CN115952249A - Grain depot data processing method based on tensor - Google Patents
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Abstract
本发明实施例提供了一种基于张量的粮库数据处理方法。基于张量的粮库数据处理方法包括:根据时间系和粮库库区坐标系构建张量基底;通过所述张量基底对时间索引数据和库区坐标索引数据进行处理,得到时间系存储数据和粮库库区坐标系存储数据;按照预设组合方式对所述时间系存储数据和所述粮库库区坐标系存储数据进行处理,得到处理后的粮库数据。通过上述步骤,可以降低建模成本提高模型处理准确度,并与粮储业务产生强关联,辅助业务作业。
The embodiment of the present invention provides a tensor-based grain depot data processing method. The tensor-based grain depot data processing method includes: constructing a tensor base according to the time system and the coordinate system of the grain depot area; processing the time index data and the coordinate index data of the depot area through the tensor base to obtain the time system storage data storing data in the coordinate system of the grain depot area; and processing the data stored in the time system and the coordinate system of the grain depot area according to a preset combination method to obtain processed grain depot data. Through the above steps, the cost of modeling can be reduced, the accuracy of model processing can be improved, and it can be strongly associated with the grain storage business to assist business operations.
Description
技术领域technical field
本发明实施例涉及粮库数据处理领域,尤其涉及一种基于张量的粮库数据处理方法。The embodiments of the present invention relate to the field of grain depot data processing, in particular to a tensor-based grain depot data processing method.
背景技术Background technique
随着科技水平的不断提升,更多新兴技术被运用于传统行业。在粮食仓储行业中,运用数字孪生概念,通过计算机视觉、激光雷达、遥感技术等较为成熟的科技手段对库区进行数字建模的案例层出不穷。With the continuous improvement of the level of science and technology, more emerging technologies are applied to traditional industries. In the grain storage industry, there are endless cases of digital modeling of storage areas using the concept of digital twins and more mature technological means such as computer vision, laser radar, and remote sensing technology.
但实际应用效果并不明显且建模成本高准确性一般,数字模型也无法与实际发生的粮储业务产生强关联并辅助业务作业流程。However, the actual application effect is not obvious and the modeling cost is high and the accuracy is average, and the digital model cannot have a strong correlation with the actual grain storage business and assist the business operation process.
发明内容Contents of the invention
有鉴于此,本发明实施例提供一种基于张量的粮库数据处理方法,以至少部分解决上述问题。In view of this, an embodiment of the present invention provides a tensor-based grain depot data processing method to at least partly solve the above problems.
根据本发明实施例的第一方面,提供了一种基于张量的粮库数据处理方法,包括:根据时间系和粮库库区坐标系构建张量基底;通过所述张量基底对时间索引数据和库区坐标索引数据进行处理,得到时间系存储数据和粮库库区坐标系存储数据;按照预设组合方式对所述时间系存储数据和所述粮库库区坐标系存储数据进行处理,得到处理后的粮库数据。According to the first aspect of an embodiment of the present invention, a tensor-based grain depot data processing method is provided, including: constructing a tensor base according to the time system and the coordinate system of the grain depot area; indexing time through the tensor base Processing the data and the coordinate index data of the storage area to obtain the storage data in the time system and the storage data in the coordinate system of the grain storage area; and processing the storage data in the time system and the storage data in the coordinate system of the grain storage area according to a preset combination method , to get the processed grain depot data.
在本发明的另一实现方式中,所述通过所述张量基底对时间索引数据和库区坐标索引数据进行处理,得到时间系存储数据和粮库库区坐标系存储数据,包括:对时间数据进行索引处理,得到时间索引数据;对库区坐标数据进行索引处理,得到库区坐标索引数据;分别将所述时间索引数据和所述库区坐标索引数据储存至所述张量基底中的时间系和粮库库区坐标系,得到时间系存储数据和粮库库区坐标系存储数据。In another implementation of the present invention, the processing of the time index data and the coordinate index data of the storage area through the tensor base to obtain the storage data in the time system and the storage data in the coordinate system of the grain depot area includes: performing index processing on the data to obtain time index data; performing index processing on the coordinate data of the storage area to obtain coordinate index data of the storage area; respectively storing the time index data and the coordinate index data of the storage area into the tensor base The time system and the coordinate system of the grain depot area are used to obtain the data stored in the time system and the coordinate system of the grain depot area.
在本发明的另一实现方式中,所述按照预设组合方式对所述时间系存储数据和所述粮库库区坐标系存储数据进行处理,得到处理后的粮库数据,包括:对所述时间系存储数据和所述粮库库区坐标系存储数据按照预设业务属性进行分类处理,得到预设分类数据;对所述预设分类数据按照预设组合方式进行重组处理,得到处理后的粮库数据。In another implementation manner of the present invention, the processing of the stored data in the time system and the stored data in the coordinate system of the grain depot area according to a preset combination method to obtain the processed grain depot data includes: The stored data in the time system and the stored data in the coordinate system of the grain depot area are classified and processed according to the preset business attributes to obtain the preset classified data; the preset classified data are reorganized according to the preset combination method to obtain the processed grain depot data.
