5685 results about "Millimetre wave" 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 unmanned aerial vehicle flight path planning, in particular to an unmanned aerial vehicle real-time path planning system and method based on dynamic weight distribution and multi-source data fusion. The system comprises a multi-source data fusion module, an integrated laser radar, a millimeter wave radar, a visual sensor and a Beidou positioning unit. The dynamic weight distribution module dynamically adjusts the weight coefficient of each sensor according to the environmental complexity, the threat level and the state of the unmanned aerial vehicle by adopting a mixed decision-making mechanism combining fuzzy logic and reinforcement learning; an improved RRT * algorithm and a Markov decision process are built in the real-time path planning module, and a global optimal path and a local obstacle avoidance track are generated by adopting a layered planning architecture; the unmanned aerial vehicle cooperative control module comprises a dual-redundancy flight control system and a dynamic obstacle avoidance unit; and the communication relay module supports 5G and low-orbit satellite dual-mode communication, updates an environment cognitive model of each unmanned aerial vehicle through federated learning, and realizes multi-source fusion real-time path planning based on dynamic weight distribution and the unmanned aerial vehicles.

The invention relates to the field of heart rate monitoring, and discloses a millimeter wave radar breath and heart rate synchronous monitoring method and system, and the method comprises the steps: transmitting a linear frequency modulation continuous wave signal according to a millimeter wave radar, and collecting original echo data reflected by a target region; baseband signal demodulation and phase information extraction are carried out on the original echo data to obtain original phase time sequence data, and the original phase time sequence data comprise thoracic cavity micro-motion features; and according to a Butterworth band-pass filter, preprocessing the original phase time sequence data through human body physiological signal frequency band characteristics to obtain a breathing frequency band signal and a heart rate frequency band signal. According to the method, the apnea event triggering threshold value and the arrhythmia early warning index are updated in real time through Kalman filtering and extended Kalman filtering, so that the monitoring system can dynamically adjust the health parameters, which means that the monitoring system can be optimized in real time and the abnormal health event can be accurately responded in different physiological states.

The invention discloses a multi-dimensional anti-bird intelligent recognition method and system based on thermal imaging, and relates to the technical field of intelligent monitoring and ecological protection. Multi-modal data is collected through thermal imaging, visible light, millimeter wave radar and a voiceprint sensor, after PTP protocol synchronization and Kalman filtering preprocessing, 3-5-second tracks of birds are predicted by using an LSTM network, and the anti-bird intelligent recognition method and system based on the thermal imaging are obtained. And the cross-modal features are fused through a Transform architecture, so that 95% of classification accuracy is realized. A bird repelling strategy is generated in real time through edge calculation, and the model is updated through cloud federal learning. The system integrates an oil-electric hybrid unmanned aerial vehicle and a ground device, supports dynamic path planning based on a thermodynamic diagram and differentiated repelling of directional sound waves, laser stroboflash and the like, has the night recognition accuracy rate of 92% and the bird repelling response time of 0.8 second, and is suitable for scenes of electric power, airports and the like. Through multi-dimensional perception, dynamic modeling and eco-friendly expelling, the problems of poor environmental adaptability, single strategy and the like of a traditional scheme are solved, and the anti-bird efficiency and the ecological safety are improved.

The invention relates to the technical field of image processing, and discloses a multispectral fusion night low-illumination image enhancement and shielding compensation method, which comprises the following steps of: cooperatively acquiring multi-modal data through a visible light camera, an infrared sensor, a thermal imaging sensor and a millimeter wave radar; comprising a low-illumination basic image, dark light texture details, target temperature distribution and contour and motion information of an object behind the shelter; fusing visible light and infrared textures by adopting a multi-scale transformation algorithm to generate a transition fusion image, and performing illumination compensation based on temperature distribution; predicting texture details of the occlusion area through a u-Het deep learning network in combination with detection data of the millimeter wave radar; and filling the missing texture according to the shielding contour, and generating a final target image through edge optimization and illumination smoothing technologies. According to the invention, the definition of a night low-illumination image can be improved.

