Differential level monitoring device

A device ( 10 ), specifically tailored to measure the development of soil and, preferably, of seabed surface ( 14 ) profile is characterized by a waterproof/airtight casing housing: an hydraulic pressurized circuit ( 15 ), extending along a longitudinal direction, filled with a specific liquid; a pneumatic circuit ( 16 ), extending along the same longitudinal direction, and connected to the above hydraulic circuit ( 15 ) at one or more points; this pneumatic circuit ( 16 ) is filled with air kept at a constant pressure, or with inert gas allowing pressurization of the above said hydraulic circuit ( 15 ); a number of differential pressure transducers ( 18, 20, 22 ), placed at the above said one or more connections between the hydraulic circuit ( 15 ) and the pneumatic circuit ( 16 ); an electronic control circuit including: means for data acquisition, (said data come from the above said pressure transducers ( 18, 20, 22 ) and are related to pressure measurements at each of said one or more points); means for calculation of pressure difference in respect to a reference point, the so called benchmark ( 13 ); means for storage of recorded data; and means for data transmission to a remote control unit ( 28 ), so that it is possible to compute the difference of altitude profile at one or more said points in respect to said benchmark ( 13 ); such an altitude profile difference, being for the communicating vessels principle directly proportional to the corresponding detected pressure difference, allows determination of the altitude profile of device ( 10 ) all along its longitudinal length.

Railway Track Monitoring

Novel tools and techniques for monitoring railway track geometry. In one aspect, some such tools and techniques can determine a location of a platform along a railway, capture one or more images of the railway, and/or analyze the rail configuration at that point. In another aspect, some solutions might employ photogrammetric techniques to analyze the rail configuration and thereafter store data about the rail configuration, perhaps correlated with the location of the images, in a data store.

Guidance system for a mobile machine

A method is disclosed for determining a grade of a roadway bordered by a marker including a bottom that contacts the roadway, with a machine traveling on the roadway. A scanning device mounted on the machine is used to locate a first point indicative of the bottom of the marker at a first geographical location along the roadway. The scanning device is also used to locate a second point indicative of the bottom of the marker at a second geographical location along the roadway. The locations of the first and second points are compared to determine the grade of the roadway. Also disclosed is a method for determining a bank of a roadway bordered on a first side by a first marker including a bottom that contacts the roadway and bordered on a second side by a second marker including a bottom that contacts the roadway, with a machine traveling on the roadway. A first scanning device mounted on one of a left side and a right side of the machine may be used to locate a first point indicative of the bottom of the first marker at a geographical location along the roadway. A second scanning device mounted on the other side of the machine may be used to locate a second point indicative of the bottom of the second marker at the same geographical location. The locations of the first and second points may be compared to determine the bank of the roadway.

Control apparatus, control method, and program

A control apparatus ( 100 ) includes an acquisition unit ( 121 ) that acquires captured data in which an object around a moving object is captured by an imaging unit, where the moving object is one of a moving object that is irradiated with spontaneous emission light and a mobbing object that moves with a predetermined pattern, and a determination unit ( 122 ) that determines that the object is an obstacle if the captured data acquired by the acquisition unit ( 121 ) includes a specific pattern.

PROCEDURE FOR CONTROLLING A GUIDE SYSTEM OF A RAILWAY CONSTRUCTION MACHINE, ASSOCIATED METHOD AND ASSOCIATED GUIDE SYSTEM

In order to control a measuring system with a tacheometer mounted on a carrier trolley circulating on a railway track under construction and a target fastened to a railway construction machine, the carrier trolley is circulated on the railway track in a working direction from a starting position to an arrival position in the vicinity of a topographic arrival singularity. The carrier trolley is immobilized and an observation of the topographic arrival singularity is made. Then, with the railway construction machine having been brought into the starting position, an observation of the target is made. Finally, the coordinates of the arrival position of the carrier trolley are calculated as a function of the measurements made, of additional data relating to the starting position, and of positioning data of the topographic arrival singularity and data relating to a theoretical line of the track. 117-. (canceled)18. A method for operating a measurement system having a tacheometer mounted on a trolley movable on a railroad track undergoing work , a target mounted on a railroad works machine , a set of data on a theoretical line of the railroad track , and a set of data on positions of noteworthy topographic singularities , the method comprising:moving the trolley on the railroad track in a working direction from a starting position to an arrival position in proximity to a topographic singularity of arrival indexed in the set of data on positions of noteworthy topographic singularities;immobilizing the trolley relative to the railroad track in the arrival position;with the trolley being immobilized at the arrival position, sighting the topographic singularity of arrival using the tacheometer and measuring at least a distance, an azimuth angle and an elevation angle characteristic of a relative positioning of the tacheometer relative to the topographic singularity of arrival;with the railroad works machine having been brought into the starting position, sighting the target ...

Surround sensing system

A system for detecting the profile of an object. The system having a radiation source for generating a radiation pattern. The system also having a detector which has a plurality of pixels and a processor for processing data from the detector when radiation from the radiation source is reflected by an object and detected by the detector. The system also has a synchronization device for interfacing between the detector and the radiation source. The radiation source is designed for operating in pulsed mode and the synchronization device can synchronize the pulses of the radiation source with the sampling of the detector.

Method and apparatus for generating positional sensor data of a coordinate measuring device

A method and an apparatus for generating positional sensor data of a coordinate measuring device are provided. A sensor generates sensor data points and a trigger signal with a trigger frequency. A sensor data record is generated which includes the sensor data points and a sensor data time. The trigger signal is transmitted to a device for determining a sensor position, a position data record is determined upon or after the reception of the trigger signal, the position data record includes at least one position data point and one position data time, an assignment of position data points to sensor data points is determined depending on the sensor data time and the position data time, and a positional sensor data record is generated which includes at least one sensor data point and a position data point assigned to this sensor data point.

REMOTE MEASUREMENT OF SHALLOW DEPTHS IN SEMI-TRANSPARENT MEDIA

Through discrimination of the scattered signal polarization state, a lidar system measures a distance through semi-transparent media by the reception of single or multiple scattered signals from a scattering medium. Combined and overlapped single or multiple scattered light signals from the medium can be separated by exploiting varying polarization characteristics. This removes the traditional laser and detector pulse width limitations that determine the system's operational bandwidth, translating relative depth measurements into the conditions of two surface timing measurements and achieving sub-pulse width resolution. 1. A system adapted to measure elevations , the system comprising:a lidar system configured with computational equipment configured for determining an elapsed time between two portions of received light from a laser pulse, based on a difference between properties of portions of the received light, and a relative distance based on the elapsed time, wherein the elapsed time is less than a duration of the laser pulse, or within a system's dead time;a time interval meter configured to determine a time of flight based on a time that the laser pulse is generated to when a reflection of the laser pulse are received; andone or more control electronics configured to measure topographic elevations using the time of flight.2. A machine implemented method for reducing loss of data caused by blind zones in a laser scanning apparatus , the method comprising the steps of:dynamically monitoring a time of flight (TOF) of laser light pulse transmitted and received by the laser scanning apparatus, wherein the laser scanner apparatus comprises computational equipment configured to determine an elapsed time between two portions of received light from a laser pulse reflected from one or more surfaces, based on a difference between properties of portions of the received light, and a relative distance based on the elapsed time, wherein the elapsed time is less than a ...

Advanced monitoring device for whole-process deformation curve of surrounding rock of tunnel excavation and implementation method thereof

An advanced monitoring device and an implementation method for a whole-process deformation curve of a surrounding rock during tunnel excavation is disclosed, comprising a steel pipe elastic body, a cathetometer structure and an embedded optical fiber, and an implementation step; the cathetometer is an equidistant series structure, and fixed in the steel pipe; the embedded optical fiber is encapsulated in the surface slot of the steel pipe; the cathetometer and the embedded optical fiber and the steel pipe form a deformation coordination structure, and the deformation of the surrounding rock can be deduced by calculating the variation of the cathetometer and the deformation of the optical fiber. The invention can test and calculate the deformation curve of the surrounding rock in front of the excavation face during tunnel excavation, and provide support for engineering dynamic design, construction and safety. 1. An advanced monitoring device for deformation curve of a surrounding rock during tunnel excavation , comprising:{'b': '1', 'the surrounding rock (),'}{'b': 2', '1, 'an excavation tunnel () opened in the surrounding rock (),'}{'b': 3', '1', '2', '301, 'a drilling hole () provided in the surrounding rock () and connected to the excavation tunnel (), and is disposed at one side with a drilling hole outer port sealing body (),'}{'b': 302', '4', '3', '402', '403', '4', '401', '4', '404', '4, 'a grouting pipe () and a steel pipe () disposed in the drilling hole (), a steel pipe optical fiber slot () and a steel pipe embedded optical fiber entry hole () opened on the outer surface of the steel pipe (), a steel pipe outer end sealing body () is provided at one end of the steel pipe (), and a steel pipe inner plug () is provided at the other end of the steel pipe (),'}{'b': 5', '402', '5', '4, 'a steel pipe embedded optical fiber () encapsulated in the steel pipe optical fiber slot (), the steel pipe embedded optical fiber () is led out of both ends of the steel pipe ...

Drill Planning Tool for Topography Characterization, System and Associated Methods

A planning tool plans movement of a boring tool for an underground drilling operation. The planning tool includes one or more wheels for rolling on a surface of the ground along a path responsive to movement by an operator to characterize the surface contour and to generate guidance for the boring tool to reach a target position. Planning can additionally be based on waypoints. The planning tool can be rolled unidirectionally or bidirectionally to characterize the surface contour. Bidirectional movement cancels accelerometer fixed bias. Path stitching is used to plan around obstacles. The planning tool can facilitate tracker placement. The planning tool can collect noise information for frequency selection purposes. A described technique maximizes linear drilling in an underground plan. Compensation and/or warnings are provided for unsteady, fast and slow movement of the planning tool while measuring the surface contour.

Road surface management system

A road surface management system is capable of detecting road surface conditions that tend to damage dump trucks and displaying the positions of such road surfaces. When the traveling speed of the dump truck is higher than or equal to a preset threshold value, the server judges whether or not each of the pressures of suspensions of the dump truck detected by pressure sensors is within a reference range which has been set corresponding to each suspension. The server judges that the road surface at the position of a dump truck is in a poor condition if one of the pressures of the four suspensions of the dump truck is judged to be outside the reference range and the remaining three pressures are judged to be within the reference range. The positions of the road surfaces judged to be in the poor condition are displayed on an indicator.

Moving robot, method for controlling the same, and terminal

A moving robot has a body and at least one wheel for moving the main body. The moving robot has a transceiver to communicate with a plurality of location information transmitters located within an area. The moving robot also has a memory storing coordinate information regarding positions of the location information transmitters. Further, the moving robot has a controller that sets a virtual boundary based on location information determined using signals transmitted by the location information transmitters. The controller controls the wheel so that the main body is prevented from traveling outside the virtual boundary. The controller sets a reference location information transmitter and corrects the stored coordinate information by correcting height errors based on height differences between the reference location information transmitter and the other location information transmitters. The controller also corrects a current position of the main body based on the corrected stored coordinate information.

Method and Apparatus for Continuous Wellbore Curvature Orientation and Amplitude Measurement Using Drill String Bending

A method includes coupling a strain gauge to a tubular member, and positioning the tubular member in the wellbore such that the tubular member is placed under bending stress by a curvature or deviation in the wellbore. The method also includes measuring bend on the tubular member with the strain gauge in at least one plane and determining one or more of the magnitude or orientation of the curvature of the wellbore based on an output of the strain gauge. 1. A method for determining curvature of a wellbore comprising:coupling a strain gauge to a tubular member;positioning the tubular member in the wellbore such that the tubular member is placed under bending stress by a curvature or deviation in the wellbore;measuring bend on the tubular member with the strain gauge in at least one plane; anddetermining one or more of the magnitude or orientation of the curvature of the wellbore based on an output of the strain gauge.2. The method of claim 1 , further comprising:rotating the tubular member at least partially within the wellbore;recording an amplitude of an output of the strain gauge; andcalculating a degree of curvature of the wellbore from the amplitude.3. The method of claim 2 , wherein the tubular member is rotated a full rotation claim 2 , the method further comprising:determining the difference between a maximum and a minimum amplitude of the output of the strain gauge, defining an amplitude differential; andwherein the step of calculating a degree of curvature of the wellbore from the amplitude utilizes the amplitude differential.4. The method of claim 2 , wherein the amplitude of the output of the strain gauge is recorded at least 3 angular orientations within a partial rotation of the tubular member; the method further comprises:{'b': '3', 'interpolating a sinusoidal waveform from the amplitude recordings;'}determining the difference between a maximum and a minimum amplitude of the sinusoidal waveform, defining an amplitude differential; andwherein the ...

MEASURING APPARATUS

A measuring apparatus () is mounted on a movable body and measures a ground object around the movable body. The measuring apparatus () includes three receive antennas (, and ) that receive signals generated by navigation satellites; and a first measuring apparatus ( and ) that measures a ground object around the movable body. Of the three receive antennas (, and ), a first antenna () and a second antenna () are disposed at a predetermined spacing and at the rear of a roof portion of the movable body. A third antenna () is disposed at the front of the roof portion of the movable body. According to the measuring apparatus (), a measuring device can be additionally mounted on the rear of a vehicle. 1. A measuring apparatus that is mounted on a movable body and measures a ground object around the movable body , the measuring apparatus comprising:three receive antennas to receive signals generated by navigation satellites; anda first measuring apparatus to measure a ground object around the movable body, whereinof the three receive antennas, a first antenna and a second antenna are disposed at a predetermined spacing and at rear of a roof portion of the movable body, and a third antenna is disposed at front of the roof portion of the movable body.2. The measuring apparatus according to claim 1 , whereinthe first antenna is mounted on a first arm,the second antenna is mounted on a second arm, andthe first antenna and the second antenna are connected to each other through the first arm and the second arm.3. The measuring apparatus according to claim 2 , comprising:a sensor mounting unit provided with the first measuring apparatus and the third antenna; anda third arm, whereinone end of the third arm is fixed to the sensor mounting unit, andeach of the first arm and the second arm is fixed at another end of the third arm so as to be oriented in a substantially perpendicular direction to a longitudinal direction of the third arm.4. The measuring apparatus according to claim ...

ROAD MONITORING METHOD AND SYSTEM

A method and system monitor road condition, by providing, for portions (-) of a road , an approximation of a roughness figure in accordance with a roughness index. The method includes receiving speed data of a first vehicle travelling along each of the portions of the road and receiving, from a measuring device carried on the first vehicle , measured acceleration data of the device perpendicular to the road surface. The acceleration data is processed to provide a parameter value relating to the acceleration data for each of the portions of the road . A first speed-based conversion equation and the speed data is utilized to convert the parameter into the approximation of a roughness figure for each of the portions of the road , in accordance with the roughness index. 1. A method for providing , for a portion of a road , an approximation of a roughness figure in accordance with a roughness index , the method comprising:receiving speed data of a first vehicle travelling along the portion of the road and receiving, from a measuring device carried on the first vehicle, measured acceleration data of the device perpendicular to the road surface;processing the acceleration data, to provide a parameter value relating to the acceleration data for the portion of the road;utilising the speed data and a first speed-based conversion equation to convert said parameter into an approximation of a roughness figure for the portion of the road in accordance with the roughness index.2. A method according to claim 1 , wherein the first speed-based conversion equation is selected based on the speed data claim 1 , from a first set of speed-based conversion equations comprising a plurality of conversion equations claim 1 , wherein each of the conversion equations of the first set relates to a different predetermined speed;3. A method according to claim 2 , wherein each speed-based conversion equation of the first set is pre-derived by:utilizing a measured roughness profile in accordance ...

