CN114285971A - Comprehensive automatic monitoring system and method for liquid transportation - Google Patents
Comprehensive automatic monitoring system and method for liquid transportation Download PDFInfo
- Publication number
- CN114285971A CN114285971A CN202111587211.6A CN202111587211A CN114285971A CN 114285971 A CN114285971 A CN 114285971A CN 202111587211 A CN202111587211 A CN 202111587211A CN 114285971 A CN114285971 A CN 114285971A
- Authority
- CN
- China
- Prior art keywords
- liquid transportation
- video data
- camera
- module
- video
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Closed-Circuit Television Systems (AREA)
- Alarm Systems (AREA)
Abstract
The invention discloses a liquid transportation comprehensive automatic monitoring system and a monitoring method thereof, relating to the technical field of liquid transportation prevention and control.A plurality of camera modules are established firstly, each camera module comprises a main camera and a first communication module, the main camera is mainly used for monitoring liquid transportation and generating video data, and the first communication module acquires video data corresponding to the main camera and sends the video data by combining the mark number of the main camera; the processing module is used for establishing and storing video data into a database, the image processing model is used for sampling the video data according to a certain time to obtain sampled image data, converting the sampled image data into a dot-matrix diagram, operating the sampled image data, judging whether the image has mutation or not according to an operation result, and the response module is used for informing a worker to perform corresponding operation. The invention relates to a comprehensive automatic monitoring system for liquid transportation and a monitoring method thereof, which have the advantages of more intelligence and good use effect.
Description
Technical Field
The invention relates to the technical field of bulk transportation prevention and control, in particular to a liquid transportation comprehensive automatic monitoring system and a monitoring method thereof.
Background
The logistics transportation technology mainly comprises two categories of transportation facilities and transportation operation, wherein the former belongs to the hard transportation technology, and the latter belongs to the soft transportation technology. The hard transportation technology mainly comprises transportation infrastructure, such as roads, railways, sea transportation, the perfection of the infrastructure of transport vehicles and the like, the soft transportation technology comprises a management method, logistics technology, logistics personnel literacy and the like, the goods in logistics transportation are various, for example, liquid transportation, liquid cargo transportation such as beverage seasonings and the like, in the liquid transportation, in order to reduce transportation loss, real-time monitoring is often required to be carried out in the transportation process, whether abnormal occurrence such as breakage and the like occurs in the liquid transportation process is judged through a monitoring mode, and therefore a liquid transportation monitoring system is required to be used.
In the existing liquid transportation monitoring system, a plurality of cameras are simply arranged in a transportation link, the liquid transportation process is monitored in real time, faults occurring in the liquid transportation link are judged manually according to monitoring video data, time and labor are wasted, the monitoring effect is poor, and therefore a new solution is necessary to be provided.
The existing liquid transportation monitoring system has the problems of time and labor waste, low intelligent degree and poor using effect, and therefore, the comprehensive automatic monitoring system and the monitoring method for liquid transportation are provided.
Disclosure of Invention
The invention mainly aims to provide a comprehensive automatic monitoring system for liquid transportation and a monitoring method thereof, which can effectively overcome the defects of time and labor waste, low intelligent degree and poor using effect in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that: a liquid transportation integrated automatic monitoring system comprises a plurality of camera modules established at important nodes in a liquid transportation link and a control system in communication connection with the camera modules, wherein the control system comprises a second communication module, a processing module and a response module;
each camera module comprises a main camera and a first communication module, the main camera is mainly used for monitoring liquid transportation and generating video data, the first communication module comprises a marking unit and a sending unit, the marking unit marks the main camera, the marks of the main cameras are mutually independent, and the sending unit acquires the video data corresponding to the main camera and sends the video data by combining the marks of the main cameras;
the processing module firstly establishes a video database, stores received video data in the video database by combining with a main camera label, establishes an image processing model, samples the video data according to a certain time by the image processing model to obtain sampled image data, converts the sampled image data into a dot matrix to obtain a sampled image matrix (A)1、A2、A3、....、AN)Subtracting the adjacent sampled image matrix, Bi＝Ai+1-Ai(i is not more than n-1) to obtain a difference matrix (B)1、B2、....、BN)Subtracting the sampled image data, and performing subtraction on each difference matrix BiThe absolute value of the array in the step (1) and a second difference matrix are obtained, the frequency P of which the numerical value is smaller than a judgment threshold value alpha is calculated, whether the image has sudden change or not is judged according to the value P, if the image has sudden change, a processing result is generated and sent to a response module, and the response module informs a worker to perform corresponding operation and stop loss in time.
