CN108427907A - The method, apparatus and system warned to gray haze source based on earth station - Google Patents
The method, apparatus and system warned to gray haze source based on earth station Download PDFInfo
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- CN108427907A CN108427907A CN201711208125.3A CN201711208125A CN108427907A CN 108427907 A CN108427907 A CN 108427907A CN 201711208125 A CN201711208125 A CN 201711208125A CN 108427907 A CN108427907 A CN 108427907A
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- G06V10/00—Arrangements for image or video recognition or understanding
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- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
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- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/758—Involving statistics of pixels or of feature values, e.g. histogram matching
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Abstract
The invention discloses a kind of methods warned to gray haze source based on earth station, the method includes ground station control unmanned planes to carry out a cruise shooting to several suspect regions, by once cruise obtain several suspect regions respectively corresponding to current live pictorial information, judge whether the suspect region is target area according to the current photo site information；After target area is determined, ground station control unmanned plane is obtaining the field basic pictorial information of target area by secondary cruise shooting, and determines whether the target area is gray haze source region according to field basic picture；If so, label target area is gray haze source region；It warns id signal to executing 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 effective solution prior art, having reached can have the characteristics that accuracy is high, applicability is wide to the technique effect that gray haze source is accurately identified and is warned.
Description
Technical field
The invention belongs to environmental protection technical field, more particularly to a kind of side warned to gray haze source based on earth station
Method, apparatus and system.
Background technology
Gray haze refers to that a large amount of imperceptible dry grit such as dust, sulfuric acid, nitric acid, organic hydrocarbon compounds in air are equal
Even swims in the air, keeps 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 warned to gray haze source based on earth station, existing to solve
Have in technology and how the technical issues of warning is identified to gray haze source.
In a first aspect, an embodiment of the present invention provides a kind of method warned to gray haze source based on earth station, it is described
Method includes：Ground station control unmanned plane carries out a cruise shooting to several suspect regions；The earth station obtains several
The respective corresponding current live pictorial information in a suspect region；The earth station is according to suspect region institute described in each
The corresponding current live pictorial information judges whether the suspect region is target area；If so, earth station's control
Unmanned plane processed carries out secondary cruise shooting to the target area；Obtain the field basic pictorial information of the target area；Institute
It states earth station to parse the field basic pictorial information, determines the gray haze grade of the target area；The earth station
Judge whether the target area is gray haze source region according to the gray haze grade；If so, the earth station marks the mesh
It is gray haze source region to mark region, and records the number of the determining gray haze source region；When the number of the gray haze source region is big
When equal to 2, then the earth station obtains each described gray haze source region geographical position coordinates；The earth station is according to each
A gray haze source region geographical position coordinates are searched for nearest one of the distance corresponding to each described gray haze source region and are held
Row terminal is obtained and is flown to the corresponding rectilinear flight course line for executing terminal by gray haze source region described in each；The ground
It stands and each gray haze source region is generated into a corresponding gray haze source warns id signal；The earth station is according to described straight
The line line of flight sends the gray haze source to the execution terminal corresponding to gray haze source region described in each and warns id signal..
In the first aspect, optionally, described that the target area secondary cruise shooting of progress is specifically included：The earth station
Obtain the position data of target area；The earth station generates and the target area phase according to the position data
Corresponding cruise circuit；The ground station control unmanned plane carries out cruise bat according to the cruise circuit to the target area
It takes the photograph.
In the first aspect, optionally, described that the field basic pictorial information is parsed, determine the target area
The gray haze grade in domain specifically includes：The earth station extracts the three primary colors data information of the field basic picture；The ground
It stands and makes base grey histogram according to the three primary colors data information；The earth station is by the base grey histogram and marks
Quasi- grey level histogram is compared；The earth station determines the gray haze grade of the target area according to comparing result.
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：If described
Gray haze grade is severe gray haze, then the earth station judges that the target area is gray haze source region.
Second aspect, the embodiment of the present invention additionally provide a kind of system for warning to gray haze source, the system
Including：Cruise module is configured as the ground station control unmanned plane and carries out primary cruise bat to several suspect regions
It takes the photograph；Current live basis picture acquisition module, be configured as the earth station obtain several described suspect regions respectively institute it is right
The current live pictorial information answered；Target area determining module is configured as the earth station according to suspicion area described in each
The current live pictorial information corresponding to domain judges whether the suspect region is target area；Secondary cruise module, quilt
It is configured to if so, the ground station control unmanned plane carries out secondary cruise shooting to the target area；First acquisition module,
It is configured as the field basic pictorial information that the earth station obtains the target area；Gray haze level determination module, is configured
The field basic pictorial information is parsed for the earth station, determines the gray haze grade of the target area；Gray haze source
Region decision module is configured as the earth station and judges 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 that the earth station, which marks the target area,
And record the number of the determining gray haze source region；Second acquisition module is configured as the number when the gray haze source region
When more than or equal to 2, then the earth station obtains each described gray haze source region geographical position coordinates；Search module is configured
It is the earth station according to gray haze source region geographical position coordinates described in each, it is right searches for each described gray haze source region institute
The execution terminal of the distance answered recently obtains to be flown by gray haze source region described in each executes the straight of terminal to corresponding
The line line of flight；It warns identification information generation module, is configured as the earth station and generates each described gray haze source region
One corresponding gray haze source is warned id signal；It warns identification information sending module, is configured as the earth station according to described in
Rectilinear flight course line sends the gray haze source to the execution terminal corresponding to gray haze source region described in each and warns id signal.
