JPH0535991A - Three-dimensional arrangement method for monitor sensors - Google Patents

Abstract

PURPOSE:To effectively decide the points of installing monitor sensors to an objective area to be monitored while more reducing the number of sensors according to a three-dimensional conception. CONSTITUTION:The objective area is divided into plural small areas by a small area division part 3 and among objects to be monitored in these respective small areas, a small area selection part 4 decides the small areas corresponding to the maximum number of objects not to be monitored from the monitor sensors. A monitored object deciding part 5 selects an unmonitored object from these decided small areas, and a sensor position deciding part 6 generates the set of monitor sensor positions so as to monitor the (m) % of many objects to be monitored at least according to a process for deciding one monitor sensor position to monitor this unmonitored object. Next, the set of monitor sensor positions is generated to monitor the (n)% (n<=m) of many monitored objects at least by eliminating the redundant monitor sensor positoins from the set of monitor sensor positions, which are obtained by the (m)% monitor sensor position generation, by a monitor sensor position eliminating part 8.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the arrangement of cameras when constructing an urban disaster prevention information system for detecting disaster information such as a fire by analyzing images obtained from surveillance cameras arranged at a high place with a good view. The present invention relates to a three-dimensional arrangement method of monitoring sensors used for automatically determining a place.

[0002]

2. Description of the Related Art Recently, awareness of disaster prevention is increasing in anticipation of the occurrence of a large earthquake, and various city disaster prevention information systems are being developed at the level of each local government including the national government.

By the way, in these urban disaster prevention information systems, it is basically important to be able to accurately grasp the disaster situation. Therefore, a plurality of monitoring sensors are provided at appropriate places in the city, for example, at high places with a good view. It is considered that the disaster situation is detected by arranging the cameras described above and analyzing the images obtained from these cameras.

However, if a plurality of monitoring points for installing the monitoring sensors are provided at appropriate places in the city as described above, an extremely large number of monitoring points are required to detect a disaster situation in a large city. Need to be provided. However, considering the cost of the system, the number of monitoring points cannot be set infinitely, and it is desired that the number of monitoring points is as small as possible. Therefore, conventionally, the installation point of the monitoring sensor is determined within the range considered to be the most economical, relying on human experience and intuition for many years.

However, according to a decision made by human experience and intuition, it is difficult to consider a region, such as a large building, which cannot be monitored due to a blind spot with a three-dimensional idea. However, the number of monitoring points would be unnecessarily large and the economic effect could not be expected so much. Further, when the size of the area to be monitored becomes larger than a certain level, such as in a large city, it takes a lot of time and labor to determine the placement of the monitoring sensor in an appropriate place.

[0006]

Thus, relying on human experience and intuition for determining the installation point of the monitoring sensor as described above results in an unnecessarily large number of monitoring points, which is economically disadvantageous. In addition, as the area to be monitored increases in size, it takes a lot of time and labor to determine the placement of the monitoring sensor in an appropriate place.

The present invention has been made in view of the above circumstances, and it is possible to effectively determine the three-dimensional position of a monitoring sensor with respect to a large number of monitored objects in a target area with a smaller number of sensors. Moreover, it is an object of the present invention to provide a three-dimensional arranging method of monitoring sensors which can make these determinations in a short time.

[0008]

The present invention provides three-dimensional information about a large number of monitored objects in a target area,
In a three-dimensional arrangement method of monitoring sensors for selecting a monitoring sensor for these monitoring objects from a large number of predetermined three-dimensional positions, at least m
Generate a set of monitoring sensor positions that can monitor%
A monitoring sensor position capable of monitoring at least n% (n ≦ m) of the large number of monitored objects by deleting redundant monitoring sensor positions from the set of monitoring sensor positions obtained by generating the monitoring sensor positions of m%. I am trying to generate a set of.

In this case, the generation of the set of monitoring sensor positions capable of monitoring at least m% of a large number of monitored objects is performed by dividing the target area into a plurality of small areas, and monitoring the object to be monitored in each of these small areas. The sub-area where the maximum number that can not be monitored from the monitoring sensor is determined by, the one of the unmonitored objects is selected from the determined sub-areas, and the monitoring sensor position that monitors this for this unmonitored object The procedure for determining one is repeated.

At least n% of a large number of monitored objects
The generation of a set of monitoring sensor positions that can monitor the maximum number of monitored objects is maximum for a new set of monitoring sensor positions obtained by excluding arbitrary monitoring sensor positions from the set of monitoring sensor positions. The set of monitoring sensor positions is obtained, and the operation of deleting the arbitrary monitoring sensor position at this time from the monitoring sensor position set is repeatedly executed.

