CN113581463A - Transmission line ground wire defroster based on unmanned aerial vehicle - Google Patents
Transmission line ground wire defroster based on unmanned aerial vehicle Download PDFInfo
- Publication number
- CN113581463A CN113581463A CN202110876263.9A CN202110876263A CN113581463A CN 113581463 A CN113581463 A CN 113581463A CN 202110876263 A CN202110876263 A CN 202110876263A CN 113581463 A CN113581463 A CN 113581463A
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- aerial vehicle
- unmanned aerial
- groove
- push
- pull
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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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
Abstract
The invention discloses an unmanned aerial vehicle-based power transmission line ground wire deicing device, which comprises a positioning assembly, wherein the positioning assembly comprises an unmanned aerial vehicle, an end cylinder and limiting pieces, the end cylinder is fixed below the unmanned aerial vehicle, and the limiting pieces are symmetrically arranged at the end part of the end cylinder; the limiting piece comprises a clamping ring and a side plate, and the joint of the clamping ring and the side plate is connected with the end part shaft of the end barrel; the side plate is connected with the side wall of the end cylinder through a first spring; a knocking component is arranged in the end barrel and comprises a push-pull piece and a knocking rod; according to the invention, the unmanned aerial vehicle is used for knocking and removing the ice coated on the cable, so that the cable cleaning machine is convenient to carry and continuously work, the cleaning efficiency is high, and the risk caused by manual removal is reduced.
Description
Technical Field
The invention relates to the technical field of deicing devices, in particular to a power transmission line ground wire deicing device based on an unmanned aerial vehicle.
Background
In winter every year, distribution lines can suffer from ice coating influences of different degrees, and when the ice coating of the lines is too thick, the phenomenon of pole falling and line breaking is easily caused, so that the safe and stable supply of electric power is influenced. Therefore, when the ratio of the ice thickness of the line to the technical ice thickness of the line reaches a specified value (generally 0.5), the ice melting (removing) work needs to be carried out, but at present, the ice melting (removing) work of the distribution line mainly adopts a manual deicing mode. Manual deicing consumes a large amount of physical power of workers, is low in efficiency and poor in deicing effect, and can only deice line pole sections within a small range. This patent mainly beats the working method that the wire made the wire vibrations force the icing breakage to drop through the bamboo pole that adopts when simulating artifical deicing, develops a set of setting and can produce the device that vibrations got rid of the icing on the electric wire for replace artifical instruments such as waving the bamboo pole to carry out circuit deicing work.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments, and in this section as well as in the abstract and the title of the invention of this application some simplifications or omissions may be made to avoid obscuring the purpose of this section, the abstract and the title of the invention, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made keeping in mind the above problems occurring in the prior art and/or the problems occurring in the prior art.
Therefore, the technical problems to be solved by the invention are that the existing mode of manual deicing has low efficiency and poor deicing effect.
In order to solve the technical problems, the invention provides the following technical scheme: the electric transmission line ground wire deicing device based on the unmanned aerial vehicle comprises a positioning assembly, wherein the positioning assembly comprises the unmanned aerial vehicle, an end cylinder and limiting pieces, the end cylinder is fixed below the unmanned aerial vehicle, and the limiting pieces are symmetrically arranged at the end part of the end cylinder;
the limiting piece comprises a clamping ring and a side plate, and the joint of the clamping ring and the side plate is connected with the end part shaft of the end barrel; the side plate is connected with the side wall of the end cylinder through a first spring;
the end barrel is internally provided with a knocking component, and the knocking component comprises a push-pull piece and a knocking rod.
As an optimal scheme of the unmanned aerial vehicle-based power transmission line ground wire deicing device, the method comprises the following steps: and the side wall of the end cylinder is provided with an electromagnet.
As an optimal scheme of the unmanned aerial vehicle-based power transmission line ground wire deicing device, the method comprises the following steps: and the inner side of the side plate is provided with a magnetic block, and the magnetic block corresponds to the electromagnet in position.
As an optimal scheme of the unmanned aerial vehicle-based power transmission line ground wire deicing device, the method comprises the following steps: the end barrel is internally provided with a push-pull groove, a limiting groove and a through groove, and the through groove penetrates through the limiting groove from the end part of the end barrel and is communicated with the push-pull groove.
As an optimal scheme of the unmanned aerial vehicle-based power transmission line ground wire deicing device, the method comprises the following steps: the push-pull piece comprises a push-pull block and two pull claws which are symmetrically arranged, the push-pull block is arranged in the push-pull groove,
two sides of the push-pull block are provided with cutting grooves which are separated by a partition plate, and the pull claws are correspondingly arranged in the cutting grooves.
As an optimal scheme of the unmanned aerial vehicle-based power transmission line ground wire deicing device, the method comprises the following steps: the pull claw comprises a rotating arm and a clamping hook, the rotating arm comprises a straight arm and an inclined arm, a rotating hole is formed in the joint of the straight arm and the inclined arm, a rotating shaft is arranged in the cutting groove, and the rotating hole is sleeved on the rotating shaft;
the clamping hooks are arranged at the end parts of the straight arms, and the inclined arms are connected with the partition plate through second springs.
As an optimal scheme of the unmanned aerial vehicle-based power transmission line ground wire deicing device, the method comprises the following steps: the pull claw also comprises an inside-retracting arm, and the inside-retracting arm is connected with the inclined arm at the round boss;
the side wall of the push-pull groove is provided with a side groove, and the circular boss is arranged in the side groove.
As an optimal scheme of the unmanned aerial vehicle-based power transmission line ground wire deicing device, the method comprises the following steps: one end of the push-pull groove is provided with a pressure groove, one corner of the pressure groove is arranged on a pressure contact point, the outer side of the end part of the inner contraction arm is provided with an inclined plane, and the pressure contact point corresponds to the inclined plane.
As an optimal scheme of the unmanned aerial vehicle-based power transmission line ground wire deicing device, the method comprises the following steps: one end of the knock rod is provided with an arc block, and the other end of the knock rod is provided with a clamping plate.
As an optimal scheme of the unmanned aerial vehicle-based power transmission line ground wire deicing device, the method comprises the following steps: the knocking rod is further provided with a ring plate, the ring plate is located in the limiting groove, and the ring plate is connected with one side of the limiting groove through a third spring.
The invention has the beneficial effects that: according to the invention, the unmanned aerial vehicle is used for knocking and removing the ice coated on the cable, so that the cable cleaning machine is convenient to carry and continuously work, the cleaning efficiency is high, and the risk caused by manual removal is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a schematic overall structure diagram of an electric transmission line ground wire deicing device based on an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an unmanned aerial vehicle and an end cylinder in the unmanned aerial vehicle-based power transmission line ground wire deicing device according to the embodiment of the present invention;
fig. 3 is a schematic diagram of an overall explosion structure of an end barrel and a knocking assembly in the unmanned aerial vehicle-based power transmission line ground wire deicing device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a push-pull piece in the power transmission line ground wire deicing device based on the unmanned aerial vehicle according to the embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Next, the present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially according to the general scale for convenience of illustration when describing the embodiments of the present invention, and the drawings are only examples, which should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Example 1
Referring to fig. 1 to 3, the embodiment provides an electric transmission line ground wire deicing device based on an unmanned aerial vehicle, which includes a positioning assembly 100, wherein the positioning assembly 100 includes an unmanned aerial vehicle 101, an end cylinder 102 and limiting pieces 103, the end cylinder 102 is fixed below the unmanned aerial vehicle 101, and the limiting pieces 103 are symmetrically arranged at the end parts of the end cylinder 102; the limiting piece 103 comprises a clamping ring 103a and a side plate 103b, and the joint of the clamping ring 103a and the side plate 103b is connected with the end shaft of the end barrel 102; the side plate 103b is connected with the side wall of the end cylinder 102 through a first spring 103 c; knocking assembly 200 is arranged in end barrel 102, and knocking assembly 200 comprises a push-pull piece 201 and a knocking rod 202.
The side wall of the end cylinder 102 is provided with an electromagnet 104.
A magnetic block 103d is arranged inside the side plate 103b, and the magnetic block 103d corresponds to the electromagnet 104 in position.
In this embodiment, the unmanned aerial vehicle 101 can be controlled to move to the position above the cable L by remote control, it should be noted that the electromagnet 104 is in an initial state of being closed, the two snap rings 103a form a closed loop, when the unmanned aerial vehicle 101 moves to the position above the cable L, the electromagnet 104 is turned on, the magnetic block 103d and the side plate 103b are attracted to be close to one end of the electromagnet 104, the first spring 103c is compressed, the two snap rings 103a move towards two sides and open, at the moment, the unmanned aerial vehicle 101 is controlled to enable the cable L to fall into the middle area of the two snap rings 103a, and then the knocking component 200 is controlled to work to clear ice coated on the cable L.
And can keep this state, remove unmanned aerial vehicle 101, clear away whole cable L.
Example 2
Referring to fig. 1 to 4, the present embodiment is different from the previous embodiment in that a push-pull groove 102a, a limiting groove 102b and a through groove 102c are formed in the end cylinder 102, and the through groove 102c penetrates through the limiting groove 102b from the end of the end cylinder 102 to communicate with the push-pull groove 102 a.
The push-pull piece 201 comprises a push-pull block 201a and two symmetrically arranged pull claws 201b, the push-pull block 201a is arranged in the push-pull groove 102a, two sides in the push-pull block 201a are provided with cutting grooves 201c, the two cutting grooves 201c are separated by a partition plate 201h, and the pull claws 201b are correspondingly arranged in the cutting grooves 201 c; the pulling claw 201b comprises a rotating arm 201d and a clamping hook 201e, the rotating arm 201d comprises a straight arm 201d-1 and an inclined arm 201d-2, a rotating hole 201d-3 is formed at the joint of the straight arm 201d-1 and the inclined arm 201d-2, a rotating shaft 201g is arranged in the cutting groove 201c, and the rotating hole 201d-3 is sleeved on the rotating shaft 201 g; the hook 201e is arranged at the end of the straight arm 201d-1, and the inclined arm 201d-2 is connected with the partition plate 201h through a second spring 201 d-5.
The pulling claw 201b further comprises an inward-closing arm 201f, and the inward-closing arm 201f is connected with the oblique arm 201d-2 at the round boss 201 d-4; the side wall of the push-pull groove 102a is provided with a side groove 102a-1, and a circular boss 201d-4 is arranged in the side groove 102 a-1.
A pressure groove 102f is formed in one end of the push-pull groove 102a, one corner of the pressure groove 102f is arranged on a pressure contact point 102f-1, an inclined surface 201f-1 is arranged on the outer side of the end portion of the inward contraction arm 201f, and the pressure contact point 102f-1 corresponds to the inclined surface 201f-1 in position; one end of the knock bar 202 is provided with an arc block 202a, and the other end is provided with a snap plate 202 b.
The knock bar 202 is further provided with a ring plate 202c, the ring plate 202c is positioned in the limiting groove 102b, and the ring plate 202c is connected with one side of the limiting groove 102b through a third spring 102 c.
Specifically, the knocking process is to utilize the push rod motor to enable the push-pull piece 201 to reciprocate and to complete the grabbing and releasing actions of the knocking rod 202 simultaneously, so that the knocking rod 202 can complete knocking, the situation that the push rod motor 302 is damaged by the cable L due to too high knocking force caused by too high frequency can be avoided due to the arrangement, the fixed knocking frequency can be kept, and the deicing effect is good.
It should be noted that the second spring 201d-5 has a pushing force on the oblique arm 201d-2, so that an included angle between the oblique arm 201d-2 and the partition 201h is increased, that is, the second spring 201d-5 tends to push the oblique arm 201d-2 away from the partition 201h, it should be noted that an arc surface B is arranged on the outer side surface of the hook 201e, and the arc surface B corresponds to the corner position of the catch plate 102d, so that the catch plate 102d is conveniently clamped in the hook 201 e.
Specifically, the pulling claw 201b is a lever structure formed by using the rotating shaft 201g as a fulcrum, in an initial state, one side of the inclined arm 201d-2 expands towards two sides in the second spring 201d-5, and in a limiting state, the circular boss 201d-4 is located in the side groove 102a-1, and at this time, the two hooks 201e are folded and are in a clamping state.
The pulling claw 201b further comprises an inward-closing arm 201f, and the inward-closing arm 201f is connected with the oblique arm 201d-2 at the round boss 201 d-4; the side wall of the push-pull groove 102a is provided with a side groove 102a-1, and a circular boss 201d-4 is arranged in the side groove 102 a-1; the end of the push-pull block 201a is provided with a contact rod 102e, and the contact rod 102e passes through the end of the first pipe groove 102c and contacts with the outer side surface of the cam 203 b.
Preferably, the push-pull block 201a is a cylindrical block, and the push-pull groove 102a is a cylindrical groove structure, it should be noted that the push-pull block 201a can rotate and rotate in the push-pull groove 102a, and since the pull pawl 201b is embedded in the cut groove 201c and the side groove 102a-1, the push-pull block 201a is further limited so that it cannot rotate, but can only move along the length direction of the side groove 102a-1, i.e. the axial direction of the push-pull groove 102 a.
A pressure groove 102f is formed in one end of the push-pull groove 102a, a pressure contact 102f-1 is arranged at one corner of the pressure groove 102f, an inclined surface 201f-1 is arranged on the outer side of the end portion of the inward contraction arm 201f, and the pressure contact 102f-1 corresponds to the inclined surface 201f-1 in position; the knocking bar 202 is arranged in the through groove 102c, and the arc block 202a is positioned between the areas surrounded by the two snap rings 103 a.
In this embodiment, the operating principle of the whole device is that, during operation, the push rod motor is turned on, the push rod motor 302 drives the push-pull block 201a to reciprocate, firstly, the end of the inward-closing arm 201f leaves the pressure groove 102f in the process that the push-pull block 201a moves away from the push rod motor 302, under the action of the second spring 201d-5, the distance between the inward-closing arms 201f is increased, and correspondingly, the distance between the hooks 201e is decreased until the circular boss 201d-4 is positioned in the side groove 102a-1, which is an extreme limit.
The pushing and pulling block 201a continues to move until the arc surface B contacts the clamping plate 102d, the clamping hooks 201e are squeezed to two sides, and the clamping plate 102d is squeezed between the clamping hooks 201e and clamped.
Then, this state is maintained, during the process that the push-pull block 201a is pulled back by the push rod 302a, the push-pull block 201a and the catch plate 102d clamped by the catch 201e move together, that is, the knock rod 202 is pulled to retract, then the retraction arm 201f is inserted into the pressure slot 102f, the catch plate 102d is released, under the action of the third spring 102c, the knock rod 202 is pulled back, the arc block 102a strikes the cable L to generate vibration, the push rod motor 302 periodically reciprocates and drives the push-pull block 201a to periodically operate, so that the knock rod 202 strikes the cable L at a certain frequency.
The end cylinder 102 is provided with a push rod motor connected to the push-pull block 201a, so that the push-pull block 201a reciprocates periodically.
It is important to note that the construction and arrangement of the present application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperatures, pressures, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present inventions. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications that nevertheless fall within the scope of the appended claims.
Moreover, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those unrelated to the presently contemplated best mode of carrying out the invention, or those unrelated to enabling the invention).
It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, without undue experimentation.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (10)
1. The utility model provides a transmission line ground wire defroster based on unmanned aerial vehicle which characterized in that: the positioning device comprises a positioning assembly (100), wherein the positioning assembly (100) comprises an unmanned aerial vehicle (101), an end cylinder (102) and limiting pieces (103), the end cylinder (102) is fixed below the unmanned aerial vehicle (101), and the limiting pieces (103) are symmetrically arranged at the end part of the end cylinder (102);
the limiting piece (103) comprises a clamping ring (103a) and a side plate (103b), and the joint of the clamping ring (103a) and the side plate (103b) is connected with the end shaft of the end barrel (102); the side plate (103b) is connected with the side wall of the end barrel (102) through a first spring (103 c);
a knocking component (200) is arranged in the end barrel (102), and the knocking component (200) comprises a push-pull piece (201) and a knocking rod (202).
2. The unmanned aerial vehicle-based power transmission line ground wire deicing device of claim 1, wherein: an electromagnet (104) is arranged on the side wall of the end barrel (102).
3. The unmanned aerial vehicle-based power transmission line ground wire deicing device of claim 1 or 2, wherein: a magnetic block (103d) is arranged on the inner side of the side plate (103b), and the magnetic block (103d) corresponds to the electromagnet (104) in position.
4. The unmanned aerial vehicle-based power transmission line ground wire deicing device of claim 3, wherein: the end cylinder (102) is internally provided with a push-pull groove (102a), a limiting groove (102b) and a through groove (102c), and the through groove (102c) penetrates through the limiting groove (102b) from the end part of the end cylinder (102) and is communicated with the push-pull groove (102 a).
5. The unmanned aerial vehicle-based power transmission line ground wire deicing device of claim 4, wherein: the push-pull piece (201) comprises a push-pull block (201a) and two pull claws (201b) which are symmetrically arranged, the push-pull block (201a) is arranged in the push-pull groove (102a),
two sides of the push-pull block (201a) are provided with cutting grooves (201c), the two cutting grooves (201c) are separated by a partition plate (201h), and the pull claw (201b) is correspondingly arranged in the cutting grooves (201 c).
6. The unmanned aerial vehicle-based power transmission line ground wire deicing device of claim 5, wherein: the pulling claw (201b) comprises a rotating arm (201d) and a clamping hook (201e), the rotating arm (201d) comprises a straight arm (201d-1) and an inclined arm (201d-2), a rotating hole (201d-3) is formed in the connection position of the straight arm (201d-1) and the inclined arm (201d-2), a rotating shaft (201g) is arranged in the cutting groove (201c), and the rotating hole (201d-3) is sleeved on the rotating shaft (201 g);
the clamping hook (201e) is arranged at the end part of the straight arm (201d-1), and the inclined arm (201d-2) is connected with the partition plate (201h) through a second spring (201 d-5).
7. The unmanned aerial vehicle-based power transmission line ground wire deicing device according to any one of claims 4 to 6, characterized in that: the pulling claw (201b) further comprises an inward-closing arm (201f), and the inward-closing arm (201f) is connected with the oblique arm (201d-2) at the round boss (201 d-4);
the side wall of the push-pull groove (102a) is provided with a side groove (102a-1), and the circular boss (201d-4) is arranged in the side groove (102 a-1).
8. The unmanned aerial vehicle-based power transmission line ground wire deicing device of claim 7, wherein: one end of the push-pull groove (102a) is provided with a pressure groove (102f), one corner of the pressure groove (102f) is arranged on a pressure contact (102f-1), the outer side of the end part of the inward contraction arm (201f) is provided with an inclined surface (201f-1), and the pressure contact (102f-1) corresponds to the inclined surface (201 f-1).
9. The unmanned aerial vehicle-based power transmission line ground wire deicing device of claim 8, wherein: one end of the knocking rod (202) is provided with an arc block (202a), and the other end of the knocking rod is provided with a clamping plate (202 b).
10. The unmanned aerial vehicle-based power transmission line ground wire deicing device of claim 9, wherein: the knocking rod (202) is further provided with a ring plate (202c), the ring plate (202c) is located in the limiting groove (102b), and the ring plate (202c) is connected with one side of the limiting groove (102b) through a third spring (102 c).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110876263.9A CN113581463B (en) | 2021-07-30 | 2021-07-30 | Transmission line ground wire defroster based on unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110876263.9A CN113581463B (en) | 2021-07-30 | 2021-07-30 | Transmission line ground wire defroster based on unmanned aerial vehicle |
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| CN113581463A true CN113581463A (en) | 2021-11-02 |
| CN113581463B CN113581463B (en) | 2023-03-31 |
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| CN111585210A (en) * | 2020-06-12 | 2020-08-25 | 国网湖南省电力有限公司 | Power transmission line hanging robot and line loading and unloading method |
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| CN112467668A (en) * | 2020-12-24 | 2021-03-09 | 国网河南省电力公司社旗县供电公司 | Aerial cable is with clean deicing unmanned aerial vehicle |
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| CN106129890A (en) * | 2016-06-23 | 2016-11-16 | 陈晨 | A kind of mountain area high-voltage electric power circuit upkeep operation unmanned plane |
| CN206856982U (en) * | 2016-12-23 | 2018-01-09 | 兰州理工大学 | A kind of multifunction aircraft |
| US20180370638A1 (en) * | 2017-06-27 | 2018-12-27 | Airbus Helicopters | Method of fabricating rotary equipment for a rotary wing, provided with a deicer, said rotary equipment, and a drone provided with said rotary equipment |
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| CN113581463B (en) | 2023-03-31 |
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