32371results about "Internal combustion piston engines" patented technology

The invention discloses a visible light and infrared image fusion method based on cross-modal dynamic collaboration. The method comprises the following steps: respectively extracting texture detail features of a visible light image and thermal radiation features of an infrared image through a visible light encoder and an infrared encoder; spatial alignment and channel complementarity optimization of cross-modal features are realized by using a heterogeneous attention collaboration module; and performing layered fusion on deep semantics and shallow detail features through a dynamic gating multi-scale decoder to generate a high-resolution fusion image. According to the method, the problems of feature dislocation, detail loss and unreasonable fusion weight distribution caused by modal difference in the prior art are solved, the detail fidelity, the thermal target saliency and the complex scene adaptability of the fusion image can be remarkably improved, and a high-robustness fusion result is provided for low-illumination environment perception and multi-modal target recognition.

The invention discloses a trajectory optimization method based on a multi-source heterogeneous positioning data fusion algorithm, and relates to the technical field of intelligent navigation and high-precision positioning, multi-modal data are acquired through a multi-modal sensor array, positioning redundancy of scenes such as tunnels and indoor scenes is enhanced, a weight distribution strategy is dynamically adjusted through an Actor-Critic network architecture, and the positioning accuracy is improved. The state space input comprises an environment semantic tag, a historical error sequence and a real-time noise variance, the output action space is continuous weight distribution of each data source, a multi-target reward function optimization strategy is combined, scene adaptability is realized, a local SLAM map, inertial navigation error parameters and a weight distribution strategy are shared in real time based on a V2X protocol, and the real-time performance of the system is improved. According to the method, a single device accumulative error is compensated by using adjacent vehicle data, a terminal locally trains an error compensation model, parameters are uploaded to a cloud end through differential privacy encryption, the cloud end adopts a FedAvg algorithm to aggregate a global model and issue the global model, the error difference between devices is inhibited, and dynamic road network updating and scene differentiation model distribution are supported at the same time.

SOLUTION: A semi-supervised medical image segmentation method based on a visual language model includes the steps of: obtaining a medical image; inputting an unlabeled image and a text description into a visual language model, and obtaining a text-guided mask based on obtained dense image embedding and text embedding; inputting a labeled image into a student model, and calculating supervised loss by using obtained labeled image prediction; respectively inputting the unlabeled image into the student model and a teacher model to obtain unlabeled image prediction and a pseudo label, merging the text-guided mask with the pseudo label, and calculating semi-supervised loss by using the merged pseudo label and unlabeled image prediction; and performing medical image segmentation by using a trained student model on the basis of the supervised loss and the semi-supervised loss.EFFECT: A target segmentation region can be accurately identified by using advantages of text descriptions.SELECTED DRAWING: Figure 1

A small-size vehicle detection deep learning model based on feature fusion of multi-scale modules is provided, which solves the problem of small-size vehicle image detection. The model includes a Backbone network, a Neck layer and a Head network, wherein a C2f_DCNv3 module based on the combination of deformable convolution v3 (DCNv3) and a cross stage feature fusion (C2f) module and an SPPF_LSKA module based on the combination of a spatial pyramid pooling fast (SPPF) layer and a large separable kernel attention (LSKA) module are introduced into the Backbone network; a C2f_SCConv module based on the combination of spatial and channel reconstruction convolution (SCConv) and a C2f module is introduced into the Neck layer; and a multi-scale kernel detection (MSK_Detect) module is introduced into the Head network.

The invention relates to the technical field of building information models, augmented reality, synchronous localization and map construction, and provides a deep learning-based SLAM-BIM augmented reality cooperative localization method and system, and the method comprises the steps: introducing a Transform time sequence feature extractor and a geometric relation graph, evaluating a dynamic distribution weight through combining with the confidence, achieving the cross-modal closed-loop detection, and obtaining an SLAM-BIM augmented reality cooperative localization result. A lightweight semantic segmentation network and a feature fusion module are utilized, a dense map with consistent geometric semantics is constructed, a space-time error propagation equation is constructed, online calibration is realized by means of BIM scale prior, an incremental fusion algorithm is designed, a global pose is optimized in combination with AR interaction, and the system fuses SLAM visual trajectory features and BIM semantic geometric features through a deep learning technology. According to the method, the problems that traditional SLAM accumulative errors are large and the BIM fusion precision is low are solved, robust positioning and map construction in a complex scene are achieved, the cooperation precision and real-time performance of SLAM and BIM are improved, and the method is suitable for AR scenes such as building construction and operation and maintenance.

