CN105261213A - Road segment congestion degree detection system based on remote sensing communication - Google Patents
Road segment congestion degree detection system based on remote sensing communication Download PDFInfo
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- 230000005540 biological transmission Effects 0.000 claims description 8
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- 230000002708 enhancing effect Effects 0.000 claims description 3
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
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Abstract
The invention relates to a road segment congestion degree detection system based on remote sensing communication. The detection system comprises a satellite remote sensing image receiving device, a vehicle terminal data receiving device and a computer control device. The satellite remote sensing image receiving device receives road segment remote sensing images of a target road segment sent by a remote sensing satellite. The vehicle terminal data receiving device receives a vehicle real-time speed of a vehicle terminal on the target road segment. The computer control device is used for determining the congestion degree of the target road segment according to the road segment remote sensing images and the real-time speed of the vehicle. According to the invention, the road segment remote sensing images and the vehicle real-time speed are combined for determining the congestion degree, and the weight of each factor for the congestion degree determining is set according to the magnitude of cloud layer thickness.
Description
The divisional application of the patent of " the section congestion level detection system based on remote sensing communication " that the present invention is application number is 201510307548.5, the applying date, to be June 6, denomination of invention in 2015 be.
Technical field
The present invention relates to the remote sensing communications field, particularly relate to a kind of section congestion level detection system based on remote sensing communication.
Background technology
In prior art, single factor test detecting pattern is generally depended on to the detection of the congestion level in a certain section, such as satellite remote sensing images, on the spot car speed or on the spot photographed images, but single factor test detects the interference being easily subject to self detection system and bringing, such as satellite remote sensing is easily subject to the interference of Cloud layer thickness, causes accuracy of detection not high.
For this reason, the present invention proposes a kind of new section congestion level detection scheme, can by remote sensing communication data and data combination on the spot, and determine on the spot section congestion level time, adaptively should be two factors rational weighted value is set, thus the accuracy of detection of effective guarantee dual factors detecting pattern of the present invention, the trip for people provides more valuable reference data.
Summary of the invention
In order to solve the technical matters that prior art exists, the invention provides a kind of section congestion level detection system based on remote sensing communication, based on Cloud layer thickness determination remote sensing communication data and the weighted value of data two factor when determining target road section jam level on the spot, simultaneously, also introduce high-precision image recognition technology and battery saving mode, improve reliability and the accuracy of detection system.
According to an aspect of the present invention, provide a kind of section congestion level detection system based on remote sensing communication, described detection system comprises satellite remote sensing images receiving equipment, car terminals data receiver and computerized equipment, described satellite remote sensing images receiving equipment receives the section remote sensing images of the target road section that remote sensing satellite sends, described car terminals data receiver receives the automobile real-time speed of the car terminals transmission being in target road section, described computerized equipment is according to the jam level of described section remote sensing images and described automobile real-time speed determination target road section.
