3569 results about "Ground level" patented technology

The invention discloses a multi-element historic building maintenance and restoration method based on three-dimensional laser scanning, and relates to the technical field of computer processing, and the method comprises the following steps: S01, obtaining the three-dimensional point cloud data of a historic building foundation through a ground laser scanner, the basic three-dimensional point cloud data comprises geometric information of a building facade, a ground structure and a near-ground decoration component; s02, an unmanned aerial vehicle carries a multi-line laser scanning device to scan the top and the high-altitude structure of the building, supplementary point cloud data is generated, and the millimeter-level precision three-dimensional coordinates of the pitched roof, the tower eave and the cornice bracket are covered with the supplementary point cloud data; and S03, synchronously acquiring surface texture data of the historic building by adopting multispectral imaging equipment. According to the method, the millimeter-level precision of three-dimensional reconstruction of the historic building is realized through multi-source data fusion and a hierarchical optimization algorithm, and the maintenance decision efficiency is improved by combining automatic disease recognition and a multi-modal analysis technology.

The invention discloses an intelligent construction method, system, equipment and medium based on a digital twin tunnel, and aims to construct a high-precision physical entity model by fusing dynamic and static data in real time through multiple types of sensors so as to improve data acquisition comprehensiveness; based on tunnel-level, soil-level and ground building-level multi-level modeling and finite element analysis, fine mechanical stability simulation is realized; multi-dimensional data features are extracted by combining a convolutional neural network algorithm, security risks are evaluated, and a reinforcement scheme is optimized through dynamic iteration; a closed-loop regulation and control mechanism of data monitoring, numerical simulation and dynamic feedback is formed by utilizing a collaborative architecture of a sensing layer, a simulation layer and a display layer, so that environmental disturbance is effectively reduced, and construction safety is guaranteed; according to the method, digital twinning, BIM, finite element analysis and deep learning are fused, real-time monitoring and intelligent optimization of the whole construction process are achieved, efficiency and safety are remarkably improved, and influences on the surrounding environment are reduced.

The invention discloses a front road gradient estimation method based on multivariate information fusion. Relates to the technical field of intelligent driving, in particular to a front road slope estimation method based on multivariate information fusion. According to the method, road segmentation is performed through an improved Patchwork + + model, background and interference point clouds are eliminated, ground effective point cloud data information is extracted, and a road slope value is calculated based on the ground point cloud data information. The method comprises the following steps: performing time synchronization and space registration on a camera and a laser radar to obtain a multi-source information data set; the method comprises the following steps: constructing and improving a Patchwork + + model to obtain an improved Patchwork + + model: processing a multi-source information data set through the improved Patchwork + + model to obtain a coordinate # imgabs0 # of a ground point cloud; and calculating a road slope value according to the coordinate # imgabs1 # of the ground point cloud.

The invention discloses a high-precision DEM construction method based on a point cloud model. The method comprises the following steps: step 1, performing grid division on urban point cloud data, dynamically adjusting the grid size and the neighborhood range based on a weighted gradient value, and calculating the weighted gradient value through the height difference and the distance between the lowest points of a central grid and a neighborhood grid; 2, clustering the urban point clouds by using DBSCAN (Density Based Spatial Clustering of Applications with Noise) and combining the features of color, intensity and texture of the point clouds; 3, taking the extracted ground feature line as a constraint during point cloud filtering, and determining the boundary of a ground point and a non-ground point; step 4, based on the ground feature line constraint in the step 3, executing multi-scale adaptive filtering, and removing non-ground points; 5, taking the extracted ground feature line as a constraint during point cloud filtering, and determining the boundary of a ground point and a non-ground point; and step 6, aiming at different partitions, respectively using a nearest neighbor interpolation up-sampling algorithm to construct a TIN (Triangulated Irregular Network) method to construct an urban high-precision DEM (Digital Elevation Model).

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

The invention discloses an intelligent traffic control method and system in a low-altitude economic environment, and relates to the technical field of intelligent traffic systems, and the method comprises the steps: collecting low-altitude aircraft and ground traffic spatio-temporal data through a multi-modal sensor network, and generating a multi-source heterogeneous data set; constructing a dynamic traffic situation map through spatio-temporal feature fusion; performing three-dimensional path planning to generate a three-dimensional guiding strategy; detecting conflicts and correcting strategies according to a preset rule base, and outputting an instruction set to distribute real-time traffic flow. The technical problem that in the low-altitude economic environment, a traditional traffic management and control method is difficult to meet the cross-domain cooperation requirement of the low-altitude aircraft and the ground traffic is solved, and the technical effects of three-dimensional cooperative management and control of the low-altitude aircraft and the ground traffic and further guaranteeing safe and efficient operation of the traffic in the low-altitude economic environment are achieved.

