Nanjing Hydraulic Research Institute

Guangya Fan

Zhuo Li

Kai Zhang

Haipeng Wang

Yan Xiang

Guangze Shen

Jinbao Sheng

Chengdong Liu

Jingdong Jiang

Xiaolei Zhan

Changsheng Gao

Haifei Sha

Yunqing Tang

Xinyi Liu

Xin Jiang

Chaoda Bi

The present invention includes an anti-ice pushing/pulling device installed on the slope of an earth-rock dam and an ice thrust calculation method. The device is arranged in a groove formed on the surface of an upstream slope of the earth-rock dam in the winter water level change area, and includes an upper concrete slab and a lower concrete slab hinged by means of a rotating shaft structure, where the rotating shaft structure is located at the end of the groove in the dam slope far away from the dam crest; a jack is arranged between the two concrete slabs to adjust the flip angle of the upper concrete slab; a plurality of rectangular grooves are formed on the surface of the upper concrete slab, and a combined structure formed by splicing concrete blocks is arranged in the rectangular grooves; and holes are formed on the concrete blocks.

Anti-ice pushing/pulling device installed on slope of earth-rock dam and ice thrust calculation method

The present invention provides a self-positioning system of a deepwater underwater robot of an irregular dam surface of a reservoir, including cross reflection metal plates arranged on the irregular dam surface, and an underwater robot provided with a control motherboard, a water level indicator and a sonar system, wherein the water level indicator and the sonar system are respectively connected with the control motherboard, and the control motherboard is connected with a computer via a cable. The cross reflection metal plate has known coordinates and has four quadrants. A sonar signal emitted by the sonar system is reflected by the cross reflection metal plate to generate sonar reflection signals of four quadrants, and the sonar signals in the effective quadrants correspond to known coordinate parameters of the cross reflection metal plate so as to obtain the horizontal distance between the underwater robot and the irregular dam surface. The water level indicator is used for calculating the vertical position of the underwater robot. The computer calculates accurate positioning of the underwater robot according to the horizontal position and the vertical position. The present invention has the beneficial effects of being able to accurately obtain the positioning coordinates of the underwater robot in the deepwater of the irregular dam surface of the reservoir.

Self-positioning system and self-positioning identification method of deepwater underwater robot of irregular dam surface of reservoir

Growing community of inventors

Nanjing, China

Guangya Fan