrations caused by people entering and exiting, etc. Therefore, the surveillance camera 10 shakes due to the vibrations that are applied to the surveillance camera 10 (hereinafter also simply referred to as "vibrations").

[0050] In this embodiment, "shake" refers to a phenomenon in which the image of a target subject on the light-receiving surface 25A of the image sensor 25 in the surveillance camera 10 fluctuates due to a change in the positional relationship between the optical axis OA and the light-receiving surface 25A. In other words, "shake" can also be said to be a phenomenon in which the optical axis OA tilts due to vibrations applied to the surveillance camera 10, causing the optical image formed on the light-receiving surface 25A to fluctuate. The fluctuation of the optical axis OA means, for example, that the optical axis OA tilts with respect to a reference axis (e.g., the optical axis OA before the shake occurs). Hereinafter, shake caused by vibrations will also be simply referred to as "shake."

[0051] Shake is included in the captured image as a noise component and affects the image quality of the captured image. Therefore, in order to remove the noise component included in the captured image due to shake, the surveillance camera 10 is equipped with a lens-side shake correction mechanism 29, an image sensor-side shake correction mechanism 45, and an electronic shake correction unit 33, which are used to correct shake.

[0052] The lens-side shake correction mechanism 29 and the image sensor-side shake correction mechanism 45 are mechanical shake correction mechanisms that apply power generated by a drive source such as a motor (for example, a voice coil motor) to a shake correction element (for example, the vibration-proof lens 15B1 and / or the image sensor 25) to move the shake correction element in a direction perpendicular to the optical axis of the imaging optical system, thereby correcting shake.

[0053] Specifically, the lens-side image stabilization mechanism 29 applies power generated by a drive source such as a motor (e.g., a voice coil motor) to the image stabilization lens 15B1, thereby moving the image stabilization lens 15B1 in a direction perpendicular to the optical axis of the imaging optical system, thereby correcting shake. The image sensor-side image stabilization mechanism 45 applies power generated by a drive source such as a motor (e.g., a voice coil motor) to the image sensor 25, thereby moving the image sensor 25 in a direction perpendicular to the optical axis of the imaging optical system, thereby correcting shake. The electronic image stabilization unit 33 corrects shake by performing image processing on the captured image based on the amount of shake. In other words, the image stabilization unit (image stabilization component) performs shake correction mechanically or electronically using a hardware and / or software configuration. Here, mechanical shake correction refers to shake correction achieved by mechanically moving shake correction elements such as the anti-vibration lens 15B1 and / or the image sensor 25 using power generated by a driving source such as a motor (e.g., a voice coil motor), and electronic shake correction refers to shake correction achieved, for example, by image processing performed by a processor.

[0054] As an example, as shown in FIG. 4, the lens-side shake correction mechanism 29 includes an anti-vibration lens 15B1, a lens actuator 17, an OIS driver 23, and a position sensor 39.

[0055] Various well-known methods can be used to correct shake using the lens-side shake correction mechanism 29. In this embodiment, the method used is to correct shake by moving the vibration-proof lens 15B1 based on the amount of shake detected by a shake amount detection sensor 40 (described later). Specifically, shake correction is performed by moving the vibration-proof lens 15B1 in a direction that cancels out the shake and by an amount that cancels out the shake.

[0056] A lens actuator 17 is attached to the vibration-proof lens 15B1. The lens actuator 17 is a shift mechanism equipped with a voice coil motor, and by driving the voice coil motor, the vibration-proof lens 15B1 is moved in a direction perpendicular to the optical axis of the vibration-proof lens 15B1. Note that, although a shift mechanism equipped with a voice coil motor is used as the lens actuator 17 here, the technology of the present disclosure is not limited to this, and other power sources such as a stepping motor or a piezoelectric element may be used instead of the voice coil motor.

[0057] The lens actuator 17 is controlled by an OIS driver 23. When the lens actuator 17 is driven under the control of the OIS driver 23, the position of the vibration-proof lens 15B1 is mechanically changed within a two-dimensional plane perpendicular to the optical axis OA.

[0058] The position sensor 39 detects the current position of the vibration-proof lens 15B1 and outputs a position signal indicating the detected current position. Here, a device including a Hall element is used as an example of the position sensor 39. Here, the current position of the vibration-proof lens 15B1 refers to the current position within a two-dimensional plane of the vibration-proof lens. The vibration-proof lens two-dimensional plane refers to a two-dimensional plane perpendicular to the optical axis of the vibration-proof lens 15B1. Note that in this embodiment, a device including a Hall element is used as an example of the position sensor 39, but the technology of the present disclosure is not limited to this, and a magnetic sensor, a photosensor, or the like may be used instead of the Hall element.

[0059] The lens-side image stabilization mechanism 29 corrects shake by moving the vibration-proof lens 15B1 along at least one of the pitch axis PA direction and the yaw axis YA direction within the range that is actually captured. In other words, the lens-side image stabilization mechanism 29 corrects shake by moving the vibration-proof lens 15B1 within the two-dimensional vibration-proof lens plane by an amount corresponding to the amount of shake.

[0060] The image sensor side shake correction mechanism 45 includes the image sensor 25 , a BIS (Body Image Stabilizer) driver 22 , an image sensor actuator 27 , and a position sensor 47 .

[0061] As with the shake correction method used by the lens-side shake correction mechanism 29, various well-known methods can be used to correct shake using the image sensor-side shake correction mechanism 45. In this embodiment, the shake correction method used is to correct shake by moving the image sensor 25 based on the amount of shake detected by the shake amount detection sensor 40. Specifically, shake correction is performed by moving the image sensor 25 in a direction that cancels out the shake and by an amount that cancels out the shake.

[0062] An imaging element actuator 27 is attached to the imaging element 25. The imaging element actuator 27 is a shift mechanism equipped with a voice coil motor, and by driving the voice coil motor, the imaging element 25 is moved in a direction perpendicular to the optical axis of the vibration-proof lens 15B1. Note that, although a shift mechanism equipped with a voice coil motor is used as the imaging element actuator 27 here, the technology of the present disclosure is not limited to this, and other power sources such as a stepping motor or a piezoelectric element may be applied instead of the voice coil motor.

[0063] The imaging element actuator 27 is controlled by the BIS driver 22. When the imaging element actuator 27 is driven under the control of the BIS driver 22, the position of the imaging element 25 is mechanically moved in a direction perpendicular to the optical axis OA.

[0064] The position sensor 47 detects the current position of the image sensor 25 and outputs a position signal indicating the detected current position. Here, a device including a Hall element is used as an example of the position sensor 47. Here, the current position of the image sensor 25 refers to the current position within a two-dimensional plane of the image sensor. The two-dimensional plane of the image sensor refers to a two-dimensional plane perpendicular to the optical axis of the vibration-proof lens 15B1. Note that in this embodiment, a device including a Hall element is used as an example of the position sensor 47, but the technology of the present disclosure is not limited to this, and a magnetic sensor, a photosensor, or the like may be used instead of the Hall element.

[0065] The surveillance camera 10 includes a computer 19, a DSP (Digital Signal Processor) 31, an image memory 32, an electronic shake correction unit 33, a communication I / F 34, a shake amount detection sensor 40, and a UI (User Interface) device 43. The computer 19 includes a memory 35, a storage 36, and a CPU (Central Processing Unit) 37.

[0066] The image sensor 25, DSP 31, image memory 32, electronic shake correction unit 33, communication I / F 34, memory 35, storage 36, CPU 37, shake amount detection sensor 40, and UI device 43 are connected to a bus 38. The OIS driver 23 is also connected to the bus 38. Note that, although one bus is shown as the bus 38 in the example shown in Fig. 4 for convenience of illustration, multiple buses may be used. The bus 38 may be a serial bus or a parallel bus such as a data bus, an address bus, and a control bus.

