CN109242980A - A kind of hidden pipeline visualization system and method based on augmented reality - Google Patents
A kind of hidden pipeline visualization system and method based on augmented reality Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims description 6
- 238000005192 partition Methods 0.000 claims description 6
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Abstract
The present invention provides a kind of hidden pipeline visualization system and method based on augmented reality, it can be by embedded paths such as various municipal administrations, the strong and weak electricity of power engineering, plumbing, natural gas, communication lines, paving mode and various information are fused in true environment so that visual means are seamless, realize the real-time, interactive between staff and visual information.When staff takes display device, real object can be presented simultaneously on the display device with real-time tracking and with virtual scene, and when the user is mobile, the relationship of real object and virtual objects in position and direction also being capable of real-time update.The preliminary preparation that construction can be greatly shortened by AR technology, shortens the construction period, and reduction has a power failure, cuts off the water, communicating interrupt time and cost of labor, while effectively avoiding the risk of all kinds of underground city planting ductwork equipment external force destructions in city, and invisible economic benefit is huge.
Description
Technical field
The present invention relates to augmented realities and 3D modeling field, in particular to a kind of based on the hidden of augmented reality
Cover pipeline visualization system and method.
Background technique
Grid operation equipment due to being influenced by factors such as environment, geography, funds, have part facility need to be embedded to underground or
Encapsulation, such as high-tension cable, control cable, counterpoises, terminal box, control cabinet, due to these undergrounds or the pipeline of encapsulation
In encountering construction or process of technical, due to that can not indicate its embedding location and internal structure, these hidden facility poles
It is destroyed vulnerable to external force, while being also required to expend a large amount of manpower and material resources and going to verify the pipeline trend of hidden facility.
It is illustrated by taking power transformation, distribution profession as an example, annual substation's technological transformation, earth mat excavate, since the time is remote original
Construction drawing missing, causes site inspection to be unable to measure, it is necessary to raise cable channel cover plate, large area excavation just can then verify that hidden set
The specific location and operation conditions applied.Therefore, the hidden facility of power grid is searched and mark is always the pain spot of grid equipment fortune inspection, though
It says that administrative department adopts various measures, such as buried stake, construction control, electronic drawing, but still will appear above-mentioned accident, to electricity
Net safe operation brings hidden danger.Such as noon on July 23rd, 2018, lost since No. 2 line extended line units in charge of construction of Wuhan subway construct
Accidentally, two underground special high-pressure cables in optical valley square region are dug disconnected, and 4000 families of the periphery market Duo Jia and 3 cells are prominent
So have a power failure.The data of Wuhan power supply company show that 2015 to 2017 3 years continuous, and the annual transmission line of electricity in Wuhan City is by blindly
Just there are more than 50 to rise with the event of barbarous breakage in installation.
Summary of the invention
The present invention provides a kind of hidden pipeline visualization system and method based on augmented reality, it is intended to improve hidden
It covers line facility and is highly prone to external force destruction, need to expend a large amount of manpower and material resources and go asking for the pipeline for verifying hidden facility trend
Topic.
The present invention is implemented as follows: a kind of hidden pipeline visualization system based on augmented reality, comprising: 3D is built
Mould module identifies the marker in preset live image, and be based on for acquiring whole live images of hidden pipe-line
The model of hidden pipeline field image and prefabricated hidden pipe-line establishes the 3D model at scene using augmented reality；It reflects
Module is penetrated, is known for obtaining the actual position information of marker at the scene in preset live image, and with image processing module
Marker in the 3D model of other hidden pipeline field image establishes mapping relations；Wherein, the marker of the 3D model is also
It is associated with corresponding spatial data information；Image processing module, the image of the hidden pipeline for acquiring present position in real time are known
It whether include preset marker in other image, and when identifying comprising marker, request mapping block sends corresponding mark
The associated spatial data information of object.