Further, according to the present invention, three-dimensional information about a large number of monitoring objects in the target area is given, and the three-dimensional monitoring sensor selects a monitoring sensor for these monitoring objects from a plurality of predetermined three-dimensional positions. In the arrangement method, a set of monitoring sensor positions that can monitor at least m% including a monitoring target that must be monitored out of a large number of monitoring targets is generated, and obtained by generating m% monitoring sensor positions. At least n% of the large number of monitored objects are deleted by deleting redundant monitored sensor positions under the constraint that the monitored objects that must be monitored from the set of monitored sensor positions can be monitored by collating the monitored sensor positions. A set of monitoring sensor positions that can monitor (n ≦ m) is generated.

Furthermore, according to the present invention, three-dimensional information about a large number of monitored objects in the target area is given, and the three-dimensional monitoring sensor selects a monitoring sensor for these monitored objects from a plurality of predetermined three-dimensional positions. In the arranging method, the upper limit value of the number of sensor position candidates is set in advance, and a set of monitoring sensor positions for monitoring the large number of monitoring targets is generated based on the upper limit value of the sensor position candidate points.

Still further, according to the present invention, three-dimensional information regarding a large number of monitored objects in the target area is given, and a monitoring sensor for selecting a monitored sensor for these monitored objects from a plurality of predetermined three-dimensional positions is provided. In the dimensional arrangement method, a set of monitoring sensor positions is generated by selecting the monitoring sensor positions for monitoring at least m% of a large number of monitored objects in consideration of the priority given to each monitoring sensor position. , M% monitoring sensor positions obtained by generating the monitoring sensor positions, redundant monitoring sensor positions can be deleted to monitor at least n% (n ≦ m) of the large number of monitoring targets. I am trying to generate a set of.

[0014]

As a result, according to the present invention, a smaller number of monitoring sensor positions can be generated with high monitoring accuracy.
In addition, it becomes possible to efficiently determine the three-dimensional position of the monitoring sensor at an appropriate position in a short time, compared with the conventional method that relies on human experience and intuition.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows a schematic configuration of a system for realizing a three-dimensional arrangement method of monitoring sensors. In the figure, 1 is a map database, and this map database 1
The target area information, the monitoring target object information, the monitoring sensor position candidate information, and the like, which have been input in advance by input means (not shown), are stored in advance as dimension information. Then, the information of the map database 1 is sent to the control unit 2 and the small area dividing unit 3.

Here, the control unit 1 performs various operations on the small area dividing unit 3, the small area selecting unit 4, the monitoring object determining unit 5, the sensor position determining unit 6, the storage unit 7 and the monitoring sensor position deleting unit 8. And the control of the exchange of signals between these units. The small area dividing unit 3 divides the target area into a plurality of small areas based on the area information of the monitoring target given from the map database 1. For example, as shown in FIG. I am trying to divide. The sub-area selection unit 4 selects a sub-area in which the number of monitoring target objects that are not yet monitored is most large among the sub-areas divided by the sub-area dividing unit 3. Monitoring target determination unit 5
Is for determining one of the monitoring objects that are not monitoring targets in the small areas selected by the small area dividing unit 3. The sensor position determination unit 6 examines all the monitoring sensors capable of monitoring the unmonitored object determined by the monitored object determination unit 5, and among these, the storage unit 7
The position of one monitoring sensor that has not been stored in is determined. The storage unit 7 sequentially writes the monitoring sensor positions determined by the sensor position determining unit 6 to generate a monitoring sensor position list. Then, the monitoring sensor position deleting unit 8 deletes redundant monitoring sensor positions from the monitoring sensor position list generated in the storage unit 7, and finally monitors n% of all monitored objects. A set of various monitoring sensor positions is determined. Next, a method of three-dimensionally arranging the monitoring sensors, which is realized by such a configuration, will be described with reference to specific columns.

In this case, n% (=
A case will be described in which monitoring sensors such as monitor cameras are three-dimensionally arranged on a building in order to achieve 80%) generation of monitoring sensor positions.