在本发明的另一实现方式中,所述方法还包括:通过所述张量基底对地理位置索引数据、行动轨迹索引数据、视频索引数据、红外光谱索引数据、温湿度索引数据、气体检测索引数据进行处理,得到地理位置系存储数据、行动轨迹系存储数据、视频系存储数据、红外光谱系存储数据、温湿度系存储数据、气体检测系存储数据;按照预设组合方式对所述地理位置系存储数据、行动轨迹系存储数据、视频系存储数据、红外光谱系存储数据、温湿度系存储数据、气体检测系存储数据、时间系存储数据和所述粮库库区坐标系存储数据进行处理,得到处理后的粮库数据。In another implementation of the present invention, the method further includes: using the tensor base to index data for geographic location, index data for action track, index data for video, index data for infrared spectrum, index data for temperature and humidity, and index data for gas detection. The data is processed to obtain the storage data of the geographic location system, the storage data of the action track system, the storage data of the video system, the storage data of the infrared spectrum system, the storage data of the temperature and humidity system, and the storage data of the gas detection system; System storage data, action track system storage data, video system storage data, infrared spectrum system storage data, temperature and humidity system storage data, gas detection system storage data, time system storage data and the grain depot area coordinate system storage data for processing , to get the processed grain depot data.
在本发明的另一实现方式中,所述方法还包括:对粮库库区的定位坐标数据进行处理,得到地理位置数据;对所述地理位置数据进行索引处理,得到地理位置索引数据。In another implementation manner of the present invention, the method further includes: processing the positioning coordinate data of the grain depot area to obtain geographic location data; indexing the geographic location data to obtain geographic location index data.
在本发明的另一实现方式中,所述方法还包括:通过轨迹绘制系统获取被感知目标在粮库库区内的移动轨迹;对所述移动轨迹进行分析处理,得到移动轨迹图和移动过程数据;对所述移动轨迹图和所述移动过程数据进行索引处理,得到行动轨迹索引数据。In another implementation of the present invention, the method further includes: obtaining the movement trajectory of the perceived target in the grain depot area through the trajectory drawing system; analyzing and processing the movement trajectory to obtain the movement trajectory diagram and the movement process data; performing indexing processing on the moving track diagram and the moving process data to obtain action track index data.
在本发明的另一实现方式中,所述方法还包括:对粮仓仓内温湿度、粮堆内温湿度、仓外温湿度进行分层测量,得到粮库多层级温湿度云图数据;对所述粮库多层级温湿度云图数据进行索引处理,得到温湿度索引数据。In another implementation of the present invention, the method further includes: performing layered measurement of the temperature and humidity inside the granary, the temperature and humidity inside the grain pile, and the temperature and humidity outside the granary to obtain multi-level temperature and humidity cloud image data of the granary; Index processing is performed on the multi-level temperature and humidity cloud image data of the grain depot to obtain the temperature and humidity index data.
根据本发明实施例的第二方面,提供了一种基于张量的粮库数据处理装置,包括:模型构建模块,用于根据时间系和粮库库区坐标系构建张量基底;模型处理模块,用于通过所述张量基底对时间索引数据和库区坐标索引数据进行处理,得到时间系存储数据和粮库库区坐标系存储数据;组合处理模块,用于按照预设组合方式对所述时间系存储数据和所述粮库库区坐标系存储数据进行处理,得到处理后的粮库数据。According to a second aspect of an embodiment of the present invention, a tensor-based grain depot data processing device is provided, including: a model building module for constructing a tensor base according to the time system and the coordinate system of the grain depot area; a model processing module is used to process the time index data and the coordinate index data of the storage area through the tensor base to obtain the storage data in the time system and the storage data in the coordinate system of the grain depot area; the combined processing module is used to process the stored data in a preset combination mode The data stored in the time system and the stored data in the coordinate system of the grain depot area are processed to obtain the processed grain depot data.
根据本发明实施例的第三方面,提供了一种电子设备,包括:处理器、存储器、通信接口和通信总线,处理器、存储器和通信接口通过通信总线完成相互间的通信;存储器用于存放至少一可执行指令,可执行指令使处理器执行如第一方面所述的方法对应的操作。According to a third aspect of the embodiments of the present invention, an electronic device is provided, including: a processor, a memory, a communication interface, and a communication bus, and the processor, the memory, and the communication interface complete mutual communication through the communication bus; the memory is used to store At least one executable instruction, the executable instruction causes the processor to perform operations corresponding to the method described in the first aspect.
根据本发明实施例的第四方面,提供了一种计算机存储介质,其上存储有计算机程序,该程序被处理器执行时实现如第一方面所述的方法。According to a fourth aspect of the embodiments of the present invention, there is provided a computer storage medium, on which a computer program is stored, and when the program is executed by a processor, the method as described in the first aspect is implemented.
在本发明实施例的方案中,根据时间系和粮库库区坐标系构建张量基底;通过所述张量基底对时间索引数据和库区坐标索引数据进行处理,得到时间系存储数据和粮库库区坐标系存储数据;按照预设组合方式对所述时间系存储数据和所述粮库库区坐标系存储数据进行处理,得到处理后的粮库数据。通过上述步骤,可以降低建模成本提高模型处理准确度,并与粮储业务产生强关联,辅助业务作业。In the solution of the embodiment of the present invention, the tensor base is constructed according to the time system and the coordinate system of the grain storage area; the time index data and the coordinate index data of the storage area are processed through the tensor base to obtain the time system storage data and storing data in the coordinate system of the warehouse area; processing the data stored in the time system and the data stored in the coordinate system of the grain warehouse area according to a preset combination method to obtain processed grain warehouse data. Through the above steps, the cost of modeling can be reduced, the accuracy of model processing can be improved, and it can be strongly associated with the grain storage business to assist business operations.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明实施例中记载的一些实施例,对于本领域普通技术人员来讲,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments described in the embodiments of the present invention, and those skilled in the art can also obtain other drawings based on these drawings.
