586 results about "Target line" patented technology

The invention provides a deicing control method and system for a power transmission line in a cold region, and relates to the technical field of power system power transmission line operation and maintaining.The method comprises the steps that icing data of the power transmission line are collected, the icing data are multi-source data and comprise the ice layer thickness, the ice type category and the distribution characteristic, and the ice layer thickness, the ice type category and the distribution characteristic are obtained by combining environment temperature, humidity and geographical location information; dynamically selecting a plurality of spatial sampling positions on the target line to construct a spatial correlation area for feature analysis; and obtaining correction parameters based on morphological characteristics of the spatial correlation region, performing spatial superposition and feature fusion analysis on the multi-source data according to the correction parameters, and extracting an icing feature set which is dynamically corrected and reflects the overall icing state of the line. According to the invention, differentiated ice removal in different climate areas can be realized, and intelligent deicing control of accurate identification, mode adaptation and closed-loop adjustment is realized in combination with multi-source monitoring data.

The invention relates to a multi-target line spectrum characteristic distinguishing method based on DBSCAN clustering, and the method comprises the following steps: 1, receiving space low-resolution sonar platform time domain data, and carrying out the short-time frequency modulation Fourier transform of the space low-resolution sonar platform time domain data, so as to obtain a frequency modulation Fourier transform spectrum; 2, corresponding fi of peak values is extracted from the frequency modulation Fourier transform result of each time period at each frequency, so that an instantaneous frequency matrix F of different frequencies and different times is obtained, F = [f1 (tau), f2 (tau),..., fi (tau)], and i represents a corresponding spectral line frequency; and step 3, respectively removing outliers caused by noise or interference in the fi (tau). According to the method, dense data points can be found from the sparse region, and the data points in the sparse region are marked as noise, so that the interference of noise points can be better eliminated.

The invention relates to a power line network unknown port and branch discovery method and device and computer equipment. The method comprises the following steps: determining the number of unknown ports on a target line and the corresponding branch length according to the frequency response of a sweep frequency signal between a transformer substation and a target communication node; according to the frequency response of the sweep frequency signal, determining multipath parameters from the transformer station to the self-transmitting and self-receiving and from the transformer station to the target communication node; determining a first port closest to the substation according to the multipath parameter and the branch length, and determining a multipath channel response caused by the first port; and updating the frequency response of the sweep frequency signal according to the multipath channel response, and re-determining a first port closest to the transformer substation according to the updated frequency response of the sweep frequency signal until the number of unknown ports on the target line is zero. By adopting the method, the power line network topology can be accurately constructed.

The invention relates to the technical field of electromagnetic measurement, and discloses a line partial discharge positioning method and system based on pulse signal analysis, and the method comprises the steps: carrying out the band-pass filtering of pulse signal data, and obtaining a preprocessing signal; constructing a waveform template library based on the historical partial discharge pulse waveform data; screening out a partial discharge pulse and an interference pulse in the preprocessed signal to obtain a pulse matching result of the preprocessed signal; determining time difference data of the preprocessed signal according to time differences of pulses reaching different sensors in the pulse matching result; constructing an initial propagation velocity model according to the parameters and the environment data, performing iterative optimization on the initial propagation velocity model according to the time difference data, and determining an initial position of a partial discharge source in the line; correcting the initial propagation velocity model according to the initial position and the actual propagation path to obtain a target propagation model, and determining position coordinates of a partial discharge source in the target line according to the target propagation model; according to the invention, the accuracy of line partial discharge positioning can be improved.

The invention discloses a wall surface identification method and device and a storage medium, and relates to the technical field of sensor positioning, and the method comprises the steps: carrying out the fitting processing of a laser radar point cloud collected by a laser point cloud radar, and obtaining a plurality of fitting line segments; screening a target line segment which is greater than a first length threshold and has the longest length from the plurality of fitting line segments; projecting target point clouds associated with the position of the target line segment in wall point clouds and obstacle point clouds collected by the depth camera on the target line segment, and determining at least one target wall surface line segment; and if the length of the target wall surface line segment is greater than a line segment threshold value, outputting the target wall surface line segment under a robot coordinate system to be used by a welting program. According to the invention, after laser point cloud filtering fitting, depth camera wall surface obstacle point cloud projection calibration is fused, the technical problem that the wall surface is difficult to effectively identify is solved, and the wall attaching precision and obstacle avoidance reliability of the cleaning robot in a complex scene are improved.

