CN108052875A - Method, apparatus and system based on remote server identification gray haze source - Google Patents
Method, apparatus and system based on remote server identification gray haze source Download PDFInfo
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- CN108052875A CN108052875A CN201711208069.3A CN201711208069A CN108052875A CN 108052875 A CN108052875 A CN 108052875A CN 201711208069 A CN201711208069 A CN 201711208069A CN 108052875 A CN108052875 A CN 108052875A
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- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
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Abstract
The invention discloses a kind of methods based on remote server identification gray haze source, the described method includes remote server control unmanned planes to carry out a cruise shooting to several suspect regions, by once cruise obtain several described suspect regions each corresponding to current live pictorial information, remote server judges whether the suspect region is target area according to the current photo site information；After target area is determined, by remote server the secondary cruise shooting of unmanned plane is being controlled to obtain the field basic pictorial information of target area, and determining whether the target area is gray haze source region according to the field basic picture；If, then remote server mark target area is gray haze source region, 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 is high, applicability is wide by remote server to the technique effect that gray haze source is accurately identified.
Description
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 based on remote server identification gray haze source, existing to solve
In technology the technical issues of how gray haze source being identified.
In a first aspect, an embodiment of the present invention provides a kind of method based on remote server identification gray haze source, the sides
Method includes：The remote server control unmanned plane carries out a cruise shooting to several suspect regions；The remote service
Device obtains several described suspect regions each corresponding current live pictorial information；The remote server is according to each
The current live pictorial information corresponding to the suspect region judges whether the suspect region is target area；If so,
Then the remote server control unmanned plane carries out secondary cruise shooting to the target area；Obtain showing for the target area
The basic pictorial information in field；The remote server parses the field basic pictorial information, determines the target area
Gray haze grade；The remote server judges whether the target area is gray haze source region according to the gray haze grade；If
It is that it is gray haze source region that then the remote server, which marks the target area, and records the definite gray haze source region
Number；The remote server then obtains the gray haze source region domain geographic location and sits when the number of the gray haze source region is 1
Mark；The remote server according to the gray haze source region geographical position coordinates, search for corresponding to the gray haze source region away from
From a nearest execution terminal；The remote server warns one corresponding gray haze source of the gray haze source region generation mark
Know signal；The gray haze source is sent to the execution terminal corresponding to the gray haze source region to warn id signal.
In the first aspect, optionally, the remote server control unmanned plane carries out target area secondary cruise bat
It takes the photograph and specifically includes：The remote server obtains the position data of target area；The remote server is according to institute's rheme
Put data message generation and the corresponding cruise circuit in the target area；The remote server control unmanned plane is according to described in
The circuit that cruises carries out cruise shooting to the target area.
In the first aspect, optionally, the remote server parses the field basic pictorial information, determines
The gray haze grade of the target area specifically includes：The remote server extracts the three primary colors data of the field basic picture
Information；The remote server makes base grey histogram according to the three primary colors data message；The remote server will
The base grey histogram is compared with standard grayscale histogram；The remote server determines described according to comparing result
The gray haze grade of target area.
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 the remote server judges that the target area is gray haze source region.
Second aspect, the embodiment of the present invention additionally provide a kind of system for identifying gray haze source, the system comprises：Once patrol
Model plane block is configured as the remote server control unmanned plane and carries out a cruise shooting to several suspect regions；Currently
Field basic picture acquisition module, being configured as the remote server, to obtain several described suspect regions each corresponding
Current live pictorial information；Target area determining module is configured as the remote server according to suspicion area each described
The current live pictorial information corresponding to domain judges whether the suspect region is target area；Secondary cruise module, quilt
It is configured to if so, the remote server controls unmanned plane to carry out secondary cruise shooting to the target area；First obtains
Module is configured as the field basic pictorial information that the remote server obtains the target area；Gray haze grade determines mould
Block is configured as the remote server and the field basic pictorial information is parsed, determines the ash of the target area
Haze grade；Gray haze source region judgment module is configured as the remote server and judges the target according to the gray haze grade
Whether region is gray haze source region；Gray haze source region mark module is configured as if so, described in remote server mark
Target area is gray haze source region, and records the number of the definite gray haze source region；Second acquisition module, is configured as
When the number of the gray haze source region is 1, then the remote server obtains the gray haze source region geographical position coordinates；Search
Module is configured as the remote server according to the gray haze source region geographical position coordinates, searches for the gray haze source region
Corresponding closest one performs terminal；It warns identification information generation module, being configured as the remote server will
The gray haze source region generates a corresponding gray haze source and warns id signal；It warns identification information sending module, is configured as
Execution terminal corresponding to from the remote server to the gray haze source region sends the gray haze source and warns id signal.
