CN108426804B - Method, device and system for warning dust-haze source based on remote server - Google Patents

Method, device and system for warning dust-haze source based on remote server Download PDF

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Publication number
CN108426804B
CN108426804B CN201711207963.9A CN201711207963A CN108426804B CN 108426804 B CN108426804 B CN 108426804B CN 201711207963 A CN201711207963 A CN 201711207963A CN 108426804 B CN108426804 B CN 108426804B
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dust
remote server
haze
haze source
target area
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CN108426804A (en
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赵国成
余辉
詹福宇
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Ewatt Technology Co Ltd
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Ewatt Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume, or surface-area of porous materials
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/13—Satellite images

Abstract

The invention discloses a method for warning a haze source based on a remote server, which comprises the steps that the remote server controls an unmanned aerial vehicle to carry out one-time cruise shooting on a plurality of suspected areas, current site picture information corresponding to the suspected areas is obtained through one-time cruise, and whether the suspected areas are target areas or not is judged according to the current site picture information; after the target area is determined, the remote server controls the unmanned aerial vehicle to obtain field basic picture information of the target area through secondary cruise shooting, and whether the target area is a dust-haze source area is determined according to the field basic picture; if so, marking that the target area is a dust-haze source area; send to execution terminal grey haze source sign signal of warning, the effectual technical problem who exists among the prior art can't discern the warning to grey haze source to some areas of having solved, has reached and can accurately discern the technical effect who warns to grey haze source, has the characteristics of the degree of accuracy height, extensive applicability.

Description

Method, device and system for warning dust-haze source based on remote server
Technical Field
The invention belongs to the technical field of environmental protection, and particularly relates to a method, a device and a system for warning a haze source based on a remote server.
Background
The dust haze is a weather phenomenon that a large number of extremely fine dry dust particles such as dust, sulfuric acid, nitric acid, organic hydrocarbon and the like in the air are uniformly floated in the air, so that the air is turbid, the visual field is blurred, and the visibility is deteriorated. If the horizontal visibility is less than 1000 meters, the aerosol system consisting of the non-aqueous components can cause visual disturbance, and the weather phenomenon of dust and haze can bring extremely bad influence on the production, life and trip and health of human beings.
At present, the main sources of the dust-haze sources are some manufacturing plants or construction sites and the like, however, how to identify and warn the dust-haze sources in the areas is always a technical problem to be solved in time in the field of environmental protection.
Disclosure of Invention
The invention provides a method, a device and a system for warning a haze source based on a remote server, which are used for solving the technical problem of how to identify and warn the haze source in the prior art.
In a first aspect, an embodiment of the present invention provides a method for warning a haze source based on a remote server, where the method includes: the remote server controls the unmanned aerial vehicle to carry out cruise shooting on a plurality of suspected areas; the remote server acquires current on-site picture information corresponding to each of a plurality of suspected areas; the remote server judges whether the suspected area is a target area according to the current scene picture information corresponding to each suspected area; if yes, the remote server controls the unmanned aerial vehicle to carry out secondary cruise shooting on the target area; acquiring field basic picture information of the target area; the remote server analyzes the on-site basic picture information and determines the dust-haze level of the target area; the remote server judges whether the target area is a dust-haze source area or not according to the dust-haze grade; if so, the remote server marks that the target area is a dust-haze source area, and records the number of the determined dust-haze source areas; when the number of the dust-haze source areas is larger than or equal to 2, the remote server acquires the geographic position coordinates of each dust-haze source area; the remote server searches an execution terminal which is closest to each dust-haze source region according to the geographical position coordinates of each dust-haze source region, and obtains a straight-line flight path from each dust-haze source region to the corresponding execution terminal; the remote server generates a corresponding haze source warning identification signal for each haze source area; and the remote server sends the dust-haze source warning identification signal to the execution terminal corresponding to each dust-haze source region according to the linear flight route. .
In the first aspect, optionally, the performing the secondary cruise shooting on the target area specifically includes: the remote server acquires position data information of a target area; the remote server generates a cruising route corresponding to the target area according to the position data information; and the remote server controls the unmanned aerial vehicle to cruise and shoot the target area according to the cruise line.
In the first aspect, optionally, the analyzing the on-site basic picture information and determining the dust-haze level of the target area specifically include: the remote server extracts the three primary color data information of the on-site basic picture; the remote server makes a basic gray histogram according to the three primary color data information; the remote server compares the basic gray level histogram with a standard gray level histogram; and the remote server determines the dust-haze grade of the target area according to the comparison result.
In the first aspect, optionally, the dust-haze rating at least includes the following rating: light dust haze, moderate dust haze and heavy dust haze; the judging whether the target area is the dust-haze source area according to the dust-haze grade specifically comprises the following steps: and if the dust-haze grade is severe dust-haze, the remote server judges that the target area is a dust-haze source area.
In a second aspect, an embodiment of the present invention further provides a system for warning a haze source, where the system includes: the primary cruise module is configured to control the unmanned aerial vehicle to carry out primary cruise shooting on a plurality of suspected areas through the remote server; the current site basic picture acquisition module is configured to acquire current site picture information corresponding to each of a plurality of suspected areas by the remote server; the target area determining module is configured to judge whether the suspected area is a target area or not by the remote server according to the current scene picture information corresponding to each suspected area; the secondary cruise module is configured to control the unmanned aerial vehicle to carry out secondary cruise shooting on the target area if the target area is in the second cruise shooting mode; a first obtaining module configured to obtain, by the remote server, live base picture information of the target area; the dust-haze grade determining module is configured to analyze the on-site basic picture information by the remote server and determine the dust-haze grade of the target area; the dust-haze source area judging module is configured to judge whether the target area is a dust-haze source area or not by the remote server according to the dust-haze level; the dust-haze source area marking module is configured to mark that the target area is a dust-haze source area and record the number of the determined dust-haze source areas if the target area is the dust-haze source area; the second obtaining module is configured to obtain the geographic position coordinates of each dust-haze source region by the remote server when the number of the dust-haze source regions is larger than or equal to 2; the search module is configured to search one execution terminal which is corresponding to each dust-haze source region and is closest to the dust-haze source region according to the geographical position coordinates of each dust-haze source region, and obtain a straight flight path from each dust-haze source region to the corresponding execution terminal; the warning identification information generating module is configured to enable the remote server to generate a corresponding dust-haze source warning identification signal for each dust-haze source region; and the warning identification information sending module is configured to send the dust-haze source warning identification signal to the execution terminal corresponding to each dust-haze source region by the remote server according to the linear flight route.