The embodiment of the invention provides an ink line detection method and system, electronic equipment and a storage medium, and relates to the technical field of building construction, and the method comprises the steps: obtaining point cloud data corresponding to a building; generating a panorama according to the point cloud data; segmenting the panorama into a plurality of image blocks, and respectively inputting the image blocks into a pre-trained ink line detection model to obtain a corresponding detection result image; and obtaining the position of a target ink line in the building according to the point cloud data and the detection result graph corresponding to each image block. In this way, the panorama is generated through the point cloud data, the panorama is input into the ink line detection model for detection, the detection result graph is output, the position of the target ink line is restored according to the point cloud data corresponding to the ink line in the detection result graph, automatic and accurate detection of the ink line is achieved, manual detection is replaced, and the detection efficiency is improved. Error accumulation caused by ink line mixing under the conditions of cracks, recesses and the like is reduced, the measurement difficulty under the condition that the ink lines are abraded or shielded is reduced, and the detection efficiency and precision of the ink lines are improved.

The invention relates to the technical field of electric power ice melting, in particular to an electric power ice melting intelligent control method and system.The method comprises the steps that when it is detected that the current external environment meets the grounding knife switch opening condition according to meteorological parameters of a target line of an electric power ice melting system, a grounding opening instruction is generated; based on the grounding opening instruction and the line equipment state parameters, determining an optimal opening time point of the phase selection disconnecting link; an opening time sequence rule is generated according to the optimal opening time point, and a phase selection disconnecting link is controlled to execute opening operation according to the opening time sequence rule; determining a priority coefficient of the short circuit closing instruction; in the process of controlling the short-circuit disconnecting link to execute the closing operation according to the priority coefficient, if the ground wire and the wire are successfully connected in series, verifying the actual ice melting operation sequence to obtain an ice melting operation verification result; and based on the verification result of the ice melting operation, generating an ice melting operation optimization sequence by using a decision tree pruning algorithm. According to the invention, intelligent and accurate control of the electric power ice melting process is realized, and the influence of current oscillation on the system is effectively reduced.

The invention discloses a transmission conductor anomaly detection method, device and equipment, and the method comprises the steps: inputting a multi-modal fusion image obtained through image fusion through employing a DIVFusion technology into a preset YOLOv11 model, carrying out the anomaly detection of a transmission conductor, and obtaining an anomaly detection result which comprises an anomaly type and an anomaly positioning frame; extracting a transmission conductor from the multi-modal fusion image based on an MCMLSD algorithm to obtain a target conductor area graph; performing cross check in a mode of calculating an intersection-to-union ratio of an abnormal region according to the abnormal positioning frame and the target lead region graph to obtain a check result; and if the verification is passed, fusing the abnormity positioning frame and the target lead area graph, and generating a target detection result in combination with the abnormity type. The method can solve the technical problems that the prior art has application limitation and cannot adapt to the influence of a complex and changeable environment and the detection analysis of different wires, so that the wire anomaly detection result is lack of accuracy and reliability.

The invention discloses a multi-target line spectrum feature distinguishing method based on Single-link hierarchical clustering. The multi-target line spectrum feature distinguishing method comprises the following steps: step 1, performing short-time frequency modulation Fourier transform; step 2, extracting line spectrum frequency modulation slope identifiable features; step 3, outliers are removed; and step 4, Single-link clustering analysis and result output are carried out. In order to solve the problem that multi-target line spectrum features are difficult to identify in an underwater acoustic complex environment, frequency modulation slope matrixes of different frequencies and different time are extracted through short-time frequency modulation Fourier transform and serve as line spectrum identifiable features, and a Single-link hierarchical clustering method is utilized to process different-frequency identifiable feature sets. Finally, a line spectrum set of different targets is obtained, and multi-target line spectrum feature resolution is realized. A data analysis result shows that the method can effectively distinguish line spectrum features from different targets, lays a foundation for subsequent extraction of target motion features and realization of multi-target positioning, and has good engineering practical value.

The invention belongs to the technical field of power transmission line detection, discloses a power transmission line icing thickness prediction method, system and device based on a digital-analog dual-drive model and a medium, and aims at solving the problem that an existing method is low in prediction precision. The method comprises the following steps: acquiring historical meteorological data of the location of a target line and corresponding power system data, performing missing value supplementation, and performing feature correlation analysis by adopting PCC to screen features so as to construct an input feature set; building a base learning layer, deploying an LSTM model in a meta learning layer, and taking the output of the base learning layer as the input of the meta learning layer to obtain a multi-model fused integrated learning model; inputting the input feature set into an integrated learning model to generate a training prediction result, and evaluating the training prediction result based on a physical rule to obtain a digital-analog dual-drive prediction model; and predicting the target line based on a digital-analog dual-drive prediction model, and evaluating a predicted value by using an error index and a fitting index so as to complete prediction of the icing thickness of the target line.

