301results about How to "Quick build" patented technology

The invention belongs to the related technical field of vehicle charging scheduling, and provides a vehicle charging dynamic scheduling method and system for a charging pile fault in order to solve the problem that a charging device cannot respond in time after a fault occurs, and the method comprises the following steps: monitoring the operation state of each charging pile in the execution of an initial charging scheduling scheme in real time; identifying a target vehicle set influenced by the charging pile fault; calculating an emergency priority score of each target vehicle according to the residual electric quantity and the planned departure time of the target vehicle; constructing a dynamic resource profile of the available charging pile based on the residual available power of the available charging pile, and screening a feasible candidate pile set; and according to the vehicle priority queue, reallocating available charging piles to each target vehicle in sequence by taking the minimum cost as a target, and generating a rescheduling scheme. According to the invention, charging of the vehicle at the valley point of the electricity price can be guaranteed to the greatest extent, and the reliability, economy and adaptive capability of charging are remarkably improved.

The invention discloses a method for generating a micromechanical property distribution diagram of a solid waste composite cement-based cementing material, and belongs to the technical field of performance prediction of solid waste composite cement-based cementing materials, and the method comprises the following steps: acquiring BSE, EDS and nanoindentation data of a sample; identifying indentation areas in the nanoindentation mark graph, and generating masks corresponding to the areas; performing statistics on the regional masks to obtain element content data of each indentation region; establishing a prediction model by adopting machine learning based on the regional element content and the elasticity data; performing super-pixel segmentation on the BSE image to match the scale of the indentation area; calculating element features of the super-pixel regions, and predicting the elastic modulus of each super-pixel region; and mapping the predicted elastic modulus to a corresponding region to generate an elastic modulus distribution diagram. According to the method, prediction of the two-dimensional space distribution of the internal elastic modulus of the solid waste composite cement-based cementing material can be realized, and data and visual support are provided for material heterogeneity research and multi-scale modeling.

The invention provides a multi-level distribution network path planning method and device, electronic equipment and a storage medium, and in the method, the total travel cost minimization under multiple scenes is taken as a target, and a resource redistribution mechanism and a cache acceleration technology are fused, so that the path planning efficiency is improved. The defect that adaptability, optimality and calculation efficiency of a solution cannot be considered in a traditional method is effectively overcome. Specifically, the method significantly improves the robustness of the final optimization path scheme for demand fluctuation, so that the final optimization path scheme can adapt to various actual scenes; meanwhile, through staged optimization and intelligent caching, the efficiency of the solving process is greatly improved, the consumption of computing resources is reduced, and the quality of a final solution is effectively improved, so that the final solution is closer to global optimum. Finally, the technical effect of quickly and automatically generating a high-quality and executable final optimization path scheme in a complex and uncertain environment is realized.

The invention discloses a platinum-based high-entropy alloy self-supporting catalyst as well as a preparation method and application thereof. The preparation method of the catalyst comprises the following steps: S1, dissolving a platinum source, an iron source, a cobalt source, a molybdenum source and a manganese source in a solvent according to the molar ratio of platinum to iron to molybdenum to cobalt to manganese being 1: 1: 1: 1: 1 to obtain a precursor solution; s2, dipping the carbon felt in a polyvinyl alcohol solution, and drying to obtain a substrate; and S3, dipping the substrate in the precursor solution, drying, and carrying out Joule heat flash evaporation to obtain the catalyst. According to the invention, five metals are added according to an equal molar ratio, the catalytic efficiency of the water electrolysis catalyst is improved by utilizing a high-entropy effect, the production cost of the catalyst is reduced, meanwhile, the long-time stability of the catalyst is improved by adding a self-supporting material, and an efficient and stable water electrolysis process in an acidic electrolysis environment is realized.

This invention provides a method and system for progressively expanding road internal cracks based on single-trajectory guidance, relating to the field of road engineering technology. Within a predefined three-dimensional road space, a crack curve A is generated based on a constrained randomization method. Based on key points on curve A, and combined with the top and bottom boundaries of the road, a crack curve B is generated. Using curves A and B as boundaries, a bicubic B-spline surface algorithm is employed to perform surface patching operations between them, generating a three-dimensional crack surface model. The three-dimensional crack surface model undergoes morphological refinement to simulate the surface irregularities and branching expansion behavior of real cracks. This achieves the technical effect of rapidly generating realistic three-dimensional crack models that conform to physical laws.

