CN111327009B - Intelligent rotary deicing robot based on multi-rotor aircraft and deicing method thereof - Google Patents
Intelligent rotary deicing robot based on multi-rotor aircraft and deicing method thereof Download PDFInfo
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- CN111327009B CN111327009B CN202010123308.0A CN202010123308A CN111327009B CN 111327009 B CN111327009 B CN 111327009B CN 202010123308 A CN202010123308 A CN 202010123308A CN 111327009 B CN111327009 B CN 111327009B
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- deicing
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent rotary deicing robot based on a multi-rotor aircraft, which comprises the multi-rotor aircraft and a deicing manipulator, wherein the deicing manipulator is positioned under the multi-rotor aircraft and is connected through a fixed rod; a method of deicing comprising the steps of: initializing; judging whether the image sensor finds a target or not; judging whether the target is positioned in the center of the sight line of the image sensor; and carrying out rotary deicing on the target until the deicing is finished. Under the condition that the position of the laser is not changed, the laser is wound to each corner on the cable, so that the cable can be thoroughly deiced, the structure is unique and simple, and the efficiency is high.
Description
Technical Field
The invention belongs to the field of cable deicing, and particularly relates to an intelligent rotary deicing robot based on a multi-rotor aircraft and a deicing method thereof.
Background
At present, the cable conductor is because exposing for a long time outdoors, freezes very easily in sleet weather, and freezes for a long time and causes the cable conductor age to lose easily to overweight ice can lead to the cable conductor overweight, and the cable conductor can be pressed and absolutely wait the serious destruction condition. To avoid the above consequences we need to de-ice the cable. Because the cable conductor hangs in the high altitude, artificial deicing is not realistic.
The invention patent with application publication number CN104810775A discloses an automatic four-rotor laser deicing device for inductive power taking of a high-voltage transmission line, which comprises a machine body, wherein a first rotor, a second rotor, a third rotor and a fourth rotor are symmetrically installed at the front end and the rear end of the machine body, the rotors are respectively connected with a brushless direct current motor, and the brushless direct current motor is respectively connected with a motor speed regulator; the motor speed controllers are all connected with the flight controller; the driving power supply is powered by a power supply PT through a high-voltage line; the semiconductor laser is positioned below the machine body and is connected with the machine body through a controllable universal joint, the controllable universal joint is connected with the flight controller, and a semiconductor laser switch is connected with the flight controller; the angular velocity sensor and the angle sensor are respectively connected with the flight controller. The high-voltage power transmission line deicing device is simple in structure, stable in flight, low in cost and capable of achieving automatic deicing and manual control deicing of the high-voltage power transmission line, and the position of the deicing device and the position of the semiconductor laser need to be changed simultaneously when the cable is deiced for 360 degrees, so that the high-voltage power transmission line deicing device is inconvenient.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems in the prior art, the invention discloses an intelligent rotary deicing robot based on a multi-rotor aircraft and a deicing method thereof.
The technical scheme is as follows: the invention adopts the following technical scheme: an intelligent rotary deicing robot based on a multi-rotor aircraft is characterized by comprising the multi-rotor aircraft and a deicing manipulator, wherein the deicing manipulator is positioned right below the multi-rotor aircraft and is connected through a fixing rod;
the deicing manipulator comprises a vertical bottom plate arranged below a fixed rod, wherein a solenoid is arranged on one side of the bottom plate, a first image sensor and a second image sensor are arranged on the other side of the bottom plate, the solenoid is communicated with alternating current, a plurality of fixed pulleys are arranged at two ends of the solenoid, a circular arc-shaped rotary rod is arranged in the solenoid, the rotary rod can perform rotary motion under the positioning of the fixed pulleys, a permanent magnet is embedded in the rotary rod, a left limit bolt and a right limit bolt are arranged at two ends of the rotary rod, a first laser is arranged on one side of the left limit bolt, and a second laser is arranged on one side of the right limit bolt.
Preferably, the laser light emitted by the first laser and the laser light emitted by the second laser both pass through the circle center of the circular arc line where the center axis of the rotating rod is located.
Preferably, the first laser and the second laser emit laser beams with an included angle in a range of (150 °, 210 °).
Preferably, the line of sight of the first and second image sensors intersects at a target center point.
