CN105563452B - A kind of high-tension cable detects robot - Google Patents
A kind of high-tension cable detects robot Download PDFInfo
- Publication number
- CN105563452B CN105563452B CN201610117511.0A CN201610117511A CN105563452B CN 105563452 B CN105563452 B CN 105563452B CN 201610117511 A CN201610117511 A CN 201610117511A CN 105563452 B CN105563452 B CN 105563452B
- Authority
- CN
- China
- Prior art keywords
- robot
- adjutage
- arm
- robot body
- control circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention discloses a kind of high-tension cable detects robot, include robot body, robot body both sides are equipped with L-shaped armshaft, and the free end shaft of the armshaft is connected to the roller for making robot body move ahead in cable pipeline or retreat, roller and cable pipeline inwall against；The motor that for driving rolls rotate also is included；A control circuit is included in the robot body；By arranging the robot in cable pipeline, robot is moved ahead by roller, can be monitored the situation in pipeline at any time, checks its cable situation in another section linear pattern pipeline by can dismantling pipeline.
Description
Technical field
The present invention relates to a kind of high-tension cable detects robot.
Background technology
At present, the high voltage wire cable in a lot of cities or field or common cable all adopt pipeline wiring mode, i.e.,
Pipeline is embedded in underground, then again by cable from pipeline poling, the benefit of do so is exactly to take cable away and install cable very
Convenient；But, compare the mode that cable is connected up in the air, which has a very big weakness, be exactly cable certain damage or
In the case that person is leaked electricity, need whole piece cable is released and could check, and be almost difficult at ordinary times safeguard, it is impossible to constantly see
Survey.
Content of the invention
It is an object of the invention to overcoming disadvantages described above, providing one kind can carry out constantly touring inspection in pipeline
The cable detection robot of survey.
For achieving the above object, the concrete scheme of the present invention is as follows：A kind of high-tension cable detects robot, includes machine
Human agent, robot body both sides are equipped with L-shaped armshaft, and the free end shaft of the armshaft is connected to for making robot body online
The roller for moving ahead in cable pipeline or retreating, roller and cable pipeline inwall against；The drive that for driving rolls rotate also is included
Dynamic motor；A control circuit is included in the robot body, the control circuit includes power module, the power supply mould
Block is used for powering to motor and control circuit；The control circuit also includes central processing unit, warning device, collection
The camera head of cable video information and the communicator for passing the information on away, the communicator, warning device,
Camera head is connected with central processing unit signal respectively；The camera head is below robot body；The communicator
Include communication chip and therewith signal connection communication antenna, the communication antenna be located at robot body's top surface.
Wherein, the antenna includes cylinder, is provided with multiple antenna stacks in the cylinder, and each antenna stack includes one
Individual communication oscillator.
Wherein, the communication oscillator includes PCB substrate, and the PCB substrate is provided with symmetrically arranged micro-strip up and down
Unit；
Each microstrip element described includes the primary radiation arm of several fonts, and one end of the primary radiation arm has vertically extended
First adjutage, the other end of the primary radiation arm have vertically extended the second adjutage；First adjutage prolongs to second
Semi-girder side is extended hexagonal first radiation zone, and second adjutage extends to the first adjutage side six sides
Second radiation zone of shape；The 3rd adjutage is provided between first radiation zone and the second radiation zone；
The both sides up and down of the both sides up and down of first radiation zone and the second radiation zone are equipped with multiple engraved structures；Each
Hollow hole includes circular main aperture, the T-shaped arm for extending from the top of circular main aperture and low side respectively to main aperture center, from T-shaped
The first radiation arm that two free ends of arm are extended to main aperture center side, the secondary orifices for outwards being arranged from main aperture both sides respectively,
The arcuate socket of the arc outwards arranged from secondary orifices free end；
Also include two power feed hole for transmitting electric feed signal in the PCB substrate, two power feed hole respectively with T
Shape arm feeds.
Wherein, the engraved structure quantity in each edge is 5-8.
Wherein, first adjutage and the second adjutage all inwards extend obliquely the second next door arm.
Wherein, the free end of first adjutage and the second adjutage has all extended upward the second radiation arm.
Wherein, the first radiation arm is provided with laciniation away from a side of the first radiation zone.
Wherein, the inner side edge of the second radiation arm is provided with laciniation.
Wherein, PCB substrate is octagon, and two ends are connected with cylinder by fixed arm.