WORK MACHINE MEASUREMENT SYSTEM, WORK MACHINE, AND MEASURING METHOD FOR WORK MACHINE

A work machine measurement system includes an image acquisition unit that acquires an image of a work target captured, while a swinging body of a work machine is swinging, by an image capturing device mounted on the swinging body, a three-dimensional position calculation unit that calculates a three-dimensional position of the work target based on the image, a swing data acquisition unit that acquires swing data about the swinging body, a determination unit that determines whether or not the swing data satisfies a predefined swinging condition and an output unit that outputs a swinging instruction signal based on a result of the determination by the determination unit. 1. A work machine measurement system comprising:an image acquisition unit that acquires an image of a work target captured, while a swinging body of a work machine is swinging, by an image capturing device mounted on the swinging body;a three-dimensional position calculation unit that calculates a three-dimensional position of the work target based on the image;a swing data acquisition unit that acquires swing data about the swinging body;a determination unit that determines whether or not the swing data satisfies a predefined swinging condition; andan output unit that outputs a swinging instruction signal based on a result of the determination by the determination unit.2. The work machine measurement system according to claim 1 , whereinthe swinging condition includes a condition requiring the swinging body that has stopped swinging not to swing again.3. The work machine measurement system according to claim 1 , whereinthe swing data includes a swing speed of the swinging body, andthe swinging condition includes a condition requiring the swing speed to be lower than a predefined speed.4. The work machine measurement system according to claim 1 , whereinthe swing data includes a swing angle of the swinging body, andthe swinging condition includes one or both of a condition requiring the swing angle to ...

PATHWAY MEASUREMENT DEVICES, SYSTEMS AND METHODS

A pathway measurement system hereof includes a rigid frame and a mobility system attached to the frame. The mobility system includes at least one movable element which is adapted to contact a surface of a pathway via which the frame may be moved relative to the pathway. The pathway measurement system further includes at least one sensor adapted to measure at least one characteristic of a pathway. The pathway measurement system has a first mode of operation in which the mobility system moves the frame along the pathway to move the at least one sensor relative to the pathway. The at least one sensor is connected to the pathway system such that a distance between the at least one sensor and an axis of rotation of one of the moveable elements remains constant in the first mode of operation. In general, the at least one sensor is isolated from any compliance or suspension system. 1. A pathway measurement system , comprising: a rigid frame , a mobility system attached to the frame , the mobility system comprising at least one movable element which is adapted to contact a surface of a pathway via which the frame may be moved relative to the pathway , and at least one sensor adapted to measure at least one characteristic of a pathway , the pathway measurement system having a first mode of operation in which the mobility system moves the frame along the pathway to move the at least one sensor relative to the pathway , the at least one sensor being connected to the pathway measurement system such that a distance between the at least one sensor and an axis of rotation of one of the moveable elements remains constant in the first mode of operation.2. (canceled)3. The pathway measurement system of wherein the at least one sensor measures a variable related to surface roughness of the pathway4. (canceled)5. The pathway measurement system of wherein the at least one sensor measures a distance from the sensor to a surface of the pathway without contacting the pathway.6. The pathway ...

System and method for automated odometry calibration for precision agriculture systems

A method including: recording a first image of a first field region; automatically treating a plant within the first region in-situ based on the first image; automatically verifying the plant treatment with a second image of the first region; and automatically treating a second region concurrently with treatment verification.

Imaging LIDAR Altimeter for Operations at Various Ranges and Resolutions

An imaging LIDAR that can observe varied size scene areas with varied resolution as range to the observed scene changes and as the need for information to be extracted from the LIDAR sensor data evolves. The LIDAR operates at a fully eye-safe spectral wavelength, operated under all conditions of natural illumination and operate in conditions of clear and degraded visibility. The LIDAR is built of materials that can operate in the radiation environments experienced in space. The disclosed LIDAR sensor system has small size, low weight, and consumes minimal power, thus enabling its deployment on platforms that are constrained by size, weight or power limitations. 1. A LIDAR Sensor System that performs precise measurements of the altitude and angular slopes of scene elements observed by the LIDAR over highly variable fields of view , over highly variable spatial resolutions , and over highly variable ranges.2. The LIDAR Sensor System of may contain a diode pulsed laser operating in a fully eye-safe spectral region.3. The LIDAR Sensor System of may contain and area array of detectors sensitive to the laser output wavelength.4. The LIDAR Sensor System of may contain an electronic Read-Out Integrated Circuit (ROIC) for each of the detectors in the area array that enables information to be extracted over a very large dynamic range by providing very fast sampling times.5. The LIDAR Sensor System of may contain a three dimensional stack of electronic chips that host all the individual ROICs supporting the detector area array.6. The LIDAR Sensor System of may contain a set of selectable holographic lenses placed in the output laser beam to determine the angular size and the illumination pattern of the exiting beam.7. The LIDAR Sensor System of may contain a telescope for receiving laser returns from the illuminated scenes that has a zoom capability used to adjust the resolution and size of the area being observed in response to the range to the scene and the information needs ...

WORK VECHILE

A work vehicle capable of accurately obtaining current topography to be worked is provided. A motor grader includes a vehicular body frame, a blade, and a camera. The blade is arranged between a front end of the vehicular body frame and a rear end of the vehicular body frame. The camera is configured to obtain current topography in front of the vehicular body frame. The camera is attached to the vehicular body frame. The camera is arranged in front of the blade. 1. A work vehicle comprising:a vehicular body frame;a blade arranged between a front end of the vehicular body frame and a rear end of the vehicular body frame; anda sensor attached to the vehicular body frame and arranged in front of the blade, the sensor being configured to obtain current topography in front of the vehicular body frame.2. The work vehicle according to claim 1 , whereinthe vehicular body frame includes a front frame and a rear frame, andthe sensor is attached to the front frame.3. The work vehicle according to claim 2 , the work vehicle further comprising an articulation cylinder attached between the front frame and the rear frame.4. The work vehicle according to claim 2 , the work vehicle further comprising a front wheel rotatably attached to the front frame claim 2 , whereinthe sensor is arranged in front of a rearmost portion of the front wheel.5. The work vehicle according to claim 2 , whereinthe sensor is arranged at a tip end portion of the front frame.6. The work vehicle according to claim 4 , whereinthe front frame includes an inclined region in which an upper surface thereof is inclined in an obliquely front downward direction, andthe sensor is arranged in the inclined region.7. The work vehicle according to claim 4 , whereinthe sensor is fixed to an upper surface of the front frame.8. The work vehicle according to claim 4 , whereinthe sensor is fixed to each of left and right sides of the front frame.9. The work vehicle according to claim 1 , the work vehicle further comprising an ...

AUTOMATED LEVELING SYSTEM FOR MAINTAINING LEVEL OF A SURFACE

An automated leveling system for maintaining a level of a surface, comprising a surface traveling device and a leveling module attached to the surface traveling device. The leveling module comprises a depression detector arm assembly, at least one computing device, and a level-sensing detector. The level-sensing detector senses a level of a surface as the surface traveling device operates across the surface. The level-sensing detector moves across the surface according to the operation of the surface traveling device, and transmits a depression reporting signal to the computing device. The depression reporting signal indicates the presence of a depression in the surface if the level-sensing detector contacts a depression in the surface over a depression threshold. 1. An automated leveling system for maintaining a surface , the automated leveling system comprising:a surface traveling device; anda leveling module attached to the surface traveling device, the leveling module comprising a depression detector arm assembly, at least one computing device, and a level-sensing detector, the level-sensing detector sensing a level of a surface as the surface traveling device operates across the surface, the level-sensing detector moving across the surface according to the operation of the surface traveling device, and transmitting a depression reporting signal to the computing device indicating the presence of a depression in the surface if the level-sensing detector contacts a depression in the surface over a depression threshold.2. The automated leveling system of claim 1 , wherein the depression detector arm assembly comprises a surface traveling device attachment component claim 1 , a detector-holding rod holding the level-sensing detector claim 1 , and a recoil section located within the surface traveling device attachment component and the detector-holding rod claim 1 , the surface traveling device attachment component adapted for attaching the depression detector arm ...

APPARATUS AND METHOD FOR INSPECTING AN ARTICLE OF MANUFACTURE USING AN IMAGE PROFILE

A manufacturing cell for manufacturing a vehicle component can include an intelligent actuator, a pneumatic rotational cylinder, an arm, a laser scanner, and a controller. The arm can extend downward from the intelligent actuator to the pneumatic rotational cylinder. The laser scanner can be attached to the pneumatic rotational cylinder for movement with the pneumatic rotational cylinder. The laser scanner configured to scan at least a first object and a second object, and create profile data indicative of a 3D profile of the first object and the second object. The controller can be configured to assure that the second object is in a positive condition by using the profile data to determine the positive condition for the second object if the tolerance distance lies within a set range, and determine a flagged condition for the second object if the tolerance distance lies outside the set range. 1. A manufacturing cell for manufacturing a vehicle component , comprising:an intelligent actuator;a pneumatic rotational cylinder;an arm extending downward from the intelligent actuator to the pneumatic rotational cylinder; scan at least a first object and a second object, and', 'create profile data indicative of a 3D profile of the first object and the second object; and, 'a laser scanner attached to the pneumatic rotational cylinder for movement with the pneumatic rotational cylinder, the laser scanner configured to,'} storing the profile data,', 'using the stored profile data to calculate a tolerance distance from a maximum height of the first object to a maximum height of the second object, S', 'determine the positive condition for the second object if the tolerance distance lies within a set range, and', 'determine a flagged condition for the second object if the tolerance distance lies outside the set range., 'a controller in electrical communication with the laser scanner and configured to assure that the second object is in a positive condition by,'}2. The ...

SYSTEM AND METHOD FOR AUTOMATED ODOMETRY CALIBRATION FOR PRECISION AGRICULTURE SYSTEMS

A method including: recording a first image of a first field region; automatically treating a plant within the first region in-situ based on the first image; automatically verifying the plant treatment with a second image of the first region; and automatically treating a second region concurrently with treatment verification. 1. A method for in-situ calibration of a device during operation of the device within a field , the method comprising:capturing an image of a field region with a camera of the device;identifying, from the image, a location of a first plant within the field region and a location of a second plant within the field region;identifying, a first treatment area based on the first plant and a second treatment area based on the second plant, wherein the treatment area describes a portion of the field region surrounding a plant;setting, by a computer of the device, a target treatment boundary location in the field region between the first treatment area and the second treatment area;controlling, by the computer, a first treatment mechanism of the device to apply a first treatment to the first treatment area;controlling, by the computer, a second treatment mechanism of the device to apply a second treatment to the second treatment area at a transition time, wherein the transition time is based on the target treatment boundary location;determining, by the computer, an actual treatment boundary location based on the location of the second plant and a motion of the device, wherein the actual treatment boundary location is a location in the field region where application of the second treatment begins; andcalibrating, by the computer, the device based on the target treatment boundary location and the actual treatment boundary location.2. The method of claim 1 , wherein the image of the field region is captured over a time period claim 1 , the first plant is associated with a first timestamp within the time period reflecting a time at which the first plant was ...

MEASURING PAVEMENT DEFLECTIONS USING DATA FROM LASER SCANNING SENSORS AS WELL AS FROM HIGH PRECISION ACCELEROMETERS AND GYROMETERS

A method, system and computer program product for calculating highway and airport pavement deflections. A pavement monitoring system includes a tractor and a semi-trailer, where a rigid horizontal beam is suspended under the semi-trailer. Various sensing elements are attached to the rigid beam, such as laser scanning sensors configured to measure a distance from the laser scanning sensors to the same point on the pavement at two different times, a gyrometer configured to estimate a raw pitch rate, an inertial measurement unit configured to estimate an orientation of the beam and accelerometers configured to measure an acceleration at a same level as corresponding laser scanning sensors. By utilizing these sensing elements, a more accurate pavement deflection is estimated by not relying on indirect measurements. Furthermore, the tractor and semi-trailer of the pavement monitoring system may travel at the velocity of traffic. 1. A method for calculating pavement deflections , the method comprising:receiving laser distance data from laser scanning sensors involving a distance from said laser scanning sensors to a same point on a pavement at two different times;receiving acceleration measurements from accelerometers located at a same level from corresponding laser scanning sensors;performing, by a processor, a deconvolution of said laser distance data using said acceleration measurements;determining, by said processor, a vertical position of a reference point in a beam with respect to an inertial frame as well as its pitch attitude using said deconvoluted laser distance data and a compensated raw pitch rate;obtaining horizontal positions of said laser scanning sensors by matching one-dimensional line scans between said laser scanning sensors; andestimating, by said processor, a pavement deflection of said pavement using a difference between said distance from said laser scanning sensors to said same point on said pavement at two different times as well as said ...

METHOD OF CONTROLLING MOTOR GRADER AND MOTOR GRADER

A method of controlling a motor grader including a blade provided between a front wheel and a rear wheel which are attached to a vehicular body and a height adjustment mechanism which adjusts a height of the blade includes obtaining current topography in front of the motor grader and adjusting a height of the blade with respect to the front wheel based on the current topography. 1. A method of controlling a motor grader , the motor grader including a blade provided between a front wheel and a rear wheel which are attached to a vehicular body and a height adjustment mechanism which adjusts a height of the blade , the method comprising:obtaining current topography in front of the motor grader; andadjusting a height of the blade with respect to the front wheel based on the current topography.2. The method of controlling a motor grader according to claim 1 , the method further comprising obtaining a vehicle speed of the motor grader claim 1 , whereinin the adjusting a height of the blade with respect to the front wheel, the height of the blade with respect to the front wheel is adjusted based on the current topography and the vehicle speed.3. The method of controlling a motor grader according to claim 1 , the method further comprising determining whether the front wheel will move past a recess claim 1 , whereinin the adjusting a height of the blade with respect to the front wheel, when it is determined that the front wheel will move past a recess, the height of the blade with respect to the front wheel is set to be higher than a current height.4. The method of controlling a motor grader according to claim 3 , the method further comprising determining whether the front wheel has moved past the recess claim 3 , whereinin the adjusting a height of the blade with respect to the front wheel, when it is determined that the front wheel has moved past the recess, the height of the blade with respect to the front wheel is adjusted again.5. The method of controlling a motor ...

WELLBORE OBSERVATION SYSTEM

An apparatus, system and/or method for making observations down a wellbore are provided. The wellbore observation system may comprise a mandrel that can be run downhole, and telescoping tracks can be utilized to move a camera and semi-conforming inflatable bladder out of the mandrel and into the wellbore. Once the bladder is inflated, it displaces high turbidity fluid in the wellbore to allow the camera to move about a track and observe the wellbore unobstructed. An alternative embodiment allows the mandrel and telescoping tracks to be utilized with other tools to perform cleaning, fishing, diagnostic, and analytic operations. 1. An assembly for making observations down a wellbore , comprising:a tubular body having an interior cavity, the tubular body having a longitudinal axis and an outer diameter;a first track connected to the tubular body and positioned in the interior cavity, wherein the first track is oriented substantially parallel to the longitudinal axis;a second track movable relative to the first track;a camera movable relative to the second track;a bladder having an interior volume and an outer diameter, wherein the camera and at least a portion of the second track are positioned in the interior volume;wherein in a first position, the camera, the second track and the bladder are positioned inside of the interior cavity; andwherein in a second position, the camera, at least a portion of the second track, and at least a portion of the bladder are positioned outside of the interior cavity, and the outer diameter of the bladder is larger than the outer diameter of the tubular body.2. The assembly of claim 1 , wherein the interior volume of the bladder is filled with a displacement fluid.3. The assembly of claim 2 , further comprising a reservoir coupled to the bladder for holding the displacement fluid.4. The assembly of claim 1 , wherein the bladder further comprises seals on either end.5. The assembly of claim 1 , wherein in the second position the bladder ...

