CN108256412A - The method, apparatus and system in gray haze of warning source - Google Patents
The method, apparatus and system in gray haze of warning source Download PDFInfo
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- CN108256412A CN108256412A CN201711206895.4A CN201711206895A CN108256412A CN 108256412 A CN108256412 A CN 108256412A CN 201711206895 A CN201711206895 A CN 201711206895A CN 108256412 A CN108256412 A CN 108256412A
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- gray haze
- source region
- target area
- haze source
- gray
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/176—Urban or other man-made structures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- 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
- G06V10/758—Involving statistics of pixels or of feature values, e.g. histogram matching
Abstract
The invention discloses a kind of method in gray haze source of warning, determine whether the target area is gray haze source region the method includes obtaining the field basic pictorial information of target area to target area cruise shooting, and according to the field basic picture；If so, label target area is gray haze source region；Corresponding gray haze source is generated to warn id signal；It warns id signal to performing terminal and sending the gray haze source, the technical issues of warning can not be identified to gray haze source for some areas in the presence of the prior art in effective solve, the technique effect that can gray haze source accurately identified and be warned is reached, has had the characteristics that accuracy is high, applicability is wide.
Description
Technical field
The invention belongs to environmental protection technical field, the more particularly to a kind of method, apparatus and system in gray haze source of warning.
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 leads to 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 to the ash in these areas
Haze source, which is identified, warns, and is always the technical barrier that field of environment protection solves in time.
Invention content
The present invention provides a kind of method, apparatus and system in gray haze source of warning, of the prior art how right to solve
The technical issues of warning is identified in gray haze source.
In a first aspect, an embodiment of the present invention provides a kind of method in gray haze source of warning, the 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, and record the number of the determining gray haze source region；When
When the number of the gray haze source region is more than or equal to 2, then each described gray haze source region geographical position coordinates is obtained；According to every
One gray haze source region geographical position coordinates searches for closest one corresponding to each described gray haze source region
Perform terminal；Each described gray haze source region is generated a corresponding gray haze source to warn id signal；To described in each
Execution terminal corresponding to gray haze source region sends the gray haze source and warns id signal.
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 information 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 in gray haze source of warning, 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, and records the number of the determining gray haze source region；Second acquisition module is configured as described
When the number of gray haze source region is more than or equal to 2, then each described gray haze source region geographical position coordinates is obtained；Search module,
It is configured as according to gray haze source region geographical position coordinates each described, searches for corresponding to each described gray haze source region
A closest execution terminal；It warns identification information generation module, is configured as giving birth to each gray haze source region
It warns id signal into a corresponding gray haze source；It warns identification information sending module, is configured as to gray haze each described
Execution terminal corresponding to source region sends the gray haze source and warns id signal.
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；Third 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 information 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 information；Third 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 in gray haze source of warning, 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：
The method in a kind of gray haze source of warning provided by the invention, first by obtaining target area to target area cruise shooting
The field basic pictorial information in domain, and determine whether the target area is gray haze source region according to the field basic picture
Domain；If so, label target area is gray haze source region；Corresponding gray haze source is generated to warn id signal；It is most backward to perform
Terminal sends the gray haze source and warns id signal, realizes and gray haze source is identified, and warn, effectively solve existing
The technical issues of warning can not be identified to gray haze source for some areas in the presence of technology, having reached can be to gray haze source
The technique effect for being accurately identified and being warned 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 it can be implemented in accordance with the contents of the 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
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
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 gray haze source provided in an embodiment of the present invention of warning；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 gray haze source provided in an embodiment of the present invention of warning；
Figure 11 is the device block diagram in gray haze source provided in an embodiment of the present invention of warning；
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 in gray haze source of warning, 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 in gray haze source of warning, the 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, and record the number of the determining gray haze source region；
When the number of the gray haze source region is more than or equal to 2, then each described gray haze source region domain geographic location is obtained
Coordinate；
According to gray haze source region geographical position coordinates each described, search for corresponding to each described gray haze source region
A closest execution terminal；
Each described gray haze source region is generated a corresponding gray haze source to warn id signal；
The gray haze source is sent to the execution terminal corresponding to gray haze source region each described to warn id signal.
Purpose, technical scheme and advantage to make the embodiment of the present invention are 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 shall fall within the protection scope of the present invention.
Embodiment one
The embodiment of the present invention one provides a kind of method in gray haze source of warning, and please refers to Fig.1, the 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, and record the determining gray haze source region
The number in domain
Step S106；When the number of the gray haze source region is more than or equal to 2, then each described gray haze source region is obtained
Geographical position coordinates
Step S107；According to gray haze source region geographical position coordinates each described, each described gray haze source region is searched for
Closest one corresponding to domain performs terminal；
Step S108；Each described gray haze source region is generated a corresponding gray haze source to warn id signal
Step S109；The gray haze source is sent to the execution terminal corresponding to gray haze source region each described to warn mark
Signal.
