2875 results about "Route planning" patented technology

The invention discloses an unmanned aerial vehicle route planning and dynamic management and control method for an urban low-altitude airspace, and relates to the technical field of unmanned aerial vehicle route planning and dynamic management and control, and the method comprises the steps: dividing the low-altitude airspace into a basic flight layer, a buffer anti-collision layer and an emergency guarantee layer in the vertical direction; setting different air route grades and limitation rules in different areas in the horizontal direction; generating a basic airway network skeleton and performing structure optimization; obtaining the operation state and environment updating data of the unmanned aerial vehicle; semantic annotation is carried out on each leg and node in the basic airway network skeleton, and airspace regulations, supervision rules, flight limiting areas, temporary control areas and recommended flight corridor information are embedded into a semantic layer of the airway network; and inputting the basic airway network skeleton, the semantic annotation information and the real-time monitoring data into an urban low-altitude airspace management and decision-making platform. According to the invention, cooperative scheduling and avoidance among multiple unmanned aerial vehicles are realized, and the operation efficiency of an air route network and the cooperative work capability of the unmanned aerial vehicles are improved.

The invention provides a multi-level low-altitude air route network construction method in a complex urban environment, and relates to the technical field of low-altitude air route construction, and the method comprises the steps: building a low-altitude flight rule base; performing three-dimensional discretization on the urban space, and dividing the airspace into three-dimensional grids; designing a risk assessment function R; dividing a plurality of height layers, and distributing the height layers for different types of aircrafts; constructing a multi-stage air route network; constructing an airspace three-dimensional airway model; based on the airspace three-dimensional air route model, adopting a hybrid iterative algorithm to optimize the air route planning of each height layer; performing path smoothing on the discrete path points generated by the hybrid iterative algorithm by adopting a B spline curve, and performing flight performance verification on the smoothed path to obtain a continuous flight path; and generating a low-altitude air route network according to the continuous flight path. According to the method, the defects in the aspects of complex urban environment processing, multi-source data integration, multi-level airspace division, path optimization and the like in the prior art can be overcome, so that safe, efficient and flexible low-altitude flight management is realized.

The invention discloses an unmanned aerial vehicle route automatic planning method for electric power inspection, and relates to the technical field of unmanned aerial vehicle inspection. Comprising the following steps: starting an unmanned aerial vehicle, carrying out environment perception initialization, calculating the total cruise mileage, evaluating the interference risk, carrying out real-time obstacle avoidance, dynamically optimizing an inspection route, carrying out energy monitoring management, generating a return flight strategy, recording an inspection task and carrying out adaptive learning. Through dynamic electromagnetic interference modeling, multi-modal fusion perception, self-adaptive risk decision and cloud collaborative learning, the problem of insufficient adaptability of a traditional electric power inspection unmanned aerial vehicle in a complex electromagnetic environment and a dynamic obstacle scene is solved, the safety and the inspection efficiency are improved, the robustness is enhanced, and the method is suitable for popularization and application. Intelligent upgrading is carried out through continuous learning and multi-machine cooperation, the overall operation and maintenance cost of the system is reduced, a high-reliability and full-automatic inspection solution is provided for intelligent power grid construction, and the industrial application value is remarkable.

The invention discloses a logistics park vehicle path planning method and system, and the method comprises the steps: obtaining the real-time position and task state information of a vehicle in a park, dynamically constructing a vehicle path planning network model, dividing a road into nodes and edges, and forming a directed weighted graph; according to the directed weighted graph, an improved multi-lane algorithm is adopted, the path length, the congestion degree and the vehicle characteristic factors are comprehensively considered, and the optimal path of each vehicle is calculated; for the optimal path, introducing a virtual lane and a time dimension, pre-judging occupation conditions of multiple vehicles on the virtual lane for each time slice, and constructing a conflict constraint matrix; obtaining park high-precision map data, extracting road network topology, lane lines and traffic sign marking elements, performing lane-level refinement on the optimal path, and generating a driving track; and through a multi-sensor fusion positioning technology, obtaining high-precision position and attitude information of the vehicle, matching the high-precision position and attitude information with the driving track, and calculating a track tracking error.