In second aspect, optionally, the secondary cruise module includes：First cruise submodule, is configured as described
Earth station obtains the position data of target area；Second cruise submodule, is configured the earth station according to the position
Data information generates cruise circuit corresponding with the target area；Third cruise submodule is configured earth station's control
Unmanned plane processed carries out cruise shooting according to the cruise circuit to the target area.
In second aspect, optionally, the gray haze level determination module specifically includes：First gray haze grade determines submodule
Block is configured as the three primary colors data information that the earth station extracts the field basic picture；Second gray haze grade determines son
Module is configured as the earth station and makes base grey histogram according to the three primary colors data information；Third gray haze grade
Determination sub-module is configured as the earth station and compares the base grey histogram with standard grayscale histogram；The
Four gray haze grade determination sub-modules are configured the gray haze grade that the earth station determines the target area 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, the ground
It stands and judges that the target area is gray haze source region.
The third aspect, the embodiment of the present invention additionally provide a kind of device warned to gray haze source based on earth station, packet
The computer program that includes memory, processor and storage on a memory and can run on a processor, the processor execute
Above-mentioned first aspect or second aspect are realized when described program.
Fourth aspect, the embodiment of the present invention additionally provide realized when the program is executed by processor above-mentioned first aspect or
Person's second aspect.The one or more technical solutions provided in the embodiment of the present invention, have at least the following technical effects or advantages：
A kind of method warned to gray haze source based on earth station provided by the invention, first ground station control unmanned plane
By carrying out a cruise shooting to several suspect regions, once being cruised by the ground station control unmanned plane, it is several to obtain
The respective corresponding current live pictorial information in a suspect region, then the earth station believe according to the current photo site
Breath judges whether the suspect region is target area；The earth station after target area is determined, by control nobody
The secondary cruise shooting of machine obtains the field basic pictorial information of target area, and described to determine according to the field basic picture
Whether target area is gray haze source region；If so, earth station's label target area is gray haze source region；The earth station
Corresponding gray haze source is generated to warn id signal；The last earth station warns mark to executing terminal and send the gray haze source
Signal realized and gray haze source is identified based on earth station, and warned, the needle in the presence of the effective solution prior art
The technical issues of warning can not be identified to gray haze source to some areas, reached and gray haze source can have been accurately identified and be shown
Alert technique effect 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 technical means of the present invention,
And 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 implementation mode for lifting the present invention.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, 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 provided in an embodiment of the present invention for warning to gray haze source；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 provided in an embodiment of the present invention for warning to gray haze source；
Figure 11 is the device block diagram provided in an embodiment of the present invention for warning to gray haze source；
Figure 12 is the schematic diagram of computer-readable medium provided in an embodiment of the present invention.
Specific implementation mode
The embodiment of the present invention carry for a kind of method, apparatus and system for warning to gray haze source, to solve
The technical issues of warning can not be identified to gray haze source for some areas in the presence of the prior art, having reached can be to ash
The technique effect that haze source is accurately identified and warned 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 method of it is warned to gray haze source based on earth station, the method includes：
Ground station control unmanned plane carries out a cruise shooting to several suspect regions；
The earth station obtains several described suspect regions respectively corresponding current live pictorial information；
The earth station is according to the current live pictorial information corresponding to suspect region described in each, described in judgement
Whether suspect region is target area；
If so, the ground station control unmanned plane carries out secondary cruise shooting to the target area；
The earth station obtains the field basic pictorial information of the target area；
The earth station parses the field basic pictorial information, determines the gray haze grade of the target area；
The earth station judges whether the target area is gray haze source region according to the gray haze grade；
If so, it is gray haze source region that the earth station, which marks the target area, and record the determining gray haze source
The number in region；
When the number of the gray haze source region is more than or equal to 2, then the earth station obtains each described gray haze source region
Domain geographic location coordinate；
Each described gray haze source region is searched for according to gray haze source region geographical position coordinates described in each by the earth station
The execution terminal of distance recently corresponding to domain；
Each described gray haze source region is generated a corresponding gray haze source and warned id signal by the earth station；
The earth station sends the gray haze source to the execution terminal corresponding to gray haze source region described in each and warns mark
Know signal.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A 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
The every other embodiment 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 warned to gray haze source based on earth station, referring to FIG. 1, described
Method includes：
Step S101；Ground station control unmanned plane carries out a cruise shooting to several suspect regions；
Step S102；The earth station obtains several described suspect regions respectively corresponding current live picture letter
Breath；
Step S103；The earth station believes according to the current live picture corresponding to suspect region described in each
Breath, judges whether the suspect region is target area；
Step S104；If so, the ground station control unmanned plane carries out secondary cruise shooting to the target area；
Step S105；The earth station obtains the field basic pictorial information of the target area；
Step S106；The earth station parses the field basic pictorial information, determines the target area
Gray haze grade；
Step S107；The earth station judges whether the target area is gray haze source region according to the gray haze grade；
Step S108；If so, it is gray haze source region that the earth station, which marks the target area, and record determining institute
State the number of gray haze source region；
Step S109；When the number of the gray haze source region is more than or equal to 2, then the earth station obtains described in each
Gray haze source region geographical position coordinates；
Step S110；Each institute is searched for according to gray haze source region geographical position coordinates described in each by the earth station
State the execution terminal of distance recently corresponding to gray haze source region；
Step S111；Each described gray haze source region is generated a corresponding gray haze source and warned mark by the earth station
Signal；
Step S112；The earth station sends the gray haze to the execution terminal corresponding to gray haze source region described in each
Source is warned id signal.