Wherein, the control circuit also includes the heat source temperature detector of detection cable local temperature；The thermal source temperature
Degree detector is below robot body；
Wherein, the control circuit also includes the electric-field intensity detector of detection electric-field intensity；The electric-field intensity is visited
Device is surveyed below robot body.The control circuit also includes the d GPS locating module for positioning robot position.
Beneficial effects of the present invention are：By arranging the robot in cable pipeline, robot is moved ahead by roller, can
To be monitored the situation in pipeline at any time, by pipeline being dismantled in another section linear pattern pipeline, its cable is checked
Situation.
Description of the drawings
The structural representation that Fig. 1 is the present invention when working in the cable channel；
Fig. 2 is the theory diagram of the control circuit of the present invention；
Fig. 3 is the sectional view of the antenna of the present invention；
Fig. 4 is the top view of the communication oscillator of the present invention；
Fig. 5 is the partial enlarged drawing of this Fig. 4；
Fig. 6 is the return loss test chart of this antenna；
Fig. 7 is the isolation performance test figure of this antenna；
Directional diagram when Fig. 8 is this antenna 2.4GHz；
Directional diagram when Fig. 9 is this antenna 5.0GHz；
Description of reference numerals in Fig. 1 to Fig. 9：
1- pipeline；2- robot body；21- warning device；22- camera head；23- electric-field intensity detector；24- thermal source
Hygrosensor；25- communication antenna；3- motor；4- roller；5- armshaft；
A- cylinder；A1-PCB substrate；
B1- primary radiation arm；The first adjutage of b21-；The second adjutage of b22-；The first radiation zone of b31-；B32- second is radiated
Band；The 3rd adjutage of b4-；The second next door of b5- arm；The second radiation arm of b6-；
B7- circle main aperture；B71- secondary orifices；B72- arcuate socket；B8-T shape arm；The first radiation arm of b81-.
Specific embodiment
The present invention is further detailed explanation with specific embodiment below in conjunction with the accompanying drawings, is not the reality the present invention
Apply scope and be confined to this.
As shown in Figures 1 to 9, a kind of high-tension cable detection robot described in the present embodiment, includes robot body
2,2 both sides of robot body are equipped with L-shaped armshaft 5, and the free end shaft of the armshaft 5 is connected to for making robot body 2 online
The roller 4 for moving ahead or retreating in cable pipeline 1, roller 4 and 1 inwall of cable pipeline against；Also include and rotate for driving rolls 4
Motor 3；A control circuit is included in the robot body 2, the control circuit includes power module, described
Power module is used for powering to motor 3 and control circuit；The control circuit also includes central processing unit, dress of reporting to the police
Put the 21, camera head 22 of collection cable video information and the communicator for passing the information on away, the communication dress
Put, warning device 21, camera head 22 are connected with central processing unit signal respectively；The camera head 22 is located at robot body
2 lower sections；The communication antenna 25 that the communicator includes communication chip and signal connects therewith, the communication antenna 25 set
In 2 top surface of robot body；By arranging the robot in cable pipeline 1, robot is moved ahead by roller 4, can be at any time
Situation in pipeline 1 is monitored, by pipeline 1 being dismantled in another section linear pattern pipeline 1, checks its cable feelings
Condition.3 driving rolls 4 of motor is rotated so that robot body 2 walks about forward or backward, and motor 3 is set to private clothes
Motor, it is possible to achieve precise positioning.Video data gone out by communication device transfers in 22 monitor in real time pipeline 1 of camera head
Go, present configuration is simple, reasonable in design, tears the problem of pipeline 1 after being prevented effectively from local damage open.
A kind of high-tension cable detection robot described in the present embodiment, the antenna includes cylinder a, in the cylinder a
Multiple antenna stacks are provided with, each antenna stack includes a communication oscillator.A kind of high-tension cable detection described in the present embodiment
Robot, the communication oscillator include PCB substrate A1, and PCB substrate A1 is provided with symmetrically arranged micro-strip list up and down
Unit；Each microstrip element described includes the primary radiation arm b1 of several fonts, and one end of the primary radiation arm b1 has vertically extended
The other end of the first adjutage b21, the primary radiation arm b1 has vertically extended the second adjutage b22；First adjutage
B21 extends to the second adjutage b22 side hexagonal first radiation zone b31, and the second adjutage b22 prolongs to first
Semi-girder b21 extends side hexagonal second radiation zone b32；It is connected between first radiation zone b31 and the second radiation zone b32
There is the 3rd adjutage b4；The both sides up and down of the both sides up and down of the first radiation zone b31 and the second radiation zone b32 are equipped with multiple
Engraved structure；Each hollow hole includes circular main aperture b7, prolongs to main aperture center from the top of circular main aperture b7 and low side respectively
The T-shaped arm B8 that stretches out, the first radiation arm b81 extended to main aperture center side from two free ends of T-shaped arm B8, from main aperture
Outside secondary orifices b71 for arranging of both sides difference, the arcuate socket b72 of the arc outwards arranged from secondary orifices free end；Two are also included
The power feed hole for transmitting electric feed signal in PCB substrate A1, two power feed hole are fed with T-shaped arm B8 respectively.
