95 results about "Global grid" patented technology

The invention relates to the technical field of ocean engineering digital twinning and three-dimensional visualization, and provides a method and system for generating dredging terrain twinning based on a right-angle triangular mesh, and the method comprises the steps: obtaining regular grid elevation unified to an engineering plane coordinate system or preprocessed sampling height data, determining a covered space range, reading the space range and density parameters, and calculating the total row number and the total column number of the grids based on the space range and the density parameters; generating regularly arranged vertexes in the covered space, and constructing a topological structure of an isosceles right triangle grid; dividing the global grid into a plurality of Chunk blocks according to a fixed size by taking a vertex as a unit, establishing a triangular index mapping relationship between global rows and columns and the Chunk blocks, filling three vertexes of an isosceles right triangle and elevation / height data in each Chunk block in parallel, and generating local VBO, IBO and AABB; and performing batch rendering and coloring according to a height color table on all Chunk blocks to realize visualization of the terrain.

The invention discloses a wheeled robot path planning method for different scenes and a related device, and the method comprises the steps: obtaining environment data around a robot, building a global grid map, carrying out the preprocessing of the global grid map, carrying out the geometric feature recognition and angular point extraction of an obstacle, and fusing a multi-sampling strategy to generate a path search network. Path searching is carried out according to the target point and the pose planning, and a global optimal path conforming to robot driving is obtained; segments in the global optimal path are intercepted through the rolling window principle to serve as local paths to be input into a local path planning algorithm, a local optimal track is generated, and a speed instruction is output; and updating the map in the rolling window in real time, executing an obstacle avoidance task on the obstacle through the local optimal track, driving along the global optimal path again after obstacle avoidance, and moving to a target point according to a speed instruction. According to the method, the problems of large speed fluctuation, low quality of the generated path and calculation burden caused by increase of alternative path points in the current robot driving process are solved.

The invention discloses a topological network global optimization method based on graph reinforcement learning, and relates to the field of computational geometry and grid optimizing.The method comprises the steps that a topological optimization process is modeled into a Markov decision process, a topological network containing singular points and angular points is converted into heterogeneous graph representation, and a graph state is constructed; selecting a topology editing action by a reinforcement learning agent fused with the graph neural network based on the current graph state; after executing the action, updating a topological structure and a graph state, and calculating an instant reward based on the global grid quality index change; training intelligent agents in batches through experience playback and time sequence differential learning, so that the intelligent agents learn a mapping strategy from a graph state to an optimal action; and applying the trained policy network deployment to automatic optimization of the new topology. According to the method, full-process automation of topological optimization is achieved, non-local negative effects of local modification are effectively avoided, a global optimal optimization strategy is learned, the grid quality and optimization efficiency are remarkably improved, and the method is suitable for simulation grid generation of aircrafts.

The invention discloses a robot moving path planning method and device, electronic equipment and a storage medium. The method comprises the following steps: receiving a first control instruction for a robot, and obtaining an actual position of the robot and a global grid map of a preset activity area of the robot; determining a target advancing path according to the first control instruction, the actual position and the global grid map, and controlling the robot to move along the target advancing path; in the advancing process of the robot, space information of the robot is collected through a data collection module installed on the robot, and the space information comprises environment information and pose information; and determining an environment state vector according to the space information, and updating the target advancing path of the robot according to the environment state vector and the global grid map, so that autonomous navigation and dynamic path planning of the robot can be realized, and the moving efficiency, the environment adaptability and the target arrival accuracy are improved.

The invention provides a full-automatic semi-structured grid generation system and method suitable for complex geometry, and the method comprises the steps: employing a top-down reverse grid generation strategy, enabling a space adaptive Cartesian grid generation module to divide a computational domain into regular unit (square (2D) and hexahedron (3D)) grid units based on a Cartesian coordinate system; generating a surface grid by using an imprint-partition mapping method; and generating a boundary layer grid module by using a construction method. Based on the technical scheme of the invention, seamless connection of the Cartesian grid, the boundary layer grid and the surface grid is realized, boundary layer analysis precision and global grid generation efficiency and quality are considered, and the method has good universality, robustness and engineering adaptation capability. And the problem of poor calculation precision near the boundary caused by a Cartesian grid non-skin body is effectively solved. Grid transition is freer, topological compatibility does not need to be strictly guaranteed, and self-adaptive encryption optimization of any area can be better achieved.