Wherein, 3D modeling module includes:
Image acquisition units, for acquiring the live image of hidden pipeline；
First image identification unit, for identification marker in hidden pipeline field image；
Modeling unit, the depth of field algorithm for the camera according to image acquisition units obtain the opposite of hidden pipeline field
Coordinate system and plane correspond to the angle of camera according to marker in a coordinate system and orientation generate corresponding model, in mould
Marker is set in type, and according to the principle that the model of generation is modeled, based on augmented reality, scanning flag object will be that will include
The 3d modeling of the pipe-line of hidden pipeline is shown on live image.
Wherein, the first image identification unit is the side using SSD target detection when identifying the marker in live image
Formula is identified.
It wherein, further include display module, for showing image procossing by 3D model partition region, and by a display equipment
Region locating for the marker that resume module identifies, and the associated space number of marker is shown in the form of text information
It is believed that breath.
Wherein, image processing module is set on a mobile terminal, comprising:
Second image identification unit, the present position acquired in real time by the photographing device of mobile terminal for identification it is hidden
The image of pipeline is covered, to identify marker wherein included；
Retrieval unit, for retrieving 3D model, the marker for the marker phase mapping for obtaining and identifying institute in 3D model
Locate region, while obtaining the corresponding spatial data information of the marker, and be sent to the display module and be shown.
The present invention also provides a kind of hidden pipeline method for visualizing based on augmented reality, step includes: to adopt
The whole live images for collecting hidden pipe-line identify the marker in preset live image, and are based on hidden pipeline field
The model of image and prefabricated hidden pipe-line establishes the 3D model at scene using augmented reality；Obtain preset scene
The actual position information of marker at the scene in image, and the 3D mould with the hidden pipeline field image of image processing module identification
Marker in type establishes mapping relations；Wherein, the marker of the 3D model is also associated with corresponding spatial data information；It is real
When acquisition present position hidden pipeline image, identify in image whether include preset marker, and include identifying
When marker, request mapping block sends the corresponding associated spatial data information of marker.
Wherein, in the whole live images for acquiring hidden pipe-line, the marker in preset live image is identified, and
In the step of establishing the 3D model at scene using augmented reality, comprising steps of
Acquire the live image of hidden pipeline；
Identify the marker in hidden pipeline field image；
The relative coordinate system and plane of hidden pipeline field are obtained according to the depth of field algorithm of the camera of image acquisition units,
The angle of camera is corresponded to according to marker in a coordinate system and orientation generates corresponding model, in a model setting mark
Object, the and according to the principle that model of generation is modeled, based on augmented reality, scanning flag object with will include hidden pipeline pipe
The 3d modeling of road route is shown on live image.
It wherein, when identifying the marker in live image, is identified in the way of SSD target detection.
It wherein, further include showing image processing module processing identification by 3D model partition region, and by a display equipment
Region locating for obtained marker, and in the form of text information show the associated spatial data information of marker step
Suddenly.
Wherein, the image for acquiring the hidden pipeline of present position in real time identifies in image whether include preset marker,
And when identifying comprising marker, it is mobile whole one that request mapping block sends the corresponding associated spatial data information of marker
It is executed on end, comprising steps of
It is identified by the image of the hidden pipeline for the present position that the photographing device of mobile terminal acquires in real time, to identify it
In include marker；
3D model is retrieved, the marker for the marker phase mapping for obtaining and identifying locating region in 3D model is obtained simultaneously
The corresponding spatial data information of the marker is taken, and is sent to the display module and is shown.
The beneficial effects of the present invention are: the present invention is based on augmented reality (AR) technologies to be shown in various municipal administrations, power engineering
The embedded path such as strong and weak electricity, plumbing, natural gas, communication line, paving mode and various information are seamless with visual means
It is fused in true environment, realizes the real-time, interactive between staff and visual information.When staff takes display dress
It sets, real object can be presented simultaneously on the display device with real-time tracking and with virtual scene, when the user is mobile, real object
It also being capable of real-time update with relationship of the virtual objects in position and direction.The early period of construction can be greatly shortened by AR technology
Preparation shortens the construction period, and reduction has a power failure, cuts off the water, communicating interrupt time and cost of labor, while effectively avoiding city all kinds of
The risk that underground city planting ductwork equipment external force is destroyed, invisible economic benefit are huge.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of embodiment of the present invention
Attached drawing be briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not to be seen as
It is the restriction to range, it for those of ordinary skill in the art, without creative efforts, can be with root
Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of structural representation of hidden pipeline visualization system based on augmented reality provided by the invention
Figure；
Fig. 2 is a kind of process signal of hidden pipeline method for visualizing based on augmented reality provided by the invention
Figure；
Fig. 3 is image procossing mould in a kind of hidden pipeline visualization system based on augmented reality provided by the invention
Block handles logical schematic when image.
