869 results about "Topography" patented technology

The invention relates to the technical field of flood early warning, and discloses an urban flood disaster early warning method and system based on artificial intelligence, and the method comprises the steps: collecting five types of information, i.e., meteorological perception, hydrological monitoring, geographic space, urban operation and social perception in real time, and obtaining multi-source data with precise space-time coordinates; through preprocessing, gridding space-time alignment and key feature screening, rainfall accumulation and confluence evolution related features are extracted; constructing a physically constrained space-time fusion deep learning model, and outputting a future ponding depth prediction result in combination with a multi-head attention mechanism; environmental changes such as urban terrains and drainage facilities are adapted through incremental updating and transfer learning; and fusing the ponding depth, the influence range and the regional vulnerability characteristics to generate multi-level early warning, and synchronously outputting a spatial distribution map, a time evolution trend and affected object evaluation information. According to the invention, urban flood control and disaster reduction decision making and public accurate risk avoiding can be effectively supported.

The invention discloses an irregular particle three-dimensional shape measurement device and method based on speckle imaging, and belongs to the field of irregular particle three-dimensional shape measurement, and the irregular particle three-dimensional shape measurement device comprises an irregular particle shakeout device which is used for enabling irregular particles to fall in a sparse free falling body form, and is used for forming lamellar laser vertical to the falling direction of the irregular particles, the laser sheet generating module is used for forming complete speckle distribution on the surfaces of the irregular particles; the laser sheet generating module is used for generating a laser sheet, the multi-view image collecting module is used for collecting speckle distribution on the surfaces of irregular particles in a multi-view mode and forming speckle images, the synchronous control system is used for controlling the laser sheet generating module and the multi-view image collecting module and synchronizing the time of the laser sheet generating module and the multi-view image collecting module, and the three-dimensional reconstruction processing unit is used for obtaining three-dimensional shape data of the irregular particles according to the speckle images. According to the invention, the irregular particles can be rapidly, non-destructively and in-situ measured so as to meet the requirements of aeroengine erosion research on the precision, efficiency and integrity of irregular particle data.

The invention discloses a self-adaptive gait control method, system and device for a quadruped robot in a limited space and a medium, and belongs to the technical field of gait control. Identifying terrain categories through a classifier and acquiring initial gait parameters from a gait library; adjusting the gait parameters according to the terrain gradient and the roughness to obtain optimized gait parameters; calculating stability indexes and fusing scores; when the score is lower than a threshold value, an adjustment strategy is determined according to an instability mode to correct gait parameters; a foot end track is generated and control is executed; and the executed information is fed back to terrain perception to form a closed loop. According to the method, the terrain recognition accuracy is improved through multi-modal information fusion, the adaptive mapping from the terrain to the gait is established to achieve automatic gait switching and parameter optimization, the stability is evaluated through multi-index fusion, a targeted adjustment strategy is selected according to an instability mode, the adaptive gait control problem under the limited space and the complex terrain is solved, and the adaptive gait recognition accuracy is improved. And the movement efficiency and the stability are improved.

The invention relates to the technical field of marine surveying and mapping and submarine topography modeling, and discloses a submarine topography and landform construction method based on multi-source water depth data fusion, which comprises a multi-source data acquisition module, a data preprocessing module, a feature extraction module, a fusion algorithm matching module, a three-dimensional modeling module and an uncertainty evaluation module. A historical submarine topographic map is converted into grid data, namely, submarine topography is discretized into digital representation of regular grid units, water depths of other sources are converted into the grid data, the precision of the water depths of different sources is evaluated by adopting a superposition comparison method, and an error distribution model is established to reasonably correct and fuse the water depth data of various sources. The innovation of the method lies in that topographic feature parameters including the gradient, the curvature matrix and the bionic optimization algorithm are introduced, the defect that a single algorithm is preset in a traditional method is overcome, and the precision of coral reef and fault zone complex areas is improved.

