229 results about "Complex topography" patented technology

The invention relates to a nuclear power plant working robot and a control system thereof, which belong to the fields of robots and automation equipment. The nuclear power plant working robot is a crawler-type mobile manipulator and is composed of a mobile platform driven by double crawlers and a four freedom degree manipulator carried on the mobile platform. The nuclear power plant working robot can move inside a nuclear power plant, has two control modes of manual remote control and autonomous control, and is remotely controlled by a wireless or wired mode. The control system of the nuclear power plant working robot includes a host monitoring and planning control system and a robot control system which are matched to control the operation of the robot. The robot operates autonomously, is safe and reliable, can complete certain dangerous tasks in high radioactivity environment; the robot has small size, stable performance, great maneuverability and low operation cost; a crawler-type chassis has strong gripping force as well as certain climbing and obstacle clearing ability, and is suitable to walking over complex terrains; and the robot has high intelligence degree and can realize autonomous control and manual remote control.

The invention discloses a multifunctional bionic jumping and walking robot. Only a jumping track and only jumping movement can be achieved by existing robots, the existing robots can only move on flat terrain and can not be adapted to the complicated terrain environment in the natural world. According to the multifunctional bionic jumping and walking robot, two fore limb bionic mechanisms are symmetrically arranged on the front portion of the trunk of the robot, two hind limb jumping mechanisms are symmetrically arranged on the rear portion of the trunk of the robot and are both connected with a spring locking and unlocking mechanism, the spring locking and unlocking mechanisms can drive and lock or unlock the hind limb jumping mechanisms, and each spring locking and unlocking mechanism comprises a main motor, a third straight gear, an input shaft, a fourth straight gear, a pawl, a clutch movable block, a clutch fixed block, a shifting fork driving motor, a second crank, a second connecting rod and a shifting fork. According to the multifunctional bionic jumping and walking robot, jumping angle adjustment, jumping height adjustment, continuous jumping and automatic resetting can be achieved, frog type jumping and kangaroo type jumping can also be achieved, and the multifunctional bionic jumping and walking robot can turn on a fixed position and walk so as to be adapted to the complicated environment.

The method comprises: estimating the direction and distance that the sensor node should be moved by calculating the size and direction of virtual force loaded by each sensor node; driving the sensor node to make relevant movement until reaching a force-balanced point-namely realizing a distribution of sensor network node. By the invention, the sensor nodes can automatically move according to its located geographical environment.

The invention discloses a bionic jumping and walking mechanism. Existing robot can only move on the flat terrain and can not be adapted to the complicated terrain environment in the natural world. According to the bionic jumping and walking mechanism, the jumping mechanism is driven and locked or unlocked through a spring locking and unlocking mechanism, a main motor drives a fourth straight gear, an input shaft is supported by a gearbox through a bearing, the fourth straight gear, a ratchet wheel and a clutch fixed block are all fixed to the input shaft, the ratchet wheel is meshed with a pawl, a clutch movable block is connected with an output shaft through a spline, the clutch movable block and the clutch fixed block are embedded together, a base of a shifting fork driving motor is fixed to the gearbox, a second crank is fixedly connected to an output shaft of the shifting fork driving motor, the two ends of a second connecting rod are hinged to the second crank and the end of a shifting fork respectively, the middle of the shifting fork is hinged to a supporting shaft of a motor supporting frame, and a U-shaped fork body of the shifting fork is embedded in an annular groove of the clutch movable block. According to the bionic jumping and walking mechanism, jumping angle adjustment, jumping height adjustment, continuous jumping, automatic resetting and walking can be achieved so that the bionic jumping and walking mechanism can be adapted to the complicated environment.

Hydrofluoric acid (HF) mixed with water and often buffered with ammonium fluoride is a standard silicon dioxide wet etchant which is followed by a rinse. An improved silicon dioxide etch is vapor HF which may be followed by a water vapor rinse. The invention discloses a further improved silicon dioxide etch. Following an initial exposure to vapor HF for oxide removal, a first insitu water rinse occurs. A second exposure to vapor HF then occurs and is followed by a second insitu water rinse. Water, rather than water vapor, aids in freeing particles from the wafer surface. During both the water rinses, the wafer may be rotated at increasing speeds to aid in sweeping particles from wafer surface. The process may be practiced in a commercially available reactor and is suitable for ULSI devices having complex topographies, such as, for example, 64 megabit DRAMs employing crown type memory cells.

