6086 results about "Ground level" patented technology

A control method and system for precise landing of an unmanned aerial vehicle. The method comprises the following steps: on the basis of a multi-sensor fusion technique, using a lidar and a stereo vision algorithm to collect environmental data and perform primary processing, and generating comprehensive environmental perception data (step S1); on the basis of the comprehensive environmental perception data, using a digital elevation model algorithm to re-construct a three-dimensional terrain of a landing area, and generating a three-dimensional terrain model (step S2); on the basis of the three-dimensional terrain model, using an A* search path-planning algorithm to perform risk assessment and plan a safe landing path, and generating an optimized landing path (step S3); on the basis of the optimized landing path, using an adaptive control algorithm to adjust a flight attitude in real time by means of a fuzzy logic controller, and generating flight parameter adjustment (step S4); on the basis of the flight parameter adjustment, using machine vision and a decision tree algorithm to execute autonomous obstacle avoidance and emergency response, and generating a safe landing execution scheme (step S5); and on the basis of the safe landing execution scheme, using an ultrasonic sensor and a ground feedback system to confirm and fine-adjust a landing point, and completing final landing confirmation (step S6).

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.

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

The invention 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.

A header height sensor and adjustment system capable of differentiating between the ground and object above the ground. The system is able to differentiate between lodged / downed stalks and the ground. The system includes one or more non-contact sensors, such as Time-of-Flight (ToF) sensor and / or radar sensors. The system may optionally include a contact sensor. The disclosed header height sensor and adjustment system is able to automatically or semi-automatically adjust the height of the header in response to detected objects and terrain in order to maximize yield (e.g., lowering to harvest lodged stalks) and avoid header damage (e.g., raising to avoid debris or contour terrain).

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 a surveying and mapping method for a complex terrain in a surveying and mapping process, which relates to the technical field of surveying and mapping, and comprises the following steps of: constructing a convolutional neural network model, carrying out sub-region division on a whole region, and taking terrain complexity data, terrain complexity level data and a preset surveying and mapping method as a training set for training; according to the method, the trained convolutional neural network model is utilized, only remote sensing satellite image data of a to-be-mapped area needs to be acquired, sub-area division can be automatically carried out on the area, the terrain complexity level and the corresponding mapping method of each sub-area are output at the same time, and the mapping efficiency of the whole area is improved while the mapping precision of the complex terrain is guaranteed. Meanwhile, surveying and mapping data of each sub-region are obtained in real time and transmitted back to a ground preset platform; and the ground preset platform processes all the surveying and mapping data, so that the processing efficiency of the surveying and mapping data is improved.

A ground-underground cooperative area weakening based rockburst prevention and control method for a thick and hard roof. The method comprises: first obtaining spatial distribution characteristics of a hard roof; then on the basis of the spatial distribution characteristics of the hard roof, obtaining different types of fracturing prevention and control target horizons and five fracturing prevention and control patterns corresponding thereto, wherein the five fracturing prevention and control patterns comprise: a low-position single thick and hard roof horizon, a low-position composite hard roof horizon, a high-low position composite thick and hard roof horizon, a high-position composite thick and hard roof horizon, and a high-position single thick and hard roof horizon. The method can fundamentally and comprehensively solve the problem of rockburst hazards induced by a thick and hard roof.

Techniques for estimating a ground profile, including a ground height (e.g., elevation) and ground roll, for an environment associated with a vehicle are described herein. Sensor data associated with a vehicle may be used to determine sensor data points associated with a path of the vehicle. Based on an upper bound slope and lower bound slope, such as a maximum and / or minimum rate of ground roll change, a region (e.g., search window) may be determined. Based on the region, a subset of sensor data points included in the region may be determined. The subset of sensor data points may be used to determine a representative height and representative roll. In some instances, the representative height and representative roll may be determined using a Hough transform and the subset of sensor data points. A ground profile may be determined based on the representative height and representative roll.