The invention discloses a city-level live-action three-dimensional modeling method based on air-ground multi-source data, and the method comprises the following steps: 1) respectively constructing a ground point cloud and an air point cloud, respectively extracting semantic tags, local geometric features and color features of a ground image and an air image, and carrying out the back projection of the semantic tags, local geometric features and color features to the corresponding ground point cloud and air point cloud; the method comprises the steps of (1) obtaining a ground point cloud and an aerial point cloud, (2) respectively calculating fusion multi-modal features of the ground point cloud and the aerial point cloud, (3) realizing cross-point-cloud feature interaction through a Transform point cloud registration model, and (4) selecting a three-dimensional reconstruction area. According to the invention, accurate registration of different-source point clouds with large air-ground view angle difference and low overlapping degree can be realized; the problems that an existing oblique photography urban three-dimensional model is lack of details and insufficient in precision in ground and building facade areas, and a live-action three-dimensional model is complex in updating process, long in period and low in automation degree are solved.

The invention discloses a building height detection method and device and a storage medium, and relates to the technical field of image data processing, and the method comprises the steps: generating a digital elevation model of a target region and a digital orthoimage of the target region based on an aerial image; inputting the digital orthographic image into a building detection model for building identification to obtain an identification result of the building in the target area; according to an identification result of the building, establishing world coordinates of the building in the digital orthographic image; and determining a building elevation value and a ground elevation value of the building in the digital elevation model according to the world coordinates, and determining the height of the building according to the building elevation value and the ground elevation value. The technical problems of poor precision and low efficiency of building height detection in urban wide-area complex areas are solved, and the precision and efficiency of building height measurement are improved.

A work machine includes a work apparatus configured to perform work on a ground surface, an aerial vehicle configured to fly by generating thrust, a connection mechanism configured to connect the work apparatus and the aerial vehicle, and a posture controller configured or programmed to control at least one of the aerial vehicle or the connection mechanism to control a posture of the work apparatus.

The present disclosure provides a method and system for establishing a space-ground integrated real-time monitoring reference for dam deformation. The method includes: transmitting control instructions to a space-based Beidou system, a ground-based measurement robot system and a ground-based inverted plumb line system; obtaining a dynamic reference point position of a dam deformation area in real time through the space-based Beidou system; obtaining a spatial relative reference point position of the dam deformation area in real time through the ground-based measurement robot system; obtaining a static gravity reference point position of the dam deformation area in real time through the ground-based inverted plumb line system; and performing data fusion on the dynamic reference point position, the spatial relative reference point position, and the static gravity reference point position, and obtaining a monitoring reference value of the dam deformation area.

The invention relates to the field of building construction, and discloses an upward deployment construction safety management method based on ground oblique photography, which comprises the following steps: acquiring multi-angle ground oblique photography image data of a construction site, and constructing a high-density point cloud model in combination with a visual angle optimization strategy and a region shielding compensation mechanism; performing spatial semantic segmentation on the high-density point cloud model, extracting key component information of an upper deployment area and a lower operation area in the high-density point cloud model by using a structure recognition algorithm, and constructing a spatial distribution map reflecting a component spatial relationship; based on the spatial distribution map, a multi-level safety evaluation algorithm is adopted to analyze the deployment and operation area with spatial intersection, and a potential interference area is identified; introducing a spatio-temporal evolution modeling method, and carrying out dynamic analysis on continuously updated oblique photography images in the construction process; and carrying out dynamic risk grade division on the current deployment scheme based on the safety early warning event set. The method has the advantage of improving the safety management level.

The invention relates to the technical field of geographic information processing, in particular to a land parcel line close-to-the-ground rendering method and system and a computer readable storage medium, and the method comprises the steps: obtaining a 3D model of a topographic region, and extracting ground point cloud data representing the topography from the 3D model of the topographic region; converting the ground point cloud data into a continuous terrain surface model through digital terrain modeling; determining a land parcel boundary point and a gradient thereof based on the terrain surface model, and selecting a corresponding interpolation method according to the gradient to perform encryption and smoothing processing of terrain data; and performing close-to-ground rendering of the land parcel boundary through a three-dimensional graphic rendering technology based on the topographic data and the land parcel boundary points after interpolation processing. According to the implementation of the method, the land parcel line can be accurately attached to the ground, and a more real and natural visual effect is presented.

