CN117376531B - Monitoring equipment coverage overlapping judging method, system and storage medium - Google Patents
Monitoring equipment coverage overlapping judging method, system and storage medium Download PDFInfo
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- CN117376531B CN117376531B CN202311343697.8A CN202311343697A CN117376531B CN 117376531 B CN117376531 B CN 117376531B CN 202311343697 A CN202311343697 A CN 202311343697A CN 117376531 B CN117376531 B CN 117376531B
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000012806 monitoring device Methods 0.000 claims description 67
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/64—Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention provides a method, a system and a storage medium for judging overlapping coverage areas of monitoring equipment, wherein the method comprises the following steps: acquiring a monitoring requirement, wherein the monitoring requirement comprises a monitoring position where monitoring equipment is located and a corresponding monitoring type, and determining a three-dimensional target monitoring area corresponding to the monitoring position in response to the monitoring requirement; judging whether the monitoring type is the same as the used historical monitoring type in the three-dimensional target monitoring area, and if so, generating a non-overlapping judging signal representing non-overlapping coverage of monitoring equipment; if the three-dimensional history monitoring areas are the same, acquiring a three-dimensional history monitoring area covered by the history monitoring equipment with the same monitoring type in the three-dimensional target monitoring area and a three-dimensional newly-added monitoring area corresponding to the monitoring position, judging whether the three-dimensional history monitoring area is overlapped with the three-dimensional newly-added monitoring area, and if the three-dimensional history monitoring area is not overlapped with the three-dimensional newly-added monitoring area, generating a non-overlapping judging signal; if any, an overlap determination signal is generated. The method and the device can improve accuracy of the coverage area overlapping judgment result of the monitoring equipment.
Description
Technical Field
The present disclosure relates to the field of video monitoring technologies, and in particular, to a method, a system, and a storage medium for determining overlapping coverage areas of a monitoring device.
Background
Video monitoring devices are now widely used in public environments, and can be seen in public places such as roads, urban roads, traffic stations, banks, office halls, restaurants, supermarkets, and the like. The meaning of the presence of monitoring devices is absolutely not just to monitor the behavior of people, but more so it is desirable to be able to provide better services to people.
When people monitor a certain area in a video mode, in order to ensure that monitoring equipment can efficiently monitor the video, the least monitoring equipment is generally used for monitoring each interest point in the area, and the most preferable option is that each interest point in the area is monitored by only one monitoring equipment. Therefore, in order for the monitoring devices to efficiently complete the video monitoring work of the current area, it is necessary to calculate whether there is a substantial overlap of the coverage sub-areas corresponding to each monitoring device in the current area. The present stage is only to calculate whether there is a superficial overlap between the corresponding coverage sub-areas of the monitoring device, and does not care whether there is a functional actual overlap. Firstly, calculating a coverage sub-area of each monitoring device according to the installation angle, the lens focal length, the sight distance and the photosensitive device size of each monitoring device; then projecting the covering sub-area of each monitoring device on a overlook plane to form a sector plane covering sub-area of each monitoring device, and establishing rectangular coordinates on the overlook plane; connecting the two ends of the circular arc of the sector represented by the planar coverage sub-area of each monitoring device by straight line segments to form a triangular coverage sub-area; and finally, converting three sides of each triangle coverage sub-area into a linear equation, judging whether intersection points exist among the three sides of different triangle coverage sub-areas through the linear equation, and judging whether the triangle coverage sub-areas with the sides with the intersection points are overlapped according to whether the intersection points exist.
The method mainly determines whether the coverage sub-areas of each monitoring device overlap in a mode of projection to a top plane, so that all monitoring devices in the area are limited to the same type of monitoring device. If there are other types of monitoring devices in the area, there may be cases where the actual coverage areas do not overlap and overlap after top plane projection due to the different heights monitored by the different types of monitoring devices. Therefore, the overlapping result of the coverage areas of the monitoring equipment can be obtained once the method is adopted, and therefore whether the coverage areas of the cameras overlap or not cannot be accurately calculated through the method.
Disclosure of Invention
In order to improve accuracy of a coverage area overlapping judgment result of a monitoring device, the embodiment of the application provides a coverage area overlapping judgment method, a coverage area overlapping judgment system and a storage medium of the monitoring device.
In a first aspect, this embodiment provides a method for determining coverage overlap of a monitoring device, where the method includes:
acquiring a monitoring requirement, wherein the monitoring requirement comprises a monitoring position where monitoring equipment is located and a corresponding monitoring type, and responding to the monitoring requirement to determine a three-dimensional target monitoring area corresponding to the monitoring position;
Judging whether the monitoring type is the same as the used history monitoring type in the three-dimensional target monitoring area, and if so, generating a non-overlapping judging signal representing non-overlapping coverage of monitoring equipment;
if the three-dimensional history monitoring areas are the same, acquiring a three-dimensional history monitoring area covered by the history monitoring equipment with the same monitoring type in the three-dimensional target monitoring area and a three-dimensional newly-added monitoring area corresponding to the monitoring position, judging whether the three-dimensional history monitoring area is overlapped with the three-dimensional newly-added monitoring area, and if the three-dimensional history monitoring area is not overlapped with the three-dimensional newly-added monitoring area, generating a non-overlapping judging signal representing that the coverage of the monitoring equipment is non-overlapping;
if so, generating an overlapped judging signal which represents that the coverage area of the monitoring equipment is overlapped.
In some of these embodiments, determining whether the three-dimensional history monitoring area overlaps with a three-dimensional newly added monitoring area includes:
acquiring an added area number contained in the three-dimensional added monitoring area and a history area number contained in the three-dimensional history monitoring area, judging whether the added area number is the same as the history area number, and if not, enabling the three-dimensional history monitoring area to be non-overlapped with the three-dimensional added monitoring area;
If so, acquiring an overlapping area number, which is the same as the newly added area number, of the history area, and generating a history coverage map of the three-dimensional history monitoring area in an overlapping sub-area corresponding to the overlapping area number and a newly added coverage map of the three-dimensional newly added monitoring area in the overlapping sub-area under the same coordinate system, wherein a history color card value corresponding to the history coverage map is different from a newly added color card value corresponding to the newly added coverage map;
acquiring an actual color card value presented in the coordinate system, judging whether the actual color card value only comprises a historical color card value and the newly added color card value, and if so, enabling the three-dimensional historical monitoring area and the three-dimensional newly added monitoring area to be non-overlapped;
otherwise, the three-dimensional history monitoring area is overlapped with the three-dimensional newly-added monitoring area.