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 provides a train section protection method and system capable of autonomously sensing a backup operation level, and the method comprises the steps: receiving danger source information and signal machine state information transmitted by ground equipment under the condition that the operation level of a train is an ABL level; calculating a first perception MA of the train according to the signal machine state information and the ABL level generation factor; according to the type of the signal machine corresponding to the open near road of the train and the first sensing MA, sensing MA fusion of different train routes is carried out, and a second sensing MA is obtained; extending the second perception MA according to different accurate parking scenes to obtain a third perception MA; updating the third sensing MA according to the validity of the hazard source information to obtain a fourth sensing MA; and controlling the train to perform target obstacle protection in the operation interval according to the fourth sensing MA. According to the method, automation, intelligence and reliability of a train signal system are improved, and then the efficiency and safety of interval protection of the train are improved.

The invention provides a three-dimensional visual safety monitoring method for a wind power hoisting site, and relates to the technical field of safety monitoring, and the method comprises the steps: building a construction three-dimensional map based on the real-time monitoring of the wind power hoisting site; interacting the hoisting construction progress, and positioning a violation identification area; presetting a video time domain, and cutting and exporting a local video sequence; pre-constructing a ground violation analysis model, and performing ground violation behavior identification to obtain a first risk behavior set; extracting to obtain a to-be-hoisted component, and determining a real-time construction equipment group; k operation monitoring video streams are obtained through interaction, operation violation behavior recognition is carried out, and a second risk behavior set is obtained; and carrying out visual identification to generate a safe visual map. The technical problem that in the prior art, the safety management level of a construction site is poor due to the fact that safety monitoring data of a wind power hoisting site are always displayed in a non-visual mode and the safety risk position and degree are difficult to judge rapidly and visually is solved.

The invention relates to the technical field of mine safety, and discloses a mine extreme weather emergency defense and up-and-down pre-alarm system, which comprises a ground surface monitoring module used for monitoring the water level, rainfall and environment humidity of a mine wellhead and a ground surface low-lying area in real time and generating a dynamic water level pre-alarm signal; the wellhead flood control module comprises an automatic emergency flood control door and is used for receiving the early warning signal of the earth surface monitoring module and automatically closing the flood control door when the water level reaches a warning line so as to prevent surface accumulated water from flowing backwards to the underground; and the underground early warning and evacuation module comprises a sound-light alarm device and a wireless communication system. By adopting the technical scheme of multi-sensor fusion and water level trend prediction, through multi-dimensional real-time monitoring of the wellhead water level, the rainfall intensity and the environment humidity, the pre-closing state of the flood gate is triggered in advance in combination with dynamic data analysis and an intelligent algorithm, and the technical effects of timely responding to rapid rising of the water level and reducing the operation pressure of equipment are achieved.

The utility model discloses a high-rise building concrete member flatness detection device, and relates to the technical field of flatness detection, the high-rise building concrete member flatness detection device comprises a mobile base, the top end of the mobile base is hinged with a balance adjusting plate through a pillar, and two sides of the top end of the mobile base and two sides of the bottom end of the balance adjusting plate are connected through balance adjusting mechanisms; the balance adjusting plate is adjusted at the top end of the movable base through the supporting columns, the balance adjusting mechanisms are symmetrically arranged between the movable base and the balance adjusting plate, and therefore the balance adjusting plate can be horizontally adjusted through the balance adjusting mechanisms, and it can be guaranteed that a concrete member is horizontally placed even under the condition that the ground is uneven; therefore, the influence of uneven ground on the flatness detection accuracy of the concrete member can be avoided, and the synchronous driving mechanism drives the front base plate and the rear base plate to move synchronously so as to drive the infrared laser transmitter and the infrared sensor to move synchronously and transversely, so that continuous detection of different positions of the surface of the concrete member can be realized.