Preferably, a connection line between the intersection point of the sight lines of the first image sensor and the second image sensor and the center of the circular arc line is perpendicular to the plane where the circular arc line is located.
Preferably, many rotor crafts includes the frame, set up control module, GPS module and rotor in the frame, a brushless motor is connected respectively to the rotor, a motor speed regulator is connected respectively to brushless motor.
Preferably, the deicing robot is used for deicing the cable, and the line of sight of the first image sensor and the second image sensor intersects at the center point of the cable.
A deicing method of an intelligent rotary deicing robot based on a multi-rotor aircraft is characterized by comprising the following steps:
step A, initializing a deicing robot, and taking off a multi-rotor aircraft;
b, judging whether the image sensor finds a target or not, if not, adjusting the position of the multi-rotor aircraft, executing the step B again, and if so, turning to the step C;
step C, judging whether the target is located in the center of the visual line of the image sensor, if not, adjusting the position of the multi-rotor aircraft, executing the step C again, and if so, turning to the step D;
d, turning on a laser, electrifying a solenoid, carrying out rotary motion of a rotary rod to deice the target, and storing the current GPS data;
step E, in the forward process of the multi-rotor aircraft, repeating the step C and the step D until the deicing is finished;
and F, turning off the laser, powering off the solenoid, returning the rotary rod, and returning the multi-rotor aircraft to land.
Has the advantages that: according to the deicing robot, the deicing manipulator is combined with the multi-rotor aircraft to realize multi-angle and multi-azimuth deicing of the cable, the cable is positioned through the two image sensors, laser is diffracted to the cable back and forth through the deicing manipulator under the condition that the position of the deicing robot is not changed, the laser irradiates each corner of the cable to the greatest extent, ice blocks on the cable can be thoroughly removed, the deicing is thorough, the multi-rotor aircraft can thoroughly deice the cable as long as one-time circulation is completed, the structure is unique and simple, and the efficiency is high.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic front view of the present invention;
FIG. 3 is a schematic view of the backside structure of the present invention;
FIG. 4 is a schematic illustration of the deicing back of the present invention;
FIG. 5 is a schematic side view of the present invention for deicing;
FIG. 6 is a schematic diagram of the present invention in exploded form 1;
FIG. 7 is a schematic illustration of the present invention in exploded form 2;
FIG. 8 is a schematic illustration of the deicing circuit of the present invention 1;
FIG. 9 is a schematic illustration of the deicing convolution of the present invention 2;
FIG. 10 is a schematic illustration of the deicing convolution of the present invention 3;
FIG. 11 is a block diagram of a control circuit according to the present invention;
FIG. 12 is a flowchart of the present invention process;
the multi-rotor aircraft deicing system comprises a multi-rotor aircraft 1, a deicing manipulator 2, a cable 3, a rack 4, a brushless motor 5, a motor speed regulator 6, a control module 7, a GPS module 8, a fixing rod 9, a bottom plate 10, a fixed pulley 11, a solenoid 12, a rotary rod 13, a permanent magnet 14, a left limiting bolt 15, a right limiting bolt 16, a first laser 17, a second laser 18, a first image sensor 19, a second image sensor 20 and an arc line 21.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The invention discloses an intelligent rotary deicing robot based on a multi-rotor aircraft, which can be used for deicing cables, and comprises a multi-rotor aircraft 1 and a deicing manipulator 2, wherein the deicing manipulator 2 is positioned under the multi-rotor aircraft 1 and is connected through a fixing rod 9, as shown in figure 1.
As shown in fig. 2, the multi-rotor aircraft 1 includes a frame 4, a control module 7, a GPS module 8 and rotors are disposed on the frame 4, each rotor is connected to a brushless motor 5, and each brushless motor 5 is connected to a motor speed regulator 6.
The deicing robot 2 includes a base plate 10, a fixed pulley 11, a solenoid 12, a turnabout rod 13, a permanent magnet 14, a left limit bolt 15, a right limit bolt 16, a first laser 17, a second laser 18, a first image sensor 19, and a second image sensor 20.
