CN108052872A - Identify the method, apparatus and system in gray haze source - Google Patents

Identify the method, apparatus and system in gray haze source Download PDF

Info

Publication number
CN108052872A
CN108052872A CN201711206864.9A CN201711206864A CN108052872A CN 108052872 A CN108052872 A CN 108052872A CN 201711206864 A CN201711206864 A CN 201711206864A CN 108052872 A CN108052872 A CN 108052872A
Authority
CN
China
Prior art keywords
gray haze
target area
source region
grade
cruise
Prior art date
Application number
CN201711206864.9A
Other languages
Chinese (zh)
Inventor
赵国成
余辉
詹福宇
Original Assignee
易瓦特科技股份公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 易瓦特科技股份公司 filed Critical 易瓦特科技股份公司
Priority to CN201711206864.9A priority Critical patent/CN108052872A/en
Publication of CN108052872A publication Critical patent/CN108052872A/en

Links

Classifications

    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G06K9/0063Recognising patterns in remote scenes, e.g. aerial images, vegetation versus urban areas
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/36Image preprocessing, i.e. processing the image information without deciding about the identity of the image
    • G06K9/46Extraction of features or characteristics of the image
    • G06K9/4642Extraction of features or characteristics of the image by performing operations within image blocks or by using histograms
    • G06K9/4647Extraction of features or characteristics of the image by performing operations within image blocks or by using histograms summing image-intensity values; Projection and histogram analysis

Abstract

The invention discloses a kind of method for identifying gray haze source, determine whether the target area is gray haze source region the described method includes the field basic pictorial information that target area is obtained to target area cruise shooting, and according to the field basic picture;If, it is gray haze source region then to mark target area, it is effective solve in the presence of the prior art the technical issues of gray haze source can not be identified for some areas, having reached can have the characteristics that accuracy height, applicability are wide to the technique effect that gray haze source is accurately identified.

Description

Identify the method, apparatus and system in gray haze source

Technical field

The invention belongs to environmental protection technical field, more particularly to a kind of method, apparatus and system for identifying gray haze source.

Background technology

Gray haze refers to a large amount of imperceptible dry grit such as dust, sulfuric acid, nitric acid, organic hydrocarbon compounds in air Even swims in the air, makes air muddy, the visual field obscures and causes the weather phenomenon of visibility deterioration.If horizontal visibility is small When 1000 meters, the aerosol systems of this non-aqueous object composition can cause obstruction to vision, and this weather phenomenon of gray haze is to the mankind Production, living trip, health bring extremely bad influence.

The main source in present gray haze source is some manufacturing works or construction site etc., however how the ash regional to these Haze source is identified, and is always the technical barrier that field of Environment Protection solves in time.

The content of the invention

The present invention provides a kind of method, apparatus and system for identifying gray haze source, of the prior art how right to solve The technical issues of gray haze source is identified.

In a first aspect, an embodiment of the present invention provides a kind of method for identifying gray haze source, the described method includes:To target area Domain carries out cruise shooting;Obtain the field basic pictorial information of the target area;The field basic pictorial information is carried out Parsing determines the gray haze grade of the target area;Judge whether the target area is gray haze source according to the gray haze grade Region;If so, it is gray haze source region to mark the target area.

In the first aspect, optionally, it is described that target area progress cruise shooting is specifically included:Obtain target area Position data;According to position data generation and the corresponding cruise circuit in the target area;According to described in The circuit that cruises carries out cruise shooting to the target area.

In the first aspect, optionally, it is described that the field basic pictorial information is parsed, determine the target area The gray haze grade in domain specifically includes:Extract the three primary colors data message of the field basic picture;According to the three primary colors data Information makes base grey histogram;The base grey histogram is compared with standard grayscale histogram;According to comparison As a result the gray haze grade of the target area is determined.

In the first aspect, optionally, the gray haze grade includes at least following grade:Slight gray haze, moderate gray haze and Severe gray haze;It is described to judge whether the target area is that gray haze source region specifically includes according to the gray haze grade:It is if described Gray haze grade is severe gray haze, then it is gray haze source region to judge the target area.

Second aspect, the embodiment of the present invention additionally provide a kind of system for identifying gray haze source, the system comprises:Cruise mould Block is configured as if so, carrying out cruise shooting to the target area;First acquisition module is configured as obtaining the mesh Mark the field basic pictorial information in region;Gray haze level determination module is configured as carrying out the field basic pictorial information Parsing determines the gray haze grade of the target area;Gray haze source region judgment module is configured as sentencing according to the gray haze grade Whether the disconnected target area is gray haze source region;Gray haze source region mark module is configured as if so, marking the target Region is gray haze source region.

In second aspect, optionally, the cruise module includes:First cruise submodule, is configured as obtaining target The position data in region;Second cruise submodule, is configured according to position data generation and the target area The corresponding cruise circuit in domain;3rd cruise submodule is configured to patrol the target area according to the cruise circuit It takes photo by plane and takes the photograph.

In second aspect, optionally, the gray haze level determination module specifically includes:First gray haze grade determines submodule Block is configured as extracting the three primary colors data message of the field basic picture;Second gray haze grade determination sub-module, is configured To make base grey histogram according to the three primary colors data message;3rd gray haze grade determination sub-module, be configured as by The base grey histogram is compared with standard grayscale histogram;4th gray haze grade determination sub-module, be configured as according to The gray haze grade of the target area is determined according to comparing result.

In second aspect, optionally, the gray haze grade includes at least following grade:Slight gray haze, moderate gray haze and Severe gray haze;The gray haze source region judgment module is additionally configured to:If the gray haze grade is severe gray haze, described in judgement Target area is gray haze source region.

The third aspect, the embodiment of the present invention additionally provide a kind of device for identifying gray haze source, including memory, processor and The computer program that can be run on a memory and on a processor is stored, the processor is realized above-mentioned when performing described program First aspect or second aspect.

