3679results about "Navigation instruments" patented technology

Apparatus, systems, and methods for mapping utility lines in utility potholing operations are disclosed. Pothole mapping apparatuses, systems, and methods may be employed in utility locator devices and utility locating systems to map potholed utility lines. Data generated via pothole mapping may be used to calibrate utility depth measurements in utility locator devices and systems. Further, information revealed about utility lines during potholing procedures may be used to train neural networks and utilize artificial intelligence in generating predictions regarding the positions and characteristics of utility lines.

Methods of performing a dispatched logistics operation for delivery / pickup of items using a modular autonomous bot apparatus assembly (with a modular autonomy module, cargo storage system, auxiliary power module, and mobility base) and a dispatch server. The modular autonomy control module receives a dispatch command from the dispatch server and authenticates that each of the modular components in the assembly are compatible with the particular dispatched logistics operation. The bot assembly receives the transported item, autonomously moves from an origin location to a destination per the dispatch command using the mobility base autonomously controlled by the modular autonomy control module, receives authentication input that at least correlates to authentication information in the dispatch comment to allow selective access to the modular cargo storage system of the bot assembly, and then autonomously returns to the origin after the item is detected removed from the cargo storage system.

Systems and methods of sensor data fusion including sensor data capture, curation, linking, fusion, inference, and validation. The systems and methods described herein reduce computational demand and processing time by curating data and calculating conditional entropy. The system is operable to fuse data from a plurality of sensor types. A computer processor optionally stores fused sensor data that the system validates above a mathematical threshold.

The invention provides a method and a device for predicting influence of sea wave fluctuation on signal intensity based on ship data. The method provided by the invention comprises the following steps: acquiring multi-attitude angle data of a ship based on a nine-axis inertial measurement unit; the multi-attitude angle data comprises a rolling angle, a pitch angle and a yawing angle; establishing a Cartesian coordinate system taking the gravity center of the ship as an original point; based on the multi-attitude angle data, calculating spatial transformation of the antenna position in the Cartesian coordinate system through an automatic spatial transformation algorithm to obtain the transformed antenna position; determining the direction of the transformed antenna through vector operation by combining the initial orientation of the antenna and the position of the transformed antenna; and determining a corresponding angle through an angle resolving algorithm based on the initial antenna direction and the transformed antenna direction, matching a corresponding antenna gain in an antenna gain database based on the angle, and determining a signal strength change prediction value based on the antenna gain.

The invention discloses a high-precision point cloud map construction method based on pose map optimization, and the method comprises the steps: preliminarily detecting the observation reliability of each frame of GNSS, and screening credible data; a priori factor is constructed for initial position GNSS signal quality, and map coordinate anchoring is completed; estimating a relative pose between adjacent frames, and constructing an inter-frame constraint edge; scanning context global descriptors are introduced to realize efficient screening and accurate matching of loopback candidate frames; further evaluating the quality of the GNSS by using a loopback detection result and the pose of the laser odometer, setting a GNSS factor weight, and constructing a GNSS factor edge; constructing a complete pose graph model, performing overall optimization on all pose nodes by using a nonlinear optimization method, and correcting accumulative errors; and converting the laser point cloud into a global coordinate system, and splicing to generate a global consistent high-precision point cloud map. According to the invention, the global positioning capability of the high-quality GNSS data and the local geometric precision of the laser point cloud can be effectively fused, and the high-precision point cloud map can be continuously and stably constructed.

To provide a combined navigation positioning method for extreme weather rescue.SOLUTION: A method disclosed herein comprises: a step 1 of constructing an original training data set; a step 2 of adding incremental data set training samples on the basis of the original training data set, constructing an incremental grid real-time correction model, and obtaining a real-time dynamically updated multipath heat map; and a step 3 of assisting GNSS / IMU tight combination solution according to the real-time dynamically updated multipath heat map, and completing the combined navigation and positioning for extreme weather rescue.SELECTED DRAWING: Figure 1

Systems and methods of sensor data fusion including sensor data capture, curation, linking, fusion, inference, and validation. The systems and methods described herein reduce computational demand and processing time by curating data and calculating conditional entropy. The system is operable to fuse data from a plurality of sensor types. A computer processor optionally stores fused sensor data that the system validates above a mathematical threshold.

Systems and methods of sensor data fusion including sensor data capture, curation, linking, fusion, inference, and validation. The systems and methods described herein reduce computational demand and processing time by curating data and calculating conditional entropy. The system is operable to fuse data from a plurality of sensor types. A computer processor optionally stores fused sensor data that the system validates above a mathematical threshold.

A method for determining a driving direction is disclosed. The method includes: obtaining a driving route for a vehicle; determining a target intersection in the driving route, and obtaining border information about intersection range borders defining a range of the target intersection; predicting, based on the driving route and the border information corresponding to the target intersection, a first direction for the vehicle to enter the target intersection, a second direction for the vehicle to travel within the target intersection, and a third direction for the vehicle to leave the target intersection; and determining, based on the first direction, the second direction, and the third direction, a target driving direction for the vehicle to pass the target intersection.

Systems and methods of sensor data fusion including sensor data capture, curation, linking, fusion, inference, and validation. The systems and methods described herein reduce computational demand and processing time by curating data and calculating conditional entropy. The system is operable to fuse data from a plurality of sensor types. A computer processor optionally stores fused sensor data that the system validates above a mathematical threshold.

Systems and methods of sensor data fusion including sensor data capture, curation, linking, fusion, inference, and validation. The systems and methods described herein reduce computational demand and processing time by curating data and calculating conditional entropy. The system is operable to fuse data from a plurality of sensor types. A computer processor optionally stores fused sensor data that the system validates above a mathematical threshold.

Systems and methods of sensor data fusion including sensor data capture, curation, linking, fusion, inference, and validation. The systems and methods described herein reduce computational demand and processing time by curating data and calculating conditional entropy. The system is operable to fuse data from a plurality of sensor types. A computer processor optionally stores fused sensor data that the system validates above a mathematical threshold.

The invention provides a robot-based blade interior autonomous crawling sensing method and system, and the method comprises the steps: carrying a multi-sensor array on a robot, the multi-sensor array comprises a binocular fisheye camera array and a ToF sensor array, controlling the robot to start from a path travel starting point, obtaining a panoramic depth image based on the multi-sensor array, and transmitting the panoramic depth image to the robot; recognizing an obstacle based on the panoramic depth image, constructing a three-dimensional point cloud map based on the obstacle, avoiding the obstacle based on the three-dimensional point cloud map, generating a feasible path in the blade, and enabling the robot to move based on the feasible path until the robot reaches a path travel terminal point or a minimum space in which the robot cannot pass. Autonomous crawling perception of the robot in the blade can be ensured, movement of the robot in the blade is ensured, and detection is realized.

The invention discloses a medical logistics robot task allocation system based on time division multiplexing and dynamic scheduling, which comprises a cloud platform, a plurality of robots and a cabin body replacement station, and is characterized in that the cloud platform adopts a conflict resolution strategy based on priority and time windows on the basis of task time division and class division allocation logic of a mixed AI scheduling algorithm; tasks are dynamically and intelligently distributed according to hospital business laws and real-time states of the robots; the robot communicates with the cloud platform through the communication equipment, various tasks issued by the cloud platform are executed by carrying various cabins, and the tasks comprise material distribution, cleaning, disinfection and polling; and the cabin body replacement station is used for providing cabin body replacement equipment and assisting the robot in replacing the cabin body. According to the invention, tasks can be dynamically and intelligently allocated according to hospital business rules and real-time states of the robots, so that the task processing efficiency and the resource utilization rate are remarkably improved, and the hospital logistics operation cost is reduced.

One example provides a computing device comprising a display device, a logic subsystem, and a memory subsystem. The memory subsystem comprises instructions that are executable by the logic subsystem to display a graphical airspace representing an airspace on the display device, and obtain one or more notice to air missions (NOTAMs) related to the airspace. The instructions are further executable to, for each NOTAM of the one or more NOTAMs, display a graphic overlay on the graphical airspace. The graphic overlay has an appearance based at least upon a determined status of the NOTAM.

The invention provides an indoor SLAM map construction method and system, and relates to the technical field of image processing, and the construction method comprises the steps: building a unified global space reference through cross-device space-time calibration, supplementing the visual blind area information of a robot in real time through the global static features extracted by an environment camera, and obtaining the visual blind area information of the robot; and meanwhile, dynamic interference features are accurately eliminated in combination with continuous frame analysis, and finally, the pose of the robot is continuously corrected by taking global features as anchor point constraints in back-end optimization. The complete technology chain enables the constructed indoor three-dimensional map to have higher integrity, precision and consistency, significantly improves the positioning robustness and navigation reliability of the robot in an environment with dense goods shelves and dynamic activities, reduces the performance dependence on a robot body sensor and the scene reconstruction cost, and improves the reliability of the robot. And a stable and efficient environment sensing basis is provided for automatic operation of industries such as storage and archive management.

The invention provides an intelligent positioning system for precise butt joint of fabricated building components, and belongs to the technical field of fabricated building construction. The system comprises a multi-source heterogeneous sensing module, an intelligent positioning host, an execution adjustment module, a BIM cooperation module and an environment adaptive calibration module. The multi-source heterogeneous sensing module is integrated with a laser radar, a visual sense, a UWB and an attitude sensing unit, and data synchronous acquisition is realized through a self-created time synchronization mechanism; the intelligent positioning host adopts a three-layer architecture of preprocessing, feature fusion and decision output, and processes data in combination with improved Kalman filtering and a dynamic deviation correction model; the execution adjustment module realizes six-degree-of-freedom posture adjustment based on a cross type hydraulic driving structure, and is matched with force feedback compliant control; the BIM collaboration module constructs twin mapping and generates a deviation thermodynamic diagram; and the environment self-adaptive calibration module realizes quick calibration of environment abrupt change. The problems that traditional positioning is low in precision, poor in efficiency, weak in environment adaptability and the like are solved, and the method is suitable for precise butt joint of various assembly type components.

A system and method for generating and updating a posegraph for multi-user augmented reality experiences. The system receives initial pose data from multiple client devices and generates a posegraph based on this data. When client devices come within proximity of each other, the system detects this and receives relative pose observations from the devices. The system then updates the posegraph based on these observations, assigning confidence values to improve accuracy. This approach enables efficient synchronization of spatial information across devices, allowing for seamless shared AR experiences in large-scale environments without the need for complete map sharing or pre-mapped areas.

The invention relates to the technical field of unmanned aerial vehicle vision, and discloses a vision system of an unmanned aerial vehicle and the unmanned aerial vehicle. The system comprises a visual data acquisition module, a dynamic feature extraction module, an environment modeling module and a decision control module. The visual data acquisition module captures a synchronous frame sequence containing infrared wave bands, visible light wave bands and depth information in a target area through a multispectral sensor array; the dynamic feature extraction module performs cross-modal fusion processing on the original visual data stream to generate a space-time correlation feature tensor containing a target contour geometric invariance descriptor and a motion trail differential topological structure; the environment modeling module constructs a three-dimensional semantic grid map according to the feature tensor, wherein each voxel unit codes the material reflectivity, the dynamic obstacle occurrence frequency and the illumination attenuation coefficient; the decision control module generates a flight path control instruction containing a pitch angle adjustment amount, a yaw angle compensation value and a speed change gradient based on the map, and assists the unmanned aerial vehicle to better cope with a complex environment.

The invention discloses an environment modeling method, system and equipment based on laser radar and vision fusion, and belongs to the technical field of mobile robot environment modeling. Through synchronous acquisition of three-dimensional point cloud data and image data, feature extraction and distortion correction are completed on the data acquired through the two different ways; accurate modeling features can be obtained, a geometric pose state quantity and a luminosity pose state quantity are calculated through an implicit moving least square iterative nearest point algorithm, the calculation precision of a curved surface in an environment is improved, and through point cloud splicing, a two-dimensional grid map and a three-dimensional point cloud map are generated. The two-dimensional grid map and the three-dimensional point cloud map are fused to complete environment modeling, the modeling speed is increased, the environment object information is aligned, information dislocation is avoided, and the environment modeling efficiency and accuracy are improved.

The invention relates to the technical field of power transmission line detection, and provides a high-voltage overhead power transmission line insulator string detection device and a control method thereof. Comprising an unmanned aerial vehicle body, and an airborne data transmission module, an airborne insulator detection module and an image acquisition and analysis module which are carried on the unmanned aerial vehicle body, the image acquisition and analysis module is used for acquiring an image signal of the insulator string and analyzing the image signal so as to output a position control signal of the unmanned aerial vehicle and an angle control signal of the airborne insulator detection module; the unmanned aerial vehicle body flies to a specified position based on the position control signal; the airborne insulator detection module is used for rotating to a specified angle based on the angle control signal and detecting an insulator string; and the airborne data transmission module is used for receiving the detection data sent by the airborne insulator detection module and determining the health state of the insulator chain based on the detection data. Zero-value insulator live-line detection of a full-voltage-class full-string type insulator string of a power transmission line can be realized.

Systems and methods of sensor data fusion including sensor data capture, curation, linking, fusion, inference, and validation. The systems and methods described herein reduce computational demand and processing time by curating data and calculating conditional entropy. The system is operable to fuse data from a plurality of sensor types. A computer processor optionally stores fused sensor data that the system validates above a mathematical threshold.

A map generation application and method generates a computer-readable worksite map for managing navigation and travel for a plurality of mobile machines equipped with perception-based localization and navigation systems at a worksite. Survey data and development data associated with the worksite are obtained and used to prepare an unmarked worksite development map including one or more travel / activity areas. Marker positioning factors are obtained and are associated with the one or more travel / activity areas. The application determines assigned marker positions based on the marker positioning factors for the placement of physical markers about the worksite.

A georegistration (a.k.a. georectification) of an image captured by a camera in an aerial vehicle, such as a satellite, is based on identifying multiple features using descriptor sets, and sending to a ground station only the descriptors of the identified features and the associated locations in the captured image, without sending of the captured image itself, thus requiring a low communication bandwidth. Using a database of geosynchronized reference images, the ground station uses the received descriptors sets and the associated image locations to localize the features on a selected geosynchronized reference image from the database, and forms a mapping function that map any locations in the captured image to geographical coordinates on Earth. The mapping may be used to geosynchronize an additional feature identified in the aerial vehicle, or to geo synchronize a region that may be cropped from the captured image and sent to the ground station.

The invention belongs to the technical field of distributed optical fiber sensing and low-altitude security and protection, and particularly relates to an unmanned aerial vehicle long-distance tracking method based on distributed optical fiber vibration sensing. The invention relates to an unmanned aerial vehicle vibration / electromagnetic fusion multi-mode identification method, a special installation formation design, a dispersion compensation and amplitude phase error compensation design, an unmanned aerial vehicle target vibration / electromagnetic fusion multi-mode identification design, a detection capability calculation method of an unmanned aerial vehicle vibration sound pressure-space attenuation law-distributed optical fiber processing equipment detection capability coupling model, a long-distance sensing optical cable and an electromagnetic monitoring node. According to the tracking method, a special optical fiber installation mode, dispersion compensation and phase error compensation of an original phase signal, a vibration / electromagnetic fusion multi-mode identification method, an unmanned aerial vehicle vibration sound pressure-space attenuation model-distributed optical fiber processing equipment detection capability corresponding method and other innovative work are adopted; a mature distributed optical fiber vibration sensing system is utilized to realize long-distance passive detection and target tracking of the low-slow-small unmanned aerial vehicle.

The invention belongs to the field of computer vision, and particularly discloses a semantic mapping method and device based on scene presetting and electronic device.The method comprises the steps that pose information of a robot at the current moment in a first scene is obtained, and semantic processing is determined to be triggered based on the stored pose state; acquiring laser radar point cloud data and image data at the current moment, and performing semantic segmentation on the image data based on an open set target detection segmentation algorithm to obtain a semantic segmentation result carrying a semantic tag; and projecting the semantic label to a three-dimensional space coordinate of the laser radar point cloud data, and performing coordinate weighted average on a dynamic object position corresponding to a semantic segmentation result to obtain a 3D semantic point cloud carrying the three-dimensional space coordinate, the semantic label and a semantic segmentation instance ID so as to realize 3D semantic mapping. According to the method and the device, the effect and the accuracy of 3D semantic mapping can be improved.

The invention discloses an underground mine positioning and mapping trajectory optimization method based on underground control point constraint, and belongs to the field of positioning and mapping, and the method comprises the steps: respectively obtaining GNSS data, laser data, IMU data and image data; according to the GNSS data, the laser data, the IMU data and the image data, completing initialization of a laser radar-vision-inertial odometer system and GNSS initialization; extracting point cloud features of the distributed underground control points in real time based on an RANSAC algorithm, and generating a global coordinate constraint factor of nonlinear least square optimization; and performing relative attitude calculation according to the global coordinate constraint factor to complete underground mine positioning and mapping trajectory optimization. According to the method, the problems of accumulated error overrun and point cloud dislocation layering easily caused by pose drift in a special environment of an underground mine are solved.