The invention relates to a heavy haul railway track quality detection method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: dividing a target line into unit sections corresponding to each line type according to line type distribution information of the target line; obtaining unit quality evaluation parameters of each unit section according to the track detection data of each unit section at the plurality of detection time points; obtaining a unit quality detection result of each unit section according to the unit quality evaluation parameter of each unit section and the type quality control parameter corresponding to the line type of the unit section; and obtaining a track quality detection result of the target line according to the unit quality detection result of each unit section. By adopting the method, targeted detection of the heavy haul railway track quality can be realized, and the track quality detection precision and the track maintenance work efficiency are improved.

The invention relates to the technical field of tunnel monitoring, and particularly discloses a tunnel monitoring method based on machine vision, which comprises the following steps: S1, dividing sub-periods, acquiring a monitoring image at the starting point of the sub-periods, identifying a target vehicle in the monitoring image, and determining a minimum enclosing rectangle in the monitoring image; calculating a vehicle type score based on the minimum enclosing rectangle, calculating an exhaust emission index, determining a total emission amount in the sub-time period, and if the total emission amount is smaller than a total emission amount threshold value, obtaining a new total emission amount in the next sub-time period; if the total discharge amount is greater than or equal to the total discharge amount threshold value, taking the starting point of the corresponding sub-time period as an adjustment time point; s3, calculating a theoretical distance, determining a target position, and determining a target line; and when the sub-tunnel belongs to any tunnel part, adding 1 to the selection number of the sub-tunnel, determining the total selection number of the single sub-tunnel, and controlling the ventilation system based on the total selection number. The energy consumption of the ventilation system in the tunnel can be reduced.

The invention provides a power transmission line defect identification method and system, and the method comprises the steps: receiving a target power transmission line inputted by a user in real time when a preset time is reached, and collecting a detection video corresponding to the target power transmission line in real time through a preset unmanned plane based on a preset rule; performing real-time analysis processing on the detection video to extract a feature region and a line size corresponding to the target power transmission line in real time; and creating a target line three-dimensional model corresponding to the target power transmission line in real time according to the feature region and the line size through a preset three-dimensional program, and performing full scanning on the target line three-dimensional model to judge whether the surface of the target power transmission line has defects or not in real time. According to the method, the process of manual operation can be omitted, meanwhile, whether defects exist or not can be objectively and accurately judged, and the recognition efficiency is greatly improved correspondingly.

The invention relates to the technical field of alignment control, in particular to a cloth turning seam allowance alignment control system based on machine vision, which comprises a gray wave crest identification module, a seam allowance edge identification module, an image segment alignment judgment module, a tension direction correction module and an alignment track adjustment module. According to the method, the recognition capability of image processing on edge distribution is enhanced by constructing a gray wave crest track, analyzing the distance stability and slope change between wave crests and accurately extracting a pattern rhythm region, structure recognition is carried out by utilizing the direction features and coordinate positions of gray abrupt change points, the dependence on a static feature template is avoided, and the accuracy of structure recognition is improved. According to the method, the adaptability of edge recognition is improved, alignment judgment is carried out between image segments through the direction consistency and coordinate trend relation of abrupt change points, dynamic recognition of inter-segment continuity is enhanced, the change of the included angle between the tension direction and the target connecting line drives selection of standby points and updating of target points, and the direction adaptability of the target points under tension disturbance is improved.

The invention provides a salt cavern type gas storage geologic body spatial form fine description method. The method comprises the steps that an observation system is defined, field static correction is carried out, and series fidelity denoising is carried out; performing well control spherical diffusion compensation on the seismic data through a Tar factor and a VSP speed obtained by the VSP data, and performing Q compensation on the seismic data in the aspects of phase and amplitude by using a VSP-Q factor; earth surface consistency amplitude compensation is carried out, and well control verification is carried out on deconvolution of the three-dimensional seismic data by using a VSP-Q factor and corridor superposition data; velocity analysis, earth surface consistency residual static correction, pre-stack migration velocity field establishment and anisotropy analysis are carried out in sequence; target line migration, anisotropic pre-stack time migration, pre-stack time migration and well constraint post-stack frequency expansion processing are carried out in sequence; sequentially performing low-frequency compensation and result output; and carrying out complex structure geologic body identification. According to the method, the salt cavity with poor continuity, strong anisotropy and disordered characteristic reflection can be accurately depicted.

