JP2767643B2 - Traveling equipment on overhead electric wires - Google Patents
Traveling equipment on overhead electric wiresInfo
- Publication number
- JP2767643B2 JP2767643B2 JP2586090A JP2586090A JP2767643B2 JP 2767643 B2 JP2767643 B2 JP 2767643B2 JP 2586090 A JP2586090 A JP 2586090A JP 2586090 A JP2586090 A JP 2586090A JP 2767643 B2 JP2767643 B2 JP 2767643B2
- Authority
- JP
- Japan
- Prior art keywords
- damper
- overhead
- rear wheel
- roller
- front wheel
- 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.)
- Expired - Lifetime
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- Electric Cable Installation (AREA)
Description
【発明の詳細な説明】 （産業上の利用分野） 本発明は架空送電線、架空地線等の架空電線上を自走
する架空電線上走行装置に関するものである。Description: TECHNICAL FIELD The present invention relates to an overhead electric wire traveling apparatus that runs on overhead electric wires such as overhead power transmission lines and overhead ground wires.
（従来の技術） 第７図は架空送電線、架空地線等の架空電線の架設状
態を地上で監視するようにした従来の架空電線上走行装
置の一例の説明図で、同図（イ）は正面図、同図（ロ）
は（イ）図のＸ−Ｘ矢視図である。(Prior Art) FIG. 7 is an explanatory view of an example of a conventional overhead electric wire traveling apparatus in which the construction state of overhead electric wires such as overhead power transmission lines and overhead ground wires is monitored on the ground. Is the front view, (b)
FIG. 3 is a view taken along the line XX in FIG.
図面に示すように、カメラ（11）を積載した本体枠
（10）上部の前部及び後部にＶ溝を持った駆動ローラ
（41）（42）が装着されており、モーター（12）の駆動
力がベルト（43）及び（44）により上記駆動ローラ（4
1）（42）へ伝達され、架空電線（１）上を自走する。
このように架空電線（１）上を自走させてカメラ（11）
により架空電線の架設状態を撮影し、地上の監視装置に
伝送して架設状態を監視する。As shown in the drawing, driving rollers (41) and (42) having V-grooves are mounted on the front and rear portions of a main body frame (10) on which a camera (11) is mounted, and the motor (12) is driven. The force is applied to the drive roller (4) by the belts (43) and (44).
1) It is transmitted to (42) and runs on the overhead power line (1).
In this way, the camera (11) is driven on the overhead power line (1) by itself.
, The construction state of the overhead electric wire is photographed and transmitted to a monitoring device on the ground to monitor the construction state.
（解決しようとする課題） しかし、架空電線（１）には電線の振動防止のために
ダンパー（２）が取付けてあり、これが装置の自走の障
害となる場合がある。(Problem to be Solved) However, a damper (2) is attached to the overhead electric wire (1) to prevent vibration of the electric wire, and this may be an obstacle to the self-propelled operation of the device.
即ち、上述した従来の装置の駆動ローラ（41）（42）
は１輪づつ独立して装備され本体枠上部に固定配置され
ており、個々のローラは他方のローラの動きに影響を受
けないので、一方のローラがダンパー（２）に掛ると抵
抗でスリップが発生し、ダンパー（２）を乗り越えて走
行出来ないという問題点があった。That is, the drive rollers (41) and (42) of the above-described conventional device are used.
Are independently mounted one by one and fixedly arranged at the top of the body frame. Since each roller is not affected by the movement of the other roller, when one roller is applied to the damper (2), slip occurs due to resistance. This caused a problem that the vehicle could not run over the damper (2).