Wherein, a vertical bottom plate 10 is arranged below the fixed rod 9, one side of the bottom plate 10 is provided with a solenoid 12, the solenoid 12 is hollow, and two ends of the solenoid 12 are provided with a plurality of fixed pulleys 11; the rotary rod 13 is arc-shaped, the central line thereof is arc line 21, the center of the arc line 21 is O, as shown in fig. 7 and 10, the permanent magnet 14 is embedded in a certain section in the middle of the rotary rod 13 to form a complete and smooth rotary rod 13, and the rotary rod 13 can be just inserted into the solenoid 12, and the rotary rod 13 can freely perform rotary motion under the positioning of the fixed pulley 11.
The two ends of the swiveling lever 13 are further provided with a left limit bolt 15 and a right limit bolt 16 for limiting the position of the swiveling lever 13 during swiveling motion so as to avoid swiveling. A first laser 17 is arranged on one side of the left limit bolt 15, a second laser 18 is arranged on one side of the right limit bolt 16, laser light rays emitted by the first laser 17 and the second laser 18 pass through a circle center O of an arc line 21 where the rotating rod 13 is located, an included angle formed by the laser light rays is theta, the range is 150 degrees and more than theta and less than 210 degrees, in the embodiment, the theta is 180 degrees, namely the first laser 17 and the second laser 18 are in a correlation state, and when the rotating rod 13 rotates, laser light emitted by the first laser 17 and the second laser 18 always irradiates the circle center O of the semicircle of the rotating rod 13, as shown in fig. 7-10.
The solenoid 12 is used to generate a magnetic field, and the driving current applied thereto is an alternating current, which enables the solenoid 12 to generate a magnetic field that varies periodically in magnitude and direction. The magnetic field acts on the magnetic field of the permanent magnet 14, and due to repulsion of like poles and attraction of unlike poles, the magnetic field generated by the solenoid 12 changes back and forth, so that the force applied to the cyclic rod 13 changes back and forth, and finally the cyclic rod 13 performs periodic cyclic motion around the center O. The rotary motion can make the laser spots emitted by the first laser 17 and the second laser 18 move on the cable 3, so that multi-directional and multi-angle deicing is realized.
As shown in fig. 3 to 5, the back of the bottom plate 10 is further provided with a first image sensor 19 and a second image sensor 20, the viewing angle direction of the first image sensor 19 is vertically downward, the viewing angle direction of the second image sensor 20 is horizontally leftward and respectively points to the cable 3, the viewing angle directions of the first image sensor 19 and the second image sensor 20 intersect at an O 'point, the O' point is also the center point position of the cable 3, a connecting line between the O 'point and the O point is perpendicular to a plane where the arc line 21 is located, and the cable 3 is located on the connecting line between the O' point and the O point, as shown in fig. 5.
If the cable 3 is imaged at the central positions of the first image sensor 19 and the second image sensor 20 respectively, it indicates that the cable 3 is right at the center O of the swing arm 13 at this time, the laser spots of the first laser 17 and the second laser 18 are right directed to the cable 3 at this time, and the first laser 17 and the second laser 18 can be turned on to start deicing at this time; if the cable 3 is not imaged in the central position of the first image sensor 19 and the second image sensor 20, it is indicated that the cable 3 is not at point O, and the position of the multi-rotor aircraft should be adjusted: when the cable 3 is not imaged in the center of the first image sensor 19, the horizontal position of the multi-rotor aircraft should be adjusted so that the cable 3 is located in the center of the first image sensor 19; when the cable 3 is not imaged in the center of the second image sensor 20, the vertical position of the multi-rotor aircraft should be adjusted so that the cable 3 is centered in the second image sensor 20. The cable 3 is imaged at the central O' point of the first image sensor 19 and the second image sensor 20, respectively, which indicates that the cable 3 is at the O point, and at this time, the deicing condition is satisfied, and the first laser 17 and the second laser 18 can be turned on for deicing. During the deicing process, the multi-rotor aircraft will adjust the position of the multi-rotor aircraft in real time through the imaging conditions of the first image sensor 19 and the second image sensor 20 to ensure that the cable 3 is in the O point position in real time.
