CN107958209B - A kind of illegal construction identification method, system and electronic equipment - Google Patents
A kind of illegal construction identification method, system and electronic equipmentDownload PDFInfo
- Publication number
- CN107958209B CN107958209BCN201711134102.2ACN201711134102ACN107958209BCN 107958209 BCN107958209 BCN 107958209BCN 201711134102 ACN201711134102 ACN 201711134102ACN 107958209 BCN107958209 BCN 107958209B
- Authority
- CN
- China
- Prior art keywords
- data
- cloud data
- point cloud
- point
- geographic location
- 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.)
- Active
Links
Images
Classifications
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/176—Urban or other man-made structures
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Image Analysis (AREA)
- Instructional Devices (AREA)
Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本申请涉及违建识别技术领域，特别涉及一种违建识别方法、系统及电子设备。The present application relates to the technical field of illegal construction identification, and in particular, to an illegal construction identification method, system and electronic device.
背景技术Background technique
随着经济的迅速发展，我国的土地供需矛盾日益突出，违法违章建筑占用耕地现象、城市非法用地或者不合法用地建设现象和矿产资源的偷采盗采现象屡有发生。现有技术中，通常是通过倾斜摄影建模技术来实现违章识别，但倾斜摄影建模需要很长的时间(比如1平方公里需要几天时间)，识别效率较低。因此，有必要提供一种新的违建识别方法，以提高违建识别效率。With the rapid development of the economy, the contradiction between supply and demand of land in my country has become increasingly prominent. The phenomenon of illegal and illegal construction occupying cultivated land, the phenomenon of illegal urban land use or construction of illegal land use, and the illegal mining of mineral resources have occurred frequently. In the prior art, the violation identification is usually realized by the oblique photography modeling technology, but the oblique photography modeling takes a long time (for example, it takes several days for 1 square kilometer), and the identification efficiency is low. Therefore, it is necessary to provide a new illegal construction identification method to improve the illegal construction identification efficiency.
发明内容SUMMARY OF THE INVENTION
本申请提供了一种违建识别方法、系统及电子设备，旨在至少在一定程度上解决现有技术中的上述技术问题之一。The present application provides a method, system and electronic device for identifying illegal construction, aiming to solve one of the above-mentioned technical problems in the prior art at least to a certain extent.
为了解决上述问题，本申请提供了如下技术方案：In order to solve the above problems, the application provides the following technical solutions:
一种违建识别方法，包括以下步骤：A method for identifying illegal construction, comprising the following steps:
步骤a：获取所测区域的两次飞行点云数据；Step a: Acquire two flight point cloud data of the measured area;
步骤b：获取所述两次飞行点云数据之间的变化点数据，并分别获取各个变化点数据对应的地理位置信息，得到两次飞行点云数据之间变化点数据的地理位置信息表格；Step b: Obtain the change point data between the two flight point cloud data, and obtain the geographic location information corresponding to each change point data respectively, and obtain a geographic location information table of the change point data between the two flight point cloud data;
步骤c：根据所述两次飞行点云数据之间变化点数据的地理位置信息表格识别所测区域是否存在违建。Step c: Identify whether there is illegal construction in the measured area according to the geographic location information table of the change point data between the two flight point cloud data.
本申请实施例采取的技术方案还包括：在所述步骤a中，所述两次飞行点云数据具体为：The technical solution adopted in the embodiment of the present application further includes: in the step a, the point cloud data of the two flights are specifically:
所述两次飞行点云数据为已除去噪点或噪点密度低于20cm的点云数据，两次飞行点云数据处于同一坐标系，且包括点坐标到大地坐标转换公式中的参数值；The point cloud data of the two flights are point cloud data whose noise has been removed or the noise density is lower than 20cm, and the point cloud data of the two flights are in the same coordinate system, and include the parameter values in the point coordinate to geodetic coordinate conversion formula;
两次飞行点云数据为正射影像，并包括正射影像的至少两个定位点以及至少两个定位点的大地坐标；The point cloud data of the two flights are orthophotos, and include at least two positioning points of the orthophotos and the geodetic coordinates of the at least two positioning points;
两次飞行点云数据中包括所测区域的外切长方体空间对角线顶点坐标。The point cloud data of the two flights includes the diagonal vertex coordinates of the circumscribed cuboid space of the measured area.
本申请实施例采取的技术方案还包括：所述步骤a还包括：分别对两次飞行点云数据进行切割分解，形成X个小文件。The technical solution adopted in the embodiment of the present application further includes: the step a further includes: cutting and decomposing the two flight point cloud data respectively to form X small files.
本申请实施例采取的技术方案还包括：所述步骤a还包括：将切割分解后的X个小文件压入链表，并按照X→Y→Z的排序顺序对各个坐标轴的值进行升序排序，使每个小文件中的点为空间有序点并按序存储在链表中。The technical solution adopted in the embodiment of the present application further includes: the step a further includes: pressing the X small files after cutting and decomposing into the linked list, and sorting the values of each coordinate axis in ascending order according to the sorting order of X→Y→Z , so that the points in each small file are spatially ordered points and are stored in the linked list in order.