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 leads to 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 in these areas is identified and warned, 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, before step S101 is performed, can also determine whether it is target area by once cruising.In detail
For thin, can by unmanned plane either by ground station control unmanned plane or by manual controller 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 from unmanned plane takeoff setting to corresponding suspect region position
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 in line cruise circuit, obtain the altitude information information for the barrier for blocking linear laser at this time, and by this highly
Data information 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, and at this with 10 meters
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, as a sub- straight line cruise circuit of the final two corresponding standards of standard straight-line cruise circuit, in this way
Allow for N1Standard straight-line cruise circuit is respectively 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 respectively corresponding current live pictorial information is obtained；
Specifically, in this process, by ground station control unmanned plane or it can either be passed through by unmanned plane
Manual controller control unmanned plane come obtain several described suspect regions respectively 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 at this time generates the position coordinates of the nontarget area safety sign signal, 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：It is sent out removing with the position data for being determined as the remaining suspect region behind nontarget area
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 of 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 further be judged 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 allows for only determining that the suspect region is target area in this way
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, it for above-mentioned several acquired field basic pictorial informations, is 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 information；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 by target area or picture indicia there is no gray haze situation is 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 please referred to, using a live normal pictures information as row, Fig. 2 is normal day
The image of target area (Wuhan Yangtze River Bridge) shot during gas is converted into gray-scale map, histograms of the Fig. 3 for R component, Fig. 4
For the histogram of G components, Fig. 5 is the histogram of B component.It can be seen that R, the histogram of G components in the three-component histogram of G, B
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
Only 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：It is zero that relatively low gray level region and the number of pixel occurred compared with high grade grey level region, which are,.
By comparing above it is found that under normal weather in the case of i.e. no gray haze, the well lighted of picture is shot, is 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 judging the gray haze grade of the target area for 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, and record determine it is described
The number of gray haze source region；
It should be noted that in front due to being to carry out a cruise shooting to several suspect regions, by several
A suspect region by target area determined by a cruise shooting it could also be possible that several, likewise, by several mesh
Region is marked by gray haze source region determined by secondary cruise shooting it could also be possible that multiple, therefore can be in step S105 to ash
The number of haze source region is recorded.
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 that gray haze source region is 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 be further confirmed 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, field basic pictorial information data packet, 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 is displayed in red at this time, 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 also will appear 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 control 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 straight line cruise circuit of the cruise circuit for the shortest distance 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 library 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 be further confirmed 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, field basic pictorial information data packet, 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 is displayed in red at this time, 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, it is respectively designated as No.1 gray haze source region, No. two gray hazes
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 also will appear 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 control 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 straight line cruise circuit of the cruise circuit for the shortest distance 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, in each unmanned plane during flying to 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, connect 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 connect 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, as
One sub- straight line cruise circuit of the final two corresponding standards of standard straight-line cruise circuit, allows for N in this way2Standard straight-line
Cruise circuit is respectively 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 in gray haze source of warning, 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 determining 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；Third 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 information 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 information；Third 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 to implement the 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 range of protection.
Embodiment three
Please refer to Fig.1 1, it should be noted that 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 certain 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 receiving the number inputted or character information and generation and the user of computer equipment
Setting 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.In addition to 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.), it is trace ball, mouse, one or more in operating 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 used
Crystal Display, LCD), the forms such as Organic Light Emitting Diode (Organic Light-Emitting Diode, OLED)
Display panel 341 is configured.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 audio 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 in the range for the essence for not changing invention according to needs.
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 further includes the power supply 380 (such as power supply adaptor) powered to all parts, 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 described in embodiment one when which is executed by processor
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 of function 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
Enable 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 are 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 additional changes and modifications may be made to these embodiments.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 include these modifications and variations.
Claims (10)
- A kind of 1. method in gray haze source of warning, which is characterized in that the 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, and record the number of the determining gray haze source region；When the number of the gray haze source region is more than or equal to 2, then each described gray haze source region geographical position coordinates is obtained；According to gray haze source region geographical position coordinates each described, the distance corresponding to each described gray haze source region is searched for A nearest execution terminal；Each described gray haze source region is generated a corresponding gray haze source to warn id signal；The gray haze source is sent to the execution terminal corresponding to gray haze source region each described to warn id signal.
- 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. 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 information of the field basic picture；Base grey histogram is made according to the three primary colors data information；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. 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. a kind of system in gray haze source of warning, which is characterized in that the system comprises：Cruise module is configured as if so, carrying out cruise shooting to the 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, and records and determine The gray haze source region number；Second acquisition module when being configured as the number of the gray haze source region more than or equal to 2, then obtains each described ash Haze source region geographical position coordinates；Search module is configured as, according to gray haze source region geographical position coordinates each described, searching for each described gray haze Closest one corresponding to source region performs terminal；It warns identification information generation module, is configured as each gray haze source region generating a corresponding gray haze source and show Alert id signal；It warns identification information sending module, is configured as sending institute to the execution terminal corresponding to gray haze source region each described Gray haze source is stated to warn id signal.
- 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；Third cruise submodule is configured to carry out cruise shooting to the target area according to the cruise circuit.
- 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 information 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 information；Third 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. 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. a kind of device in gray haze source of warning, 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, and record the number of the determining gray haze source region；When the number of the gray haze source region is more than or equal to 2, then each described gray haze source region geographical position coordinates is obtained；According to gray haze source region geographical position coordinates each described, the distance corresponding to each described gray haze source region is searched for A nearest execution terminal；Each described gray haze source region is generated a corresponding gray haze source to warn id signal；The gray haze source is sent to the execution terminal corresponding to gray haze source region each described to warn id signal.
- 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, and record the number of the determining gray haze source region；When the number of the gray haze source region is more than or equal to 2, then each described gray haze source region geographical position coordinates is obtained；According to gray haze source region geographical position coordinates each described, the distance corresponding to each described gray haze source region is searched for A nearest execution terminal；Each described gray haze source region is generated a corresponding gray haze source to warn id signal；The gray haze source is sent to the execution terminal corresponding to gray haze source region each described to warn id signal.
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| CN201711206895.4A CN108256412A (en) | 2017-11-27 | 2017-11-27 | The method, apparatus and system in gray haze of warning source |
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Application publication date: 20180706 |