CN104155586B - Transformer partial discharge ultrasonic vector array positioning device and manufacturing method thereof - Google Patents
Transformer partial discharge ultrasonic vector array positioning device and manufacturing method thereof Download PDFInfo
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- CN104155586B CN104155586B CN201410414008.2A CN201410414008A CN104155586B CN 104155586 B CN104155586 B CN 104155586B CN 201410414008 A CN201410414008 A CN 201410414008A CN 104155586 B CN104155586 B CN 104155586B
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Abstract
The invention provides a transformer partial discharge ultrasonic vector array positioning device and a manufacturing method thereof. The positioning device comprises a box body. At least three ultrasonic vector array elements in linear arrangement are inlaid in the box body. Each of the ultrasonic vector array elements comprises a shell which is internally provided with a wireless data collecting module, three piezoelectric type speed sensors, hanging rods for positioning the piezoelectric type speed sensors and connection rods. The three piezoelectric type speed sensors are orderly connected vertically through the connection rods. The center axes of the three piezoelectric type speed sensors are in pairwise mutual orthogonal connection, and the center of the piezoelectric type speed sensor in the middle is at the centre of sphere of the shell. The positioning device can be directly placed in transformer oil, a local discharge ultrasonic signal in the transformer oil is obtained through the wireless data collecting module, thus the positioning of a partial discharge source is completed, and the positioning device has the advantages of simple structure, small volume and good directivity.
Description
Technical field
The present invention relates to transformer detection technique field, particularly a kind of locating device for detecting partial discharge position in transformer oil and manufacture method thereof.
Background technology
Along with China's economic development, also more and more higher to the requirement of Power System Reliability, and transformer is as the hinge in electric system, its reliability of operation is directly connected to the safety and stablization of electric system.Find in the statistical study process of transformer physical fault, insulation fault affects the main cause that transformer normally runs, the shelf depreciation of transformer is then cause the major reason of insulation fault, and therefore the detection of shelf depreciation becomes the importance that insulation status detects.
Current, the State Maintenance equipment of development power equipment has become a kind of inevitable technological trend, and not only there is important booster action shelf depreciation location to the assessment of the extent of injury of shelf depreciation accurately, and scientific guidance can be provided for the State Maintenance of transformer, so that maintainer carries out maintenance of equipment, be conducive to fixing a breakdown rapidly and improve maintenance level, and then ensure that electric system normally runs.
Since the eighties in 20th century, existing a large amount of fundamental research and application and development work are detected around partial discharge of transformer.Existing transformer partial discharge positioning method mainly contains light-seeking method, electrical Location method, superfrequency position location method, x-ray excitation localization method and ultrasound wave localization method etc.Wherein ultrasound wave localization method is the locus direction of ultrasonic propagation that produces according to shelf depreciation and time determining discharge source, because its principle is simple, anti-electromagnetic interference capability is strong, cost is low, can realize direct geometry location, therefore apply comparatively extensive.But traditional ultrasound wave localization method sensor uses traditional scalar sound pressure sensor, and sensitivity is very low, and the azimuth information of free sound field can not determine target; In sound intensity process, isotropic noise can not be cancelled out each other, and signal to noise ratio (S/N ratio) is lower.At present Locating Partial Discharge Sources in Transformer is positioned to the ordinary ultrasonic locating device of middle use, more owing to disturbing, noise effect is comparatively large, and sound wave may reflect, therefore easily cause detecting that the situation in source is put in the multiple offices do not conformed to reality, cause and locate unsuccessfully.
And, it is all the outside being placed in transformer that pick-up unit is put in existing most of offices for detecting transformer oil discharge position, by fixing the method for multiple ultrasound element at the diverse location of electrical equipment outer wall, realize the object of type local-discharge ultrasonic array location, owing to having more interference when positioning, there is the problems such as dismounting difficulty, array element distance be fixing, thus cause the inaccurate of measurement data and locate the generation of the phenomenon such as inaccurate, cause type local-discharge ultrasonic array to be positioned in rig-site utilization and be restricted.
In addition, existing breakdown location device all adopts the mode of wired data transfer, when positioning transformer oil shelf depreciation, many employings wire transmission mode carries out the transmission of data, wire transmission equipment easily damages because of circuit corrosion, and locating device is easily subject to the effect of external force by transmission line and is shifted or deflects, cause location inaccurate.