The utility model relates to the technical field of oil extraction, in particular to an efficient temporary plugging anti-overflow device. Comprising an upper connector, the upper connector is fixedly and hermetically connected with a valve connector, the lower end of the valve connector is fixedly and hermetically connected with a filter pipe and an outer cylinder, the filter pipe is located on the inner side of the outer cylinder, the valve connector is provided with an air hole communicated with an annular cavity between the outer cylinder and the filter pipe, and a check valve is installed in the air hole; the lower end of the filter pipe is fixedly and hermetically connected with a lower pipe located inside the outer cylinder, the lower end of the lower pipe is blocked and fixedly connected with the lower end of the outer cylinder through a lower connector, and a temporary blocking plate is detachably, fixedly and hermetically connected into the lower connector. Through soluble temporary plugging, multi-stage filtering, gas-liquid separation and modular sealing design, the device has the core advantages of efficient overflow prevention, rapid production, airlock prevention, low maintenance cost and the like, has both environmental protection property and economical efficiency, and is suitable for oil well operation under complex working conditions.

The invention relates to the technical field of manipulators, in particular to mechanical manipulator equipment for boarding box product building and a method thereof.The mechanical manipulator equipment for boarding box product building comprises a building conveying table used for conveying a boarding box, and the building conveying table is used for conveying the boarding box; building of the coaming box is completed on the building conveying table, and a mechanical arm staddle is fixedly arranged on the building conveying table; the invention further relates to a working method of the mechanical manipulator equipment for boarding box product construction, and the working method comprises the following steps that firstly, a folded boarding box is conveyed; step 2, adsorption of the foldable coaming; thirdly, the foldable coaming is unfolded; fourthly, the foldable coaming is released; and fifthly, the coaming box is conveyed.

The invention relates to the technical field of anion exchange membrane fuel cells, in particular to a cation remote grafting type polycarbazole anion exchange membrane and a preparation method thereof. The membrane is prepared by the following steps: condensing N-(4-bromobutyl) carbazole, N-alkyl carbazole and 2, 3-butanedione to obtain a polymer skeleton, then carrying out Menshutkin reaction on the polymer skeleton and cations to obtain polyelectrolyte, and finally carrying out ion exchange on the polyelectrolyte and sodium hydroxide. Wherein the main chain of the polymer has no unstable ether bond, so that the membrane has strong alkali resistance. The flexible overhanging side chain improves dimensional stability and increases polarity differences. Cations are grafted away from a framework, the alkali resistance of the membrane is improved, the service life is prolonged, hydrophilic / hydrophobic microphase separation is enhanced, an ion transmission channel is formed, and the ion conductivity is high. The membrane has good mechanical strength and flexibility, the tensile strength reaches 55.34 MPa, the elongation at break reaches 22.49%, the application requirements of fuel cells are met, and the membrane has excellent thermal stability and wide application prospects in alkaline anion exchange membrane fuel cells.

The utility model discloses a fluorite fine powder processing flotation device which comprises a flotation tank, a driving shaft is coaxially arranged in the flotation tank, and the driving shaft is connected with a power mechanism. A stirring and deslagging assembly with adjustable stirring strength is coaxially mounted at the bottom end of the driving shaft, a deslagging opening is formed in the peripheral side of the bottom of the flotation tank, and the stirring and deslagging assembly is used for stirring an ore pulp mixture in the flotation tank and discharging residues at the bottom of the flotation tank from the deslagging opening after flotation is finished; a foam outlet is formed in the side face of the top of the flotation tank, and a plurality of foam scraping plates are circumferentially distributed on the shaft body of the driving shaft corresponding to the foam outlet and used for discharging bubbles generated in the flotation tank through the foam outlet. The outer side of the flotation tank penetrates through the tank wall of the flotation tank and extends into the flotation tank, and a feeding pipe and an air inlet pipe are arranged on the outer side of the flotation tank and used for introducing fluorite materials and air into the stirring and deslagging assembly.

