3195 results about "Cloud data" patented technology

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

The invention discloses a multi-source image data fusion-based fine decoration air crack seepage quality problem detection method and device, and solves the technical problem of how to carry out comprehensive, high-precision and intelligent detection on the fine decoration surface air crack seepage quality problem. Comprising the following steps: 1) receiving visible light image data, thermal infrared image data and three-dimensional laser point cloud data of a target refined decoration surface acquired from visible light acquisition equipment, thermal infrared imaging equipment and three-dimensional laser scanning equipment respectively; 2) carrying out feature extraction on the visible light image data, the thermal infrared image data and the three-dimensional laser point cloud data; 3) obtaining point cloud projection coordinates, and then performing association fusion on the first two-dimensional feature and the second two-dimensional feature with corresponding three-dimensional features to generate fusion point cloud data containing multi-source features; and 4) based on the fused point cloud data, carrying out defect classification identification and spatial positioning to obtain a detection result. And comprehensive and high-precision detection of the quality problem of air crack seepage of the finely-decorated surface is realized.

The invention relates to a robot path planning method based on multi-sensor fusion and free space topology composition, and belongs to the technical field of robot autonomous navigation. The method comprises the following steps: firstly, fusing laser radar and millimeter wave radar data, constructing multi-modal point cloud data, extracting a three-dimensional obstacle boundary by combining depth and normal vector mutation features, and generating a three-dimensional obstacle map and a free region tree; according to the constructed space model, factors such as energy consumption, dynamic obstacles, path smoothness and the like are integrated, target selection weights are dynamically regulated and controlled, and self-adaptive screening of intermediate navigation targets is achieved. And based on the intermediate navigation target, generating a safe trajectory satisfying dynamic constraints by adopting geometric-dynamic dual-mode fusion modeling, and enhancing the feasibility and robustness of the trajectory through trajectory envelope optimization and pre-execution fault-tolerant control. The method can be widely applied to autonomous navigation systems such as mobile robots and unmanned vehicles, and has good environment adaptability and path execution stability.

The invention relates to the technical field of road engineering safety monitoring, in particular to an expressway slope crack identification method based on unmanned aerial vehicle laser point cloud visualization, which comprises the following steps: multi-source data collaborative acquisition: an unmanned aerial vehicle carrying a laser radar scanner and a high-resolution optical camera flies along a multi-angle combined route, and the unmanned aerial vehicle carries a laser radar scanner and a high-resolution optical camera; synchronously acquiring side slope three-dimensional laser point cloud data and an orthoimage sequence; data fusion preprocessing: denoising and filtering the data to generate an exposed slope triangular mesh curved surface model, and mapping textures to generate a high-precision live-action three-dimensional model; performing multi-dimensional feature fusion recognition, extracting curvature and texture features, inputting the curvature and texture features into a pre-training classification model, judging and outputting a crack pixel-level position; and carrying out visual output, superposing crack information rendering and generating a quantitative report containing the length and width of the spatial position. The method is high in coverage precision and identification accuracy, and provides a reliable basis for slope safety assessment.

The invention relates to the technical field of geological disaster detection, in particular to an unmanned aerial vehicle multi-sensor image fusion slope geological disaster detection system which comprises a data acquisition module, a manifold registration module, a feature fusion module, a weight optimization module, a fusion execution module, a disaster detection module and the like. RGB images, thermal infrared images and laser point cloud data of a slope are collected through an unmanned aerial vehicle, the surface of the slope is modeled as a Riemannian manifold, and high-precision space registration of heterogeneous data is achieved; constructing a feature manifold based on a manifold learning method, and extracting and fusing multi-scale features; evaluating the information amount of different areas by adopting a differential entropy theory, and generating a self-adaptive weight distribution diagram; performing weighted fusion on the registered multi-source data to generate a fused image; geological disaster features such as cracks, abnormal vegetation and water seepage points on the surface of the slope are recognized based on the fused image, and high-precision recognition and early warning of the geological disaster of the slope are achieved.