[0067] The memory 35 temporarily stores various types of information and is used as a work memory. An example of the memory 35 is a random access memory (RAM), but other types of storage devices may be used. The storage 36 stores various programs for the surveillance camera 10. The CPU 37 reads the various programs from the storage 36 and executes them on the memory 35 to control the entire surveillance camera 10. Examples of the storage 36 include a flash memory, an SSD, an EEPROM, and an HDD. Alternatively, various types of non-volatile memory, such as a magnetoresistive memory or a ferroelectric memory, may be used instead of or in combination with the flash memory.

[0068] The imaging element 25 is a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The imaging element 25 captures an image of a target subject at a predetermined frame rate under the direction of the CPU 37. The "predetermined frame rate" here refers to, for example, several tens to several hundreds of frames per second. The imaging element 25 itself may have a built-in control device (image sensor control device), in which case the image sensor control device performs detailed control of the imaging element 25 in accordance with imaging instructions output by the CPU 37. The imaging element 25 may also capture an image of a target subject at a predetermined frame rate under the direction of the DSP 31, in which case the image sensor control device performs detailed control of the imaging element 25 in accordance with imaging instructions output by the DSP 31. The DSP 31 is sometimes referred to as an ISP (Image Signal Processor).

[0069] The light receiving surface 25A of the image sensor 25 is formed by a plurality of photosensitive pixels (not shown) arranged in a matrix. In the image sensor 25, each photosensitive pixel is exposed to light, and photoelectric conversion is performed for each photosensitive pixel. The electric charge obtained by photoelectric conversion for each photosensitive pixel is an analog image signal representing the target subject. Here, a plurality of photoelectric conversion elements (e.g., photoelectric conversion elements with color filters) sensitive to visible light are used as the photosensitive pixels. In the image sensor 25, a plurality of photoelectric conversion elements are used, including a photoelectric conversion element sensitive to R (red) light (e.g., a photoelectric conversion element with an R filter corresponding to R), a photoelectric conversion element sensitive to G (green) light (e.g., a photoelectric conversion element with a G filter corresponding to G), and a photoelectric conversion element sensitive to B (blue) light (e.g., a photoelectric conversion element with a B filter corresponding to B). In the surveillance camera 10, these photosensitive pixels are used to capture images based on visible light (e.g., light on the short wavelength side of approximately 700 nanometers or less). However, this embodiment is not limited to this, and images may also be captured based on infrared light (e.g., light on the long wavelength side of approximately 700 nanometers). In this case, a plurality of photoelectric conversion elements sensitive to infrared light may be used as the photosensitive pixels. In particular, for capturing images of SWIR (Short-wavelength infrared), an InGaAs sensor and / or a Type-II Quantum Well (T2SL; Simulation of Type-II Quantum Well) sensor may be used, for example.

[0070] The image sensor 25 performs signal processing such as A / D (Analog / Digital) conversion on the analog image signal to generate a digital image, which is a digital image signal. The image sensor 25 is connected to the DSP 31 via a bus 38, and outputs the generated digital image to the DSP 31 via the bus 38 in frame units.

[0071] Note that, although a CMOS image sensor is described here as an example of the image sensor 25, the technology of the present disclosure is not limited thereto, and a CCD (Charge Coupled Device) image sensor may also be applied as the image sensor 25. In this case, the image sensor 25 is connected to the bus 38 via an AFE (Analog Front End) (not shown) that has a built-in CCD driver. The AFE generates a digital image by performing signal processing such as A / D conversion on the analog image signal obtained by the image sensor 25, and outputs the generated digital image to the DSP 31. The CCD image sensor is driven by a CCD driver built into the AFE. Of course, the CCD driver may also be provided separately.

[0072] The DSP 31 performs various types of digital signal processing on the digital image. The various types of digital signal processing refer to, for example, demosaic processing, noise removal processing, gradation correction processing, color correction processing, etc. The DSP 31 outputs the digital image after digital signal processing to the image memory 32 for each frame. The image memory 32 stores the digital image from the DSP 31.

[0073] The shake amount detection sensor 40 is a device including, for example, a gyro sensor, and detects the amount of shake of the surveillance camera 10. In other words, the shake amount detection sensor 40 detects the amount of shake in each of a pair of axial directions. The gyro sensor detects the amount of rotational shake around each of the pitch axis PA, the yaw axis YA, and the roll axis RA (an axis parallel to the optical axis OA) (see FIG. 1 ). The shake amount detection sensor 40 detects the amount of shake of the surveillance camera 10 by converting the amount of rotational shake around the pitch axis PA and the amount of rotational shake around the yaw axis YA detected by the gyro sensor into the amount of shake in a two-dimensional plane parallel to the pitch axis PA and the yaw axis YA.

[0074] Here, a gyro sensor is used as an example of the shake amount detection sensor 40, but this is merely an example, and the shake amount detection sensor 40 may also be an acceleration sensor. The acceleration sensor detects the amount of shake in a two-dimensional plane parallel to the pitch axis PA and the yaw axis YA. The shake amount detection sensor 40 outputs the detected amount of shake to the CPU 37.

[0075] Furthermore, although an example in which the amount of shake is detected by a physical sensor, namely, the shake amount detection sensor 40, is given here, the technology of the present disclosure is not limited to this. For example, a motion vector obtained by comparing successive captured images stored in the image memory 32 in chronological order may be used as the amount of shake. Furthermore, the amount of shake that is ultimately used may be derived based on the amount of shake detected by the physical sensor and the motion vector obtained by image processing.

[0076] The CPU 37 acquires the amount of shake detected by the shake amount detection sensor 40, and controls the lens-side shake compensation mechanism 29, the image sensor-side shake compensation mechanism 45, and the electronic shake compensation unit 33 based on the acquired amount of shake. The amount of shake detected by the shake amount detection sensor 40 is used for shake compensation by each of the lens-side shake compensation mechanism 29 and the electronic shake compensation unit 33.

[0077] The electronic shake correction unit 33 is a device including an ASIC (Application Specific Integrated Circuit). The electronic shake correction unit 33 corrects shake by performing image processing on the captured image in the image memory 32 based on the amount of shake detected by the shake amount detection sensor 40.

[0078] Note that, although a device including an ASIC is exemplified as the electronic shake correction unit 33 here, the technology of the present disclosure is not limited to this. For example, the electronic shake correction unit 33 may be a device including a field programmable gate array (FPGA) or a programmable logic device (PLD). Furthermore, for example, the electronic shake correction unit 33 may be a device including multiple ASICs, FPGAs, and PLDs. Furthermore, a computer including a CPU, storage, and memory may be employed as the electronic shake correction unit 33. There may be a single CPU or multiple CPUs. Furthermore, the electronic shake correction unit 33 may be realized by a combination of hardware and software configurations.

[0079] The communication I / F 34 is, for example, a network interface, and controls the transmission of various information between the monitoring camera 10 and the management device 11 via a network. This network may be, for example, a wide area network (WAN) such as the Internet, or a local area network (LAN). The communication I / F 34 performs communication between the monitoring camera 10 and the management device 11.

[0080] The UI device 43 includes a reception device 43A and a display 43B. The reception device 43A is, for example, a hard key or a touch panel, and receives various instructions from the user. The CPU 37 acquires the various instructions received by the reception device 43A and operates in accordance with the acquired instructions.

[0081] The display 43B displays various information under the control of the CPU 37. Examples of the various information displayed on the display 43B include the contents of various instructions accepted by the accepting device 43A, captured images, and the like.

[0082] <Configuration of Electrical Systems of Swivel Mechanism 16 and Management Device 11> Fig. 5 is a diagram showing an example of the configuration of the electrical systems of the swing mechanism 16 and the management device 11. As shown in Fig. 5 as an example, the swing mechanism 16 includes a yaw axis swing mechanism 71, a pitch axis swing mechanism 72, motors 73 and 74, drivers 75 and 76, and communication I / Fs 79 and 80.

