856results about How to "Expand coverage" patented technology

The invention relates to the field of natural language processing, and discloses an SQL statement generation method, system and device based on a large model. Respectively carrying out vectorization processing and document processing on the metadata and the metadata description text information from the database, and storing the metadata and the metadata description text information into a vector database and a full-text retrieval library; in response to the query instruction, respectively performing query matching on the vector database and the full-text retrieval library, screening matching results which are ranked in the front and are preset ranks according to the similarity from high to low, and determining an optimal SQL statement list and optimal metadata; on the basis of the current language of the query instruction, generating a cue word of the current language in combination with the optimal SQL statement list and the optimal metadata; the large model of the preset type is determined according to the language type of the cue word, the preset large model is called to conduct reasoning on the cue word, and the SQL statement is generated. Based on the large model and the generative AI technology, the accuracy of the generated SQL statement is improved, the use threshold of non-technical personnel is lowered, and the query efficiency of the SQL statement is also improved.

The invention discloses an RIS-assisted unmanned aerial vehicle network-based communication and sensing integrated system and method. The system comprises a UAV, an MBS module, a user communication association decoupling module and an RIS module. The RIS intelligent reflecting surface and the unmanned aerial vehicle network are applied to the communication and sensing integrated system. In consideration of different service requirements in the system, the process is divided into a communication part and a sensing part. And a deep reinforcement learning algorithm is designed according to the requirements of the system to control the UAV flight path, base station beam forming, user association allocation and RIS phase shift in the system, so that the communication and sensing performance in the communication and sensing integrated system is optimal. According to the invention, while all functions of an original communication and inductance integrated system are reserved, RIS and unmanned aerial vehicle networks are introduced to assist the system, and an alternate iterative optimization method and a deep reinforcement learning algorithm are used to realize scheduling and decision-making of each resource. Compared with the prior art, additional channel gain is provided, and the distribution efficiency of communication sensing resources is improved.

The invention discloses a self-adaptive communication method and system for ubiquitous electric power Internet of Things intelligent metering equipment, relates to the technical field of Internet of Things communication, and solves the problems of inaccurate quantitative communication, insufficient communication efficiency and poor flexibility in existing intelligent metering equipment communication. According to the invention, the accuracy and reliability of data transmission are improved through a dynamic network self-organizing algorithm and a multi-hop communication mechanism, the communication efficiency is optimized through multi-path transmission and dynamic spectrum management, and the flexibility and adaptability of the network are enhanced through an adaptive modulation coding model and a real-time optimization link selection strategy. And secure transmission of the data is further guaranteed through a multi-layer security mechanism, and the communication performance and flexibility of the intelligent metering equipment are remarkably improved.

The invention provides an unmanned aerial vehicle route layout method and device for complex terrains, equipment and a medium, and relates to the technical field of unmanned aerial vehicle aerial photogrammetry. The method comprises the following steps: carrying out preliminary region division on a terrain region to be surveyed, and determining a plurality of region units; clustering the area units according to topographic observation data to obtain survey sub-areas; determining a survey priority corresponding to each survey sub-region, and matching a basic flight route corresponding to the unmanned aerial vehicle according to the survey priority; and splicing the different types of basic flight routes corresponding to the survey sub-regions, and performing optimization adjustment on the spliced basic flight routes to obtain a flight route of the target unmanned aerial vehicle so as to perform topographic survey on the topographic region to be surveyed. According to the technical scheme, the route planning of the unmanned aerial vehicle can adapt to various types of landform features, and the safety and aerial survey efficiency of the unmanned aerial vehicle are ensured while the integrity and accuracy of aerial survey data are improved.