In some embodiments, an overlapping area between the three-dimensional history monitoring area and the three-dimensional newly-added monitoring area is obtained, an updated monitoring area which is required to be adjusted by the monitoring equipment corresponding to the monitoring requirement is obtained based on the overlapping area and the three-dimensional newly-added monitoring area, whether the newly-added monitoring equipment corresponding to the monitoring requirement can be adjusted to the updated monitoring area is judged, and if so, the updated monitoring area is used as a working coverage area of the newly-added monitoring equipment;
If not, a corresponding alarm signal is generated based on the overlapping region.
In some of these embodiments, acquiring the overlapping region between the three-dimensional history monitoring region and the three-dimensional newly-added monitoring region includes:
acquiring a mixed color card value which does not belong to the historical color card value and the new color card value in the actual color card value, and determining a coordinate value of the mixed color card value in the coordinate system;
and acquiring a conversion relation between the coordinate system and the three-dimensional target monitoring area, and determining an overlapping area between the three-dimensional history monitoring area corresponding to the coordinate value and the three-dimensional newly-added monitoring area based on the conversion relation.
In some of these embodiments, determining whether the monitoring type is the same as a historical monitoring type that has been used in the three-dimensional target monitoring area comprises:
determining the number of the monitoring equipment in the working state in the three-dimensional target monitoring area from a preset database;
acquiring a monitoring type corresponding to each work number to obtain a used historical monitoring type in the three-dimensional target monitoring area, wherein if the monitoring type is included in the historical monitoring type, the monitoring type is the same as the used historical monitoring type in the three-dimensional target monitoring area;
And if the history monitoring type does not comprise the monitoring type, the monitoring type is different from the used history monitoring type in the three-dimensional target monitoring area.
In some of these embodiments, the method further comprises:
acquiring a monitoring stop signal, wherein the monitoring stop signal comprises a dormant monitoring position where monitoring equipment needing to stop monitoring is located;
and responding to the monitoring stop signal to mark the equipment number corresponding to the dormant monitoring position in the preset database as a dormant state.
In some embodiments, the generating of the non-overlapping determination signal further includes sending a working instruction to a monitoring device corresponding to the monitoring requirement.
In a second aspect, the present embodiment provides a monitoring device coverage overlapping determination system, where the system includes: the device comprises an information processing module, an information judging module and a signal generating module; wherein,
the information processing module is used for acquiring a monitoring requirement, wherein the monitoring requirement comprises a monitoring position where monitoring equipment is located and a corresponding monitoring type, and responding to the monitoring requirement to determine a three-dimensional target monitoring area corresponding to the monitoring position;
The information judging module is used for judging whether the monitoring type is the same as the used history monitoring type in the three-dimensional target monitoring area;
the signal generation module is used for generating a non-overlapping judgment signal representing non-overlapping coverage of the monitoring equipment if the signal generation module is different;
the information processing module is further used for acquiring a three-dimensional history monitoring area covered by the history monitoring equipment with the same monitoring type in the three-dimensional target monitoring area and a three-dimensional newly-added monitoring area corresponding to the monitoring position if the three-dimensional history monitoring area is the same as the three-dimensional history monitoring area;
the information judging module is further used for judging whether the three-dimensional history monitoring area is overlapped with the three-dimensional newly-added monitoring area or not;
the signal generation module is further used for generating a non-overlapping judgment signal representing that the coverage range of the monitoring equipment is non-overlapping if the coverage range of the monitoring equipment is not overlapped; if so, generating an overlapped judging signal which represents that the coverage area of the monitoring equipment is overlapped.
In some of these embodiments, the system further comprises an update module, a replacement module, and an alarm module; wherein,
the updating module is used for obtaining an updated monitoring area which corresponds to the monitoring requirement and is adjusted by the monitoring equipment based on the overlapped area and the three-dimensional newly-added monitoring area;
The information judging module is further used for judging whether the newly-added monitoring equipment corresponding to the monitoring requirement can be adjusted to the updated monitoring area;
the replacing module is configured to take the updated monitoring area as a working coverage area of the newly-added monitoring device if the updated monitoring area is available;
the alarm module is used for generating a corresponding alarm signal based on the overlapping area if the alarm signal is not available.
In a third aspect, an embodiment of the present application provides a storage medium having stored thereon a computer program executable on a processor, the computer program implementing a monitoring device coverage overlap determination method according to the first aspect when executed by the processor.
By adopting the method, the monitoring requirements including the monitoring position where the monitoring equipment is located and the corresponding monitoring type are acquired, and the three-dimensional target monitoring area corresponding to the monitoring position is determined in response to the monitoring requirements. Therefore, after determining which target monitoring area corresponds to the monitoring position according to the monitoring requirement, the central processing end can conveniently carry out subsequent coverage overlapping judgment work only on one target monitoring area without carrying out coverage overlapping judgment work on all the monitoring areas.
And then judging whether the monitoring type is the same as the used historical monitoring type in the three-dimensional target monitoring area, and directly generating a non-overlapping judging signal representing non-overlapping coverage of monitoring equipment under different conditions. Therefore, whether the monitoring coverage areas overlap or not is judged initially through the monitoring type, and the judgment result that the coverage areas of the monitoring equipment do not overlap can be directly judged under the condition that the same monitoring type does not exist. The calculation result that the coverage areas are not overlapped can be determined in a sounding manner under different conditions only by monitoring whether the types are the same.