The invention relates to the technical field of detection, in particular to a complex shell detection method and system based on structured light scanning. The method comprises the following steps: calculating a wrapped phase value and a phase modulation amplitude of each pixel point under each frequency, calculating discrete probability distribution containing candidate stripe series and a corresponding probability for each pixel point based on a multi-frequency wrapped phase difference, generating an initial pixel confidence map, and constructing an energy function; the penalty weight of the smooth item is determined according to the phase modulation amplitude and the wrapped phase gradient local variance, obtaining an initial fringe order distribution diagram, updating discrete probability distribution by using an initial pixel confidence map, re-minimizing an energy function to obtain a corrected fringe order distribution diagram, and reconstructing a final three-dimensional shape. And iteratively optimizing a projector principal point and a radial distortion coefficient in system calibration parameters. According to the scheme, the geometric details of the surface can be reserved, and the processing effect and the measurement precision of the complex curved surface and the high-curvature area are improved.

The invention discloses a nondestructive testing method for a welding seam of a steel structure. The method comprises the steps that firstly, morphology data of the surface of a building steel structure are obtained through a high-precision laser scanner and an electromagnetic induction technology; coating thickness distribution and weld surface roughness are analyzed based on the morphology data, and a surface information matrix is constructed; then automatically adjusting ultrasonic wave beam parameters of the ultrasonic phased array by using the adaptive parameter regulation and control model and executing detection to obtain a preliminary ultrasonic echo signal; the time-frequency domain difference between the preliminary echo and the reference signal is calculated through an echo signal compensation model, and secondary compensation is completed to obtain an optimized ultrasonic echo signal; fusing the optimized echo signal, the morphology data and the surface information matrix to construct a detection data set, and adopting a pre-trained steel structure detection model to realize defect detection; and finally, evaluating the confidence of a detection result by adopting a three-dimensional confidence evaluation model, performing grading, and performing local re-detection and parameter adjustment on a low-confidence region to form closed-loop optimization. According to the method, the surface state of the steel structure can be adaptively matched, the accuracy of echo signals and the defect detection precision are improved, and the detection reliability is guaranteed through three-dimensional confidence evaluation.

The invention discloses an image recognition system for industrial part defect detection, and particularly relates to the field of part defect detection, which comprises a multi-axis controllable light source array module, a high-speed polarization camera module, an edge computing node module, a double-branch semantic segmentation network module and a physical constraint post-processing module, according to the invention, through combination of time-sharing stroboscopic illumination and polarization image sequence acquisition, multi-dimensional perception of surface topography and material differences is realized; generating an elevation map and a normal map by using photometric stereo solution, constructing a differential rendering layer reverse matching CAD model, and extracting flash sensitive features; a double-branch U-Net network is adopted to fuse geometric and polarization characteristics, the characterization capability is enhanced through a trans-attention mechanism, and a pixel-level mask is output; and finally, mapping a two-dimensional result to a three-dimensional coordinate system by means of calibration parameters, carrying out geometric verification in combination with a tolerance zone and a height threshold value, and automatically generating a structured defect report containing position, size, grade and visual information.

The invention relates to the technical field of urban planning, and particularly discloses an urban planning construction land management and control system based on big data, and the system comprises the steps: obtaining geological environment, landform, engineering construction and human activity data through multi-source data collection; multi-source data fusion analysis is adopted to construct a construction land comprehensive evaluation field including geological stability, engineering suitability and environmental bearing capacity; a development suitability partition is generated based on a density peak value spatial clustering method; updating the development suitability level by dynamically monitoring the verification process; according to the method, accurate analysis and early warning of the three-dimensional deformation field are realized, and scientificity and safety of urban planning in a complex geological environment are improved.

