58results about How to "Reliable execution" patented technology

The invention discloses a large model service platform for high-efficiency concurrent computing, particularly relates to the technical field of data analysis, and realizes optimal management of the large model service platform for high-efficiency concurrent computing through a task allocation module, a node health assessment module, a node division module, a dynamic adjustment module and a fault identification module. The task distribution module reasonably distributes computing resources according to task priorities and real-time monitoring data; the node health assessment module accurately assesses node health conditions through preprocessing and feature extraction; the node division module classifies the nodes according to the health assessment result; the dynamic adjustment module dynamically adjusts a resource allocation strategy by using fuzzy logic; the fault recognition module recognizes and repairs fault nodes in time by further analyzing the health conditions of the high-load nodes; the overall performance and the resource utilization rate of the system are improved, efficient and reliable execution of intelligent financial services is ensured, and the stability and the reliability of the system are enhanced.

The invention relates to the technical field of deep learning recognition, and discloses a plant growth state deep learning recognition method and system based on a plant lamp. The method comprises the following steps: carrying out multi-modal data acquisition on a plant growth area by adopting a track type multispectral camera array matched with a fixed LED plant light supplement lamp to obtain a plant image data set and an environment parameter data set; performing feature extraction to obtain a plant growth feature vector; carrying out plant growth state identification and light supplement demand prediction based on a multi-task deep learning model of an improved Transform architecture, and obtaining a plant growth stage discrimination result and light supplement demand spatial and temporal distribution data; and an initial light supplement parameter optimization model is constructed based on the plant growth stage discrimination result and the light supplement demand spatial-temporal distribution data, and an LED plant light supplement lamp illumination parameter sequence is obtained through deep Q network iterative optimization, so that efficient optimization and dynamic adjustment of light supplement parameters are realized, and the light supplement control precision is significantly improved.

The invention belongs to the related technical field of multipurpose welding equipment, and provides a multifunctional automatic welding robot which comprises an annular assembly, a welding assembly and a flow guide assembly. The welding robot is suitable for welding maintenance in a pipeline or welding maintenance in a narrow space, the welding robot can have better trafficability by arranging the foldable welding assembly moving in the annular direction, the welding robot is suitable for various pipelines and narrow environments, and meanwhile the welding maintenance efficiency is improved. The flow guide assembly can control airflow flowing circulation in the narrow environment based on requirements during welding, the situation that smoke generated during welding is gathered in the narrow environment, and consequently welding judgment of the welding robot is affected can be effectively avoided, and it is guaranteed that the recognition process of automatic welding is accurately and reliably executed.

The invention discloses a large-depth pressure-resistant communication antenna of an unmanned underwater vehicle and the underwater vehicle, and belongs to the technical field of underwater vehicles, the antenna comprises an antenna shell, a pressure-resistant cabin body and a fin-shaped component, the pressure-resistant cabin body is a component forming a cabin body segment of the underwater vehicle, and the fin-shaped component is a fin-shaped component. The antenna shell comprises a radial supporting part fixed to the pressure-resistant cabin and a shell part fixed to the top end of the radial supporting part, the fin-shaped component is fixed to the radial supporting part, an antenna unit is installed in the shell part, and a wireless communication function unit connected with the antenna unit is arranged in the pressure-resistant cabin. The large-depth pressure-resistant communication antenna of the unmanned underwater vehicle has the advantages of being excellent in communication quality, high in pressure resistance, optimized in size, high in space utilization rate, stable and reliable for a long time and the like, and can meet operation requirements in a deep sea environment.

The invention belongs to the technical field of seismic data acquisition and processing, and particularly relates to a method and a device for acquiring a seismic diffraction body. The method comprises the following specific steps: preprocessing collected seismic data to obtain seismic shot gather data which can be directly used for migration; eliminating residual noise by using a multi-channel singular spectrum analysis technology to obtain optimized pre-stack gather data; a complete diffracted wave is obtained through forward and reverse transformation of a virtual seismic source and through offset-reflected wave removal-deoffset; and finally, accurately separating weak signals of the diffracted waves under the condition of intersection and tangency of seismic wave fields by researching characteristics that the polarity and the amplitude of the diffracted waves change along with an emergence angle and an azimuth angle, thereby realizing high-resolution diffraction body imaging of the fractured-vuggy reservoir, effectively improving the imaging precision of the karst fractured-vuggy reservoir, and achieving the purpose of fine detection of the fractured-vuggy reservoir. The method is of positive significance to clarify the seismic response of the fracture-vug type reservoir, implement fracture-vug distribution characteristics and guide effective identification of the karst type reservoir and optimization of a favorable target area.