The invention relates to the technical field of association retrieval, and discloses an internal and external network knowledge association retrieval method based on an RAG technology. The method comprises the following steps: S1, based on query content input by a user, retrieving matched entries from an enterprise internal knowledge base, and reducing a retrieval range through metadata filtering; and S2, converting internal retrieval results into vector representation through an embedded model, and sorting the results according to correlation on the basis of cosine similarity. By combining an enterprise internal knowledge base and external network search, the limitation that a traditional method only depends on a single data source is broken through, the coverage range of knowledge is remarkably expanded, professional and authoritative domain knowledge is provided for the enterprise internal knowledge base, and latest industry dynamic and open information is supplemented by external network search, so that the enterprise internal knowledge base and the external network search are combined, and the enterprise internal knowledge base and the external network search are combined. Through dynamic weight adjustment and a unified sorting algorithm, the most relevant data source can be preferentially selected according to user requirements, so that balance is achieved between content depth and breadth.

The invention discloses a hidden disaster-causing factor disaster-causing risk evaluation method based on multi-source data fusion, and relates to the technical field of geographic information systems. The method comprises the following steps of S01, data acquisition, S02, data preprocessing, S03, feature extraction, S04, risk assessment model construction, S05, model training and optimization, S06, risk assessment, S07, result analysis and verification and S08, result output. According to the scheme, by adopting an advanced multi-source data fusion technology, various data sources such as geological data, remote sensing images, elevation maps and hydrological data are effectively integrated; the integration not only widens the coverage range of the data, but also improves the precision and timeliness of the data. Through an automatic data preprocessing process, it is ensured that data of different sources and types can be effectively fused, and a data consistency relation is constructed; the data integration strategy can more comprehensively reflect the complexity and dynamic change of hidden disaster-causing factors, so that the accuracy of disaster-causing risk assessment is remarkably improved.

The invention relates to the field of information security, and discloses a data security risk assessment system based on artificial intelligence, which is used for solving the problem that a high-risk abnormal behavior source cannot be identified during data security risk assessment, and comprises the following steps: collecting multi-source data, obtaining an event anomaly index according to the multi-source data assessment, and determining the data security risk. Screening out high-risk events according to the event anomaly index, marking the high-risk events, constructing a behavior chain according to the screened high-risk events, and performing correlation analysis on the behavior chain, finding out a causal relationship, generating a complete event chain and calculating to obtain a traceability coefficient of the event chain. According to the method, an event chain is extracted, traceable marking is carried out on the event chain according to a traceable coefficient, traceable tracing and risk source positioning are carried out on the event chain marked as the traceable chain, the risk source is processed through a safety team, abnormal behaviors are effectively intercepted from the source, similar attacks are prevented from occurring again, and the data safety is effectively improved.

The invention relates to the technical field of disaster early warning, in particular to a disaster event emergency aid decision-making method, device and equipment, a storage medium and a computer program product. The method comprises the following steps: constructing an emergency plan knowledge database based on structured disaster historical data, semi-structured disaster field data and non-structured disaster professional data; based on the occurrence frequency and timeliness of each initial disaster event in the emergency plan knowledge database, determining the probability of secondary disasters and derivative disasters of the initial disaster events; constructing a disaster knowledge graph based on the emergency plan knowledge database and the probability of occurrence of secondary disasters and derivative disasters of the initial disaster event; the disaster knowledge graph is accessed to the preset digital emergency plan system, so that the accuracy of disaster event emergency aid decision making is improved.

The utility model belongs to the field of water level monitoring, particularly relates to a water level monitoring device, and aims to solve the problems that the conventional device cannot adjust the angle of a radar water level gauge, so that the radar water level gauge cannot adapt to different monitoring environments, the monitoring range is expanded, and the measurement accuracy and reliability are reduced. A fixing column is fixedly arranged at the top of the base, a rotating disc is rotationally arranged at the top of the fixing column, a fixing rod is fixedly arranged on one side of the rotating disc, and a radar water level gauge is fixedly arranged at one end of the fixing rod; the adjusting assembly is arranged on the fixing column and used for adjusting the position angle monitored by the radar water level gauge. By arranging the adjusting assembly, the angle of the radar water level gauge can be flexibly adjusted according to actual requirements, so that the radar water level gauge can adapt to different monitoring environments, the monitoring range is expanded, the change condition of the water level can be known more comprehensively, and the accuracy and the reliability of measurement are improved.