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

The invention relates to the technical field of artificial intelligence and electric power system prediction, and discloses a wind power short-term output prediction method based on multi-modal data, and the method comprises the steps: obtaining the multi-modal data, such as historical output, numerical weather forecast, actually measured weather of an anemometer tower, landform and fan operation state; performing sliding window segmentation on the output sequence and identifying a mutation interval; calculating a local optimal alignment path of each mode in the mutation interval based on a dynamic time warping algorithm; non-uniform resampling is carried out in this way, and a time-synchronized multi-modal alignment feature sequence is generated; and inputting a hybrid neural network formed by a gating circulation unit and an attention mechanism, and outputting a high-precision output prediction value in the next 15 minutes. The system comprises corresponding function modules. According to the method, through dynamic time alignment and cross-modal feature fusion, the wind power short-term prediction precision is remarkably improved, the root-mean-square error in a sudden change scene is reduced by 23.7%, and reliable support is provided for power grid dispatching.

The disclosure provides an improved canopy height correction method. The method includes: obtaining GEDI LiDAR data, airborne canopy height data, GDEM with high resolution and land cover product within the selected target area and timeframe; performing quality filtering and spatial-scale filtering on GEDI footprints; extracting laser pointing parameters and waveform parameters; extracting reference canopy height from airborne data for each footprint; extracting laser pointing parameters and waveform parameters; preprocessing the GDEM and calculating topographic parameters, including topographic variability index (TVI); constructing the Laser Pointing and Topographic Index (LPTI) according to the 3D forest-ground geometry model; inputting the waveform parameters, even topographic parameters, TVI and LPTI as independent variables, and the reference canopy height as the dependent variable to modeling an improved forest canopy height extraction, and utilizing the improved canopy height extraction model to correct the twofold influence of topographic on GEDI canopy height extraction.

The invention relates to the technical field of workpiece detection, and discloses an intelligent visual detection method and system for the surface of a workpiece, and the method comprises the steps: projecting a polarization structure light pattern to the surface of the workpiece, and synchronously collecting an image of the polarization structure light pattern after deformation on the surface of the workpiece; separating a structured light component and a polarized light component from the image, reconstructing a surface three-dimensional shape according to the structured light component, and generating surface polarization degree distribution according to the polarized light component; performing multi-scale gradient scanning on the surface three-dimensional morphology, extracting edge change features, performing texture consistency analysis on the surface polarization degree distribution, and identifying an abnormal texture mode; identifying a mirror reflection area based on the surface polarization degree distribution, performing height compensation on a corresponding area in the surface three-dimensional morphology, generating a corrected surface three-dimensional morphology, and combining edge change features and an abnormal texture mode; according to the invention, the accuracy and robustness of defect identification can be improved, and the reliability and efficiency of the system in industrial field application are enhanced.

The invention discloses an ecological restoration effect evaluation method for a land and space comprehensive improvement area, and relates to the technical field of ecological environment monitoring. A terrain structure data set and a moisture dynamic data set are obtained after data analysis and image feature extraction; the method comprises the following steps: carrying out terrain disturbance evaluation by constructing a terrain disturbance response index Rtz, carrying out hydrological back-up state evaluation by constructing a hydrological back-up trend index Gsh when the terrain has an unsteady disturbance region, carrying out ecological adaptation evaluation by constructing an ecological adaptation comprehensive index SSZ when the hydrological back-up meets the standard, and generating a landform base map of a renovation region by calling DEM (Digital Elevation Model) data. And each evaluation result is subjected to visual partition display through GIS space rendering, and a repair effect report is automatically generated. According to the method, multi-dimensional quantitative evaluation of terrain disturbance, hydrological refilling and ecological adaptability of the renovation area is realized.

The invention relates to an intelligent drainage basin management method, device and equipment based on digital twinning and a medium of the intelligent drainage basin management method and device based on digital twinning. The method comprises the steps that core terrain attributes are extracted through terrain feature decoupling and coding, and a disaster response function of an optimal source drainage basin is migrated based on terrain and rainfall similarity; a hydrodynamic model and a migration function are combined to generate a physically constrained synthetic disaster situation data set, a two-channel neural network model fusing topographic features and rainfall dynamics is constructed, and model parameters are dynamically calibrated through Bayesian continuous learning by using real-time monitoring data of a target drainage basin. Finally, a digital twinborn system with flood routing prediction capability is formed, the problem of rapid construction of a flood prediction model under the condition of no historical data is solved, and the timeliness and accuracy of early warning of sudden flood in small and medium-sized watersheds are remarkably improved.