图1为根据本发明的一个实施例的基于张量的粮库数据处理方法的步骤流程图。Fig. 1 is a flow chart of steps of a tensor-based grain depot data processing method according to an embodiment of the present invention.
图2为根据本发明的一个实施例的基于张量的粮库数据处理方法的示意图。Fig. 2 is a schematic diagram of a tensor-based grain depot data processing method according to an embodiment of the present invention.
图3为根据本发明的一个实施例的基于张量的粮库数据处理装置的示意性框图。Fig. 3 is a schematic block diagram of a tensor-based grain depot data processing device according to an embodiment of the present invention.
图4为根据本发明的一个实施例的电子设备的结构示意图。Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
具体实施方式Detailed ways
为了使本领域的人员更好地理解本发明实施例中的技术方案,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、详细地描述,显然,所描述的实施例仅是本发明实施例一部分实施例,而不是全部的实施例。基于本发明实施例中的实施例,本领域普通技术人员所获得的所有其他实施例,都应当属于本发明实施例保护的范围。In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and detailedly described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, but not all of them. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the embodiments of the present invention shall fall within the protection scope of the embodiments of the present invention.
应当理解,本披露的权利要求、说明书及附图中的术语“第一”、“第二”和“第三”等是用于区别不同对象,而不是用于描述特定顺序。本披露的说明书和权利要求书中使用的术语“包括”和“包含”指示所描述特征、整体、步骤、操作、元素和/或组件的存在,但并不排除一个或多个其它特征、整体、步骤、操作、元素、组件和/或其集合的存在或添加。It should be understood that the terms "first", "second" and "third" in the claims, specification and drawings of the present disclosure are used to distinguish different objects, rather than to describe a specific sequence. The terms "comprising" and "comprises" used in the specification and claims of this disclosure indicate the presence of described features, integers, steps, operations, elements and/or components, but do not exclude one or more other features, integers , steps, operations, elements, components, and/or the presence or addition of collections thereof.
还应当理解,在此本披露说明书中所使用的术语仅仅是出于描述特定实施例的目的,而并不意在限定本披露。如在本披露说明书和权利要求书中所使用的那样,除非上下文清楚地指明其它情况,否则单数形式的“一”、“一个”及“该”意在包括复数形式。还应当进一步理解,在本披露说明书和权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合,并且包括这些组合。It should also be understood that the terminology used in this disclosure description is for the purpose of describing specific embodiments only, and is not intended to limit the present disclosure. As used in this disclosure and the claims, the singular forms "a", "an" and "the" are intended to include plural referents unless the context clearly dictates otherwise. It should also be further understood that the term "and/or" used in the present disclosure and the claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.
图1示出了本发明的一个实施例的基于张量的粮库数据处理方法的示例性流程。本实施例的基于张量的粮库数据处理方法包括:Fig. 1 shows an exemplary flow of a tensor-based grain depot data processing method according to an embodiment of the present invention. The tensor-based grain depot data processing method of the present embodiment includes:
S110:根据时间系和粮库库区坐标系构建张量基底。S110: Construct a tensor base according to the time system and the coordinate system of the grain storage area.
需要说明的是,此处的张量(Tensor)是一个定义在一些向量空间和一些对偶空间的笛卡尔积上的多重线性映射,张量概念包括标量、向量和线性算子。张量可以用坐标系统来表达。张量基底基于时间系和粮库库区坐标系形成的2D张量框架进行构建。张量基底的轴代表张量基底的感知系,简称张量基底的系。在此基础上对张量基底扩展新的张量系,需要对新的张量系进行数字化、虚拟化和模型化。需要说明的是此处的粮库库区坐标也可表示为库区坐标。It should be noted that the tensor here is a multiple linear map defined on the Cartesian product of some vector spaces and some dual spaces. The tensor concept includes scalars, vectors and linear operators. Tensors can be expressed in coordinate systems. The tensor base is constructed based on the 2D tensor framework formed by the time system and the coordinate system of the grain depot area. The axis of the tensor basis represents the perception frame of the tensor basis, referred to as the system of the tensor basis. On this basis, to extend the tensor base to a new tensor system, it is necessary to digitize, virtualize and model the new tensor system. It should be noted that the coordinates of the grain storage area here can also be expressed as the coordinates of the storage area.
S120:通过所述张量基底对时间索引数据和库区坐标索引数据进行处理,得到时间系存储数据和粮库库区坐标系存储数据。S120: Process the time index data and the warehouse area coordinate index data through the tensor base to obtain the time system storage data and the grain depot area coordinate system storage data.
S130:按照预设组合方式对所述时间系存储数据和所述粮库库区坐标系存储数据进行处理,得到处理后的粮库数据。S130: Process the stored data in the time system and the stored data in the coordinate system of the grain depot area according to a preset combination method to obtain processed grain depot data.
在本发明实施例的方案中,根据时间系和粮库库区坐标系构建张量基底;通过所述张量基底对时间索引数据和库区坐标索引数据进行处理,得到时间系存储数据和粮库库区坐标系存储数据;按照预设组合方式对所述时间系存储数据和所述粮库库区坐标系存储数据进行处理,得到处理后的粮库数据。通过上述步骤,可以降低建模成本提高模型处理准确度,并与粮储业务产生强关联,辅助业务作业。In the solution of the embodiment of the present invention, the tensor base is constructed according to the time system and the coordinate system of the grain storage area; the time index data and the coordinate index data of the storage area are processed through the tensor base to obtain the time system storage data and storing data in the coordinate system of the warehouse area; processing the data stored in the time system and the data stored in the coordinate system of the grain warehouse area according to a preset combination method to obtain processed grain warehouse data. Through the above steps, the cost of modeling can be reduced, the accuracy of model processing can be improved, and it can be strongly associated with the grain storage business to assist business operations.