Fourth aspect, the embodiment of the present invention additionally provide realized when the program is executed by processor above-mentioned first aspect or Person's second aspect.The one or more technical solutions provided in the embodiment of the present invention, have at least the following technical effects or advantages:

A kind of method for identifying gray haze source provided by the invention, first by carrying out cruise shooting to target area, to obtain The field basic pictorial information of target area is taken, and the field basic pictorial information is parsed, to determine the target The gray haze grade in region;Then judge whether the target area is gray haze source region according to the gray haze grade;If so, mark Remember that target area is gray haze source region;It realizes and gray haze source is identified, in the presence of effectively solving the prior art The technical issues of gray haze source can not be identified for some areas, the technology that gray haze source is identified can be imitated by having reached Fruit has the characteristics that accuracy is high, applicability is wide.

Above description is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, And can be practiced according to the content of specification, and in order to allow above and other objects of the present invention, feature and advantage can It is clearer and more comprehensible, below the special specific embodiment for lifting the present invention.

Description of the drawings

It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair Some bright embodiments, for those of ordinary skill in the art, without creative efforts, can be with root Other attached drawings are obtained according to these attached drawings.

Fig. 1 is the method flow schematic diagram in identification gray haze source provided in an embodiment of the present invention;And

Fig. 2 is histogram one provided in an embodiment of the present invention;

Fig. 3 is histogram two provided in an embodiment of the present invention;

Fig. 4 is histogram three provided in an embodiment of the present invention;

Fig. 5 is histogram four provided in an embodiment of the present invention;

Fig. 6 is histogram five provided in an embodiment of the present invention;

Fig. 7 is histogram six provided in an embodiment of the present invention;

Fig. 8 is histogram seven provided in an embodiment of the present invention;

Fig. 9 is histogram eight provided in an embodiment of the present invention;

Figure 10 is the system block diagram in identification gray haze source provided in an embodiment of the present invention;

Figure 11 is the device block diagram in identification gray haze source provided in an embodiment of the present invention;

Figure 12 is the schematic diagram of computer-readable medium provided in an embodiment of the present invention.

Specific embodiment

The embodiment of the present invention carry for a kind of method, apparatus and system for identifying gray haze source, to solve in the prior art Existing can not be identified the technical issues of warning for some areas to gray haze source, and standard can be carried out to gray haze source by having reached The technique effect for really identifying and warning has the characteristics that accuracy is high, applicability is wide.

Technical solution in the embodiment of the present invention, general thought are as follows:

A kind of method for identifying gray haze source, the described method includes:

Cruise shooting is carried out to target area;

Obtain the field basic pictorial information of the target area;

The field basic pictorial information is parsed, determines the gray haze grade of the target area;

Judge whether the target area is gray haze source region according to the gray haze grade;

If so, it is gray haze source region to mark the target area.

To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art All other embodiments obtained without creative efforts belong to the scope of protection of the invention.

Embodiment one

The embodiment of the present invention one provides a kind of method for identifying gray haze source, please refers to Fig.1, the described method includes:

Step S101;Cruise shooting is carried out to target area;

Step S102;Obtain the field basic pictorial information of the target area;

Step S103;The field basic pictorial information is parsed, determines the gray haze grade of the target area;

Step S104;Judge whether the target area is gray haze source region according to the gray haze grade;

Step S105;If so, it is gray haze source region to mark the target area.

Specifically, gray haze of the prior art refers to dust, sulfuric acid, nitric acid, organic hydrocarbon compounds in air etc. A large amount of imperceptible dry grit uniformly swim in the air, make air muddy, the visual field obscures and causes the day of visibility deterioration Gas phenomenon.If horizontal visibility is less than 1000 meters, the aerosol systems of this non-aqueous object composition can cause obstruction to vision, This weather phenomenon of gray haze brings extremely bad influence to the production of the mankind, living trip, health.Present gray haze source is mainly come Source is some manufacturing works or construction site etc., however how the gray haze source regional to these is identified warns, and is always ring The technical barrier that guarantor field solves in time.

Based on this, the embodiment of the present invention one is provided in the method warned to gray haze source, for solving above-mentioned technology Problem.

In the following, it is situated between in detail in the method warned to gray haze source to what the embodiment of the present invention one provided with reference to Fig. 1 It continues:

First, step S101 is performed, cruise shooting is carried out to target area;

Specifically, in step S101, target area can be understood as having determined there are gray haze, but uncertain ash The region of haze grade.Certainly, can be also target area by once cruising to determine whether before step S101 is performed.In detail For thin, can by unmanned plane either by ground station control unmanned plane or manually remote control control unmanned plane come Cruise shooting is carried out to several suspect regions, suspect region can be understood as polluting more serious area in daily life The region that domain namely emphasis are suspected.Several can be 3,4,5 etc..In in this process, following sub-step is specifically included Suddenly:Obtain the position data of each suspect region;The position data according to each suspect region generates With the corresponding cruise circuit in suspect region each described;According to corresponding cruise circuit to suspicion several described It doubts region and carries out cruise shooting.Wherein, in the position data generation according to each suspect region and each institute During stating the corresponding cruise line road in suspect region, each described corresponding cruise circuit in suspect region is most short distance From straight line cruise circuit, get several basic lines cruise circuit in, in order to avoid unmanned plane is in the basic line Cruise circuit hit high buildings and large mansions, should during in further include to each basic line cruise circuit in institute's approach each The altitude information information of building is acquired, which can be by from unmanned plane takeoff setting to corresponding each The mode of a suspect region position emitting linear laser, to judge to be to corresponding suspect region position from unmanned plane takeoff setting No there are laser to be blocked, if being blocked, judges that this is straight from unmanned plane takeoff setting to corresponding suspect region position There are barriers, at this time acquisition in line cruise circuit to block the altitude information information of the barrier of linear laser, and by this highly Data message is set as the minimum altitude of unmanned plane during flying, and then further determines that heading and flying height, comes final true Determine standard straight-line cruise circuit of the unmanned plane in corresponding suspect region of flying to so that unmanned plane can be in the standard straight-line cruise line Road rectilinear flight reaches suspect region.

