91 results about "Ground movement" patented technology

The invention provides a monitoring device mainly for sensing ground displacement, including the fiber Bragg grating sensored deflectometer and the signal interrogator / computer system. The device uses a segmented design that consists of a flexible tube (referred to as the flexible segment) and two rigid segments and thus referred to as the FBG segmented deflectometer (FBG-SD). For field installation, multiple FBG-SD units are connected together to form a string as it is inserted into a grouted-in-place inclinometer casing. The distortion of the inclinometer casing induced by ground movement causes relative rotation of the inserted FBG-SD. All of the FBG-SD units are connected to an FBG interrogator / computer system situated on ground surface. The FBG signals are recorded and analyzed by the interrogator / computer system.

The invention discloses a mobile platform ground movement object detection method including the steps as follows: (1) respectively calculating SWIFT characteristic description of a (n-m)th frame image, an nth frame image and a (n+m)th frame image of an image sequence; (2) by taking the nth frame image as a reference, respectively registering the (n-m)th frame image and the (n+m)th frame image to obtain registration images; (3) respectively conducting space multiscale movement significance tests on the two registration images with the nth frame image; (4) calculating a difference absolute value image of the nth frame image and the (n-m)th frame registration image, and the difference absolute value image of the nth frame image and the (n+m)th frame registration image; (5) respectively calculating a difference image of the (n-m)th frame and the nth frame as well as a difference image of the nth frame and the (n+m)th frame; (6) mixing the two difference images to obtain a three-frame difference image and then conducting binaryzation; and (7) conducting morphological processing on a binary segmented image and then conducting region marking so as to obtain a final detection result image. The mobile platform ground movement object detection method solves the background compensation problem under the condition of a moving platform and has very good robustness on the light change and background interference in a scene as well as image deformation caused by platform movement.

The invention discloses a wheel-leg hybrid amphibious robot with ground movement and flight motion modes. The amphibious robot comprises a body support, four wheel devices, six three-joint bionic limb devices and a six-wing flight device; the six three-joint bionic limb devices are distributed at the two sides of the body support, the four wheel devices are installed on two front three-joint bionic limb devices and two rear three-joint bionic limb devices respectively, and the six-wing flight device is fixedly arranged at the top end of the body support. The amphibious robot has two ground movement modes including crawling and wheel moving and the flight motion mode and can adapt to different work environments, the three movement modes can be switched freely according to the road conditions and use requirements of users, and maneuverability and working efficiency of the robot are greatly improved.

The invention discloses a fully automatic power line inspection unmanned aerial vehicle system, and relates to the technical field of unmanned aerial vehicles. The system comprises a ground centralized command center, a ground movement control station and an intelligent inspection unmanned aerial vehicle. The inspection device provided by the invention adopts an intelligent inspection mode, and has the advantages of high flight accuracy, strong multi-tasking ability, automatic obstacle avoidance, cluster operation and easy operation.

An improved monitoring and control system capable of providing automatic control of ground movement in an aircraft equipped with non-engine drive means for autonomous ground movement to enhance airport ground safety and efficient ground travel is provided. The monitoring and control system is installed on aircraft equipped with non-engine drive means controllable to move the aircraft autonomously on the ground and includes monitoring means positioned in locations on the aircraft selected to obtain a maximum amount of information relating to an aircraft's ground position and operation, processor means, data transmission means, and manual or automatic control means to control and direct operation of an aircraft's non-engine drive means to move the aircraft autonomously, safely and efficiently on the ground. The improved monitoring and control system can be employed with one or a number of aircraft simultaneously to increase safety and efficiency of airport ground operations.

A method for monitoring an autonomous accelerated pushback process in an aircraft equipped with an engines-off taxi system is provided to maximize safety and facilitate the accelerated pushback process. The aircraft is equipped with a monitoring system including a number of different kinds of sensors and monitoring devices positioned to maximally monitor the aircraft's exterior ground environment and communicate the presence or absence of obstructions in the aircraft's path while the pilot is controlling the engines-off taxi system to drive the aircraft in reverse away from a terminal gate and then turn in place at a selected location before driving forward to a taxiway. The sensors and monitoring devices may be a combination of cameras, ultrasound, global positioning, radar, and LiDAR or LADAR devices, and proximity sensors located at varying heights adapted to continuously or intermittently scan or sweep the aircraft exterior and ground environment during aircraft ground movement.