Under the same condition, further acquiring a three-dimensional history monitoring area covered by the history monitoring equipment with the same monitoring type in the three-dimensional target monitoring area and a three-dimensional newly-added monitoring area corresponding to the monitoring position, judging whether the three-dimensional history monitoring area is overlapped with the three-dimensional newly-added monitoring area, and if not, generating a non-overlapping judging signal representing that the coverage of the monitoring equipment is non-overlapping; if so, generating an overlapped judging signal which represents that the coverage range of the monitoring equipment is overlapped. Therefore, whether the three-dimensional newly-added monitoring area corresponding to the monitoring position in the monitoring requirement is overlapped with the three-dimensional history monitoring area covered by the history monitoring equipment with the same monitoring type in the three-dimensional target monitoring area is only needed to be considered, and whether coverage areas in other covered three-dimensional history monitoring areas in the three-dimensional target monitoring area are overlapped is not needed to be considered too much. Therefore, the determination result that the coverage range of the monitoring equipment is not overlapped can be obtained unambiguously directly based on the determination result that whether the three-dimensional history monitoring area is overlapped with the three-dimensional newly-added monitoring area. The method and the device not only accurately obtain the judgment result of overlapping coverage areas of the monitoring equipment, but also achieve the work efficiency of the monitoring equipment.
In addition, when judging whether the three-dimensional history monitoring area is overlapped with the three-dimensional newly-added monitoring area, firstly acquiring an newly-added area number contained in the three-dimensional newly-added monitoring area and a history area number contained in the three-dimensional history monitoring area, judging whether the newly-added area number is the same as the history area number, and if not, indicating that the three-dimensional history monitoring area is not overlapped with the three-dimensional newly-added monitoring area; if so, continuously acquiring the overlapping area numbers with the same historical area numbers as the newly added area numbers, and generating a historical coverage map of the three-dimensional historical monitoring area in the overlapping subarea corresponding to the overlapping area numbers and a newly added coverage map of the three-dimensional newly added monitoring area in the overlapping subarea under the same coordinate system, wherein the historical color card value corresponding to the historical coverage map is different from the newly added color card value corresponding to the newly added coverage map. Finally, acquiring an actual color card value presented in a coordinate system, and judging whether the actual color card value only comprises a historical color card value and a newly added color card value, if so, the three-dimensional historical monitoring area and the three-dimensional newly added monitoring area are not overlapped; otherwise, the three-dimensional history monitoring area is overlapped with the three-dimensional newly-added monitoring area. Therefore, whether the three-dimensional history monitoring area and the three-dimensional newly-added monitoring area overlap or not is preliminarily obtained by simply checking whether the newly-added area number which is the three-dimensional newly-added monitoring area and the history area number which is the three-dimensional history monitoring area fall have the same area number or not. If the judging result of whether the three-dimensional history monitoring area and the three-dimensional newly-added monitoring area are overlapped cannot be obtained, the whole three-dimensional target monitoring area is further reduced to one or a plurality of small subareas possibly having the overlapping, the coverage map is generated in the subareas, the color card value is extracted from the subareas, whether the three-dimensional history monitoring area is overlapped with the three-dimensional newly-added monitoring area is accurately judged by comparing the color card value, and accordingly the relatively accurate judging result of whether the three-dimensional history monitoring area is overlapped with the three-dimensional newly-added monitoring area is obtained.
Drawings
Fig. 1 is a block diagram of a coverage overlapping determination method of a monitoring device according to the present embodiment.
Fig. 2 is a block diagram provided in this embodiment for determining whether the monitoring type is the same as the history monitoring type that has been used in the three-dimensional target monitoring area.
Fig. 3 is a block diagram of the present embodiment for determining whether a three-dimensional history monitoring area overlaps with a three-dimensional newly added monitoring area.
Fig. 4 is a block diagram of an overlapping area between an acquired three-dimensional history monitoring area and a three-dimensional newly added monitoring area provided in the present embodiment.
Fig. 5 is a frame diagram of a coverage overlapping determination system of a monitoring device according to this embodiment.
Detailed Description
For a clearer understanding of the objects, technical solutions and advantages of the present application, the present application is described and illustrated below with reference to the accompanying drawings and examples. However, it will be apparent to one of ordinary skill in the art that the present application may be practiced without these details. It will be apparent to those having ordinary skill in the art that various changes can be made to the embodiments disclosed herein and that the general principles defined herein may be applied to other embodiments and applications without departing from the principles and scope of the present application. Thus, the present application is not limited to the embodiments shown, but is to be accorded the widest scope consistent with the scope claimed herein.
Embodiments of the present application are described in further detail below with reference to the drawings attached hereto.
The monitoring device in this embodiment specifically refers to a device having a video monitoring function, such as various types of cameras. Wherein each type of camera has a respective maximum area that can be covered and a function to be performed, if only the existing camera coverage area overlapping algorithm is executed, it can only simply determine whether the projections of the coverage areas on the horizontal plane overlap, and it cannot be determined whether the overlapping coverage areas are actually overlapped in three-dimensional perspective. And even if there is overlap in three-dimensional perspective, the overlapping of the coverage area is determined in a fixed tone by only whether there is overlap in the coverage area, without concern about whether there is overlap in function, therefore, in the prior art, the working efficiency of the camera is possibly reduced, the working efficiency of the camera cannot be improved by checking whether the coverage areas of the camera overlap, and the judgment result of overlapping coverage areas of monitoring equipment cannot be accurately obtained. Fig. 1 is a block diagram of a coverage overlapping determination method of a monitoring device according to the present embodiment. As shown in fig. 1, a coverage overlapping determination method of a monitoring device includes the following steps:
Step S100, obtaining a monitoring requirement, wherein the monitoring requirement comprises a monitoring position where the monitoring equipment is located and a corresponding monitoring type, and responding to the monitoring requirement to determine a three-dimensional target monitoring area corresponding to the monitoring position.