Specific embodiment
To keep the purposes, technical schemes and advantages of embodiment of the present invention clearer, implement below in conjunction with the present invention
The technical solution in embodiment of the present invention is clearly and completely described in attached drawing in mode, it is clear that described reality
The mode of applying is some embodiments of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ability
Domain those of ordinary skill every other embodiment obtained without creative efforts, belongs to the present invention
The range of protection.Therefore, the detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit below and is wanted
The scope of the present invention of protection is sought, but is merely representative of selected embodiment of the invention.Based on the embodiment in the present invention,
Every other embodiment obtained by those of ordinary skill in the art without making creative efforts belongs to this
Invent the range of protection.
Refering to fig. 1, Fig. 1 is a kind of hidden pipeline visualization system based on augmented reality provided by the invention, packet
It includes:
3D modeling module 110 identifies in preset live image for acquiring whole live images of hidden pipe-line
Marker, and the model based on hidden pipeline field image and prefabricated hidden pipe-line utilize augmented reality establish
The 3D model at scene.
AR is to cover the image of computer virtual in real world picture, its major function is realized in real scene
Marker is relative to camera position, the tracking of directional information, and completes the real-time registration of dummy object, is known using video camera
Not and the known relative position identified is read, reference point and virtual environment in true environment are calculated by a series of matrix
Then the mapping relations of middle coordinate depict 3D object on label, final display dummy object is superimposed with real scene.
In the present invention, by 3dsMax software, the 3D model of 1:1 is established according to different facilities, the model of creation is led
Out it is FBX file, then this formatted file is imported in 3dsMax software and reprocesses or is rendered, exports the mould of WRL format
Type, the model is by the model as the routine call of later period AR.
Mapping block 120, for obtaining the actual position information of marker at the scene in preset live image, and with figure
As processing module identify hidden pipeline field image 3D model in marker establish mapping relations；Wherein, the 3D mould
The marker of type is also associated with corresponding spatial data information.Spatial data information, which includes at least, to be calculated cable data, buries depth
Degree, information cable duct route distribution, moved towards.Above-mentioned spatial data information is acquired by other equipment, is then communicated to
It is directly used in system of the invention, while in hidden pipe-line of the present invention, two dimension is set at marker
Code, by scanning the two-dimensional code, can obtain the spatial data information of the hidden pipeline near respective flag object.
Image processing module 130, the image of the hidden pipeline for acquiring present position in real time identify whether wrap in image
Containing preset marker, and when identifying comprising marker, request mapping block sends the corresponding associated space number of marker
It is believed that breath.
In 130 treatment process of image processing module, acquired image is converted into RGB image, is carrying out SSD target
Before extraction step, the calculating side that convolution algorithm, characteristics extraction, frame linear regression and Softmax classify is carried out to image
Formula is handled.130 treatment process of image processing module is as shown in Figure 3.
Specifically, calling camera hardware, image is obtained, translated image format simultaneously compresses image size, is input to SSD and draws
It holds up, exports as the result is shown on real scene image, and be stored in database profession.Further calculate posture information and location information
Testing result is retrieved, then result is inquired in the database, returns to two-dimentional text information and three-D grain figure,
Three-dimensional registration is realized by the conversion between three-dimensional system of coordinate and two-dimensional screen, is finally reached the effect of enhancing display.