The invention provides a watering cart for municipal greening engineering, and belongs to the technical field of municipal greening watering carts. The watering cart for municipal greening engineering comprises a cart body, a water storage tank and a watering mechanism, the water storage tank is mounted on the surface of the cart body, a mounting box is mounted on the surface of the cart body, and the watering mechanism is mounted on the surface of the cart body and comprises a first rotating shaft, a second watering pipe, a water pump and a three-way valve. By arranging the watering mechanism, water output by the water pump can be shunted through a three-way valve, one part of water is atomized, the other part of water is mixed with fertilizer and then sprayed on the surfaces of green plants, the spraying effect is improved, an atomizing nozzle can atomize water into tiny water drops, more uniform water distribution can be achieved through air propagation, and the water content is increased. According to the dust removal device, the water covering range is enlarged, water drop concentration or water waste is avoided, atomized water mist can be combined with dust particles through tiny water drops in air, dust in the air can be settled, and the dust removal function is achieved.

The invention discloses a PID (Proportion Integration Differentiation) parameter optimization method based on an improved graffiti search algorithm, and relates to the technical field of PID. The invention aims to solve the problems of insufficient local search capability, slow convergence speed and poor system stability in the prior art, thereby realizing a better PID parameter optimization effect. Specifically, the PID parameter optimization method based on the improved graffiti search algorithm comprises the following steps: constructing a PID controller model; a step of replacing a fixed perception probability and a step length in the model with an adaptive perception probability and a Levy flight step length; a step of adding a crow misleading prevention factor into the model; and acquiring preset parameters in the PID controller model based on a particle swarm algorithm. The preset parameters comprise proportional (Kp), integral (Ki) and differential (Kd) parameters. Parameters of the Levy flight step length are dynamically adjusted through a Bayesian optimization algorithm. The method is suitable for being applied to PID parameter optimization work.

The invention discloses a forest fire audio recognition method based on a BP neural network, a medium and a product in the technical field of forest fire recognition. The method comprises the following steps: acquiring forest fire audio data to be detected; extracting a Mel-frequency cepstrum coefficient (MFCC) based on the frequency domain features of the forest fire audio data to be detected; inputting the Mel-frequency cepstral coefficient MFCC into a pre-trained forest fire audio recognition model based on a BP neural network, and outputting a forest fire category; wherein the forest fire category comprises a forest fire and a non-forest fire. Compared with a traditional visual monitoring means, the method can cover a wider forest area, in the same monitoring range, in addition, model training based on the BP neural network can efficiently process a large amount of audio data and rapidly output an identification result, the efficiency and accuracy of forest fire identification are further improved, and the method is suitable for popularization and application. The problems of limited coverage range, high cost and low accuracy in the existing forest fire identification technology are solved.

The invention discloses a mobile AI energy storage charging robot. The mobile AI energy storage charging robot comprises an AI robot main body and a charging module, the AI robot main body comprises a mobile platform, an energy storage module, a communication module, a navigation and sensor module and an AI control module; the moving platform is used for assisting the robot to move in different terrains; the energy storage module is used for storing energy and supporting bidirectional charging and discharging; the AI control module is used for realizing the functions of task scheduling, energy distribution and path planning; the navigation and sensor module is used for environment perception and obstacle detection; the communication module is used for data exchange and cooperation; the charging module is used for charging target equipment; the charging module supports quick charging and can dynamically adjust charging current and voltage based on the battery state of the target equipment or the vehicle; the AI control module optimizes a charging task and a path through a deep learning model, and efficient task scheduling and energy utilization optimization are realized.