The three-dimensional structure of the target area here is
It is assumed that there are no uplifts on the ground, only buildings have height, and these buildings are polygonal columns. Also,
The monitoring sensor position is selected from a preset set of a limited number of candidate points. Furthermore, the monitoring sensor can monitor the monitored object so that the distance from the monitoring sensor to the monitored object is within the detectable distance by the monitoring sensor, and the line segment connecting the monitoring sensor position and the monitored object intersects with the building. If you do not. Therefore, the determination of the monitoring possibility by the monitoring sensor is realized by calculating the distance and the intersection of the surface of the building and the line segment, and the distance from the monitoring sensor is determined by the monitoring sensor. It is realized by determining whether or not there is a line segment connecting the monitoring sensor position candidates within the detectable distance and connecting the point and the monitoring target object that does not intersect with each building. Here, if the latter condition is not satisfied, points of the monitoring sensor position candidates are generated in the immediate vicinity of all the monitoring targets that cannot be monitored, and these points are added to the set of monitoring sensor position candidates.

First, as a pre-process for finally achieving n% (= 80%) monitoring sensor position generation, a monitoring rate m% (eg 90%) higher than this n% monitoring sensor position generation.
In order to achieve the generation of the monitoring sensor position of.

In this case, the processing procedure shown in FIG. 2 is executed. First, the monitoring sensor position list in the storage unit 7 is initialized (step S21). Next, two-dimensional mesh division is performed on the target area based on the target area information given from the map database 1 (step S22). An example of this is shown in FIG. In this case, when the monitored object is given by coordinates (x, y) on the plan view of the target area, which mesh the point belongs to is calculated from (x-xs) / wx and (y-ys) / wy. Can be calculated.

Next, all the monitoring targets that cannot be monitored at the positions of the monitoring sensors written in the monitoring sensor position list of the storage unit 7 are detected (step S23). in this case,
Whether or not monitoring is possible at each monitoring sensor position is such that the length of the line segment connecting the sensor position and the monitored object is within the sensor's allowable detection distance, and that line segment is a polygonal pillar-shaped building in the city. When it does not intersect with, these judgments can be realized by performing a simple geometric calculation. Then, one monitoring target that cannot be monitored is selected (S step 2
4).

Here, the processing for selecting one unmonitored object in step S24 is realized by the processing procedure shown in FIG. In this case, the small area with the largest number of unmonitored objects is determined in steps S31 and S32. That is, from the coordinates on the plan view of each monitored object that cannot be monitored at the position of the monitored sensor stored in the monitored sensor position list detected in step S23 described above, in step S31, how many unmonitored objects in which small area Is calculated, and in this state, the small area selecting unit 4 selects the small area having the largest number of unmonitored objects from the small areas divided by the small area dividing unit 3 in step S32. . Then, in step S33, one is selected randomly from the unmonitored objects in the small areas selected by the small area dividing unit 3.

Next, returning to FIG. 2, for the unmonitored object determined by the monitored object determining unit 5, the sensor position determining unit 6 checks all monitoring sensors capable of monitoring the unmonitored object, and The position of one monitoring sensor is determined (step S25). The determination of the monitoring sensor position here includes the unmonitored target determined in the above-mentioned one within the allowable detection distance, and the line segment connected to the unmonitored target intersects the building in the city. Select a position with the best outlook around you. This goodness of view is evaluated by the number of objects that can be monitored when a monitoring sensor is placed at that point. The monitoring sensor position thus determined is written in the monitoring sensor position list of the storage unit 7.

Then, a monitoring rate x% representing what percentage of the whole monitoring target can be monitored by the monitoring sensor positions written in this monitoring sensor position list is calculated (step S26). Then, it is determined whether the monitoring rate x% has reached the initially set monitoring rate m% (90%) (step S27). If it has reached m%, the processing is terminated, and if not, the step is repeated again. It comes to return to S23.

In this case, in step S23, all the monitoring targets that cannot be monitored at the positions of the monitoring sensors in the monitoring sensor position list are detected again. Here, the monitoring sensors previously written in the monitoring sensor position list are detected. The monitored object that can be monitored from the position is removed from the detection target. After that, step S is performed in the same manner as described above.
From the unmonitored unmonitored objects detected in step 23, the small area in which the most unmonitored objects are present is selected in step S24, and one unmonitored object is determined from the selected small areas. Further, one monitoring sensor position is determined from the monitoring sensors capable of monitoring the unmonitored object in step S25, and this monitoring sensor position is written in the monitoring sensor position list. By repeating the operation of S27, unmonitored objects that can be monitored at the positions of the monitored sensors in the monitored sensor position list are excluded in order from the detection targets, while the monitored sensor positions that can monitor unmonitored objects are added to the monitored sensor position list. I will add more.

Then, the monitoring rate x% representing what percentage of the whole monitoring target can be monitored by the monitoring sensor position written in the monitoring sensor position list is m% (90
%), The process ends.