In second aspect, optionally, the secondary cruise module includes：First cruise submodule, is configured as described
Remote server obtains the position data of target area；Second cruise submodule, is configured the remote server foundation
The position data generation and the corresponding cruise circuit in the target area；3rd cruise submodule, is configured described
Remote server controls unmanned plane to carry out cruise shooting to the target area according to the cruise circuit.
In second aspect, optionally, the gray haze level determination module specifically includes：First gray haze grade determines submodule
Block is configured as the three primary colors data message that the remote server extracts the field basic picture；Second gray haze grade is true
Stator modules are configured as the remote server and make base grey histogram according to the three primary colors data message；3rd
Gray haze grade determination sub-module is configured as the remote server by the base grey histogram and standard grayscale histogram
It is compared；4th gray haze grade determination sub-module is configured as the remote server and determines the mesh according to comparing result
Mark the gray haze grade in region.
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：It is described long-range if the gray haze grade is severe gray haze
Server judges that the 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, if remote server control unmanned plane described first by pair
Dry suspect region carries out a cruise shooting, by once cruise obtain that several described suspect regions are each corresponding ought
Preceding photo site information, then the remote server according to the current photo site information judge the suspect region whether be
Target area；After target area is determined, the remote server is by controlling the secondary cruise shooting of unmanned plane to obtain mesh
The field basic pictorial information in region is marked, and determines whether the target area is gray haze source according to the field basic picture
Region；If so, the remote server mark target area is gray haze source region, realize based on remote server to gray haze
Source is identified, and technology can not be identified in the presence of the prior art for some areas to gray haze source by effectively solving
Problem, having reached can have the characteristics that accuracy is high, applicability is wide to the technique effect that gray haze source is accurately identified.
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：
Remote server controls unmanned plane to carry out a cruise shooting to several suspect regions；
The remote server obtains several described suspect regions each corresponding current live pictorial information；
The remote server judges according to the current live pictorial information corresponding to suspect region each described
Whether the suspect region is target area；
If so, the remote server control unmanned plane carries out secondary cruise shooting to the target area；
The remote server obtains the field basic pictorial information of the target area；
The remote server parses the field basic pictorial information, determines gray haze of the target area etc.
Grade；
The remote server judges whether the target area is gray haze source region according to the gray haze grade；
If so, it is gray haze source region that the remote server, which marks 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；Remote server controls unmanned plane to carry out a cruise shooting to several suspect regions；
Step S102；The remote server obtains several described suspect regions each corresponding current live picture
Information；
Step S103；The remote server is according to the current live picture corresponding to suspect region each described
Information judges whether the suspect region is target area；
Step S104；It is clapped if so, the remote server control unmanned plane carries out the target area secondary cruise
It takes the photograph；
Step S105；The remote server obtains the field basic pictorial information of the target area；
Step S106；The remote server parses the field basic pictorial information, determines the target area
The gray haze grade in domain；
Step S107；The remote server judges whether the target area is gray haze source region according to the gray haze grade
Domain；
Step S108；If so, it is gray haze source region that the remote server, which marks 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 provides the method warned based on remote server to gray haze source, is used for
Solve above-mentioned technical 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, remote server controls unmanned plane that several suspect regions are carried out with once cruise and claps
It takes the photograph；
Specifically, in step S101, can by remote server or by ground station control unmanned plane,
Either manually remote control control unmanned plane or by remote server control unmanned plane come to several suspect regions into
Cruise shooting of row, suspect region can be understood as polluting more serious region in daily life namely emphasis suspects
Region.Several can be 3,4,5 etc..