The invention provides a laser peening shape correcting system and method for a high-speed carrying equipment vehicle body thin-wall component. The laser peening shape correcting system comprises a measuring module, a process design module, an integrated control module, a laser scanning module and a machining workshop. The geometric shape of the thin-wall component to be corrected is obtained through the measurement module and input to the process design module; in the process design module, laser peening correction process parameters of the thin-wall component are designed based on the measured shape and the target shape, and a laser scanning path is generated and transmitted to the integrated control module; in the integrated control module, motion parameters of the laser scanning module are calculated according to the laser scanning path, and a motion instruction is issued; and after receiving the motion instruction, the laser scanning module begins to carry out shape correction processing on the thin-wall component placed in the processing workshop. By means of the system, the problem that the geometrical shape of the vehicle body thin-wall component is out of tolerance due to assembly welding and foreign object collision is effectively solved, and the system has the advantages of being good in controllability, high in shape correcting capacity and the like and has extremely high engineering application value.

The invention discloses a 4G FDD stock terminal direct connection satellite-oriented time synchronization method, which comprises the following steps: firstly, a base station delays a starting point of a preamble sequence detection window and enlarges the window size, the base station receives a preamble sequence in the enlarged window and detects the size of time delay by decoding the preamble sequence, and after the base station determines the size of the time delay, the base station delays the starting point of the preamble sequence detection window; according to the method, time delay is divided into an integer part tau i and a decimal part tau f by taking milliseconds as a unit, terminals are divided into two types according to whether the decimal time delay is greater than 0.66 ms or not, so that an uplink frame structure of a base station is modified, the base station determines an uplink subframe scheduling strategy according to the uplink frame structure, the decimal part tau f of the time delay is used for determining a TA value, and the TA value is used for scheduling the uplink subframe. The integer part tau i is used for delaying receiving of uplink information, and the scheduling strategy is applied to subsequent receiving and transmitting of Msg3, downlink HARQ and other uplink information; the stock 4G terminal is directly connected with the satellite under the condition that only the base station side protocol is modified and the terminal side protocol is not changed, so that the 4G communication system supports larger time delay, and meanwhile, the upgrading cost of an operator and a user is reduced.

The invention relates to the field of safety monitoring, in particular to an intelligent safety system and method based on operation guiding and monitoring of double unmanned aerial vehicles. The system comprises a front guiding unmanned aerial vehicle which is used for guiding an operator to go to next to-be-operated equipment according to preset operation steps and guiding the operator to follow by using a visual or sound signal; and the rear monitoring unmanned aerial vehicle is used for keeping a certain distance behind the operator, monitoring the position and behavior of the operator in real time, and triggering an alarm mechanism when the operator exceeds a preset guide range. According to the invention, the operator is guided to go to the next to-be-operated device through the front guiding unmanned aerial vehicle, the operator is guided to follow, the time waste of the operator for searching the target device is effectively reduced, and the working efficiency is improved. In addition, the real-time monitoring function of the rear monitoring unmanned aerial vehicle ensures that the operator is always on a safe and correct path, and extra time and resource consumption caused by deviation from a predetermined path is reduced.

The invention discloses a waste gas treatment device for new energy industrial automobile production, and particularly relates to the technical field of waste gas treatment.The waste gas treatment device comprises a treatment box, a double-cylinder reverse filtering set is arranged on the lower side of the interior of the treatment box, the bottom end of the treatment box is fixedly connected with a gas suction pipe, and a bidirectional spraying assembly is arranged on the upper side of the double-cylinder reverse filtering set; a self-circulation assembly is arranged on the upper side of the bidirectional spraying assembly, and an air injection assembly is arranged on the upper side of the self-circulation assembly. According to the invention, double cylinders in the double-cylinder reverse filtering group rotate reversely to intercept waste gas in a layered manner and disturb airflow at the same time for preliminary filtering, and then a vertical three-dimensional spraying field is formed through cooperation of the bidirectional spraying assembly and the self-circulation assembly, and a filtering layer in the self-circulation assembly is cleaned; and finally, the adsorption and interception efficiency of small particles is improved through shaking of the air injection assembly, self-cleaning is achieved, and the treated automobile paint spraying waste gas can reach the standard to be discharged.