It is noted that when each unmanned plane is in flight during corresponding standard straight-line cruises circuit, can also There is the position that several standard straight-lines cruise circuit has intersection, at this time if it is present multiple unmanned planes are in the standard straight-line Cruise circuit has the position of intersection that can also have the possibility bumped against, at this time in order to avoid the collision the occurrence of, should during In further include to several (N corresponding to several suspect regions1Item) standard straight-line cruise circuit whether there is crossover location It is detected, if so, picking out cross one another M1Item (M1More than or equal to 2, less than or equal to N1) standard straight-line cruise circuit, And the crossover location is labeled as crosspoint;Then using the crosspoint as the center of circle, crossed-circle is formed for radius with 10 meters, and at this Decile M in crossed-circle1It is a, form M1A Along ent;So that it forms fan-shaped angle per two adjacent points with crosspoint and is M1/360°;Then by cross one another M1The flight starting point of standard straight-line cruise circuit, respectively with one etc. in crossed-circle Branch connects, and then connects the target endpoint (coordinate points of suspect region) of this standard straight-line cruise circuit with flight starting point That Along ent connect is attached, and is ultimately formed using the Along ent as node, using flight starting point and target endpoint as two ends Two broken lines of point are a sub- straight line cruise circuit of the final two corresponding standards of standard straight-line cruise circuit, so Allow for N1Standard straight-line cruise circuit is each corresponding with the sub- straight line cruise circuit of two standards, with this so that each frame without It is man-machine to fly in the sub- straight line cruise circuit of corresponding two standards, to avoid the collision between unmanned plane, have The characteristics of security performance is high.

Then several described suspect regions each corresponding current live pictorial information is obtained;

Specifically, in this process, by ground station control unmanned plane or can either be passed through by unmanned plane Manual controller control unmanned plane come obtain several described suspect regions each corresponding to current live pictorial information, currently Photo site information can be the photo site information corresponding to several described suspect region current times, which can To be photographic intelligence captured by the video camera or camera carried by unmanned plane or from captured video information Middle extracted photographic intelligence.Certainly, the current live pictorial information corresponding to each described suspect region can be One or multiple, when for multiple when, then each current live pictorial information reaction be corresponding suspect region not With the photo site of angle.

Subsequently according to the current live pictorial information corresponding to suspect region each described, the suspicion is judged Whether region is target area;

Specifically, in this process, by unmanned plane or ground station control unmanned plane, Huo Zhetong can be passed through Manual remote control control unmanned plane is crossed according to the current live pictorial information corresponding to suspect region each described, to sentence Whether the disconnected suspect region is target area.It should be noted that goal region refers to determine existing for gray haze Region, suspect region refer to suspect with the presence of gray haze but be not necessarily present the region of gray haze.Judge the suspect region whether be Target area can specifically include:Obtaining each described suspect region, there are cleaning pictorial informations during gray haze;It will be each The current live pictorial information corresponding to a suspect region is compared with corresponding cleaning pictorial information;If The current live pictorial information is identical with the gray scale of corresponding cleaning pictorial information, then judges the suspect region right and wrong Target area generates safety sign signal to the position coordinates of the nontarget area at this time, and the safety sign signal is sent Safe priming is carried out to terminal is performed.Being mounted in simultaneously in the unmanned plane to cruise for the nontarget area has warning signal lamp, this When judge that the suspect region is nontarget area after, the warning signal lamp shows yellow, carry out it is glittering, should with prompting manipulation The operator of the unmanned plane suspect region is nontarget area.

It should be noted that after it is nontarget area to judge the suspect region, and the unmanned plane is to performing terminal After the safety sign signal for sending nontarget area, in order to be made full use of to unmanned plane, also for the accurate of result Under.It is further included after process:The position data for removing to be determined as the remaining suspect region behind nontarget area is sent out Unmanned plane after sending to the safety sign signal of the execution terminal transmission of warp-wise nontarget area, it is surplus which gets other It after the position data of remaining suspect region, is compared, judges each straight line of remaining suspect region apart from the unmanned plane Distance;A nearest remaining suspect region of the chosen distance unmanned plane, then sends the residue suspicion area of flying to unmanned plane The straight line path in domain, control unmanned plane during flying to the residue suspect region.Then above-mentioned mistake is performed for the residue suspect region Journey;And then whether it is that target area judges to the residue suspect region.

After judging suspect region for target area, you can the step S101 of the embodiment of the present invention is performed, to the mesh It marks region and carries out cruise shooting (can be understood as secondary cruise shooting);

It is because first time cruise shooting it should be noted why needing to carry out secondary cruise shooting to target area When be only merely a current live for having taken the target area (the also referred to as suspect region in first time cruise shooting) Pictorial information, a current live pictorial information are also only intended merely to identify whether the suspect region is target area, If necessary to be determined whether to gray haze degree, the grade of target area, then target area must be carried out again secondary Cruise shooting, to obtain more field basic pictorial informations.It is target area so to allow for only in the definite suspect region Behind domain, can just carry out secondary shooting to suspect region, avoid when once being cruised, due to and the uncertain suspect region be No is that target area just carries out multiple field basic pictorial informations and occurs, due to the suspect region it is possible that being not target Region and the shooting wasting of resources brought.

Continue to execute step S102;Obtain the field basic pictorial information of the target area;

As being sayed in above-mentioned steps S101, the field basic pictorial information in the step be several (at least 2 with On), and several field basic pictorial informations are shot for the different angle of target area.In other words, several Field basic picture shooting angle is different.

Continue to execute step S103;The field basic pictorial information is parsed, determines the ash of the target area Haze grade;

Wherein, for above-mentioned several acquired field basic pictorial informations, parsed in step S103, with The gray haze grade of the target area is obtained, specifically includes following sub-step:Extract the three primary colors data of the field basic picture Information;Base grey histogram is made according to the three primary colors data message;By the base grey histogram and standard grayscale Histogram is compared;The gray haze grade of the target area is determined according to comparing result.

