751 results about "Planning algorithms" patented technology

The invention discloses a path planning heuristic function generation platform and method based on collaborative optimization of a large-scale language model and evolutionary computation. According to the technology, the large-scale language model (LLM) and evolutionary computation (EC) work cooperatively. The platform generates or mutates a heuristic function expressed as an executable code through LLM based on a structured prompt containing an environment context and performance feedback; and an EC framework (such as genetic programming) is combined with performance evaluation feedback to perform selection and iterative optimization on a heuristic code population, and population diversity is maintained. The method aims at overcoming the limitation that a traditional heuristic design is difficult and poor in adaptability, a high-quality heuristic function adapting to a complex and dynamic environment is automatically generated, and therefore the efficiency of a path planning algorithm and path quality are remarkably improved.

The invention relates to the technical field of steel production plan optimization based on multi-dimensional constraint dynamic coupling, in particular to a molten iron operation plan arrangement method based on dynamic constraint modeling hybrid optimization, which comprises the following steps: acquiring order data, equipment state data and constraint rule data to generate structured input parameters comprising order priority labels; constructing a multi-objective optimization model based on the molten iron distribution constraint and the maintainable time length of the equipment, extracting the maintenance conflict relationship between the equipment groups, constructing a maintenance rule knowledge graph, and generating a dynamic constraint condition set; generating an initial molten iron distribution and maintenance plan through global search by adopting a genetic algorithm, and outputting a molten iron distribution path and an equipment maintenance time sequence through local optimization by combining a linear programming algorithm; according to the method, dynamic collaborative optimization of molten iron distribution and equipment maintenance is achieved, and the resource utilization rate, the order delivery rate and the production system stability are improved.

The invention relates to the technical field of artificial intelligence, can be applied to the field of medical health, and discloses a navigation method, device and equipment in an unexplored environment and a medium. Analyzing a pre-trained large language model into a structured semantic representation at least comprising target entity information, spatial constraint information and contextual intention information; inputting the target entity into a pre-trained large language model to generate a standardized task description question, inputting the standardized task description question and real-time environment image data into a pre-trained visual language question and answer model, and outputting a semantic answer result about whether the target entity exists or not; and if yes, generating a navigation strategy through a pre-trained large language model based on the structured semantic representation, and controlling the robot to execute a navigation action through a preset path planning algorithm. The method does not need to depend on an environmental map and scene training, realizes navigation in an unexplored environment by utilizing cooperation of a large language model and a visual language question and answer model, solves the problem of strong dependency of a traditional scheme on prior data, and has good generalization ability and environmental adaptability.

The invention belongs to the technical field of path planning of unmanned equipment, and relates to a medical rescue unmanned aerial vehicle and robot dog cooperative linkage method, which comprises the following steps: integrating LiDAR point cloud, visual images, IMU inertial data and compensated UWB positioning data into a multi-modal data stream subjected to space-time alignment through time alignment and space alignment technologies; respectively extracting LiDAR and visual feature poses through parallel SLAM (Simultaneous Localization and Mapping) calculation, and carrying out graph optimization and joint optimization by utilizing a GTSAM library, so as to construct a globally optimized pose and a global semantic map; the path planning algorithm provides dynamic channel routing for the unmanned aerial vehicle and the robot dog based on a global semantic map, the feature fusion weight is adjusted by considering the environment illumination intensity and the point cloud density, the reverse iris control mechanism detects whether the robot dog enters a shielding area through a UWB signal intensity attenuation value, the unmanned aerial vehicle is switched to a UWB signal follower, and the UWB signal follower is switched to the unmanned aerial vehicle. And through combination with a Kalman filter, penetration positioning in a shielding area is realized, so that stable execution of a rescue task in a complex environment is ensured.