It should be noted that in embodiments of the present invention, earth station refers to that the portable of unmanned plane during flying pair can be operated
Mobile terminal, volume very little are convenient for carrying outgoing.And remote server is different from earth station, in embodiments of the present invention remotely
Server is fixed control terminal, by being arranged in computer room control room, by indoor occupant by manipulating server to nobody
The flight of machine is controlled.The composition of server includes processor, hard disk, memory, system bus etc. and general computer rack
Structure is similar, but due to needing to provide highly reliable service, in processing capacity, stability, reliability, security, can expand
Malleability, manageability etc. require higher.Remote server in embodiments of the present invention has higher computational power, remotely
There are many difference of server and earth station, such as server can control more unmanned planes to carry out flight operation simultaneously, and ground
Face station is usually only a unmanned plane service a moment.
In step S101, following sub-step is specifically included：The remote server obtains each suspect region
Position data；Position data generation and each institute of the remote server according to each suspect region
State the corresponding cruise circuit in suspect region；The remote server is according to corresponding cruise circuit to several institutes
It states suspect region and carries out cruise shooting.Wherein, according to each suspect region the position data generation with it is each
During a corresponding cruise line road in the suspect region, each described corresponding cruise circuit in suspect region is most
Short-range straight line cruise circuit, in several basic lines cruise circuit is got, in order to avoid unmanned plane is on the basis
Straight line cruise circuit hits high buildings and large mansions, and the remote server is further included in this step S101 and is cruised each basic line
The altitude information information of each building of institute's approach is acquired in circuit, which can be by from unmanned plane
Takeoff setting to each corresponding suspect region position emitting linear laser mode, come judge from unmanned plane takeoff setting to
Corresponding suspect region position is blocked with the presence or absence of laser, if being blocked, the remote server is judged from unmanned plane
Fly to obtain block linear laser at this time there are barrier during circuit is cruised in position to corresponding this straight line of suspect region position
Barrier altitude information information, and by the minimum altitude that this altitude information information setting is unmanned plane during flying, and then into one
Step determines heading and flying height, finally to determine unmanned plane in the standard straight-line cruise line of corresponding suspect region that flies to
Road so that unmanned plane can reach suspect region in standard straight-line cruise circuit rectilinear flight.
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, this step
The remote server is further included in S101 to several (N corresponding to several suspect regions1Item) standard straight-line cruise line
Road is detected with the presence or absence of crossover location, if so, the remote server picks out cross one another M1Item (M1More than etc.
In 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 circle
The heart forms crossed-circle, and the decile M in the crossed-circle with 10 meters for radius1It is a, form M1A Along ent；So that per adjacent
It is M that two points form fan-shaped angle with crosspoint1/360°；Then the remote server is by cross one another M1Standard straight
The flight starting point of line cruise circuit, is connected respectively with an Along ent in crossed-circle, then by this standard straight-line cruise line
That Along ent that the target endpoint (coordinate points of suspect region) on road is connected with flight starting point is attached, ultimately form with
The Along ent is node, is a standard straight-line cruise using flight starting point and target endpoint as two broken lines of two endpoints
The sub- straight line cruise circuit of the final two corresponding standards of circuit, so allows for N1Standard straight-line cruise circuit is each right
There should be the sub- straight line cruise circuit of two standards, with this so that each frame unmanned plane is patrolled in corresponding two sub- straight lines of standard
Course line road is flown, and to avoid the collision between unmanned plane, has the characteristics that security performance is high.
Then step S102 is performed；It is each corresponding current that the remote server obtains several described suspect regions
Photo site information；
Specifically, in step S102, can by remote server or by ground station control unmanned plane,
Either manually remote control control unmanned plane or by remote server unmanned plane is controlled to obtain several suspicion
The respective corresponding current live pictorial information in region, current live pictorial information can be that several described suspect regions are current
Photo site information corresponding to moment, the pictorial information can be clapped by the video camera or camera of unmanned plane carrying
The photographic intelligence taken the photograph or the photographic intelligence extracted from captured video information.Certainly, each described suspicion
Doubt region corresponding to current live pictorial information can be one or multiple, when for multiple when, then each work as
Preceding photo site information response be corresponding suspect region different angle photo site.