In the second aspect, optionally, the secondary cruise module comprises: a first cruise submodule configured to acquire position data information of a target area by the remote server; the second cruise submodule is configured for the remote server to generate a cruise line corresponding to the target area according to the position data information; and the third cruise submodule is configured with the remote server to control the unmanned aerial vehicle to carry out cruise shooting on the target area according to the cruise line.
In the second aspect, optionally, the dust-haze level determining module specifically includes: a first haze level determination submodule configured to extract three primary color data information of the live base picture by the remote server; the second haze level determining submodule is configured to enable the remote server to make a basic gray histogram according to the three primary color data information; a third haze level determination submodule configured to compare the base grayscale histogram with a standard grayscale histogram by the remote server; and the fourth dust-haze grade determining submodule is configured to determine the dust-haze grade of the target area by the remote server according to the comparison result.
In the second aspect, optionally, the dust-haze rating includes at least the following rating: light dust haze, moderate dust haze and heavy dust haze; the dust-haze source area judging module is further configured to: and if the dust-haze grade is severe dust-haze, the remote server judges that the target area is a dust-haze source area.
In a third aspect, an embodiment of the present invention further provides an apparatus for warning a haze source based on a remote server, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the first aspect or the second aspect when executing the program.
In a fourth aspect, an embodiment of the present invention further provides that the program is executed by a processor to implement the first aspect or the second aspect. One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:
the invention provides a method for warning a haze source based on a remote server, which comprises the steps that firstly, the remote server controls an unmanned aerial vehicle to carry out one-time cruise shooting on a plurality of suspected areas, the remote server controls the unmanned aerial vehicle to carry out one-time cruise to obtain current field picture information corresponding to the suspected areas, and then the remote server judges whether the suspected areas are target areas or not according to the current field picture information; after the target area is determined, the remote server controls the unmanned aerial vehicle to carry out secondary cruise shooting to obtain field basic picture information of the target area, and determines whether the target area is a haze source area or not according to the field basic picture; if yes, the remote server marks that the target area is a dust-haze source area; the remote server generates a corresponding dust-haze source warning identification signal; finally, the remote server sends the grey haze source warning identification signal to the execution terminal, the fact that the grey haze source is recognized based on the remote server is achieved, warning is achieved, the technical problem that warning cannot be recognized in the grey haze source in the partial region in the prior art is solved effectively, the technical effect that the grey haze source can be recognized accurately and can be warned is achieved, and the grey haze source warning system has the advantages of being high in accuracy and wide in applicability.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a method for warning a haze source according to an embodiment of the present invention; and
FIG. 2 is a first histogram provided in accordance with an embodiment of the present invention;
FIG. 3 is a second histogram provided in accordance with an embodiment of the present invention;
FIG. 4 is a third histogram provided in accordance with an embodiment of the present invention;
FIG. 5 is a histogram four provided by an embodiment of the present invention;
FIG. 6 is a histogram five provided by an embodiment of the present invention;
FIG. 7 is a histogram six provided by an embodiment of the present invention;
fig. 8 is a seventh histogram provided in an embodiment of the present invention;
FIG. 9 is a histogram eight provided by an embodiment of the present invention;
FIG. 10 is a block diagram of a system for alerting a haze source according to an embodiment of the present invention;
fig. 11 is a block diagram of an apparatus for warning a haze source according to an embodiment of the present invention;
FIG. 12 is a diagram of a computer-readable medium according to an embodiment of the invention.
Detailed Description
The method, the device and the system for warning the dust-haze source are used for solving the technical problem that the dust-haze source cannot be recognized and warned in a part of areas in the prior art, achieving the technical effects of accurately recognizing and warning the dust-haze source and have the characteristics of high accuracy and wide applicability.
The technical scheme in the embodiment of the invention has the following general idea:
a method for warning a haze source based on a remote server, the method comprising:
the remote server controls the unmanned aerial vehicle to carry out cruise shooting on a plurality of suspected areas;
the remote server acquires current on-site picture information corresponding to each of a plurality of suspected areas;
the remote server judges whether the suspected area is a target area according to the current scene picture information corresponding to each suspected area;
if yes, the remote server controls the unmanned aerial vehicle to carry out secondary cruise shooting on the target area;
the remote server acquires the on-site basic picture information of the target area;
the remote server analyzes the on-site basic picture information and determines the dust-haze level of the target area;
the remote server judges whether the target area is a dust-haze source area or not according to the dust-haze grade;
if so, the remote server marks that the target area is a dust-haze source area, and records the number of the determined dust-haze source areas;
when the number of the dust-haze source areas is larger than or equal to 2, the remote server acquires the geographic position coordinates of each dust-haze source area;
the remote server searches an execution terminal which is closest to the corresponding dust-haze source region according to the geographical position coordinates of the dust-haze source region;
the remote server generates a corresponding haze source warning identification signal for each haze source area;
and the remote server sends the haze source warning identification signal to the execution terminal corresponding to each haze source region.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
An embodiment of the present invention provides a method for warning a haze source based on a remote server, please refer to fig. 1, where the method includes:
step S101; the remote server controls the unmanned aerial vehicle to carry out cruise shooting on a plurality of suspected areas;
step S102; the remote server acquires current on-site picture information corresponding to each of a plurality of suspected areas;
step S103; the remote server judges whether the suspected area is a target area according to the current scene picture information corresponding to each suspected area;
step S104; if yes, the remote server controls the unmanned aerial vehicle to carry out secondary cruise shooting on the target area;
step S105; the remote server acquires the on-site basic picture information of the target area;
step S106; the remote server analyzes the on-site basic picture information and determines the dust-haze level of the target area;
step S107; the remote server judges whether the target area is a dust-haze source area or not according to the dust-haze grade;
step S108; if so, the remote server marks that the target area is a dust-haze source area, and records the number of the determined dust-haze source areas;
step S109; when the number of the dust-haze source areas is larger than or equal to 2, the remote server acquires the geographic position coordinates of each dust-haze source area;
step S110; the remote server searches an execution terminal which is closest to the corresponding dust-haze source region according to the geographical position coordinates of the dust-haze source region;
step S111; the remote server generates a corresponding haze source warning identification signal for each haze source area;
step S112; and the remote server sends the haze source warning identification signal to the execution terminal corresponding to each haze source region.
Specifically, the dust haze in the prior art refers to a weather phenomenon that a large number of extremely fine dry dust particles such as dust, sulfuric acid, nitric acid, organic hydrocarbons and the like in the air are uniformly floated in the air, so that the air is turbid, the visual field is blurred, and the visibility is deteriorated. If the horizontal visibility is less than 1000 meters, the aerosol system consisting of the non-aqueous components can cause visual disturbance, and the weather phenomenon of dust and haze can bring extremely bad influence on the production, life and trip and health of human beings. At present, the main sources of the dust-haze sources are some manufacturing plants or construction sites and the like, however, how to identify and warn the dust-haze sources in the areas is always a technical problem to be solved in time in the field of environmental protection.
Based on this, the first embodiment of the present invention provides a method for warning a dust-haze source, which is used to solve the above technical problem.
The method for warning the haze source based on the remote server according to the embodiment of the present invention is described in detail below with reference to fig. 1:
firstly, executing step S101, and controlling an unmanned aerial vehicle to carry out cruise shooting on a plurality of suspected areas by a remote server;
specifically, in this step S101, the unmanned aerial vehicle may be controlled by the unmanned aerial vehicle, or by the ground station, or by the manual remote controller, or the remote server controls the unmanned aerial vehicle to perform cruise shooting on a plurality of suspected areas, and the suspected areas may be understood as areas with serious pollution in daily life, that is, areas with serious suspicion. Several may be 3, 4, 5, etc.
It should be noted that, in the embodiment of the present invention, the ground station refers to a portable mobile terminal capable of operating a flying pair of the unmanned aerial vehicle, and has a small volume, so that the portable mobile terminal is convenient to carry out. The remote server is different from a ground station, and in the embodiment of the invention, the remote server is a fixed control terminal, is arranged in a machine room control room, and is used for controlling the flight of the unmanned aerial vehicle by indoor personnel through the control server. The server is constructed to include a processor, a hard disk, a memory, a system bus, etc., similar to a general-purpose computer architecture, but is required to be more highly reliable in terms of processing power, stability, reliability, security, scalability, manageability, etc., because it is necessary to provide highly reliable services. In the embodiment of the invention, the remote server has higher computing power, and the remote server is different from the ground station in many points, for example, the server can control a plurality of unmanned aerial vehicles to carry out flight operation simultaneously, and the ground station usually only serves one unmanned aerial vehicle at one moment.
In step S101, the following substeps are specifically included: the remote server acquires the position data information of each suspected area; the remote server generates a cruising line corresponding to each suspected area according to the position data information of each suspected area; the remote server controls the unmanned aerial vehicle to cruise and shoot a plurality of the suspected areas according to the corresponding cruise lines. In the process of generating the cruise lines corresponding to each suspected area according to the position data information of each suspected area, the cruise lines corresponding to each suspected area are all the straight cruise lines with the shortest distance, in the process of acquiring a plurality of basic straight cruise lines, in order to prevent the unmanned aerial vehicle from colliding with a tall building on the basic straight cruise lines, the step S101 further comprises the step of acquiring height data information of each building on which the unmanned aerial vehicle passes in each basic straight cruise line by the remote server, wherein the acquisition mode can be that whether laser is blocked from the unmanned aerial vehicle position to the corresponding suspected area position is judged by emitting straight laser from the unmanned aerial vehicle takeoff position to the corresponding suspected area position, and if the laser is blocked, the remote server judges that an obstacle exists in the straight cruise line from the unmanned aerial vehicle takeoff position to the corresponding suspected area position, the height data information of the barrier for shielding the linear laser is acquired at the moment, the height data information is set to be the lowest height of the unmanned aerial vehicle in flying, the flying direction and the flying height are further determined, the remote server finally determines that the unmanned aerial vehicle flies to the standard linear cruising line corresponding to the suspect area, and the unmanned aerial vehicle can fly linearly to the suspect area on the standard linear cruising line.
It is worth mentioning that when each unmanned aerial vehicle flies in the respective corresponding standard linear cruise line, a plurality of standard linear cruise lines may have crossed positions, at this time, if the unmanned aerial vehicles exist, the plurality of unmanned aerial vehicles may collide at the crossed positions of the standard linear cruise lines, and at this time, in order to avoid the collision, the step S101 further includes that the remote server performs processing on a plurality of conditions (N) corresponding to a plurality of suspected areas1Strip) standard straight line cruising line whether has the crossing position to detect, if, then the remote server picks out M that intersects each other1Strip (M)12 or more and N or less1) A standard straight line cruise line, and marking the crossing position as a crossing point; then, taking the intersection point as the center of a circle and 10 meters as the radius to form a cross circle, and equally dividing M on the cross circle1Dot, form M1Dividing points equally; making every two adjacent points and cross point form a sector included angle M1360 degrees; the remote server will then cross M1The flight starting points of the standard straight line cruise lines are respectively connected with an equant point on the cross circle, then the target end point (coordinate point of the suspected area) of the standard straight line cruise line is connected with the equant point connected with the flight starting point, and finally two broken lines with the equant point as a node and the flight starting point and the target end point as two end points are formed, namely one broken lineTwo standard sub-straight line cruising lines corresponding to the standard straight line cruising line are finally formed, so that N is formed1The standard straight line cruise line all corresponds two standard sub straight line cruise lines respectively to this makes each unmanned aerial vehicle fly at these two standard sub straight line cruise lines that correspond respectively, with collision between avoiding unmanned aerial vehicle, has the characteristics that the security performance is high.
Then, step S102 is executed; the remote server acquires current on-site picture information corresponding to each of a plurality of suspected areas;
specifically, in step S102, the unmanned aerial vehicle may be controlled by the unmanned aerial vehicle, or by a remote server, or by a manual remote controller, to obtain current scene picture information corresponding to each of the plurality of suspected areas, where the current scene picture information may be scene picture information corresponding to a current time of the plurality of suspected areas, and the picture information may be picture information taken by a camera carried by the unmanned aerial vehicle or by a camera, or picture information extracted from taken video information. Of course, the current scene picture information corresponding to each suspect area may be one or more, and when there are more, each current scene picture information reflects the scene pictures corresponding to the suspect area at different angles.