A method performed by an apparatus for controlling autonomous driving of a vehicle is introduced. The method may comprise generating, based on a segmentation model processing point cloud data, a first semantic grid map, generating, based on an object detection model, a second semantic grid map, adjusting a probability regarding whether occupancy exists for an element included in each grid of the first semantic grid map and the second semantic grid map, and generating a fused grid map by determining, as a representative label, at least one label corresponding to a highest value among final probabilities of the at least one label, wherein the final probabilities are determined based on whether the at least one label matches the element, outputting, based on the fused grid map, a signal, and controlling, based on the signal, autonomous driving of the vehicle.

The invention discloses a cabin butt joint guide rail compensation method based on point cloud, and relates to the technical field of spacecraft cabin automatic butt joint, and the method comprises the following steps: building a system coordinate system, and carrying out initial calibration; carrying out guide rail error modeling; carrying out six-degree-of-freedom platform error correction modeling; point cloud data acquisition and pose measurement; calculating error compensation control; adjusting and closed-loop feedback are executed; according to the cabin butt joint guide rail compensation method based on the point cloud, modeling and real-time compensation control are carried out on pose errors in the cabin butt joint process under guide of the guide rail by fusing the three-dimensional point cloud sensing technology and six-degree-of-freedom platform control; the problems that in the prior art, guide rail errors cannot be automatically corrected, and the butt joint precision is insufficient are solved, and accurate butt joint, safety and reliability of the large cabin section in the automatic assembling process are guaranteed.

The invention discloses a fire fighting system intelligent management method and device based on intelligent property management, and relates to the technical field of data management. The intelligent management method and device for the fire fighting system based on the intelligent property management comprises the following steps: S1, dynamically triggering and collecting a multi-source fire fighting data set through multiple protocols, and temporarily storing the multi-source fire fighting data set at the edge in a normalized manner; s2, constructing an event full-period window and a ternary association index of the event, the time sequence data and the original message; s3, performing double-track storage of the semantic analysis data and the original message, and constructing multi-dimensional index association; s4, reconstructing a visual playback alarm process through edge cloud increment synchronization and a multi-dimensional time sequence chain; and S5, performing transient analysis, protocol upgrading and responsibility evidence obtaining based on the cloud data collaborative link and the original message data set. According to the method, the complete acquisition of the fire-fighting data and the reproducibility of the event process are effectively improved, and the problem that in the prior art, only polling recording of single-point alarm is carried out, and an original message is discarded, so that the transient process and message-level evidence is lost is solved.

The invention discloses a slope deformation trend prediction method based on three-dimensional point cloud and deep learning, and relates to the technical field of geological disasters, and the method comprises the following steps: S1, obtaining multi-time sequence three-dimensional point cloud data of a target slope, S2, carrying out the preprocessing, obtaining a standardized time sequence point cloud data set, and carrying out the prediction of the deformation trend of the target slope. S3, extracting slope deformation characteristic parameters from the standardized time sequence point cloud data set, S4, constructing a prediction model, S5, integrating the data into a model training sample, and training and optimizing the deep learning prediction model, and S6, inputting the data into the trained deep learning prediction model, and outputting a deformation trend prediction result of a target slope. And S7, carrying out reliability evaluation on the deformation trend prediction result, and generating a final prediction report. According to the method, through the deep learning model fusing the CNN and the attention mechanism LSTM, the spatial relevance and the time dynamics of slope deformation can be mined at the same time, compared with a traditional statistical model, the prediction precision is improved, and the method is especially suitable for long-term deformation trend prediction.