Preferably, the second communication module includes a receiving unit and a sending unit, the receiving unit receives the video data sent by the sending unit and feeds the video data back to the processing module, and in the process of video data transmission, the video data signal is converted into a digital signal, and the digital signal is compressed and the compressed data is transmitted, so that the transmission efficiency is improved.
Preferably, the processing result generated by the image processing model is fed back to the sending unit and sent to the response module by the sending unit, and the sending unit mainly functions to send the processing result to the response module.
Preferably, a communication local area network is established among the sending unit under the first communication module, the receiving unit and the sending unit under the second communication module, and the response module, a TCP/IP protocol is used for data mutual transmission, and by establishing the local area network communication network, data transmission and data sharing are facilitated, and the working efficiency of the monitoring system is improved.
Preferably, the processing module performs image analysis processing on video data shot by each main camera to finally generate a processing result carrying a main camera mark, and the processing module performs comparison analysis on a plurality of processing results again to mainly find out a fault link in the whole liquid transportation link, establishes a first main monitoring camera during warehouse storage of a liquid manufacturer, establishes a second main monitoring camera during logistics transportation, establishes a third main monitoring camera during warehouse storage of a sales site, and monitors liquid monitoring objects respectively.
Preferably, the judgment threshold value in the image processing model during the second difference matrix operation is a fault occurring when the specific liquid transportation is performed in the link corresponding to the shooting of the corresponding camera, the judgment threshold value obtained by the operation mode is a frequency result value obtained by the fault occurring when the judgment threshold value beta is the same as the judgment threshold value alpha when the judgment threshold value beta is judged to be whether the mutation occurs according to the P value result, when the judgment threshold value beta is the same as the judgment threshold value alpha when the specific liquid transportation is performed in the link corresponding to the shooting of the corresponding camera, when the P value is less than or equal to beta, the mutation is determined, otherwise, the fault occurring in the liquid transportation process is determined if the picture occurs, and the judgment threshold value alpha and the comparison threshold value beta of different transportation links shot by different main cameras are different.
Preferably, the video database is used for data protection by setting a firewall and misuse protection, so that data tampering and data leakage are prevented, and misuse detection refers to detection by observing the intrusion occurrence condition according to a predefined intrusion pattern and performing pattern matching, so that the security of the database is effectively improved, and the monitoring precision of the monitoring system is improved.
A liquid transportation comprehensive automatic monitoring method comprises the following steps:
s1: shooting a video:
establishing corresponding main cameras in each important link of liquid transportation, carrying out identity marking on the main cameras, monitoring the liquid transportation by the main cameras, and shooting monitoring videos;
s2: video transmission:
transmitting the monitoring video shot by each main camera and the carried identity mark to a processing module through a first communication unit and a second communication unit;
s3: processing the video:
the processing module is used for storing the obtained monitoring video by establishing a database, then establishing an image processing model, sampling and dividing continuous video data according to time sections to obtain a single-frame dot matrix object, carrying out specific matrix subtraction operation on continuous single-frame dot matrix images, judging whether the continuous images are mutated or not by combining a comparison threshold beta and a judgment threshold alpha, and if the images are mutated, generating a processing result;
s4: in response:
and the response module informs the staff of making corresponding operation according to the processing result, and the loss is stopped in time.