Vector positioning is a kind of novel location technology, is used in undersea detection field of locating technology, comprises and is applied to underwater sound warning sonar, Dragging Line array sonar, underwater vehicle navigation orientation etc., mainly position at low-frequency band.And the office of transformer oil puts and belongs to hyper band, therefore at present also without any the relevant report ultrasonic vector array locating device being used for shelf depreciation field of locating technology.
Summary of the invention
The object of the invention is to overcome defect in prior art, provide one can carry out pinpoint locating device to transformer oil partial discharge position, meanwhile, also will provide the manufacture method of described device.
For solving the problems of the technologies described above, the technical solution used in the present invention is as follows.
a kind ofthe ultrasonic vector array locating device of partial discharge of transformer, comprises the casing be placed in transformer oil, is inlaid with at least three ultrasonic vector array elements of the type arrangement that is in line in casing; Described ultrasonic vector array element comprises shell, is provided with hanger bar and the connecting link of wireless data acquisition module, three piezoelectric velocity sensors and positioning and voltage formula speed pickup in shell; Described three piezoelectric velocity sensors are connected up and down successively by connecting link, and the central axis of three piezoelectric velocity sensors is mutually orthogonal between two, the centre of sphere being centrally located at shell of piezoelectric velocity sensor placed in the middle; One end of described hanger bar is vertically fixed on the surface of piezoelectric velocity sensor placed in the middle, the other end stretches out case surface and is installed in casing, all hanger bar are all in the plane of piezoelectric velocity sensor axis perpendicular same with placed in the middle, and the axis of upper and lower two piezoelectric velocity sensors is equal to the distance of the plane at hanger bar place.
above-mentionedthe ultrasonic vector array locating device of partial discharge of transformer, described hanger bar is slender type cylindrical bar, and all hanger bar are centrosymmetric distribution in residing plane.
above-mentionedthe ultrasonic vector array locating device of partial discharge of transformer, described casing is linear pattern static housing, comprise symmetrically arranged upper case half and bottom half, the lower surface of upper case half and the upper surface of bottom half are provided with the semicircle orifice groove holding ultrasonic vector array element, the inwall of described semicircle orifice groove are provided with the rectangular parallelepiped groove for clamping hanger bar outer end.
above-mentionedthe ultrasonic vector array locating device of partial discharge of transformer, the center distance of described adjacent semicircle orifice groove is the half of ultrasound wave at transformer oil medium wavelength.
above-mentionedthe ultrasonic vector array locating device of partial discharge of transformer, described wireless data acquisition module is positioned at the position under shell center deviation.
above-mentionedthe ultrasonic vector array locating device of partial discharge of transformer, described shell is spherical housing, and spherical housing adopts the potpourri of epoxy resin and glass microsphere to fill and makes; Described casing adopts magnesium lithium alloy material to make; The ensemble average density of whole locating device and the similar density of transformer oil.
A manufacture method for the ultrasonic vector array locating device of partial discharge of transformer, it comprises the following steps:
The first step, three piezoelectric velocity sensors are connected up and down successively the inside being arranged on a hollow ball mould by connecting link, the central axis of three piezoelectric velocity sensors is mutually orthogonal, respectively corresponding X, Z, Y tri-change in coordinate axis direction; Make the centre of sphere being centrally located at hollow ball mould of piezoelectric velocity sensor placed in the middle;
Second step, one end of hanger bar is fixed on piezoelectric velocity sensor placed in the middle surface, the other end stretches out hollow ball mould, and makes all hanger bar distribution mode that is centrosymmetric be in in the plane of the axis perpendicular of piezoelectric velocity sensor placed in the middle; The axis of upper and lower two piezoelectric velocity sensors is equal to the distance of hanger bar place plane;
3rd step, is arranged on the position under the center deviation of hollow ball mould by wireless data acquisition module, carry out overall embedding with the potpourri of epoxy resin and glass microsphere to hollow ball inside;
4th step, after the potpourri of epoxy resin and glass microsphere solidifies, sloughs the ultrasonic vector array element that hollow ball mould just obtains having spherical housing;
5th step, the magnesium lithium alloy material scribbling insullac is adopted to make upper case half and bottom half, on the lower surface of upper case half and the upper surface of bottom half, offer symmetrical semicircle orifice groove respectively, the center distance of adjacent semicircle orifice groove is the wavelength half of ultrasound wave in transformer oil; And then on the inwall of semicircle orifice groove, offer rectangular parallelepiped groove;
6th step, is placed in ultrasonic vector array element in the semicircle orifice groove of linear pattern casing bottom half, and makes the outer end of hanger bar be installed in the rectangular parallelepiped groove of semicircle orifice groove inner wall; Finally upper half Box Cover is contained on bottom half, is sealed fixing.