The invention discloses a multi-mode pet health monitoring and motion artifact elimination method and system based on a millimeter wave radar, and relates to the technical field of pet health monitoring, and the method comprises the following steps: S001, building a unified time baseline and an energy fingerprint auditing surface, constructing an energy distribution model from a chest to a tail, and taking the model as a reference for artifact evolution, identifying a signal spectrum coupling trend in a time-frequency domain; and S002, based on the energy distribution model, performing causal playback on continuous time sequence signals acquired by the millimeter-wave radar, extracting a pseudo-motion energy nucleus caused by tail or limb movement, and calibrating a phase anchor point and a space observation area of a respiratory signal. According to the method, multi-source physiological data are fused, pure respiratory signals are extracted through energy distribution modeling, causal playback, phase anchor point calibration and three-dimensional resampling, risk assessment is achieved based on physiological credibility tensor, and the accuracy and anti-interference capacity of health monitoring are improved by combining phase conjugate traction and a space-time regulation strategy.

The invention relates to the technical field of intelligent control and unmanned aerial vehicle application, in particular to a bird repelling and unmanned aerial vehicle dispatching integrated platform based on big data analysis. Comprising a multi-source data acquisition module; a dynamic scheduling decision module; and a federal learning optimization module. According to the invention, the millimeter-wave radar, the infrared camera, the voiceprint recognition unit and the meteorological data interface are integrated through the multi-source data acquisition module, so that the defects of one-sided data and extensive evaluation of a traditional scheme are overcome; a bird threat level, unmanned aerial vehicle endurance time, an electric quantity attenuation model and an airspace control rule are fused through a dynamic scheduling decision module, dynamic balance of priority response of a high-risk area and unmanned aerial vehicle endurance and energy consumption is realized, and the problems of response lag and insufficient endurance caused by unreasonable task allocation in a traditional scheme are avoided; the federal learning optimization module adapts to a specific geographical environment through transfer learning, and the problem of strategy stiffness of a traditional scheme in a complex environment is solved.

The invention provides a space projection error analysis-combined 4D millimeter wave radar and visual camera automatic calibration method. The method comprises the steps of constructing a sensor internal reference model; designing a composite multifunctional calibration board and a three-dimensional adjustable holder, performing rigid geometrical relationship modeling, and automatically associating physics-features-coordinates; collecting multi-frame synchronization frame pair data, and performing time sequence fine grit alignment and interpolation compensation to obtain a space-time alignment frame pair sequence; extracting cross-modal spatial constraints of the features and automatically screening and matching point pairs to obtain a high-confidence point pair set; performing point-point constraint and point-point error, point-plane error and pixel reprojection error minimization to obtain a standardized error term; and constructing an overall objective function, and performing spatial constraint and time deviation estimation to obtain corrected external parameters and synchronization deviation. According to the invention, through a full-automatic standardized process, the probability of artificial participation and error occurrence is greatly reduced; and multi-modal and multi-scene high-precision calibration is supported, and the flexibility and robustness are greatly improved.

The invention discloses a radar and vision multi-mode fused three-dimensional multi-target tracking method and related equipment. The method comprises the following steps: establishing a three-dimensional constant turning rate and speed motion model for detecting a target vehicle; constructing a multi-modal measurement model, and obtaining a fusion target measurement result according to the point cloud data and the image data collected by the 4D millimeter wave radar; performing two-stage front and back frame matching and filtering according to a fusion target measurement result to obtain a matching target of the track; track life cycle management: newly building, confirming, keeping or deleting the track according to the matching result and the time step; according to the rule after track re-tracking, under the condition that the target is temporarily lost or shielded, a virtual track in the shielding period is constructed, state correction is conducted on the virtual track, the corrected state serves as the initial state of the current moment, and tracking continues. According to the invention, through fusion of complementary information of the 4D millimeter wave radar and the visual sensor, accurate sensing and tracking of three-dimensional multiple targets in a complex automatic driving environment are realized.

The invention discloses an intelligent health management system and method based on edge calculation and reinforcement learning. The system comprises an old people data acquisition module, an edge calculation module, a multi-modal fusion module, a reinforcement learning intervention module and a block chain evidence storage module. Physiological and environmental data are collected through a wearable device, a millimeter-wave radar, a pressure sensor and the like, data noise reduction and anomaly detection are realized at an edge end, a cloud end adopts a CNN-LSTM neural network to fuse multi-modal features, reinforcement learning is combined to dynamically generate personalized intervention actions, intervention behaviors and results are stored through a block chain technology, and the intervention effect is improved. And safe and credible strategy optimization is realized. According to the invention, continuous monitoring and intelligent intervention of the health state of the old people can be realized, and intelligence and credibility of community health management are improved.