Then, step S103 is executed; the remote server judges whether the suspected area is a target area according to the current scene picture information corresponding to each suspected area;
specifically, in step S103, the unmanned aerial vehicle may be controlled by an unmanned aerial vehicle, or by a ground station, or by a manual remote controller, or by a remote server, to determine whether each suspected area is a target area according to the current scene picture information corresponding to the suspected area. Here, the target area refers to an area where existence of haze is specified, and the suspected area refers to an area where existence of haze is suspected but where haze does not necessarily exist. Specifically, the determining whether the suspected region is the target region may include: the remote server acquires clean picture information when each suspected area does not have dust haze; the remote server compares the current on-site picture information corresponding to each suspect area with the corresponding clean picture information; and if the gray scales of the current on-site picture information and the clean picture information corresponding to the current on-site picture information are the same, the remote server judges that the suspected area is a non-target area, generates a safety marking signal for the position coordinate of the non-target area at the moment, and sends the safety marking signal to an execution terminal for safe recording. Simultaneously at the unmanned aerial vehicle dress that cruises to this non-target area there is the signal lamp of warning, judges this moment the suspect area is the non-target area after, the signal lamp of warning shows yellow, flashes to this suspect area is the non-target area to the suggestion controls this remote server's the personnel of controlling.
It should be noted that, after the suspected area is determined to be the non-target area and the remote server sends the security marking signal of the non-target area to the execution terminal, the result is accurate for making full use of the unmanned aerial vehicle. Further included after step S103 is: the remote server sends the position data information of the remaining suspected areas except the determined non-target area to the unmanned aerial vehicle after the safety marking signals of the non-target area are sent to the execution terminal, and after the remote server obtains the position data information of other remaining suspected areas, the remote server compares the position data information of other remaining suspected areas and judges the linear distance between each remaining suspected area and the unmanned aerial vehicle; the remote server selects a remaining suspected area closest to the unmanned aerial vehicle, then sends a straight line path flying to the remaining suspected area to the unmanned aerial vehicle, and controls the unmanned aerial vehicle to fly to the remaining suspected area. Then, executing the steps S101, S102 and S103 for the remaining suspected area; and the remote server judges whether the remaining suspected area is the target area.
Immediately after the above step S103, the process proceeds to step S104: if yes, the remote server controls the unmanned aerial vehicle to carry out secondary cruise shooting on the target area;
after the suspected area is determined to be the target area in step S103, the target area is subjected to secondary cruise shooting. It should be noted that the secondary cruise shooting is required for the target area because only one piece of current site picture information of the target area (also referred to as a suspected area in the first cruise shooting) is shot in the first cruise shooting, and the one piece of current site picture information is only used for identifying whether the suspected area is the target area, and if the degree and level of the haze of the target area need to be further determined, the secondary cruise shooting must be performed again for the target area to obtain more site basic picture information. Therefore, the suspected area can be shot for the second time only after the suspected area is determined to be the target area, and the problem that when one-time cruise is carried out, because whether the suspected area is the target area or not is not determined, a plurality of pieces of site basic picture information are carried out, and the shooting resource waste is caused because the suspected area is possibly not the target area is avoided.
Continuing to execute the step S105; the remote server acquires the on-site basic picture information of the target area;
as stated in step S104, the number of pieces of scene-based picture information in this step is several (at least 2 or more), and the several pieces of scene-based picture information are taken for different angles of the target area. In other words, the shooting angles of the plurality of scene base pictures are different.
Continuing to execute step S106; the remote server analyzes the on-site basic picture information and determines the dust-haze level of the target area;
the analyzing step S106 of the information of the plurality of on-site basic pictures acquired in step S105 to acquire the haze level of the target area specifically includes the following sub-steps: the remote server extracts the three primary color data information of the on-site basic picture; the remote server makes a basic gray histogram according to the three primary color data information; the remote server compares the basic gray level histogram with a standard gray level histogram; and the remote server determines the dust-haze grade of the target area according to the comparison result.
In the actual operation process, the picture with the target area not polluted or without the dust-haze condition can be marked as the field standard picture information, the number of the field standard picture information is the same as that of the field basic picture information, and the shooting angle corresponding to each piece of the field standard picture information is completely the same as that corresponding to each piece of the field basic picture information. Then, three components (R, G, B) of each standard picture are extracted in advance to form a histogram, and the values of the histogram are seen to be concentrated. Referring to fig. 2-5, a field standard picture is taken as a column, fig. 2 is a gray scale image directly converted from an image of a target area (the bridge of the long river in wuhan) photographed in normal weather, fig. 3 is a histogram of an R component, fig. 4 is a histogram of a G component, and fig. 5 is a histogram of a B component. It can be seen that the histogram of the G component in the R, G, B three-component histogram may be substantially similar to the shape of the directly obtained gray-scale image, but the correlation degree of the waveforms of the three-component histogram is not very large or at least one of the three-component histogram is very small compared to the other two.
It should be explained here that the field standard picture information referred to in step S106 is not completely equivalent to the cleaning picture information referred to in step S103. It can be understood that the clean picture information referred to in step S103 is only the picture information taken at any angle when the suspected area has no dust haze, and is not required to be the same as the current scene picture information taken in step S103. When comparing the current on-site picture information with the corresponding clean picture information in step S103, it is only necessary to determine whether the gray scales are the same from the perspective of the picture, and the picture information does not need to be analyzed in step S106. In other words, when comparing the current on-site picture information with the respective corresponding clean picture information, only rough comparison is performed, and whether the gray levels are the same or not is determined. And the comparison performed in step S106 is a fine comparison for determining the level of haze. This is clarified first.
Next, with continuing reference to fig. 6-9, fig. 6 is a graph in which an image of a target area (the great bridge of the long river in wuhan) photographed in a gray-haze weather at a photographing angle corresponding to fig. 2 is directly converted into a gray scale image, fig. 7 is a histogram of an R component, fig. 8 is a histogram of a G component, and fig. 9 is a histogram of a B component. It is clear from the figure that the waveforms of the histograms of the four images are almost identical. In other words, the correlation of the waveforms of the gradation maps of the three components of R, G, and B in this case is very high. In addition, the gray scale regions spanned by the histograms of the three components R, G, and B are also almost in the same gray scale region, and this region is called span. These four histograms have a common feature: the number of pixels appearing in the lower gray level region and the higher gray level region is zero.
As can be seen from the comparison, in normal weather, that is, in the case of no dust haze, the light of the shot picture is good, and the details of the object in the shot picture are very clear, so that four histograms as shown in fig. 2 to 5 are obtained during processing. In the gray haze weather, the contrast of the photographed image is low, the difference between pixel points is relatively small, and the details of the object in the image are not very clear, so that four histograms as shown in fig. 6-9 are obtained. Based on the method, a histogram obtained by on-site standard picture information is a standard gray level histogram, and then the basic gray level histogram under the condition of the gray haze is divided into unclear levels according to the unclear degrees. Compared with a standard gray level histogram, the primary unsharpness, the secondary unsharpness and the tertiary unsharpness are 0-10%, 11-50% and 51-100% respectively from low to high. Wherein the first-level unsharpness is light gray haze, the second-level unsharpness is moderate gray haze and the third-level unsharpness is severe gray haze. For the specific determination of the percentage, it is not necessary to be very accurate in this embodiment, and only the basic gray level histogram and the standard gray level histogram need to be compared, and the difference degree between the pixel points is used as a reference for rough classification.
Then, continuing to step S107; the remote server judges whether the target area is a dust-haze source area or not according to the dust-haze grade;
and when the gray-haze grade of the target area is judged to be 51-100% of the tertiary unclear degree, namely, the severe gray-haze, judging that the target area is a gray-haze source area.
Continuing to execute step S108; if so, the remote server marks that the target area is a dust-haze source area, and records the number of the determined dust-haze source areas;
in step S101, since the plurality of suspected regions are subjected to the primary cruise imaging, there may be a plurality of target regions specified by the plurality of suspected regions through the primary cruise imaging, and similarly, there may be a plurality of haze source regions specified by the plurality of target regions through the secondary cruise imaging, and therefore the number of haze source regions may be recorded in step S108.
Steps S109, S110, S111 and S112 continue to be performed in order: when the number of the dust-haze source areas is larger than or equal to 2, the remote server acquires the geographic position coordinates of each dust-haze source area; the remote server searches an execution terminal which is closest to the corresponding dust-haze source region according to the geographical position coordinates of the dust-haze source region; the remote server generates a corresponding haze source warning identification signal for each haze source area; and the remote server sends the haze source warning identification signal to the execution terminal corresponding to each haze source region.
Specifically, it has been described in step S108 that the number of haze source regions may be several, and in this case, there are two cases:
in the first case, when the number of the dust-haze source areas is 1, the geographical position coordinates of the dust-haze source areas are only required to be acquired at the moment, and then the execution terminal near the dust-haze source areas is searched, so that the execution terminal can be an environment-friendly department for governing the dust-haze source areas. Or a monitoring department that monitors environmental protection, etc., and the embodiment of the present invention is not limited. When the execution terminals near the haze source region are searched, an execution terminal geographical position coordinate database of each suspected region may be established in advance, and the geographical position coordinates of the execution terminals near each suspected region are stored in the geographical position coordinate database in advance.
When the suspected area is confirmed to be the target area, and the haze source area is further confirmed, the geographical position coordinate of an execution terminal closest to the haze source area is obtained, wherein the closest refers to the geographical position coordinate with the closest straight line distance between a plurality of execution terminals near the haze source area and the haze source area. Then, the dust-haze source region generates a dust-haze source warning identification signal capable of identifying the dust-haze source region, the dust-haze source warning identification signal can be a data packet containing the dust-haze level of the dust-haze source region, the current field picture information of the dust-haze source region and the field basic picture information, and then the dust-haze source warning identification signal is sent to a corresponding (nearest) execution terminal. Simultaneously at the unmanned aerial vehicle dress that cruises in this ash haze source region there is the signal lamp of warning, and the signal lamp of warning shows red this moment, carries out the flashing to this target area of personnel that control that this remote server was controlled in the suggestion is the ash haze source region.
It is worth mentioning that sending the haze source warning identification signal to the corresponding (closest-to) execution terminal may be directly transmitted to the execution terminal in a wireless transmission manner, but sometimes network transmission obstacles may occur and data transmission cannot be performed, so that in the embodiment of the present invention, sending the haze source warning identification signal to the corresponding (closest-to) execution terminal may also be directly performed by controlling the unmanned aerial vehicle performing cruise shooting on the haze region to directly fly to the corresponding (closest-to) execution terminal, so as to directly bring the shooting data information back to the execution terminal. The method specifically comprises the following steps: the corresponding cruise line is generated according to the geographic position coordinate information of the dust-haze source region and the geographic position coordinate information of the corresponding (closest) execution terminal, and the cruise line is the straight line cruise line with the shortest distance, so that the unmanned aerial vehicle flies to the corresponding (closest) execution terminal through the straight line cruise line.
Similarly, in order to avoid the collision of the unmanned aerial vehicle on the straight cruise line to the high-rise buildings, the method also comprises the step of collecting height data information of each building on which the unmanned aerial vehicle approaches in the cruise line, wherein the collection mode can be a mode of emitting straight laser from the takeoff position of the unmanned aerial vehicle to the corresponding execution terminal area position to judge whether the laser is blocked from the takeoff position of the unmanned aerial vehicle to the execution terminal area position, if the laser is blocked, judging that an obstacle exists in the straight cruise line from the takeoff position of the unmanned aerial vehicle to the corresponding execution terminal area position, at the moment, obtaining the height data information of the obstacle blocking the straight laser, setting the height data information as the lowest height of the unmanned aerial vehicle in flight, further determining the flight direction and the flight height, and finally determining the standard straight cruise line of the unmanned aerial vehicle flying to the corresponding execution terminal area, make unmanned aerial vehicle can reach the execution terminal at this standard straight line cruise line straight line flight.
In the second case, when the number of the dust-haze source areas is multiple (greater than or equal to 2), the geographic position coordinates of each dust-haze source area need to be acquired at the moment, and then the execution terminal corresponding to each dust-haze source area is searched, and the execution terminal can be an environmental protection department for governing the dust-haze source area. Or a monitoring department that monitors environmental protection, etc., and the embodiment of the present invention is not limited. When the execution terminals near the haze source region are searched, an execution terminal geographical position coordinate database of each suspected region may be established in advance, and the geographical position coordinates of the execution terminals near each suspected region are stored in the geographical position coordinate database in advance.
When the suspected area is confirmed to be the target area, and the haze source area is further confirmed, the geographical position coordinate of an execution terminal closest to the haze source area is obtained, wherein the closest refers to the geographical position coordinate with the closest straight line distance between a plurality of execution terminals near the haze source area and the haze source area. Then, the dust-haze source region generates a dust-haze source warning identification signal capable of identifying the dust-haze source region, the dust-haze source warning identification signal can be a data packet containing the dust-haze level of the dust-haze source region, the current field picture information of the dust-haze source region and the field basic picture information, and then the dust-haze source warning identification signal is sent to a corresponding (nearest) execution terminal. Simultaneously at the unmanned aerial vehicle dress that cruises in this ash haze source region there is the signal lamp of warning, and the signal lamp of warning shows red this moment, carries out the flashing to this target area of personnel that control that this remote server was controlled in the suggestion is the ash haze source region.