The invention discloses an unmanned aerial vehicle line-imitating flight waypoint searching method, an unmanned aerial vehicle line-imitating flight route planning method and an unmanned aerial vehicle line-imitating flight route planning system, and the method comprises the steps: firstly, obtaining a center line discrete point sequence of an inspection road, and setting a waypoint spacing of a line-imitating flight route; and then determining a direction vector of the broken line segment to be searched according to the center line discrete point sequence. And then, according to the current waypoint coordinate, the direction vector and the waypoint spacing, determining the coordinate of a candidate waypoint, and verifying whether the candidate waypoint is on the broken line segment to be searched or not. If yes, the candidate waypoints are included in the waypoint set, and the candidate waypoints serve as the current waypoint to continue to search for the next waypoint. And if not, calculating the remaining distance which needs to be moved subsequently after moving to the terminal point of the broken line segment to be searched, and searching out the target line segment. And finally, searching the waypoints meeting the waypoint spacing by combining the direction vector and the starting point coordinate of the target line segment and the residual distance. Therefore, the line-imitating routing inspection waypoints are automatically generated, and the line-imitating flight routing inspection route planning efficiency of the unmanned aerial vehicle on the long linear road is improved.

The invention relates to the technical field of power system fault detection and first-aid repair, and discloses an intelligent power transmission line first-aid repair evaluation system and a control method.The intelligent power transmission line first-aid repair evaluation method comprises the steps that firstly, line operation parameters of a target line are obtained in real time, and the line operation parameters comprise line operation data, historical fault data and environmental factor data; the method comprises the steps of acquiring line operation parameters, performing preprocessing and fusion operation on the acquired line operation parameters, providing a high-reliability input reference for subsequent fault diagnosis and first-aid repair decision by integrating the multi-source heterogeneous line operation parameters, improving the sufficiency of diagnosis and decision basis, and then based on the result of preprocessing and fusion operation, determining the fault diagnosis and first-aid repair decision. According to the method, a preset fault decision tree model is adopted for fault diagnosis, finally, an initial first-aid repair scheme is generated according to a fault diagnosis result, and the initial first-aid repair scheme is optimized by utilizing a preset game theory model to generate a final first-aid repair scheme, so that quick generation of the fault diagnosis and first-aid repair scheme is realized by utilizing the fault decision tree model and the game theory model; and the first-aid repair efficiency is obviously improved.

The invention discloses a 10kV overhead line adaptive evaluation method and system for non-power-cut operation, and the method comprises the following steps: obtaining the field data of a target line, and constructing the field data into a multi-dimensional evaluation feature vector according to a preset evaluation dimension system for non-power-cut operation; inputting the multi-dimensional evaluation feature vector into a non-power-cut operation adaptability evaluation model to obtain a comprehensive evaluation score and an optimization suggestion of the target line; outputting the comprehensive evaluation score and the optimization suggestion; wherein the non-power-cut operation adaptability evaluation model is constructed by the following steps: training to obtain an initial machine learning model; simulating a preset non-power-cut operation task flow in the digital twinborn body; and performing incremental training and parameter optimization on the initial machine learning model by using operation effect data fed back after actual operation of the simulation data vector. The problems of single evaluation dimension, model stiffness and the like in the prior art can be solved.

The invention provides a power transmission line deicing equipment clamping control method and device, and relates to the technical field of power system operation and maintenance, and the method comprises the steps: receiving initial drop point position information, and obtaining a clamping starting instruction based on the initial drop point position information; synchronously acquiring image data and attitude data of a target line according to the clamping starting instruction, processing the image data, and extracting morphological characteristics and icing area characteristics of the surface of the line; classifying and identifying the surface state of the circuit according to a preset rule, and judging whether a clamping condition is met or not according to an identification result; if it is judged that the clamping condition is met, the spatial relation between the line surface morphology and the icing area is analyzed by fusing the image data and the attitude data, and selection of clamping points is optimized by calculating the polygon overlapping percentage between the clamping target area and the expected clamping position. According to the invention, the deicing equipment and the power transmission line can be accurately and stably clamped.