The invention discloses a vehicle multi-modal trajectory prediction method based on an improved attention network, and belongs to the technical field of intelligent vehicle trajectory prediction, and the method comprises the steps: collecting historical trajectory data of a target vehicle and surrounding vehicles as an input sequence; secondly, constructing a vehicle multi-modal trajectory prediction model which comprises a motion feature extraction module, a space-time interaction module, a space-time fusion module and a trajectory output module; the motion feature extraction module uses a multi-scale convolution attention network and a gating circulation unit for processing, the space-time interaction module uses a dynamic graph attention network for extracting vehicle interaction information, and the space-time fusion module splices and fuses target vehicle motion features and space-time interaction features to obtain space-time fusion features; the track output module inputs the fusion features into a gating circulation unit, decodes the fusion features and then inputs the fusion features into a mixed density network, and multi-mode output of vehicle tracks is achieved; and finally, a proper loss function is selected for training, so that the prediction precision and the convergence speed of the model are improved.

The invention relates to the technical field of fault detection control, and discloses an automobile fault detection method and system fusing sensor data. The method comprises the following steps: modeling a multi-system sensor network through an automobile system topology mapping algorithm to obtain a sensor topology incidence matrix; performing synchronous processing on the sensor topological incidence matrix according to a vehicle dynamics constraint equation to obtain a synchronous multi-sensor data set; inputting the synchronous multi-sensor data set into a fault propagation path sensing network for fusion to obtain a vehicle system fault feature vector; detecting the fault feature vector based on an automobile physical model constraint optimizer to obtain a fault state recognition result; and tracing and controlling a fault state identification result according to the fault propagation atlas model to obtain a system adjustment control signal. According to the invention, the source identification accuracy of the complex coupling fault and the pertinence of control and adjustment are improved.

The invention discloses a road traffic flow prediction method based on a space-time mixed attention network, and the method breaks through the limitation of a conventional time sequence model and a single deep learning architecture based on the systematic analysis of urban road traffic flow space-time heterogeneity, periodic non-stationarity and road network topological relevance, constructs the space-time mixed attention network, and achieves the prediction of road traffic flow. Spatial heterogeneous correlation of road network nodes is captured through a graph convolution network, dynamic time sequence evolution characteristics of traffic flow are modeled by adopting a hybrid architecture, a residual attention mechanism is introduced to realize layer-by-layer refining of multi-scale spatio-temporal characteristics, and the overall architecture of the method has remarkable advantages in the aspects of spatial topology modeling and time dynamic capture compared with a traditional model. Feature decoupling learning is carried out on multi-source heterogeneous data such as weather and events, adaptive integration of environment sensitive features is realized through a parameterized gating fusion strategy, and the prediction error fluctuation amplitude in an extreme weather scene is reduced by 34.8%.

The invention discloses a traffic flow prediction method based on graph diffusion and dynamic graph fusion. The method comprises the following steps: S1, acquiring historical traffic flow time sequence data of each traffic node in a target road network; s2, preprocessing historical traffic flow time series data to obtain a road network node adjacency matrix; taking the historical traffic flow time sequence data and the road network node adjacency matrix as sample data, and dividing a training set, a verification set and a test set according to a preset proportion; s3, constructing a traffic flow prediction model based on graph diffusion and dynamic graph fusion; and S4, performing model training and verification on the traffic flow prediction model through the training set and the verification set to obtain an optimal traffic flow prediction model, and realizing traffic flow prediction of the test set through the optimal traffic flow prediction model. The problems that an existing method does not have the dynamic topology modeling capacity, the high heterogeneous feature fusion capacity and the self-adaptive space-time modeling capacity, and consequently the bottleneck problem of a current model in the aspects of prediction precision, stability and practicability cannot be effectively solved.