Next, the monitoring sensor position deleting unit 8 deletes redundant monitoring sensor positions from the monitoring sensor position list from the state of m% (90%) of monitoring sensor position generation, and finally, all the monitoring sensor position lists are deleted. A set of monitoring sensor positions that monitor n% (80%) of the monitored object comes to be determined.

In this case, the processing procedure shown in FIG. 4 is executed. First, one monitoring sensor position is sequentially selected and deleted from the monitoring sensor position list written in the storage unit 7, and the monitoring rate pi when the monitoring sensors are arranged at the remaining monitoring sensor positions in the monitoring sensor position list, respectively. Is calculated (step S41). Here, the i-th monitoring sensor position where the monitoring rate pi is maximized is determined, and the monitoring rate pi is determined (step S42). Then, it is determined whether or not the monitoring rate pi at this time exceeds n% (step S43). If it exceeds n%, the i-th monitoring sensor position is deleted from the monitoring sensor position list (step S44), and the process returns to step S31 again.

In this case, one monitoring sensor position is sequentially selected and deleted from the monitoring sensor position list in the state where the i-th monitoring sensor position is excluded from the beginning, and the remaining monitoring sensor positions in the monitoring sensor position list are deleted. The monitoring rate pi when each monitoring sensor is arranged is calculated, and the monitoring rate pi
The monitoring rate pi is determined together with the position of the monitoring sensor at which the maximum value is maximized, and it is determined whether or not the monitoring rate pi at this time exceeds n%.
From the step S44 to the monitoring rate p
The process is terminated when i does not exceed n%, and the monitoring sensor position list at this point is obtained as a result of n% (80%) monitoring sensor position generation. That is,
In the deletion process here, when any one of the monitoring sensor positions is removed from the current monitoring sensor position list, the monitoring sensor position with the lowest monitoring rate is found, this is deleted, and this process is executed. By repeating until just before is less than 80%, the near-optimal monitoring sensor position can be determined.

Therefore, in this way, three-dimensional information about a large number of monitored objects in the target area is given, and a large number of predetermined three monitoring sensors for these objects are provided.
When selecting from the dimensional positions, m% of the monitoring sensor positions are first generated, and then redundant ones are deleted from the set of sensor positions obtained from the result of this m% monitoring sensor position generation to delete the monitoring target object. Since n% of the monitoring sensor positions are generated and the final set of monitoring sensor positions is determined,
It is possible to reduce the number of monitoring sensors and realize highly accurate monitoring sensor position generation, and more quickly determine the three-dimensional position of the monitoring sensor in the proper place compared to the conventional method that relied on human experience and intuition. It can be performed efficiently and in a short time.

In the m% monitoring sensor position generation, the target area is divided into small areas, and a small area having the maximum number of unmonitored objects that cannot be monitored at the current sensor position is determined. Since the procedure of selecting one of the unmonitored objects and determining the position of one monitoring sensor for monitoring this unmonitored object was adopted, it seems that the monitored objects are dense. The monitoring sensor position for the unmonitored object can be preferentially determined from the small area, and efficient monitoring sensor position generation can be realized. The present invention is not limited to the above-mentioned embodiments, and can be implemented by appropriately modifying it without changing the gist.

For example, when there is an object to be monitored that must be monitored, it can be dealt with by changing the following three parts in the processing procedure shown in FIGS. Become. That is, the step S24 of the processing procedure shown in FIG. 2 is terminated "if all the objects are monitored. If there is an object that must be monitored but is not monitored, it is selected. If not, one object that cannot be monitored is selected. ”, Step S27 is set to“ There is an object that should be monitored and is not monitored, or x> m ”, and the step of FIG. S42 is "inspected from the highest monitoring rate to the lowest monitoring rate, and even if that monitoring position is excluded, all monitoring targets that must be monitored are all position numbers i, and the monitoring rate pi% is the maximum. Decide what. If not, end. "

It is also possible not to generate m% of monitoring sensor positions first. In this case, the upper limit (N) of the number of sensor position candidate points is determined in advance from, for example, the estimation of the total calculation time. Then, the determination in step S27 of the processing procedure shown in FIG. 2 is set to “x> n, total number of sensor positions in monitoring sensor position list ≧ N”. With this configuration, the number of sensor position candidates can be maximized without being restricted by the monitoring rate m%.

Furthermore, when the monitoring sensor position has priority, the monitoring sensor candidate position is given a priority order according to the priority, and the determination of the sensor position in step S25 of the processing procedure shown in FIG. 2 is selected. This can be realized by selecting the sensor position having the highest priority among the sensor positions capable of monitoring the monitored object. This makes it possible to preferentially select a sensor position having a high priority.