The invention relates to the technical field of computer information processing, and discloses a high-fidelity terrain surface interpolation method and system for large-scale point cloud data, and the method comprises the steps: carrying out the multi-level cleaning of original point cloud data, and generating a cleaned point cloud data set; performing adaptive tile grid division based on the cleaned data to generate a tile set covering the target area; in each tile, taking the to-be-interpolated grid point as a query point, constructing and optimizing a local Gaussian process model, and obtaining a real elevation predicted value of the query point; processing all query points in the tiles in parallel to obtain a tile elevation interpolation result set; performing weighted average on each tile result to generate a global seamless terrain surface; according to the method, the problems of poor expandability and surface discontinuity caused by local interpolation in large-scale point cloud data processing are effectively solved, and high-precision and high-fidelity terrain surface construction is realized.

The invention relates to the technical field of image data processing and intelligent control, and discloses a patch board spot welding track intelligent control method and system based on visual perception. According to the method, synchronous image streams are collected through a binocular vision sensor, and epipolar correction image pairs are generated through timestamp synchronization, ROI extraction and epipolar correction processing; calculating a disparity map by adopting a stereo matching algorithm, and constructing a compensated three-dimensional point cloud model based on deformation vector field fusion multi-frame point cloud data of a radial basis kernel function; welding spot position error vectors are generated by extracting welding spot feature points and performing spatial filtering optimization; and carrying out inverse kinematics calculation on the mechanical arm by adopting a damping least square method, carrying out safety constraint optimization in combination with prospective collision risk assessment and real-time pose data, and generating a trajectory compensation instruction. According to the method, the problems of dynamic deformation compensation and motion safety in patch plate welding are solved, the submillimeter welding spot positioning precision is achieved, and the welding quality stability and the system robustness are improved.

The invention discloses a distributed photovoltaic cluster power prediction method and device based on multi-modal fusion. The method comprises the following steps: acquiring historical photovoltaic data and historical photovoltaic images of a photovoltaic region to be predicted; analyzing a time sequence relationship in the historical photovoltaic data, extracting photovoltaic time sequence characteristics, and giving a first prediction result in combination with the data time sequence prediction model; extracting spatial features in the historical photovoltaic image, reconstructing the historical photovoltaic image, and giving a second prediction result in combination with the image prediction model; and in combination with a preset fusion weight, fusing the first prediction result and the second prediction result to obtain a target prediction power, and completing power prediction of the distributed photovoltaic cluster, thereby effectively capturing the influence of sudden weather events on photovoltaic power generation, improving the accuracy of conventional cloud picture data when coping with complex and changeable cloud layer motion, and improving the prediction efficiency of the distributed photovoltaic cluster. Therefore, the accuracy of power prediction is improved.

The invention discloses a robot variable stiffness surface path planning method based on three-dimensional perception and application. The method comprises the following steps: processing workpiece surface point cloud data; a surface defect detection model is established, and deformation deviation generated by workpiece surface defects in the point cloud data is compensated; and performing path planning analysis on the point cloud model to generate a self-adaptive tool path. In the process that the robot executes the planned path, passive analysis is conducted through a variable stiffness impedance control law under energy constraint, force control surface treatment is achieved by collecting a force feedback track as a reference and combining a quadratic programming optimization controller, and task execution of the robot planned path is completed. According to the method, a planned path model is combined, an AI auxiliary programming framework is designed, and a user parameterization task and tool are guided through a natural language interface and a knowledge representation engine. According to the method, the adaptive capacity of the robot to the complex variable stiffness surface is improved, the machining consistency and efficiency can be remarkably improved, and the wide application prospect is achieved.

The invention relates to the technical field of water environment monitoring, and discloses a sewage detection and traceability system based on multi-source data fusion. The system comprises an unmanned aerial vehicle data acquisition module, an edge end preprocessing module, a cloud data fusion and modeling module, a traceability decision module and a closed-loop optimization module, and all the modules work cooperatively to realize sewage detection and traceability full-process automation. Hyperspectral, thermal infrared, LiDAR and meteorological data are collected in an integrated mode through a multi-source sensor, pollution area identification, pollutant concentration quantification, sewage draining exit positioning and pollution diffusion path tracing are accurately completed through edge end preprocessing and cloud deep fusion modeling, a detection strategy is dynamically adjusted through a closed-loop optimization mechanism, and the detection accuracy is improved. And high precision, high efficiency and real-time response of sewage detection under complex terrains are realized.