The invention discloses a robot obstacle avoidance method and system based on millimeter wave radar sparse point cloud, and relates to the technical field of obstacle avoidance recognition. A robot obstacle avoidance system based on millimeter wave radar sparse point cloud comprises a point cloud acquisition module, a negative obstacle identification module, a weak obstacle identification module, a point cluster identification module, a risk map module, a tentative verification module and an obstacle avoidance decision module. According to the invention, suspected obstacle point clusters are extracted based on a reflection intensity threshold and a spatial proximity relation in an enhanced point cloud, a theoretical parallax model of a real static obstacle is constructed under the constraint of a robot motion trajectory, and Doppler velocity distribution of each frame is combined with a static obstacle Doppler physical law for comparison. And classifying the point clusters which do not meet the multi-view geometric consistency or Doppler physical law, and distinguishing multipath false point clusters from dynamic point clusters.

The invention discloses a human body posture estimation method based on millimeter wave radar point clouds, which comprises the following steps of: processing each frame of input millimeter wave radar sparse point clouds by utilizing a built posture estimation model, and finally predicting and outputting a three-dimensional coordinate sequence of corresponding human body key joint points; wherein the attitude estimation model is composed of a point cloud completion network based on an encoder-decoder architecture, a global-local double-branch network and a feature fusion and prediction mechanism, and the method comprises the following steps: firstly, enhancing the density and integrity of an original sparse point cloud by using the point cloud completion network; the method comprises the following steps: complementing point clouds and original point clouds, respectively processing the complemented point clouds and original point clouds through a global-local double-branch network, extracting global structure features and local detail features, finally fusing the two features through a feature fusion and prediction mechanism, predicting three-dimensional coordinates of human body joint points through a regression layer, and realizing accurate attitude estimation. The method improves the estimation precision and robustness, maintains the privacy protection advantage, and is suitable for complex application scenes.

The invention discloses a building facility detection data intelligent analysis and report system and method, and relates to the technical field of building structure health monitoring, and the method comprises the steps: achieving the high-precision data capture in a strong light dust raising environment through a laser radar and a dual-spectrum camera of a multi-mode anti-interference collection module; a millimeter wave radar array and an IMU inertial unit of the high-risk area strengthening module penetrate through severe working conditions to monitor key structure displacement; the credibility management engine is provided with an NFC timestamp chip and a double-chain block chain, and data judicial-level credibility and operation traceability are ensured; through humidity response gel packaging and Peltier semiconductor refrigeration of the self-maintenance sensing network, node environment self-adaption and drift suppression are achieved; and the multi-stage analysis center fuses edge-cloud computing power based on federal learning, generates a dynamic risk map and automatically outputs a compliance report. Accurate and timely reference is provided for operation and maintenance decisions, and the safety management level of building facilities is effectively improved.

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 provides a reservoir bank slope deformation body instability volume prediction method, which comprises the following steps: respectively acquiring earth surface displacement and rock mass internal deformation data through a millimeter wave radar and a tilt angle sensor, and after processing through an adaptive noise decomposition algorithm, identifying a key deformation area and generating a data set. And performing space-time alignment on the data by using the engineering coordinate system and the topological relation to generate a fusion matrix. And reconstructing a potential slip crack surface geometric model in combination with slip crack surface features of historical cases, and calculating instability volume probability distribution by adopting Monte Carlo simulation. And finally, inputting the multi-dimensional data into the space-time prediction model, and outputting an instability volume prediction result with probability distribution. According to the invention, the accuracy and reliability of the prediction result can be improved, and scientific basis and technical support are provided for safety monitoring and disaster early warning of the reservoir bank slope.

The invention discloses a target detection tracking method and device based on radar visual fusion perception, and a medium, and the method employs visual detection as a leading part to establish a radar visual fusion tracking module, and solves a problem that the detection precision, tracking stability and environment robustness are difficult to give consideration to the existing single-mode perception in a complex traffic environment at the same time. Through unified multi-modal fusion of distance and speed information of visual detection, visual tracking and millimeter wave radar, stable, continuous and reliable target identification and track output of targets such as pedestrians and vehicles under a low-computing-power platform are realized.