The invention discloses an unmanned aerial vehicle cruising method and system based on a deep learning artificial intelligence image recognition algorithm. According to the method, an unmanned aerial vehicle carrying an improved YOLOv7-SwinT target recognition model collects real-time image data of an inspection area, and the model fuses a single-stage target detection architecture of YOLOv7 and a visual feature extraction network of Swin Transform. Progressive target detection is realized by adopting a three-level recognition architecture, wherein the progressive target detection comprises primary anomaly detection based on lightweight CNN, intermediate accurate positioning in combination with an attention mechanism and advanced target classification of multi-sensor data fusion. And the system combines the electric quantity of the unmanned aerial vehicle, the environmental condition and the task priority according to the identification result, generates a dynamic inspection path through an adaptive path planning algorithm, and realizes multi-vehicle collaborative operation by using an intelligent task allocation algorithm. In the inspection process, sensor data are processed in real time through edge computing equipment, and charging scheduling is optimized by adopting an intelligent energy management system. The target recognition precision and the cruising efficiency of the unmanned aerial vehicle in a complex environment are remarkably improved, and the method is suitable for application scenes such as electric power inspection and security monitoring.

The invention discloses a double-station robot sorting optimization method and system based on digital twinning and a terminal, double improvement of sorting efficiency and safety is achieved by constructing a digital twinning driven collaborative operation system, and the method comprises the steps that firstly, a laser radar and a polarization camera are used for forming a composite sensing unit; geometric morphology, material reflection characteristics and spatial pose data of a target object are synchronously obtained, and are input into a digital twin engine after time synchronization processing; an engine constructs a virtual sorting scene containing a material attribute database based on a physical rendering technology, sub-millimeter-level space registration is achieved through feature fusion of a binocular stereoscopic vision depth map and geometric parameters, high-precision digital twin stations are generated, a system plans a space-time constraint trajectory of a double-station robot in a virtual environment, and a target object is obtained. And an integrated discrete event simulation engine performs operation time sequence conflict prediction, and when a space overlapping risk is detected, an alternative path containing a dynamic obstacle avoidance strategy is generated through a trajectory re-planning algorithm.

The invention discloses an intelligent logistics scheduling method and device based on a dynamic weight and a medium, and the method comprises the steps: carrying out the fusion processing of the operation environment data of a logistics carrier, so as to construct a dynamic environment model, and carrying out the fusion processing of the operation environment data of the logistics carrier based on a reinforcement learning model according to a real-time environment state and a multi-target optimization demand. Dynamically adjusting the weight vector of each logistics parameter in the logistics carrier; predicting the space-time trajectory of each logistics carrier based on the kinematic model of the logistics carrier, mapping the space-time trajectory to a three-dimensional grid, identifying a potential conflict area between the logistics carriers, and calculating a corresponding conflict severity index; based on the dynamic weight vector and the conflict severity index, generating an obstacle avoidance path of the logistics carrier by adopting a global path re-planning algorithm, and optimizing the obstacle avoidance path through a local track to generate a corresponding smooth track; and executing a scheduling instruction corresponding to the smooth trajectory, and collecting an execution feedback result in real time to update the reinforcement learning model parameters and the dynamic weight strategy.

The invention relates to the technical field of unmanned aerial vehicles, and discloses an intelligent charging and endurance optimization method for an unmanned aerial vehicle nest, and the method comprises the steps: collecting flight, battery and environment data through an unmanned aerial vehicle, transmitting the data to a nest, and precisely evaluating the remaining endurance of the unmanned aerial vehicle through the nest in combination with historical tasks and geographic information; performing dynamic task planning based on reinforcement learning, and generating an optimal charging strategy by using a dynamic planning algorithm; by means of a multi-mode sensor and a self-adaptive charging control model, intelligent regulation and control of the charging process are achieved; and through solar auxiliary power supply and multi-machine cooperative charging, the endurance is enhanced. The problems of low charging efficiency, poor endurance management, insufficient system reliability and the like in a traditional method are effectively solved, the utilization rate of nest charging resources is remarkably improved, the service life of a battery is prolonged, the endurance of the unmanned aerial vehicle and the system stability are enhanced, and the method has important significance in promoting efficient application of the unmanned aerial vehicle in multiple fields.

