2039results about "Optical rangefinders" 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.

The present application relates to apparatuses, systems, and methods for mapping utility lines that includes the identification and use of ground assets. Such ground assets may be identifiable aspects along the ground surface that may be of interest or use, including mapping of utility locating. Further, updating to ground asset locations and yaw / orientations may be applied in maps such that utility line positions relative to such ground assets may be more accurately known by future excavation operations.

This invention discloses a monocular ranging system and method for underground unmanned vehicles, comprising the following steps: During the vehicle's travel route, images of the preceding vehicle are acquired via sensors, and detection box information and the type information of the preceding vehicle are automatically identified; the vehicle pose of the preceding vehicle is determined based on the type information and detection box information; the pixel coordinates of the closest point on the preceding vehicle to the sensor are obtained in the preceding vehicle image based on the vehicle pose; the measured distance between the closest point and the sensor is obtained, and the measured distance is then predicted and updated to obtain the vehicle distance. By real-time perception of the vehicle body, rear, and wheel hubs, a multi-target information fusion method is proposed based on the detection results, providing a prerequisite for accurate ranging. Then, a two-stage accurate ranging method is adopted, combining a traditional geometric ranging model with a Kalman filter algorithm to further improve the accuracy of the final result, thereby improving the stability and robustness of the ranging of the underground unmanned vehicle.

The invention relates to an air-ground collaborative exploration method in an unknown environment based on three-dimensional Gaussian splashing, and belongs to the field of air-ground robot collaborative exploration in a dangerous environment. The method comprises the following steps: S1, acquiring image data of a to-be-explored area by using an unmanned aerial vehicle, describing a complex scene and a differentiable rendering technology by using three-dimensional Gaussian distribution, accurately estimating a camera pose of the unmanned aerial vehicle and reconstructing a three-dimensional environment in real time by combining a simultaneous localization and mapping (SLAM) system, traversing a space and marking a series of key waypoints; step S2, the ground robot realizes accurate exploration of a local three-dimensional environment by using waypoints provided by the unmanned aerial vehicle and combining a collaborative mechanism of global planning and local planning; and S3, dynamically updating the path plan through the robot in the exploration process, and constructing a fine three-dimensional map of the exploration area. According to the invention, the air-ground robot can collaboratively explore the unknown environment and establish the environment map.

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 present discloses a lightweight attention mechanism distance estimation method for assisting visual navigation of a vehicle at a container terminal. Firstly, using a depth monocular camera calibrated with the imaging parameters of the planar checkerboard tool to collect RGB-Depth image pairs in the working scenario of the automatic guided vehicle. Secondly, performing depth completion and manual annotation processing on the collected depth image. Thirdly, inputting image pairs into a lightweight monocular metric depth estimation framework which uses an improved lightweight attention mechanism Squeeze Former as the token mixer for training. Finally, fusing the results of relative depth estimation and absolute depth estimation to obtain a prediction of an actual distance between an object in the RGB image and the camera in the real world. The method and model provided by the present invention feature simple equipment, low cost, high timeliness of prediction and accurate results.

The invention discloses a high-temperature-irradiation-resistant zirconium alloy and a manufacturing method and a workpiece thereof, and belongs to the field of zirconium alloys. Wherein the zirconium alloy resistant to high temperature irradiation comprises the following components in percentage by weight: not less than 96% of Zr, 0.61%-1.4% of Sn, 0.41%-1.4% of Nb, 0.1%-0.5% of Fe, 0.11%-0.2% of O and 0.001%-0.3% of Cr; and from 0.015% to 0.03% of Si and / or from 0.001% to 0.06% of Ge; wherein Sn + Nb + O is greater than or equal to 1.5%, Fe / Cr is greater than or equal to 1.5%, Si + Ge is greater than or equal to 0.015%, and (Sn + Nb + O) / (Fe + Cr + Si + Ge) = 1.5-25.0. The alloy has good mechanical properties, corrosion resistance, creep resistance and radiation growth resistance, and is suitable for manufacturing of pressurized water reactor core structural members.