本申请实施例采取的技术方案还包括：在所述步骤b中，所述获取两次飞行点云数据之间的变化点数据具体为：The technical solution adopted in the embodiment of the present application further includes: in the step b, the acquisition of the change point data between the two flight point cloud data is specifically:
步骤b1：遍历排序后的每一个小文件的栅格化区域空间，判断栅格化区域空间内有无点云数据，并对判断结果进行标识，分别得到与两次飞行点云数据对应的第一栅格化空间真值文件和第二栅格化空间真值文件；其中，对判断结果进行标识具体为：如果没有点云数据标识为0，如果有点云数据标识为1；Step b1: Traverse the rasterized area space of each sorted small file, determine whether there is point cloud data in the rasterized area space, identify the judgment result, and obtain the first point cloud data corresponding to the two flight point cloud data respectively. A rasterized space truth file and a second rasterized space truth file; wherein, the identification of the judgment result is specifically: if there is no point cloud data, the identification is 0, if the point cloud data is identified as 1;
步骤b2：用第二栅格化空间真值文件中的标识结果减去第一栅格化空间真值文件中的标识结果，如果两个标识结果的相减值为0，表示该点无变化，如果两个标识结果的相减值为-1表示该点为消失点，如果两个标识结果的相减值为1表示该点为新增点，所述消失点及新增点即为两次飞行点云数据之间的变化点数据。Step b2: Subtract the identification result in the first rasterized spatial truth file from the identification result in the second rasterized spatial truth file. If the subtraction value of the two identification results is 0, it means that the point has not changed. , if the subtraction value of the two identification results is -1, it indicates that the point is a vanishing point, and if the subtraction value of the two identification results is 1, it indicates that the point is a new point, and the vanishing point and the new point are two Change point data between secondary flight point cloud data.
本申请实施例采取的技术方案还包括：在所述步骤b中，所述分别获取各个变化点数据对应的地理位置信息，得到两次飞行点云数据之间变化点数据的地理位置信息表格具体为：将所述变化点数据从栅格化区域空间的坐标中取出，并将所述变化点数据转换为大地坐标，再根据大地坐标依次查询出各个变化点数据对应的地理位置信息，通过地理位置信息表格显进行显示，并在所述地理位置信息表格中对新增点和/或消失点进行标注。The technical solution adopted in the embodiment of the present application further includes: in the step b, the geographic location information corresponding to each change point data is obtained respectively, and the geographic location information table of the change point data between the two flight point cloud data is obtained. The method is as follows: take the change point data from the coordinates of the rasterized area space, convert the change point data into geodetic coordinates, and then sequentially query the geographic location information corresponding to each change point data according to the geodetic coordinates. The location information table is displayed, and the newly added point and/or the vanishing point is marked in the geographic location information table.
本申请实施例采取的又一技术方案为：一种违建识别系统，包括：Another technical solution adopted by the embodiment of the present application is: an illegal construction identification system, comprising:
数据获取模块：用于获取所测区域的两次飞行点云数据；Data acquisition module: used to acquire the point cloud data of two flights of the measured area;
变化点获取模块：用于获取所述两次飞行点云数据之间的变化点数据；Change point acquisition module: used to acquire the change point data between the two flight point cloud data;
地理位置获取模块：用于分别获取各个变化点数据对应的地理位置信息，得到两次飞行点云数据之间变化点数据的地理位置信息表格，根据所述两次飞行点云数据之间变化点数据的地理位置信息表格识别所测区域是否存在违建。Geographic location acquisition module: used to obtain the geographic location information corresponding to each change point data, and obtain the geographic location information table of the change point data between the two flight point cloud data, according to the change point between the two flight point cloud data. The geographic location information table of the data identifies whether there is any illegal construction in the measured area.
本申请实施例采取的技术方案还包括：所述两次飞行点云数据具体为：The technical solution adopted in the embodiment of the present application further includes: the point cloud data of the two flights are specifically:
所述两次飞行点云数据为已除去噪点或噪点密度低于20cm的点云数据，两次飞行点云数据处于同一坐标系，且包括点坐标到大地坐标转换公式中的参数值；The point cloud data of the two flights are point cloud data whose noise has been removed or the noise density is lower than 20cm, and the point cloud data of the two flights are in the same coordinate system, and include the parameter values in the point coordinate to geodetic coordinate conversion formula;
两次飞行点云数据为正射影像，并包括正射影像的至少两个定位点以及至少两个定位点的大地坐标；The point cloud data of the two flights are orthophotos, and include at least two positioning points of the orthophotos and the geodetic coordinates of the at least two positioning points;
两次飞行点云数据中包括所测区域的外切长方体空间对角线顶点坐标。The point cloud data of the two flights includes the diagonal vertex coordinates of the circumscribed cuboid space of the measured area.
本申请实施例采取的技术方案还包括数据分解模块，所述数据分解模块用于分别对两次飞行点云数据进行切割分解，形成X个小文件。The technical solution adopted in the embodiment of the present application further includes a data decomposition module, and the data decomposition module is used for cutting and decomposing the two flight point cloud data respectively to form X small files.
本申请实施例采取的技术方案还包括数据排序模块，所述数据排序模块用于将切割分解后的X个小文件压入链表，并按照X→Y→Z的排序顺序对各个坐标轴的值进行升序排序，使每个小文件中的点为空间有序点并按序存储在链表中。The technical solution adopted in the embodiment of the present application further includes a data sorting module, which is used for pressing the X small files after cutting and decomposing into the linked list, and sorting the values of each coordinate axis according to the sorting order of X→Y→Z Sort in ascending order so that the points in each small file are spatially ordered points and are stored in the linked list in order.