The invention discloses a structure configuration generation method, device and equipment and a readable storage medium, and is applied to the technical field of computers, and the method comprises the steps: carrying out the decoupling processing of a global grid model, and obtaining an order reduction model and a structure optimization model; applying an external load and a boundary condition to the reduced-order model, and solving to obtain a displacement load; and inputting the displacement load, the design constraint and the manufacturing constraint into a pre-trained structure configuration optimization model to obtain a generated optimal structure configuration. According to the method, the calculation scale of the structure configuration optimization model is greatly reduced, the calculation efficiency is improved, and the grid resolution in the to-be-optimized target structure area is improved, so that the high-fidelity structure configuration is generated; unnecessary materials can be reduced on the premise that the safety of a train is not influenced; on the premise of keeping the geometric features of the target structure region to be optimized similar, a high-fidelity structure configuration can be generated for any size, external load and boundary conditions, and the universality in a global parameter space is realized.

A method detects a spatial arrangement of a physical object by assigning an attribute to a selection of uniquely identifiable global grid elements of a reference grid network. The method includes providing a global reference grid network with a geographical reference point defined vector-object-independently and global grid elements, which are adjacent to one another without overlap and are uniquely identifiable within the global reference grid network and are georeferenced with regard to a provided reference coordinate system, providing a vector object with at least one vertex, to which a geographical coordinate of the geographical reference coordinate system is assigned, determining and selecting those global grid elements that overlap with the vector object, and assigning an object attribute linked with the vector object or a further attribute to the grid elements selected and storing the selected grid elements with assigned attributes.

The application provides a distributed remote sensing interpretation vector post-processing method based on a grid DCEL topology. The method comprises: performing grid slicing on global grid data to obtain grid data of a plurality of grid units; constructing a bidirectional edge connection table topology based on the grid data of each grid unit respectively; performing elimination processing, thinning processing and smoothing processing on the topology of each grid unit respectively; merging the topology of each grid unit to obtain a global topology; and exporting the global topology as vector data. In this way, a high-performance grid topology engine based on a distributed architecture can be provided, a DCEL topology structure can be constructed from grid data, and distributed computing can be supported through a topology level merging algorithm; the grid is used to construct the topology, thereby reducing the steps of grid vectorization, and the grid-based topology construction method can naturally support distributed computing.

The application provides a multi-line structured light three-dimensional reconstruction frame point cloud real-time de-stacking and fusion method, and relates to the technical field of line structured light three-dimensional reconstruction. The distribution characteristics of the spatial position of the point cloud are utilized, a global grid structure is established through the position of the multi-view frame point cloud during three-dimensional reconstruction, the corresponding domain point set of each frame point cloud is solved, and the normal feature estimation is performed according to the distribution characteristics of the neighborhood points. The overlapping condition of the point cloud is detected according to the global grid structure, the cylindrical neighborhood structure of the overlapping frame point cloud is established, and the point cloud fusion is realized through the weighted sum of the point cloud vector direction of the target point and the fusion neighborhood point set and the normal vector feature. The algorithm can meet the system stability requirement in the three-dimensional reconstruction, improves the quality of the final point cloud model, greatly improves the measurement adaptability of the multi-line structured light three-dimensional reconstruction in the complex environment, and effectively improves the multi-line structured light three-dimensional reconstruction precision.

The present application relates to the technical field of marine engineering digital twin and three-dimensional visualization technology field, provide a kind of based on right triangle grid's dredging topography twin's generation method and system, comprising: obtaining regular grid elevation or sampling height data after pre-processing that have been unified to engineering plane coordinate system, determine the space range covered read space range and density parameter, based on space range and total row number and total column number of calculated grid;In the space covered, generate regularly arranged vertex, construct the topological structure of isosceles right triangle grid;With vertex as unit, several Chunk blocks are divided into global grid with fixed size, establish the triangular index mapping relationship of global row and Chunk block, the three vertices of isosceles right triangle and elevation or height data are filled in each Chunk block in parallel, generate local VBO, IBO and AABB;Batch rendering and coloring according to height color table are executed to all Chunk blocks, and the visualization of topography is realized.

The application discloses a kind of wind power three-row column variable pitch bearing injection and drainage hole simulation analysis method.For the problems of numerous variable pitch bearing injection and drainage holes, difficulty in meshing the overall finite element model and difficulty in convergence, the method first creates an overall mechanical analysis model without injection and drainage holes, uses spring element to equivalent rolling body, carries out overall finite element analysis, extracts the maximum load and inclination angle of roller;Then, according to the maximum load position, a submodel with injection and drainage holes is established, considering the profile modification and inclination angle of solid rollers, the grid of key parts is refined;Finally, the stress of injection and drainage holes and the contact stress of raceway are obtained through submodel analysis to evaluate the influence on bearing carrying capacity.The application avoids the problem of calculation divergence caused by global grid refinement, can effectively analyze the stress of injection and drainage holes, and provides reference for bearing structure design and optimization.

The invention provides a method for efficiently and parallelly generating a 10 billion-level unstructured grid at a ten-thousand-core level, which adopts an MPI parallel architecture to realize ten-thousand-core-level calculation, and averagely distributes calculation tasks to each process through a dynamic load balancing technology; a hierarchical communication and memory access mode is designed, grid data are stored in a plurality of process memories in a distributed mode, and limitation of a single-machine memory is effectively overcome; developing a self-adaptive interface matching algorithm, performing local reconstruction on an unmatched grid region, and ensuring that the requirement of local grid quality is met; global grid number reconstruction and boundary condition analysis algorithms are optimized, and a dynamic block hash table technology is adopted to efficiently process 10 billion-level grid matching. According to the method, the technical bottleneck of generation of the complex geometry 10 billion-scale unstructured grids is broken through, efficient generation of the 10 billion-scale unstructured grids is achieved on a domestic supercomputing platform, tests show that generation of 3 billion unit grids can be completed within several hours, and the speed is increased by more than one magnitude compared with a traditional method.

The invention provides a map construction method, a controller, a self-moving device and a storage medium, and the method comprises the steps: obtaining point cloud data collected by the self-moving device through a first sensor in a moving process based on a map construction task; the first sensor is arranged at a preset position of the self-moving device, and the preset position is used for satisfying extraction of structured features based on the point cloud data; determining pose information of the self-moving device according to the point cloud data, a constructed global grid map and structured features in the global grid map; the global grid map is a map of a mapping area corresponding to the mapping task; the structured features are used for representing edge information in a real environment, the established map is determined according to pose information at the end of mapping, a mapping method based on the grid map is combined with the structured features in the environment, geometric constraints are provided by using the structured features, the problem of angle drift of the grid map in long-term mapping is solved, and the mapping accuracy is improved. And the mapping precision is improved.

The invention belongs to the field of computational electromagnetism numerical simulation, and particularly relates to a non-uniform conformal FDTD method based on a sub-grid technology. According to the method, non-uniform conformal geometric correction is introduced into the sub-grids, so that high-precision fitting of a curved surface boundary is realized, step approximation errors are reduced, and the calculation precision of field quantities near the boundary is improved; according to the method, bidirectional coupling transfer which simultaneously meets line integral conservation and flux conservation is established on a main-sub grid interface, and a conservation relation required by a non-uniform conformal FDTD method is prevented from being damaged, so that interface numerical value reflection is effectively inhibited, energy non-physical errors are reduced, and long-term stability is improved; and fine grids are only adopted in the local fine structure neighborhood and are matched with time sub-cycle propulsion, so that global grid encryption and limitation of global time step length to a minimum unit are avoided, and the storage and calculation time overhead is remarkably reduced while the precision is ensured. According to the method, geometric modeling precision, interface stability and calculation efficiency are considered, and the method has high engineering application value.

A data processing service generates for iteratively applying a geospatial function to geospatial data. The generated code includes at least a first iterative loop and a second iterative loop. The data processing service compiles the generated code to generate compiled code that vectorized at least the second iterative loop. The data processing service receives a request from a client device to perform one or more data processing operations including applying the geospatial function to a data table of geospatial cell indices. The data processing service compiles the request into one or more tasks including at least a vectorized operation based on the compiled code and executes the one or more tasks by at least invoking the vectorized operation on the set of worker nodes.