It, can be by uncontaminated or picture indicia there is no gray haze situation is by target area in actual mechanical process Live normal pictures information, the quantity of the scene normal pictures information are identical and each with the quantity of field basic pictorial information Opening the shooting angle corresponding to live normal pictures information and the shooting angle corresponding to each field basic pictorial information is It is identical.Then advance three components (R, G, B) by each normal pictures letter extract makes Nogata respectively Figure, can be appreciated that the value of histogram is concentrated very much.Fig. 2-5 are referred to, using a live normal pictures information as row, Fig. 2 is normal day The image of the target area (Wuhan Yangtze River Bridge) shot during gas is converted into gray-scale map, and Fig. 3 is the histogram of R component, Fig. 4 For the histogram of G components, Fig. 5 is the histogram of B component.It can be seen that in the three-component histogram of R, G, B G components histogram The shape of meeting and the gray-scale map directly obtained is substantially similar, but single from the point of view of R, the histogram of tri- components of G, B, this three The correlation degree of the waveform of the histogram of a component be not it is very big, in other words at least one and it is two other Correlation degree is very small.

Herein it is to be understood that involved by live normal pictures information involved in this step 103 and front It cleans pictorial information and is non-fully equal.The cleaning pictorial information that can be understood as involved by front is only that suspect region does not exist The pictorial information captured by unspecified angle during gray haze, it is not required that identical with current live pictorial information shooting angle.It and will When current live pictorial information is compared with corresponding cleaning pictorial information, only judge that gray scale is from the angle of photo It is no identical, without being parsed to pictorial information according to step S103.In other words, by current live pictorial information and respectively Simply rough comparison, judges whether gray scale is identical when self-corresponding cleaning pictorial information is compared.And step S103 institutes The comparison of progress is fine correlation, for determining gray haze grade.It first offers some clarification herein.

In the following, please continue to refer to Fig. 6-9, target area that Fig. 6 is shot when being the haze weather of shooting angle corresponding with Fig. 2 The image in domain (Wuhan Yangtze River Bridge) is converted into gray-scale map, and Fig. 7 is the histogram of R component, and Fig. 8 is the histogram of G components, Fig. 9 is the histogram of B component.It is clear that the waveform of the histogram of this four images is almost consistent in figure.Change sentence It talks about, in this case R, G, the correlation of the waveform of the gray-scale map of three components of B is very high.In addition, tri- components of R, G, B Histogram across gray areas be also almost in same gray areas, this region is known as span.This four histograms have One it is common the characteristics of:Relatively low gray level region and the number of the pixel occurred compared with high grade grey level region are for zero.

By comparing above, in the case of being no gray haze under normal weather, the well lighted of picture, shooting are shot The details for obtaining the object in image is perfectly clear clearly, so four histograms as shown in Figure 2-5 can be obtained during processing.Ash Under haze weather, the picture contrast shot is low, and the difference between pixel is relatively small, and the details of the object in image is not It is very clear, so obtain four histograms as Figure 6-9.It, can be obtained by live normal pictures information based on this Histogram for standard grayscale histogram, then the base grey histogram in the case of gray haze is divided not according to its indistinctness Clear grade.Such as compared with standard grayscale histogram, indistinctness is followed successively by level-one indistinctness 0-10%, two level from low to high Indistinctness 11-50%, three-level indistinctness 51-100%.Wherein, level-one indistinctness is slight gray haze, two level indistinctness For moderate gray haze and three-level indistinctness severe gray haze.Specific for percentage determines, can not have in the present embodiment too Accurately, when need to only compare base grey histogram and standard grayscale histogram, the difference degree between pixel is reference Rough classification.

Then proceed to step S104;Judge whether the target area is gray haze source region according to the gray haze grade;

Wherein, when the gray haze grade for judging the target area is three-level indistinctness 51-100%, i.e. severe gray haze, It is gray haze source region then to judge the target area.

Continue to execute step S105;If so, it is gray haze source region to mark the target area.

Herein it should be noted that it should be noted that in front due to being that several suspect regions are carried out once Cruise shooting, thus determined by several suspect regions by a cruise shooting target area it could also be possible that several It is a, likewise, determined by several target areas by secondary cruise shooting gray haze source region it could also be possible that multiple, because This can record the number of gray haze source region in step S105.

Continue to perform step S106, S107, S108 and S109 successively:When the number of the gray haze source region is more than or equal to 2 When, then obtain each described gray haze source region geographical position coordinates;It is sat according to gray haze source region domain geographic location each described Mark searches for closest one corresponding to each described gray haze source region and performs terminal;By each gray haze source The corresponding gray haze source of Area generation one is warned id signal;It is sent out to the execution terminal corresponding to gray haze source region each described The gray haze source is sent to warn id signal.

Specifically, the number for gray haze source region being had been described above in step S105 is likely to be several, just there is two at this time Kind situation:

The first situation, when gray haze source region number is 1, the geographical location that need to only obtain the gray haze source region at this time is sat Then mark is searching for the execution terminal near gray haze source region, which can be that the gray haze source region is administered Environmental protection administration.Can also be monitoring department being monitored to environmental protection etc., the embodiment of the present invention is not limited to.It is searching for Can be the execution terminal geographic position coordinates for pre-establishing each suspect region during execution terminal near gray haze source region Database has prestored the geographical location of the execution terminal near each suspect region in the geographical position coordinates database Coordinate.

After confirming that suspect region is target area, and further confirm as gray haze source region, then obtain apart from the gray haze The geographical position coordinates of a nearest execution terminal of source region, should " nearest " refer near gray haze source region several hold The row terminal geographical position coordinates nearest with the air line distance of gray haze source region.Then gray haze source region being generated one can mark The gray haze source for knowing the gray haze source region is warned id signal, and gray haze source id signal of warning can include the gray haze source region Gray haze grade, the current live pictorial information of the gray haze source region, the data packet of field basic pictorial information, then by the ash Haze source id signal of warning is sent to corresponding (closest) execution terminal.It is cruising simultaneously for the gray haze source region Unmanned plane is mounted in there is warning signal lamp, and warning signal lamp display at this time is red, and progress is glittering, and the behaviour of the unmanned plane is manipulated with prompting The control personnel target area is gray haze source region.

