2797 results about "Ground level" patented technology

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 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 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.

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.

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.

The invention relates to a quadruped robot laser odometer method based on ground point optimization, hardware and application, and the method comprises the steps: obtaining an original point cloud collected by a laser radar, carrying out the preprocessing, dividing a polar coordinate region, jointly extracting ground plane feature points and ground geometric edge feature points based on normal vector and local curvature features, and carrying out the calculation of the ground plane feature points and the ground geometric edge feature points; ground geometric edge feature points are utilized to optimize ground model fitting; optimizing a point set of the ground based on a time sequence reference plane of the ground; the optimized ground points are removed, and non-ground point features are extracted from the remaining point clouds; establishing feature association between the feature points in the current frame and the target point cloud, and screening effective matching pairs; a cascade weight optimization objective function associated with the ground point plane constraint, the non-ground point line feature constraint and the surface feature constraint is constructed, and continuous pose transformation of the quadruped robot is solved; hardware is realized based on the method, and the method is applied to real-time pose estimation and environment mapping of the quadruped robot in outdoor unstructured terrains and complex dynamic environments.

An adjustable ladder platform is an apparatus that aids in keeping extension ladders on firm, level footing having an open base frame that sits directly on the unlevel ground, roof surface, pavement or the like a flat surface, similar to a small tabletop that supports the feet of the extension ladder. The two components are then hinged together at one side of the frame. Then the opposite side is supported by two adjustable arms that are attached by bolts and wingnuts that can be attached and removed without tools. The arms are provided with multiple holes to accommodate varying grades. One side of the device is provided with an attached bubble level to ensure levelness of the upper platform to ensure safety. Finally, one side of the device is provided with a handle to facilitate transport.

A shower chair for supporting a user in a shower or bath includes a seat supported on a foldable leg assembly. The leg assembly is configured to transition between a first configuration, in which the seat is supported at a first height above a ground surface, and a second configuration, in which the seat is supported at a second height above a ground surface depending on the needs of the user.

The invention relates to the technical field of surveying and mapping equipment, and discloses a surveying and mapping instrument with soft and hard ground switching dual-mode supporting legs, the surveying and mapping instrument comprises a debugging platform and a surveying and mapping instrument body, and a multi-stage horizontal adjusting assembly for rapidly adjusting and leveling the surveying and mapping instrument body is arranged between the debugging platform and the surveying and mapping instrument body. The bottom of the debugging platform is provided with at least three sets of supporting leg assemblies, and the bottoms of the supporting leg assemblies are detachably provided with switching discs through separation assemblies. The first soft ground supporting assembly and the second soft ground supporting assembly are adopted to be used according to different soft ground conditions, short-term effective supporting of the tripod is achieved, rapid installation of the switching disc and positioning of the hard ground supporting assembly, the first soft ground supporting assembly and the second soft ground supporting assembly are achieved through the separation assembly, and therefore the switching disc can be conveniently and rapidly installed. And for different use environments, adjustment is carried out when the switching disc is installed, and the operation is simple and convenient.

An expandable multifunctional integrated-construction skyscraper building platform and a construction method using the same are provided. The expandable multifunctional integrated- construction skyscraper building platform includes: a building foundation part, including an underground level, a basement level and a ground level which form a main body; an external frame part, a bottom of the external frame part being fixed deep into the underground level, and a top of the external frame part running through the basement level and the ground level to reach upper air such that lifting platform parts arranged on the external frame part are capable of going up from the underground level for construction; a transportation elevator part and a three-layer enclosure part, mounted on the building foundation part; a top transfer part, mounted on a Chinese character “Ri” frame at a top of the external frame part; and a carrying tower.

The present invention relates to the technical field of rail transit signaling systems, and in particular to a train control system, method and apparatus for heterogeneous verification of movement authority (MA). The system comprises: a ground-based temporary speed restriction server configured to send, to an onboard device of a target train, location information of all trains within a section corresponding to the target train; a ground-based radio block center configured to: calculate MA on the basis of the location information of the target train and location information of a train preceding the target train; and send the MA and identification information of the preceding train to the onboard device of the target train; and the onboard device configured to verify and correct the MA on the basis of the identification information of the preceding train and the location information of all the trains. In the present application, a heterogeneous MA calculation and verification mechanism is adopted, thereby reducing the risk of errors due to MA calculation by a single device.

The invention discloses a mobile platform path planning and obstacle avoidance method and system based on negative obstacle perception, and the method comprises the steps: collecting the image and depth data of an environment in front of the ground, recognizing a negative obstacle candidate region in a path, and extracting the geometric feature parameters of the negative obstacle candidate region; comparing the geometrical characteristic parameter of the negative obstacle with the platform structure parameter, and judging whether a preset crossing condition is met or not; when a crossing condition is met, the platform enters a crossing path mode, a plurality of candidate speed combinations are generated in a speed space, the candidate speed combinations are respectively substituted into a first path cost function for evaluation, and the candidate speed combination with the minimum cost is selected as control output; when the crossing condition is not met, the platform is switched to a bypassing path generation mode, the candidate paths are evaluated by using a second path cost function, and the path with the minimum cost is selected as an execution path; the method has the advantages that the requirement for negative obstacle navigation in complex and unstructured terrains is met, and the running safety and stability of the ground mobile platform are guaranteed.

