492results about "Profile tracing" patented technology

The invention relates to the field of measurement, in particular to a subway tunnel secondary lining section limit measurement method based on SLAM mobile scanning, which comprises the following steps: step 1, tunnel point cloud acquisition and target clustering point cloud acquisition; step 2, CPIII control point coordinate extraction; step 3, point cloud coordinate conversion; 4, performing point cloud processing, and removing noisy points and non-secondary-lining target point cloud data in the tunnel secondary-lining point cloud; and step 5, performing three-dimensional limit deviation analysis, performing spatial comparative analysis on the point cloud under the construction coordinate system and the subway secondary lining tunnel design three-dimensional model by adopting a voxelization deviation mapping algorithm, extracting a continuous deviation region through voxel clustering, and generating a three-dimensional deviation thermodynamic diagram. According to the method, the two-lining tunnel point cloud obtained by SLAM mobile scanning is accurately converted into a construction coordinate system by combining CPIII high-precision control points in the tunnel, rapid, visual and three-dimensional contrastive analysis with design of a three-dimensional model can be achieved, and visual and reliable data support is provided for line and slope adjustment, track laying and defect improvement.

The invention discloses a robot gait self-adaptive adjustment method and system combined with topographic feature recognition, and relates to the technical field of robot gaits, and the method comprises the steps: collecting a topographic image in front of a robot advancing path, carrying out the deblurring processing, and extracting ground feature data through a lightweight neural network; matching the ground characteristic data with a preset gait control parameter database to obtain a gait control parameter set, and generating a control signal through a proportional-differential control method according to the gait control parameter set; correcting the control signal based on a reinforcement learning algorithm, and generating a target control instruction for driving a joint actuator; in the process of executing the target control instruction, collecting state feedback data in real time, and comparing and optimizing the feedback data with the currently executed target control instruction to realize feedback adjustment; the problems of insufficient terrain recognition precision caused by image blurring, response lag caused by sensing and control decoupling and lack of adaptive ability are effectively solved.

The invention discloses an unmanned aerial vehicle assisted three-dimensional scanning well measurement system and method. The method comprises the steps of firstly collecting shaft information, adjusting equipment, planning a measurement path, enabling an unmanned aerial vehicle to collect data according to the planned path, then preprocessing the data, intelligently identifying and classifying the data, constructing a three-dimensional model, analyzing errors, evaluating the data, and finally generating a measurement report. The system comprises an unmanned aerial vehicle, a laser radar, a structured light camera, a depth camera, an IMU + UWB and a cloud processor. Compared with a traditional measurement mode, the method has obvious advantages. Through laser radar SLAM + UWB positioning, the unmanned aerial vehicle can be accurately navigated, high-precision scanning and image acquisition are realized in combination with multi-sensor fusion, and measurement blind areas are reduced. The intelligent identification and classification technology can automatically detect and classify hoistway facilities, detect wall damage and support dynamic obstacle avoidance. Various algorithms are adopted for data processing to improve the model precision, the finally generated high-precision model can be directly used for various engineering scenes, and an efficient and intelligent solution is provided for well measurement.

The invention relates to the technical field of bridge pier scour monitoring, discloses an air-water-shore cooperative overwater float type bridge pier scour monitoring system, and belongs to the technical field of bridge safety monitoring. According to the system, an integrated framework is formed by a buoy platform, a shore-based cooperative monitoring station and a cloud monitoring platform. The buoy platform is fixed to a pier through a mooring lead, the underwater sonar module of the buoy platform can scan the terrain of a riverbed at multiple angles, and the overwater module integrates high-precision positioning and video monitoring. The shore-based station is provided with a laser scanner and a high-definition camera to monitor the overwater structure and the macroscopic environment of the pier. The cloud platform serves as a control center, converges the multi-source data of the buoys and the shore stations through a communication network, carries out time sequence correlation and fusion analysis, and dynamically evaluates the scour pit development and the bridge pier structure state. According to the invention, the limitation of a single monitoring mode is broken through, collaborative acquisition and intelligent fusion of air, water and shore data are realized, the comprehensiveness, accuracy and early warning capability of monitoring are remarkably improved, and reliable guarantee is provided for safe operation of bridges.

