3443results about "Optical rangefinders" patented technology

The invention relates to an unmanned aerial vehicle multi-modal visual positioning method and system in a GNSS denial environment, and the method comprises the steps: constructing a visual inertial mileage calculation method based on deep learning feature extraction and matching, calculating the relative positioning of an unmanned aerial vehicle, and outputting to obtain high-frequency 6-DoF pose information; performing scene matching of infrared RGB image multi-modal fusion based on the Officient-LoFTR, and obtaining absolute positioning in a world system by solving a relative pose between a current key frame picture and a matched satellite image; a factor graph optimization mode is adopted to carry out self-adaptive weight information fusion according to the confidence coefficient of absolute positioning and relative positioning under a world system, and 6-DoF pose information with high frequency and higher precision is output; based on high-frequency and higher-precision 6-DoF pose information, after the unmanned aerial vehicle is recovered, all aerial images and satellite images are fused and updated. The system comprises a calculation module and a fusion updating module. According to the invention, more accurate and high-frequency pose output can be provided.

A LiDAR apparatus, including: a laser to generate an optical signal; modulation components configured to receive the optical signal as an input and to output at least two corresponding modulated optical signals at respective output ports, wherein each modulated optical signal is modulated by a corresponding pseudo-random bit sequence, and: (i) the optical signals have respective different delays such that the modulations do not overlap in time; or (ii) the pseudo-random bit sequences have low cross-correlation; for each of the at least two modulated optical signals, a corresponding optical transmitter configured to transmit the corresponding modulated optical signal towards a corresponding surface spaced from the LiDAR apparatus by a corresponding distance, and a corresponding optical receiver configured to receive a portion of the transmitted optical signal scattered and / or reflected by the surface, the received portion of the optical signal having a phase shift and / or Doppler shifted angular frequency due to radial motion of the LiDAR apparatus relative to the surface; at least one photodetector to receive the optical signals received by the optical receivers, interfered with a reference beam, and to generate a corresponding output signal; at least one analogue to digital converter to generate a digital signal representing the output signal from the at least one photodetector; and a digital signal processing component configured to process the digital signal to generate LiDAR data representing the distances to the surfaces and / or relative velocities of the surface(s) with respect to the apparatus.

A distance measuring device includes: a pixel array unit that performs a light receiving operation for time-of-flight distance measurement using a modulation frequency; a distance measurement processing unit that performs dual mode distance measurement that causes the pixel array unit to alternately perform a light receiving operation using a first frequency as the modulation frequency and a row receiving operation using a second frequency having a higher frequency than the first frequency as the modulation frequency, and single mode distance measurement that causes the pixel array unit to perform only a light receiving operation using a predetermined frequency as the modulation frequency; and a switching processing unit that switches the distance measurement in the dual mode and the distance measurement in the single mode according to a predetermined condition.

Provided is an image processing device that is capable of storing three-dimensional information relating to a road surface (3D road surface information), transforming / converting the stored 3D road surface information into a current time by using motion of a vehicle, using the three-dimensional information from the road surface together with monocular-based distance estimation processing, increasing the distance measurement accuracy without requiring a special sensor while maintaining the obstacle detection accuracy, and, in particular, supporting a case where an ego vehicle is turning at an intersection that may include a sidewalk area (that is, which includes a difference in ground height relative to a roadway area) that requires accurate monocular-based distance measurement for a detected obstacle. The obstacle ranging unit 161 performs monocular-based distance estimation processing, and uses the 3D road surface information stored via the 3D road surface information acquisition unit 131 and converted to the current time by the 3D road surface information management unit 141.

The invention provides an optical measurement miss distance processing method based on tracks and same-frame picture constraints. The method mainly comprises the steps of same-frame picture angle difference calculation, conversion from a space coordinate system to an observation station coordinate system, motion characteristic parameter representation, track speed constraint model construction and miss distance moment and miss distance calculation. That is to say, according to the method, the same-frame picture and the target motion trail speed constraint are utilized at the same time, multi-device measurement data are comprehensively applied, and key technical contents such as same-frame picture difference calculation, coordinate conversion, target trail motion characteristic representation extraction and miss distance parameterization solving model are elaborated; a data processing problem is converted into parameter estimation of a nonlinear regression model, so that a reliable miss distance result of the meeting section is obtained, and a new thought and a new solution are provided for application development of optical measurement equipment, processing of the miss distance in the air and application of optical measurement data.

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.

A measurement and positioning system based on machine vision and laser triangulation, which includes a machine vision system, a laser ranging system, and a standard positioning target configured to be installed on a positioned workpiece, where the laser ranging system is configured to project laser light onto the standard positioning target so as to perform a three-dimensional height measurement, and the machine vision system is configured to capture and image a positioning target and a laser image projected on the standard positioning target and to measure a two-dimensional coordinate position. The measurement system of the present application can realize a rapid three-dimensional measurement and precise positioning of a spatial position of the positioned object by means of the standard positioning target installed on the positioned object.

The invention relates to a near-electricity construction operation safety early warning method and system, and belongs to the field of near-electricity construction operation equipment early warning, and the method comprises the steps: scanning a power transmission and transformation project construction site through three-dimensional laser, and forming a high-precision laser point cloud three-dimensional data model; quickly dividing an electrified body and a non-electrified body in the three-dimensional laser point cloud model, and carrying out attribute hooking on the safe distance range and the electrified body; rTK positioning sensors are installed on an operator and a construction machine, and high-precision real-time positioning and spatial distance measurement of the operator and the machine are achieved through Beidou RTK; real-time space distances between operators, machines and electrified bodies are monitored on the basis of a safety distance detection algorithm, reminding in different modes such as safety warning and prohibition warning is set according to requirements of safety operation regulations, and it is ensured that the operators, machines and the like keep enough safety distances from the electrified bodies.

A frequency sweep characteristic measurement device splits the laser light to generate a difference in lengths of optical paths and combines the split laser lights to generate a combined light. This device receives the combined light, converts the received light into a beat signal, and outputs the beat signal. Further, this device adjusts a waveform so that an amplitude and a phase match at both ends of the beat signal, calculates a quadrature component by performing a Hilbert transform on the beat signal whose waveform has been adjusted, and calculates an instantaneous phase of the beat signal by calculating an inverse tangent of the quadrature component and the beat signal whose waveform has been adjusted. This device calculates the frequency sweep characteristic of the laser light based on the instantaneous phase and the difference in the lengths of the optical paths.

The invention relates to a monocular vision tower span measurement method based on RTK correction, and belongs to the technical field of space distance measurement. Comprising the following steps: acquiring ambient light intensity and quality in real time based on an environment where a power transmission and distribution tower is located, and obtaining ambient light adaptation parameters by analyzing ambient light data and adjusting ISO sensitivity and shutter speed of a camera. According to the method, real-time environment light data analysis and camera parameter automatic adjustment are introduced in the monocular vision tower span measurement process, the image quality is effectively improved, tower recognition is more accurate, background interference is reduced, the geographic position and the shooting angle of a shooting point are corrected through the RTK technology, and the measurement accuracy is improved. And perspective transformation correction is carried out on the image in cooperation with a perspective projection theory, and the accuracy of distance measurement data is improved to centimeter level.

The invention discloses an obstacle avoidance navigation system based on binocular vision. The obstacle avoidance navigation system comprises a binocular camera and a GPS module. A visual processing and depth estimation algorithm module; a map generation module; and a path planning and dynamic obstacle avoidance module. The binocular camera and the GPS module are combined, so that visual-geographic information fusion is realized, and the environmental perception precision is improved; the three-dimensional point cloud generated by depth calculation provides three-dimensional space data support for obstacle avoidance, and is safer and more reliable than traditional two-dimensional recognition. The navigation map constructed by the semantic segmentation and target detection technology can dynamically distinguish complex obstacle types; the path combination strategy of the shortest path algorithm and the map API not only ensures the real-time performance of local obstacle avoidance, but also gives consideration to the global path optimality, so that the navigation efficiency of the system in complex terrains is higher.

The present application relates to nuclear fuel claddings, and more particularly to zirconium alloy tubes with a ceramic covering. A first coating layer is applied to the ceramic covering. A second coating layer is over the first coating layer. The first coating layer includes Nb. The second coating layer includes Cr.

The invention discloses a laser gyroscope measuring rod and unmanned aerial vehicle vision fused bridge pier measuring method and system, and the method comprises the steps that an unmanned aerial vehicle carries a laser gyroscope measuring rod integrated with a gyroscope, a tilt angle sensor and a wireless communication module, and flies to a bridge pier measuring region; acquiring three-dimensional attitude data and inertial reference data of the unmanned aerial vehicle in real time through a laser gyroscope measuring rod; the unmanned aerial vehicle synchronously starts a binocular vision module and a laser range finder, performs multi-view scanning on the pier along a preset surrounding path, and obtains pier surface feature point cloud and real-time distance data; and performing space-time alignment on the inertial reference data, the visual point cloud and the real-time distance data. According to the invention, through laser gyroscope-visual point cloud space-time fusion, GAN enhanced rain and fog resistance verification and dynamic wind resistance closed-loop control, the problem of serious distortion of measurement data caused by perception degradation under complex meteorological conditions is solved, so that the real geometric features of the bridge pier can be accurately extracted.

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.

A Light Detection and Ranging (LIDAR) detector circuit includes a memory device comprising a non-transitory storage medium that is configured to store data indicative of detection events in respective memory bins, and at least one control circuit. The at least one control circuit is configured to receive detection signals from one or more photodetector elements, identify a presence or an absence of detection events indicated by the detection signals during a portion of time between pulses of an emitter signal output from a LIDAR emitter element, and execute one of a first memory operation or a second memory operation to update the data in the respective memory bins responsive to identification of the presence or the absence of the detection events, respectively. Related circuits and methods of operation are also discussed.

An image processing apparatus according to the present disclosure includes a first image acquisition unit configured to acquire a first image captured by a first camera that detects light having a first wavelength, a second image acquisition unit configured to acquire a second image captured by a second camera that measures a distance by detecting light having a second wavelength, a difference extraction unit configured to extract a difference between a visible light image and an infrared light image, a shadow region detection unit configured to detect a shadow region based on the difference, and a correction unit configured to correct distance information of a pixel in the shadow region measured by the second camera, based on the distance information of a pixel in a neighborhood of the shadow region.

The invention belongs to the technical field of building measurement, and discloses a building distance measuring device and a use method thereof, and the method comprises the steps that a route planning module plans an optimal advancing route; automatically controlling a moving trolley distance measuring mechanism to carry out building distance measuring operation; the monitoring analysis mechanism receives environment sensor data; the image acquisition module continuously acquires building scene images; the image analysis module continuously detects whether an obstacle exists in the image; adjusting the distance measuring mechanism to a proper height and an accurate direction; the monitoring analysis mechanism obtains accurate distance data after correction calculation; during long-distance detection, data of the laser range finder and the ultrasonic range finder are combined, and an accurate distance value is obtained through fusion analysis of the comprehensive evaluation module. According to the invention, the monitoring analysis mechanism can correct and comprehensively analyze distance measurement data according to environmental parameters to obtain accurate distance data; and the comprehensive evaluation module fuses the laser ranging data and the ultrasonic ranging data, so that the long-distance detection precision is improved.

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 prismatic TRISO particle dispersion additive fuel element as well as a preparation method and application thereof, and relates to the technical field of nuclear fuel. The method comprises the following steps: preparing the SiC shell by adopting a binder injection molding process or a photocuring molding process; the SiC shell is subjected to degreasing treatment; carrying out chemical vapor infiltration pretreatment on the SiC shell subjected to degreasing treatment; the pretreated SiC shell is filled with simulated TRISO particles and SiC matrix powder, high-solid-content SiC slurry is adopted for packaging, then an enhanced chemical vapor infiltration method is adopted for densifying the dried additive SiC element, and the prismatic TRISO particle dispersion additive fuel element is obtained. The TRISO fuel particles with high inherent safety and the nuclear-grade SiC ceramic material with excellent high-temperature resistance and irradiation resistance are combined, the additive manufacturing process is matched, the design flexibility and expansibility are improved, and the TRISO fuel particles have large application potential in the high-temperature gas cooled reactor.

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 relates to a preparation method of an irradiation-resistant and accident-resistant SiC / SiC nuclear fuel cladding. The preparation method comprises the following steps: (1) alternately carrying out the following step (A) and step (B) from step (A) to step (A) to obtain a tubular SiC fiber preform with at least two PyC interface layers and at least one SiC nanowire interface layer: (A) depositing the PyC interface layers on the surface of the tubular SiC fiber preform through a chemical vapor deposition process; (B) loading a catalyst on the PyC interface layer through vacuum impregnation, and generating a SiC nanowire interface layer on the surface of the PyC interface layer in situ through a chemical vapor deposition process; (2) carrying out densification treatment on the tubular SiC fiber preform by adopting a chemical vapor infiltration process; and (3) depositing a SiC coating on the surface of the tubular SiC fiber preform by adopting a chemical vapor deposition process to obtain the SiC / SiC nuclear fuel cladding tube.

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 fire source distance measuring method based on binocular vision in the technical field of computer vision and image processing. The fire source distance measuring method comprises the following steps: S1, improving a YOLOv5 algorithm; s2, sending the fire source data set into an improved YOLO algorithm for training, and obtaining a model weight; s3, performing accelerated reasoning on the model by adopting an ONNX method; s4, calibrating the binocular camera, and obtaining internal parameters of the camera; s5, carrying out distortion correction and stereo correction on the pictures collected by the binocular camera; s6, calculating and generating a disparity map by adopting an SGBM algorithm; s7, the distance is calculated according to the geometric principle of binocular vision, rapid detection of a fire source is achieved through the improved YOLOv5 algorithm and the ONNX accelerated reasoning technology, and the fire monitoring requirement in the complex environment is met; three-dimensional depth information is obtained by using a binocular vision technology, and accurate measurement of the distance of a fire source in various scenes is ensured by combining accurate camera calibration and image distortion correction.

A distance-measuring imaging device includes: a timing controller that outputs one or more timing signals; a light receiver that receives reflected light that is light emitted by a light source and reflected by a subject; a phase adjustment circuit that outputs at least one signal out of a light emission control signal and an exposure control signal, based on the one or more timing signals, the light emission control signal being used for causing the light source to emit light to the subject, the exposure control signal being used for causing the light receiver to start exposure. The phase adjustment circuit includes one or more DLL circuits each of which determines, for at least one of the one or more timing signals, at least one of a phase of a rising edge or a phase of a falling edge of the at least one signal.

A crane, in particular a rotating tower crane, including a crane boom from which a load-receiving means, such as load hooks, can be raised and lowered by means of a hoist rope. A detection device is provided for detecting the distance of the load-receiving means from the ground and / or from an object located below the load-receiving means.

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.

The present disclosure relates to a light source system suitable for use in a time of flight camera. The light source system includes a light source, such as a laser, and a driver arranged to supply a drive current to the light source to turn the light source on to emit light. The driver includes or is coupled to a capacitor to store energy and then discharge to generate the drive current. The driver can be integrated into a semiconductor die on which the light source is mounted. Thus, the driver can include within it the source of energy for the drive current and the light source and driver can be very close together. Therefore, the light source may be turned on and off very quickly, such as with a relatively large drive current, such as to output a high optical power, short duration light pulse.

A camera parameter estimating device includes an obtaining unit which obtains time series frames including a plurality of subject images existing in a common field of vision shared by multiple cameras for each of the cameras, a point estimating unit which estimates the coordinates of a joint point determined in the subject image in the time-series frame for each of the subject images, a motion trajectory estimating unit which estimates the trajectory of the joint point between the time-series frames for each of the cameras, an inter-camera correspondence estimating unit which estimates a group of the trajectories between the frames obtained respectively from a pair of the cameras, and a parameter estimating unit which estimates a camera parameter for each of the cameras according to the group of trajectories.