The invention relates to an automatic driving large model training optimization method based on multi-scene data balance. Comprising the following steps: (1) constructing a real vehicle high-speed driving scene library; (2) constructing a visual language automatic driving large model, training by adopting an iterative training framework based on a real vehicle high-speed driving scene library, designing a multi-task joint loss function and a weight adaptive adjustment strategy, realizing multi-task target balance, and obtaining a trained visual language automatic driving large model; (3) dynamic simulation is carried out for the automatic driving working condition, and a high-fidelity simulation data test set is constructed based on simulation data; and (4) performing hyper-parameter optimization and lightweight processing on the trained visual language automatic driving large model according to the high-fidelity simulation data test set to obtain a scene data balanced automatic driving large model. According to the method, the large model reasoning speed is increased, and resource occupation is reduced, so that the judgment capability of the large model on dynamic working conditions and high-risk scenes is remarkably improved.

The invention relates to the technical field of signal devices, and discloses a traffic signal control method and system based on vehicle-road cloud multi-modal data fusion, and the method comprises the steps: collecting multi-modal traffic data synchronously in real time through a vehicle-end sensor, road-side sensing equipment and a cloud Internet platform; fusing the heterogeneous data by adopting a space-time alignment algorithm, and constructing a standardized space-time feature matrix; traffic flow prediction is carried out based on a multi-layer space-time diagram neural network trained by a federated learning mechanism, and a signal control instruction is generated through reinforcement learning and a multi-objective optimization model; and issuing the green wave parameter, the dynamic timing scheme and the cross-domain coordination strategy to a roadside signal machine through the cloud edge coordination architecture to execute control. The problems that in the prior art, low-delay private network communication cannot be achieved, the data fusion efficiency is low, unmanned driving is not supported, and the deployment cost is high are solved, and the purposes of low-delay communication, high reliability and low risk are achieved.

The invention discloses an unmanned aerial vehicle small target aerial photography detection method and system based on RT-DETR, a medium and equipment, and belongs to the technical field of unmanned aerial vehicle visual detection, aerial photography images are collected based on an unmanned aerial vehicle, the images are input into a trained target detection model, and target position and category information is obtained. The method comprises the following steps: firstly, extracting low-layer features of an image, and simultaneously capturing information of a channel dimension and a space dimension based on an efficient multi-scale attention mechanism; and outputting features through the convolution residual block. Key features are processed based on a single-scale feature interaction module; for the coded feature map, fusing information of a shallow layer and information of a deep layer step by step in an up-sampling and transverse connection mode; in a down-sampling stage, context semantic information of a target is reserved, and global and local information interaction is enhanced. According to the method, the accuracy and robustness of small target detection are remarkably improved, and the practicability and deployment value in actual application scenes such as unmanned aerial vehicle aerial photography and remote sensing monitoring are expanded.

The invention belongs to the technical field of unmanned aerial vehicle intelligent navigation, and discloses a low-altitude economic unmanned aerial vehicle data processing method and system based on a large model, and the method comprises the steps: calculating the scene adaptation weight of multi-modal data through a dynamic attention mechanism based on a space-time alignment feature package, and carrying out the fusion to generate a multi-modal joint feature matrix; based on the multi-modal joint feature matrix, constructing a three-dimensional topological model of an urban airspace, predicting a dynamic obstacle trajectory in combination with a space-time diagram neural network, and generating a hierarchical navigation instruction set; the unmanned aerial vehicle executes a flight instruction according to the hierarchical navigation instruction set, and generates a flight state monitoring log by collecting data in flight of the unmanned aerial vehicle in real time; according to the method, the multi-modal joint feature matrix is generated through environment parameter driving weight distribution, and the complex scene sensing precision is remarkably improved.