[0083] The yaw axis rotation mechanism 71 rotates the surveillance camera 10 in the yaw direction. The motor 73 generates power by being driven under the control of a driver 75. The yaw axis rotation mechanism 71 rotates the surveillance camera 10 in the yaw direction by receiving the power generated by the motor 73. The pitch axis rotation mechanism 72 rotates the surveillance camera 10 in the pitch direction. The motor 74 generates power by being driven under the control of a driver 76. The pitch axis rotation mechanism 72 rotates the surveillance camera 10 in the pitch direction by receiving the power generated by the motor 74.

[0084] The communication I / Fs 79 and 80 are, for example, network interfaces, and control the transmission of various information between the management device 11 and the rotation mechanism 16 via a network. This network is, for example, a WAN such as the Internet or a LAN. The communication I / Fs 79 and 80 perform communication between the rotation mechanism 16 and the management device 11.

[0085] 5, the management device 11 includes a display 13a, a secondary storage device 14, a control device 60, a receiving device 62, and communication I / Fs 66, 67, 68, and 69. The control device 60 includes a CPU 60A, a storage 60B, and a memory 60C. The CPU 60A is an example of a processor according to the present invention.

[0086] The accepting device 62, the display 13a, the secondary storage device 14, the CPU 60A, the storage 60B, the memory 60C, and the communication I / F 66 are each connected to a bus 70. In the example shown in Fig. 5, for convenience of illustration, one bus is shown as the bus 70, but multiple buses may be used. The bus 70 may be a serial bus or a parallel bus including a data bus, an address bus, a control bus, etc.

[0087] The memory 60C temporarily stores various information and is used as a work memory. An example of the memory 60C is a RAM, but other types of storage devices may be used. The storage 60B stores various programs for the management device 11 (hereinafter simply referred to as "management device programs").

[0088] The CPU 60A reads out the management device program from the storage 60B and executes the read out management device program on the memory 60C to control the entire management device 11. The management device program includes the management program of the present invention.

[0089] The communication I / F 66 is, for example, a network interface. The communication I / F 66 is communicatively connected to the communication I / F 34 of the surveillance camera 10 via a network, and controls the transmission of various information between the communication I / F 66 and the surveillance camera 10. The communication I / Fs 67 and 68 are, for example, network interfaces. The communication I / F 67 is communicatively connected to the communication I / F 79 of the rotation mechanism 16 via a network, and controls the transmission of various information between the communication I / F 67 and the yaw axis rotation mechanism 71. The communication I / F 68 is communicatively connected to the communication I / F 80 of the rotation mechanism 16 via a network, and controls the transmission of various information between the communication I / F 67 and the pitch axis rotation mechanism 72.

[0090] The communication I / F 69 is, for example, a network interface. A plurality of workers are present in the area to be monitored (imaged) by the imaging system 1 (hereinafter referred to as the "monitored area"), and each worker carries a terminal device such as a smartphone (see, for example, FIG. 6). The communication I / F 69 communicates directly or indirectly with the terminal device carried by each worker in the monitored area via a network. The terminal device is an example of a second imaging device in the present invention. The network is, for example, a WAN or a LAN. The monitored area is, for example, a place where dangerous work is performed by a plurality of workers, and examples include construction sites, disaster sites, etc.

[0091] The CPU 60A receives captured images and imaging information from the surveillance camera 10 via the communication I / F 66 and the communication I / F 34. The CPU 60A controls the imaging operation of the surveillance camera 10 on the imaging target via the communication I / F 66 and the communication I / F 34.

[0092] The CPU 60A controls the driver 75 and motor 73 of the turning mechanism 16 via the communication I / F 67 and communication I / F 79, thereby controlling the turning operation of the yaw axis turning mechanism 71. The CPU 60A also controls the driver 76 and motor 74 of the turning mechanism 16 via the communication I / F 68 and communication I / F 80, thereby controlling the turning operation of the pitch axis turning mechanism 72.

[0093] The CPU 60A transmits and receives captured images, captured information, and the like to and from the terminal device via the communication I / F 69 and the communication I / F 103 (see FIG. 6).

[0094] The CPU 60A acquires attribute information of the terminal device based on at least one of the results of image processing of the first image data acquired by the surveillance camera 10 and information related to the image captured by the surveillance camera 10. Image processing of the first image data involves recognizing an object (e.g., a worker) in the image through image analysis. The information related to the image captured by the surveillance camera 10 is an image capture range specified by longitude and latitude set based on the imaging direction (pan / tilt values) of the surveillance camera 10. The image capture range is set based on location information associated with the imaging direction. The image capture range may be set taking into account the angle of view in addition to the imaging direction. The CPU 60A acquires attribute information of the terminal device based on the image capture range and GPS information of multiple terminal devices. When acquiring attribute information of the terminal device based on the results of image processing, the CPU 60A acquires attribute information based on the recognition result of the owner of the terminal device or the installation target of the terminal device (e.g., a terminal device installed on a robot, a terminal device installed in a vehicle, etc.). The attribute information of the terminal device is associated with the owner of the terminal device and the installation target.

[0095] The CPU 60A transmits imaging instruction information indicating imaging conditions for a subject to be imaged by the terminal device to a specific terminal device based on the acquired attribute information of the terminal device. The imaging instruction information indicating the imaging conditions is specified by a user of the management device 11. The imaging instruction information is transmitted as instruction information such as, for example, "Please capture part a in area A." The imaging conditions are conditions that compensate for a deficiency in the first imaging data acquired by the surveillance camera 10. The imaging conditions are indicated by a standard tool such as email, Teams (registered trademark), or Line (registered trademark). The CPU 60A outputs at least one of the first captured image represented by the first imaging data and the second captured image represented by the second imaging data acquired by the terminal device to the display 13a and accepts designation of the imaging conditions from the user.

[0096] The CPU 60A causes the surveillance camera 10 to capture a specified image based on at least one of the location information of the terminal device and the imaging conditions specified by the terminal device. The specified image captured based on the location information of the terminal device is, for example, an image of the surroundings of the location where the terminal device is located. The specified image captured based on the imaging conditions specified by the terminal device is, for example, an image of the surroundings of the location specified by the terminal device. The CPU 60A transmits first imaging data of the specified image captured by the surveillance camera 10 to the specified terminal device. During communication with the terminal device, the CPU 60A may output, to the display 13a, at least one of a first captured image represented by the first imaging data acquired by the surveillance camera 10 and a second captured image represented by the second imaging data acquired by the terminal device. The CPU 60A stores, in the memory 60C or the secondary storage device 14, correspondence information between the rotation control values ​​(pan / tilt values) of the rotation mechanism 16 and the position (longitude and latitude) of the target imaged by the surveillance camera 10.

[0097] The reception device 62 is, for example, the keyboard 13b, the mouse 13c, or the touch panel of the display 13a, and receives various instructions from the user. The CPU 60A acquires the various instructions received by the reception device 62 and operates in accordance with the acquired instructions. For example, when the reception device 62 receives processing content for the surveillance camera 10 and / or the rotation mechanism 16, the CPU 60A operates the surveillance camera 10 and / or the rotation mechanism 16 in accordance with the instruction content received by the reception device 62.

[0098] The display 13a displays various information under the control of the CPU 60A. Examples of the various information displayed on the display 13a include the contents of various instructions accepted by the acceptance device 62, and captured images and imaging information received by the communication I / F 66. The CPU 60A outputs the contents of various instructions accepted by the acceptance device 62, and captured images and imaging information received by the communication I / F 66 to the display 13a.

[0099] The secondary storage device 14 is, for example, a non-volatile memory, and stores various types of information under the control of the CPU 60 A. Examples of the various types of information stored in the secondary storage device 14 include captured images and imaging information received by the communication I / F 66. The CPU 60 A stores the captured images and imaging information received by the communication I / F 66 in the secondary storage device 14.