The utility model relates to photoresist production auxiliary equipment technical field, concretely relates to an insulating carbon black storage device for photoresist, including storage box, the top of storage box is connected with feed inlet, the first solenoid valve is installed in the communication of feed inlet and storage box, the output port department of storage box bottom is provided with the second solenoid valve, still including fixed mounting on the turbine molecular pump of storage box outer side wall, the output end of turbine molecular pump is connected with the air cylinder of fixed mounting in the outer side wall of storage box, the top lift sliding of air cylinder is inserted with nitrogen tube, the output end of nitrogen tube is inserted to storage box, and is equipped with one -way exhaust valve, the utility model discloses nitrogen tube height is adjusted dynamically through lift cylinder, makes it always close carbon black material surface, and nitrogen fills the space not being occupied by material directly, and replacement efficiency improves 30% or more, and nitrogen consumption reduces 20%-40%, and turbine molecular pump provides high -purity nitrogen delivery, prevents the back flow in combination one -way exhaust valve, ensures the inert environment of fast establishment.

The utility model discloses a combined flower box, relates to flower box technical field, including flower box entirety, flower box entirety includes box bottom plate, a plurality of groups of horizontal plate, a plurality of groups of side plate and top plate, box bottom plate top is fixed with the fixture block, horizontal plate outer wall is fixed with the first extension block. The beneficial effects of the utility model are that one sides of the clamping blocks are clamped in the first clamping grooves on the transverse plates, the transverse plates are clamped between the two groups of clamping blocks, the other sides of the clamping blocks are clamped in the second clamping grooves on the side plates, and the side plates are clamped between the two groups of clamping blocks, so that the plurality of groups of transverse plates and the side plates form a surrounding shape, planting soil and plants can be conveniently contained, and rapid forming is realized through splicing; the Chinese ancient mortise and tenon joint structure design concept is adopted, rapid building, moving and dismantling can be achieved, product transportation is facilitated, the greening rate of the space area is increased through multi-group flower box Loutu type stacking placement, the humanistic image is improved through embedding of a cat nest, a fish tank and other facilities, and various scene requirements are met.

The invention discloses an oral cavity deformity recognition method based on multi-view oral cavity pictures and application thereof, and belongs to the technical field of image recognized.The method comprises the steps that after a multi-view 2D oral cavity picture set of a target maxillofacial surface is subjected to standardized preprocessing, the preprocessed multi-view 2D oral cavity picture set is input into an oral cavity deformity recognition model; probability distribution of a target maxillofacial surface under each malformation category is output through an oral cavity malformation recognition model, and the oral cavity malformation recognition model is a visual Transform model based on multi-modal fusion and comprises a modal conversion module, a 2D feature extraction module, a 3D feature extraction module, a feature fusion module and a multi-label linear classification head module. The oral cavity deformity recognition precision is effectively improved, various oral cavity deformity features can be captured, the high accuracy of multi-label classification is achieved, and the requirement for the oral cavity deformity recognition precision is met.

The invention discloses a plasma electrospray fusion ionization source and mass spectrum combined system and a detection method. The plasma electrospray fusion ionization source and mass spectrum combined system comprises a coaxially nested electrospray needle, a sample injector, an ultrahigh voltage generator, a grounded metal grid mesh, a mass spectrometer and a detector thereof. A grounded metal grid is installed between a spray needle and a mass spectrum inlet, voltage is applied to the spray needle, carrier gas is excited to generate plasmas, the macroscopic plasmas at the front end of the spray needle are fused with electrospray, and the plasmas and micro-droplets at the tip of the spray needle are fused. According to the unique ionization source constructed by the plasma-micro-droplet fusion system, on one hand, the ionization efficiency is improved, mass spectrum signals are enhanced, the application range of analytes is widened, excellent sensitivity to high-polarity compounds is kept, and effective ionization and detection of low-polarity compounds are achieved; on the other hand, higher energy and active species are provided for the micro-droplet reaction, the energy barrier required by traditional synthesis is broken, and efficient spontaneous product generation of the micro-droplet chemical reaction is achieved.

The utility model discloses an experiment table for researching thermal performance of various floor radiant heating systems, and relates to the technical field of floor radiant heating experiments. Comprising an artificial environment chamber used for simulating an outdoor environment, a box body and a refrigeration compressor unit are arranged in the artificial environment chamber, a control cabinet is arranged outside the artificial environment chamber, and an experiment assembly is arranged in the box body; the box body comprises a bottom plate assembly, and the bottom plate assembly is detachably connected with a side plate assembly. According to the utility model, through the bottom plate assembly and the side plate assembly, rapid building can be carried out in an artificial environment room, determination can be carried out through the bottom plate assembly and the side plate assembly according to parameters such as pipeline layout, water supply temperature, system capacity and the like in the floor radiation heating system, and the performance of the floor radiation heating system is verified; therefore, the stability and the reliability of the system in actual operation are ensured.