The invention relates to a fault positioning method, device and equipment based on multi-terminal magnetic field traveling wave error correction. The method comprises the following steps: acquiring multi-terminal transient magnetic field traveling waves and a spatial position vector of each magnetic field sensing element at the moment that a target line has a fault; processing each transient magnetic field traveling wave to obtain a central fault waveform; performing waveform sliding alignment processing on all transient magnetic field traveling waves according to the central fault waveform to obtain an alignment time difference matrix; and acquiring a traveling wave propagation speed and a time difference and spatial difference inversion model, and performing inversion error solving by adopting the time difference and spatial difference inversion model according to the traveling wave propagation speed, the spatial position vector and the alignment time difference matrix to obtain a fault point position. According to the method, transient state magnetic field traveling waves at multiple ends at the moment that a target line breaks down are processed to obtain an alignment time difference matrix, and a time difference and spatial difference inversion model is adopted to carry out inversion error solving in combination with a spatial position vector to obtain the position of a fault point of the target line, so that high-precision fault positioning is realized.

The invention provides an optical fiber differential protection decision-making method and system based on adaptive multiple transmission lines, and the method comprises the steps: collecting the real-time optical signal waveform data of each line in the multiple transmission lines, and extracting a differential current feature set corresponding to each line, generating a joint feature sequence, inputting the joint feature sequence into a pre-trained adaptive multi-transmission line model, and obtaining protection priority parameters corresponding to each line; based on the matched differential protection threshold corresponding to each line, generating a self-adaptive trigger condition of each line; the actual differential current value of each line is monitored in real time, and if it is detected that the actual differential current value of the target line reaches the corresponding self-adaptive triggering condition, the differential protection action for the target line is activated; and according to priority parameters output by the adaptive multi-transmission line model, monitoring frequencies of other lines which do not trigger protection actions are adjusted. According to the invention, when the optical fiber differential protection is carried out, the fault positioning precision and the system operation stability can be improved.

The invention provides a log retrieval method and device, equipment and a storage medium, and relates to the technical field of computers. The method comprises the following steps: receiving a log query request, wherein the log query request comprises a query time period and an identifier of a first service; obtaining identifiers of second services which can be provided in the server, identifiers of a plurality of first log files corresponding to each second service, time information of each first log file, and start time and line numbers corresponding to a plurality of groups of log data in each first log file; on the basis of the query time period, the identifier of the first service, the identifier of each second service and the multiple pieces of time information, determining the identifier of a second log file in the identifiers of the multiple first log files; determining a target line number corresponding to the query time period based on the start time and the line number corresponding to the multiple groups of log data in the second log file; and on the basis of the target line number, log data corresponding to the log query request is obtained in the second log file, so that the log retrieval efficiency is improved.

The invention discloses a color register calibration method, a printing device, electronic equipment and a storage medium, and relates to the technical field of ink-jet printing.The color register calibration method comprises the steps that a printing file of a preset target printing image is obtained, and the target printing image comprises a target printing image obtaining area and a calibration sample page area; in the process of controlling the spray head module to perform image line-by-line printing on the printing paper in a second direction according to the printing file, obtaining an actual calibration identifier in a calibration sample page area corresponding to a target line through a visual identification module; determining an offset according to the actual calibration identifier, a preset reference initial point and a preset calibration identifier; according to the method and the device, the offset of the ink marks on the sample page is obtained by automatically identifying and calibrating the sample page area, and then the nozzle module is automatically and correspondingly adjusted, so that the automation of color register calibration is realized, the labor cost is saved, and the color register efficiency is improved.

The invention belongs to the technical field of hydroacoustics and underwater target detection, and relates to an underwater target line spectrum extraction method, system and terminal. The underwater target line spectrum extraction method comprises the following steps: obtaining a time-frequency spectrum matrix of underwater target radiation noise, wherein the time-frequency spectrum matrix comprises a sparse matrix and a low-rank matrix containing line spectrum information; inputting a time-frequency spectrum matrix, and solving by using a low-rank sparse matrix decomposition algorithm to obtain an overall matrix; extracting sub-samples from the time-frequency spectrum matrix by using a sliding window, solving each sub-sample by using a low-rank sparse matrix decomposition algorithm to obtain a low-rank matrix sample set, and performing weighted reconstruction on elements in the low-rank matrix sample set to obtain a detail matrix; performing weighted fusion on the overall matrix and the detail matrix to obtain a fusion matrix; and setting an energy threshold, and extracting line spectrum points in the fusion matrix. According to the underwater target line spectrum extraction method, the underwater target line spectrum can be continuously, completely and accurately extracted in a complex marine environment, and the problems of line spectrum interruption and loss caused by strong marine environment noise are effectively eliminated.