The invention belongs to the technical field of ground unmanned platforms, and particularly relates to a sky-air-ground integrated cross-country environment high-precision map construction method. Comprising the following steps: 1, acquiring a cross-country environment high-precision map; and 2, making a cross-country environment high-precision map. According to the invention, automatic extraction of elements is realized by combining an automatic extraction technology; in the aspect of map making, making specifications are provided, and the running efficiency of a high-precision geographic information system is improved while it is guaranteed that the cross-country maneuvering requirement of a ground unmanned platform in the cross-country environment is met; incremental data updating is carried out on the high-precision map based on a real-time mobile environment perception result of the ground unmanned platform so as to ensure the timeliness of the high-precision map. Through the method, the blank of a high-precision map technology in the field of automatic driving in the cross-country environment is filled up, and support is provided for improving the cross-country maneuverability of a ground unmanned platform.

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.

A method and an apparatus estimate a distance of an object based on a static object and a difference in ground height. The method includes processing an image captured by an image capture means to obtain an object recognition result for an object and a space recognition result for a space. The method includes detecting a static object on a first ground higher than a second ground of a host vehicle based on the object recognition result and the space recognition result. The method includes estimating a height of the first ground based on the static object and includes estimating a distance value of the object included in the object recognition result based on the height of the first ground.

A vegetation monitoring device with at least one camera unit (28) for monitoring vegetation health in a garden (10), wherein the at least one camera unit (28) is configured to detect the garden area (30, 32, 34) in at least a first range of the electromagnetic spectrum, in particular in the visible light range, and in at least a second region of the electromagnetic spectrum, in particular in the infrared range, in order to determine at least one vegetation index of at least one garden area (30, 32, 34) of the garden (10), in particular in the region of visible light, and in at least one second region of the electromagnetic spectrum, in particular in the infrared range, wherein the camera unit (28) is provided for an arrangement at least substantially above ground level of the garden (10) and for an at least substantially stationary arrangement outside or in the vicinity of the garden (10), and a vegetation monitoring system is proposed.

The invention discloses a multi-scale hierarchical efficient filtering method considering topographic features, which can efficiently extract a large number of uniformly distributed accurate ground seed points and ensure the accuracy of an initial topographic surface by introducing a method of combining a sliding grid technology and an M estimation sample consistency algorithm. Then, constructing a ground reference surface grid according to the ground points subjected to iterative recognition, and quickly generating a ground reference surface by adopting a grid-based global weighted finite difference TPS method; and finally, establishing a self-adaptive threshold value considering topographic features to capture ground points, thereby effectively improving the point cloud filtering precision in a complex scene. The filtering method is stable in performance and good in filtering effect in a large-scale scene with complex terrain and mixed ground features, and the filtering method is high in filtering precision, high in calculation efficiency and high in terrain adaptive capacity. Meanwhile, the filtering method is high in operation speed and has the performance advantage of processing large complex scenes.

A health indicator system for a sensor pod includes one or more sensors associated with the sensor pod, a sensor pod housing, an internal sensor status monitoring system configured to determine a status of at least one sensor of the one or more sensors, and a plurality of visual indicators located on at least one exterior surface of the sensor pod housing, the plurality of visual indicators configured to display a predetermined configuration based on the determined status of each of the one or more sensors. The plurality of visual indicators are located on the sensor pod housing at a level such that when an external operator standing on a ground surface approaches the vehicle, the plurality of visual indicators is within the external operator's field of view.

The invention relates to the technical field of ground deformation monitoring equipment, and provides a ground deformation monitoring device for mine treatment construction and a use method.The ground deformation monitoring device comprises a second fixing frame and a first fixing frame, a shaft rod is arranged between the second fixing frame and the first fixing frame, and a synchronizing mechanism is connected between the shaft rod and a ground insert; in the displacement process of the ground socket, the shaft rod can be adaptively rotated through the synchronizing mechanism. In the process that the transmission assembly and the jacking mechanism are synchronously driven, the presenting assembly can be transmitted and jacked through the lifting assembly, so that track drawing can be conducted on the presenting assembly through the recording assembly, that is, in the winding and unwinding process of the recording tape, a transverse plate can correspondingly move upwards, a line drawn by a pen refill is an oblique line every time, and the working efficiency is improved. Under the condition that the transverse distance is not changed, when the ground deforms for multiple times, the deformation degree, frequency and direction can be clearly obtained through the continuous broken lines on the recording tape.

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.