CN1658460A - Robot of autonomous moving along 110KV transmission line and its working method - Google Patents
Robot of autonomous moving along 110KV transmission line and its working method Download PDFInfo
- Publication number
- CN1658460A CN1658460A CN 200510042569 CN200510042569A CN1658460A CN 1658460 A CN1658460 A CN 1658460A CN 200510042569 CN200510042569 CN 200510042569 CN 200510042569 A CN200510042569 A CN 200510042569A CN 1658460 A CN1658460 A CN 1658460A
- Authority
- CN
- China
- Prior art keywords
- robot
- line
- hand
- walking
- power transmission
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CNB2005100425695A CN100502181C (en) | 2005-03-18 | 2005-03-18 | Robot of autonomous moving along 110KV transmission line and its working method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CNB2005100425695A CN100502181C (en) | 2005-03-18 | 2005-03-18 | Robot of autonomous moving along 110KV transmission line and its working method |
Publications (2)
Publication Number | Publication Date |
---|---|
CN1658460A true CN1658460A (en) | 2005-08-24 |
CN100502181C CN100502181C (en) | 2009-06-17 |
Family
ID=35007773
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CNB2005100425695A Expired - Fee Related CN100502181C (en) | 2005-03-18 | 2005-03-18 | Robot of autonomous moving along 110KV transmission line and its working method |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN100502181C (en) |
Cited By (42)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009058041A2 (en) * | 2007-11-02 | 2009-05-07 | Instituto Superior Tecnlco | Robot capable of moving hanging in suspended lines |
CN101247030B (en) * | 2007-08-01 | 2010-06-09 | 北京深浪电子技术有限公司 | Overhead line obstacle detouring inspection robot and its obstacle detouring control method |
CN101471547B (en) * | 2007-12-26 | 2010-09-01 | 中国科学院沈阳自动化研究所 | Mechanism for releasing patrolling robot fault |
CN101859989A (en) * | 2010-04-26 | 2010-10-13 | 华南理工大学 | Three-wheel inspection robot mechanism capable of crossing over catenary of pole and tower |
CN101882765A (en) * | 2010-05-11 | 2010-11-10 | 湖南大学 | Traveling mechanism of robot on high voltage transmission line |
CN101447654B (en) * | 2008-11-02 | 2011-01-12 | 河南送变电建设公司 | Full automatic power run way |
CN102005705A (en) * | 2010-10-29 | 2011-04-06 | 西安交通大学 | Suspended line walking robot |
CN102097765A (en) * | 2010-12-20 | 2011-06-15 | 重庆市电力公司綦南供电局 | Running state inspection method of high voltage line |
CN102110960A (en) * | 2010-12-20 | 2011-06-29 | 重庆前卫仪表有限责任公司 | Intelligent walking mechanism for inspecting operating condition of high-voltage line |
CN102110959A (en) * | 2010-12-20 | 2011-06-29 | 重庆市电力公司綦南供电局 | Walking device for intelligently inspecting running state of high voltage line |
CN102315609A (en) * | 2011-05-17 | 2012-01-11 | 福建省电力有限公司泉州电业局 | Unmanned automatic inspection device for transmission line |
CN102343586A (en) * | 2011-04-13 | 2012-02-08 | 哈尔滨工业大学 | Line grasping manipulator for remote control in measurement and check of communication network |
CN102412526A (en) * | 2011-11-17 | 2012-04-11 | 北京国网富达科技发展有限责任公司 | Portable robot system for comprehensive maintenance of power circuit and obstacle-crossing method for portable robot system |
CN101665128B (en) * | 2009-09-04 | 2012-07-11 | 重庆市电力公司超高压局 | Robot used for detecting high voltage transmission lines |
CN102621419A (en) * | 2012-03-28 | 2012-08-01 | 山东省电力学校 | Method for automatically recognizing and monitoring line electrical equipment based on laser and binocular vision image |
CN102962834A (en) * | 2012-12-10 | 2013-03-13 | 东北大学 | Inspection robot mechanism for high-voltage transmission line |
CN101574983B (en) * | 2009-06-12 | 2013-03-13 | 中国电力科学研究院 | Lead obstacle-crossing robot walking device |
CN102975191A (en) * | 2012-12-05 | 2013-03-20 | 山东电力集团公司电力科学研究院 | Line-walking robot system for overhead transmission line |
CN103390870A (en) * | 2013-07-25 | 2013-11-13 | 国家电网公司 | Intelligent line patrol vehicle for overhead transmission line |
CN103437307A (en) * | 2013-09-17 | 2013-12-11 | 西安南风云电力科技有限公司 | Automatic installing and uninstalling machine of detecting and warning device for preventing power transmission line from external force damage |
CN104321654A (en) * | 2012-03-30 | 2015-01-28 | 埃尔瓦有限公司 | Apparatus and system for scheduling mobile device operations on a power transmission system |
CN104577881A (en) * | 2015-01-23 | 2015-04-29 | 国家电网公司 | Intelligent line patrol trolley lighting trolley body device and line patrol method |
CN104659706A (en) * | 2015-01-23 | 2015-05-27 | 国家电网公司 | Palm opening and closing device |
CN105226565A (en) * | 2015-11-02 | 2016-01-06 | 国网山东省电力公司电力科学研究院 | A kind of ultra-high-tension power transmission line online assignment operating means |
CN105244806A (en) * | 2015-10-20 | 2016-01-13 | 国网山东平度市供电公司 | Power inspection robot |
CN105818140A (en) * | 2016-05-12 | 2016-08-03 | 山东大学 | Insect wriggle imitating type power transmission line inspection robot mechanical structure and obstacle surmounting method thereof |
CN105846347A (en) * | 2016-05-12 | 2016-08-10 | 山东大学 | Double mechanical arm climbing type line patrol robot mechanical structure and obstacle surmounting method therefor |
CN106314587A (en) * | 2016-09-15 | 2017-01-11 | 周珍芳 | Swinging arm type high-voltage cable crawling robot with obstacle crossing function |
CN106454269A (en) * | 2016-11-21 | 2017-02-22 | 国网辽宁省电力有限公司经济技术研究院 | Power grid remote inspection monitoring device |
CN106655006A (en) * | 2017-03-10 | 2017-05-10 | 华北电力大学(保定) | Transmission line inspection robot obstacle-crossing device |