本申请实施例采取的技术方案还包括数据遍历模块，所述数据遍历模块用于遍历排序后的每一个小文件的栅格化区域空间，判断栅格化区域空间内有无点云数据，并对判断结果进行标识，分别得到与两次飞行点云数据对应的第一栅格化空间真值文件和第二栅格化空间真值文件；其中，对判断结果进行标识具体为：如果没有点云数据标识为0，如果有点云数据标识为1；The technical solutions adopted in the embodiments of the present application further include a data traversal module, which is configured to traverse the gridded area space of each sorted small file, determine whether there is point cloud data in the gridded area space, and determine whether there is point cloud data in the gridded area space. Identify the judgment result, and obtain the first rasterized space truth file and the second rasterized space truth file corresponding to the two flight point cloud data respectively; wherein, the identification of the judgment result is specifically: if there is no point The cloud data ID is 0, and if there is a point cloud data ID is 1;
所述变化点获取模块获取所述两次飞行点云数据之间的变化点数据具体为：用所述第二栅格化空间真值文件中的标识结果减去第一栅格化空间真值文件中的标识结果，如果两个标识结果的相减值为0，表示该点无变化，如果两个标识结果的相减值为-1表示该点为消失点，如果两个标识结果的相减值为1表示该点为新增点，所述消失点及新增点即为两次飞行点云数据之间的变化点数据。The acquisition of the change point data between the two flight point cloud data by the change point acquisition module is specifically: subtracting the first rasterized space truth value from the identification result in the second rasterized space truth value file For the identification results in the file, if the subtraction value of the two identification results is 0, it means that the point has no change; if the subtraction value of the two identification results is -1, it indicates that the point is a vanishing point; A minus value of 1 indicates that the point is a newly added point, and the vanishing point and the newly added point are the change point data between the two flight point cloud data.
本申请实施例采取的技术方案还包括：所述地理位置获取模块分别获取各个变化点数据对应的地理位置信息，得到两次飞行点云数据之间变化点数据的地理位置信息表格具体为：将所述变化点数据从栅格化区域空间的坐标中取出，并将所述变化点数据转换为大地坐标，再根据大地坐标依次查询出各个变化点数据对应的地理位置信息，通过地理位置信息表格显进行显示，并在所述地理位置信息表格中对新增点和/或消失点进行标注。The technical solution adopted in the embodiment of the present application further includes: the geographic location obtaining module obtains the geographic location information corresponding to each change point data respectively, and obtains the geographic location information table of the change point data between the two flight point cloud data. Specifically: The change point data is extracted from the coordinates of the gridded area space, and the change point data is converted into geodetic coordinates, and then the geographic location information corresponding to each change point data is queried in turn according to the geodetic coordinates, and the geographic location information table The new point and/or the vanishing point are marked in the geographic location information table.
本申请实施例采取的又一技术方案为：一种电子设备，包括：Another technical solution adopted in the embodiment of the present application is: an electronic device, comprising:
至少一个处理器；以及at least one processor; and
与所述至少一个处理器通信连接的存储器；其中，a memory communicatively coupled to the at least one processor; wherein,
所述存储器存储有可被所述一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行上述的违建识别方法的以下操作：The memory stores instructions executable by the one processor, the instructions are executed by the at least one processor, so that the at least one processor can perform the following operations of the above-mentioned illegal construction identification method:
步骤a：获取所测区域的两次飞行点云数据；Step a: Acquire two flight point cloud data of the measured area;
步骤b：获取所述两次飞行点云数据之间的变化点数据，并分别获取各个变化点数据对应的地理位置信息，得到两次飞行点云数据之间变化点数据的地理位置信息表格；Step b: Obtain the change point data between the two flight point cloud data, and obtain the geographic location information corresponding to each change point data respectively, and obtain a geographic location information table of the change point data between the two flight point cloud data;
步骤c：根据所述两次飞行点云数据之间变化点数据的地理位置信息表格识别所测区域是否存在违建。Step c: Identify whether there is illegal construction in the measured area according to the geographic location information table of the change point data between the two flight point cloud data.
相对于现有技术，本申请实施例产生的有益效果在于：本申请实施例的违建识别方法、系统及电子设备通过获取所测区域内两次飞行点云数据间的变化点数据，并获取变化点数据对应的地理位置信息表格，从而根据该变化点数据地理位置信息表格快速识别所测区域内是否存在违建，有效降低了违建识别的时间复杂度，并能实现准确定位。Compared with the prior art, the beneficial effect of the embodiment of the present application is that the illegal construction identification method, system and electronic device of the embodiment of the present application obtain the change point data between two flight point cloud data in the measured area, and obtain The geographic location information table corresponding to the change point data can quickly identify whether there is illegal construction in the measured area according to the geographic location information table of the change point data, which effectively reduces the time complexity of illegal construction identification and enables accurate positioning.
附图说明Description of drawings
图1是本申请实施例的违建识别方法的流程图；Fig. 1 is the flow chart of the illegal construction identification method of the embodiment of the present application;
图2是本申请实施例的违建识别系统的结构示意图；2 is a schematic structural diagram of an illegal construction identification system according to an embodiment of the present application;
图3是本申请实施例提供的违建识别方法的硬件设备结构示意图。FIG. 3 is a schematic structural diagram of a hardware device of a method for identifying illegal construction provided by an embodiment of the present application.
具体实施方式Detailed ways
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.
请参阅图1，是本申请实施例的违建识别方法的流程图。本申请实施例的违建识别方法包括以下步骤：Please refer to FIG. 1 , which is a flowchart of a method for identifying illegal constructions according to an embodiment of the present application. The illegal construction identification method according to the embodiment of the present application includes the following steps:
步骤100：获取所测区域的两次飞行点云数据；Step 100: Acquire two flight point cloud data of the measured area;
在步骤100中，两次飞行点云数据的获取方式为：采用内存文件映射算法加载两次飞行点云数据；两次飞行点云数据需满足以下要求：In
1、两次飞行点云数据为已除去噪点或噪点密度低于要求精度(即20cm)的点云数据；两次飞行点云数据应处于同一坐标系，且包括点坐标到大地坐标(即经纬度)转换公式中的参数值；1. The point cloud data of the two flights are the point cloud data whose noise has been removed or the noise density is lower than the required accuracy (ie 20cm); the point cloud data of the two flights should be in the same coordinate system, and include point coordinates to geodetic coordinates (ie latitude and longitude). ) parameter values in the conversion formula;
2、两次飞行点云数据为正射影像，并包括正射影像的至少两个定位点，以及至少两个定位点的大地坐标；2. The point cloud data of the two flights are orthophotos, and include at least two positioning points of the orthophotos and the geodetic coordinates of at least two positioning points;
3、包括两次飞行点云数据的区域范围，即提供所测区域的外切长方体空间对角线顶点坐标，在点云数据中分别为x,y,z的最值，共6个值。3. The range of the area including the point cloud data of the two flights, that is, the diagonal vertex coordinates of the circumscribed cuboid space of the measured area are provided, which are the maximum values of x, y, and z in the point cloud data, with a total of 6 values.