Specifically, gray haze in the prior art refers to dust, sulfuric acid, nitric acid, the organic hydrocarbon compounds etc. in air
A large amount of imperceptible dry grit uniformly swim in the air, keep 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.Gray haze source is main next now
Source is some manufacturing works or construction site etc., however how to be identified and warn to the gray haze source in these areas, 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, the method warned to gray haze source based on earth station that the embodiment of the present invention one is provided in conjunction with Fig. 1 into
Row is discussed in detail：
First, step S101 is executed, ground station control unmanned plane carries out a cruise shooting to several suspect regions；
Specifically, in step S101, can by unmanned plane, either by ground station control unmanned plane or
Unmanned plane is controlled to carry out a cruise shooting to several suspect regions by manual controller, and suspect region can be understood as
It is the region that more serious region namely emphasis suspection are polluted in daily life.Several can be 3,4,5 etc..
In step S101, following sub-step is specifically included：The earth station obtains the position data of each suspect region；Institute
The position data generation that earth station is stated according to each suspect region is corresponding with suspect region described in each
Cruise circuit；The ground station control unmanned plane according to corresponding cruise circuit to suspect region described in several into
Row cruise shooting.Wherein, it is generated and each described suspicion area in the position data according to each suspect region
During the corresponding cruise line road in domain, each corresponding cruise circuit in suspect region is the straight line of the shortest distance
Cruise circuit, in getting several basic lines cruise circuit, in order to avoid unmanned plane is in basic line cruise circuit
High buildings and large mansions are hit, further including the earth station in this step S101 cruises the every of institute's approach in circuit to each basic line
The altitude information information of one building is acquired, which can be by from unmanned plane takeoff setting to corresponding
The mode of each suspect region position emitting linear laser, to judge the position from unmanned plane takeoff setting to corresponding suspect region
It sets and is blocked with the presence or absence of laser, if being blocked, the earth station judges from unmanned plane takeoff setting to corresponding suspicion area
There are barriers in this straight line cruise circuit of domain position, obtain the altitude information letter for the barrier for blocking linear laser at this time
Breath, and this altitude information information setting is the minimum altitude of unmanned plane during flying, and then further determine that heading and flight
Highly, the earth station come finally determine unmanned plane corresponding suspect region of flying to standard straight-line cruise circuit so that nobody
Machine can reach suspect region in standard straight-line cruise circuit rectilinear flight.
It is noted that when each unmanned plane is in flight during corresponding standard straight-line cruises circuit, can also
There is the position that several standard straight-lines cruise circuit has intersection, at this time if it is present multiple unmanned planes are in the standard straight-line
Cruise circuit has the position of intersection that can also have the possibility bumped against, at this time in order to avoid the collision the occurrence of, this step
Further include the earth station in S101 to several (N corresponding to several suspect regions1Item) standard straight-line cruise circuit be
No there are crossover locations to be detected, if so, the earth station picks out cross one another M1Item (M1More than or equal to 2, it is less than
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, with 10
Rice is that radius forms crossed-circle, and the decile M in the crossed-circle1It is a, form M1A Along ent；So that per two adjacent points
It is M to form fan-shaped angle with crosspoint1/360°；Then the earth station is by cross one another M1Standard straight-line is cruised circuit
Flight starting point, connect respectively with an Along ent in crossed-circle, then by this standard straight-line cruise circuit target it is whole
That Along ent that point (coordinate points of suspect region) is connect with flight starting point is attached, and is ultimately formed and is with the Along ent
Node is two broken lines of two endpoints with flight starting point and target endpoint, as a final institute of standard straight-line cruise circuit
The corresponding sub- straight line cruise circuit of two standards, allows for N in this way1Standard straight-line cruise circuit is respectively corresponding with two marks
Accurate sub- straight line cruise circuit, with this so that each frame unmanned plane is carried out in the sub- straight line cruise circuit of corresponding two standards
Flight, to avoid the collision between unmanned plane, has the characteristics that security performance is high.