The invention discloses a low-altitude general airport rapid building system and method based on modular splicing, and the system comprises a twinborn model management module which is used for managing a multi-dimensional digital twinborn model of a low-altitude general airport assembly; the three-dimensional scene building module is used for realizing quick assembly and component butt joint of a low-altitude general airport scene through modular dragging, wireframe type connection and a process expression mode; the multi-source data docking module integrates a multi-protocol interface library and a data unified service, and is used for accessing an external data platform and a simulation model to realize data analysis and driving; and the visual operation platform is used for loading the twinborn model and the multi-source data and driving three-dimensional scene operation and real-time monitoring. According to the method, geometric, physical, behavior and rule fusion is realized through a multi-dimensional twin model pedigree; through interconnection and intercommunication of multi-source data, real-time performance is guaranteed through a general interface library, and then visual simulation and one-key preview scene operation are realized.

The invention discloses an image tag identification model deployment method and device, equipment and a medium. The method comprises the following steps: crawling a plurality of initial images corresponding to business scene demand information according to a first image quantity; calling a pre-training multi-modal large model to carry out label endowing on each initial image according to the business scene demand information, and constructing a label image set; performing fine adjustment on the multi-modal basic model by adopting a label image set and a service rule corresponding to the service scene demand information, calling the multi-modal target model to perform batch reasoning on each non-label service scene image, and generating a plurality of pieces of pseudo-label data with the same number as the second images; selecting a to-be-trained model corresponding to the business scene demand information; and training the to-be-trained model by adopting the pseudo tag data, generating the target image tag identification model, and deploying the target image tag identification model to the corresponding service scene, so that the image tag identification model can be quickly and flexibly deployed in a resource-limited scene for use.

This invention relates to the field of waste salt resource utilization and industrial waste gas treatment technology, and provides a skid-mounted micro-interface enhanced dual electro-displacement device for preparing ammonium alkali from mixed salts. The invention includes a selective electrodialysis unit, a micro / nano bubble generator unit, and at least two sets of parallel multi-chamber dual electro-displacement units. The selective electrodialysis unit separates a mixed salt solution of sodium chloride and sodium sulfate into sodium chloride and sodium sulfate stock solutions. This device integrates selective electrodialysis, the micro / nano bubble generator, and the dual electro-displacement unit in a skid-mounted configuration, forming an integrated continuous flow reaction system. This device achieves efficient and synergistic resource conversion of industrial waste salt and waste gas, producing sodium carbonate and ammonium salts with high purity that meet national standards. Furthermore, the process is energy-saving, environmentally friendly, and produces no secondary pollution.

The utility model provides a kind of fuel oil motor car system for large ship main engine test, with the oil supply line of connecting oil tank oil outlet and oil inlet platform and the oil return line of connecting oil tank oil return and platform oil return end, it is characterized in that, the fuel oil motor car system includes: fuel oil circulation system, for fuel oil supply and oil return, including the oil pump being set on oil supply line;Metering system is used to measure the flow of oil supply and oil return, including the first flowmeter being set on oil supply line and the second flowmeter being set on oil return line;Filter system is used to carry out multistage filtration to oil supply and oil return, including the multistage filter being set on oil supply line and the multistage filter being set on oil return line.

The invention discloses a membrane electrode activation method, device and equipment and a fuel cell, accumulative calculation is carried out according to an ECSA integral calculation formula in a preset time period, the active area of a to-be-detected membrane electrode activated by cyclic voltammetry is judged to be larger than a preset active area, after an electrochemical workstation is dismounted, the to-be-detected membrane electrode is connected with a load, and the to-be-detected membrane electrode is activated. And after the cathode gas of the membrane electrode to be detected is switched into air and the anode gas is switched into hydrogen, performing high-frequency variable-current activation until the battery voltage is stabilized at a preset voltage value under the preset current density. According to the method, the cyclic voltammetry is firstly adopted for activation, impurities on active sites of a catalyst layer covering the surface of the membrane electrode can be removed, humidification gas is accelerated to enter the catalyst layer, the active area of the membrane electrode to be detected is larger than the preset active area, then high-frequency variable-current activation is carried out, and an electron and proton mass transfer channel can be rapidly constructed; therefore, efficient establishment of a reaction three-phase interface is realized, the activation time is shortened, and the activation efficiency is improved.