According to the low-code mechanical arm task configuration analysis method, task configuration information written by a user is read and converted into a structured format file through an analysis engine, and task description of a tree structure is formed; determining logic association among the state modules through semantic analysis and a hierarchical relationship recognition algorithm; a state module behavior is predicted by means of machine learning, a data model conforming to a tree topology structure is constructed, and dynamic adjustment of a task sequence is supported; an intelligent recommendation system is used for evaluating the importance of nodes and automatically supplementing default values, deep learning and natural language processing technologies are combined, errors in configuration information are automatically detected and corrected, a generated data structure is directly used for guiding a mechanical arm to execute a task, the execution state is allowed to be monitored through a visual tool, and the operation efficiency is improved. And tasks are ensured to be performed according to a preset sequence, and response can be quickly made in case of abnormal conditions. According to the method, the task configuration efficiency and accuracy are remarkably improved, and the intelligent level of a mechanical arm system is enhanced.

The invention relates to the technical field of unmanned aerial vehicle electronic data processing, provides an unmanned aerial vehicle formation collaborative planning method, and aims to solve the problem that an unmanned aerial vehicle formation cannot accurately fly according to a preset path due to high-altitude natural environment and electronic signal interference. A natural environment simulation model is established, unmanned aerial vehicle formation signal intensity and position are monitored in real time, a flight image is generated by using a digital twin model, and a flight path is dynamically corrected according to error information. The method comprises the steps of data acquisition, real-time communication configuration, signal detection and matching, flight image generation and formation adjustment, comparative analysis and dynamic correction and the like, through dynamic adjustment and genetic algorithm optimization, the unmanned aerial vehicle formation flies accurately, and the task execution efficiency and accuracy are improved. The method effectively solves the problem of unmanned aerial vehicle formation flight in a complex environment, and has a wide application prospect.

The invention belongs to the technical field of gas production engineering, and particularly relates to a jet pump nozzle and throat pipe combination calculation method and device. The method comprises the following specific steps: setting basic parameters of the jet pump, and giving an initial diameter value of a nozzle; calculating parameter values required by the jet pump, judging whether the value obtained by subtracting the minimum gas-water two-phase cavitation area from the area difference of the throat pipe and the nozzle of the jet pump is greater than a set value or not according to the calculated parameter values, if so, calculating and recording the efficiency value of the jet pump, and then changing the diameter of the nozzle and recalculating the efficiency value of the jet pump. And finding the optimal nozzle diameter and throat pipe diameter corresponding to the maximum jet pump efficiency value. The jet pump process for the natural gas well is operated under the optimal efficiency, the gas production rate and the liquid production rate of the gas well reach the highest, the application effect of the jet pump process is improved, the method is high in logicality and convenient to convert into a computer program, rapid loop iteration is achieved, and the purposes of improving the working efficiency and reducing the cost are achieved. And a nozzle and throat pipe combination enabling the operation efficiency of the jet pump to be the highest is designed.

The invention discloses an RPA process optimization method based on a large language model. The method comprises the following steps: S1, carrying out preprocessing and structuring on an existing RPA process; s2, mapping the existing structured RPA flow into a knowledge graph; s3, analyzing the mapped knowledge graph by using LLM (Logistics Language Model); s4, adjusting and optimizing the existing RPA process according to the analysis result in the step S3 to obtain an optimized RPA process; and S5, re-converting the optimized RPA flow into a script or a command sequence which can be executed by the RPA, and re-deploying the optimized RPA flow on the RPA platform by adopting an RPA platform development tool. According to the method, the efficiency of the optimized RPA process in the actual application process can be effectively improved, the operation and maintenance cost is reduced, and the method has great practical value.