Then step S102 is executed；The earth station obtains several described suspect regions respectively corresponding current live
Pictorial information；
Specifically, in step S102, can by unmanned plane, either by ground station control unmanned plane or
By manual controller control unmanned plane come obtain several described suspect regions respectively corresponding to current live pictorial information,
Current live pictorial information can be the photo site information corresponding to several described suspect region current times, picture letter
Breath can be the photographic intelligence captured by the video camera or camera that are carried by unmanned plane, or from captured video
The photographic intelligence extracted in information.Certainly, the current live pictorial information corresponding to each described suspect region can
Can also be multiple to be one, when for multiple, then each current live pictorial information reaction is corresponding suspicion area
The photo site of domain different angle.
Subsequently, step S103 is executed；The earth station is according to described current corresponding to suspect region described in each
Photo site information judges whether the suspect region is target area；
Specifically, in step S103, can by unmanned plane, either by ground station control unmanned plane or
Unmanned plane is controlled by manual controller come according to the current live pictorial information corresponding to suspect region described in each,
Judge whether the suspect region is target area.It should be noted that goal region refers to determining with the presence of gray haze
Region, suspect region refers to suspecting with the presence of gray haze but being not necessarily present the region of gray haze.Whether judge the suspect region
It is that target area can specifically include：The earth station obtains cleaning picture when each described suspect region does not have gray haze
Information；The earth station by corresponding to each described suspect region the current live pictorial information with it is corresponding clear
Clean pictorial information is compared；If the current live pictorial information is identical as corresponding cleaning gray scale of pictorial information,
Then the earth station judges that the suspect region is nontarget area, generates safety to the position coordinates of the nontarget area at this time
Beacon signal, and the safety sign signal is sent to and executes the safe priming of terminal progress.Simultaneously for the nontarget area
The unmanned plane of cruise judges that the suspect region is the warning signal behind nontarget area at this time mounted in there is warning signal lamp
Lamp shows yellow, and progress is glittering, and operator suspect region of the earth station is manipulated as nontarget area using prompt.
It should be noted that after it is nontarget area to judge the suspect region, and the earth station is to executing 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.Further include after step s 103：The earth station will remove to be determined as the remaining suspect region behind nontarget area
Position data is sent to unmanned plane after the safety sign signal of the terminal transmission of warp-wise execution nontarget area, the ground
It after station gets the position data of other remaining suspect regions, is compared, judges each remaining suspect region distance
The air line distance of the unmanned plane；A nearest remaining suspect region of described earth station's chosen distance unmanned plane, then to nothing
Man-machine transmission is flown to the straight line path of the residue suspect region, control unmanned plane during flying to the residue suspect region.Then it is directed to
The residue suspect region executes above-mentioned steps S101, step S102 and step S103；And then the earth station is to the residue suspicion
Whether region is that target area is judged.
Immediately after above-mentioned steps S103, continue step S104：If so, the ground station control unmanned plane is to the mesh
It marks region and carries out secondary cruise shooting；
Wherein, after step S103 judges that the suspect region is target area, then the target area is carried out secondary
Cruise shooting.It is because cruise is clapped for the first time it should be noted why needing to carry out secondary cruise shooting to target area
Only be merely when taking the photograph have taken one of the target area (the also referred to as suspect region in first time cruise shooting) it is current existing
Field picture information, a current live pictorial information are also only intended merely to identify whether the suspect region is target area
Domain then must carry out two to target area again if necessary to further be judged gray haze degree, the grade of target area
Secondary cruise shooting, to obtain more field basic pictorial informations.It allows for only determining that the suspect region is target in this way
Behind region, can just carry out secondary shooting to suspect region, avoid when once being cruised, due to and the uncertain suspect region
Whether it is that target area just carries out multiple field basic pictorial informations and occurs, is possible to not be mesh due to the suspect region
The shooting wasting of resources marked region and brought.
Continue to execute step S105；The earth station obtains the field basic pictorial information of the target area；
As being sayed in above-mentioned steps S104, the field basic pictorial information in the step be several (at least 2 with
On), and several field basic pictorial informations are shot for the different angle of target area.In other words, several
Field basic picture shooting angle is different.
Continue to execute step S106；The earth station parses the field basic pictorial information, determines the mesh
Mark the gray haze grade in region；
Wherein, it for several field basic pictorial informations acquired in step S105, is solved in step S106
Analysis, to obtain the gray haze grade of the target area, specifically includes following sub-step：The earth station extracts the field basic figure
The three primary colors data information of piece；Base grey histogram is made according to the three primary colors data information by the earth station；Describedly
Face station compares the base grey histogram with standard grayscale histogram；The earth station determines institute according to comparing result
State the gray haze grade of target area.