在一种可能的实现方式中,所述通过所述张量基底对时间索引数据和库区坐标索引数据进行处理,得到时间系存储数据和粮库库区坐标系存储数据,包括:对时间数据进行索引处理,得到时间索引数据;对库区坐标数据进行索引处理,得到库区坐标索引数据;分别将所述时间索引数据和所述库区坐标索引数据储存至所述张量基底中的时间系和粮库库区坐标系,得到时间系存储数据和粮库库区坐标系存储数据。In a possible implementation manner, the processing of time index data and storage area coordinate index data through the tensor basis to obtain time system storage data and grain depot area coordinate system storage data includes: processing time data Perform index processing to obtain time index data; perform index processing on the coordinate data of the storage area to obtain coordinate index data of the storage area; store the time index data and the coordinate index data of the storage area into the tensor base respectively system and the coordinate system of the grain depot area to obtain the data stored in the time system and the coordinate system of the grain depot area.
需要说明的是,可以对时间系和粮库库区坐标系进行数字化、虚拟化、模型化处理,再将时间数据和库区坐标数据进行数据索引处理,将索引数据存入张量基底中对应的系。It should be noted that the time system and the coordinate system of the grain storage area can be digitized, virtualized, and modeled, and then the time data and the coordinate data of the storage area can be indexed, and the index data can be stored in the tensor base corresponding to department.
可选地,可以对张量基底中时间系存储数据和粮库库区坐标系存储数据进行检查,实现对粮食仓储的各类业务场景的数据完善。Optionally, the data stored in the time system in the tensor base and the data stored in the coordinate system of the grain depot area can be checked to achieve data perfection for various business scenarios of grain storage.
在一种可能的实现方式中,所述按照预设组合方式对所述时间系存储数据和所述粮库库区坐标系存储数据进行处理,得到处理后的粮库数据,包括:对所述时间系存储数据和所述粮库库区坐标系存储数据按照预设业务属性进行分类处理,得到预设分类数据;对所述预设分类数据按照预设组合方式进行重组处理,得到处理后的粮库数据。In a possible implementation manner, the processing of the stored data in the time system and the stored data in the coordinate system of the grain depot area according to a preset combination method to obtain the processed grain depot data includes: The data stored in the time system and the stored data in the coordinate system of the grain depot area are classified and processed according to the preset business attributes to obtain the preset classified data; the preset classified data are reorganized according to the preset combination method to obtain the processed Grain data.
需要说明的是,通过将按照预设业务属性进行分类处理后,得到预设分类数据,对所述预设分类数据按照预设组合方式进行重组处理,得到处理后的粮库数据。可以实现业务交叉与感知维度交叉相融合,从而达到利用科技手段,辅助监督、辅导作业进而逐步实现智能化作业、无人作业等更高的行业发展目标,覆盖粮仓全流程全要素,为各类智能化系统提供必要的底层支撑和多维数据支撑。It should be noted that the preset classification data is obtained after classification processing according to the preset business attributes, and the preset classification data is reorganized according to the preset combination method to obtain the processed grain depot data. It can realize the integration of business intersection and perception dimension intersection, so as to achieve the use of scientific and technological means to assist supervision and tutoring operations, and gradually realize higher industry development goals such as intelligent operation and unmanned operation, covering the whole process and all elements of the granary. The intelligent system provides the necessary underlying support and multi-dimensional data support.
在一种可能的实现方式中,所述方法还包括:通过所述张量基底对地理位置索引数据、行动轨迹索引数据、视频索引数据、红外光谱索引数据、温湿度索引数据、气体检测索引数据进行处理,得到地理位置系存储数据、行动轨迹系存储数据、视频系存储数据、红外光谱系存储数据、温湿度系存储数据、气体检测系存储数据;按照预设组合方式对所述地理位置系存储数据、行动轨迹系存储数据、视频系存储数据、红外光谱系存储数据、温湿度系存储数据、气体检测系存储数据、时间系存储数据和所述粮库库区坐标系存储数据进行处理,得到处理后的粮库数据。In a possible implementation manner, the method further includes: using the tensor base to index data of geographic location, index data of action track, index data of video, index data of infrared spectrum, index data of temperature and humidity, index data of gas detection Perform processing to obtain the stored data of the geographic location system, the stored data of the action track system, the stored data of the video system, the stored data of the infrared spectrum system, the stored data of the temperature and humidity system, and the stored data of the gas detection system; Store data, action track system storage data, video system storage data, infrared spectrum system storage data, temperature and humidity system storage data, gas detection system storage data, time system storage data and the grain depot area coordinate system storage data for processing, Get the processed grain depot data.