The invention provides a modular and multifunctional karst collapse physical simulation experiment platform. Comprising a rigid frame, a bearing device, a moving device, a loading device, a lifting device, a pile foundation construction dynamic load simulation device, a ground traveling dynamic load simulation device, a rainfall simulation device, a computer vision monitoring device, an underground water pumping and draining simulation device and an underground space excavation disturbance simulation device. The moving device is arranged on the bearing device, the lifting device, the loading device and the pile foundation construction dynamic load simulation device are arranged on the moving device, the travelling crane dynamic load simulation device is connected with a traction device of the moving trolley, and the camera shooting monitoring device and the rainfall simulation device are arranged on the rigid frame through a support. According to the method, key disaster-causing conditions in the urban environment are fully considered, the working condition scene coverage is wide, and the applicability is high; modularized design is adopted as a whole, all the modules can be flexibly loaded according to requirements, the real environment can be simulated more truly, and the catastrophe evolution process of surface collapse can be reproduced.

The invention relates to the technical field of vehicle body posture leveling control, and provides a vehicle body posture leveling control method and system for an electric mountain transport vehicle, and the method comprises the steps: obtaining ground contact state data and a transverse shaft rotation angle in real time, and carrying out the contact terrain analysis according to the ground contact state data to obtain terrain parameter information; carrying out vehicle load distribution analysis according to the ground contact state data and the terrain inclination parameters to obtain pressure gravity center shift data; adjusting the horizontal axis rotation angle according to the pressure center-of-gravity shift data to obtain a target horizontal axis rotation angle; according to the target horizontal axis rotation angle and the terrain pressure distribution data, carrying out wheel bearing demand analysis to obtain a wheel pressure adjustment strategy; and driving the suspension system to level the posture of the vehicle body according to the wheel pressure adjusting strategy. The terrain environment change can be sensed in real time based on the wheel ground contact state change and the vehicle gravity center shift monitoring mechanism, the rotation angle of the transverse shaft and the wheel ground contact pressure are accurately adjusted, and self-adaptive leveling of the vehicle body posture is achieved.

Ground-engaging components for articles of footwear include an outer perimeter boundary rim that at least partially defines an outer perimeter of the ground-engaging component, wherein the outer perimeter boundary rim defines an upper-facing surface and an opposite ground-facing surface. The outer perimeter boundary rim defines an open space at least at a forefoot support area of the ground-engaging component. A matrix structure extends from the outer perimeter boundary rim (e.g., the ground-facing surface and / or the upper-facing surface) and across the open space at least at the forefoot support area to define an open cellular construction with plural open cells across the open space at least at the forefoot support area. The matrix structure defines one or more sets of adjacent open cells, the set(s) including at least three open cells that are substantially aligned in the forefoot support area along a line extending in a forward medial-to-rear lateral direction.

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

Techniques for estimating a ground plane based on lidar data and / or attributes of the ground plane are discussed herein. A vehicle captures radar data, e.g., 4D radar data including height information, as it traverses an environment. The radar data can include direct returns from an object and reflected or multipath returns, e.g., that reflect off a ground surface and the object. A position of the ground plane can be estimated based at least in part on a distance between direct returns and the reflected returns. Attributes of the ground plane may be determined from differences between the direct returns and the reflected returns.

Embodiments relate to hazard detection in autonomous and semi-autonomous systems and applications. A transformer may use sampled image and LiDAR features to extract and decode a representation of one or more features of each point (e.g., refined height, range, driving condition, etc.) on a sampled surface (e.g., the road). These detections may be provided to one or more control components of an autonomous vehicle, which may use the detections to navigate, plan, or otherwise perform one or more operations. Some embodiments employ an automated approach to derive ground truth data from sensor data collected by data collection vehicle(s), such as data representing detected ground surface models, detected surface features, detected weather and / or surface condition labels, and / or detected per-point artifact labels. Accordingly, surface features such as ground surface heights along a predicted trajectory may be detected and ground truth data may be generated for a variety of sensing tasks.

The invention relates to the technical field of ground-air inspection, in particular to an underground control ground-air inspection operation and maintenance early warning method, which comprises the following steps: a ground detection point preliminarily analyzes a to-be-detected area, inspection tasks of different levels are generated, and an unmanned aerial vehicle plans an initial path according to the inspection tasks and calculates estimated power consumption; if the residual electric quantity is insufficient, whether charging is preferentially carried out is determined by combining the charging distance and the path inspection task level; the power consumption rate is adjusted in real time based on the meteorological threat index and the detection definition, and the power detection period is shortened. And if the residual electric quantity is lower than a return threshold value, an original return path or a nearby detection point is selected as a temporary return target, and safe endurance is ensured. By detecting and planning the inspection task level of the ground detection point and accurately judging the return path of the inspection unmanned aerial vehicle for the remaining power according to the meteorological threat index and the detection definition, the anti-risk capability of the inspection unmanned aerial vehicle is improved.