The invention discloses a submarine topography reconstruction system and method based on optical mobile measuring and scanning, and relates to the technical field of ocean exploration, and the system comprises the following units: an image collection unit, which is used for coordinating the emission of 532nm pulse laser and the collection of a gating camera image through a synchronous sequential circuit, a triangulation measurement optical structure with separated emission and reception is adopted, and a submersible can be carried for mobile measurement and scanning; the system calibration unit is used for carrying out joint calibration on camera parameters and a laser plane so as to determine system calibration parameters, so that the spatial position of a laser stripe accurately corresponds to the actual coordinate of the target surface; and the image processing unit is used for preprocessing the image acquired by the system and further extracting the coordinates of the center line of the laser stripe in the preprocessed image. According to the invention, adjacent splicing can be carried out through continuously collected laser stripe images to construct two-dimensional submarine landform information, and three-dimensional reconstruction of submarine topography can be carried out by using generated point cloud data.

The invention discloses a topographic surveying and mapping method and system based on unmanned aerial vehicle cluster collaboration, and belongs to the technical field of unmanned aerial vehicle cluster collaboration topographic surveying and mapping, and the method comprises the following steps: a ground control center plans a flight route for each unmanned aerial vehicle in a cluster according to the topography and precision requirements of a surveying and mapping area, a theoretical processing sequence of data of each unmanned aerial vehicle is calculated in advance; and the unmanned aerial vehicle cluster autonomously takes off to a predetermined airspace according to the instruction, and dynamically establishes a multi-hop relay communication network based on a mobile ad hoc network technology in a flight surveying and mapping process so as to evaluate and use the fastest signal transmission path. Through the combination of the steps, the data processing and transmission efficiency is improved, reliable communication and collision prevention are guaranteed, weather interference can be dealt with, and efficient and accurate topographic surveying and mapping are achieved.

The invention relates to the technical field of image recognition, in particular to a plastic particle black spot defect online detection method based on deep learning. Performing non-linear space conversion on the original image, and separating a background field component and a significance component; constructing a reverse compensation item by using the background field component, carrying out dynamic gain correction on an original brightness channel, and carrying out multi-channel weighted fusion on the original brightness channel and the saliency component to generate a saliency feature map; inputting the saliency feature map into a multi-scale topology enhancement network, extracting edge distribution features, and performing closed contour extraction and Euclidean distance transformation to generate a topology thickness energy map; the high-frequency gradient magnitude of the original image is calculated, mask smoothing processing is carried out on the gradient of the black spot region by using the saliency feature map, and a joint dissipation field is constructed; and taking a local maximum value point in the topological thickness energy diagram as a morphology seed point, executing controlled watershed evolution under the topological constraint of the joint dissipation field, realizing boundary stripping of an adhesive particle region, and generating a particle morphology diagram.

The invention relates to the technical field of beam fusion, and discloses an irregular water area underwater topographic surveying and mapping method based on multi-beam fusion, which comprises the following steps: acquiring multi-voyage sounding data of a target irregular water area by using a multi-platform multi-beam sounding system such as a coastal patrol ship and an unmanned surveying ship, and performing sound velocity profile correction, attitude correction and tide level reduction to obtain a target irregular water area; unifying to the same space-time reference and plane rectangular coordinate system, and constructing an initial underwater terrain digital elevation model in an irregular water area range by adopting Gaussian weighted interpolation; defining an influence area by taking a hydraulic structure as a center, decomposing a local terrain into a background terrain and a scouring residual error, performing polar coordinate conversion and angular terrain spectrum analysis in the influence area, and calculating an axisymmetric form dominance index of the scouring pit; and constructing a topographic form shaping factor based on the axisymmetric form dominance index of the scouring pit, the maximum scouring depth and the influence radius, performing frequency domain modulation on the Fourier coefficient, and reconstructing the corrected local topography to obtain a final underwater topography DEM.

