CN108590983A - A kind of wind turbine typhoon protection active guard method and protection system - Google Patents
A kind of wind turbine typhoon protection active guard method and protection system Download PDFInfo
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- CN108590983A CN108590983A CN201810263138.9A CN201810263138A CN108590983A CN 108590983 A CN108590983 A CN 108590983A CN 201810263138 A CN201810263138 A CN 201810263138A CN 108590983 A CN108590983 A CN 108590983A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The invention discloses a kind of wind turbine typhoon protection active guard method and protection systems; this method is by fan blade or blade interconnecting piece presets blast cutting device; and fan operation state is monitored in real time; with when wind power generation blower fan is in setting wind environment; demolition set self-cocking action forms the protection of the active to wind-power electricity generation host to cut away part or full wafer fan blade；Meanwhile location tracking and search also are carried out to the blade of explosion excision, with recycling；It is preferred that self-rescue system also is arranged by the blade-section in blast cutting, value and raising tracking efficiency are recycled to improve.Protection system has the structure for realizing aforementioned guard method.The invention has the advantages that when wind turbine is in setting wind environment, the main part of the force of blast cutting fan blade reduces or eliminates host and destroys hidden danger, and purpose is actively protected in realization.Protection system provides powerful guarantee for guard method.
Description
Technical field
The present invention relates to a kind of discretionary protection technology of wind power generation blower fan, especially a kind of wind turbine typhoon protection is actively protected
Method and protective device.
Background technology
In order to make full use of marine and coastal wind field resource, the Pacific rims such as coastal area of southeastern China to create a large amount of seas
Upper and coastal wind power plant, but these areas are susceptible to the invasion of the extreme weathers such as tropical cyclone.Typhoon weather, extreme value
Wind speed is big, wind vector is rapid, turbulent flow is abnormal, is destroyed to wind turbine very big.It is flat that in March, 2003 typhoon " Erica " invades South Pacific
Foreign island country New Caledonia causes 20 Fans of Plum wind fields to damage or partly damage；On August 10th, 2006, typhoon " Sang Mei "
Zhejiang Province is logged in, mountain breeze electric field 28 Wind turbines in Cangnan Heding are all impaired, wherein 5 collapse, suffer heavy losses；2014 7
Months 18 days, typhoon " Wilson's " attacked warrier's wind power plant, and in 33 wind-driven generators, 18 by typhoon smashed.
Domestic scientific research staff has carried out largely researching and analysing in the mechanism of action that typhoon destroys wind turbine.There is text
It offers and thinks, typhoon includes to the destruction of wind turbine：1. structure is destroyed, extreme wind speeds act on wind load and wind speed on Wind turbines
Square directly proportional, when it is more than the design value of structural strength, yield failure occurs for structural material.2. blade torsional oscillation, typhoon mistake
Abnormal turbulent flow in journey causes wind-powered electricity generation machine vibration, section components and structural failure.3. equipment is out of control, wind wheel is acted in strong turbulence
Under, irregular torsional oscillation occurs for blade, and connecting lever and the holder fracture of blade pitch device, blade angle is out of control, brushes lower wind wheel in typhoon
With brake high speed rotation, brake disc is red by brake disc and clamp burning with brake callipers friction generation high temperature, eventually leads to brake
Disk is because of explosive spalling.
IEC61400 standards and GL guides are the mainstay Valuation Standards about wind power generating set in the world, use for reference with
Upper design verification standard, country variant have also worked out respective wind power generating set design standard, Chinese wind power generating set
Design national standard (GB/T18451.1).However, the object that IEC61400 and GL is investigated is European wind field environment, due to Europe
Seldom extreme weather is influenced caused by by this tropical cyclone phenomenon of typhoon, so there is no to Anti-Typhoon design for above-mentioned standard
Foundation and reference are provided.2005, under the support of European Union, the state of Association of South-east Asian Nations such as national Danish energy laboratory and Philippine, Vietnam
Family has carried out the research project of entitled " EU-ASEAN wind project ", and research takes place frequently regional development in above-mentioned national typhoon
The engineering feasibility and countermeasure of wind-powered electricity generation.The project conclusion is：1. in the case where ensureing supply of electric power, the yaw system of Wind turbines
System can keep up with the variation of typhoon wind direction；2. keeping the security requirement consistent with IEC 61400-1, unit cost will be caused
Increase 20%-30%；3. in order to which economy is more preferable, Wind turbines are destroyed in rare Super Typhoon to be received.
Based on above-mentioned standard, for the more typhoon climates in China's Coastal Areas, domestic practitioner proposes fan design construction
Many new solutions are gone out.Including wind turbine in master-plan, it should be determined according to loss consequence caused by component failure
The safety coefficient of Wind turbines all parts, from the basis of Wind turbines, pylon, cabin to wheel hub and blade, safety coefficient is answered
This is from high to low.Meanwhile to calculate and design with great care the blade strength of wind turbine, it should be allowed blade is more than wind-powered electricity generation
Yield failure in the Super Typhoon of machine design wind speed avoids more serious stress to mitigate Wind turbines entirety wind load.Analysis
It was found that blade end stress is maximum, research makes tower stress be down in range of normal value using blade end is destroyed, and ensures tower
Cylinder safety.On overall control strategy, it is that reply turbulent flow and wind direction are prominent that document, which proposes and improves the control strategy of Wind turbines,
The effective means of change and the Anti-Typhoon design method of cost minimization.Including improvement mechanical brake control strategy and improvement
Yaw system control strategy.In the design and manufacture of key equipment, by improving safety coefficient and the quality of production, equipment is improved
Reliability in typhoon.Also document proposition is more prone to typhoon protection measure in the early warning to typhoon and running of wind generating set
Deng.
China's Coastal Areas typhoon climate complicated condition, existing passive counter-measure simultaneously not operatively ensure wind turbine peace
Entirely.There is wind turbine to suffer the message that typhoon destroys when in recent years still.For this reason, it may be necessary to a kind of offshore wind turbine typhoon protection active protective system,
To improve wind turbine typhoon protection ability, wind power plant is reduced by the loss after typhoon, it is ensured that wind power plant is long-term, stable operation produces.
Invention content
The first object of the present invention provides a kind of wind turbine typhoon protection active protection side aiming at the deficiencies in the prior art
Method, this method utilize Explosive Cutting Technique, when wind turbine is in setting wind environment, the main stress of blast cutting fan blade
Part reduces or eliminates destruction of the ambient wind to fan main body, achievees the purpose that active protected host.The second mesh of the present invention
Be to provide a kind of wind turbine typhoon protection active protective system, the system include the blast cutting device being arranged on fan blade and
Real-time monitoring system, when wind turbine is in setting wind environment, blast cutting device is ignited, by fan section or integrated plate blade
Explosion excision, realizes the purpose for actively protecting wind turbine host, reduces extreme climate and is lost caused by wind power plant.
To realize that the first purpose, the present invention adopt the following technical scheme that.
A kind of wind turbine typhoon protection active guard method, this method is by fan blade or the default explosion of blade interconnecting piece
Cutter device, and fan operation state is monitored in real time, when wind power generation blower fan is in setting wind environment, to explode
Cutter device self-cocking action forms the protection of the active to wind-power electricity generation host to cut away part or full wafer fan blade.
Using the guard method of the present invention of preceding solution, pass through cut-out or the full wafer wind of exploding under setting condition
Machine blade reduces influence of the wind-force to host, reaches and actively protect purpose to what wind-power electricity generation host was formed.The key of this method
Point is to cut off the main part of the force of fan blade so that entire Wind turbines stress is down to the range that can be born, it is ensured that wind turbine is not
It is destroyed.It is similar to, and the urgent flood discharge section of local dam break is designed on dam, with when meeting with extraodinary flood dangerous situation, part is burst
Dam flood discharge, it is ensured that entire dam body is firm.Local dam break is based on " making minor sacrifices to safeguard major interests ", " doing less harm " theory, by relatively small number of
Loss, it is ensured that situation does not deteriorate further.And the measure cut off is to utilize Explosive Cutting Technique, and Explosive Cutting Technique exists at present
Other field has been that a mature technology is widely used.
Explosive Cutting Technique be it is a kind of explosive device is fastened directly on the component cut, using explosive contact it is quick-fried
It completes to cut with the shearing work of crunch or high temperature pressure is generated on component face in explosive under the conditions of fried, its main feature is that saving
When and it is simple and practicable.Currently, multistep rocket is exactly to be cut off separation using this blast cutting device.From 1888
Since C.E.Munroe is found that " Monroe effect " without cavity liner for the first time, scholars systematically have studied beehive-shaped charge
(Shaped Charge) fluidic vectoring thrust mechanism, and be widely used in military field, for carrying out various breakdown operations,
Such as the destruction of large bridge, important building object.In blast working for the purpose of by engineering construction, such as oil exploitation, pan soil
Or quickly perforation etc. is also widely applied in frozen soil.The external explosion that Explosive Cutting Technique is applied to steel construction is torn open
It removes, it can accurately control disintegration mode and collapse direction.South Africa JetDemolitionLtd is successfully torn open using jet cutter
In addition to a variety of large-scale steel structure buildings；Setting for the power stations Tallawarra has been removed using On Linear Shaped Charge in the U.S. in 1992
It is standby；Dykon companies of the U.S. have successfully removed the steel construction reaction tower etc. of an oil plant using cumulative blasting blasting technique.With
The rapid development of Chinese national economy construction, and Explosive Cutting Technique is over recent decades year, space flight and aviation, ocean in China
Oil field, geological prospecting, steel construction construction of structures demolition blasting, the cutting of band large-scale metal component, explosion-proof anti-terrorism, the ice-breaking of extremely cold area
Equal fields are using more and more extensive.
This method is before implementation, and by computer simulation, mode is carried out to stress, the maximum displacement deflection of blower fan pylon
Analysis, establishes the pass of the blower fan tower barrel stress damage model and blade operating status under different wind speed and direction sudden change conditions
System, determines the maximum wind velocity that blower fan tower barrel can be born.In wind turbine actual moving process, draught fan automatic control system is according to wind turbine
Whether the wind speed and wind direction situation that wind measuring system monitors in real time, comprehensive descision start the detonation of blast cutting device and carry out active guarantor
Shield.
Preferably, the method further include using cut away distress signal that partial blade is sent out to the blade that is cut away into
Row tracking.To be recycled to the blades withdraw of excision, casualty loss is further decreased.
It is further preferred that the distress signal includes one in radio magnetic wave signal, acoustic signals and lightwave signal
Kind or two or more combinations.Existing track and localization technology is made full use of with logical, realizes that purpose is searched in tracking, improves and search tracking
Convenience, agility and reliability.
Preferably, the method further includes self-help apparatus being preset on the blade cut away, and discharge by delayed exploding.
It is fried part crash, damage hidden danger after isolation to reduce blade, improves the value being used again.
It is further preferred that the self-help apparatus include one or both of parachute, air bag and floating material with
On combination.To utilize existing slow drop technology, speed of falling is reduced, reduction, which is fallen, damages hidden danger；And air bag and floating material
It is more suitable for marine environment, such as marine wind electric field, coastal wind power plant, the blade that can effectively avoid excision sink to the bottom of the sea and be difficult to
It searches, reduces and search difficulty and search cost.
To realize that the second purpose, the present invention adopt the following technical scheme that.
A kind of wind turbine typhoon protection active protective system, including signal system, initiation system, blast cutting system；
The signal system：Including signal gathering unit, signal processing unit and signal transmitting unit, signal gathering unit
For acquiring wind-force signal and blower fan pylon status signal；Signal processing unit is according to collected wind-force signal and blower fan pylon
Status signal carries out calculating analysis and initiation conditions judge；Signal transmitting unit is used to send detonation letter when meeting initiation conditions
Number；
The initiation system：Including time break collecting unit and trigger element is ignited, time break collecting unit is used for
Detonator signal is received, trigger element is ignited and the blast cutting system is ignited according to detonator signal；
The blast cutting system：The fan blade at after-explosion cutting setting position is ignited by initiation system.
Using the protection system of the present invention of preceding solution, collected by signal system, calculate analysis wind-force signal and
Blower fan pylon signal, and judge initiation conditions, when reaching initiation conditions, time break is sent, and by initiation system to explosion
Diced system is ignited, to fall the main part of the force of fan blade by diced system blast cutting.Make entire Wind turbines
Stress is down to the range that can be born, and reduces influence of the wind-force to host, it is ensured that wind turbine is not destroyed, and is reached to wind-power electricity generation master
What machine was formed actively protects purpose.The information system of this programme should answer blower fan pylon by computer simulation before foundation
Power, maximum displacement deflection carry out model analysis, to establish the blower fan tower barrel stress under different wind speed and direction sudden change conditions
The relationship of state damage model and blade operating status determines the maximum wind velocity that blower fan tower barrel can be born.Wind turbine actual motion
In the process, whether the wind speed and wind direction situation, comprehensive descision that information system monitors in real time according to wind turbine wind measuring system start explosion
Cutter device detonates and carries out active protection.
Preferably, the active protective system further includes location tracking system；The signal system further includes being located at explosion
Subsystem occurs for distress signal on the fan blade cut away, and at the distress signal for acquiring and handling distress signal
Unit is managed, location tracking system carries out location tracking by distress signal.To be carried out by the fan blade fallen to blast cutting
Positioning, tracking and search, so as to recycling.
It is further preferred that the distress signal include one kind in electromagnetic wave signal, acoustic signals and lightwave signal or
Two or more combinations.Existing track and localization technology is made full use of with logical, realizes that purpose is searched in tracking, improves the side for searching tracking
Just property, agility and reliability.
Preferably, further include the self-help apparatus being hidden in inside the fan blade that blast cutting falls；The initiation system is also
Cause the initiating unit of saving oneself that self-help apparatus starts including delay.Fried part crash, damage after isolation to reduce blade
Hidden danger improves the value being used again.
It is further preferred that the self-help apparatus is by one or more of parachute, air bag and floating material
Combination is formed.To utilize existing slow drop technology, speed of falling is reduced, mitigation, which is fallen, damages hidden danger；And air bag and floating material
It is more suitable for marine environment, such as marine wind electric field, coastal wind power plant, the blade that can effectively avoid excision sink to the bottom of the sea and be difficult to
It searches, reduces and search difficulty and search cost.Wherein, Drones for surveillance also can be used in tracking search means.
The invention has the advantages that active guard method utilizes Explosive Cutting Technique, setting wind-force ring is in wind turbine
When border, the main part of the force of blast cutting fan blade reduces or eliminates destruction of the ambient wind to fan main body, reaches main
The purpose of dynamic protected host.Protection system has the structure for realizing aforementioned guard method, and powerful guarantee is provided for guard method.
Description of the drawings
Fig. 1 is the structural schematic diagram of active protective system of the present invention；This figure is additionally operable to illustrate active guard method.
Specific implementation mode
The present invention will be further described below with reference to the drawings, but does not therefore limit the present invention to the implementation
Among example range.
Embodiment 1, referring to Fig. 1, a kind of wind turbine typhoon protection active guard method, this method is by fan blade or leaf
Piece interconnecting piece presets blast cutting device, and is monitored in real time to fan operation state, is set with being in wind power generation blower fan
When determining wind environment, blast cutting device self-cocking action is formed with cutting away part or full wafer fan blade to wind-power electricity generation
The active of host is protected.
The method further include using cut away the distress signal that partial blade is sent out the blade cut away is positioned,
Tracking and search；Wherein, distress signal include one or both of radio magnetic wave signal, acoustic signals and lightwave signal with
On combination；Search means include Drones for surveillance.
The method further includes self-help apparatus being preset on the blade cut away, and discharge by delayed exploding.Wherein, certainly
Rescue the combination that device includes one or more of parachute, air bag and floating material.
Embodiment 2, referring to Fig. 1, a kind of wind turbine typhoon protection active protective system, including it is signal system 1, initiation system 2, quick-fried
Fried diced system 3 and location tracking system 4；
The signal system：Including signal gathering unit, signal processing unit and signal transmitting unit, signal gathering unit
For acquiring wind-force signal and blower fan pylon status signal, and open quick-fried feedback signal；Signal processing unit is according to collected
Wind-force signal and blower fan pylon status signal carry out calculating analysis and initiation conditions judge；Signal transmitting unit is for meeting
Time break is sent when quick-fried condition；
The initiation system：Including time break collecting unit and trigger element is ignited, time break collecting unit is used for
Detonator signal is received, trigger element is ignited and the blast cutting system is ignited according to detonator signal；
The blast cutting system：The fan blade at after-explosion cutting setting position is ignited by initiation system.
The location tracking system；It positioned, tracked and is searched for the fan blade by blast cutting
Wherein, signal system further includes that subsystem occurs for the distress signal being located on the fan blade that blast cutting falls, with
And the distress signal processing unit for acquiring and handling distress signal, location tracking system is by distress signal to blast cutting
The fan blade fallen is positioned, tracked and is searched.Distress signal includes in electromagnetic wave signal, acoustic signals and lightwave signal
A combination of one or more.
Active protective system further includes the self-help apparatus being hidden in inside the fan blade that blast cutting falls；Initiation system is also
Cause the initiating unit of saving oneself that self-help apparatus starts including delay.Wherein, self-help apparatus is by parachute, air bag and floating material
One or more of combination formed；Drones for surveillance also can be used in tracking search means.
In the present embodiment, initiation system receives the time break (shutoff signal) that draught fan automatic control system is sent out, automatically
Activate initiation system work.Initiation system includes information acquisition system, triggering flare system and delay triggering self-rescue system.
Information acquisition system is acquired by position identification and data, and Auto-matching leaf position is closed with corresponding initiation system
System.Triggering flare system has triggering flare system and prepares and control the construction of flare system detonation function, triggers blasting system
It includes data transmission, Function detection and authority checking to prepare basic function, and the detonation of controlled blasting system includes initiation control sum number
According to transfer function.When triggering flare system preparatory function after setting completed, first corresponding detonation is provided in man machine operation interface and prompted
(color, sound or light) and manually boot flare system detonation function；If without manual operation, when by the way that certain start-up operation is arranged
Between, system will start flare system detonation function automatically, and record and return blast information, and aforesaid operations can be safe and reliable convenient
Control flare system.
Delay triggering self-rescue system further includes precision calibration and delay Trigger Function on above-mentioned basic function, passes through the time
Formula calculates and the setting of online delay time, and triggering release self-help apparatus, reduces fragment pair after guarantee blade separation falls into the water
The damage of inhering architecture, structures.Triggering flare system and delay triggering system trigger while being arranged simultaneously preparation, simultaneously
Start.Multiple initiation systems are used cooperatively by master-slave mode, combining information acquisition system, form two-step evolution structure, can be full
The demand of sufficient scale flare system.Initiation system can be powered by wind turbine stand-by power supply.
Blast cutting system：Based on different blast cutting modes, blasting bolt and energy-gathering device can be divided into.According to difference
Blade construction, the solution of series products of development；Using ANSYS/LS-DYNA finite element analysis softwares, establishes and be based on different leaves
The three-dimensional blasting bolt and energy-gathering device model of chip architecture, by the inside of simulated explosion bolt and energy-gathering device cut structure and
Explosive payload analyzes the destructive process and damage -form of blade, so that it is determined that being suitble to the blast cutting system of different leaves structure.
Using Abaqus finite element analysis softwares, the force analysis model of various types blade is established, determines blade maximum
Whole stressing conditions behind force part and cut-out, judge monoblock type or sectional-type blade cutting position, default or in-site installation
Flare system.After initiation system detonation, flare system is ignited, cuts off fan blade.
Location tracking system and self-help apparatus：After blade separation, by automatically delaying system, oneself in separate section is excited
Device is rescued, to form slow drop or at sea form a Chinese red buoy, and the positioning system preset with fan blade separate section
Unify, assists later stage recycling.Land Wind turbines are not required to setting floating material.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be in the protection domain being defined in the patent claims.
Claims (10)
1. a kind of wind turbine typhoon protection active guard method, which is characterized in that this method by fan blade or blade connect
Portion presets blast cutting device, and is monitored in real time to fan operation state, to be in setting wind-force in wind power generation blower fan
When environment, demolition set self-cocking action forms the active to wind-power electricity generation host to cut away part or full wafer fan blade
Protection.
2. wind turbine typhoon protection active guard method according to claim 1, which is characterized in that further include utilizing to cut away part
The distress signal that blade is sent out is tracked the blade cut away.
3. wind turbine typhoon protection active guard method according to claim 2, which is characterized in that the distress signal includes nothing
The combination of one or more of line electromagnetic wave signal, acoustic signals and lightwave signal.
4. wind turbine typhoon protection active guard method described in any one of claim 1 to 3, which is characterized in that further include
Self-help apparatus is preset on the blade cut away, and is discharged by delayed exploding.
5. wind turbine typhoon protection active guard method according to claim 4, which is characterized in that the self-help apparatus includes drop
Fall the combination of one or more of umbrella, air bag and floating material.
6. a kind of wind turbine typhoon protection active protective system, which is characterized in that including signal system, initiation system, blast cutting system
System；
The signal system：Including signal gathering unit, signal processing unit and signal transmitting unit, signal gathering unit is used for
Acquire wind-force signal and blower fan pylon status signal；Signal processing unit is according to collected wind-force signal and blower fan pylon state
Signal carries out calculating analysis and initiation conditions judge, signal transmitting unit is for sending time break when meeting initiation conditions；
The initiation system：Including time break collecting unit and trigger element is ignited, time break collecting unit is for receiving
Detonator signal ignites trigger element and ignites the blast cutting system according to detonator signal；
The blast cutting system：The fan blade at after-explosion cutting setting position is ignited by initiation system.
7. wind turbine typhoon protection active protective system according to claim 6, which is characterized in that further include location tracking system
System；The signal system further includes that subsystem occurs for the distress signal being located on the fan blade that blast cutting falls, and is used for
The distress signal processing unit of acquisition and processing distress signal, location tracking system carry out location tracking by distress signal.
8. wind turbine typhoon protection active protective system according to claim 7, which is characterized in that the distress signal includes electricity
The combination of one or more of magnetostatic wave signal, acoustic signals and lightwave signal.
9. wind turbine typhoon protection active protective system according to claim 8, which is characterized in that further include being hidden in explosion to cut
The self-help apparatus inside fan blade sliced off；The initiation system further includes that delay causes the detonation of saving oneself that self-help apparatus starts
Unit.
10. wind turbine typhoon protection active protective system according to claim 9, which is characterized in that the self-help apparatus is by dropping
The combination of one or more of umbrella, air bag and floating material is fallen to be formed.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111127868A (en) * | 2019-12-27 | 2020-05-08 | 中国船舶重工集团有限公司第七一0研究所 | Remote high-reliability underwater sound remote control detonating device |
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Application publication date: 20180928 |