The coverage overlapping judging method of the monitoring equipment is applied to the central processing end. The monitoring requirement characterizes the requirement of enabling a certain monitoring device to be in a working state based on the existing monitoring device in the working state, or the requirement of reinstalling a new monitoring device. After receiving the requirement that the monitoring equipment in the working state needs to be increased, the staff generates the monitoring requirement corresponding to the requirement manually or by using adjacent equipment, and sends the monitoring requirement to the central processing end, so that the central processing end receives the monitoring requirement. The monitoring requirement comprises the monitoring position of the monitoring equipment and the corresponding monitoring type. The monitoring position in the monitoring requirement refers to a position value of the monitoring device corresponding to the monitoring requirement, and the monitoring position is specifically a position parameter under a geodetic coordinate system. The monitoring type in the monitoring requirement refers to the work type of the monitoring equipment corresponding to the monitoring requirement. Each monitoring device has a uniquely determined job type including, but not limited to, a face recognition job type, a vehicle identification job type, a personnel traffic supervision job type, a vehicle traffic flow supervision job type, a vehicle parking monitoring job type, an important place monitoring job type, and a high altitude bird's eye monitoring job type. Monitoring devices of different work types, even if overlapping in coverage, cannot directly determine that one of the monitoring devices is redundant simply by overlapping in coverage because of different functions.
After receiving the monitoring demand, the central processing end obtains the monitoring position by responding to the monitoring demand, so as to search a three-dimensional target monitoring area corresponding to the monitoring position in a preset database. The three-dimensional target monitoring area is a monitoring area in which the monitoring position falls, and is specifically a limited three-dimensional space, and monitoring equipment can be arranged at any position in the three-dimensional target monitoring area. The preset database stores a plurality of divided three-dimensional monitoring areas, each three-dimensional monitoring area corresponds to a three-dimensional range, and each three-dimensional range is also a three-dimensional range under a geodetic coordinate system. And comparing the monitoring position in the monitoring requirement with the three-dimensional range corresponding to each three-dimensional monitoring area in a preset database, so as to find a target three-dimensional range containing the monitoring position, wherein the three-dimensional monitoring area corresponding to the target three-dimensional range is the three-dimensional target monitoring area corresponding to the monitoring position. Therefore, after determining which target monitoring area corresponds to the monitoring position according to the monitoring requirement, the central processor can conveniently carry out subsequent coverage overlapping judgment work only for the one target monitoring area without carrying out coverage overlapping judgment work on all the monitoring areas.
Step S200, judging whether the monitoring type is the same as the used history monitoring type in the three-dimensional target monitoring area, and if so, generating a non-overlapping judging signal representing non-overlapping coverage of the monitoring equipment.
The history monitoring type refers to the monitoring type of the monitoring equipment in the working state in the three-dimensional target monitoring area. Fig. 2 is a block diagram provided in this embodiment for determining whether the monitoring type is the same as the history monitoring type that has been used in the three-dimensional target monitoring area. As shown in fig. 2, determining whether the monitoring type is the same as the history monitoring type that has been used in the three-dimensional target monitoring area includes the steps of:
step S201, determining the number of the monitoring equipment in the working state in the three-dimensional target monitoring area from a preset database.
Step S202, a monitoring type corresponding to each work number is obtained to obtain a used history monitoring type in the three-dimensional target monitoring area, and if the history monitoring type comprises the monitoring type, the monitoring type is the same as the used history monitoring type in the three-dimensional target monitoring area.
In step S203, if the history monitoring type does not include the monitoring type, the monitoring type is different from the used history monitoring type in the three-dimensional target monitoring area.
Each equipment number in a working state and the corresponding actual coverage area are stored in a preset database, so that the three-dimensional target monitoring area is compared with each actual coverage area in the preset database one by one, wherein the equipment numbers corresponding to the actual coverage areas which all fall into the three-dimensional monitoring area are the monitoring equipment numbers in the working state in the three-dimensional target monitoring area. Thus, the used historical monitoring type in the three-dimensional target monitoring area can be obtained by looking up the monitoring type corresponding to the number of each monitoring device in the working state.
By comparing the acquired monitoring type contained in the monitoring demand with each of the obtained history monitoring types, if the history monitoring type includes the monitoring type, the monitoring type in the monitoring demand is the same as the history monitoring type used in the three-dimensional target monitoring area, and if the history monitoring type does not include the monitoring type, the monitoring type in the monitoring demand is different from the history monitoring type used in the three-dimensional target monitoring area.
Since a certain area belongs to the coverage area of at least two monitoring devices of the same type at the same time, the working efficiency of these monitoring devices is reduced. Therefore, in order to improve the working efficiency of the monitoring device, it is required to determine whether the monitoring type in the monitoring requirement is the same as the used history monitoring type in the three-dimensional target monitoring area, if the monitoring type is different, it is indicated that the monitoring device corresponding to the monitoring requirement is different from the used history monitoring device in the target monitoring area, and the coverage area of the monitoring device corresponding to the monitoring requirement is not overlapped with the history monitoring range in the target monitoring area, that is, the working efficiency of the existing monitoring device is not reduced when the monitoring device is in the working state. Thus, the central processing terminal generates a non-overlapping determination signal indicating that the coverage of the monitoring device is non-overlapping. Therefore, whether the monitoring coverage areas overlap or not is judged initially through the monitoring type, and the judgment result that the coverage areas of the monitoring equipment do not overlap can be directly judged under the condition that the same monitoring type does not exist.
Step S300, if the three-dimensional history monitoring areas are the same, three-dimensional history monitoring areas which are covered by the history monitoring equipment with the same monitoring type in the three-dimensional target monitoring areas and three-dimensional newly-added monitoring areas corresponding to the monitoring positions are obtained, whether the three-dimensional history monitoring areas are overlapped with the three-dimensional newly-added monitoring areas or not is judged, and if the three-dimensional history monitoring areas are not overlapped with the three-dimensional newly-added monitoring areas, a non-overlapping judging signal representing that the coverage range of the monitoring equipment is not overlapped is generated.
The three-dimensional history monitoring area refers to a monitoring area covered by monitoring equipment which is in a working state and is the same as the monitoring type in the acquired monitoring requirements in the three-dimensional target monitoring area. Each monitoring device corresponds to a uniquely determined device number, and the monitoring position where the monitoring device is located and the corresponding monitoring type correspond to the device number. Each monitoring device in the three-dimensional target monitoring area is converted from a non-working state to a working state to automatically generate a corresponding monitoring working signal, the monitoring working signal comprises the actual coverage area of the monitoring device, and the monitoring working signal is sent to the central processing end, so that the central processing end stores the device number corresponding to the monitoring working signal and the included actual coverage area in a preset database after receiving the monitoring working signal, and the three-dimensional historical monitoring area covered in the three-dimensional target monitoring area can be conveniently obtained by checking the preset database directly later, namely, the three-dimensional historical monitoring area covered by the historical monitoring device with the same monitoring type in the three-dimensional target monitoring area can be obtained by searching the actual coverage area corresponding to the historical monitoring device with the same monitoring type in all the actual coverage areas stored in the preset database.