In actual mechanical process, can be by the way that target area is uncontaminated or there is no the picture indicias of gray haze situation
The quantity of live normal pictures information, the scene normal pictures information is identical as the quantity of field basic pictorial information and each
Opening shooting angle and the shooting angle corresponding to each field basic pictorial information corresponding to live normal pictures information is
It is identical.Then advance three components (R, G, B) by each normal pictures letter extract makes histogram respectively
Figure, can be appreciated that the value of histogram is concentrated very much.Fig. 2-5 is please referred to, is row with a live normal pictures information, Fig. 2 is normal day
The image of the target area (Wuhan Yangtze River Bridge) shot when gas is converted into gray-scale map, and Fig. 3 is the histogram of R component, Fig. 4
For the histogram of G components, Fig. 5 is the histogram of B component.It can be seen that 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 live normal pictures information involved in this step 106 and institute in step S103
The cleaning pictorial information that is related to is simultaneously non-fully equivalent.Can be understood as cleaning pictorial information involved in step S103 is only to dislike
The pictorial information captured by unspecified angle when doubtful region does not have gray haze, it is not required that with current live picture in step S103
Information shooting angle is identical.And current live pictorial information and corresponding cleaning pictorial information are carried out in step s 103
When comparison, only judge whether gray scale is identical from the angle of photo, without being solved according to step S106 to pictorial information
Analysis.In other words, only rough comparison when current live pictorial information and corresponding cleaning pictorial information being compared,
Judge whether gray scale is identical.And the comparison that step S106 is carried out is fine correlation, for determining gray haze grade.Herein first
It offers some clarification.
In the following, please continue to refer to Fig. 6-9, target area that Fig. 6 is shot when being the haze weather of shooting angle corresponding with Fig. 2
The image in domain (Wuhan Yangtze River Bridge) is converted into gray-scale map, and Fig. 7 is the histogram of R component, and Fig. 8 is the histogram of G components,
Fig. 9 is the histogram of B component.It is clear that the waveform of the histogram of this four images is almost consistent in figure.Change sentence
It talks about, in this case R, G, the correlation of the waveform of the gray-scale map of three components of B is very high.In addition, tri- components of R, G, B
Histogram across gray areas be also almost in same gray areas, this region is known as span.This four histograms have
One common feature：Lower gray level region and compared with high grade grey level region occur pixel number be zero.
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 can obtain four histograms as shown in Figure 2-5 when 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 be standard grayscale histogram, then by the base grey histogram in the case of gray haze according to its indistinctness divide not
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 determination for percentage can not have to too in the present embodiment
Accurately, it is reference with the difference degree between pixel when need to only compare base grey histogram and standard grayscale histogram
Rough classification.
Then proceed to step S107；The earth station judges whether the target area is gray haze according to the gray haze grade
Source region；
Wherein, when the gray haze grade for judging the target area is three-level indistinctness 51-100%, i.e. severe gray haze,
Then judge that the target area is gray haze source region.
Continue to execute step S108；If so, it is gray haze source region that the earth station, which marks the target area, and record
The number of the determining gray haze source region；
It should be noted that due to being to carry out a cruise shooting to several suspect regions in step S101,
By several suspect regions by target area determined by a cruise shooting it could also be possible that several, if likewise, by
Dry target area by gray haze source region determined by secondary cruise shooting it could also be possible that multiple, therefore can be in step S108
In the number of gray haze source region is recorded.
Continue to execute step S109, S110, S111 and S112 successively：When the number of the gray haze source region is more than or equal to 2
When, then the earth station obtains each described gray haze source region geographical position coordinates；The earth station is according to described in each
Gray haze source region geographical position coordinates search for nearest one of the distance corresponding to each described gray haze source region and execute end
End；Each described gray haze source region is generated a corresponding gray haze source and warned id signal by the earth station；The ground
It stands and sends the gray haze source to the execution terminal corresponding to gray haze source region described in each and warn id signal.
Specifically, the number for having been described above gray haze source region in step S108 is likely to be several, just there is two at this time
Kind situation：
The first situation, when gray haze source region number is 1, the geographical location that need to only obtain the gray haze source region at this time is sat
Then mark is searching for the execution terminal near gray haze source region, which can be administered to the gray haze source region
Environmental protection administration.Can also be the monitoring department etc. being monitored to environmental protection, 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 when 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 to that several near gray haze source region are held
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, the gray haze source warn id signal can be include the gray haze source region
Gray haze grade, the data packet of the current live pictorial information of the gray haze source region, field basic pictorial information, then by the ash
Haze source id signal of warning is sent to corresponding (distance is nearest) 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 earth station is manipulated with prompt
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 (distance is nearest) execution terminal can
By be by wireless transmission in a manner of be directly transferred to execute 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 (distance is nearest) and executes end in embodiments of the present invention
End can also be by controlling the direct flight of unmanned plane for carrying out cruise shooting for the gray haze region to corresponding (apart from recently
) 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 (distance is nearest) execution terminal generates corresponding cruise line
Road, and the straight line cruise circuit that the cruise circuit is the shortest distance so that the unmanned plane cruises flight line extremely by the straight line
Corresponding (distance is nearest) execution terminal.