By substantial amounts of microstrip circuit structure design, and under substantial amounts of l-G simulation test and parameter adjustment, finally determine
Above-mentioned antenna structure；This antenna is by multiple antenna stacks while after feeding coupling, which shows excellent in 2.4GHz and 5.0GHz
Electric property, concrete such as Fig. 6,9.65dBi is averagely reached under bandwidth near the frequency range；And other electric properties also have more excellent
Different result, its return loss is superior in the return loss of 2.4-2.48GHz frequency range and 5.15-5.875GHz frequency range-
15dB；As Fig. 7, isolation is in the isolation loss better than -20dB of 2.4-2.48GHz and 5.15-5.875GHz frequency range.Proving should
Antenna possesses preferable performance in itself；In addition, its directionality of this antenna, as shown in Figure 8 and Figure 9, under two frequency all
For omni-directional antenna.Therefore, which can enable robot more to stablize and efficiently and accurately during transmission signal in pipeline 1.
A kind of high-tension cable detection robot described in the present embodiment, the engraved structure quantity in each edge is 5-8
Individual.A kind of high-tension cable detection robot described in the present embodiment, the first adjutage b21 and the equal court of the second adjutage b22
Inner side is extended obliquely the second next door arm b5.A kind of high-tension cable detection robot described in the present embodiment, described first
The free end of adjutage b21 and the second adjutage b22 has all extended upward the second radiation arm b6.One kind described in the present embodiment
High-tension cable detects robot, and the first radiation arm b81 is provided with laciniation away from a side of the first radiation zone b31.This reality
A kind of high-tension cable detection robot described in example is applied, the inner side edge of the second radiation arm b6 is provided with laciniation.This enforcement
A kind of high-tension cable detection robot described in example, PCB substrate A1 is octagon, and two ends are connected with cylinder a by fixed arm.
Found by test of many times, if meeting above-mentioned specification, the performance of antenna more will optimize, especially in terms of return loss, its
Return loss is superior to -17dB in the return loss of 2.4-2.48GHz frequency range and 5.15-5.875GHz frequency range.
A kind of high-tension cable detection robot described in the present embodiment, the control circuit also include detection cable local
The heat source temperature detector 24 of temperature；The heat source temperature detector 24 is located at 2 lower section of robot body；Heat source temperature detector
24 can detect heat source temperature, find in time to have short circuit or local current excessive where, prevent trouble before it happens.
A kind of high-tension cable detection robot described in the present embodiment, the control circuit also include detection electric-field intensity
Electric-field intensity detector 23；The electric-field intensity detector 23 is located at 2 lower section of robot body.Ibid, striking out can be detected
Where portion's strong electromagnetic or electric field, prevent trouble before it happens.The control circuit also includes the GPS for positioning robot position
Locating module；The position of robot can be accurately positioned out, when facilitating robot fault, finds robot.
The above is only a preferred embodiment of the present invention, therefore all structures according to described in present patent application scope
Make, equivalence changes that feature and principle are done or modification, be included in the protection domain of present patent application.