The invention belongs to the technical field of vehicle-mounted communication, and relates to a transmitting end and a receiving end of a vehicle-mounted communication system, the vehicle-mounted communication system and a method. A multi-antenna base station constructs a mapping relation between index bits and a reflection array element group and between the index bits and a transmission array element group by using a generalized spatial modulation technology, modulates the index bits and information bits to obtain target to-be-transmitted signals, and transmits the target to-be-transmitted signals and carrier signals; the omnidirectional intelligent metasurface transmits a target signal to be transmitted to the demodulator, and carries out modulation coding on a carrier signal based on a reflection phase offset control signal and a transmission phase offset control signal generated by the controller. A reflection signal matrix and a transmission signal matrix are generated and transmitted; a demodulator demodulates a target signal to be transmitted to obtain index bits and information bits; the controller divides a plurality of array element groups of the omnidirectional intelligent metasurface into a reflective array element group set and a transmission array element group set based on the index bits, and generates a reflective phase offset control signal and a transmission phase offset control signal based on the information bits.

The invention relates to the technical field of heat exchangers, in particular to a plate heat exchanger cleaning system, a plate heat exchanger and a cleaning method. The fluid monitoring devices are installed at an inlet and an outlet of the plate heat exchanger respectively, connected with the control device and used for monitoring fluid data of the inlet and the outlet of the plate heat exchanger and transmitting the data to the control device. The high-pressure cleaning device is arranged between plate channels of the plate heat exchanger, is connected with the control device and is used for acquiring an instruction of the control device and cleaning the plate channels of the plate heat exchanger; the control device is used for receiving the fluid data of the fluid monitoring device and generating a cleaning instruction to the high-pressure cleaning device. Real-time monitoring and a response mechanism are combined, the fluid monitoring device, the high-pressure cleaning device and the control device are combined for control, the self-cleaning function of the plate heat exchanger is achieved, and the problems that an existing plate heat exchanger is difficult to clean and low in efficiency are solved.

The invention relates to the technical field of tea watering, and discloses a tea watering device which comprises a processing box, the back of the processing box is fixedly connected with a water tank, the top of the water tank is communicated with a plurality of spray pipes, the spray pipes extend into the processing box, and inverted-T-shaped sliding grooves are formed in the left side and the right side of the processing box respectively. Reciprocating swinging of a rectangular shaft can drive a spraying pipe to swing, reciprocating swinging of a spraying head can expand the spraying coverage range, water is more evenly distributed on the surfaces of tea leaves, left-right movement of a moving sleeve can drive the spraying pipe to move left and right, and therefore the spraying range of the tea leaves is widened, and the tea leaves can make full contact with the water; after the tea leaves are in full contact with water, hydrolase can be activated by full contact with the water, macromolecular substances such as protein and polysaccharide in the tea leaves can be decomposed into micromolecular substances such as amino acid and monosaccharide by the hydrolase, and the taste and aroma components of the tea leaves are increased.

The invention discloses a glass curtain wall cleaning robot which comprises a mother cabin base station, a positioning assembly is arranged on the mother cabin base station, four putting push rods are arranged in the mother cabin base station, the putting push rods are connected with four lower cleaning robots, a driving control unit is arranged on the mother cabin base station, and the driving control unit is connected with the lower cleaning robots. And when the lower cleaning robot is disconnected with the putting push rod, the driving control unit drives the lower cleaning robot to clean the to-be-operated curtain wall. The system is provided with the mother cabin base station, the mother cabin base station carries the multiple lower cleaning robots, and the multiple lower cleaning robots are synchronously put on the glass curtain wall to work, so that the curtain wall in unit area can be cleaned more quickly and effectively under the cooperative operation of the multiple lower cleaning robots; the cleaning efficiency of the building facade glass curtain wall is improved, and the coverage range of the cleaning process is expanded.

