1315 results about "Environmental perception" patented technology

Disclosed are a high-performance loosely-coupled multi-modal data fusion system for a smart driving environmental perception system and a vehicle-mounted device, comprising: a fusion detection model based on a modality-independent feature interaction strategy, which is configured for converting a LiDAR point cloud, a camera image, and a millimeter-wave radar point cloud into a unified bird's-eye view representation, and performing multi-modal fusion; and a fusion tracking model based on a motion-appearance feature cascaded coupling data association strategy, which is configured for performing subsequent trajectory tracking and matching according to multi-modal fusion feature information. A VoD data set and a K-Radar data set are selected for training, verifying, and testing the comprehensive performance of the models, and a TensorRT accelerated inference model is applied, then quantized, and deployed to a vehicle-mounted computational testing platform. The present invention is compatible with mainstream sensor deployment solutions, and achieves the efficient complementary fusion of multi-source heterogeneous sensor information, significantly improving the reliability, accuracy, and adaptability of vehicle-mounted perception systems, thereby effectively responding to extreme operating conditions such as complex traffic scenarios and inclement weather.

The invention relates to the technical field of industrial robots, in particular to an industrial robot walking control system based on obstacle recognition. Comprising an environment sensing unit; the obstacle analysis and decision-making unit is used for processing the multi-dimensional data output by the environment sensing unit based on a deep reinforcement learning framework, accurately identifying static obstacle and dynamic obstacle types, motion trails and interaction influences, constructing a two-dimensional decision-making model of static obstacle avoidance and dynamic obstacle avoidance, and carrying out obstacle avoidance and obstacle avoidance on the basis of the two-dimensional decision-making model. A differential obstacle avoidance strategy is triggered; the path planning unit is based on a dynamic game path algorithm under space-time constraint; and an instruction transceiving unit. Through the multi-modal fusion sensing technology and the adaptive parameter adjustment module, space-time alignment and feature fusion of multi-source data such as three-dimensional point cloud, texture features and vibration spectrum are realized, a high-dimensional environment state model is constructed, and the problem of insufficient data fusion depth in the prior art is effectively solved.

The invention relates to the technical field of smart home, and discloses an automatic coordinated regulation and control system and method for smart home equipment, and the system integrates a plurality of functional modules such as equipment access, environment perception and user behavior analysis. The equipment access module supports access of multiple protocols and endows the equipment with a unique identifier; the environment sensing module collects environment parameters in real time and compares the environment parameters with thresholds. The user behavior analysis module generates a user scene preference model by means of an algorithm, the cooperation strategy generation module synthesizes multiple factors to formulate a regulation and control strategy, and the dynamic priority management module allocates weights according to equipment and scene conditions. And the equipment control module executes the instruction and feeds back the state, and the abnormity detection module monitors the equipment state and triggers a strategy regeneration mechanism when abnormity occurs. The data storage module securely stores various data, and the user interaction module efficiently analyzes instructions. According to the invention, many problems of an existing smart home system are solved, automatic coordinated regulation and control of equipment can be realized, and user interaction experience is optimized.

The invention provides an intelligent inspection robot path optimization method and system based on an edge inference model, and the method comprises the steps: obtaining an environment feature topological graph of a target inspection region, and determining an initial edge inference model; incremental training is carried out on the initial edge reasoning model through the real-time environment perception data flow, and a dynamic reasoning model adaptive to the current environment characteristics is generated; performing priority scoring on each path node in the environment characteristic topological graph based on a dynamic reasoning model, and generating an initial optimization path sequence; triggering a feedback calibration mechanism of the dynamic reasoning model according to the environment perception data flow updated in real time, performing dynamic path node replacement on the initial optimization path sequence, and generating a final inspection path; and controlling the intelligent inspection robot to execute an inspection task according to the final inspection path, and continuously collecting new environment sensing data streams in the inspection task process to update a parameter set of the dynamic reasoning model. According to the invention, the adaptability and reliability of path planning to a complex dynamic environment can be improved.

The invention discloses an intelligent illumination control system and method based on a multi-modal sensor, and particularly relates to the field of data analysis, and the system comprises a multi-modal data collection module, a feature calculation module, a space-time coupling analysis module, a multi-modal verification module, a biological rhythm compensation module and an intelligent decision control module. According to the invention, through cooperative acquisition of the multi-modal sensor and space-time coupling modeling, accurate environment perception is realized, and the photo-thermal interaction effect is quantified to eliminate control deviation; an innovative biological rhythm compensation mechanism is fused with the ultraviolet dose and the human body activity data, and a dynamic safety protection boundary is established; and an LSTM-Transform hybrid architecture is combined with a rolling time domain optimization strategy, so that 200ms-level quick response and complex scene self-adaptive control are realized, and the dynamic performance and the security of the system are remarkably improved.

The invention provides an intelligent sound box voice processing method and system based on artificial intelligence, and the method comprises the steps: obtaining audio data and mouth shape video data, carrying out the processing of the audio data and the mouth shape video data, and carrying out the multi-modal feature fusion, and obtaining a fusion feature; performing bimodal voice activity detection on the fusion features to obtain effective voice data; performing context sensing recognition of audio and video fusion on the effective voice data to obtain a first text; constructing a user feature model, and performing semantic understanding on the text based on the model to obtain an understanding result; performing intention recognition and slot filling based on the understanding result to obtain user intention and key information; generating a response strategy in combination with the user intention, the key information and the environment perception data; generating response voice according to the response strategy; and monitoring feedback information of the user to the response voice in real time, and updating the user feature model and the response strategy evaluation model based on feedback. According to the scheme, the voice can be recognized more accurately, and the safety and robustness of the system are enhanced.

The invention discloses an unhooking robot dynamic unhooking control method and system based on a feedback mechanism, and relates to the technical field of robot control, and the method comprises the steps: obtaining an unhooking robot, moving the unhooking robot to a preset unhooking position, and starting a visual sensor to collect unhooking image information and environment perception image information; edge detection and feature extraction are carried out on the unhooking image information, and hook space coordinate information is determined; performing feature abstraction on the environment perception image information to obtain a target unhooking path; and dynamic characteristic parameters and motion constraint information of the unhooking robot are obtained, unhooking analysis is carried out, unhooking control parameters are obtained, and dynamic unhooking control is carried out. The technical problems that in the prior art, an unhooking robot is low in unhooking efficiency and insufficient in control precision, and certain safety risks exist are solved, and the technical effects that the unhooking efficiency and the control precision of the unhooking robot are improved, and operation safety is guaranteed are achieved.

The invention relates to the technical field of target detection, in particular to a robot three-dimensional environment sensing method and device based on deep visual learning, and the method comprises the steps: collecting visual data based on a sensing system carried by a robot, carrying out the synchronous processing, extracting the spatial structure characteristics of a synchronous visual data stream and a preliminary semantic segmentation map, and carrying out the recognition of a target image; combining the spatial structure features with the preliminary semantic segmentation map to generate a geometric semantic feature map; extracting and optimizing local, regional and global features of the geometric semantic feature map, and performing three-dimensional modeling processing according to a multi-scale feature tensor to generate a three-dimensional geometric model; and carrying out fusion optimization on the structure information of the three-dimensional geometric model and the geometric semantic feature map, and carrying out verification processing based on a verification framework to obtain three-dimensional environment perception data. Through deep visual learning and visual data fusion, the defects of insufficient accuracy and limited deep semantic understanding ability in complex three-dimensional environment perception in the prior art are solved.

The invention relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle parking apron dynamic landing point adjustment method and system based on environment awareness, and the method comprises the steps: obtaining environment data and flight parameters, constructing a three-dimensional terrain grid model, and analyzing the stability; loading obstacle data and path constraints to generate a comprehensive evaluation model, and simulating to obtain regulation and control data; training the model to generate initial adjustment parameters, and combining the parameters with the model to obtain dynamic adjustment simulation information; constructing a multi-path optimization model to obtain optimal parameters; and combining real-time sensing to generate a safety probability, and adjusting a landing strategy. The system comprises a data acquisition module, a terrain modeling module and the like. According to the scheme, intelligent optimization and real-time adjustment of a landing point are realized through multi-dimensional environment perception and dynamic modeling, the landing safety and reliability of the unmanned aerial vehicle in a complex environment are improved, and the method is suitable for an intelligent landing scene of the unmanned aerial vehicle.

The invention discloses a mechanical arm motion control method based on multi-agent cooperation, and the method comprises the steps: firstly, receiving an RGB image through a sub-task generation agent, and generating a structured sub-task sequence according to a natural language task instruction of the RGB image; secondly, performing joint modeling on a task text and a scene image through a 3D sensing intelligent body, positioning specific coordinates of a target object in a three-dimensional space, reasoning dynamic characteristics of a current environment based on historical state information of a robot by combining an environment sensor, and generating an environment sensing vector; and finally, the action generation agent performs fusion modeling according to the subtask text, the subtask target coordinates, the current state of the robot and the environment perception vector, generates a continuous action vector, drives a mechanical arm to complete each subtask action, and constructs closed-loop feedback by a controller and a discriminator to realize task execution state judgment and automatic circulation. The precise action control instruction can be effectively generated, and the task execution fineness of the mechanical arm is remarkably improved.

The invention discloses an article recognition system based on computer vision. The article recognition system comprises a multi-modal data acquisition module, a multi-modal data processing module and a computer vision processing module, wherein the multi-modal data acquisition module is used for acquiring multi-modal data through a multi-modal sensor array; the data preprocessing module is used for standardizing a multi-modal data format and generating a time-space aligned multi-modal tensor; the feature extraction module is used for respectively extracting modal specific features from texture, spectrum and geometric dimensions by adopting ResNet50, 3D-CNN and PointNet + +; the multi-modal fusion module is used for constructing cross-modal joint representation; the adaptive sensing module is used for modeling illumination invariance and scene dynamics based on self-supervised comparative learning and a 3D-STMN space-time memory network, predicting a shielded target trajectory by using Kalman filtering in combination with the shielding sensing propagation module, and generating an environment sensing parameter set; and the recognition engine module is used for integrating YOLOv8 detection, Mask R-CNN segmentation and multi-modal decision tree classification, outputting a target bounding box, a category and confidence in combination with the depth data, and generating three-dimensional space coordinates combined with the depth data.

The invention provides a mobile robot motion planning method and device for an indoor dynamic scene, and the method comprises the steps: generating an indoor environment map and the positioning information of a mobile robot according to environment perception data obtained in real time, and carrying out the denoising and classification of the environment perception data, static obstacle points and dynamic obstacle points are extracted according to the recognition features; constructing a comprehensive environment model of static obstacles and dynamic obstacles; identifying and marking the current position and the predicted position of the dynamic obstacle by utilizing a machine learning model based on the track prediction information of the dynamic obstacle in the comprehensive environment model, and further identifying potential navigation path key points of the mobile robot; constructing a multi-criterion preference function based on the navigation path key points, and measuring and serializing the navigation path key points to obtain local optimal navigation path key points; and determining a planned path by applying a branch and bound method.

The invention relates to a man-machine hybrid autonomous navigation system in an unknown dynamic environment, which comprises an environment sensing module for acquiring environment information by using sensors such as a laser radar, a camera and an inertial measurement unit and performing data preprocessing; the local target point selection module selects a local target point set meeting requirements in the environment according to the real-time information provided by the environment sensing module; the decision planning module is used for generating an optimal path and a navigation strategy based on mixed training of a deep reinforcement learning algorithm and artificial experience; and the learning optimization module improves the generalization ability of the algorithm through online learning and transfer learning technologies, and realizes effective introduction and strategy adjustment of human experience in combination with the man-machine interaction module. The man-machine interaction module can work in cooperation with the local target point selection module so as to dynamically adjust target point selection according to external input and optimize path planning. According to the method, high decision stability can be kept in an unseen environment, the training cost is reduced, and the method is more suitable for autonomous navigation application in the real world.

The invention discloses a multi-modal error dynamic compensation method and system for an intelligent electric meter, and the method comprises the steps: constructing an environment perception unit, and obtaining an environment factor parameter; performing weighted calculation on the environmental factor parameters to generate an environmental metabolic index; constructing an error prediction model based on the hormone release promoting factor action mechanism in combination with the environmental metabolic index so as to obtain a prediction error offset; original signals are collected in real time, multi-modal error detection is carried out, and error vectors are generated; acquiring a compensation trigger threshold according to the error vector; and comparing the predicted error offset with a compensation trigger threshold, and triggering a multi-stage compensation mechanism. According to the invention, the metering parameters of the electric meter can be dynamically adjusted on line in real time under complex working conditions, so that the stability and accuracy of the electric meter are improved.

The present invention relates to the technical field of environmental perception in confined spaces, and discloses a multi-modal coupled perception method for target recognition and region segmentation in a confined space. The method comprises: firstly, constructing a 3D point cloud data processing network, a 2D point cloud data processing network, and an image data processing network; next, constructing a feature fusion device, and outputting a bird's-eye view incorporating multi-sensor information; then constructing a multi-scale feature fusion extraction network and a network output head, outputting a target recognition and region segmentation result, and designing a loss function to train a network weight; and finally, inputting 3D point cloud data, 2D point cloud data, and camera image data into a network model, performing inference to obtain a target recognition and region segmentation prediction result, and performing visual rendering on the prediction result. In the present invention, in view of the characteristics of a millimeter-wave radar, a multi-modal coupled perception network is constructed, so that effective information in mass point cloud data of the millimeter-wave radar can be deeply mined, thereby effectively improving the detection accuracy of target recognition.

The invention discloses a multi-agent dynamic task allocation and collaborative path-finding system based on label-free distributed deep reinforcement learning. The system comprises the following steps: step 1, receiving state information and environment perception data of each agent in a multi-agent system based on distributed deep reinforcement learning; step 2, extracting feature representations of the environmental perception data and the intelligent agent state information, and performing multi-source heterogeneous information fusion through an attention mechanism to obtain state-task matching features; 3, transmitting the state-task matching characteristics to a multi-agent network in real time, realizing task allocation negotiation among agents by adopting a hierarchical scheduling and state exchange mechanism based on task priorities, dynamically detecting newly added task types, and performing incremental learning; the online updating iteration of the model is realized to assist the multi-agent optimization task allocation strategy and the path planning action; compared with the prior art, the method has the advantages that by applying the distributed deep reinforcement learning technology and a state exchange mechanism between intelligent agents, the system can quickly adapt to environment changes and task dynamics, and the resource utilization rate and the task completion efficiency are improved.

The invention relates to the technical field of voice processing, can be applied to business scenes of financial science and technology, medical health and the like, and discloses a voice enhancement method, device and equipment based on noise perception and a medium. Environment feature information is extracted and input into an audio enhancement model to generate an enhanced audio signal; obtaining a reference audio sample, extracting a personalized feature vector, and carrying out personalized processing on the enhanced audio signal; and collecting playing feedback data, determining a playing time domain adjustment parameter and a playing frequency domain adjustment parameter, adjusting the personalized enhanced audio signal, and generating an optimized audio signal. According to the method, dynamic adjustment is realized in combination with the feedback parameters in the playing process by fusing the environmental perception information and the personalized speaker characteristics, clear and natural optimized audio output with personalized styles can be generated in a complex environment, and the voice interaction quality and adaptability are improved.

The invention discloses a control method and equipment for an intelligent robot with a body and a storage medium, and belongs to the technical field of robots. The method comprises the steps of receiving a task instruction and environment perception data, performing fusion processing on the task instruction and the environment perception data, generating task semantic information associated with the task instruction, analyzing the task semantic information through an implicit planner, generating an implicit action mark, and based on the implicit action mark, generating an implicit action. And decomposing a to-be-executed task corresponding to the task instruction into a plurality of task sub-targets layer by layer, generating an action instruction sequence based on the task sub-targets, and executing a control action corresponding to the action instruction sequence. According to the method, based on the constraint of the implicit action mark and the action instruction sequence, the robot with the body can flexibly respond to environment parameter changes such as object position deviation or new task requirements in the task execution process, the coupling degree of the action instruction of the robot with the body and the predefined scene is reduced, and high stability of task execution is ensured.

A multi-degree-of-freedom drive-by-wire unmanned vehicle obstacle avoidance path planning method mainly comprises the following steps that based on environment perception information, surrounding obstacles are analyzed and processed, and an environment safety boundary is established; on the basis of an environment safety boundary, speed sampling is carried out based on dynamic window trajectory planning of hierarchical response, and an optimal local trajectory is calculated and selected; in the driving and obstacle avoidance process, according to obstacle distribution and road condition fluctuation real-time information, the posture of a vehicle body is dynamically adjusted, speed sampling is updated, and path planning is updated. According to the method, the optimal obstacle avoidance path can be planned in real time, so that the unmanned vehicle can quickly respond in a complex scene, and potential collision risks can be avoided in time; the characteristics that the multi-degree-of-freedom drive-by-wire unmanned vehicle is suspended and the vehicle body posture is adjustable are fully utilized, vehicle posture adjustment is fused into an obstacle avoidance strategy, and the feasibility of an obstacle avoidance planning track and the stability of vehicle execution are improved.

The invention discloses an automatic driving path optimization control method and device fusing environmental perception and prediction. The method comprises the following steps: acquiring environmental perception data of an automatic driving vehicle through a radar and a camera; the initial posture, the target posture and the environment perception data of the automatic driving vehicle serve as road constraint conditions, and a preliminary driving path of the automatic driving vehicle from the current position to the target position is planned through a path planning algorithm; state estimation and prediction are carried out on surrounding vehicles and obstacles through a multi-target tracking algorithm; according to future motion trails of surrounding vehicles and obstacles, road constraint conditions and physical restrictions of the autonomous vehicle, performing path optimization on the initial path to obtain an optimized driving path; and converting the optimized driving path into a control instruction of the automatic driving vehicle, and driving the automatic driving vehicle to stably drive along the optimized driving path through the control instruction. According to the invention, the safety and the driving efficiency of the automatic driving vehicle are further improved.