More specifically, in the described section congestion level detection system based on remote sensing communication, also comprise: congestion level request receiving equipment, for the request of the congestion level in receiving target section, the request of the congestion level of described target road section comprises the title of target road section and the mark of requesting terminal, and described in described congestion level request receiving device parses, the request of the congestion level of target road section is with the mark of the title and requesting terminal that obtain target road section, memory device, for prestoring the weight table of comparisons, automobile upper limit gray threshold, automobile lower limit gray threshold and 9 jam level threshold values, the described weight table of comparisons take cloud thickness as index, save the remotely-sensed data weighted value when determining section jam level and car terminals data rights weight values, cloud thickness is larger, remotely-sensed data weighted value is less, car terminals data rights weight values is larger, described automobile upper limit gray threshold and described automobile lower limit gray threshold are used for the automobile in image and background separation, described 9 jam level threshold values according to equally distributed mode value from small to large to determine 10 jam level intervals, query facility, adopt Cloud Server form to realize, be called index with section name, prestored the gps data in each section, described query facility and described congestion level request receiving equipment connection, for the gps data of the name query target road section in based target section, target road section information transmitting apparatus, be connected with described query facility, for the gps data of target road section being sent to remote sensing satellite and the car terminals being in target road section, so that remote sensing satellite returns the section remote sensing images of target road section, the car terminals being convenient to be in target road section returns its real-time speed, cloud thickness requesting service, is connected with described query facility, for the gps data of target road section is sent to local meteorological monitor supervision platform, so that the meteorological monitor supervision platform in described locality is according to the cloud thickness of the gps data determination target road section of target road section, cloud thickness receiving equipment, receives the cloud thickness of the target road section that the meteorological monitor supervision platform in described locality returns, described satellite remote sensing images receiving equipment is for receiving the section remote sensing images of the target road section of remote sensing satellite transmission, comprise contrast strengthen unit, self-adaptation recursive filtering unit, gray processing processing unit, automobile extraction unit and automobile quantity statistics unit, described contrast strengthen unit receives described section remote sensing images and performs contrast enhancement processing to described section remote sensing images, image is strengthened to obtain, described self-adaptation recursive filtering unit is connected with described contrast strengthen unit, self-adaptation recursive filtering is performed to obtain filtering image to described enhancing image, described gray processing processing unit is connected to perform gray processing process to described filtering image with described self-adaptation recursive filtering unit, obtain gray level image, described automobile extraction unit is connected respectively with described gray processing processing unit and described memory device, the pixel identification of gray-scale value in described gray level image between described automobile upper limit gray threshold and described automobile lower limit gray threshold is formed multiple automobile subimage, described automobile quantity statistics unit is connected with described automobile extraction unit, the automobile quantity of the quantity of multiple automobile subimage as target road section is exported, described car terminals data receiver is for receiving the real-time speed of the car terminals transmission being in target road section, described computerized equipment and described memory device, described cloud thickness receiving equipment, described satellite remote sensing images receiving equipment is connected respectively with described car terminals data receiver, the cloud thickness in based target section finds corresponding remotely-sensed data weighted value and corresponding car terminals data rights weight values in the described weight table of comparisons, the remotely-sensed data weighted value of correspondence is multiplied with the automobile quantity of target road section, by the car terminals data rights weight values of correspondence and the reciprocal multiplication of real-time speed, by two product addition to obtain the congestion level numerical value of target road section, the congestion level numerical value of target road section is dropped on the jam level of the grade in described 10 jam level intervals corresponding to some grade intervals as target road section, congestion level transmitting apparatus, be connected respectively with described congestion level request receiving equipment and described computerized equipment, for the mark based on described request terminal, the jam level of the target road section exported by described computerized equipment is sent to described request terminal, wherein, described contrast strengthen unit, described self-adaptation recursive filtering unit, described gray processing processing unit, described automobile extraction unit and described automobile quantity statistics unit adopt the fpga chip of different model to realize respectively, described computerized equipment is when the request of congestion level receiving the target road section that congestion level request receiving equipment sends, by described query facility, described target road section information transmitting apparatus, described cloud thickness requesting service, described cloud thickness receiving equipment, described satellite remote sensing images receiving equipment and described car terminals data receiver start from battery saving mode, when described computerized equipment is after the jam level sending target road section, control described query facility, described target road section information transmitting apparatus, described cloud thickness requesting service, described cloud thickness receiving equipment, described satellite remote sensing images receiving equipment and described car terminals data receiver enter battery saving mode.
More specifically, in the described section congestion level detection system based on remote sensing communication: described congestion level request receiving equipment is the one in GPRS mobile communication interface, 3G mobile communication interface or 4G mobile communication interface.
More specifically, in the described section congestion level detection system based on remote sensing communication: described congestion level transmitting apparatus is the one in GPRS mobile communication interface, 3G mobile communication interface or 4G mobile communication interface.
More specifically, in the described section congestion level detection system based on remote sensing communication: described computerized equipment also comprises display unit, for showing the jam level of the automobile quantity of described target road section, described real-time speed and described target road section.
More specifically, in the described section congestion level detection system based on remote sensing communication: described display unit is liquid crystal display LCD.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the section congestion level detection system based on remote sensing communication illustrated according to an embodiment of the present invention.
Embodiment
Below with reference to accompanying drawings the embodiment of the section congestion level detection system based on remote sensing communication of the present invention is described in detail.
Along with the development of auto industry, it is more and more frequent that people rely on automobile to go on a journey, and in strange section, people often need to rely on navigation, avoid congested link, improve traffic efficiency.Thus, the congestion in each section is particularly important in auto navigation.
Current navigator, it generally depends on single factor test pattern to the detection of the congestion in section, and this pattern is easily interfered, and causes the reference data improved not have reference value, even has misleading, for the trip of people brings inconvenience.
In order to overcome above-mentioned deficiency, the present invention has built a kind of section congestion level detection system based on remote sensing communication, by satellite remote sensing images and on the spot automobile speed to be combined by weighting scheme and judge effectively to solve the problems of the technologies described above the real-time jam level of each target road section.
Fig. 1 is the block diagram of the section congestion level detection system based on remote sensing communication illustrated according to an embodiment of the present invention, described detection system comprises satellite remote sensing images receiving equipment 1, car terminals data receiver 2 and computerized equipment 3, described satellite remote sensing images receiving equipment 1 receives the section remote sensing images of the target road section that remote sensing satellite sends, described car terminals data receiver 2 receives the automobile real-time speed of the car terminals transmission being in target road section, described computerized equipment 3 is according to the jam level of described section remote sensing images and described automobile real-time speed determination target road section.
Then, continue to be further detailed the concrete structure of the section congestion level detection system based on remote sensing communication of the present invention.
Described detection system also comprises: congestion level request receiving equipment, for the request of the congestion level in receiving target section, the request of the congestion level of described target road section comprises the title of target road section and the mark of requesting terminal, and described in described congestion level request receiving device parses, the request of the congestion level of target road section is with the mark of the title and requesting terminal that obtain target road section.
Described detection system also comprises: memory device, for prestoring the weight table of comparisons, automobile upper limit gray threshold, automobile lower limit gray threshold and 9 jam level threshold values, the described weight table of comparisons take cloud thickness as index, save the remotely-sensed data weighted value when determining section jam level and car terminals data rights weight values, cloud thickness is larger, remotely-sensed data weighted value is less, car terminals data rights weight values is larger, described automobile upper limit gray threshold and described automobile lower limit gray threshold are used for the automobile in image and background separation, described 9 jam level threshold values according to equally distributed mode value from small to large to determine 10 jam level intervals.
Described detection system also comprises: query facility, Cloud Server form is adopted to realize, index is called with section name, prestore the gps data in each section, described query facility and described congestion level request receiving equipment connection, for the gps data of the name query target road section in based target section.
Described detection system also comprises: target road section information transmitting apparatus, be connected with described query facility, for the gps data of target road section being sent to remote sensing satellite and the car terminals being in target road section, so that remote sensing satellite returns the section remote sensing images of target road section, the car terminals being convenient to be in target road section returns its real-time speed.
Described detection system also comprises: cloud thickness requesting service, be connected with described query facility, for the gps data of target road section is sent to local meteorological monitor supervision platform, so that the meteorological monitor supervision platform in described locality is according to the cloud thickness of the gps data determination target road section of target road section.
Described detection system also comprises: cloud thickness receiving equipment, receives the cloud thickness of the target road section that the meteorological monitor supervision platform in described locality returns.
