CN107315417B - Composite insulator hydrophobicity detection device based on unmanned aerial vehicle - Google Patents
Composite insulator hydrophobicity detection device based on unmanned aerial vehicle Download PDFInfo
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- CN107315417B CN107315417B CN201710771872.1A CN201710771872A CN107315417B CN 107315417 B CN107315417 B CN 107315417B CN 201710771872 A CN201710771872 A CN 201710771872A CN 107315417 B CN107315417 B CN 107315417B
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Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N13/00—Investigating surface or boundary effects, e.g. wetting power; Investigating diffusion effects; Analysing materials by determining surface, boundary, or diffusion effects
Abstract
The invention discloses a composite insulator hydrophobicity detection device based on an unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, a suspension bracket arranged at the bottom of the unmanned aerial vehicle body and a water spraying insulating rod suspended at the top of the inner side of the suspension bracket, wherein a water spraying head is arranged at the first end of the water spraying insulating rod, a balancing module is arranged at the second end of the water spraying insulating rod, a balancing auxiliary module is arranged at the bottom of the suspension bracket, the balancing module and the balancing auxiliary module are both in electric signal connection with a flight control system on the unmanned aerial vehicle body, the balancing auxiliary module comprises a servo motor which is arranged on the suspension bracket and is in electric signal connection with the flight control system, an output shaft of the servo motor extends out of the bottom of the suspension bracket, a balancing rod is arranged. According to the invention, the flight attitude of the unmanned aerial vehicle is sensed by using the flight control system of the unmanned aerial vehicle, and the horizontal state of the water spraying insulating rod is controlled through the combined action of the balance module and the balance auxiliary module, so that the aim of eliminating the tilt inertia is achieved.
Description
Technical Field
The invention relates to a hydrophobicity detection device, in particular to a composite insulator hydrophobicity detection device based on an unmanned aerial vehicle.
Background
Composite insulators in a power transmission line are often polluted by dirt such as dust, when the climate is wet, the surface of the composite insulator is attached with a large amount of dirt, so that flashover voltage is reduced, and flashover can occur even under rated working voltage, so that the safe operation of a power grid is greatly influenced. Therefore, the pollution condition on the surface of the composite insulator of the power transmission line must be checked, and the pollution must be eliminated. Research shows that the dirt on the surface of the composite insulator has certain correlation with the water repellency, so that the degree of dirt adhering to the surface of the composite insulator can be judged according to the strength of the water repellency of the composite insulator.
The hydrophobicity of the composite insulator and the vulcanized silicone rubber coating of the suspension insulator in operation is reduced due to aging and the like, the hydrophobicity is used as one of important indexes of the operation state of the composite insulator, and the detection of the hydrophobicity is an important guarantee for ensuring the safe operation of the composite insulator.
The hydrophobicity detection of the composite insulator and the vulcanized silicone rubber coating needs to be carried out in the electrified or power-off state of the power transmission line, and the traditional detection methods mainly comprise two methods: firstly, when power is off, an operator carries a watering can and a camera to climb a tower to spray water and then shoots and detects the water; and secondly, under the condition that the line is electrified, live working personnel use the composite insulator live detector to shoot and detect after spraying water, and when the composite insulator string of the high-voltage-level power transmission line is long, the live working personnel cannot detect the composite insulator on the live side and the vulcanized silicone rubber coating due to the limitation of the weight of the operating rod.
The invention patent with publication number CN103822854 discloses a hydrophobic charged detection device for a composite insulator, wherein an equipment operating rod is rotatably connected and arranged on an insulating operating rod, and an optimal detection angle can be formed between equipment on the equipment operating rod and the insulator by adjusting an included angle between the insulating operating rod and the equipment operating rod in the use process, so that the equipment is suitable for detecting a V-shaped long insulator string. However, the method can be performed only by power failure or live tower climbing of an operator in the power transmission line, which is time-consuming and labor-consuming, and has a large risk of high-altitude operation of the operator.