Wherein, 3D modeling module 110 includes:
Image acquisition units 111, for acquiring the live image of hidden pipeline；
First image identification unit 112, for identification marker in hidden pipeline field image；
Modeling unit 113, the depth of field algorithm for the camera according to image acquisition units 111 obtain hidden pipeline field
Relative coordinate system and plane, the angle of camera is corresponded to according to marker in a coordinate system and orientation generates corresponding mould
Marker is arranged in type in a model, and according to the principle that the model of generation is modeled, based on augmented reality, scanning flag object
With will include hidden pipeline pipe-line 3d modeling display on live image.
Wherein, the first image identification unit 112 is to utilize SSD target detection when identifying the marker in live image
Mode identified.
It wherein, further include display module 140, for showing image by 3D model partition region, and by a display equipment
Region locating for the marker that the processing identification of processing module 130 obtains, and marker association is shown in the form of text information
Spatial data information.
Wherein, image processing module 130 is set on a mobile terminal, comprising:
Second image identification unit 131, the present position acquired in real time by the photographing device of mobile terminal for identification
Hidden pipeline image, to identify marker wherein included；
Retrieval unit 132 obtains the marker with the marker phase mapping of identification in 3D model for retrieving 3D model
Locating region, while the corresponding spatial data information of the marker is obtained, and be sent to the display module and be shown.
Referring to Fig.2, Fig. 2 is a kind of hidden pipeline method for visualizing based on augmented reality provided by the invention,
Step includes: to acquire whole live images of hidden pipe-line, identifies the marker in preset live image, and based on hidden
The model for covering pipeline field image and prefabricated hidden pipe-line establishes live 3D model using augmented reality；It obtains
The actual position information of marker at the scene in preset live image, and the hidden pipeline field with image processing module identification
Marker in the 3D model of image establishes mapping relations；Wherein, the marker of the 3D model is also associated with corresponding space
Data information；The image of the hidden pipeline of acquisition present position in real time identifies in image whether include preset marker, and
When identifying comprising marker, request mapping block sends the corresponding associated spatial data information of marker.
Wherein, in the whole live images for acquiring hidden pipe-line, the marker in preset live image is identified, and
In the step of establishing the 3D model at scene using augmented reality, comprising steps of
Acquire the live image of hidden pipeline；
Identify the marker in hidden pipeline field image；
The relative coordinate system and plane of hidden pipeline field are obtained according to the depth of field algorithm of the camera of image acquisition units,
The angle of camera is corresponded to according to marker in a coordinate system and orientation generates corresponding model, in a model setting mark
Object, the and according to the principle that model of generation is modeled, based on augmented reality, scanning flag object with will include hidden pipeline pipe
The 3d modeling of road route is shown on live image.
It wherein, when identifying the marker in live image, is identified in the way of SSD target detection.
It wherein, further include showing image processing module processing identification by 3D model partition region, and by a display equipment
Region locating for obtained marker, and in the form of text information show the associated spatial data information of marker step
Suddenly.
Wherein, the image for acquiring the hidden pipeline of present position in real time identifies in image whether include preset marker,
And when identifying comprising marker, it is mobile whole one that request mapping block sends the corresponding associated spatial data information of marker
It is executed on end, comprising steps of
It is identified by the image of the hidden pipeline for the present position that the photographing device of mobile terminal acquires in real time, to identify it
In include marker；
3D model is retrieved, the marker for the marker phase mapping for obtaining and identifying locating region in 3D model is obtained simultaneously
The corresponding spatial data information of the marker is taken, and is sent to the display module and is shown.
It is exactly that AR technology is applied to power grid fortune inspection neck based on the hidden pipeline visualization system of augmented reality (AR) technology
Domain, fortune inspection personnel may know that cable data, buried depth, shown along mobile phone screen by mobile phone scanhead cable two dimensional code
Cable run, can its ground mark cable specific location and trend, delimit safe operation range；Transport inspection personnel
Earth mat two dimensional code is scanned by mobile phone, standard earth mat position is shown according to mobile phone screen, reduces earth mat excavated volume；It is logical to transport inspection personnel
The sub- case of mobile phone scanning end, cable duct two dimensional code are crossed, it can be under the premise of not opening terminal box and cable channel cover plate, it is known that terminal
The information such as case inside and the distribution of cable duct route, trend.The application of the project can greatly improve working efficiency, avoid applying
Injury during work to cable installation guarantees power grid security.