The invention discloses a cable fault accurate positioning system based on an intelligent sensor system, and relates to the technical field of power fault positioning, and the cable fault accurate positioning system comprises a cloud monitoring center which is in communication connection with the following modules: a signal acquisition and processing module which is used for deploying the intelligent sensor system along a cable, operation environment data and traveling wave signals in the cable operation process are obtained, and the signals are preprocessed and stored in a cloud data warehouse. According to the invention, the front band-pass filter and the self-adaptive trap filter are combined to filter out high-frequency harmonic waves and specific-frequency interference signals, and the differential sampling technology is adopted to counteract common-mode interference, so that the signal-to-noise ratio of the signals is remarkably improved, a system can accurately capture and process weak traveling wave signals caused by a high-resistance grounding fault in a complex environment, and the fault detection accuracy is improved. Therefore, the fault positioning precision is greatly improved, the positioning error caused by signal interference is reduced, and the determination of the fault position is more reliable and accurate.

The invention discloses a transmitting power determination method and device, electronic equipment, a medium and a product, and relates to the technical field of radars. The transmitting power determination method comprises the following steps: acquiring historical time sequence characteristic information and environmental point cloud data acquired by a radar sensor, and determining target point cloud data and traffic scene perception characteristics according to the environmental point cloud data; determining a motion mode of a traffic participant in the environmental point cloud data according to the traffic scene perception feature and the historical time sequence feature information; determining participant categories of traffic participants in the target point cloud data based on a preset target classification model and the motion mode, and constructing a radar scene model according to the traffic scene perception features, the historical time sequence feature information and the participant categories; and obtaining target scene data of the radar scene model, and determining the target transmitting power of the radar sensor through the preset power determination model and the target scene data, thereby realizing adaptive determination of the target transmitting power according to the traffic scene perception characteristics and historical time sequence characteristic information.

The invention provides a wind tunnel inner profile Cyc lone3DR point cloud data processing method, and belongs to the technical field of wind tunnels, and the method comprises the steps: calculating a geometric importance distribution diagram of each region through a contribution degree analysis function, starting a density adaptive model based on the distribution diagram, and adjusting a temperature parameter through a temperature adjustment function, according to the method, self-adaptive sampling processing of an initial point cloud data set is realized, the sampling density is increased in an edge region with drastic curvature change, the sampling density is reduced in a smooth region, and then scanning data with different resolutions are registered by using a multi-scale point cloud fusion technology to obtain a multi-scale point cloud image; through a point cloud resampling method based on geometric features, it is ensured that a key feature area has sufficient point density, after quality inspection, a Cyc lone3DR software platform is used for three-dimensional reconstruction, and the technical problem that the three-dimensional reconstruction precision is inconsistent due to the fact that point cloud data density distribution of the molded surface in the wind tunnel is not uniform is solved.

The invention discloses a house structure safety edge visual monitoring method and device, equipment and a storage medium, and relates to the technical field of building safety monitoring, and the method comprises the steps: collecting multi-modal data which comprises a visible light video stream, a thermal infrared video stream and point cloud data; performing parameter synchronous extraction processing on the multi-modal data to obtain a first displacement sequence, a first inclination angle, a first crack width and a first hollowing mask; packaging the first displacement sequence, the first inclination angle, the first crack width and the first hollowing mask to obtain a first feature data packet; and carrying out structured numerical compression on the first feature data packet to obtain a compression vector, and sending the compression vector to a cloud platform, so that the cloud platform updates the digital twin model in real time according to the first feature data packet and triggers an early warning mechanism to complete safety monitoring of the house structure. High-precision, non-contact and real-time monitoring of multiple parameters such as inclination, settlement, vibration, cracks and hollowing of a building structure is realized.