Embodiments of the present disclosure relate to surface estimation using stereo imaging and surface disparities. For example, a surface disparity field representing a surface in the environment (e.g., the ground) may be estimated from stereo image data and used for various downstream tasks. For example, the difference between a stereo disparity field and a ground disparity field may be used to detect objects, a representation of a navigable space may be generated by radially casting 2D rays in the ground disparity field, the ground disparity field may be used to compensate ego-motion for high dynamic attitude changes, and / or the ground disparity field may be lifted to 3D and used to fit a surface profile to points sampled from the lifted point cloud.

The invention relates to the technical field of physical property measurement of pore-forming side walls, particularly relates to physical property measurement of the interiors of pore-forming side wall materials by utilizing ultrasonic waves, sound waves and laser radars, and particularly discloses pore-forming quality detection equipment which comprises a control bin in communication connection with a ground control terminal through a cable, the two walking units are fixedly connected to the two ends of the control bin and symmetrically distributed in the axial direction, each walking unit is provided with an end cover, at least three supporting arm mechanisms distributed in a circumferential array mode are hinged to the periphery of each end cover, and the laser radar module, the inertial navigation module IMU, the multi-frequency ultrasonic module and the pressure-sensitive detection module are arranged on the detection equipment. The multi-point self-adaptive supporting structure in axial symmetry is adopted, the IMU used for collecting the axis of the formed hole can be kept at the position of the central axis of the formed hole all the time, and the problem that parameters of the side wall material of the formed hole are not accurately measured due to uncontrollable floating and deflection caused by a suspension lowering structure is effectively solved.

A self-deploying shelter assembly deploys between a unfolded and folded state automatically. The shelter includes a plurality of legs and a hub, the hub being configured to be coupled to one end of a leg. A leg has a first element, a second element and a third element. A second end of the third element is movably coupled to the hub. A foot member is coupled to a first end of the first element. A second end of the first element is movably coupled to a first end of the second element and a second end of the second element is movably coupled to the first end of the third element. A roller member is coupled to one or more of the second end of the second element and the first end of the third element and is configured to contact a ground surface when the shelter is folded.

The utility model relates to the field of track devices, and discloses a heavy-load trolley track device which comprises one or more track mechanisms. The rail mechanism comprises a bottom plate, a steel rail, a leveling assembly used for adjusting the vertical position of the steel rail and a straightening assembly used for adjusting the left-right position of the steel rail. The leveling assembly comprises a thick base plate, a thin base plate and an adjusting jackscrew. The upper surface and the lower surface of the bottom plate are horizontal planes and are fixed to a workbench or the ground. The thick base plate is fixed on the bottom plate, the thin base plate is arranged between the thick base plate and the bottom plate, and the adjusting jackscrew penetrates through and rotates on the thick base plate and is used for determining the compensation thickness of the thin base plate. The straightening assemblies are arranged on the two sides of the steel rail correspondingly. According to the utility model, the track can be quickly leveled and straightened, the mounting precision of the track is improved, and the problem that equipment is inconvenient to mount and rotate due to ground level fall is effectively solved.

The invention discloses a ground element labeling method and device, equipment and a storage medium, and the method comprises the steps: determining time sequence data corresponding to a target scene, and constructing three-dimensional point cloud data of the target scene based on the time sequence data; based on the three-dimensional point cloud data, determining a bird's-eye view and an elevation map corresponding to the three-dimensional point cloud data, and displaying the bird's-eye view on a user interface; in response to the detected labeling operation for the ground elements in the aerial view, determining first labeling information of the ground elements; and determining a labeling result of the ground element based on the first labeling information and the elevation map. According to the technical scheme, the three-dimensional point cloud data of the target scene is constructed, and the aerial view and the elevation map are determined based on the three-dimensional point cloud data, so that semi-automatic manual labeling is performed at the BEV perspective, and meanwhile, the 3D labeling result of the ground element is obtained in combination with the elevation map, so that the high-quality ground element labeling true value can be conveniently and quickly obtained.

