4281 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.

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.

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.

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 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 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.

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.

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.

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.

An unmanned aerial vehicle landing method, comprising: acquiring a ground image within a visual range of an unmanned aerial vehicle (S101); performing scene seg mentation on the ground image, and on the basis of a scene segmentation result, acquiring a plurality of candidate alternate landing areas from a ground range corresponding to the ground image (S102); on the basis of the current position of the unmanned aerial vehicle and the positions of the candidate alternate landing areas, planning candidate flight paths for the unmanned aerial vehicle to land at the candidate alternate landing areas (S103); on the basis of the candidate flight paths, determining a target flight path and a target alternate landing area corresponding to the target flight path (S104); and landing at the target alternate landing area on the basis of the target flight path (S105).

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 present description relates to motion planning for a biped robot. According to an example of the present disclosure, a motion planning method for a biped robot may comprise: acquiring a discrete map with terrain information that corresponds to an area to be walked, determining terrain points in the discrete map that indicate that a biped robot is allowed to pass through, and generating a preliminary foothold sequence on the basis of the terrain points; generating a preliminary motion trajectory of the biped robot on the basis of the discrete map; and on the basis of a preset objective function and on the basis of the preliminary motion trajectory and a kinematic model of the biped robot, optimizing the preliminary foothold sequence, so as to generate a target foothold sequence. By means of determining, on the basis of gradient information of the ground level in a discrete map, whether a position allows a biped robot to pass through or whether the position can be used as a foothold of the biped robot, parameter optimization is performed on the foothold to obtain a target foothold sequence, such that the biped robot is enabled to complete a crossing task in view of terrain characteristics.

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.

The invention provides a three-dimensional terrain modeling method and system. The modeling method comprises the following steps: acquiring a plurality of aerial photos of a to-be-modeled region, wherein ground control points of the aerial photos are not marked; generating a first sparse point cloud set and a rough three-dimensional terrain model of the to-be-modeled region based on the aerial photo of each unmarked ground control point; automatically marking ground control points on each aerial photo based on the rough three-dimensional terrain model; generating a second sparse point cloud set of the to-be-modeled region based on the aerial photo of each marked ground control point; and generating a dense point cloud set and a fine three-dimensional terrain model of the to-be-modeled region based on the second sparse point cloud set. According to the modeling method provided by the invention, the marking speed is effectively improved while the marking precision of the ground control points is improved, and the efficiency of high-precision three-dimensional terrain modeling is remarkably improved on the whole.

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.