It is noted that by the gray haze source warn id signal be sent to corresponding (closest) execution terminal can By be by wireless transmission in a manner of be directly transferred to perform terminal, but be also present with network transmission obstacle sometimes can not be into line number According to transmission, therefore gray haze source id signal of warning is sent to corresponding (closest) and performs end in embodiments of the present invention The unmanned plane that can also be and carry out cruise shooting for the gray haze region by controlling is held directly to fly to corresponding (closest ) execution terminal, photographed data information band is directly back to execution terminal to realize.Specially:Ground according to gray haze source region The geographical position coordinates information for managing location coordinate information and corresponding (closest) execution terminal generates corresponding cruise line Road, and the cruise circuit is the straight line cruise circuit of beeline so that the unmanned plane cruises flight line extremely by the straight line Corresponding (closest) execution terminal.

Likewise, in order to avoid unmanned plane hits high buildings and large mansions in straight line cruise circuit, further include in this process pair The altitude information information of each building of institute's approach is acquired in cruise circuit, which can be by from nothing Man-machine takeoff setting is to the corresponding mode for performing terminal area position emitting linear laser, to judge from unmanned plane takeoff setting It is blocked with the presence or absence of laser to terminal area position is performed, if being blocked, judges from unmanned plane takeoff setting to corresponding There are barriers, at this time acquisition in execution this straight line of terminal area position cruise circuit to block the barrier of linear laser Altitude information information, and this altitude information information setting is the minimum altitude of unmanned plane during flying, and then further determine that flight Direction and flying height, finally to determine unmanned plane in the corresponding standard straight-line cruise circuit for performing terminal area that flies to so that Unmanned plane can reach execution terminal in standard straight-line cruise circuit rectilinear flight.

The second situation (is more than or equal to 2) when gray haze source region number is multiple, needs to obtain each gray haze at this time The geographical position coordinates of source region, then search for each gray haze source region institute it is corresponding near execution terminal, this It can be the environmental protection administration administered to the gray haze source region to perform terminal.It can also be the prison being monitored to environmental protection Survey department etc., the embodiment of the present invention is not limited to.Can pre-establish when searching for the execution terminal near gray haze source region The execution terminal geographic position coordinate data storehouse of each suspect region has been prestored in the geographical position coordinates database every The geographical position coordinates of execution terminal near one suspect region.

After confirming that suspect region is target area, and further confirm as gray haze source region, then obtain apart from the gray haze The geographical position coordinates of a nearest execution terminal of source region, should " nearest " refer near gray haze source region several hold The row terminal geographical position coordinates nearest with the air line distance of gray haze source region.Then gray haze source region being generated one can mark The gray haze source for knowing the gray haze source region is warned id signal, and gray haze source id signal of warning can include the gray haze source region Gray haze grade, the current live pictorial information of the gray haze source region, the data packet of field basic pictorial information, then by the ash Haze source id signal of warning is sent to corresponding (closest) execution terminal.It is cruising simultaneously for the gray haze source region Unmanned plane is mounted in there is warning signal lamp, and warning signal lamp display at this time is red, and progress is glittering, and the behaviour of the unmanned plane is manipulated with prompting The control personnel target area is gray haze source region.

For example, it is assumed that the quantity of gray haze source region is 3 at this time, No.1 gray haze source region, No. two gray hazes are respectively designated as Source region and No. three gray haze source regions;So No.1 gray haze source region it is corresponding there are one closest No.1s to perform terminal, No. two gray haze source regions are corresponding there are one closest No. two execution terminals, No. three gray haze source regions it is corresponding there are one away from From No. three nearest execution terminals, No.1 performs terminal, No. two execution terminals, No. three execution terminals and is likely to be same execution Terminal, it is also possible to be different execution terminals.

Likewise, by each gray haze source warn id signal be sent to corresponding (closest) execution terminal can be with It is to be directly transferred to perform terminal by way of wireless transmission, but is also present with network transmission obstacle sometimes not carrying out data Transmission, therefore gray haze source id signal of warning is sent to corresponding (closest) execution terminal in embodiments of the present invention It can also be that the unmanned plane for carrying out cruise shooting for the gray haze region by controlling directly flies to corresponding (closest ) execution terminal, photographed data information band is directly back to execution terminal to realize.Specially:According to each gray haze source region The generation of the geographical position coordinates information of the geographical position coordinates information in domain and corresponding (closest) execution terminal is corresponding Cruise circuit, and the cruise circuit is the straight line cruise circuit of beeline so that the unmanned plane passes through straight line cruise circuit It flies to corresponding (closest) execution terminal.

Likewise, in order to avoid unmanned plane hits high buildings and large mansions in straight line cruise circuit, further include in this process pair The altitude information information of each building of institute's approach is acquired in cruise circuit, which can be by from nothing Man-machine takeoff setting is to the corresponding mode for performing terminal area position emitting linear laser, to judge from unmanned plane takeoff setting It is blocked with the presence or absence of laser to terminal area position is performed, if being blocked, judges from unmanned plane takeoff setting to corresponding There are barriers, at this time acquisition in execution this straight line of terminal area position cruise circuit to block the barrier of linear laser Altitude information information, and this altitude information information setting is the minimum altitude of unmanned plane during flying, and then further determine that flight Direction and flying height, finally to determine unmanned plane in the corresponding standard straight-line cruise circuit for performing terminal area that flies to so that Unmanned plane can reach execution terminal in standard straight-line cruise circuit rectilinear flight.

