154 results about "Terrain mapping" patented technology

Locator systems are disclosed for locating buried utilities such as conduits, cables, pipes. or wires. The locator system may include image-capturing and position and orientation measuring devices such as magnetic compass, accelerometers, gyros, GPS, and DGPS. The system may associate images captured during the locate process with buried utility position data and the other sensor data. These data and images may be further associated with terrain images from satellites or aerial photography to provide a highly precision map and database of buried utility locations and visual images of the burial site. Information so obtained may be transferred to a hand-held personal communication device, such as a smart phone to show the location of buried utilities in combination with photo-images and / or terrain maps.

The invention discloses a robot gait self-adaptive adjustment method and system combined with topographic feature recognition, and relates to the technical field of robot gaits, and the method comprises the steps: collecting a topographic image in front of a robot advancing path, carrying out the deblurring processing, and extracting ground feature data through a lightweight neural network; matching the ground characteristic data with a preset gait control parameter database to obtain a gait control parameter set, and generating a control signal through a proportional-differential control method according to the gait control parameter set; correcting the control signal based on a reinforcement learning algorithm, and generating a target control instruction for driving a joint actuator; in the process of executing the target control instruction, collecting state feedback data in real time, and comparing and optimizing the feedback data with the currently executed target control instruction to realize feedback adjustment; the problems of insufficient terrain recognition precision caused by image blurring, response lag caused by sensing and control decoupling and lack of adaptive ability are effectively solved.

The invention discloses a multi-modal space-time fusion and distributed cluster fire extinguishing robot cooperative control system, aims to solve the problems of low efficiency and poor precision of multi-machine cooperative fire extinguishing in wide-area fire investigation and flammable and explosive scenes, and provides a whole set of unmanned fire extinguishing technical solution for the multi-mode space-time fusion and distributed cluster fire extinguishing robot cooperative control system. The system comprises four core hardware architectures, namely a cloud dispatching center (A), an unmanned aerial vehicle cluster (B), an unmanned resource guarantee vehicle (C) and a crawler-type fire extinguishing robot cluster (D), and has the following core functions: 1, the cloud dispatching center (A) updates a fire scene model through distributed dispatching by fusing multi-modal sensor data, dynamically allocates tasks and plans a safe approach path; 2, the unmanned aerial vehicle cluster (B) executes the instruction, completes fire global positioning and cluster cooperative sensing, generates a high-precision fire topographic map and feeds back a signal; thirdly, the unmanned resource support vehicle (C) autonomously says for help, and has the functions of automatic mechanical arm water feeding and power supply, environment detection, on-site cleaning after fire extinguishing and communication relay; and fourthly, the crawler-type fire extinguishing robot cluster (D) autonomously navigates and positions the root of a fire source, detects and predicts the drop point of a water column, carries out fire extinguishing feedback evaluation, and interacts with the dispatching center cooperatively to dynamically adjust the strategy, so that closed-loop control is formed, and the fire extinguishing efficiency and accuracy are remarkably improved.

The invention discloses a topographic surveying and mapping method and system based on unmanned aerial vehicle cluster collaboration, and belongs to the technical field of unmanned aerial vehicle cluster collaboration topographic surveying and mapping, and the method comprises the following steps: a ground control center plans a flight route for each unmanned aerial vehicle in a cluster according to the topography and precision requirements of a surveying and mapping area, a theoretical processing sequence of data of each unmanned aerial vehicle is calculated in advance; and the unmanned aerial vehicle cluster autonomously takes off to a predetermined airspace according to the instruction, and dynamically establishes a multi-hop relay communication network based on a mobile ad hoc network technology in a flight surveying and mapping process so as to evaluate and use the fastest signal transmission path. Through the combination of the steps, the data processing and transmission efficiency is improved, reliable communication and collision prevention are guaranteed, weather interference can be dealt with, and efficient and accurate topographic surveying and mapping are achieved.