需要说明的是,通过将时间、库区坐标、地理位置(绝对坐标)、行动轨迹、视频、红外光谱、温湿度、气体检测等感知系进行数字化、虚拟化和模型化;任一感知系作为张量的一轴,因此张量中的每一轴,都代表运用特定技术手段,对粮库内的一种环境因素进行感知,并收集相关数据。通过建立张量基底,可以实现对粮库环境感知的数字化,使粮库环境可被计算机感知,从而服务于其他信息化、智能化系统。It should be noted that by digitizing, virtualizing and modeling perception systems such as time, reservoir area coordinates, geographic location (absolute coordinates), action trajectory, video, infrared spectrum, temperature and humidity, and gas detection; One axis of the tensor, so each axis in the tensor represents the use of specific technical means to sense an environmental factor in the grain depot and collect relevant data. By establishing a tensor base, the digitization of the perception of the grain depot environment can be realized, so that the grain depot environment can be perceived by the computer, thereby serving other information and intelligent systems.
在一种可能的实现方式中,所述方法还包括:对粮库库区的定位坐标数据进行处理,得到地理位置数据;对所述地理位置数据进行索引处理,得到地理位置索引数据。In a possible implementation manner, the method further includes: processing the positioning coordinate data of the grain depot area to obtain geographic location data; indexing the geographic location data to obtain geographic location index data.
需要说明的是,地理位置数据可以通过北斗、GPS等定位系统获取绝对位置对库区的目标进行坐标描述。可选地,对于地理位置数据,可以对粮库库区内的基础设施进行位置标定,根据绝对位置与库内坐标系建立粮库数字沙盘,建立数字维度的粮库库内场景微缩景观。It should be noted that the geographic location data can obtain the absolute position through positioning systems such as Beidou and GPS to describe the coordinates of the targets in the reservoir area. Optionally, for the geographic location data, the location of the infrastructure in the grain depot area can be calibrated, and the digital sand table of the grain depot can be established according to the absolute position and the internal coordinate system of the grain depot, and a miniature landscape of the scene in the grain depot can be established in the digital dimension.
在一种可能的实现方式中,所述方法还包括:通过轨迹绘制系统获取被感知目标在粮库库区内的移动轨迹;对所述移动轨迹进行分析处理,得到移动轨迹图和移动过程数据;对所述移动轨迹图和所述移动过程数据进行索引处理,得到行动轨迹索引数据。In a possible implementation, the method further includes: obtaining the movement trajectory of the perceived target in the grain depot area through a trajectory drawing system; analyzing and processing the movement trajectory to obtain a movement trajectory diagram and movement process data ; Indexing the movement trajectory graph and the movement process data to obtain action trajectory index data.
需要说明的是,可以通过轨迹绘制系统获取被感知目标在库区内移动的轨迹,以此记录车辆目标进行入库作业、巡查人员进行巡仓作业时的作业轨迹并进行记录,得到移动过程数据以及移动轨迹图。此处的移动轨迹也可表述为行动轨迹。It should be noted that the trajectory of the perceived target moving in the warehouse area can be obtained through the trajectory drawing system, so as to record the operation trajectory of the vehicle target when it enters the warehouse, and the inspectors perform warehouse patrol operations, and obtain the moving process data. and movement trajectory diagrams. The moving trajectory here can also be expressed as an action trajectory.
可选地,对于行动轨迹数据,通过记录各类如出入库作业中粮食转运机械的行进轨迹和巡检作业中巡视人员的行进轨迹等,与粮库数字沙盘结合,形成粮食仓储作业轨迹网,实现对轨迹赋予业务和库内地理信息特征。Optionally, for the action trajectory data, by recording various types of trajectories such as the trajectories of grain transfer machinery during inbound and outbound operations and the trajectories of inspectors during inspection operations, etc., it is combined with the digital sand table of the grain depot to form a grain storage operation trajectory network. Realize the endowment of business and library geographical information features to the track.
在一种可能的实现方式中,所述方法还包括:对粮仓仓内温湿度、粮堆内温湿度、仓外温湿度进行分层测量,得到粮库多层级温湿度云图数据;对所述粮库多层级温湿度云图数据进行索引处理,得到温湿度索引数据。In a possible implementation, the method further includes: performing layered measurement of the temperature and humidity inside the granary, the temperature and humidity inside the grain pile, and the temperature and humidity outside the granary to obtain multi-level temperature and humidity cloud image data of the granary; The multi-level temperature and humidity cloud map data of the grain depot is indexed to obtain the temperature and humidity index data.
需要说明的是,可以通过粮库气象站,对仓内温湿度、粮堆内温湿度、仓外温湿度进行分层测量,得到粮库多层级温湿度数据云图,进而完整描绘库区内各场景中的温湿度数据。It should be noted that the temperature and humidity inside the warehouse, the temperature and humidity inside the grain pile, and the temperature and humidity outside the warehouse can be measured hierarchically through the weather station of the grain depot, and the multi-level temperature and humidity data cloud map of the grain depot can be obtained, so as to completely describe the temperature and humidity of each area in the depot area. The temperature and humidity data in the scene.
可选地,通过摄像头获取视频流,并处理得到仓内视频、过道视频分类数据;根据计算机视觉算法对预设训练模型进行训练,得到的粮库目标识别模型;根据粮库目标识别模型对输粮机、扒谷机等储粮机械目标进行识别,获取目标结构化、实体流数据;对所述仓内视频、过道视频分类数据和所述目标结构化、实体流数据进行索引处理,得到视频索引数据。Optionally, the video stream is obtained through the camera, and processed to obtain the classification data of the video in the warehouse and the aisle video; the preset training model is trained according to the computer vision algorithm, and the obtained grain depot target recognition model is obtained; according to the grain depot target recognition model, the input Identify the targets of grain storage machinery, such as grain machines and grain raking machines, and obtain target structured and entity stream data; perform index processing on the warehouse video, aisle video classification data and the target structured and entity stream data to obtain video index data.