Further include pair in this process likewise, in order to avoid unmanned plane hits high buildings and large mansions in straight line cruise circuit
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 executing 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 executed, if being blocked, judges from unmanned plane takeoff setting to corresponding
There are barriers in execution this straight line of terminal area position cruise circuit, obtain the barrier for blocking linear laser at this time
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 executing 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 execute 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 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 to that several near gray haze source region are held
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, the gray haze source warn id signal can be include the gray haze source region
Gray haze grade, the data packet of the current live pictorial information of the gray haze source region, field basic pictorial information, then by the ash
Haze source id signal of warning is sent to corresponding (distance is nearest) 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 earth station is manipulated with prompt
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 corresponding No.1 nearest there are one distance of No.1 gray haze source region executes terminal,
The corresponding No. two execution terminals nearest there are one distance of No. two gray haze source regions, No. three gray haze source regions it is corresponding there are one away from
From No. three nearest execution terminals, No.1 executes terminal, No. two execution terminals, No. three execution terminals and is likely to be the same execution
Terminal, it is also possible to be different execution terminal.
Likewise, by each gray haze source warn id signal be sent to corresponding (distance is nearest) execution terminal can be with
It is to be directly transferred to execute terminal by way of wireless transmission, but also will appear network transmission obstacle sometimes and can not carry out data
Transmission, therefore gray haze source id signal of warning is sent to corresponding (distance is nearest) execution terminal in embodiments of the present invention
It can also be by controlling the direct flight of unmanned plane for carrying out cruise shooting for the gray haze region to corresponding (apart from recently
) execution terminal, photographed data information band is directly back to execution terminal to realize.Specially：According to each gray haze source region
The geographical position coordinates information of the geographical position coordinates information in domain and corresponding (distance is nearest) execution terminal generates corresponding
Cruise circuit, and the straight line cruise circuit that the cruise circuit is the shortest distance so that the unmanned plane passes through straight line cruise circuit
It flies to corresponding (distance is nearest) execution terminal.
Further include pair in this process likewise, in order to avoid unmanned plane hits high buildings and large mansions in straight line cruise circuit
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 executing 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 executed, if being blocked, judges from unmanned plane takeoff setting to corresponding
There are barriers in execution this straight line of terminal area position cruise circuit, obtain the barrier for blocking linear laser at this time
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 executing 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 when flight, there is also several standard straight-lines cruise circuit has the position of intersection
Set, 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 flying to several to several gray haze source regions in this process
Execute 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, it is less than or equal to N2) standard straight-line cruises 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 executing terminal) of standard straight-line cruise circuit is connect with flight starting point
Row connection ultimately forms using the Along ent as node, is two broken lines of two endpoints with flight starting point and target endpoint, 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
Second embodiment of the present invention provides a kind of systems for warning to gray haze source, referring to Fig. 10, the system
System includes：Cruise module 201 is configured as the ground station control unmanned plane and is once patrolled to several suspect regions
It takes photo by plane and takes the photograph；Current live basis picture acquisition module 202, being configured as the earth station, to obtain several described suspect regions each
From corresponding current live pictorial information；Target area determining module 203 is configured as the earth station according to each institute
The current live pictorial information corresponding to suspect region is stated, judges whether the suspect region is target area；It is secondary to patrol
Model plane block 204 is configured as if so, the ground station control unmanned plane carries out secondary cruise shooting to the target area；
First acquisition module 205 is configured as the field basic pictorial information that the earth station obtains the target area；Gray haze grade
Determining module 206 is configured as the earth station and is parsed to the field basic pictorial information, determines the target area
Gray haze grade；Gray haze source region judgment module 207 is configured as the earth station and judges the mesh according to the gray haze grade
Mark whether region is gray haze source region；Gray haze source region mark module 208 is configured as if so, the earth station marks institute
It is gray haze source region to state target area, and records the number of the determining gray haze source region；Second acquisition module 209, by with
It is set to when the number of the gray haze source region is more than or equal to 2, then the earth station is with obtaining each gray haze source region
Manage position coordinates；Search module 210 is configured as the earth station and is sat according to gray haze source region domain geographic location described in each
Mark searches for the execution terminal of distance recently corresponding to each described gray haze source region；Identification information of warning generates mould
Block 211, is configured as the earth station each described gray haze source region is generated a corresponding gray haze source warning mark letter
Number；It warns identification information sending module 212, is configured as the earth station to holding corresponding to gray haze source region described in each
Row terminal sends the gray haze source and warns id signal.
In the embodiment of the present invention two, the secondary cruise module includes：First cruise submodule, is configured as describedly
Face station obtains the position data of target area；Second cruise submodule, is configured the earth station according to the positional number
It is believed that breath generates cruise circuit corresponding with the target area；Third cruise submodule, is configured the ground station control
Unmanned plane carries out cruise shooting according to the cruise circuit to the target area.
In the embodiment of the present invention two, the gray haze level determination module specifically includes：First gray haze grade determines submodule
Block is configured as the three primary colors data information that the earth station extracts the field basic picture；Second gray haze grade determines son
Module is configured as the earth station and makes base grey histogram according to the three primary colors data information；Third gray haze grade
Determination sub-module is configured as the earth station and compares the base grey histogram with standard grayscale histogram；The
Four gray haze grade determination sub-modules are configured as the gray haze etc. that the earth station determines the target area according to comparing result
Grade.