The invention discloses a surface water storage amount monitoring method and system based on space-air-ground water multi-source collaboration, and relates to the technical field of water resource investigation, and the method comprises the steps: obtaining multi-source collaboration collection data of a target water body, and generating a multi-source data set of a unified space-time reference; carrying out automatic extraction and change detection on a surface water area range by using a water body index method and deep learning to obtain a water area boundary; taking a water area boundary as a spatial constraint, extracting ashore terrain and underwater terrain data, and inputting the ashore terrain and underwater terrain data into a deep learning fusion model based on an encoder-decoder structure to generate a water-land integrated digital elevation model; and according to the water body types, based on the model, respectively adopting corresponding deep learning models to carry out storage volume monitoring, and calculating the water storage volumes and dynamic changes of different water body types. Efficient fusion and intelligent processing of multi-source data are achieved, the precision and efficiency of surface water storage capacity monitoring are remarkably improved, and the method is suitable for refined dynamic monitoring of various water bodies such as rivers, reservoirs and ponds.

The invention relates to the technical field of optical detection, and discloses an object surface three-dimensional topography measurement method based on optical interference, which comprises the following steps: acquiring a mixed time domain interference signal sequence in an axial scanning process; extracting seed pixels and constructing a spatial topology connectivity feature matrix; introducing fractional Fourier transform, and constructing a joint decoupling objective function containing a frequency domain nonlinear phase distortion evaluation index and a time domain physical invariant evaluation index; executing multi-stage optimization for the seed pixels, and locking a global optimal rotation angle; array self-adaptive decoupling is executed in combination with the spatial topology connectivity feature matrix, and an optimal rotation angle matrix is generated; and performing signal decoupling and reconstruction on the mixed signal, and extracting the absolute surface height of each pixel point to generate three-dimensional shape data. According to the invention, through multi-dimensional joint decoupling and spatial prior constraint, the problem of phase decoupling caused by film interference aliasing is solved, and the calculation overhead of a large-pixel array is reduced while the measurement precision is improved.

The invention discloses a mining area information three-dimensional perspective model construction method and device, equipment, equipment and a medium, and relates to the technical field of modeling. The method comprises the steps of performing data fusion and voxel filling on multi-source mining area geological data, constructing an initial model according to the data fusion and voxel filling, and performing topological structure optimization; performing surface topology and texture mapping on the model based on a mining area remote sensing image to obtain mining area ground feature distribution transmission data and superposing the data into the model; performing density distribution and density mutation recognition on the model according to the gravity exploration data of the mining area to obtain density distribution transmission data of the mining area, and superposing the density distribution transmission data into the model; resource prediction is carried out based on mining area ground feature / density distribution transmission data; threshold screening is carried out on the topological optimization model based on the prediction result, and then the topological optimization model is superposed into the model; performing deep source focusing processing on the mining area resource area data to obtain deep source focusing area data, and superposing the deep source focusing area data into the model; and carrying out resource visualization on the model to obtain a mining area information three-dimensional perspective model. According to the invention, multi-dimensional fine expression of mining area information can be realized.

The invention relates to the technical field of program control, and discloses a femtosecond laser process parameter self-optimization method and system, and the method comprises the steps: carrying out the image reconstruction of real-time three-dimensional shape data, and obtaining a real-time ablation contour image; performing morphological feature deconstruction on the real-time ablation contour image to obtain a contour feature parameter set; performing deviation quantitative analysis on parameters in the contour feature parameter set and a standard feature threshold range to obtain a deviation feature vector; performing compensation strategy addressing on a preset process parameter adjustment rule base to obtain a preliminary compensation parameter combination; virtual machining track planning is carried out on the machined area, ablation morphology deduction is carried out on the planned track, and a fitting verification result is obtained; when a fitting verification result meets a convergence condition, performing parameter solidification packaging on the initial compensation parameter combination to obtain a final compensation parameter; according to the method, the self-optimization efficiency of the femtosecond laser process parameters can be improved.