For example, assuming that the number of the dust-haze source regions is 3 at this time, the source regions are named as a first dust-haze source region, a second dust-haze source region and a third dust-haze source region respectively; then, a first execution terminal closest to the first haze source region, a second execution terminal closest to the second haze source region, and a third execution terminal closest to the third haze source region are corresponding to the first haze source region, and the first execution terminal, the second execution terminal, and the third execution terminal may be the same execution terminal or different execution terminals.
Similarly, each haze source warning identification signal is sent to the corresponding (closest-to) execution terminal, and may be directly transmitted to the execution terminal in a wireless transmission manner, but a network transmission obstacle may also occur sometimes, so that data transmission cannot be performed. The method specifically comprises the following steps: and generating a corresponding cruise line according to the geographic position coordinate information of each haze source region and the geographic position coordinate information of the corresponding (closest) execution terminal, wherein the cruise line is the straight cruise line with the shortest distance, so that the unmanned aerial vehicle flies to the corresponding (closest) execution terminal through the straight cruise line.
Similarly, in order to avoid the collision of the unmanned aerial vehicle on the straight cruise line to the high-rise buildings, the method also comprises the step of collecting height data information of each building on which the unmanned aerial vehicle approaches in the cruise line, wherein the collection mode can be a mode of emitting straight laser from the takeoff position of the unmanned aerial vehicle to the corresponding execution terminal area position to judge whether the laser is blocked from the takeoff position of the unmanned aerial vehicle to the execution terminal area position, if the laser is blocked, judging that an obstacle exists in the straight cruise line from the takeoff position of the unmanned aerial vehicle to the corresponding execution terminal area position, at the moment, obtaining the height data information of the obstacle blocking the straight laser, setting the height data information as the lowest height of the unmanned aerial vehicle in flight, further determining the flight direction and the flight height, and finally determining the standard straight cruise line of the unmanned aerial vehicle flying to the corresponding execution terminal area, make unmanned aerial vehicle can reach the execution terminal at this standard straight line cruise line straight line flight.
Furthermore, in the process of flying each unmanned aerial vehicle to the corresponding execution terminal, when each unmanned aerial vehicle flies in the corresponding standard straight line cruise line, the crossing positions of a plurality of standard straight line cruise lines can be generated, if the crossing positions of a plurality of unmanned aerial vehicles on the standard straight line cruise lines can be collided, and in order to avoid the collision, the process also comprises the step of flying a plurality of haze source areas to a plurality of execution terminals (N) corresponding to the plurality of execution terminals2Strip) standard straight line cruising line whether has the crossing position to detect, if yes, pick out M that intersects each other2Strip (M)22 or more and N or less2) A standard straight line cruise line, and marking the crossing position as a crossing point; then, taking the intersection point as the center of a circle and 10 meters as the radius to form a cross circle, and equally dividing M on the cross circle2Dot, form M2Dividing points equally; making every two adjacent points and cross point form a sector included angle M2360 degrees; then M crossing each other2The flight starting points of the standard straight line cruise lines are respectively connected with an equant point on the cross circle, then the target end point (coordinate point of the execution terminal) of the standard straight line cruise line is connected with the equant point connected with the flight starting point, finally two broken lines with the equant point as a node and the flight starting point and the target end point as two end points are formed, namely two standard sub straight line cruise lines corresponding to the standard straight line cruise line, thus N is enabled2Strip standard straight line cruising lineAll correspond separately and have two sub straight line circuits of cruising of standard to this makes each unmanned aerial vehicle fly at these two sub straight line circuits of cruising of standard that correspond separately, with the collision of avoiding between the unmanned aerial vehicle, has the characteristics that the security performance is high.
Based on the same inventive concept, the embodiment of the invention also provides a device corresponding to the method in the first embodiment, which is shown in the second embodiment.
Example two
An embodiment of the present invention provides a system for warning a haze source, please refer to fig. 10, where the system includes: the primary cruise module 201 is configured to control the unmanned aerial vehicle to carry out primary cruise shooting on a plurality of suspected areas through the remote server; a current site basic picture obtaining module 202, configured to obtain, by the remote server, current site picture information corresponding to each of the plurality of suspected areas; a target area determining module 203, configured to determine, by the remote server, whether each suspected area is a target area according to the current on-site picture information corresponding to the suspected area; the secondary cruise module 204 is configured to control the unmanned aerial vehicle to perform secondary cruise shooting on the target area if the target area is in the second cruise shooting mode; a first obtaining module 205, configured to obtain, by the remote server, live base picture information of the target area; a haze level determination module 206, configured to analyze the on-site basic picture information by the remote server, and determine a haze level of the target area; the dust-haze source area judging module 207 is configured to judge whether the target area is a dust-haze source area or not by the remote server according to the dust-haze level; a dust-haze source region marking module 208, configured to mark that the target region is a dust-haze source region by the remote server if the target region is a dust-haze source region, and record the number of the determined dust-haze source regions; a second obtaining module 209, configured to, when the number of the haze source areas is greater than or equal to 2, obtain the geographic position coordinates of each haze source area by the remote server; the searching module 210 is configured to search, by the remote server, one execution terminal which is closest to the corresponding dust-haze source region according to the geographical position coordinates of the dust-haze source region; an alert identifier information generating module 211, configured to enable the remote server to generate a corresponding haze source alert identifier signal for each haze source region; and an alert identifier information sending module 212, configured to send the haze source alert identifier signal to the execution terminal corresponding to each haze source region by the remote server.
In a second embodiment of the present invention, the secondary cruise module includes: a first cruise submodule configured to acquire position data information of a target area by the remote server; the second cruise submodule is configured for the remote server to generate a cruise line corresponding to the target area according to the position data information; and the third cruise submodule is configured with the remote server to control the unmanned aerial vehicle to carry out cruise shooting on the target area according to the cruise line.
In the second embodiment of the present invention, the dust-haze level determining module specifically includes: a first haze level determination submodule configured to extract three primary color data information of the live base picture by the remote server; the second haze level determining submodule is configured to enable the remote server to make a basic gray histogram according to the three primary color data information; a third haze level determination submodule configured to compare the base grayscale histogram with a standard grayscale histogram by the remote server; and the fourth dust-haze level determining submodule is configured to determine the dust-haze level of the target area by the remote server according to the comparison result.
In the second embodiment of the present invention, the dust-haze grades at least include the following grades: light dust haze, moderate dust haze and heavy dust haze; the dust-haze source area judging module is further configured to: and if the dust-haze grade is severe dust-haze, the remote server judges that the target area is a dust-haze source area.
Since the apparatus described in the second embodiment of the present invention is an apparatus used for implementing the method of the first embodiment of the present invention, based on the method described in the first embodiment of the present invention, a person skilled in the art can understand the specific structure and the deformation of the apparatus, and thus the details are not described herein. All the devices adopted in the method of the first embodiment of the present invention belong to the protection scope of the present invention.
EXAMPLE III
Referring to fig. 11, it should be noted that, based on the same inventive communication between the first embodiment and the second embodiment, a third embodiment of the present invention provides an apparatus, including: radio Frequency (RF) circuitry 310, memory 320, input unit 330, display unit 340, audio circuitry 350, WiFi module 360, processor 370, and power supply 380. The memory 320 stores a computer program that can be executed on the processor 370, and the processor 370 implements the steps S101, S102, S103, S104, S105, S106, S107, S108, S109, S110, S111, and S112 described in the first embodiment when executing the computer program.
In a specific implementation process, when the processor executes the computer program, any one of the first embodiment and the second embodiment may be implemented.
Those skilled in the art will appreciate that the device configuration shown in fig. 11 does not constitute a limitation of the device itself, and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
The following describes the components of the computer device in detail with reference to fig. 11:
RF circuitry 310 may be used for receiving and transmitting signals, and in particular, for receiving downlink information from base stations and processing the received downlink information to processor 370. In general, the RF circuit 310 includes, but is not limited to, at least one Amplifier, transceiver, coupler, Low Noise Amplifier (LNA), duplexer, and the like.
The memory 320 may be used to store software programs and modules, and the processor 370 may execute various functional applications of the computer device and data processing by operating the software programs and modules stored in the memory 320. The memory 320 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to use of the computer device, and the like. Further, the memory 320 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The input unit 330 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the computer apparatus. Specifically, the input unit 330 may include a keyboard 331 and other input devices 332. The keyboard 331 can collect the input operation of the user thereon and drive the corresponding connection device according to a preset program. The keyboard 331 collects the output information and sends it to the processor 370. The input unit 330 may include other input devices 332 in addition to the keyboard 331. In particular, other input devices 332 may include, but are not limited to, one or more of a touch panel, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like.
The display unit 340 may be used to display information input by a user or information provided to the user and various menus of the computer device. The Display unit 340 may include a Display panel 341, and optionally, the Display panel 341 may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like. Further, the keyboard 331 may cover the display panel 341, and when the keyboard 331 detects a touch operation on or near the keyboard 331, the keyboard 331 transmits the touch event to the processor 370 to determine the type of the touch event, and then the processor 370 provides a corresponding visual output on the display panel 341 according to the type of the input event. Although the keyboard 331 and the display panel 341 are shown in fig. 3 as two separate components to implement input and output functions of the computer device, in some embodiments, the keyboard 331 and the display panel 341 may be integrated to implement input and output functions of the computer device.
Audio circuitry 350, speaker 351, microphone 352 may provide an audio interface between a user and a computer device. The audio circuit 350 may transmit the electrical signal converted from the received audio data to the speaker 351, and the electrical signal is converted into a sound signal by the speaker 351 and output;
WiFi belongs to short-distance wireless transmission technology, and computer equipment can help a user to receive and send e-mails, browse webpages, access streaming media and the like through the WiFi module 360, and provides wireless broadband internet access for the user. Although fig. 4 shows the WiFi module 360, it is understood that it does not belong to the essential constitution of the computer device, and may be omitted entirely as needed within the scope not changing the essence of the invention.
The processor 370 is a control center of the computer device, connects various parts of the entire computer device using various interfaces and lines, performs various functions of the computer device and processes data by operating or executing software programs and/or modules stored in the memory 320 and calling data stored in the memory 320, thereby monitoring the computer device as a whole. Alternatively, processor 370 may include one or more processing units; preferably, the processor 370 may be integrated with an application processor, wherein the application processor primarily handles operating systems, user interfaces, application programs, and the like.
The computer device also includes a power supply 380 (such as a power adapter) for powering the various components, which may preferably be logically connected to the processor 370 through a power management system.
Example four
Based on the same inventive concept, as shown in fig. 12, the fifth embodiment provides a computer-readable storage medium 400, on which a computer program 411 is stored, and when the computer program 411 is executed by a processor, the computer program 411 implements the steps S101, S102, S103, S104, S105, S106, S107, S108, S109, S110, S111, and S112 described in the first embodiment.
In a specific implementation, the computer program 411 may implement any one of the first, second, and third embodiments when executed by a processor.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the embodiments of the present invention without departing from the spirit or scope of the embodiments of the invention. Thus, if such modifications and variations of the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to encompass such modifications and variations.

Claims (10)

1. A method for warning a haze source based on a remote server is characterized by comprising the following steps:
the remote server controls the unmanned aerial vehicle to carry out cruise shooting on a plurality of suspected areas; the remote server specifically comprises the following steps of carrying out cruise shooting on a plurality of suspected areas: acquiring position data information of each suspected area; the remote server generates a cruising line corresponding to each suspected area according to the position data information of each suspected area; the remote server controls the unmanned aerial vehicle to carry out cruise shooting on a plurality of suspected areas according to the cruise lines corresponding to the unmanned aerial vehicle;
the remote server acquires current on-site picture information corresponding to each of a plurality of suspected areas;
the remote server judges whether the suspected area is a target area according to the current scene picture information corresponding to each suspected area;
if yes, the remote server controls the unmanned aerial vehicle to carry out secondary cruise shooting on the target area;
the remote server acquires the on-site basic picture information of the target area;
the remote server analyzes the on-site basic picture information and determines the dust-haze level of the target area;
the remote server judges whether the target area is a dust-haze source area or not according to the dust-haze grade;
if so, the remote server marks that the target area is a dust-haze source area, and records the number of the determined dust-haze source areas;
when the number of the dust-haze source areas is larger than or equal to 2, the remote server acquires the geographic position coordinates of each dust-haze source area;
the remote server searches an execution terminal which is closest to the corresponding dust-haze source region according to the geographical position coordinates of the dust-haze source region;
the remote server acquires a linear flight route from each dust-haze source region to the corresponding execution terminal;
the remote server generates a corresponding haze source warning identification signal for each haze source area;
and the remote server sends the dust-haze source warning identification signal to the execution terminal corresponding to each dust-haze source region according to the linear flight route.
2. The method of claim 1, wherein the remote server controlling the drone to perform the secondary cruise shooting of the target area specifically comprises:
the remote server acquires position data information of a target area;
the remote server generates a cruising route corresponding to the target area according to the position data information;
and the remote server controls the unmanned aerial vehicle to cruise and shoot the target area according to the cruise line.
3. The method of claim 1, wherein the remote server parses the live base picture information and determining the haze level of the target area specifically comprises:
the remote server extracts the three primary color data information of the on-site basic picture;
the remote server makes a basic gray histogram according to the three primary color data information;
the remote server compares the basic gray level histogram with a standard gray level histogram;
and the remote server determines the dust-haze grade of the target area according to the comparison result.
4. The method of claim 1, wherein:
the dust haze grades at least comprise the following grades: light dust haze, moderate dust haze and heavy dust haze;
the step of judging whether the target area is the dust-haze source area or not by the remote server according to the dust-haze grade specifically comprises the following steps:
and if the dust-haze grade is severe dust-haze, the remote server judges that the target area is a dust-haze source area.
5. A system for warning a haze source based on a remote server, the system comprising:
the primary cruise module is configured to control the unmanned aerial vehicle to carry out primary cruise shooting on a plurality of suspected areas through the remote server;
the current site basic picture acquisition module is configured to acquire current site picture information corresponding to each of a plurality of suspected areas by the remote server;
the target area determining module is configured to judge whether the suspected area is a target area or not by the remote server according to the current scene picture information corresponding to each suspected area;
the secondary cruise module is configured to control the unmanned aerial vehicle to carry out secondary cruise shooting on the target area if the target area is in the second cruise shooting mode;
a first obtaining module configured to obtain, by the remote server, live base picture information of the target area;
the dust-haze grade determining module is configured to analyze the on-site basic picture information by the remote server and determine the dust-haze grade of the target area;
the dust-haze source area judging module is configured to judge whether the target area is a dust-haze source area or not by the remote server according to the dust-haze level;
the dust-haze source area marking module is configured to mark that the target area is a dust-haze source area and record the number of the determined dust-haze source areas if the target area is the dust-haze source area;
the second obtaining module is configured to obtain the geographic position coordinates of each dust-haze source region by the remote server when the number of the dust-haze source regions is larger than or equal to 2;
the search module is configured to search an execution terminal which is closest to the corresponding dust-haze source area by the remote server according to the geographical position coordinates of the dust-haze source area; acquiring a straight flight route from each dust-haze source region to a corresponding execution terminal;
the warning identification information generating module is configured to enable the remote server to generate a corresponding dust-haze source warning identification signal for each dust-haze source region;
and the warning identification information sending module is configured to send the dust-haze source warning identification signal to the execution terminal corresponding to each dust-haze source region by the remote server according to the linear flight route.
6. The system of claim 5, wherein the secondary cruise module comprises:
a first cruise submodule configured to acquire position data information of a target area by the remote server;
the second cruise submodule is configured to enable the remote server to generate a cruise line corresponding to the target area according to the position data information;
and the third cruise submodule is configured to control the unmanned aerial vehicle to carry out cruise shooting on the target area according to the cruise line by the remote server.
7. The system of claim 5, wherein the dust-haze level determination module specifically comprises:
a first haze level determination submodule configured to extract three primary color data information of the live base picture by the remote server;
the second haze level determining submodule is configured to enable the remote server to make a basic gray histogram according to the three primary color data information;
a third haze level determination submodule configured to compare the base grayscale histogram with a standard grayscale histogram by the remote server;
and the fourth dust-haze level determining submodule is configured to determine the dust-haze level of the target area by the remote server according to the comparison result.
8. The system of claim 5, wherein:
the dust haze grades at least comprise the following grades: light dust haze, moderate dust haze and heavy dust haze;
the dust-haze source area judging module is further configured to:
and if the dust-haze grade is severe dust-haze, the remote server judges that the target area is a dust-haze source area.
9. An apparatus for alerting a haze source based on a remote server, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to perform the steps of:
the remote server controls the unmanned aerial vehicle to carry out cruise shooting on a plurality of suspected areas;
the remote server acquires current on-site picture information corresponding to each of a plurality of suspected areas;
the remote server judges whether the suspected area is a target area according to the current scene picture information corresponding to each suspected area;
if yes, the remote server controls the unmanned aerial vehicle to carry out secondary cruise shooting on the target area;
the remote server acquires the on-site basic picture information of the target area;
the remote server analyzes the on-site basic picture information and determines the dust-haze level of the target area;
the remote server judges whether the target area is a dust-haze source area or not according to the dust-haze grade;
if so, the remote server marks that the target area is a dust-haze source area, and records the number of the determined dust-haze source areas;
when the number of the dust-haze source areas is larger than or equal to 2, the remote server acquires the geographic position coordinates of each dust-haze source area;
the remote server searches an execution terminal which is closest to the corresponding dust-haze source region according to the geographical position coordinates of the dust-haze source region;
the remote server acquires a linear flight route from each dust-haze source region to the corresponding execution terminal;
the remote server generates a corresponding haze source warning identification signal for each haze source area;
and the remote server sends the dust-haze source warning identification signal to the execution terminal corresponding to each dust-haze source region according to the linear flight route.
10. A computer-readable storage medium, on which a computer program is stored, which program, when executed by a processor, carries out the steps of:
the remote server controls the unmanned aerial vehicle to carry out cruise shooting on a plurality of suspected areas;
the remote server acquires current on-site picture information corresponding to each of a plurality of suspected areas;
the remote server judges whether the suspected area is a target area according to the current scene picture information corresponding to each suspected area;
if yes, the remote server controls the unmanned aerial vehicle to carry out secondary cruise shooting on the target area;
the remote server acquires the on-site basic picture information of the target area;
the remote server analyzes the on-site basic picture information and determines the dust-haze level of the target area;
the remote server judges whether the target area is a dust-haze source area or not according to the dust-haze grade;
if so, the remote server marks that the target area is a dust-haze source area, and records the number of the determined dust-haze source areas;
when the number of the dust-haze source areas is larger than or equal to 2, the remote server acquires the geographic position coordinates of each dust-haze source area;
the remote server searches an execution terminal which is closest to the corresponding dust-haze source region according to the geographical position coordinates of the dust-haze source region;
the remote server acquires a linear flight route from each dust-haze source region to the corresponding execution terminal;
the remote server generates a corresponding haze source warning identification signal for each haze source area;
and the remote server sends the dust-haze source warning identification signal to the execution terminal corresponding to each dust-haze source region according to the linear flight route.
CN201711207963.9A 2017-11-27 2017-11-27 Method, device and system for warning dust-haze source based on remote server Expired - Fee Related CN108426804B (en)

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