The invention discloses a borehole -based and ground combined seismic wave space exploration method, which comprises the following steps of: setting an excitation mode of a seismic source and a detector arrangement mode according to a topographic condition and the peripheral environment of a field to be exploited; forming an exploration hole by using an exploration drill and mounting a wall protecting wall in the exploration hole; simultaneously arranging a detector string in a ground surface and the exploration hole; arranging a unilateral detector string in the ground surface; arranging a three-component detector string in the exploration hole; connecting both the detector strings to a data acquisition instrument on the ground; connecting the data acquisition instrument to a computer; selecting proper exploration parameters and an excitation seismic source according to the geological condition; propagating the seismic wave from the seismic source to the ground surface and the exploration hole through the stratum; performing data acquisition by using the data acquisition instrument; and finally, performing data processing and imaging through the computer. According to the method, the defect that the exploration requirement of a complex topography cannot be met due to finite span and depth for application of the conventional seismic CT (Computed Tomography) technology and single arrangement and receiving mode of the detector is overcome.

The invention discloses an electric quadruped robot with variable mechanism configuration. The electric quadruped robot with the variable mechanism configuration comprises a trunk and four legs connected to the trunk; each leg comprises three transmission chains which are respectively a first transmission chain, a second transmission chain and a third transmission chain, the first transmission chain is connected with the trunk, the second transmission chain is connected with the first transmission chain, and the third transmission chain is connected with the second transmission chain. The first transmission chain drives a hip joint axis to rotate, the second transmission chain drives a thigh rod piece to rotate, and the third transmission chain drives a shank rod piece to move. The mechanism configuration of the electric quadruped robot can be transformed according to specific terrains, the electric quadruped robot has multiple motion modes of quadruped crawling, quadruped walking and partial crawling-partial walking, when the mechanism configuration of crawling is used, the electric quadruped robot is high in stability, and can better pass through rugged and complex terrains; when the mechanism configuration of walking is adopted, the electric quadruped robot is quick in action speed and high in efficiency and energy utilization rate; the electric quadruped robot with the variable mechanism configuration is driven by the motor, therefore, noises can be greatly reduced, and a mechanical main body is lighter and more flexible.

The invention discloses a construction method for a long-span handle-basket arch bridge steel arch rib fastening and hanging system in a high speed railway. The construction method is used for assisting in mounting long-span steel arch ribs and linear adjustment, the fastening and hanging system mainly comprises a fastening anchorage cable, a cable tower, an anchor cable and anchorage, a side wind-cable and anchorage and a fastening and hanging anchoring structure. Long-span steel arch ribs are hoisted through a segmental mode, each segment adopts a fastening cable to be hung and fastened, theupper end of the cable tower is aslant anchored to an anchor eye of a tension platform on the top of the cable tower, the cable tower and the corresponding anchor cable are simultaneously and symmetrically stretched and drawn, and the anchor cable is anchored to the anchor cable and anchorage in advance. The steel arch rib is hoisted through the segmental mode, each segment is fastened and hung with one set of fastening cable. The construction method for the long-span basket handle arch bridge steel arch rib fastening and hanging system in the high speed railway has the advantages that the steel arch rib segments are installed by adopting the cable-stayed fastening and hanging system, the technical problem of the long-span arch bridge construction under complex topography conditions suchas mountain areas, river valleys and the like is overcome, it is achieved that an arch bridge can be built without supports in mid-span, the dependence of bridge construction on topography and landform is reduced, the adjustment of installation linearis is convenient, the operability is strong, the overall structure layout is reasonable, safe and reliable, and the construction method for the long-span basket handle arch bridge steel arch rib fastening and hanging system in the high speed railway has popularization and application value.

A bioactive and bioresorbable scaffold including a glass-ceramic material including fluoroapatite and hydroxyapatite doped with about 1-5 wt.% niobium oxide that is shaped into a scaffold is described. The glass-ceramic material has high crystallinity and a complex topography which provide it with greater structural strength and bioresorbability. Methods of preparing the bioactive and bioresorbable scaffold and methods of using the scaffold for musculoskeletal engineering are also provided.