The invention provides a VR glasses positioning method, system and device, and relates to the technical field of VR, and the method comprises the steps: receiving the first position information, sent by a GNSS of a vehicle, of the GNSS in a ground coordinate system; second position information, sent by a positioning base station in the vehicle, of the VR glasses in the vehicle body coordinate system relative to the GNSS sensor is received; first position measurement information detected by the IMU and sent by the VR glasses is received, and third position information of the VR glasses in the ground coordinate system relative to the GNSS is determined based on the first position measurement information and the second position information; and determining target position information of the VR glasses in the ground coordinate system based on the first position information and the third position information. According to the invention, the VR glasses can be accurately positioned.

In various examples, systems and methods are disclosed relating to determining first track point heights of a ground surface for each of a plurality of frames of a disparity image based on a plane parallax algorithm, the first track point heights including previous track point heights of the ground surface for each of the at least one previous frame of the plurality of frames of the disparity image and current track point heights of the ground surface for the current frame of the plurality of frames of the disparity image and determining second track point heights by temporally fusing the current track point heights for the current frame and the previous track point heights for each of the at least one previous frame.

The invention discloses a fleet formation flight implementation method and device, equipment, a medium and a product, and belongs to the technical field of aeronautical communication. The method comprises the following steps: establishing an air-ground interconnection communication link to realize real-time data interaction between a ground control unit and a plurality of flying civil aircrafts and between the plurality of civil aircrafts; based on an air-ground interconnection communication link, an airborne ad hoc network with a leading aircraft as a core is constructed, and an information interaction network in the formation is formed. Acquiring formation flight environment data; determining a safe area of formation flight based on the formation flight environment data, and calculating the maximum number of aircrafts in the formation and the relative positions of the aircrafts in the formation; and issuing the maximum number, the relative position and the flight decision information to each airplane in the formation through the airborne ad hoc network so as to execute formation flight. According to the embodiment of the invention, the real-time performance and accuracy of communication between the fleet can be effectively improved, and the airspace operation efficiency and flight safety are improved through the formation flight of the fleet.

The invention belongs to the field of digital twinning simulation, and relates to a digital twinning method and system for a cross-country test field, and the method comprises the steps: collecting multi-source heterogeneous point cloud data and image data of the cross-country test field, and generating a three-dimensional grid model according to the collected data; extracting a ground point set of the multi-source heterogeneous point cloud data by using a ground point iterative segmentation method based on dynamic threshold adjustment; generating a road center line and a geometric parameter evaluation result thereof according to the extracted ground point set; modeling the road center line according to the geometric parameter evaluation result by using an elevation modeling method based on multi-scale interpolation and error compensation to obtain a road surface elevation model; based on the three-dimensional grid model and the road surface elevation model, realizing synchronization of the virtual vehicle and the real vehicle; according to the method, the candidate ground points are extracted through the dynamic threshold value, the number of iterations and the sampling strategy are adjusted according to the candidate ground points, the accuracy and processing efficiency of surface point extraction are improved, and therefore the accuracy and efficiency of road surface elevation model modeling are improved.

The invention provides an intelligent leveling and ground pressure self-adaption system of a modularized movable laboratory, and relates to the technical field of laboratory leveling, the system realizes high-precision leveling through six-degree-of-freedom hydraulic support legs, is equipped with pressure and displacement sensors, and is combined with spherical hinge universal joints to compensate ground inclination. And the reliability and the safety of the system are improved through the backup design of the double hydraulic pumps and the energy accumulator. The system further has a ground pressure self-adaption function, the pressure of the supporting legs is dynamically adjusted based on the ground type and a bearing capacity model, local overload is prevented, and an anti-sedimentation strategy is set. In addition, the system integrates technologies of Beidou / GNSS positioning assistance, multi-modal data fusion, block chain traceability and the like, and the leveling efficiency, stability and traceability are enhanced. The system is suitable for mobile laboratory deployment under complex terrains, and has the characteristics of high efficiency, accuracy and reliability.

The invention discloses a low-altitude ground collaborative distribution method and system considering a real-time traffic state of a road, and relates to the technical field, and the method comprises the steps: constructing a traffic speed function of a driving time function of a distribution vehicle along with the change of time and a road section in a segmented manner; constructing an energy consumption function for the unit time power consumption rate of the unmanned aerial vehicle; constructing a mixed integer programming model according to the passing speed function and the energy consumption function; generating an initial solution; performing variable neighborhood search of multi-thread parallel disturbance in the search space based on the initial solution, and performing iterative solution to obtain an optimal solution of the mixed integer programming model; resetting the optimal solution to obtain a primary optimal solution; and optimizing the primary optimal solution to obtain a final solution. According to the invention, through constructing the mixed integer programming model, the distribution efficiency can be improved in a scene of cooperative distribution of the distribution vehicle and the unmanned aerial vehicle.