This application provides a cross-application service scheduling and execution method and system in a vehicle environment, relating to the field of intelligent vehicle system technology. It acquires known service-related data of the vehicle system, as well as environmental perception data and user voice information of the vehicle environment; parses the user voice information to obtain target demand information, intent association information, and voice feature information; forms scene adaptation parameters based on environmental perception data; generates multiple second instruction transmission signals based on target demand information; detects each target demand information based on service-related data, intent association information, voice feature information, and scene adaptation parameters, obtains detection results, and combines these with the second instruction transmission signals to schedule and execute multiple cross-application services in the vehicle environment, generating service scheduling and execution results. This achieves dynamic coordination and orderly scheduling of cross-application services, improving the response accuracy and execution security of the vehicle system in complex driving scenarios.

The invention discloses an image processing method and device, electronic equipment and a readable storage medium, the method is suitable for a display chip, the display chip comprises a main body module and a frame insertion module, and the method comprises the following steps: the main body module receives first image data; the main body module performs super-resolution processing on the first image data to obtain second image data; wherein the resolution of the second image data is greater than that of the first image data; when the resolution of the second image data is greater than a target resolution threshold, the main body module cuts the second image data to obtain third image data; wherein the resolution of the third image data is smaller than or equal to the target resolution threshold, and the target resolution threshold is smaller than or equal to the maximum resolution supported by the frame insertion module; and the frame insertion module performs frame insertion processing according to the third image data to obtain target image data.

This invention discloses a method for constructing large-scale model applications based on configurable workflows and domain knowledge bases, comprising the following steps: S1, constructing a domain knowledge base, establishing a semantic graph, and generating a knowledge embedding dataset; S2, defining a configurable workflow, setting jump rules based on a semantic flow language, and binding task semantic tags; S3, configuring a Prompt adaptive generation mechanism, combining semantic tags and the knowledge embedding dataset to generate Prompt input text; S4, calling the knowledge embedding dataset, retrieving semantic fragments, and embedding them into the Prompt to form an enhanced Prompt input; S5, inputting the large language model to obtain return results and metrics, and performing jump judgment; S6, scheduling large language model service instances, dynamically selecting service interfaces based on metrics and task status; S7, processing process termination nodes, organizing output results, and recording logs and call data. This invention achieves intelligent scheduling and application construction of large-scale models based on workflows and knowledge bases.

The present application discloses a control method and system for wireless network equipment, which relates to the field of communication technology, including: collecting user data from different areas in the network; obtaining the coordinate position and transmission power parameters of the network equipment, and calculating the wireless coverage area according to the wireless signal propagation model, which includes the SCHEMA model, the Okumura model and the Hata model; determining the target area by generating a heat map according to the collected user data and the wireless coverage area; calculating the minimum transmission power value that satisfies the wireless coverage and throughput of users in the target area according to the heat map, the wireless coverage area and the user data, and the transmission power parameters; generating a control instruction to adjust the transmission power of the network equipment according to the calculated minimum transmission power value; and adjusting the transmission power of the network equipment according to the generated control instruction. In view of the problem of high energy consumption of network equipment in the prior art, the present application dynamically adjusts the transmission power of the equipment based on the user distribution, etc., thereby reducing energy consumption.

The invention relates to the technical field of face cleaning, in particular to a face cleaning robot self-adaptive smooth cleaning method, which comprises the following steps: acquiring a face RGB-D image; face feature points are extracted, and a polygon vertex set is constructed based on the outermost layer feature points of the face; acquiring a face region pixel set by using a scanning line filling algorithm, and performing pixel point cloud conversion; face cleaning zoning is carried out; utilizing the local point cloud set, the PCA normal vector and normal vector direction normalization to extract the local curved surface normal vector of the human face; carrying out kinematics constraint on the attitude; and performing force-position hybrid control and active obstacle avoidance safety control on the error. According to the method, the face cleaning task of the joint type robot and safety control in the task process are achieved.

The invention belongs to the technical field of fracturing, and particularly relates to a lithologic distribution simulation method and device for complex lithologic carbonate rocks. The method specifically comprises the following steps of: generating random numbers in a set grid by using sequential Gaussian simulation random pairs, sequencing all the random numbers to obtain a random number sequence in a set sequence, and dividing the random number sequence according to the required lithology type and the proportion of each lithology to obtain a corresponding interval; assigning the same numerical value to all random numbers in the same divided interval, forming a lithology random distribution space according to the assigned values, and generating a lithology distribution simulation image. According to the method, a controllable and random mineral distribution model with spatial relevance is established, and compared with a conventional simulation method, the acid fracturing simulation accuracy of the complex lithologic reservoir can be further improved, and the applicability of a mine field is enhanced.