Subsequently, step S103 is performed；The remote server is according to described in corresponding to suspect region each described
Current live pictorial information judges whether the suspect region is target area；
Specifically, in step S103, unmanned plane can be controlled by unmanned plane or by remote server,
Or manually remote control control unmanned plane comes according to the current live picture corresponding to suspect region each described
Information judges whether the suspect region is target area.It should be noted that goal region refers to determine gray haze
Existing 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 it is that target area can specifically include：The remote server obtains each described suspect region, and there are during gray haze
Clean pictorial information；The current live pictorial information of the remote server corresponding to by each described suspect region with
Corresponding cleaning pictorial information is compared；If the current live pictorial information and corresponding cleaning pictorial information
Gray scale it is identical, then the remote server judges that the suspect region is nontarget area, at this time to the nontarget area
Position coordinates generates safety sign signal, and the safety sign signal is sent to and performs the safe priming of terminal progress.Exist simultaneously
For the unmanned plane that the nontarget area is cruised mounted in there is warning signal lamp, it is nontarget area to judge the suspect region at this time
Afterwards, the warning signal lamp shows yellow, and progress is glittering, and operator suspect region of the remote server is manipulated with prompting
For nontarget area.
It should be noted that after it is nontarget area to judge the suspect region, and the remote server is to execution
After terminal sends the safety sign signal of nontarget area, in order to be made full use of to unmanned plane, also for result
Under accurate.It further includes after step s 103：The remote server dislikes the residue for removing to be determined as behind nontarget area
The position data for doubting region is sent to warp-wise and performs terminal and sends after the safety sign signal of nontarget area nobody
Machine after the remote server gets the position data of other remaining suspect regions, is compared, and judges that each is remaining
Air line distance of the suspect region apart from the unmanned plane；A nearest remaining suspicion of described remote server chosen distance unmanned plane
Region is doubted, the straight line path for the residue suspect region of then flying to unmanned plane transmission, control unmanned plane during flying to the residue is disliked
Doubt region.Then above-mentioned steps S101, step S102 and step S103 are performed for the residue suspect region；The remote service
Device and then whether be that target area judges to the residue suspect region.
Immediately after above-mentioned steps S103, continue step S104：If so, the remote server is to the target area
Carry out secondary cruise shooting；
Wherein, after step S103 judges that the suspect region is target area, then the target area is carried out secondary
Cruise shooting.It is because cruise is clapped for the first time it should be noted why needing to carry out secondary cruise shooting to target area
Only be merely when taking the photograph have taken one of the target area (the also referred to as suspect region in first time cruise shooting) it is current existing
Field picture information, a current live pictorial information are also only intended merely to identify whether the suspect region is target area
Domain if necessary to be determined whether to gray haze degree, the grade of target area, then must carry out two to target area again
Secondary cruise shooting, to obtain more field basic pictorial informations.It is target so to allow for only in the definite suspect region
Behind region, can just carry out secondary shooting to suspect region, avoid when once being cruised, due to and the uncertain suspect region
Whether it 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 mesh
The shooting wasting of resources marked region and brought.
Continue to execute step S105；The remote server obtains the field basic pictorial information of the target area；
As being sayed in above-mentioned steps S104, 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 S106；The remote server parses the field basic pictorial information, determines institute
State the gray haze grade of target area；
Wherein, for several field basic pictorial informations acquired in step S105, solved in step S106
Analysis, to obtain the gray haze grade of the target area, specifically includes following sub-step：The remote server extraction live base
The three primary colors data message of plinth picture；The remote server makes base grey Nogata according to the three primary colors data message
Figure；The remote server compares the base grey histogram with standard grayscale histogram；It is true according to comparing result
The gray haze grade of the fixed target area.
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 live normal pictures information involved in this step 106 and institute in step S103
The cleaning pictorial information that is related to is simultaneously non-fully equivalent.Can be understood as cleaning pictorial information involved in step S103 is only to dislike
Pictorial information of the doubtful region captured by not there are unspecified angle during gray haze, it is not required that with current live picture in step S103
Information shooting angle is identical.And current live pictorial information and corresponding cleaning pictorial information are carried out in step s 103
During comparison, only judge whether gray scale is identical from the angle of photo, without being solved to pictorial information according to step S106
Analysis.In other words, simply rough comparison when current live pictorial information is compared with corresponding cleaning pictorial information,
Judge whether gray scale is identical.And the comparison that step S106 is carried out is fine correlation, for determining gray haze grade.Herein first
It offers some clarification.
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 S107；The remote server according to the gray haze grade judge the target area whether be
Gray haze source region；
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 S108；If so, it is gray haze source region that the remote server, which marks the target area,.