The invention discloses a robust polyp segmentation method based on improved SAM-Med2D, and the method comprises the following steps: S1, generating a record file for a given data set; s2, constructing an SAM-Med2D model, and keeping the aspect ratio of a non-square image; s3, extracting multi-scale features of the image through a double-branch encoder; s4, in a mask decoder, carrying out fusion processing on the multi-scale features; s5, generating a preliminary segmentation result based on the fusion feature and the prompt code; s6, constructing a lightweight reverse attention refinement module; s7, carrying out loss calculation and parameter optimization on the SAM-Med2D model; and S8, polyp segmentation of the current image is ended, the next image is entered, and the steps from S1 to S7 are repeatedly executed. According to the method, the ViT-CNN double-branch structure and the reverse attention mechanism are fused, so that high-precision and low-calculation-overhead robust segmentation of the polyp area in a complex endoscope scene is realized.

The provided are a price elasticity analysis and prediction method and model based on deep learning. The model consists of a CNN layer and an RNN layer. The method comprises the following steps: S1, collecting historical data and merging the historical data into a multi-dimensional time series dataset; S2, extracting sentiment data and trend data from market news and social media; S3, inputting the data obtained into CNN for data preprocessing and feature extraction; S4, inputting the feature extracted by CNN into RNN for time series analysis; S5, training and optimizing model: using Adam algorithm to adjust the learning rate adaptively, and combining the momentum method and RMSProp algorithm to improve the generalization ability and prediction accuracy of the model. The provided combines the advantages of CNN and RNN, which can understand and predict the complex relationship between price and market behavior more comprehensively and accurately.

The invention relates to the technical field of medical image segmentation, in particular to a few-sample medical image segmentation method based on edge perception multi-prototype learning, and the method comprises the steps: inputting support and query images into a feature encoder, and extracting support and query feature maps of different sizes; inputting into a local attention fusion prototype generator to generate a support foreground prototype; processing the support mask through dynamic corrosion operation to generate an inner boundary prototype; generating a multi-foreground local prototype through a multi-layer perceptron; local and global information is optimized through multi-scale feature extraction, and a multi-scale prototype is obtained; fusing to obtain a multi-prototype foreground prototype; dynamic calculation weighting is carried out on the multi-prototype foreground prototype by using a double-stage prototype optimization network, and automatic calibration is carried out; then prediction is carried out through a prototype prediction module, and finally collaborative optimization is carried out through a loss calculation module; the method can effectively solve the problem of edge detail loss involved in the background technology.

The present disclosure relates to the field of computer vision and discloses a three-dimensional dynamic scene reconstruction method and apparatus, and a storage medium. The three-dimensional dynamic scene reconstruction method comprises: acquiring synchronized videos of a plurality of viewpoints of a dynamic scene; computing matching points between video images of different viewpoints, and estimating intrinsic and extrinsic parameters of each camera; obtaining a Gaussian splatting point set {p0} on the basis of a sparse point cloud constructed according to the depth of each matching point; for the first image frame of each video, using {p0} to perform static training thereon, to obtain a Gaussian splatting point set {p}; for the remaining image frames, dividing {p} into a static point set {S} and a dynamic point set {D}, performing dynamic training on {D}, and constructing a dynamic Gaussian splatting point set {P} from {p}, {S}, and the final {D}; and, in view of the intrinsic and extrinsic parameters of each camera, rendering {P} using a Gaussian splatting rendering pipeline, to obtain rendered images at different moments from new viewpoints.

The invention relates to the technical field of automatic driving, and discloses an automatic driving lane changing trajectory planning method based on deep learning, and the method comprises the steps: carrying out the data collection and preprocessing of a multi-modal sensor; performing spatial feature extraction and time sequence modeling on the preprocessed multi-modal data by adopting a CNN-LSTM hybrid architecture, performing feature fusion through an attention mechanism, and outputting a first feature extraction vector; taking the detected vehicles as graph nodes to construct a traffic graph, learning an interaction relationship between the vehicles through a graph attention network and a message passing mechanism, and calculating a scene urgency score and a safety score; generating a lane changing decision based on the deep Q network and the strategy gradient; and generating a trajectory based on the generative adversarial network. The technical problems that an existing lane changing track planning method cannot adapt to the dynamic traffic environment, lacks the ability of understanding complex multi-vehicle interaction and is difficult to balance safety and urgent conflict requirements are solved, and intelligent, safe and efficient automatic driving lane changing track planning is achieved.