The invention provides a finite element analysis method and system for geometric design of a flow regulating valve, and relates to the technical field of data processing.The method comprises the steps that 1, spatial geometric feature analysis is conducted on each data point in a discrete contour coordinate dataset, the principal curvature value of each data point on the sealing surface of a metal diaphragm is solved, and the principal curvature value of each data point is calculated; determining a point with the maximum average curvature value on the sealing surface of the metal diaphragm as a core morphology reference point; step 2, establishing a local coordinate system by taking the core morphology reference point as an original point, screening four sealing state points from the discrete contour coordinate data set, solving a corresponding space plane equation, and calculating a space intersection line between the space plane and the sealing surface of the metal diaphragm; according to the method, through accurate positioning of the core reference point, definition of the analysis sub-domain, grid division, mechanical solution, leakage rate calculation and parameter optimization, the dynamic particulate matter problem is effectively improved, and the sealing performance and the micro flow adjusting precision are improved.

The invention relates to the technical field of underwater topographic surveying and mapping, in particular to a sea area water taking channel scanning survey method and system based on multi-beam measurement, and the method comprises the following steps: constructing a rigid support, fixing a depth finder through a three-way cable fastening device, and building a Boolean parameter model; sound velocity, tide level and original echo data are collected; performing space-time registration, coordinate conversion and filtering denoising on the data to generate corrected water depth; and constructing an irregular triangulation network by using hard boundary constraint, generating a digital elevation model, and extracting a siltation area. According to the invention, multi-beam wide sector scanning and multi-sensor attitude correction technologies are fused, a limited water area full-coverage measurement system is constructed, and the problems of terrain blind areas and detail loss are solved. A boundary constraint reconstruction algorithm is utilized to realize closed-loop processing from coordinate reference unification to micro-landform restoration, the accuracy of channel bottom pit capture and edge topography expression is improved, and data support is provided for sedimentation analysis.

The invention discloses a gear pair life prediction method based on dynamic stress, belongs to the technical field of reliability design of mechanical transmission systems, and aims to solve the problem of inaccurate life prediction caused by neglecting a dynamic effect and a real surface topography in an existing gear design method. The method comprises the following steps: firstly, acquiring gear pair interface mechanical property parameters considering shafting vibration, dynamic load and surface roughness, wherein the parameters comprise transient oil film pressure, friction coefficient, oil film thickness and shear stress; solving a three-dimensional subsurface stress field by adopting an algorithm and calculating von Mises equivalent stress distribution; stress volume integration is conducted on different rough surfaces, the honed surface is used as the reference, the relative fatigue life of other surfaces is calculated based on the Zaretsky life prediction theory, and accurate prediction and process optimization of the contact fatigue life are achieved; meanwhile, the dynamic bending stress of the tooth root is calculated based on the dynamic normal load, and the bending fatigue safety coefficient is checked.

The invention discloses a man-machine collaborative additive repairing and remanufacturing method based on multi-modal perception, and belongs to the technical field of intelligent manufacturing and additive manufacturing, and the man-machine collaborative additive repairing and remanufacturing method comprises the following steps: S1, based on an additive repairing environment of a damaged part, establishing a three-dimensional grid map; s2, constructing a three-dimensional damage model based on the damage morphology data acquired by the multi-modal data acquisition module; s3, based on the three-dimensional damage model, a planned repair path and matched technological parameters thereof are obtained; and S4, based on the planned repair path, the repair equipment performs additive repair on the damaged part. According to the method, the additive repair environment three-dimensional grid map system is constructed, the repair environment and the damaged part are subjected to multi-angle scanning, and the visual sensor is synchronously adopted to collect the three-dimensional shape data of the damaged part, so that the sub-millimeter-level cooperative positioning of the repair equipment operation space and the damaged area is realized; and an accurate three-dimensional space reference is provided for subsequent repairing operation.

The invention belongs to the technical field of ecological environment engineering and intelligent decision making, and discloses a mine ecological restoration mode auxiliary research and judgment model adaptive optimization and prediction method, which comprises the following specific steps: collecting multi-source data such as remote sensing to construct an ecological basic model, generating an ecological degradation state map based on a region-time sequence double-weight mechanism, and calculating the ecological degradation state map according to the ecological degradation state map. A target is set, an intervention strategy combination is generated, a multi-index scoring function is called to select an optimal strategy, a trend prediction model is constructed, and closed-loop adaptive optimization of strategy parameters and scoring weights is realized based on a sliding window prediction error feedback function. According to the method, multi-source heterogeneous data such as remote sensing images, topography and geology, ecological environment and meteorological and hydrological data are accessed and unified to the same coordinate system and grid resolution for preprocessing, a regional coupling matrix and a time attenuation factor function are established, a double-weight mechanism with spatial adjacency and time evolution characteristics is constructed, and the spatial adjacency and time evolution characteristics are integrated. And performing fusion modeling on the ecological factors.

The invention relates to a terrain adaptive navigation method and system of a robot, and relates to the technical field of robot terrain navigation, and the method comprises the following steps: obtaining the moving speed of the robot in a past time window, collecting current moving road surface data, and identifying to obtain a road surface topographic map; randomly selecting a first moving position, obtaining a corresponding first moving speed and amplitude, and obtaining a first moving stability coefficient in combination with the first pavement topographic information; configuring a movement error range, dividing and obtaining a first movement position range, and calculating and obtaining a first fusion stability coefficient according to the first range pavement topographic information; first navigation fitness is obtained through calculation, and the optimal movement position is obtained through movement position optimization selection. The problems that in traditional terrain self-adaptive navigation, the safety and smoothness of the robot in the moving process are difficult to balance, the toppling risk is high or the advancing rhythm is frequently interrupted in the moving process, and the navigation effect is affected are solved.

The invention relates to the technical field of computer vision, and particularly discloses a copper radiator surface defect detection system based on machine vision. The system comprises a high-resolution three-dimensional image acquisition module, a point cloud preprocessing and feature enhancement module, a multi-scale defect segmentation module, a three-dimensional shape quantitative analysis module and a decision fusion and output module, and a multi-dimensional geometric feature map is generated by synchronously acquiring two-dimensional texture and three-dimensional point cloud data; and multi-scale defect segmentation and morphological deviation quantitative analysis are realized by adopting a cascade network, and finally, the type, position and grade of the defect are output by fusing the category probability and morphological parameters, so that the precision and robustness of three-dimensional defect detection are remarkably improved.

The invention relates to the technical field of channel monitoring and underwater topography analysis, in particular to a multi-beam sounding data driven underwater topography profile extraction method and device and a medium, and the method comprises the steps: obtaining channel region multi-beam sounding original data, carrying out the standardized preprocessing, and outputting a sounding data set; performing spatial interpolation and vectorization processing on the sounding data set to generate channel geological data, and issuing the channel geological data as a similar three-dimensional channel bottom graph through a geographic information service platform; generating a profile path, and generating interpolation points according to a preset interval; constructing a spatial index structure based on the sounding data set, and establishing an adjacent sounding point retrieval channel for each interpolation point; and in allusion to the same profile path, acquiring multiple periods of sounding data, calculating water depth difference, and dynamically and visually displaying an abnormal movement phenomenon by using a broken line graph. According to the method, efficient extraction, dynamic comparison and automatic early warning of the multi-period sounding data can be realized, and the analysis efficiency and accuracy of the channel topographic change are remarkably improved.