CN106826873A (en) * | 2015-12-03 | 2017-06-13 | 中国科学院沈阳自动化研究所 | A kind of transmission line polling robot visual servo grabs line control method |
CN107196233A (en) * | 2017-07-07 | 2017-09-22 | 国网湖南省电力公司带电作业中心 | A kind of hot line robot independently goes up coil inserting apparatus |
CN107196232A (en) * | 2017-07-07 | 2017-09-22 | 国网湖南省电力公司带电作业中心 | A kind of hot line robot independently goes up coil inserting apparatus with vehicular |
CN107221874A (en) * | 2017-07-07 | 2017-09-29 | 国网湖南省电力公司带电作业中心 | A kind of vehicular with hanging wire unmanned plane independently goes up coil inserting apparatus and method |
CN108390312A (en) * | 2018-03-23 | 2018-08-10 | 国网上海市电力公司 | A kind of overhead distribution line circuit scanning test robot operational method |
CN108861971A (en) * | 2018-07-25 | 2018-11-23 | 深圳智慧林网络科技有限公司 | A kind of walking mechanism of intellect service robot |
CN109193457A (en) * | 2018-10-12 | 2019-01-11 | 国网浙江省电力有限公司绍兴供电公司 | A kind of transmission line of electricity is along ground wire inspection robot |
CN109698476A (en) * | 2019-02-28 | 2019-04-30 | 西南交通大学 | A kind of claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot |
CN110103200A (en) * | 2019-06-24 | 2019-08-09 | 杭州迈世歆智能机器人有限公司 | One kind is across barrier turning line climbing robot |
CN111993385A (en) * | 2020-08-26 | 2020-11-27 | 广东电网有限责任公司肇庆供电局 | Power line operation walking robot |
CN112072544A (en) * | 2020-08-25 | 2020-12-11 | 杭州电子科技大学 | Walking type power line obstacle crossing inspection robot along line |
CN115635487A (en) * | 2022-12-26 | 2023-01-24 | 国网天津市电力公司建设分公司 | Tower-climbing robot obstacle avoidance control system and method based on multi-sensor fusion |
Families Citing this family (160)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9113347B2 (en) | 2012-12-05 | 2015-08-18 | At&T Intellectual Property I, Lp | Backhaul link for distributed antenna system |
US10009065B2 (en) | 2012-12-05 | 2018-06-26 | At&T Intellectual Property I, L.P. | Backhaul link for distributed antenna system |
US9999038B2 (en) | 2013-05-31 | 2018-06-12 | At&T Intellectual Property I, L.P. | Remote distributed antenna system |
US9525524B2 (en) | 2013-05-31 | 2016-12-20 | At&T Intellectual Property I, L.P. | Remote distributed antenna system |
US8897697B1 (en) | 2013-11-06 | 2014-11-25 | At&T Intellectual Property I, Lp | Millimeter-wave surface-wave communications |
US9209902B2 (en) | 2013-12-10 | 2015-12-08 | At&T Intellectual Property I, L.P. | Quasi-optical coupler |
CN103972821B (en) * | 2014-05-27 | 2015-11-11 | 国家电网公司 | High voltage transmission line live work robot |
US9692101B2 (en) | 2014-08-26 | 2017-06-27 | At&T Intellectual Property I, L.P. | Guided wave couplers for coupling electromagnetic waves between a waveguide surface and a surface of a wire |
US9768833B2 (en) | 2014-09-15 | 2017-09-19 | At&T Intellectual Property I, L.P. | Method and apparatus for sensing a condition in a transmission medium of electromagnetic waves |
US10063280B2 (en) | 2014-09-17 | 2018-08-28 | At&T Intellectual Property I, L.P. | Monitoring and mitigating conditions in a communication network |
US9628854B2 (en) | 2014-09-29 | 2017-04-18 | At&T Intellectual Property I, L.P. | Method and apparatus for distributing content in a communication network |
US9615269B2 (en) | 2014-10-02 | 2017-04-04 | At&T Intellectual Property I, L.P. | Method and apparatus that provides fault tolerance in a communication network |
US9685992B2 (en) | 2014-10-03 | 2017-06-20 | At&T Intellectual Property I, L.P. | Circuit panel network and methods thereof |
US9503189B2 (en) | 2014-10-10 | 2016-11-22 | At&T Intellectual Property I, L.P. | Method and apparatus for arranging communication sessions in a communication system |
US9762289B2 (en) | 2014-10-14 | 2017-09-12 | At&T Intellectual Property I, L.P. | Method and apparatus for transmitting or receiving signals in a transportation system |
US9973299B2 (en) | 2014-10-14 | 2018-05-15 | At&T Intellectual Property I, L.P. | Method and apparatus for adjusting a mode of communication in a communication network |
US9780834B2 (en) | 2014-10-21 | 2017-10-03 | At&T Intellectual Property I, L.P. | Method and apparatus for transmitting electromagnetic waves |
US9653770B2 (en) | 2014-10-21 | 2017-05-16 | At&T Intellectual Property I, L.P. | Guided wave coupler, coupling module and methods for use therewith |
US9564947B2 (en) | 2014-10-21 | 2017-02-07 | At&T Intellectual Property I, L.P. | Guided-wave transmission device with diversity and methods for use therewith |
US9769020B2 (en) | 2014-10-21 | 2017-09-19 | At&T Intellectual Property I, L.P. | Method and apparatus for responding to events affecting communications in a communication network |
US9577306B2 (en) | 2014-10-21 | 2017-02-21 | At&T Intellectual Property I, L.P. | Guided-wave transmission device and methods for use therewith |
US9312919B1 (en) | 2014-10-21 | 2016-04-12 | At&T Intellectual Property I, Lp | Transmission device with impairment compensation and methods for use therewith |
US9627768B2 (en) | 2014-10-21 | 2017-04-18 | At&T Intellectual Property I, L.P. | Guided-wave transmission device with non-fundamental mode propagation and methods for use therewith |
US9520945B2 (en) | 2014-10-21 | 2016-12-13 | At&T Intellectual Property I, L.P. | Apparatus for providing communication services and methods thereof |
US9800327B2 (en) | 2014-11-20 | 2017-10-24 | At&T Intellectual Property I, L.P. | Apparatus for controlling operations of a communication device and methods thereof |
US10340573B2 (en) | 2016-10-26 | 2019-07-02 | At&T Intellectual Property I, L.P. | Launcher with cylindrical coupling device and methods for use therewith |