步骤200：分别对两次飞行点云数据进行切割分解，形成X个大小为Yk的小文件；Step 200: Cut and decompose the two flight point cloud data respectively to form X small files with a size of Yk;
在步骤200中，切割分解使用内存映射与内存拷贝相结合的方法。在实际操作中，X个小文件可用一个缓存文件存储，对其进行操作后再进行重写；如果内存足够，也可采用虚拟分割的方式将“虚拟小文件”直接存入缓存，然后分解数据压入链表。In
步骤300：将切割分解后的小文件压入链表，并对每个小文件进行空间排序；Step 300: push the cut and decomposed small files into the linked list, and perform spatial sorting on each small file;
在步骤300中，对每个小文件进行空间排序具体为：按照先X后Y再Z的次序对各个坐标轴的值进行升序排序，使之形成有序点(x1，y1，z1)，(x2，y1，z1)，……(x1，y2，z1)(x2，y2，z1)……(x1，y1，z2)……；其中，Pi(xi，yi，zi)<Pi+1(xj+1，yj+1，zi+1)，需将符号“<”重载为X→Y→Z的排序顺序，即为空间中面→线→点的排序思想。排序伪代码为：In
其核心思想为先排X轴，若Y轴不相等则排Y轴，若Y轴相等则排Z轴，至此结束。此时，每个小文件中的点为空间有序点且按序存储在链表中。The core idea is to arrange the X axis first, if the Y axis is not equal, then the Y axis, if the Y axis is equal, then the Z axis, and this is the end. At this point, the points in each small file are spatially ordered points and are stored in the linked list in order.
步骤400：遍历排序后的每一个小文件的栅格化区域空间，判断栅格化区域空间内有无点云数据，并对判断结果进行标识，分别得到与两次飞行点云数据对应的第一栅格化空间真值文件(或数组)和第二栅格化空间真值文件；Step 400: Traverse the rasterized area space of each sorted small file, determine whether there is point cloud data in the rasterized area space, identify the judgment result, and obtain the first point cloud data corresponding to the two flight point cloud data respectively. a rasterized space ground truth file (or array) and a second rasterized space ground truth file;
在步骤400中，栅格单位即为要求精度，若栅格化区域空间内有对应点云数据则标识为1，无则标识为0。对两次飞行点云数据的每个小文件遍历此栅格化区域空间，再从链表头依次弹出空间有序点云数据，并将判断标识结果1/0写入缓存中，得到两次飞行点云数据对应的栅格化空间真值文件。从对第二次飞行点云数据的遍历开始，对标识结果1/0同第一次飞行点云数据对应的标识结果进行按位或运算，保证输出结果仅有一个，且其大小即为栅格化空间大小。In
步骤500：用第二栅格化空间真值文件中的标识结果减去第一栅格化空间真值文件中的标识结果，得到两次飞行点云数据之间的变化点数据；Step 500: subtract the identification result in the first rasterized space truth file from the identification result in the second rasterized space truth file to obtain the change point data between the two flight point cloud data;
在步骤500中，若两个标识结果的相减值为0，表示该点无变化，若两个标识结果的相减值为-1则表示该点为消失点，若两个标识结果的相减值为1则表示该点为新增点，消失点及新增点即为两次飞行点云数据之间的变化点数据。根据现实情况，两次飞行点云数据中的变化点数据(即值为-1和1的点)为少数。In
步骤600：分别获取各个变化点数据对应的地理位置信息，得到两次飞行点云数据之间变化点数据的地理位置信息表格；Step 600: Obtain geographic location information corresponding to each change point data respectively, and obtain a geographic location information table of change point data between two flight point cloud data;
在步骤600中，地理位置信息的获取方式为：将值为-1和1的点从栅格化区域空间的坐标中取出，通过转换公式将值为-1和1的点转换为大地坐标(即经纬度)，再通过百度API Geocoding(地形编码)由经纬度依次查询出各个点对应的地理位置信息，通过地理位置信息表格显示变化点数据的地理位置信息，并在地理位置信息表格中标注各个点为新增点和/或消失点。In
步骤700：输出两次飞行点云数据中的变化点数据地理位置信息表格，根据该变化点数据地理位置信息表格识别所测区域是否存在违建。Step 700: Output the change point data geographic location information table in the two flight point cloud data, and identify whether there is illegal construction in the measured area according to the change point data geographic location information table.
请参阅图2，是本申请实施例的违建识别系统的结构图。本申请实施例的违建识别系统包括数据获取模块、数据分解模块、数据排序模块、数据遍历模块、变化点获取模块、地理位置获取模块和数据输出模块。Please refer to FIG. 2 , which is a structural diagram of an illegal construction identification system according to an embodiment of the present application. The illegal construction identification system of the embodiment of the present application includes a data acquisition module, a data decomposition module, a data sorting module, a data traversal module, a change point acquisition module, a geographic location acquisition module, and a data output module.