In addition, the central processing end also acquires a monitoring stop signal, wherein the monitoring stop signal comprises a dormant monitoring position where monitoring equipment needing to stop monitoring is located; and responding to the monitoring stop signal to mark the equipment number corresponding to the dormant monitoring position in the preset database as dormant state.
Each monitoring device in the three-dimensional target monitoring area is converted from a working state to a non-working state, and a corresponding monitoring stop signal is automatically generated, wherein the monitoring stop signal comprises dormant monitoring positions where the monitoring devices needing to stop monitoring are located, namely each dormant monitoring position corresponds to a uniquely determined device number. The monitoring equipment generating the monitoring stop signal and sending the monitoring stop signal to the central processing end, so that the central processing end receives the monitoring stop signal and marks the equipment number corresponding to the dormant monitoring position and the corresponding actual coverage area in the preset database as a dormant state, and the equipment number in the working state in the preset database is updated in real time, so that the stored three-dimensional historical monitoring area in the three-dimensional target monitoring area can be acquired more accurately.
The three-dimensional newly added monitoring area refers to a coverage area default for the monitoring device corresponding to the monitoring requirement in the step S100 if the monitoring device is in a working state. The three-dimensional newly-increased monitoring area can automatically generate a coverage area acquisition instruction when the central processing end receives a monitoring demand, and the coverage area acquisition instruction is sent to the corresponding monitoring equipment, so that the monitoring equipment feeds back the coverage area defaulted by the monitoring equipment in a working state to the central processing end, and the central processing end can acquire the three-dimensional newly-increased monitoring area corresponding to the monitoring position.
When the central processing end receives a monitoring requirement, the central processing end firstly carries out corresponding monitoring type judgment work, and under the condition that the monitoring type is the same as the used history monitoring type in the three-dimensional target monitoring area, whether the three-dimensional history monitoring area is overlapped with the three-dimensional newly-added monitoring area or not is further needed to be judged, so that whether the monitoring coverage area is overlapped or not is accurately obtained. When judging whether the coverage areas of the monitoring equipment overlap, only whether the three-dimensional newly-added monitoring area corresponding to the monitoring position in the monitoring requirement overlaps with the three-dimensional history monitoring area covered by the history monitoring equipment with the same monitoring type in the three-dimensional target monitoring area is needed to be considered, and whether coverage areas in other covered three-dimensional history monitoring areas in the three-dimensional target monitoring area overlap is not needed to be considered too much. Fig. 3 is a block diagram of the present embodiment for determining whether a three-dimensional history monitoring area overlaps with a three-dimensional newly added monitoring area. As shown in fig. 3, determining whether the three-dimensional history monitoring area overlaps with the three-dimensional newly added monitoring area includes the steps of:
step S301, a new region number contained in the three-dimensional new monitored region and a history region number contained in the three-dimensional history monitored region are obtained, whether the new region number is the same as the history region number or not is judged, and if not, the three-dimensional history monitored region and the three-dimensional new monitored region are not overlapped.
Step S302, if the overlapping area numbers with the same historical area numbers as the newly added area numbers exist, a historical coverage map of the three-dimensional historical monitoring area in the overlapping subarea corresponding to the overlapping area numbers and a newly added coverage map of the three-dimensional newly added monitoring area in the overlapping subarea are generated under the same coordinate system, wherein the historical color card value corresponding to the historical coverage map is different from the newly added color card value corresponding to the newly added coverage map.
Step S303, obtaining an actual color card value presented in a coordinate system, and judging whether the actual color card value only comprises a historical color card value and a newly added color card value, if so, the three-dimensional historical monitoring area and the three-dimensional newly added monitoring area are not overlapped.
Step S304, otherwise, the three-dimensional history monitoring area is overlapped with the three-dimensional newly-added monitoring area.
The three-dimensional target monitoring area is further divided into a plurality of cuboid subregions, each cuboid subregion corresponds to a uniquely determined area number, and each area number corresponds to an area range. The size of each divided cuboid sub-area may be the same or different, and in this embodiment, whether the size of each cuboid sub-area is the same or not is not further limited. However, the size corresponding to the cuboid subregion should be as small as possible under the working pressure acceptable by the central processing end, so that whether the three-dimensional history monitoring region overlaps with the three-dimensional newly-added monitoring region can be judged in a small range.
The three-dimensional target monitoring area in the step S100 is a rectangular monitoring area, and three sides directly connected to the coordinate origin are respectively an X axis, a Y axis and a Z axis by taking a certain end point of the three-dimensional target monitoring area as the coordinate origin, so as to obtain a three-dimensional coordinate system, and the three-dimensional target monitoring area falls into a first quadrant of the three-dimensional coordinate system. And calculating coordinate values of the coordinate origin and the coordinate origin in the geodetic coordinate system, so as to obtain a conversion relationship between the three-dimensional coordinate system and the geodetic coordinate system. The three-dimensional coordinate system comprises a three-dimensional target monitoring area, a rectangular sub-area, a projection surface, a rectangular area, a region number and a display area, wherein the projection surfaces corresponding to the rectangular sub-areas in the three-dimensional target monitoring area are respectively corresponding to the XOZ surface, the XOY surface and the YOZ surface in the three-dimensional coordinate system, namely, the corresponding rectangles are respectively arranged in the XOZ surface, the XOY surface and the YOZ surface, and each rectangle on each surface is provided with the region number of the rectangular sub-area to which each rectangle belongs. The three-dimensional newly-added monitoring area is projected onto three surfaces of an XOZ surface, an XOY surface and a YOZ surface, and then the area numbers covered by the outlines of the three surfaces of the three-dimensional newly-added monitoring area are checked to obtain the newly-added area numbers contained in the three-dimensional newly-added monitoring area. The newly added area number is a union of the area numbers covered by the outlines of the three-dimensional newly added monitoring area on the three surfaces, and the area number corresponding to a rectangle belongs to the newly added area number contained in the three-dimensional newly added monitoring area as long as the newly added area number contains a certain part of the rectangle corresponding to a certain area number.
