针对无先验地图条件下电力管廊无人机自主巡检能力不足的问题,本文提出了一种不依赖先验地图的无人机巡检方法。首先,无人机搭载激光雷达,通过SLAM(Simultaneous Localization and Mapping)算法进行实时场景构图,并基于RRT(Rapidly-exploring Random Tree)算法对构建的全局栅格地图进行边界搜索;其次,针对传统RRT算法难以判断环境地图完整性、保障巡检全面性的问题,提出了一种基于数字图像处理的边界检测方法。通过Canny算子对实时构建的地图进行边缘检测,并对地图进行完整性评估。最后,为验证本文提出方法的有效性,在江苏无锡处某220kV电力管廊的仿真模型中进行验证,分别采用RRT算法和本文改进算法进行自主巡检测试,结果表明本文提出的算法相比RRT算法可提升21.8%的巡检覆盖率。 相似文献
合成了一种季铵盐型双子表面活性剂Gem in i 12-3-12,采用红外光谱、元素分析和两相滴定法对其结构和纯度进行了分析,测定了不同浓度表面活性剂水溶液的表面张力,并得到临界胶束浓度(CMC)、饱和吸附量(Γm ax)、单分子饱和吸附面积(Am in)。结果表明,Gem in i 12-3-12的收率为77.2%,纯度为98.4%,它与相应的单尾基十二烷基三甲基溴化铵(DTAB)的表面活性相当,但CMC比DTAB低14倍左右。 相似文献
Catalytic cracking of butene to propene and ethene was investigated over HMCM-22 zeolite. The performance of HMCM-22 zeolite was markedly influenced by time-on-stream (TOS) and reaction conditions. A rapid deactivation during the first 1 h reaction, followed by a quasi-plateau in activity, was observed in the process along with significant changes in product distributions, which can be attributed to the fast coking process occurring in the large supercages of MCM-22.
Properly selected reaction conditions can suppress the secondary reactions and enhance the production of propene and ethene. According to the product distribution under different butene conversion, we propose a simple reaction pathway for forming the propene, ethene and by-products from butene cracking.
HMCM-22 exhibited similar product distribution with the mostly used high silica ZSM-5 zeolite under the same conversion levels. High selectivities of propene and ethene were obtained, indicating that the 10-member ring of MCM-22 zeolite played the dominant role after 1 h of TOS. However, MCM-22 exhibited lower activity and stability than that on high silica ZSM-5 zeolite with longer time-on-stream. 相似文献