As shown in fig. 11 and 12, the deicing method of the present invention is as follows:
after the system is powered on, initialization is carried out firstly, then the multi-rotor aircraft searches for the cable 3 through the first image sensor 19 and the second image sensor 20, and after the cable 3 is found, the current position of the cable 3 is determined through the imaging conditions of the first image sensor 19 and the second image sensor 20. When the cables 3 are both imaged in the center positions of the first image sensor 19 and the second image sensor 20, it indicates that the cables 3 are currently in the O', O point position, i.e. the cables 3 are in the center position. At this point, first laser 17 and second laser 18 will be turned on, solenoid 12 is energized, cyclic rod 13 will begin to cycle, the multi-rotor aircraft advances, and laser de-icing begins.
In the laser deicing process, the multi-rotor aircraft stores the current GPS data in a storage module in real time on one hand, and on the other hand, the multi-rotor aircraft adjusts the position of the multi-rotor aircraft in real time, so that the cable 3 is positioned in the center of the first image sensor 19 and the second image sensor 20 until the deicing is finished, the first laser 17 and the second laser 18 are turned off, the rotary rod 13 returns, the solenoid 12 is powered off, and the multi-rotor aircraft returns to land.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (8)
1. The intelligent rotary deicing robot based on the multi-rotor aircraft is characterized by comprising the multi-rotor aircraft (1) and a deicing manipulator (2), wherein the deicing manipulator (2) is positioned under the multi-rotor aircraft (1) and is connected through a fixing rod (9);
the deicing manipulator (2) comprises a vertical bottom plate (10) arranged below a fixing rod (9), wherein a solenoid (12) is arranged on one side of the bottom plate (10), a first image sensor (19) and a second image sensor (20) are arranged on the other side of the bottom plate (10), alternating current is conducted through the solenoid (12), a plurality of fixed pulleys (11) are arranged at two ends of the solenoid (12), a circular arc-shaped rotary rod (13) and a rotary rod (13) can perform rotary motion under the positioning of the fixed pulleys (11) are arranged in the solenoid (12), a permanent magnet (14) is embedded into the rotary rod (13), a left limit bolt (15) and a right limit bolt (16) are arranged at two ends of the rotary rod (13), a first laser (17) is arranged on one side of the left limit bolt (15), and a second laser (18) is arranged on one side of the right limit bolt (16).
2. The intelligent rotary deicing robot based on the multi-rotor aircraft according to claim 1, wherein the laser rays emitted by the first laser (17) and the second laser (18) pass through the center of a circular arc (21) where the center axis of the rotary rod (13) is located.
3. An intelligent rotary deicing robot based on multi-rotor aircraft according to claim 2, characterized in that the laser lines emitted by said first laser (17) and said second laser (18) have an included angle in the range of (150 °, 210 °).
4. An intelligent rotary de-icing robot based on multi-rotor aircraft according to claim 2, wherein the line of sight directions of said first (19) and second (20) image sensors intersect at a target center point.
5. An intelligent rotary deicing robot based on a multi-rotor aircraft according to claim 4, characterized in that the line connecting the intersection of the line of sight of the first image sensor (19) and the second image sensor (20) and the center of the circular arc line (21) is perpendicular to the plane of the circular arc line (21).
6. An intelligent rotary deicing robot based on a multi-rotor aircraft according to claim 1, characterized in that multi-rotor aircraft (1) comprises a frame (4), control module (7), GPS module (8) and rotors are arranged on frame (4), said rotors are respectively connected with brushless motors (5), and said brushless motors (5) are respectively connected with a motor speed regulator (6).
7. An intelligent rotary deicing robot based on multi-rotor aircraft according to any one of claims 1-6, characterized in that the deicing robot is used for cable deicing, and the line of sight of the first image sensor (19) and the second image sensor (20) intersect at the center point of the cable (3).