The invention relates to a three-dimensional digital contour detection system for a tunneling roadway, and belongs to the technical field of roadway contour measurement. The system comprises a data acquisition module used for acquiring original point cloud data through a three-dimensional scanning device; the data preprocessing module is used for preprocessing the original point cloud data to obtain actual point cloud data, constructing design point cloud data and aligning the actual point cloud data with the design point cloud data to obtain standard point cloud data; the over-break and under-break area division module is used for dividing over-break and under-break areas according to the design point cloud data; the plane screening module is used for fitting a plurality of random planes and screening out a plurality of initial candidate planes; the roadway size calculation module is used for classifying five actual planes and calculating the roadway size of the tunneling roadway based on the five actual planes; and the visualization and storage module is used for visually displaying the roadway contour information. According to the invention, the error of tunneling roadway contour measurement is reduced, and the efficiency and real-time performance of roadway contour construction are improved.

The invention discloses a tunnel back break analysis method based on a dynamic center line and an incremental convex hull, and belongs to the technical field of tunnel engineering detection. According to the system, the problems that a traditional detection method is low in efficiency and large in error are solved by fusing dynamic slice projection, robust registration and intelligent contour generation technologies. The method specifically comprises the following steps: carrying out configurable downsampling (the density is reduced to 0.2%-0.5% at an interval of 50-1000 points) on an original point cloud, constructing a tunnel three-dimensional model (the side length of a grid is less than or equal to 0.1 m) by adopting a dynamic center line extraction algorithm, and carrying out ICP (Inductively Coupled Plasma) registration (error lt; the method comprises the following steps of: synchronously extracting a design / actual measurement section contour by using a combined slicing technology, generating an actual measurement polygon based on an incremental convex hull algorithm (a filtering threshold value is 20 points), and calculating an over-break volume (an error is less than or equal to 1.5%) by using a spatial Boolean operation. A dynamic center line extraction and incremental convex hull algorithm is innovatively introduced, automatic generation of a color gradation analysis atlas (over-excavation RGB (255, 69, 0) and under-excavation RGB (30, 144, 255)) is supported, and full-process closed-loop processing is realized.

The invention discloses a tunnel cross-sectional image analysis method based on image processing, and aims to solve the problems that a surface image is not clear in correspondence with a transient seismic wave method, a geological radar and a resistivity imaging section space, and anomalies at a certain distance in front are difficult to map to a tunnel face. According to the method, anisotropic reforming is carried out by adopting a Fourier neural operator, cross-modal Transform registration of a micro attention mask based on sector geometry, curve mileage and section polar coordinate position coding is combined, analytic geometry mapping and uncertainty propagation are matched, tunnel face structure traces and water seepage texture evidences are fused, and the tunnel face structure traces and the water seepage texture evidences are combined. The technical effects of accurate positioning of abnormity on the tunnel face, position confidence range estimation, risk grading early warning, stripe artifact suppression, abnormal boundary reservation and output of structured results of mileage stake numbers, azimuth angles, distance intervals and the like are achieved.

The invention relates to the technical field of channel monitoring and underwater topography analysis, in particular to a multi-beam sounding data driven underwater topography profile extraction method and device and a medium, and the method comprises the steps: obtaining channel region multi-beam sounding original data, carrying out the standardized preprocessing, and outputting a sounding data set; performing spatial interpolation and vectorization processing on the sounding data set to generate channel geological data, and issuing the channel geological data as a similar three-dimensional channel bottom graph through a geographic information service platform; generating a profile path, and generating interpolation points according to a preset interval; constructing a spatial index structure based on the sounding data set, and establishing an adjacent sounding point retrieval channel for each interpolation point; and in allusion to the same profile path, acquiring multiple periods of sounding data, calculating water depth difference, and dynamically and visually displaying an abnormal movement phenomenon by using a broken line graph. According to the method, efficient extraction, dynamic comparison and automatic early warning of the multi-period sounding data can be realized, and the analysis efficiency and accuracy of the channel topographic change are remarkably improved.

The invention belongs to the technical field of tunnel engineering detection, and provides a tunnel fault zone lining non-uniform thickness detection method based on three-dimensional laser point cloud fusion LS, and the method comprises the steps: collecting the point cloud data of a tunnel fault zone through a three-dimensional laser scanner; processing the point cloud data of the tunnel fault zone on the basis of a three-dimensional LS (least square method), and constructing and obtaining a geometric shape model of the tunnel fault zone; and on the basis of the geometrical shape model of the tunnel fault zone, the tunnel fault zone lining non-uniform thickness is detected in combination with the actual point cloud data. The tunnel fault zone lining non-uniform thickness measuring device can accurately measure the tunnel fault zone lining non-uniform thickness, improves the detection accuracy and efficiency, has the advantages of being high in automation degree and high in detection efficiency, and provides powerful technical support for safety monitoring and maintenance of tunnel engineering.

The invention discloses a concrete wall full-section deformation monitoring device and method, and relates to the technical field of engineering structure health monitoring, and the device comprises an integrated measurement unit, a passive stable characteristic target group and a processing unit. The integrated measuring unit is composed of an area array solid-state laser radar and a high-resolution binocular vision camera which are rigidly and fixedly connected, and is used for synchronously collecting three-dimensional point cloud and two-dimensional images of a wall and an environment. The target group is arranged on an independent stable object near the wall body; the processing unit identifies coordinates of the target group based on laser radar data, establishes a world coordinate system, calculates self pose drift of the measuring unit by periodically detecting position change of the target, and performs coordinate correction on a wall surface relative displacement field obtained by visual calculation by using the drift distance; and finally, outputting a full-section absolute deformation field under a world coordinate system. According to the invention, high-precision monitoring of full-field continuous deformation of the concrete wall is realized, and the reliability and comprehensiveness of structural health monitoring data are improved.

A map generation apparatus including an in-vehicle detector detecting a situation around a subject vehicle and a microprocessor. The microprocessor is configured to perform extracting feature points from detection information detected by the in-vehicle detector, selecting first feature points from the feature points, calculating three-dimensional positions of the first feature points included in each of a plurality of the detection information while estimating a position or posture of the in-vehicle detector based on the plurality of the detection information, and generating a map including information of the three-dimensional positions of the first feature points. The microprocessor is configured to perform the selecting including selecting the first feature points other than a feature point of a predetermined landscape feature from the feature points, and the generating including adding information on a position of a second feature point not selected among the feature points to the map.

Described are systems and techniques for road surveying. Information indicative of a sequence of target road sections each comprising one or more road segments can be used to configure a vehicle to perform a road survey by traveling each target road section of the sequence. Data acquisition can be started from onboard sensors of the vehicle based on detecting a first trigger event where a current position of the vehicle is within a configured threshold distance from a first target road section of the sequence. Respective road survey data can be obtained for each road segment in each target road section of the sequence, and can comprise a subset of acquired data obtained from the onboard sensors between a corresponding start and end point automatically determined for the respective road segment based on detecting the occurrence of trigger events corresponding to the current vehicle position and / or heading.

The invention discloses a tunnel back break detection method, which relates to the technical field of tunnel engineering, and comprises the following steps: step 1, control point measurement; step 2, tunnel scanning; 3, reconstructing a point cloud; step 4, generating a section; and step 5, performing overbreak and underbreak comparison and report output. The invention provides a three-dimensional laser cooperative scanning method integrating a total station and a handheld scanner, aiming at the problems that the efficiency of the scanner of the total station is high but the cost is too high, the efficiency of a common total station is low, and the precision of the handheld scanner is insufficient in the traditional tunnel detection technology. By combining total station control point calibration and handheld device dynamic scanning, the advantages of the total station control point calibration and the handheld device dynamic scanning are fully fused, the limitation of a single device is broken through, the tunnel detection precision and efficiency are improved, a more economical and efficient detection solution is provided for complex tunnel engineering, collaborative optimization of the precision and efficiency is achieved, and the tunnel detection efficiency is improved. And the method has important engineering application value and popularization significance.

The invention relates to an unmanned aerial vehicle towed body positioning attitude measurement method based on binocular vision positioning, and relates to the technical field of computer processing, and the method comprises the following steps: S01, constructing a measurement system which comprises an unmanned aerial vehicle and a towed body connected with the unmanned aerial vehicle through a cable; the unmanned aerial vehicle carries a GNSS module, an IMU module and a binocular camera, and the upper surface of the towed body is provided with a coding pattern and carries a sonar sensor; s02, establishing a towed body coordinate system by taking the acoustic center of the sonar sensor as an original point, obtaining three-dimensional coordinates of feature points on the towed body in the towed body coordinate system, and generating a three-dimensional space model operation simulation model of the towed body; and S03, the binocular camera is calibrated. According to the invention, the problem of underwater topographic survey of a near-shore high-flow-velocity turbid water area is solved, and high-efficiency, low-cost and high-precision surveying and mapping operation is realized.

The invention relates to the technical field of tunnel monitoring, in particular to a construction tunnel laser scanning point cloud attitude correction method based on multi-feature fusion, and the method comprises the steps: S1, synchronously extracting a ground baseline feature, a haunch symmetry axis feature and a vault circle center feature from a tunnel section laser scanning point cloud; s2, constructing confidence quantitative models for the three types of features respectively; s3, calculating the weight of each feature through a normalized exponential function based on the confidence of the three types of geometric features obtained in the step S2; setting a confidence threshold value, and forcibly returning to zero weight to shield failure features when the confidence threshold value is lower than the threshold value; when all the weights return to zero, activating a degradation protection mechanism to give equal weights; and finally, weighting and fusing the horizontal rotation angles of the three types of features according to weights, and outputting a correction angle. According to the method, the problem of systematic deviation caused by interference of a single reference is solved, and the correction precision and robustness in a complex construction environment are remarkably improved.

To provide a method, a device and a system capable of measuring the displacement of the inner space of a tunnel at high speed.SOLUTION: 1) In the initial measurement step, the unevenness feature of the target 100a to 100e is acquired. In addition, the point cloud of the inner surface of the tunnel including the target 100a to 100e is obtained as the first point cloud, and the unevenness feature is extracted from the first point cloud to obtain the first position information of the target 100a to 100e. In the displacement measurement step (2) performed after a predetermined time elapses, a search region including a position specified based on the first positional information and having a larger area than the targets 100a to 100e is set, point cloud of the search region is acquired, and the targets 100a to 100e are extracted from the point cloud of the search region based on the unevenness feature information to acquire the second positional information. Then, the displacement of the inner space of the tunnel is measured based on the difference between the first position information and the second position information.SELECTED DRAWING: Figure 17

The invention relates to the field of sonar signal processing, and provides an unmanned ship multi-beam sonar detection method, system, device, product and medium, and the method comprises the steps: obtaining a side-scan sonar and a multi-beam sonar, scanning the submarine topography through the side-scan sonar and the multi-beam sonar, and obtaining a multi-beam scanning signal and a side scanning signal; performing Kalman filtering to obtain a first filtering signal, and filtering the first filtering signal through an adaptive filtering threshold to obtain a second filtering signal; constructing a minimization energy function, obtaining an optimized filtering signal through the minimization energy function, and carrying out the iteration of the optimized filtering signal, and obtaining a first terrain signal; constructing a generative adversarial network by using a generator and a discriminator, and performing terrain reconstruction on the first terrain signal through the generative adversarial network to obtain a second terrain signal; and correcting the second topographic signal through sound velocity measurement equipment to obtain a target topographic signal, and constructing an underwater topographic scanning graph according to the target topographic signal.

A reel assembly for an agricultural header includes a reel arm configured to couple to a frame of the agricultural header and configured to support a reel of the reel assembly. The reel assembly further includes a device mounting assembly movably coupled to the reel arm and configured to support a device that is configured to monitor a terrain feature. The device mounting assembly is configured to move between an extended position and a retracted position relative to the frame to move the device between a first position corresponding to the extended position of the device mounting assembly and a second position corresponding to the retracted position of the device mounting assembly. The device mounting assembly is configured to enable the device to monitor the terrain feature at the first position and the second position.

The application discloses a kind of automatically generated river section and feature extraction method, comprising: by specified numerical value, along the river center line / longitudinal axis line generation point, and point is set to number along river direction, and adjacent line recursive generation center line is given to these line number;According to the order of numbering, traverse point, and make perpendicular to its adjacent line;Generation perpendicular segment and the intersection of adjacent line, and these intersection points are given the numbering value consistent with point;With intersection point along the direction of existing perpendicular segment, continue to make perpendicular to its adjacent line;Respectively, the intersection of perpendicular segment and adjacent line is solved, and these intersection points are given the numbering consistent with the starting point of perpendicular segment;Until perpendicular segment reaches river boundary;According to center line number and the intersection point number of generated perpendicular segment, line segment is generated, and automatic section establishment is completed;Information extraction point is generated by the generated section line;Extract section two / three-dimensional grid data information.The application realizes the automatic section generation and attribute extraction of river with relatively severe width and curvature variation.

The invention belongs to the technical field of tunnel construction deformation monitoring, and particularly discloses a tunnel construction surrounding rock deformation and support structure deformation synchronous monitoring method, which comprises the following steps of: arranging monitoring point pairs of surrounding rock and support structures on a tunnel physical monitoring section, synchronously acquiring deformation data by using the monitoring point pairs, and then executing graded time synchronous verification; through a dual synchronization verification mechanism, the problem of time misalignment is effectively eliminated, and it is also ensured that data used for collaborative deformation analysis has real and reliable time sequence consistency in the physical sense. Meanwhile, the surrounding rock displacement and support stress response curves of the same monitoring point pair are superposed under a unified time axis on the basis of completing time synchronism verification, the coupling relation between the morphological characteristics and the time sequence is comprehensively analyzed, the deformation cooperation state at the point is accurately judged, refined deformation behavior analysis based on the physical position is achieved, and the accuracy of deformation behavior analysis is improved. The early-stage precursor of collaborative degradation can be captured, and the timeliness of risk early warning is remarkably improved.

To grasp a state of an environment where a plurality of trees such as forests exist while reducing time and cost required for work.SOLUTION: The tree analysis system 110 according to the embodiment analyzes a state of a tree by using three dimensional point group data 120 obtained by forest measurement. The processing device 111 determines the position of the tree and the height of the tree indicated by the three dimensional point group data 120 on the basis of continuity along the height direction of the plurality of points indicated by the three dimensional point group data 120. The processing device 111 determines a crown portion of the tree based on the position of the tree, and calculates a crown area based on the crown portion. The processing device 111 calculates the state of the tree based on the tree height and the tree crown area.SELECTED DRAWING: Figure 18

The present application relates to the technical fields of shaft section size measurement, and particularly relates to a laser measurement device for mine shaft section, which comprises a supporting cylinder, a plurality of clamping assemblies outside the supporting cylinder, a supporting lower ring plate, an inner double-cone ring plate rotatable by a motor drive, a plurality of lasers on the outer wall of the inner double-cone ring plate, a double-ratchet ring in the inner cavity of the inner double-cone ring plate, an upper cover plate assembly movably connected to the inner wall of the double-ratchet ring, one end of the clamping assembly hingedly connected to the upper end of the upper cover plate assembly, and the other end of the clamping assembly slidably connected to the supporting lower ring plate, and the supporting diameter size can be adjusted by the vertical displacement of the clamping assembly through the upper cover plate assembly. The device can rotate the lasers in a rotating manner for rotation measurement during lifting, expand the area of shaft section measurement, prevent dead angles during measurement, and improve the measurement accuracy.

The invention relates to the technical field of tunnel detection, and discloses a laser tunnel section detector which comprises a supporting frame, a mounting table is arranged at the top of the supporting frame, a section detector is connected to the mounting table, an operator carries the section detector to the position, needing to be detected, of a tunnel section, then the section detector is started, and the section detector is started. When vibration generated by construction is transmitted to the position of the supporting frame and the supporting frame moves upwards under the influence of the vibration, the leveling assembly and / or the hydraulic assembly are / is driven to move, the vibration borne by the supporting frame is fully reduced through the hydraulic assembly and / or the leveling assembly, and the stability of the section detector during detection is guaranteed; the support frame is effectively prevented from being influenced by vibration generated by tunnel construction, so that the fracture surface detector vibrates, the contour line scanned by the fracture surface detector easily has large fluctuation, and the detection accuracy is ensured.

The invention provides a rock mass section area measuring device in a point load test, and relates to the technical field of geotechnical engineering and engineering geology. Comprising an external model framework, a profiling support mechanism, a pressure sensing positioning unit and a data acquisition and analysis system, the profiling supporting mechanism and the pressure sensing positioning unit are fixed in the integral external frame; the profiling supporting mechanism is clamped on the upper portion in a frame through the difference of the inner diameter and the outer diameter of the external model frame to form mechanical interlocking, and the lower portion of the profiling supporting mechanism is arranged above the pressure sensing positioning unit through a reserved positioning hole. The pressure sensing and positioning unit is a distributed array pressure sensor combination, and the data acquisition and analysis system is connected with the pressure sensing and positioning unit to reflect monitoring data. Pressure distribution data of a rock contact area are collected in real time through the pressure sensing and positioning unit, and the data collection and analysis system is combined with signal processing, shape recognition and 3D modeling technologies to achieve rock shape analysis and visual visualization and calculate the sectional area of the rock contact area in real time.

The invention belongs to the technical field of river model topographic survey, and provides an automatic river model topographic survey device and system.The automatic river model topographic survey device comprises a track, a moving trolley is arranged on the track and comprises a base, two connecting shafts are symmetrically and rotationally connected to the bottom of the base, and a double-shaft driving motor is arranged on the connecting shaft at one end; wheels are fixedly connected to the two ends of the two connecting shafts, a storage battery is arranged at the bottom of the base, and an adjusting assembly is arranged on the base. The mobile trolley accurately moves along the track through the double-shaft driving motor, the whole range of the model can be covered, the rotating holder achieves 360-degree horizontal rotation through worm and gear transmission, the river model can be scanned in an all-around mode, it is ensured that no measurement dead angle exists, and the lifting component adjusts the height of the three-dimensional laser scanning head through lead screw transmission. The device adapts to terrains of different depths, transmission of all parts is stable, manual intervention is not needed, the model measurement time is short, and efficiency and data reliability are greatly improved.

This invention relates to a method and system for multi-source satellite collaborative remote sensing monitoring of river cross-section water levels, belonging to the field of river cross-section water level remote sensing monitoring. The method includes classifying cross-sections based on their morphological and slope characteristics; constructing error correction models for water levels of different types of cross-sections monitored by satellites at different spatial resolutions; and obtaining time-series water level datasets for different types of cross-sections through multi-source satellite collaborative monitoring, based on these error correction models and the water levels at different time phases of different types of cross-sections monitored by satellites at different spatial resolutions. This completes the multi-source satellite collaborative remote sensing monitoring of cross-section water levels. This invention achieves cross-section classification and then meets the high-frequency monitoring requirements for river section water levels through multi-source satellite collaborative remote sensing monitoring.

The utility model discloses an inter-mountain ranging auxiliary device, which relates to the technical field of geological exploration and comprises a bottom plate and a clamping plate, a partition plate is fixedly connected outside a vertical plate, scale plates are fixedly connected to two sides of the partition plate, a fixing plate is fixedly connected outside the vertical plate, and a driving motor is fixedly connected outside the fixing plate. A rotating rod is fixedly connected to one side of the driving motor, a rotating plate is fixedly connected to the exterior of the rotating rod, a mounting box is fixedly connected to the tail end of the rotating plate, a reading groove is formed in the exterior of the rotating plate, inclined planes are symmetrically formed in the exteriors of the two clamping plates, and a clamping mechanism is mounted between the exteriors of the clamping plates and the inner side of the mounting box; and a quick release mechanism is mounted outside the mounting box. According to the device, rapid and stable installation and convenient disassembly of the distance measuring equipment are achieved through the design of the spring and the slope, the distance between two points in a mountain land is accurately calculated through angle data of the rotating plate and direct reading of the distance measuring equipment, and a safe and efficient distance measuring solution is provided for geological exploration.

The application discloses a tunnel face multi-direction measuring terminal, which comprises a mounting base, an upper shell and a lower shell, the upper shell and the lower shell are both hollow structures, the mounting base is used for connecting a support, the outer side of the mounting base is provided with a first rotating assembly, the first rotating assembly is connected with the lower shell, a battery is arranged in the lower shell, the upper end of the lower shell is provided with a second rotating assembly, the second rotating assembly is connected with the upper shell, a circuit board and at least one laser emitter are arranged in the upper shell, and the circuit board is electrically connected with the battery and the laser emitter respectively. The rotating angle of the laser emitter in the upper shell can be adjusted through the first rotating assembly and the second rotating assembly, so that the position of the laser emitter can be flexibly adjusted according to different measuring environments, and the structured light emitted by the laser emitter can be accurately projected on the tunnel face, thereby ensuring the accuracy of the face measurement.