CN106914360A - A kind of power line node gluing coagulation system based on unmanned plane - Google Patents
A kind of power line node gluing coagulation system based on unmanned plane Download PDFInfo
- Publication number
- CN106914360A CN106914360A CN201611061311.4A CN201611061311A CN106914360A CN 106914360 A CN106914360 A CN 106914360A CN 201611061311 A CN201611061311 A CN 201611061311A CN 106914360 A CN106914360 A CN 106914360A
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- CN
- China
- Prior art keywords
- unmanned plane
- power line
- line node
- gluing
- processing module
- 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.)
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- 238000004026 adhesive bonding Methods 0.000 title claims abstract description 17
- 230000015271 coagulation Effects 0.000 title claims abstract description 16
- 238000005345 coagulation Methods 0.000 title claims abstract description 16
- 238000012545 processing Methods 0.000 claims abstract description 33
- 238000005507 spraying Methods 0.000 claims abstract description 30
- 238000003331 infrared imaging Methods 0.000 claims abstract description 19
- 238000003860 storage Methods 0.000 claims abstract description 14
- 238000010438 heat treatment Methods 0.000 claims abstract description 8
- 238000000151 deposition Methods 0.000 claims abstract 2
- 239000007788 liquid Substances 0.000 claims description 36
- 239000004831 Hot glue Substances 0.000 claims description 11
- 238000004458 analytical method Methods 0.000 claims description 5
- 239000007921 spray Substances 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 3
- 239000004834 spray adhesive Substances 0.000 claims 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 7
- 230000007423 decrease Effects 0.000 abstract 1
- 238000000605 extraction Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 238000001816 cooling Methods 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000011148 porous material Substances 0.000 description 2
- 238000010079 rubber tapping Methods 0.000 description 2
- 238000012216 screening Methods 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003709 image segmentation Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
Abstract
The invention discloses a kind of power line node gluing coagulation system based on unmanned plane, including unmanned plane body, electronic glue-spraying device, infrared imaging instrument, signal processing module and range sensor；The signal processing module, infrared imaging instrument, electronic glue-spraying device and range sensor are mounted on unmanned plane body, the electronic glue-spraying device is provided with the storage poly-bag for depositing and heating PUR, and the top of the unmanned plane body, bottom, leading flank middle part, trailing flank middle part, left surface middle part and right flank middle part are equipped with range sensor；Unmanned plane body, electronic glue-spraying device, infrared imaging instrument and range sensor are conductively connected with the signal processing module respectively.Present invention decreases the workload that power supply attendant is maintained power line node, while also reducing the operation difficulty and danger coefficient of power line maintenance, the efficiency safeguarded to power line is improve.
Description
Technical field
The present invention relates to power system power supply maintenance technology field, and in particular to a kind of power line node based on unmanned plane
Gluing coagulation system.
Background technology
Power line is frequently encountered in China's power industry, power supply attendant's line service to be needed to check guarantor
Support, generally take artificial operation.
At present, all using artificial operation, particularly strong wind, the power line of many earthquake territories can egress pine for the maintenance of power line
Dynamic situation, the longer power line of use time also occurs the situation that node loosens, and power supply attendant generally require to step on
Operation high, majority is that power supply attendant is suspended to maintenance on power line, needs to cut off the electricity supply when safeguarding, and without specialty
Maintenance tool.
Power supply attendant day is suspended on power line operation of ascending a height and there is larger risk, it is often necessary to spend substantial amounts of
It is time, inefficient, power operation is also required to when power line is safeguarded, the daily life to region resident brings inconvenience；
Some electrical power line is arranged on barren hill or physical features strategic point, and manual maintenance seems very difficult and danger coefficient very
Greatly.
The content of the invention
For defect of the prior art, the present invention relates to a kind of power line node gluing solidification based on unmanned plane
Device, reduces the workload that power supply attendant is maintained power line node, while also reducing the operation of power line maintenance
Difficulty and danger coefficient, improve the efficiency safeguarded to power line, reduce the number of times safeguarded and have a power failure.