8. A deicing method for an intelligent rotary deicing robot based on a multi-rotor aircraft according to any one of claims 1 to 6, characterized by comprising the following steps:
step A, initializing a deicing robot, and taking off a multi-rotor aircraft;
b, judging whether the first image sensor and the second image sensor both find a target, if not, adjusting the position of the multi-rotor aircraft, executing the step B again, and if so, turning to the step C;
step C, judging whether the targets are located in the centers of the visual lines of the first image sensor and the second image sensor, if not, adjusting the positions of the multi-rotor aircraft, executing the step C again, and if so, turning to the step D;
d, turning on the first laser and the second laser, electrifying the solenoid, carrying out rotary motion on the rotary rod to deice the target, and storing the current GPS data;
step E, in the forward process of the multi-rotor aircraft, repeating the step C and the step D until the deicing is finished;
and F, closing the first laser and the second laser, powering off the solenoid, returning the rotary rod, and returning the multi-rotor aircraft to land.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010123308.0A CN111327009B (en) | 2020-02-27 | 2020-02-27 | Intelligent rotary deicing robot based on multi-rotor aircraft and deicing method thereof |
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| CN202010123308.0A CN111327009B (en) | 2020-02-27 | 2020-02-27 | Intelligent rotary deicing robot based on multi-rotor aircraft and deicing method thereof |
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| CN111327009B true CN111327009B (en) | 2020-12-15 |
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| CN112018704A (en) * | 2020-09-24 | 2020-12-01 | 国网青海省电力公司海南供电公司 | Unmanned aerial vehicle laser ice-melt device |
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| JP2001091806A (en) * | 1999-09-17 | 2001-04-06 | Fujikura Ltd | Machine for winding optical cable on overhead earth- wire |
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| US5851134A (en) * | 1997-01-22 | 1998-12-22 | Ngai Keung Metal & Plastic Mfy Ltd. | Directional control device for a model vehicle |
| JP4083940B2 (en) * | 1999-10-27 | 2008-04-30 | 中部電力株式会社 | Wire inspection method and apparatus |
| CN100516767C (en) * | 2007-07-20 | 2009-07-22 | 北京工业大学 | Magnetostrictive sensor for steel stranded wire supersonic guided wave detection |
| CN201699349U (en) * | 2010-03-23 | 2011-01-05 | 王柏林 | Intelligent patrol robot |
| CN103422478B (en) * | 2013-08-27 | 2015-08-26 | 张锡华 | Energy beam ice breaking method |
| CN104218512B (en) * | 2014-09-23 | 2017-05-03 | 泉州奔立尔石化设备有限公司 | High altitude power transmission line ice scraper |
| CN105866854B (en) * | 2015-12-21 | 2018-02-27 | 国网江西省电力科学研究院 | A kind of on-line automatic laser icing of high voltage power transmission bus detects and ice melting system |
| CN107364575A (en) * | 2017-08-11 | 2017-11-21 | 金阿依舍 | A kind of flapping wing aircraft |
| CN208079387U (en) * | 2018-05-08 | 2018-11-09 | 沈川明 | A kind of high-strength magnetic ferro-aluminum boron mediant trumpet |
| CN108808549A (en) * | 2018-06-16 | 2018-11-13 | 南京理工大学 | De-icing method based on laser deicing system |
| CN209525457U (en) * | 2018-12-03 | 2019-10-22 | 北京觉醒纪科技有限公司 | Scan components and laser radar |
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| JP2001091806A (en) * | 1999-09-17 | 2001-04-06 | Fujikura Ltd | Machine for winding optical cable on overhead earth- wire |
| CN102445586A (en) * | 2011-11-08 | 2012-05-09 | 中国矿业大学 | Optical fiber sensor and method for monitoring stray currents of subway |
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Effective date of registration: 20230627 Address after: Room 1314, 13th Floor, Unit 1, Building 9, No. 76 Cuizhu Street, High tech Industrial Development Zone, Zhengzhou City, Henan Province, 450000 Patentee after: Zhengzhou Shanmei Intellectual Property Service Co.,Ltd. Address before: 1 No. 211167 Jiangsu city of Nanjing province Jiangning Science Park Hongjing Road Patentee before: NANJING INSTITUTE OF TECHNOLOGY Effective date of registration: 20230627 Address after: Room 2825, Floor 1, Building 5, No. 168, Lane 6495, Tingwei Road, Jinshan District, Shanghai, 200000 Patentee after: Runka (Shanghai) Intelligent Technology Co.,Ltd. Address before: Room 1314, 13th Floor, Unit 1, Building 9, No. 76 Cuizhu Street, High tech Industrial Development Zone, Zhengzhou City, Henan Province, 450000 Patentee before: Zhengzhou Shanmei Intellectual Property Service Co.,Ltd. |
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