数据获取模块：用于获取所测区域的两次飞行点云数据；其中，两次飞行点云数据的获取方式为：采用内存文件映射算法加载两次飞行点云数据；两次飞行点云数据需满足以下要求：Data acquisition module: used to acquire the point cloud data of the two flights in the measured area; wherein, the acquisition methods of the point cloud data of the two flights are: using the memory file mapping algorithm to load the point cloud data of the two flights; the point cloud data of the two flights The following requirements must be met:
1、两次飞行点云数据为已除去噪点或噪点密度低于要求精度(即20cm)的点云数据；两次飞行点云数据应处于同一坐标系，且包括点坐标到大地坐标(即经纬度)转换公式中的参数值；1. The point cloud data of the two flights are the point cloud data whose noise has been removed or the noise density is lower than the required accuracy (ie 20cm); the point cloud data of the two flights should be in the same coordinate system, and include point coordinates to geodetic coordinates (ie latitude and longitude). ) parameter values in the conversion formula;
2、两次飞行点云数据为正射影像，并包括正射影像的至少两个定位点，以及至少两个定位点的大地坐标；2. The point cloud data of the two flights are orthophotos, and include at least two positioning points of the orthophotos and the geodetic coordinates of at least two positioning points;
3、包括两次飞行点云数据的区域范围，即提供所测区域的外切长方体空间对角线顶点坐标，在点云数据中分别为x,y,z的最值，共6个值。3. The range of the area including the point cloud data of the two flights, that is, the diagonal vertex coordinates of the circumscribed cuboid space of the measured area are provided, which are the maximum values of x, y, and z in the point cloud data, with a total of 6 values.
数据分解模块：用于分别对两次飞行点云数据进行切割分解，形成X个大小为Yk的小文件；其中，切割分解使用内存映射与内存拷贝相结合的方法。在实际操作中，X个小文件可用一个缓存文件存储，对其进行操作后再进行重写；如果内存足够，也可采用虚拟分割的方式将“虚拟小文件”直接存入缓存，然后分解数据压入链表。Data decomposition module: It is used to cut and decompose the two flight point cloud data respectively to form X small files with a size of Yk; among them, the cutting and decomposition uses a combination of memory mapping and memory copying. In actual operation, X small files can be stored in a cache file, which can be rewritten after operation; if the memory is sufficient, the "virtual small files" can also be directly stored in the cache by virtual segmentation, and then the data can be decomposed. Push into the linked list.
数据排序模块：用于将切割分解后的小文件压入链表，并对每个小文件进行空间排序；其中，对每个小文件进行空间排序具体为：按照先X后Y再Z的次序对各个坐标轴的值进行升序排序，使之形成有序点(x1，y1，z1)，(x2，y1，z1)，……(x1，y2，z1)(x2，y2，z1)……(x1，y1，z2)……；其中，Pi(xi，yi，zi)<Pi+1(xj+1，yj+1，zi+1)，需将符号“<”重载为X→Y→Z的排序顺序，即为空间中面→线→点的排序思想。排序伪代码为：Data sorting module: used to push the cut and decomposed small files into the linked list, and perform spatial sorting on each small file; among them, the spatial sorting of each small file is specifically: according to the order of X, Y, and then Z. The values of each coordinate axis are sorted in ascending order to form ordered points (x1, y1, z1), (x2, y1, z1),...(x1, y2, z1)(x2, y2, z1)...( x1, y1, z2)...; Among them, Pi(xi, yi, zi)<Pi+1(xj+1, yj+1, zi+1), the symbol "<" needs to be overloaded as X→Y→ The sorting order of Z is the sorting idea of plane→line→point in space. The sorting pseudocode is:
其核心思想为先排X轴，若Y轴不相等则排Y轴，若Y轴相等则排Z轴，至此结束。此时，每个小文件中的点为空间有序点且按序存储在链表中。The core idea is to arrange the X axis first, if the Y axis is not equal, then the Y axis, if the Y axis is equal, then the Z axis, and this is the end. At this point, the points in each small file are spatially ordered points and are stored in the linked list in sequence.
数据遍历模块：用于遍历排序后的每一个小文件的栅格化区域空间，判断栅格化区域空间内有无点云数据，并对判断结果进行标识，分别得到与两次飞行点云数据对应的第一栅格化空间真值文件(或数组)和第二栅格化空间真值文件；其中，栅格单位即为要求精度，若栅格化区域空间内有对应点云数据则标识为1，无则标识为0。对两次飞行点云数据的每个小文件遍历此栅格化区域空间，再从链表头依次弹出空间有序点云数据，并将判断标识结果1/0写入缓存中，得到两次飞行点云数据对应的栅格化空间真值文件。从对第二次飞行点云数据的遍历开始，对标识结果1/0同第一次飞行点云数据对应的标识结果进行按位或运算，保证输出结果仅有一个，且其大小即为栅格化空间大小。Data traversal module: It is used to traverse the rasterized area space of each sorted small file, determine whether there is point cloud data in the rasterized area space, and identify the judgment result, and obtain and two flight point cloud data respectively. The corresponding first rasterized space truth value file (or array) and the second rasterized space truth value file; among them, the grid unit is the required precision, if there is corresponding point cloud data in the rasterized area space, it will be marked If it is 1, if it is not, it will be marked as 0. Traverse the rasterized area space for each small file of the point cloud data of the two flights, and then pop up the spatially ordered point cloud data from the head of the linked list, and write the judgment result 1/0 into the cache to get two flights The rasterized spatial ground truth file corresponding to the point cloud data. Starting from the traversal of the second flight point cloud data, perform bitwise OR operation on the identification result 1/0 corresponding to the first flight point cloud data to ensure that there is only one output result, and its size is the grid Grid space size.