US10009067B2 (en) | 2014-12-04 | 2018-06-26 | At&T Intellectual Property I, L.P. | Method and apparatus for configuring a communication interface |
US9954287B2 (en) | 2014-11-20 | 2018-04-24 | At&T Intellectual Property I, L.P. | Apparatus for converting wireless signals and electromagnetic waves and methods thereof |
US9544006B2 (en) | 2014-11-20 | 2017-01-10 | At&T Intellectual Property I, L.P. | Transmission device with mode division multiplexing and methods for use therewith |
US9654173B2 (en) | 2014-11-20 | 2017-05-16 | At&T Intellectual Property I, L.P. | Apparatus for powering a communication device and methods thereof |
US9680670B2 (en) | 2014-11-20 | 2017-06-13 | At&T Intellectual Property I, L.P. | Transmission device with channel equalization and control and methods for use therewith |
US10243784B2 (en) | 2014-11-20 | 2019-03-26 | At&T Intellectual Property I, L.P. | System for generating topology information and methods thereof |
US9742462B2 (en) | 2014-12-04 | 2017-08-22 | At&T Intellectual Property I, L.P. | Transmission medium and communication interfaces and methods for use therewith |
US9997819B2 (en) | 2015-06-09 | 2018-06-12 | At&T Intellectual Property I, L.P. | Transmission medium and method for facilitating propagation of electromagnetic waves via a core |
US9461706B1 (en) | 2015-07-31 | 2016-10-04 | At&T Intellectual Property I, Lp | Method and apparatus for exchanging communication signals |
US10144036B2 (en) | 2015-01-30 | 2018-12-04 | At&T Intellectual Property I, L.P. | Method and apparatus for mitigating interference affecting a propagation of electromagnetic waves guided by a transmission medium |
US9876570B2 (en) | 2015-02-20 | 2018-01-23 | At&T Intellectual Property I, Lp | Guided-wave transmission device with non-fundamental mode propagation and methods for use therewith |
US9749013B2 (en) | 2015-03-17 | 2017-08-29 | At&T Intellectual Property I, L.P. | Method and apparatus for reducing attenuation of electromagnetic waves guided by a transmission medium |
US9705561B2 (en) | 2015-04-24 | 2017-07-11 | At&T Intellectual Property I, L.P. | Directional coupling device and methods for use therewith |
US10224981B2 (en) | 2015-04-24 | 2019-03-05 | At&T Intellectual Property I, Lp | Passive electrical coupling device and methods for use therewith |
US9948354B2 (en) | 2015-04-28 | 2018-04-17 | At&T Intellectual Property I, L.P. | Magnetic coupling device with reflective plate and methods for use therewith |
US9793954B2 (en) | 2015-04-28 | 2017-10-17 | At&T Intellectual Property I, L.P. | Magnetic coupling device and methods for use therewith |
US9871282B2 (en) | 2015-05-14 | 2018-01-16 | At&T Intellectual Property I, L.P. | At least one transmission medium having a dielectric surface that is covered at least in part by a second dielectric |
US9490869B1 (en) | 2015-05-14 | 2016-11-08 | At&T Intellectual Property I, L.P. | Transmission medium having multiple cores and methods for use therewith |
US10679767B2 (en) | 2015-05-15 | 2020-06-09 | At&T Intellectual Property I, L.P. | Transmission medium having a conductive material and methods for use therewith |
US10650940B2 (en) | 2015-05-15 | 2020-05-12 | At&T Intellectual Property I, L.P. | Transmission medium having a conductive material and methods for use therewith |
US9917341B2 (en) | 2015-05-27 | 2018-03-13 | At&T Intellectual Property I, L.P. | Apparatus and method for launching electromagnetic waves and for modifying radial dimensions of the propagating electromagnetic waves |
US10348391B2 (en) | 2015-06-03 | 2019-07-09 | At&T Intellectual Property I, L.P. | Client node device with frequency conversion and methods for use therewith |
US10103801B2 (en) | 2015-06-03 | 2018-10-16 | At&T Intellectual Property I, L.P. | Host node device and methods for use therewith |
US9866309B2 (en) | 2015-06-03 | 2018-01-09 | At&T Intellectual Property I, Lp | Host node device and methods for use therewith |
US10154493B2 (en) | 2015-06-03 | 2018-12-11 | At&T Intellectual Property I, L.P. | Network termination and methods for use therewith |
US10812174B2 (en) | 2015-06-03 | 2020-10-20 | At&T Intellectual Property I, L.P. | Client node device and methods for use therewith |
US9912381B2 (en) | 2015-06-03 | 2018-03-06 | At&T Intellectual Property I, Lp | Network termination and methods for use therewith |
US9913139B2 (en) | 2015-06-09 | 2018-03-06 | At&T Intellectual Property I, L.P. | Signal fingerprinting for authentication of communicating devices |
US9608692B2 (en) | 2015-06-11 | 2017-03-28 | At&T Intellectual Property I, L.P. | Repeater and methods for use therewith |
US10142086B2 (en) | 2015-06-11 | 2018-11-27 | At&T Intellectual Property I, L.P. | Repeater and methods for use therewith |
US9820146B2 (en) | 2015-06-12 | 2017-11-14 | At&T Intellectual Property I, L.P. | Method and apparatus for authentication and identity management of communicating devices |
US9667317B2 (en) | 2015-06-15 | 2017-05-30 | At&T Intellectual Property I, L.P. | Method and apparatus for providing security using network traffic adjustments |
US9509415B1 (en) | 2015-06-25 | 2016-11-29 | At&T Intellectual Property I, L.P. | Methods and apparatus for inducing a fundamental wave mode on a transmission medium |
US9640850B2 (en) | 2015-06-25 | 2017-05-02 | At&T Intellectual Property I, L.P. | Methods and apparatus for inducing a non-fundamental wave mode on a transmission medium |
