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Power inspection tour flying robot air route planning method based on three-dimensional digital map

The invention discloses a power inspection tour flying robot air route planning method based on a three-dimensional digital map in the technical field of power transmission line inspection tour flying robot air route planning method research. The method comprises: acquiring three-dimensional data information of terrain and surface features near a power line by using laser scanning technology and constructing a corresponding three-dimensional digital map; generating a barrier map according to the three-dimensional digital map and establishing a safe flight path for the inspection tour flying robot; if a weather condition which is not beneficial to flying robot inspection tour happens, immediately making an emergency landing in order to enable the flying robot safely land as near as possible, and reclaiming the flying robot after the emergency situation finishes; if no special weather condition happens, enabling the flying robot to determine whether an inspection tour task is completed after performing inspection tour for a certain time; if the inspection tour task is completed, enabling the flying robot to return along the original safe flight path; and if the inspection tour task is not completed, enabling the flying robot to perform autonomous risk avoiding according to the established safe flight path.
Owner:NORTH CHINA ELECTRIC POWER UNIV (BAODING)

Outline scanning measuring method and device of large-scale sphere and aspheric surface

The invention mainly aims at precision testing of characteristic parameters such as facial form and surface roughness of a large-scale sphere and an aspheric surface and particularly relates to an outline scanning measuring method and a device of the large-scale sphere and the aspheric surface. The large-scale sphere and the aspheric surface can separate an axial end jump error and a rectilinear motion guide rail error in an X direction in real-time, achieve real-time self-detaching of the axial end jump error of a drive shaft system and an aspheric surface outline measurement value, adopt a reference beam with high direction stability to monitor and compensate a guide rail motion error in real-time and be capable of conduct autonomous detaching and real-time compensation on the high-precision large-scale sphere and the aspheric surface such as the axial end jump error of the drive shaft system and the rectilinear motion guide rail error in the X direction. The outline scanning measuring method and the device of the large-scale sphere and the aspheric surface provides a new method and a new technology for high-accuracy measurement of parameters such as the facial forms of the large-scale sphere or aspheric surface, surface roughness, radius of curvature and the like.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY

Tap-scanning method for detecting structural damages

The invention belongs to the technical field of structural nondestructive detection and in particular relates to a tap-scanning method for detecting structural damages. The method comprises the following steps: scanning along the surface of a structure to be detected by using a tapping device provided with an acceleration transducer and describing the relations between the acceleration a of the tapping device and structural displacement response b, a structural local impedance Z and a tapping force F by using an approximate formula (shown above); segmenting an acceleration signal and subjecting the acceleration signal to transform processing to obtain a spectrogram of the acceleration signal; intercepting a spectrum envelope corresponding to a frequency band covered by a preset tapping force and recording the spectrum envelope by using vectors; and obtaining an MAC coefficient matrix. A curved line is drawn by using the values of a row of elements selected from the MAC coefficient array as the elements of a vertical axis and using corresponding structural positions to form a horizontal axis, and if a structure has no damage, the curved line is smooth; and if the curved line declines suddenly at a certain position, a damage occurs at the position, and a greater the declination represents a more serious damage.
Owner:TSINGHUA UNIV

Installation for harvesting ocean currents (IHOC) and methods and means for its delivery, installation and servicing

Installation for harvesting energy of ocean currents (IHOC) in deepwaters is based on utilization of a semisubmersible platform and the multiple of vertically oriented Darrieus type hydraulic turbines. The turbines are located as close as possible to ocean surface, where speed of current is usually at its maximum. Since speed of current fluctuate during the seasons a system controlling buoyancy force of that keeps IHOC floating near surface is employed. The mooring system consists of three tethers, which prevent transferring of overturning moment applied to IHOC to anchoring base. The electric power generators are located in a machinery room on a structure well above sea level and would transmit electric power to the shore utilizing flexible cable. During hurricane it will be lowered to the depth preventing turbines from being affected by wave actions, at the same time it would keep machinery room above wave action. For the purpose of delivery assembled on shore Turbine Housing to destination site and installing it there a special convoy is formed consisting of Catamaran Delivery Barge and Stabilizing Platform.
The second Embodiment of this invention is designed to harvest energy of tides in deepwaters.
Owner:BELINSKY SIDNEY IRVING +1
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