The invention discloses an all-terrain maneuvering target tracking system and an all-terrain maneuvering target tracking method, belongs to the technical field of all-terrain moving target tracking, and aims to solve the problems of poor target tracking trajectory adaptability and large vibration interference in a complex terrain. During operation, the target orientation is positioned, the advancing direction is updated in real time, after the collection range is dynamically delimited, multiple frames of images are collected, and a topographic map is constructed through cutting, splicing and distortion correction; preprocessing the topographic map, extracting landform features, and dividing passable areas; generating a tracking trajectory in the passable area, and optimizing the trajectory through the position change of the target; and adaptively adjusting parameters of the balance component according to the track area, and fusing a vibration signal to judge whether to trigger track updating so as to ensure that the track dynamically adapts to terrain and target movement. According to the invention, through enhancing image processing and multi-source data fusion, the continuity, accuracy and environmental adaptability of target tracking in a complex terrain are significantly improved, and the reliability and efficiency of operation are effectively enhanced.

The invention relates to a terrain adaptive navigation method and system of a robot, and relates to the technical field of robot terrain navigation, and the method comprises the following steps: obtaining the moving speed of the robot in a past time window, collecting current moving road surface data, and identifying to obtain a road surface topographic map; randomly selecting a first moving position, obtaining a corresponding first moving speed and amplitude, and obtaining a first moving stability coefficient in combination with the first pavement topographic information; configuring a movement error range, dividing and obtaining a first movement position range, and calculating and obtaining a first fusion stability coefficient according to the first range pavement topographic information; first navigation fitness is obtained through calculation, and the optimal movement position is obtained through movement position optimization selection. The problems that in traditional terrain self-adaptive navigation, the safety and smoothness of the robot in the moving process are difficult to balance, the toppling risk is high or the advancing rhythm is frequently interrupted in the moving process, and the navigation effect is affected are solved.

A system and method for calibrating and setting up a machine guidance system for construction assets, such as loaders or excavators, employ point cloud data from onboard optical sensors to acquire spatial measurements. Point cloud data is transformed to an asset coordinate frame, candidate pitch and roll offset values are applied, grid representations are generated, and calibration values are selected with reduced error by comparing these grids to a reference surface. The system and method support autonomous operations including obstacle avoidance and grading by modifying the point cloud data according to the determined calibration values. In addition, dual-sensor calibration, terrain mapping, and filtering techniques are disclosed.

The invention relates to the technical field of data processing, in particular to a linear motor positioning precision dynamic test and analysis method, which comprises the following steps of: controlling a linear motor to perform full-stroke reciprocating constant-speed scanning, synchronous high-frequency acquisition of positions, current instructions and speed data; resampling according to a fixed position interval space to generate forward and reverse current and speed sequences; utilizing the characteristic that the friction force directions are opposite to counteract the friction component, calculating the resistance characteristic value of each position by combining the two-way speed stability weight, and constructing a resistance topographic map; the magnetic cogging effect and the mechanical anomaly are decoupled through the space gradient and the statistical deviation, and the mechanical anomaly saliency is determined; and a current feed-forward compensation table is generated and written into a driver, and a fault is marked for a saliency threshold exceeding position, so that dynamic testing and analysis of positioning precision are realized. According to the method, the resistance component is accurately separated by combining the current algebraic operation and the bidirectional speed weight, the topographic map is constructed to decouple the tooth socket and the installation abnormity, and the dynamic test precision and the diagnosis practicability are improved.

A machine guidance system and method utilize optical sensors, position sensors, and movement sensors to generate point cloud data for a construction asset. Data encompassing terrain features, obstacles, and the real-world position and orientation of the asset and its attachment are calculated. The fused data is used to autonomously control the movement of the asset and the position of the attachment to maintain a cutting edge at a target grade. As a result, terrain mapping and obstacle detection are performed in real-time, enabling safe and efficient operation without predefined paths. In this manner, applications include automated earthmoving, grading, and material handling in dynamic construction environments.