The invention discloses a traffic transportation operation monitoring early warning and decision analysis method based on vehicle infrastructure cooperation, and relates to the technical field of intelligent traffic. According to the method, real-time collection of dynamic traffic elements is realized through a multi-dimensional sensing network of a vehicle end, a road side and an environment and V2X communication, time-space reference unification of multi-source data is ensured, a road-vehicle-environment-event semantic network is constructed, multi-dimensional recognition of abnormal events such as accidents, congestion and severe weather is realized in combination with hierarchical feature extraction, and the method has the advantages of being high in practicability and high in practicability. The method is advantaged in that identification accuracy is improved, abnormal event propagation paths can be predicted, global road network situation prediction capability is realized, differential early warning is generated based on a comprehensive risk index, multi-level responses such as traffic signal adjustment and path planning are triggered, response time is greatly shortened, emergency response efficiency is optimized, a decision execution effect real-time feedback mechanism is established, and the method is suitable for popularization and application. The system performance is continuously optimized along with data accumulation, and the defect that a big data platform lacks an intelligent decision closed loop is avoided.

The invention relates to the technical field of patrol path optimization, and particularly discloses an unmanned aerial vehicle patrol path optimization method and system based on a mobile unmanned aerial vehicle nest, and the method comprises the steps: carrying out the dynamic environment perception and multi-source data fusion, generating a global environment situation map, carrying out the task intelligent analysis and dynamic priority sorting, and obtaining a task distribution matrix; the method comprises the steps of performing multi-target hierarchical path planning, outputting a dynamic flight path set with a timestamp, constructing a real-time obstacle avoidance and emergency self-healing system, obtaining a safety correction path set, performing mobile nest collaborative scheduling and energy optimization, outputting a nest mobile instruction set, triggering global environment situation map updating, obtaining an unmanned aerial vehicle execution log, and performing knowledge evolution. And end-to-end technical iteration is completed. According to the method, the problems that the route planning of the traditional patrol path planning unmanned aerial vehicle cannot achieve refinement and is not high in applicability under complex terrain conditions are solved.

The invention relates to the technical field of navigation and positioning, in particular to an intelligent positioning and navigation early warning system and method for ships and boats. The method comprises the following steps: collecting and carrying out sea condition sensing and positioning signal evaluation according to a multi-source sensor synchronous data set to obtain a sensor reliability score table; performing target motion situation analysis according to the sensor reliability score table to obtain a fusion situation vector diagram; performing target motion state judgment according to the fused situation vector diagram to obtain a target motion state judgment result; performing multi-target collision risk assessment according to the target motion state judgment result to obtain a risk degree assessment matrix; performing navigation maneuvering performance constraint according to the risk assessment matrix to obtain a route planning maneuvering constraint rule set; and performing route trajectory search according to the route planning manipulation constraint rule set to obtain a navigation trajectory scheme. According to the invention, through the positioning navigation early warning technology, the positioning precision, the navigation safety and the early warning system practicability of the ship in a complex environment are obviously improved.

The embodiment of the invention provides an airspace fine management method and device based on acceptable risks, and a risk assessment model is constructed by creatively adopting a grid airspace division mode and fusing ground attributes, historical accidents, meteorological environments and aircraft activity multi-source data. The self-adaptive adjustment of the risk tolerance threshold is realized through a deep reinforcement learning method, and a differentiated regional access standard is established. And through combination of task grading evaluation and a risk early warning mechanism, accurate evaluation of the operation safety of the unmanned aerial vehicle is realized. A multi-objective optimization algorithm is adopted to carry out route planning, cooperative management and control are realized in cooperation with an emergency avoidance strategy, and a prevention and control mechanism is continuously optimized through risk traceability analysis. According to the method, the defects of the traditional technology in the aspects of fine management, risk assessment, collaborative management and control and the like are effectively overcome, and the safety and efficiency of urban low-altitude airspace management are remarkably improved.