The invention discloses a tool face angle real-time prediction method based on ground top drive parameters, and relates to the field of tool face angle real-time prediction, and the method comprises the steps: constructing a model training parameter obtaining experiment bench, and collecting simulation drill string dynamic data under different ground top drive parameter combinations through the bench; calculating an initial tool face angle, and performing unwrapping treatment on the initial tool face angle to obtain real tool face angle time sequence data; constructing a prediction model based on an LSTM neural network by taking the ground top drive parameters and the corresponding real tool face angle time sequence data as training samples; and the RMSE, the MAE, the Rand the prediction accuracy are used as evaluation indexes to verify the reliability of the model prediction performance. The method has the advantages that the top drive parameters located on the ground are adopted to predict the angle of the tool face thousands of meters underground, and data distortion caused by the problems of slow data transmission, large packet loss and the like in the process of transmitting underground signals to the ground is avoided.

The invention provides a low-line-number 3D laser radar elevation constraint SLAM method based on ground curvature fitting in order to solve the problems that a laser radar-inertial measurement unit SLAM system lacks effective constraint in the elevation direction and accumulative drifting is likely to be generated due to the fact that a low-line-number 3D laser radar is sparse in point cloud and insufficient in resolution in the vertical direction. The method comprises the following steps: firstly, carrying out preprocessing and ground point segmentation on point cloud data; then, in a vehicle real-time position neighborhood, quadric surface fitting is carried out on local ground points by using a least square method, ground normal vectors of the points are accurately extracted, and an average curvature representing the overall bending degree of the terrain is calculated; on the basis, normal vector constraint and average curvature correction are combined, and a new motion prediction and factor graph optimization model is constructed. Through the method, the observation capability of the low-line-number laser radar SLAM system in the elevation direction is remarkably enhanced, elevation drift is effectively inhibited, the positioning precision is improved, and compared with a mainstream open source algorithm, the average error is reduced by 46.3% to the maximum through actual measurement.

The invention provides a ground-air combined road slope collapse measurement system and method, and relates to the field of road slope inspection. According to the system, all-weather non-contact acquisition of millimeter-level displacement data of side slope key points is realized through a scientific-level CMOS camera of the ground detection module and a digital image correlation algorithm, and a high and steep side slope is covered; the aerial detection module carries a synthetic aperture radar and a multispectral sensor through an unmanned aerial vehicle to obtain a slope overall three-dimensional deformation field and soil humidity data. Carrying out high-precision space-time registration on the data layer by adopting a dual-function mark point and a least square method; calibrating aerial deformation data on the feature layer through ground displacement data to realize association of macroscopic and microscopic features; and constructing an improved U-Net network and a hybrid prediction model in the model layer to realize accurate tracking of the crack and prediction of the collapse probability. Visual display is carried out through a digital twin platform, and graded early warning linked with a traffic management system is triggered. According to the invention, the limitation of a single detection mode is overcome, and accurate perception, intelligent prediction and dynamic response of road slope safety are realized.

The invention provides a node connecting structure of a fabricated building and a construction method of the node connecting structure, and relates to connecting nodes for splicing prefabricated concrete columns with foundation column piers, ground beams, interlayer beams, top beams and columns. Beam column connecting joints connected with the ground beams are located at the position 0.6-1 m below the ground layer, and inter-column connecting joints are located at the position 0.9-1.2 m above the elevation of the middle axis of the interlayer beams. Each node adopts a built-in box-type steel pipe or a steel tenon-and-mortise component and is fixed through tenon-and-mortise matching of a steel tenon and a steel mortise groove and a high-strength bolt, so that rapid and accurate assembly of the beam column or between the columns is realized; and after connection is completed, a formwork is erected in a node area, high-strength concrete is cast in place, and a steel reinforced concrete stress component is formed. And the shear bearing capacity, the integrity and the anti-seismic property of the joint are obviously improved. Meanwhile, components are prefabricated in a factory and assembled in a dry mode on site, construction is convenient and fast, quality is controllable, and the structure is suitable for assembly type buildings with high-rise and high-seismic fortification requirements.

The invention discloses a low-altitude air route generation method, device and equipment and a storage medium, and belongs to the technical field of low-altitude flight. The method comprises the following steps: acquiring a three-dimensional space model and population density distribution of a target area; determining the path cost of each voxel based on the population density of each voxel at the ground projection in the three-dimensional space model, the obstacle state of each voxel and the distance between each voxel and the target facility; and taking a first position in the three-dimensional space model as a starting point, taking a second position in the three-dimensional space model as an end point, and taking the lowest sum of the path costs of voxels passing between the first position and the second position as a target to carry out path planning so as to obtain a target low-altitude airway. According to the scheme, the low-altitude aircraft can be far away from a densely populated area, avoids obstacles as much as possible and flies according to the instruction of the target facility in the target area, and meanwhile the flight efficiency and safety are guaranteed.