The technical scheme is that：A kind of power line node gluing coagulation system based on unmanned plane, including unmanned plane
Body, electronic glue-spraying device, infrared imaging instrument, signal processing module and range sensor；It is the signal processing module, infrared
Line imaging instrument, electronic glue-spraying device and range sensor are mounted on unmanned plane body, the electronic glue-spraying device be provided with for
Storage and the storage poly-bag of heating PUR, the top of the unmanned plane body, bottom, leading flank middle part, trailing flank middle part, left side
Middle face and right flank middle part are equipped with range sensor；Unmanned plane body, electronic glue-spraying device, infrared imaging instrument and distance
Sensor is conductively connected with the signal processing module respectively.
Preferably, electronic glue-spraying device include mounting seat, storage poly-bag, feed liquor check valve, go out liquid check valve, pump liquid mechanism,
Drive device and the nozzle with extension pipe；Oil input channel, oil road and working chamber and three's intercommunication are provided with the mounting seat；Institute
In line check valve is stated to be installed in oil input channel；The oil outlet one-way valve is installed in oil road；The pump oil mechanism is installed on
Fill the working chamber of seat and driven by drive device and operate.The resistance wire for heating PUR is provided with storage poly-bag, makes PUR
In liquid condition, it is easy to smoothly be ejected from nozzle.
Preferably, the pump liquid mechanism includes rotary shaft, eccentric wheel, connecting rod and piston, and eccentric wheel is rotated by rotary shaft
It is connected to mounting seat；The piston in the working chamber of mounting seat and connects to be formed between piston and eccentric wheel by connecting rod
Toggle, rotary shaft and eccentric wheel are driven by drive device and rotated, and the oil road that the nozzle is installed on mounting seat enters
And pass through pump liquid mechanism and the PUR in the storage poly-bag is sprayed from nozzle.The pump liquid mechanism of connecting rod piston provides stronger pressure
Power, controls liquid hot melt adhesive to pass in and out by the check valve of liquid in-out, and pore shower nozzle is further strengthened spraying pressure, heats liquid
Glue is ejected with keeping certain pressure.
Preferably, the outdoor scene infrared energy distribution map that the infrared imaging instrument will be photographed is converted into infrared digital
First electric signal of image, and it is transmitted to the input of the signal processing module.Energy profile is converted into electric signal, is easy to
The signal transacting of signal processing module.
Preferably, the input of the signal processing module receive first electric signal and processed, analyze and
Identification, when the characteristic synthetic analysis identification module of signal processing module identifies electric pole, power line and power line node, institute
The output end output for stating signal processing module is transmitted to the second electric signal of the unmanned plane body.By the spy of signal processing module
Extraction and feature extraction are levied, and carries out comprehensive analysis and identification, can quickly and accurately find out power line node.
Preferably, the unmanned plane body receives second electric signal and near the power line node, the nothing
The leading flank middle part of man-machine body is provided with two the right and lefts for being distributed in the infrared imaging instrument and positioned at same level
Range sensor, the characteristic synthetic analysis identification module of the signal processing module identifies two distances in the middle part of leading flank
Sensor is equal to 0.5m simultaneously with the horizontal range of power line node and remaining range sensor is big with the distance of respective face object
When 0.5m, the output end of the signal processing module sends the 3rd electric signal for being transmitted to the electronic glue-spraying device.By away from
From the distance condition that the range measurement of sensor, satisfaction pre-set, determine eject position and lock.
Preferably, the electronic glue-spraying device is ejected after receiving the 3rd electric signal from the nozzle with extension pipe
Liquid hot melt adhesive after heating.The storage poly-bag heating PUR of electronic glue-spraying device, makes its change turn to liquid, by band extension pipe
Nozzle spray to power line node, it is ensured that the safe distance of unmanned plane body and power line, also can be by liquid hot melt adhesive more
Near ejects close to power line node.
Preferably, the unmanned plane body is carried for for the whole power line node gluing based on unmanned plane solidifies dress
Put the battery of power supply.Battery is the power supply of whole equipment, simplifies overall structure.
Beneficial effects of the present invention are embodied in：Infrared imaging instrument signal processing module receives corresponding infrared digital figure
As signal, screening is scanned through signal transacting and one by one, identify electric pole, power line and power line node, infrared imaging instrument
With signal processing module collective effect, enable the invention to quickly recognize power line node, improve operating efficiency；By unmanned plane
Accurately be aligned for shower nozzle by the two range sensors positioning in the middle part of body leading flank, the mutual cooperation of remaining each face sensor
Power line node, is effectively sprayed to power line node, showerhead hole the liquid hot melt adhesive after heating by electronic glue-spraying device
Footpath is small, and injection pressure is big, and liquid hot melt adhesive is uniformly injected in power line node, after after PUR cooling, reinforces power line
Node, will not produce power failure because power line node loosens.Power supply attendant's work high above the ground is instead of, is greatly reduced
Danger coefficient, does not also influence efficiency because power line is located at strategically located and difficult of access location, and power operation is not required to during present invention work, does not influence
The daily life of resident.