变化点获取模块：用于用第二栅格化空间真值文件中的标识结果减去第一栅格化空间真值文件中的标识结果，得到两次飞行点云数据之间的变化点数据；其中，若两个标识结果的相减值为0，表示该点无变化，若两个标识结果的相减值为-1则表示该点消失，若两个标识结果的相减值为1则表示该点为新增点。根据现实情况，两次飞行点云数据中的变化点数据(即值为-1和1的点)为少数。Change point acquisition module: used to subtract the identification result in the first rasterized space truth file from the identification result in the second rasterized space truth file to obtain the change point data between the two flight point cloud data ; Among them, if the subtraction value of the two identification results is 0, it means that the point does not change, if the subtraction value of the two identification results is -1, it means that the point disappears, and if the subtraction value of the two identification results is 1 It means that the point is a new point. According to the actual situation, the change point data (that is, the points with values of -1 and 1) in the point cloud data of the two flights are few.
地理位置获取模块：用于分别获取各个变化点数据对应的地理位置信息，得到两次飞行点云数据之间的变化点数据地理位置信息表格；具体地，将值为-1和1的点从栅格化区域空间的坐标中取出，通过转换公式将值为-1和1的点转换为大地坐标(即经纬度)，再通过百度API Geocoding由经纬度依次查询出各个点对应的地理位置信息，通过地理位置信息表格显示变化点数据的地理位置信息，并在地理位置信息表格中标注各个点为新增点和/或消失点。Geographic location acquisition module: used to obtain the geographic location information corresponding to each change point data respectively, and obtain the geographic location information table of the change point data between the two flight point cloud data; Take out the coordinates of the rasterized area space, convert the points with values of -1 and 1 into geodetic coordinates (ie latitude and longitude) through the conversion formula, and then query the geographic location information corresponding to each point in turn through the Baidu API Geocoding from the latitude and longitude. The geographic location information table displays the geographic location information of the change point data, and marks each point as a new point and/or a vanishing point in the geographic location information table.
数据输出模块：用于输出两次飞行点云数据中的变化点数据地理位置信息表格，根据该变化点数据地理位置信息表格识别所测区域是否存在违建。Data output module: used to output the change point data geographic location information table in the two flight point cloud data, and identify whether there is illegal construction in the measured area according to the change point data geographic location information table.
图3是本申请实施例提供的违建识别方法的硬件设备结构示意图。如图3所示，该设备包括一个或多个处理器以及存储器。以一个处理器为例，该设备还可以包括：输入系统和输出系统。FIG. 3 is a schematic structural diagram of a hardware device of a method for identifying illegal construction provided by an embodiment of the present application. As shown in Figure 3, the device includes one or more processors and memory. Taking a processor as an example, the device may further include: an input system and an output system.
处理器、存储器、输入系统和输出系统可以通过总线或者其他方式连接，图3中以通过总线连接为例。The processor, the memory, the input system and the output system may be connected by a bus or in other ways, and the connection by a bus is taken as an example in FIG. 3 .
存储器作为一种非暂态计算机可读存储介质，可用于存储非暂态软件程序、非暂态计算机可执行程序以及模块。处理器通过运行存储在存储器中的非暂态软件程序、指令以及模块，从而执行电子设备的各种功能应用以及数据处理，即实现上述方法实施例的处理方法。As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules. The processor executes various functional applications and data processing of the electronic device by running the non-transitory software programs, instructions and modules stored in the memory, that is, the processing method of the above method embodiment is implemented.
存储器可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储数据等。此外，存储器可以包括高速随机存取存储器，还可以包括非暂态存储器，例如至少一个磁盘存储器件、闪存器件、或其他非暂态固态存储器件。在一些实施例中，存储器可选包括相对于处理器远程设置的存储器，这些远程存储器可以通过网络连接至处理系统。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。The memory may include a stored program area and a stored data area, wherein the stored program area can store an operating system and an application program required by at least one function; the stored data area can store data and the like. Additionally, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory may optionally include memory located remotely from the processor, which may be connected to the processing system via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
输入系统可接收输入的数字或字符信息，以及产生信号输入。输出系统可包括显示屏等显示设备。The input system can receive input numerical or character information and generate signal input. The output system may include a display device such as a display screen.
所述一个或者多个模块存储在所述存储器中，当被所述一个或者多个处理器执行时，执行上述任一方法实施例的以下操作：The one or more modules are stored in the memory, and when executed by the one or more processors, perform the following operations of any of the foregoing method embodiments:
步骤a：获取所测区域的两次飞行点云数据；Step a: Acquire two flight point cloud data of the measured area;
步骤b：获取所述两次飞行点云数据之间的变化点数据，并分别获取各个变化点数据对应的地理位置信息，得到两次飞行点云数据之间变化点数据的地理位置信息表格；Step b: Obtain the change point data between the two flight point cloud data, and obtain the geographic location information corresponding to each change point data respectively, and obtain a geographic location information table of the change point data between the two flight point cloud data;
步骤c：根据所述两次飞行点云数据之间变化点数据的地理位置信息表格识别所测区域是否存在违建。Step c: Identify whether there is illegal construction in the measured area according to the geographic location information table of the change point data between the two flight point cloud data.
上述产品可执行本申请实施例所提供的方法，具备执行方法相应的功能模块和有益效果。未在本实施例中详尽描述的技术细节，可参见本申请实施例提供的方法。The above product can execute the method provided by the embodiments of the present application, and has functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, reference may be made to the method provided in this embodiment of the present application.