Provided is a time measurement apparatus which includes a pixel (PZ) that includes a light receiving element and generates a pulse signal (a pixel signal SIG) including a logic pulse on the basis of a light reception result in the light receiving element, a timing detector (a counter section) to detect a light reception timing in the light receiving element on the basis of the pulse signal, a pulse number detector (a time measurement section) to detect a pulse number of the logic pulse included in the pulse signal; and a controller to control, on the basis of the pulse number, an operation of a light source outputting a plurality of light pulses.

Proposed is a calibration method for a camera and a lidar using a calibration board having a specific pattern. The method may include extracting one frame for an image captured by a camera and point cloud data acquired by a lidar, by a data generator, identifying a feature point for a calibration board included in one extracted frame for the image and the lidar, by the data generator, and performing calibration for the camera and the lidar based on the identified feature point, by the data generator. The present method is a technology developed with support from the Ministry of Trade, Industry and Energy / Korea Planning and Evaluation Institute of Industrial Technology (Project No. 20022003 / Project name-Automotive industry technology development project / Project name-Development of industrial autonomous driving and safety assurance technology based on longitudinal and lateral interconnection).

The invention provides a ship distance estimation method and device based on an AIS (Automatic Identification System) supervision signal, relates to the technical field of intelligent shipping and water traffic supervision, and solves the problems that the prior art depends on a single sensor or a complex multi-source fusion scheme, so that supervision blind areas, inaccurate distance measurement and system complexity are caused, and the cost is low. And effective distance estimation cannot be carried out on the AIS-free ship. The method comprises the following steps: acquiring and preprocessing AIS data and video data; obtaining an approximate predicted position of the ship at the current moment through the AIS trajectory prediction model, and obtaining a ship target detection frame of the current field angle through the target detection model; dividing the current field angle of the camera into equal credible areas and carrying out space-time matching; and the matched visual features and AIS distance information are fused, an AIS distance is used as a supervision signal to construct a distance regression module, and a target detection model is trained to output a ship distance estimation value. The method is used in the other ship distance estimation process of the shore-based and ship bridge view angle.

An optical arrangement for a LIDAR system includes a laser, scanner, fold mirror, lens, and sensors. Adding a wedge-shaped optical element creates an auxiliary field of view, when positioned to overlie an edge portion of the lens. The wedge-shaped optical element may have a variable transparency preventing reception by the sensors of excessive signals from close targets. The sensors may be: a plurality of sensors with unique lengths / widths, arranged to form a linear array; or sensors with the same length / width, but positioned to form an arcuate shape, compensating for an arcuate scan line; or two columns of sensors, one with a field of view in focus at far field positions, and the other in focus at near field positions, correcting for parallax effect / error; or a column of highly sensitive sensors surrounded by a plurality of guard rail sensors having higher immunity to damage from stray laser light.

The invention relates to the technical field of unmanned aerial vehicle radio detection, in particular to an unmanned aerial vehicle detection and judgment method based on cooperation of an air-ground system and radio detection, and the method comprises the steps: finding a suspected target through scanning of a multi-frequency-band radar, triggering an infrared thermal imager carried by an aerial unmanned aerial vehicle to approach an ultra-wide-frequency-band spectrum sensor for verification; accurate positioning is realized by combining ground photoelectric equipment multi-view triangulation positioning and a signal arrival time difference algorithm, a command and control center calculates threat levels through a multi-source data fusion engine, and navigation decoy of dynamically adjusting intensity is adopted for targets smaller than or equal to two levels. Hard killing of ground laser locking rotor center and air electromagnetic pulse synchronous coverage is executed on a target of more than or equal to three levels, the equipment state is synchronized in real time through an optical fiber link, high-energy-consumption equipment is intelligently closed after threat is relieved, a platform starting strategy is optimized, a detection closed loop of'three-dimensional perception-graded treatment-intelligent energy saving 'is constructed, and the intelligent energy saving effect is achieved. And an efficient and accurate low-altitude safety protection scheme is provided for a sensitive area.

To enable suppression of the deterioration in the accuracy of distance calculations with a subject even when striation appears in a picked-up image.SOLUTION: One or more processors (CPU 11, GPU 15) identify a high-brightness region, which contains a single light source or glossy surface along with striations extending from the light source or glossy surface, in a pair of picked-up images by a stereo camera 20. Furthermore, the CPU 11 and GPU 15 perform pixel-to-pixel correspondence for each high-brightness region. Next, the CPU 11 and GPU 15 determine the disparity distribution within the high-brightness regions based on the correspondence. Furthermore, the CPU 11 and GPU 15 calculate the distance to the light source or glossy surface based on the disparity distribution.SELECTED DRAWING: Figure 14

A light detection and ranging (LIDAR) system for a vehicle, includes a first scanner that receives a beam transmitted along an optical axis and projects the beam, a second scanner that is positioned along the optical axis, one or more motors that are coupled to the first scanner and the second scanner, and one or more processors. The one or more processors are configured to generate, based on one or more components of a particular waveform, a signal indicating data including a relative phase between the first scanner and the second scanner, and transmit the generated signal to the one or more motors, the signal causing the one or more motors to rotate the first scanner and the second scanner.

The invention discloses a radar and camera grading automatic calibration method and system based on target trajectory analysis, and the method comprises the steps: S1, generating an initial external parameter matrix through measuring the relative position and attitude angle of a radar and a camera; s2, performing multi-frame association on the radar point cloud to generate a radar target track with a unique ID; detecting a target bounding box in the camera image, and generating a visual target trajectory; s3, projecting the radar target to an image coordinate system by using the initial external parameter matrix, and associating the radar and the visual target through a preset constraint condition; s4, screening matching point pairs with confidence greater than a preset value from the successfully associated tracks; and S5, taking the screened matching point pairs as an optimization sample set, constructing a weighted re-projection error function, taking the initial external parameter matrix as a starting point, adopting an L-M algorithm to iteratively optimize the external parameter matrix until an error is converged to a preset threshold value, and outputting a precisely calibrated external parameter matrix. The method has the advantages of high calibration precision and the like.

In a ranging device, a characteristic setting unit is configured to extract, from one or more pieces of received-light information representing changes with time in amount of received light acquired by the light receiving unit, at least one of a received-light amount range and a light reception time range of pulsed light other than emitted light from the light emitting unit, as a specified range. A received-light integration unit is configured to generate integrated received-light information by integrating the received-light information on a time axis with emission timings matched over a plurality of light receptions. A distance calculation unit is configured to exclude or identify distance noise formed of pulsed waveforms arising from pulsed light other than the emitted light, using the specified range extracted by the characteristic setting unit, and calculate a distance to the object reflecting the emitted light.

According to one embodiment, a camera module includes an optical system, an imaging device, and a liquid crystal panel. The optical system includes at least one or more lenses. The liquid crystal panel includes an electrode for forming an aperture pattern which makes light incident on the imaging device, the liquid crystal layer, and a driver driving the liquid crystal layer. To allow light transmitted through at least one lens included in the optical system to be made incident, the liquid crystal panel is arranged between the lens and the imaging device.

A computer that includes a processor and a memory, the memory including instructions executable by the processor to select first side stereo images of first and second pairs of stereo images acquired at first and second time steps, respectively, and mask first and second first side stereo images, determine point features in masked first and second first side stereo images and determine line features in masked first and second first side stereo images. Matching point features in the masked first and second first side stereo images can be determined using a first attention / graph neural network (attn / GNN) based on keypoints determined based on the line features. Matching line features in the masked first and second first side stereo images can be determined using a second attn / GNN based on keypoints determined based on the line features. Three-dimensional (3D) locations in a scene can be determined by determining stereo disparity based on the matched point features included in the first first side stereo image and point features determined in a first second side stereo image of first and second stereo pairs of images and a 3D stereo camera pose can be determined by determining a perspective-n-point and line algorithm on the 3D locations.

The invention discloses an underwater measurement method based on a zoom camera and a laser diode, which adopts the zoom camera to measure a laser spot image and greatly expands the application scene of equipment. The lasers A, B and C are manufactured based on laser diodes, the linearity of power adjustment can be well guaranteed, and measurement errors caused by too bright or too dark laser spots in images shot by the camera can be effectively avoided. According to the underwater measurement method provided by the invention, not only can the distance of the target object be measured, but also the feature size of the target object can be measured; in the installation process of the underwater measurement device, an error measurement link of the installation position of the laser is added, and the error is fully considered when the feature size of the target object is measured, so that the measurement precision is improved. During calibration, the average value of the height of the triangle and the corresponding bottom edge ratio in the maximum magnification and minimum magnification states of the zoom camera is taken as an independent variable, so that the influence of magnification change on calibration precision is reduced.

An image processing device includes: a region dividing unit that divides each of a plurality of captured images captured by an in-vehicle camera into a plurality of divided regions; a feature point detection unit that detects, as a feature point, a portion exceeding a threshold value for each of the divided regions; a threshold value setting unit that sets the threshold value for each of the divided regions so as to evenly distribute the feature points detected in each of the divided regions; a feature point matching unit that performs matching by associating the feature points detected in the plurality of captured images with each other between the plurality of captured images; and a relative parameter calculation unit that calculates a relative parameter on the basis of the feature points associated between the plurality of captured images.

Systems, structures, devices, and fabrication processes for ceramic matrix composites suitable for use in a nuclear reactor environment and other applications requiring materials that can withstand high temperatures and / or highly corrosive environments are disclosed. In one aspect, a ceramic composite structure is provided. The structure comprises a chamber including an external shell and a hollow space inside the external shell. The external shell includes an inner composite layer including a first composite structure, a middle composite layer placed outside of the inner composite layer, the middle composite layer including a second composite structure that is different from the first composite structure, and an outer monolithic layer that has a spatially uniform material property and placed outside of the middle composite layer.

The present disclosure relates to a distance measuring device and a distance measuring method enabling use of a plurality of sensors employing different distance measurement schemes in combination at low cost. A pixel region including a pixel including a SPAD to be used for distance measurement using a direct ToF scheme and a pixel including a current assisted photonic demodulator (CAPD) to be used for distance measurement using an indirect ToF scheme or a normal pixel, and a light emitting unit are shared and controlled. The present disclosure can be applied to a distance measuring device.

For example, a lighting device capable of FOV switching is provided.The lighting device change a projection range of first light and a projection range of second light by causing a light-emitting unit and an optical member disposed on the optical path of the first light and the second light to act differently on the first light and the second light, the light-emitting unit including a first light-emitting element that emits the first light and a second light-emitting element that emits the second light.

The invention discloses a femtosecond optical comb large-size precision absolute distance measurement system in a complex environment. Comprising a source module, a beam splitter, a third dichroic mirror, a fundamental frequency femtosecond optical comb reference detector, a frequency doubling femtosecond optical comb reference detector, a fourth dichroic mirror, a frequency doubling femtosecond optical comb measurement detector, a fundamental frequency femtosecond optical comb measurement detector, a phase discriminator, a ranging zero point mirror and a corner reflector. The source module comprises an atomic clock, a femtosecond optical comb, an optical fiber beam splitter, a signal generator, an electro-optical modulator, a lens, a frequency multiplication module, a first collimation beam expander, a second collimation beam expander, a first dichroic mirror and a second dichroic mirror. According to the scheme, the defects that in the prior art, the measurement range is insufficient, complex industrial sites are difficult to adapt, and the real-time performance is poor are overcome, and a new way is provided for breaking through the technical bottleneck of large-range, high-precision, dead-zone-free, rapid and real-time measurement in a complex environment; and a technical support is provided for engineering application of a femtosecond optical comb precision distance measurement technology and development of a subsequent measurement prototype.

The invention relates to a nuclear fuel cladding produced with a substrate (14) which is made of pure zirconium or of a zirconium based alloy and a multilayer protective coating (16) which covers a surface (14B) of the substrate (14), the protective coating (16) comprising a main layer (18) made of pure chromium and one or more additional layers (20), each additional layer (20) being made of pure chromium or from a material made of chromium and, additionally, oxygen and / or nitrogen, with the possible presence of unavoidable impurities.

An extinguishing system comprises: —at least one extinguishing agent sprayer (8) that is able to be rotated about a mounting axis (19) and is able to be pivoted about a pivot axis by means of at least one motor and is connected to an extinguishing agent line in order to be supplied with extinguishing agent, —at least one camera (7) that is able to be rotated at least about a mounting axis (17) by means of at least one motor (20), —an electronic controller (10) that comprises at least one storage unit (12) in which at least geometric basic data of the relevant area and / or data of the extinguishing agent sprayer (8) are stored so as to be able to be read, and a computer module (13) for data processing, —an input device, connected to the controller (10), for inputting data and / or for controlling the extinguishing agent sprayer (8) and the camera (7) and—a screen, connected to the controller (10), for displaying images from the camera (7). The mounting axis (17) of the camera (7) and the mounting axis (19) of the extinguishing agent sprayer (8) are oriented parallel to one another, and the optical axis (21) of the camera (7) is oriented at a defined starting angle with respect to the mounting axis (17), wherein the starting angle is stored in the storage unit (12).

The invention provides a high-strength winding thin-wall SiC composite cladding tube and a preparation method thereof. A preparation method of a high-strength winding thin-wall SiC composite cladding tube comprises the steps that silicon carbide fibers are wound and laid around a core mold, the winding pre-tightening force is smaller than or equal to 10 N. The winding mode comprises the first mode that one layer of annular winding is conducted firstly, then one layer of spiral winding is conducted, and the number of fiber intersection points in the whole annular direction at a certain position of the outer surface of the core mold is 1. One-layer annular winding is carried out firstly, then two-layer spiral winding is carried out, the number of fiber intersection points in the whole annular direction at a certain position of the outer surface of the core mold is 3, and a prefabricated body is obtained; carrying out a densification deposition process on the preform, wherein the densification deposition process comprises PyC pyrolytic carbon interface deposition, CVI chemical vapor infiltration and CVD chemical vapor deposition; and precise inner circle and outer circle machining is conducted, and the SiC composite cladding pipe is obtained. According to the preparation method disclosed by the invention, through a specific dry winding mode and a densification deposition process, the SiC composite material tube blank is higher in density and better in mechanical property.

To provide a light source module, a distance measuring device, a wearable device, and a method for manufacturing the light source module that improve a positional accuracy of a light emitting element and a lens.SOLUTION: A light source module according to one aspect of a technique of the present invention includes: a first substrate having a plurality of light emitting elements respectively provided on a first surface; a second substrate having a plurality of lenses respectively provided on a second surface opposed to the first surface and protruding toward the first surface; a spacer disposed outside the plurality of light emitting elements on the first surface and supporting the second substrate at a position separated from the first substrate; and a bonding member bonding the second substrate and the spacer. The second substrate includes: a first region in which a first lens group facing the plurality of light emitting elements among the plurality of lenses is disposed; and a second region in which a second lens group facing the spacer is disposed.SELECTED DRAWING: Figure 2

An FM LIDAR system is described that includes a frequency modulated LIDAR system that incorporates a laser source that is optically coupled to a whispering gallery mode optical resonator. Light from the laser that is coupled into the whispering gallery mode optical resonator is coupled back out as a returning counterpropagating wave having a frequency characteristic of a whispering gallery mode of the optical resonator. This returning wave is used to reduce the linewidth of the source laser by optical injection. Modulation of the optical properties of the whispering gallery mode optical resonator results in modulation of the frequency of the frequencies supported by whispering gallery modes of the resonator, and provides a method for producing highly linear and reproducible optical chirps that are highly suited for use in a LIDAR system. Methods of using such an FM LIDAR system and vehicle assisting systems that incorporate such FM LIDAR systems are also described.

The invention discloses a silo structure slip form construction digital monitoring system, which comprises a monitoring module used for acquiring elevation and torsion data of a slip form platform and inclination angle data of a silo wall in real time, and a data acquisition and forwarding module used for acquiring and forwarding monitoring data of the monitoring module, the data analysis processing module is used for receiving monitoring data, and the user side module is used for receiving difference adjustment information output by the data analysis processing module, generating a monitoring curve and a report form according to the difference adjustment information and visualizing the monitoring curve and the report form. The monitoring module comprises a slip form platform elevation monitoring assembly, a slip form platform torsion monitoring assembly and a silo wall inclination angle monitoring assembly. The detection system can automatically monitor the elevation of the slip form platform, the inclination angle of the silo wall and the torsion of the slip form platform in real time in the construction process of the silo structure at the same time, report and curve visualization is carried out on detection results, the construction process of the slip form is guided, the construction efficiency of the slip form is improved, and safety accidents can be avoided.