This invention belongs to the technical field of drug synthesis, specifically relating to memantine derivatives, their synthetic methods, and applications. The memantine derivatives include intermediate structural formulas I, II, and III, as well as a general structural formula. The linker is a substituted or unsubstituted C6-C10 aryl group, R1 is hydrogen or a C1-C6 alkyl group, and R2 is hydrogen, a C1-C6 alkyl group, or a nitrogen-containing or nitrogen-free structural fragment, or the overall structure of R1 and R2 is an N-substituted heterocyclopentyl or heterocyclohexyl group. The memantine derivatives provided by this invention improve drug activity by combining the memantine group with the OAB-14 partial structure, thereby altering the core structure. This invention also provides a synthetic method for the obtained compounds used in the treatment of Alzheimer's disease and Parkinson's disease.

This utility model provides a flange structure and display rack, relating to the field of display rack technology. The flange structure includes an upper flange, a connecting pipe, a lower flange, and a fixing structure. The lower flange is fixedly sleeved on the connecting pipe. The upper flange is connected to the lower flange through the fixing structure. This utility model's flange structure and display rack are simple in structure and easy to operate. The flange structure achieves quick connection and self-locking fixation between the upper and lower flanges through the fixing structure, effectively preventing loosening. When applied to a display rack, it achieves a stable connection with the uprights through support members, allowing multiple display baskets to be quickly installed layer by layer, significantly improving the flexibility and ease of operation of the display rack.

The utility model discloses a human settlement environment slope collapse early warning supporting device which comprises a plurality of supporting columns and a plurality of collapse protection plates installed on one sides of the supporting columns, and supporting mechanisms are installed on the other sides of the supporting columns and used for supporting and reinforcing slope protection positions. According to the utility model, through the cooperative work of the inclination sensor, the displacement sensor and the stress sensor, the slope deformation displacement, inclination and stress change conditions can be accurately monitored in real time. Abnormal data can be captured in time at the early stage of collapse risk of the side slope, and an early warning signal is sent out quickly when abnormal deformation occurs. Therefore, precious emergency treatment time is won for residents and related personnel around the human settlement environment, preparation work such as personnel evacuation and property transfer is made in advance, casualties and property losses possibly caused by slope collapse in the human settlement environment are effectively reduced, and the safety of the human settlement environment is guaranteed to the maximum extent.

The invention belongs to the technical field of experimental animal models, biomedical research and immunology, and discloses a photocoagulation thymus ischemia animal model, a method and application of the photocoagulation thymus ischemia animal model in rapid simulation of thymus degeneration and immune senescence, and the model shows at least one or more characteristics 1-7 days after induction: thymus atrophy, thymus weight or thymus index is significantly reduced; the cortical-medullary structure of thymus is disordered or disappears; the expression distribution of the Keratin 5 / Keratin 8 is abnormal; thymic cell apoptosis is increased, and lipid deposition is enhanced; the proportion of CD4 + CD8 + double positive T cells is reduced, and the proportion of DN2 / DN3 stage T cells is increased; the initial T cell output is reduced; and the immune function is reduced. The pathological mechanism is clear; the modeling period is short, and the immune senescence phenotype can be stably obtained within several days; the injury focus is controllable, and systemic stress or hormone interference is avoided; the model has high repeatability and is suitable for mechanism research and drug screening.

This invention discloses a method and apparatus for constructing an engineering model of a closed-loop control system. The method involves obtaining the process given amplitude of the closed-loop control system and its process output parameters, including a steady-state value, a first peak value, a first peak time, and a second peak time. A first difference between the second peak time and the first peak time is calculated. Based on this first difference, a time constant for the engineering model of the closed-loop control system is set. Based on the steady-state value and the process given amplitude, the gain of the engineering model is set. Based on the first peak value and the process given amplitude, the identification coefficients of the engineering model are set. The engineering model is then determined based on the time constant, gain, and identification coefficients. Compared with existing technologies, this invention enables rapid construction of an engineering model of a closed-loop control system based on relevant process given parameters.