The invention discloses a space curved surface reconstruction method based on a boundary constraint. The space curved surface reconstruction method based on the boundary constraint mainly comprises the steps of (1) collecting original horizon data points and fault data points, and drawing a hanging wall polygon and a heading wall polygon; (2) obtaining height attributes, relation attributes and projection attributes of the original horizon data points and points on the fault polygons; (3) carrying out connection on the original horizon data points and the points of the fault polygons through triangle gridding with the constraint; (4) accomplishing splicing of internal areas and external areas of the hanging wall polygon and the heading wall polygon, namely, accomplishing reconstruction of a three-dimensional space curved surface. The space curved surface reconstruction method based on the boundary constraint solves the problem of reconstruction of the horizon curved surface of the complex terrain in the process of three-dimensional geologic modeling, provides a new idea for isoline drawing, geological block forming and the like, can be applicable to various discrete points or lateral line data, and low in requirement for data, can support various faults such as complex terrain structures such as normal faults, reverse faults and vertical faults, and has good adaptability.

The invention discloses a satellite navigation ground differential reference station and a system thereof. The technical purposes of lowering the complexity of base station establishment and improving the processing capacity of a differential reference system are achieved. According to the satellite navigation ground differential reference station, a base station is connected with a remote data processing center through the Internet. The system is provided with a frequency mixer module, a network communication controller module, a high-accuracy difference data calculating module, a data storage module, a data distribution module and a user access module. Compared with the prior art, satellite negative signals are processed through a radio frequency collector and a data processing center instead of a base station, the complexity of base station construction is effectively lowered, station construction can be achieved in complex terrain environments, the signals are processed at the data processing center, observation data higher in accuracy and difference correction data are obtained with the help of the powerful calculation capacity of cloud, and therefore the satellite navigation ground differential reference station construction efficiency and the difference correction data processing efficiency are improved.

The invention relates to a device and a method for measuring impact current divergence characteristics of an earth electrode, belonging to the technical field of analog experiments of an earthing device. The device mainly comprises an impact current generator, a hemispherical test groove, an analog earth electrode, a current sensor, a high-speed data collecting card, a control processing module, a display module, and the like. According to the method, the impact current divergence characteristics of the earth electrode are obtained by utilizing the device through the steps of determining an analog test proportional scale and adjusting analog test conditions, connecting an analog test loop, setting control processing parameters, collecting and processing test data and the like. The device has the characteristics of being simple and convenient to operate, high in measuring efficiency, accurate in measuring result, wide in application range and the like. The device and the method can be widely applied to measuring the impact current divergence characteristics of the earth electrode under the effect of large current impact, and is particularly suitable for measuring the impact current divergence characteristics of the earth electrode under the effect of lightning current under the conditions of non-uniform soil and complex topography.

The invention relates to a master-slave robot for high obstacle crossing and accurate bomb disposal and explosion elimination, which is used for carrying out bomb disposal and explosion elimination by imitating the action of an operator in various complex terrains. The master-slave robot is characterized in that a left clamping hand and a right tool hand are respectively arranged on a rotating disc of a rack; the left clamping hand and the right tool hand are respectively provided with seven rotating pairs designed by imitating the hand of a human; small-sized motors and bevel gears are arranged at the finger joints of the clamping hands; a tool drum of the tool hand is provided with a rack which form a gear pair together with gears of the motors; the tool hand is respectively provided with tool pliers, a tool drilling knife and a screwdriver; the two sides of the rack are provided with crawler wheels in a staggered manner; the crawler wheels are in an assembling connection with vibrators, swinging arms and rotating-angle transmission shafts; and the front wheels of the crawler wheels are driving wheels, the motors are arranged in the axial direction of the driving wheels, a big gear is arranged in the middle and bearing wheels are arranged at the two sides. The master-slave robot has the advantages that the adaptability to more complex terrains is achieved, the obstacle-crossing capability is strong, complex and accurate bomb disposal action can be realized and the tool is easy to change due to modularization.