The invention is suitable for the technical field of file management, and provides a file analysis method and system and a vehicle, the file analysis method and system are applied to a file analysis system, the file analysis system runs at a browser end, and the file analysis system comprises the steps that binary header information of a to-be-analyzed file is analyzed according to the byte position, obtained in advance, of the binary header information in the to-be-analyzed file, and the binary header information of the to-be-analyzed file is obtained; binary index position information of the to-be-analyzed file is obtained; according to the binary index position information, reading and analyzing binary index data of the to-be-analyzed file to obtain index data, determining a target data block meeting a preset requirement according to basic information of each data block, and reading the target data block; and analyzing the data in the read target data block to obtain formatted target data. According to the invention, the problem that the cost of cloud data storage and data analysis is increased due to the fact that a large amount of file data is analyzed and stored at the cloud in the prior art can be solved.

The invention discloses a smart city planning three-dimensional scene reconstruction optimization system combined with semantic segmentation, and belongs to the technical field of three-dimensional scene reconstruction optimization. The system comprises a data sensing module which collects aerial images and laser point clouds, and complements a sheltered area to obtain city modeling data; the preprocessing module performs denoising, data registration and data fusion on the city modeling data to generate texture point cloud data; the semantic understanding module realizes multi-modal semantic segmentation of the texture point cloud data through a fine-tuned SAM network and an improved RandLA-Net, and semantic tag data is obtained through restoration and optimization; the reconstruction optimization module constructs an initial three-dimensional grid model based on the texture point cloud data, and optimizes a ground feature boundary and a missing region of the model in combination with a semantic tag; and the output application module converts the optimized model into a standard format and outputs the model. Through deep coupling of semantic segmentation and reconstruction optimization, the precision of the three-dimensional scene model is improved, and reliable support is provided for smart city planning.

The invention discloses an underground mine measurement and resource reserve estimation method and system. The method comprises the following steps: S1, acquiring point cloud data of a mine underground space in different periods and a panoramic image of a mine underground environment; s2, preprocessing the panoramic image and the point cloud data in the same period, establishing a mapping relation between the point cloud data and the panoramic image, and obtaining a colored point cloud data set and a lightweight three-dimensional model; s3, performing ore block sample feature extraction on the colored point cloud data set, and delineating the boundary of an ore body; s4, constructing an ore body block grid model according to the delineated ore body boundary; s5, repeating the steps S2-S4 to obtain ore body block grid models in different periods; s6, overlapping the ore body block grid models in different periods to obtain an ore body change three-dimensional model; and S7, according to the ore body change three-dimensional model, estimating the ore body increase and decrease change volume, namely the underground mine resource reserve change result. The method can accurately estimate the volume of the increase and decrease change of the ore body.

The invention provides a road inspection target positioning method based on multi-source data fusion, and relates to the field of road daily inspection and infrastructure performance monitoring, and the method comprises the following steps: obtaining multi-source data based on a preset multi-source sensor; through deep coupling of satellite positioning carrier double-difference observation and inertial navigation solution of an inertial sensor, error correction is carried out in combination with Kalman filtering recursion, and fusion navigation data is determined; according to the fused navigation data, carrying out fusion processing on the two-dimensional visual observation data and the three-dimensional space point cloud data to obtain a forward view depth map; determining the national geodetic coordinates of the disease by combining a depth value back calculation method and utilizing a forward view depth map; and obtaining a starting kilometer pile number in a road inspection process, and determining a mileage pile number of the disease by combining the national geodetic coordinate of the disease and utilizing a Gaussian positive algorithm. According to the invention, centimeter-level geographic coordinate positions of diseases and corresponding mileage stake numbers can be output.