Based on this, to be identified to gray haze source region.
It should be noted that when performing step S108, the number of the definite gray haze source region also can record；Because
, due to being to carry out a cruise shooting to several suspect regions, passed through in step S101 by several suspect regions
Target area determined by cruise shooting it could also be possible that several, likewise, being passed through by several target areas secondary
Gray haze source region determined by cruise shooting, therefore can be in step S108 to the number of gray haze source region it could also be possible that multiple
It is recorded.
On the basis of the step S101-108 of the offer of the embodiment of the present invention, continue to perform successively step S109,
S110, S111 and S112：When the number of the gray haze source region is 1, then the remote server obtains the gray haze source region
Domain geographic location coordinate；The remote server searches for the gray haze source region according to the gray haze source region geographical position coordinates
Closest one corresponding to domain performs terminal；The remote server is corresponding by gray haze source region generation one
Gray haze source is warned id signal；Execution terminal corresponding to from the remote server to the gray haze source region sends the gray haze
Source is warned id signal.
Specifically, the number for gray haze source region being had been described above in step S108 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 remote server is manipulated with prompting
The operator target area be 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：Once
Cruise module 201 is configured as the remote server control unmanned plane and carries out a cruise shooting to several suspect regions；
Current live basis picture acquisition module 202 is configured as the remote server and obtains several described suspect regions each
Corresponding current live pictorial information；Target area determining module 203 is configured as the remote server according to each
The current live pictorial information corresponding to the suspect region judges whether the suspect region is target area；It is secondary
Cruise module 204 is configured as if so, the remote server controls unmanned plane to carry out secondary cruise to the target area
Shooting；First acquisition module 205 is configured as the field basic picture letter that the remote server obtains the target area
Breath；Gray haze level determination module 206 is configured as the remote server and the field basic pictorial information is parsed,
Determine the gray haze grade of the target area；Gray haze source region judgment module 207 is configured as the remote server according to institute
It states gray haze grade and judges whether the target area is gray haze source region；Gray haze source region mark module 208, if being configured as
It is that it is gray haze source region that then the remote server, which marks the target area, and records the definite gray haze source region
Number；Second acquisition module 209, when being configured as the number of the gray haze source region and being more than or equal to 2, then the remote service
Device obtains each described gray haze source region geographical position coordinates；Search module 210 is configured as the remote server foundation
Each described gray haze source region geographical position coordinates searches for closest one corresponding to each described gray haze source region
A execution terminal；It warns identification information generation module 211, is configured as the remote server by each gray haze source region
Domain generates a corresponding gray haze source and warns id signal；It warns identification information sending module 212, is configured as the long-range clothes
Execution terminal corresponding to business from device to gray haze source region each described sends the gray haze source and warns id signal.
In the embodiment of the present invention two, the secondary cruise module includes：First cruise submodule is configured as described remote
Journey server obtains the position data of target area；Second cruise submodule, is configured the remote server according to institute
State position data generation and the corresponding cruise circuit in the target area；3rd cruise submodule is configured described remote
Journey server controls unmanned plane carries out cruise shooting according to the cruise circuit to the target area.
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 the three primary colors data message that the remote server extracts the field basic picture；Second gray haze grade is true
Stator modules are configured as the remote server and make base grey histogram according to the three primary colors data message；3rd
Gray haze grade determination sub-module is configured as the remote server by the base grey histogram and standard grayscale histogram
It is compared；4th gray haze grade determination sub-module is configured as the remote server and determines the mesh according to comparing result
Mark the gray haze grade in region.
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 long-range clothes
Business device judges that the target area is gray haze source 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
Step S101, step S102, step S103, step S104, step S105, step S106 described in Shi Shixian embodiments one,
Step S107, step S108, step S109, step S110, step S111, step S112.
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 S101, step S102, step S103, step S104, step S105, step S106, step S107, step S108, step
S109, step S110, step S111, step S112.