Disclosed in the present invention is a large complex ellipsoidal part machining deformation control method based on dynamic cutting planning. The method comprises: performing initial clamping on a blank part, constructing a machining coordinate system, completing reference non-contact measurement and reference surface fitting of inner and outer shape surfaces of the blank part, and completing the division of a generatrix tangent plane; on the basis of product feature decomposition, completing in the same coordinate system the comparison between each theoretical section and an actually measured section, completing cutting evaluation based on the generatrix tangent plane in a machining area, and guiding overall machining route planning and local machining route planning; on the basis of route planning and a cuttable margin, using an adjustable support device to complete part clamping based on dynamic adjustment, so as to realize stable cutting under a variable cutting thickness, and thereby solving the problem of overall deformation control of a large complex ellipsoidal part; and completing high-rib feature twist amount identification in combination with adjustable support, and completing tool path trajectory offset compensation on the basis of a relationship between a circumferential offset and an allowance, and thereby realizing precise compensation machining of a mesh after a local twist. The present invention solves the key difficulties of high-rib local twist deformation compensation and overall deformation control on the basis of ensuring the precision of the residual wall thickness during numerical control machining of a large complex thin-walled ellipsoidal part, thereby further improving the overall manufacturing reliability of a large complex ellipsoidal part.

The invention belongs to the technical field of engineering supervision, and discloses a concrete strength measurement system and method for civil construction engineering, and the method comprises the following steps: a test point planning module determines the number and position of detection points; the route planning module plans a running route of the detection mechanism; the detection mechanism sequentially moves to each detection point position according to the planned route; the positioning module analyzes the distance from the ultrasonic probe to the laser; the ultrasonic probe A is aligned with the ultrasonic probe B; the ultrasonic probe A and the ultrasonic probe B scan a concrete building; detecting the strength of the concrete building by using a rebound apparatus; the humidity acquisition module acquires humidity data of concrete; the temperature acquisition module acquires environment temperature data; and the ultrasonic analysis module comprehensively calculates the concrete strength by combining the rebound value, the concrete humidity, the environment temperature and the ultrasonic detection sound velocity. According to the invention, concrete strength on-site detection can be carried out on a high-rise building; by integrating various data, the strength of the concrete can be evaluated more accurately.

The invention discloses an intelligent maritime affair security situation awareness system and method, and relates to the technical field of path planning, and the method comprises the steps: obtaining multi-source ship data, carrying out the space-time dimension alignment and feature weight distribution, generating a fusion feature tensor, extracting a spatial topological relation through a graph convolution operation, and capturing a time dependence feature through an LSTM model. Constructing a ship interaction potential energy field model in combination with the spatial topological relation and the time dependence features, calculating a collision risk index in combination with a conflict cone algorithm, generating a dynamically updated sea area risk thermodynamic diagram, and performing situation map construction on the sea area risk thermodynamic diagram and the fusion feature tensor to obtain a dynamic situation map; a ship-environment-event triple relationship is extracted by adopting a hierarchical graph attention network, an interpretable semantic situation map is constructed, a threat matrix is generated through node-level risk assessment in sequence, and an air route planning scheme is obtained through regional-level path optimization; high-risk areas can be avoided, and navigation safety and efficiency are improved.

The invention belongs to the technical field of road deformation monitoring, and discloses a road slope deformation monitoring system and method, and the system comprises a fixed point monitoring mechanism which monitors the displacement, strain, underground water level and inclination parameters of a slope in real time at key points and key positions of the road slope; the route planning module plans the flight route of the unmanned aerial vehicle; the cruise monitoring mechanism is used for monitoring the side slope in all directions; the weather data acquisition module is used for acquiring local weather data; the three-dimensional laser scanner data analysis module is used for identifying abnormal conditions on the side slope; the image analysis module is used for identifying abnormal conditions on the slope; the comprehensive evaluation module is used for comprehensively evaluating the stability of the slope by utilizing a comprehensive evaluation model; and the alarm module comprises an alarm. According to the invention, the fixed-point monitoring mechanism and the cruise monitoring mechanism are combined to monitor the slope in all directions, the comprehensive evaluation module fuses data of various monitoring means, and the comprehensive evaluation model is utilized to comprehensively evaluate the slope stability.