The present application belongs to the technical field of energy storage system, and particularly relates to an energy storage system and a negative sequence current phase-to-phase SOC equalization control device and method. The energy storage system of the present application is a high-voltage energy storage system. First, the three-phase SOC deviation values of the energy storage system are compared to determine the maximum deviation. When the absolute value of the deviation value of the maximum deviation is less than or equal to a set dead zone value, the negative sequence current given value is set to 0. When the absolute value of the deviation value of the maximum deviation is greater than the set dead zone value, the initial phase of the corresponding negative sequence current is set according to different conditions of the three-phase SOC deviation. Then, the d-axis and q-axis component given values of the negative sequence current are obtained according to the initial phase and the set current ratio. The negative sequence control component is obtained through d-axis and q-axis decoupling control, and is added to the obtained positive sequence control component to obtain the modulation wave of the converter in the energy storage system, so as to realize phase-to-phase SOC equalization. This scheme solves the problem of phase-to-phase SOC equalization control of the negative sequence current of the energy storage system through a software strategy with small calculation amount and clear logic.

The application relates to the technical field of household appliances, and discloses a cleaning brush and a control method thereof. The cleaning brush comprises a main machine, a handle and a machine head. The machine head is connected with the main machine and comprises a water tank and brush hairs. Cleaning medium is arranged in the water tank, and the brush hairs are arranged at the bottom of the water tank. An atomizing water spraying device is arranged at the bottom of the water tank and communicates with the inside of the water tank. The other end of the atomizing water spraying device is provided with a nozzle. The atomizing water spraying device is used for atomizing the cleaning medium and spraying the atomized cleaning medium to a surface to be cleaned and the brush hairs. Compared with the related art, the water tank and the atomizing water spraying device are integrated in the brush head, so that an additional handheld water pipe, a shower for humidification or frequent wetting of the brush hairs is not needed, the cleaning operation process is simplified, and the use convenience is remarkably improved.

This invention discloses a multi-satellite mission planning system and method, belonging to the field of on-board mission planning. The mission planning module allocates at least one execution satellite for each specified mission based on the mission request, the current orbital information of each satellite, and current resource information, generating a mission planning scheme. When the cloud core node establishes communication with any execution satellite, it generates the corresponding mission instruction and sends it to the edge core node of that execution satellite. When the edge core node establishes communication with the ground terminal, it receives and parses the mission instruction from the ground terminal and registers the timing trigger information to the local timing scheduler. The edge core node, through the local timing scheduler, creates and runs the container image of the corresponding specified mission when the planned execution time arrives, to execute the specified mission. This invention overcomes the problem of mission triggering and timing control being impossible due to the inevitable interruptions and delays in satellite-to-ground communication.

The invention belongs to the technical field of intelligent substation relay protection device testing, and particularly relates to a relay protection device remote control testing method and system and a use case generation method thereof. Aiming at the problem of poor reusability of a manually-compiled remote control case, the method comprises the following steps of: establishing a remote control data set comprising each control value of each tested remote control object, searching GOOSE sending object data reference corresponding to the remote control data set, and an APPID and a data channel index number corresponding to the GOOSE sending object data reference; establishing corresponding mapping relationships between the remote control data set and the APPID of the data and the data channel index number, so as to automatically generate a required remote control test case according to each mapping relationship; according to the method, the test environment is simplified, the problem of poor reusability of the automatic test case is fundamentally solved, the adaptability of automatic test is effectively improved, and the test efficiency is improved.

The invention relates to the field of wafer processing, and discloses a wafer cleaning device and a method thereof.The wafer cleaning device comprises a cleaning tank, a continuous cleaning disc is arranged in the cleaning tank, the continuous cleaning disc is connected with a driving motor through an indexing transmission mechanism, and the driving motor is fixed to the side wall of the cleaning tank; a plurality of wafer bearing mechanisms are distributed on the side face of the continuous cleaning disc in the circumferential direction, a cleaning station and a spin-drying station are arranged at the position corresponding to the continuous cleaning disc, and the cleaning station and the spin-drying station are independently arranged. A cleaning mechanism is arranged at the cleaning station and is used for cleaning the wafers in sequence; a spin-drying mechanism is arranged at the spin-drying station and is used for sequentially spin-drying the corresponding circles; through cyclic indexing conveying of the continuous cleaning disc, discrete cleaning and spin-drying processes are integrated into a continuous assembly line; the loading, cleaning, transferring and spin-drying processes of the wafer are seamlessly connected, so that the time loss of wafer carrying and waiting in the traditional single-machine operation is eliminated, and the wafer handling capacity in unit time is improved.