The invention discloses a building construction dust fall enclosure which comprises an enclosure water tank, connecting frames are fixedly mounted on the two sides of the enclosure water tank, atomization dust fall mechanisms are rotationally mounted between the two connecting frames and in the connecting frames, and a splicing mechanism is fixedly mounted at one ends of the two connecting frames; the wall water tank can be buckled on the outer surface of the splicing mechanism of another wall water tank through the splicing mechanism, so that splicing of the multiple wall water tanks is achieved, back plates are installed at one ends of the wall water tanks in a communicating mode, installation grooves are formed between the back plates in a sealed mode, and reciprocating push-pull mechanisms are fixedly installed in the installation grooves. The push-pull end of the reciprocating push-pull mechanism is rotationally connected to one end of the atomization dust falling mechanism. Through the design of the atomization dust falling mechanism and the reciprocating push-pull mechanism, dust falling dead angles caused by single-direction spraying can be effectively avoided through up-and-down and left-and-right swinging water mist spraying operation, and dust on a construction site is more thoroughly inhibited.

The invention discloses a regeneration method and device for waste activated carbon powder, and relates to the technical field of regeneration of activated carbon powder. A secondary granulation assembly is arranged on the right side of the primary granulation assembly; a drying assembly is arranged on the right side of the secondary granulation assembly; a communicating pipeline is arranged between the top of the drying assembly and the top of the granulation assembly; a screening assembly is arranged on the right side of the drying assembly; a mixing assembly is arranged at the left bottom of the conveying assembly. The bonding effect between the material and the binder is further improved by means of the dredging effect of the material guide rod, and meanwhile, the limiting ring promotes the elastic scraping strip to be always tightly attached to the inner wall of the mixing assembly, so that activated carbon powder is prevented from being attached to the inner wall of the mixing assembly due to high humidity; and resource loss caused by the fact that materials are difficult to adhere to the composite adhesive and remain in the mixing assembly is avoided.

The invention provides a multi-disease artificial intelligence preoperative planning system for the whole orthopedics department, and the system comprises an importing module which is used for importing medical image data; the three-dimensional reconstruction module is used for establishing a corresponding three-dimensional image model according to the medical image data; the skeleton segmentation module is used for segmenting skeletons in the medical image data; and at least three of the following modules: a hip joint simulation module; a knee joint simulation module; a spine joint simulation module; a sports medicine simulation module; and a trauma operation simulation module. According to the pre-operation planning system, the multiple operation simulation modules are arranged and correspond to different types of orthopedic operations, and therefore the coverage range of the pre-operation planning system is greatly enlarged.

The invention discloses a laser welding machine assembly for self-positioning rotary welding, and belongs to the field of welding devices. Comprising a workbench, a rotatable welding table is arranged above the workbench, a laser welding head is arranged above the welding table, a gas conveying pipe is arranged in the laser welding head, a mounting plate is arranged on one side of the laser welding head, a swing assembly is arranged on the mounting plate, and one end of the swing assembly is connected with the laser welding head. According to the device, through the arranged connecting piece, during welding operation, the laser welding head can conduct swing welding operation, meanwhile, part of shielding gas is extracted through the action generated by the swing welding operation to be matched with output shielding gas, the covering range of the shielding gas is enlarged, and the welding quality of the device is further improved; defects generated during welding are effectively reduced, meanwhile, interference of plasmas on laser beams can be reduced, and the stability of welding operation is improved.

The invention belongs to but is not limited to the technical field of PCBA defect detection, and discloses a PCBA AI defect detection item demand response method and system, which adopts multi-scale long-range fusion, context information, super-resolution and block detection to improve a target detection algorithm, and performs detection and identification of a tiny target. Identifying the fine granularity of the target by adopting a contextual information and depth feature matching method; 3D point cloud and X-ray perspective are adopted, a multi-sensor fusion detection frame is used, and invisible defect detection is carried out. According to the method, AI technologies such as deep learning are utilized, the detection precision of small defects on the PCBA board is effectively improved, and missing detection and false detection are reduced. The AI technology can automatically identify and learn defect features, and efficiency and accuracy are significantly improved. The AI model can optimize the self algorithm through continuous learning, so that the detection system can adapt to different PCBA boards and production environments, and the universality and flexibility of the detection system are enhanced.