The invention relates to the technical field of expressway unmanned aerial vehicle route planning, in particular to an intelligent route planning method and system for an expressway unmanned aerial vehicle, and the method specifically comprises the steps: planning unmanned aerial vehicle waypoints on an expressway based on a target three-dimensional model, and obtaining a waypoint set of the expressway; historical route data of the expressway are obtained, a deep learning algorithm is used for analyzing the historical route data, safe flight path features are extracted, a route safety evaluation model is constructed, and the route safety evaluation model is used for evaluating the route safety level of the route of the unmanned aerial vehicle; and determining route planning parameters according to the unmanned aerial vehicle task type, and determining an unmanned aerial vehicle route through the waypoint set, the route safety evaluation model and the waypoint planning parameters based on a multi-objective optimization algorithm. According to the invention, the safety and efficiency of the unmanned aerial vehicle in highway inspection and monitoring tasks are improved, and automatic planning and dynamic adjustment of the route of the unmanned aerial vehicle based on real-time data analysis are realized.

The invention provides an unmanned aerial vehicle route layout method and device for complex terrains, equipment and a medium, and relates to the technical field of unmanned aerial vehicle aerial photogrammetry. The method comprises the following steps: carrying out preliminary region division on a terrain region to be surveyed, and determining a plurality of region units; clustering the area units according to topographic observation data to obtain survey sub-areas; determining a survey priority corresponding to each survey sub-region, and matching a basic flight route corresponding to the unmanned aerial vehicle according to the survey priority; and splicing the different types of basic flight routes corresponding to the survey sub-regions, and performing optimization adjustment on the spliced basic flight routes to obtain a flight route of the target unmanned aerial vehicle so as to perform topographic survey on the topographic region to be surveyed. According to the technical scheme, the route planning of the unmanned aerial vehicle can adapt to various types of landform features, and the safety and aerial survey efficiency of the unmanned aerial vehicle are ensured while the integrity and accuracy of aerial survey data are improved.

The invention relates to the technical field of electrical equipment defect detection, in particular to an electrical equipment defect detection system and method based on deep learning, which are characterized in that a three-dimensional model of a power grid region is constructed, and based on historical defect data, a neural network model is adopted to mark an importance score of an inspection object in the three-dimensional model; quantitative evaluation of the equipment fault risk level is completed, and the matching degree of inspection resources and defect risk distribution is improved. A power grid three-dimensional model and importance scores are combined, a reinforcement learning model is utilized to construct an unmanned aerial vehicle inspection route planning strategy, the inspection route comprehensively considers power equipment defect risks and space factors in the planning stage, task allocation is optimized, and the problem that a static route cannot adapt to equipment changes is solved. In the inspection execution process, the unmanned aerial vehicle is dispatched according to the planning strategy, and the image flow is synchronously acquired for defect detection, so that the linkage of the inspection action and the detection process is realized, and the response efficiency and the detection quality of potential defects are improved.

A map data generation system includes a storage to store map data for an agricultural machine that performs self-driving, and a processor. When data of a road is not included in a predetermined region indicated by the map data, the processor is configured or programmed to generate data of the road in the predetermined region based on a trajectory of a vehicle including a GNSS receiver and traveling in the predetermined region, the trajectory being acquired in the predetermined region based on GNSS data that is output from the GNSS receiver, and attribute information of the vehicle.