Similarly, the method of obtaining the number of the newly added area included in the three-dimensional newly added monitoring area is adopted to obtain the number of the history area included in the three-dimensional history monitoring area, and detailed description of a specific implementation method of obtaining the number of the history area included in the three-dimensional history monitoring area is omitted.
After the newly added area number and the history area number are obtained, whether the number exists in all the history area numbers or not is seen by comparing the first number in the newly added area number with all the history area numbers, and if not, the next number in the newly added area number is continuously compared with all the history area numbers until all the numbers in the newly added area number are compared with all the history area numbers. If all the comparison results are not, the newly added region number is not the same as the history region number, namely the three-dimensional history monitoring region and the three-dimensional newly added monitoring region are not overlapped.
If only one comparison result is yes, the newly added monitoring area number is indicated to have the same area number as the history area number. In order to further determine whether there is an overlap of the three-dimensional history monitoring area and the three-dimensional newly added monitoring area in the rectangular parallelepiped sub-area corresponding to the same area number, it is also necessary to obtain an overlapping area number having the same history area number as the newly added area number by the above-described comparison result of comparing each number of the newly added area numbers with all the history area numbers. And then using CAD software or SolidWorks software to draw a history coverage map of the three-dimensional history monitoring area in the overlapped subarea corresponding to the overlapped area number in the three-dimensional coordinate system, wherein the history coverage map is essentially the part of the monitoring area of the three-dimensional history monitoring area falling into the overlapped subarea corresponding to the overlapped area number. The history overlay corresponds to a history color card value and the history overlay all uses the color corresponding to the history color card value.
Similarly, CAD software or SolidWorks software is used to draw a new coverage map of the three-dimensional newly-added monitoring area in the overlapping sub-area corresponding to the overlapping area number in the three-dimensional coordinate system, where the new coverage map is essentially the part of the monitoring area of the three-dimensional newly-added monitoring area that falls into the overlapping sub-area corresponding to the overlapping area number. The new overlay map corresponds to a new color chart value, and the new overlay map uses the color corresponding to the new color chart value. The historical color card value is different from the new color card value. Thus, the history coverage map and the newly added coverage map exist in the three-dimensional coordinate system at the same time. If the history coverage map and the newly added coverage map are not overlapped, only two color card values exist in the three-dimensional coordinate system; if the history overlay overlaps with the newly added overlay, then three color chart values are present in the three-dimensional coordinate system. Therefore, the actual color card value presented in the three-dimensional coordinate system is obtained by using a color card extraction tool or software, and whether the three-dimensional history monitoring area is overlapped with the three-dimensional newly-added monitoring area is finally determined by judging whether only the history color card value and the newly-added color card value exist in the obtained actual color card value. If the historical color card value and the newly added color card value are only available, the three-dimensional historical monitoring area and the three-dimensional newly added monitoring area are not overlapped. If there are new color chart values generated after the colors corresponding to the two color chart values are overlapped in addition to the history color chart value and the new color chart value, the three-dimensional history monitoring area is overlapped with the three-dimensional newly added monitoring area. Therefore, whether the three-dimensional history monitoring area and the three-dimensional newly-added monitoring area overlap or not is preliminarily obtained by simply checking whether the newly-added area number which is the three-dimensional newly-added monitoring area and the history area number which is the three-dimensional history monitoring area fall have the same area number or not. If the judging result of whether the three-dimensional history monitoring area and the three-dimensional newly-added monitoring area are overlapped cannot be obtained, the whole three-dimensional target monitoring area is further reduced to one or a plurality of small subareas possibly having the overlapping, the coverage map is generated in the subareas, the color card value is extracted from the subareas, whether the three-dimensional history monitoring area is overlapped with the three-dimensional newly-added monitoring area is accurately judged by comparing the color card value, and accordingly the relatively accurate judging result of whether the three-dimensional history monitoring area is overlapped with the three-dimensional newly-added monitoring area is obtained.
If the above-mentioned judging result is that the three-dimensional history monitoring area and the three-dimensional newly added monitoring area are not overlapped, and there is no overlapping in function. Therefore, the central processing end can generate a non-overlapping judging signal which is used for indicating that the coverage range of the monitoring equipment is non-overlapping according to the judging result. I.e. the monitoring device is in an operating state and does not reduce the operating efficiency of the monitoring device.
In addition, after the central processing end generates the non-overlapping judging signal, the central processing end also sends a working instruction to the monitoring equipment corresponding to the monitoring requirement so as to enable the monitoring equipment to be in a working state.
Step S400, if so, generating an overlap determination signal indicating that the coverage areas of the monitoring devices overlap.
If the above-mentioned judgement result is that the three-dimensional history monitoring area is overlapped with three-dimensional newly-added monitoring area, it indicates that the coverage area of monitoring equipment is overlapped, and the central processing end needs to generate an overlapped judgement signal for indicating that the coverage area of monitoring equipment is overlapped.
In addition, after the central processing end generates an overlapping judgment signal, an overlapping area between the three-dimensional history monitoring area and the three-dimensional newly-added monitoring area is also obtained, an updated monitoring area which is required to be adjusted by the monitoring equipment corresponding to the monitoring requirement is obtained based on the overlapping area and the three-dimensional newly-added monitoring area, whether the newly-added monitoring equipment corresponding to the monitoring requirement can be adjusted to the updated monitoring area is judged, and if so, the updated monitoring area is used as a working coverage area of the newly-added monitoring equipment; if not, a corresponding alarm signal is generated based on the overlap region.