Brief description of the drawings
In order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art, below will be to specific
The accompanying drawing to be used needed for implementation method or description of the prior art is briefly described.In all of the figs, similar element
Or the general reference by being similar in part is identified.In accompanying drawing, each element or part might not draw according to actual ratio.
Fig. 1 is structural representation of the invention；
Fig. 2 is one of structural representation of electronic glue-spraying device of the invention；
Fig. 3 is the two of the structural representation of electronic glue-spraying device of the invention；
Fig. 4 is the sectional view of the feed liquor check valve of electronic glue-spraying device of the invention；
Fig. 5 is power line node infrared view recognition methods flow chart of the present invention.
In accompanying drawing, 1- unmanned plane bodies, the electronic glue-spraying devices of 2-, 3- batteries, 4- infrared imaging instrument, 5- signal transacting moulds
Block, 6- range sensors, 7- shower nozzles, 8- housings, 9- bases, 10- storage poly-bags, 11- pistons, 12- working chambers, 13- connecting rods, 14-
Eccentric wheel, 15- rotary shafts, 16- motors, 17- resistive heaters, 18- PURs, 19- liquid level gauges, 20- feed liquor check valves,
21- goes out liquid check valve, 22- inlets, 23- valve bodies, 24- baffle plates, 25- springs, 26- nuts, 27- liquid outlets, 28- mounting seats
Specific embodiment
The embodiment of technical solution of the present invention is described in detail below in conjunction with accompanying drawing.Following examples are only used for
Technical scheme is clearly illustrated, therefore is only used as example, and protection model of the invention can not be limited with this
Enclose.
As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 5, unmanned plane body 1 is divided into upper, middle and lower from top to bottom, at signal
Reason module 5 is installed on the top of unmanned plane body 1, after battery 3 and infrared imaging instrument 4 are respectively arranged in unmanned plane body 1
Side middle part and front side door middle part, and the shooting side of infrared imaging instrument 4 is parallel with leading flank, infrared imaging instrument 4 will be clapped
The outdoor scene infrared energy distribution map taken the photograph is converted into infrared digital image, and infrared digital image is passed into signal transacting
The input of module 5, the infrared digital image that signal processing module 5 will be received carries out chroma-luminance and calculates and be converted to gray scale
Gray level image, is then carried out image segmentation, Extraction of Geometrical Features, brightness extraction, edge contour extraction and is segmented by image
Linear feature extraction, and images above is divided into target area and background area, then identifying processing is analyzed by characteristic synthetic, from
Geometric properties, brightness and piecewise linear characteristic in dynamic statistics, identification region, and screening is scanned one by one, exclude not
Possess the suspected target of electric pole, power line and power line node Infrared Image Features, it is several according to the space between power line node
What relation property and imaging characteristic, draws overhead power transmission line node image initial pixel, and last linear connection extends with region
Treatment, the overhead power transmission line node image pixel that will finally identify is stored with polar coordinates or rectangular co-ordinate mode, by electric power
Line node element marking, and the second electric signal is exported by the output end of signaling module 5, it is transmitted to unmanned plane body 1, unmanned plane body
1 receives the second electric signal and near power line node.
