429 results about "Visual range" patented technology

The invention discloses an automatic fastening system and method for overhead line system cantilever bolts. The system comprises a maintenance car, a visual ranging parking unit, a laser radar sensing unit, a mechanical arm execution unit, a force feedback control unit, a tail end execution unit, a digital twin unit and an operation management platform. The method comprises the following steps: S1, guiding a maintenance car to stop below a cantilever of the overhead line system; s2, scanning an overhead line system cantilever, generating a three-dimensional model and positioning a bolt; s3, planning a collision-free path; s4, smooth alignment of the bolt sleeve is achieved; s5, bolt fastening is completed according to the preset torque; s6, synchronously displaying the operation progress, and storing whole-process operation data; and S7, performing anomaly detection and task continuous transmission on the whole process, and performing data archiving and early warning. Intelligent and automatic bolt fastening operation is achieved for the first time in the field of railway contact network maintenance, and an effective solution is provided for improving the railway operation and maintenance efficiency and safety.

The invention provides an in-tunnel inrush water pressure monitoring method and system based on dual-acquisition multi-modal data, and belongs to the technical field of inrush water pressure monitoring. Comprising the steps of collecting video data by adopting a high-definition camera; sequentially performing water flow area intelligent segmentation, optical flow calculation and ConvLSTM time sequence prediction on the video data to predict the water flow velocity; an infrared camera is adopted to collect temperature data; self-adaptive temperature gradient calculation and temperature anomaly detection are sequentially carried out on the temperature data to predict the water flow temperature; aligning and fusing the predicted data of the water flow velocity and the water flow temperature, and constructing a water pressure calculation model to obtain a water pressure predicted value; and determining an early warning level according to the water pressure predicted value so as to adjust the monitoring mode of the inrush water pressure in the tunnel. According to the method, the infrared technology and the vision field technology are combined, accurate prediction of the inrush water pressure in the tunnel can be achieved, and a corresponding early warning monitoring mode is provided according to the prediction result.

The invention belongs to the field of unmanned aerial vehicle control systems, discloses an unmanned aerial vehicle dynamic obstacle avoidance method based on multi-sensor data fusion, and solves the problem that an unmanned aerial vehicle cannot bypass an obstacle to efficiently execute flight actions when encountering the obstacle in the flight process. In the obstacle sensing and data fusion process, firstly, a Kalman filtering method based on combination of an annular scanning rada and a visual ranging result is proposed, and accurate target detection and estimation are realized by performing regionalization processing on an obstacle; a dynamic adjustment strategy is further adopted, the system dynamically adjusts and measures noise covariance matrix parameters according to real-time feedback, and a more accurate obstacle distance is estimated; and finally, calculating the total obstacle avoidance cost of each obstacle sector, and selecting the direction with the minimum cost to update the motion direction of the unmanned aerial vehicle. By means of the method, more accurate and efficient dynamic obstacle avoidance can be achieved in different flight scenes, and then the overall flight performance and task execution efficiency of the unmanned aerial vehicle are improved.

The invention discloses a new energy station rendering method based on a virtual micro-polygon geometry technology, and relates to the technical field of new energy station three-dimensional rendering, and the method comprises the following steps: combining new energy station model triangular patches into a micro-polygon data set, carrying out the model clustering through a graph data structure, and obtaining a micro-polygon data set; forming virtual geometric grid bodies with different granularity refining grades; and splicing the micro-polygon data sets into polygon groups, carrying out surface reduction operation by taking the polygon groups as units, and locking boundaries among the groups. According to the method, the triangular patches of the new energy station model are combined into the micro-polygon data set, rendering is performed at the pixel-level precision, the detail performance of the new energy station model can be remarkably improved, and compared with a traditional granularity refining technology, the detail level can be dynamically adjusted at different sight distances and visual angles, high-precision visualization of the model is ensured, and the method is suitable for large-scale popularization and application. Technicians can be helped to understand and evaluate the structure and layout of the station more visually.

The invention belongs to the technical field of automatic driving safety, and relates to a rainfall condition highway interleaving area automatic driving sight distance safety evaluation method based on conflict point position estimation, which comprises the following steps: acquiring laser radar related information, rainfall condition information, interleaving area scene information and automatic driving vehicle parameter information; target vehicle laser radar point cloud numbers under different distances and different relative course angles are obtained, then a laser radar sight line database is constructed, and a laser radar point number-distance regression function is obtained; selecting a laser radar point number threshold value based on the laser radar point cloud data set, and obtaining an effective identification distance by using a laser radar point number-distance regression function; extracting vehicle lane changing track characteristics of the interleaving area based on the vehicle track data set of the interleaving area, and obtaining vehicle track form distribution of the interleaving area by using K-means clustering; and predicting a target vehicle trajectory cluster, obtaining an interleaving region conflict point set and an available sight distance, establishing a sight distance failure performance function, and evaluating the automatic driving sight distance safety of each interleaving region scene.

The invention discloses a method for completing an autonomous deep-sea exploration task by a deep-sea cross-domain unmanned aerial vehicle. The method comprises the following steps: determining a target area; taking off to a specified height from the sea level, receiving a task execution command and then flying to a target area; when the relative distance between the current position and the coordinates of the target area reaches a preset value, descending; when it is detected that the device is contacted with seawater, the device dives through gravity; when it is detected that the set depth is reached, the propeller is restarted, and the detection task is executed; after the detection task is completed, the standby battery is rejected and ascends; after leaving the water surface, rising to a specified height and switching to a homeward flight mode; and when the deep-sea cross-domain unmanned aerial vehicle is within the sight distance range, a manual landing task is executed. The invention further discloses the deep-sea cross-domain unmanned aerial vehicle. According to the unmanned aerial vehicle and the method, autonomous switching operation between an air medium and an underwater medium can be realized, and the unmanned aerial vehicle has the capability of autonomously completing detection and water body sampling in an extreme deep sea environment.

An unmanned aerial vehicle landing method, comprising: acquiring a ground image within a visual range of an unmanned aerial vehicle (S101); performing scene seg mentation on the ground image, and on the basis of a scene segmentation result, acquiring a plurality of candidate alternate landing areas from a ground range corresponding to the ground image (S102); on the basis of the current position of the unmanned aerial vehicle and the positions of the candidate alternate landing areas, planning candidate flight paths for the unmanned aerial vehicle to land at the candidate alternate landing areas (S103); on the basis of the candidate flight paths, determining a target flight path and a target alternate landing area corresponding to the target flight path (S104); and landing at the target alternate landing area on the basis of the target flight path (S105).

The invention relates to the technical field of laser ranging, in particular to an unmanned aerial vehicle dynamic laser ranging method based on multi-source fusion and adaptive compensation, and the method comprises the following steps: obtaining a ranging pulse of a laser ranging module, and carrying out three-axis rotation and coordinate translation in combination with an IMU angle to generate a geographic registration coordinate set; radar and ultrasonic ranging are fused to construct redundant distance compensation data, particle filtering is executed based on IMU acceleration angular velocity to generate an attitude constraint distance, SLAM weight is adjusted according to illumination and meteorological parameters, and an unmanned aerial vehicle dynamic ranging coordinate result set is generated. Spatial registration is executed by combining longitude and latitude height data, by establishing dynamic association between the ranging data and IMU attitude data, smoothness and continuity of the ranging data can be kept when attitude disturbance is severe, the weight proportion of the vision ranging data in multi-source fusion is dynamically adjusted, and the high-precision estimation capacity of the target distance in the dynamic flight state is improved.

The invention discloses an image taking control method and device, equipment, a storage medium and a product, and relates to the technical field of wafer image taking, and the image taking control method comprises the steps: transferring a wafer to be subjected to image taking, of which the center alignment is completed at a wafer edge finder, to a defect detection platform through a wafer conveying fork; and in different target light fields, through different types of cameras in a preset visual range, preset coordinates are traversed on the defect detection platform, shooting is carried out in sequence, defect images are obtained, the target light fields comprise a bright field, a dark field and a PL field, and the defect images comprise surface defect features, scratch features and growth defect features. According to the method and the device, the wafer surface defects and the growth defects of the deep layer of the wafer can be shot, the scratch features can also be shot, relatively comprehensive defect features can be covered, and the image quality of the shot defect image is improved.

The invention relates to the technical field of maritime ship target beyond visual range monitoring, in particular to a compact type ground wave radar maritime ship track prediction method and system. AIS track data are obtained and converted into distance, speed and azimuth angles under a radar coordinate system to serve as characteristic parameters; the multi-dimensional target features which are segmented into n historical time steps through preprocessing and a sliding window serve as input of a prediction model, and the model outputs a prediction result of a future single time step; in the prediction model, each encoder layer extracts time sequence features of different depths from input features, and modeling is performed on the time sequence features by using a plurality of different attention mechanisms; and the output of the last layer of encoder passes through a linear mapping layer, and the high-dimensional time sequence representation is converted into the output prediction characteristics of the future time step. The multi-head self-attention mechanism is utilized to dynamically distribute the weights of the multi-dimensional target features, the complex association among different features is captured, the relationship among different time steps is analyzed from multiple angles, and the anti-interference capability is enhanced.

The invention relates to a troposphere over-the-horizon communication channel path loss prediction method based on a Transform network, and belongs to the field of communication technologies and deep learning. The method comprises the following steps: firstly, constructing a Transform network path loss prediction model; secondly, the method constructs data sets of a path loss prediction model, including a training data set and a test data set. The construction process of the data set comprises the following steps: firstly, based on a WRF mesoscale numerical meteorological mode, inverting marine troposphere beyond-visual-range environmental meteorological parameters, and performing large-area high-resolution long-time-efficiency evaporation waveguide height forecast by using an NPS model to obtain an evaporation waveguide height forecast value; secondly, predicting channel path loss by using a two-dimensional parabolic equation method, combining meteorological parameters, evaporation waveguide height and working parameters of communication equipment to form an X input feature, and taking a path loss predicted value as a Y input feature; and finally, model training optimization and performance evaluation are carried out by the method.

The invention belongs to the technical field of power transmission line inspection, and discloses an intelligent bird accidental collision prevention device and method for an overhead line. The method comprises the following steps: collecting a video stream of bird activities around a power transmission line in a visual range; intercepting the video stream into a plurality of to-be-recognized pictures according to frames, and recognizing whether bird images exist in the to-be-recognized pictures or not; when the bird image is recognized, a first control signal is sent out, otherwise, a second control signal is sent out; when the first control signal is received, the bird blocking module is started to emit ultraviolet light beams to block birds; and in the second control signal, the bird blocking module is closed to save power. In the prior art, an anti-bird-mistaken-collision warning mark or warning ball is installed on a ground wire or a ground wire, power failure is needed to install the anti-bird-mistaken-collision warning mark or warning ball, the anti-bird-mistaken-collision warning mark or warning ball is limited by the fact that a power failure plan is difficult to arrange, and compared with an installation device on an iron tower, the risk coefficient of the installation device on the wire is greatly increased, and the problem can be effectively solved by adopting the anti-bird-mistaken-collision warning mark or warning ball. The effects of protecting rare birds, improving operation safety and providing message results are achieved.

The invention discloses a multi-transmitting and multi-receiving radar time synchronization method based on direct waves and differential GPS ranging, in an airborne distributed radar system formed by a plurality of radar units, two radar units at two ends of a baseline serve as signal transmitting sources, and all the radar units have signal receiving capability and are in a visual range. The two transmitting radars transmit linear frequency modulation waves with different carrier frequencies, and all the radars receive direct waves and echo signals reflected by a target. The direct waves contain time synchronization errors and baseline distance information between the corresponding transmitting and receiving radar platforms. Positioning information is obtained by means of a differential GPS module, baseline distance information in direct waves is eliminated, and the direct waves only containing time synchronization errors serve as reference signals. And then conjugate multiplication is carried out on the echo signal and the reference signal in the frequency domain, so that range-direction matched filtering and time synchronization error compensation can be carried out on the echo signal. All echo signals are processed one by one, and finally time synchronization of the distributed radar system is achieved.

The invention discloses a mechanical arm vision distance measurement method and a distance measurement system thereof, and relates to the technical field of intelligent vision perception, a camera is installed on a mechanical arm to collect images, and through an optimization matching algorithm, the images shot by the left eye and the right eye are rapidly compared to generate a clear and accurate disparity map; the motion state of the mechanical arm is detected in real time through a vibration compensation mechanism, a shot image is corrected, and it is ensured that the distance measuring process is stable and reliable; and in combination with the corrected disparity map, the accurate distance from the target object to the camera is obtained by utilizing a depth calculation formula, and the result is transmitted to a control system of the mechanical arm. The depth value is fed back to the mechanical arm controller in real time through depth calculation and linkage with a control system, the precision of dynamic path planning and action execution of the mechanical arm is improved, and the mechanical arm shows higher anti-interference capacity in a dynamic vibration environment.

The invention discloses an SPR (Surface Plasmon Resonance) online pre-riveting detection control method, which relates to the technical field of riveting and comprises the following steps of: conveying rivets from a stock bin or an automatic feeding mechanism to a riveting area according to a preset initial feeding speed; and when the rivet enters the feeding channel and reaches the visual range of the cameras, the appearance information of the rivet is synchronously collected through the cameras installed at different positions and at different angles. According to the method, multi-angle visual inspection, deep learning deformation analysis and dynamic feeding adjustment are combined, three-dimensional reconstruction and standard comparison of rivets can be completed in a short time, and deformation is accurately quantified. Compared with fixed high-speed feeding, the method has the advantages that abnormal rivets can be intervened in real time, secondary impact is reduced by reducing the feeding speed, the detection time is prolonged, and the deformation recognition precision is improved, so that the rivet clamping risk and batch defective products are reduced, potential safety hazards caused by insufficient riveting strength are prevented, the reliability of a production line is improved, and the reworking cost is reduced; and stable riveting quality is ensured.

The embodiments of the present disclosure provide a method and device for constructing a low-altitude airspace grid and requesting low-altitude airspace grid data, which are applied to the field of airspace management technology; the method includes gridding the low-altitude airspace according to a parent-child grid structure to obtain a low-altitude airspace grid code set, dividing the levels based on resolution requirements, and storing the low-altitude airspace grid data of each level in blocks to optimize the cache and reduce the data storage burden; the front-end system uses the visible domain range to calculate the low-altitude airspace data request and sends it to the back-end system, the back-end system determines the required low-altitude airspace grid code according to the request, and queries and assembles the required low-altitude airspace grid data in the storage and sends it to the front-end system, which performs rendering and three-dimensional visualization. In this way, the required low-altitude airspace grid data can be quickly located, the search time and computing overhead can be reduced, and the amount of redundant loading and transmission data can be greatly reduced, thereby improving resource utilization efficiency.

The invention relates to the technical field of three-dimensional reconstruction and rendering, and particularly discloses an underwater long-sight-distance adaptive three-dimensional reconstruction and rendering method based on a Gaussian variable-distance field, and the method comprises the steps: carrying out the initialization point cloud generation based on a motion recovery structure algorithm for RGB image data obtained by underwater image collection equipment; points on the initialized point cloud are combined with a three-dimensional Gaussian distribution model, a three-dimensional Gaussian primitive is defined, and parameter initialization about information such as a Gaussian geometric center, a three-dimensional covariance matrix, opacity and color is carried out on the three-dimensional Gaussian primitive; the method comprises the following steps: establishing a Gaussian cross-space transformation model, performing transformation from a Cartesian coordinate space to a homogeneous coordinate space on a three-dimensional Gaussian primitive, establishing a Gaussian full-parameter space mapping model, mapping color information of the three-dimensional Gaussian primitive after cross-space transformation into a spherical harmonic function, and spatial adaptive three-dimensional reconstruction and rendering in an underwater long-sight-distance environment are realized.

The invention belongs to the technical field of strip mine slope instability monitoring and early warning, and discloses a slope surface layer three-dimensional texture model beyond visual range imaging device and method.The slope surface layer three-dimensional texture model beyond visual range imaging device comprises a plurality of imaging systems, each imaging system comprises a beyond visual range imaging assembly, and the beyond visual range imaging assemblies are installed on a four-direction rotating electric control rack; the beyond-visual-range imaging assembly is in information interaction connection with a processing terminal; the beyond-visual-range imaging assembly comprises a long-focus lens barrel, the long-focus lens barrel is sequentially provided with a front fixing set and a rear fixing set in the light propagation direction, and a focusing module is arranged between the front fixing set and the rear fixing set. The front fixing set comprises a visible light filter and a near-infrared filter which are movably arranged. The system is simple in structure, convenient to use, high in automation degree, high in imaging precision and small in error, facilitates the construction of a three-dimensional texture model of the surface layer of the side slope, and is of great significance in knowing the state of the surface layer of the side slope, evaluating the stability of the side slope, predicting the change of the side slope and improving the monitoring efficiency.

The invention discloses a servo riveting system and method, and the system comprises an equipment rack which is used for supporting and installing all parts; the servo tool mechanism is installed at the position close to the lower portion of the equipment rack, carries the press-fitting piece and moves the press-fitting piece to a preset press-fitting position and moves the press-fitting piece away from the press-fitting position; the servo pressing machine is installed at the position, close to the upper portion relative to the servo tool mechanism, of the equipment rack and matched with the servo tool mechanism to conduct riveting operation on the press-fitting piece; the visual camera mechanism is arranged at the position, which does not hinder the movement of the servo tool mechanism and the servo press, of the equipment rack, the visual range of the position covers the movement range of the press-fitting part, and the camera engineering displacement of the press-fitting position of the press-fitting part relative to the reference point is detected; and the control mechanism is mounted at a position, which does not interfere with the movement of the servo tool mechanism and the servo press, of the equipment rack, is connected with the servo tool mechanism and the servo press to control the movement of the servo tool mechanism and the servo press and the riveting operation of a press fitting piece, and corrects the deviation of the movement amount of the servo tool mechanism based on the engineering displacement amount of the camera.

The embodiment of the invention provides a vehicle interface information generation method and system and a vehicle, an interactive interface is deployed on the vehicle, in the process that the vehicle is safely driven by an interactive object, the interactive interface is presented in the visual range of the interactive object, and the method comprises the steps that the performance index type of the interactive interface is determined; determining test interface information associated with the performance index type; in the process that the interaction interface displays the test interface information, electroencephalogram data and / or eye movement data of the interaction object for the test interface information are / is collected; determining a test result of the test interface information based on the electroencephalogram data and / or the eye movement data; based on the test result, target interface information meeting the driving scene of the vehicle is generated for the interactive interface, and a performance index result of the target interface information under the performance index type meets a performance index threshold value under the performance index type. The technical problem that the interface information generation effect of the vehicle is poor is solved.

The embodiment of the invention discloses a camera arrangement evaluation method and device based on operation data and a medium. The method comprises the steps that a three-dimensional space model of a to-be-evaluated area is acquired and visually displayed, and a virtual monitoring scene is generated; in response to an adding operation of camera point locations, displaying a visible range of each camera in the virtual monitoring scene in an overlapping manner; in response to an import operation of historical operation data, superposing and displaying a thermodynamic diagram of historical people flow density and / or work order density in the virtual monitoring scene; according to a superposition display result, determining a coverage condition of the camera on the people flow density and / or the work order density; and evaluating the point location layout of the camera according to the coverage condition. According to the embodiment of the invention, intelligent and precise camera arrangement evaluation is realized.

A negative pressure type apple harvesting robot belongs to the field of agricultural machinery, and is characterized in that a pneumatic harvesting device is located at an action end of a rectangular coordinate mechanical mechanism, a visual system is located at a front end working part of the pneumatic harvesting device, the visual system is used for collecting fruit tree images in a visual range and positioning apple positions, and the visual system is connected with a control device; the control equipment comprises a harvesting control module which is used for determining a harvesting path according to the positioned apple position and the current position and sending a control instruction to the rectangular coordinate mechanical mechanism according to the harvesting path; the rectangular coordinate mechanical mechanism is used for driving the pneumatic picking device to realize picking path movement through three-axis displacement according to a control instruction of the picking control module; the pneumatic harvesting device is connected with the fan negative pressure harvesting device, an outlet of the fan negative pressure harvesting device is connected with an inlet of the conveying device, an outlet of the conveying device is located over the collecting device, and the dropped fruit buffering device is arranged on the upper portion of the collecting device. According to the invention, high efficiency, accuracy and automation of the apple harvesting process are realized.

The invention provides an appearance detection device. The appearance detection device comprises a visible light inspection station and two short-wave infrared light inspection stations which are sequentially arranged on the side edge of a tape transmission runner; the winding tape transmission flow channel transmits a winding tape, the winding tape comprises a covering film, a bearing tape and a chip, the chip is arranged in a pocket in the bearing tape, and the covering film covers the upper surface of the bearing tape; the visible light inspection station performs appearance inspection on the tape, and the short-wave infrared light inspection station performs appearance inspection on the surface layer of the chip. Only 100 ms is needed for moving 8 mm through a stepping motor, the overall inspection speed reaches 45 k / h, the precision of 1.38 microns and the visual range of 3.53 * 2.83 are achieved by adopting a short-wave infrared light inspection station, the image taking time is only 1 ms, and the image taking effect is not blurred during high-speed movement; the boss and the pressing wheel are additionally arranged, the winding tape is pulled upwards and pressed downwards, the winding tape is kept in a stable state on the boss, and the imaging effect of the camera is better ensured.

Described are toric contact lenses that contain high energy visible (HEV) light absorbing compounds and their use for improving various vision attributes in astigmatic contact lens wearers, such as brightness perception and visual range.

The invention discloses a light and small wide coastal zone detection system. A main body bracket is mounted on a satellite cabin; the outer light shield and the ray machine assembly are respectively and fixedly arranged on the main body bracket; the outer light shield is located at the front end of the swing mirror assembly. The outer light shield is of a cylindrical structure, and the connecting line of the center points of the two end faces of the outer light shield and the mirror face center point of the swing mirror assembly are collinear. The oscillating mirror assembly is located at a light inlet in the front end of the light machine assembly, can rotate around a rotating shaft and is used for transmitting imaging light to the light machine assembly; the focal plane assembly is used for receiving the imaging light transmitted by the light machine assembly. According to the system, the visual range is expanded through the oscillating mirror assembly, and rapid positioning and fine investigation of a hot spot area are achieved.

The application discloses a kind of mass point cloud data tile type space dynamic management methods, first to mass point cloud is spatially divided, to mass point cloud is reorganized and topological information is constructed to form point cloud block;Then, the original high-resolution point cloud block is down-sampled in multiple scales, and the correlation of different scales is established, the construction of tile data node is completed;In tile data node, the state attribute of each point cloud point is created and geometrically associated, and the visual range and state control bit of tile data node are set;In dynamic display process, visual range can assist efficient tile data replacement inside and outside core, state attribute can accurately control the display state of each tile data, point cloud point, and geometrically associated information can realize the association of the same point under different scales, realize the continuity of state, control operation.Full-process control and management of mass point cloud are efficiently realized.

The invention relates to the technical field of unmanned aerial vehicles, and provides a 5G unmanned aerial vehicle beyond visual range video transmission method of an adaptive network, comprising the following steps: capturing and processing a high-definition video; dynamically adjusting the video file in real time according to the current network parameters; packaging the adjusted video file into stream data and pushing the stream data to a network end; an adaptive forward error correction mechanism is introduced, and the proportion of redundant coding is dynamically adjusted according to the current network packet loss rate so as to cope with different network conditions; transmitting the packaged and corrected video stream data to a cloud server through a 5G public network; and the cloud server receives the video stream data, processes the video stream data and generates a unique pull stream URL, so that the video content can be quickly accessed on different terminal devices. According to the invention, the 5G public network is used for transmitting the video data captured by the unmanned aerial vehicle, the beyond-visual-range, wide-coverage and ultra-high-rate transmission capability is realized, the limitation of traditional communication on the video transmission distance is broken through, and meanwhile, the transmission cost is remarkably reduced.

The invention discloses a dynamic range compression method and device for magnetic flux leakage signal visualization, and the method comprises the steps: obtaining an original magnetic flux leakage signal data matrix obtained through part of collection data, and obtaining a gradient signal matrix after preprocessing and gradient enhancement; obtaining an initial value of a controllable percentile parameter p; calculating a dynamic threshold group based on the current parameter p and the statistical distribution of the gradient signal matrix; carrying out nonlinear compression transformation on the gradient signal matrix by adopting an S-shaped nonlinear compression function and taking a dynamic threshold group as a scale factor to obtain a normalized feature matrix; visual mapping is carried out in combination with the dynamic threshold group, and a pseudo-color image is output; and when the preset requirement is not met, adjusting the parameter p, processing again until the preset requirement is met, and applying the parameter p to all the collected data to obtain a final pseudo-color image. According to the method, the problem of visual range imbalance caused by the great dynamic range of the magnetic flux leakage signal is solved, the parameter adjustment robustness and efficiency can be improved, and slight defect detail reservation and serious defect signal tolerance are both considered.

The present invention relates to a method and system for underwater vehicle formation control based on LOS constraint, comprising the following steps: S1: establishing a mathematical model for underwater vehicle formation control; S2: defining the tracking error of the formation based on the mathematical model of the underwater vehicle, and designing an obstacle Lyapunov function to process the line-of-sight constraint; S3: designing an adaptive integral guidance strategy with LOS constraint under local communication under the premise of satisfying connectivity and safety; S4: constructing a finite time observer, fitting the disturbance variables in the model, and using the fitted approximation to compensate the control input of the system; S5: designing a constrained formation controller based on an adaptive integral guidance strategy hybrid finite time observer to realize underwater vehicle formation control with LOS constraint under local communication. The present invention effectively improves the accuracy and reliability of formation control and enhances the robustness of the system.

The invention discloses a wireless networking method and device, a storage medium and a computer program product, and relates to the technical field of smart home, and the wireless networking method comprises the steps: searching a root node in a link sight distance range of a first node under the condition that the first node is determined to be in a network searching state, the network searching state is used for the first node to search the root node; under the condition that the root node is not searched, the root node is selected from a plurality of second nodes in the link visual range and the first node, and the plurality of second nodes are all in the network searching state; and under the condition that the root node is selected, a third node is used as a child node to carry out networking with the root node, and the third node is a node except the root node in the plurality of second nodes and the first node.