CN107608375B - Degraded insulator detection system and method based on unmanned aerial vehicle - Google Patents
Degraded insulator detection system and method based on unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a degraded insulator detection system and method based on an unmanned aerial vehicle, which relate to the field of maintenance of power transmission lines and comprise the following steps: and a guide cover. And a connecting rod fixed on the guide cover. And the unmanned aerial vehicle is fixed on the connecting rod and used for driving the guide cover to move up and down along the insulator string. The detector is fixed on the guide cover and comprises an electric field sensor and a photoelectric sensor, wherein the electric field sensor is used for measuring the axial electric field intensity of the insulator string, and the photoelectric sensor is used for positioning and collecting position information of the degraded insulator detection system. And the wireless transmission module comprises a measuring end wireless transceiving unit and a ground end wireless transceiving unit. And the electric field analysis module is connected with the ground end wireless transceiving unit, establishes an electric field distribution curve of the insulator string according to the axial electric field strength and the position information, and analyzes whether the deteriorated insulator exists according to the electric field distribution curve. The invention can improve the detection safety and the maintenance efficiency.
Description
Technical Field
The invention relates to the field of maintenance of power transmission lines, in particular to a degraded insulator detection system and method based on an unmanned aerial vehicle.
Background
The insulators are sheet-shaped, and the insulator string composed of a plurality of insulators plays the role of insulation and support in the power transmission line. Because the insulator is subjected to the effects of electromechanical load, sun and rain, cold and heat change and the like for a long time, a natural deterioration phenomenon exists, when the deterioration reaches a certain degree, the insulation performance and the mechanical performance of the insulator are reduced, even faults such as line flashover, insulation cracking and even breakdown can be caused, and potential threats are brought to the safe operation of a power system. Therefore, the detection of the degraded insulator of the power transmission line is an important means for ensuring the safe and stable operation of the power transmission line.
In order to solve the problem of detecting the deteriorated insulator of the power transmission line, domestic and foreign scholars try various methods such as a voltage distribution method, a corona pulse current method, an ultrasonic method, an infrared imaging method, an ultraviolet imaging method, an electric field measurement method and the like. However, the detection devices designed by the methods are mostly operated manually, are influenced by subjective factors of operators, are almost impossible to detect insulators on ultra-high voltage transmission lines, and have large difficulty coefficients and danger coefficients.
The existing commonly used method for detecting the deteriorated insulator is distributed voltage detection, the composite insulator cannot be measured, steel caps on two sides of the insulator need to be contacted one by one, and the operation is complex. Meanwhile, the degradation detection of the insulator by adopting an electric field measurement method is mainly in a manual tower climbing detection mode, so that the detection error is large, the operation is inconvenient, and the danger is high. And when the detection is carried out, the detection data needs to be manually recorded and analyzed after the detection is finished, and because the data is manually recorded, the detection is time-consuming and inevitable errors occur.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a degraded insulator detection system based on an unmanned aerial vehicle, which can improve the detection safety and the maintenance efficiency.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
the utility model provides a degradation insulator detecting system based on unmanned aerial vehicle for detect the degradation condition of each insulator in the insulator chain, include:
a guide housing;
a connecting rod fixed on the guide cover;
the unmanned aerial vehicle is fixed on the connecting rod and used for driving the guide cover to move up and down along the insulator string;
the detector is fixed on the guide cover and comprises an electric field sensor and a photoelectric sensor, the electric field sensor is used for measuring the axial electric field intensity of the insulator string, and the photoelectric sensor is used for positioning and collecting the position information of the degraded insulator detection system on the insulator string;
the wireless transmission module comprises a measuring end wireless transceiving unit and a ground end wireless transceiving unit, the measuring end wireless transceiving unit is arranged on the detector, and the measuring end wireless transceiving unit is used for sending the axial electric field intensity and the position information to the ground end wireless transceiving unit; and
and the electric field analysis module is connected with the ground end wireless transceiving unit, establishes an electric field distribution curve of the insulator string according to the axial electric field strength and the position information, and analyzes whether a degraded insulator exists according to the electric field distribution curve.
On the basis of the technical scheme, the deteriorated insulator detection system further comprises an anti-shake module, wherein the anti-shake module comprises an inertia measurement unit, an anti-shake resolving unit and a fine tuning motor; the inertial measurement unit is arranged at the joint of the guide cover and the connecting rod, the anti-shake resolving unit is connected with the fine tuning motor, the rotating shaft of the fine tuning motor is connected with the connecting rod, the anti-shake resolving unit and the fine tuning motor are positioned on one side of the unmanned aerial vehicle, which is far away from the guide cover, and the inertial measurement unit is used for detecting shake parameters of the detector and transmitting the shake parameters to the anti-shake resolving unit; the anti-shake resolving unit calculates shake reverse bias according to the shake parameters and drives the fine tuning motor to move on the connecting rod according to the shake reverse bias.
On the basis of the technical scheme, a photoelectric sensor triggering port is further formed in the guide cover, and the photoelectric sensor positions the position information of the degraded insulator detection system on the insulator string through the light intensity of the photoelectric sensor triggering port.
On the basis of the technical scheme, the electric field sensor is a capacitive alternating electric field sensor.
Meanwhile, the invention also aims to provide an insulator degradation detection method capable of improving detection safety and maintenance efficiency.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
a method for detecting insulator degradation by using the degraded insulator detection system based on the unmanned aerial vehicle comprises the following steps:
the unmanned aerial vehicle drives the guide cover to move up and down along the insulator string;
the photoelectric sensor positions and collects the position information of the degraded insulator detection system on the insulator string, and the electric field sensor measures the axial electric field intensity of the insulator string in real time;
the measuring end wireless transmitting and receiving unit transmits axial electric field intensity and position information to the ground end wireless transmitting and receiving unit;
and the electric field analysis module establishes an electric field distribution curve of the insulator string according to the axial electric field intensity and the position information, and analyzes whether the degraded insulator exists or not according to the electric field distribution curve.
On the basis of the technical scheme, each insulator of the insulator string is numbered, and the photoelectric sensor positions the position information of the degraded insulator detection system on the insulator string according to the serial number of the insulator.
On the basis of the technical scheme, the electric field analysis module establishes an electric field distribution curve of the insulator string according to the fact that the abscissa is the insulator number, the ordinate is the real-time axial electric field intensity, if the electric field distribution curve is smooth in all places, all insulators are normal, and if the electric field distribution curve is sunken, the insulators corresponding to the sunken places are degraded.
On the basis of the technical scheme, the deteriorated insulator detection system further comprises an anti-shake module, and the method further comprises the step of keeping the detector to measure stably by using the anti-shake module.
On the basis of the technical scheme, the anti-shake module comprises an inertia measurement unit, an anti-shake resolving unit and a fine tuning motor;
the inertia measurement unit measures the jitter parameters of the detector in real time and transmits the jitter parameters to the anti-jitter resolving unit;
the anti-shake resolving unit calculates shake reverse bias according to the shake parameters and drives the fine tuning motor to move on the connecting rod according to the shake reverse bias.
On the basis of the technical scheme, the anti-shake resolving unit calculates shake reverse bias by adopting a Kalman filtering method according to shake parameters.
Compared with the prior art, the invention has the advantages that:
(1) the degraded insulator detection system based on the unmanned aerial vehicle comprises the unmanned aerial vehicle, so that a detection person can detect the degraded insulator by controlling the remote control equipment to control the unmanned aerial vehicle, the detection person does not need to climb on a tower, and the detection safety can be improved.
(2) The degraded insulator detection system based on the unmanned aerial vehicle also comprises a detector, wherein the detector comprises an electric field sensor and a photoelectric sensor, and the detection data can be analyzed in real time by adopting a detection method based on an electric field method, so that the maintenance of personnel can be timely organized, and the maintenance efficiency can be improved.
(3) The degraded insulator detection system based on the unmanned aerial vehicle also comprises an anti-shaking module, and the anti-shaking module can reduce the influence caused by shaking during detection, so that the detection result is more accurate.
Drawings
Fig. 1 is a schematic structural view of a degraded insulator detection system according to the present invention.
In the figure: the device comprises a guide cover 1, a connecting rod 2, an unmanned aerial vehicle 3, a detector 4, a wireless transmission module 5, a measuring end wireless transceiving unit 51, a ground end wireless transceiving unit 52, an electric field analysis module 6, an anti-shake module 7, an inertia measuring unit 71, an anti-shake resolving unit 72, a fine tuning motor 73 and an insulator string 8.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, the invention provides a degraded insulator detection system based on an unmanned aerial vehicle, which comprises a guide cover 1, a connecting rod 2, an unmanned aerial vehicle 3, a detector 4, a wireless transmission module 5 and an electric field analysis module 6.
The guide housing 1 can make the unmanned aerial vehicle 3 drive the detector 4 to move steadily on the insulator chain 8, and the phenomenon of retardation is avoided. The guide cover 1 is made of insulating materials, the middle part of the guide cover is tightly attached to the surface of an insulator, a guide angle is designed at the edge of the cover body, and two ends of the guide cover are provided with certain radians and present a horn-shaped opening. The length of the middle part of the guide cover 1 is larger than the span of the three insulator umbrella skirts, so that the guide cover 1 is supported by the three insulator umbrella skirts at any time. The guide cover 1 is reserved with a fixing hole position so as to facilitate the connection of the detector 4 with the guide cover. Insulator strings with different voltage grades and different arrangement modes can be detected by only replacing the guide covers 1 with different specifications, and stable detection of various insulator strings can be realized.
Be equipped with the connecting rod on the guide housing 1 and connect, the connecting rod connects and adopts alloy material, and the three-dimensional is rotatable, and connecting rod 2 passes through the connecting rod to connect to be fixed on guide housing 1.
Unmanned aerial vehicle 3, it is fixed on connecting rod 2, and unmanned aerial vehicle 3 is used for driving guide housing 1 and reciprocates along insulator chain 8.
And the detector 4 is fixed on the guide cover 1, and the detector 4 comprises an electric field sensor and a photoelectric sensor, wherein the electric field sensor is used for measuring the axial electric field intensity of the insulator string 8, and the photoelectric sensor is used for positioning and collecting the position information of the degraded insulator detection system on the insulator string 8. In the invention, each insulator of the insulator string 8 is numbered, and then the photoelectric sensor positions the position information of the degraded insulator detection system on the insulator string 8 according to the serial number of the insulator.
The electric field sensor in the invention adopts a capacitive alternating electric field sensor design to measure the longitudinal electric field of the insulator string 8. The capacitance alternating electric field sensor consists of a probe and a preamplification circuit, the change of the electric field perpendicular to the polar plate causes the corresponding change of the voltage of the polar plate, and the electric field is measured by measuring the voltage of the polar plate. In order to overcome the problems that a capacitive alternating electric field sensor is easily influenced by a polar plate capacitor, a connecting cable distributed capacitor and a preamplifier circuit input capacitor, the working frequency of the sensor is extended towards low frequency and the like only by improving an input circuit of an amplifier, the electric field sensor measures the polar plate charge by using a charge amplifier as the preamplifier circuit, and accordingly the electric field is measured.
A photoelectric sensor is a sensor that uses a photoelectric element as a detection element, and is generally composed of three parts, a light source, an optical path, and a photoelectric element, and it first converts a measured change into a change in an optical signal, and then further converts the optical signal into an electrical signal by means of the photoelectric element. In actual design, a photoelectric sensor trigger port is further arranged on the guide cover 1, the photoelectric sensor is arranged on one side, close to the guide cover 1, of the detector 4, the reflection intensity of light is judged through the photoelectric sensor trigger port on the guide cover 1 in the detection process, when the detector 4 is located at the position of the insulator steel cap, the distance between the photoelectric sensor and a shielding object is far, the emitted detection light wave is small after reaching the insulator steel cap, the reflection echo energy is not enough to meet the set threshold value, and the photoelectric sensor does not trigger. When the detector 4 moves to the position of the insulator flashing skirt, the distance between the flashing skirt and the guide cover 1 is smaller than a set threshold value and the photoelectric sensor, the photoelectric sensor outputs a rising high level, and the rising edge of the level triggers the detector 4 to record the electric field intensity at the moment.
And the wireless transmission module 5 comprises a measuring end wireless transceiver unit 51 and a ground end wireless transceiver unit 52, the measuring end wireless transceiver unit 51 is arranged on the detector 4, and the measuring end wireless transceiver unit 51 is used for transmitting the axial electric field intensity and the position information to the ground end wireless transceiver unit 52.
And the electric field analysis module 6 is connected with the ground end wireless transceiver unit 52, and the electric field analysis module 6 establishes an electric field distribution curve of the insulator string 8 according to the axial electric field strength and the position information and analyzes whether a degraded insulator exists according to the electric field distribution curve.
In the invention, an electric field analysis module 6 adopts an embedded technology to design an electric field analysis software APP, information such as a line name, a pole tower number, an arrangement mode, a voltage grade, a phase sequence, an insulator type and the like can be selectively recorded, an electric field distribution curve is drawn in real time when the APP carries out electric field measurement, and if a detected electric field curve is smooth, an insulator is normal. On the contrary, if the abnormal recess appears at a certain position of the curve, the insulator at the position has defects. In actual detection work, the unmanned aerial vehicle 3 can be carried with the detection module and slide along the insulator surface piece by piece, and the electric field analysis module 6 records the axial electric field intensity and the serial number of insulator that the measurement obtained to draw the curve in real time according to measured data, through with normal electric field distribution curve comparison, judge whether there is the degradation insulator. Specifically, the electric field analysis module 6 establishes an electric field distribution curve of the insulator string 8 for the real-time axial electric field strength according to the abscissa as the insulator number, and the ordinate as the real-time axial electric field strength, and if the electric field distribution curve is smooth in places, each insulator is normal, and if the electric field distribution curve is concave, the insulator corresponding to the concave place is degraded.
In addition, probably receive environmental impact when adopting unmanned aerial vehicle 3 to measure, drift, the shake of each direction appear, influence and measure. For this reason, the degraded insulator detection system in the present invention further includes an anti-shake module 7, and the anti-shake module 7 includes an inertia measurement unit 71, an anti-shake calculation unit 72, and a trimming motor 73.
The anti-shake resolving unit 72 calculates shake reverse offset according to the shake parameters, drives the fine adjustment motor 73 to move on the connecting rod 2 according to the shake reverse offset, and the fine adjustment motor 73 also serves as a balancing weight, so that the influence of shake of the guide cover 1 on the detector 4 can be offset by moving left and right through the fine adjustment motor 73.
The anti-shake solution module 72 of the present invention calculates the shake back bias using a kalman filter, which is a highly efficient recursive filter (autoregressive filter) that can estimate the state of the dynamic system from a series of incomplete and noisy measurements. The specific method is as follows:
the kalman filtering method assumes the equation of a linear discrete system without considering the control action as follows:
in the formula, XkIs an estimated state variable of system n-dimension, which represents the displacement of the detector 4, phi, in the present inventionk/k-1Is a one-step state transition matrix of system n x n dimensions, Γk/k-1Is a n × p dimensional system noise input matrix, WkIs p-dimensional system process noise; zkIs a systematic m-dimensional measurement variable, HkIs a m x n dimensional measurement matrix, VkIs the m-dimensional measurement noise matrix, and the subscript k denotes the time k.
Statistical properties of system noise and measurement noise are assumed as follows:
in the formula, QkIs non-negativeFixed matrix representing process noise W of the systemkThe variance matrix of (2); rkIs a positive definite matrix representing the measurement noise VkThe variance matrix of (2).
If the estimated state variable XkAnd a measured variable ZkSatisfying the constraint of discrete system equation, the statistical characteristics of system process noise and measurement noise satisfying formula, then XkTo estimate the optimal state of
The following equation can be solved.
Optimal predicted values of state variables:
prediction error covariance matrix:
Pk/k-1＝φk/k-1Pk-1φk/k-1 T+Γk/k-1Qk-1Γk/k-1 T；
gain matrix:
Kk＝Pk/k-1Hk T(HkPk/k-1Hk T+Rk)-1＝PkHk TRk -1；
estimating error covariance matrix:
Pk＝(I-KkHk)Pk/k-1(I-KkHk)T+KkRkKk T＝(I-KkHk)Pk/k-1；
optimal estimated values of state variables:
In conclusion, the method and the device can realize that the deteriorated insulator can be detected by controlling the unmanned aerial vehicle 3 through the remote control equipment by the detection personnel, the detection personnel do not need to climb on a tower, and the detection safety can be improved. And the detection method based on the electric field method can be used for analyzing the detection data in real time, organizing personnel to maintain in time, and improving the maintenance efficiency. In addition, through setting up anti-shake module 7, the influence that the shake brought when can reduce the detection makes the testing result more accurate.
The invention also provides an insulator degradation detection method, which comprises the following steps:
s1, the unmanned aerial vehicle 3 drives the guide cover 1 to move up and down along the insulator string 8.
S2, the photoelectric sensor positions and collects position information of the degraded insulator detection system on the insulator string 8, and meanwhile, the electric field sensor measures the axial electric field intensity of the insulator string 8 in real time.
In the invention, each insulator of the insulator string 8 is numbered, and the photoelectric sensor positions the position information of the degraded insulator detection system on the insulator string 8 according to the serial number of the insulator.
S3, the measuring end wireless transceiving unit 51 sends the axial electric field intensity and the position information to the ground end wireless transceiving unit 52;
and S4, the electric field analysis module 6 establishes an electric field distribution curve of the insulator string 8 according to the axial electric field intensity and the position information, and analyzes whether the deteriorated insulator exists or not according to the electric field distribution curve.
Specifically, the electric field analysis module 6 establishes an electric field distribution curve of the insulator string 8 for the real-time axial electric field strength according to the abscissa as the insulator number, and the ordinate as the real-time axial electric field strength, and if the electric field distribution curve is smooth in places, each insulator is normal, and if the electric field distribution curve is concave, the insulator corresponding to the concave place is degraded.
In order to avoid the influence of shaking on detection, the degraded insulator detection system further comprises an anti-shaking module 7, and the insulator degradation detection method further comprises the step of keeping the detector 4 to measure stably by using the anti-shaking module 7. The anti-shake module 7 comprises an inertia measurement unit 71, an anti-shake resolving unit 72 and a fine tuning motor 73; the inertia measurement unit 71 measures the jitter parameters of the detector 4 in real time and transmits the jitter parameters to the anti-jitter calculating unit 72; the anti-shake calculation unit 72 calculates shake reverse offset according to the shake parameters, and drives the fine adjustment motor 73 to move on the connecting rod 2 according to the shake reverse offset. The anti-shake calculation unit 72 in the present invention calculates shake reverse bias by using a kalman filter method according to the shake parameters.
The present invention is not limited to the above-described embodiments, and it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements are also considered to be within the scope of the present invention. Those not described in detail in this specification are within the skill of the art.
Claims (8)
1. The utility model provides a degradation insulator detecting system based on unmanned aerial vehicle for detect the degradation condition of each insulator in the insulator chain, its characterized in that includes:
a guide housing; the guide cover is made of insulating materials, the middle part of the guide cover is tightly attached to the surface of the insulator to be tested, and a guide angle is arranged at the edge of the cover body;
a connecting rod fixed on the guide cover;
the unmanned aerial vehicle is fixed on the connecting rod and used for driving the guide cover to move up and down along the insulator string;
the detector is fixed on the guide cover and comprises an electric field sensor and a photoelectric sensor, the electric field sensor is used for measuring the axial electric field intensity of the insulator string, and the photoelectric sensor is used for positioning and collecting the position information of the degraded insulator detection system on the insulator string; the wireless transmission module comprises a measuring end wireless transceiving unit and a ground end wireless transceiving unit, the measuring end wireless transceiving unit is arranged on the detector, and the measuring end wireless transceiving unit is used for sending the axial electric field intensity and the position information to the ground end wireless transceiving unit; and
the guide cover is also provided with a photoelectric sensor trigger port, and the photoelectric sensor positions the position information of the degraded insulator detection system on the insulator string through the light intensity of the photoelectric sensor trigger port; the photoelectric sensor is used for triggering the detector to record the current electric field intensity when the positions of the detector and the insulator meet a threshold range;
the electric field analysis module is connected with the ground end wireless transceiving unit, establishes an electric field distribution curve of the insulator string according to the axial electric field strength and the position information, and analyzes whether a degraded insulator exists according to the electric field distribution curve;
the anti-shake module comprises an inertia measurement unit, an anti-shake resolving unit and a fine tuning motor; the inertial measurement unit is arranged at the joint of the guide cover and the connecting rod, the anti-shake resolving unit is connected with the fine tuning motor, the rotating shaft of the fine tuning motor is connected with the connecting rod, the anti-shake resolving unit and the fine tuning motor are positioned on one side of the unmanned aerial vehicle, which is far away from the guide cover, and the inertial measurement unit is used for detecting shake parameters of the detector and transmitting the shake parameters to the anti-shake resolving unit; the anti-shake resolving unit calculates shake reverse bias according to the shake parameters and drives the fine tuning motor to move on the connecting rod according to the shake reverse bias.