The invention discloses a code spraying identification optimal path planning method based on an intelligent optimization algorithm, and relates to the technical field of code spraying control, and the method comprises the steps: dispersing a code spraying region into a three-dimensional space, and constructing a dynamic environment model of marking parameter constraint; based on the code spraying task priority queue, a hybrid optimization algorithm is adopted to carry out collaborative optimization of marking parameters and path nodes, and an optimal path candidate set is generated; an obstacle avoidance model is constructed based on the optimal path candidate set, a collision-free path is generated, the pose of a nozzle is adjusted in combination with visual feedback, and an anti-interference code spraying action sequence is output; monitoring the operation feedback of the code spraying equipment, and carrying out the iterative updating of the marking parameter library and the algorithm rule. According to the method, the core advantages of multiple intelligent optimization algorithms are fused, a mixed collaborative optimization architecture is constructed, the limitation of a single algorithm in a complex scene is effectively broken through, and a traditional path planning algorithm is easily troubled by a local optimal solution and is difficult to meet multi-dimensional constraint conditions at the same time.

The invention provides an AI agent emergency order insertion dynamic decision production scheduling method, a medium and a system, and belongs to the technical field of industrial agents. A dynamic weight adaptive optimization model is adopted to calculate a target weight coefficient and construct a multi-target function set, an improved non-dominated sorting genetic algorithm is adopted to solve and output a Pareto optimal solution set, and a delay risk assessment correlation matrix is combined to start an incremental re-planning algorithm to generate a local adjustment scheme. The Pareto optimal solution set and the local adjustment scheme are combined to generate a final production scheduling scheme, a real-time monitoring module is started to track the execution deviation condition, and when it is detected that the deviation degree exceeds a threshold value, a rapid rescheduling mechanism is triggered to conduct scheme correction; the technical problem of poor production scheduling scheme quality caused by low multi-agent cooperation efficiency in the emergency order insertion dynamic decision process is solved.

The invention relates to the technical field of aerocar mode switching, and discloses a distributed driving aerocar self-adaptive fault-tolerant control method for actuator multimode failure, which comprises the following steps: constructing a unified six-degree-of-freedom dual-mode state space model; residual signals are generated based on extended Kalman filtering and a sliding-mode observer, and fault types and positions are positioned in real time through a lightweight classifier; the method comprises the following steps: extracting residual time-frequency features, identifying hard faults by using a lightweight convolutional neural network, quantifying soft fault degrees through an incremental support vector machine, fusing multi-source information based on a Bayesian network to output fault types, levels and confidence coefficients, and introducing an incremental learning mechanism to realize self-evolution of a diagnosis model; a virtual control instruction is generated by adopting hierarchical sliding mode control, thrust and torque distribution of remaining actuators is optimized based on a dynamic quadratic programming algorithm, control parameters are adjusted online in combination with a Lyapunov adaptive law, aerodynamic interference and model uncertainty are inhibited, attitude stability and trajectory tracking in air-ground mode switching are guaranteed, and the method has the advantages of being high in reliability and high in reliability. And the fault-tolerant performance and the operation safety of the hovercar in the air-ground mode switching process are obviously enhanced.

The invention discloses an intelligent fire evacuation system and method based on dynamic environment perception, and relates to the technical field of fire fighting and safety protection, and the method comprises the steps: collecting real-time data in a fire scene; dividing the evacuation area into a plurality of grid units by using a two-dimensional rasterization technology to form a real-time updated environment map; in combination with dynamic modeling data, an optimal evacuation path is generated by using an improved path planning algorithm; an evacuation path is transmitted to trapped people in real time in a visual and auditory mode, and the visual and auditory mode comprises the use of a dynamic indicator lamp, a marker lamp, an electronic screen and a voice broadcast system; the guidance content is adjusted in combination with real-time data, and the evacuation efficiency is optimized; fire fighting equipment is linked, and the evacuation path environment is optimized; and the evacuation state is monitored through a dynamic data feedback mechanism. According to the invention, an evacuation path is calculated and updated in real time by integrating a sensor network, fire scene dynamic modeling and an intelligent path planning algorithm, and a safe and efficient evacuation scheme is provided for trapped people in a fire.