And searching an overlapping target area which corresponds to the three-dimensional newly-increased monitoring area and is of the same monitoring type, removing the overlapping target area from the three-dimensional newly-increased monitoring area to obtain an updated monitoring area, and sending the updated monitoring area to monitoring equipment corresponding to the monitoring requirement in the step S100 so as to receive an adjustment result fed back by the monitoring requirement in the step S100, wherein if the adjustment result is adjustable, the newly-increased monitoring equipment corresponding to the monitoring requirement can be adjusted to the updated monitoring area, and the updated monitoring area is taken as a working coverage area of the newly-increased monitoring equipment, so that the updated monitoring area of the newly-increased monitoring equipment is taken as the working coverage area. If the adjustment result is not adjustable, the newly-increased monitoring equipment corresponding to the monitoring requirement cannot be adjusted to the updated monitoring area, and the central processing terminal generates a corresponding alarm signal based on the overlapping area so as to remind a worker that the working efficiency of the monitoring equipment is reduced if the newly-increased monitoring equipment is enabled to work.
Fig. 4 is a block diagram of an overlapping area between an acquired three-dimensional history monitoring area and a three-dimensional newly added monitoring area provided in the present embodiment. As shown in fig. 4, acquiring the overlapping area between the three-dimensional history monitoring area and the three-dimensional newly added monitoring area includes the steps of:
Step S501, a mixed color card value which does not belong to a historical color card value and a new color card value in the actual color card value is obtained, and coordinate values of the mixed color card value in a coordinate system are determined.
Step S502, a conversion relation between the coordinate system and the three-dimensional target monitoring area is obtained, and an overlapping area between the three-dimensional history monitoring area and the three-dimensional newly-added monitoring area corresponding to the coordinate value is determined based on the conversion relation.
Firstly, using color card reading software to read a mixed color card value which does not belong to a historical color card value and a new color card value in an actual color card value under a three-dimensional coordinate system, and then sending the mixed color card value to image recognition related software in a central processing end, so that the image recognition related software recognizes a region corresponding to the mixed color card value in the three-dimensional coordinate system, and coordinate values of the region corresponding to the mixed color card value in the three-dimensional coordinate system are obtained.
The three-dimensional coordinate system has a conversion relationship with the data of the three-dimensional target monitoring area represented under the geodetic coordinate system, that is, the conversion relationship between the coordinate system and the three-dimensional target monitoring area is already obtained when the step S300 is executed, and no description is given here. Substituting the coordinate values of the region corresponding to the mixed color card value obtained in the step S301 in the three-dimensional coordinate system into the conversion relation, so as to obtain an overlapping region between the three-dimensional history monitoring region corresponding to the coordinate values and the three-dimensional newly added monitoring region. The overlap region characterizes an overlap region in the geodetic coordinate system.
Fig. 5 is a frame diagram of a coverage overlapping determination system of a monitoring device according to this embodiment. As shown in fig. 5, a monitoring device coverage overlap determination system includes: the system comprises an information processing module, an information judging module, a signal generating module, an updating module, a replacing module and an alarm module.
The information processing module is used for acquiring the monitoring requirement, wherein the monitoring requirement comprises a monitoring position where the monitoring equipment is located and a corresponding monitoring type, and responding to the monitoring requirement to determine a three-dimensional target monitoring area corresponding to the monitoring position. And the information judging module is used for judging whether the monitoring type is the same as the used historical monitoring type in the three-dimensional target monitoring area. And the signal generation module is used for generating a non-overlapping judging signal which characterizes the non-overlapping coverage range of the monitoring equipment if the signal generation module is different. The information processing module is also used for acquiring a three-dimensional history monitoring area covered by the history monitoring equipment with the same monitoring type in the three-dimensional target monitoring area and a three-dimensional newly-added monitoring area corresponding to the monitoring position if the three-dimensional history monitoring area is the same. And the information judging module is also used for judging whether the three-dimensional history monitoring area is overlapped with the three-dimensional newly-added monitoring area. The signal generation module is also used for generating a non-overlapping judgment signal representing that the coverage range of the monitoring equipment is non-overlapping if the coverage range of the monitoring equipment is not overlapped; if so, generating an overlapped judging signal which represents that the coverage area of the monitoring equipment is overlapped. And the updating module is used for acquiring an updated monitoring area which corresponds to the monitoring requirement and is adjusted by the monitoring equipment based on the overlapping area and the three-dimensional newly-added monitoring area. The information judging module is also used for judging whether the newly added monitoring equipment corresponding to the monitoring requirement can be adjusted to an updated monitoring area. And the replacement module is used for taking the updated monitoring area as the working coverage area of the newly-added monitoring equipment if the updated monitoring area can be used. And the alarm module is used for generating a corresponding alarm signal based on the overlapping area if the alarm signal is not available.
The other functions executed by the information processing module, the information determining module, the signal generating module, the updating module, the replacing module and the alarm module and the technical details of the functions are the same as or similar to the corresponding features in the coverage overlapping determining method of the monitoring device described above, so that the details are not repeated here.
The present application provides a computer readable storage medium, on which a computer program is stored, which when executed on a computer, enables the computer to perform the relevant content in the foregoing embodiment of a method for determining coverage overlap of a monitoring device.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein.
The foregoing is only a partial embodiment of the present application, and it should be noted that, for a person skilled in the art, several improvements and modifications can be made without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (10)
1. A method for determining overlapping coverage of a monitoring device, the method comprising:
acquiring a monitoring requirement, wherein the monitoring requirement comprises a monitoring position where monitoring equipment is located and a corresponding monitoring type, and responding to the monitoring requirement to determine a three-dimensional target monitoring area corresponding to the monitoring position;
judging whether the monitoring type is the same as the used history monitoring type in the three-dimensional target monitoring area, and if so, generating a non-overlapping judging signal representing non-overlapping coverage of monitoring equipment;
if the three-dimensional history monitoring areas are the same, acquiring a three-dimensional history monitoring area covered by the history monitoring equipment with the same monitoring type in the three-dimensional target monitoring area and a three-dimensional newly-added monitoring area corresponding to the monitoring position, judging whether the three-dimensional history monitoring area is overlapped with the three-dimensional newly-added monitoring area, and if the three-dimensional history monitoring area is not overlapped with the three-dimensional newly-added monitoring area, generating a non-overlapping judging signal representing that the coverage of the monitoring equipment is non-overlapping;
if so, generating an overlapped judging signal which represents that the coverage area of the monitoring equipment is overlapped.