Further, for each unmanned plane during flying into corresponding execution terminal procedures, each unmanned plane exists In corresponding standard straight-line cruise circuit during flight, there is also several standard straight-lines cruise circuit has the position of intersection Put, at this time if it is present multiple unmanned planes standard straight-line cruise circuit have the position of intersection can also exist bump against can Can, at this time in order to avoid the collision the occurrence of, further include fly to several to several gray haze source regions in this process Perform several (N corresponding to terminal2Item) standard straight-line cruise circuit be detected with the presence or absence of crossover location, if so, Pick out cross one another M2Item (M2More than or equal to 2, less than or equal to N2) standard straight-line cruise circuit, and by the crossover location mark It is denoted as crosspoint;Then using the crosspoint as the center of circle, crossed-circle, and the decile M in the crossed-circle are formed for radius with 10 meters2It is a Point forms M2A Along ent;So that it is M to form fan-shaped angle with crosspoint per two adjacent points2/360°;It then will be mutual The M of intersection2The flight starting point of standard straight-line cruise circuit, is connected with an Along ent in crossed-circle, then should respectively That decile click-through that the target endpoint (coordinate points for performing terminal) of standard straight-line cruise circuit is connected with flight starting point Row connection, ultimately forms using the Along ent as node, using flight starting point and target endpoint as two broken lines of two endpoints, is One sub- straight line cruise circuit of the final two corresponding standards of standard straight-line cruise circuit, so allows for N2Standard straight-line Cruise circuit is each corresponding with the sub- straight line cruise circuit of two standards, with this so that each frame unmanned plane is somebody's turn to do corresponding The sub- straight line cruise circuit of two standards flies, and to avoid the collision between unmanned plane, has the characteristics that security performance is high.

Based on same inventive concept, the embodiment of the present invention additionally provides device corresponding with method in embodiment one, sees reality Apply example two.

Embodiment two

The embodiment of the present invention two provides a kind of system for identifying gray haze source, referring to Fig. 10, the system comprises:Cruise Module 201 is configured as carrying out cruise shooting to the target area;First acquisition module 202 is configured as obtaining the mesh Mark the field basic pictorial information in region;Gray haze level determination module 203, be configured as to the field basic pictorial information into Row parsing determines the gray haze grade of the target area;Gray haze source region judgment module 204, is configured as according to the gray haze Grade judges whether the target area is gray haze source region;Gray haze source region mark module 205, is configured as if so, marking It is gray haze source region to remember the target area, and records the number of the definite gray haze source region;Second acquisition module 206, When being configured as the number of the gray haze source region more than or equal to 2, then each described gray haze source region domain geographic location is obtained Coordinate;Search module 207 is configured as, according to gray haze source region geographical position coordinates each described, searching for described in each Closest one corresponding to gray haze source region performs terminal;It warns identification information generation module 208, being configured as will be every One gray haze source region generates a corresponding gray haze source and warns id signal;It warns identification information sending module 209, quilt It is configured to send the gray haze source to the execution terminal corresponding to gray haze source region each described and warn id signal.

In the embodiment of the present invention two, the cruise module includes:First cruise submodule, is configured as obtaining target area The position data in domain;Second cruise submodule, is configured according to position data generation and the target area Corresponding cruise circuit;3rd cruise submodule is configured to cruise to the target area according to the cruise circuit Shooting.

In the embodiment of the present invention two, the gray haze level determination module specifically includes:First gray haze grade determines submodule Block is configured as extracting the three primary colors data message of the field basic picture;Second gray haze grade determination sub-module, is configured To make base grey histogram according to the three primary colors data message;3rd gray haze grade determination sub-module, be configured as by The base grey histogram is compared with standard grayscale histogram;4th gray haze grade determination sub-module, be configured as according to The gray haze grade of the target area is determined according to comparing result.

In the embodiment of the present invention two, the gray haze grade includes at least following grade:Slight gray haze, moderate gray haze and again Spend gray haze;The gray haze source region judgment module is additionally configured to:If the gray haze grade is severe gray haze, the mesh is judged It is gray haze source region to mark region.

By the device that the embodiment of the present invention two is introduced, filled used by the method for the implementation embodiment of the present invention one It puts, so based on the method that the embodiment of the present invention one is introduced, the affiliated personnel in this field can understand the concrete structure of the device And deformation, so details are not described herein.Device belongs to the present invention and is intended to used by the method for every embodiment of the present invention one The scope of protection.

Embodiment three

1 is please referred to Fig.1, it is necessary to which explanation, similarly invention is linked up based on above-described embodiment one, embodiment two, this hair Bright embodiment three provides a kind of device, including:Radio frequency (Radio Frequency, RF) circuit 310, memory 320, input The components such as unit 330, display unit 340, voicefrequency circuit 350, WiFi module 360, processor 370 and power supply 380.Wherein, The computer program that can be run on processor 370 is stored on memory 320, processor 370 performs the computer program The step of described in Shi Shixian embodiments one.

In specific implementation process, when processor performs computer program, any in embodiment one, 23 can be realized Embodiment.

It will be understood by those skilled in the art that the apparatus structure shown in Figure 11 the not restriction of structure twin installation in itself, It can include either combining some components or different components arrangement than illustrating more or fewer components.

Each component parts of computer equipment is specifically introduced with reference to Figure 11:

RF circuits 310 can be used for sending and receiving for signal, particularly, after the downlink information of base station is received, to processing Device 370 is handled.In general, RF circuits 310 include but not limited at least one amplifier, transceiver, coupler, low noise amplification Device (Low Noise Amplifier, LNA), duplexer etc..

Memory 320 can be used for storage software program and module, and processor 370 is stored in memory 320 by operation Software program and module, so as to perform the various function application of computer equipment and data processing.Memory 320 can be led To include storing program area and storage data field, wherein, storing program area can storage program area, needed at least one function Application program etc.;Storage data field can be stored uses created data etc. according to computer equipment.In addition, memory 320 Can include high-speed random access memory, can also include nonvolatile memory, a for example, at least disk memory, Flush memory device or other volatile solid-state parts.