The invention provides a three-dimensional modeling processing method based on unmanned aerial vehicle oblique photography. The method is applied to the technical field of three-dimensional modeling, and comprises the following steps: obtaining a serialized image set containing geographical coordinate information according to original image data collected by an oblique photography camera carried by a multi-rotor unmanned aerial vehicle; according to time-space synchronization parameters of the serialized image set, determining a multi-view image matching relation matrix with an overlapping degree quantitative index; determining mixed three-dimensional point cloud data fusing sparse point cloud and dense point cloud according to geometric constraint conditions of the multi-view image matching relation matrix; determining an initial three-dimensional grid model with multi-level details according to the topological connection relationship of the mixed three-dimensional point cloud data; and determining an optimized three-dimensional model based on adaptive texture mapping according to the surface curvature distribution characteristics of the initial three-dimensional mesh model. In this way, the efficiency of three-dimensional modeling can be improved.

The invention relates to the technical field of tooth modeling, and discloses a three-dimensional tooth modeling system based on computer vision, computer equipment and a readable storage medium. According to the method, mirror reflection, diffuse reflection and subsurface scattering components in an original image are separated, mirror reflection intensity is normalized in combination with a dynamic truncation algorithm, pixel saturation is eliminated, groove and nest textures are reserved, a complete point cloud is obtained based on a two-dimensional texture image and cubic spline repair, and a multi-exposure point cloud sequence is obtained through bimodal calibration. The method comprises the following steps: solving the problem of data dislocation, carrying out weight assignment and data fusion on three-dimensional points in a plurality of exposure point cloud sequences to obtain three-dimensional fusion feature data, combining layered optical modeling and photon tracking compensation deviation, fusing clinical constraints, finally dynamically adjusting parameters, feeding back and optimizing, and outputting a micron-sized precision model. The modeling defect caused by difficulty in effectively coordinating feature contribution degrees under different exposure conditions is overcome, and high-precision modeling is realized.

The invention relates to an unmanned aerial vehicle aerial image small target detection method and a computer readable storage medium. The method comprises the steps of obtaining unmanned aerial vehicle aerial image data, and dividing the data into a training set and a verification set after processing; yOLOv8n is used as a basic model, traditional convolution structures of a shallow layer and a middle layer are replaced by full-dimensional dynamic convolution in a backbone network of the YOLOv8n model, an enhanced space attention mechanism based on routing is introduced into the backbone network of the YOLOv8n model, and an original SPPF structure of the backbone network is replaced by a multi-scale context modulation module. Performing collaborative design of a multi-scale structure and a detection head in a neck network and a head network of the YOLOv8n model to obtain an improved YOLOv8n model; training and verifying the improved YOLOv8n model by using the training set and the verification set to obtain a trained unmanned aerial vehicle aerial image small target detection model; and inputting a to-be-detected unmanned aerial vehicle aerial image into the trained unmanned aerial vehicle aerial image small target detection model to obtain a detection result. According to the invention, the small target detection precision and speed are improved.

The invention provides an anti-unmanned aerial vehicle intelligent identification and tracking system based on multi-source data fusion, and relates to the technical field of anti-unmanned aerial vehicle detection, and the system comprises a multi-source data preprocessing module which is used for outputting preprocessed multi-source data; the target detection module is used for carrying out unmanned aerial vehicle target detection on visual data in the preprocessed multi-source data and outputting a detection result containing a bounding box position, confidence and morphological characteristics; the target tracking module is used for performing unmanned aerial vehicle target tracking based on the target detection result and outputting a tracking result; and the fusion decision module is used for confirming the target identity based on the tracking result and the preprocessed multi-source data and outputting a final recognition result. The technical problems of low detection precision of small targets, difficulty in distinguishing similar targets, inaccurate 3D motion prediction, difficulty in re-identification after long-time shielding and the like in the prior art can be solved, and accurate identification, stable tracking and intelligent decision making of the unmanned aerial vehicle target are realized.