REMOTE MEASUREMENT OF SHALLOW DEPTHS IN SEMI-TRANSPARENT MEDIA

Through discrimination of the scattered signal polarization state, a lidar system measures a distance through semi-transparent media by the reception of single or multiple scattered signals from a scattering medium. Combined and overlapped single or multiple scattered light signals from the medium can be separated by exploiting varying polarization characteristics. This removes the traditional laser and detector pulse width limitations that determine the system's operational bandwidth, translating relative depth measurements into the conditions of two surface timing measurements and achieving sub-pulse width resolution. 1. A system adapted to measure elevations , the system comprising:a lidar system configured with computational equipment configured for determining an elapsed time between two portions of received light from a laser pulse, based on a difference between properties of portions of the received light, and a relative distance based on the elapsed time, wherein the elapsed time is less than a duration of the laser pulse, or within a system's dead time;a time interval meter configured to determine a time of flight based on a time that the laser pulse is generated to when a reflection of the laser pulse are received; andone or more control electronics configured to measure topographic elevations using the time of flight.2. A machine implemented method for reducing loss of data caused by blind zones in a laser scanning apparatus , the method comprising the steps of:dynamically monitoring a time of flight (TOF) of laser light pulse transmitted and received by the laser scanning apparatus, wherein the laser scanner apparatus comprises computational equipment configured to determine an elapsed time between two portions of received light from a laser pulse reflected from one or more surfaces, based on a difference between properties of portions of the received light, and a relative distance based on the elapsed time, wherein the elapsed time is less than a ...

AUTONOMOUS MISSION ACTION ALTERATION

An unmanned aerial vehicle includes a camera, one or more sensors, memory storing first instructions that define an overall mission, and memory storing one or more mission cues. The vehicle further includes one or more processors configured to execute a first part of the first instructions to perform a first part of the overall mission. The processors are configured to process at least one of the image data and the sensor data to detect a presence of at least one of the mission cues. The processors are configured to, in response to detecting a mission cue, interrupting execution of the first instructions and executing second instructions to control the unmanned aerial vehicle to perform a first sub-mission of the overall mission. The processors are configured to after executing the second instructions, performing a second part of the overall mission by executing a second part of the first instructions. 1. An unmanned aerial vehicle comprising:a camera configured to generate image data;one or more sensors configured to generate sensor data;memory storing one or more mission cues comprising one or more pre-defined image data characteristics and/or sensor data characteristics;memory storing first travel and data acquisition instructions that define an overall mission for the unmanned aerial vehicle;memory storing a nested series of sub-missions to the overall mission;one or more processors configured to interrupt the overall mission to selectively execute the sub-missions in response to detecting at least one of the one or more mission cues.2. The unmanned aerial vehicle of claim 1 , wherein the one or more processors are configured to interrupt at least one sub-mission to selectively execute a sub-mission of the interrupted sub-mission.3. The unmanned aerial vehicle of claim 1 , wherein the mission cue comprises a change in estimated topology along at least a portion of a flight path of the overall mission.4. The unmanned aerial vehicle of claim 1 , wherein at least ...

Method and apparatus for determining wellbore position

An improved method and apparatus for determining wellbore position in deviated or horizontal wells. Continuous inclination values captured while drilling can be used to provide a more accurate model of a wellbore path, particularly true vertical depth, than would be produced using conventional methods of measuring inclination only at static survey points.

SYSTEMS AND METHODS FOR PASSIVE RANGING OF OBJECTS

Apparatus and associated methods relate to passive ranging of objects by using relative positional relation of the object to a coded aperture ranged object. A first range to a first object is determined via a coded-aperture ranging system based on a point spread function optimization of an image of the first object. The terrain surface between the first object and a second object is mapped via a 3D polarimetry system. A second range to the second object is then calculated via a range calculator based on the first range and the terrain surface between the first object and the second object. 1. A passive-ranging system comprising:a coded-aperture ranging subsystem that determines a first range of a first object based on a point spread function optimization of an image of the first object;a 3D polarimetry subsystem that determines terrain surface between the first object and a second object; anda range calculator that calculates a second range of the second object based on the first range and the terrain surface between the first object and the second object.2. The passive-ranging system of claim 1 , wherein the coded-aperture ranging subsystem further determines a third range of the second object.3. The passive-ranging system of claim 2 , wherein the range calculator further improves accuracy of the second range of the second object based on the third range of the second object.4. The passive-ranging system of claim 1 , wherein the range calculator further determines a relative location of the second object from the first object based on the terrain surface between the first object and the second object.5. The passive-ranging system of claim 4 , wherein the range calculator determines the second range of the second object further based on a geometric calculation of a delta range between the first and second objects based on the relative location determined.6. The passive-ranging system of claim 1 , wherein the passive-ranging subsystem is configured to be carried by ...

Data thinning device, surveying device, surveying system, and data thinning method

The present invention is provided with: a coordinates calculation unit (161) that, on the basis of data related to distance measurement points (P) indicating the distance to and the angle of a respective plurality of distance measurement points (P) and the coordinates of a laser beam irradiation reference point, and on the basis of the attitude angle of an aircraft (2), calculates coordinates of each of the distance measurement points (P) on a corresponding image among a plurality of images; a feature point extraction unit (162) that extracts feature points for each of the images; a distance calculation unit (163) that calculates, for each of the distance measurement points (P), the distance to a nearby feature point among the feature points extracted by the feature point extraction unit (162) on the basis of the coordinates calculated in the corresponding image by the coordinates calculation unit (161); and a necessity determination unit (166) that deletes unnecessary data from the data related to the distance measurement points (P) on the basis of the calculation result by the distance calculation unit (163).

Mobile Surface Scanner And Associated Method

A mobile surface scanner and associated method are disclosed. The mobile surface scanner comprises an array of laser scanners that determine surface conditions within a selected land area. The surface data is processed and imported into a geographic information system application, where the surface conditions are visualized on a map of the selected land area. 1. A mobile surface scanner , comprising:a frame;wheels attached to the frame;a positioning unit attached to the frame for generating position data indicating the position of the positioning unit;one or more scanners, each scanner configured to emit laser light toward a surface under the mobile surface scanner and to measure light reflected from the surface to the scanner to generate surface data; anda computing device for storing the surface data and the position data.2. The mobile surface scanner of claim 1 , wherein the computing device operates a surface scanning application for generating a visualization of the surface data claim 1 , wherein the visualization indicates any profile changes in the surface.3. The mobile surface scanner of claim 1 , wherein the computing device operates a geographic information system that generates a visualization based on the surface data and the position data over a map of the area in which the surface data was generated.4. The mobile surface scanner of claim 3 , wherein the visualization indicates the location of imperfections in a surface from which the surface data was generated.5. The mobile surface scanner of claim 4 , wherein the visualization comprises an indication of imperfections that satisfy predetermined characteristics.6. The mobile surface scanner of claim 5 , wherein the predetermined characteristics comprise accessibility for wheelchairs.7. The mobile surface scanner of claim 1 , further comprising:a distance encoder for measuring distance travelled by the mobile surface scanner.8. The mobile surface scanner of claim 1 , further comprising:a camera for ...

Odometer system for a recreational vehicle

A usage recordal system for a towed vehicle includes a distance measurement sensor for measuring data representative of distance travelled by the towed vehicle, a road surface quality sensor for measuring data representative of road surface quality for the measured distance travelled by the towed vehicle, and a processor for receiving the data representative of distance travelled by the towed vehicle and the data representative of road surface quality for the measured distance travelled by the towed vehicle and for combining the data to provide data indicative of the distance travelled by the towed vehicle over a variety of road surface conditions.

FEATURE HEIGHT-BASED COLORED IMAGE GENERATING APPARATUS AND FEATURE HEIGHT-BASED COLORED IMAGE GENERATING PROGRAM

Provided are a first DSM generating unit, a ground DEM storing unit, a first DEM generating unit, a 2 m ground DEM storing unit, a first DHM generating unit, a first inclination image generating unit, a first inclination image storing unit, a first red relief image generating unit, a first gradient-tinted image generating unit, a first feature height-based colored image generating unit, a first building height comparison image generating unit, and the like. Accordingly, an image does not look dirty, and an image in which a shape of a feature is outlined clearly is obtained. 1. A feature height-based colored image generating apparatus , comprising:a computer configured to execute operations including:storing, in a digital elevation model storing memory, a digital elevation model (DEM) of an area;storing, in a digital surface model storing memory, a digital surface model (DSM) of the area;generating a DHM, which is a difference between the digital elevation model (DEM) and the digital surface model (DSM), in a DHM storing memory;deriving an inclination per mesh of the DHM and generating an inclination image in which a grayscale value corresponding to the inclination is allocated to the mesh;decreasing an elevation value allocated to each mesh of the digital surface model (DSM) certain times per mesh, setting each mesh as a focused point, defining a certain range per focused point, and deriving an aboveground opening, an underground opening, and an inclination, to generate in a red relief image storing memory a red relief image in which a brighter color is allocated to a part having a higher aboveground opening, in which a darker color is allocated to a part having a higher underground opening, and in which a red-emphasized color is allocated to a part having a higher inclination;reading per mesh of the DHM a height of a feature allocated to the mesh and generating in a relative height gradient-tinted image storing memory a relative height gradient-tinted image in ...

Automatically scanning and representing an environment with collision avoidance

Automatic scanning and representing an environment with collision avoidance includes, for example, obtaining a first representation of the environment using a first scanning path, determining a second scanning path based on the first representation of the environment operable to avoid contact with the environment when obtaining a second representation of the environment, obtaining the second representation of the environment based on the second scanning path, and wherein the second representation of the environment is different from the first representation of the environment. The method may be employed in imaging and/or representing a rock wall having a plurality of spaced-apart holes for receiving charges for mining.

METHOD AND MOBILE DETECTION UNIT FOR DETECTING ELEMENTS OF INFRASTRUCTURE OF AN UNDERGROUND LINE NETWORK

A method for the positionally correct capture of exposed infrastructure elements arranged underground, in an open excavation, by means of a mobile capture apparatus including: by a 3D reconstruction device, image data and/or depth data of a scene containing at least one exposed infrastructure element arranged underground are captured and a 3D point cloud having a plurality of points is generated on the basis of these image data and/or depth data; by of one or more receivers, signals of one or more global navigation satellite systems are received and a first position indication of the position of the capture apparatus in a global reference system is determined; and a plurality of second position indications of the position of the capture apparatus in a local reference system and a plurality of orientation indications of the orientation of the capture apparatus in the respective local reference system are determined. 1. A method for the positionally correct capture of exposed infrastructure elements having a diameter less than 30 cm and which are arranged in an open excavation , by means of a mobile capture apparatus , wherein:by means of a 3D reconstruction device of the mobile capture apparatus, capturing image data and depth data of a scene containing at least one exposed infrastructure element arranged underground, and generating a 3D point cloud having a plurality of points on a basis of the image data and the depth data;by means of one or more receivers of the mobile capture apparatus, receiving signals of one or more global navigation satellite systems, and determining a first position indication of a position of the mobile capture apparatus in a global reference system; and i) wherein the determining one of the plurality of second position indications and one of the plurality of orientation indications is effected by means of an inertial measurement unit of the mobile capture apparatus, which captures linear accelerations of the mobile capture apparatus in ...

Laser Scanner

The disclosed subject matter relates to a laser scanner for scanning a ground from a seaborne or airborne vehicle, comprising a scanning unit for emitting a fan-shaped scan pattern made of laser beams fanned out about a scan axis and for receiving the laser beams reflected off the ground and an evaluation unit connected to the scanning unit for evaluating the laser beams that are received. The laser scanner is characterized by a measuring unit that is designed to measure the height of the vehicle above ground, and an actuation device that can be anchored to the vehicle and that is connected to the measuring unit. The actuation device is designed to rotate the fan-shaped scan pattern of the scanning unit with respect to the vehicle about a first actuation axis that is different from the scan axis, depending on the measured height above the ground. 1. A laser scanner for scanning a ground from a seaborne or airborne vehicle , comprisinga scanning unit for emitting a fan-shaped scan pattern made of laser beams fanned out about a scan axis and for receiving the laser beams reflected off the ground, andan evaluation unit connected to the scanning unit for evaluating the laser beams that are received,a measuring unit, that is designed to measure the height of the vehicle above the ground, andan actuation device configured to be anchored to the vehicle and that is connected to the measuring unit,wherein the actuation device is designed to rotate the fan-shaped scan pattern of the scanning unit with respect to the vehicle about a first actuation axis that is different from the scan axis, depending on the measured height above the ground.2. The laser scanner according to claim 1 , wherein the first actuation axis is essentially vertical.3. The laser scanner according to claim 1 , wherein the first actuation axis intersects the scan axis at an origin of the fan-shaped scan pattern.4. The laser scanner according to claim 1 , wherein the measuring unit is designed to measure ...

TOPOLOGY-BASED DATA GATHERING

Topology based adaptive data gathering is disclosed herein. Payload data gathering by an unmanned aerial vehicle can be adjusted based on topological or topographical characteristics of the area of flight by the unmanned aerial vehicle. The unmanned aerial vehicle collects payload data over an area and may scale up the rate of payload data gathering or slow down the flight as the unmanned aerial vehicle flies over a high or complex structure. Conversely, the unmanned aerial vehicle may advantageously scale down the rate of payload data gathering or speed up the flight as the unmanned aerial vehicle flies over a simple structure or an empty area. 1. An unmanned aerial vehicle comprising:a camera configured to generate photographic images;one or more sensors configured to generate sensor data; and during a flight, estimate topology along at least a portion of a flight path based at least in part on the generated sensor data;', 'detect a change in the estimated topology; and', 'change the rate at which photographic images are generated and/or processed based at least in part on the detected change in the estimated topology., 'one or more processors configured to2. The unmanned aerial vehicle of claim 1 , wherein the one or more sensors comprise a distance detector.3. The unmanned aerial vehicle of claim 1 , wherein the change in estimated topology indicates approaching an above-ground structure claim 1 , and wherein the rate at which photographic images are generated and/or processed is increased.4. The unmanned aerial vehicle of claim 1 , wherein the generated sensor data is indicative of the unmanned aerial vehicle flying away from an above-ground structure claim 1 , and wherein the rate at which photographic images are generated and/or processed is decreased.5. The unmanned aerial vehicle of claim 1 , wherein the sensor data comprise distance data between the unmanned aerial vehicle and one or more ground structures in the flight path claim 1 , and wherein the ...