Claims (7)
1. a kind of high-tension cable detects robot, it is characterised in that：Include robot body（2）, robot body（2）Both sides
It is equipped with L-shaped armshaft（5）, the armshaft（5）Free end shaft be connected to for making robot body（2）In cable pipeline（1）Interior
The roller for moving ahead or retreating（4）, roller（4）With cable pipeline（1）Inwall against；Also include for driving rolls（4）Rotate
Motor（3）；The robot body（2）A control circuit is inside included, and the control circuit includes power module,
The power module is used for motor（3）And control circuit is powered；The control circuit also include central processing unit,
Warning device（21）, collection cable video information camera head（22）And the communicator for passing the information on away,
The communicator, warning device（21）, camera head（22）It is connected with central processing unit signal respectively；The camera head
（22）Located at robot body（2）Lower section；The communication day that the communicator includes communication chip and signal connects therewith
Line（25）, the communication antenna（25）Located at robot body（2）Top surface；
The control circuit also includes the heat source temperature detector of detection cable local temperature（24）；The heat source temperature detection
Device（24）Located at robot body（2）Lower section；The control circuit also includes the electric-field intensity detector of detection electric-field intensity
（23）；The electric-field intensity detector（23）Located at robot body（2）Lower section；The control circuit is also included for positioning
The d GPS locating module of robot location；
The antenna includes cylinder（a）, the cylinder（a）Multiple antenna stacks are inside provided with, and each antenna stack includes one
Communication oscillator；
The communication oscillator includes PCB substrate（A1）, the PCB substrate（A1）It is provided with symmetrically arranged micro-strip list up and down
Unit；
Each microstrip element described includes the primary radiation arm of several fonts（b1）, the primary radiation arm（b1）One end extend vertically
Going out has the first adjutage（b21）, the primary radiation arm（b1）The other end vertically extended the second adjutage（b22）；Described
First adjutage（b21）To the second adjutage（b22）Side is extended hexagonal first radiation zone（b31）, described second
Adjutage（b22）To the first adjutage（b21）Side is extended hexagonal second radiation zone（b32）；First radiation zone
（b31）With the second radiation zone（b32）Between be provided with the 3rd adjutage（b4）；
First radiation zone（b31）Both sides up and down and the second radiation zone（b32）Both sides up and down be equipped with multiple hollow outs knot
Structure；Each hollow hole includes circular main aperture（b7）, from circular main aperture（b7）Top and low side respectively to main aperture center extend
The T-shaped arm for going out（B8）, from T-shaped arm（B8）The first radiation arm for extending to main aperture center side of two free ends（b81）, from
The secondary orifices that main aperture both sides are outwards arranged respectively（b71）, the arcuate socket of arc that outwards arranges from secondary orifices free end（b72）；
Two are also included located at PCB substrate（A1）On the power feed hole for transmitting electric feed signal, two power feed hole respectively with T
Shape arm（B8）Feed.
2. a kind of high-tension cable according to claim 1 detects robot, it is characterised in that：The hollow out in each edge
Number of structures is 5-8.
3. a kind of high-tension cable according to claim 1 detects robot, it is characterised in that：First adjutage
（b21）With the second adjutage（b22）All inwards extending obliquely has the second next door arm（b5）.
4. a kind of high-tension cable according to claim 1 detects robot, it is characterised in that：First adjutage
（b21）With the second adjutage（b22）Free end all extended upward the second radiation arm（b6）.
5. a kind of high-tension cable according to claim 1 detects robot, it is characterised in that：First radiation arm（b81）Far
From the first radiation zone（b31）A side be provided with laciniation.
6. a kind of high-tension cable according to claim 4 detects robot, it is characterised in that：Second radiation arm（b6）Interior
Side is provided with laciniation.
7. a kind of high-tension cable according to claim 1 detects robot, it is characterised in that：PCB substrate（A1）For eight sides
Shape, and two ends are by fixed arm and cylinder（a）It is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610117511.0A CN105563452B (en) | 2016-03-02 | 2016-03-02 | A kind of high-tension cable detects robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610117511.0A CN105563452B (en) | 2016-03-02 | 2016-03-02 | A kind of high-tension cable detects robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105563452A CN105563452A (en) | 2016-05-11 |
| CN105563452B true CN105563452B (en) | 2017-03-08 |
Family
ID=55874361
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610117511.0A Expired - Fee Related CN105563452B (en) | 2016-03-02 | 2016-03-02 | A kind of high-tension cable detects robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105563452B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106199245A (en) * | 2016-06-24 | 2016-12-07 | 山东联合电力设计有限公司 | The malfunction detection system of a kind of high tension cable and method |