The invention discloses a multi-modal data processing method and system, computer equipment and a readable storage medium, which can realize deep association and complementarity mining of multi-modal information and improve the accuracy and robustness of multi-modal understanding. The method comprises the following steps: an environment sensing module adjusts an environment sensing strategy according to feedback information transmitted by a self-adaptive decision module, and acquires multi-modal data according to the environment sensing strategy; the multi-modal encoding module encodes the multi-modal data into multi-modal feature vectors of the same dimension; a cross-modal fusion module fuses the multi-modal feature vectors to obtain fusion features; the self-adaptive decision-making module selects a decision-making network matched with the task type from a predefined network library according to the task type of the current decision-making task, inputs the fusion features into the decision-making network, and generates feedback information according to the decision-making process of the decision-making network; and the meta-learning controller evaluates the system performance of the current multi-modal data processing system and adjusts system parameters according to an evaluation result.

The invention relates to the field of rail detection, in particular to a rail transit vehicle obstacle detection method based on multi-modal data fusion, which comprises an environmental perception classification step, a credibility calculation and mode decision step, a detection data acquisition step and an obstacle detection step. A full-scene coverage detection system is constructed by integrating a visual image sensor, a millimeter-wave radar sensor and an ultrasonic radar sensor and utilizing complementary advantages of the three sensors in different environments. When a certain sensor is interfered by the environment, other sensors can still provide effective data support, a detection blind area caused by failure of a single mode is avoided, and the robustness and the detection accuracy of obstacle detection are improved.

The invention relates to the technical field of robot control, and particularly discloses a robot indoor moving path planning method and system. An environment sensing module collects environment data through a multi-mode sensor array and constructs a three-dimensional semantic map; the dynamic decision-making module generates a candidate path set based on the three-dimensional semantic map data output by the environment perception module, and transmits a decision-making result to the path optimization module through a priority arbitration mechanism; the path optimization module performs multi-objective optimization according to candidate paths of the robot kinematics constraint and dynamic decision module; the execution control module is used for converting an optimized path into a bottom layer driving instruction through kinematics calculation and feeding back an execution state to the dynamic decision-making module in real time to form closed-loop control. A dynamic environment modeling mechanism is adopted, through variable resolution perception and semantic map construction, a layered decision-making framework and multi-target collaborative optimization are adopted, and the dynamic environment modeling mechanism is optimized; and the adaptive control system is selected to significantly improve the environmental adaptability and reliability of the system.

The invention discloses a dynamic time-space synchronous mapping method and system based on multi-sensor data fusion, and belongs to the technical field of environmental perception. According to an existing mapping scheme based on multi-sensor data, space-time deviation between sensor data is not considered, so that when the sensor data are fused, the problem of insufficient space-time synchronism exists, and the map building precision is influenced. According to the dynamic space-time synchronous mapping method based on multi-sensor data fusion, the point cloud distortion correction module, the sensor time alignment module, the dynamic target sensing module and the multi-map fusion module are constructed, so that the problem of insufficient space-time synchronism during multi-sensor data fusion can be effectively solved; the space registration precision of the point cloud and the image is remarkably improved, the map construction effect of a dynamic scene is effectively improved, a robot can accurately recognize and track a dynamic target, and the autonomous operation capability of the robot in a complex environment is improved.

The invention discloses an inspection robot navigation method, system and device based on Beidou and binocular vision fusion and a storage medium, and relates to the field of robot navigation and obstacle avoidance, and the method comprises the following steps: carrying out multi-modal data fusion processing based on an initial coordinate of an inspection robot and an image captured by a binocular vision system to obtain an environment sensing result; carrying out global planning and local optimization based on an environment perception result, and carrying out cooperation to generate a trajectory planning scheme; based on the environment sensing result and the trajectory planning scheme, intelligent navigation cooperative regulation and control are carried out, and an inspection robot motion control strategy is obtained; by improving the environmental perception accuracy, optimizing the path planning and performing intelligent navigation regulation and control, the navigation problem of the inspection robot in complex environments such as a transformer substation can be effectively solved, the inspection safety and efficiency are improved, and the method has remarkable practical application value.

The invention relates to the field of industrial automation, in particular to a multi-camera vision stacking pose planning method and system for an intelligent loading and unloading robot. The method comprises the following steps: constructing a collaborative sensing system through a plurality of industrial cameras deployed in a target space, and collecting dynamic environment data of a stacking area in real time; generating a self-adaptive stacking pose based on a hierarchical pose planning mechanism: analyzing an initial pose parameter through a theme control layer and generating a preliminary placement instruction, and verifying the feasibility of the preliminary placement instruction based on environmental data of the collaborative awareness system through a visual verification layer, and a final placement coordinate is optimized by combining the accurate positioning layer with a virtual box matching algorithm. The problems that in the prior art, real-time environment sensing capacity is lacked, pose planning is disjointed with the actual environment, and dynamic change scenes cannot be processed are solved.

The invention provides a three-dimensional Gaussian digital human generation system and method and electronic equipment, and relates to the technical field of augmented reality, and the system comprises a data obtaining unit which is used for obtaining visual depth data, dynamic behavior data and environmental perception data, and generating point cloud data and multi-modal data according to the visual depth data, the dynamic behavior data and the environmental perception data; the rendering adjustment unit is used for monitoring the fixation area in real time and determining a rendering strategy; according to the real-time computing power parameter, determining a rendering specification; the driving unit is used for performing feature extraction on the multi-modal data to obtain multi-modal features and generating face driving parameters and limb driving parameters of the digital human model; and the modeling unit is used for generating a basic grid of the digital human model according to the point cloud data and the initial digital human model, and performing expression rendering and action rendering on the basic grid according to a rendering strategy and a rendering specification in combination with the face driving parameters and the limb driving parameters to obtain a rendered digital human model. The fluency, authenticity and naturalness of the display effect are improved.

The invention discloses an intelligent safety early warning method and system for excavation equipment operation based on environmental perception, and relates to the technical field of intelligent early warning, and the method comprises the steps: carrying out the initial detection of an operation environment based on an environment monitoring module, and carrying out the adjustment of equipment parameters according to an initial environment state, a matching target early warning mode and a reference target early warning mode, monitoring the working environment according to the adjusted environment monitoring module, obtaining real-time environment data, and performing safety risk identification in combination with a static safety boundary and a dynamic safety boundary; and according to the risk identification result, generating a safety early warning instruction, and performing path dynamic optimization of the mining equipment. The technical problems that in the prior art, a traditional excavation equipment operation early warning method is poor in risk sensing and early warning capacity and high in safety accident rate in a complex environment are solved, and the technical effects that the all-weather risk sensing and early warning capacity of excavation equipment in the complex environment is improved, and the safety accident rate is reduced are achieved.

The invention discloses a welding robot path planning system cooperating with industrial vision and collision detection, and relates to the technical field of robot automatic welding, the welding robot path planning system comprises an upper computer, the upper computer is in communication connection with the following modules: an environment sensing module used for collecting welding environment information in real time, comprising three-dimensional point cloud data of a workpiece and obstacle information; and the data processing and fusion module is used for fusing the visual identification result and the obstacle detection data. By integrating industrial visual recognition and collision detection technologies, the dynamic change of the welding environment can be sensed in real time, an accurate environment model is constructed based on three-dimensional point cloud data, compared with a traditional welding robot with a preset path, the welding track can be dynamically adjusted, welding defects caused by environment interference are avoided, and meanwhile the welding efficiency is improved. In combination with an assembly error compensation mechanism, the deviation between a theoretical model and an actual workpiece can be corrected, the welding position precision is ensured, and the high-precision ship manufacturing requirement is met.

The invention discloses an unmanned agricultural production system based on an agricultural scene and an inspection robot control method. The method comprises the steps that an environment sensing module obtains environment data in the agricultural scene through a plurality of sensors; the data processing module analyzes the state of the crops in the environment data and formulates a plurality of farming tasks according to the state of the crops; a task planning module formulates an inspection robot control strategy according to the priorities of the farming tasks and the state of the inspection robot; the robot control module controls movement of the inspection robot according to the inspection robot control strategy and completes corresponding farming tasks in the moving process, and unmanned production of a farm is achieved; according to the invention, corresponding farming tasks can be formulated according to crop states, the optimal moving path and task execution sequence of the robot in the farm are planned according to the priorities of the farming tasks, the full-range patrol inspection of the farm is realized, the production efficiency is improved, and the unmanned and intelligent farm is realized.