The invention relates to the technical field of mechanical engineering and intelligent control, and particularly discloses a dynamic leveling method and system for a damping profiling icebreaking snow remover. The method comprises the steps that high-strength alloy impact toughness parameters and staggered rolling path parameters are collected, an icebreaking wheel set rigidity matching matrix is generated through optimization, and adjustable rigidity assignment is completed; acquiring road surface fluctuation data within a profiling distance based on a laser ranging device, and fusing multispectral and millimeter wave radar data to generate a three-dimensional dynamic terrain map; inputting the rigidity matching matrix and the dynamic terrain map into an LSTM mechanical simulation engine, calculating five-wheel-set dynamic pressure distribution and outputting real-time wheel set pressure parameters; the real-time pressure parameter is compared with the measured value of the sensor, and an oil cylinder stroke compensation instruction is generated to drive hydraulic leveling control; analyzing the three-dimensional position offset of the snow shovel and the ice breaking wheel, converting the three-dimensional position offset into a side row inclination angle parameter, and generating a multi-shaft torque cooperative control instruction; and generating a material wear characteristic spectrum through federal learning training, and dynamically correcting a path inclination angle and a rigidity compensation parameter. The ice breaking and snow removing device has the beneficial effects of improving ice breaking and snow removing efficiency, enhancing equipment stability and reducing material abrasion.

Apparatus and methods for mitigating slip conditions and estimating ground friction for a robot having a plurality of feet are provided. In one aspect, a method includes estimating a coefficient of friction for a ground surface supporting the legged robot based on sensor data, odometry data, and a terrain map of an environment. The sensor data includes a set of joint angles and a set of joint torques for a set of joints of the legged robot, and the odometry data indicates a location of the legged robot in the environment. One of the plurality of feet of the robot applies a force on the ground surface based on the estimated coefficient of friction.

The invention relates to the technical field of three-dimensional modeling and geographic information processing, and discloses a three-dimensional city model generation optimization method and system, and the method comprises the steps: obtaining a central city area three-dimensional data set of a target city; generating a second fusion data set of unified three-dimensional point cloud representation; based on the key feature point set, a random consistency verification mechanism is adopted to execute preliminary registration operation; and generating a high-precision three-dimensional city model. In the prior art, in a multi-source three-dimensional data fusion process, coordinate system offset and scale difference exist among an oblique photography image, LiDAR point cloud, BIM data and a topographic map, and especially under a large-scale central urban area modeling condition, high-precision and automatic unified alignment is difficult to realize. And dislocation of building boundaries or fracture of terrain curved surfaces are caused. Due to the fact that depth feature extraction and cross-source feature alignment are combined with random consistency verification, the space consistency and modeling reliability of the three-dimensional city model are improved.

The invention discloses an adaptive multi-loop network InSAR phase unwrapping method and device, and relates to the technical field of interferometric synthetic aperture radar measurement. The method comprises the following steps: acquiring an interferometric phase diagram and a topographic map of a complex topographic region; calculating coherence, a topographic gradient map, a phase gradient standard deviation and residual density based on the interferometric phase map and the topographic map; based on the coherence, the terrain gradient map, the phase gradient standard deviation and the residual density, dynamically selecting the size of a ring through a decision function, and constructing a multi-ring network; determining the connectivity of the multi-ring network according to a bridging strategy and a connectivity detection method, and outputting a global connected network; on the basis of the global connected network, layered residual optimization is carried out by adopting a local absorption and global planning double-layer strategy, and an optimized residual is output; and based on the optimized residual error, unwrapping all rings in the global connected network through an in-ring local unwrapping and global optimization strategy, and outputting an unwrapping result. According to the invention, the problem of network connectivity in a complex area can be solved.

The embodiment of the invention provides an auxiliary driving method of a vehicle, the vehicle and a computer readable storage medium, and relates to the technical field of vehicles. The method comprises the steps that point cloud data and image data in a preset range around a vehicle are acquired, the point cloud data are used for reflecting the three-dimensional terrain in the preset range, and the image data are used for providing visual information in the preset range; the point cloud data and the image data are rendered to obtain a terrain map, and the terrain map is used for reflecting landform features in a preset range; a to-be-driven route is determined based on dynamic data of the vehicle and a terrain map, and the dynamic data is used for evaluating the driving capability and stability of the vehicle; and displaying the terrain map in a display area of the vehicle, and controlling the vehicle to drive according to the to-be-driven route. The technical problem that an off-road assistance system in the prior art is limited in processing capacity for dynamically changing terrains and complex terrains is solved.