The application relates to the technical field of ship safety, in particular to a safety guarantee and emergency response system and method applied to a ship; the system comprises an intelligent domain controller and a ship body domain controller, and the intelligent domain controller is electrically connected with the ship body domain controller; wherein: the intelligent domain controller is used for generating at least one first emergency plan of a ship device based on first ship device data associated with the intelligent domain controller and / or second ship device data associated with the ship body domain controller; and the ship body domain controller is used for controlling corresponding devices in the ship based on the at least one first emergency plan of the ship device. Through the system, an intelligent ship safety guarantee and emergency response system architecture and a working mode thereof are provided, unified access, intelligent analysis, centralized decision-making, cooperative response and reliable execution of all kinds of safety-related information of the ship are realized, and therefore the overall safety level and the emergency disposal capacity of the ship are improved.

The application discloses a kind of bulk creation method and system of commodity advertisement, including updating preset advertisement structure based on user operation, obtain target advertisement structure matched with the advertisement creation task submitted by user: parse user operation, based on manual mode and delivery type, the number of advertisement activities is updated to N;Based on matching type and the number of updated advertisement activities, the number of advertisement groups is updated to M;Based on keyword, delivery commodity and the number of updated advertisement groups, the number of advertisements is updated to L;Based on the product data of the product to be created and target advertisement structure, generate bulk advertisement of the product to be created.The method and the corresponding system can generate personalized advertisement activities according to the characteristics of the product during bulk creation, meet the personalized needs of sellers, and can quickly interface various e-commerce platforms, further accelerate the efficiency of advertisement creation, improve the success rate of bulk creation, and reduce the cost of bulk creation.

The invention relates to the technical field of vehicles, in particular to a vehicle safety certification and control system, a vehicle and a control method.The vehicle safety certification and control system comprises a multi-mode biological characteristic quantization processing module which is used for obtaining at least one biological characteristic of a user and conducting coding fusion on the biological characteristics in a hardware operation environment to generate a quantum-state identity label; the dynamic key management and vehicle control module is used for completing identity authentication according to the quantum state identity credential, generating an encryption key of a vehicle control instruction according to the traffic situation information if the identity authentication is successful, and outputting the vehicle control instruction after safely packaging the vehicle control instruction by using the encryption key in response to user operation or a preset event, and the vehicle is controlled to execute corresponding operation. Therefore, the problems that in the related technology, biological characteristic transmission of a vehicle-mounted safety system is prone to being stolen, secret key management is static and rigid and cannot respond to road conditions in real time, and quantum hardware is difficult to stably work in the vehicle-mounted vibration and high-temperature environment are solved.

The invention discloses a wool spinning carding machine needle tooth density self-adaptive control method and system based on fiber fineness monitoring, and relates to the field of mechanical intelligent control, and the method comprises the steps: obtaining fiber fineness monitoring data of a target scene and carding area operation characteristic data in real time; acquiring the needle tooth density of the target working condition through the fiber fineness monitoring data; constructing a working condition density distribution model of the needle tooth density of the target carding machine, and initializing the working condition density distribution model; in combination with the working condition density distribution model, the carding area operation characteristic data and a pre-constructed second relation model, calculating expected working condition pin tooth density, and adjusting the working condition density distribution model; and based on the working condition density distribution model, outputting an optimal apparent needle tooth density set value, generating a control instruction and driving a needle tooth density execution mechanism of the carding machine to act. The problems that in the prior art, manual sampling and off-line detection are dependent, information is seriously lagged, the needle tooth density adaptability is poor, and the dynamic operation working condition of the carding machine is not considered are solved.