The invention relates to a road section risk early warning method based on thunder-vision fusion perception, and the method comprises the following steps: S1, obtaining the high-precision space-time position information of a vehicle in a tunnel through the multi-source information fusion of a millimeter-wave radar and machine vision; s2, mapping the vehicle position under the global coordinate system to a coordinate system expanded along a road center line, and representing the vehicle position as a longitudinal projection position and a transverse offset along the road direction; s3, under the coordinate system, taking anti-collision time as a core index, combining lane judgment and relative speed, constructing a dynamic longitudinal risk grading model, and performing linkage triggering with a warning system; s4, constructing a regional risk integral model; and S5, speed limiting information is issued to all driving-in vehicles in real time through the variable speed limiting screen, and the rear-end collision risk is actively prevented and controlled. According to the method, the sudden risk response time can be shortened, the speed limit control response precision can be improved, the rear-end collision rate of the diversion and convergence areas can be reduced, false alarm interference can be reduced, and the tunnel driving safety and the information guiding efficiency can be improved.

The invention discloses a target identification method for multi-sensor data fusion, particularly relates to the technical field of data fusion, and comprises a dynamic weight fusion module, a double-branch neural network and an abnormal sensing compensation system. Data are synchronously collected through a visible light camera, a thermal infrared imager and a millimeter wave radar, and a standardized feature map is generated through sensor specificity preprocessing; the dynamic weight fusion module generates an adaptive weight matrix based on the real-time confidence score and the environmental parameters, emphasizes infrared data when illumination suddenly changes, and improves intelligent distribution of radar weights in a rain and fog environment; the combined feature map after weight fusion is input into a double-branch neural network, a channel self-calibration branch suppresses interference noise, and a target category and coordinates are output after residual connection optimization; when the recognition confidence is insufficient, the abnormal compensation system starts visible light Wiener filtering restoration, generative adversarial network infrared compensation and radar multi-frame accumulation algorithms, and the system reliability is ensured when a single sensor fails.

The invention discloses a target detection method and system based on a millimeter wave radar. The target detection method and system are used for realizing accurate detection, positioning and dynamic and static recognition of multiple targets under a complex background. According to the method, a distance-Doppler spectrogram is generated through the technical means of sliding window construction, spectral analysis, clutter suppression and the like, and candidate target points are detected by adopting an SO-CFAR algorithm. Then, determining a target position through high-resolution direction estimation and coordinate transformation, performing spatial clustering in combination with a density-based DBSCAN algorithm, and extracting a target geometric center and a bounding box; in the aspect of target tracking, Kalman filtering is used for predicting and updating the position and speed of the target, and a beam forming technology is used for enhancing a target signal, so that the target recognition stability is improved. And finally, the system performs robust dynamic and static state recognition on the target through a dynamic and static judgment module, so that high precision and robustness of the target detection process are ensured. The method can effectively cope with static background interference and dynamic target changes, and is suitable for target detection and tracking in a complex environment.

The invention relates to a target person detection method and device based on millimeter wave radar, equipment and a medium. According to the method, radar detection configuration is adjusted, a gridding coordinate system is established in a target treadmill monitoring area, millimeter wave radar is used for collecting feature data related to movement of a target person, and movement track changes of the target person are extracted to generate person position information; acquiring breathing and heartbeat signals of a target person, and performing signal filtering and feature extraction to obtain vital sign information; comprehensively evaluating the existence state of the target person according to a preset threshold value and a discrimination standard in combination with the person position information and the vital sign information; and when the evaluation result shows that the target person leaves, the vital signs are abnormal or a cheating behavior exists, judging that the target person is in an abnormal state, and generating a corresponding early warning instruction. By adopting the method, abnormal conditions can be found in time, early warning can be generated, and the monitoring accuracy and response speed are improved.

The invention provides a falling detection method and system based on millimeter wave radar fusion human body postures, and relates to the technical field of falling detection, and the method comprises the steps: collecting human body echo signals, and constructing three-dimensional point cloud data through distance, angle and speed estimation; the point cloud is processed to generate a dynamic sequence, and skeleton features and key point coordinates are extracted in combination with a graph convolutional network. A skeleton connection relation is constructed based on the key points, attitude features are calculated, key change features are extracted through a self-attention mechanism, and the key change features are fused with a point cloud sequence to construct multi-modal features. And the double-branch state recognition network processes the fusion features, and when abnormality is detected, further analysis is carried out through residual attention and space-time diagram convolution, and finally, the falling state is recognized and the risk level is evaluated.