Input unit 330 can be used for the number for receiving input or character information and generation and the user of computer equipment Set and function control it is related key signals input.Specifically, input unit 330 may include keyboard 331 and other inputs Equipment 332.Keyboard 331 collects the input operation of user on it, and drives corresponding connection according to preset formula Device.Keyboard 331 gives processor 370 again after collecting output information.Except keyboard 331, input unit 330 can also include Other input equipments 332.Specifically, other input equipments 332 can include but is not limited to touch panel, function key (such as sound Measure control button, switch key etc.), trace ball, mouse, the one or more in operation lever etc..

Display unit 340 can be used for display by information input by user or be supplied to the information and computer equipment of user Various menus.Display unit 340 may include display panel 341, optionally, liquid crystal display (Liquid may be employed Crystal Display, LCD), the forms such as Organic Light Emitting Diode (Organic Light-Emitting Diode, OLED) To configure display panel 341.Further, keyboard 331 can cover display panel 341, when keyboard 331 detect it is on it or attached After near touch operation, processor 370 is sent to determine the type of touch event, is followed by subsequent processing device 370 according to incoming event Type corresponding visual output is provided on display panel 341.Although keyboard 331 and display panel 341 are conducts in figure 3 Two independent components realize the input of computer equipment and input function, but in some embodiments it is possible to by keyboard 331 is integrated with display panel 341 and that realizes computer equipment output and input function.

Voicefrequency circuit 350, loud speaker 351, microphone 352 can provide the audio interface between user and computer equipment. The transformed electric signal of the voice data received can be transferred to loud speaker 351, is converted by loud speaker 351 by voicefrequency circuit 350 It is exported for voice signal;

WiFi belongs to short range wireless transmission technology, and computer equipment can help user to receive and dispatch by WiFi module 360 Email, browsing webpage and access streaming video etc., it has provided wireless broadband internet to the user and has accessed.Although Fig. 4 Show WiFi module 360, but it is understood that, and must be configured into for computer equipment is not belonging to, it completely can root It is omitted according to needs in the scope of essence for not changing invention.

Processor 370 is the control centre of computer equipment, utilizes various interfaces and the entire computer equipment of connection Various pieces, by run or perform the software program being stored in memory 320 and/or module and call be stored in Data in memory 320 perform the various functions of computer equipment and processing data, whole so as to be carried out to computer equipment Monitoring.Optionally, processor 370 may include one or more processing units;Preferably, processor 370 can be integrated using processing Device, wherein, the main processing operation system of application processor, user interface and application program etc..

Computer equipment is further included to the power supply 380 (such as power supply adaptor) of all parts power supply, it is preferred that power supply can With logically contiguous by power-supply management system and processor 370.

Example IV

Based on same inventive concept, as shown in figure 12, the present embodiment five provides a kind of computer readable storage medium 400, computer program 411 is stored thereon with, is realized when which is executed by processor described in embodiment one Step.

In specific implementation process, when which is executed by processor, embodiment one, two and can be realized Any embodiment in three.

It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program Product.Therefore, the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware can be used in the present invention Apply the form of example.Moreover, the computer for wherein including computer usable program code in one or more can be used in the present invention The computer program production that usable storage medium is implemented on (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) The form of product.

The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product Figure and/or block diagram describe.It should be understood that it can be realized by computer program instructions every first-class in flowchart and/or the block diagram The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided The processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce A raw machine so that the instruction performed by computer or the processor of other programmable data processing devices is generated for real The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.

These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy Determine in the computer-readable memory that mode works so that the instruction generation being stored in the computer-readable memory includes referring to Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or The function of being specified in multiple boxes.

These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted Series of operation steps is performed on calculation machine or other programmable devices to generate computer implemented processing, so as in computer or The instruction offer performed on other programmable devices is used to implement in one flow of flow chart or multiple flows and/or block diagram one The step of function of being specified in a box or multiple boxes.

Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation Property concept, then can make these embodiments other change and modification.So appended claims be intended to be construed to include it is excellent It selects embodiment and falls into all change and modification of the scope of the invention.

Obviously, those skilled in the art can carry out the embodiment of the present invention various modification and variations without departing from this hair The spirit and scope of bright embodiment.In this way, if these modifications and variations of the embodiment of the present invention belong to the claims in the present invention And its within the scope of equivalent technologies, then the present invention is also intended to comprising including these modification and variations.

Claims (10)