ROAD STATE MANAGEMENT APPARATUS AND METHOD

A non-transitory computer-readable recording medium has stored therein a road state management program for causing a computer to execute a process, the process including receiving at least one information selected from the group including of information on a state of a surface of a road and information on a state under a surface of the road, distributing the received information to one or more management units of the road, and extracting the plurality of pieces of the distributed information so as to be in order of time, wherein each of the distributed information is common place of the road. 1. A non-transitory computer-readable recording medium having stored therein a road state management program for causing a computer to execute a process , the process comprising:receiving at least one information selected from the group including of information on a state of a surface of a road and information on a state under the surface of the road;distributing the received information to one or more management units of the road; andextracting the plurality of pieces of the distributed information so as to be in order of time, wherein each of the distributed information is common place of the road.2. The non-transitory computer-readable recording medium according to claim 1 , wherein the road has lanes claim 1 , and the one or more management units are set in each lane.3. The non-transitory computer-readable recording medium according to claim 1 , wherein the process further comprises:controlling displaying the information extracted so as to be in order of time in each of the one or more management units.4. The non-transitory computer-readable recording medium according to claim 1 , wherein the process further comprises:receiving a designation of the road;making a demand to input the information on the state of the surface of the road or the information on the state under the surface of the road of a plurality of road sections obtained by dividing the road designated by units ...

AUTONOMOUS MISSION ACTION ALTERATION

An unmanned aerial vehicle includes a camera, one or more sensors, memory storing first instructions that define an overall mission, and memory storing one or more mission cues. The vehicle further includes one or more processors configured to execute a first part of the first instructions to perform a first part of the overall mission. The processors are configured to process at least one of the image data and the sensor data to detect a presence of at least one of the mission cues. The processors are configured to, in response to detecting a mission cue, interrupting execution of the first instructions and executing second instructions to control the unmanned aerial vehicle to perform a first sub-mission of the overall mission. The processors are configured to after executing the second instructions, performing a second part of the overall mission by executing a second part of the first instructions. 1. An unmanned aerial vehicle comprising:a camera configured to generate image data;one or more sensors configured to generate sensor data;memory storing one or more mission cues comprising one or more pre-defined image data characteristics and/or sensor data characteristics;memory storing first travel and data acquisition instructions that define an overall mission for the unmanned aerial vehicle;memory storing a nested series of sub-missions to the overall mission;one or more processors configured to interrupt the overall mission to selectively execute the sub-missions in response to detecting at least one of the one or more mission cues.2. The unmanned aerial vehicle of claim 1 , wherein the one or more processors are configured to interrupt at least one sub-mission to selectively execute a sub-mission of the interrupted sub-mission.3. The unmanned aerial vehicle of claim 1 , wherein the mission cue comprises a change in estimated topology along at least a portion of a flight path of the overall mission.4. The unmanned aerial vehicle of claim 1 , wherein at least ...

Using depth-camera images to speed registration of three-dimensional scans

A method for measuring and registering 3D coordinates has a 3D scanner measure a first collection of 3D coordinates of points from a first registration position and a second collection of 3D coordinates of points from a second registration position. In between these positions, the 3D measuring device collects depth-camera images. A processor determines first and second translation values and a first rotation value based on the depth-camera images. The processor identifies a correspondence among registration targets in the first and second collection of 3D coordinates based at least in part on the first and second translation values and the first rotation value. The processor uses this correspondence and the first and second collection of 3D coordinates to determine 3D coordinates of a registered 3D collection of points.

Layer Thickness Measurement of Soil Covering

A method for measure the layer thickness of soil coverings, in particular in the case of gas and oil pipelines laid underground, wherein the device to be covered is measured and the coordinates thereof in relation to a specified coordinate system are recorded, where the course of the terrain over the device is measured and a terrain model is determined therefrom and recorded in the specified coordinate system after the soil covering has been applied, and where the layer thickness of the soil covering is determined from the coordinates of the device and from the terrain model. 17.-. (canceled)8. A method for performing layer thickness measurements of soil coverings over gas and oil pipelines laid underground , the method comprising:measuring a device to be covered and recording coordinates of the device;measuring a terrain profile over the device, determining a terrain model from the terrain profile, and recording said terrain model in a specified coordinate system after the soil covering has been applied; anddetermining the layer thickness of the soil covering from the recorded coordinates of the device and from the terrain model.9. The method as claimed in claim 8 , wherein the measurement of the terrain profile over the device is performed via flying objects.10. The method as claimed in claim 9 , wherein the terrain profile the terrain in question is overflown and photographed to measure;wherein the position of the flying objects is determined via satellite-aided positioning systems; and wherein a digital terrain model is generated from overlapping photographs and a respectively associated position of the flying objects.11. The method as claimed in claim 9 , wherein the terrain is overflown and the surface is scanned with a laser beam and a distance between the detected point on a surface of the earth and the flying object is detected to measure the terrain profile;wherein a position of the flying objects is determined via satellite-aided positioning systems and a ...

High speed stereoscopic pavement surface scanning system and method

Disclosed is a mobile pavement surface scanning system for detecting pavement distress. In an embodiment the system comprises one or more light sources mounted on the mobile vehicle for illuminating a pavement, one or more stereoscopic image capturing devices mounted on the vehicle for capturing sequential images of an illuminated pavement surface, and a plurality of positioning sensors mounted on the mobile vehicle, the positioning sensors adapted to encode movement of the mobile vehicle and provide a synchronization signal for the sequential images captured by the one or more stereoscopic image capture devices. One or more computer processors are adapted to synchronize the intensity image pairs captured by each camera in the one or more stereoscopic image capturing devices, perform a 3D reconstruction of the pavement from the intensity image pairs using stereoscopic principles, generate a depth image and an intensity image pair from the 3D reconstruction, and process at least one of the depth image and the intensity image utilizing one or more distress detection modules to detect a type of pavement distress.

STRUCTURE MEASURING DEVICE, MEASUREMENT POINT CORRECTING DEVICE, AND MEASUREMENT POINT CORRECTING METHOD

The interior of a first measurement surface and the interior of a second measurement surface traveling together with a measuring vehicle are scanned to acquire first measurement coordinate points and second measurement coordinate points, respectively. A first comparison point cloud representing a comparison part on a surface of a structure is extracted from the first measurement coordinate points. A second comparison point cloud representing a comparison part on the surface of the structure is extracted from the second measurement coordinate points. A difference between the first comparison point cloud and the second comparison point cloud corresponding to measurement of a common comparison part on the surface of the structure is calculated. Error having time dependence included in the first measurement coordinate points and the second measurement coordinate points is calculated on the basis of the calculated difference. The measurement coordinate points are corrected on the basis of the calculated error. 1. A structure measuring device that measures the geometry of a surface of a structure around a measuring vehicle , comprising:a position and attitude sensor that senses the position and attitude of the measuring vehicle;a first point cloud sensor that senses relative positions of multiple first measurement points from the measuring vehicle by scanning the interior of a first measurement surface traveling together with the measuring vehicle;a second point cloud sensor that senses relative positions of multiple second measurement points from the measuring vehicle by scanning the interior of a second measurement surface traveling together with the measuring vehicle and differing from the first measurement surface;a measurement coordinate point calculator that calculates multiple first measurement coordinate points forming a three-dimensional point cloud representing the multiple first measurement points on the basis of the relative positions of the multiple first ...

SENSOR SYSTEM, SENSING ELEMENT AND METHODS

Techniques are disclosed for disseminating network service-specific mapping information across administrative domains In one example, a network device receives an indication of a route target and one or more underlay tunnels configured to support a service route. The service route is configured to transport network traffic associated with a first network service of a plurality of network services. The network device defines, based on the indication, a first transport class of a plurality of transport classes. The network device receives a service route for the first network service and stores a correspondence between the service route and the first transport class. The network device receives network traffic associated with the first network service and forwards, based on the correspondence, the network traffic along the underlay tunnels specified by the first transport class. 1. A sensor system comprising:a plurality of sensing elements configured when deployed to be connected together to form a chain;a control element configured when deployed to be connected to the plurality of sensing elements of the chain, and a housing,', 'first and second interfaces, each of the first and the second interfaces being configured to form an electrical and a physical connection to a corresponding interface of another of the plurality of sensing elements or the control element to form the chain;', at least one sensor configured to generate an indication of a relative orientation and tilt of the sensing element,', 'control circuitry configured to control communication of signals via one or both of the first interface and the second interface to at least one of the other sensing elements and/or the control element,, 'electrical circuitry formed within the housing, the electrical circuitry comprising'}], 'each of the plurality of sensing elements compriseswherein the signals communicated via one or both of the first interface and the second interface to the at least one of the other ...

Feature/ground height-based colored image generating apparatus and feature height-based colored image generating program

Provided are a first DSM generating unit, a first DEM generating unit, a first DHM generating unit, a first inclination image generating unit, a first inclination image storing unit, a first red relief image generating unit, a first gradient-tinted image generating unit, a first feature height-based colored image generating unit, a first building height comparison image generating unit, a second red relief image generating unit, a first feature height comparison image generating unit, a first terrain/feature height-based colored image generating unit, and the like, to obtain a terrain/feature height-based colored image, in which a terrain is expressed in color in accordance with a height and an inclination thereof, and in which a feature is expressed in color in accordance with a height and an inclination thereof.

METHOD AND SYSTEM FOR ASCERTAINING AND PROVIDING A GROUND PROFILE

A method for ascertaining a ground profile in a region in front of a vehicle in a direction of travel, using at least one sensor; at least one vertical motion of at least one vehicle traveling ahead being measured by the vehicle, an independent motion of the vehicle being ascertained or estimated, the measured data of the at least one vertical motion of the at least one vehicle traveling ahead being compared to the ascertained or estimated data of the independent motion of the vehicle, and a ground profile being derived from the comparison of the measured data of the at least one vehicle traveling ahead with the ascertained or estimated data of the independent motion of the vehicle. In addition, a system is described. 1. A method for ascertaining a ground profile in a region in front of a first vehicle in a direction of travel , using at least one sensor , the method comprising:measuring at least one vertical motion of at least one second vehicle traveling ahead by the vehicle;one of ascertaining and estimating an independent motion of the first vehicle;comparing measured data of the at least one vertical motion of the at least one second vehicle traveling ahead to one of ascertained and estimated data of the independent motion of the first vehicle; andderiving a ground profile from the comparing of the measured data of the at least one second vehicle traveling ahead with the one of the ascertained and the estimated data of the independent motion of the first vehicle.2. The method as recited in claim 1 , wherein the independent motion of the first vehicle is ascertained using at least one odometric measurement.3. The method as recited in claim 1 , wherein the independent motion of the first vehicle is ascertained with the aid of an independent-position estimate.4. The method as recited in claim 1 , wherein the at least one vertical motion of the at least one second vehicle traveling ahead is measured by the first vehicle in light of a change in elevation of one of ...

Sensor Control Device

A control unit of the sensor control device controls sensor based on the planimetric feature information related to the planimetric features and the sensor information related to the sensors. Thereby, while the sensors are appropriately operated as necessary, and the detailed current information of the planimetric feature is acquired by the sensors, the total data size of the information acquired by the sensors can be reduced. 1. A sensor control device comprising:a first acquisition unit that acquires planimetric feature information related to a planimetric feature;a second acquisition unit that acquires sensor information related to a sensor capable of acquiring current information of the planimetric feature; anda control unit that controls the sensor based on the planimetric feature information acquired by the first acquisition unit and the sensor information acquired by the second acquisition unit.2. The sensor control device as claimed in claim 1 , further comprising:a current position information acquisition unit that acquires current position information of the sensor or a moving object in which the sensor is arranged,wherein the planimetric feature information includes planimetric feature position information related to a position of the planimetric feature, and the sensor information includes recognizable range information related to a recognizable range by the sensor.3. The sensor control device as claimed in claim 2 ,wherein when the position indicated by the planimetric feature position information is within the recognizable range, the control unit operates the sensor in a first state, and when the position indicated by the planimetric feature position information is outside the recognizable range, the control unit operates the sensor in a second state.4. The sensor control device as claimed in claim 3 ,wherein the sensor increases at least one of the number of times of measurement in a predetermined scan range and an energy consumption per measurement ...

Measurement device of shovel

A shovel includes a lower travelling body; an upper turning body pivotably mounted on the lower traveling body; a camera that is attached to the upper turning body and that is capable of stereo photographing; and a measurement device including a processor; and a memory that includes instructions, which when executed, cause the processor to execute the following step: measuring a landform in a vicinity of the shovel based on stereo-pair images captured by the camera during turning or traveling of the shovel.

METHOD TO MEASURE ROAD ROUGHNESS CHARACTERISTICS AND PAVEMENT INDUCED VEHICLE FUEL CONSUMPTION

A method of monitoring quality of a road segment from driver data is provided. The method includes receiving, by a server over a network, the driver data for a road segment from one or more sensing units in one or more vehicles. The method also includes calculating, in one or more computing devices, one or more quantitative pavement surface characteristics of the road segment from the driver data using a probabilistic inverse analysis framework. The method also includes identifying, in the one or more computing devices, one or more quantitative vehicle properties of the one or more vehicles from the driver data using the probabilistic inverse analysis framework. The method then includes estimating, in the one or more computing devices, one or more road quality characteristics of the road segment based on at least one of the quantitative pavement surface characteristics of the road segment and the quantitative vehicle properties of the one or more vehicles. 1. A method of monitoring quality of a road segment from driver data , the method comprising:receiving, by a server over a network, the driver data for a road segment from one or more sensing units in one or more vehicles,calculating, in one or more computing devices, one or more quantitative pavement surface characteristics of the road segment from the driver data using a probabilistic inverse analysis framework,identifying, in the one or more computing devices, one or more quantitative vehicle properties of the one or more vehicles from the driver data using the probabilistic inverse analysis framework,estimating, in the one or more computing devices, one or more road quality characteristics of the road segment based on at least one of the quantitative pavement surface characteristics of the road segment and the quantitative vehicle properties of the one or more vehicles.2. The method of claim 1 , wherein the estimating the one or more road quality characteristics comprises calculating the International ...

Mobile unit for measuring running paths for handling device, system and process for measuring through such mobile unit

A mobile unit ( 5 ) is described for measuring running paths for handling systems, in particular bridge cranes, sliding on a route ( 2 ), comprising at least one first measuring device ( 62 ) which constitutes a space reference of the mobile unit ( 5 ) with respect to at least one fixed measuring unit ( 3 ) comprising second measuring device ( 61 ), the first measuring device ( 62 ) being connected to the mobile unit ( 5 ) by interposing at least one handling device adapted to synchronize measuring operations between the first measuring device ( 62 ) and the second measuring device ( 61 ) of the fixed measuring unit ( 3 ). A system for measuring ( 1 ) running paths for handling systems through such mobile unit ( 5 ) and a process for measuring through such system ( 1 ) are further described.

METHOD TO OBTAIN DATA CONCERNING THE UPPER PROFILE OF AN ELEMENT OF A RAILWAY TRACK OR SWITCH

A method to obtain data concerning the upper profile of an element of a railway track or switch by means of an electronic measuring module mounted on a cart and provided with at least one laser profilometer to acquire a sequence of images while the cart moves forward along the railway track so that each image comprises a point cloud indicative of the upper profile in correspondence with a respective plane transverse to the forward moving direction of the cart. The method provides that, for each point cloud, a respective piecewise polynomial function, preferably a spline function, that approximates the point cloud, is generated, so as to transform original data consisting of said point cloud into compressed data consisting of parameters of the piecewise polynomial function. 1. A method to obtain data concerning the upper profile of an element of a railway track or switch by means of an electronic measuring module mounted on a cart and provided with at least one profilometer device; the method comprising:acquiring, by means of said profilometer device and while the cart moves forward along the railway track or switch, a sequence of point clouds, each point cloud being indicative of said upper profile in correspondence with a respective plane that is transverse to the forward moving direction of the cart; andfor each point cloud, generating a respective piecewise polynomial function, preferably consisting of a spline function, which approximates said point cloud so as to transform original data consisting of said point cloud into compressed data consisting of parameters of said piecewise polynomial function.2. A method according to claim 1 , wherein said piecewise polynomial function is generated using the ordinary least squares method.3. A method according to claim 1 , wherein said piecewise polynomial function is generated using the VDA method.4. A method according to claim 1 , wherein said parameters comprise a maximum degree of the polynomial bases of said ...

System and method of acquiring road data

A system for acquiring road data includes a resource analyzer for analyzing resources used by a device on a vehicle, a context analyzer for setting a context for data valuation and decision making based the analyzed resources, a data evaluator for evaluating data based on the set context, a decision engine for determining data to acquire based on the set context, and a data acquisition device for acquiring the determined data.

Road surface shape measuring device, measuring method, and non-transitory computer-readable medium

A device configured to apprehend a road surface shape by using data measured by a measuring device appropriately apprehends a road surface shape. A road surface shape measuring device is provided with a road surface information acquiring unit and a road surface shape determining unit. The road surface information acquiring unit acquires road surface information about each of multiple points on a road surface, the road surface information including: a road surface position which is the position, of the road surface, on a reference plane divided into a plurality of sectioned regions; and a road surface height which is the height of the road surface at the road surface position. The road surface shape determining unit estimates respective surface shapes of the sectioned regions by using the road surface information included in the corresponding sectioned regions, and thereby determines a partial shape or the entire shape of the road surface.

Simplified Distance Meter

A simplified distance meter comprises a frame, at least two wheels installed in front and rear of the frame, rotation detectors for detecting rotation of at least one wheel, and tilt detecting means installed on the frame, wherein amount of rotations of the wheels is obtained by the rotation detector, and tilting of the frame corresponding to the amount of rotations is acquired by the tilt detecting means.

Step Detection Device and Step Detection Method

A step detection device detects the distance and the direction to a road surface around a vehicle, using a distance sensor mounted on the vehicle, and sets a first step determination position and a second step determination position on the road surface. Then, the step detection device calculates the height changes of the road surfaces at the first step determination position and the second step determination position based on the distance and the direction to the road surface, and detects a step on the road surface based on one of the step determination positions, the gradient of the height change of the road surface at the one being larger.

TIRE-MOUNTED SENSOR AND ROAD SURFACE CONDITION ESTIMATION DEVICE INCLUDING SAME

When a road surface condition does not change, road surface data is transmitted by a tire-mounted sensor at a rate of once every time a tire rotates a plurality of times, in order to reduce the power consumption from a power source. Further, when the road surface condition changes, the road surface data is transmitted by the tire-mounted sensor with a transmission interval that is shorter than when the road surface condition does not change. In this way, reducing the amount of road surface data that is transmitted when the road surface condition does not change makes it possible to reduce the amount of power required for data transmission. Further, using a transmission interval that is shorter when the road surface condition changes than when the road surface condition does not change makes it possible for changes in the road surface condition to be conveyed rapidly to a vehicle body side system. 1. A tire-mounted sensor attached to a back surface of a tire comprising:a vibration detection unit for outputting a detection signal corresponding to a magnitude of vibration of the tire;a signal processing unit for detecting a road surface condition based on vibration data indicated by the detection signal of the vibration detection unit; anda transmission unit for transmitting road surface data indicating the road surface condition,wherein the signal processing unit includes a transmission control unit for setting a transmission interval of transmitting the road surface data in correspondence to a change in the road surface condition detected in association with rotation of the tire and controlling the transmission unit to transmit the road surface data.2. The tire-mounted sensor according to claim 1 , wherein:the transmission control unit varies the transmission interval of transmitting the road surface data in correspondence to the change in the road surface condition.3. The tire-mounted sensor according to claim 1 , wherein:the transmission control unit detects a ...

ROAD MONITORING METHOD AND SYSTEM

A method and system monitor road condition, by providing, for portions (-.m) of a road an approximation of a roughness figure in accordance with a roughness index. The method includes receiving speed data of a first vehicle travelling along each of the portions of the road and receiving, from a measuring device carried on the first vehicle measured acceleration data of the device perpendicular to the road surface. The acceleration data is processed to provide a parameter value relating to the acceleration data for each of the portions of the road A first speed-based conversion equation and the speed data is utilized to convert the parameter into the approximation of a roughness figure for each of the portions of the road in accordance with the roughness index. 127-. (canceled)28. A method for providing , for a portion of a road , an approximation of a roughness figure in accordance with a roughness index , the method comprising:receiving speed data of a first vehicle travelling along the portion of the road and receiving, from a measuring device carried on the first vehicle, measured acceleration data of the device perpendicular to the road surface, the first vehicle belonging to a first class of a plurality of defined different classes of vehicles, the first class of vehicles being associated with a first set of speed-based conversion equations wherein each of the speed-based conversion equations in the first set relates to a different speed, and each of the other classes of the plurality of defined different classes of vehicles being associated with a respective corresponding set of speed-based conversion equations;processing the acceleration data, to provide a value for a parameter relating to the acceleration data for the portion of the road, the parameter being a dimensionless statistical parameter obtained by processing the z-axis acceleration data statistically; andutilizing a first speed-based conversion equation, which is selected based on the speed data ...

METHOD, DEVICE AND SYSTEM FOR ANALYZING TUNNEL CLEARANCE BASED ON LASER POINT CLOUD

A point cloud of a tunnel is obtained. A cylinder is fitted using the point cloud of the tunnel. A central axis of the tunnel is extracted. A section of the tunnel is intercepted based on the central axis of the tunnel. Point cloud subsets of two rails are extracted. A base line of a contour of the tunnel clearance is constructed. A center of the section of the tunnel is extracted. A point cloud of the section of the tunnel is registered with a point cloud of the tunnel clearance based on a constraint condition. The point cloud of the section of the tunnel and the point cloud of the tunnel clearance which are registered with each other are analyzed to determine whether the tunnel clearance is intruded. 1. A method for analyzing tunnel clearance based on a laser point cloud , comprising:1) obtaining a point cloud of a tunnel;2) fitting a cylinder using the point cloud of the tunnel; extracting a central axis of the tunnel; and intercepting a section of the tunnel based on the central axis of the tunnel;3) extracting point cloud subsets of two rails;4) constructing a base line of a contour of the tunnel clearance; and extracting a center of the section of the tunnel; and registering a point cloud of the section of the tunnel and a point cloud of the tunnel clearance based on a constraint condition; and5) analyzing the point cloud of the section of the tunnel and the point cloud of the tunnel clearance which a registered with each other to determine whether the tunnel clearance is intruded.2. The method of claim 1 , wherein the step 1 comprises:scanning the tunnel using a three-dimensional laser scanner to obtain the point cloud of the tunnel; andintercepting the point cloud of the tunnel in sections.3. The method of claim 2 , wherein each section containing 10 rings claim 2 ,4. The method of claim 1 , wherein the step 2 comprises:21) fitting a cylinder using the point cloud of the tunnel through Gaussian mapping to extract a central axis of the tunnel;22) intercepting ...

MONITORING AN ENVIRONMENT

The technology relates to a system and method for monitoring an environment. The method comprises receiving first and second sets of data from a plurality of mobile units, wherein the first set of data is associated with a first temporal indicator, the second set of data is associated with a second temporal indicator and each mobile unit comprises: a position determining device configured to generate position data associated with a position of the mobile unit within the environment, and a laser scanning device configured to generate scan data based on a scan of at least part of the environment; determining a first parameter associated with the first set of data; determining a second parameter corresponding to the first parameter and associated with the second set of data; and determining a difference between the first and second parameters. 1. A method for monitoring an environment , comprising: a position determining device configured to generate position data associated with a position of the mobile unit within the environment, and', 'a laser scanning device configured to generate scan data based on a scan of at least part of the environment;, 'receiving first and second sets of data from a plurality of mobile units, wherein the first set of data is associated with a first temporal indicator, the second set of data is associated with a second temporal indicator and each mobile unit comprisesdetermining a first parameter associated with the first set of data;determining a second parameter corresponding to the first parameter and associated with the second set of data; anddetermining a difference between the first and second parameters.2. The method of comprising generating a composite map of at least part of the environment using the data received from the plurality of mobile units;3. The method of comprising:providing the composite map to a user;receiving validation of the composite map from the user; andstoring the composite map as a validated map in response to ...

POTHOLE DETECTION SYSTEM

Example implementations described herein are directed to depression detection on roadways (e.g., potholes, horizontal panel lines of a roadway, etc.) through using vision sensor to realize improved safety for advanced driver assistance systems (ADAS) and autonomous driving (AD). Example implementations described herein detect candidate depressions in the roadway in real time and adjust the control of the vehicle system according to the detected depressions. 1. A method , comprising:determining a difference image for images of a roadway received from one or more cameras of a vehicle;identifying one or more candidate depressions on the roadway from the difference image;classifying the one or more candidate depressions to determine types of depressions for each of the one or more candidate depressions based on a comparison to a negative Gaussian distribution; andcontrolling at least one of suspension, steering, or speed of the vehicle from the determined types of depressions for each of the one or more candidate depressions.2. The method of claim 1 , wherein the one or more cameras is a single camera claim 1 , and wherein the difference image is generated from the images of the roadway received from the camera through a machine learning process.3. The method of claim 1 , wherein the one or more cameras comprises a plurality of stereo cameras claim 1 , wherein the difference image is assembled from the images received from the plurality of stereo cameras.4. The method of claim 1 , wherein the identifying one or more candidate depressions on the roadway from the difference image comprises:comparing edge image pixels of the difference image with a threshold disparity map;associating each of the edge image pixels with a weight based on the comparison; andidentifying the one or more candidate depressions based on the weight associated with the each of the edge image pixels.5. The method of claim 1 , wherein the classifying the one or more candidate depressions to determine ...

Method and system for determining a vertical profile of a rail surface

The present invention defines a method of determining a vertical profile signal of a rail surface that includes, obtaining a vertical acceleration signal acc, by measuring vertical acceleration of a bogie of a rail vehicle that runs on the rail surface; processing the vertical acceleration signal to obtain a vertical velocity signal; determining the vertical profile signal of the rail surface, by using the vertical acceleration signal and the vertical velocity signal as inputs to a simulation model of the bogie, the model having an unsprung mass connected to a sprung mass, the vertical acceleration signal accrepresents the vertical acceleration of the unsprung mass; and measuring a linear velocity signal of the rail vehicle, the linear velocity signal is used in the step of determining to convert the vertical profile signal from the time domain to the distance domain.

Method and electronic calculator for determining the trajectory of a mobile object

A method for determining trajectory of a mobile object, including: provision of an object including sensors; displacement of the sensors along one and the same trajectory, the sensors maintaining one and the same distance between themselves and each measuring one and the same physical quantity; determination of instants for which the object has travelled an aggregate curvilinear distance which is equal to an integer multiple of the distance and calculation of a direction tangent to the trajectory of the object, for each of the instants determined; automatic reconstruction of the trajectory followed by the mobile object during its displacement by an interpolation, based on, for each reference instant determined, the measured tangent calculated for the reference instant.

METHOD AND SYSTEM FOR DETERMINING POSSIBLE GEOGRAPHIC POSITIONS OF AN ASSUMED UNDETECTED TARGET

A sensor surveillance system () and a method for determining possible geographic positions of at least one assumed undetected target (-) within a geographic volume of interest () is provided, wherein for a first point in time ti the following steps are performed: dividing the geographic volume of interest () into sections (); assuming the existence of an assumed undetected target (-) at a geographic position within each section (); and initiating the creation of a pattern () defining at least one possible geographic position of the assumed undetected target, said pattern extends at least partially around the geographic position of the assumed undetected target (-); wherein the geographic extension of said pattern is determined based on: the category of the assumed undetected target (-); and the amount of time that has passed from the first point in time t. Further, for a second point in time t the following steps are performed: determining geographic locations () within said geographic volume of interest () from where sensor signals show absence of targets; and removing the pattern () from the geographic locations () from where sensor signals show absence of targets. 11200an. A method for determining possible geographic positions of at least one assumed undetected target (-) within a geographic volume of interest () , wherein for a first point in time tthe following steps are performed:{'b': 200', '10, 'dividing the geographic volume of interest () into sections ();'}{'b': 1', '10, 'i': a', 'n, 'sub': '1a-1d', 'assuming the existence of an assumed undetected target (-) at a geographic position (p) within each section (); and'}{'b': 2', '1', '2', '1, 'i': a', 'n', 'a', 'n, 'sub': '1a-1d', 'initiating the creation of a pattern () defining at least one possible geographic position of the assumed undetected target (-), said pattern () extends at least partially around the geographic position (p) of the assumed undetected target (-);'}{'b': '2', 'claim-text': [{'b': '1', ...

Systems, methods, and apparatus for tracking location of an inspection robot

Systems, methods, and apparatus for tracking location of an inspection robot are disclosed. An example apparatus for tracking inspection data may include an inspection chassis having a plurality of inspection sensors configured to interrogate an inspection surface, a first drive module and a second drive module, both coupled to the inspection chassis. The first and second drive module may each include a passive encoder wheel and a non-contact sensor positioned in proximity to the passive encoder wheel, wherein the non-contact sensor provides a movement value corresponding to the first passive encoder wheel. An inspection position circuit may determine a relative position of the inspection chassis in response to the movement values from the first and second drive modules.

Inspection robots with a multi-function piston connecting a drive module to a central chassis

Inspection robots with a multi-function piston connecting a drive module to a central chassis and systems thereof are disclosed. An example inspection robot may include a center chassis coupled to a payload coupled to at least two inspection sensors. The inspection robot may further include a drive module coupled to the center chassis, the drive module having a drive wheel to engage an inspection surface and a drive piston mechanically interposed between the center chassis and the drive module. The example may further include wherein the drive piston in a first position couples the drive module to the center chassis at a minimum distance between and the drive piston in a second position couples the drive module to the center chassis at a maximum distance between. The example may further include wherein the drive module is independently rotatable relative to the center chassis.

System and Method for Mapping a Raised Contour

A system includes a position sensing system for determining a position of a machine and a work implement configured to engage material to form a raised contour. A controller determines a plurality of positions of the machine as the machine moves about the work site and the work implement forms the raised contour, determines a plurality of reference positions along an edge of the raised contour as the work implement forms the raised contour, and generates a map of the edge of the raised contour based upon the plurality of reference positions. 1. A system for use with a machine for generating a map of an edge of a raised contour at a work site , comprising:a position sensing system associated with the machine for determining a position of the machine;a work implement associated with the machine and configured to engage material at the work site to form the raised contour; and determine a plurality of positions of the machine based upon the position sensing system as the machine moves about the work site and the work implement forms the raised contour;', 'determine a plurality of reference positions along the edge of the raised contour based upon positions of the machine as the work implement forms the raised contour; and', 'generate a map of the edge of the raised contour based upon the plurality of reference positions., 'a controller configured to2. The system of claim 1 , wherein the controller is configured to determine each of the plurality of reference positions upon receiving an operator input signal.3. The system of claim 1 , wherein each of the plurality of reference positions is generally at an intersection between a work surface and the raised contour.4. The system of claim 1 , further including a range sensing system associated with the machine for determining a position of the edge of the raised contour and wherein the controller is configured to determine the plurality of reference positions based upon the range sensing system.5. The system of claim 4 , ...