[0100] <Hardware Configuration of Terminal Device Carried by a Worker in a Monitored Area> Fig. 6 is a diagram showing an example of the hardware configuration of a terminal device carried by a worker in a monitored area. A worker in the monitored area (e.g., worker W1 in the monitored area E1 shown in Fig. 7) carries a terminal device 100 as shown in Fig. 6. The terminal device 100 includes a processor 101, a memory 102, a communication I / F 103, a GNSS (Global Navigation Satellite System) unit 104, a user I / F 105, and an imaging unit 106. The processor 101, the memory 102, the communication I / F 103, the GNSS unit 104, the user I / F 105, and the imaging unit 106 are connected by, for example, a bus 109.

[0101] The processor 101 is a circuit that performs signal processing, and is, for example, a CPU that performs overall control of the terminal device 100. The processor 101 may be realized by other digital circuits such as an FPGA or a DSP. The processor 101 may also be realized by combining multiple digital circuits.

[0102] The memory 102 includes, for example, a main memory and an auxiliary memory. The main memory is, for example, a RAM. The main memory is used as a work area for the processor 101. The auxiliary memory is, for example, a non-volatile memory such as a magnetic disk, an optical disk, or a flash memory. Various programs that operate the terminal device 100 are stored in the auxiliary memory. The programs stored in the auxiliary memory are loaded into the main memory and executed by the processor 101.

[0103] The auxiliary memory may also include a portable memory that is removable from the terminal device 100. Portable memories include memory cards such as a USB (Universal Serial Bus) flash drive and an SD (Secure Digital) memory card, and external hard disk drives.

[0104] The communication I / F 103 is a communication interface that performs wireless communication with the outside of the terminal device 100. For example, the communication I / F 103 connects to the Internet via a mobile communication network to indirectly communicate with the management device 11. The communication I / F 103 is controlled by the processor 101.

[0105] The GNSS unit 104 is a satellite positioning system such as the Global Positioning System (GPS), and acquires position information (longitude and latitude) of the terminal device 100. The GNSS unit 104 is controlled by the processor 101.

[0106] The user I / F 105 includes, for example, an input device that accepts operation input from the user and an output device that outputs information to the user. The input device can be realized by, for example, keys (e.g., a keyboard) or a remote control. The output device can be realized by, for example, a display or a speaker. The input device and the output device may also be realized by, for example, a touch panel. The user I / F 105 is controlled by the processor 101.

[0107] The imaging unit 106 is a part having a function of capturing an image of a monitoring target area, which is an imaging target. The imaging unit 106 is controlled by the processor 101.

[0108] 7 is a diagram showing an example of an image displayed by the management device 11. The management device 11 can display, for example, a wide-area image 90 and a detailed image 91 to a user of the management device 11 (e.g., a person monitoring the monitored area E1) on the display 13a. In this example, the angle of view of the surveillance camera 10 is set to an angle of view that can capture only a portion of the monitored area.

[0109] The wide-area image 90 is a pseudo-wide-angle image representing the entire monitored area E1, which is generated by the management device 11 controlling the monitoring camera 10 and the rotation mechanism 16 to cause the monitoring camera 10 to capture images of each area of ​​the monitored area E1 multiple times and then synthesizing (combining) the captured image information. The pseudo-wide-angle image is an example of a first composite image in the present invention. This series of image capture control and generation of the wide-area image 90 is performed periodically, for example, at a predetermined time every day (for example, 7:00 a.m.).

[0110] The detailed image 91 is an image that represents a partial area e1 of the monitored area E1 in real time, generated from the most recent image information captured by the monitoring camera 10.

[0111] The wide-area image 90 and the detailed image 91 may be displayed side by side at the same time, or may be displayed by switching between them in response to an operation by the user of the management device 11, for example.

[0112] An area designation cursor 90a is included in the wide-area image 90. The user of the management apparatus 11 can change the position and size of the area designation cursor 90a by operating the reception device 62.

[0113] For example, the memory 60C or secondary storage device 14 of the management device 11 stores correspondence information that uniquely associates the coordinates of the wide-area image 90 with the latitude and longitude (longitude and latitude) of the position corresponding to those coordinates in the monitored area E1, and the control parameters (pan and tilt control values ​​of the surveillance camera 10) of the rotation mechanism 16 for capturing images by the surveillance camera 10 centered on the position corresponding to those coordinates in the monitored area E1.

[0114] For example, when generating the wide-area image 90 described above, the management device 11 derives a correspondence between the coordinates of the wide-area image 90 and the control parameters of the rotation mechanism 16. Furthermore, for example, the management device 11 adjusts the control parameters of the rotation mechanism 16 for multiple positions included in the monitored area E1 and having known longitude and latitude so that the monitoring camera 10 can capture images centered on those positions, and derives a correspondence between the control parameters of the rotation mechanism 16 and the longitude and latitude by associating the adjusted control parameters with the (known) longitude and latitude of those positions. This makes it possible to generate correspondence information that associates the coordinates of the wide-area image 90 with the control parameters of the rotation mechanism 16 and the longitude and latitude.

[0115] When the area designation cursor 90a is set by a user operation, the management device 11 acquires, from the correspondence information, the control parameters of the rotation mechanism 16 that correspond to the coordinates of the center of the area in the wide-area image 90 designated by the area designation cursor 90a, and sets the acquired control parameters to the rotation mechanism 16. As a result, a detailed image 91 is displayed that represents the area designated by the user of the management device 11 with the area designation cursor 90a within the monitored area E1.

[0116] That is, the user of the management device 11 can view the entire monitored area E1 through the wide-area image 90. Furthermore, if the user of the management device 11 wants to view a partial area e1 of the monitored area E1 in detail, the user can view a detailed image 91 showing the partial area e1 in detail by setting an area designation cursor 90a on the portion of the partial area e1 in the wide-area image 90. In the example shown in Fig. 7 , the wide-area image 90 shows an overall image of the construction site, and the detailed image 91 shows a vehicle V1 and a worker W1.

[0117] In this way, by using real-time imaging information obtained by the surveillance camera 10 and a pseudo-wide-angle image generated by combining the imaging information obtained by having the surveillance camera 10 capture images of each area of ​​the monitored area E1, it is possible to display both a wide-area image 90 and a detailed image 91 using a single set of surveillance camera 10 and rotation mechanism 16.

[0118] 8 is a flowchart showing an example of a first form of processing by the management device 11. The first form of processing by the management device 11 is processing in which the management device 11 causes the terminal device 100 to capture an image in response to an imaging request from the management device 11 side, and receives the captured image from the terminal device 100, for example.

[0119] For example, assume that multiple workers are working at a construction site, and the construction site is being imaged by a surveillance camera 10 installed in a location overlooking the construction site. The workers are carrying a terminal device 100. The management device 11 displays on the display 13a a detailed image 91 (e.g., see FIG. 7 ) representing an area designated by an area designation cursor 90a within a wide-area image 90 (e.g., see FIG. 7 ) consisting of multiple monitored areas E1 of the construction site captured by the surveillance camera 10. When a user (monitor) operates the detailed image 91 displayed on the display 13a to transmit instruction information (e.g., by operating the start button on the menu screen), the management device 11 executes the first form of processing shown in FIG. 8 . As described above, the management device 11 stores correspondence information that associates the coordinates of the wide-area image 90 with the control parameters and longitude and latitude of the rotation mechanism 16.

[0120] First, the management device 11 acquires location information corresponding to the current detailed image 91 (step S11). The location information corresponding to the detailed image 91 is longitude and latitude information of the imaged object (partial area e1) associated with the image (detailed image 91) captured by the surveillance camera 10 and the rotation mechanism 16. The location information corresponding to the detailed image 91 is, for example, longitude and latitude information of the point appearing at the center of the detailed image 91. The location information corresponding to the detailed image 91 may also be, for example, longitude and latitude information of the imaged object associated with the captured image, taking into account the angle of view. For example, based on the above-described correspondence information, the management device 11 acquires location information (longitude and latitude information) corresponding to the current control parameters of the rotation mechanism 16 as location information (longitude and latitude information) corresponding to the current detailed image 91.

[0121] Next, the management device 11 acquires the location information of the terminal device 100 carried by each worker in the monitored area E1 (step S12). This location information is the location information of the terminal device 100 obtained by the terminal device 100 located in the imaging area (monitored area E1) that can be imaged by the monitoring camera 10 and the rotation mechanism 16.

[0122] The terminal device 100 of each worker in the monitored area E1 repeatedly transmits the GPS information of the terminal device 100 acquired by the GNSS unit 104 of the terminal device 100 to the management device 11. In response to this, in step S12, the management device 11 acquires the latest position information of the received position information for each of the terminal devices 100 of each worker in the monitored area E1.

[0123] Alternatively, in step S12, the management device 11 may send a request signal to the terminal device 100 of each worker in the monitored area E1 requesting the transmission of location information, and obtain the location information sent from the terminal device 100 in response to the request signal.

[0124] Next, the management device 11 acquires attribute information of the terminal device 100 of the worker W1 (see FIG. 7 ) appearing in the detailed image 91 based on the position information corresponding to the detailed image 91 acquired in step S11 and the position information of the terminal device 100 acquired in step S12 (step S13). The attribute information of the terminal device 100 is, for example, a camera ID assigned to each terminal device 100. The attribute information of the terminal device 100 is acquired within an imaging range (for example, the detailed image 91) set based on the imaging direction (pan / tilt values) of the surveillance camera 10. The attribute information of the terminal device 100 may also be acquired within an imaging range set in consideration of the angle of view of the surveillance camera 10. Note that if multiple workers appear in the detailed image 91, the management device 11 may select a worker.

[0125] Next, the management device 11 receives from the user of the management device 11 a designation of imaging conditions for the terminal device 100, whose attribute information was acquired in step S13, to capture a specified image (step S14). The imaging conditions are created, for example, as message information input from the reception device 62 (e.g., keyboard 13b, etc.). If the area to be monitored is a construction site, the imaging conditions are created as imaging instruction information for requesting the user to capture missing images that cannot be obtained by imaging with the monitoring camera 10, such as, for example, "Please take an image to obtain information about the front of the dump truck V1 (see FIG. 7) and the driver's seat." The management device 11 may, for example, support the designation of imaging conditions by displaying templates or options for imaging conditions on the display 13a.

[0126] Next, the management device 11 transmits the image capturing instruction information received in step S14, for example, by e-mail, to the worker W1 who owns the terminal device 100, based on the attribute information of the terminal device 100 acquired in step S13 (step S15). The image capturing instruction information to be transmitted includes information on the destination to which the image data captured by the terminal device 100 is to be sent, for example, the e-mail address of the management device 11.

[0127] Next, the management device 11 determines whether or not it has received captured image data (second captured image data) captured by the terminal device 100 from the terminal device 100 that transmitted the imaging instruction information in step S15 (step S16).

[0128] In step S16, if the second captured image data has not been received from the terminal device 100 (step S16: No), the management device 11 waits until the second captured image data is received. In step S16, if the second captured image data has been received from the terminal device 100 (step S16: Yes), the management device 11 displays the received second captured image data on the display 13a (step S17). The management device 11 may store the received second captured image data in the memory 60C or the secondary storage device 14 in association with the detailed image 91 displayed on the display 13a in step S11.

[0129] The first mode of processing by the management device 11 described above is started when the detailed image 91 is displayed on the display 13a, but this is not limiting. For example, a wide-area image 90 (pseudo-wide-angle image) may be displayed on the display 13a, and the first mode of processing may be started when a predetermined coordinate on the wide-area image 90 is designated by the user.

[0130] As described above, according to the first form of processing by the management device 11, it is possible to have the terminal device 100 of a worker working at the construction site capture images of specific areas that are difficult to capture in detail using the surveillance camera 10 installed in a location overlooking the construction site. This makes it possible to mutually utilize images captured by the surveillance camera 10 and the terminal device 100, which are at different distances to the imaged object.

[0131] 9 is a sequence diagram showing an example of a first form of processing by the imaging system 1. The first form of processing by the imaging system 1 is, for example, processing in which the management device 11 requests the terminal device 100 to capture image information that is insufficient with just the images captured by the surveillance camera 10, and the terminal device 100 transmits the images captured in response to the request to the management device 11.

[0132] For example, at a construction site, a surveillance camera 10 is installed in a location that overlooks the construction site. The surveillance camera 10 captures images of the construction site. A plurality of workers are working at the construction site. The workers carry terminal devices 100. A user (monitor) is present in a control room where a management device 11 is installed and monitors the construction site.

[0133] First, the surveillance camera 10 transmits the captured image data (first captured image data) of the construction site to the management device 11 (step S21). The surveillance camera 10 captures images of the entire construction site, dividing it into multiple monitored areas E1, and transmits the captured image data of each monitored area E1 to the management device 11.

[0134] Next, the management device 11 receives the first captured image data transmitted from the monitoring camera 10, and displays a wide-area image 90 (first captured image) consisting of a plurality of monitored areas E1 on the display 13a (step S22).

[0135] Next, the management device 11 accepts an image capture instruction transmission operation from the user (step S23). The image capture instruction transmission operation is an operation for starting an image capture instruction for the terminal device 100 to capture a predetermined image. For example, the image capture instruction transmission operation includes an operation for touching an image capture instruction start button on a menu screen displayed on the display 13a and an operation for specifying the terminal device 100 that is to capture the predetermined image. The terminal device 100 that is to capture the predetermined image is specified by an area specification operation using the area specification cursor 90a. An area is specified in the wide-area image 90 so that a desired worker is included within the area specification cursor 90a.

[0136] Next, the management device 11 acquires attribute information of the terminal device 100 (step S24). Due to the area designation in step S23, a detailed image 91 (see, for example, FIG. 7 ) representing the area designated by the area designation cursor 90a is displayed on the display 13a of the management device 11. First, the management device 11 acquires position information corresponding to the detailed image 91. For example, based on the correspondence information described above, the management device 11 acquires position information (longitude and latitude information) corresponding to the current control parameters of the rotation mechanism 16 as position information (longitude and latitude information) corresponding to the detailed image 91. Next, the management device 11 acquires position information (GPS information) of the terminal device 100 held by the worker in the detailed image 91. Next, based on the position information corresponding to the detailed image 91 and the position information of the terminal device 100, the management device 11 acquires attribute information of the terminal device 100 of, for example, worker W1 (see FIG. 7 ) depicted in the detailed image 91.

[0137] Next, the management device 11 accepts from the user a designation of imaging conditions for the terminal device 100 to capture a designated image (step S25). The imaging conditions are created as imaging instruction information for making up for missing images that cannot be acquired by imaging with the surveillance camera 10, such as, for example, "Please take an image because I would like to know information about the front of the dump truck V1 (see FIG. 7) and the driver's seat."

[0138] Next, based on the attribute information of the terminal device 100 acquired in step S24, the management device 11 sends imaging instruction information indicating imaging instructions including the imaging conditions accepted in step S25 to the worker W1 who is holding the terminal device 100 (step S26).

[0139] Next, the terminal device 100 receives the imaging instruction information transmitted from the management device 11 in step S26, and displays the contents of the imaging instruction on the screen of the terminal device 100 (step S27). At this time, the terminal device 100 may receive a detailed image 91 captured by the surveillance camera 10 from the management device 11, and display the detailed image 91 on the screen of the terminal device 100 alongside the imaging instruction information.

[0140] Next, the terminal device 100 accepts an image capturing operation by the worker W1 carrying the terminal device 100 (step S28). The worker W1 performs an image capturing operation to capture a predetermined image (the front of the dump truck, the driver's seat) in accordance with the image capturing instruction information. Next, the terminal device 100 captures an image using the imaging unit 106 in accordance with the image capturing operation by the worker W1 (step S29).

[0141] Next, the terminal device 100 transmits image data of the image captured in step S29 (second captured image data) to the management device 11 (step S30).

[0142] Next, the management device 11 receives the second captured image data transmitted from the terminal device 100 in step S30, and displays the second captured image on the display 13a (step S31).

[0143] 10 is a diagram showing an example of a captured image captured by the terminal device 100 in response to an imaging request from the management device 11 and transmitted from the terminal device 100 to the management device 11. Specifically, this is a captured image 111 of "the front of the dump truck V1" captured in accordance with the imaging conditions received from the user of the management device 11 in step S14 and step S25.

[0144] Fig. 11 is a diagram showing another example of a captured image captured by the terminal device 100 in response to an imaging request from the management device 11 and transmitted from the terminal device 100 to the management device 11. Fig. 11 is a partial enlarged view of a portion of the captured image 111 shown in Fig. 10. Specifically, this is a captured image 112 of the "driver's seat of the dump truck V1" captured in accordance with the imaging conditions accepted from the user of the management device 11 in step S14 and step S25.

[0145] As described above, according to the first mode of processing by the imaging system 1, it is possible to request the terminal device 100 of a worker working at the construction site to capture an image of a specific area that is difficult to capture in detail with the surveillance camera 10 installed in a location overlooking the construction site, and to transmit the image captured by the terminal device 100 in response to the request to the management device 11. This makes it possible to mutually utilize images captured by the surveillance camera 10 and the terminal device 100, which are at different distances to the image target.

[0146] <First Modification of Imaging System 1> Fig. 12 is a diagram showing a first modification of the imaging system 1. As shown in Fig. 12, the imaging system 1 may include a surveillance camera 10a in addition to the configuration shown in Fig. 1. The surveillance camera 10a has a wider angle of view than the surveillance camera 10 and is installed so as to be able to capture an image of the entire monitoring target area E1. The configuration of the surveillance camera 10a is similar to that of the surveillance camera 10 shown in Fig. 4, for example, but differs in that the optical system 15 has wider-angle optical characteristics.

[0147] Fig. 13 is a diagram showing an example of the configuration of the electrical system of the management device 11 shown in Fig. 12. In the imaging system 1 shown in Fig. 12, the surveillance camera 10a includes a communication I / F 34a similar to the communication I / F 34 of the surveillance camera 10. The communication I / F 34a performs communication between the surveillance camera 10a and the management device 11.

[0148] The communication I / F 66 of the management device 11 is communicatively connected to the communication I / F 34 of the surveillance camera 10 as well as the communication I / F 34a of the surveillance camera 10a, and controls the transmission of various information between the surveillance cameras 10 and 10a.

[0149] Fig. 14 is a diagram showing an example of an image displayed by the management device 11 in the configuration shown in Fig. 12 and Fig. 13. In the configuration shown in Fig. 12 and Fig. 13, the management device 11 displays an image based on imaging information obtained from the monitoring camera 10a as a wide-area image 90 representing the monitored area E1. That is, the wide-area image 90 in this case is not a pseudo-wide-angle image generated by combining the imaging information obtained by having the monitoring camera 10 capture images of each area of ​​the monitored area E1, but is a wide-angle image based on a single piece of imaging information obtained by the wide-angle monitoring camera 10a.

[0150] In this case, the wide-area image 90 may be a non-real-time image obtained by periodic imaging as described above, or a real-time image obtained from the most recent imaging information captured by the surveillance camera 10a.

[0151] In this case, management device 11 also stores the above-mentioned correspondence information that uniquely associates coordinates of the wide area image 90 with the control parameters and longitude and latitude of the rotation mechanism 16. In this case, the coordinates of the wide area image 90 that correspond to the control parameters and longitude and latitude of the rotation mechanism 16 are derived, for example, by a user of management device 11 specifying corresponding coordinates in the wide area image 90 for multiple positions included in the monitored area E1 and with known longitude and latitude. Management device 11 uses this correspondence information to execute the processing shown in FIG. 8.

[0152] <Second Modification of Imaging System 1> Fig. 15 is a diagram showing a second modification of the imaging system 1. As shown in Fig. 15, the imaging system 1 may have a configuration in which the surveillance camera 10 and the rotation mechanism 16 are omitted from the configuration shown in Fig. 12.

[0153] Fig. 16 is a diagram showing an example of the configuration of the electrical system of the management device 11 shown in Fig. 15. In the imaging system 1 shown in Fig. 15, the management device 11 has a configuration obtained by omitting the communication I / F 67 and the communication I / F 68 from the configuration shown in Fig. 13. The communication I / F 66 of the management device 11 is communicably connected to the communication I / F 34a of the surveillance camera 10a, and controls the transmission of various information between the management device 11 and the surveillance camera 10a.

[0154] 15 and 16, the images displayed by the management device 11 are similar to the wide-area image 90 and detailed image 91 shown in Fig. 14. However, the management device 11 displays, as the detailed image 91 representing the partial area e1, a digitally zoomed image obtained by cutting out and enlarging an area designated by an area designation cursor 90a in the wide-area image 90. In this case, the wide-area image 90 is a real-time image obtained from the most recent imaging information captured by the monitoring camera 10a, for example.

[0155] In this case, the management device 11 stores correspondence information that uniquely associates coordinates of the wide-area image 90 with longitude and latitude. That is, the correspondence information in this case does not require the control parameters of the rotation mechanism 16. In this case, the coordinates of the wide-area image 90 that correspond to the longitude and latitude are derived, for example, by a user of the management device 11 specifying corresponding coordinates in the wide-area image 90 for multiple positions that are included in the monitored area E1 and have known longitude and latitude.

[0156] The management device 11 uses this correspondence information to execute the process shown in Fig. 8. In this case, however, in step S11, the management device 11 acquires the longitude and latitude corresponding to the detailed image 91 based on the coordinates of the digitally zoomed area of ​​the wide-area image 90 and the correspondence information.

[0157] 17 is a diagram showing an example of a process for confirming whether a person is unwell, injured, etc. The imaging system 1 can also be applied to a system that can confirm whether a worker has collapsed or is unable to move due to heat stroke or injury in a monitored area E1 (e.g., a construction site).

[0158] For example, each of the terminal devices 100 detects an abnormality in the worker carrying the terminal device 100. The abnormality in the worker is detected based on at least one of the following: a state in which the longitude and latitude acquired by the GNSS unit 104 included in the terminal device 100 does not fluctuate for a certain period of time or more; a state in which the terminal device 100 remains stationary for a certain period of time or more as detected by an acceleration sensor included in the terminal device 100; or an abnormal value in the worker's biological information measured by a wearable device that is capable of communicating with the terminal device 100 and worn by the worker.

[0159] In this case, the terminal device 100 transmits to the management device 11, together with longitude and latitude information acquired by the GNSS unit 104 provided in the terminal device 100, abnormality detection information indicating that an abnormality in the worker has been detected. Upon receiving the abnormality detection information and the longitude and latitude information, the management device 11 displays a detailed image 91 of an area in the wide-area image 90 that corresponds to the longitude and latitude information. This makes it possible to automatically display a detailed image 91 indicating the position of the worker when an abnormality in the worker is detected by the terminal device 100. This allows the user of the management device 11 to quickly check the condition of the worker in whom an abnormality has been detected.

[0160] 17 , worker W1 has collapsed in partial area e1, and the terminal device 100 carried by worker W1 transmits abnormality detection information and latitude and longitude information to the management device 11. In this case, the management device 11 displays a detailed image 91 of partial area e1 based on the latitude and longitude information received together with the abnormality detection information. This allows the user of the management device 11 to quickly confirm that worker W1 has collapsed.

[0161] Furthermore, by performing the above-mentioned instruction information transmission operation while the detailed image 91 showing the worker W1 is displayed, the user of the management device 11 can transmit instruction information to inquire about the situation to the worker W1, or transmit instruction information to instruct other workers around the worker W1 to rescue, etc.

[0162] 18 is a flowchart showing an example of a second form of processing by the management device 11. The second form of processing by the management device 11 is processing in which the management device 11 causes the surveillance camera 10 to capture a requested image in response to an imaging request from the terminal device 100, for example, and transmits the captured requested image to the terminal device 100.

[0163] For example, assume that a worker is working at a disaster site and is monitoring the disaster site with a surveillance camera 10 installed on a hill near the disaster site. The worker carries a terminal device 100. When an image capture request signal for capturing an image of the area around the worker at the disaster site is sent from the worker's terminal device 100 to the management device 11, the management device 11 executes the second form of processing shown in Fig. 18. Note that, similar to the case of the wide-area image 90 of the construction site described in Fig. 7, the management device 11 stores correspondence information that associates the coordinates of the wide-area image captured by the surveillance camera 10 monitoring the disaster site with the control parameters of the rotation mechanism 16 and longitude and latitude.

[0164] The management device 11 determines whether or not location information indicating the location where an image is to be captured has been received from the terminal device 100 (step S41).

[0165] In step S41, if the location information has not been received from the terminal device 100 (step S41: No), the management device 11 waits until the location information is received. In step S41, if the location information has been received from the terminal device 100 (step S41: Yes), the management device 11 acquires a rotation control value of the rotation mechanism 16 for capturing an image of the location for which imaging is requested, based on the received location information and the correspondence information (step S42). This rotation control value of the rotation mechanism 16 is a pan / tilt value for capturing an image of the location for which imaging is requested.

[0166] Next, the management device 11 transmits a rotation instruction signal for controlling the rotation of the rotation mechanism 16 to the rotation mechanism 16 based on the rotation control value acquired in step S42, thereby causing the rotation mechanism 16 to rotate (step S43).

[0167] Next, the management device 11 transmits an image capture instruction signal to the monitoring camera 10 to control the image capture of the monitoring camera 10, thereby causing the monitoring camera 10 to capture an image (step S44).

[0168] Next, the management device 11 receives captured image data (first captured image data) captured by the monitoring camera 10 from the monitoring camera 10 (step S45).

[0169] Next, the management device 11 transmits the first captured image data of the surveillance camera 10 received in step S45 to the terminal device 100 of the worker who requested the image capture (step S46). At this time, the management device 11 may display the first captured image represented by the first captured image data received from the surveillance camera 10 on the display 13a.

[0170] As described above, according to the second form of processing by the management device 11, it is possible to have the surveillance camera 10 installed in a location overlooking the disaster site capture information that is difficult for a worker working at the disaster site to know, such as images for understanding the situation around the worker, and transmit the captured images to the worker's terminal device 100. This allows the images captured by the surveillance camera 10 and the terminal device 100, which are at different distances to the imaged subject, to be mutually utilized.

[0171] In the above example, the worker's terminal device 100 requests the management device 11 to capture an image of the area around the worker at the disaster site, but the present invention is not limited to this. For example, the worker may specify a location where he or she wants an image captured, and the surveillance camera 10 may capture an image of the area around the specified location.

[0172] 19 is a sequence diagram showing an example of a second form of processing by the imaging system 1. The second form of processing by the imaging system 1 is, for example, processing in which the terminal device 100 requests the management device 11 to capture an image of a predetermined position, and the management device 11 causes the surveillance camera 10 to capture an image in response to the request and transmits the captured image to the terminal device 100.

[0173] For example, at a disaster site, a surveillance camera 10 is installed on a hill near the disaster site. The surveillance camera 10 captures images of the disaster site. A worker is working at the disaster site. The worker carries a terminal device 100. A user (monitor) is present in a control room where a management device 11 is installed and monitors the situation at the disaster site.

[0174] First, the terminal device 100 accepts a peripheral image capturing operation from the worker carrying the terminal device 100 (step S51). The peripheral image capturing operation is an operation of initiating an image capturing request to the management device 11 to capture an image of the worker's surroundings (the surroundings of the terminal device 100). For example, the peripheral image capturing operation is an operation of touching an image capturing request start button on a menu screen displayed on the screen of the terminal device 100. When the peripheral image capturing operation is accepted in step S51, the terminal device 100 transmits location information (GPS information) of the terminal device 100 to the management device 11 (step S52).

[0175] Next, the management device 11 receives the location information of the terminal device 100 transmitted in step S52 and acquires a rotation control value for the rotation mechanism 16 from the received location information (step S53). For example, the management device 11 acquires a rotation control value (pan / tilt value) for the rotation mechanism 16 for capturing an image of the requested location based on the received location information and the correspondence information. Next, the management device 11 transmits a rotation instruction signal for controlling the rotation of the rotation mechanism 16 to the rotation mechanism 16 based on the rotation control value acquired in step S53 (step S54).

[0176] Next, the turning mechanism 16 receives the turning instruction signal transmitted in step S54 and performs a turning operation in accordance with the received turning instruction signal (step S55).

[0177] Next, when the rotation operation of the rotation mechanism 16 in step S55 is completed, the management device 11 transmits to the surveillance camera 10 an imaging instruction signal for controlling the imaging of the surveillance camera 10 (step S56). For example, the management device 11 may calculate a focus value for the imaging position and transmit the calculated focus value information together with the imaging instruction signal.

[0178] Next, the surveillance camera 10 receives the imaging instruction signal transmitted in step S56 and captures an image in accordance with the received imaging instruction signal (step S57). Next, the surveillance camera 10 transmits the image captured in step S57, i.e., image data (first captured image data) of the image around the worker (around the terminal device 100), to the management device 11 (step S58).

[0179] Next, the management device 11 receives the first captured image data transmitted in step S58, and transmits the first captured image data to the terminal device 100 of the worker who requested the image capture (step S59).

[0180] Next, the terminal device 100 receives the first captured image data transmitted from the management device 11 in step S59, and displays the first captured image on the screen of the terminal device 100 (step S60).

[0181] As described above, the second form of processing by the imaging system 1 allows a worker at the disaster site to request information that is difficult for the worker to know, such as images to show the situation around the worker, from the management device 11. Images of the worker's surroundings that meet the request can then be captured by the surveillance camera 10 installed in a location overlooking the disaster site, and the captured images can be transmitted to the worker's terminal device 100. This allows images captured by the surveillance camera 10 and the terminal device 100, which are at different distances to the target, to be mutually utilized. Workers at the disaster site can accurately check the situation around the site, improving work efficiency and ensuring safety.

[0182] FIG. 20 is a sequence diagram illustrating another example of the second embodiment of processing by the imaging system 1. In the example illustrated in FIG. 20 , the terminal device 100 first accepts an operation to designate an imaging position from the worker carrying the terminal device 100 (step S61). The operation to designate an imaging position is an operation to initiate an imaging request to the management device 11 to capture an image of the area around the location designated by the worker. For example, the operation to designate an imaging position includes a touch operation of an imaging request start button on a menu screen displayed on the screen of the terminal device 100 and an operation to designate the imaging request location. The imaging request location is designated, for example, by touching an arbitrary position on a surrounding area map displayed on the screen of the terminal device 100. When the operation to designate an imaging position is accepted in step S61, the terminal device 100 transmits location information (longitude and latitude) of the designated location to the management device 11 (step S62).

[0183] Next, the management device 11 receives the position information of the specified position transmitted in step S62, and acquires a rotation control value of the rotation mechanism 16 from the received position information (step S63). The method for acquiring the rotation control value is the same as the method for acquiring the value in step S53 in FIG. 19 .

[0184] Furthermore, the processes from the next steps S64 to S67 are the same as the processes from steps S54 to S57 in FIG. 19, and therefore a description thereof will be omitted.