The invention relates to a simulation-based satellite scheduling task dynamic planning method, device and equipment, and the method comprises the steps: carrying out the modeling according to various time-varying environment dynamic parameters in an environment where a satellite is located, and obtaining a dynamic environment model which comprises an environment factor model and an emergency triggering mechanism; the method comprises the following steps: constructing a satellite resource dynamic model according to various resources of satellites, resource consumption during task execution and resource supply, constructing a multi-satellite collaborative model according to an interaction relationship among a plurality of satellites and related information of each satellite, and constructing a multi-satellite collaborative model under a dynamic environment model, the satellite resource dynamic model and the multi-satellite collaborative model. According to the method, tasks in a to-be-executed task data set containing single-satellite and cooperative tasks are dynamically scheduled by adopting a task planning algorithm, a task execution planning table of satellites is obtained, satellite task planning can be carried out aiming at emergencies and multi-satellite cooperative tasks, and the planning is closer to the actual situation.

The invention discloses an intelligent PCB sorting process and system based on an unmanned factory, and the process comprises the steps: obtaining surface images and internal structure parameters of PCBs in real time through an image collection module and a scanning module on sorting equipment, and generating a standardized feature data set; the lightweight classification model performs classification and quality grade division on the PCBs in combination with a process grade judgment rule, and dynamically allocates sorting priorities based on MES system order demands to generate a task queue; the path planning algorithm calculates the optimal grabbing path of the mechanical arm and the AGV conveying path according to the priority queue, and a sorting instruction set is formed and issued to the execution unit through the industrial communication network; the mechanical arm completes PCB grabbing and placing operation according to the instruction, and meanwhile, the visual verification module detects a sorting result in real time and outputs a sorting state report and quality data; according to the process, high efficiency, accuracy and unmanned operation of PCB sorting are realized through automatic data acquisition, intelligent classification decision and a closed-loop optimization mechanism.

The invention relates to the technical field of underground pipe gallery distributed intelligent control, and discloses an underground pipe gallery intelligent illumination and energy consumption optimization system, which comprises a dynamic credibility evaluation module for analyzing multi-modal environment sensing data in real time and generating a dynamic credibility score; the edge-cloud collaborative optimization module is used for realizing distributed collaborative learning through local model fine tuning and global knowledge distillation; and the event-driven resource allocation module dynamically optimizes a lighting strategy and a communication priority based on credibility scores and emergency information, and through multi-modal data cross validation and adaptive weight adjustment, the robustness of anomaly detection is significantly improved, and misjudgment caused by sensor failure or environmental interference is effectively suppressed; the dynamic planning algorithm is used for synchronously optimizing energy consumption and equipment service life, efficient balance of safety and energy efficiency is achieved, the system is particularly suitable for complex underground environments and can automatically adapt to sudden anomalies, and the intelligent level and the energy utilization efficiency of pipe gallery illumination are remarkably improved.

The invention discloses an electric vehicle V2G micro-grid energy storage capacity optimization method based on dynamic planning, particularly relates to the technical field of micro-grid energy storage optimization, and aims to solve the problem of energy storage capacity optimization defects caused by spatial dynamic characteristics caused by mobility of an existing electric vehicle. Performing geographic grid division on the node position, generating a space-time matrix by combining with a timestamp, and identifying a high-frequency access node; constructing a state transition equation based on the inter-node impedance matrix, and setting a node-level safety boundary by taking a line capacity change rate as a dynamic constraint; a staged reverse dynamic programming algorithm is adopted, spatial dimension optimization is preferentially executed on the high-frequency access nodes, and charging and discharging constraints fusing voltage deviation and capacity overrun penalty terms are generated; carrying out global optimization by taking the minimization of the total operation cost as a target after the constraints are integrated, and outputting an energy storage capacity configuration strategy of each time period; and finally generating an energy storage deployment scheme.

The invention discloses a photovoltaic centralized charging control method and device for a light commercial electric vehicle and a medium, and belongs to the technical field of new energy charging. The method comprises the following steps: acquiring weather data, a vehicle battery charge state and task scheduling data; photovoltaic module parameters and environment data are processed through an LSTM neural network model, and a photovoltaic power generation power prediction curve is generated; constructing a multi-dimensional evaluation index system including task emergency degree, charging efficiency and power grid interaction factors, and generating a charging priority sequence in combination with an entropy weight TOPSIS algorithm; solving a real-time power distribution scheme based on a mixed integer programming algorithm, and dynamically adjusting the output power of the charging pile; monitoring the operation state of the system, and triggering a multi-stage power compensation mechanism when the photovoltaic power is insufficient or the electric quantity is low; and the battery state and the photovoltaic power are updated in real time, and a charging strategy is corrected through a rolling optimization algorithm. By means of the method, centralized charging control over the light commercial electric vehicle is achieved, and the technical effect of meeting the requirements of a motorcade is achieved.