Described satellite remote sensing images receiving equipment 1 is for receiving the section remote sensing images of the target road section of remote sensing satellite transmission, comprise contrast strengthen unit, self-adaptation recursive filtering unit, gray processing processing unit, automobile extraction unit and automobile quantity statistics unit, described contrast strengthen unit receives described section remote sensing images and performs contrast enhancement processing to described section remote sensing images, image is strengthened to obtain, described self-adaptation recursive filtering unit is connected with described contrast strengthen unit, self-adaptation recursive filtering is performed to obtain filtering image to described enhancing image, described gray processing processing unit is connected to perform gray processing process to described filtering image with described self-adaptation recursive filtering unit, obtain gray level image, described automobile extraction unit is connected respectively with described gray processing processing unit and described memory device, the pixel identification of gray-scale value in described gray level image between described automobile upper limit gray threshold and described automobile lower limit gray threshold is formed multiple automobile subimage, described automobile quantity statistics unit is connected with described automobile extraction unit, the automobile quantity of the quantity of multiple automobile subimage as target road section is exported.
Described car terminals data receiver 2 is for receiving the real-time speed of the car terminals transmission being in target road section.
Described computerized equipment 3 and described memory device, described cloud thickness receiving equipment, described satellite remote sensing images receiving equipment 1 is connected respectively with described car terminals data receiver 2, the cloud thickness in based target section finds corresponding remotely-sensed data weighted value and corresponding car terminals data rights weight values in the described weight table of comparisons, the remotely-sensed data weighted value of correspondence is multiplied with the automobile quantity of target road section, by the car terminals data rights weight values of correspondence and the reciprocal multiplication of real-time speed, by two product addition to obtain the congestion level numerical value of target road section, the congestion level numerical value of target road section is dropped on the jam level of the grade in described 10 jam level intervals corresponding to some grade intervals as target road section.
Described detection system also comprises: congestion level transmitting apparatus, be connected respectively with described congestion level request receiving equipment and described computerized equipment 3, for the mark based on described request terminal, the jam level of the target road section exported by described computerized equipment 3 is sent to described request terminal.
Wherein, described contrast strengthen unit, described self-adaptation recursive filtering unit, described gray processing processing unit, described automobile extraction unit and described automobile quantity statistics unit adopt the fpga chip of different model to realize respectively, described computerized equipment 3 is when the request of congestion level receiving the target road section that congestion level request receiving equipment sends, by described query facility, described target road section information transmitting apparatus, described cloud thickness requesting service, described cloud thickness receiving equipment, described satellite remote sensing images receiving equipment 1 and described car terminals data receiver 2 start from battery saving mode, when described computerized equipment is after the jam level sending target road section, control described query facility, described target road section information transmitting apparatus, described cloud thickness requesting service, described cloud thickness receiving equipment, described satellite remote sensing images receiving equipment 1 and described car terminals data receiver 2 enter battery saving mode.
Alternatively, described congestion level request receiving equipment is the one in GPRS mobile communication interface, 3G mobile communication interface or 4G mobile communication interface; Described congestion level transmitting apparatus is the one in GPRS mobile communication interface, 3G mobile communication interface or 4G mobile communication interface; Described computerized equipment 3 also comprises display unit, for showing the jam level of the automobile quantity of described target road section, described real-time speed and described target road section; And described display unit is chosen as liquid crystal display LCD.
In addition, FPGA (Field-ProgrammableGateArray), i.e. field programmable gate array, he is the product further developed on the basis of the programming devices such as PAL, GAL, CPLD.He occurs as a kind of semi-custom circuit in special IC (ASIC) field, has both solved the deficiency of custom circuit, overcomes again the shortcoming that original programming device gate circuit number is limited.
With the circuit design that hardware description language (Verilog or VHDL) completes, can through simple comprehensive and layout, being burned onto fast on FPGA and testing, is the technology main flow of modern IC designs checking.These can be edited element and can be used to realize some basic logic gates (such as AND, OR, XOR, NOT) or more more complex combination function such as demoder or mathematical equation.Inside most FPGA, in these editable elements, also comprise memory cell such as trigger (Flip-flop) or other more complete block of memory.System designer can be coupled together the logical block of FPGA inside by editable connection as required, just looks like that a breadboard has been placed in a chip.One dispatch from the factory after the logical block of finished product FPGA can change according to deviser with being connected, so FPGA can complete required logic function.