2. The degraded insulator detection system based on unmanned aerial vehicle of claim 1, wherein: the electric field sensor is a capacitive alternating electric field sensor.
3. A method for detecting deterioration of insulator, the method being based on the system for detecting deteriorated insulator based on unmanned aerial vehicle as claimed in claim 1, wherein the method comprises the following steps:
the unmanned aerial vehicle drives the guide cover to move up and down along the insulator string;
the photoelectric sensor positions and collects the position information of the degraded insulator detection system on the insulator string, and the electric field sensor measures the axial electric field intensity of the insulator string in real time;
the measuring end wireless transmitting and receiving unit transmits axial electric field intensity and position information to the ground end wireless transmitting and receiving unit;
and the electric field analysis module establishes an electric field distribution curve of the insulator string according to the axial electric field intensity and the position information, and analyzes whether the degraded insulator exists or not according to the electric field distribution curve.
4. A method of detecting deterioration of an insulator according to claim 3, wherein: and numbering each insulator of the insulator string, and positioning the position information of the degraded insulator detection system on the insulator string by the photoelectric sensor according to the numbering of the insulators.
5. A method of detecting deterioration of an insulator according to claim 3, wherein: the electric field analysis module is used for establishing an electric field distribution curve of the insulator string according to the fact that the abscissa is the insulator number, the ordinate is the real-time axial electric field strength, if the electric field distribution curve is smooth in position, each insulator is normal, and if the electric field distribution curve is sunken, the insulator corresponding to the sunken position is degraded.
6. A method of detecting deterioration of an insulator according to claim 3, wherein: the deteriorated insulator detection system further comprises an anti-shake module, and the method further comprises the step of keeping the measurement of the detector stable by using the anti-shake module.
7. The method of detecting insulator degradation according to claim 6, wherein: the anti-shake module comprises an inertia measurement unit, an anti-shake resolving unit and a fine tuning motor;
the inertia measurement unit measures the jitter parameters of the detector in real time and transmits the jitter parameters to the anti-jitter resolving unit;
the anti-shake resolving unit calculates shake reverse bias according to the shake parameters and drives the fine tuning motor to move on the connecting rod according to the shake reverse bias.
8. A method of detecting deterioration of an insulator according to claim 7, wherein: and the anti-shake resolving unit calculates shake reverse bias by adopting a Kalman filtering method according to the shake parameters.
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| CN106226665A (en) * | 2016-08-30 | 2016-12-14 | 武汉科迪奥电力科技有限公司 | High-voltage transmission line insulator distributed electric field detector and detecting system |
| CN107010207A (en) * | 2017-04-19 | 2017-08-04 | 四川智航慧飞无人机科技有限公司 | Automatic balancing bracket for balancing unmanned plane during flying state |
| CN106950483A (en) * | 2017-05-15 | 2017-07-14 | 吕军杰 | The method and device of unmanned machine testing ultra-high-tension power transmission line null value porcelain insulator |
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Effective date of registration: 20210827 Address after: 536000 27 Beibu Wan Road, Beihai, the Guangxi Zhuang Autonomous Region Patentee after: BEIHAI POWER SUPPLY BUREAU OF GUANGXI POWER GRID Co.,Ltd. Address before: 536000 27 Beibu Wan Road, Beihai, the Guangxi Zhuang Autonomous Region Patentee before: BEIHAI POWER SUPPLY BUREAU OF GUANGXI POWER GRID Co.,Ltd. Patentee before: WUHAN JIAMING KAIER ELECTRICAL TECHNOLOGY DEVELOPMENT Co.,Ltd. |