The utility model discloses a prefabricated cavity type cylindrical single pile bearing platform which comprises a cylindrical bearing barrel, four inner bosses are distributed on the inner side of the upper portion of the bearing barrel and distributed in an X shape relative to the barrel wall of the bearing barrel, the upper end faces of the inner bosses are flush with the upper end face of the bearing barrel, and the lower end faces of the inner bosses are flush with the upper end face of the bearing barrel. The lower end faces of the inner bosses are located in the bearing cylinder and are far away from the lower end face of the bearing cylinder, the space, outside the inner bosses, in the bearing cylinder is arranged to be a pouring cavity, the upper ends of the two inner bosses located on the same side are provided with second base stock grooves, and the positions, corresponding to the second base stock grooves, of the upper end face of the bearing cylinder are provided with first base stock grooves. In the construction process, the connecting device can be rapidly connected with a pile column, a supporting column and a supporting beam, construction and operation are easy and convenient, and time and labor are saved.

The present application belongs to the technical field of manifold, and particularly relates to an intelligent throttling well killing manifold, which comprises a base, a plurality of movable support assemblies are slidably connected to the base, the movable support assemblies are fixedly connected with a cross piece, the cross piece is fixedly connected with a plurality of valve body assemblies, adjacent two valve body assemblies are fixed through quick dismounting and mounting assemblies, the quick dismounting and mounting assemblies are fixed on the movable support assemblies, the cross piece and the quick dismounting and mounting assemblies are fixed on different movable support assemblies, the position of the cross piece and the plurality of valve body assemblies can be changed by changing the position of the movable support assemblies on the base, thereby the butt joint installation of the oil well pipeline at different positions can be adapted, the quick dismounting and mounting between adjacent two valve body assemblies can be realized through the quick dismounting and mounting assemblies, the quick maintenance and replacement of the valve body assemblies can be realized, the maintenance efficiency of the throttling well killing manifold is improved, the throttling well killing manifold can be quickly put into use, and thereby the downtime is reduced.

The present invention provides a dialogue response creator for generating a dialogue response based on dialogue characteristics and relationships using a language model, the dialogue response creator storing one language model, response data generated by the language model reflecting dialogue characteristics of a speaker who has a dialogue with a user and a past dialogue made with the user, the data represents a response that the user can communicate to the speaker; and a processor that inputs, as first input data, real-time dialogue data including an ongoing real-time dialogue statement between the dialogue person and the user into the language model, and outputs, as first output data, the response data from the language model.

The present application relates to the field of compressed air energy storage, and particularly relates to a compressed air energy storage underground cavern lining test device with less required filling gas and more stable gas pressure, comprising a support cylinder, which is sleeved with a ring-shaped lining, and a sealed cavity is formed between the side wall of the support cylinder and the elastic sealing layer of the side wall of the ring-shaped lining; and an air inlet is arranged to connect the sealed cavity with the outside. The present application is particularly suitable for use in the compressed air energy storage underground cavern lining test.

The application discloses a kind of marine ecosystem full-chain accounting methods for account-oriented collection, comprising: identifying the asset type of marine ecosystem in accounting area, obtaining spatial distribution and area information, generating asset directory list;According to the asset directory list, marine ecological products are classified;The area data of each asset is imported into the physical quantity accounting account;Based on the value evaluation model, the value in the physical quantity accounting account is converted into the value of the base year constant price measurement, and the value of each type of marine ecological product is calculated respectively;Establish a digital accounting account, the digital accounting account includes the physical quantity accounting account and the value accounting account, and the mapping association between them;According to the preset administrative path or asset path, the value in the value accounting account is aggregated to generate the total value of marine ecosystem assets.The present application provides reliable technical support for marine ecological management and value conversion.

The application provides a loop detection method and system based on a semantic ellipsoid, performs target detection, and obtains a preliminary ellipsoid model by constraining semantic point clouds obtained through target detection on a key frame; in subsequent observation, the model is continuously optimized through detection frame constraint and a nearest neighbor relationship semantic histogram is updated as a descriptor; in loop detection, optimal matching is performed on the current local semantic graph and global map semantics based on descriptor similarity and geometric consistency, a transformation matrix of the local graph to the global map is calculated according to the matching result, a loop matching mechanism is established based on inliers, and the map loop is corrected. The application extracts semantic information in a scene through target detection, obtains a scene semantic graph through ellipsoid modeling and optimization, and realizes loop detection based on map semantic matching suitable for large visual angle differences.