Compared with the prior art, the invention has the following beneficial effects:
in the invention, corresponding main cameras are arranged in each important link of liquid transportation, the main cameras are subjected to identity marking, the main cameras monitor liquid transportation and shoot monitoring videos, the first monitoring main camera, the second monitoring main camera and the third monitoring main camera respectively shoot monitoring videos shot by manufacturers during storage, monitoring videos shot by logistics transportation and monitoring videos shot by sales outlets during storage, the three groups of monitoring videos shot by the three groups of main cameras and carried identity marks are transmitted to a processing module through a first communication unit and a second communication unit, the processing module is used for storing the obtained monitoring videos by establishing a database, the reprocessing module is used for establishing an image processing model, and the image processing model is used for carrying out image processing on video data according to certain timeSampling to obtain sampled image data, converting the sampled image data into dot matrix to obtain sampled image matrix (A)1、A2、A3、....、AN)Subtracting the adjacent sampled image matrix, Bi＝Ai+1-Ai(i is not more than n-1) to obtain a difference matrix (B)1、B2、....、BN)Subtracting the sampled image data, and performing subtraction on each difference matrix BiThe absolute value of the array in the second difference matrix is taken, the second difference matrix is calculated, the frequency P that the numerical value in the second difference matrix is smaller than the judgment threshold value alpha is calculated, whether the image has sudden change or not is judged according to the value of the P, if the image has sudden change, a processing result is generated, for example, liquid leakage of a storage bottle in the transportation process occurs, the liquid level in the storage bottle changes after a period of time, a frame image array before the change is subtracted from a frame image array after the change in the collected video data, the judgment is obtained by comparing the threshold value beta with the judgment threshold value alpha according to the sudden change of two frame images, the processing result is generated, the processing result is carried in the processing result, the liquid leakage phenomenon occurs in the link, the response module timely informs corresponding link workers of the corresponding operation according to the liquid leakage phenomenon in the flow in the processing result, and the loss is stopped in time, so that the invention can quickly check whether an accident occurs in the liquid transportation process, and when and where the accident occurs, the monitoring video system is more intelligent, manual real-time monitoring is not needed, manpower and material resources are reduced, the possibility of generating faults in the process of transporting the power liquid is greatly reduced, and the loss caused by the generation of the faults is reduced.
Drawings
FIG. 1 is a system block diagram of a comprehensive automatic monitoring system for liquid transport;
FIG. 2 is a flow chart of a method for integrated automatic monitoring of liquid transport;
fig. 3 is a flow chart of the operation of an image processing model in the method for comprehensively and automatically monitoring the liquid transportation.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1-3, the present invention relates to a comprehensive automatic monitoring system for liquid transportation, which comprises a plurality of camera modules established at important nodes in a liquid transportation link and a control system in communication connection with the camera modules, wherein the control system comprises a second communication module, a processing module and a response module;
each camera module comprises a main camera and a first communication module, the main camera is mainly used for monitoring liquid transportation and generating video data, the first communication module comprises a marking unit and a sending unit, the marking unit marks the main camera, the marks of the main cameras are mutually independent, and the sending unit acquires the video data corresponding to the main camera and sends the video data by combining the marks of the main cameras;
the processing module first establishes a video database to be receivedThe obtained video data is stored in a video database by combining with the mark number of the main camera, an image processing model is established by a processing module, the image processing model samples the video data according to a certain time to obtain sampled image data, and the sampled image data is converted into a dot matrix to obtain a sampled image matrix (A)1、A2、A3、....、AN)Subtracting the adjacent sampled image matrix, Bi＝Ai+1-Ai(i is not more than n-1) to obtain a difference matrix (B)1、B2、....、BN)Subtracting the sampled image data, and performing subtraction on each difference matrix BiThe absolute value of the array in the step (1) and a second difference matrix are obtained, the frequency P of which the numerical value is smaller than a judgment threshold value alpha is calculated, whether the image has sudden change or not is judged according to the value P, if the image has sudden change, a processing result is generated and sent to a response module, and the response module informs a worker to perform corresponding operation and stop loss in time.