US9865911B2 (en) | 2015-06-25 | 2018-01-09 | At&T Intellectual Property I, L.P. | Waveguide system for slot radiating first electromagnetic waves that are combined into a non-fundamental wave mode second electromagnetic wave on a transmission medium |
US9628116B2 (en) | 2015-07-14 | 2017-04-18 | At&T Intellectual Property I, L.P. | Apparatus and methods for transmitting wireless signals |
US10033107B2 (en) | 2015-07-14 | 2018-07-24 | At&T Intellectual Property I, L.P. | Method and apparatus for coupling an antenna to a device |
US10320586B2 (en) | 2015-07-14 | 2019-06-11 | At&T Intellectual Property I, L.P. | Apparatus and methods for generating non-interfering electromagnetic waves on an insulated transmission medium |
US10148016B2 (en) | 2015-07-14 | 2018-12-04 | At&T Intellectual Property I, L.P. | Apparatus and methods for communicating utilizing an antenna array |
US10170840B2 (en) | 2015-07-14 | 2019-01-01 | At&T Intellectual Property I, L.P. | Apparatus and methods for sending or receiving electromagnetic signals |
US9853342B2 (en) | 2015-07-14 | 2017-12-26 | At&T Intellectual Property I, L.P. | Dielectric transmission medium connector and methods for use therewith |
US10033108B2 (en) | 2015-07-14 | 2018-07-24 | At&T Intellectual Property I, L.P. | Apparatus and methods for generating an electromagnetic wave having a wave mode that mitigates interference |
US9847566B2 (en) | 2015-07-14 | 2017-12-19 | At&T Intellectual Property I, L.P. | Method and apparatus for adjusting a field of a signal to mitigate interference |
US10341142B2 (en) | 2015-07-14 | 2019-07-02 | At&T Intellectual Property I, L.P. | Apparatus and methods for generating non-interfering electromagnetic waves on an uninsulated conductor |
US10205655B2 (en) | 2015-07-14 | 2019-02-12 | At&T Intellectual Property I, L.P. | Apparatus and methods for communicating utilizing an antenna array and multiple communication paths |
US9882257B2 (en) | 2015-07-14 | 2018-01-30 | At&T Intellectual Property I, L.P. | Method and apparatus for launching a wave mode that mitigates interference |
US9836957B2 (en) | 2015-07-14 | 2017-12-05 | At&T Intellectual Property I, L.P. | Method and apparatus for communicating with premises equipment |
US10044409B2 (en) | 2015-07-14 | 2018-08-07 | At&T Intellectual Property I, L.P. | Transmission medium and methods for use therewith |
US9722318B2 (en) | 2015-07-14 | 2017-08-01 | At&T Intellectual Property I, L.P. | Method and apparatus for coupling an antenna to a device |
US9793951B2 (en) | 2015-07-15 | 2017-10-17 | At&T Intellectual Property I, L.P. | Method and apparatus for launching a wave mode that mitigates interference |
US9608740B2 (en) | 2015-07-15 | 2017-03-28 | At&T Intellectual Property I, L.P. | Method and apparatus for launching a wave mode that mitigates interference |
US10090606B2 (en) | 2015-07-15 | 2018-10-02 | At&T Intellectual Property I, L.P. | Antenna system with dielectric array and methods for use therewith |
US10784670B2 (en) | 2015-07-23 | 2020-09-22 | At&T Intellectual Property I, L.P. | Antenna support for aligning an antenna |
US9912027B2 (en) | 2015-07-23 | 2018-03-06 | At&T Intellectual Property I, L.P. | Method and apparatus for exchanging communication signals |
US9749053B2 (en) | 2015-07-23 | 2017-08-29 | At&T Intellectual Property I, L.P. | Node device, repeater and methods for use therewith |
US9948333B2 (en) | 2015-07-23 | 2018-04-17 | At&T Intellectual Property I, L.P. | Method and apparatus for wireless communications to mitigate interference |
US9871283B2 (en) | 2015-07-23 | 2018-01-16 | At&T Intellectual Property I, Lp | Transmission medium having a dielectric core comprised of plural members connected by a ball and socket configuration |
US10020587B2 (en) | 2015-07-31 | 2018-07-10 | At&T Intellectual Property I, L.P. | Radial antenna and methods for use therewith |
US9967173B2 (en) | 2015-07-31 | 2018-05-08 | At&T Intellectual Property I, L.P. | Method and apparatus for authentication and identity management of communicating devices |
US9735833B2 (en) | 2015-07-31 | 2017-08-15 | At&T Intellectual Property I, L.P. | Method and apparatus for communications management in a neighborhood network |
US9904535B2 (en) | 2015-09-14 | 2018-02-27 | At&T Intellectual Property I, L.P. | Method and apparatus for distributing software |
US10079661B2 (en) | 2015-09-16 | 2018-09-18 | At&T Intellectual Property I, L.P. | Method and apparatus for use with a radio distributed antenna system having a clock reference |
US10136434B2 (en) | 2015-09-16 | 2018-11-20 | At&T Intellectual Property I, L.P. | Method and apparatus for use with a radio distributed antenna system having an ultra-wideband control channel |
US10009063B2 (en) | 2015-09-16 | 2018-06-26 | At&T Intellectual Property I, L.P. | Method and apparatus for use with a radio distributed antenna system having an out-of-band reference signal |
US10051629B2 (en) | 2015-09-16 | 2018-08-14 | At&T Intellectual Property I, L.P. | Method and apparatus for use with a radio distributed antenna system having an in-band reference signal |
US10009901B2 (en) | 2015-09-16 | 2018-06-26 | At&T Intellectual Property I, L.P. | Method, apparatus, and computer-readable storage medium for managing utilization of wireless resources between base stations |
US9769128B2 (en) | 2015-09-28 | 2017-09-19 | At&T Intellectual Property I, L.P. | Method and apparatus for encryption of communications over a network |
US9729197B2 (en) | 2015-10-01 | 2017-08-08 | At&T Intellectual Property I, L.P. | Method and apparatus for communicating network management traffic over a network |
US10074890B2 (en) | 2015-10-02 | 2018-09-11 | At&T Intellectual Property I, L.P. | Communication device and antenna with integrated light assembly |
US9876264B2 (en) | 2015-10-02 | 2018-01-23 | At&T Intellectual Property I, Lp | Communication system, guided wave switch and methods for use therewith |
US9882277B2 (en) | 2015-10-02 | 2018-01-30 | At&T Intellectual Property I, Lp | Communication device and antenna assembly with actuated gimbal mount |
US10665942B2 (en) | 2015-10-16 | 2020-05-26 | At&T Intellectual Property I, L.P. | Method and apparatus for adjusting wireless communications |
US10355367B2 (en) | 2015-10-16 | 2019-07-16 | At&T Intellectual Property I, L.P. | Antenna structure for exchanging wireless signals |
US10051483B2 (en) | 2015-10-16 | 2018-08-14 | At&T Intellectual Property I, L.P. | Method and apparatus for directing wireless signals |
US9912419B1 (en) | 2016-08-24 | 2018-03-06 | At&T Intellectual Property I, L.P. | Method and apparatus for managing a fault in a distributed antenna system |
US9860075B1 (en) | 2016-08-26 | 2018-01-02 | At&T Intellectual Property I, L.P. | Method and communication node for broadband distribution |
US10291311B2 (en) | 2016-09-09 | 2019-05-14 | At&T Intellectual Property I, L.P. | Method and apparatus for mitigating a fault in a distributed antenna system |
US11032819B2 (en) | 2016-09-15 | 2021-06-08 | At&T Intellectual Property I, L.P. | Method and apparatus for use with a radio distributed antenna system having a control channel reference signal |
US10135146B2 (en) | 2016-10-18 | 2018-11-20 | At&T Intellectual Property I, L.P. | Apparatus and methods for launching guided waves via circuits |
US10135147B2 (en) | 2016-10-18 | 2018-11-20 | At&T Intellectual Property I, L.P. | Apparatus and methods for launching guided waves via an antenna |
US10340600B2 (en) | 2016-10-18 | 2019-07-02 | At&T Intellectual Property I, L.P. | Apparatus and methods for launching guided waves via plural waveguide systems |
US9991580B2 (en) | 2016-10-21 | 2018-06-05 | At&T Intellectual Property I, L.P. | Launcher and coupling system for guided wave mode cancellation |
US10811767B2 (en) | 2016-10-21 | 2020-10-20 | At&T Intellectual Property I, L.P. | System and dielectric antenna with convex dielectric radome |
US10374316B2 (en) | 2016-10-21 | 2019-08-06 | At&T Intellectual Property I, L.P. | System and dielectric antenna with non-uniform dielectric |
US9876605B1 (en) | 2016-10-21 | 2018-01-23 | At&T Intellectual Property I, L.P. | Launcher and coupling system to support desired guided wave mode |
US10312567B2 (en) | 2016-10-26 | 2019-06-04 | At&T Intellectual Property I, L.P. | Launcher with planar strip antenna and methods for use therewith |
US10224634B2 (en) | 2016-11-03 | 2019-03-05 | At&T Intellectual Property I, L.P. | Methods and apparatus for adjusting an operational characteristic of an antenna |
US10225025B2 (en) | 2016-11-03 | 2019-03-05 | At&T Intellectual Property I, L.P. | Method and apparatus for detecting a fault in a communication system |
US10498044B2 (en) | 2016-11-03 | 2019-12-03 | At&T Intellectual Property I, L.P. | Apparatus for configuring a surface of an antenna |
US10291334B2 (en) | 2016-11-03 | 2019-05-14 | At&T Intellectual Property I, L.P. | System for detecting a fault in a communication system |
US10178445B2 (en) | 2016-11-23 | 2019-01-08 | At&T Intellectual Property I, L.P. | Methods, devices, and systems for load balancing between a plurality of waveguides |
US10340603B2 (en) | 2016-11-23 | 2019-07-02 | At&T Intellectual Property I, L.P. | Antenna system having shielded structural configurations for assembly |
US10340601B2 (en) | 2016-11-23 | 2019-07-02 | At&T Intellectual Property I, L.P. | Multi-antenna system and methods for use therewith |
US10535928B2 (en) | 2016-11-23 | 2020-01-14 | At&T Intellectual Property I, L.P. | Antenna system and methods for use therewith |
US10090594B2 (en) | 2016-11-23 | 2018-10-02 | At&T Intellectual Property I, L.P. | Antenna system having structural configurations for assembly |
US10361489B2 (en) | 2016-12-01 | 2019-07-23 | At&T Intellectual Property I, L.P. | Dielectric dish antenna system and methods for use therewith |
US10305190B2 (en) | 2016-12-01 | 2019-05-28 | At&T Intellectual Property I, L.P. | Reflecting dielectric antenna system and methods for use therewith |
US10637149B2 (en) | 2016-12-06 | 2020-04-28 | At&T Intellectual Property I, L.P. | Injection molded dielectric antenna and methods for use therewith |
US10694379B2 (en) | 2016-12-06 | 2020-06-23 | At&T Intellectual Property I, L.P. | Waveguide system with device-based authentication and methods for use therewith |
US10326494B2 (en) | 2016-12-06 | 2019-06-18 | At&T Intellectual Property I, L.P. | Apparatus for measurement de-embedding and methods for use therewith |
US10439675B2 (en) | 2016-12-06 | 2019-10-08 | At&T Intellectual Property I, L.P. | Method and apparatus for repeating guided wave communication signals |
US9927517B1 (en) | 2016-12-06 | 2018-03-27 | At&T Intellectual Property I, L.P. | Apparatus and methods for sensing rainfall |
US10020844B2 (en) | 2016-12-06 | 2018-07-10 | T&T Intellectual Property I, L.P. | Method and apparatus for broadcast communication via guided waves |
US10727599B2 (en) | 2016-12-06 | 2020-07-28 | At&T Intellectual Property I, L.P. | Launcher with slot antenna and methods for use therewith |
US10819035B2 (en) | 2016-12-06 | 2020-10-27 | At&T Intellectual Property I, L.P. | Launcher with helical antenna and methods for use therewith |
US10382976B2 (en) | 2016-12-06 | 2019-08-13 | At&T Intellectual Property I, L.P. | Method and apparatus for managing wireless communications based on communication paths and network device positions |