The invention relates to a three-dimensional microgravity simulation system, and belongs to the field of spaceflight mechanism ground tests. According to the three-dimensional microgravity simulation system, ground six-degree-of-freedom microgravity simulation can be realized, the aircraft simulator and accessories thereof have a five-degree-of-freedom motion state on an air floating plane through the five-degree-of-freedom air floating platform, and the aircraft simulator can have a three-dimensional space six-degree-of-freedom motion state through the magnetic air suspension assembly. In the process of a ground microgravity experiment, the gravity of the movement of the aircraft and accessories thereof is unloaded by the magnetic suspension assembly, so that the movement interference of the aircraft simulator and the microgravity simulation tool is avoided, and the problem of dynamic high-precision gravity unloading is solved.

Provided is a parking assistance device including a captured image acquisition unit imaging a road surface around a vehicle and an end detector detecting an end of a ground object on the road surface within a detection area in the captured image. A position calculator calculates position information indicating a positional relationship of the end of the ground object. A boundary line determiner determines whether or not a ground object having the end is a boundary line that defines a parking slot for the vehicle. A removal unit determines whether or not a rear end of a ground object determined as the boundary line by the boundary line determination unit is included in a removal range, determines that a ground object determined as the boundary line is not the boundary line when the rear end is included in the removal range, and excludes the ground object from boundary lines.

The invention provides an engineering investigation surveying and mapping intelligent management method and system based on a geographic feature processing technology. The method comprises the following steps: acquiring building distribution density, ground gradient and underground rock stratum distribution data of a target area, deploying a ground deformation monitoring radar at a selected position based on the building density and the rock stratum data, generating ground deformation data through radar images, and then separating ground subsidence change and original terrain characteristics to form a subsidence map; meanwhile, image reflection characteristics are analyzed to mark dangerous areas. And then integrating the ground gradient, the settlement trend and the rock stratum structure complexity to construct a land bearing evaluation model. The influence weight is further adjusted in combination with engineering requirements, and a bearing force evaluation result is generated after the model is input. Therefore, a scientific three-dimensional development planning scheme is generated, and optimized utilization and risk management and control of land resources are realized. According to the invention, through multi-source data fusion and model calculation, full-process analysis from land deformation monitoring to load bearing evaluation is realized.

The utility model discloses a device for rapidly measuring ground flatness, which comprises a working table and a measuring assembly, and a rolling part for driving the working table to move is arranged at the bottom of the working table; the measuring assembly is used for measuring the ground flatness, the measuring assembly comprises a plate type distance measuring element, the plate type distance measuring element is provided with a clamping part used for being connected with a workbench, the plate type distance measuring element is used for measuring the ground flatness, the output end of the plate type distance measuring element is provided with a data processing part, and the output end of the data processing part is provided with an alarm part; according to the utility model, the plate type distance measuring element is arranged at the bottom of the working table, the moving working table measures the ground distance through the plate type distance measuring element and transmits data to the data processing part, and the data processing part calculates and processes to obtain flatness data, so that compared with the operation of performing multi-point elevation measurement by adopting a level measuring instrument, the flatness is more accurate. According to the design, the flatness of the area of the region can be measured, and the time consumption of multi-point measurement is avoided.

The invention provides an intelligent highway-oriented tunnel portal three-dimensional digital design method, which comprises the following steps of: determining the position of a selected portal based on design data of a tunnel, and constructing a three-dimensional ground model of the portal; judging the form of the tunnel portal according to the position of the tunnel portal and a three-dimensional ground model; the tunnel portal forms comprise an end wall form, a bias pressure form and a bamboo cutting form; automatically designing corresponding parameters according to an external instruction and a tunnel portal form to form an initial design scheme; wherein in the initial design scheme, each tunnel portal form comprises the following general parameters: a position, an edge and front slope, an open cut tunnel lining, open cut tunnel backfilling and an intercepting ditch; adjusting specified parameters in the initial design scheme according to an external instruction; and constructing a BIM three-dimensional model of the hole according to the adjusted design scheme, and calculating the number of projects. According to the method, full-professional and full-factor digital design of the tunnel portal is efficiently carried out, automatic calculation of the engineering quantity is completed, and the accuracy and efficiency of drawing are improved.

A system and method are provided for facilitating safe transport of a work machine. During a transport stage for a work machine, wherein the work machine is positioned for transport with respect to a transport vehicle, a current effective height of the work machine is determined, for example relative to the ground surface. The current effective height may for example be based on a work implement assembly pose determined based on sensed relative positions of the various components. An intervention state for the transport stage may be determined based at least in part on the effective height of the work machine, for example by comparison to a threshold value, which may correspond to a minimum possible effective height for the type of machine. Output signals may be automatically generated to execute a specified intervention in a current transport plan, corresponding to the determined intervention state.