[0185] Next, the monitoring camera 10 transmits the image captured in step S67, that is, image data of the image around the position designated by the worker (first captured image data), to the management device 11 (step S68).

[0186] Furthermore, the processing from the next steps S69 to S70 is the same as the processing from steps S59 to S60 in FIG. 19, and therefore a description thereof will be omitted.

[0187] As described above, according to another example of the second embodiment, a worker at the disaster site can request the management device 11 to capture an image of a specified position, have the surveillance camera 10 capture an image in response to the request, and transmit the captured image to the worker's terminal device 100. This allows images captured by the surveillance camera 10 and the terminal device 100, which are at different distances to the image target, to be mutually utilized. The worker at the disaster site can accurately confirm the disaster situation.

[0188] <Storage medium for management program> In each of the above management controls, an example has been given in which the management program of each embodiment is stored in the storage 60B of the management device 11 and the CPU 60A of the management device 11 executes the management program in the memory 60C, but the technology of the present disclosure is not limited to this.

[0189] 21 is a diagram showing an example of how a management program for management control is installed from a storage medium on which the management program is stored into the control device 60 of the management device 11. As an example, as shown in FIG. 21, the management program 221 may be stored in a storage medium 220, which is a non-transitory storage medium. In the example shown in FIG. 21, the management program 221 stored in the storage medium 220 is installed into the control device 60, and the CPU 60A executes the above-described processes in accordance with the management program 221.

[0190] Although various embodiments have been described above, it goes without saying that the present invention is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention. Furthermore, the components of the above embodiments may be combined in any manner as long as they do not deviate from the spirit of the invention.

[0191] This application is based on a Japanese patent application (Patent Application No. 2022-153055) filed on September 26, 2022, the contents of which are incorporated herein by reference.

[0192] 1 Imaging system 10, 10a Surveillance camera 11 Management device 12 Communication line 13a, 43B Display 13b Keyboard 13c Mouse 14 Secondary storage device 15 Optical system 15B Lens group 15B1 Anti-vibration lens 15B2 Zoom lens 16 Swivel mechanism 17, 21 Lens actuator 19 Computer 22, 23, 75, 76 Driver 22 BIS driver 23 OIS driver 25 Imaging element 25A Light receiving surface 27 Imaging element actuator 28 Lens driver 29, 45 Correction mechanism 31 DSP 32 Image memory 33 Correction unit 34, 34a, 66 to 69, 79, 80, 103 Communication I / F 35, 60C, 102 Memory 36, 60B Storage 37, 60A CPU 38, 70, 109 Bus 39, 47 Position sensor 40 Shake amount detection sensor 43 UI device 43A, 62 Reception device 60 Control device 71 Yaw axis rotation mechanism 72 Pitch axis rotation mechanism 73, 74 Motor 90 Wide area image 90a Area designation cursor 91 Detailed image 100 Terminal device 101 Processor 104 GNSS unit 105 User I / F 106 Imaging unit 111, 112 Captured image 220 Storage medium 221 Management program e1 Partial area W1 Worker V1 Dump truck E1 Monitoring target area

Claims

1. A management device capable of communicating with a first imaging device that captures an image of a subject and a second imaging device that is within an area where the first imaging device can capture an image, the management device including a processor, The processor, acquiring identification information of the second imaging device based on at least one of a result of image processing on the first imaging data acquired by the first imaging device and information related to imaging by the first imaging device; Management device.

2. The management device according to claim 1 , The processor, transmitting imaging instruction information indicating an imaging condition of the subject to the second imaging device based on the identification information; Management device.

3. The management device according to claim 2, the imaging conditions are designated by a user of the management device; Management device.

4. The management device according to claim 2, The imaging condition is a condition for compensating for a deficiency in the first imaging data. Management device.

5. The management device according to claim 4, The imaging conditions are indicated by a standard tool. Management device.

6. The management device according to claim 2, The processor, outputting at least one of a first captured image represented by the first imaging data and a second captured image represented by the second imaging data acquired by the second imaging device on a display device, and receiving designation of the imaging conditions from a user; Management device.

7. The management device according to claim 1 , The information regarding the imaging is a range set based on the imaging direction of the first imaging device. Management device.

8. The management device according to claim 7, The range is set based on an angle of view of the first imaging device. Management device.

9. The management device according to claim 7, The range is set based on position information associated with the imaging direction. Management device.

10. The management device according to claim 7, The processor, acquiring the identification information based on the range and GPS information of a plurality of imaging devices including the second imaging device; Management device.

11. The management device according to claim 1 , The processor, acquiring identification information of the second imaging device based on a recognition result of the image processing of a person who possesses the second imaging device or an object on which the second imaging device is installed; Management device.

12. A management device capable of communicating with a first imaging device that captures an image of a subject and a second imaging device that is located at a different location from the first imaging device, the management device including a processor, The processor, causing the first imaging device to capture an image based on at least one of position information of the second imaging device and imaging conditions designated by the second imaging device; transmitting first imaging data acquired by the first imaging device to the second imaging device; Management device.

13. The management device according to claim 12, The processor, outputting at least one of a first captured image represented by first imaging data acquired by the first imaging device and a second captured image represented by second imaging data acquired by the second imaging device on a display device; Management device.

14. The management device according to any one of claims 1 to 13, A rotation device that rotates the first imaging device is capable of communicating with the first imaging device, The processor, Acquire correspondence information between a control value of the rotation device and a position of an object to be imaged by the first imaging device. Management device.

15. The management device according to claim 14, The processor, generating first composite image data by synthesizing a plurality of image data acquired by the first imaging device while changing an imaging direction of the first imaging device by controlling the rotation device; generating correspondence information between the coordinates of a first composite image represented by the first composite image data and a control value of the rotation device; Management device.

16. a first imaging device that captures an image of a subject; a second imaging device located within an area that can be imaged by the first imaging device; a management device capable of communicating with the first imaging device and the second imaging device; The processor of the management device acquiring identification information of the second imaging device based on at least one of a result of image processing on the first imaging data acquired by the first imaging device and information related to imaging by the first imaging device; Imaging system.

17. a first imaging device that captures an image of a subject; a second imaging device located at a different location from the first imaging device; a management device capable of communicating with the first imaging device and the second imaging device; The processor of the management device causing the first imaging device to capture an image based on at least one of position information of the second imaging device and imaging conditions designated by the second imaging device; transmitting first imaging data acquired by the first imaging device to the second imaging device; Imaging system.

18. A management method using a management device capable of communicating with a first imaging device that captures an image of a subject and a second imaging device that is within an area where the first imaging device can capture an image, comprising: a processor of the management device, acquiring identification information of the second imaging device based on at least one of a result of image processing on the first imaging data acquired by the first imaging device and information related to imaging by the first imaging device; Management method.

19. A management method using a management device capable of communicating with a first imaging device that captures an image of a subject and a second imaging device that is located at a different location from the first imaging device, comprising: a processor of the management device, causing the first imaging device to capture an image based on at least one of position information of the second imaging device and imaging conditions designated by the second imaging device; transmitting first imaging data acquired by the first imaging device to the second imaging device; Management method.

20. A management program for a management device capable of communicating with a first imaging device that captures an image of a subject and a second imaging device that is within an area where the first imaging device can capture an image, A processor of the management device acquiring identification information of the second imaging device based on at least one of a result of image processing on the first imaging data acquired by the first imaging device and information related to imaging by the first imaging device; A management program for executing processes.

21. A management program for a management device capable of communicating with a first imaging device that captures an image of a subject and a second imaging device that is located at a different location from the first imaging device, A processor of the management device causing the first imaging device to capture an image based on at least one of position information of the second imaging device and imaging conditions designated by the second imaging device; transmitting first imaging data acquired by the first imaging device to the second imaging device; A management program for executing processes.