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 earth station
Judge that the target area is gray haze source region.
By the device that the embodiment of the present invention two is introduced, filled used by the method to implement the embodiment of the present invention one
It sets, 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 used by the method for every embodiment of the present invention one belongs to the present invention and is intended to
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 executes the computer program
Step S101, step S102, step S103, step S104, step S105, step S106 described in Shi Shixian embodiments one,
Step S107, step S108, step S109, step S110, step S111, step S112.
In specific implementation process, when processor executes computer program, any in embodiment one, 23 may be implemented
Embodiment.
It will be understood by those skilled in the art that the restriction of the not structure twin installation of apparatus structure shown in Figure 11 itself,
May 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
The processing of device 370.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 storing software program and module, and processor 370 is stored in memory 320 by operation
Software program and module, to execute various function application and the data processing of computer equipment.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
May 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 or character information of input, and generate the user with computer equipment
Setting and the related key signals input of function control.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 showing information input by user or the information and computer equipment that are supplied to 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)
To configure display panel 341.Further, keyboard 331 can cover display panel 341, when keyboard 331 detect it is on it or attached
After close 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 input and the input function of computer equipment, 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 it is not belonging to must be configured into for computer equipment, 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 running or execute the software program and/or module that are stored in memory 320, and call and be stored in
Data in memory 320 execute the various functions and processing data of computer equipment, whole 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, it is stored thereon with computer program 411, is realized described in embodiment one when which is executed by processor
Step S101, step S102, step S103, step S104, step S105, step S106, step S107, step S108, step
S109, step S110, step S111, step S112.
In specific implementation process, when which is executed by processor, embodiment one, two and may be implemented
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, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, the present invention can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (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 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
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation 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 also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing 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, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
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)
1. a kind of method warned to gray haze source based on earth station, which is characterized in that the method includes：
Ground station control unmanned plane carries out a cruise shooting to several suspect regions；
The earth station obtains several described suspect regions respectively corresponding current live pictorial information；
The earth station judges the suspicion according to the current live pictorial information corresponding to suspect region described in each
Whether region is target area；
If so, the ground station control unmanned plane carries out secondary cruise shooting to the target area；
The earth station obtains the field basic pictorial information of the target area；
The earth station parses the field basic pictorial information, determines the gray haze grade of the target area；
The earth station judges whether the target area is gray haze source region according to the gray haze grade；
If so, it is gray haze source region that the earth station, which marks the target area, and record the determining gray haze source region
Number；
When the number of the gray haze source region is more than or equal to 2, then the earth station is with obtaining each gray haze source region
Manage position coordinates；
Each described gray haze source region institute is searched for according to gray haze source region geographical position coordinates described in each by the earth station
A nearest execution terminal of corresponding distance；
The earth station, which obtains, is flown by gray haze source region described in each to the corresponding rectilinear flight course line for executing terminal；
Each described gray haze source region is generated a corresponding gray haze source and warned id signal by the earth station；
The earth station sends according to the rectilinear flight course line to the execution terminal corresponding to gray haze source region described in each
The gray haze source is warned id signal.
2. the method as described in claim 1, which is characterized in that the earth station carries out secondary cruise shooting tool to target area
Body includes：
The earth station obtains the position data of target area；
The earth station generates cruise circuit corresponding with the target area according to the position data；
The ground station control unmanned plane carries out cruise shooting according to the cruise circuit to the target area.
3. the method as described in claim 1, which is characterized in that the earth station solves the field basic pictorial information
Analysis, determines that the gray haze grade of the target area specifically includes：
The earth station extracts the three primary colors data information of the field basic picture；
Base grey histogram is made according to the three primary colors data information by the earth station；
The earth station compares the base grey histogram with standard grayscale histogram；
The earth station determines the gray haze grade of the target area according to comparing result.
4. the method as described in claim 1, it is characterised in that：
The gray haze grade includes at least following grade：Slight gray haze, moderate gray haze and severe gray haze；
The earth station judges whether the target area is that gray haze source region specifically includes according to the gray haze grade：
If the gray haze grade is severe gray haze, the earth station judges that the target area is gray haze source region.