The invention discloses a foldable leg mechanism for a metamorphic unmanned ground movement system. The foldable leg mechanism comprises a hip joint mechanism, a knee joint mechanism, an ankle joint mechanism and a vehicle bottom plate. The vehicle bottom plate is fixedly connected onto a vehicle frame of the metamorphic unmanned ground movement system. The hip joint mechanism comprises an upper rotary mechanism, a middle rotary mechanism and a lower rotary mechanism, and the ankle joint mechanism comprises an ankle pitching mechanism and an ankle side swaying mechanism. Each of the upper rotary mechanism, the middle rotary mechanism, the lower rotary mechanism, the knee joint mechanism, the ankle pitching mechanism and the ankle side swaying mechanism is provided with a driving motor, anda thigh component can rotate with three degrees of freedom in a Z1 direction, an X1 direction and a Y1 direction when the six driving motors are in linkage with one another; a shank component can rotate with a degree of freedom in a Y2 direction; a foot bottom plate can rotate with two degrees of freedom in an X3 direction and a Y3 direction. The foldable leg mechanism has the advantage that themetamorphic unmanned ground movement system can advance in diversified modes such as turning and climbing under the control of the harmonic gear stepper motors under complicated road conditions.

A method for improving ground movement capability and enhancing stealth in unmanned aerial vehicles is provided. The present method comprises providing, in an unmanned aerial vehicle equipped with wheels, one or more onboard drive means capable of translating torque through the vehicle wheels and controllable to move the unmanned aerial vehicle on the ground without reliance on the unmanned aerial vehicle main motive power source. The onboard drive means is controllably powered by a power source with substantially no acoustic signature to move the unmanned aerial vehicle quietly on the ground with only a minimal audible or visible footprint. This method provides a significant expansion of ground movement capability and expands the potential ground uses of unmanned aerial vehicles, particularly in military applications. The present method can also be applied to move any manned aerial vehicle or aircraft on the ground with only minimal audible or visible footprints.

A storage rack vibration isolator for a storage rack system installed on a floor comprising a first mounting plate connectable to the storage rack system, a second mounting plate connectable to the floor. An elastomeric component extending between these mounting plates and is operatively attached to them so that during seismic events the first and second mounting plates remain attached to the elastomeric component as the elastomeric component is placed in shear while said first and second mounting plates are able to move in planes substantially parallel to each other. The elastomeric component comprises at least one elastomeric member made of material that is capable of absorbing and dissipating the energy of ground movement imparted to the storage rack system during seismic events, while the material enables the storage rack system to move a sufficient distance relative to the floor to lower the natural frequency of the storage rack system in at least one horizontal direction.

An efficient system and method are provided wherein aircraft may be retrofitted with non-engine drive means controllable to power landing gear wheels to move the aircraft autonomously during ground movement without engines or tow vehicles so that existing landing gear structures are employed to achieve force distribution and load transfer. Non-engine drive means capable of powering a landing gear wheel to move the aircraft during taxi are integrated into existing landing gear designs so that excess drive forces are transferred and distributed through previously evaluated and certificated landing gear structures, including tow fittings, determined to be capable of handling such forces, which eliminates changes to the landing gear and facilitates retrofit and certification. Engines-off taxi technology can be rapidly designed and developed to be retrofitted on existing aircraft nose and / or main landing gear and then efficiently certificated.

An apparatus for controlling the movement of an aircraft having a self-propelled nosewheel, on the ground, is disclosed. The apparatus comprises a control arm; a control unit; means for transmitting information to said self-propelled nosewheel; means for receiving information at said self-propelled nosewheel; and means for controlling at least one of the speed and direction of said nosewheel; whereby airport ground staff can intuitively control the movements of said aircraft by holding said arm and moving it in the direction of required movement of said aircraft.

The invention relates to a vanishing point based method for automatically extracting and classifying ground movement measurement image line segments. The method comprises the following steps of: firstly, analyzing the attribute of ground object space parallel characteristic lines of a target and calculating vanishing points of an image of the target on the basis of image sequences acquired by ground movement measurement; secondly, extracting characteristic line segments based on an image edge according to the Hough transform of a polar coordinate parameter area extremum and the continuous change of image greyscale; and then, classifying the extracted plane line segments by using vanishing points; and finally integrating the classified line segments according to a total least square method and conditions of the plane adjacency and overlapping degree of the line segments so as to extract image characteristic line segments which correspond to multiple ground object space parallel lines. The invention can improve the indoor processing capability of a movement measurement system and promote the research on automatic recognition, mapping, three-dimensional reconstruction and the like of multiple ground objects (such as buildings, roads and the like).

The invention relates to an inclined rotating wing aircraft with telescopic wing membranes. The inclined rotating wing aircraft comprises an aircraft body, a center shaft, a main transmission mechanism, first to third power units, an outer side rod, a support rod, a main wing membrane, a flight controller, and first to third undercarriages. The inclined rotating wing aircraft disclosed by the invention is improved on the basis of the structure of the traditional four-wing aircraft, and an inclined rotating structure of an inclined rotating four-rotary wing aircraft and a wing membrane structure of a flapping wing aircraft are added. According to the inclined rotating wing aircraft, the structural state of the inclined rotating wing aircraft includes a ground sliding state, a four-rotary wing flying state and a high-altitude cruising state; when the inclined rotating wing aircraft is in a ground movement state, the undercarriages contact with the ground, the main wing membrane is open, and the forward movement, backward movement, left rotation movement, right rotation movement, climbing movement and downgrade movement of the aircraft are realized by regulating the speed of four rotary wings; the movement state of the aircraft on the ground is realized under the action of the undercarriages, and the movement state is impossible to realize by the inclined rotating four-rotary wing aircraft and the flapping wing aircraft; and the climbing movement and the downgrade movement can be realized without changing the state of the aircraft, so that the energy consumption is reduced, and the complexity of a control program is prevented.

A method and apparatus is disclosed for reversing an aircraft on the ground comprising driving the aircraft using at least one self-propelled undercarriage wheel. An apparatus for controlling at least one of speed and at least one direction of an aircraft having a self-propelled nosewheel, on the ground, is disclosed. The apparatus comprises a control arm; a control unit; means for transmitting information to said self-propelled nosewheel; means for receiving information at said self-propelled nosewheel; and means for controlling at least one of the speed and direction of said nosewheel; whereby airport ground staff can intuitively control the movements of said aircraft by holding said arm and moving it in the direction of required movement of said aircraft.

A monitoring system is provided to ensure continued efficient reliable operation of an aircraft drive wheel drive system, preferably an aircraft drive wheel drive system driven by actuating drive system-actuated drive means, designed to drive an aircraft autonomously during ground operations. The monitoring system includes an array of sensor elements capable of obtaining desired information relating to selected drive system operating parameters and performance indicators during aircraft ground operations. The sensor elements are designed to be functionally located externally of drive system components to obtain information during aircraft ground movement under a range of operating conditions. The operating parameters and / or performance indicators to be monitored preferably include at least drive wheel speed and direction, drive means speed, drive means temperature, and drive means clutch engagement. It is contemplated that the monitoring system could be expanded to include sensors for additional drive system parameters and / or performance indicators.

The invention provides a laser radar three-dimensional imaging method based on an indoor four-rotor aircraft. The method includes the steps of reading acceleration data and distance data, calculating displacement data of the four-rotor aircraft, reading inertia measurement data, calculating posture and angle data of the four-rotor aircraft, reading depth and cross-sectional image data, calculating depth and cross-sectional images, determining collection position information of the depth and cross-sectional image data according to the displacement data and the posture and angle data, and achieving three-dimensional imaging between depth and cross-sectional images at adjacent positions through a sliding window Newton interpolation method. The three-dimensional imaging method has high flexibility, can reduce influences of complex grounds on flying relative to ground movement robots, and has high adaptability.

The present invention relates to a method, instruction set and system for speech control of movement of a service robot. The method, instruction set and system for speech control of movement of a service robot are applied on a ground movement service robot body, when a person and the robot perform interaction through speech, a microphone array on a robot body captures audio signals of a speaker and analyzes the audio source orientation of the speaker, the audio signals are identified to text through a speech recognition system on the robot body, the confirmed command work text of movement control of the robot is compared with the robot movement control instruction set, and once the confirmed command work text of movement control of the robot is matched with the robot movement control instruction set, a corresponding movement control instruction is started to control the movement of the robot, and the speech control of the movement of the robot is restrained by the obstacle avoidance function of the service robot. The system comprises a microphone array, a speech identification system, an instruction set, a service robot chassis movement function base and a supersonic wave obstacle avoidance and inertial navigation system. The system provided by the invention and the service robot chassis movement control system perform communication and connection through the call mode of the service robot chassis movement function base to realize final movement control motion.

The invention discloses an air-land amphibious spherical robot for environmental information acquisition. The air-land amphibious spherical robot comprises a spherical outer frame, a machine frame, across beam, a hanger, a gas detecting device, a holder camera module, a power system, a control system and a power supply system. The air-land amphibious spherical robot has the characteristics of a mobile robot and a multi-axis aircraft, and can be remotely controlled by teleoperation combined with an image transmission module, and by controlling the tilting direction and rotation speeds of fourrotor wings, air flight, hovering, ground movement, zero-radius turning and other movement can be realized. The spherical outer frame provides ample load module installation space while supporting andprotecting an internal system, and a flexible gripper module, a liquid collection module or a soil acquisition module can be installed according to actual detection requirements, so that the practicability of the robot is greatly improved. The air-land amphibious spherical robot has a compact structure, flexible movement, convenient disassembly and assembly of an expansion module and convenient carrying and recycling, and can be widely applied to the fields such as environmental detection and planetary exploration.

A roller traction drive system integral with a non-engine drive means and a clutch assembly in an aircraft drive wheel drive system capable of moving an aircraft autonomously on the ground is provided. The roller traction drive system is selectively activated by the clutch assembly into and out of actuating contact with the non-engine drive means to drive the aircraft drive wheel. Roller traction drive system components are made of materials designed to enable dry running and operation at the torques, drive means speeds, and reduction ratios required to actuate a drive means and drive a drive wheel for autonomous aircraft ground movement. Roller traction drive materials may be selected to maintain effective torque transfer between roller traction drive system components and the non-engine drive means as well as to minimize undesirable thermal expansion.

The invention provides a 500kV transformer shock insulation structure and an installation method. The shock insulation structure comprises a transformer, a foundation and a plurality of shock insulators, wherein the upper end and the lower end of each shock insulator are fixedly connected with a transformer base and the foundation respectively. The installation method of the shock insulation structure mainly includes the steps that firstly, a connecting component is installed on the foundation; secondly, the bottom of each shock insulator is fixedly connected with the connecting component; thirdly, the transformer is placed at the tops of the shock insulators, and the transformer base is fixedly connected with the shock insulators. By adoption of the 500kV transformer shock insulation structure and the installation method, a transformer body can be insulated from the foundation, the transformer can be separated from the earthquake ground movement possibly causing destruction, the earthquake energy spreading path is cut off, earthquake energy transmitted to damageable parts, such as high-tension bushings, oil conservators and low-tension bushings, at the top of the transformer is reduced as much as possible, the amplifying effect of an oil tank is offset, shock resistance of the transformer is greatly improved, and it is ensured that the transformer can still operate safely even in areas of eight to nine degrees of seismic intensity.

The invention discloses a method for controlling a settlement range of a grouting filling earth surface. The method comprises the following steps that (1) geological data of a working face in a coal mining area are collected, and stratum lithology, structure and hydrogeology in the working face area are analyzed; (2) a drilling structure is designed according to analysis results; (3) before the working face of the coal mining area is mined, a plurality of boreholes are sequentially formed in the coal seam direction above a grouting filling control area of the working face of the coal mining area, and a ground movement settlement observation system is established on the boreholes; and (4) when coal mining is started at the working face in the coal mining area, grouting is started at the position 50-100 m away from the boreholes, and grouting is continued after the coal mining in the working face of the coal mining area is completed until the surface settlement is stable. According to the method, a qualitative change is made in the coal mining method, instead of waiting for comprehensive treatment of a subsidence area after coal mining, grouting and filling are carried out at the same time of coal mining to protect the land and other ground facilities and prevent earth surface settlement from forming damage.

A controllable aircraft taxi system is provided that enables the simultaneous control of aircraft autonomous ground movement and direction of aircraft autonomous ground movement. Independently controlled non-engine drive means capable of driving an aircraft landing gear wheel to move an aircraft autonomously on the ground without reliance on the aircraft's main engines are mounted to provide driving torque to aircraft a selected number of main landing gear wheels. The aircraft nose landing gear steering system is provided with steering angle detection and measurement means adapted to communicate with main landing gear wheel non-engine drive means, enabling simultaneous control over both autonomous aircraft ground travel and direction of autonomous aircraft ground travel. The present invention overcomes steering challenges presented by using non-engine drive means on main landing gear wheels to drive aircraft autonomously during taxi.

A system is provided for maximizing efficient ground travel in wide-body and other aircraft equipped with onboard non-engine drive means for autonomous ground travel. Selective operation of the non-engine drive means and selective operation of the aircraft's engines are integrated to power aircraft movement when different ground travel speeds are required between landing and takeoff, optimizing savings and maximizing the cost / benefit ratio for equipping the aircraft with a non-engine drive means. The non-engine drive means may be designed to move a wide-body aircraft at low speeds required for ground maneuvers in a ramp area to move the aircraft at speeds typically used for pushback, initial forward roll, all start-stop situations, and other low speed ground travel. One or more of the aircraft's engines may be operated to move the aircraft at higher taxi speeds.

The invention discloses an independent self-help barrier-free wheelchair totally manually operated and used for independently, conveniently and stably climbing stairs, and belongs to the technical field of wheelchairs. The wheelchair consists of a stair climbing mechanism, flat ground movement mechanisms, power mechanisms, a seat mechanism and a frame; the seat mechanism is fixed at the upper middle part of the frame; the stair climbing mechanism is fixed at the lower part of the frame; the flat ground movement mechanisms are fixed at the front end and the rear end of the frame; and the power mechanisms are fixed on two outer sides of the upper part of the frame. The stair climbing mechanism consists of a body with upwards warped front, a plurality of damping flexible power wheel sets positioned on two sides of the lower end of the body respectively, chain wheels arranged on a small wheel axle of the power wheel sets, and a chain mechanism passing through the chain wheels of the wheelset mechanisms; and the body is fixed on the frame. The wheelchair has the advantage that a user can walk freely on the flat ground, stairs and slopes without the assistance of others. Meanwhile, due to the pure mechanical structure of the wheelchair, the wheelchair has low cost and is suitable for medium and low-end markets.

The invention discloses a real-time coal gangue positioning and identifying method for a ground moving belt. The method specifically comprises the following steps: step 1, establishing a data set; 2,training a target detection model; step 3, real-time image acquisition: transmitting the real-time images of the coal gangue on the ground moving belt to an industrial personal computer through a wired network camera to process real-time video streams; 4, extracting a model detection real-time video, and counting the types of target objects in the real-time video; and step 5, calculating the sizeof the coal gangue and determining the relative position based on the target object category determined in the step 4. The coal gangue on the moving belt is identified by adopting the image, so that the problem of environmental pollution caused by a ray method is solved.

The invention discloses a three-degree-of-freedom hip joint mechanism used for a metamorphic unmanned ground movement system. The three-degree-of-freedom hip joint mechanism used for the metamorphic unmanned ground movement system comprises an upper rotating mechanism, a middle rotating mechanism, a lower rotating mechanism, a vehicle bottom plate, a T-shaped sleeve and a thigh member. The vehiclebottom plate is fixedly connected to a frame of the metamorphic unmanned ground movement system. A first motor, a connecting member and a hip joint plate are arranged on the upper rotating mechanism;the first motor is connected to the upper side of the vehicle bottom plate; the hip joint plate is connected with an output shaft of the first motor through the connecting member; and the hip joint plate is positioned on the lower side of the vehicle bottom plate. The internal side of the hip joint plate is connected to the T-shaped sleeve; one end of the T-shaped sleeve is connected with the middle rotating member; the other end of the T-shaped sleeve connected with the lower rotating member; and the middle rotating member is perpendicular to the lower rotating mechanism. The lower rotatingmechanism is connected to the thigh member. During working, the upper rotating mechanism, the middle rotating mechanism and the lower rotating mechanism are linked with each other; and the thigh member realizes three-degree-of-freedom rotation of X, Y and Z coordinates.

The invention discloses a space mission ground movement reconstruction cross-scale verification platform, and belongs to the field of aerospace tests and verification. The space mission ground movement reconstruction cross-scale verification platform comprises a free base system, a hang spring active compensation system, a magnetic suspension system, an experiment spacecraft system, a coordination master control system, a communication system and a monitoring center. Hang spring coarse compensation and magnetic suspension fine compensation are combined with each other to form a gravity compensation system, high-precision micro-gravity environments can be provided for the experiment spacecraft system, the free base system and the gravity compensation system are combined with each other, accordingly, the experiment spacecraft system and the micro-gravity environments can synchronously move, and micro-gravity environments without time and space constraints can be provided for the experiment spacecraft system. Compared with existing gravity compensation method, the space mission ground movement reconstruction cross-scale verification platform has the advantages that the micro-gravity environments are high in reliability and adaptability, easy to implement and maintain and free of time and space constraints, and accordingly the space mission ground movement reconstruction cross-scale verification platform can be applied to ground tests and verification on the reasonableness and the feasibility of space mission implementation schemes with different mission requirements, different orbit characteristics and different work modes.