2. The method of claim 1, wherein determining whether the three-dimensional history monitoring area overlaps with a three-dimensional newly added monitoring area comprises:
Acquiring an added area number contained in the three-dimensional added monitoring area and a history area number contained in the three-dimensional history monitoring area, judging whether the added area number is the same as the history area number, and if not, enabling the three-dimensional history monitoring area to be non-overlapped with the three-dimensional added monitoring area;
if so, acquiring an overlapping area number, which is the same as the newly added area number, of the history area, and generating a history coverage map of the three-dimensional history monitoring area in an overlapping sub-area corresponding to the overlapping area number and a newly added coverage map of the three-dimensional newly added monitoring area in the overlapping sub-area under the same coordinate system, wherein a history color card value corresponding to the history coverage map is different from a newly added color card value corresponding to the newly added coverage map;
acquiring an actual color card value presented in the coordinate system, judging whether the actual color card value only comprises a historical color card value and the newly added color card value, and if so, enabling the three-dimensional historical monitoring area and the three-dimensional newly added monitoring area to be non-overlapped;
otherwise, the three-dimensional history monitoring area is overlapped with the three-dimensional newly-added monitoring area.
3. The method of claim 2, wherein generating the overlap determination signal further comprises:
acquiring an overlapping area between the three-dimensional history monitoring area and the three-dimensional newly-added monitoring area, acquiring an updated monitoring area which is required to be adjusted by monitoring equipment corresponding to the monitoring requirement based on the overlapping area and the three-dimensional newly-added monitoring area, judging whether the newly-added monitoring equipment corresponding to the monitoring requirement can be adjusted into the updated monitoring area, and taking the updated monitoring area as a working coverage area of the newly-added monitoring equipment if the newly-added monitoring equipment can be adjusted into the updated monitoring area;
if not, a corresponding alarm signal is generated based on the overlapping region.
4. The method of claim 3, wherein acquiring an overlap region between the three-dimensional history monitoring region and the three-dimensional newly-added monitoring region comprises:
acquiring a mixed color card value which does not belong to the historical color card value and the new color card value in the actual color card value, and determining a coordinate value of the mixed color card value in the coordinate system;
and acquiring a conversion relation between the coordinate system and the three-dimensional target monitoring area, and determining an overlapping area between the three-dimensional history monitoring area corresponding to the coordinate value and the three-dimensional newly-added monitoring area based on the conversion relation.
5. The method of claim 1, wherein determining whether the monitoring type is the same as a history monitoring type that has been used in the three-dimensional target monitoring area comprises:
determining the number of the monitoring equipment in the working state in the three-dimensional target monitoring area from a preset database;
acquiring a monitoring type corresponding to each work number to obtain a used historical monitoring type in the three-dimensional target monitoring area, wherein if the monitoring type is included in the historical monitoring type, the monitoring type is the same as the used historical monitoring type in the three-dimensional target monitoring area;
and if the history monitoring type does not comprise the monitoring type, the monitoring type is different from the used history monitoring type in the three-dimensional target monitoring area.
6. The method according to claim 1, wherein the method further comprises:
acquiring a monitoring stop signal, wherein the monitoring stop signal comprises a dormant monitoring position where monitoring equipment needing to stop monitoring is located;
and responding to the monitoring stop signal to mark the equipment number corresponding to the dormant monitoring position in the preset database as a dormant state.
7. The method of claim 1, wherein generating the non-overlapping determination signal further comprises sending a work order to a monitoring device corresponding to the monitoring demand.
8. A monitoring device coverage overlap determination system, the system comprising: the device comprises an information processing module, an information judging module and a signal generating module; wherein,
the information processing module is used for acquiring a monitoring requirement, wherein the monitoring requirement comprises a monitoring position where monitoring equipment is located and a corresponding monitoring type, and responding to the monitoring requirement to determine a three-dimensional target monitoring area corresponding to the monitoring position;
the information judging module is used for judging whether the monitoring type is the same as the used history monitoring type in the three-dimensional target monitoring area;
the signal generation module is used for generating a non-overlapping judgment signal representing non-overlapping coverage of the monitoring equipment if the signal generation module is different;
the information processing module is further used for acquiring a three-dimensional history monitoring area covered by the history monitoring equipment with the same monitoring type in the three-dimensional target monitoring area and a three-dimensional newly-added monitoring area corresponding to the monitoring position if the three-dimensional history monitoring area is the same as the three-dimensional history monitoring area;
The information judging module is further used for judging whether the three-dimensional history monitoring area is overlapped with the three-dimensional newly-added monitoring area or not;
the signal generation module is further used for generating a non-overlapping judgment signal representing that the coverage range of the monitoring equipment is non-overlapping if the coverage range of the monitoring equipment is not overlapped; if so, generating an overlapped judging signal which represents that the coverage area of the monitoring equipment is overlapped.
9. The system of claim 8, further comprising an update module, a replacement module, and an alarm module; wherein,
the updating module is used for obtaining an updated monitoring area which corresponds to the monitoring requirement and is adjusted by the monitoring equipment based on the overlapped area and the three-dimensional newly-added monitoring area;
the information judging module is further used for judging whether the newly-added monitoring equipment corresponding to the monitoring requirement can be adjusted to the updated monitoring area;
the replacing module is configured to take the updated monitoring area as a working coverage area of the newly-added monitoring device if the updated monitoring area is available;
the alarm module is used for generating a corresponding alarm signal based on the overlapping area if the alarm signal is not available.
10. A computer readable storage medium having stored thereon a computer program executable on a processor, wherein the computer program when executed by the processor implements a monitoring device coverage overlap determination method according to any of claims 1 to 7.
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| CN104850693A (en) * | 2015-01-19 | 2015-08-19 | 安科智慧城市技术（中国）有限公司 | Monitoring equipment layout method and device |
| CN110362923A (en) * | 2019-07-16 | 2019-10-22 | 成都酷博空间科技有限公司 | 3 D monitoring coverage rate algorithm and monitoring installation method and monitoring system based on three-dimensional visible domain analysis |
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