[0036]

According to the present invention, the determination of the three-dimensional position of the monitoring sensor with respect to a large number of objects to be monitored in the target area can be effectively realized with a smaller number of sensors without relying on human experience or intuition. It is also possible to determine these positions in a short time.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a system for realizing an embodiment of a three-dimensional arrangement method of monitoring sensors according to the present invention.

FIG. 2 is a flowchart showing a processing procedure for generating a monitoring sensor position of m%.

FIG. 3 is a flowchart showing a processing procedure for selecting an unmonitored object.

FIG. 4 is a flowchart showing a processing procedure for deleting redundant monitoring sensor positions.

FIG. 5 is a diagram showing an example of mesh division of a target area.

[Explanation of symbols]

1 ... Map database, 2 ... Control part, 3 ... Small area division part, 4 ... Small area selection part, 5 ... Monitoring object determination part, 6 ... Sensor position determination part, 7 ... Storage part, 8 ... Monitoring sensor position deletion Department.

Claims (6)

[Claims] 1. A three-dimensional arrangement method of monitoring sensors, wherein three-dimensional information about a large number of monitoring objects in a target area is given, and a monitoring sensor for these monitoring objects is selected from a large number of predetermined three-dimensional positions. A set of monitoring sensor positions capable of monitoring at least m% of the large number of monitoring targets is generated, and redundant monitoring sensor positions are deleted from the set of monitoring sensor positions obtained by generating the monitoring sensor positions of m%. A three-dimensional arrangement method of monitoring sensors, wherein a set of monitoring sensor positions capable of monitoring at least n% (n ≦ m) of the large number of monitoring targets is generated. 2. At least m% of the plurality of monitored objects
The generation of a set of monitored sensor positions that can monitor the target area is divided into a plurality of small areas, and the smallest number of unmonitored objects that cannot be monitored by the monitoring sensor among the monitored objects in each of these small areas. It is characterized by repeating the procedure of determining an area, selecting one of the unmonitored objects from the determined small areas, and determining one monitoring sensor position for monitoring the unmonitored object. The three-dimensional arrangement method of the monitoring sensor according to claim 1. 3. At least n% of the plurality of monitored objects.
The generation of the set of monitoring sensor positions that can monitor the total number of monitoring target objects that can be monitored for a new set of monitoring sensor positions obtained by removing any monitoring sensor position from the set of m% monitoring sensor positions. 2. The monitoring sensor according to claim 1, wherein a set of monitoring sensor positions having a maximum value is obtained, and an operation of deleting the arbitrary monitoring sensor position at this time from the monitoring sensor position set is repeatedly executed. Three-dimensional arrangement method. 4. A three-dimensional arrangement method of monitoring sensors, wherein three-dimensional information about a large number of monitoring objects in a target area is given, and monitoring sensors for these monitoring objects are selected from a large number of predetermined three-dimensional positions. A set of monitoring sensor positions that can monitor at least m% including the monitoring target that must be monitored among the large number of monitoring targets is generated, and the monitoring obtained by generating the monitoring sensor position of the m% is generated. Redundant monitoring sensor positions are deleted under the constraint that the monitoring target that must be monitored from the set of sensor positions can be monitored by checking the monitoring sensor positions, and at least n% (n A three-dimensional arrangement method of monitoring sensors, wherein a set of monitoring sensor positions capable of monitoring ≦ m) is generated. 5. A three-dimensional arrangement method of monitoring sensors, wherein three-dimensional information about a large number of monitored objects in a target area is given, and monitoring sensors for these monitored objects are selected from a plurality of predetermined three-dimensional positions. An upper limit value of the number of sensor position candidates is set in advance, and a set of monitoring sensor positions for monitoring the large number of monitoring objects is generated based on the upper limit value of the sensor position candidate points. Three-dimensional arrangement method. 6. A three-dimensional arrangement method of monitoring sensors, wherein three-dimensional information regarding a large number of monitoring objects in a target area is given, and monitoring sensors for these monitoring objects are selected from a plurality of predetermined three-dimensional positions. A set of monitoring sensor positions is generated by selecting a monitoring sensor position for monitoring at least m% of the plurality of monitoring targets in consideration of the priority given to each monitoring sensor position. A redundant monitoring sensor position is deleted from the monitoring sensor position set obtained by generating the monitoring sensor position, and at least n% (n ≦ m) of the large number of monitoring objects can be monitored. A three-dimensional arrangement method of monitoring sensors, which is characterized in that