5. a kind of system warned to gray haze source based on earth station, which is characterized in that the system comprises：
Cruise module is configured as ground station control unmanned plane and carries out a cruise shooting to several suspect regions；
Current live basis picture acquisition module, be configured as the earth station obtain several described suspect regions respectively institute it is right
The current live pictorial information answered；
Target area determining module is configured as the earth station according to described current corresponding to suspect region described in each
Photo site information judges whether the suspect region is target area；
Secondary cruise module is configured as if so, the ground station control unmanned plane carries out secondary patrol to the target area
It takes photo by plane and takes the photograph；
First acquisition module, it is the field basic pictorial information for obtaining the target area to be configured the earth station；
Gray haze level determination module is configured as the earth station and is parsed to the field basic pictorial information, determines institute
State the gray haze grade of target area；
Gray haze source region judgment module, is configured as whether the earth station judges the target area according to the gray haze grade
It is gray haze source region；
Gray haze source region mark module is configured as if so, it is gray haze source region that the earth station, which marks the target area,
And record the number of the determining gray haze source region；
Second acquisition module is configured as when the number of the gray haze source region is more than or equal to 2, then the earth station obtains every
One gray haze source region geographical position coordinates；
Search module is configured as the earth station according to gray haze source region geographical position coordinates described in each, and search is each
The execution terminal of distance recently corresponding to a gray haze source region；Acquisition is flown by gray haze source region described in each
To the corresponding rectilinear flight course line for executing terminal；
It warns identification information generation module, is configured as the earth station and each described gray haze source region is generated into a correspondence
Gray haze source warn id signal；
It warns identification information sending module, is configured as the earth station according to the rectilinear flight course line to ash described in each
Execution terminal corresponding to haze source region sends the gray haze source and warns id signal.
6. system as claimed in claim 5, which is characterized in that the secondary cruise module includes：
First cruise submodule, is configured as the position data that the earth station obtains target area；
Second cruise submodule, it is opposite with the target area according to position data generation to be configured the earth station
The cruise circuit answered；
Third cruise submodule, be configured the ground station control unmanned plane according to the cruise circuit to the target area into
Row cruise shooting.
7. system as claimed in claim 5, which is characterized in that the gray haze level determination module specifically includes：
First gray haze grade determination sub-module is configured as the three primary colors data that the earth station extracts the field basic picture
Information；
Second gray haze grade determination sub-module is configured as the earth station and makes basic ash according to the three primary colors data information
Spend histogram；
Third gray haze grade determination sub-module, is configured as the earth station base grey histogram and standard grayscale is straight
Square figure is compared；
4th gray haze grade determination sub-module is configured as the ash that the earth station determines the target area according to comparing result
Haze grade.
8. system as claimed in claim 5, it is characterised in that：
The gray haze grade includes at least following grade：Slight gray haze, moderate gray haze and severe gray haze；
The gray haze source region judgment module is additionally configured to：
If the gray haze grade is severe gray haze, the earth station judges that the target area is gray haze source region.
9. a kind of device warned to gray haze source based on earth station, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, which is characterized in that the processor realizes following step when executing described program
Suddenly：
Ground station control unmanned plane carries out a cruise shooting to several suspect regions；
The earth station obtains several described suspect regions respectively corresponding current live pictorial information；
The earth station judges the suspicion according to the current live pictorial information corresponding to suspect region described in each
Whether region is target area；
If so, the ground station control unmanned plane carries out secondary cruise shooting to the target area；
The earth station obtains the field basic pictorial information of the target area；
The earth station parses the field basic pictorial information, determines the gray haze grade of the target area；
The earth station judges whether the target area is gray haze source region according to the gray haze grade；
If so, it is gray haze source region that the earth station, which marks the target area, and record the determining gray haze source region
Number；
When the number of the gray haze source region is more than or equal to 2, then the earth station is with obtaining each gray haze source region
Manage position coordinates；
Each described gray haze source region institute is searched for according to gray haze source region geographical position coordinates described in each by the earth station
A nearest execution terminal of corresponding distance；
The earth station, which obtains, is flown by gray haze source region described in each to the corresponding rectilinear flight course line for executing terminal；
Each described gray haze source region is generated a corresponding gray haze source and warned id signal by the earth station；
The earth station sends according to the rectilinear flight course line to the execution terminal corresponding to gray haze source region described in each
The gray haze source is warned 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 when execution：
Ground station control unmanned plane carries out a cruise shooting to several suspect regions；
The earth station obtains several described suspect regions respectively corresponding current live pictorial information；
The earth station judges the suspicion according to the current live pictorial information corresponding to suspect region described in each
Whether region is target area；
If so, the ground station control unmanned plane carries out secondary cruise shooting to the target area；
The earth station obtains the field basic pictorial information of the target area；
The earth station parses the field basic pictorial information, determines the gray haze grade of the target area；
The earth station judges whether the target area is gray haze source region according to the gray haze grade；
If so, it is gray haze source region that the earth station, which marks the target area, and record the determining gray haze source region
Number；
When the number of the gray haze source region is more than or equal to 2, then the earth station is with obtaining each gray haze source region
Manage position coordinates；
Each described gray haze source region institute is searched for according to gray haze source region geographical position coordinates described in each by the earth station
A nearest execution terminal of corresponding distance；
The earth station, which obtains, is flown by gray haze source region described in each to the corresponding rectilinear flight course line for executing terminal；
Each described gray haze source region is generated a corresponding gray haze source and warned id signal by the earth station；
The earth station sends according to the rectilinear flight course line to the execution terminal corresponding to gray haze source region described in each
The gray haze source is warned id signal.
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| CN111061288A (en) * | 2018-09-28 | 2020-04-24 | 易瓦特科技股份公司 | Method and device for landing identification of aircraft based on ground station |
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