需要说明的是,对于视频数据,可以通过计算机视觉算法结合粮食仓储相关目标素材,进行深度训练得到的粮食机械与特定目标的目标识别模型,对库区内各类移动和静止的目标进行智能化的识别和抓取,使视频数据结构化,提高视频数据在粮食行业内的可用性。此外,红外光谱雷达可以对粮食生虫、霉变时会发出的特定波长的红外线进行监测并调度视频系统对其状态进行进一步记录。It should be noted that for video data, computer vision algorithms can be combined with grain storage-related target materials to carry out in-depth training on grain machinery and target recognition models for specific targets to intelligentize various moving and stationary targets in the storage area. The identification and capture of video data can be structured to improve the usability of video data in the grain industry. In addition, the infrared spectrum radar can monitor the infrared rays of specific wavelengths emitted when the food is infested with insects and mildew, and dispatch the video system to further record its status.
可选地,通过光谱雷达,对预设波长的光进行光谱扫描,得到粮库库区内指定位置的光谱数据;对所述光谱数据进行索引处理,得到红外光谱索引数据。Optionally, spectral scanning is performed on light with a preset wavelength through spectral radar to obtain spectral data at a specified location in the grain depot area; index processing is performed on the spectral data to obtain infrared spectral index data.
可选地,通过粮库物联网集成终端以及布设的粮食气体检测无线传感器网络,对预设气体种类,如磷化氢、硫化氢等,进行浓度检测和以及常规气体种类存在性检测,得到气体检测数据;对所述气体检测数据进行索引处理,得到气体检测索引数据。Optionally, through the integrated terminal of the grain depot Internet of Things and the deployed wireless sensor network for grain gas detection, the concentration detection and the presence detection of conventional gas types are performed on preset gas types, such as phosphine and hydrogen sulfide, to obtain gas detection data; performing index processing on the gas detection data to obtain gas detection index data.
优选地,可以通过如下算法对张量基底中的索引数据进行处理,得到存储数据:T粮库=((((((((t时间系,t库区坐标系,t地理位置系,t行动轨迹系,t视频系,t红外光谱系,t温湿度系,t气体检测系)))))))),其中,t视频系=(t过道视频系,t仓内视频系),t温湿度系=(t仓内温湿度系,t堆内温湿度系,t仓外温湿度系)。通过对张量基底每个系所存储的特定数据赋予业务属性后,进行特定组合,可以解决行业中的实际问题。Preferably, the index data in the tensor base can be processed by the following algorithm to obtain stored data: T grain depot=(((((((t time system, t warehouse area coordinate system, t geographic location system, t Action track system, t video system, t infrared spectrum system, t temperature and humidity system, t gas detection system))))))), wherein, t video system=(t corridor video system, t storehouse video system), t temperature and humidity system = (temperature and humidity system inside t warehouse, temperature and humidity system inside t pile, temperature and humidity system outside t warehouse). By assigning business attributes to the specific data stored in each department of the tensor base and performing specific combinations, practical problems in the industry can be solved.
示例地,如图2所示的粮库业务行为视频数据处理过程,以时间系与库区坐标系数据组成的2D基底坐标系,在此基础上每一组视频系存储数据和行动轨迹系存储数据进行数据重组处理,即虚线,每个红色虚线的重组数据的集合即为业务行为视频数据重组数据集,最后加以技术整合即可得到处理后的粮库数据。As an example, the video data processing process of the grain depot business behavior shown in Figure 2 uses a 2D base coordinate system composed of the time system and the warehouse area coordinate system data. On this basis, each group of video systems stores data and action trajectory systems. The data undergoes data reorganization processing, that is, the dotted line, and the set of reorganized data of each red dotted line is the business behavior video data reorganization data set, and finally the processed grain depot data can be obtained by technical integration.
具体地,通过取出T粮库中的t时间,t库区坐标系,t行动轨迹,t视频四个维度的数据,通过t时间,t库区坐标系将t行动轨迹,t视频中的过道视频数据与仓内视频数据关联,用行动轨迹的数据重组视频的数据,来生成重组数据集,即可得到粮库业务行为视频数据,最后加以技术整合即可得到处理后的粮库数据。Specifically, by taking out t time, t storage area coordinate system, t action trajectory, and t video data in the T grain depot, through t time, t storage area coordinate system, t action trajectory, t aisle in the video The video data is associated with the video data in the warehouse, and the video data is reorganized with the action track data to generate a reorganized data set, and the video data of the grain depot business behavior can be obtained, and finally the processed grain depot data can be obtained by technical integration.
图3为根据本发明的另一实施例的基于张量的粮库数据处理装置的示意性框图。本发明实施例的方案可以应用于电子设备,包括但不限于:具有通信功能的终端设备或具有交互行为能力的电子设备等。Fig. 3 is a schematic block diagram of a tensor-based grain depot data processing device according to another embodiment of the present invention. The solutions of the embodiments of the present invention can be applied to electronic devices, including but not limited to: terminal devices with communication functions or electronic devices with interactive behavior capabilities.