The application provides a three-dimensional terrain generation method, device and system and a storage medium, and belongs to the field of image processing.The method comprises the following steps: constructing an encoder, a generator, a discriminator and a discriminator; encoding each original terrain map through the encoder to obtain an original latent space domain sample; and training each original terrain map and each original latent space domain sample through the encoder and the generator to obtain an original mapping terrain map and a mapping latent space domain sample.The application solves the problems of difficulty in predicting the generated terrain lacking user control, the need for a large number of operations and the appearance of regular grid-like artifacts in the generated terrain, does not require human participation, saves manpower and resources, can accurately capture a real structured conditional distribution and solves the problem of optimization cycle consistency obstacles.

The application relates to a complex terrain mapping method, a complex terrain mapping system, computer equipment and a computer readable storage medium. The method comprises the following steps: controlling a UAV to perform an aerial photography task to obtain multiple aerial photography images; using a pre-trained target detection algorithm model arranged on the UAV to identify complex terrain content from the aerial photography images, and marking the corresponding complex terrain area of the complex terrain content; obtaining the aerial photography images and importing them into a terminal device, using a three-dimensional modeling software to perform conventional modeling on the aerial photography images to obtain a main three-dimensional model; obtaining the complex terrain area marked in each aerial photography image, and performing fine modeling on the complex terrain content of the complex terrain area to obtain a complex terrain three-dimensional model; and generating an overall three-dimensional model diagram of a target area according to the main three-dimensional model and the complex terrain three-dimensional model. The technical scheme reduces the professional degree requirement of mapping complexity containing complex terrain, and promotes the popularization and use of UAV mapping technology.

The application provides a spaceborne array laser radar three-dimensional terrain mapping data comprehensive simulation method and system, and the method comprises the steps of: establishing a spaceborne array laser radar three-dimensional terrain mapping simulation link; constructing a spaceborne array laser radar comprehensive simulation model to generate a spaceborne array laser radar three-dimensional terrain simulation dataset; and adopting noise rate, average signal photon number, detection probability, signal-to-noise ratio and elevation accuracy as multiple evaluation indexes to evaluate the quality of the spaceborne array laser radar three-dimensional terrain mapping simulation data under different parameter configurations. The application designs a spaceborne array laser photon cloud data simulation method for the ground laser angle reflection CCR, generates a set of spaceborne array laser radar three-dimensional terrain simulation dataset taking the parameters of a certain type of domestic satellite as an example, adopts multiple evaluation indexes to evaluate the quality of the spaceborne array laser simulation data under different parameter configurations, and provides a solid foundation for the development of array laser three-dimensional terrain mapping satellites.

The invention provides a path adjustment method and device, equipment and a storage medium. The method comprises the steps that an operation interface is displayed, the operation interface comprises a virtual path, a virtual operation topographic map and a path angle adjusting control, the virtual path is displayed in the virtual operation topographic map, and the path angle adjusting control is used for adjusting the angle of the virtual path in the virtual operation topographic map; in response to a first operation on the path angle adjustment control, the path angle adjustment control is rotated to a target scale, and the target scale corresponds to a first angle of the virtual path in the virtual operation topographic map; determining an angle change value based on the target scale; and adjusting the virtual path to the first angle according to the angle change value. According to the method, the angle of the virtual path in the virtual operation topographic map can be directly adjusted through the path angle adjusting control, the virtual path and the virtual operation topographic map are visually displayed through the operation interface, the adjusting efficiency and accuracy are improved, the adjusting effect is fed back in time, and then the path optimization efficiency is improved.

A method includes generating a three-dimensional (3D) mesh of the virtual environment from a set of images of physical terrain and depth information. The method further includes applying an initial texture to the 3D mesh based on the depth information. The method further includes generating a projection of a 360-degree panorama onto the 3D mesh. The method further includes identifying one or more areas in the projection that are missing the initial texture. The method further includes providing the projection, identification of the one or more areas in the projection that are missing the initial texture, and the depth information to a machine-learning model. The method further includes outputting output texture for the one or more areas in the projection that are missing the initial texture and blending the output texture with the initial texture in the projection to obtain a blended texture in the projection.