FPGA is in general slow than the speed of ASIC (special IC), realizes same function ratio ASIC circuit area and wants large.But they also have a lot of advantages such as can finished product fast, can be modified the mistake in correction program and more cheap cost.Manufacturer also may provide the FPGA of cheap still edit capability difference.Because these chips have poor can edit capability, so exploitations of these designs complete on common FPGA, then design is transferred to one and is similar on the chip of ASIC.Another method is with CPLD (ComplexProgrammableLogicDevice, CPLD).The exploitation of FPGA has a great difference relative to the exploitation of conventional P C, single-chip microcomputer.FPGA, based on concurrent operation, realizes with hardware description language; Very large difference is had compared to the sequential operation of PC or single-chip microcomputer (no matter being von Neumann structure or Harvard structure).
As far back as 1980 mid-nineties 90s, FPGA takes root in PLD equipment.CPLD and FPGA includes the Programmadle logic unit of some relatively large amount.The density of CPLD logic gate is between several thousand to several ten thousand logical blocks, and FPGA normally arrives millions of several ten thousand.The key distinction of CPLD and FPGA is their system architecture.CPLD is a somewhat restrictive structure.This structure is arranged by the logical groups of one or more editable result sum and forms with the register of the locking of some relatively small amounts.Such result lacks editor's dirigibility, but but have the time delay and logical block that can estimate to the advantage of linkage unit height ratio.And FPGA has a lot of linkage units, although allow him edit more flexibly like this, structure is complicated many.
Adopt the section congestion level detection system based on remote sensing communication of the present invention, for the technical matters that single factor test section congestion level detecting pattern testing result precision in prior art is not high, by satellite remote sensing images and on the spot automobile speed combined by weighting scheme, carry out graduation to the congestion level of each target road section to judge, thus provide more valuable navigation data for people.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (2)
1. the section congestion level detection system based on remote sensing communication, described detection system comprises satellite remote sensing images receiving equipment, car terminals data receiver and computerized equipment, described satellite remote sensing images receiving equipment receives the section remote sensing images of the target road section that remote sensing satellite sends, described car terminals data receiver receives the automobile real-time speed that the car terminals that is in target road section sends, and described computerized equipment is according to the jam level of described section remote sensing images and described automobile real-time speed determination target road section.
2., as claimed in claim 1 based on the section congestion level detection system of remote sensing communication, it is characterized in that, described detection system also comprises:
Congestion level request receiving equipment, for the request of the congestion level in receiving target section, the request of the congestion level of described target road section comprises the title of target road section and the mark of requesting terminal, and described in described congestion level request receiving device parses, the request of the congestion level of target road section is with the mark of the title and requesting terminal that obtain target road section;
Memory device, for prestoring the weight table of comparisons, automobile upper limit gray threshold, automobile lower limit gray threshold and 9 jam level threshold values, the described weight table of comparisons take cloud thickness as index, save the remotely-sensed data weighted value when determining section jam level and car terminals data rights weight values, cloud thickness is larger, remotely-sensed data weighted value is less, car terminals data rights weight values is larger, described automobile upper limit gray threshold and described automobile lower limit gray threshold are used for the automobile in image and background separation, described 9 jam level threshold values according to equally distributed mode value from small to large to determine 10 jam level intervals,
Query facility, adopt Cloud Server form to realize, be called index with section name, prestored the gps data in each section, described query facility and described congestion level request receiving equipment connection, for the gps data of the name query target road section in based target section;
Target road section information transmitting apparatus, be connected with described query facility, for the gps data of target road section being sent to remote sensing satellite and the car terminals being in target road section, so that remote sensing satellite returns the section remote sensing images of target road section, the car terminals being convenient to be in target road section returns its real-time speed;
Cloud thickness requesting service, is connected with described query facility, for the gps data of target road section is sent to local meteorological monitor supervision platform, so that the meteorological monitor supervision platform in described locality is according to the cloud thickness of the gps data determination target road section of target road section;