本实施例的基于张量的粮库数据处理装置,包括:模型构建模块310,用于根据时间系和粮库库区坐标系构建张量基底;模型处理模块320,用于通过所述张量基底对时间索引数据和库区坐标索引数据进行处理,得到时间系存储数据和粮库库区坐标系存储数据;组合处理模块330,用于按照预设组合方式对所述时间系存储数据和所述粮库库区坐标系存储数据进行处理,得到处理后的粮库数据。。The tensor-based grain depot data processing device of the present embodiment includes: a model building module 310, which is used to construct a tensor base according to the time system and the coordinate system of the grain depot area; a model processing module 320, which is used to pass the tensor The base processes the time index data and the warehouse area coordinate index data to obtain the time system storage data and the grain depot area coordinate system storage data; the combination processing module 330 is used to combine the time system storage data and the stored data according to the preset combination method Process the data stored in the coordinate system of the grain depot area described above to obtain the processed grain depot data. .
在另一些示例中,模型处理模块,具体用于:对时间数据进行索引处理,得到时间索引数据;对库区坐标数据进行索引处理,得到库区坐标索引数据;分别将所述时间索引数据和所述库区坐标索引数据储存至所述张量基底中的时间系和粮库库区坐标系,得到时间系存储数据和粮库库区坐标系存储数据。In some other examples, the model processing module is specifically used to: perform index processing on time data to obtain time index data; perform index processing on reservoir area coordinate data to obtain reservoir area coordinate index data; The storage area coordinate index data is stored in the time system and the grain storage area coordinate system in the tensor base to obtain the time system storage data and the grain storage area coordinate system storage data.
在另一些示例中,组合处理模块,具体用于:对所述时间系存储数据和所述粮库库区坐标系存储数据按照预设业务属性进行分类处理,得到预设分类数据;对所述预设分类数据按照预设组合方式进行重组处理,得到处理后的粮库数据。In some other examples, the combined processing module is specifically configured to: classify and process the stored data in the time system and the stored data in the coordinate system of the grain depot area according to preset business attributes to obtain preset classified data; The preset classification data is reorganized according to the preset combination method to obtain the processed grain depot data.
在另一些示例中,模型处理模块,具体用于:通过所述张量基底对地理位置索引数据、行动轨迹索引数据、视频索引数据、红外光谱索引数据、温湿度索引数据、气体检测索引数据进行处理,得到地理位置系存储数据、行动轨迹系存储数据、视频系存储数据、红外光谱系存储数据、温湿度系存储数据、气体检测系存储数据;按照预设组合方式对所述地理位置系存储数据、行动轨迹系存储数据、视频系存储数据、红外光谱系存储数据、温湿度系存储数据、气体检测系存储数据、时间系存储数据和所述粮库库区坐标系存储数据进行处理,得到处理后的粮库数据。In some other examples, the model processing module is specifically configured to: use the tensor base to process geographic location index data, action track index data, video index data, infrared spectrum index data, temperature and humidity index data, and gas detection index data processing to obtain the stored data of the geographic location system, the stored data of the action track system, the stored data of the video system, the stored data of the infrared spectrum system, the stored data of the temperature and humidity system, and the stored data of the gas detection system; Data, stored data in the action trajectory system, stored data in the video system, stored data in the infrared spectrum system, stored data in the temperature and humidity system, stored data in the gas detection system, stored data in the time system, and stored data in the coordinate system of the grain depot area are processed to obtain Processed grain depot data.
在另一些示例中,模型处理模块,具体用于:对粮库库区的定位坐标数据进行处理,得到地理位置数据;对所述地理位置数据进行索引处理,得到地理位置索引数据。In some other examples, the model processing module is specifically configured to: process the positioning coordinate data of the grain depot area to obtain geographic location data; perform index processing on the geographic location data to obtain geographic location index data.
在另一些示例中,模型处理模块,具体用于:通过轨迹绘制系统获取被感知目标在粮库库区内的移动轨迹;对所述移动轨迹进行分析处理,得到移动轨迹图和移动过程数据;对所述移动轨迹图和所述移动过程数据进行索引处理,得到行动轨迹索引数据。In some other examples, the model processing module is specifically used to: obtain the movement trajectory of the perceived target in the grain depot area through the trajectory drawing system; analyze and process the movement trajectory to obtain a movement trajectory diagram and movement process data; Index processing is performed on the moving track graph and the moving process data to obtain action track index data.
在另一些示例中,模型处理模块,具体用于:对粮仓仓内温湿度、粮堆内温湿度、仓外温湿度进行分层测量,得到粮库多层级温湿度云图数据;对所述粮库多层级温湿度云图数据进行索引处理,得到温湿度索引数据。In some other examples, the model processing module is specifically used to: measure the temperature and humidity inside the granary, the temperature and humidity inside the grain pile, and the temperature and humidity outside the granary in layers to obtain multi-level temperature and humidity cloud map data of the granary; Index processing is performed on the multi-level temperature and humidity cloud image data in the library to obtain temperature and humidity index data.
参照图4,示出了根据本发明的另一实施例的电子设备的结构示意图,本发明具体实施例并不对电子设备的具体实现做限定。Referring to FIG. 4 , it shows a schematic structural diagram of an electronic device according to another embodiment of the present invention. The specific embodiment of the present invention does not limit the specific implementation of the electronic device.
如图4所示,该电子设备可以包括:处理器(processor)402、通信接口(Communications Interface)404、存储有程序410的存储器(memory)406、以及通信总线408。As shown in FIG. 4 , the electronic device may include: a processor (processor) 402, a communication interface (Communications Interface) 404, a memory (memory) 406 storing a
处理器、通信接口、以及存储器通过通信总线完成相互间的通信。通信接口,用于与其它电子设备或服务器进行通信。处理器,用于执行程序,具体可以执行上述方法实施例中的相关步骤。具体地,程序可以包括程序代码,该程序代码包括计算机操作指令。The processor, the communication interface, and the memory communicate with each other through the communication bus. The communication interface is used for communicating with other electronic devices or servers. The processor is configured to execute the program, and specifically may execute the relevant steps in the foregoing method embodiments. Specifically, the program may include program code including computer operation instructions.