The invention discloses a water pump PWM software control method for an instant heating type water dispenser and a corresponding medium and equipment, and the method comprises the steps: S1, receiving a water outlet instruction, and judging whether a water pump PWM historical value corresponding to the current target temperature exists or not; s2, if not, a water pump and a heater are started, the PWM value of the water pump is dynamically adjusted through a PID algorithm according to the difference value between the outlet water temperature and the target temperature till the water temperature stably reaches the standard, and the PWM value is stored as a historical value; s3, if yes, the historical PWM value is directly called to control a water pump and start a heater; and S4, continuously monitoring the water temperature in the quick starting process, and if the water temperature deviates from the target temperature, correcting the historical PWM value to keep the constant temperature. According to the invention, rapid starting is realized by storing and calling the historical PWM value, and time consumed by real-time calculation is reduced; closed-loop control is formed by combining monitoring and correction, long-term stability of the water temperature is guaranteed, and the system adapts to environment and equipment state changes.

This invention discloses an automatic sorting system for battery separator surface defects based on machine vision, relating to the field of image processing. The system includes: deploying an industrial camera and illumination unit for synchronous acquisition; obtaining high-quality image sequences through flat-field correction and noise reduction preprocessing; using a pre-trained deep convolutional neural network for defect probability prediction; initially locating defect regions through adaptive threshold segmentation; classifying defects using a dual-branch network that fuses deep semantic features and hand-crafted features; accurately segmenting defect contours and quantifying geometric parameters using a feature pyramid network; and finally, matching defect information according to a preset rule base, determining the quality level, and tracking the location in real time to trigger a sorting mechanism to guide unqualified segments to the corresponding collection channel, thus achieving automated sorting. The advantages of this invention are: achieving full-process automation of defect detection, classification, parameter quantification, and sorting execution, while also possessing advantages such as high detection accuracy, accurate classification, and reliable decision-making.

The utility model relates to an intelligent gas meter dual power supply switching power supply circuit, which adopts dual power supply design, automatically switches to the power supply with higher voltage by utilizing the voltage drop characteristic of diode, and does not need external control unit. At the same time, super capacitor is added as backup power supply to provide emergency power supply when dual power supply is powered off, ensuring data storage and valve operation. The power output module also has power supply control function, and realizes intermittent power supply or constant power supply through MOS tube, meeting the low power consumption requirement. In addition, the voltage conversion module works cooperatively to meet the high and low voltage load requirement, reduce power consumption, and prolong battery life. This design significantly improves the stability and reliability of the intelligent gas meter power supply system, providing users with more durable and stable use experience.

The invention provides an intelligent plant pruning mechanical arm control method and system, relates to the field of intelligent robot control, and solves the technical problems that an existing plant pruning mechanical arm system seriously depends on a plane vision image, the plant sensing precision is low, and the pruning path planning capability is poor. The method comprises the following steps: collecting multi-modal visual data of a target plant, and processing the visual data based on a three-dimensional reconstruction algorithm to generate a plant three-dimensional model; a target three-dimensional model of a target shape is obtained, difference analysis and trajectory optimization are conducted on the plant three-dimensional model and the target three-dimensional model based on the differentiable simulation technology, and a pruning path of the mechanical arm is generated; and receiving a user instruction, analyzing the user instruction through an intelligent algorithm, mapping the user instruction to the three-dimensional model, and generating and driving a mechanical arm to perform trimming operation along the trimming path.

The invention provides a real-time path correction method for a general operation power platform of hill and mountain machinery, and relates to the technical field of path planning, a camera and an LIDAR sensor are installed in front of the top of the platform, images and distance data are collected in real time, and denoising and edge detection are carried out on the images to identify obstacle boundaries. Then, feature matching is carried out in camera images at different positions by using an SIFT algorithm, dense point cloud is reconstructed, and a three-dimensional terrain model is generated; on the basis of the secondary recognition image and the three-dimensional terrain model, path planning is conducted through an A * algorithm, path deviation is determined, a control instruction is generated to adjust the steering angle, and real-time path correction is achieved.

The embodiments of the present application relate to the field of map processing technology, and disclose a method for determining a target area, a self-mobile device, and a computer-readable storage medium. The method includes: obtaining a grid map, deleting an area between two unknown grids that meets the first type of inaccessible condition, deleting an area between an unknown grid and an obstacle grid that meets the second type of inaccessible condition, and searching for a connected domain containing the current machine position in the optimized map to obtain a target area. When a self-mobile device detects and constructs a grid map, it is easily affected by the position of the gap and obtains a slit area. The embodiments of the present application regard an area between two unknown grids that meets the first type of inaccessible condition, and an area between an unknown grid and an obstacle grid that meets the second type of inaccessible condition as a gap area, and delete both of them, thereby ensuring that a reliable target area is extracted.