1. Name of the product in this design: Graphical User Interface for Displaying Test Results in Electronic Equipment. 2. Intended use of this design: for use in an electronic device. 3. The key design features of this product are the graphical user interface displayed in the electronic device. 4. The image or photo that best illustrates the design points: Design 1 Interface Change State Diagram 1. 5. The hardware design is a conventional design, omitting the rear view, left view, right view, top view, and bottom view. 6. Design 1 is designated as the basic design. 7. Purpose of the graphical user interface: This graphical user interface is used to display and locate detection results, etc. Design 1's main view is the primary interface, with a circular icon control with a lightning shield displayed in the upper right corner. Design 1's interface change state diagram 1 shows the interface state obtained after clicking the circular icon control in the main view of Design 1, with multiple "location" controls displayed at the bottom of the interface. Design 1's interface change state diagram 2 shows the interface state obtained after clicking any of the "location" controls in Design 1's interface change state diagram 1, which highlights the corresponding location area on the 3D terrain map. Design 2's main view serves as the primary interface. Design 3 uses the main view as the primary interface to display the detection results. The main view of the design is the first interface, used to display the location results of the detection results. The map background (i.e., the three-dimensional topographic map background) in Designs 1 to 4 does not constitute part of the claimed design, and it represents the area as the content screen. The areas (i.e., multiple positioning areas) obscured by color blocks within the background of the three-dimensional topographic map in Designs 1 to 4 do not constitute part of the protected appearance design, and the areas referred to therein are content images.

The invention discloses a topographic engineering feature extraction method based on visual identification, and belongs to the technical field of hydroelectric and hydraulic engineering topographic map visual identification. Comprising the following steps: S1, establishing a training label sample library in combination with a topographic image and acquired topographic analysis data, and dividing the training label sample library into a training set and a test set; s2, training a lightweight deep learning model of a full convolutional neural network by using the training set, and establishing a terrain engineering feature extraction model based on visual identification; s3, verifying the topographic engineering feature extraction model until the topographic engineering feature extraction model is obtained, and extracting topographic features based on the trained topographic engineering feature extraction model; through the advanced computer vision technology, remote sensing images and topographic data can be efficiently analyzed, and key engineering features in the topography can be accurately extracted.

The application provides a long-wave band PolInSAR under-forest terrain inversion method and equipment based on non-penetration depth correction, acquires two scenes of full polarization SAR image data and pre-processes, generates a polarization interference covariance matrix; carries out white processing on the polarization interference covariance matrix, applies a normal matrix constraint, acquires an optimal normal matrix approximate solution, extracts two end point complex coherence coefficients of a coherent line segment; based on a polarization coherence scattering model, solves model parameters by using the end point complex coherence coefficients, including a ground surface phase, a forest height, an extinction coefficient and a ground body amplitude ratio; combines sparse LiDAR height data, calculates the non-penetration depth between the forest height and the RVoG inversion terrain and the LiDAR reference terrain, constructs a one-dimensional look-up table based on the mapping relationship between the forest height and the non-penetration depth; and corrects the under-forest terrain height deviation of the PolInSAR inversion according to the one-dimensional look-up table. The application can significantly improve the precision of the ground surface terrain inversion in the forest area, and can realize large-scale under-forest terrain mapping by only relying on a single polarization interference.

Techniques are described to estimate orientation of one or more cameras located on a vehicle. The orientation estimation technique can include obtaining an image from a camera located on a vehicle while the vehicle is being driven on a road, determining, from a terrain map, a location of a landmark located at a distance from a location of the vehicle on the road, determining, in the image, pixel locations of the landmark, selecting one pixel location from the determined pixel locations; and calculating values that describe an orientation of the camera using at least an intrinsic matrix and a previously known extrinsic matrix of the camera, where the intrinsic matrix is characterized based on at least the one pixel location and the location of the landmark. 2020257038 20 Oct 2020 the landmark. FI G . 1 10 6a 10 2 10 4 10 8 10 6c 10 6b 1 / 5 20 20 25 70 38 2 0 O ct 2 02 02020257038 20 Oct 2020 106c 106b 108 106a 104 FIG. 1

Methods and apparatus to determine a target speed for an agricultural vehicle are described. An apparatus described herein includes at least one processor circuit to obtain a terrain map corresponding to a field, obtain, from one or more sensors of a vehicle, orientation information and tire pressure information corresponding to the vehicle, execute a predictive model based on (a) the terrain map, (b) the orientation information, and (c) the tire pressure information, and determine, based on a result of the execution, a target speed for the vehicle on the field.