The invention discloses an icing thickness prediction method, apparatus and device, and a storage medium. The method comprises the steps of obtaining various meteorological data and corresponding real icing thicknesses in a target line area in real time; constructing an icing thickness prediction model and completing model optimization; taking the various meteorological data as the input of a prediction model, and outputting the predicted icing thickness; the target of the model optimization is to enable the error between the predicted icing thickness output by the model and the real icing thickness to be within a certain error range; and inputting various current meteorological data into the optimized prediction model to obtain a prediction value of the current icing thickness. According to the technical scheme of the embodiment of the invention, the icing thickness prediction precision can be improved.

The invention provides a transmission line dynamic switching optimization method and system, and relates to the technical field of data transmission, and the method comprises the steps: collecting the current fluctuation rate, the temperature rise rate and the historical fault frequency of each transmission line, so as to judge the potential fault risk of the corresponding transmission line, and when the comprehensive score is lower than a preset health threshold value, determining the potential fault risk of the corresponding transmission line; acquiring a load difference value between the slope of the power utilization curve in a preset time window and an adjacent time period so as to judge a load change trend of the corresponding transmission line; generating a corresponding line switching scheme based on the load change trend and the potential fault risk; and when the line switching scheme meets a preset operation safety threshold and a power supply continuity condition, executing line switching operation. Through the scheme, quantitative evaluation of the health state of the transmission line is realized, the potential fault risk and the load change trend can be accurately identified, it is ensured that the target line has enough power supply capacity and safety margin after switching, and the problems of incomplete risk evaluation and inaccurate scheme formulation in the transmission line switching process are solved.

The invention discloses a visual configuration method, device and equipment for train line communication frequency and a medium, and the method comprises the steps: responding to a line selection instruction, and determining a target line which is not allocated with communication frequency on a visual line interface of an existing line; based on the candidate distribution frequency groups, according to the position relation of the stations in the target line, distributing communication frequency pairs for the stations in the target line, and generating at least two frequency distribution strategies of the target line; based on a communication interference verification rule, interference verification is carried out on a target frequency distribution strategy, a target site with communication interference is determined, and highlight display is carried out on the target site of the target line in the visual line interface; and synchronously performing interference elimination processing on the target station. According to the technical scheme, the maintenance and management efficiency of the train digital wireless dispatching communication system is improved.

The invention relates to a data processing method and device applied to power grid partition mutual aid, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: acquiring partition power data of a fault partition in a target power grid, and calculating power loss data according to the partition power data; selecting a part of lines in the target power grid as target lines, and obtaining thermal stability margin data of the target lines; selecting part of nodes in the target power grid as target nodes, and acquiring short-circuit current level data of the target nodes; and inputting the power loss data, the thermal stability margin data and the short-circuit current level data into an analytic hierarchy model to obtain a partition scheduling score, and adjusting a partition scheduling scheme of the target power grid according to the partition scheduling score. By adopting the method, the operation stability of the power system after the flexible multi-terminal direct current transmission scheme is accessed can be improved.

The invention provides a circuit board defect detection method, device and equipment and a storage medium, and the method comprises the steps: generating multi-modal input data according to defect mask data of a defect image corresponding to a target circuit board and Gerber graph data of a preset circuit board design file, carrying out the linear overlapping block embedding processing, and generating coding features; performing spatial alignment on the defect image block feature of the coding feature and the reference image block feature of the Gerber image data to generate an aligned reference feature; performing style coordination on the alignment reference features and the defect image block features to generate local alignment features; carrying out feature fusion on the local alignment feature and the coding feature, and outputting a decoding feature; and mapping the decoding features to generate a repaired image. According to the method, the defects of the reference image can be repaired, so that the accurate reference image is provided for subsequent defect detection, misjudgment or missed judgment caused by the defects of the reference image is reduced, and the overall efficiency of a production line and the product quality control level are improved.

A method is provided that includes defining virtual objects including a vehicle, a trailer connected to the vehicle, a parking space, and a target line adjacent to the parking space. The method further includes determining a first virtual path for the trailer between a first trailer pose in the parking space and a final trailer pose outside of the parking space. The method further includes determining a second virtual path for the vehicle between a first vehicle pose in the parking space and a final vehicle pose outside of the parking space by using kinematic parameters to relate movement of the trailer when moving along the first virtual path to movement of the vehicle. The method further includes generating one or more control signals that cause a physical vehicle connected to a physical trailer to move in a physical space.