The invention discloses a model concept drift detection and adaptive learning method and system, and the method comprises the steps: obtaining a millimeter wave image collected by a millimeter wave sensor, and carrying out the prediction of the millimeter wave image through a pre-constructed neural network model; performing concept drift detection on the neural network model by taking the millimeter wave image and the corresponding model prediction result as data samples; the method specifically comprises the steps of calculating feature distribution of a data sample, and judging whether the feature distribution drifts or not; marking the data sample, calculating a model performance index of the marked data sample, and judging whether the model performance index drifts or not; and when drift triggering is detected, online incremental learning and model adaptive updating are carried out on the neural network model. Through the model concept drift detection and adaptive learning method, the generalization ability and robustness of the AI model can be greatly improved, so that the detection accuracy is remarkably improved, and the misjudgment rate is reduced.

The invention discloses a millimeter wave radar vital sign detection method based on an HHO-CEEMDAM algorithm, and the method comprises the steps: building a millimeter wave radar experiment system, and collecting an intermediate frequency signal of a human body echo; performing data reading and recombination, extracting phase features, and enhancing a target signal through non-coherent accumulation to determine the distance between the chest of the human body and the radar; recovering the phase of the vital sign signal from the incoherent accumulation FFT result by using the linear characteristic of arc tangent demodulation, and performing phase unwrapping and phase difference to obtain optimized phase information; setting a CEEMDAN parameter initialization range and designing a fitness function; a CEEMDAN parameter is optimized by using an HHO algorithm; performing CEEMDAN decomposition by using the optimized parameters, and screening breathing and heartbeat IMF components; and according to the IMF component, obtaining estimated values of the respiratory rate and the heart rate. The method improves the estimation precision of the respiratory rate and the heart rate of the millimeter wave radar in fatigue driving detection.

The invention discloses a millimeter wave radar and range finder golf sports monitoring system and method and a medium, and relates to the field of sports monitoring, the system comprises a handheld integrated terminal, a laser ranging module, a millimeter wave radar module, a processing unit and a display unit are integrated in the handheld integrated terminal, and a first communication module is connected with the processing unit; the data interaction module is used for performing data interaction with an external mobile terminal; the mobile terminal comprises a second communication module, a trajectory prediction module and a recommendation decision module, and is used for comparing the predicted flight trajectory with a target trajectory preset by a user and generating a swing suggestion in a training mode; and in the motion mode, the central processing unit is used for planning and recommending a ball hitting strategy based on the expected drop point distance input by the user and the real-time environment data measured by the handheld integrated terminal in combination with historical training data of the user. According to the invention, accurate monitoring and dynamic analysis of the golf ball flight path are realized.

The invention discloses a real-time dynamic trajectory tracking method and system for millimeter wave radar gesture recognition, and relates to the technical field of gesture recognition tracking, and the method comprises the steps: receiving an echo signal reflected by a gesture, extracting a potential target point cloud, and carrying out the clustering generation of a gesture point cloud sequence; establishing a multi-modal motion model library, dynamically selecting an optimal motion model by adopting graph matching, and generating a prediction state in combination with a gesture point cloud sequence; on the basis of a Poisson multi-Bernoulli hybrid filtering framework, according to the signal-to-noise ratio and spatial distribution of the current gesture point cloud sequence, dynamically adjusting the observation weight, optimizing the observation point cloud, and carrying out optimal association by combining Mahalanobis distance with dynamic time warping; a multi-hypothesis tracking strategy is adopted to maintain trajectory hypothesis, an optimal trajectory is selected through a trajectory scoring mechanism, and Kalman filtering smoothing processing is performed on the optimal trajectory. According to the method, high-precision and low-delay tracking of gesture motion is realized, gesture habits of different users and complex environment interference can be adapted, and meanwhile, relatively high track precision is kept.