The invention provides a steel plate surface defect detection method and system based on multi-source data fusion, and relates to the technical field of steel production automatic detection.The method comprises the steps that water stain pretreatment is conducted on the surface of a steel plate, the residual humidity is reduced to be below a preset low humidity threshold value, and a dry surface is obtained; based on the dry surface, collecting multi-source data through a 3D laser line scanning camera and a 2D industrial line scanning camera which are synchronously triggered, obtaining line scanning laser point cloud data, a line scanning reflectivity gray level image, a line scanning depth gray level image and an area array reflectivity color image, and establishing a space corresponding relation among the multi-source data; and forming a multi-source data set based on the spatial correspondence among the multi-source data. According to the method, a high-precision and high-robustness steel plate surface defect detection system covering the whole detection process is constructed by eliminating water stain interference, unifying a multi-source data reference, optimizing data quality, accurately identifying defects and realizing automatic feedback and data closed loop.

The invention relates to a laser radar camera calibration method and device, and a medium. The method comprises the steps: collecting multi-frame laser radar point cloud data and synchronous corresponding image data in a construction scene; carrying out multi-frame point cloud fusion and dense reconstruction to generate a laser dense point cloud; visual sparse point cloud reconstruction is carried out, and cross-modal scale unification and space alignment are carried out on an initial visual point cloud obtained through reconstruction and the laser dense point cloud; generating a visual dense point cloud through three-dimensional Gaussian splashing; and performing registration on the laser dense point cloud and the visual dense point cloud by adopting a point-to-line iterative nearest point algorithm, and performing calculation to obtain an external parameter calibration matrix of the camera and the laser radar. Compared with the prior art, the method has the advantages of high precision, low cost, high stability and the like.

The invention relates to the field of roadway surrounding rock deformation analysis, in particular to a roadway surrounding rock deformation intelligent monitoring method and device based on three-dimensional laser scanning. The method comprises the following steps: performing three-dimensional laser scanning on a roadway to generate equalized laser point cloud data; performing point cloud relative deformation detection and surrounding rock deformation dynamic modeling on the equalized laser point cloud data to construct a dynamic surrounding rock deformation model; performing space grid division on the dynamic surrounding rock deformation model, and performing differential change trend analysis to generate a multi-unit deformation trend; performing nonlinear evolution analysis and deformation situation prediction in a future time period on the multi-unit deformation trend to generate a deformation prediction result; and performing deformation situation interference simulation on the deformation prediction result, and extracting various interference simulation results. According to the invention, surrounding rock deformation data is accurately obtained in real time, and the deformation trend is dynamically analyzed and predicted, so that early warning is performed in advance, the safety risk is effectively reduced, and the safety and monitoring efficiency of underground engineering are improved.

The invention relates to the field of remote sensing image processing and geological disaster monitoring, in particular to a goaf three-dimensional subsidence basin reconstruction system based on multi-source remote sensing image fusion, which comprises a heterogeneous data preprocessing module, a differential geometry-based data fusion module, a three-dimensional subsidence basin reconstruction module, a subsidence dynamic monitoring module and a virtual reality interaction module, the system innovatively introduces a differential geometry theory to solve the problem of heterogeneous fusion of a high-resolution optical satellite image, an SAR satellite image and airborne remote sensing Lidar point cloud data, maps multi-source data to a unified feature space through manifold learning, calculates an adaptive fusion weight through curvature analysis, constructs a multi-scale feature correlation matrix based on a geodesic line distance, and achieves the fusion of the high-resolution optical satellite image, the SAR satellite image and the airborne remote sensing Lidar point cloud data. A high-precision fusion image is generated, three-dimensional reconstruction is carried out in combination with subsidence basin geological parameters and a physical constraint method, it is ensured that a reconstruction result conforms to an actual subsidence physical rule, dynamic monitoring and virtual reality interaction of the subsidence process are achieved, and parameter adjustment and model optimization are supported.

