58results about "Picture taking arrangements" patented technology

Methods, systems and apparatus, including computer programs encoded on computer storage media for unmanned aerial vehicle flight operations near physical structures or objects. In particular, a point cloud of the physical structure is generated using aerial images of the structure. The point cloud is then referenced to determine a flight path for the UAV to follow around the physical structure, determine whether a planned flight path to desired locations around the structure is possible, determine the fastest route to return home and land from a given position around the physical structure, determine possibility of inflight collision to surface represented in point cloud, or determine an orientation of a fixed or gimballed camera given a position of the UAV relative the point cloud.

The invention relates to a registration method for determining position and orientation of an object in relation to a position detection system, wherein the method comprises the steps of - capturing an image of a surface of an object with an image sensor unit comprising at least one motion sensor and / or at least one position sensor, - determining a capturing position of the image sensor unit in a coordinate system of the position detection system by processing motion sensor signals provided by said motion sensor and / or position signals provided by said position sensor, - photogrammetrically generating a surface model of the object from the captured im¬ age, and - transforming the photogrammetrically generated surface model into the coordinate system of a position detection system.

This invention relates to the field of UAV navigation and high-precision surveying, and discloses a method and system for optimizing pose parameters during UAV aerial photography. The method includes: determining key target points and surrounding auxiliary points during UAV aerial photography, and collecting the UAV's geometric configuration parameters to be optimized; establishing a coefficient matrix based on the UAV's geometric configuration parameters to be optimized, and calculating the error equations for the pixel coordinates of the key target points and surrounding auxiliary points during UAV aerial photography; constructing a cofactor matrix based on the coefficient matrix, and calculating the positioning error coefficients of the key target points during UAV aerial photography; using the positioning error coefficients as the optimization objective function, determining the minimum value of the optimization objective function through a collaborative search algorithm to obtain the optimal configuration parameters; and calculating the UAV pose parameters corresponding to the optimal configuration parameters. Using this invention, by constructing an evaluation system centered on the accuracy of key target points, the UAV's aerial photography pose parameters are efficiently optimized, maximizing the positioning accuracy of key target points.

The present application relates to the technical field of power transmission line anti-icing and disaster mitigation, and discloses a conductor icing unevenness evaluation method, system, device and medium, comprising: setting multiple monitoring points along the conductor and collecting icing data; calculating the equivalent icing thickness of each point according to the icing thickness, density and shape; calculating three evaluation indexes of the variation coefficient, the range ratio and the skewness coefficient based on the equivalent thickness; calculating the comprehensive evaluation value of the icing unevenness by using a weighted comprehensive evaluation model; and dividing the unevenness level according to the comprehensive evaluation value. The present application eliminates the influence of the icing density and shape difference by constructing a multi-dimensional evaluation index system, realizes the quantitative evaluation and level division of the icing spatial distribution unevenness, and provides a scientific basis for the differentiated operation and maintenance and precise anti-icing decision of the power transmission line.

The present invention provides an unmanned aerial vehicle (UAV) inspection system, which includes a server and a UAV. The server receives an inspection task through an operation interface, which includes an inspection route. The UAV includes an image capture module. The server is used to perform scheduling to set the UAV to execute the inspection task. The image capture module is used to continuously obtain multiple environmental images, and the UAV identifies its position based on the environmental images to travel on the inspection route. When the UAV travels on the inspection route, the UAV transmits the environmental images to the server, and the server is used to determine whether an abnormal phenomenon occurs based on the environmental images to generate an inspection result corresponding to the inspection task.

The application provides a high-precision calibration method, device and equipment for mapping camera interior orientation elements and a storage medium. The method comprises the following steps: firstly, using a collimator and an electronic theodolite to independently calibrate the rotary table angle positioning error and the parallel light tube optical axis pointing deviation, respectively, to generate an error correction model and a space angle matrix, and converting the device system error into a known quantity that can be compensated; secondly, using a positive and negative mirror center-finding method to iteratively converge to determine the accurate intersection point of the sight axis and the target surface as the main point initial observation value and the sight axis reference angle, and eliminating the uncertainty of the main point; finally, starting from the reference angle to perform full field scanning and collection, and jointly substituting the corrected angle data, the angle matrix and the main point observation value into the collinearity condition equation for overall adjustment solution, so that the interior orientation elements and the distortion parameters purely reflecting the characteristics of the camera itself are solved under the premise that various system errors have been stripped one by one.