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)
- A kind of 1. method based on remote server identification gray haze source, which is characterized in that the described method includes：Remote server controls unmanned plane to carry out a cruise shooting to several suspect regions；The remote server obtains several described suspect regions each corresponding current live pictorial information；The remote server is according to the current live pictorial information corresponding to suspect region each described, described in judgement Whether suspect region is target area；If so, the remote server control unmanned plane carries out secondary cruise shooting to the target area；The remote server obtains the field basic pictorial information of the target area；The remote server parses the field basic pictorial information, determines the gray haze grade of the target area；The remote server judges whether the target area is gray haze source region according to the gray haze grade；If so, it is gray haze source region that the remote server, which marks the target area,.
- 2. the method as described in claim 1, which is characterized in that the remote server carries out target area secondary cruise and claps It takes the photograph and specifically includes：The remote server obtains the position data of target area；The remote server is according to position data generation and the corresponding cruise circuit in the target area；The remote server control unmanned plane carries out cruise shooting according to the cruise circuit to the target area.
- 3. the method as described in claim 1, which is characterized in that the remote server to the field basic pictorial information into Row parsing, determines that the gray haze grade of the target area specifically includes：The remote server extracts the three primary colors data message of the field basic picture；The remote server makes base grey histogram according to the three primary colors data message；The remote server compares the base grey histogram with standard grayscale histogram；The remote server determines the gray haze grade of the target area according to comparing result.
- 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, the remote server judges that the target area is gray haze source region.
- 5. a kind of system for identifying gray haze source, which is characterized in that the system comprises：Cruise module is configured as the remote server control unmanned plane and is once cruised several suspect regions Shooting；Current live basis picture acquisition module is configured as the remote server and obtains several described suspect regions each Corresponding current live pictorial information；Target area determining module is configured as the remote server according to described in corresponding to suspect region each described Current live pictorial information judges whether the suspect region is target area；Secondary cruise module is configured as if so, the remote server controls unmanned plane to carry out two to the target area Secondary cruise shooting；First acquisition module is configured as the field basic pictorial information that the remote server obtains the target area；Gray haze level determination module is configured as the remote server and the field basic pictorial information is parsed, really The gray haze grade of the fixed target area；Gray haze source region judgment module is configured as the remote server and judges the target area according to the gray haze grade Whether it is gray haze source region；Gray haze source region mark module is configured as if so, it is gray haze source that the remote server, which marks the target area, Region.
- 6. system as claimed in claim 5, which is characterized in that the secondary cruise module includes：First cruise submodule, is configured as the position data that the remote server obtains target area；Second cruise submodule is configured the remote server according to position data generation and the target area Corresponding cruise circuit；3rd cruise submodule is configured the remote server and cruises according to the cruise circuit the target area Shooting.
- 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 the three primary colors that the remote server extracts the field basic picture Data message；Second gray haze grade determination sub-module is configured as the remote server and makes base according to the three primary colors data message Plinth grey level histogram；3rd gray haze grade determination sub-module is configured as the remote server by the base grey histogram and standard gray Degree histogram is compared；4th gray haze grade determination sub-module is configured as the remote server and determines the target area according to comparing result Gray haze grade.
- 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, the remote server judges that the target area is gray haze source region.
- 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：Remote server controls unmanned plane to carry out a cruise shooting to several suspect regions；The remote server obtains several described suspect regions each corresponding current live pictorial information；The remote server is according to the current live pictorial information corresponding to suspect region each described, described in judgement Whether suspect region is target area；If so, the remote server control unmanned plane carries out secondary cruise shooting to the target area；The remote server obtains the field basic pictorial information of the target area；The remote server parses the field basic pictorial information, determines the gray haze grade of the target area；The remote server judges whether the target area is gray haze source region according to the gray haze grade；If so, it is gray haze source region that the remote server, which marks the target area,.
- 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：Remote server controls unmanned plane to carry out a cruise shooting to several suspect regions；The remote server obtains several described suspect regions each corresponding current live pictorial information；The remote server is according to the current live pictorial information corresponding to suspect region each described, described in judgement Whether suspect region is target area；If so, the remote server control unmanned plane carries out secondary cruise shooting to the target area；The remote server obtains the field basic pictorial information of the target area；The remote server parses the field basic pictorial information, determines the gray haze grade of the target area；The remote server judges whether the target area is gray haze source region according to the gray haze grade；If so, it is gray haze source region that the remote server, which marks the target area,.
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| CN107358796A (en) * | 2016-05-10 | 2017-11-17 | 武汉万集信息技术有限公司 | A kind of vehicle checking method based on unmanned plane |
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