The invention relates to the technical field of security management and control, in particular to an intelligent security dynamic identification management and control system, which comprises a multi-mode sensing module, a high-definition camera array, a millimeter-wave radar, an infrared sensor, an RFID reader-writer and a data processing module, and is used for receiving data of the multi-mode sensing module, carrying out time-space alignment and data fusion processing, and sending the data to the multi-mode sensing module. And personnel features, article features and environment features are extracted. The system also comprises an artificial intelligence analysis module and a user interaction module. According to the intelligent security dynamic identification management and control system, an artificial intelligence analysis module constructed by using a deep learning algorithm can perform real-time analysis and prediction on personnel behaviors, article states and abnormal events, discover potential safety hazards in advance and take corresponding management and control measures, thereby realizing conversion from passive defense to active prevention and control. For example, the system can give an alarm in time according to multi-dimensional information such as temperature change, smoke concentration and abnormal behaviors of people at the initial stage of a fire, so that precious time is won for people evacuation and fire extinguishment.

The invention relates to the technical field of perimeter intrusion monitoring, in particular to a perimeter intrusion monitoring system based on cooperation of infrared thermal imaging and an intelligent algorithm. The perimeter intrusion monitoring system based on infrared thermal imaging and intelligent algorithm cooperation comprises a multi-source sensing layer, an edge computing node, a cloud analysis platform and a response execution layer. According to the perimeter intrusion monitoring system based on cooperation of infrared thermal imaging and an intelligent algorithm, environmental noise interference is effectively suppressed through a dynamic threshold compensation mechanism, and accurate classification of personnel, vehicles, unmanned aerial vehicles and animals is realized by combining multi-modal feature fusion of infrared thermal imaging, visible light vision and millimeter wave radar; according to the method, intention modes of passing, observation, invasion and the like can be identified, threat level dynamic adaptation is realized in combination with a hierarchical response system, the technical bottlenecks of poor environmental adaptability, high target misjudgment rate, behavior analysis deficiency and the like of a traditional system are solved, and the intelligent level and all-weather protection capability of perimeter security and protection are remarkably improved.

According to the BIM-based construction process monitoring and early warning system provided by the invention, the data acquisition dimension and precision are remarkably improved through multi-source sensing fusion of millimeter-wave radar, multispectral imaging and voiceprint recognition; feature vector voxel units carrying material characteristics and process constraints are adopted, so that risk early warning has space-time relevance and process interpretability; through a composite risk calculation model containing environmental interference correction and time-varying gradient, the problem that a traditional threshold value method is poor in adaptability to complex working conditions is solved; the holographic early warning mechanism realizes upgrading from sound-light alarm to touch sense-three-dimensional projection cooperative interaction; the double-circulation self-optimization system not only guarantees real-time control, but also realizes block chain evidence storage of empirical data, and finally forms a construction monitoring closed-loop system with space-time perception, intelligent decision, accurate early warning and sustainable evolution capabilities.

The invention relates to the technical field of multi-sensor detection, and discloses a multi-sensor fusion coal conveying belt coal blockage detection method and device and a storage medium, and the method comprises the steps: collecting a laser point cloud, a first visual image and millimeter wave volume information of a coal flow of a coal conveying belt transfer point, and carrying out the dust environment restoration of the first visual image, obtaining a second visual image; registering the laser point cloud with the second visual image to obtain first fusion data; performing surface projection transformation on the millimeter wave volume information to obtain surface projection data, and integrating the surface projection data with the first fusion data to obtain second fusion data; performing time compensation on the second fusion data to obtain synchronous coal flow data; the coal flow accumulation abnormity identification is performed based on the synchronous coal flow data, the coal flow blockage early warning signal is generated, the accurate identification of the coal flow accumulation abnormity state is realized, and the reliability and the accuracy of blockage detection are improved.

Extended Reality (XR) applications may require high throughput and very low latency. New Radio (NR) Wireless receiver / transmitter units (WTRUs) running XR applications (XR-WTRUs) may be confronted with link failures when these applications are used in dense urban or indoor environments because of these devices operating in the millimeter band. Methods and devices are provided therefore for performing cell selection and beam management proactively to avoid link failure due to objects being in line of sight between the XR-WTRU and a network node with which it has established a connection. XR-WTRUs may therefore perform visual sensing that may enable visualizing current and future radio environment and using this information to prevent link failures by handing the XR-WTRU over to an alternative network node in line of sight of the XR-WTRU before the XR-WTRU is no longer in line of sight of the network node with which it has established a connection.