The invention patent with application publication number CN 106338455A discloses a hydrophobicity detection device for a vulcanized silicone rubber coating of a power transmission line, which comprises an unmanned aerial vehicle, a laser positioner, an image acquisition system, a water spraying system and a power supply, wherein the power supply supplies power for the image acquisition system and the water spraying system; the image acquisition system comprises a stability-increasing cradle head and an image acquisition device, wherein the image acquisition device comprises a shell, one end of the shell is arranged on the stability-increasing cradle head, an image acquisition module is arranged in the shell, and a plurality of LED lamps are arranged in the shell along the circumferential direction of the image acquisition module; the stability augmentation cloud platform, the water spraying system and the laser positioner are all arranged on a support of the unmanned aerial vehicle hanging plate, and the water spraying system is arranged below the image acquisition system. The method is used for detecting the hydrophobicity of the composite insulator vulcanized silicone rubber coating, effectively solves the problems of time and labor waste of the traditional detection method, can carry out charged detection, and does not need high-altitude operation. However, when the multi-rotor unmanned aerial vehicle is used as a platform and carries detection equipment to carry out hydrophobicity detection operation on the composite insulator, the multi-rotor unmanned aerial vehicle flies by means of the inclination of the aircraft to obtain forward component force, the aircraft brakes by means of the inclination when the flight stops, the inclination of the insulating spray rod is caused when the unmanned aerial vehicle inclines, and the insulating spray rod for hydrophobicity detection is longer (3 meters), so that the inertial frequency caused by the inclination of the insulating spray rod is inconsistent with the attitude correction frequency of unmanned aerial vehicle flight control, the unmanned aerial vehicle always swings in a pitching mode, and the composite insulator cannot be stably hovered.
Disclosure of Invention
In view of the above, the present invention provides a composite insulator hydrophobicity detecting apparatus based on an unmanned aerial vehicle, which senses a flight attitude of the unmanned aerial vehicle by using a flight control system of the unmanned aerial vehicle, and controls a horizontal state of a water spray insulating rod by a combined action of a balance module and a balance auxiliary module, so as to achieve a purpose of eliminating tilt inertia.
In order to achieve the purpose, the invention adopts the following technical scheme:
a hydrophobicity detection device for a composite insulator based on an unmanned aerial vehicle comprises an unmanned aerial vehicle body, a suspension bracket arranged at the bottom of the unmanned aerial vehicle body and a water spray insulating rod suspended at the top of the inner side of the suspension bracket, the first end of the water spray insulating rod is provided with a water spray head, the second end of the water spray insulating rod is provided with a balance module, the bottom of the suspension bracket is provided with a balance auxiliary module, the balance module and the balance auxiliary module are both in electric signal connection with a flight control system on the unmanned aerial vehicle body, a gyroscope used for monitoring the flight attitude of the unmanned aerial vehicle is arranged in the flight control system, the balance auxiliary module comprises a servo motor which is arranged on the suspension bracket and is in electrical signal connection with the flight control system, the output shaft of the servo motor extends out of the bottom of the suspension bracket, a balancing rod is arranged at the lower end of the output shaft of the servo motor, and a balancing weight is arranged at the end of the balancing rod.
Further, the balance module is including setting up the base of the inboard bottom of mounted frame, setting are in electric telescopic handle on the base is in with the setting the weight body of electric telescopic handle free end, just electric telescopic handle with flight control system signal of telecommunication is connected, water spray insulator spindle second end sets up the connecting plate, the right-hand member of connecting plate is followed the length direction parallel arrangement of water spray insulator spindle is a pair of slide rail, the slide rail tip sets up the stopper, weight body top through otic placode seat parallel arrangement a pair of with slide rail matched with pulley.
Furthermore, a transparent window is arranged on the suspension bracket.
Furthermore, the upper part of the limiting block and one side of the limiting block facing the pulley are provided with a damping pad.
Further, set up surveillance camera head on the unmanned aerial vehicle body.
Further, the water spray insulating rod is an insulating telescopic rod.