Method of Controlling Turf Grading Equipment

An improved system and method for controlling turf grading equipment is described. The system comprises a turf grading device wherein the turf grading device is moved longitudinally over an area and the turf grading device comprises a left side and a right side with each side being able to independently move vertically and in concert provide a motion of pitch and yaw. The system includes a control system wherein the control system controls movement of the left side and the right side independently. The control system comprises a controller interface capable of selecting between a manual override mode and a module selection mode wherein the module selection mode selected from a grade adjust laser mode, a grade adjust autograde mode, a grade adjust autodepth mode and a grade adjust slope mode 1. A system for controlling turf grading equipment comprising:a turf grading device wherein said turf grading device is moved longitudinally over an area and said turf grading device comprises a left side and a right side with each side being able to independently move vertically and said left side and said right move side in concert provide a motion of pitch and yaw;a control system for said turf grading device wherein said control system controls movement of said left side and said right side independently wherein said control system comprises:a controller interface capable of selecting between a manual override mode and a module selection mode wherein said module selection mode selects from a grade adjust laser mode, a grade adjust autograde mode, a grade adjust autodepth mode and a grade adjust slope mode; wherein said grade adjust laser mode comprises a laser transmitter in a fixed location relative to said area wherein said laser transmitter transmits a laser beam over said area;at least one laser sensor on said turf grading device wherein said laser sensor moves in concert with said left side or said right side;a grade adjust laser mode controller capable of determining a ...

ROAD SURFACE PROFILE ESTIMATION DEVICE, ROAD SURFACE PROFILE ESTIMATI0N SYSTEM, ROAD SURFACE PROFILE ESTIMATION METHOD, AND ROAD SURFACE PROFILE ESTIMATION PROGRAM

The present invention provides a road surface profile estimation device and so on with which any road surface profile, including that of a general road, can be estimated with a high degree of precision using a general-purpose vehicle. The road surface profile estimation device includes an acquisition unit that acquires a vertical acceleration and angular velocity about a pitch axis, a first calculation unit that calculates a vertical displacement and an angular displacement about the pitch axis, a prediction unit that predicts the time evolution of state variables of the vehicle on the basis of a simulation model, a second calculation unit that calculates the acceleration, the angular velocity, the displacement, and the angular displacement from the state variables on the basis of an observation model, an updating unit that updates the state variables by data-assimilating the acceleration and angular velocity acquired by the acquisition unit and the displacement and angular displacement calculated by the first calculation unit with the acceleration, angular velocity, displacement, and angular displacement calculated by the second calculation unit, and an estimation unit that estimates the road surface profile on the basis of the state variables. 1. A road surface profile estimation device comprising:an acquisition unit that acquires a vertical acceleration relative to a road surface with which a vehicle is in contact and angular velocity about a pitch axis of the vehicle;a first calculation unit that calculates a vertical displacement by integrating the acceleration and calculates an angular displacement about the pitch axis by integrating the angular velocity;a prediction unit that predicts, on the basis of a simulation model, a time evolution of state variables including variables expressing unevenness on a road surface along which the vehicle is traveling, variables expressing up-down motion of the vehicle, and variables expressing rotary motion about the pitch ...

MEASUREMENT DEVICE OF SHOVEL

A measurement device of a shovel, wherein the measurement device is installed in the shovel including a lower travelling body that performs traveling operation; an upper turning body pivotably mounted on the lower traveling body; a boom that is attached to the upper turning body, the boom being included in an attachment; and an arm that is attached to the boom, the arm being included in the attachment, wherein the measurement device measures a landform in a vicinity of the shovel at a plurality of positions based on an output of a device that captures information on a distance to a surrounding measurement target, the device being located above the lower traveling body. 1. A measurement device of a shovel , wherein the measurement device is installed in the shovel comprising:a lower travelling body that performs traveling operation;an upper turning body pivotably mounted on the lower traveling body;a boom that is attached to the upper turning body, the boom being included in an attachment; andan arm that is attached to the boom, the arm being included in the attachment,wherein the measurement device measures a landform in a vicinity of the shovel at a plurality of positions based on an output of a device that captures information on a distance to a surrounding measurement target, the device being located above the lower traveling body.2. The measurement device of the shovel according to claim 1 , wherein claim 1 , for a region for which the device is unable to capture information on a distance at a first position among the plurality of positions claim 1 , the device captures the information on the distance for the region at a second position that differs from the first position.3. The measurement device of the shovel according to claim 2 , wherein the first position and the second position are positions of the device during turning or travelling of the shovel.4. The measurement device of the shovel according to claim 1 , wherein a plurality of the devices is attached ...

SYSTEM AND METHOD FOR AUTOMATED ODOMETRY CALIBRATION FOR PRECISION AGRICULTURE SYSTEMS

A method including: recording a first image of a first field region; automatically treating a plant within the first region in-situ based on the first image; automatically verifying the plant treatment with a second image of the first region; and automatically treating a second region concurrently with treatment verification. 1. A method of detecting a failure of a device during operation of the device within a field , the method comprising:capturing a set of images via a camera of the device, each image describing a field region of the field;determining a set of timing delays based on the set of images, each timing delay representing a duration between when a treatment mechanism is actuated and when treatment via the treatment mechanism begins;determining a set of correction factors based on the set of images, each correction factor correcting for a distance between a location of treatment as captured in the images and a target treatment location;capturing a new image via the camera of the device, the new image capturing a new field region of the field;determining a new timing delay and a new correction factor for the new image;comparing the new timing delay to the set of timing delays and the new correction factor to the set of correction factors; anddetermining whether a failure has occurred at the device based on the comparison.2. The method of claim 1 , wherein determining whether a failure has occurred at the device comprises:determining whether the new timing delay and the new correction factor deviate from the set of timing delays and the set of correction factors, respectively, by a threshold deviation.3. The method of claim 2 , further comprising:responsive to determining that the new timing delay or the new correction factor deviate from the set of timing delays or the set of correction factors by a threshold deviation, determining that a failure has occurred.4. The method of claim 2 , further comprising: 'calibrating the treatment mechanism based on the ...

POINT CLOUD DATA EXTRACTION METHOD AND POINT CLOUD DATA EXTRACTION DEVICE

Target point cloud data about a specific road are extracted from perimeter point cloud data acquired by moving a road surface measurement device along a measurement route and scanning the surroundings thereof. A data storage unit stores trajectory point sequence data that represent, as a plurality of trajectory points, the perimeter point cloud data and a trajectory of the movement of the road surface measurement device. A trajectory point sequence setting unit acquires a trajectory point sequence at equal intervals from the trajectory point sequence data. An extraction area setting unit sets, as extraction areas, a column area Ci and a parallelepiped area Hi that are geometric areas disposed at predetermined positions below a trajectory point Xi. An approximate nearest neighbor search processing unit and an extraction processing unit extract, as the target point cloud data, point data that belong to this extraction area of the perimeter point cloud data. 1. A point cloud data extraction method of extracting target point cloud data as point cloud data as to a specific analysis target from entire perimeter point cloud data acquired by moving a measurement device along a measurement route and scanning a perimeter of the measurement device , the method comprising:acquiring locus point string data representing a locus of movement of the measurement device on the measurement route as a plurality of locus points;setting, as an extraction area, an area positionally defined with reference to each of the locus points of a locus point string acquired from the locus point string data and specified by a designated geometrical shape; andextracting, as target point cloud data, point data in the entire perimeter point cloud data belonging to the extraction area.2. The point cloud data extraction method of claim 1 , whereinthe locus point string is acquired by acquiring locus points spaced at a constant distance designated from measurement locus point string data acquired at ...

LAND MAPPING AND GUIDANCE SYSTEM

A system and method for generating land maps of a land area. The land maps can include two-dimensional and three-dimensional land maps. The land maps may be efficiently generated based on field data obtained by mobile machines configured to traverse the land area, with the mobile machines associated with one or more sensors. The land maps may be used to accurately and efficiently guide other mobile machines as such mobile machines traverse through or operate within the land area. 1. A mapping system for obtaining field data for a land area , said mapping system comprising:a plurality of autonomously-operated mobile machines for traversing the land area;at least one sensor associated with each of said mobile machines, wherein said sensors are configured to obtain field data as said mobile machines traverse the land area; and instruct the mobile machines to traverse the land area, wherein each of said mobile machines is instructed to travel along an initial drive path,', 'receive field data obtained by said sensors associated with said mobile machines as said mobile machines travel along their respective initial drive paths,', 'analyze the received field data to determine if the field data associated with any of the initial drive paths deviates from an expected value by more than a predetermined amount,', 'upon a determination that the field data associated with one or more of the initial drive paths deviates from the expected value by more than the predetermined amount, identify an anomalous area within the land field, with such anomalous area being adjacent to the one or more initial drive paths that deviates from the expected value, and', 'instruct said mobile machines to traverse along secondary drive paths extending through the anomalous area., 'a mapping device comprising a processor and a non-transitory computer readable storage medium with a computer program stored thereon, wherein the computer program instructs the processor to perform the following steps2. ...

LAND MAPPING AND GUIDANCE SYSTEM

A system and method for generating land maps of a land area. The land maps can include two-dimensional and three-dimensional land maps. The land maps may be efficiently generated based on field data obtained by mobile machines configured to traverse the land area, with the mobile machines associated with one or more sensors. The land maps may be used to accurately and efficiently guide other mobile machines as such mobile machines traverse through or operate within the land area. 1. A mapping system for generating terrain-adjusted waylines on a two-dimensional land map of a land area , said mapping system comprising one or more computing devices configured to:obtain position data for a plurality of locations within the land area;generate a triangulated irregular network using the position data from the plurality of locations, wherein the triangulated irregular network comprises a plurality of triangular surfaces representative of the land area;project an initial wayline from the two-dimensional land map onto the triangulated irregular network to generate a projected wayline on the triangulated irregular network, wherein the projected wayline comprises a set of one or more connected line segments with each extending across one of the triangular surfaces of the triangulated irregular network;generate a parallel wayline on the triangulated irregular network, wherein the parallel wayline comprises set of one or more connected line segments with each being parallel with a line segment from the projected wayline; andproject the parallel wayline from the triangulated irregular network onto the two-dimensional land map to generate a terrain-adjusted wayline spaced apart from the initial wayline.2. The mapping system of claim 1 , wherein the position data is manually entered by a user of the mapping system.3. The mapping system of claim 1 , wherein the position data is obtained from one or more mobile machines associated with location determining devices for obtaining ...

A METHOD FOR MEASURING AND DISPLAYING THE TRACK GEOMETRY OF A TRACK SYSTEM

A method for measuring and displaying the track geometry of a track system uses a track-driveable permanent-way machine, comprising a control measurement system measuring the track position to be corrected before a lifting and lining device, an acceptance measurement system measuring the corrected track position after it, and output units displaying the measured values. The lifting and lining device is controlled depending on the measured values of the control measurement system and the acceptance measurement system to achieve a specified target track geometry. A three-dimensional position image is calculated from the curvature image (k), longitudinal level image (h) and superelevation image (u) of the target track geometry, put into a perspective display, and displayed by the output unit, supplemented by measured error curves for track parameters of track direction, superelevation, twist, and longitudinal level. 1. A method for measuring and displaying the track geometry of a track system using a track-driveable permanent-way machine , having a control measurement system measuring a value of the track position to be corrected before a lifting and lining device , an acceptance measurement system measuring a value of the corrected track position after the lifting and lining device , and associated output units displaying the measured values ,said method comprising:controlling the lifting and lining device depending on the measured values of the control measurement system and the acceptance measurement system so as to achieve a predetermined target track geometry including a curvature image, a longitudinal level image and a superelevation image;first calculating a three-dimensional position image from the curvature image, longitudinal level image and superelevation image of the target track geometry,putting the three-dimensional position image into a perspective display so as to form a perspective position image, anddisplaying the perspective position image using the ...

HIGH SPEED STEREOSCOPIC PAVEMENT SURFACE SCANNING SYSTEM AND METHOD

There is disclosed a mobile pavement surface scanning system and method, In an embodiment, the system comprises one or more stereoscopic image capturing devices synchronised with one or more light sources mounted on the platform for illuminating a pavement surface, mounted on a mobile survey platform that provides a trigger mechanism to capture sequential image pairs of the illuminated pavement surface and a movement sensor that continuously measures the movement of the platform and a synchronization signal for time or distance synchronized image capture with accurate GPS positioning. One or more computers process the synchronized images captured stamps the images with one or more of time and distance data, GPS location and calculated 3D elevation for each point on the pavement surface using stereoscopic principles, and assesses the quality of the pavement surface to determine the level of pavement surface deterioration. 1. A mobile pavement surface scanning system , comprising:one or more light sources for illuminating a pavement surface at a selected wavelength;one or more stereoscopic image capturing devices for capturing sequential images of the illuminated pavement surface, the sequential images comprising intensity image pairs;a plurality of positioning sensors adapted to encode movement of the system and provide a synchronization signal for the intensity image pairs captured by the one or more stereoscopic image capture devices; and synchronize the intensity image pairs captured by each camera in the one or more stereoscopic image capturing devices;', 'normalize the contrast of the intensity image pairs;', 'rectify the intensity image pairs;', 'calculate 3D elevation data for each point on the pavement surface using stereoscopic principles; and', 'combine the contrast normalized intensity image pairs with the calculated 3D elevation data to create a stereoscopic 3D image for assessing the quality of the pavement surface using the 3D elevation data to ...

INCLINOMETER-BASED SURFACE PROFILOMETRY

A profiling machine includes an inclinometer and a displacement sensor. The inclinometer is configured to sense an incline of the profiling machine on a surface relative to the acceleration vector of gravity. The displacement sensor is configured to sense the distance that profiling machine has traversed along the surface. The profiling machine is configured to calculate and generate a surface profile of the surface based on incline data from the inclinometer and displacement data from the displacement sensor. 1. A surface profiling machine comprising:a body;a contact point configured to support the body on a surface;an inclinometer supported by the body, the inclinometer configured to sense an angular displacement relative to an acceleration vector of gravity;a displacement sensor supported by the body, the displacement sensor configured to sense displacement of the profiling machine relative to the surface.2. The surface profiling machine of claim 1 , wherein the contact point is a wheel.3. The surface profiling machine of claim 2 , further comprising a motor operatively connected to the wheel to drive the wheel.4. The surface profiling machine of claim 3 , further comprising:a contact sensor configured to sense the profiling machine contacting an obstacle.5. The surface profiling machine of claim 1 , further comprising:control circuitry configured to generate surface profile information based on incline data generated by the inclinometer and based on displacement data generated by the displacement sensor.6. The surface profiling machine of claim 1 , wherein the displacement sensor is an optical sensor.7. The surface profiling machine of claim 6 , wherein the displacement sensor comprises a camera and a light source.8. The surface profiling machine of claim 7 , wherein the light source is disposed between the body and the surface.9. An ice resurfacing system comprising:an ice resurfacing machine; and a body;', 'a contact point configured to support the body on a ...

REGISTRATION CALCULATION OF THREE-DIMENSIONAL SCANNER DATA PERFORMED BETWEEN SCANS BASED ON MEASUREMENTS BY TWO-DIMENSIONAL SCANNER

A method for measuring and registering three-dimensional (3D) coordinates by measuring 3D coordinates with a 3D scanner in a first position, measuring two-dimensional (2D) coordinates with a 2D scanner while moving from the first position to a second position, measuring 3D coordinates with the 3D scanner at the second position, and determining a correspondence among targets in the first and second positions while moving between the second position and a third registration position. 1. A method for measuring and registering three-dimensional (3D) coordinates comprising:locating a measuring device in a first position, the measuring device including a 3D scanner and a two-dimensional (2D) scanner, the 2D scanner configured to sweep a beam of light in a plane;obtaining with the 3D scanner in the first position, a first 3D coordinates on an object, the 3D scanner configured to determine the 3D coordinates based at least in part on a speed of light in air;obtaining by the 2D scanner a first plurality of 2D scan sets by sweeping a beam of light in the plane while the measuring device moves from the first position to a second position, each of the first plurality of 2D scan sets being a set of 2D coordinates of points on the object, each of the first plurality of 2D scan sets being acquired by the 2D scanner at a different position relative to the first position;determining for the measuring device a first value corresponding to a first direction, a second value corresponding to a second direction, and a first rotation value, wherein the first value, the second value, and the first rotation value are determined based at least in part on a fitting of the first plurality of 2D scan sets according to a first mathematical criterion;obtaining with the 3D scanner, while in the second position, a second 3D coordinates on the object;determining by the measuring device, while the measuring device moves from the second position to a third position, a correspondence among registration ...

METHOD FOR LOCALIZING AND ENHANCING A DIGITAL MAP BY A MOTOR VEHICLE; LOCALIZATION DEVICE

The invention relates to a method for localizing and enhancing a digital map () through a motor vehicle (). In order to allow for localizing of the motor vehicle on the basis of a digital map as well as for simultaneously enhancing the digital map in a resource-efficient way, the following steps are envisaged: 1. A method for localizing and enhancing a digital map through a motor vehicle , the method comprising:receiving a digital partial map of a multitude of partial maps of the digital map through the motor vehicle from a database,wherein the digital map according to a predetermined segmentation rule is segmented into the multitude of the digital partial maps, and wherein the digital partial map represents an environment of the motor vehicle;capturing an image of the environment of the motor vehicle by a sensor arrangement of the motor vehicle;localizing of the motor vehicle in the environment by comparing the received digital partial map with the image of the environment of the motor vehicle;enhancing the digital partial map on the basis of the image of the environment of the motor vehicle; andtransmitting the enhanced digital partial map and/or the image of the environment to the database for enhancing the digital map.2. The method according to claim 1 , wherein the localizing is performed on the basis of the digital partial map as well as the enhancing of the digital partial map simultaneously through a method for simultaneous localization and mapping (SLAM).3. The method according to claim 1 , wherein the digital partial map according to the predetermined segmentation rule is segmented by cascaded segmenting of the digital map into a predetermined number claim 1 , in particular four claim 1 , identical segmental parts.4. The method according to claim 1 , wherein an area of validity of the digital partial map within a predetermined stationary coordinate system is fixed.5. The method according to claim 1 , wherein the digital partial map at least partly is ...

MINE VEHICLE AND METHOD OF DETERMINING POSITION AND DIRECTION OF MONITORED OBJECT

A method of determining position and direction of an object of a mine vehicle, the mine vehicle including at least one scanning device for scanning surroundings of the mine vehicle and producing a point cloud data. The mine vehicle has a control unit, which is provided with reference data on the monitored object. The control unit is configured to search the monitored object from the scanned point cloud data and to determine position and direction of the object. 1. A mine vehicle comprising:a movable carrier;at least one boom and at least one mine work device at a distal end portion of the boom;at least one monitored object;a machine coordinate system;at least one scanning device for scanning surroundings of the mine vehicle and the at least one monitored object inside a reach area of the scanning device for producing operational 3D scanning data in the machine coordinate system;the mine vehicle being in operational communication with at least one control unit configured to receive and process the operational scanning data including point cloud data, wherein the control unit is provided with input reference data on the at least one monitored object in the machine coordinate system;the control unit is provided with at least one processor and at least one point cloud processing program allowed to be executed in the processor, wherein the control unit is configured to execute the point cloud processing program for comparing the reference data with the operational scanning data in order to search and detect the monitored object in the produced point cloud data and to determine position and direction of the monitored object in the machine coordinate system on the basis of coordinates provided in the point cloud data, and wherein at least part of the mine work device is the monitored object and the control unit is configured to determine position and direction of the at least part of the mine work device in the machine coordinate system.2. The mine vehicle as claimed in ...

MEASURING DEVICE AND METHOD FOR MEASURING A HOLE IN THE GROUND

A measuring device for measuring a hole in the ground having at least one measuring probe having at least one measurement signal transmitter to transmit a measurement signal, at least one measurement signal receiver to receive the measurement signal reflected on a wall area of the hole, and an evaluation unit for determining a wall distance between the measurement signal transmitter and the wall area of the hole, wherein a measuring distance based on an assignment rule can be assigned to the received, reflected measurement signal. A calibrating device having at least one calibration element. The measurement signal transmitter transmits a calibration signal, which can be reflected on the calibration element, wherein the measurement signal receiver receives the calibration signal reflected on the calibration element. The evaluation unit changes and calibrates the assignment rule based on the calibration signal reflected and received by the calibration element. 1. Measuring device for measuring a hole in the ground , having at least one measurement signal transmitter to transmit a measurement signal,', 'at least one measurement signal receiver to receive a measurement signal from a wall area of the hole,', 'a calibration signal transmitter to transmit a calibration signal to a calibration element and', 'a calibration signal receiver to receive a calibration signal reflected on the calibration element,, 'at least one measuring probe that can be lowered into the hole, having'}and an evaluation unit to determine a wall distance between the measurement signal transmitter and the wall area of the hole, wherein a measurement distance can be assigned to the received, reflected measurement signal based on an assignment rule,wherein by means of the evaluation unit the assignment rule can be changed and calibrated based on the calibration signal reflected and received by the calibration element,whereinthe calibration element is rigidly attached to the side of the measuring probe ...

USING TWO-DIMENSIONAL CAMERA IMAGES TO SPEED REGISTRATION OF THREE-DIMENSIONAL SCANS

A method and system for scanning and measuring an environment is provided. The method includes providing a three-dimensional (3D) measurement device. The 3D measurement device being operable in a helical mode or a compound mode, wherein a plurality of light beams are emitted along a first path defined by a first axis and a second axis in the compound mode and along a second path defined by the first axis in the helical mode. A mobile platform holding the 3D measurement device is moved from a first position. A first group of 3D coordinates of the area is acquired by the 3D measurement device when the mobile platform is moving. A second group of 3D coordinates of the area is acquired with a second 3D measurement device that with six-degrees of freedom (6DOF). The first group of 3D coordinates is registered based on the third group of 3D coordinates. 1. A three-dimensional (3D) measuring device comprising:one or more processors;a movable 3D scanner operably coupled to the one or more processors and operable to determine 3D coordinates of a first object point;a camera operably coupled to move in conjunction with the 3D scanner; determining 3D coordinates of a first collection of points on an object surface with the 3D Scanner from a first fixed position;', 'obtaining with the 3D scanner a plurality of 2D camera image sets as the 3D scanner is moved from the first position to a second position;', 'determining a first translation value in a first translation direction, a second translation value in to a second translation direction, and a first rotation value about a first orientational axis, wherein the first translation value, the second translation value, and the first rotation value are based at least in part on the plurality of 2D camera image sets;', 'determining 3D coordinates of a second collection of points on an object surface with the 3D Scanner from the second fixed position;', 'identifying a correspondence among registration targets in both the first ...

MULTI-NODE DATA SYNCHRONOUS ACQUISITION SYSTEM AND METHOD FOR REAL-TIME MONITORING OF UNDERWATER SURFACE DEFORMATION

A multi-node data synchronous acquisition system and a method for real-time monitoring of underwater surface deformation. The system includes at least four sensor arrays, where each of the sensor array consists of a plurality of ribbon-like rigid substrates connected by movable joints. On each section of rigid substrate, three sensor units are respectively connected to a slave station data acquisition unit through cables. The slave station data acquisition unit is connected with a central controller through a cable. The central controller includes a compressive cabin outside and an embedded controller and a power supply inside. Each slave station data acquisition unit acquires data from an MEMS attitude sensor and then transmits it to the embedded controller. The present invention may realize synchronous acquisition of underwater or even underwater multi-node data, implement three-dimensional surface reconstruction, and may be used for improving the ocean observation capability. 1. A multi-node data synchronous acquisition system for real-time monitoring of underwater surface deformation , comprising:a central controller, and sensor array provided with MEMS attitude sensors;wherein the system comprises at least four sensor arrays, each of the sensor arrays consists of a plurality of sections of ribbon-like rigid substrates connected by movable joints, three sensor units and one slave station data acquisition unit are arranged on each section of rigid substrate; each sensor unit comprises a compressive cabin outside and an MEMS attitude sensor and a power supply inside, and each slave station data acquisition unit comprises a compressive cabin outside and a slave station data acquisition unit control board and a power supply inside; the three sensor units are respectively connected to the slave station data acquisition unit through cables, and the slave station data acquisition unit is connected to the central controller through a cable; each central controller ...

ROBOT SYSTEM, LEG TYPE MOBILE ROBOT SYSTEM, CONTROL METHOD OF LEG TYPE MOBILE ROBOT SYSTEM, AND CONTROL METHOD OF ROBOT SYSTEM

Landform data showing the shape of a ground surface () is acquired. A specification position is specified on the ground surface. A relative angle () between the virtual plane () and the ground surface () in the at least one inspection point () is calculated based on the landform data when the virtual plane () set with the reference point () and the at least one inspection point () is virtually arranged such that the reference point () overlaps with the specification position, and such that the virtual plane () becomes parallel to the ground surface in the specification position. A landform determination value indicating a flatness of the landform is calculated based on the relative angle (). 1. A robot system comprising:a sensor configured to generate landform data showing a shape of a ground surface;a storage device which stores a program; and a specification position generating section which specifies a specification position on the ground surface;', 'a landform determination processing section which carries out relative angle calculation processing of calculating a relative angle between a virtual surface and the ground surface in at least one inspection point based on the landform data, when the virtual plane in which a reference point and the at least one inspection point are set is arranged such that the reference point overlaps with the specification position and such that the virtual surface becomes parallel to the ground surface in the specification position; and landform determination value calculation processing of calculating a landform determination value indicating a flatness of the landform based on the relative angle; and', 'a control section which controls walking of a robot based on the landform determination value., 'a processing unit which executes the program to implement2. The robot system according to claim 1 , wherein the virtual surface is set based on a shape of a foot sole of a foot of a leg type mobile robot as the robot claim 1 , ...

Apparatus and method for monitoring and controlling detection of stray voltage anomalies

Apparatus and methods for detecting stray voltage anomalies in electric fields are provided herein. In some embodiments, an apparatus for detecting an electrical field may comprise: at least one sensor probe for generating data corresponding to an electrical field detected by the at least one sensor probe, wherein the at least one sensor probe comprises at least one electrode; a processor, coupled to the at least one sensor probe, for analyzing the data to identify a voltage anomaly in the electric field; and an indicator, coupled to the processor, for alerting a user to a presence of the voltage anomaly in the electric field.

USING A TWO-DIMENSIONAL SCANNER TO SPEED REGISTRATION OF THREE-DIMENSIONAL SCAN DATA

A method for measuring and registering 3D coordinates has a 3D scanner measure a first collection of 3D coordinates of points from a first registration position. A 2D scanner collects horizontal 2D scan sets as 3D measuring device moves from first to second registration positions. A processor determines first and second translation values and a first rotation value based on collected 2D scan sets. 3D scanner measures a second collection of 3D coordinates of points from second registration position. Processor adjusts second collection of points relative to first collection of points based at least in part on first and second translation values and first rotation value. Processor identifies a correspondence among registration targets in first and second collection of 3D coordinates, and uses this correspondence to further adjust the relative position and orientation of first and second collection of 3D coordinates. 1. A three-dimensional (3D) measuring device comprising:one or more processors;a 3D scanner operable to cooperate with the one or more processors to determine 3D coordinates of a first object point, the 3D scanner being movable from a first position to a second position;a 2D scanner operably coupled to the 3D scanner, the 2D scanner being operable to cooperate with the one or more processors to determine 2D coordinates of a second object point, the 2D scanner being movable from a third position to a fourth position; cause the 3D scanner, while positioned at a first position, to determine 3D coordinates of a first collection of points on an object surface;', 'cause the 2D scanner, while moving from the third position to the fourth position, to obtain a plurality of 2D scan sets, each of the plurality of 2D scan sets being a set of 2D coordinates of points on the object surface collected by the 2D scanner at a different position relative to the first position;', 'determine a first translation value, a second translation value, and a first rotation value based ...

Agricultural field management system

An agricultural field management system includes a first sensor to generate first field work data indicating field conditions of an agricultural field and a second sensor to generate second field work data indicating crop conditions. A computer includes a memory configured to store a field database in which data are segmented by: a field map layer in which field shape data defining a shape of an agricultural field are stored; a first field work layer in which the first field work data are stored; and a second field work layer in which the second field work data are stored. The agricultural field is divided into common field blocks in the field map layer, in the first field work layer, and in the second field work layer such that the field conditions in the common field blocks are annually correlated with the crop conditions in the common field blocks, respectively.

HIGH SPEED STEREOSCOPIC PAVEMENT SURFACE SCANNING SYSTEM AND METHOD

There is disclosed a mobile pavement surface scanning system and method, In an embodiment, the system comprises one or more stereoscopic image capturing devices synchronised with one or more light sources mounted on the platform for illuminating a pavement surface, mounted on a mobile survey platform that provides a trigger mechanism to capture sequential image pairs of the illuminated pavement surface and a movement sensor that continuously measures the movement of the platform and a synchronization signal for time or distance synchronized image capture with accurate GPS positioning. One or more computers process the synchronized images captured stamps the images with one or more of time and distance data, GPS location and calculated 3D elevation for each point on the pavement surface using stereoscopic principles, and assesses the quality of the pavement surface to determine the level of pavement surface deterioration. 1. A mobile pavement surface scanning system , comprising:one or more light sources for illuminating a pavement surface at a selected wavelength;one or more stereoscopic image capturing devices for capturing sequential images of the illuminated pavement surface, the sequential images comprising intensity image pairs;a plurality of positioning sensors adapted to encode movement of the system and provide a synchronization signal for the intensity image pairs captured by the one or more stereoscopic image capture devices; and synchronize the intensity image pairs captured by each camera in the one or more stereoscopic image capturing devices;', 'normalize the contrast of the intensity image pairs;', 'rectify the intensity image pairs;', 'calculate 3D elevation data for each point on the pavement surface using stereoscopic principles; and', 'combine the contrast normalized intensity image pairs with the calculated 3D elevation data to create a stereoscopic 3D image for assessing the quality of the pavement surface using the 3D elevation data to ...

ROAD ROUGHNESS CLASSIFICATION

Examples of techniques for classifying roughness of a road are disclosed. In one example implementation, a method includes performing a first temporal analysis based at least in part on a speed of each of a plurality of wheels of a vehicle. The method further includes performing a second temporal analysis based at least in part on a combined wheel speed of the plurality of wheels. The method further includes performing a frequency analysis based at least in part on the speed of each of the plurality of wheels of the vehicle. The method further includes classifying the roughness of the road based at least in part on the first temporal analysis, the second temporal analysis, and the frequency analysis. 1. A computer-implemented method for classifying roughness of a road , the method comprising:performing, by a processing device, a first temporal analysis based at least in part on a speed of each of a plurality of wheels of a vehicle;performing, by the processing device, a second temporal analysis based at least in part on a combined wheel speed of the plurality of wheels;performing, by the processing device, a frequency analysis based at least in part on the speed of each of the plurality of wheels of the vehicle; andclassifying, by the processing device, the roughness of the road based at least in part on the first temporal analysis, the second temporal analysis, and the frequency analysis.2. The computer-implemented method of claim 1 , wherein performing the first temporal analysis is further based at least in part on longitudinal acceleration data for the vehicle.3. The computer-implemented method of claim 1 , wherein performing the second temporal analysis is further based at least in part on an angular acceleration dispersion of the vehicle wheels.4. The computer-implemented method of claim 1 , wherein performing the second temporal analysis is further based at least in part on a filtered angular dispersion of the vehicle wheels.5. The computer-implemented method ...

AUTONOMOUS MISSION ACTION ALTERATION

An unmanned aerial vehicle includes a camera, one or more sensors, memory storing first instructions that define an overall mission, and memory storing one or more mission cues. The vehicle further includes one or more processors configured to execute a first part of the first instructions to perform a first part of the overall mission. The processors are configured to process at least one of the image data and the sensor data to detect a presence of at least one of the mission cues. The processors are configured to, in response to detecting a mission cue, interrupting execution of the first instructions and executing second instructions to control the unmanned aerial vehicle to perform a first sub-mission of the overall mission. The processors are configured to after executing the second instructions, performing a second part of the overall mission by executing a second part of the first instructions. 1. An unmanned aerial vehicle comprising:a camera configured to generate image data;one or more sensors configured to generate sensor data;memory storing first travel and data acquisition instructions that define an overall mission for the unmanned aerial vehicle;memory storing one or more mission cues comprising one or more pre-defined image data characteristics and/or sensor data characteristics; and execute a first part of the first travel and data acquisition instructions to control the unmanned aerial vehicle to perform a first part of the overall mission;', 'process at least one of the image data and the sensor data to detect a presence of at least one of the mission cues;', 'in response to detecting a mission cue, interrupting execution of the first travel and data acquisition instructions and executing second travel and data acquisition instructions to control the unmanned aerial vehicle to perform a first sub-mission of the overall mission; and', 'after executing the second travel and data acquisition instructions, performing a second part of the overall ...

VERTICAL ROAD PROFILE ESTIMATION

An illustrative example embodiment of a computer implemented method for estimating a vertical profile of a road in front of or behind a host vehicle includes monitoring a detection point at a surrounding or preceding vehicle by a sensor on the host vehicle, determining at least one value for a height of the detection point with respect to a reference level at the host vehicle based on the elevation angle of the detection point, and estimating the vertical profile of the road based on the at least one value for the height of the detection point. An estimation of a height of the object with respect to a road surface may be corrected by the estimated vertical profile. 1. A computer implemented method for estimating a vertical profile of a road in front of or behind a host vehicle , wherein the host vehicle comprises a sensor configured to detect an elevation angle and a velocity , relative to the host vehicle , of an object located in an environment of the host vehicle , the method comprising:monitoring a detection point at a surrounding or preceding vehicle by the sensor,determining at least one value for a height of the detection point with respect to a reference level at the host vehicle based on the elevation angle of the detection point detected by the sensor, andestimating the vertical profile of the road based on the at least one value for the height of the detection point.2. The method according to claim 1 , comprising:determining a plurality of values for the height of the detection point with respect to the reference level at the host vehicle for a predetermined time period, andadapting a road profile model to the plurality of values for the height of the detection point.3. The method according to claim 2 , wherein the road profile model comprises a predetermined function including a set of parameters which are determined such that a deviation between the function and the plurality of values for the height of the detection point is minimized.4. The method ...

Patent BR112016003450A2

Measurement of thickness of earth coating layer

FIELD: measurement technology. SUBSTANCE: invention relates to a method of measuring thickness of a layer of earth coatings, in particular, with underground gas and oil pipelines. Method for measuring thickness of a layer of earth coatings, in particular for underground and underground gas and oil pipelines, in which the device to be coated is measured and its coordinates are stored relative to a given coordinate system, differs by the fact that after application of earth coating, profile of terrain above the device is measured, and model of terrain is determined from it and stored in the specified coordinate system, and that thickness of layer of earth coating is determined from coordinates of device and model of location. EFFECT: easier control of the earth layer. 7 cl, 1 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 708 093 C1 (51) МПК G01B 21/08 (2006.01) G06T 17/05 (2011.01) G01C 11/04 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (52) СПК G06T 17/005 (2019.05); G01C 11/04 (2019.05); G01B 21/08 (2019.05) (21)(22) Заявка: 2018135088, 30.03.2017 (24) Дата начала отсчета срока действия патента: Дата регистрации: 04.12.2019 (73) Патентообладатель(и): СИМЕНС АКЦИЕНГЕЗЕЛЛЬШАФТ (DE) 08.04.2016 EP 16164385.3 (56) Список документов, цитированных в отчете о поиске: WO 2014056541 A1, 17.04.2014. WO 2014149802 A1, 25.09.2014. WO 2000018124 A1, 30.03.2000. EP 1709396 A1, 11.10.2006. (45) Опубликовано: 04.12.2019 Бюл. № 34 (85) Дата начала рассмотрения заявки PCT на национальной фазе: 08.11.2018 (86) Заявка PCT: 2 7 0 8 0 9 3 R U (87) Публикация заявки PCT: WO 2017/174426 (12.10.2017) Адрес для переписки: 129090, Москва, ул. Б. Спасская, 25, стр. 3, ООО "Юридическая фирма Городисский и Партнеры" (54) ИЗМЕРЕНИЕ ТОЛЩИНЫ СЛОЯ ЗЕМЛЯНОГО ПОКРЫТИЯ (57) Реферат: Изобретение относится к способу измерения координат, отличается тем что после нанесения толщины слоя земляных покрытий, в частности, земляного покрытия измеряется профиль ...

Surveying procedure and system for a high-rise structure

본 발명은, 구조물(1; 1'), 특히, 중력벡터에 상대적으로 배향된 이상적인 축(a)을 가지는, 건설될 고층 건물을 위한 조사절차에 관한 것이다. 적어도 3개의 기준 포인트들(A 5 ', B 5 ', C 5 ')이, 상기 구조물(1')의 최상위 건축층(E 5 ) 상의 위성 기반의 포지셔닝 시스템(2)의 수신기들(AA, BB, CC)에 의해 정의된다. 상기 구조물(1')에 할당된 전기 광학 측지선 기구(3)의 위치가, 상기 3개의 기준 포인트들(A 5 ', B 5 ', C 5 ')에 상대적으로 그리고 상기 구조물(1')의 단일 포인트(P 5 ')에 상대적으로 결정된다. 상기 구조물(1; 1')에 작용하는 기울기 작용들하에 상기 이상적인 축(a)으로부터 발전하는 실제선의 기울기(α5)가, 특히, 중량측정 기울기 센서(I 5 )의 도움으로, 중량 측정적으로 취득된다. 상기 이상적인 축(a)에 연결된 정적인 좌표 시스템이, 상기 실제선(a')에 연결되고 상기 기울기(α 5 )에 역동적으로 의존하는 좌표 시스템으로, 상기 적어도 3개의 기준 포인트들(A 5 ', B 5 ', C 5 '), 상기 측지선 기구(3)의 상대적인 위치, 및 상기 실제선(a')의 기울기(α 5 ); 를 인용함으로써, 변환된다. 상기 실제선(a')의 기울기(α 5 )을 중량 측정적으로 취득하는 단계와, 상기 측지선 기구(3)를 역동적으로 상기 기울기(α 5 )에 의존하는 좌표 시스템에 참조시키고 매칭시키는 단계인, 반복적인 단계들에 의해, 정확하고 신뢰성 있는 조사절차가, 어느 높이의 대부분의 구조물(1; 1'), 특히, 건설될 것이며 기울기 작용 들에 영향을 받고, 지층의 기준 포인트들의 이용을 방해하는 고층 건물에 대하여 제공될 수 있다. The present invention relates to a survey procedure for a high-rise building to be constructed having a structure (1; 1 '), in particular an ideal axis (a) oriented relative to the gravity vector. At least three reference points A 5 ′, B 5 ′, C 5 ′ are provided for the receivers AA of the satellite-based positioning system 2 on the top building layer E 5 of the structure 1 ′. BB, CC). The position of the electro-optical geodesic instrument 3 assigned to the structure 1 ′ is relative to the three reference points A 5 ′, B 5 ′, C 5 ′ and of the structure 1 ′. Determined relative to a single point P 5 ′. Under the gradient actions acting on the structure 1; 1 ′, the inclination α5 of the actual line which develops from the ideal axis a, in particular with the aid of the gravimetric tilt sensor I 5 , is gravimetrically Is acquired. A static coordinate system coupled to the ideal axis a is a coordinate system coupled to the real line a 'and dynamically dependent on the slope α 5 , wherein the at least three reference points A 5 ′ , B 5 ′, C 5 ′), ...

一种基于多星源信息耦合的高精度水道重构方法

本发明提供了一种基于多星源信息耦合的高精度水道重构方法，该方法包括水道断面确定方法、基本水道断面高精度耦合重构方法、固定水道断面耦合重构方法、河段水道地形重构方法。通过本发明填补了基于卫星遥感信息测绘水道的空白、极大地提高了现有卫星数字地表模型针对河流水道的垂直和平面精度、可为缺少资料地区涉水应急抢险提供决策支撑。

Method and apparatus for realtime displaying of inclination data

본 발명은 경사 데이터를 실시간으로 표시하는 방법 및 그 장치를 개시한다. The present invention discloses a method and apparatus for displaying slope data in real time. 본 발명에 의하면, 수평면을 기준으로 X 축 및 Y 축으로 기울어진 정도에 대응하는 신호를 입력받고, 입력된 신호로부터 X 축 및 Y 축으로 기울어진 정도를 결정하며, 결정된 기울어진 정도를 사용자에게 표시하여, 완전한 수평인가 혹은 수평이 아닌 경우 X 및 Y 축으로 기울어진 정도를 표시하거나 혹은 어느 한 축으로만 기울어진 정도를 표시하며, 본 발명에 따른 장치를 이동하는 경우 실시간으로 수평에 대해 기울어진 정도를 표시하여 수평으로 설치될 것이 필요한 장비의 수평을 맞추는 것을 용이하게 한다. 그 결과 본 발명을 통해 사용자의 다양한 옵션 사항에 따라 수평을 유지하면서 각종의 장비를 설치할 수 있고, 그 결과 그 장비를 통해 생산되는 물품들에 대한 신뢰성을 유지할 수 있다. According to the present invention, a signal corresponding to the degree of inclination in the X-axis and the Y-axis in relation to the horizontal plane is received, the degree of inclination in the X-axis and the Y-axis is determined from the input signal, and the determined inclination degree is provided to the user. Display the degree of inclination in the X and Y axes if fully horizontal or non-horizontal, or indicate the degree of inclination in only one axis, and tilt the horizontal in real time when moving the device according to the invention. The degree of progress is indicated to facilitate leveling of the equipment that needs to be installed horizontally. As a result, according to the present invention it is possible to install a variety of equipment while maintaining the horizontal according to the various options of the user, as a result it is possible to maintain the reliability of the goods produced through the equipment.

Sliding inner target

본 발명은 슬라이딩 내공타켓에 관한 것으로서, 플레이트 형상으로 형성되면서 수평방향으로 배치되고, 내부에 터널의 벽면이나 천장에 체결구를 통해 고정될 수 있도록 체결공이 형성되며, 일단의 양측으로 나선홈이 형성된 지지판 고정구와 관통공이 형성된 지지판 가이드구가 간격을 두고 형성되는 고정 지지판; 상기 고정 지지판의 지지판 가이드의 관통공을 관통하는 볼트 몸체와 상기 볼트 몸체의 끝단에 형성되고 상기 지지판 고정구의 나선홈에 결합되는 볼트 결합부로 구성되는 고정 볼트; 플레이트 형상으로 형성되면서 상기 고정 지지판에 수직방향으로 배치되며, 일단에 상기 고정 볼트에 끼움 결합될 수 있도록 관통공이 형성된 반사판 가이드구가 형성되고, 전면 또는 배면 또는 양면에 반사 시트지가 부착되는 반사판; 및 상기 고정 지지판의 지지판 고정구와 반사판의 반사판 가이드구 사이에 배치되면서 상기 고정 볼트의 볼트 몸체에 끼움 결합되어, 상기 반사판 가이드구를 지지판 고정구에 밀착시키는 스프링;을 포함하되, 상기 고정 지지판의 지지판 고정구와 반사판의 반사판 가이드구가 맞닿는 면은 상기 반사판의 위치 고정과 원상복귀를 위해 경사지게 형성될 수 있다. The present invention relates to a sliding internal hole target, which is formed in a plate shape and arranged in a horizontal direction, a fastening hole is formed therein so that it can be fixed to a wall or ceiling of a tunnel through a fastener, and a spiral groove is formed on both sides of one end. a fixed support plate in which the support plate fixture and the support plate guide in which the through hole is formed are spaced apart; a fixing bolt comprising a bolt body penetrating the through hole of the support plate guide of the fixed support plate and a bolt coupling part formed at an end of the bolt body and coupled to the spiral groove of the support plate fixture; a reflecting plate formed in a plate shape and disposed in a vertical direction on the fixing support plate, a reflecting plate guide having a through hole formed therein so as to be fitted to the fixing bolt at one end is formed, and a reflecting plate having a reflecting sheet attached to the front, back, or both sides; and a spring that is disposed between the support plate fixture of the fixed support plate and the reflector guide part of the reflector and is fitted to the bolt body of the fixing bolt, thereby bringing the reflector guide part into close contact with the support plate fixture; including, the support plate fixture of the fixed support plate A surface in which the reflector guide sphere of the ...

一种井下巷道高精度三维模型扫描设备与方法

本发明公开了一种井下巷道高精度三维模型扫描设备与方法，该设备主要由激光扫描测距模块、无人飞行器、多种传感器、配套软件等组成，其中激光扫描测距模块能够在极短时间内测量巷道某断面所有点到测距仪的距离，无人飞行器携带测距模块，能够在巷道中自动巡航飞行，飞行过程中测距模块将所有经过的巷道断面的点都进行测距，再结合多种传感器的数据，将这些测距结果通过配套软件生成巷道的高精度三维点云图，进一步将点云图进行网格化处理，最终得到巷道的高精度三维模型。该发明利用激光测距能够获得极高的精度且不受光线条件的影响，同时结合无人机能够实现井下巷道模型扫描的自动化、智能化，是一种理想的巷道高精度建模设备与方法。

Apparatus for measuring position in pit for tunnel construction method

(57)【要約】本公報は電子出願前の出願データであるた め要約のデータは記録されません。

System and method for automatically measuring horizontal displacement in constructed tunnel

本发明公开了一种施工隧道内水平位移自动测量系统，包括自动测距系统、无线通信系统、监测平台、数据处理中心；自动测距系统由测距主站、测距分站组成，测距主站和测距分站分别位于隧道内的测距参照点和待测点，完成两点间的距离测量；无线通信系统主要由无线网桥组成，使隧道内的测距数据通过无线网桥传输到隧道外；监测平台位于监控室的监控主机上，实时显示自动测距系统传输的测量数据，具有手动和自动测量功能，可根据围岩等级设置报警阀值，具有电池电量监测功能，低于设定电量阀值时，监测平台上会有低电量报警；数据处理中心将自动测距系统发送的数据通过数据处理中心分析处理后显示在监测平台上，并记录测量数据，已形成数据曲线。