The second communication module comprises a receiving unit and a sending unit, the receiving unit receives the video data sent by the sending unit and feeds the video data back to the processing module, video data signals are converted into digital signals in the video data transmission process, the digital signals are compressed, the compressed data are transmitted, and the transmission efficiency is improved.
The processing result generated by the image processing model is fed back to the sending unit and sent to the response module by the sending unit, and the sending unit is mainly used for sending the processing result to the response module.
The communication local area network is established among the sending unit under the first communication module, the receiving unit and the sending unit under the second communication module and the response module, the TCP/IP protocol is used for data transmission, the local area network communication network is established, data transmission and data sharing are more convenient, and the working efficiency of the monitoring system is improved.
The system comprises a processing module, a plurality of main cameras, a first monitoring main camera, a second monitoring main camera, a third monitoring main camera and a liquid monitoring object, wherein the processing module carries out image analysis processing on video data shot by each main camera, finally generates a processing result carrying a mark of the main camera, and carries out comparison analysis on a plurality of processing results again.
The judgment threshold value obtained through the operation mode is the judgment threshold value when the second difference matrix in the image processing model is operated when the specific liquid is transported in the corresponding link shot by the corresponding camera, the calculation mode of the comparison threshold value beta and the judgment threshold value alpha when the judgment on whether mutation occurs according to the P value result is the same, the judgment threshold value is the frequency result value obtained when the specific liquid is transported in the corresponding link shot by the corresponding camera, when the P value is less than or equal to the beta value, the mutation is determined, otherwise, the mutation occurs, if a picture occurs, the fault occurs in the liquid transportation process, and the judgment threshold value alpha and the comparison threshold value beta of different main camera shooting different transportation links are different.
The video database is used for data protection by setting a firewall and misuse protection, so that data tampering and data leakage are prevented, misuse detection refers to detection by observing the intrusion occurrence condition according to a predefined intrusion pattern and performing pattern matching, the security of the database is effectively improved, and the monitoring precision of a monitoring system is improved.
A liquid transportation comprehensive automatic monitoring method comprises the following steps:
s1: shooting a video:
the method comprises the steps that corresponding main cameras are arranged in each important link of liquid transportation, identity marking is carried out on the main cameras, the main cameras monitor the liquid transportation and shoot monitoring videos, and the first monitoring main camera, the second monitoring main camera and the third monitoring main camera respectively shoot the monitoring videos of manufacturers during storage, the monitoring videos of logistics transportation and the monitoring videos of sales outlets during storage;
s2: video transmission:
transmitting the three groups of monitoring videos shot by the three groups of main cameras and the carried identity marks to a processing module through a first communication unit and a second communication unit;
s3: processing the video:
the processing module is used for storing the obtained monitoring video by establishing a database, the processing module establishes an image processing model, the image processing model samples the video data according to a certain time to obtain sampled image data, and the sampled image data is converted into a dot matrix to obtain a sampled image matrix (A)1、A2、A3、....、AN)Subtracting the adjacent sampled image matrix, Bi＝Ai+1-Ai(i is not more than n-1) to obtain a difference matrix (B)1、B2、....、BN)Subtracting the sampled image data, and performing subtraction on each difference matrix BiThe absolute value of the array in the image processing model is obtained, a second difference matrix is obtained, the frequency P that the numerical value in the second difference matrix is smaller than a judgment threshold value alpha is calculated, whether the image has sudden change or not is judged according to the value of the P, if the image has sudden change, a processing result is generated, for example, liquid leakage of a storage bottle in the transportation process occurs, the liquid level in the storage bottle changes after a period of time, a frame image array before the change is subtracted from a frame image array after the change in the collected video data, the judgment is obtained by comparing a threshold value beta with the judgment threshold value alpha according to the sudden change of two frame images, the processing result is generated, the processing result is carried, and the liquid leakage phenomenon occurs in the process;