The invention discloses an unmanned aerial vehicle route planning method based on an improved grey wolf optimization algorithm. The method comprises the following steps: 1, environment modeling and parameter setting; 2, designing constraint conditions and a target function; 3, initializing an algorithm and generating a population; 4, improving an algorithm and updating a track; and step 5, iteration termination and result output. The flight path of the unmanned aerial vehicle is efficiently coded in a spherical vector coding mode, and the flexibility and the calculation efficiency of flight path representation are remarkably improved; by introducing the Levy flight strategy, the global search capability of the algorithm is enhanced, and falling into a local optimal solution is avoided; meanwhile, a parameter adaptive adjustment strategy is combined, so that the convergence speed and precision of the algorithm are remarkably improved. According to the method, the problem of flight path planning in a complex mountain environment and a threat area is effectively solved, a safer and more efficient flight path is planned for the unmanned aerial vehicle, and the method has higher practicability and reliability.

The invention provides an unmanned aerial vehicle surveying and mapping method and system, electronic equipment and a storage medium, and relates to the technical field of unmanned aerial vehicle surveying and mapping. The method comprises the following steps: carrying out base station position planning based on geographic data and preset factors, and arranging a CORS platform base station; then, acquiring a remote sensing image to construct a three-dimensional model, and performing semantic segmentation to obtain key ground feature information; and generating a multi-modal environment semantic map for surveying and mapping route planning based on registration of the key surface feature information and the geographic data. The unmanned aerial vehicle obtains surveying and mapping data, CORS positioning information and surveying and mapping image data in real time according to the surveying and mapping route, and environment semantic positioning data is obtained based on the surveying and mapping image data and multi-mode environment semantic map registration. And finally, performing registration processing by comprehensively utilizing the CORS positioning information, the environmental semantic positioning data and the surveying and mapping data to obtain target surveying and mapping data. Through the scheme, the surveying and mapping accuracy of the unmanned aerial vehicle is improved.

The invention relates to the field of airline planning, and discloses a digital twin system for low-altitude airline planning and a construction method, and the method comprises the steps: obtaining a spatial perception data set of a preset sensor in a target airspace, carrying out the fusion of the spatial perception data set, obtaining the fusion perception data, obtaining the historical flight hidden danger data of the target airspace, and obtaining the historical flight hidden danger data of the target airspace; performing multi-layer convolution on the fusion perception data by using the historical flight hidden danger data to obtain a risk analysis result, performing fuzzy fusion on preset risk factors, generating a dynamic obstacle risk field according to the risk factors after fuzzy fusion and the risk analysis result, performing flight simulation on the dynamic obstacle risk field, and obtaining a flight simulation result; and collecting flight simulation real-time data in the flight simulation process, generating an air route space cost map according to the flight simulation real-time data, and performing optimal path search on the air route space cost map to obtain a low-altitude air route scheme. In the face of airspace actual risks, the searching efficiency of the optimal path in low-altitude route planning is improved.

The present invention discloses a bus route optimization design method and system based on resident travel big data, the method comprising the steps of: obtaining mobile phone signaling data of residents in a target area; obtaining the stop points of residents' travel trajectories; dividing the target area into a number of traffic areas; obtaining an OD matrix based on the stop points of residents' travel trajectories and traffic areas; constructing a bus route planning model; generating a number of bus alternative routes based on a shortest path algorithm; obtaining a target bus route from the alternative routes based on a genetic algorithm and in combination with an objective function and an OD matrix. Compared with the prior art, the present invention not only innovatively combines spatiotemporal big data and genetic algorithms in technical means, improving the accuracy and efficiency of bus route planning, but also demonstrates strong advantages in system architecture and data processing capabilities, and can provide a more scientific, dynamic and sophisticated optimization solution for the urban public transportation system, contributing to the efficient operation of urban transportation and the construction of smart cities.

The invention belongs to the technical field of topographic mapping, and discloses a topographic mapping system and method based on an unmanned aerial vehicle, and the method comprises the steps: a data collection module collects map geological data; the route planning module plans an optimal driving route; the data acquisition module acquires topographic images and point cloud data; the environment parameter monitoring module monitors flight environment parameters in real time; the image data analysis module is used for preprocessing and analyzing the image data; the radar data analysis module preprocesses and analyzes the radar data; the feature extraction and matching module performs feature extraction and matching on the image and the point cloud data; the terrain model construction module constructs a terrain three-dimensional model; and the terrain analysis module performs quantitative analysis on the terrain. According to the method, key feature extraction is performed on images and point cloud data, and image splicing and point cloud registration are realized; the terrain model construction module constructs a three-dimensional terrain model according to feature extraction and matching results, and the terrain analysis module obtains accurate terrain information.