US10135145B2 (en) | 2016-12-06 | 2018-11-20 | At&T Intellectual Property I, L.P. | Apparatus and methods for generating an electromagnetic wave along a transmission medium |
US10755542B2 (en) | 2016-12-06 | 2020-08-25 | At&T Intellectual Property I, L.P. | Method and apparatus for surveillance via guided wave communication |
US10547348B2 (en) | 2016-12-07 | 2020-01-28 | At&T Intellectual Property I, L.P. | Method and apparatus for switching transmission mediums in a communication system |
US10389029B2 (en) | 2016-12-07 | 2019-08-20 | At&T Intellectual Property I, L.P. | Multi-feed dielectric antenna system with core selection and methods for use therewith |
US10446936B2 (en) | 2016-12-07 | 2019-10-15 | At&T Intellectual Property I, L.P. | Multi-feed dielectric antenna system and methods for use therewith |
US10139820B2 (en) | 2016-12-07 | 2018-11-27 | At&T Intellectual Property I, L.P. | Method and apparatus for deploying equipment of a communication system |
US9893795B1 (en) | 2016-12-07 | 2018-02-13 | At&T Intellectual Property I, Lp | Method and repeater for broadband distribution |
US10359749B2 (en) | 2016-12-07 | 2019-07-23 | At&T Intellectual Property I, L.P. | Method and apparatus for utilities management via guided wave communication |
US10168695B2 (en) | 2016-12-07 | 2019-01-01 | At&T Intellectual Property I, L.P. | Method and apparatus for controlling an unmanned aircraft |
US10027397B2 (en) | 2016-12-07 | 2018-07-17 | At&T Intellectual Property I, L.P. | Distributed antenna system and methods for use therewith |
US10243270B2 (en) | 2016-12-07 | 2019-03-26 | At&T Intellectual Property I, L.P. | Beam adaptive multi-feed dielectric antenna system and methods for use therewith |
US10103422B2 (en) | 2016-12-08 | 2018-10-16 | At&T Intellectual Property I, L.P. | Method and apparatus for mounting network devices |
US9998870B1 (en) | 2016-12-08 | 2018-06-12 | At&T Intellectual Property I, L.P. | Method and apparatus for proximity sensing |
US10411356B2 (en) | 2016-12-08 | 2019-09-10 | At&T Intellectual Property I, L.P. | Apparatus and methods for selectively targeting communication devices with an antenna array |
US10601494B2 (en) | 2016-12-08 | 2020-03-24 | At&T Intellectual Property I, L.P. | Dual-band communication device and method for use therewith |
US10916969B2 (en) | 2016-12-08 | 2021-02-09 | At&T Intellectual Property I, L.P. | Method and apparatus for providing power using an inductive coupling |
US10326689B2 (en) | 2016-12-08 | 2019-06-18 | At&T Intellectual Property I, L.P. | Method and system for providing alternative communication paths |
US10069535B2 (en) | 2016-12-08 | 2018-09-04 | At&T Intellectual Property I, L.P. | Apparatus and methods for launching electromagnetic waves having a certain electric field structure |
US10777873B2 (en) | 2016-12-08 | 2020-09-15 | At&T Intellectual Property I, L.P. | Method and apparatus for mounting network devices |
US10530505B2 (en) | 2016-12-08 | 2020-01-07 | At&T Intellectual Property I, L.P. | Apparatus and methods for launching electromagnetic waves along a transmission medium |
US10938108B2 (en) | 2016-12-08 | 2021-03-02 | At&T Intellectual Property I, L.P. | Frequency selective multi-feed dielectric antenna system and methods for use therewith |
US10389037B2 (en) | 2016-12-08 | 2019-08-20 | At&T Intellectual Property I, L.P. | Apparatus and methods for selecting sections of an antenna array and use therewith |
US9911020B1 (en) | 2016-12-08 | 2018-03-06 | At&T Intellectual Property I, L.P. | Method and apparatus for tracking via a radio frequency identification device |
US10264586B2 (en) | 2016-12-09 | 2019-04-16 | At&T Mobility Ii Llc | Cloud-based packet controller and methods for use therewith |
US10340983B2 (en) | 2016-12-09 | 2019-07-02 | At&T Intellectual Property I, L.P. | Method and apparatus for surveying remote sites via guided wave communications |
US9838896B1 (en) | 2016-12-09 | 2017-12-05 | At&T Intellectual Property I, L.P. | Method and apparatus for assessing network coverage |
US9973940B1 (en) | 2017-02-27 | 2018-05-15 | At&T Intellectual Property I, L.P. | Apparatus and methods for dynamic impedance matching of a guided wave launcher |
US10298293B2 (en) | 2017-03-13 | 2019-05-21 | At&T Intellectual Property I, L.P. | Apparatus of communication utilizing wireless network devices |
-
2005
- 2005-03-18 CN CNB2005100425695A patent/CN100502181C/en not_active Expired - Fee Related
Cited By (63)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101247030B (en) * | 2007-08-01 | 2010-06-09 | 北京深浪电子技术有限公司 | Overhead line obstacle detouring inspection robot and its obstacle detouring control method |
WO2009058041A3 (en) * | 2007-11-02 | 2009-06-18 | Inst Superior Tecnlco | Robot capable of moving hanging in suspended lines |
WO2009058041A2 (en) * | 2007-11-02 | 2009-05-07 | Instituto Superior Tecnlco | Robot capable of moving hanging in suspended lines |
CN101471547B (en) * | 2007-12-26 | 2010-09-01 | 中国科学院沈阳自动化研究所 | Mechanism for releasing patrolling robot fault |
CN101447654B (en) * | 2008-11-02 | 2011-01-12 | 河南送变电建设公司 | Full automatic power run way |
CN101574983B (en) * | 2009-06-12 | 2013-03-13 | 中国电力科学研究院 | Lead obstacle-crossing robot walking device |
CN101665128B (en) * | 2009-09-04 | 2012-07-11 | 重庆市电力公司超高压局 | Robot used for detecting high voltage transmission lines |
CN101859989A (en) * | 2010-04-26 | 2010-10-13 | 华南理工大学 | Three-wheel inspection robot mechanism capable of crossing over catenary of pole and tower |
CN101882765A (en) * | 2010-05-11 | 2010-11-10 | 湖南大学 | Traveling mechanism of robot on high voltage transmission line |
CN101882765B (en) * | 2010-05-11 | 2012-08-22 | 湖南大学 | Traveling mechanism of robot on high voltage transmission line |
CN102005705A (en) * | 2010-10-29 | 2011-04-06 | 西安交通大学 | Suspended line walking robot |
CN102005705B (en) * | 2010-10-29 | 2012-09-05 | 西安交通大学 | Suspended line walking robot |
CN102097765B (en) * | 2010-12-20 | 2012-08-22 | 重庆市电力公司綦南供电局 | Running state inspection method of high voltage line |
CN102110960A (en) * | 2010-12-20 | 2011-06-29 | 重庆前卫仪表有限责任公司 | Intelligent walking mechanism for inspecting operating condition of high-voltage line |
CN102097765A (en) * | 2010-12-20 | 2011-06-15 | 重庆市电力公司綦南供电局 | Running state inspection method of high voltage line |
CN102110960B (en) * | 2010-12-20 | 2012-09-19 | 重庆前卫仪表有限责任公司 | Intelligent walking mechanism for inspecting operating condition of high-voltage line |
CN102110959A (en) * | 2010-12-20 | 2011-06-29 | 重庆市电力公司綦南供电局 | Walking device for intelligently inspecting running state of high voltage line |
CN102110959B (en) * | 2010-12-20 | 2012-08-22 | 重庆市电力公司綦南供电局 | Walking device for intelligently inspecting running state of high voltage line |
CN102343586A (en) * | 2011-04-13 | 2012-02-08 | 哈尔滨工业大学 | Line grasping manipulator for remote control in measurement and check of communication network |
CN102343586B (en) * | 2011-04-13 | 2013-09-04 | 哈尔滨工业大学 | Line grasping manipulator for remote control in measurement and check of communication network |
CN102315609B (en) * | 2011-05-17 | 2013-09-11 | 国家电网公司 | Unmanned automatic inspection device for transmission line |
CN102315609A (en) * | 2011-05-17 | 2012-01-11 | 福建省电力有限公司泉州电业局 | Unmanned automatic inspection device for transmission line |
WO2012155505A1 (en) * | 2011-05-17 | 2012-11-22 | 福建省电力有限公司 | Unmanned automatic overhauling device for electric transmission lines |
CN102412526A (en) * | 2011-11-17 | 2012-04-11 | 北京国网富达科技发展有限责任公司 | Portable robot system for comprehensive maintenance of power circuit and obstacle-crossing method for portable robot system |
CN102621419A (en) * | 2012-03-28 | 2012-08-01 | 山东省电力学校 | Method for automatically recognizing and monitoring line electrical equipment based on laser and binocular vision image |
CN104321654A (en) * | 2012-03-30 | 2015-01-28 | 埃尔瓦有限公司 | Apparatus and system for scheduling mobile device operations on a power transmission system |
CN102975191B (en) * | 2012-12-05 | 2015-04-22 | 山东电力集团公司电力科学研究院 | Line-walking robot system for overhead transmission line |
CN102975191A (en) * | 2012-12-05 | 2013-03-20 | 山东电力集团公司电力科学研究院 | Line-walking robot system for overhead transmission line |
CN102962834A (en) * | 2012-12-10 | 2013-03-13 | 东北大学 | Inspection robot mechanism for high-voltage transmission line |
CN102962834B (en) * | 2012-12-10 | 2015-07-29 | 东北大学 | A kind of inspection robot for high-voltage transmission lines mechanism |
CN103390870A (en) * | 2013-07-25 | 2013-11-13 | 国家电网公司 | Intelligent line patrol vehicle for overhead transmission line |
CN103437307B (en) * | 2013-09-17 | 2016-03-02 | 西安南风云电力科技有限公司 | The automatically setuping and uninstalling machine of preventing damage to power transmission line caused by external force detecting warning device |
CN103437307A (en) * | 2013-09-17 | 2013-12-11 | 西安南风云电力科技有限公司 | Automatic installing and uninstalling machine of detecting and warning device for preventing power transmission line from external force damage |
CN104577881A (en) * | 2015-01-23 | 2015-04-29 | 国家电网公司 | Intelligent line patrol trolley lighting trolley body device and line patrol method |
CN104659706A (en) * | 2015-01-23 | 2015-05-27 | 国家电网公司 | Palm opening and closing device |
CN105244806A (en) * | 2015-10-20 | 2016-01-13 | 国网山东平度市供电公司 | Power inspection robot |
CN105244806B (en) * | 2015-10-20 | 2017-07-28 | 国网山东平度市供电公司 | A kind of electric inspection process robot |
CN105226565A (en) * | 2015-11-02 | 2016-01-06 | 国网山东省电力公司电力科学研究院 | A kind of ultra-high-tension power transmission line online assignment operating means |
CN106826873A (en) * | 2015-12-03 | 2017-06-13 | 中国科学院沈阳自动化研究所 | A kind of transmission line polling robot visual servo grabs line control method |
CN105818140B (en) * | 2016-05-12 | 2018-04-03 | 山东大学 | Imitative insect creeping motion type inspection robot mechanical structure and its obstacle-detouring method |
CN105818140A (en) * | 2016-05-12 | 2016-08-03 | 山东大学 | Insect wriggle imitating type power transmission line inspection robot mechanical structure and obstacle surmounting method thereof |
CN105846347A (en) * | 2016-05-12 | 2016-08-10 | 山东大学 | Double mechanical arm climbing type line patrol robot mechanical structure and obstacle surmounting method therefor |
CN106314587A (en) * | 2016-09-15 | 2017-01-11 | 周珍芳 | Swinging arm type high-voltage cable crawling robot with obstacle crossing function |
CN106454269A (en) * | 2016-11-21 | 2017-02-22 | 国网辽宁省电力有限公司经济技术研究院 | Power grid remote inspection monitoring device |
CN106655006A (en) * | 2017-03-10 | 2017-05-10 | 华北电力大学(保定) | Transmission line inspection robot obstacle-crossing device |
CN106655006B (en) * | 2017-03-10 | 2018-05-18 | 华北电力大学(保定) | Transmission line polling robot obstacle-surmounting travelling gear |
CN107196232A (en) * | 2017-07-07 | 2017-09-22 | 国网湖南省电力公司带电作业中心 | A kind of hot line robot independently goes up coil inserting apparatus with vehicular |
CN107196233A (en) * | 2017-07-07 | 2017-09-22 | 国网湖南省电力公司带电作业中心 | A kind of hot line robot independently goes up coil inserting apparatus |
CN107196233B (en) * | 2017-07-07 | 2018-08-14 | 国网湖南省电力公司带电作业中心 | A kind of autonomous upper coil inserting apparatus of hot line robot |
CN107221874B (en) * | 2017-07-07 | 2018-08-17 | 国网湖南省电力公司带电作业中心 | A kind of vehicular with hanging wire unmanned plane independently upper coil inserting apparatus and method |
CN107196232B (en) * | 2017-07-07 | 2018-09-14 | 国网湖南省电力公司带电作业中心 | A kind of hot line robot autonomous upper coil inserting apparatus of vehicular |
CN107221874A (en) * | 2017-07-07 | 2017-09-29 | 国网湖南省电力公司带电作业中心 | A kind of vehicular with hanging wire unmanned plane independently goes up coil inserting apparatus and method |
CN108390312A (en) * | 2018-03-23 | 2018-08-10 | 国网上海市电力公司 | A kind of overhead distribution line circuit scanning test robot operational method |
CN108861971A (en) * | 2018-07-25 | 2018-11-23 | 深圳智慧林网络科技有限公司 | A kind of walking mechanism of intellect service robot |
CN109193457B (en) * | 2018-10-12 | 2020-08-07 | 国网浙江省电力有限公司绍兴供电公司 | Line inspection robot for power transmission line along ground line |
CN109193457A (en) * | 2018-10-12 | 2019-01-11 | 国网浙江省电力有限公司绍兴供电公司 | A kind of transmission line of electricity is along ground wire inspection robot |
CN109698476A (en) * | 2019-02-28 | 2019-04-30 | 西南交通大学 | A kind of claw Bao Xian mechanism of ultra-high-tension power transmission line inspection robot |
CN109698476B (en) * | 2019-02-28 | 2023-12-01 | 西南交通大学 | Claw part wire holding mechanism of high-voltage transmission line inspection robot |
CN110103200A (en) * | 2019-06-24 | 2019-08-09 | 杭州迈世歆智能机器人有限公司 | One kind is across barrier turning line climbing robot |
CN112072544A (en) * | 2020-08-25 | 2020-12-11 | 杭州电子科技大学 | Walking type power line obstacle crossing inspection robot along line |
CN111993385A (en) * | 2020-08-26 | 2020-11-27 | 广东电网有限责任公司肇庆供电局 | Power line operation walking robot |
CN115635487A (en) * | 2022-12-26 | 2023-01-24 | 国网天津市电力公司建设分公司 | Tower-climbing robot obstacle avoidance control system and method based on multi-sensor fusion |
CN115635487B (en) * | 2022-12-26 | 2023-08-04 | 国网天津市电力公司建设分公司 | Tower climbing robot obstacle avoidance control system and method based on multi-sensor fusion |
Also Published As
Publication number | Publication date |
---|---|
CN100502181C (en) | 2009-06-17 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN100502181C (en) | Robot of autonomous moving along 110KV transmission line and its working method | |
CN2778492Y (en) | Robot capable of self-walking along 110KV transmission line | |
CN102412530B (en) | Line navigation amphibious power circuit comprehensive maintenance robot and circuit maintenance method thereof | |
CN101859989B (en) | Three-wheel inspection robot mechanism capable of crossing over catenary of pole and tower | |
CN112414457B (en) | Automatic intelligent inspection method based on transformer substation work | |
CN106886225B (en) | Multifunctional unmanned aerial vehicle intelligent landing station system | |
CN107611849A (en) | A kind of self-propelled power transmission cable crusing robot | |
CN105730540B (en) | A kind of Intelligent Mobile Robot and its driving method with pole-climbing function | |
CN109412079B (en) | Unmanned aerial vehicle inspection system for power transmission line | |
CN205220844U (en) | Transformer substation independently gets over barrier and patrols and examines robot | |
CN104577881B (en) | Intelligent line patrol trolley lighting trolley body device and line patrol method | |
CN202513492U (en) | Line navigation amphibious power-line comprehensive maintenance robot | |
CN101832447A (en) | Robot for detecting drainage pipeline video | |
CN113241667B (en) | Transmission line patrols traditional thread binding putting and control system thereof | |
CN109494617B (en) | Obstacle clearing inspection robot and obstacle clearing method thereof | |
CN111958594A (en) | Semantic intelligent substation inspection operation robot system and method | |
CN208630737U (en) | A kind of self-regulation walking mechanism and the crusing robot with self-regulation walking mechanism | |
CN109572842B (en) | Pole-climbing mechanism, pole-climbing intelligent inspection robot and pole-climbing method of transformer substation | |
Hongguang et al. | Research of power transmission line maintenance robots in SIACAS | |
CN109202958B (en) | Visual grabbing platform of compound robot | |
CN107181201A (en) | A kind of aerial barrier clearing device and system based on laser | |
CN103616893A (en) | Inspection robot control system | |
CN111827108A (en) | Be applied to dual-purpose intelligent robot in land and air that bridge crack detected | |
CN213602300U (en) | Transmission line strain clamp bolt fastening operation robot | |
CN110926541A (en) | Straddle type monorail PC track beam detection device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
EE01 | Entry into force of recordation of patent licensing contract |
Assignee: SHANDONG RUIKE ELECTRIC CO., LTD. Assignor: Shandong University Contract fulfillment period: 2009.6.20 to 2014.6.20 contract change Contract record no.: 2009370000270 Denomination of invention: Robot of autonomous moving along 110KV transmission line and its working method Granted publication date: 20090617 License type: Exclusive license Record date: 2009.9.11 |
|
LIC | Patent licence contract for exploitation submitted for record |
Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2009.6.20 TO 2014.6.20; CHANGE OF CONTRACT Name of requester: SHANDONG RUIKE ELECTRIC CO., LTD. Effective date: 20090911 |
|
C17 | Cessation of patent right | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090617 Termination date: 20120318 |