The invention discloses a building live-action three-dimensional reconstruction system based on point cloud data, and relates to the technical field of building live-action three-dimensional reconstruction, the building live-action three-dimensional reconstruction system comprises a preprocessing module, a multistage adaptive noise filtering module, a semantic and geometric joint reasoning module and a three-dimensional model generation module which are connected in sequence; the preprocessing module is used for receiving original building point cloud data, performing registration and initial space division, and outputting a registered point cloud data set. According to the building live-action three-dimensional reconstruction system based on the point cloud data, by introducing a multi-stage adaptive noise filtering and semantic geometry joint reasoning cooperation mechanism, the contradiction that noise elimination is inaccurate and feature details are easy to lose in a complex building scene in an existing method is effectively solved. The system can intelligently distinguish the real discrete noise from the inherent complex geometric features of the building, and maintains the integrity of the details such as decorative members and curved roofs to the greatest extent while ensuring the denoising effect, thereby achieving the high-fidelity point cloud data preprocessing.

The invention discloses a fire-fighting unmanned aerial vehicle autonomous navigation method and system oriented to a complex building environment, and relates to the technical field of unmanned aerial vehicle navigation.The method comprises the steps that firstly, obstacle distribution point cloud data and thermodynamic data are obtained based on a laser radar and other sensors, and a spatial constraint coefficient and a thermal disturbance intensity factor are calculated respectively; therefore, the space trafficability and stability of the flight environment are comprehensively reflected. And then, fusing the global path planning and the local obstacle avoidance to generate a comprehensive environment evaluation parameter, adaptively configuring a weight ratio of the global path planning to the local obstacle avoidance according to the comprehensive environment evaluation parameter, and carrying out weighted fusion on instructions output by different algorithms so as to generate a smooth and safe flight control instruction. According to the invention, the dynamic adjustment of the navigation strategy can be realized according to the change of the building environment, the obstacle avoidance safety in the complex environment is ensured, the continuity and efficiency of the overall path planning are also considered, and the autonomous flight stability and task execution reliability of the fire-fighting unmanned aerial vehicle in the high-risk building environment are significantly improved.

The invention provides a cloud AI data leakage risk prediction and control method and system based on a flow map, and relates to the technical field of cloud computing data security. Based on the collected multi-source log data, constructing a time series data flow knowledge graph; inputting the knowledge graph into a space-time diagram risk prediction model, and obtaining a dynamic risk score of an entity and a predicted potential data leakage path by fusing a space-time diagram neural network and risk conduction simulation; according to the dynamic risk score and the potential data leakage path, gradient dynamic security management and control measures are generated and executed, and the measures comprise differentiated access control actions triggered according to the risk level; and generating a visual audit report of the data access link based on the risk prediction result and the security management and control process. Through a time sequence graph reflecting dynamic flow of data and utilizing STGNN to carry out risk conduction modeling and prediction, the active defense capability of cloud AI data security is improved, the accuracy of risk identification is effectively improved, and service interference is effectively reduced.

The invention discloses a deep ore rock stability rapid assessment method and system based on RMR classification, and relates to the technical field of ore rock assessment and mining. Intelligent calibration scanning is carried out through a high-precision scanning device to obtain fracture data of the deep ore rock, the complete deep ore rock stability rapid evaluation method and system are constructed, and efficient acquisition of ore rock quality parameters and RMR preliminary scoring are achieved through digital acquisition equipment and a high-precision scanning technology. A target collaborative calibration mechanism and a data quality index dynamic evaluation system are innovatively introduced, the monitoring influence of instrument system errors on key parameters such as fracture occurrence and rock mass strength is remarkably reduced, and the accuracy and reliability of RMR scoring are improved. The system has strong environmental adaptability, can autonomously identify and suppress noise interference based on a stereographic projection and intelligent filtering parameter adjustment mechanism, and ensures that high-quality point cloud data can still be stably output under complex geological conditions.