SAFETY MONITORING SYSTEM, SAFETY MONITORING METHOD AND SAFETY MONITORING PROGRAM

Provided is an intrusion detection method that achieves both safety of the worker and high work productivity of the robot (50). A safety monitoring system (1) includes: a light projector (10, 10A, 10C) in which a plurality of first light emitting elements (101, 101A) that emit light of a first wavelength and a plurality of second light emitting elements (102, 102A) that emit light of a second wavelength different from the first wavelength are arranged; an imaging part (20, 20B) capturing an image of the light projector (10, 10A, 10C); an imaging processing part (30) performing intrusion detection of an object based on the image captured by the imaging part (20, 20B); and a robot control part (40) generating a signal for controlling movement of a robot (50) from a result of performing the intrusion detection. The light projector (10, 10A, 10C) is arranged on a boundary line of danger prediction for the movement of the robot (50). The first wavelength is visible light.