本申请实施例提供了一种非暂态(非易失性)计算机存储介质，所述计算机存储介质存储有计算机可执行指令，该计算机可执行指令可执行以下操作：An embodiment of the present application provides a non-transitory (non-volatile) computer storage medium, where the computer storage medium stores computer-executable instructions, and the computer-executable instructions can perform the following operations:
步骤a：获取所测区域的两次飞行点云数据；Step a: Acquire two flight point cloud data of the measured area;
步骤b：获取所述两次飞行点云数据之间的变化点数据，并分别获取各个变化点数据对应的地理位置信息，得到两次飞行点云数据之间变化点数据的地理位置信息表格；Step b: Obtain the change point data between the two flight point cloud data, and obtain the geographic location information corresponding to each change point data respectively, and obtain a geographic location information table of the change point data between the two flight point cloud data;
步骤c：根据所述两次飞行点云数据之间变化点数据的地理位置信息表格识别所测区域是否存在违建。Step c: Identify whether there is illegal construction in the measured area according to the geographic location information table of the change point data between the two flight point cloud data.
本申请实施例提供了一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行以下操作：An embodiment of the present application provides a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer , which causes the computer to do the following:
步骤a：获取所测区域的两次飞行点云数据；Step a: Acquire two flight point cloud data of the measured area;
步骤b：获取所述两次飞行点云数据之间的变化点数据，并分别获取各个变化点数据对应的地理位置信息，得到两次飞行点云数据之间变化点数据的地理位置信息表格；Step b: Obtain the change point data between the two flight point cloud data, and obtain the geographic location information corresponding to each change point data respectively, and obtain a geographic location information table of the change point data between the two flight point cloud data;
步骤c：根据所述两次飞行点云数据之间变化点数据的地理位置信息表格识别所测区域是否存在违建。Step c: Identify whether there is illegal construction in the measured area according to the geographic location information table of the change point data between the two flight point cloud data.
本申请实施例的违建识别方法、系统及电子设备通过获取所测区域内两次飞行点云数据间的变化点数据，并获取变化点数据对应的地理位置信息表格，从而根据该变化点数据地理位置信息表格快速识别所测区域内是否存在违建，有效降低了违建识别的时间复杂度，并能实现准确定位。The illegal construction identification method, system, and electronic device of the embodiments of the present application obtain the change point data between two flight point cloud data in the measured area, and obtain the geographic location information table corresponding to the change point data, so as to obtain the change point data according to the change point data. The geographic location information table quickly identifies whether there is illegal construction in the measured area, which effectively reduces the time complexity of illegal construction identification and enables accurate positioning.
对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本申请。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本申请的精神或范围的情况下，在其它实施例中实现。因此，本申请将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。The above description of the disclosed embodiments enables any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, this application is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (11)
Translated fromChinesePriority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711134102.2ACN107958209B (en) | 2017-11-16 | 2017-11-16 | A kind of illegal construction identification method, system and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711134102.2ACN107958209B (en) | 2017-11-16 | 2017-11-16 | A kind of illegal construction identification method, system and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107958209A CN107958209A (en) | 2018-04-24 |
| CN107958209Btrue CN107958209B (en) | 2021-10-29 |
Family
ID=61964884
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711134102.2AActiveCN107958209B (en) | 2017-11-16 | 2017-11-16 | A kind of illegal construction identification method, system and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107958209B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110322503A (en)* | 2018-03-27 | 2019-10-11 | 深圳天眼激光科技有限公司 | A kind of squatter building localization method, system and electronic equipment based on laser point cloud data |
| CN108875780A (en)* | 2018-05-07 | 2018-11-23 | 广东省电信规划设计院有限公司 | The acquisition methods and device of difference object between image based on view data |
| WO2022133770A1 (en)* | 2020-12-23 | 2022-06-30 | 深圳元戎启行科技有限公司 | Method for generating point cloud normal vector, apparatus, computer device, and storage medium |
| CN113111612B (en)* | 2021-06-15 | 2021-08-10 | 中国空气动力研究与发展中心计算空气动力研究所 | Discrete point cloud repeated point fast searching method based on self-adaptive space subdivision |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103093466A (en)* | 2013-01-21 | 2013-05-08 | 武汉大学 | Building three-dimensional change detection method based on LiDAR point cloud and image |
| CN104049245A (en)* | 2014-06-13 | 2014-09-17 | 中原智慧城市设计研究院有限公司 | Urban building change detection method based on LiDAR point cloud spatial difference analysis |
| CN104091369A (en)* | 2014-07-23 | 2014-10-08 | 武汉大学 | Unmanned aerial vehicle remote-sensing image building three-dimensional damage detection method |
| CN104700207A (en)* | 2015-02-28 | 2015-06-10 | 中国地质大学（武汉） | Internet-of-things-based mining dynamic real-time monitoring method and system |
| CN104821013A (en)* | 2015-05-11 | 2015-08-05 | 武汉大学 | Method and system for specific surface area extraction based on geodetic coordinate system digital elevation model |
| CN205582304U (en)* | 2016-04-21 | 2016-09-14 | 武汉万集信息技术有限公司 | Channel boats and ships traffic volume survey system |
| CN105953795A (en)* | 2016-04-28 | 2016-09-21 | 南京航空航天大学 | Navigation apparatus and method for surface inspection of spacecraft |
| CN106127153A (en)* | 2016-06-24 | 2016-11-16 | 南京林业大学 | The traffic sign recognition methods of Vehicle-borne Laser Scanning cloud data |
| CN106355194A (en)* | 2016-08-22 | 2017-01-25 | 广东华中科技大学工业技术研究院 | A surface target processing method for unmanned boats based on laser imaging radar |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009061423A2 (en)* | 2007-11-05 | 2009-05-14 | Doubleshot, Inc. | Methods and systems for navigation and terrain change detection |
| CN102855663B (en)* | 2012-05-04 | 2015-04-01 | 北京建筑工程学院 | Method for building CSG (Constructive Solid Geometry) model according to laser radar grid point cloud |