The top of unmanned plane body 1, bottom, leading flank middle part, trailing flank middle part, left surface middle part and the right side in the present embodiment
Side middle part is equipped with range sensor 6, and the work of range sensor 6 is faced outwardly, and wherein leading flank middle part is provided with two
It is distributed in the right and left of infrared imaging instrument 4 and positioned at the range sensor 6 of same level, two works of range sensor 6
Make face parallel with the shooting side of infrared imaging instrument 4.After unmanned plane body 1 takes off, each real-time detection of range sensor 6 with
The distance of surrounding objects, when certain one side or multiaspect object are less than 0.5m with the distance of unmanned plane body 1, signal processing module
5 output end is by the signal of output adjustment heading and sends unmanned plane body 1 to, unmanned plane body 1 is adjusted flight side
To, it is ensured that unmanned plane body 1 is more than 0.5m with the distance of object.When unmanned plane body 1 receives the second electric signal and is close to electricity
During line of force node, now signal processing module 5 will limit two range sensors 6 in the middle part of leading flank with power line node
Distance is 0.5m, and the horizontal range real-time Transmission that two range sensors 6 in the middle part of leading flank will be detected gives signal transacting mould
Block 5, and contrasted in signal processing module 5 and the output end by signal processing module 5 sends and is transmitted to unmanned plane body 1
Position adjustment signal is carried out, to measure data that the transmission of two range sensors 6 comes identical and be equal to when signal processing module inspection 5
During 0.5m, that is, judge that two Distance-sensings are equal with the horizontal range of power line node.When while meeting two in the middle part of leading flank
Individual range sensor 6 is equal to 0.5m and remaining sensor 6 and is more than 0.5 with the distance of respective face object with the distance of power line node
When, sent by the output end of signal processing module 5 and be transmitted to the signal of the current location of locking unmanned plane body 1 and be transmitted to electronic spray
3rd signal of adhesive dispenser 2.
As shown in Figure 2, Figure 3 and Figure 4, electronic glue-spraying device 2 is installed on the bottom of unmanned plane body 1, and is provided with shower nozzle 7
Side is parallel with leading flank.The lower end of housing 8 of electronic glue-spraying device 2 is provided with the base 9 with through hole, by through hole by electronic glue spraying
The base 9 of device 2 is connected with the base plate of unmanned plane body 1.Liquid inlet channel, tapping channel and working chamber are provided with inside housing 8
12 and three's intercommunication, feed liquor check valve 20 is installed in liquid inlet channel, storage poly-bag 10 and liquid inlet channel intercommunication, and feed liquor check valve 20 is wrapped
Valve body 23, nut 26, baffle plate 24 and spring 25 are included, valve body 23 is provided with inner chamber and is communicated in the inlet 22 and liquid outlet of inner chamber
27, located at one end of valve body 23, in the inner chamber of valve body 23, spring 25 is supported in valve body to inlet 22 for baffle plate 24 and spring 25
It is used to press baffle plate at inlet between 23 and baffle plate 24, nut 26 is connected through a screw thread the other end of Lock spring 25,
Go out liquid check valve 21 located at tapping channel.The pump liquid mechanism of electronic glue-spraying device 2 includes rotary shaft 15, eccentric wheel 14, the and of connecting rod 13
Piston 11, eccentric wheel 14 is rotationally connected with mounting seat 28 by rotary shaft 15；Working chamber of the piston 11 located at mounting seat 28
Connected in 12 and by connecting rod 13 between piston 11 and eccentric wheel 14 and form toggle, rotary shaft 15 and eccentric wheel 14
Rotation is driven by motor 16.Resistive heater 17 is provided with the storage poly-bag 10 of electronic glue-spraying device 2, when unmanned plane body 1
When taking off, start to heat PUR 18, and PUR 18 is kept liquid, electronic glue-spraying device 2 receives the 3rd letter
Number, motor 16 is rotated axle 15 and rotates, and rotary shaft 15 is rotated with movable eccentric wheel 14, and the drivening rod 13 of eccentric wheel 14 simultaneously makes
Reciprocal operation ten times in working chamber 12 of piston 11, by the control into and out of check valve 20,21, make liquid hot melt adhesive 18 from spray
Ejected in first 7, complete ten continuous injections, realize that liquid hot melt adhesive 18 is uniformly covered on electric power by the shower nozzle 7 of pore
At line node.After after the natural cooling of liquid hot melt adhesive 18, power line node is fixed by PUR 18, completes a power line node
Gluing, power line node based on unmanned plane 1 apply coagulation system will repeat more than act, continually look for next power line section
Point.
The liquid for detecting the surplus of liquid hot melt adhesive 18 is provided with the present embodiment in the storage poly-bag 10 of electronic glue-spraying device 2
Position meter 19, when liquid level gauge 19 detects the surplus of liquid hot melt adhesive 18 less than setting value, located at the GPS of signal processing module 5
Navigation system will be sent by the output end of signal processing module 5 and be transmitted to the signal of unmanned plane body 1, be made based on unmanned plane
Power line node applies coagulation system and returns to starting point.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme, it all should cover in the middle of the scope of claim of the invention and specification.