The invention has the beneficial effects that:
the invention provides a hydrophobicity detection device for a composite insulator based on an unmanned aerial vehicle, aiming at the problems that when a multi-rotor unmanned aerial vehicle is used as a platform and detection equipment is carried to carry out hydrophobicity detection operation on the composite insulator, the multi-rotor unmanned aerial vehicle flies to obtain forward component force by depending on the inclination of an airplane, braking is carried out by depending on the inclination when the flight stops, the inclination of an insulating spray rod is caused when the unmanned aerial vehicle tilts, and the insulating spray rod for hydrophobicity detection is longer (3 m), so that the inertial frequency caused by the inclination of the insulating spray rod is inconsistent with the posture correction frequency of flight control of the unmanned aerial vehicle, and the unmanned aerial vehicle can not stably hover due to pitching and swinging all the time, the hydrophobicity detection device comprises an unmanned aerial vehicle body, a suspension bracket arranged at the bottom of the unmanned aerial vehicle body and a water spray insulating rod arranged at the top of the inner side of the suspension bracket in a hanging, set up balanced auxiliary module bottom the mounted frame, wherein, balanced module and balanced auxiliary module all with the flight control system signal of telecommunication on the unmanned aerial vehicle body connection, be provided with the gyroscope that is used for controlling unmanned aerial vehicle flight attitude in the flight control system, when the gyroscope in the flight control system detected unmanned aerial vehicle's flight attitude slope like this, flight control system control balance module and balanced auxiliary module work are in order to correct unmanned aerial vehicle's flight attitude to make the stable horizontality that is in of water spray insulator spindle. And, balanced auxiliary module is including setting up on the mounted frame and with the servo motor of flight control system signal of telecommunication connection, servo motor's output shaft stretches out the mounted frame bottom, tip sets up the balancing pole under servo motor's output shaft, tip at the balancing pole sets up the balancing weight, when the gyroscope in the flight control system detected unmanned aerial vehicle's flight gesture slope like this, flight control system control servo motor work is in order to drive the balancing pole and rotate suitable angle, thereby change this detection device's whole focus position so that unmanned aerial vehicle keeps the level gesture of hovering.
In addition, the balance module comprises a base arranged at the bottom of the inner side of the suspension bracket, an electric telescopic rod arranged on the base and a counterweight body arranged at the free end of the electric telescopic rod, the electric telescopic rod is in electric signal connection with the flight control system, a connecting plate is arranged at the second end of the water spray insulating rod, a pair of slide rails is arranged at the right end of the connecting plate in parallel along the length direction of the water spray insulating rod, a limiting block is arranged at the end part of the slide rail, and a pair of pulleys matched with the slide rails is arranged at the top of the counterweight body in parallel through an ear plate seat, so that when a gyroscope in the flight control system detects the flight attitude inclination of the unmanned aerial vehicle, the flight control system firstly controls the electric telescopic rod to stretch and adjust the position of the counterweight body so as to realize the rough adjustment of the horizontal flight state of the detection device, then, the stability of this detection device when horizontal suspension has been improved greatly.
According to the invention, the flight attitude of the unmanned aerial vehicle is sensed by using the flight control system of the unmanned aerial vehicle, and the horizontal state of the water spraying insulating rod is controlled through the combined action of the balance module and the balance auxiliary module, so that the aim of eliminating the tilt inertia is achieved.
Drawings
FIG. 1 is a schematic front view of the structure of the present invention;
FIG. 2 is a right-view schematic diagram of the structure of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 and 2 of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
Example 1:
as shown in fig. 1 and 2, an unmanned aerial vehicle-based composite insulator hydrophobicity detection device comprises an unmanned aerial vehicle body 1, a suspension bracket 2 arranged at the bottom of the unmanned aerial vehicle body 1, and a water spray insulating rod 3 suspended at the top of the inner side of the suspension bracket 2, wherein a water spray head 4 is arranged at a first end of the water spray insulating rod 3, a balance module is arranged at a second end of the water spray insulating rod 3, a balance auxiliary module is arranged at the bottom of the suspension bracket 2, the balance module and the balance auxiliary module are both in electrical signal connection with a flight control system 5 on the unmanned aerial vehicle body 1, a gyroscope for monitoring the flight attitude of the unmanned aerial vehicle is arranged in the flight control system 5, the balance auxiliary module comprises a servo motor 6 arranged on the suspension bracket 2 and in electrical signal connection with the flight control system 5, and an output shaft 7 of the servo motor 6 extends out of the bottom of, the lower end of an output shaft 7 of the servo motor 6 is provided with a balance rod 8, and the end of the balance rod 8 is provided with a balancing weight 9.