This invention relates to the field of electronic digital data processing technology, specifically to computer-aided engineering calculation and numerical simulation data processing technology. This invention discloses a design method for determining the maximum hanging weight of an ultra-thin lifting beam. In incremental iterative solutions, the equivalent stress gradient and strain energy density are extracted in real time to calculate local instability characteristic values. When the rate of change of element strain energy density exceeds a threshold, a mesh reconstruction mechanism is triggered. The nodal displacement field and stress field are extracted as initial boundary conditions. The coarse mesh is split into a fine mesh, and the coordinates of newly added nodes are smoothly interpolated based on the minimum potential energy principle. The local and global mesh degrees of freedom are coupled and assembled to continue nonlinear buckling analysis iterations until the load-displacement curve shows an extreme point. The corresponding load is then extracted as the maximum hanging weight. This invention avoids stiffness matrix singularities and computational divergence caused by distortion of the fixed mesh in local instability regions, ensuring the computational convergence of determining the maximum hanging weight.

The embodiment of the invention provides a zenith troposphere delay prediction method, a zenith troposphere delay prediction device and electronic equipment. The method comprises the following steps: acquiring multi-source heterogeneous data; performing alignment on the multi-source heterogeneous data to obtain global grid data; according to the global grid data, zenith statics delay ZHD and zenith wet delay ZWD are modeled to obtain a ZHD long-period prediction model and a ZWD short-time prediction model; according to the global grid data, constructing a correction model which changes along with the elevation in the vertical direction; and according to the ZHD long-period prediction model, the ZWD short-time prediction model and the correction model, performing ZTD prediction on a to-be-measured station. And the prediction accuracy of the ZTD is improved, so that support is provided for improving the stability and precision of GNSS positioning.

The invention provides an environment construction method, electronic equipment, a sweeping robot and a computer program product. The environment construction method comprises the steps that local observation data, collected by a sweeping robot, of different environment attributes are acquired for a to-be-cleaned area; preprocessing the local observation data of different environment attributes, and determining environment attribute observation vectors of different environment attributes; mapping the environment attribute observation vectors to corresponding grid units of a global grid map, and determining environment attribute potential field matrixes of different environment attributes; based on the environment attribute observation vectors of different environment attributes, performing recursive fusion on the environment attribute states of the grid units in the corresponding environment attribute potential field matrixes, and determining a basic environment attribute potential field; and spatial diffusion processing is carried out on the basic environment attribute potential field, and target environment attribute potential fields of different environment attributes are determined.

The invention discloses a regional non-rigid grid coding method based on dimension separation, relates to the technical field of grid coding, and aims to develop research on an equidistant grid subdivision coding model oriented to a region in a city scene on the basis of the equidistant grid subdivision coding model. The regional non-rigid grid coding method based on dimension separation is provided, the cell coding method of an existing rigid tree-shaped grid is improved, and the uniqueness of administrative division identification is greatly improved. Aiming at the real situation that global administrative division data is diversified, the structure needs to be more elastic, unique identification of prefecture-level city administrative division data can be achieved through one code under a global grid unified framework, the code has spatial attributes, and range calculation and spatial relation operation can be rapidly achieved through operation of the code.

The embodiment of the invention provides an air pollutant concentration three-dimensional modeling method, and belongs to the technical field of data processing, and the method specifically comprises the steps: setting a cruise region, and dividing the cruise region into initial grids; setting a global cruise path strategy and a local cruise path strategy; all the initial grids are traversed, and the pollutant concentration is collected at the end point of each initial grid; calculating a real-time gradient mode of two end points and calculating an average gradient mode of each initial grid according to the real-time gradient mode; die-cutting a next initial grid according to the average gradient; traversing all the global grids according to a hierarchical cruise path strategy, uniformly collecting pollutant concentrations of a plurality of points on each edge of each global grid, and performing PCHIP interpolation fitting; obtaining point cloud data corresponding to the global grid and establishing a transition layer between grids with different densities according to the point cloud data; and constructing a three-dimensional space contour surface concentration field model according to the point cloud data and the concentration interpolation curve and outputting the three-dimensional space contour surface concentration field model. Through the scheme disclosed by the invention, the modeling efficiency and accuracy are improved.

The invention provides an intelligent grid-connected control method and system for a multi-unit gas power station, and relates to the technical field of power system automation control, and the method comprises the steps: dividing a generator set group in a target power station into three levels, namely a unit level, a group level and a power station level, on an electrical structure; based on the three levels, setting three intelligent grid-connected control modes: a grouping independent mode, a group parallel mode and a high-voltage side grid-connected mode; performing cost optimization calculation on the three control modes through a genetic algorithm, and dynamically switching to an optimal control mode according to real-time operation data; according to the method, the huge generator set group is logically decomposed and physically grouped, so that efficient and reliable global grid-connected control is realized.

The invention relates to a method, a device and equipment for constructing a geographic space-attribute weighted regression model, and relates to the technical field of spatial modeling, and the method comprises the steps: carrying out the full-coverage sampling processing of a research region, constructing an optimal global grid, and determining different attribute variable values of a grid center point of the optimal global grid; constructing a spatial distance matrix based on the coordinates of each sample point and the grid center point, and constructing a plurality of attribute similarity matrixes based on the multi-dimensional attribute variable values of each sample point and the grid center point; inputting the spatial distance matrix and the attribute similarity matrix into a space-attribute neural network model to generate a global space-attribute proximity grid; inputting the global space-attribute proximity grid into a space-attribute weighted convolutional neural network model to generate a spatial non-stationary weight matrix; and combining the spatial non-stationary weight matrix with a common linear regression model to construct a geographic space-attribute weighted regression model. According to the scheme, the reliability and interpretability of spatial non-stationary modeling can be effectively improved.

The application discloses a kind of multi-AGV conflict avoidance methods based on residual power, it is related to the field of automatic driving, establish a global grid map model;AGV is assigned task according to genetic algorithm;The AGV vehicle described above adopts three-layer method, path planning and charging scheduling are carried out for AGV, and a globally static conflict-free path is found;AGV executes task according to planned path.Bottom layer improves algorithm speed and efficiency by using only target node direction search mode to search node;Top layer detects the conflict of the path of all AGV vehicles, discovers the conflict existing in time, and solves the conflict with priority, avoids the conflict between AGV, improves the overall efficiency of AGV executing task;Middle layer carries out charging scheduling to AGV according to actual situation, avoids AGV power too low to complete task, and AGV charging time is too long to cause battery damage, the waiting time of remaining AGV to be charged is too long and goods accumulation etc.

The invention relates to a virtual power plant frequency regulation optimization method, and relates to the field of power system frequency regulation, and the method comprises the steps: collecting a global power grid frequency and a local power grid frequency in real time, a first precise timestamp being attached to the global power grid frequency, and a second precise timestamp being attached to the local power grid frequency; calculating a time deviation based on the first precise timestamp and the second precise timestamp; when the time deviation is greater than the critical deviation value, executing a self-checking mode; when the time deviation is smaller than a critical deviation value, obtaining a global power grid frequency deviation and a local power grid frequency deviation through standard frequency difference based on the global power grid frequency and the local power grid frequency; dynamic weight distribution is carried out based on the global power grid frequency deviation and the local power grid frequency deviation, and the current frequency deviation is calculated; and performing frequency modulation optimization on the global power grid frequency and the local power grid frequency based on the current frequency deviation. According to the invention, efficient, accurate and automatic frequency regulation capability is realized, and the stability and reliability of frequency modulation are obviously improved.

A data processing service generates for iteratively applying a geospatial function to geospatial data. The generated code includes at least a first iterative loop and a second iterative loop. The data processing service compiles the generated code to generate compiled code that vectorized at least the second iterative loop. The data processing service receives a request from a client device to perform one or more data processing operations including applying the geospatial function to a data table of geospatial cell indices. The data processing service compiles the request into one or more tasks including at least a vectorized operation based on the compiled code and executes the one or more tasks by at least invoking the vectorized operation on the set of worker nodes.