The invention discloses a distributed driving automobile control method. The method comprises the steps that 1, dynamic parameters of an automobile are collected in real time, and the equivalent adhesion coefficient of each wheel is calculated; 2, dividing types and optimizing torque distribution according to pavement adhesion coefficients: respectively adopting priority, uniform and dynamic weight distribution strategies for low, high and asymmetric pavements; 3, establishing a multi-objective optimization model, and solving an optimal torque distribution scheme considering the tire utilization rate and the yaw stability by using a quadratic programming algorithm; 4, compensating a torque error and motor response delay by adopting sliding mode control and a feedforward-feedback mechanism; and 5, the control parameters are dynamically corrected based on errors of the longitudinal acceleration and the yaw velocity, and torque limiting or safety mode switching is triggered. Through multi-strategy collaborative optimization, the stability and driving efficiency of the vehicle under different attachment road surfaces are improved, the tire slipping risk is reduced, and driving safety under extreme working conditions is guaranteed.

The invention provides an urban low-altitude unmanned aerial vehicle instant distribution scheduling and path planning method considering demand prediction. The method comprises the following steps: establishing a three-dimensional environment map of an unmanned aerial vehicle distribution system by adopting a grid-topology hybrid modeling strategy based on three-dimensional urban environment map data; according to the three-dimensional environment map of the unmanned aerial vehicle distribution system, the starting point and the target point of the unmanned aerial vehicle, the optimal flight path of the unmanned aerial vehicle, the time required by the optimal path and the transportation cost are obtained by using an unmanned aerial vehicle path planning algorithm of space-time improvement A *; and according to the order data, the unmanned aerial vehicle performance parameters, the optimal flight path of the unmanned aerial vehicle, the time required by the optimal path and the transportation cost, using the CNN-LSTM-Attention order prediction model and the task allocation model to output a task allocation scheme including a virtual order and an actual order. Accurate spatial data support is provided for path planning of the unmanned aerial vehicle, the reasonability of low-altitude logistics distribution path planning is improved, and finer data support is provided for urban airspace management.

The invention provides a tractor semitrailer full-working-condition active stability control system and method, and belongs to the technical field of vehicle engineering. The system comprises a kinetic model module, a reference quantity determination module and an active stability controller module. The dynamic model module constructs a linear three-degree-of-freedom tractor semitrailer model, a hub motor model and a longitudinal driver model. The reference quantity determination module generates an ideal state value according to the steady state condition of the system and corrects the ideal state value in combination with the road attachment condition. The active stability controller module is divided into three layers, an MIMO-IMFAC controller calculates additional yawing moment, a torque optimization controller optimizes tire load distribution through a quadratic programming algorithm, and a driving / braking torque distribution controller preferentially uses regenerative braking and dynamically adjusts braking torque of the semitrailer according to the yawing moment. By adopting the control system and the control method, the stability and the dynamic response capability of the vehicle under complex working conditions are remarkably improved.

The invention discloses an industrial part carrying control method and system based on dynamic path planning, and relates to the technical field of industrial equipment control, and the technical scheme is characterized in that an initial path satisfying suction constraint and joint torque limitation is generated by using a path planning algorithm and quadratic programming; the method comprises the following steps: acquiring three-dimensional coordinates of an obstacle, a part inclination angle and joint torque data in real time through a fusion sensor to perform local deformation adjustment on a path, constructing a multi-objective optimization function, and dynamically balancing an obstacle avoidance distance to obtain an optimal carrying path on the premise of ensuring a certain coincidence degree with an initial path; feedforward torque compensation is carried out according to the optimal carrying path, and compliant adjustment of the contact force is achieved in combination with impedance control. According to the technical system, the path re-planning efficiency of the system in a dynamic environment is improved, the joint torque fluctuation is reduced, and the part damage rate is reduced.