The utility model relates to detection equipment. Comprising a vehicle body; the walking mechanism is arranged at the bottom of the vehicle body; the driving mechanism is arranged at the bottom of the vehicle body and is connected with the walking mechanism; wherein the driving mechanism is used for driving the walking mechanism to move; the ultrasonic echo locator is arranged on the vehicle body; the ultrasonic imaging module is arranged in the vehicle body and is used for forming an ultrasonic topographic map according to the data generated by the ultrasonic echo locator; the encoder is arranged in the vehicle body and used for encoding the ultrasonic topographic map to obtain an encoded topographic map; the illuminating lamp is arranged on the vehicle body; the camera is arranged on the vehicle body and is used for acquiring an acquired image; and the sensor analysis module is used for generating a corresponding display image according to the sensor parameters. According to the invention, not only can the landform in an unknown small space be detected, but also objects in the unknown small space can be searched in field exploration or search and rescue work, or relics in the small space can be quickly searched in archaeological work.

Autonomous construction site rover with a chassis, a drive system, a multi-sensor system, an AI processing unit, a power supply and a communication unit for autonomous terrain mapping and hazard detection.

This invention discloses a method for constructing a realistic depth estimation training dataset based on a 3D mesh and 3D Gaussian splashing, relating to the field of UAV aerial surveying technology. The method involves acquiring aerial image sequences using a visible light camera mounted on a UAV platform, and filtering and preprocessing the image quality; generating a dense point cloud and a 3D mesh; training and generating a 3DGS model based on camera pose and image sequences consistent with the 3D mesh; unifying the 3D mesh, camera pose, and 3DGS model to the same world coordinate system; and using Z-buffer rasterization to output pixel-by-pixel depth and validity masks; generating RGB images of the corresponding viewpoint in the 3DGS renderer; and encapsulating the dataset according to a recommended data organization structure. This invention can accurately generate realistic RGB and geometrically accurate depth, with strict pixel alignment between the RGB images and depth maps, adapting to the needs of real-world application scenarios such as UAV aerial surveying and actual terrain mapping.

Power management is provided. A system for power management includes one or more processors. The processors are configured to detect, from a plurality of sensors for a vehicle, sensor data indicative of an evolving route. The processors are configured to provide, to a remote server, the sensor data. The processors are configured to receive, from the remote server, a terrain map indicative of a state of an evolving route. The processors are configured to predict, based on the terrain map, a future power demand for the vehicle. The processors are configured to apportion, based on the prediction, the power demand between a first power source and a second power source. The processors are configured to generate control signals to modulate, according to the apportionment, a power output of at least one of the first power source or the second power source.

The invention provides a vehicle torque distribution method, electronic equipment and a vehicle, which are applied to the technical field of vehicle power distribution, and the method comprises the following steps: acquiring a topographic image and environmental data outside the current vehicle; feature extraction is carried out on the topographic image through a topographic feature extraction model obtained through pre-training, and an image embedding vector is obtained; and converting the environment data into an environment semantic embedding vector through a large language model. And fusing the image embedding vector and the environment semantic embedding vector to obtain a fusion vector. Based on the fusion vector, matching with a predetermined power distribution strategy is carried out, and a torque distribution result of the current vehicle is obtained; wherein the power distribution strategy is obtained through reinforcement learning training. The understanding ability of the terrain and the environment can be improved through the fusion vector, the torque distribution method under different driving scenes is optimized, the vehicle energy consumption can be remarkably reduced, and the vehicle slipping phenomenon is reduced.

1. The name of the design product: topography of refraction. 2. The use of the design product: for contactless measurement of the refraction of the center and peripheral locations of the human eye. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 1.