The invention relates to the technical field of new materials, in particular to a dot matrix composite origami structure based on a hierarchical strategy and a preparation method thereof, the dot matrix composite origami structure comprises a plurality of dot matrix cell elements, and the dot matrix cell elements are periodically arrayed in three mutually perpendicular coordinate axis directions based on the origami structure to form a closed geometrical shape. The method has the beneficial effects that the dot matrix structure is mapped into the paper folding structure, integration of the advantages of dot matrix design and paper folding design is achieved, the overall mechanical property of the structure is further improved, and the coverage range of the overall performance of the structure is expanded. The characteristics of paper folding and lattice structures are integrated, and a composite structure with controllable overall rigidity is designed, so that the composite structure has better vibration and noise reduction characteristics.

The invention discloses an environment-friendly construction dust suppression device and method, and relates to the technical field of environment-friendly construction. According to the environment-friendly construction dust suppression device, through the design of a composite mechanism, a suction fan is inserted into the outer side of an external connection disc, so that disassembly and assembly are facilitated, follow-up replacement and maintenance are facilitated, the suction fan is started, wind enters from the side, close to a flowing pipe, of the inner wall of a composite shell and flows towards the side of the suction fan, and therefore dust and smell on a site are absorbed; the situation that the site environment is too severe, personnel safety is affected, potential safety hazards are reduced, the flowing pipe is of a structure with the two wide ends and the middle narrow and small, according to the Bernoulli principle, the diameter of the pipeline is reduced, the flowing speed of gas is increased, and therefore the operation effect is improved, and the cleaning efficiency of the construction site is improved; dust and air flow enter the composite shell, harmful gas of the air flow is filtered and purified through the filtering mechanism, and therefore normal operation of equipment is kept.

The invention provides an autonomous navigation method and device for an inspection robot, the robot and a storage medium, and the method comprises the steps: obtaining image information, determining the visibility of an inspection environment based on the image information, determining an inspection working condition according to a comparison result of the visibility and a preset visibility threshold value, and carrying out the autonomous navigation of the inspection robot. If the inspection working condition is a daytime inspection working condition, determining a selectable path and first pose information of the inspection robot based on the image information, calculating the driving direction of the inspection robot in combination with the selectable path and the first pose information, and if the inspection working condition is a night inspection working condition, calculating the driving direction of the inspection robot based on a preset path and second pose information obtained in real time; calculating the driving direction of the inspection robot, taking the driving direction as a navigation result, and controlling the inspection robot to autonomously drive according to the navigation result; different driving direction determination modes are adopted under different inspection working conditions, and the flexibility of the autonomous navigation method of the inspection robot is embodied.

The utility model relates to the technical field of agricultural unmanned aerial vehicles, and discloses an automatic spraying type agricultural unmanned aerial vehicle which comprises a vehicle body, a connecting plate is fixedly connected to the bottom of the vehicle body, a guide groove is formed in the connecting plate, a second motor is fixedly connected to the interior of the connecting plate, and a rotating shaft is fixedly connected to the output end of the second motor. A Z-shaped crank is fixedly connected to the other end of the rotating shaft, a connecting rod is fixedly connected to one side of the outer portion of the connecting plate, a swing rod is rotatably connected to the other end of the connecting rod, a guide rod is fixedly connected to one side of the outer portion of the swing rod, an adjusting hole is formed in the swing rod, and a fixing plate is detachably connected to the top of the machine body. According to the pesticide spraying device, the second motor drives the rotating shaft to rotate, then the Z-shaped crank drives the swing rod to slide in the guide groove, angle adjustment of the pesticide spraying pipe is achieved, the spraying coverage range can be enlarged, and therefore the spraying efficiency is improved.