The invention discloses an unmanned aerial vehicle low-altitude route intelligent planning and cooperation system and method based on multi-source perception and edge calculation, and relates to the technical field of unmanned aerial vehicle route planning. Comprising a multi-source data sensing module, a data processing module, a planning execution module and a feedback monitoring module, and the multi-source data sensing module is used for acquiring meteorological data and airborne data and generating an initial data set; the data processing module is used for generating an environment model and inputting the initial data set into the environment model to obtain physical prediction data and obstacle information data; the planning execution module is used for generating a planning path according to the physical prediction data and the obstacle information data and controlling the unmanned aerial vehicle group to fly; and the feedback monitoring module is used for monitoring the flight state of the unmanned aerial vehicle group in real time and feeding data back to the ground control unit. According to the invention, the flight safety, efficiency and cooperative capability of the unmanned aerial vehicle group are improved.

The invention discloses a ship path planning method based on deep reinforcement learning. The ship path planning method is suitable for a complex sea area environment. Through environment modeling and dynamic obstacle identification, a detailed state space is constructed, and perception of the environment is enhanced by using an artificial potential field. An ID3QN-PER algorithm is adopted to train a model, an adaptive exploration strategy and a network parameter updating mechanism are designed, and navigation safety and efficiency in a dynamic environment are ensured. The method further comprises the steps of discretizing an action space, designing an obstacle avoidance strategy in combination with a COLREGS specification, smoothing a route through a B-spline technology, adjusting a navigation strategy according to real-time environment data, and improving the real-time performance and the global optimization performance of route planning.

The invention discloses a large-scale unmanned aerial vehicle marshalling method for an emergency fire rescue task, and the method comprises the steps: carrying out the clustering analysis of task points of a rescue region through an FCM algorithm, determining the membership degree of a flight task, and generating a task region; on the basis of real-time environment change of a fire scene, a dynamic membership updating task allocation state is realized through a visual detection algorithm of fusing a convolutional neural network with an FCM; meanwhile, through 3DT route planning optimization based on the laser radar technology, a 3D model recombination map model is established, linear optimization is carried out by introducing time parameters, and optimal path planning is provided for the unmanned aerial vehicle in real time. In the rescue process, data are automatically transmitted in a segmented mode through the slicing technology of the 5G network, an autonomous Mesh centerless network topology structure is implemented when signals are intense, real-time signal optimization is conducted through a repeater of the high-altitude unmanned aerial vehicle, and high efficiency and flexibility of rescue are ensured.

The invention relates to the technical field of path planning, in particular to an intelligent transportation path planning method based on deep learning, which comprises the following steps: constructing a joint network model based on a convolutional neural network and a long short-term memory network, and training the joint network model by using historical traffic data; in the current transportation task, the real-time traffic data of the non-driving road sections in the current path are analyzed based on the joint network model, and the traffic change trend of each non-driving road section at the next moment is predicted; if the undriven road section of the current path has the sudden traffic event, or one or more undriven road sections in the current path are predicted to have traffic jam at the next moment, re-planning the path; and when the path is re-planned, dynamically optimizing the current path through the reinforcement learning model under the constraint of the multi-objective optimization function. According to the method, the accuracy of the future traffic condition can be improved, and the adaptive optimization of the transportation path can be realized.