The invention provides a construction carbon emission dynamic simulation and optimization decision-making method based on BIM and digital twinning, relates to the technical field of building construction carbon emission management and control, and solves the problem of limitation of an existing management and control process in the aspects of accounting precision, response speed, emission reduction effect and economical efficiency. The method comprises the following steps: firstly, establishing a multi-dimensional BIM model, constructing a digital twinborn body linked with a physical construction site in real time based on the model, and mapping real-time energy consumption and material data; and then monitoring and calculating the real-time carbon emission intensity of the whole construction process in combination with a dynamic carbon emission factor library, further performing multi-target optimization solution by adopting a mixed integer programming algorithm based on the intensity value and an optimization decision, outputting a low-carbon construction optimization scheme, and guiding field execution. Through BIM, digital twinning and dynamic optimization full-chain technology integration, real-time monitoring, accurate accounting, intelligent optimization and closed-loop management and control of building construction carbon emission are smoothly realized.

The invention relates to a multi-unmanned aerial vehicle disaster site collaborative search method fused with a big language model consultation mechanism. Compared with the prior art, the multi-unmanned aerial vehicle disaster site collaborative search method solves the defect that multi-unmanned aerial vehicle control cannot adaptively combine historical task experience and multiple big language model decision suggestions. The method comprises the following steps: starting a collaborative search task and initial path configuration; starting real-time monitoring on the disaster search task cooperatively executed by the plurality of unmanned aerial vehicles; a plurality of unmanned aerial vehicles cooperatively execute monitoring of a disaster search task; generating an unmanned aerial vehicle task abstract and a response specification; performing big language model consultation processing; and updating the credibility of each model. According to the method, the knowledge of the large language model and historical task data are utilized to supplement the defects of a traditional planning algorithm, continuous adaptive optimization of the search task is realized, and the safety and efficiency of an unmanned aerial vehicle system in a disaster scene are improved.

The invention discloses a closed denial environment adaptive path planning algorithm, and belongs to the technical field of mobile robot navigation. According to the algorithm, aiming at the characteristics of dense obstacles and many dynamic interferences in a closed denial environment, an artificial potential field method is innovatively combined with a sampling-based RRT algorithm and a dynamic window method, so that organic fusion of global and local path planning is realized. According to the algorithm, an artificial potential field gravitational field is introduced into an RRT sampling process, so that new node generation always deviates to a target direction, and adaptive change is realized by dynamically adjusting a sampling sector angle; in local path planning, a global artificial potential field gravitational field is utilized to optimize a DWA evaluation algorithm, and a better dynamic obstacle avoidance effect is achieved. The algorithm is suitable for path planning requirements of unmanned aerial vehicles, specialized robots and the like in a closed denial environment.

The invention discloses a storage robot intelligent obstacle avoidance system under the Internet of Things, and belongs to the technical field of the Internet of Things, and the system comprises a multi-source data collection and fusion module, a path planning module, a multi-robot cooperation module, an execution control module, a task scheduling module, a safety monitoring module and a self-optimization module. According to the method, laser radar and visual data are integrated into a dynamic occupation grid map, a dynamic obstacle trajectory prediction model is introduced, active avoidance of moving obstacles is realized, and path smoothness and energy consumption efficiency can be optimized while a safe distance is ensured by quantifying distance and time dual cost and path planning. Besides, the path is decomposed into a time interval attitude sequence, and a curvature optimization objective function is combined, so that the robot can still keep efficient and stable obstacle avoidance capability in a storage environment with dense people streams or frequent movement, and the task execution success rate is remarkably improved.