A cable curvature measuring method comprises the following steps: S1: acquiring the distances between any three adjacent points and an observing points on a cable curve, and calculating the initial curvature rho' on the cable curve by utilizing a three-point method according to the three distance information; S2: acquiring the image information of the cable curve, and obtaining the compensation curvature rho'' according to the image information; and S3: obtaining the accurate curvature rho according to the initial curvature rho' and the compensation curvature rho''. According to the cable curvature measuring method, the cable curve information is extracted from a cable curve image. According to the cable curvature measuring method, the cable curve information is extracted from the cable curve image, the cable curvature obtained by a laser ranging method can be compensated according to the information, the all calculations are implemented in a digital processing unit, so that the cable curvature measuring method has the advantages of high precision, strong instantaneity, high processing speed, and long-distance measurement under the complicated topography.

The invention relates to a crawler type passive self-adaptive robot which comprises a vehicle body module, two damping modules installed on the front side and the back side of the vehicle body modulerespectively, an information collection module installed at the upper part of the vehicle body module and four crawler type wheels installed on the two sides of the vehicle body module respectively; the two ends of each damping module are connected with two corresponding crawler type wheels respectively; the four crawler type wheels have a thoroughly identical structure and are arranged around thevehicle body module in a front and back as well as left and right symmetrical manner; each crawler type wheel comprises a crawler, a belt wheel structure and a belt transmission body, and the belt transmission body is connected with the vehicle body module on one hand and is connected with the belt wheel structure on the other hand; each crawler is installed on the outer surface of the corresponding belt wheel structure; and each belt wheel structure comprises six transmission gears, two planetary supporting frames, four center shafts, two center gears and two planetary gears. By adopting therobot, each crawler type wheel is driven by a motor to move; through connection of the damping modules, damping arms stretches and varies, swing rods swing from left to right, and the robot can passacross a complex terrain.

The invention discloses a transformable search-and-rescue robot with multiple motion tread. The transformable search-and-rescue robot comprises a head portion, a tail portion, joint portions, a trunk portion and extendable leg portions. An installation hole is arranged on the head portion, corresponding sensors, communication devices, control systems and the like can be installed according to requirements, the joint portions are in orthogonal series connection, a digital steering engine is installed, and wriggling, squirming, overturning and other motions of bionic snakes can be achieved. The trunk portion is connected with the joint portions, and a control system, batteries and the like are installed in the trunk portion. Each extendable leg portion is composed of double connection rods and provided with two steering engines, so that the extendable leg portions can achieve extending deformation, creeping and the like. A driven wheel is installed on a bottom connection rod for assisting the motions like wriggling. The transformable search-and-rescue robot can choose different motions according to different requirements, the motion modes can be independent or be combined, and adaptability and moving efficiency of the robot can be effectively improved in complex terrain environment.

The invention relates to the field of aircraft navigation, and in particularly relates to a flight method of an aircraft passing through radar area, and the method comprises the following steps: S1, obtaining radar site distribution data, radar attribute data, radar deployment area terrain data and aircraft attributes; S2, according to the curvature of the earth and the radar deployment area terrain data, calculating radar visual range; S3, calculating connectivity analysis of grid points in a radar invisible areato obtain all radar grid points to gather and construct a safe flight planning path; S4, and navigating the aircraft according to the safe flight planning path in the S3. The flight method fully considers the obstacle of complex terrain environment and the aircraft itself attribute constraints, the most prominent is the consideration of the radar area constraint, complex battlefield environment is fully simulated and analyzed to infinitely close to the real battlefield geographical environment, and optimized path navigation for the aircraft to safely pass through the deployment area is provided.

The present invention relates to a design of a driving mechanism for a vehicle to move through uneven terrain including stairways. The link-type double track mechanism in accordance with the present invention comprises: front and rear track driving sections; a built-in type control box; a set of angle-adjusting flippers, installed at front and rear ends of the control box, for adjusting the track angle; and high-speed driving wheels installed at the angle-adjusting tracks and imbedded inside. The link-type double track mechanism in accordance with the present invention does not require a complex terrain-adaptation mechanism, and thus it has advantages that the overall structure is simple and the control is very easy.

The invention discloses a region-division-based spatial complex horizon reconstruction method. The horizon reconstruction in three-dimensional geological modeling under the complex topography conditions such as multi-fault overlapping can be realized without the needing of a fault polygon; simultaneously, the dynamic control of specified grid spacing is realized by a hybrid grid interpolation method, so that a geologic structure can be expressed finely; the reconstructed geologic horizon surface and the fault are closed strictly; and the processing, such as blocking processing, in later geological modeling is facilitated.

The invention relates to a high-accuracy high-resolution satellite imaging simulation engine and an implementation method. The engine comprises a scenario resolving module, a scenario organization and management module, a two-stage task division module, a ray tracing module and an image synthesis module. According to the engine and the implementation method, a large-scale and complex landform scenario can be quickly rendered based on a ray tracing rendering technology by using a Sender-Worker-Receiver parallel calculation model, a two-stage task division method and a dynamic adaptive scheduling method, the problem of single node performance bottlenecks during data communication is solved, load balance and high expansibility between nodes are ensured, time for satellite imaging simulation is shortened, and the simulation efficiency is improved.

The present invention provides a vehicle obstacle crossing device by automatically bridging, which enables the vehicles to climb up the relatively higher obstacles like steps or to cross over the relatively broader deep pits. The bridge is installed under the chassis, and the body of the vehicle can slide forward and backward relative to the bridge which is characterized by a telescopic body and retractable and lifting support legs. With the help of the device in the present invention, the vehicles can cross over complicated terrains with obstacles of different heights and ditches of different spans. When traveling along the flat and straight roads, the bridge retracts under the chassis, which will not influence the normal running of the vehicles.

The invention discloses an unstructured grid nesting wave numerical simulation method, which includes the following main steps: an unstructured grid is adopted to create a mathematical model of waves in a large area; an unstructured grid is adopted to create a mathematical model of waves in a shallow-water engineering sea area; according to computational domains of different sizes, the numerical simulation of the waves is carried out. The unstructured grid nesting wave numerical simulation method achieves the following advantages: on the basis of bringing the unstructured grid wave mathematical models into full play, by applying the grid nesting technology, the unstructured grid nesting wave numerical simulation method greatly reduces the number of the grids in the computational domains, and increases the speed of computation; by applying the grid nesting technology, the unstructured grid nesting wave numerical simulation method can deploy finer computational grids in order to adapt to complex terrains and irregular coast boundaries, so that the accuracy of computed results can be increased.

The invention discloses a construction site comprehensive spatial monitoring system based on Beidou high-precision positioning and BIM. The traditional survey mode is not satisfactory in survey accuracy and efficiency for construction projects with complex topography and large construction scale. By introducing Beidou high-definition positioning into the traditional measurement technology and combining with modern wireless transmission technology, the system establishes a mm-level comprehensive measurement system at the construction site. On this basis, the BIM technology is used to compare the spatial coordinates of the design model and the construction model, so as to realize the whole process precision control and scientific deviation correction of the construction site.

The invention discloses a rapid complex topography measurement method. A measurement system involved in the rapid complex topography measurement method comprises a white light source 1, three beam-splitting prisms, a microscope eyepiece 5, a microscope objective 6, an interference objective 7, a four-quadrant photoelectric sensor 8, a laser device 9 and an image sensor 10 and is provided with two measurement optical paths and a laser measurement optical path. The rapid complex topography measurement method includes: disposing the measurement system on a three-dimensional movement platform; focusing a laser measurement portion to a measured surface and subjecting the measured surface to point-by-point scanning measurement according to a spiral line or gate line mode so as to obtain a rough contour feature of the measured surface; focusing a white light interference portion to the measured surface, rapidly positioning a height measurement position of the white light measurement system by every position point of a white light interference measurement path according to a height variation of the obtained rough contour feature, and integrating data in all regions so as to obtain full-frequency-band topographic information of the measured surface.

Relating to a travel suitcase, the invention provides an intelligent following obstacle-surmounting travel suitcase, which includes a case, a traveling mechanism, a power supply mechanism, a transformation mechanism for lifting the travel suitcase and transforming the driving form, and a control mechanism for controlling and processing suitcase action. The traveling mechanism and the transformation mechanism are respectively mounted on both sides of the case. The power supply mechanism and the control mechanism are respectively mounted on the case, and the output end of the power supply mechanism is respectively connected to the power input end of the traveling mechanism, the transformation mechanism and the control mechanism. The output end of the control mechanism is respectively connected to the traveling mechanism and the transformation mechanism. The travel suitcase provided by the invention has vertical and horizontal two traveling ways, can randomly switch the traveling way, can confront complex terrain environments, has powerful driving force and climbing mechanism, can cope with the climbing work of steep slopes and steep stairs, has intelligent following function, can automatically follow users, can realize conversion between automatic control intelligent mode and manual control mode, has a simple structure, and is easy to popularize and use.

The invention discloses a channel improvement construction method, and relates to the engineering construction technology. The problem that due to common channel improvement construction, the water depth of a channel is increased, and the channel danger is increased is solved. The method comprises the following steps of cofferdam construction, wherein in the length direction of a channel, waterproof cofferdams are sequentially arranged in the length direction of a channel to segment the channel; channel dredging, wherein starting from the upstream of the channel, water and sludge in a dredgingsegment are sequentially discharged into the next dredging segment, and after sludge is cleaned, a river bed needs to be backfilled and reinforced; and channel recovering, wherein after the channel is cleaned and improved, the cofferdams are dismounted, and river water flowing is recovered. The method has the advantages that backfilling and reinforcing after dredging can recover the depth, descending due to dredging, of the channel, the channel can keep safe depth, through renovation, the river bed is more flat in topography, after a person falls in water, the person cannot be tangled by theriver bed complex topography easily, and the construction method can reduce danger of the channel.

Disclosed is a parallel-shaft quad-rotor aircraft with rotatable aircraft arm shafts. The parallel-shaft quad-rotor aircraft with the rotatable aircraft arm shafts comprises an aircraft body in the middle, four propeller mechanisms, flight control modules and a battery. The aircraft body is formed by an upper shell and a lower shell in a screw connection mode. The four propeller mechanisms comprise four brushless motors with code discs, and the four aircraft arm shafts, wherein the brushless motors are fixedly arranged in a cavity structure formed inside the upper shell and the lower shell, and every two adjacent aircraft arm shafts are arranged in a parallel mode. A motor shaft of each brushless motor with the corresponding code disc is connected with one end of the corresponding aircraft arm shaft through a set screw, and the other end of each aircraft arm shaft is connected with a propeller motor and a propeller through a motor sleeve. The flight control modules and the battery are connected with the propeller motors and the brushless motors with the code discs through circuits, and are used for controlling the flight state of the quad-rotor aircraft by adjusting the positioning angles of the four aircraft arm shafts and the rotating speed of the propellers. According to the invention, the parallel-shaft quad-rotor aircraft saves the space, is easier and more sensitive to control, and convenient to carry, can preferably adapt to various kinds of complex terrain, and has the good self-protection capacity.

The present invention relates to an ultralong space inflated spread supporting bar. It includes an inner layer tube and an outer layer tube, the inner layer tube is placed in the interior of said outer layer tube, it also includes two end head covers, every end head cover centre is equipped with an air-charging hole, two end head covers are respectively and fixedly connected with two ends of inner layer tube and outer layer tube, the length of said supporting bar is 10-100 m, and the inner layer tube and the outer layer tube are made up by using film material. Said invention also provides its extensive application field.

The invention discloses a comprehensive spaced and visualized urban climate environment analysis and assessment research method under multiple seasons and environmental elements, and belongs to the research of the urban climate environment application field. According to the analysis and assessment method, complex topography effects and air-sea-land interaction are fully considered, four-season urban climate environment and urban planning information are integrated, urban climate environment problems at present and under planning backgrounds are shown mainly by two-dimensional graphics, and planning suggestions for the urban climate environment problems at various seasons are proposed, so that urban thermal pollution and air pollution problems can be effectively relieved. The urban climate environment assessment and analysis method is comprehensive, real-time, easy to acquire and use, and relevant achievements of the method can be regarded as the important decision-making basis of the urban planning, urban climate and ecological human habitat environment construction field.