The invention discloses a vertical face positioning method and system for a marine wall-climbing robot. The method comprises the steps that S1, the system is initialized, and a global grid is established; S2, the robot is initially calibrated and placed; s3, trajectory planning and loading are carried out; s4, fusing positioning and closed-loop control; s5, deviation judgment and correction; s6, the step S4 and the step S5 are executed repeatedly until all planned tracks and operation tasks are completed; according to the method, the laser grid is projected, a stable and visible global position reference is created on a feature-free vertical face, and the positioning problem that no absolute reference object exists in a large-scale space is solved; absolute position information without accumulated errors is provided through visual grid recognition calculation, long-term drifting of the IMU and the odometer is corrected, and the positioning precision of long-time operation is guaranteed; the wall-climbing robot continuously detects the pose deviation and actively corrects the pose deviation according to the visual grid analysis result in the advancing process, the accumulated error of the IMU is corrected in real time by using the visual observation value, and the robustness and reliability are improved.

The invention discloses a volcanic eruption monitoring method fusing wind cloud satellite and COSMIC ionosphere occultation data, which comprises the following steps: firstly, collecting and preprocessing data, fitting the preprocessed data through a spherical harmonic function, and inverting to obtain the vertical total electron content of each grid point; defining an abnormal state and a normal state according to the solar radiation flux index under the grid, and obtaining an abnormal state dynamic threshold value and a normal state dynamic threshold value; collecting real-time data, and obtaining a vertical total electron content real-time value of a global grid through inversion, wherein the vertical total electron content real-time value is used for judging a suspected abnormal disturbance signal and recording related spatio-temporal information; and extracting vertical total electron content data of a preset area in a time window corresponding to the suspected abnormal disturbance signal, calculating a grid proportion through conditions, judging that the interference is solar or geomagnetic activity interference according to the proportion, and otherwise, judging that the interference is local volcanic eruption. According to the method, efficient, rapid, global-coverage and high-precision volcanic eruption monitoring can be realized, and timely and reliable decision support is provided for disaster prevention and reduction departments.

The invention provides a method for quickly retrieving a lost zoom lens target of a KCF tracker, which has higher robustness and can quickly and automatically retrieve the lost target. The method comprises the following steps: step 1, initializing a tracking object; 2, local tracking and state monitoring are carried out; step 3, carrying out size calculation and global gridding search retrieval after the target is lost, and starting a global search process of the whole image frame once the target is judged to be lost; and step 4, similarity matching and retrieval judgment based on the original model.

The present application discloses a road surface preview method, system, device and medium based on point cloud input, which relates to the field of intelligent vehicle driving control technology. The method includes: acquiring real-time point cloud data of a target area in a sensor coordinate system; segmenting the real-time point cloud data in the sensor coordinate system to obtain a ground area point cloud and a non-ground area point cloud; updating map grid information based on the ground area point cloud and the non-ground area point cloud to obtain a local grid map; based on odometer information, fusing the local grid map with the global grid map at the previous moment to generate a global grid map at the current moment; predicting the wheel trajectory of the intelligent vehicle based on the vehicle trajectory and geometric parameters of the intelligent vehicle; mapping the wheel trajectory to the global grid map at the current moment, and calculating the elevation information of the wheel trajectory. The present application improves the accuracy and efficiency of feature reconstruction of terrains of different scales in an environment.

The present application relates to the field of weather forecast and new energy technology, and discloses a physical-data fusion cloud amount constraint radiation prediction system. The system processes real-time weather station data and satellite cloud images through a data acquisition and field construction module to generate gridded weather element fields and cloud amount grid fields. A clear sky radiation prediction module and a cloud amount constraint prediction module are based on a clear sky radiation model and a Liu-Jordan model respectively, and parallel computing is performed to obtain gridded clear sky solar radiation prediction values and cloud amount constraint solar radiation prediction values. A multi-model integrated prediction module fuses the two kinds of prediction values. A grid correction and product generation module determines the optimal fusion weight of the two kinds of models through a grid search scheme, performs global grid correction in combination with real-time observation data, and generates high-precision kilometer-level solar radiation grid prediction products. The present application fuses the advantages of double physical models and optimizes the grid prediction accuracy through data-driven dynamic correction.