CN112015191A - Device and method for spray-washing insulator of ultrahigh-voltage power transmission line - Google Patents
Device and method for spray-washing insulator of ultrahigh-voltage power transmission line Download PDFInfo
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- CN112015191A CN112015191A CN202010692034.7A CN202010692034A CN112015191A CN 112015191 A CN112015191 A CN 112015191A CN 202010692034 A CN202010692034 A CN 202010692034A CN 112015191 A CN112015191 A CN 112015191A
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- 238000005406 washing Methods 0.000 title claims abstract description 56
- 239000012212 insulator Substances 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000005540 biological transmission Effects 0.000 title claims abstract description 28
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 52
- 239000007921 spray Substances 0.000 claims abstract description 28
- 230000001105 regulatory effect Effects 0.000 claims abstract description 9
- 230000001276 controlling effect Effects 0.000 claims description 8
- 239000011159 matrix material Substances 0.000 claims description 6
- 239000000126 substance Substances 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 claims 1
- 230000008901 benefit Effects 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 238000013528 artificial neural network Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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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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- Automation & Control Theory (AREA)
- Insulators (AREA)
Abstract
The embodiment of the invention provides a device and a method for spray-washing insulators of an ultrahigh-voltage transmission line, belonging to the technical field of spray-washing of insulators of high-voltage transmission lines. The device comprises: the unmanned aerial vehicle comprises an unmanned aerial vehicle body and an airborne fixing module, wherein the airborne fixing module is arranged at the bottom of the unmanned aerial vehicle body; the water guide pipe is connected with the airborne fixed module, and the airborne fixed module can rotate to adjust the direction of the water guide pipe; the multifunctional spray washing port is connected to one end, far away from the airborne fixed module, of the water guide pipe; and the water pump pressure regulating system is arranged in the unmanned aerial vehicle and used for regulating the pressure of water flow. The device and the method can overcome the problem of single spray washing angle in the prior art, and improve the spray washing efficiency.
Description
Technical Field
The invention relates to the technical field of spray washing of insulators of high-voltage transmission lines, in particular to a device and a method for spray washing insulators of ultrahigh-voltage transmission lines.
Background
With the continuous development of unmanned aerial vehicle technology, the application in the industrial subdivision fields of electric power, petroleum, forest exploration, police and the like is wider and wider. Unmanned aerial vehicle is applied to the electric power field, and its main advantage embodies in following aspect: wide application, low cost, reduction of casualty rate, improvement of safe operation coefficient, good maneuverability and the like.
The method for washing the power transmission line equipment with the charged water is a simple, convenient, effective and high-economic-benefit method for preventing pollution flashover and ice flashover accidents of a power grid. The electrified water washing has the advantages of thorough dirt (ice coating) spray washing, high washing efficiency, uninterrupted operation, small influence on production and operation and the like, and the spray washing structure which accords with the high-altitude multi-angle spray washing operation is designed, so that the spray washing operation of outdoor dirty insulators can be effectively finished.
The existing insulator spray-washing mainly adopts a multi-aperture circular structure, has single shape and limited spray angle coverage, and is difficult to achieve satisfactory results in washing operation.
Disclosure of Invention
The invention aims to provide a device and a method for spray-washing an insulator of an extra-high voltage transmission line, which can solve the problem of single spray-washing angle in the prior art and improve the spray-washing efficiency.
In order to achieve the above object, an embodiment of the present invention provides an apparatus for spray-washing an insulator of an ultra-high voltage transmission line, the apparatus including:
an Unmanned Aerial Vehicle (UAV),
the airborne fixing module is arranged at the bottom of the unmanned aerial vehicle;
the water guide pipe is connected with the airborne fixed module, and the airborne fixed module can rotate to adjust the direction of the water guide pipe; and
the multifunctional spray washing port is connected to one end of the water guide pipe, which is far away from the airborne fixed module; and
and the water pump pressure regulating system is arranged in the unmanned aerial vehicle and used for regulating the pressure of water flow.
Optionally, the device further comprises a water flow sheath disposed between the water flow conduit and the multi-functional spray nozzle.
Optionally, the onboard stationary module rotates to adjust the direction of the water draft tube in a range of-45 ° to 45 ° from vertical.
Optionally, the unmanned aerial vehicle includes an image acquisition unit, a lighting unit and a radar unit arranged at the front end.
In another aspect, the present invention also provides a method for spray-washing insulators of an extra-high voltage transmission line, for controlling the apparatus as described in any one of the above, the method comprising:
determining the recoil force of the unmanned aerial vehicle, which is applied to spray-wash the insulator in a stable state according to the formula (1) and the formula (2),
F0＝1.56d2p， (1)
wherein, F0The value of the recoil force F after entering the stable state, d is the diameter of the water column, p is the pressure of the water column borne by the unmanned aerial vehicle, T is the accumulated time from the moment when the unmanned aerial vehicle starts to bear the recoil force to the current moment, and T is the time from the moment when the unmanned aerial vehicle starts to bear the recoil force to the moment when the recoil force enters the stable state;
determining an included angle between a nozzle of the unmanned aerial vehicle and the vertical direction and a variable range of the included angle;
controlling the drone according to equations (3) to (5) to maintain a stable flight state of the drone,
wherein the content of the first and second substances,
for the control moment, J1、J2And J3Respectively, the rotational inertia on three coordinate axes of the inertial coordinate system of the unmanned aerial vehicle, diag is a diagonal block matrix, k is a preset parameter larger than 0, and GTIs the transpose of the matrix G (x), (phi, theta, gamma) is the attitude angle of the drone in the inertial frame, omega1、ω2And ω3The angular velocity vector of the mass center of the unmanned aerial vehicle is the component of the three coordinate axes of the coordinate system, F is the recoil force, l is the distance from the water tank of the unmanned aerial vehicle to the mass center of the unmanned aerial vehicle, and alpha is the included angle between the nozzle of the unmanned aerial vehicle and the vertical direction.
Optionally, the variable range of said included angle is-45 ° to 45 °.
In still another aspect, the present invention also provides a method for spray-washing insulators of an extra-high voltage transmission line, for controlling the apparatus as described above, the method comprising:
acquiring an image of the insulator through the image acquisition unit;
judging the position of the current unmanned aerial vehicle relative to the insulator based on a preset image recognition algorithm;
unmanned aerial vehicle is in under the near condition in insulator top, control machine carries fixed module and adjusts multi-functional spray rinsing mouth is to forming 45 contained angles with the vertical direction.
Optionally, the method further comprises:
under the condition that the unmanned aerial vehicle is positioned near the bottom of the insulator, the airborne fixing module is controlled to adjust the multifunctional spray-washing port to form an included angle of-45 degrees with the vertical direction.
Optionally, the method further comprises:
the unmanned aerial vehicle is in under the near condition in insulator middle part, control machine carries the fixed module of machine and adjusts multi-functional spray rinsing mouth extremely with the vertical direction is unanimous.
In yet another aspect, the present invention also provides a storage medium storing instructions for reading by a machine to cause the machine to perform a method as claimed in any one of the above.
Through the technical scheme, the device for spray-washing the insulator of the ultrahigh-voltage transmission line is characterized in that the airborne fixing module and the water guide pipe are arranged at the bottom of the unmanned aerial vehicle, and the direction of the water guide pipe is controlled and adjusted through the airborne fixing module so as to overcome the technical problems that the spraying angle coverage is limited and the washing operation is difficult to achieve satisfactory results in the prior art, and improve the spray-washing efficiency of the unmanned aerial vehicle; secondly, the method for spray-washing the insulator of the ultrahigh-voltage transmission line can control the device to keep a stable flight state in the spray-washing process, so that the spray-washing efficiency and accuracy of the unmanned aerial vehicle are improved; finally, the method for spray-washing the insulator of the ultra-high voltage transmission line provided by the invention identifies the position of the unmanned aerial vehicle relative to the insulator through the image identification unit, and further adjusts the orientation of the water guide pipe based on the position, so that the unmanned aerial vehicle can spray-wash the insulator at the highest spray-washing speed.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a schematic view of an apparatus for spray-washing insulators of an extra-high voltage transmission line according to an embodiment of the present invention;
fig. 2 is a partially enlarged view of an apparatus for spray-washing an insulator of an ultra-high voltage power transmission line according to an embodiment of the present invention;
fig. 3 is a flow chart of a method for spray-washing an insulator of an extra-high voltage transmission line according to an embodiment of the present invention; and
fig. 4 is a flow chart of a method for spray-washing an insulator of an extra-high voltage transmission line according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
In the embodiments of the present invention, unless otherwise specified, the use of directional terms such as "upper, lower, top, and bottom" is generally used with respect to the orientation shown in the drawings or the positional relationship of the components with respect to each other in the vertical, or gravitational direction.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not be within the protection scope of the present invention.
Fig. 1 is a schematic view showing an apparatus for spray-washing an insulator of an ultra-high voltage transmission line according to an embodiment of the present invention. In fig. 1, the device may include an unmanned aerial vehicle 01, an onboard fixed module 02, a water guide pipe 03, a multifunctional spray nozzle 04, and a water pump pressure regulating system. Wherein, unmanned aerial vehicle 01 can be used for flying near the insulator of treating the spray-rinsing when the spray-rinsing. Airborne fixed module 02 can fix the bottom that sets up and unmanned aerial vehicle 01, is connected with water honeycomb duct 03, can rotate the direction in order to adjust this water honeycomb duct 03. The multifunctional spray-washing port 04 is connected to one end, far away from the airborne fixed module 02, of the water guide pipe 03. A water pump pressure regulating system (not shown in fig. 1) may be provided inside the drone for regulating the pressure of the water flow.
In one embodiment of the present invention, the multi-functional spray nozzle 04 may be detachably connected to the water guide pipe 03. Then the device further comprises a water flow jacket 05 in order to ensure the watertightness of the connection between the two. The water flow sheath 05 can be disposed between the water guide pipe 03 and the multifunctional spray nozzle 04, so as to ensure the water tightness between the multifunctional spray nozzle 04 and the water guide pipe 03. In this embodiment, the multi-functional spout 04 may be constructed as shown in fig. 2. In fig. 2, the multi-functional spout 04 may include a first opening 04a at one end, a second opening 04b at the other end, and a sidewall 04c connecting the first opening 04a and the second opening 04 b. The aperture of the first opening 04a is smaller than the aperture of the second opening 04 b. For the multi-functional spray outlets 04 with different calibers, the calibers of the second openings 04b are the same, and the calibers of the first openings 04a are different. In the actual spray-rinsing process, the multifunctional spray-rinsing mouth 04 with a proper caliber can be selected based on the actual speed and area to be spray-rinsed, for example, the multifunctional spray-rinsing mouth 04 with three calibers of 3mm, 5mm and 8mm can be replaced and selected.
In one embodiment of the invention, the onboard stationary module 02 rotates to adjust the direction of the water guide pipe in the range of-45 ° to 45 ° from the vertical. Specifically, this machine carries fixed module 02 can be based on motor drive in order to realize rotating, and 360 degrees no dead angles of high altitude spray rinsing can be realized to cooperation unmanned aerial vehicle's flight, and the spray rinsing operation of superhigh pressure transmission line insulator is accomplished to convenient and fast ground. In addition, in consideration of the cost of equipment, when the device works, a worker can control the unmanned aerial vehicle to fly to the position near the insulator and control the recording fixing module 02 to rotate through a radio frequency carrier signal of 2.4GHz, so that the insulator is sprayed.
In one embodiment of the present invention, in consideration of the specificity of the insulator spray-washing work, the unmanned aerial vehicle 01 includes an image acquisition unit 06, a lighting unit 07, and a radar unit 08 provided at the front end. This image acquisition unit 06 can be used for gathering on-the-spot image to be convenient for discern the position at this unmanned aerial vehicle 01 current place for the image recognition algorithm who predetermines among the unmanned aerial vehicle 01. The lighting unit 07 can be used to assist the image acquisition unit 06 in order to be able to take sharp pictures even in low light conditions. The radar unit 08 may be used to avoid the drone 01 touching surrounding obstacles when spraying.
In another aspect, the present invention further provides a method for spray-washing an insulator of an extra-high voltage transmission line, for controlling the apparatus as described in any one of the above, so that the apparatus can maintain a stable flying state during spray-washing. As shown in fig. 3, the method may include:
in step S10, determining the recoil force to which the drone is subjected due to the spray-washing of the insulator in the steady state according to the formula (1) and the formula (2),
F0＝1.56d2p， (1)
wherein, F0The value of the recoil force F after entering the stable state, d is the diameter of the water column, p is the pressure of the water column borne by the unmanned aerial vehicle, T is the accumulated time from the moment when the unmanned aerial vehicle starts to bear the recoil force to the current moment, and T is the time from the moment when the unmanned aerial vehicle starts to bear the recoil force to the moment when the recoil force enters the stable state;
in step S11, determining an angle between a nozzle of the drone and the vertical direction and a variable range of the angle;
in step S12, the drone is controlled according to equations (3) to (5) to maintain a stable flight state of the drone,
wherein the content of the first and second substances,
to control the torque, J1、J2And J3Rotational inertia on three coordinate axes of an inertial coordinate system of the unmanned aerial vehicle, diag is a diagonal block matrix, k is a preset parameter larger than 0, and GTIs the transpose of the matrix G (x), and (phi, theta, gamma) is the attitude angle of the unmanned aerial vehicle in the inertial coordinate system, omega1、ω2And ω3The angular velocity vector of the mass center of the unmanned aerial vehicle is respectively the component of the three coordinate axes of the coordinate system, F is the recoil force, l is the distance from the water tank of the unmanned aerial vehicle to the mass center of the unmanned aerial vehicle, and alpha is the included angle between the nozzle of the unmanned aerial vehicle and the vertical direction.
In yet another aspect, the invention also provides a method for spray-washing insulators of an extra-high voltage transmission line, for controlling the device as described above. As shown in fig. 4, the method may include:
in step S20, acquiring an image of the insulator by the image acquisition unit;
in step S21, the current position of the drone relative to the insulator is determined based on a preset image recognition algorithm. The image recognition algorithm may be an algorithm known to those skilled in the art, for example, a large data set is used to train a preset neural network, and the trained neural network is used to recognize the image.
In step S22, under the condition that the unmanned aerial vehicle is near the top end of the insulator, the onboard fixing module is controlled to adjust the multifunctional spray nozzle to form an included angle of 45 degrees with the vertical direction.
In step S23, under the condition that the unmanned aerial vehicle is near the bottom of the insulator, the onboard fixing module is controlled to adjust the multifunctional spray-rinsing port to form an included angle of-45 degrees with the vertical direction.
In step S24, in the case where the unmanned aerial vehicle is near the middle of the insulator, the onboard fixing module is controlled to adjust the multifunctional spray nozzle to be in line with the vertical direction.
In yet another aspect, the present invention also provides a storage medium which may store instructions which are readable by a machine to cause the machine to perform any one of the methods described above.
Through the technical scheme, the device for spray-washing the insulator of the ultrahigh-voltage transmission line is characterized in that the airborne fixing module and the water guide pipe are arranged at the bottom of the unmanned aerial vehicle, and the direction of the water guide pipe is controlled and adjusted through the airborne fixing module so as to overcome the technical problems that the spraying angle coverage is limited and the washing operation is difficult to achieve satisfactory results in the prior art, and improve the spray-washing efficiency of the unmanned aerial vehicle; secondly, the method for spray-washing the insulator of the ultrahigh-voltage transmission line can control the device to keep a stable flight state in the spray-washing process, so that the spray-washing efficiency and accuracy of the unmanned aerial vehicle are improved; finally, the method for spray-washing the insulator of the ultra-high voltage transmission line provided by the invention identifies the position of the unmanned aerial vehicle relative to the insulator through the image identification unit, and further adjusts the orientation of the water guide pipe based on the position, so that the unmanned aerial vehicle can spray-wash the insulator at the highest spray-washing speed.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
Those skilled in the art can understand that all or part of the steps in the method for implementing the above embodiments may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, various different embodiments of the present invention may be arbitrarily combined with each other, and the embodiments of the present invention should be considered as disclosed in the disclosure of the embodiments of the present invention as long as the embodiments do not depart from the spirit of the embodiments of the present invention.
Claims (10)
1. A device for spray rinsing insulators of ultra-high voltage transmission lines, characterized in that the device comprises:
an Unmanned Aerial Vehicle (UAV),
the airborne fixing module is arranged at the bottom of the unmanned aerial vehicle;
the water guide pipe is connected with the airborne fixed module, and the airborne fixed module can rotate to adjust the direction of the water guide pipe; and
the multifunctional spray washing port is connected to one end of the water guide pipe, which is far away from the airborne fixed module; and
and the water pump pressure regulating system is arranged in the unmanned aerial vehicle and used for regulating the pressure of water flow.
2. The device of claim 1, further comprising a water flow sheath disposed between the water flow conduit and the multi-functional spray opening.
3. The apparatus of claim 1, wherein the onboard stationary module rotates to adjust the orientation of the water guide tube in a range of-45 ° to 45 ° from vertical.
4. The apparatus of claim 1, wherein the drone comprises an image acquisition unit, a lighting unit, and a radar unit disposed at a front end.
5. A method for spray-cleaning insulators of extra-high voltage transmission lines for controlling a device according to any one of claims 1 to 4, characterized in that it comprises:
determining the recoil force of the unmanned aerial vehicle, which is applied to spray-wash the insulator in a stable state according to the formula (1) and the formula (2),
F0＝1.56d2p， (1)
wherein, F0The value of the recoil force F after entering the stable state, d is the diameter of the water column, p is the pressure of the water column borne by the unmanned aerial vehicle, T is the accumulated time from the moment when the unmanned aerial vehicle starts to bear the recoil force to the current moment, and T is the time from the moment when the unmanned aerial vehicle starts to bear the recoil force to the moment when the recoil force enters the stable state;
determining an included angle between a nozzle of the unmanned aerial vehicle and the vertical direction and a variable range of the included angle;
controlling the drone according to equations (3) to (5) to maintain a stable flight state of the drone,
wherein the content of the first and second substances,
for the control moment, J1、J2And J3Respectively, the rotational inertia on three coordinate axes of the inertial coordinate system of the unmanned aerial vehicle, diag is a diagonal block matrix, k is a preset parameter larger than 0, and GTIs the transpose of the matrix G (x), (phi, theta, gamma) is the attitude angle of the drone in the inertial frame, omega1、ω2And ω3The angular velocity vector of the mass center of the unmanned aerial vehicle is the component of the three coordinate axes of the coordinate system, F is the recoil force, l is the distance from the water tank of the unmanned aerial vehicle to the mass center of the unmanned aerial vehicle, and alpha is the included angle between the nozzle of the unmanned aerial vehicle and the vertical direction.
6. The method of claim 5, wherein the variable range of included angles is-45 ° to 45 °.
7. A method for spray-washing insulators of extra-high voltage transmission lines for controlling the device according to claim 4, characterized in that it comprises:
acquiring an image of the insulator through the image acquisition unit;
judging the position of the current unmanned aerial vehicle relative to the insulator based on a preset image recognition algorithm;
unmanned aerial vehicle is in under the near condition in insulator top, control machine carries fixed module and adjusts multi-functional spray rinsing mouth is to forming 45 contained angles with the vertical direction.
8. The method of claim 7, further comprising:
under the condition that the unmanned aerial vehicle is positioned near the bottom of the insulator, the airborne fixing module is controlled to adjust the multifunctional spray-washing port to form an included angle of-45 degrees with the vertical direction.
9. The method of claim 7, further comprising:
the unmanned aerial vehicle is in under the near condition in insulator middle part, control machine carries the fixed module of machine and adjusts multi-functional spray rinsing mouth extremely with the vertical direction is unanimous.
10. A storage medium storing instructions for reading by a machine to cause the machine to perform a method according to any one of claims 5 to 9.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112835375A (en) * | 2021-01-08 | 2021-05-25 | 中国科学技术大学 | Insulator cleaning method, system, equipment and storage medium based on unmanned aerial vehicle |
| CN113937706A (en) * | 2021-10-26 | 2022-01-14 | 国网辽宁省电力有限公司辽阳供电公司 | Icing processing device of power transmission line |
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| CN209237225U (en) * | 2018-12-15 | 2019-08-13 | 台州金斯顿机械科技有限公司 | A kind of nozzle for fire-fighting spray gun |
| CN110879603A (en) * | 2019-12-09 | 2020-03-13 | 国网安徽省电力有限公司检修分公司 | Anti-recoil control method and system for unmanned aerial vehicle and storage medium |
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| CN112835375A (en) * | 2021-01-08 | 2021-05-25 | 中国科学技术大学 | Insulator cleaning method, system, equipment and storage medium based on unmanned aerial vehicle |
| CN113937706A (en) * | 2021-10-26 | 2022-01-14 | 国网辽宁省电力有限公司辽阳供电公司 | Icing processing device of power transmission line |
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