The invention relates to an intelligent logistics scheduling and resource distribution system based on multi-source data fusion, and relates to the technical field of logistics management technologies, and the system comprises the steps: collecting vehicle operation state data, road condition data, logistics order dynamic data and warehouse inventory change data in real time based on a multi-source heterogeneous interaction platform; constructing a multi-modal traffic logistics time series data set; based on a maximum priority scheduling algorithm, giving priority weights to the logistics orders in combination with logistics order timeliness demands and cargo features; based on the logistics order priority weight, path optimization is carried out by using a space-time hierarchical planning algorithm, and an initial transportation path set is constructed; real-time monitoring of the transportation process is achieved based on the digital twinborn technology, the path condition is sensed dynamically, the optimal transportation path is obtained through continuous adjustment, and an intelligent logistics scheduling and resource allocation scheme based on multi-source data fusion is generated. The method has the advantages that the resource allocation efficiency is improved and the transportation cost is reduced by optimizing the priority path and continuously adjusting the transportation path.

The embodiment of the invention discloses an unmanned aerial vehicle path planning method and system. The method comprises the following steps: S1, constructing an environment model of unmanned aerial vehicle operation; s2, setting an objective function and constraint conditions of unmanned aerial vehicle path planning; s3, based on the environment model, the objective function and the constraint condition, determining information of an approximate optimal path by adopting an ant colony algorithm; and S4, applying the information of the approximate optimal path to a sequential quadratic programming algorithm to determine the optimal path. According to the unmanned aerial vehicle path planning method provided by the invention, on the basis of the ant colony algorithm, the SQP algorithm is fused for secondary optimization, so that the problems that the traditional ant colony algorithm is easy to fall into local optimum and slow in convergence speed are solved, the path length of unmanned aerial vehicle path planning is successfully shortened, the number of iterations is reduced, and the path planning efficiency is improved. According to the method, more efficient and more accurate path optimization is realized, and the optimized algorithm has relatively high adaptability and robustness.

The invention relates to an unmanned aerial vehicle flight path planning method based on semantic guidance and visual perception, and the method comprises the following steps: S1, obtaining original image information and a digital elevation model, and generating a standardized target region image, S2, inputting the standardized target region image into a trained improved U-Net semantic segmentation model, the improved U-Net semantic segmentation model outputs a pixel-level geographic feature classification result, S3, according to the geographic feature classification result, determining an obstacle and a passable area, and generating a binary grid map, the obstacle area being marked as 0, and the passable area being 1, and S4, generating an initial flight path based on the binary grid map, and if the initial flight path is blocked, executing the step S3. Triggering an online re-planning algorithm to generate an alternative path; the method has the advantages that lightweight calculation and high robustness are both considered, and the flight safety and the real-time decision-making capability in a complex scene are remarkably improved.

The invention relates to the field of nondestructive testing, in particular to a flaw detection method for a large steel box girder and a related product, and the flaw detection method comprises the following steps: importing a three-dimensional model of the large steel box girder, and analyzing the three-dimensional model to obtain geometric feature information of the steel box girder; generating a scanning path of the ultrasonic probe based on the geometric feature information; an ultrasonic probe is controlled to scan the large steel box girder according to the scanning path, and ultrasonic echo signals are collected; the ultrasonic echo signals are processed, and the welding defect positions of the steel box girder are recognized and positioned; according to the method, the three-dimensional model of the steel box girder is imported and analyzed, automatic extraction of the detection area and the welding seam information is achieved, the optimized probe scanning path is generated by applying the self-adaptive path planning algorithm, efficient and full-coverage detection of the large complex structural part is achieved, and missing detection is avoided.

The invention provides a method, a device and a product for realizing intelligent scheduling and cooperative work of multiple unmanned aerial vehicles. The method comprises the following steps: step S1, receiving a task to be processed in real time and acquiring a real-time operation state of each unmanned aerial vehicle in an unmanned aerial vehicle group; s2, performing intelligent dynamic allocation on the tasks by using a pre-established task value scoring model, an unmanned aerial vehicle task adaptation degree model and a global multi-task dynamic allocation optimization model; the global multi-task dynamic allocation optimization model is a mixed integer programming model established by taking maximization of the total task income as a target under a predetermined constraint condition; and S3, after task allocation is completed, a pre-constructed three-dimensional grid airway model G (V, E) is used to plan an airway for each unmanned aerial vehicle executing the task. According to the technical scheme, the mixed integer programming algorithm and the particle swarm optimization are combined, and the global task allocation optimization model is constructed, so that task allocation can be efficiently solved, and various actual constraints can be met.