Cloud thickness receiving equipment, receives the cloud thickness of the target road section that the meteorological monitor supervision platform in described locality returns;
Described satellite remote sensing images receiving equipment is for receiving the section remote sensing images of the target road section of remote sensing satellite transmission, comprise contrast strengthen unit, self-adaptation recursive filtering unit, gray processing processing unit, automobile extraction unit and automobile quantity statistics unit, described contrast strengthen unit receives described section remote sensing images and performs contrast enhancement processing to described section remote sensing images, image is strengthened to obtain, described self-adaptation recursive filtering unit is connected with described contrast strengthen unit, self-adaptation recursive filtering is performed to obtain filtering image to described enhancing image, described gray processing processing unit is connected to perform gray processing process to described filtering image with described self-adaptation recursive filtering unit, obtain gray level image, described automobile extraction unit is connected respectively with described gray processing processing unit and described memory device, the pixel identification of gray-scale value in described gray level image between described automobile upper limit gray threshold and described automobile lower limit gray threshold is formed multiple automobile subimage, described automobile quantity statistics unit is connected with described automobile extraction unit, the automobile quantity of the quantity of multiple automobile subimage as target road section is exported,
Described car terminals data receiver is for receiving the real-time speed of the car terminals transmission being in target road section;
Described computerized equipment and described memory device, described cloud thickness receiving equipment, described satellite remote sensing images receiving equipment is connected respectively with described car terminals data receiver, the cloud thickness in based target section finds corresponding remotely-sensed data weighted value and corresponding car terminals data rights weight values in the described weight table of comparisons, the remotely-sensed data weighted value of correspondence is multiplied with the automobile quantity of target road section, by the car terminals data rights weight values of correspondence and the reciprocal multiplication of real-time speed, by two product addition to obtain the congestion level numerical value of target road section, the congestion level numerical value of target road section is dropped on the jam level of the grade in described 10 jam level intervals corresponding to some grade intervals as target road section,
Congestion level transmitting apparatus, be connected respectively with described congestion level request receiving equipment and described computerized equipment, for the mark based on described request terminal, the jam level of the target road section exported by described computerized equipment is sent to described request terminal;
Wherein, described contrast strengthen unit, described self-adaptation recursive filtering unit, described gray processing processing unit, described automobile extraction unit and described automobile quantity statistics unit adopt the fpga chip of different model to realize respectively;
Wherein, described computerized equipment is when the request of congestion level receiving the target road section that congestion level request receiving equipment sends, by described query facility, described target road section information transmitting apparatus, described cloud thickness requesting service, described cloud thickness receiving equipment, described satellite remote sensing images receiving equipment and described car terminals data receiver start from battery saving mode, when described computerized equipment is after the jam level sending target road section, control described query facility, described target road section information transmitting apparatus, described cloud thickness requesting service, described cloud thickness receiving equipment, described satellite remote sensing images receiving equipment and described car terminals data receiver enter battery saving mode,
Described computerized equipment also comprises display unit, for showing the jam level of the automobile quantity of described target road section, described real-time speed and described target road section,
Described display unit is liquid crystal display LCD.
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| CN104851296B (en) * | 2015-06-06 | 2016-05-04 | 浙江传媒学院 | A kind of section based on remote sensing communication degree detecting system of blocking up |
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| CN112307922A (en) * | 2020-10-23 | 2021-02-02 | 泰州芯源半导体科技有限公司 | Remote sensing data transceiving-based crisis analysis platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105261213B (en) | 2016-06-22 |
| CN105157710B (en) | 2016-09-07 |
| CN104835329B (en) | 2016-03-16 |
| CN104835329A (en) | 2015-08-12 |
| CN105157710A (en) | 2015-12-16 |
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