In this embodiment, a composite insulator hydrophobicity detection device based on unmanned aerial vehicle is provided, including the unmanned aerial vehicle body, the mounted frame that sets up in unmanned aerial vehicle body bottom with hang the water spray insulator spindle that sets up at the inboard top of mounted frame, first end at the water spray insulator spindle sets up the sprinkler bead, second end at the water spray insulator spindle sets up the balance module, set up balanced auxiliary module bottom the mounted frame, wherein, balance module and balanced auxiliary module all with the flight control system electricity signal connection on the unmanned aerial vehicle body, be provided with the gyroscope that is used for monitoring unmanned aerial vehicle flight gesture in the flight control system, when the gyroscope in the flight control system detected unmanned aerial vehicle's flight gesture slope like this, flight control system control balance module and the flight gesture of balanced auxiliary module work with unmanned aerial vehicle correction, thereby make the water spray insulator spindle stably be in the horizontality. And, balanced auxiliary module is including setting up on the mounted frame and with the servo motor of flight control system signal of telecommunication connection, servo motor's output shaft stretches out the mounted frame bottom, tip sets up the balancing pole under servo motor's output shaft, tip at the balancing pole sets up the balancing weight, when the gyroscope in the flight control system detected unmanned aerial vehicle's flight gesture slope like this, flight control system control servo motor work is in order to drive the balancing pole and rotate suitable angle, thereby change this detection device's whole focus position so that unmanned aerial vehicle keeps the level gesture of hovering. According to the invention, the flight attitude of the unmanned aerial vehicle is sensed by using the flight control system of the unmanned aerial vehicle, and the horizontal state of the water spraying insulating rod is controlled through the combined action of the balance module and the balance auxiliary module, so that the aim of eliminating the tilt inertia is achieved.
Example 2:
as shown in fig. 1 and 2, an unmanned aerial vehicle-based composite insulator hydrophobicity detection device comprises an unmanned aerial vehicle body 1, a suspension bracket 2 arranged at the bottom of the unmanned aerial vehicle body 1, and a water spray insulating rod 3 suspended at the top of the inner side of the suspension bracket 2, wherein a water spray head 4 is arranged at a first end of the water spray insulating rod 3, a balance module is arranged at a second end of the water spray insulating rod 3, a balance auxiliary module is arranged at the bottom of the suspension bracket 2, the balance module and the balance auxiliary module are both in electrical signal connection with a flight control system 5 on the unmanned aerial vehicle body 1, a gyroscope for monitoring the flight attitude of the unmanned aerial vehicle is arranged in the flight control system 5, the balance auxiliary module comprises a servo motor 6 arranged on the suspension bracket 2 and in electrical signal connection with the flight control system 5, and an output shaft 7 of the servo motor 6 extends out of the bottom of, the lower end of an output shaft 7 of the servo motor 6 is provided with a balance rod 8, and the end of the balance rod 8 is provided with a balancing weight 9.
The balance module is in including setting up base 10, the setting of 2 inboard bottoms of mounted frame are in electric telescopic handle 11 and the setting on the base 10 are in the weight body 12 of 11 free ends of electric telescopic handle, just electric telescopic handle 11 with flight control system 5 signal of telecommunication is connected, 3 second ends of water spray insulator spindle set up connecting plate 13, the right-hand member of connecting plate 13 is followed the length direction parallel arrangement of water spray insulator spindle 3 is a pair of slide rail 14, the 14 tip of slide rail sets up stopper 15, the 12 tops of weight body through 16 parallel arrangement of otic placode seat a pair of with slide rail 14 matched with pulley 17.
In the embodiment, the balance module comprises a base arranged at the bottom of the inner side of the suspension bracket, an electric telescopic rod arranged on the base and a counterweight body arranged at the free end of the electric telescopic rod, the electric telescopic rod is in electric signal connection with the flight control system, a connecting plate is arranged at the second end of the water spray insulating rod, a pair of sliding rails is arranged at the right end of the connecting plate in parallel along the length direction of the water spray insulating rod, a limiting block is arranged at the end part of the sliding rail, and a pair of pulleys matched with the sliding rails is arranged at the top of the counterweight body in parallel through an ear plate seat, so that when a gyroscope in the flight control system detects the flight attitude inclination of the unmanned aerial vehicle, the flight control system firstly controls the electric telescopic rod to telescopically adjust the position of the counterweight body to realize the rough adjustment of the horizontal flight state of the detection device, then controls the balance, the stability of this detection device when horizontal suspension has been improved greatly.
Example 3:
as shown in fig. 1 and 2, an unmanned aerial vehicle-based composite insulator hydrophobicity detection device comprises an unmanned aerial vehicle body 1, a suspension bracket 2 arranged at the bottom of the unmanned aerial vehicle body 1, and a water spray insulating rod 3 suspended at the top of the inner side of the suspension bracket 2, wherein a water spray head 4 is arranged at a first end of the water spray insulating rod 3, a balance module is arranged at a second end of the water spray insulating rod 3, a balance auxiliary module is arranged at the bottom of the suspension bracket 2, the balance module and the balance auxiliary module are both in electrical signal connection with a flight control system 5 on the unmanned aerial vehicle body 1, a gyroscope for monitoring the flight attitude of the unmanned aerial vehicle is arranged in the flight control system 5, the balance auxiliary module comprises a servo motor 6 arranged on the suspension bracket 2 and in electrical signal connection with the flight control system 5, and an output shaft 7 of the servo motor 6 extends out of the bottom of, the lower end of an output shaft 7 of the servo motor 6 is provided with a balance rod 8, and the end of the balance rod 8 is provided with a balancing weight 9.
The balance module is in including setting up base 10, the setting of 2 inboard bottoms of mounted frame are in electric telescopic handle 11 and the setting on the base 10 are in the weight body 12 of 11 free ends of electric telescopic handle, just electric telescopic handle 11 with flight control system 5 signal of telecommunication is connected, 3 second ends of water spray insulator spindle set up connecting plate 13, the right-hand member of connecting plate 13 is followed the length direction parallel arrangement of water spray insulator spindle 3 is a pair of slide rail 14, the 14 tip of slide rail sets up stopper 15, the 12 tops of weight body through 16 parallel arrangement of otic placode seat a pair of with slide rail 14 matched with pulley 17.
And a transparent window is arranged on the suspension bracket 2.
And a shock absorption pad 18 is arranged on the upper part of the limiting block 15 and faces one side of the pulley 17.
The shock pad 18 is made of a rubber shock-absorbing material, and the rubber shock-absorbing material comprises the following raw materials in parts by weight: 95 parts of butyl rubber, 25 parts of phenolic resin, 12 parts of nano calcium carbonate, 10 parts of carbon black, 5 parts of kaolin, 7 parts of sepiolite fiber, 3 parts of titanium dioxide, 3 parts of magnesium oxide, 4 parts of zinc oxide, 1 part of aluminum adipate-zirconium coupling agent, 3 parts of polyethylene glycol stearate, 2 parts of tetraethyleneglycol diacrylate, 1 part of aluminum hydroxide, 4 parts of maleic anhydride-acrylic acid copolymer and 1 part of zinc dimethyldithiocarbamate; the service life of the shock pad adopting the components is prolonged by 10% compared with that of the traditional shock pad, and the mechanical property is improved by 15%.
In the embodiment, in order to increase the sealing performance of the suspension bracket, the transparent window is arranged on the suspension bracket, so that the sealing performance can be ensured, and the working conditions of internal parts can be seen.