s4: in response:
and the response module timely informs corresponding link workers of performing corresponding operation according to the liquid leakage phenomenon in the process in the processing result, and timely stops loss.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The integrated automatic monitoring system for liquid transportation is characterized by comprising a control system which establishes a plurality of camera modules at important nodes in a liquid transportation link and is in communication connection with the camera modules, wherein the control system comprises a second communication module, a processing module and a response module;
each camera module comprises a main camera and a first communication module, the main camera is mainly used for monitoring liquid transportation and generating video data, the first communication module comprises a marking unit and a sending unit, the marking unit marks the main camera, the marks of the main cameras are mutually independent, and the sending unit acquires the video data corresponding to the main camera and sends the video data by combining the marks of the main cameras;
the processing module firstly establishes a video database, stores received video data in the video database by combining with a main camera label, establishes an image processing model, samples the video data according to a certain time by the image processing model to obtain sampled image data, converts the sampled image data into a dot matrix to obtain a sampled image matrix (A)1、A2、A3、....、AN) Subtracting the adjacent sampled image matrix, Bi＝Ai+1-Ai(i is not more than n-1) to obtain a difference matrix (B)1、B2、....、BN) Subtracting the sampled image data, and performing subtraction on each difference matrix BiThe absolute value of the array in the step (1) and a second difference matrix are obtained, the frequency P of which the numerical value is smaller than a judgment threshold value alpha is calculated, whether the image has sudden change or not is judged according to the value P, if the image has sudden change, a processing result is generated and sent to a response module, and the response module informs a worker to perform corresponding operation and stop loss in time.
2. The integrated automatic monitoring system for liquid transportation according to claim 1, wherein the second communication module comprises a receiving unit and a sending unit, the receiving unit receives the video data sent by the sending unit and feeds the video data back to the processing module.
3. The integrated automatic monitoring system for liquid transportation according to claim 2, wherein the processing result generated by the image processing model is fed back to the sending unit and sent to the response module by the sending unit.
4. The integrated automatic monitoring system for liquid transportation according to claim 2, wherein a communication local area network is established among the sending unit under the first communication module, the receiving unit and sending unit under the second communication module, and the response module, and a TCP/IP protocol is used for data transmission.
5. The integrated automatic monitoring system for liquid transportation according to claim 2, wherein the processing module performs image analysis processing on the video data shot by each main camera to finally generate a processing result carrying a main camera mark, and the processing module performs comparative analysis on a plurality of processing results again, and is mainly used for finding out a fault link in the whole liquid transportation link.
6. The integrated automatic monitoring system for liquid transportation according to claim 2, wherein the judgment threshold value in the image processing model during the second difference matrix operation is that a fault occurs when a specific liquid transportation is performed in a link corresponding to the shooting of a corresponding camera, the judgment threshold value obtained through the operation mode is that the calculation mode of the comparison threshold value β when the judgment on whether the mutation occurs according to the result of the P value is the same as the judgment threshold value α, the judgment threshold value is a frequency result value obtained when the fault occurs when the specific liquid transportation is performed in a link corresponding to the shooting of a corresponding camera, when P is less than or equal to β, the mutation is determined, otherwise, the fault occurs in the liquid transportation process if a picture occurs, and the judgment threshold value α and the comparison threshold value β in different transportation links shot by different main cameras are different.
7. The integrated automatic monitoring system for liquid transportation according to claim 2, wherein the video database is data protected by setting up a firewall and misuse protection, so as to prevent data tampering and data leakage.
8. A liquid transportation comprehensive automatic monitoring method is characterized by comprising the following steps:
s1: shooting a video:
establishing corresponding main cameras in each important link of liquid transportation, carrying out identity marking on the main cameras, monitoring the liquid transportation by the main cameras, and shooting monitoring videos;
s2: video transmission:
transmitting the monitoring video shot by each main camera and the carried identity mark to a processing module through a first communication unit and a second communication unit;
s3: processing the video:
the processing module is used for storing the obtained monitoring video by establishing a database, then establishing an image processing model, sampling and dividing continuous video data according to time sections to obtain a single-frame dot matrix object, carrying out specific matrix subtraction operation on continuous single-frame dot matrix images, judging whether the continuous images are mutated or not by combining a comparison threshold beta and a judgment threshold alpha, and if the images are mutated, generating a processing result;
s4: in response:
and the response module informs the staff of making corresponding operation according to the processing result, and the loss is stopped in time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111587211.6A CN114285971A (en) | 2021-12-23 | 2021-12-23 | Comprehensive automatic monitoring system and method for liquid transportation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111587211.6A CN114285971A (en) | 2021-12-23 | 2021-12-23 | Comprehensive automatic monitoring system and method for liquid transportation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114285971A true CN114285971A (en) | 2022-04-05 |
Family
ID=80874381
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111587211.6A Pending CN114285971A (en) | 2021-12-23 | 2021-12-23 | Comprehensive automatic monitoring system and method for liquid transportation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114285971A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115278298A (en) * | 2022-07-20 | 2022-11-01 | 北京卡拉卡尔科技股份有限公司 | Automatic video segmentation method |
-
2021
- 2021-12-23 CN CN202111587211.6A patent/CN114285971A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115278298A (en) * | 2022-07-20 | 2022-11-01 | 北京卡拉卡尔科技股份有限公司 | Automatic video segmentation method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105306925B (en) | A kind of video monitoring front end equipment monitoring system and monitoring method | |
| CN210691345U (en) | Cloud intelligence safety inspection auxiliary system based on degree of depth learning | |
| CN202101699U (en) | Vehicular cold chain supervisory system | |
| CN104242459B (en) | Transformer station's real-time monitoring analyzing system and method thereof | |
| CN104495549B (en) | Elevator maintenance monitoring system and monitoring method | |
| CN105529831B (en) | A kind of secondary equipment of intelligent converting station failure Computer Aided Analysis System | |
| CN101790081B (en) | Link alarm video monitoring integrated information centralized management system and control method thereof | |
| CN103217937B (en) | A kind of distribution substation room monitoring system | |
| CN110807460B (en) | Transformer substation intelligent patrol system based on image recognition and application method thereof | |
| CN107730647A (en) | A kind of smart mobile phone cruising inspection system and its method for inspecting based on SCADA | |
| CN114285971A (en) | Comprehensive automatic monitoring system and method for liquid transportation | |
| CN107918366A (en) | A kind of method for safety monitoring and system based on Internet of Things | |
| CN112804106A (en) | Intelligent operation and maintenance fault diagnosis and management method based on IMS | |
| CN112286090A (en) | Front-end electronic equipment fault detection and intelligent maintenance application management system | |
| CN103310499A (en) | Routing inspection system of communication device | |
| CN109816904B (en) | Intelligent container image wind control system | |
| CN113611003A (en) | Intelligent robot for machine room inspection | |
| CN116866512A (en) | Photovoltaic power station inspection system and operation method thereof | |
| CN102355575A (en) | Distributed video monitoring device with pre-warning function | |
| CN112702568B (en) | Abnormality detection method and related device | |
| CN112260402B (en) | Monitoring method for state of intelligent substation inspection robot based on video monitoring | |
| CN201601789U (en) | Linkage alarm and video monitoring integrated information centralized management system | |
| CN112947585A (en) | Power grid unmanned aerial vehicle inspection method, device and system based on 5G cloud edge-end cooperation | |
| CN107945558A (en) | It is a kind of that path method and system are seen based on Big Dipper location-based service | |
| CN114973772B (en) | Ship collision early warning system and method based on unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |