52results about How to "Realize distance measurement" patented technology

The invention discloses a monocular vision lane line detection method and a distance measurement method of the monocular vision lane line detection method and belongs to the field of vehicle driving safety auxiliary systems. The lane line detection method comprises the steps of shooting multiple frames of images when a vehicle is just started to obtain a reference lane line, then obtaining candidate real-time lane lines by every reading of a real-time image, performing region matching on the candidate real-time lane lines and the reference lane line, and if the region matching is successful, updating an inclination angle and outputting the reference lane line; if the region matching is failed and the failure emerges for the first time, recording the candidate real-time lane lines as temporary lane lines, if the failure emerges continuously and the reference lane line can be continuously successfully matched with the temporary lane lines, outputting the temporary lane lines. A distance between a body vehicle and a target vehicle can be calculated by setting a reference target on the basis of a projection relation between the reference target and the target vehicle in a vision collection system according to the lane line image detected by the method disclosed by the invention. The monocular vision lane line detection method and the distance measurement method of the monocular vision lane line detection method are suitable for vehicle lane line detection and distance measurement between two vehicles.

The present invention discloses a coherent laser radar system of high-resolution measurement of a remote object. The system comprises a narrow linewidth seed light source, a double parallel phase modulator, a radio frequency signal source, a fiber beam splitter, an acoustic optical modulator, a collimator, a polarized light beam splitter, a quarter-wave plate, an optical antenna, a 2*2 fiber optic combiner, a balance detector and a signal processing module. The coherent laser radar system of high-resolution measurement of remote object can perform high-resolution measurement of the distance and the speed of the remote object. The coherent laser radar system of high-resolution measurement of remote object is high in detection sensitivity, high in distance resolution, high in speed resolution, has a laser all-fiber structure and the output line polarization high peak power laser, and has a wide application prospect in the national defense and civil detection fields.

The invention discloses a shooting processing method for an unmanned aerial vehicle. The method comprises the steps: aligning a camera of the unmanned aerial vehicle with an object; recording a first reference pattern; recording a second reference pattern; synthetizing a stereo reference pattern of the object; automatically traversing the image in a whole viewing frame by a focusing frame, and comparing the image in the whole viewing frame with the stereo reference pattern when the unmanned aerial vehicle detects that a control signal is interrupted, and automatically adjusting the position of the unmanned aerial vehicle until the object is redisplayed in the viewing frame of the camera if the object is not found; presetting a reference straight line between a camera and the object, and controlling the unmanned aerial vehicle to move along the reference straight line; calculating the measurement distance between the camera and the object; and controlling the unmanned aerial vehicle to move toward the object continuously until the measurement distance is less than or equal to the reference distance if the measurement distance is greater than the preset reference distance. The shooting processing method for an unmanned aerial vehicle can improve the shooting quality when the unmanned aerial vehicle is under the loss state in the air.

The invention provides 3D solid-state area array laser radar and a distance measuring method thereof. Long-distance accurate measurement can be realized on the basis of the solid-state area array laser radar. A laser source emits high-energy laser, after the emitted laser is focused by a divergent lens, an emitted view angle is equal to a received view angle of a receiving lens, so that distance measuring beam energy of the laser radar is concentrated, measuring distance limitation is broken through, and long-distance measurement is realized; multiple photosensitive elements are arranged on aphotoelectric receiving processor, modulated light reflected by obstacles can be received simultaneously, relative distance of multiple points is obtained through processing, and distance measuring accuracy and working efficiency are improved. On the basis of realization of the long-distance measurement by the 3D solid-state area array laser radar, the solid-state area array laser radar provided with an infrared LED light source realizes short-distance and large-view-field distance measurement, can realize long-distance and short-distance measurement and meets different measurement requirements.

The invention discloses a method and device for measuring the distance between a power transmission line and a target object, and electronic equipment. The method comprises the steps: receiving background point cloud and a two-dimensional background image of a corridor scene of the power transmission line; constructing a coordinate transformation relationship between the background point cloud andthe two-dimensional background image; selecting feature points from the background point cloud and the two-dimensional background image to construct a mapping relationship between each pixel coordinate in the two-dimensional background image and each three-dimensional point coordinate in the background point cloud; receiving a real-time two-dimensional image of the power transmission line corridor scene, and judging whether a target object appears in the real-time two-dimensional image or not; when the target object appears, calculating the three-dimensional point coordinates of the target object in the background point cloud according to the pixel coordinates of the target object and the mapping relationship, and searching the three-dimensional point coordinates of the power transmissionline closest to the target object; and calculating the Euclidean distance between the target object and the power transmission line according to the three-dimensional point coordinates of the targetobject and the three-dimensional point coordinates of the power transmission line. The method can solve the problem that the measurement mode of a traditional handheld laser range finder is large in error.

The invention relates to an acoustic seabed distance measurement system. The system comprises an energy transducer, a pressure-resisting shell, an electronic cabin, watertight flanges, a watertight connector, a receiving emission module, a power supply management module, an on-duty circuit module, a work circuit module and a peripheral module. The electronic cabin is installed in the pressure-resisting shell. Two ends of an opening are installed with the watertight flanges. One watertight flange is connected to the energy transducer. The other watertight flange is connected to the watertight connector. The receiving emission module, the power supply management module, the on-duty circuit module, the work circuit module and the peripheral module are located in the electronic cabin. The energy transducer is used for carrying out conversion between an electric signal and an acoustical signal on the signal. The receiving emission module is used for receiving and emitting the signal. The power supply management module is used for managing a power supply. The on-duty circuit module is used for completing an on-duty task, cooperating with the power supply management module so as to complete a power supply management control task and transmitting a spreading distance of the measured acoustic signal between two points to a data recording device. The work circuit module is used for completing a real-time range finding task.

The present invention relates to a dual-laser driving circuit and a scanning laser radar ranging device and method. The circuit comprises a voltage doubler unit for outputting a pulsed high voltage toa first node when a first driving pulse signal is received, a power storing and releasing unit used for storing electric energy when a pulse voltage is present at a first node, releasing a first electric quantity to a second node when a second driving pulse signal is received and releasing a second electric quantity to the second node when a third driving pulse signal is received, and a light emitting unit which is used for generating a laser signal of first power when the first electric quantity is inputted at the first node and generating a laser signal of second power when the second electric quantity is inputted at the second node. The scanning laser radar ranging device is realized based on the above circuit. The method is realized based on the above device. According to the embodiment of the present invention, the requirements of human eye safety by near-distance laser power can be ensured, stray light at a close range is filtered, far-distance and near-distance ranging is achieved, and the ranging ability of a lifting device is improved.

The invention discloses a method for continuously measuring three-dimensional coordinates of targets on the basis of fixed-focus cameras, and belongs to the technical field of monocular vision. The method includes preliminarily arranging the dot array targets at target locations; reading real-time video stream by the aid of the fixed-focus cameras, adjusting the cameras, aligning the cameras withthe dot targets and allowing all dots in the targets to enter visual fields of the cameras; computing the dots in the visual fields of the cameras, detecting the dots and computing coordinates of thedots; computing external reference matrixes of the cameras according to the obtained coordinates of the dots; computing the three-dimensional coordinates according to internal and external reference matrixes of the cameras. The method has the advantages that imaging principles are applied, the targets are introduced into monocular vision to be used as coordinate restrictions, markers convenient toidentify are set, images of the markers are accurately extracted by the aid of computers, accurate required data can be acquired, and accordingly distances can be easily and effectively measured in ahigh-precision manner.

The invention discloses a method for measuring a distance between an object and a shooting camera by utilizing a digital camera, aiming at providing a method which is simple and can be operated easily to measure the distance between the object and the shooting camera in occasions that do not need high-precision distance measurement. The method comprises the following steps: marking all groups of lenses in a digital camera lens as a1, a2, a3 to an, correspondingly marking the nearest distance values between each group of lenses and a photosensitive unit as b1, b2, b3 to bn, and marking distance values between the current position and the photosensitive unit as c1, c2, c3 to cn, and marking obtaining numerical values that respectively correspond to the lens obtained by formulas as d1,d2, d3 to dn; connecting the obtained d1,d2,d3 to dn end to end to obtain index values IDJ=d1d2d3 to dn of object distances; building a corresponding relationship between each object value uj in definite state of the lens and the index value ID of the object distance; and reading the corresponding object distance by the index values ID of the object distances.

The invention relates to a safe work distance measuring and early-warning method of an aerial lift device with an insulated arm. Supersonic sensor are arranged in upper front, rear, left, right and lower positions of the arm respectively, power is supplied to different devices, and a minimal safe distance of early warning is set; a single-chip microcomputer STM32 is arranged to send range finding pulse signals to the supersonic sensors; a measuring-end device forwards measured distance data to an early-warning device in a console of the aerial lift device via a WiFi module; the early-warning device receives data via the WiFi module, received data is displayed on a display, and a minimal distance value is selected from the received data after processing; the minimal distance value is compared with the preset minimal safe distance value, and whether alarming is raised is determined; and the single-chip microcomputer STM32 emits an early-warning signal to drive an acousto-optic alarm and implements braking. The safe work distance measuring and early-warning method can improve the safety and reliability of maintenance, transmit range finding information stably, realize effective early warning, enable an operator to monitor the distance between the arm and power cables as well as the distance between the arm and a large transformer and the like in real time, and reduce power accidents.

The invention discloses a proximate sense transducer based on a plane-parallel capacitor. A surface layer substrate, a middle layer and a bottom layer substrate of the same shapes and sizes are laminated from top to bottom; a driving electrode, induction electrodes and a protection ring are arranged on the upper surface of the surface layer substrate; the driving electrode is arranged at the central position of the upper surface of the surface layer substrate; the outer periphery of the driving electrode is coupled with the protection ring; the outer periphery of the protection ring is coupled with two or more induction electrodes of the same structures; the induction electrodes are symmetrically distributed on the outer periphery of the protection ring; the induction electrodes generate corresponding coupling capacitance together with the driving electrode respectively; the middle layer serves as a GND grounding layer; the protection ring is punched with a first small circular hole; the surface layer substrate is punched with a second small circular hole; the first small circular hole is fully coincided with the second small circular hole. The proximate sense transducer has high sensitivity and high accuracy, and the problem that the proximate sense transducer in the prior art cannot simultaneously detect the approaching distance and direction of an object to be tested and cannot judge the property of the object to be tested is solved.

The invention discloses a method for measuring a goods distance based on binocular vision. The method comprises the following steps: a binocular image is obtained from a binocular camera, and the obtained image is subjected to preprocessing; camera parameters are obtained by a camera parameter calibration algorithm, and an imaging model is established; SIFT features of the binocular image are extracted, and the binocular image is subjected to stereo matching according to the extracted features; and the distance between goods and the camera is calculated and converted into the distance between the goods. Based on computer binocular vision principles, the method realizes reasonable placement of warehouse shelves, achieves reasonable warehouse position allocation of newly warehoused goods according to the own characteristics of a warehouse, and reduces the work intensity of a warehouse manager.

The application discloses a distance measuring method, an equipment, a device and a storage medium, relates to the field of mobile terminals. The distance measuring method comprises the following steps that: an acoustic wave generator transmits a band pass noise signal to a predetermined direction; an acoustic wave receiver receives a mixed signal, extracts a feature of the mixed signal to obtaina spatial feature quantity, and finally performs acoustic wave interference analysis according to the spatial feature quantity to obtain an obstacle distance in the predetermined direction. Accordingto the distance measuring method, the equipment, the device and the storage medium, after acoustic waves are transmitted through acoustic wave devices such as microphones and earphones, distance measurement between a terminal and the obstacle is realized by utilizing the acoustic wave interference analysis, and the distance between the terminal and the obstacle can also be measured, when a front panel of the terminal is not provided with a distance sensor.

The invention discloses a distance measuring system for cable laying distance measurement. The distance measuring system comprises a laser distance measuring instrument, multi-angle rotating mirrors and a reflector, wherein the laser distance measuring instrument, the multi-angle rotating mirrors and the reflector are all arranged in a cable shaft; the laser distance measuring instrument is arranged at one end of a distance measurement path below the cable shaft, and the reflector is arranged at the other end of the distance measurement path; in the distance measurement path, the multi-angle rotating mirrors are arranged; laser emitted by the laser distance measuring instrument enters the reflector after being sequentially reflected by the multi-angle rotating mirrors and then is sequentially reflected by the multi-angle rotating mirrors back to the laser distance measuring instrument; the laser distance measuring instrument comprises a single-chip microcomputer, a distance measurement display module, a temperature detecting module, an alarm module, a driving circuit, a laser transmitting probe, a laser receiving probe and a signal processing circuit. The distance measuring system for cable laying distance measurement has the advantages of the capability of measuring nonlinear distance, realization of the distance measurement of lines with turning points, improvement on convenience in cable laying and the like.

The invention discloses a distance measuring device and method based on sound wave communication. A first controller drives a first ultrasonic transmitting circuit to send a distance measuring request signal, the first controller records the transmitting moment as T1, a second ultrasonic receiving circuit receives the distance measuring request signal, a second controller records the receiving moment as T2, the second controller drives a second ultrasonic transmitting circuit to send a distance measuring answering signal, and records the transmitting moment as T3, a first ultrasonic receiving circuit receives the distance measuring answering signal, the first controller records the receiving moment as T4, the first controller and the second controller calculate respectively according to the time difference (t1=(T4-T1)) for sending the distance measuring request signal and receiving the answering signal and according to the ultrasonic transmission speed v and the time difference (t1=(T3-T2)) for receiving distance measuring request signal and sending the answering signal, and the distance (D=(t1-t2)v / 2) between a moving point and a reference point is obtained through calculation. The distance measuring device and the distance measuring method have the advantage that the distance measurement between two determined points is realized.

The invention discloses a robot anti-collision device. The device comprises a controlling block, wherein the controlling block is provided with a chamber, four vertical rods are rotationally arrangedat the bottom of the controlling block, two steering wheels and two driving wheels are arranged at the bottoms of each two vertical rods on the same side, the sides, close to each other, of the four vertical rods are fixedly provided with the same mounting block, the mounting block is provided with a driving mechanism, the sides, close to each other, of two driving wheels are provided with the same driving shaft, the driving shaft is in transmission connection with the driving mechanism, and the tops of the two vertical rods on the same side are fixedly provided with steering shafts. Accordingto the robot anti-collision device, the information of the distance between the device and obstacles is fed back, the conditions of obstacles on the two sides of steering are fed back, a buffer device or certain devices capable of bearing strong impact force do not need to be arranged, the device can travel by bypassing the obstacles, the ability is strong in the case of obstacles of simulated reality, a new chapter is opened for subsequent research of robots, and the device is worthy of wide popularization.

The invention provides a laser radar, an autonomous mobile robot and an intelligent vehicle, and relates to the technical field of detection. The laser radar comprises a ranging unit; the ranging unitcomprises a photoelectric proximity sensor chip and a collimation focusing element, and the collimation focusing element is arranged in a ranging light path of the ranging unit; the ranging light path comprises an emitting light path between an emitting window of the photoelectric proximity sensor chip and an object to be measured and a receiving light path between the object to be measured and areceiving window of the photoelectric proximity sensor chip; the ranging unit emits laser beams through the emitting window, and the laser beams are received by the receiving window after being collimated or focused by the collimation focusing element and reflected by the object to be measured so as to realize the distance measurement of the object to be measured. Therefore, the angle resolutionin the distance measurement is improved by focusing a detection laser beam through the collimation focusing element; and by adopting the mass-produced highly integrated photoelectric proximity sensorchip, the cost and the manufacturing difficulty of the laser radar are reduced.

The invention belongs to the technical field of overhead transmission line monitoring and acquisition, and specifically relates to a smart acquisition terminal and an acquisition method for tree obstacle information of an overhead transmission line channel. The smart acquisition terminal comprises a smart acquisition terminal body and a data processor module in the smart acquisition terminal body, wherein a first spirit level is arranged on the left side of the smart acquisition terminal body; an optical camera, a laser transmitter and a laser receiver are arranged at the top of the smart acquisition terminal body; a sling hole, a second spirit level and a microphone are arranged at the bottom of the smart acquisition terminal body; a wireless communication module is arranged on the back of the smart acquisition terminal body; and the acquisition method comprises tree obstacle information acquisition, corresponding lead information acquisition, measurement of distance between a tree obstacle and a corresponding lead, and automatic uploading and storage of the tree obstacle information. The smart acquisition terminal is small, portable and easy to operate, and can improve the accuracy and the efficiency of tree obstacle information acquisition, realize automatic uploading and management of the tree obstacle information and facilitate management of hidden tree obstacle danger information of the transmission line channel and effective governance.

The embodiment of the invention relates to the technical field of communication, and discloses a method, device and system for detecting merchant false transactions and a computer readable storage medium. The method for detecting the merchant false transaction provided by the invention comprises the following steps: acquiring transceiving data of a Bluetooth signal of a mobile terminal in a merchant store; Obtaining the meal delivery amount of the merchant within the preset time; And determining whether the merchant has a false transaction or not according to the receiving and sending data andthe meal delivery amount. According to the method, device and system for detecting the merchant false transaction and the computer readable storage medium provided by the invention, whether the merchant false transaction exists or not can be determined without the need for workers to go to the site for investigation, so that the labor cost is reduced.

The invention discloses a focal length measurement method for a laser marking machine. The method comprises the following steps: S1, carrying out left and right camera image acquisition on a target object by using a binocular camera; s2, after the camera is calibrated, camera focal length and baseline parameters are obtained; s3, segmenting the acquired image into super-pixel regions by adopting a super-pixel segmentation method; s4, carrying out feature point matching by adopting superpixel grid motion statistics; and S5, respectively calculating disparity maps of the matched feature points, averaging to obtain an average disparity, and finally calculating to obtain a depth map. According to the invention, both the distance measuring precision and the efficiency are obviously improved, and the actual requirements of the laser marking machine can be better met. According to the invention, the effect of real-time measurement output can be realized, and a solution can be provided for streamlined marking operation of the laser marking machine.

The invention discloses a distance measurement method and system. The system comprises a first fixed marker post which is disposed at a starting point and provided with a first beacon and a second beacon. The first fixed marker post is perpendicular to the ground plane. The first beacon and the second beacon are located at different height positions. The system further comprises a second marker post which is arranged at a target point and provided with information sources. The second marker post is kept perpendicular to the ground plane. The first beacon and the second beacon are in wireless communication with the information sources respectively, so as to acquire the signal transmission time differences between the first beacon and the information source and between the second beacon andthe information source. Measurement of the distance between the first beacon and the information source and measurement of the distance between the second beacon and the information source are acquired, and finally the distance between the starting point and the target point is acquired. According to the invention, distance measurement is realized by utilizing the combination of a plurality of information sources and beacons; the measurement of the distance between the starting point and the target point is realized; and the influence of inconsistent altitudes of two positions is avoided.

According to the endoscope system and the method for detecting the contact between the tail end of the endoscope and the tissue, the gain and exposure time of the video stream are controlled, so thatthe current brightness of the video stream is within the target brightness range, and the distance between the tail end of the endoscope and the tissue is measured; when the distance between the tailend of the endoscope and the target tissue is smaller than a preset distance, contact early warning is sent out, contact judgment is triggered, and when it is detected that the change rate of the ratio of the current brightness to the exposure amount is smaller than a threshold value, texture feature information of the target tissue before and after the output light power is increased is extractedand compared; and whether the tail end of the endoscope is in contact with the target tissue or not is judged. According to the endoscope system, whether the tail end of the endoscope makes contact with the target tissue or not is judged by comparing the change conditions of the texture feature information of the target tissue before and after the output light power is increased, the contact prompt accuracy is improved, and damage to the tissue in the target tissue detection process by the endoscope is effectively avoided.

The invention discloses a method for measuring a distance between an object and a shooting camera by utilizing a digital camera, aiming at providing a method which is simple and can be operated easily to measure the distance between the object and the shooting camera in occasions that do not need high-precision distance measurement. The method comprises the following steps: marking all groups of lenses in a digital camera lens as a1, a2, a3 to an, correspondingly marking the nearest distance values between each group of lenses and a photosensitive unit as b1, b2, b3 to bn, and marking distance values between the current position and the photosensitive unit as c1, c2, c3 to cn, and marking obtaining numerical values that respectively correspond to the lens obtained by formulas as d1,d2, d3to dn; connecting the obtained d1,d2,d3 to dn end to end to obtain index values IDJ=d1d2d3 to dn of object distances; building a corresponding relationship between each object value uj in definite state of the lens and the index value ID of the object distance; and reading the corresponding object distance by the index values ID of the object distances.

The invention discloses a method for measuring a distance by parallax of an object on an image. The method comprises calibrating an infrared binocular camera to obtain inner parameters and structural parameters of a system, calculating a baseline distance, extracting significant characteristics of the binocular image through a visual significance model, and determining a significant target distance. Compared with the conventional technology, the method for measuring a distance by parallax of an object on an image can realize significant characteristic extraction of the binocular image and significant target division, reduce an object range, reduce matching time, improve efficiency, calculate parallax through significant target key point matching and measure a distance. The object is on a vertical surface so that error matching key points are well screened and accuracy is improved.

The invention discloses a quick mounting device for a wet joint suspended formwork bottom plate, which comprises a supporting frame, a pull rope and an electric hoist, the cross section of the supporting frame is of an A-shaped structure, an electric pulley is fixedly arranged at the top of the supporting frame, rollers are arranged at the bottom of the supporting frame, one end of the pull rope is fixedly connected with an output shaft of the electric hoist, and the other end of the pull rope is fixedly connected with the output shaft of the electric hoist. And a hook is arranged at the other end and is used for being hung on a mold hanging bottom plate. The electric hoist is arranged at the bottom of the A-shaped supporting frame, and the end of the electric hoist is hung on the hanging mold bottom plate through the pull rope, so that lifting of the hanging mold can be achieved by operating the electric hoist in a labor-saving mode, and the purposes of saving energy, reducing consumption and improving quality and efficiency are achieved; furthermore, through vertically arranging a distance measuring instrument on the supporting frame, the distance between the hoisting bottom plate and the supporting frame is measured, then the height of the hoisting bottom plate can be visually observed in real time, and the damage that the hoisting height is not in place or after the hoisting height is in place, an electric hoist continues to hoist to burn a motor is avoided.

The invention provides a laser inclination measuring device for electric power tower detection, and relates to the technical field of electric power tower detection equipment.The device comprises a support base. A triangular support is fixedly connected to the lower portion of the support base. A U-shaped frame is fixedly connected to the upper surface of the support base. A rotating ring is rotationally connected to the middle of the U-shaped frame. A first motor is fixedly connected to the outer side of the U-shaped frame, and an output shaft of the first motor is connected with and drives a side shaft of the rotating ring through a coupler. A measuring instrument body is rotationally connected to the middle of the rotating ring, and a middle cylinder of a cylindrical groove body structure is arranged in the middle of the measuring instrument body. The device is not limited by terrains, can be conveniently adjusted, is easy to operate, can be directly placed at any position below an iron tower for use, and solves the problem that a plumb method has large errors and low precision due to the influence of environments and human factors and the problem that a theodolite method needs to be matched with an artificial prism, meanwhile, an instrument needs multiple times of station setting, and the method is greatly influenced by human factors, is low in precision and is easily limited by terrains.

The invention provides a comprehensive lift shaft test system, which comprises a laser test head device and a test host, the laser test head device is located in a lift shaft, the test host is locatedoutside the lift shaft, the laser test head device comprises a bracket, a base, and a laser test head, and the laser test head is mounted on the bracket or the base; and the test host comprises a power supply unit, a joystick controller, a wireless network card, a display unit, a sound card system, and an industrial computer. The comprehensive lift shaft test system executes the following measurement: (1) shaft top measurement; (2) shaft bottom measurement; (3) car testing. Without requiring the arrangement of workers in the lift shaft, the comprehensive lift shaft test system can utilize thecooperation between the laser teat head device in the lift shaft and the test host outside the lift shaft to measure the distance between the car and the lift shaft and acquire car data, judge whether requirements are met according to related national regulations and standards or not, and generate a test result.

The present disclosure discloses a portable thermal radiation sign temperature controller, method and system. The controller includes a UWB ranging module, a main control module and a housing structure, wherein the UWB ranging module and the main control module are located in the housing structure Inside, the UWB ranging module is used to measure the distance with the walking robot through wireless communication; the main control module is provided with pins, a temperature sensor interface, and a heating wire interface; The pin realizes the connection with the UWB ranging module, and is used for interacting with the UWB ranging module and supplying power; the housing structure is respectively provided with a Opening; the temperature controller has high integration, small size and light weight, which is convenient for the target person to carry around, and can realize heating temperature setting, heating wire heating sequence setting, and target distance measurement; effectively solve the target recognition accuracy rate of walking robots And the problem of low positioning accuracy.

The invention discloses a distance measurement method, a movable platform, equipment and a storage medium. The method comprises the steps of obtaining a first image of an airspace above an unmanned aerial vehicle; after semantic recognition, obtaining a target area influencing flight of the unmanned aerial vehicle; controlling the unmanned aerial vehicle to move a preset distance in a specified direction to obtain a second image of the airspace above the unmanned aerial vehicle; matching pixel points of the target area in the first image and the second image to obtain matched pixel points; finally, determining the distance between the target area and the unmanned aerial vehicle according to the matched pixel points, and furthermore, controlling the flight state of the unmanned aerial vehicle according to the distance. Distance measurement is carried out through image recognition, and the used images are shot by a camera necessary for the unmanned aerial vehicle, so that distance measurement can also be realized for the unmanned aerial vehicle without a depth sensor.

The invention relates to a tool structure for measuring the length of a ring groove of a plunger piston part. The tool structure comprises a chassis, wherein a support is fixedly connected with the chassis, a positioning mandrel penetrates the support and is located in the support, respectively sleeved by a first lining and a second lining and located between the first lining and the second lining, and a first spring is further arranged on the positioning mandrel. Steel balls are symmetrically arranged inside the positioning mandrel, and a second spring is connected between two steel balls. The tool structure is simple in structure and quick and convenient to measure, embedding connection of the ring groove of an inner ring of a plunger sleeve is achieved by utilizing the steel balls symmetrically arranged in the positioning mandrel, positioning is quick and convenient, a measurement standard of the plunger sleeve is effectively achieved by utilizing a blocking plate, measurement of a distance between the ring groove of the plunger sleeve and the end face is achieved, the time and labor are saved, the measurement efficiency is greatly improved, and the enterprise cost is saved.