Owing to have employed above technical scheme, the technical progress effect acquired by the present invention is as follows.
The present invention can directly be placed in transformer oil, obtains the shelf depreciation ultrasonic signal in transformer oil, and then complete the location to Partial Discharge Sources by wireless data acquisition module, has structure simple, the features such as volume is little, directive property is good.Ultrasonic vector sensing array element of the present invention effectively can suppress isotropic noise, and signal to noise ratio (S/N ratio) is higher, to achieve the target total space without fuzzy orientation, substantially increases discharge source positioning precision; Working band is wider, reaches 50kHz ~ 80kHz, and centre frequency is 60kHz, can realize the output of velocity, and measurement data is accurate, and measuring method is simple, can improve direction-of-arrival performance, improves estimated accuracy.The shelf depreciation ultrasonic vector array locating device be made up of ultrasonic vector sensing array element has better directive property, can improve spatial gain, improve multisignal source Mutual coupling performance, improve estimated accuracy, can implementation space down-sampled, widened frequency band, effectively suppressed graing lobe.
Accompanying drawing explanation
Fig. 1 is the structural representation of ultrasonic vector array element of the present invention;
Fig. 2 is the cross section structure schematic diagram (comprising mould) of ultrasonic vector array element of the present invention;
Fig. 3 is the structural representation of linear pattern fixed body of the present invention;
Fig. 4 is that the C-C of Fig. 3 is to cut-open view;
Fig. 5 is that the A-A of Fig. 3 is to cut-open view;
Fig. 6 is the structural representation of circular hole groove in linear pattern fixed body of the present invention;
Fig. 7 is that the B-B of Fig. 6 is to cut-open view.
In figure, each label is expressed as: 1. piezoelectric velocity sensor, 2. connecting link, 3. hanger bar, 4. shell, 5. hollow ball mould, 6. circular hole groove, 7. rectangular parallelepiped groove, 9. wireless data acquisition module.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
The ultrasonic vector array locating device of a kind of partial discharge of transformer, comprise the casing be placed in transformer oil, be inlaid with at least three ultrasonic vector array elements in casing, all ultrasonic vector array element types of being in line are arranged in casing, form linear array.Ultrasonic vector array element arranges nine altogether in the present embodiment.
Single ultrasonic vector array meta structure as depicted in figs. 1 and 2, comprises shell 4, is provided with wireless data acquisition module 9, three piezoelectric velocity sensors 1, hanger bar 3 and connecting links 2 in shell.The present embodiment housing is spherical housing, and spherical housing adopts the potpourri of epoxy resin and glass microsphere to be prepared from.
Three piezoelectric velocity sensors in the present invention are connected up and down successively by connecting link, the central axis of three piezoelectric velocity sensors is mutually orthogonal between two, corresponding X, Z, Y tri-change in coordinate axis direction respectively, the centre of sphere being centrally located at shell of piezoelectric velocity sensor placed in the middle.
Hanger bar is used for by piezoelectric velocity sensor location in the enclosure, and arrange four altogether in the present embodiment, the shape of hanger bar is slender type cylindrical bar.One end of hanger bar is vertically fixed on the surface of piezoelectric velocity sensor placed in the middle, and the other end stretches out case surface and is installed in casing, and one end length that in the present embodiment, hanger bar stretches out case surface is set to 3mm.
Four hanger bar in the present embodiment are all in XY plane, this XY plane and piezoelectric velocity sensor axis perpendicular placed in the middle, and four hanger bar are centrosymmetric distribution in residing plane.In the present invention, four hanger bar are all vertically connected on the center of piezoelectric velocity sensor placed in the middle, to make the axis of upper and lower two piezoelectric velocity sensors equal to the distance of the plane at hanger bar place.One end that hanger bar stretches out shell is installed in casing, for locating ultrasonic vector array element.