The invention discloses a reinforcement learning unmanned aerial vehicle route planning method and system based on a safe flight corridor, and relates to the technical field of route planning. A safe flight corridor is generated through a grid map of a target scene and starting point information; calculating a plurality of initial B spline control points through observation information of the unmanned aerial vehicle; iteratively generating a new B-spline control point based on the plurality of initial B-spline control points, the key features extracted based on the safe flight corridor and the time variable through a reinforcement learning algorithm; and generating a B spline path of the unmanned aerial vehicle according to all B spline control points. According to the invention, a feasible flight area in a complex environment is abstracted as a safe flight corridor. Environment characteristics are hidden in the safe flight corridor, and common application in different complex environments can be achieved through training in one environment. A B-spline control point is iteratively generated by using a reinforcement learning algorithm, and environment change can be iteratively adapted in real time, so that the generated B-spline path better meets the actual flight demand of the unmanned aerial vehicle.

The invention discloses an unmanned aerial vehicle routing inspection path planning method and device, and the method comprises the steps: obtaining a three-dimensional routing inspection map of a target routing inspection region, the three-dimensional routing inspection map comprising routing inspection equipment and obstacles; constructing a target function based on the inspection coverage rate, the inspection energy consumption and the inspection efficiency of the unmanned aerial vehicle in the target inspection area; constructing constraint conditions based on the inspection speed and the inspection time of the unmanned aerial vehicle and the shooting limitation of the unmanned aerial vehicle; based on the objective function and the constraint condition, adopting a local optimization strategy to obtain an initial planning path; and optimizing the initial planning path by adopting a global optimization strategy to complete the path planning of the unmanned aerial vehicle inspection. Through the method, automatic, efficient and accurate route planning of the inspection unmanned aerial vehicle in the target inspection area is realized, blind areas of inspection equipment are reduced to the maximum extent, the integrity and reliability of inspection are enhanced, the inspection efficiency is improved, and the operation risk is reduced.

The invention relates to the technical field of route planning, in particular to an underground cavern inspection method and system. The method comprises the following steps: acquiring geological survey data, micro-seismic monitoring data and historical deformation monitoring data; according to the geological survey data and the micro-seismic monitoring data, rock mass viscoelasticity local modeling is carried out, and a rock mass viscoelasticity model is obtained; performing deformation trend prediction according to the rock mass viscoelastic model and the historical deformation monitoring data to obtain deformation trend data; performing deformation disturbance resonance analysis according to the deformation trend data and the micro-seismic monitoring data to obtain deformation disturbance resonance data; performing risk area grading on the deformation disturbance resonance data to obtain risk area grading data; and generating a routing inspection graph according to the risk area grading data to obtain routing inspection graph data so as to carry out underground cavern routing inspection auxiliary operation. The method accurately identifies the potential risk area, dynamically plans the inspection task, and improves the inspection efficiency and decision timeliness.

The invention belongs to the field of submarine routing planning, particularly relates to a pipeline routing line selection method and system based on a path planning algorithm and analytic hierarchy process, and aims to improve the routing line selection efficiency and precision and reduce the routing risk in the pipeline routing line selection process. The method comprises the following steps: establishing an evaluation sample matrix X based on measured value data of evaluation indexes, and converting pixel points of a target sea area topographic map into nodes of a two-dimensional matrix to obtain a grid obstacle map; establishing a submarine pipeline routing risk quantitative evaluation model; converting the sea area topographic map into a risk level grey-scale map through the risk quantitative evaluation model of the submarine pipeline; and carrying out route planning through a route planning algorithm based on the grid obstacle map, and finding a route with the minimum accumulated gray value in the target sea area risk level gray-scale map through a greedy algorithm to serve as a final route. According to the method, risk parameters are taken into consideration for the generated path, and finally, the obtained route is a routing path with small length and low overall risk.

In various examples, a technique for generating a path between a current location and a target waypoint is disclosed that includes receiving a route plan that is associated with a plurality of waypoints representing locations in a physical environment. The technique also includes identifying a search space that includes the route plan, and identifying a target waypoint of the plurality of waypoints—the target waypoint being in a portion of the search space between a current location of a mobile robot and an end waypoint of the route plan. A path between the current location of the mobile robot and the target waypoint may then be generated.