The present invention relates to the technical field of deep learning and computer vision. Disclosed is an unmanned aerial vehicle image-based small object detection method for target areas. The present invention crops images of obvious small objects in certain target areas, and annotates the small objects of different categories to form a raw training and testing dataset, so as to ensure the accuracy of data required in the early stage of the algorithm and further ensure the scientificity of the algorithm; uses the computing capability of an improved YOLOv7 detection model to collect image features of different degrees in the dataset, the improved YOLOv7 detection model using YOLOv7 as a basic model and adding to a neck network an MS-CET module, which is constituted by an improved self-attention mechanism and convolution module SPPCSP, and a BHC-FB module, which is constituted by bidirectional mixed convolution modules NConv and RPConv connected in parallel; and finally fuses different feature layers as a final judgment basis of an unmanned aerial vehicle for small object detection in the target areas, to further check the accuracy of the algorithm and criteria for dataset selection, thereby improving recognition accuracy.

The invention discloses an intelligent cabin interaction method and system combined with digital twinning, and relates to the technical field of man-machine interaction, and the method comprises the steps: collecting the multi-dimensional perception data of a cabin, and constructing a layered cabin digital twinning model; performing scene analysis on the cockpit digital twin model, extracting driver state features, predicting driver potential interaction demands, generating a multi-modal interaction strategy set in combination with the driver potential interaction demands and a current driving scene, and performing simulation evaluation on the multi-modal interaction strategy set to obtain an interaction evaluation index set; performing multi-objective decision optimization under the driving safety constraint based on the interaction evaluation index set, and determining and adaptively executing an optimal interaction strategy; and acquiring actual execution data and driver feedback data of the optimal interaction strategy, and incrementally updating the hierarchical cabin digital twin model. According to the invention, the interaction adaptability and the safety reliability of the intelligent cabin system in a complex driving scene are obviously improved, and an effective technical support is provided for realizing intelligent man-machine cooperative driving.

The present invention relates to the technical field of cross-modal image signal reconstruction. Disclosed is a cross-modal joint source-channel coding and decoding method adaptable to changeable scenarios. The method comprises: first designing a Transformer encoder-based cross-modal channel coding and decoding optimization solution, so as to achieve the performance improvement and robustness of a channel encoder and a channel decoder; then designing a cross-modal source coding and decoding optimization solution for haptic-to-image generation based on a latent diffusion model, so that under an image signal loss scenario, haptic information is used to guide image generation; and finally, incorporating transfer learning technology, so as to reduce additional training costs caused by a system facing changeable cross-modal communication scenarios such as a changeable channel signal-to-noise ratio and different transmission tasks. Under cross-modal changeable communication scenarios, the joint source-channel coding and decoding method provided in the present invention can solve the problems of the inability of a receiving end to well complete image reconstruction, and additional model training costs caused by changeable channel environments and scenarios.

The invention provides an end-to-end automatic driving decision control method and system, and belongs to the technical field of automatic driving. The invention relates to an end-to-end automatic driving decision control method based on multi-modal perception and hierarchical trajectory optimization, and the method comprises the steps: constructing an end-to-end decision closed loop through combining the zero sample migration capability of a vision-language-action (VLA) model with a hierarchical optimization architecture: analyzing multi-modal input (vision, language and point cloud) by using a pre-trained VLA model to generate path points; the vehicle pose is dynamically adjusted through upper-layer optimization to expand a feasible solution space, a smooth track meeting dynamics and collision avoidance constraints is solved in real time through lower-layer optimization, and finally a vehicle control instruction is output. According to the method, a multi-modal sensing and hierarchical trajectory optimization mechanism is fused, and the sensing generalization ability, the path planning feasibility and the control execution robustness of the system in a complex traffic environment are effectively improved.