（課題を解決するための手段） 本発明は上述の問題点を解消した架空送電線上走行装
置を提供するもので、その特徴は、本体枠上部に複数の
駆動ローラを備え架空線上を自走する装置において、前
輪と後輪の２輪をアームで連結したものを一組とする複
数組の駆動ローラと、前記一組の駆動ローラにおける少
なくとも後輪に設けられると共に線状体の巻き上げによ
り駆動ローラを引き上げる引き上げ機構と、前輪が架空
電線のダンパなどの障害物に掛かる信号あるいは障害物
を乗り越える抵抗を利用した信号を発生する手段とを備
え、前記信号発生手段の信号により前記引き上げ機構を
作動して駆動ローラを引き上げることでダンパなどの障
害物の乗り越えを可能としたことにある。(Means for Solving the Problems) The present invention provides an overhead transmission line traveling apparatus that solves the above-mentioned problems, and is characterized by including a plurality of drive rollers on the upper part of a main body frame and traveling on an overhead line. In the apparatus, a plurality of sets of drive rollers, each of which includes two front wheels and a rear wheel connected by an arm, are provided on at least the rear wheels of the set of drive rollers, and the drive rollers are formed by winding up a linear body. And a means for generating a signal using a resistance in which the front wheel hangs over an obstacle such as a damper of an overhead electric wire or a resistance over the obstacle, and operates the lifting mechanism by a signal of the signal generating means. By pulling up the drive roller, obstacles such as dampers can be overcome.
第１図は本発明の架空電線上走行装置の具体例の正面
図である。FIG. 1 is a front view of a specific example of the overhead wire traveling apparatus of the present invention.
架空電線（１）の架線状態等を撮影するカメラ（11）
を積載した本体枠（10）上部の前部（20）及び後部（3
0）には、それぞれアーム（25）（35）で連結した前輪
（21）（32）及び後輪（22）（31）より成る駆動ローラ
が装備されており、その各々の前輪（21）（32）にはロ
ーラ引上げ機構（23）（33）が、又後輪（22）（31）に
はローラ引上げ機構（24）（34）が設けられている。前
部（20）の駆動ローラ（21）（22）はモーター（12）の
駆動力がベルト（13）及びプーリー（14）により伝達さ
れ回転する。同様に、後部（30）の駆動ローラ（31）
（32）も図示していないがモーターの駆動力がベルト及
びプーリーにより伝達され回転する。Camera (11) that captures the state of the overhead line (1)
(20) and rear (3)
0) is equipped with a drive roller composed of a front wheel (21) (32) and a rear wheel (22) (31) connected by arms (25) and (35), respectively. The roller pulling mechanisms (23) and (33) are provided at 32), and the roller pulling mechanisms (24) and (34) are provided at the rear wheels (22) and (31). The driving rollers (21) and (22) of the front part (20) rotate by the driving force of the motor (12) being transmitted by the belt (13) and the pulley (14). Similarly, the rear (30) drive roller (31)
Although (32) is not shown, the driving force of the motor is transmitted by the belt and the pulley to rotate.
（作用） 第１図〜第３図は本発明の架空電線上走行装置の各作
用の状態図である。(Operation) FIGS. 1 to 3 are state diagrams of each operation of the overhead wire traveling apparatus of the present invention.
架空電線（１）上を走行してきた走行装置の前部（2
0）の駆動ローラの前輪（21）が、第１図に示すように
ダンパー（２）に掛るか、又は接近したことをセンサ又
はスイッチ（50）で検知し、その信号を前輪（21）上部
に設けてあるローラ引上げ機構（23）の電磁クラッチ
（26）に伝えて作動させると、第２図のように、電磁ク
ラッチ（26）に連動したリール（27）が回転する。これ
により前輪（21）に連結したロープ又はワイヤ（28）が
巻上げられ、前輪（21）を上方に強制的に引上げる。こ
れにより、前輪（21）は後輪（22）を支点に上方に持ち
上がった状態で前進することになり、ダンパー（２）を
乗り越えて走行することが可能となる。この際、前輪
（21）が或る程度浮上がったのをセンサ又はスイッチ
（51）が検知し、電磁クラッチ（26）への信号を断つこ
とによって、第３図に示すように、前輪（21）は架空電
線（１）上に位置することになり、通常の状態となる。The front (2) of the traveling device traveling on the overhead power line (1)
The sensor or switch (50) detects that the front wheel (21) of the drive roller of (0) is on or approached by the damper (2) as shown in FIG. 1, and the signal is detected above the front wheel (21). When the roller clutch (26) of the roller pulling mechanism (23) provided is operated, the reel (27) interlocked with the electromagnetic clutch (26) rotates as shown in FIG. Thereby, the rope or wire (28) connected to the front wheel (21) is wound up, and the front wheel (21) is forcibly pulled up. As a result, the front wheel (21) moves forward with the rear wheel (22) lifted upward with the fulcrum as a fulcrum, and can run over the damper (2). At this time, the sensor or the switch (51) detects that the front wheel (21) has floated to a certain degree, and cuts off the signal to the electromagnetic clutch (26), as shown in FIG. ) Is located on the overhead electric wire (1), and is in a normal state.