This application discloses a method, apparatus, equipment, and storage medium for urban engineering surveying based on unmanned aerial vehicles (UAVs), relating to the field of UAV surveying technology. It aims to solve the problems of blind spots and large measurement errors in traditional UAV surveying. The method includes: real-time scanning of the terrain contour of the surveying area using a terrain sensing device mounted on the UAV to obtain terrain height data; constructing a three-dimensional flight profile based on the terrain height data, and determining the UAV's flight altitude in real-time according to the three-dimensional flight profile and the ground safety distance range, generating a flight path adapted to the terrain; adjusting the attitude of the surveying pod according to the flight path and the direction of the surveying target using a rotatable pod drive device, so that the main sensors inside the surveying pod are vertically aligned with the surface of the surveying target; receiving ground reference station data through a dynamic reference correction module, and correcting the positioning data during the surveying process in real-time using ground control points as a reference, and outputting the surveying results.

The present disclosure provides a measurement method and system, a device, and a storage medium. The method is implemented by using the measurement system. The measurement system comprises a laser ranging module, an image measurement module, and a navigation module. The method comprises the following steps: acquiring measurement data of a point to be measured, the measurement data comprising first measurement data acquired from the laser ranging module, second measurement data acquired from the image measurement module, and third measurement data acquired from the navigation module; on the basis of the measurement data of said point, calculating at least one position measurement result of said point; and on the basis of the at least one position measurement result, calculating a final position measurement result of said point by using a preset measurement fusion algorithm. In the present disclosure, the measurement data of the laser ranging module, the image measurement module, and the navigation module are effectively fused, so that the accuracy of measurement of the spatial position of a point to be measured is improved.

This application provides a method, apparatus, electronic device, and storage medium for adjusting oblique images. The method includes: extracting corresponding point data from multiple oblique images acquired at a target time; determining first target attitude data corresponding to the equivalent downward-looking image based on first initial attitude data and corresponding point data; determining second initial attitude data based on the first target attitude data and the installation position relationship between cameras; and determining the target geographical location corresponding to each corresponding point data based on the first target attitude data, the second initial attitude data, and the corresponding point data. This method enables grouped calculation of image data, avoiding the inefficiency of simultaneously calculating large amounts of data. Furthermore, calculating the initial attitude data of other oblique images using the target attitude data of the equivalent downward-looking image significantly reduces the time required to acquire the initial attitude data of other oblique images, thereby effectively improving computational efficiency.

This invention proposes an intelligent flood control monitoring system for substations based on 3D digital twins and multi-source sensing fusion. The system includes a 3D digital twin model construction module, a multi-source data acquisition and fusion module, an AI intelligent analysis engine, a dynamic flood control plan management module, and a closed-loop emergency response control module. The system constructs a full-chain, intelligent, and closed-loop substation flood control monitoring system through 3D digital twins, multi-source sensing fusion, AI intelligent analysis, dynamic plans, and closed-loop response technologies. The system is implemented through data acquisition, AI analysis, plan triggering, automatic execution, and closed-loop feedback, solving problems such as incomplete sensing, delayed response, and reliance on manual decision-making in existing systems. The system combines substation operation information with artificial intelligence algorithms to achieve panoramic visualization of flood conditions, intelligent early warning, dynamic simulation, automatic linkage, and closed-loop handling, thereby improving the intelligence level of substation flood control.

The application discloses a kind of multi-period InSAR remote sensing data ground surface monitoring and geological disaster early warning method, it is related to ground surface monitoring technical field.The method includes simultaneously obtaining SAR satellite data, GNSS reference station coordinates, unmanned aerial vehicle LiDAR point cloud and weather data, constitutes multi-source data set;SAR data is interfered with processing, combined with DEM to eliminate terrain phase, annual deformation rate graph is obtained by phase unwrapping and time series analysis;GNSS, LiDAR and InSAR data are spatially registered and weighted fusion, and deformation rate field is generated;The field and slope, slope direction parameter are input into decision tree model to identify geomechanical deformation type;Future deformation trend is predicted using LSTM neural network, and the result is compared with early warning threshold to determine early warning level;Early warning level is matched to execute scheme, and early warning report containing visual map is generated.The application realizes closed-loop management from monitoring to early warning by multi-source data fusion and machine learning algorithm.

This invention relates to the field of aerospace Earth observation and remote sensing imaging technology, and discloses a target-driven dual-camera heterogeneous payload dynamic cooperative aiming method and device. The device includes a base, a wide-area search unit, a high-precision staring unit, a field-of-view deflector, and a cooperative controller. The wide-area search unit and the high-precision staring unit are distributed forward and backward along the flight direction. The cooperative controller identifies potential targets and calculates their geographical locations. It calculates the delay time based on the physical distance and real-time velocity. The cooperative controller calculates the track-crossing swing angle based on the target's position and attitude and sends commands. The field-of-view deflector drives the high-precision staring unit to deflect to the track-crossing swing angle within the delay time. The cooperative controller triggers imaging at the end of the delay time. This invention achieves pointing adjustment and exposure synchronization through heterogeneous payload spatiotemporal coordination and a delay time window, realizing wide-area detection and high-resolution fine imaging of potential targets during a single flight.

This invention discloses an intelligent monitoring method for the construction quality of existing building renovation based on unmanned aerial vehicles (UAVs) and laser scanning, belonging to the field of non-destructive testing of buildings. The method includes: S1, acquiring raw laser point cloud data at at least two different times using a laser scanner mounted on a UAV, including three-dimensional coordinates and laser echo phase; S2, registering and denoising the raw data to obtain time-series point cloud data; S3, determining the micro-displacement field of the point cloud caused by surface micro-deformation based on the difference in laser echo phase at the same spatial location; S4, obtaining the thickness distribution of the concealed renovation layer based on the micro-displacement field through physical model or data-driven model inversion; S5, comparing the thickness distribution with a preset threshold to generate monitoring information including the location and range of unqualified areas. This invention achieves non-contact, full-coverage monitoring of the concealed layer thickness, eliminates interference through environmental correction, and has the advantages of high detection accuracy, high efficiency, and non-destructive testing.

The application provides a farmland construction element rapid detection method, device and equipment and a storage medium, and relates to the technical field of farmland construction. The method comprises the following steps: constructing a data preprocessing unit, and preprocessing input satellite images and unmanned aerial vehicle images to obtain enhanced fusion data; constructing a visual language model based on a Transformer, taking the enhanced fusion data as input, and outputting farmland element recognition results; configuring the data preprocessing unit and the visual language model in the unmanned aerial vehicle, and enabling the unmanned aerial vehicle to navigate along a planned route, collect unmanned aerial vehicle images during navigation, combine the satellite images, and process the data through the data preprocessing unit and the visual language model to obtain farmland element recognition results. The application combines low-altitude high-resolution images of the unmanned aerial vehicle with satellite macro images, provides more abundant and comprehensive data input for the visual language model, and improves the accuracy and timeliness of farmland element recognition.

This disclosure is related to positioning one or more glass plates between an image sensor and lens of a camera in a scanning camera system; determining plate rotation rates and plate rotation angles based on one of characteristics of the camera, characteristics and positioning of the one or more glass plates, and relative dynamics of the camera and the object area; and rotating the one or more glass plates about one or more predetermined axes based on corresponding plate rotation rates and plate rotation angles.

Provided are a method and system for calibrating parameters of an imaging system comprising at least one imaging device and broad and structured light sources, the method comprising: the at least one imaging device sequentially capturing broad light source image data and structured light source image data of one or more scenes using the broad and structured light sources, respectively; generating a photogrammetric model of the broad light source image data and a photogrammetric model of the structured light source image data using respective coordinates of the broad and structured light source image data; determining corresponding features in the respective photogrammetric models; iteratively solving parameters of the imaging system to correct variations between corresponding features in the respective photogrammetric models, converge the models and obtain calibration parameters; and applying the calibration parameters to the imaging system to compensate for errors in the relative positions of the imaging device and structured light source.

This invention belongs to the field of photogrammetry technology and relates to a rapid photogrammetry system and installation method for a parabolic trough solar collector support. It includes: an image acquisition device positioned above the parabolic trough solar collector support to be measured; multiple first reflective markers, each comprising a reflective coating and a circular exposed area on the surface of the reflector support component of the parabolic trough solar collector support; multiple second reflective markers detachably mounted on the ends of the parabolic trough solar collector support and on the collector tube supports of the parabolic trough solar collector support; a measuring scale spaced apart from the parabolic trough solar collector support; and a data processing device connected to the image acquisition device. This invention significantly reduces the installation work of the reflective markers, thereby significantly improving the efficiency of photogrammetry operations.

This invention discloses a data acquisition method based on DSM and DOM, simultaneously loading DSM data, DOM data, flight path data, and boundary line data, performing coordinate transformation and processing; acquiring feature outline vector data based on DOM data, and collecting feature elevation information based on the OSGB format model generated from DSM data; and performing projection correction through a correction algorithm, translating features with projection discrepancies perpendicular to the flight path direction to obtain the true outline position of the features. This invention breaks the constraints of traditional acquisition methods, designing a projection correction algorithm based on inherent mathematical principles to achieve projection correction, solving the drawbacks of inconsistencies between acquired feature outlines and reality, and significant inversion phenomena, thus improving the spatial position accuracy of the acquired data. It not only realizes basic scale topographic mapping functions and new basic surveying and mapping geographic entity acquisition and editing functions, but also realizes modeling data acquisition and editing functions.

The application relates to a cognitive-enhanced urban space unmanned aerial vehicle visual target search method. The method comprises the following steps: inputting a target image and a target text description into a multimodal large model to generate a target-related semantic element set and a gravitational weight; performing semantic segmentation based on the semantic elements, combining depth information to construct and dynamically update a target gravity map; updating a target probability map through a distance attenuation function according to the unmanned aerial vehicle pose and the field of view angle; constructing an occupancy grid map by projecting an obstacle; performing weighted clustering on the gravity map and the probability map to generate gravity peak points and probability peak points, and merging to form a candidate target point set; planning a path for each candidate target point and calculating a free energy change, and selecting an optimal target point and path; and converting the optimal search path into a flight control instruction to execute target search. The method can improve the autonomous visual target search efficiency and robustness of the unmanned aerial vehicle in a complex urban environment.

The application relates to an orchard robot binocular vision inertial positioning method, device, equipment and medium, which comprises the following steps: screening the line features based on a preset line feature length screening algorithm to determine the line features with a preset length threshold, adopting a preset line feature matching screening algorithm to match the front and rear frames of the orchard images of the left eye or the right eye according to the line features with the preset length threshold to determine the line feature matching pairs, extracting the key frames of the orchard images according to the point feature matching pairs and the line feature matching pairs to determine the key frames in the orchard images, performing triangulation processing on the line features of the key frames to construct line feature re-projection residuals, fusing the line feature re-projection residuals with the cost functions of the prior residuals, IMU residuals and point feature re-projection residuals to minimize the cost functions, and completing the binocular vision inertial positioning of the orchard robot. The application significantly improves the positioning accuracy of the orchard robot.

A method and system are described for verifying site modifications using a drone system. The method involves generating an initial CAD 3D model using drone-captured data, altering it to reflect planned changes, and employing augmented reality to overlay modification plans on live video after site modifications to determine compliance with the as-planned design.

A procedure includes receiving a request to generate a map of a geographic area, obtaining parameters of a geographic area representing properties of the area, subdividing the area into a plurality of sub-areas based on the parameters of a geographic area, and obtaining corresponding robot parameters representing properties of the robot for each of a plurality of robots.Furthermore, the procedure includes, for each specific sub-area, determining corresponding sub-area parameters representing the properties of that sub-area based on the parameters of a geographic area; assigning a specific robot to survey the specific sub-area based on the sub-area parameters and the robot parameters; and obtaining corresponding survey data acquired by the specific robot, where the survey data represents a survey of the specific sub-area by the specific robot. The procedure also includes combining the corresponding survey data acquired by the assigned robots to generate a highly realistic map of the geographic area.

This invention relates to the field of geographic information technology, specifically a UAV dynamic image and 3D terrain overlay projection system based on real-time streaming for emergency command. The system includes a data acquisition and encapsulation module, a streaming and analysis module, a viewpoint positioning module, a projection calculation module, a texture mapping module, and a spatial inversion module. It acquires real-time dynamic images, spatial location, and camera attitude data from the UAV, encapsulates them into a synthetic video stream, and streams it to a geographic information client for analysis. The system locates the UAV's observation origin, calculates the image projection boundary to generate a dynamic projection area, and maps the image to a 3D terrain dynamic image layer. Based on the pixel coordinates of the ranging start and end points in the dynamic image layer, the local elevation values ​​of the 3D terrain data, and the camera attitude data, it performs spatial inversion on the surface curve distance between the ranging start and end points to obtain real-time situation measurement data for the geographic information client. This invention can improve the efficiency of emergency situation awareness.

The present invention provides a drone inspection system that includes a server and a drone. The server receives an inspection task through an operating interface. The inspection task includes an inspection route. The drone is equipped with an image capture module. The server executes a schedule to set the drone for carrying out the inspection task. The image capture module continuously captures multiple environmental images, and the drone identifies its position based on these images to move on the inspection route. As the drone proceeds along the inspection route, it transmits the environmental images to the server. The server then determines whether an abnormal phenomenon has occurred based on the environmental images and generates an inspection result corresponding to the inspection task.

This invention relates to a method and system based on oblique photogrammetry and a webGIS platform, comprising: planning an oblique photogrammetry flight path for a drone; determining the drone aerial photography parameters based on the distribution of buildings on site and setting up ground control points (GCPs); taking photos of the project site using a drone; performing aerial triangulation calculations by combining the POS information contained in the photos with the POS information of the GCPs; generating a point cloud and densifying it into a dense point cloud to form a triangular mesh model; and finally generating a real-world 3D model by combining the pixel information in the oblique image. The advantages of this invention are: it allows for oblique photogrammetry flight and modeling of the entire project at the beginning of the project; marking work points on a web platform and connecting the marked work points on the real-world model with the construction drawings provides a clear and intuitive view of the entire project; and it eliminates the need for additional image acquisition hardware and network information transmission hardware during construction, resulting in lower costs.

The utility model relates to the technical field of ocean ranching discloses a kind of ocean ranching three-dimensional monitoring equipment, including pontoon, and photovoltaic panel is installed on pontoon, and base is fixedly connected on pontoon top, and bracket is fixedly connected on base top, and photovoltaic panel is installed in bracket side face, and unmanned aerial vehicle carrying box is fixedly connected on bracket top, and top cover is equipped on unmanned aerial vehicle carrying box top, and inside is placed unmanned aerial vehicle, and humidity transducer is installed at bottom;Tunnel is opened on base and pontoon, and protective cover is installed on the tunnel top of base top, and electric winch is equipped on the side of protective cover, and cable is wound on electric winch, and the movable end of cable is connected with transparent waterproof shell after passing through tunnel, and multiple video cameras are installed in waterproof shell, and mounting seat is equipped at bottom, and multiple-parameter water quality sensor is installed at mounting seat bottom.The utility model can carry out aerial patrol to ocean ranching, and can monitor different depth underwater environment and detect different depth water sample, and it is strong in practicality.

The invention relates to a method for assisting an overtaking process of a vehicle, comprising at least the following steps: firstly, an intended overtaking process is recognized by a detection device of the vehicle; subsequently, a lane guidance by a lane keeping control of the vehicle is switched from a lane center guidance to a lateral offset guidance in the direction of an adjacent lane in such a way that at least one vehicle interior environment sensor has an at least partially open field of view in the direction of the adjacent lane, in particular a field of view past an object to be overtaken; an evaluation of data of the at least one vehicle interior environment sensor is carried out and, on the basis of the evaluation, a determination is made as to "whether an overtaking process can be carried out without danger via the adjacent lane". Furthermore, the invention relates to a driver assistance system and to a vehicle.

The application provides a kind of unmanned aerial vehicle map spot investigation route planning method and device, wherein the method comprises: obtaining the vector polygon boundary data of the region to be investigated, and constructing target surface and planning surface with different task semantics and geometric characteristics;According to the ground coverage size of a single photo calculated by camera parameters and ground sampling distance, classify the map spot;According to the determined map spot type, adopt the matching route generation strategy to generate the classified route;Based on the classified route, generate the discrete flight point set of unmanned aerial vehicle, and decouple the action arrangement of spatial position and evidence attitude.Through the application, the flight and photographing time of unmanned aerial vehicle in non-target area is reduced, the coverage efficiency is improved, and the problem of poor efficiency and accuracy of map spot investigation in the prior art is solved.

Disclosed are a stereoscopic camera system for unmanned aerial mobile carriers and a control method thereof. The stereoscopic camera system for unmanned aerial mobile carriers includes a stereoscopic camera unit including a variable baseline, a storage unit for storing information on baselines set differently according to detection distances, and a processor for setting the variable baseline differently based on the information on the baselines stored in the storage unit according to each detection mode, thereby improving the accuracy of object detection. Thus, the baseline is automatically adjusted according to the flight environment, thereby greatly increasing the measurable distance range compared to a stereoscopic camera having a fixed baseline, and the baseline is adjusted according to the situation, thereby making it possible to sense objects from different distances and angles, thereby improving the safety of UAMs and reducing the risk of collision.

The application discloses a kind of complex scene conditions under instantaneous target fast positioning method, it is related to the field of photogrammetry and remote sensing;It is applied to the unmanned aerial vehicle of three light loads in high altitude to the scene of ground target accurate positioning of application.This application first selects corresponding positioning image source according to current scene;Afterwards, it is judged whether it is satellite navigation signal weak scene, if yes, then take image matching positioning method positioning;Otherwise, it is judged whether it is instantaneous target group, if yes, then use visual positioning method to position;Otherwise, it is judged whether it can be positioned using laser positioning method, if can, then use laser positioning method to position, otherwise, use visual positioning method to position.The application fuses infrared and visible light two kinds of imaging mode and laser positioning and visual positioning two kinds of positioning method, suitable for day, night, heavy fog and other complex weather, can be applied to laser ranging failure, instantaneous target group positioning, satellite positioning signal difference and other scenes, meet the application needs of all-weather various scenes.