In one particular embodiment of the present invention, it is related to urban transportation road extension project, maintenance branch company can be according to friendship
Cable design construction drawing is buried in access original place, and tissue project team shoots cable scene on the spot, by the cable model and outdoor scene of drafting
Superposition determines cable specific location and trend by GPS positioning, cable information is printed as two dimensional code, is fixed on going out for cable
Line end.Distribution transports inspection personnel and unit in charge of construction, by scanning the two-dimensional code mark cable and excavating specific location.Due to using this
The technology of project research, during entire road construction, cable position and excavation range are accurate, improve construction efficiency, protect
The safety of power supply facilities is hindered.
In another embodiment, it is related to substation secondary rebuilding construction.During substation secondary rebuilding construction, project
Group depicts the secondary AR panorama sketch of whole station according to former design and construction drawing, and work responsible person field scan two dimension is now surveyed before construction
Code has been verified terminal box wiring and cable louding, has been improved work efficiency.
The beneficial effects of the present invention are: the present invention is based on augmented reality (AR) technologies to be shown in various municipal administrations, power engineering
The embedded path such as strong and weak electricity, plumbing, natural gas, communication line, paving mode and various information are seamless with visual means
It is fused in true environment, realizes the real-time, interactive between staff and visual information.When staff takes display dress
It sets, real object can be presented simultaneously on the display device with real-time tracking and with virtual scene, when the user is mobile, real object
It also being capable of real-time update with relationship of the virtual objects in position and direction.The early period of construction can be greatly shortened by AR technology
Preparation shortens the construction period, and reduction has a power failure, cuts off the water, communicating interrupt time and cost of labor, while effectively avoiding city all kinds of
The risk that underground city planting ductwork equipment external force is destroyed, invisible economic benefit are huge.
The foregoing is merely the preferred embodiment of the present invention, are not intended to restrict the invention, for this field
For technical staff, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of hidden pipeline visualization system based on augmented reality characterized by comprising
3D modeling module identifies the mark in preset live image for acquiring whole live images of hidden pipe-line
Object, and scene is established using augmented reality based on the model of hidden pipeline field image and prefabricated hidden pipe-line
3D model；
Mapping block, for obtaining the actual position information of marker at the scene in preset live image, and and image procossing
Marker in the 3D model of the hidden pipeline field image of module identification establishes mapping relations；Wherein, the mark of the 3D model
Will object is also associated with corresponding spatial data information；
Whether image processing module, the image of the hidden pipeline for acquiring present position in real time identify in image comprising default
Marker, and when identifying comprising marker, request mapping block sends the corresponding associated spatial data information of marker.
2. the hidden pipeline visualization system according to claim 1 based on augmented reality, which is characterized in that described
3D modeling module includes:
Image acquisition units, for acquiring the live image of hidden pipeline；
First image identification unit, for identification marker in hidden pipeline field image；
Modeling unit obtains the relative coordinate of hidden pipeline field for the depth of field algorithm according to the cameras of image acquisition units
System and plane correspond to the angle of camera according to marker in a coordinate system and orientation generate corresponding model, in a model
Marker is set, and according to the principle that the model of generation is modeled, based on augmented reality, scanning flag object will be will include hidden
The 3d modeling of the pipe-line of pipeline is shown on live image.
3. the hidden pipeline visualization system according to claim 2 based on augmented reality, which is characterized in that described
First image identification unit when identifying the marker in live image, is identified in the way of SSD target detection.
4. the hidden pipeline visualization system according to claim 1 based on augmented reality, which is characterized in that also wrap
Display module is included, for showing that image processing module processing identification obtains by 3D model partition region, and by a display equipment
Marker locating for region, and in the form of text information show the associated spatial data information of marker.
5. the hidden pipeline visualization system according to claim 4 based on augmented reality, which is characterized in that described
Image processing module is set on a mobile terminal, comprising:
Second image identification unit, the hidden pipe of the present position acquired in real time by the photographing device of mobile terminal for identification
The image in road, to identify marker wherein included；
Retrieval unit, for retrieving 3D model, the marker for the marker phase mapping for obtaining and identifying locating area in 3D model
Domain, while the corresponding spatial data information of the marker is obtained, and be sent to the display module and be shown.
6. a kind of hidden pipeline method for visualizing based on augmented reality characterized by comprising
The whole live images for acquiring hidden pipe-line identify the marker in preset live image, and are based on hidden pipe
The model of road live image and prefabricated hidden pipe-line establishes the 3D model at scene using augmented reality；
The actual position information of marker at the scene in preset live image is obtained, and hidden with image processing module identification
Marker in the 3D model of pipeline field image establishes mapping relations；Wherein, the marker of the 3D model is also associated with pair
The spatial data information answered；
The image of the hidden pipeline of acquisition present position in real time identifies in image whether include preset marker, and is identifying
When out including marker, request mapping block sends the corresponding associated spatial data information of marker.
7. the hidden pipeline method for visualizing according to claim 6 based on augmented reality, which is characterized in that adopting
The whole live images for collecting hidden pipe-line identify the marker in preset live image, and utilize augmented reality
In the step of establishing the 3D model at scene, comprising steps of
Acquire the live image of hidden pipeline；
Identify the marker in hidden pipeline field image；
The relative coordinate system and plane that hidden pipeline field is obtained according to the depth of field algorithm of camera, in a coordinate system according to mark
Object corresponds to the angle of camera and orientation generates corresponding model, marker is arranged in a model, and according to the model of generation
Modeled, the principle based on augmented reality, scanning flag object with will include hidden pipeline pipe-line 3d modeling display
At the scene on image.
8. the hidden pipeline method for visualizing according to claim 7 based on augmented reality, which is characterized in that knowing
It when marker in other live image, is identified in the way of SSD target detection.
9. the hidden pipeline method for visualizing according to claim 7 based on augmented reality, which is characterized in that also wrap
It includes 3D model partition region, and is shown by a display equipment and handle region locating for the marker that identification obtains, and with
The form of text information shows the step of marker associated spatial data information.
10. the hidden pipeline method for visualizing according to claim 9 based on augmented reality, which is characterized in that real
When acquisition present position hidden pipeline image, identify in image whether include preset marker, and include identifying
When marker, request mapping block sends the corresponding associated spatial data information of marker and executes on a mobile terminal, including
Step:
It is identified by the image of the hidden pipeline for the present position that the photographing device of mobile terminal acquires in real time, is wherein wrapped with identification
The marker contained；
3D model is retrieved, the marker for the marker phase mapping for obtaining and identifying locating region in 3D model, while obtaining should
The corresponding spatial data information of marker, and be sent to the display module and be shown.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109738925A (en) * | 2019-01-28 | 2019-05-10 | 重庆予胜远升网络科技有限公司 | Based on high accuracy positioning AR pipe network image display systems and method |
| CN109751986A (en) * | 2019-01-25 | 2019-05-14 | 重庆予胜远升网络科技有限公司 | A kind of processing system and method generating AR image according to pipe network attribute data |
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| CN109751986A (en) * | 2019-01-25 | 2019-05-14 | 重庆予胜远升网络科技有限公司 | A kind of processing system and method generating AR image according to pipe network attribute data |
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| CN113177495A (en) * | 2021-05-08 | 2021-07-27 | 山东鲁能软件技术有限公司智能电气分公司 | AR identification method, system and medium of electrical drawing and AR equipment |
| CN113177495B (en) * | 2021-05-08 | 2023-04-18 | 山东鲁软数字科技有限公司智慧能源分公司 | AR identification method, system and medium of electrical drawing and AR equipment |
| CN113239446A (en) * | 2021-06-11 | 2021-08-10 | 重庆电子工程职业学院 | Indoor information measuring method and system |
| CN113396880A (en) * | 2021-06-11 | 2021-09-17 | 重庆电子工程职业学院 | Indoor living body detection system and method |
| CN114549801A (en) * | 2022-04-25 | 2022-05-27 | 深圳市同立方科技有限公司 | AR augmented reality water supply and drainage project visualization method, device and system |
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