处理器可能是处理器CPU,或者是特定集成电路ASIC(Application SpecificIntegrated Circuit),或者是被配置成实施本发明实施例的一个或多个集成电路。智能设备包括的一个或多个处理器,可以是同一类型的处理器,如一个或多个CPU;也可以是不同类型的处理器,如一个或多个CPU以及一个或多个ASIC。The processor may be a processor CPU, or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention. The one or more processors included in the smart device may be of the same type, such as one or more CPUs, or may be different types of processors, such as one or more CPUs and one or more ASICs.
存储器,用于存放程序。存储器可能包含高速RAM存储器,也可能还包括非易失性存储器(non-volatile memory),例如至少一个磁盘存储器。Memory for storing programs. The memory may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
程序具体可以用于使得处理器执行操作:根据时间系和粮库库区坐标系构建张量基底;通过所述张量基底对时间索引数据和库区坐标索引数据进行处理,得到时间系存储数据和粮库库区坐标系存储数据;按照预设组合方式对所述时间系存储数据和所述粮库库区坐标系存储数据进行处理,得到处理后的粮库数据。Specifically, the program can be used to make the processor perform operations: construct a tensor base according to the time system and the coordinate system of the grain storage area; process the time index data and the coordinate index data of the storage area through the tensor base to obtain the time system storage data storing data in the coordinate system of the grain depot area; and processing the data stored in the time system and the coordinate system of the grain depot area according to a preset combination method to obtain processed grain depot data.
以上实施方式仅用于说明本发明实施例,而并非对本发明实施例的限制,有关技术领域的普通技术人员,在不脱离本发明实施例的精神和范围的情况下,还可以做出各种变化和变型,因此所有等同的技术方案也属于本发明实施例的范畴,本发明实施例的专利保护范围应由权利要求限定。上述实施例阐明的系统、装置、模块或单元,具体可以由计算机芯片或实体实现,或者由具有某种功能的产品来实现。The above embodiments are only used to illustrate the embodiments of the present invention, rather than to limit the embodiments of the present invention. Those of ordinary skill in the relevant technical field can also make various Changes and modifications, so all equivalent technical solutions also belong to the category of the embodiments of the present invention, and the patent protection scope of the embodiments of the present invention should be defined by the claims. The systems, devices, modules, or units described in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions.
为了描述的方便,描述以上装置时以功能分为各种单元分别描述。当然,在实施本发明时可以把各单元的功能在同一个或多个软件和/或硬件中实现。For the convenience of description, when describing the above devices, functions are divided into various units and described separately. Of course, when implementing the present invention, the functions of each unit can be implemented in one or more pieces of software and/or hardware.
本领域内的技术人员应明白,本发明的实施例可提供为方法、系统、或计算机程序产品。因此,本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且,本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art should understand that the embodiments of the present invention may be provided as methods, systems, or computer program products. Accordingly, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器,使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中,使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品,该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上,使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理,从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.
在一个典型的配置中,计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。内存可能包括计算机可读介质中的非永久性存储器,随机存取存储器(RAM)和/或非易失性内存等形式,如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory. Memory may include non-permanent storage in computer-readable media, in the form of random access memory (RAM) and/or nonvolatile memory such as read-only memory (ROM) or flash RAM. Memory is an example of computer readable media.
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括,但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带,磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质,可用于存储可以被计算设备访问的信息。按照本文中的界定,计算机可读介质不包括暂存电脑可读媒体(transitory media),如调制的数据信号和载波。Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridge, tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media excludes transitory computer-readable media, such as modulated data signals and carrier waves.
还需要说明的是,术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下,由语句“包括一个……”限定的要素,并不排除在包括要素的过程、方法、商品或者设备中还存在另外的相同要素。It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes Other elements not expressly listed, or elements inherent in the process, method, commodity, or apparatus are also included. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.
本领域技术人员应明白,本发明的实施例可提供为方法、系统或计算机程序产品。因此,本发明可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且,本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art should understand that the embodiments of the present invention may be provided as methods, systems or computer program products. Accordingly, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
本发明可以在由计算机执行的计算机可执行指令的一般上下文中描述,例如程序模块。一般地,程序模块包括执行特定事务或实现特定抽象数据类型的例程、程序、对象、组件、数据结构等等。也可以在分布式计算环境中实践本发明,在这些分布式计算环境中,由通过通信网络而被连接的远程处理设备来执行事务。在分布式计算环境中,程序模块可以位于包括存储设备在内的本地和远程计算机存储介质中。The invention may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular transactions or implement particular abstract data types. The invention may also be practiced in distributed computing environments where transactions are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including storage devices.
本说明书中的各个实施例均采用递进的方式描述,各个实施例之间相同相似的部分互相参见即可,每个实施例重点说明的都是与其他实施例的不同之处。尤其,对于系统实施例而言,由于其基本相似于方法实施例,所以描述的比较简单,相关之处参见方法实施例的部分说明即可。Each embodiment in this specification is described in a progressive manner, the same and similar parts of each embodiment can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for relevant parts, refer to part of the description of the method embodiment.
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