Claims (8)
1. a kind of power line node gluing coagulation system based on unmanned plane, it is characterised in that：Including unmanned plane body, electronic spray
Adhesive dispenser, infrared imaging instrument, signal processing module and range sensor；The signal processing module, infrared imaging instrument, electricity
Dynamic glue-spraying device and range sensor are mounted on unmanned plane body, and the electronic glue-spraying device is provided with for depositing and heating heat
The storage poly-bag of melten gel, the top of the unmanned plane body, bottom, leading flank middle part, trailing flank middle part, left surface middle part and right side
Middle face is equipped with range sensor；Unmanned plane body, electronic glue-spraying device, infrared imaging instrument and range sensor respectively with
The signal processing module is conductively connected.
2. the power line node gluing coagulation system based on unmanned plane according to claim 1, it is characterised in that：Electronic spray
Adhesive dispenser includes mounting seat, storage poly-bag, feed liquor check valve, goes out liquid check valve, pump liquid mechanism, drive device and the spray with extension pipe
Mouth；Oil input channel, oil road and working chamber and three's intercommunication are provided with the mounting seat；The in line check valve is installed on oil-feed
In road；The oil outlet one-way valve is installed in oil road；The pump oil mechanism is installed on the working chamber of mounting seat and is filled by driving
Put driving operating.
3. the power line node gluing coagulation system based on unmanned plane according to claim 2, it is characterised in that：The pump
Liquid mechanism includes rotary shaft, eccentric wheel, connecting rod and piston, and eccentric wheel is rotationally connected with mounting seat by rotary shaft；The piston
Connect to form toggle in the working chamber of mounting seat and by connecting rod between piston and eccentric wheel, rotary shaft and
Eccentric wheel is driven by drive device and rotated, and the nozzle is installed on the oil road of mounting seat and then by pump liquid mechanism by the storage
PUR in poly-bag sprays from nozzle.
4. the power line node gluing coagulation system based on unmanned plane according to claim 1, it is characterised in that：It is described red
The outdoor scene infrared energy distribution map that outside line imager will be photographed is converted into the first electric signal of infrared digital image, and passes
To the input of the signal processing module.
5. the power line node gluing coagulation system based on unmanned plane according to claim 4, it is characterised in that：The letter
The input of number processing module receives first electric signal and is processed, analyzed and recognized, when signal processing module
When characteristic synthetic analysis identification module identifies electric pole, power line and power line node, the output of the signal processing module
End output is transmitted to the second electric signal of the unmanned plane body.
6. the power line node gluing coagulation system based on unmanned plane according to claim 5, it is characterised in that：The nothing
Man-machine body receives second electric signal and near the power line node, and the leading flank middle part of the unmanned plane body sets
There are two the right and lefts for being distributed in the infrared imaging instrument and at the range sensor of same level, the signal
The characteristic synthetic analysis identification module for managing module identifies the water of two range sensors and power line node in the middle part of leading flank
When distance of the flat distance simultaneously equal to 0.5m and remaining range sensor and respective face object is more than 0.5m, the signal transacting mould
The output end of block sends the 3rd electric signal for being transmitted to the electronic glue-spraying device.
7. the power line node gluing coagulation system based on unmanned plane according to claim 6, it is characterised in that：The electricity
Dynamic glue-spraying device ejects the liquid hot melt adhesive after heating from the nozzle with extension pipe after receiving the 3rd electric signal.
8. the power line node gluing coagulation system based on unmanned plane according to any one of claim 1 to 7, it is special
Levy and be：The unmanned plane body is carried for be entirely based on what the power line node gluing coagulation system of unmanned plane was powered
Battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061311.4A CN106914360A (en) | 2016-11-28 | 2016-11-28 | A kind of power line node gluing coagulation system based on unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061311.4A CN106914360A (en) | 2016-11-28 | 2016-11-28 | A kind of power line node gluing coagulation system based on unmanned plane |
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| Publication Number | Publication Date |
|---|---|
| CN106914360A true CN106914360A (en) | 2017-07-04 |
Family
ID=59453274
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|---|---|---|---|
| CN201611061311.4A Pending CN106914360A (en) | 2016-11-28 | 2016-11-28 | A kind of power line node gluing coagulation system based on unmanned plane |
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