Wireless data acquisition module in ultrasonic vector array element can utilize in prior art any embodiment realizing data acquisition, its volumetric parameter must be suitable with the inner space of ultrasonic vector array element of the present invention, and consider the centre of gravity place of whole array element.In the present embodiment, wireless data acquisition module is preferably placed at the position in shell under center deviation.
In ultrasonic vector array element each parts be symmetrical arranged particularly important, because the axis direction of three piezoelectric velocity sensors will corresponding to X, Z, Y tri-change in coordinate axis direction, if the parts of ultrasonic vector array element are not symmetrically arranged, its centre of gravity place may depart from the axis of whole device, cause and can deflect because of self gravitation factor in the installation course of transformer oil, axis runout X, Z, Y tri-change in coordinate axis direction of three piezoelectric velocity sensors, cause positioning signal to be forbidden.And, three piezoelectric velocity sensors are encapsulated in spherical housing inside, piezoelectric velocity sensor axis direction cannot be seen after encapsulation, therefore need to be positioned by four hanger bar on outstanding spherical housing surface, if the installation site of four hanger bar exists error, also correctly cannot locate ultrasonic vector array element installation site of the present invention.
In the present embodiment, be linear pattern static housing for locating the casing of ultrasonic vector array element, its structure as shown in Figures 3 to 5.Comprise symmetrically arranged upper case half and bottom half, upper case half and bottom half adopt the magnesium lithium alloy material scribbling insullac to make, and the length of upper case half and bottom half is 150mm, and wide is 20mm, and cabinet depth is 2.05mm.Magnesium lithium alloy is current structural metallic material Midst density the lowest, and its density is close to the density of transformer oil, and magnesium lithium alloy damping is large, is tens times of aluminium alloy, namely can apparatus with shock absorbing, and damping noise reduction is effective.In shield electromagnetic interference, magnesium lithium alloy also has outstanding behaviours, and can normal temperature plastic working shaping, there is high specific strength and specific stiffness, with good dimensional stability, excellent anti-seismic performance and anti-high energy particle penetration capacity, meet the requirement of the present invention to casing.
The lower surface of upper case half and the upper surface of bottom half are provided with the semicircle orifice groove holding ultrasonic vector array element, the semicircle orifice groove of upper case half and the semicircle orifice groove of bottom half are fitted to a complete circular hole groove 6, for laying ultrasonic vector array element, the structure of circular hole groove 6 as shown in Figure 6 and Figure 7.In the present embodiment, the diameter of each semicircle orifice groove is 4.1mm, and the semicircle orifice degree of depth is 2.05mm; The center distance of adjacent semicircle orifice groove is the half of ultrasound wave at transformer oil medium wavelength λ, and namely the center distance of adjacent semicircle orifice groove is 12.5mm.
The inwall of semicircle orifice groove of the present invention being provided with rectangular parallelepiped groove 7, communicating with semicircle orifice groove, for clamping the outer end of hanger bar, ultrasonic vector array element being positioned.In the present embodiment, each rectangular parallelepiped groove length is 3mm, and rectangular parallelepiped groove is wide to match with four hanger bar width, and rectangular parallelepiped depth of groove is 1.025mm.
A manufacture method for the ultrasonic vector array locating device of partial discharge of transformer, specifically comprises the following steps:
The first step, three piezoelectric velocity sensors 1 are connected up and down successively the inside being arranged on a hollow ball mould 5 by connecting link, the internal diameter of hollow ball mould is 4.1mm.The central axis of three piezoelectric velocity sensors is mutually orthogonal, respectively corresponding X, Z, Y tri-change in coordinate axis direction; Make the centre of sphere being centrally located at hollow ball mould of piezoelectric velocity sensor placed in the middle.
Second step, one end of hanger bar is fixed on piezoelectric velocity sensor surface placed in the middle, the other end stretches out hollow ball mould, and the length of stretching out hollow ball mould is 3mm.In the process of installing hanger bar, all hanger bar distribution mode that is centrosymmetric should be made to be in in the plane of the axis perpendicular of piezoelectric velocity sensor placed in the middle, and namely the plane at hanger bar place is XY plane.After installation, ensure that the axis of upper and lower two piezoelectric velocity sensors is equal to the distance of XY plane.
3rd step, is arranged on the position under the center deviation of hollow ball mould by wireless data acquisition module, carry out overall embedding with the potpourri of epoxy resin and glass microsphere to hollow ball inside.After overall embedding, described wireless data acquisition module is also encapsulated in the inside of ultrasonic vector array element.
4th step, after the potpourri of epoxy resin and glass microsphere solidifies, sloughs the ultrasonic vector array element that hollow ball mould just obtains having spherical housing.
5th step, adopt the magnesium lithium alloy material system scribbling insullac grow into 150mm, wide for 20mm, the degree of depth be 2.05mm upper case half and bottom half, the semicircle orifice groove that nine diameters are 4.1mm, the degree of depth is 2.05mm is offered respectively on the lower surface of upper case half and the upper surface of bottom half, the center distance of adjacent semicircle orifice groove is the wavelength half of ultrasound wave in transformer oil, is 12.5mm in the present embodiment.And then on the inwall of semicircle orifice groove, offer rectangular parallelepiped groove, each rectangular parallelepiped groove length is 3mm, and rectangular parallelepiped groove is wide to match with four hanger bar width, and rectangular parallelepiped depth of groove is 1.025mm.
Nine ultrasonic vector array elements are placed in the semicircle orifice groove of linear pattern casing bottom half by the 6th step, and make the outer end of hanger bar be installed in the rectangular parallelepiped groove of semicircle orifice groove inner wall; Finally upper half Box Cover is contained on bottom half, is sealed fixing.
After the present invention completes, the ensemble average density of the ultrasonic vector array locating device of partial discharge of transformer and the similar density of transformer oil, size ka<<1, k=2 π/λ is wave number, λ is ultrasound wave wavelength, and a is the diameter of spherical housing.Ensemble average density is 0.895g/cm in the present embodiment
3, working band is 50kHz-80kHz.
When the present invention uses, directly place it in transformer oil, obtain the type local-discharge ultrasonic signal in transformer oil by described wireless data acquisition module, and then complete the location of office in transformer oil being put to source.
Array of the present invention has four tunnels to export, compared with the sound pressure sensor array identical with array number, the present invention can obtain quadruple object output signal, thus estimate the phase delay between array element more accurately, and the directional information of extraterrestrial target has been contained in the output of single array element itself, therefore get final product office in measuring transformer oil with line array and put position angle and the angle of pitch in source.
For line array, the n-th array element relative to the time delay of first array element is
.
formula one
Wherein, n=1,2,3 ... .N, (in the present embodiment, N is 9)
D is each array element distance,
for the angle of pitch,
for position angle,
C is velocity of wave,
The data message exported by each ultrasonic vector array element in linear array of the present invention estimates the time delay of each ultrasonic vector array element
, form system of equations by (N-1) individual formula one, just can the office of trying to achieve put position angle and the angle of pitch in source, and then to its location.
Claims (7)
1. the ultrasonic vector array locating device of partial discharge of transformer, is characterized in that: comprise the casing be placed in transformer oil, is inlaid with at least three ultrasonic vector array elements of the type arrangement that is in line in casing;
Described ultrasonic vector array element comprises shell (4), is provided with wireless data acquisition module (9), the hanger bar (3) of three piezoelectric velocity sensors (1) and positioning and voltage formula speed pickup and connecting link (2) in shell; Described three piezoelectric velocity sensors are connected up and down successively by connecting link, and the central axis of three piezoelectric velocity sensors is mutually orthogonal between two, the centre of sphere being centrally located at shell (4) of piezoelectric velocity sensor placed in the middle;
One end of described hanger bar is vertically fixed on the surface of piezoelectric velocity sensor placed in the middle, the other end stretches out case surface and is installed in casing, all hanger bar are all in the plane of piezoelectric velocity sensor axis perpendicular same with placed in the middle, and the axis of upper and lower two piezoelectric velocity sensors is equal to the distance of the plane at hanger bar place.
2. the ultrasonic vector array locating device of partial discharge of transformer according to claim 1, is characterized in that: described hanger bar (3) is slender type cylindrical bar, and all hanger bar are centrosymmetric distribution in residing plane.
3. the ultrasonic vector array locating device of partial discharge of transformer according to claim 2, it is characterized in that: described casing is linear pattern static housing, comprise symmetrically arranged upper case half and bottom half, the lower surface of upper case half and the upper surface of bottom half are provided with the semicircle orifice groove holding ultrasonic vector array element, the inwall of described semicircle orifice groove are provided with the rectangular parallelepiped groove (7) for clamping hanger bar outer end.
4. the ultrasonic vector array locating device of partial discharge of transformer according to claim 3, is characterized in that: the center distance of described adjacent semicircle orifice groove is the half of ultrasound wave at transformer oil medium wavelength.
5. the ultrasonic vector array locating device of partial discharge of transformer according to claim 4, is characterized in that: described wireless data acquisition module (9) is positioned at the position under shell center deviation.
6. the ultrasonic vector array locating device of the partial discharge of transformer according to any one of claim 1-5, is characterized in that: described shell (4) is spherical housing, and spherical housing adopts the potpourri of epoxy resin and glass microsphere to fill and makes; Described casing adopts magnesium lithium alloy material to make; The ensemble average density of whole locating device and the similar density of transformer oil.
7. manufacture a method for the ultrasonic vector array locating device of partial discharge of transformer as described in claim 1-6, it is characterized in that: specifically carry out according to the following steps:
The first step, three piezoelectric velocity sensors (1) are connected up and down successively the inside being arranged on a hollow ball mould (5) by connecting link, the central axis of three piezoelectric velocity sensors is mutually orthogonal, respectively corresponding X, Z, Y tri-change in coordinate axis direction; Make the centre of sphere being centrally located at hollow ball mould of piezoelectric velocity sensor placed in the middle;
Second step, one end of hanger bar is fixed on piezoelectric velocity sensor placed in the middle surface, the other end stretches out hollow ball mould, and makes all hanger bar distribution mode that is centrosymmetric be in in the plane of the axis perpendicular of piezoelectric velocity sensor placed in the middle; The axis of upper and lower two piezoelectric velocity sensors is equal to the distance of hanger bar place plane;
3rd step, is arranged on the position under the center deviation of hollow ball mould by wireless data acquisition module, carry out overall embedding with the potpourri of epoxy resin and glass microsphere to hollow ball inside;
4th step, after the potpourri of epoxy resin and glass microsphere solidifies, sloughs the ultrasonic vector array element that hollow ball mould just obtains having spherical housing;
5th step, the magnesium lithium alloy material scribbling insullac is adopted to make upper case half and bottom half, on the lower surface of upper case half and the upper surface of bottom half, offer symmetrical semicircle orifice groove respectively, the center distance of adjacent semicircle orifice groove is the wavelength half of ultrasound wave in transformer oil; And then on the inwall of semicircle orifice groove, offer rectangular parallelepiped groove;
6th step, is placed in ultrasonic vector array element in the semicircle orifice groove of linear pattern casing bottom half, and makes the outer end of hanger bar be installed in the rectangular parallelepiped groove of semicircle orifice groove inner wall; Finally upper half Box Cover is contained on bottom half, is sealed fixing.
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| CN105548824B (en) * | 2015-12-02 | 2018-05-22 | 华北电力大学（保定） | A kind of electrical equipment partial discharge source positioner and localization method |
| CN105866636B (en) * | 2016-03-23 | 2018-09-11 | 国家电网公司 | Transformer substation positioning method based on time difference positioning |
| CN105929312B (en) * | 2016-04-28 | 2019-03-26 | 华北电力大学（保定） | A kind of electrical equipment partial discharge source direction-finding device |
| CN106646164A (en) * | 2016-12-23 | 2017-05-10 | 国网河北省电力公司电力科学研究院 | Transformer built-in all-directional discharge pulse detection sensor |
| CN108152687B (en) * | 2017-12-25 | 2019-12-31 | 云南电网有限责任公司昆明供电局 | Power transformer partial discharge positioning method utilizing ultrasonic inversion |
| CN110907777A (en) * | 2019-12-07 | 2020-03-24 | 国网电子商务有限公司 | Detection device is put in rotation type ultrasonic wave office |
| CN113011070B (en) * | 2021-03-30 | 2022-08-16 | 河北工业大学 | Preparation method and device of mechanical harmonic oscillator |
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| DE102011084537B4 (en) * | 2011-10-14 | 2017-05-04 | Robert Bosch Gmbh | Ultrasonic sensor array |
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