  1. A kind of 1. method for identifying gray haze source, which is characterized in that the described method includes:
    Cruise shooting is carried out to target area;
    Obtain the field basic pictorial information of the target area;
    The field basic pictorial information is parsed, determines the gray haze grade of the target area;
    Judge whether the target area is gray haze source region according to the gray haze grade;
    If so, it is gray haze source region to mark the target area.
  2. 2. the method as described in claim 1, which is characterized in that described to be specifically included to target area progress cruise shooting:
    Obtain the position data of target area;
    According to position data generation and the corresponding cruise circuit in the target area;
    Cruise shooting is carried out to the target area according to the cruise circuit.
  3. 3. the method as described in claim 1, which is characterized in that it is described that the field basic pictorial information is parsed, really The gray haze grade of the fixed target area specifically includes:
    Extract the three primary colors data message of the field basic picture;
    Base grey histogram is made according to the three primary colors data message;
    The base grey histogram is compared with standard grayscale histogram;
    The gray haze grade of the target area is determined according to comparing result.
  4. 4. the method as described in claim 1, it is characterised in that:
    The gray haze grade includes at least following grade:Slight gray haze, moderate gray haze and severe gray haze;
    It is described to judge whether the target area is that gray haze source region specifically includes according to the gray haze grade:
    If the gray haze grade is severe gray haze, it is gray haze source region to judge the target area.
  5. 5. a kind of system for identifying gray haze source, which is characterized in that the system comprises:
    Cruise module is configured as carrying out cruise shooting to target area;
    First acquisition module is configured as obtaining the field basic pictorial information of the target area;
    Gray haze level determination module is configured as parsing the field basic pictorial information, determines the target area Gray haze grade;
    Gray haze source region judgment module is configured as judging whether the target area is gray haze source region according to the gray haze grade Domain;
    Gray haze source region mark module is configured as if so, it is gray haze source region to mark the target area.
  6. 6. system as claimed in claim 5, which is characterized in that the cruise module includes:
    First cruise submodule is configured as obtaining the position data of target area;
    Second cruise submodule, is configured according to position data generation and the corresponding cruise line in the target area Road;
    3rd cruise submodule is configured to carry out cruise shooting to the target area according to the cruise circuit.
  7. 7. system as claimed in claim 5, which is characterized in that the gray haze level determination module specifically includes:
    First gray haze grade determination sub-module is configured as extracting the three primary colors data message of the field basic picture;
    Second gray haze grade determination sub-module is configured as making base grey histogram according to the three primary colors data message;
    3rd gray haze grade determination sub-module is configured as carrying out the base grey histogram and standard grayscale histogram pair Than;
    4th gray haze grade determination sub-module is configured as determining the gray haze grade of the target area according to comparing result.
  8. 8. system as claimed in claim 5, it is characterised in that:
    The gray haze grade includes at least following grade:Slight gray haze, moderate gray haze and severe gray haze;
    The gray haze source region judgment module is additionally configured to:
    If the gray haze grade is severe gray haze, it is gray haze source region to judge the target area.
  9. 9. a kind of device for identifying gray haze source, can be transported on a memory and on a processor including memory, processor and storage Capable computer program, which is characterized in that the processor realizes following steps when performing described program:
    Cruise shooting is carried out to target area;
    Obtain the field basic pictorial information of the target area;
    The field basic pictorial information is parsed, determines the gray haze grade of the target area;
    Judge whether the target area is gray haze source region according to the gray haze grade;
    If so, it is gray haze source region to mark the target area.
  10. 10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor Following steps are realized during execution:
    Cruise shooting is carried out to target area;
    Obtain the field basic pictorial information of the target area;
    The field basic pictorial information is parsed, determines the gray haze grade of the target area;
    Judge whether the target area is gray haze source region according to the gray haze grade;
    If so, it is gray haze source region to mark the target area.
CN201711206864.9A 2017-11-27 2017-11-27 Identify the method, apparatus and system in gray haze source CN108052872A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711206864.9A CN108052872A (en) 2017-11-27 2017-11-27 Identify the method, apparatus and system in gray haze source

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711206864.9A CN108052872A (en) 2017-11-27 2017-11-27 Identify the method, apparatus and system in gray haze source

Publications (1)

Publication Number Publication Date
CN108052872A true CN108052872A (en) 2018-05-18

Family

ID=62120528

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711206864.9A CN108052872A (en) 2017-11-27 2017-11-27 Identify the method, apparatus and system in gray haze source

Country Status (1)

Country Link
CN (1) CN108052872A (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106203265A (en) * 2016-06-28 2016-12-07 江苏大学 A kind of Construction Fugitive Dust Pollution based on unmanned plane collection image is derived from dynamic monitoring and coverage prognoses system and method
CN106355166A (en) * 2016-10-13 2017-01-25 北京师范大学 Monitoring video and remote sensing image-based dust-haze spreading path drawing and source determination method
CN107038885A (en) * 2017-05-23 2017-08-11 奇瑞汽车股份有限公司 Traffic reminding method and device
CN107315381A (en) * 2017-08-02 2017-11-03 宿松县玖索科技信息有限公司 A kind of monitoring method of diseases and pests of agronomic crop

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106203265A (en) * 2016-06-28 2016-12-07 江苏大学 A kind of Construction Fugitive Dust Pollution based on unmanned plane collection image is derived from dynamic monitoring and coverage prognoses system and method
CN106355166A (en) * 2016-10-13 2017-01-25 北京师范大学 Monitoring video and remote sensing image-based dust-haze spreading path drawing and source determination method
CN107038885A (en) * 2017-05-23 2017-08-11 奇瑞汽车股份有限公司 Traffic reminding method and device
CN107315381A (en) * 2017-08-02 2017-11-03 宿松县玖索科技信息有限公司 A kind of monitoring method of diseases and pests of agronomic crop

Similar Documents

Publication Publication Date Title
US10183749B2 (en) Drone device security system
CN102724482B (en) Based on the intelligent vision sensing network moving target relay tracking system of GPS and GIS
CN103425967B (en) A kind of based on stream of people's monitoring method of pedestrian detection and tracking
CN105197252B (en) A kind of SUAV landing method and system
CN106127204B (en) A kind of multi-direction meter reading Region detection algorithms of full convolutional neural networks
CN104483326B (en) High-voltage line defects of insulator detection method and system based on depth belief network
Al-Kharusi et al. Intelligent parking management system based on image processing
AU2011289156B2 (en) Methods, apparatus and systems for marking material color detection in connection with locate and marking operations
CN105745687B (en) Context aware Moving target detection
CN103941746B (en) Image processing system and method is patrolled and examined without man-machine
CN102436738B (en) Traffic monitoring device based on unmanned aerial vehicle (UAV)
Gauthreaux Jr et al. Monitoring bird migration with a fixed‐beam radar and a thermal‐imaging camera
US20150248275A1 (en) Sensor Grouping for a Sensor Based Detection System
US9953225B2 (en) Image processing apparatus and image processing method
CN105590102A (en) Front car face identification method based on deep learning
Pavlidis et al. Urban surveillance systems: from the laboratory to the commercial world
CN103617699A (en) Intelligent safety monitor system of electric power working site
Fusier et al. Video understanding for complex activity recognition
CN105550692B (en) The homing vector landing concept of unmanned plane based on marker color and contour detecting
CN105975929A (en) Fast pedestrian detection method based on aggregated channel features
CN104808197B (en) A kind of many monitoring source airbound target Parallel Tracking processing methods
US20030095684A1 (en) System and method for analyzing aerial photos
US20150130840A1 (en) System and method for reporting events
US20070008408A1 (en) Wide area security system and method
CN106441233B (en) Power channel corridor method for inspecting based on oblique photograph three-dimensional reconstruction

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WW01 Invention patent application withdrawn after publication
WW01 Invention patent application withdrawn after publication

Application publication date: 20180518