| CN104091321B (en)* | 2014-04-14 | 2016-10-19 | 北京师范大学 | Extraction method of multi-level point set features suitable for terrestrial lidar point cloud classification |
| CN104123730B (en)* | 2014-07-31 | 2016-09-14 | 武汉大学 | Remote sensing image based on roadway characteristic and laser point cloud method for registering and system |
| CN105118090B (en)* | 2015-05-19 | 2018-02-13 | 胡翰 | A kind of point cloud filtering method of adaptive complicated landform structure |
| US10527412B2 (en)* | 2015-10-06 | 2020-01-07 | Bridger Photonics, Inc. | Gas-mapping 3D imager measurement techniques and method of data processing |
| CN105913492B (en)* | 2016-04-06 | 2019-03-05 | 浙江大学 | A kind of complementing method of RGBD objects in images shape |
| CN107016725A (en)* | 2017-02-27 | 2017-08-04 | 电子科技大学 | A kind of vegetation three-dimensional live modeling method for taking LiDAR point cloud data distribution difference into account |
| CN107063258A (en)* | 2017-03-07 | 2017-08-18 | 重庆邮电大学 | A kind of mobile robot indoor navigation method based on semantic information |
| CN107038717B (en)* | 2017-04-14 | 2019-08-27 | 东南大学 | A Method for Automatically Analyzing 3D Point Cloud Registration Errors Based on Stereo Grid |
- 2017
- 2017-11-16CNCN201711134102.2Apatent/CN107958209B/enactiveActive
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103093466A (en)* | 2013-01-21 | 2013-05-08 | 武汉大学 | Building three-dimensional change detection method based on LiDAR point cloud and image |
| CN104049245A (en)* | 2014-06-13 | 2014-09-17 | 中原智慧城市设计研究院有限公司 | Urban building change detection method based on LiDAR point cloud spatial difference analysis |
| CN104091369A (en)* | 2014-07-23 | 2014-10-08 | 武汉大学 | Unmanned aerial vehicle remote-sensing image building three-dimensional damage detection method |
| CN104700207A (en)* | 2015-02-28 | 2015-06-10 | 中国地质大学（武汉） | Internet-of-things-based mining dynamic real-time monitoring method and system |
| CN104821013A (en)* | 2015-05-11 | 2015-08-05 | 武汉大学 | Method and system for specific surface area extraction based on geodetic coordinate system digital elevation model |
| CN205582304U (en)* | 2016-04-21 | 2016-09-14 | 武汉万集信息技术有限公司 | Channel boats and ships traffic volume survey system |
| CN105953795A (en)* | 2016-04-28 | 2016-09-21 | 南京航空航天大学 | Navigation apparatus and method for surface inspection of spacecraft |
| CN106127153A (en)* | 2016-06-24 | 2016-11-16 | 南京林业大学 | The traffic sign recognition methods of Vehicle-borne Laser Scanning cloud data |
| CN106355194A (en)* | 2016-08-22 | 2017-01-25 | 广东华中科技大学工业技术研究院 | A surface target processing method for unmanned boats based on laser imaging radar |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107958209A (en) | 2018-04-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11693833B2 (en) | Computer-implemented method for storing unlimited amount of data as a mind map in relational database systems | |
| CN107958209B (en) | A kind of illegal construction identification method, system and electronic equipment | |
| US9753960B1 (en) | System, method, and computer program for dynamically generating a visual representation of a subset of a graph for display, based on search criteria | |
| CN112115198A (en) | Urban remote sensing intelligent service platform | |
| CN111191303A (en) | BIM data processing method and device, electronic equipment and computer storage medium | |
| CN103678705B (en) | A Parallel Transformation Method of Vector Data from VCT File to Shapefile | |
| CN101699444B (en) | Ontology Construction Method of Remote Sensing Information Processing Service Classification Based on Formal Concept Analysis | |
| CN111966925B (en) | Building interest point weight judging method and device, electronic equipment and storage medium | |
| CN113127482B (en) | Data quality analysis method, device, computer equipment and storage medium | |
| CN104361025B (en) | A kind of multi-source Spatial Data fusion and integrated method | |
| CN113312539B (en) | A method, device, equipment and medium for providing retrieval services | |
| Lewis et al. | Lidar data management pipeline; from spatial database population to web-application visualization | |
| CN114693875A (en) | Point cloud visualization optimization method and system, electronic device and storage medium | |
| CN103678593B (en) | A kind of interactive space scene search method described based on spatial scene sketch | |
| WO2025118529A1 (en) | Data processing method and apparatus, electronic device and computer-readable storage medium | |
| CN111104418B (en) | Text description processing method and device and electronic equipment | |
| CN101916260A (en) | A Method for Constructing Semantic Mapping Between Disaster Ontology and Relational Database | |
| CN104850623A (en) | Dynamic extension method and system for multidimensional data analysis model | |
| CN117785869B (en) | Grid data processing method and device, electronic equipment and storage medium | |
| CN103049296B (en) | For the method and apparatus of download equipment Auto-matching intended application | |
| CN111400537B (en) | Road element information acquisition method and device and electronic equipment | |
| CN108287907A (en) | Satellite data querying method, system, equipment and computer readable storage medium | |
| CN114880350B (en) | Spatial data retrieval method, device, electronic device and storage medium | |
| CN115309816A (en) | Application construction method, system, device and storage medium based on virtual data warehouse | |
| CN112269925B (en) | Method and device for obtaining geographic position point information |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right | Effective date of registration:20220429 Address after:No. 517, nanzhiyuan community, Taoyuan District, Shenzhen, Guangdong Province Patentee after:Shenzhen Lijian Tianyan Technology Co.,Ltd. Address before:518000, 1st floor, Building A7, No. 1001 Xueyuan Avenue, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee before:SHENZHEN TIANYAN LASER TECHNOLOGY Co.,Ltd. | |
| PP01 | Preservation of patent right | ||
| PP01 | Preservation of patent right | Effective date of registration:20250825 Granted publication date:20211029 |