The invention provides a multi-view three-dimensional point cloud reconstruction method and device based on DPE-SE depth estimation, and relates to the technical field of computer vision and three-dimensional reconstruction. The method comprises the following steps: acquiring multi-view image data; preprocessing the image; inputting the preprocessed image into a DPE-SE-based depth estimation model, carrying out key constraint on an edge region through a semantic edge guiding mechanism, carrying out adaptive propagation updating on a weak texture region, realizing accurate depth estimation, and generating a multi-view depth result; then geometric consistency check and multi-scale depth fusion are performed on a multi-view depth result, and a dense depth map is constructed; and finally, performing three-dimensional back projection reconstruction and point cloud optimization processing, and outputting high-quality point cloud data containing three-dimensional coordinates and confidence information. According to the method, the problems of edge mismatching and depth voids are remarkably improved in complex illumination, weak texture and shielding environments, the continuity and structural integrity of the point cloud are improved, and technical support is provided for unmanned aerial vehicle surveying and mapping, building detection and digital twin modeling.

The invention belongs to the technical field of intelligent monitoring, and particularly relates to a 5G Internet of Things fused video monitoring intelligent early warning method, which comprises the following steps of: acquiring vehicle attribute information and environment perception data, constructing a 5G Internet of Things perception network, fusing a vehicle movement track and road condition environment data through a cross-modal attention mechanism, generating an enhanced environment perception graph, and simultaneously, carrying out early warning on the vehicle movement track and the road condition environment data. Optimizing the transmission efficiency by adopting a dynamic resolution adjustment algorithm; the method comprises the following steps: constructing a dynamic behavior prediction model by using a space-time diagram convolutional network, predicting a vehicle abnormal behavior probability and an evolution trajectory, calculating an early warning level through an adaptive risk quantification algorithm, simulating a risk diffusion coefficient by using a dynamic risk propagation model according to the road section vehicle density, the average vehicle speed and the road traffic capacity, and correcting early warning sensitivity parameters in real time. And transmitting to a command platform, performing situation deduction, triggering a grading early warning instruction, and generating thermodynamic diagram warning information. Therefore, the problems of insufficient positioning precision, weak analysis capability, poor transmission efficiency and the like in the prior art are solved.

The invention provides a multi-modal image fusion method based on modal self-adaption and modal interaction compensation, and the method comprises the following steps: S1, obtaining a multi-modal image fusion data set, and obtaining a training data set through preprocessing; S2, analyzing the modal difference characteristics of infrared and visible light images, and evaluating the correlation characteristics of image pairs in different scenes; s3, capturing a cross-modal feature dependency relationship through a self-attention mechanism; s4, a differential feature extraction strategy is adopted, model parameters are optimized through iterative training, and multi-modal image fusion is completed; s5, a modal interaction compensation module is additionally arranged, unit dynamic balance common features and modal exclusive features are fused, feature complementation is achieved in channel and space dimensions, parameters of the modal interaction compensation module are optimized, the model is made to learn the optimal fusion weight of the multi-modal features in a self-adaptive mode, and multi-modal fusion image generation optimization is achieved through the model; according to the invention, multi-modal image fusion can be accurately and effectively carried out.

The invention discloses a goaf unmanned aerial vehicle inspection system based on monitoring and early warning, and the system comprises an observation data collection module which is used for collecting settlement and fracture main variables to form a time stamp observation set; the data fusion module is used for generating a unified monitoring data set by adopting a fractal small-world network coding consensus algorithm; the initial route planning module is used for constructing a route sequence based on a main variable evolution tensor and a risk map; the flight path execution module is used for collecting a flight path and environment data; the fault-tolerant control module triggers a fractional order sliding mode fault-tolerant and degradation mechanism based on the consistency error; and the closed-loop optimization module is used for dynamically updating the main variable tensor and the path cost function and outputting an optimized track and a structured early warning result. The system has high dynamic responsiveness and multi-source risk adaptability.