同様に後輪（22）にもローラ引上げ機構（24）を設け
ておくことにより、前輪同様に後輪（22）にダンパー
（２）の乗越えが可能となる。Similarly, by providing a roller pulling mechanism (24) also on the rear wheel (22), it is possible to get over the damper (2) on the rear wheel (22) as with the front wheel.
上記引上げ機構（23）（24）を作動させる方法は、ラ
ジオコントロール等によってマニュアル操作も可能であ
る。The method of operating the pulling mechanisms (23) and (24) can be manually operated by radio control or the like.
（実施例） 第４図及び第５図は本発明の架空電線上走行装置の他
の具体例の説明図である。(Embodiment) FIGS. 4 and 5 are explanatory views of another specific example of the overhead wire traveling device of the present invention.
本具体例においてはローラ引上げ機構は後輪ローラの
みに装備しており、比較的軽度なダンパーの乗越え走行
に適している。In this specific example, the roller pulling mechanism is provided only on the rear wheel roller, and is suitable for traveling over a relatively light damper.
架空電線（１）上を走行してきた走行装置は前部駆動
ローラ（20）の前輪（21）がダンパー（２）に掛ると、
第４図のようにダンパー（２）上に乗上げることが出来
るが、後輪（22）がダンパー（２）に掛ると前輪（21）
が後輪（22）を支点にして上方に浮き上がり、ダンパー
（２）を乗越えることが出来ない。The traveling device traveling on the overhead electric wire (1), when the front wheel (21) of the front drive roller (20) is hung on the damper (2),
As shown in FIG. 4, it is possible to ride on the damper (2), but when the rear wheel (22) hangs on the damper (2), the front wheel (21)
Rises up with the rear wheel (22) as a fulcrum and cannot cross the damper (2).
これを第６図に示すように線図的にあらわすと、ダン
パー（２）で前輪（21）に抵抗が生じると、駆動ローラ
の回転方向により、同図のように後輪（22）を押し下
げる方向に作用し、その反力で前輪（21）は同図のよ
うに上方に持ち上がり、ダンパー（２）に対する抵抗力
が緩和され、同図のように前輪（21）はダンパー
（２）を乗越えることが出来る。When this is represented diagrammatically as shown in FIG. 6, when resistance is generated in the front wheel (21) by the damper (2), the rear wheel (22) is pushed down as shown in FIG. The front wheel (21) is lifted upward by the reaction force as shown in the figure, the resistance to the damper (2) is reduced, and the front wheel (21) rides on the damper (2) as shown in the figure. You can cross it.
一方、後輪（22）にダンパー（２）の抵抗が生じる
と、同図のように前輪（21）を押し上げる方向に力が
作用し、その反力で後輪（22）は同図のように下方に
下がり、ダンパー（２）に対する抵抗力が増加し、後輪
（22）はダンパー（２）を乗越えることが出来ない。On the other hand, when the resistance of the damper (2) is generated in the rear wheel (22), a force acts in a direction to push up the front wheel (21) as shown in the figure, and the rear wheel (22) reacts by the reaction force as shown in the figure. , The resistance to the damper (2) increases, and the rear wheel (22) cannot climb over the damper (2).
そこで、第５図のように、前輪（21）が浮き上がった
信号をセンサ又はスイッチ（52）が検知すると、後輪
（22）上部にあるローラ引上げ機構（24）の電磁クラッ
チ（26′）作動し、これに連動したリール（27′）が回
転する。これにより、後輪（22）に連結したロープ（2
8′）が巻上げられ、後輪（22）を上方に強制的に引上
げる（第６図）。なお第６図の（14）は前後輪に動力
を伝達する歯車である。Then, as shown in FIG. 5, when a sensor or switch (52) detects a signal that the front wheel (21) is lifted, the electromagnetic clutch (26 ') of the roller pulling mechanism (24) above the rear wheel (22) is activated. Then, the reel (27 ') linked to this rotates. As a result, the rope (2) connected to the rear wheel (22)
8 ') is wound up, and the rear wheel (22) is forcibly pulled upward (FIG. 6). In FIG. 6, (14) is a gear for transmitting power to the front and rear wheels.
後輪（22）が持上げられた反動で前輪（21）は下方に
移動して架空電線（１）上に移動して走行する一方、後
輪（22）は前輪（21）を支点に上方に持上がった状態で
移動する。これにより後輪（22）がダンパー（２）を乗
越える抵抗が減少し、ダンパー（２）の乗越え走行が可
能となる。この際、後輪（22）が浮き上がった信号をセ
ンサ又はスイッチ（52）が検知し、電磁クラッチ（2
6′）への信号を断つことによって前輪（21）及び後輪
（22）は通常の状態となり架空電線（１）上を走行す
る。The front wheel (21) moves downward by the recoil of the rear wheel (22) and moves on the overhead electric wire (1), and the rear wheel (22) moves upward with the front wheel (21) as a fulcrum. Move in a lifted state. As a result, the resistance of the rear wheel (22) over the damper (2) is reduced, and the vehicle can travel over the damper (2). At this time, the sensor or switch (52) detects a signal that the rear wheel (22) has lifted up, and the electromagnetic clutch (2
By cutting off the signal to 6 '), the front wheel (21) and the rear wheel (22) are in a normal state and run on the overhead electric wire (1).
同様に後部駆動ローラ（30）の後輪（31）にも同じ引
上げ機構（34）を設けることによって、装置の後部駆動
ローラ（30）もダンパー（２）を乗越えての走行が可能
となる。Similarly, by providing the same pulling-up mechanism (34) on the rear wheel (31) of the rear drive roller (30), the rear drive roller (30) of the device can run over the damper (2).
なお、ローラ引上げ機構を作動及び停止させる信号は
例えばラジオコントロール等でのマニュアル操作も可能
である。また上記実施例では駆動ローラは４輪用いたが
さらに個数を増やしてもよい。The signal for operating and stopping the roller pulling mechanism can be manually operated by, for example, radio control. In the above embodiment, four drive rollers are used, but the number of drive rollers may be further increased.
（発明の効果） 以上説明したように、本発明の架空電線上走行装置に
よれば、アームで連結した前輪及び後輪の２輪の駆動ロ
ーラを前部及び後部に装備し、架空電線上のダンパー等
の障害物が比較的大きい場合は前後輪に、障害物が比較
的小さい場合は後輪のみに、ローラ引上げ機構を設ける
ことにより、ダンパー等障害物乗越時の抵抗が減少し障
害物乗越えを可能にする。(Effects of the Invention) As described above, according to the traveling apparatus on an overhead electric wire of the present invention, two front and rear drive rollers are connected to each other at the front and rear parts by the arm, and If the obstacles such as the damper are relatively large, the roller pull-up mechanism is provided on the front and rear wheels only if the obstacle is relatively small, and only the rear wheel is provided. Enable.
従って、本発明の架空電線上走行装置はダンパー等の
障害物を有する架空電線の架設状態の監視等に利用する
とき、極めて効果的である。Therefore, the traveling apparatus on overhead electric wires according to the present invention is extremely effective when used for monitoring the state of erection of overhead electric wires having obstacles such as dampers.
第１図及び第２図はいずれも本発明の架空電線上走行装
置の具体例の説明図で、それぞれ（イ）図は正面図、
（ロ）図は（イ）図の右側面図である。 第３図は本発明の架空電線上走行装置のさらに他の具体
例の正面図である。 第４図及び第５図は本発明の架空電線上走行装置の他の
具体例の説明図である。 第６図〜は第４図に示す装置の作用の説明図であ
る。 第７図は従来の架空電線上走行装置の説明図で、同図
（イ）は正面図、同図（ロ）は（イ）図のＸ−Ｘ矢視図
である。 １……架空電線、２……ダンパー、10……本体枠、11…
…カメラ、12……モーター、13……ベルト、14……プー
リー、20……前部駆動ローラ、21……前輪、22……後
輪、23……前輪ローラ引上げ機構、24……後輪ローラ引
上げ機構、25……連結アーム、26、26′……電磁クラッ
チ、27、27′……リール、28、28′……ワイヤ、30……
後部駆動ローラ、31……後輪、32……前輪、33……前輪
ローラ引上げ機構、34……後輪ローラ引上げ機構、35…
…連結アーム。1 and 2 are explanatory diagrams of a specific example of the overhead wire traveling device of the present invention. FIG. 1 (a) is a front view, and FIG.
The figure (b) is a right side view of the figure (a). FIG. 3 is a front view of still another specific example of the overhead wire traveling device of the present invention. FIG. 4 and FIG. 5 are explanatory views of another specific example of the traveling apparatus on overhead wires according to the present invention. 6 to 6 are explanatory diagrams of the operation of the device shown in FIG. FIG. 7 is an explanatory view of a conventional overhead electric wire traveling apparatus, wherein FIG. 7A is a front view, and FIG. 7B is a view taken along line XX of FIG. 1 ... overhead wire, 2 ... damper, 10 ... body frame, 11 ...
... Camera, 12 ... Motor, 13 ... Belt, 14 ... Pulley, 20 ... Front drive roller, 21 ... Front wheel, 22 ... Rear wheel, 23 ... Front wheel roller lifting mechanism, 24 ... Rear wheel Roller pulling-up mechanism, 25 ... Connecting arm, 26, 26 '... Electromagnetic clutch, 27, 27' ... Reel, 28, 28 '... Wire, 30 ...
Rear drive roller, 31 Rear wheel, 32 Front wheel, 33 Front wheel roller pull-up mechanism, 34 Rear wheel roller pull-up mechanism, 35
... connecting arm.
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 昭63−52614（ＪＰ，Ａ) 特開 平１−248918（ＪＰ，Ａ) 特開 平１−248919（ＪＰ，Ａ) 特開 平１−69207（ＪＰ，Ａ) 特開 平１−157208（ＪＰ，Ａ) 特開 平１−248917（ＪＰ，Ａ) 実開 昭63−48317（ＪＰ，Ｕ) 実公 昭62−30420（ＪＰ，Ｙ２) 実公 平４−45374（ＪＰ，Ｙ２) (58)調査した分野(Int.Cl.6，ＤＢ名) H02G 1/00 - 1/02──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-63-52614 (JP, A) JP-A-1-248918 (JP, A) JP-A-1-248919 (JP, A) JP-A-1- 69207 (JP, A) JP-A-1-157208 (JP, A) JP-A-1-248917 (JP, A) JP-A 63-48317 (JP, U) JP-A 62-30420 (JP, Y2) JK 4-45374 (JP, Y2) (58) Fields investigated (Int. Cl. 6 , DB name) H02G 1/00-1/02
Claims (1)
線上を自走する装置において、前輪と後輪の２輪をアー
ムで連結したものを一組とする複数組の駆動ローラと、
前記一組の駆動ローラにおける少なくとも後輪に設けら
れると共に線状体の巻き上げにより駆動ローラを引き上
げる引き上げ機構と、前輪が架空電線のダンパなどの障
害物に掛かる信号あるいは障害物を乗り越える抵抗を利
用した信号を発生する手段とを備え、前記信号発生手段
の信号により前記引き上げ機構を作動して駆動ローラを
引き上げることでダンパなどの障害物の乗り越えを可能
としたことを特徴とする架空電線上走行装置。1. An apparatus which has a plurality of drive rollers on an upper part of a main body frame and which runs on an overhead line, wherein a plurality of sets of drive rollers are formed by connecting two wheels, a front wheel and a rear wheel, with an arm;
A pull-up mechanism provided on at least the rear wheel of the set of drive rollers and raising the drive roller by winding up the linear body, and a signal that causes the front wheel to hang on an obstacle such as a damper of an overhead electric wire or a resistance over the obstacle is used. Means for generating a signal, and the lifting mechanism is operated by the signal of the signal generating means to raise the drive roller so that an obstacle such as a damper can be overcome. .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2586090A JP2767643B2 (en) | 1990-02-05 | 1990-02-05 | Traveling equipment on overhead electric wires |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2586090A JP2767643B2 (en) | 1990-02-05 | 1990-02-05 | Traveling equipment on overhead electric wires |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03230711A JPH03230711A (en) | 1991-10-14 |
| JP2767643B2 true JP2767643B2 (en) | 1998-06-18 |
Family
ID=12177571
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2586090A Expired - Lifetime JP2767643B2 (en) | 1990-02-05 | 1990-02-05 | Traveling equipment on overhead electric wires |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2767643B2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012061922A1 (en) * | 2010-11-12 | 2012-05-18 | Ftd Highrise Inspection Inc. | Building inspection device |
| KR101469492B1 (en) * | 2013-10-25 | 2014-12-05 | 한국과학기술연구원 | Robot moving along the wire |
| JP2020150626A (en) * | 2019-03-12 | 2020-09-17 | 北海道電力株式会社 | Overhead wire travel mechanism, self-propelling overhead wire inspection device, and overhead wire inspection system |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2418473A1 (en) * | 2003-02-04 | 2004-08-04 | Hydro-Quebec | Robot vehicle that runs on conductors and has the ability to negotiate obstacles using temporary support rotors |
| KR100889996B1 (en) * | 2007-07-03 | 2009-03-25 | 한전케이피에스 주식회사 | Transferring vehicle with power device |
| CN102931610B (en) * | 2012-10-08 | 2015-01-21 | 湖州电力局 | Power transmission line repair flying vehicle |
| CN205104842U (en) * | 2015-09-01 | 2016-03-23 | 国家电网公司 | Circuit hinders formula driving more |
| CN105197029B (en) * | 2015-10-23 | 2017-08-29 | 国网江苏省电力公司无锡供电公司 | Barrier-crossing traveling mechanism and inspection electric aerodyne |
| CN106611938B (en) * | 2017-01-13 | 2018-08-03 | 国家电网公司 | A kind of power coaster |
| CN110752540B (en) * | 2019-10-21 | 2021-02-23 | 广西明电建设有限公司 | Cable maintenance loading device capable of crossing barrier |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6352614A (en) * | 1986-08-18 | 1988-03-05 | 日本電信電話株式会社 | Apparatus for travelling antenna |
| JPH0681381B2 (en) * | 1987-09-08 | 1994-10-12 | 三菱電機株式会社 | Self-propelled machine |
| JPH01157208A (en) * | 1987-12-14 | 1989-06-20 | Nippon Telegr & Teleph Corp <Ntt> | Stringing moving device |
| JPH01248919A (en) * | 1988-03-26 | 1989-10-04 | Tokyo Electric Power Co Inc:The | Device for movement of overhead line |
| JPH01248917A (en) * | 1988-03-26 | 1989-10-04 | Tokyo Electric Power Co Inc:The | Device for movement of overhead line |
| JPH01248918A (en) * | 1988-03-26 | 1989-10-04 | Tokyo Electric Power Co Inc:The | Device for movement of overhead line |
-
1990
- 1990-02-05 JP JP2586090A patent/JP2767643B2/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012061922A1 (en) * | 2010-11-12 | 2012-05-18 | Ftd Highrise Inspection Inc. | Building inspection device |
| US9274063B2 (en) | 2010-11-12 | 2016-03-01 | Ftd Highrise Inspection Inc. | Building inspection device |
| KR101469492B1 (en) * | 2013-10-25 | 2014-12-05 | 한국과학기술연구원 | Robot moving along the wire |
| JP2020150626A (en) * | 2019-03-12 | 2020-09-17 | 北海道電力株式会社 | Overhead wire travel mechanism, self-propelling overhead wire inspection device, and overhead wire inspection system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH03230711A (en) | 1991-10-14 |
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