Example 4:
as shown in fig. 1 and 2, it differs from embodiment 3 in that: the unmanned aerial vehicle body 1 is provided with a monitoring camera 19.
The water spraying insulating rod 3 is an insulating telescopic rod.
In this embodiment, for the ease of monitoring this detection device in the flight condition in the air, be provided with the surveillance camera head on the unmanned aerial vehicle body, the insulating rod of water spray adopts insulating telescopic link in order to satisfy the use under the different work condition simultaneously for improving the length of water spray insulating rod.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent substitutions made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.
Claims (5)
1. The utility model provides a composite insulator hydrophobicity detection device based on unmanned aerial vehicle which characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a suspension bracket arranged at the bottom of the unmanned aerial vehicle body and a water spraying insulating rod arranged at the top of the inner side of the suspension bracket in a hanging manner, wherein a water spraying head is arranged at the first end of the water spraying insulating rod, a balancing module is arranged at the second end of the water spraying insulating rod, a balancing auxiliary module is arranged at the bottom of the suspension bracket, the balancing module and the balancing auxiliary module are both in electric signal connection with a flight control system on the unmanned aerial vehicle body, a gyroscope for monitoring the flight attitude of the unmanned aerial vehicle is arranged in the flight control system, the balancing auxiliary module comprises a servo motor which is arranged on the suspension bracket and is in electric signal connection with the flight control system, an output shaft of the servo motor extends out of the bottom of the suspension bracket, a balancing rod is;
the balance module is in including setting up the base of the inboard bottom of mounted frame, setting are in electric telescopic handle and the setting on the base are in the weight body of electric telescopic handle free end, just electric telescopic handle with flight control system signal of telecommunication is connected, water spray insulator spindle second end sets up the connecting plate, the right-hand member of connecting plate is followed the length direction parallel arrangement of water spray insulator spindle is a pair of slide rail, the slide rail tip sets up the stopper, weight body top through otic placode seat parallel arrangement a pair of with slide rail matched with pulley.
2. The unmanned aerial vehicle-based composite insulator hydrophobicity detecting device of claim 1, characterized in that: the suspension bracket is provided with a transparent window.
3. The unmanned aerial vehicle-based composite insulator hydrophobicity detecting device of claim 1, characterized in that: and a shock absorption pad is arranged on the upper part of the limiting block and faces one side of the pulley.
4. The unmanned aerial vehicle-based composite insulator hydrophobicity detecting device of claim 1, characterized in that: set up surveillance camera head on the unmanned aerial vehicle body.
5. The unmanned aerial vehicle-based composite insulator hydrophobicity detecting device of claim 1, characterized in that: the water spraying insulating rod is an insulating telescopic rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710771872.1A CN107315417B (en) | 2017-08-31 | 2017-08-31 | Composite insulator hydrophobicity detection device based on unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710771872.1A CN107315417B (en) | 2017-08-31 | 2017-08-31 | Composite insulator hydrophobicity detection device based on unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
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| CN107315417A CN107315417A (en) | 2017-11-03 |
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| CN107941819A (en) * | 2017-11-29 | 2018-04-20 | 国网河南省电力公司周口供电公司 | Air-ground linkage composite insulator electrification detection system |
| CN108080174A (en) * | 2018-01-09 | 2018-05-29 | 成蜀电力集团有限公司 | A kind of equipotential unmanned plane insulator RTV spray equipments and method |
| CN108718182A (en) * | 2018-07-10 | 2018-10-30 | 苏州太阳井新能源有限公司 | A kind of solar energy photovoltaic panel with defencive function |
| CN112572797A (en) * | 2020-12-28 | 2021-03-30 | 广西电网有限责任公司梧州供电局 | Automatic bird-involved foreign matter removing method and system for high-voltage power tower of unmanned aerial vehicle |
| CN114507063B (en) * | 2022-03-31 | 2023-01-03 | 萍乡华创电气有限公司 | Porcelain insulator slip casting method |
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