| CN106324438A (en) * | 2016-10-19 | 2017-01-11 | 成都亚联科科技有限公司 | Mobile high-voltage cable detection device for electric power overhaul |
| CN106802374B (en) * | 2016-12-13 | 2020-05-26 | 王恩浩 | Robot-based high-voltage cable detection method and robot |
| CN108115704B (en) * | 2017-12-29 | 2021-01-29 | 马正平 | Monitoring robot moving on highway guardrail |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4862808A (en) * | 1988-08-29 | 1989-09-05 | Gas Research Institute | Robotic pipe crawling device |
| CN2202022Y (en) * | 1994-06-22 | 1995-06-28 | 哈尔滨工业大学 | Screw driving Robert moving mechanism in tubes |
| CN2556639Y (en) * | 2002-07-24 | 2003-06-18 | 东营柯林瑞尔科技有限责任公司 | Intelligent robot for pipeline detection |
| CN201202928Y (en) * | 2008-06-03 | 2009-03-04 | 东南大学 | Self-adapting pipe robot |
| CN105292470A (en) * | 2015-11-26 | 2016-02-03 | 李万 | Unmanned aerial vehicle for power line detection |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE60205353T2 (en) * | 2001-03-07 | 2006-04-20 | Carnegie Mellon University | ROBOT SYSTEM FOR INSPECTION OF GAS LINES |
-
2016
- 2016-03-02 CN CN201610117511.0A patent/CN105563452B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4862808A (en) * | 1988-08-29 | 1989-09-05 | Gas Research Institute | Robotic pipe crawling device |
| CN2202022Y (en) * | 1994-06-22 | 1995-06-28 | 哈尔滨工业大学 | Screw driving Robert moving mechanism in tubes |
| CN2556639Y (en) * | 2002-07-24 | 2003-06-18 | 东营柯林瑞尔科技有限责任公司 | Intelligent robot for pipeline detection |
| CN201202928Y (en) * | 2008-06-03 | 2009-03-04 | 东南大学 | Self-adapting pipe robot |
| CN105292470A (en) * | 2015-11-26 | 2016-02-03 | 李万 | Unmanned aerial vehicle for power line detection |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105563452A (en) | 2016-05-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105609927B (en) | It is provided with the high-tension cable detection robot of electric-field intensity detector | |
| CN105563452B (en) | A kind of high-tension cable detects robot | |
| CN105619418B (en) | High-voltage cable detection robot with positioning function | |
| CN105538286B (en) | High tension cable detects robot | |
| US11262472B2 (en) | Prospecting method and instrument system of the three-dimensional electrical resistivity tomography based on random distribution of electrodes | |
| CN102759701B (en) | Integrated high-speed test module | |
| CA2499832A1 (en) | Ruggedized multi-layer printed circuit board based downhole antenna | |
| KR101612747B1 (en) | Ground system for electric supply line | |
| CN105292471A (en) | Solar electric power line detection unmanned aerial vehicle | |
| CN105302155B (en) | It is a kind of that the unmanned plane patrolling method for determining safe distance is radiated with power carrier | |
| CN105869372B (en) | A kind of underground mineral products detector with video acquisition unit | |
| CN105292470A (en) | Unmanned aerial vehicle for power line detection | |
| CN106081080A (en) | The patrol unmanned machine of intelligent electric power | |
| US9482780B2 (en) | Modular instrumented floor covering | |
| CN107210529A (en) | The unlimited antennas of RFID | |
| CN105759320B (en) | A kind of underground mineral products detector provided with magnetic field intensity detector | |
| CN106275399A (en) | A kind of patrol unmanned machine of intelligent electric power being provided with storage device | |
| CN108037376A (en) | A kind of power distribution network cable connector electric field strength detection device | |
| WO2021155703A1 (en) | Measurement system and method for wireless electronic encryption beacon mine laying and electronic coordinate mine detection | |
| CN105736898A (en) | High-voltage cable detecting robot capable of detecting heat source temperature | |
| CN105882950A (en) | Electricity grid inspection UAV (unmanned aerial vehicle) capable of detecting electromagnetism intensity | |
| CN105785474A (en) | Underground mineral detector | |
| CN105253302A (en) | Electric power circuit detection unmanned aerial vehicle provided with storage device | |
| CN205370650U (en) | Underground collection system | |
| CN112071046A (en) | Unmanned monitoring method and system using rail-running robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Yu Guangbin Inventor after: Liu Furong Inventor after: Dai Bing Inventor before: Hu Jiewei |
|
| COR | Change of bibliographic data | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170123 Address after: 150000 Heilongjiang Province, Harbin City Economic Development Zone haping Road District No. 25 Huanghai building four floor West Applicant after: LAI DONGFENG Address before: Songshan Lake Village in Guangdong province 523000 teachers of Dongguan University of Technology Dongguan city 5 building 0901 Applicant before: Hu Jiewei |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170308 Termination date: 20180302 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |