CN106078806A - Intelligent Mobile Robot monitoring system based on Centralized Monitoring and method - Google Patents
Intelligent Mobile Robot monitoring system based on Centralized Monitoring and method Download PDFInfo
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- CN106078806A CN106078806A CN201610628740.9A CN201610628740A CN106078806A CN 106078806 A CN106078806 A CN 106078806A CN 201610628740 A CN201610628740 A CN 201610628740A CN 106078806 A CN106078806 A CN 106078806A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000004891 communication Methods 0.000 claims abstract description 53
- 238000012545 processing Methods 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000003993 interaction Effects 0.000 claims description 9
- 238000011946 reduction process Methods 0.000 claims description 7
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 230000005236 sound signal Effects 0.000 claims description 4
- 230000003321 amplification Effects 0.000 claims description 3
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims 1
- 230000003044 adaptive effect Effects 0.000 abstract description 2
- 230000003247 decreasing effect Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L21/00—Speech or voice signal processing techniques to produce another audible or non-audible signal, e.g. visual or tactile, in order to modify its quality or its intelligibility
- G10L21/02—Speech enhancement, e.g. noise reduction or echo cancellation
- G10L21/0208—Noise filtering
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/14—Picture signal circuitry for video frequency region
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Quality & Reliability (AREA)
- Mechanical Engineering (AREA)
- Computational Linguistics (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Selective Calling Equipment (AREA)
- Telephonic Communication Services (AREA)
Abstract
The invention discloses a kind of Intelligent Mobile Robot monitoring system based on Centralized Monitoring and method, including: it is respectively arranged at the pick up facility within some transformer stations, teller machines, voice frequency terminal equipment and the first voiceband facility；Pick up facility communicates with voice frequency terminal equipment respectively with teller machines, voice frequency terminal equipment and the first voiceband facility communication；The first video service equipment within each transformer station is respectively by the second video service equipment and centralized Control client communication, and the voice frequency terminal equipment within each transformer station is respectively by the second voiceband facility and centralized Control client communication.The method have the benefit that breaching voice data must carry the limitation of video, and front end coding and rear end owing to decreasing video and audio frequency decode the work of shunting and make processing speed be improved, nor there is the adaptive of different manufacturers data encoding and decoding and work.
Description
Technical field
The present invention relates to inspecting substation equipment field, particularly relate to a kind of substation inspection machine based on Centralized Monitoring
People's monitoring system and method.
Background technology
Along with electronic technology, computer technology, the fast development of network technology, electric power scheduling automatization system the completeest
Kind, the unmanned of transformer station or few man on duty become to be increasingly becoming reality.The appearance of Mobile Robot for Substation Equipment Inspection, especially
Safe operation to substation equipment provides strong guarantee, replaces manual patrol with robot, significantly reduces electric power
The workload of service personal, decreases it may happen that the probability of personnel hazard, reduces the maintenance cost of power equipment, and
The biggest lifting is there has also been in precision patrolling and examining.
Transformer station duty personnel wishes to listen to live sound when robot patrols and examines by crusing robot；Can
The sound of the equipment of detection is acquired, analyzes, stores；It is capable of carrying out two-way intercommunication with robot site；Can lead to
Cross robot and realize the broadcast etc. of audio frequency.
At present, above-mentioned functions is essentially all and is realized by coding and decoding video module or video server, such as Fig. 1 institute
Showing, video and audio-frequency information are transmitted in the way of mixed flow, and having arrived client needs to be decoded, then by video and sound
Frequency separates, and finally carries out respective application process.When adopting in this way, voice data must be mounted on video data,
When therefore not having video data, audio frequency cannot transmit；It addition, the step that this kind of mode needs is relatively complicated, processing speed
It not the highest, and due to the coding of different video producer and the difference of coding/decoding method, need to carry out adaptation when application.
Further, the video service equipment of existing collection control end must be same producer with the video service equipment in transformer station
Equipment, otherwise there will be because the difference and causing of the encoding and decoding stipulations of each producer situation about cannot resolve.
Summary of the invention
The purpose of the present invention is contemplated to solve the problems referred to above, it is proposed that a kind of substation inspection machine based on Centralized Monitoring
Device people's monitoring system and method, separated the process logic of video and audio frequency by hardware, decreases video and audio frequency
Front end coding and the work of rear end decoding shunting, simplify the workflow of collection control end crusing robot monitoring system.
To achieve these goals, the present invention adopts the following technical scheme that
A kind of Intelligent Mobile Robot monitoring system based on Centralized Monitoring, including: it is respectively arranged at some transformer stations
Internal pick up facility, teller machines, voice frequency terminal equipment and the first voiceband facility；
Described pick up facility communicates with voice frequency terminal equipment respectively with teller machines, and voice frequency terminal equipment and the first audio frequency pass
Transfer device communicates；
Voice frequency terminal equipment within each transformer station described is respectively by the second voiceband facility and centralized Control
Client communication.
Described voice frequency terminal equipment by pick up facility obtain voice data be respectively sent to the first voiceband facility and
Second voiceband facility, the voice data of transformer station's client and centralized Control client feedback is respectively by the first audio frequency
Transmission equipment and the second voiceband facility are sent to voice frequency terminal equipment, and are played out by teller machines.
Described first voiceband facility and the second voiceband facility keep and multiple voice frequency terminal equipment communications respectively,
Corresponding voice data is selected according to demand by transformer station's client or centralized Control client.
Described voice frequency terminal equipment includes:
First communication module: for carrying out data interaction with voiceband facility；
First processing module: for realizing the chauvent's criterion to audio signal, noise reduction process and other operations；
First power module: for providing power supply for whole equipment；
Coding/decoding module: for realizing coding and the decoding operation of voice data；
Power amplifier module: amplify for realizing the signal of voice data；
Described first communication module and the first processing module two-way communication, the first processing module respectively with coding/decoding module and
Power amplifier module connects communication.
Described voice frequency terminal equipment also includes: the first power interface, the first communication interface, audio collection interface and audio frequency are broadcast
Put interface；
Described first communication interface and the first communication module connect, and the first communication module passes through the first communication interface and audio frequency
Transmission equipment communicates；First power interface and the first power module connect, and the first power interface is also connected with external power source；Sound
Frequently acquisition interface is connected with coding/decoding module, and audio frequency play interface is connected with power amplifier module.
Described first voiceband facility and the second voiceband facility structure are identical, all include:
Second communication module: for carrying out data interaction with voice frequency terminal equipment；
Second processing module: for realizing the chauvent's criterion to audio signal, noise reduction process and other operations；
Second source module: for providing power supply for whole equipment；
And second communication interface and second source interface；
Described second communication module and the second processing module two-way communication, the second communication module by the second communication interface with
Voice frequency terminal equipment communicates, and second source module is connected with second source interface, and second source interface connects external power source.
Described voice frequency terminal equipment and the first voiceband facility or the second voiceband facility are entered by wireless
Row data are transmitted.
Described wireless includes: any one in WiFi, COFDM, GPRS or Zigbee.
A kind of method of Intelligent Mobile Robot monitoring system based on Centralized Monitoring, including:
The audio frequency individual transformer station gathered and video data carry out centralized Control, and by video data and the place of voice data
Reason logic separates, particularly as follows:
Video service equipment only obtains video data from video capture device, and the Video Applications being sent to client regards
The process of frequency evidence；
Voice data is sent to voice frequency terminal equipment by pick up facility, and the first voiceband facility obtains from voice frequency terminal equipment
Taking voice data to be sent to the voice applications of transformer station's client and carry out the process of video data, the second voiceband facility is from sound
Frequency terminal equipment obtains voice data and is sent to the voice applications of centralized Control client and carries out the process of video data, and will become
The voice data of power station client or centralized Control client is sent to voice frequency terminal equipment, is broadcast by teller machines
Put.
To the processing procedure of voice data particularly as follows:
The voice data of pick up facility collection is reversibly encoded operation, the data of coding are carried out chauvent's criterion, fall
Make an uproar and perform compression after processing, then described data are respectively sent to the first voiceband facility and the second voiceband facility,
After first voiceband facility and second voiceband facility decoding data to receiving, send to respective client
Complete to apply accordingly；
For the speech data of client feedback, the first voiceband facility and the second voiceband facility respectively to data
Performing compression after carrying out chauvent's criterion, noise reduction process, be then forwarded to voice frequency terminal equipment, data are carried out by voice frequency terminal equipment
After decoding, then through power amplification, voice data is played out.
The invention has the beneficial effects as follows:
The video of robot and the function of audio frequency is the invention enables to apply more rationally efficiently, by hardware measure to video
Separating with the process logic of audio frequency, video service equipment only processes video data, thus breaches voice data necessary
Carry the limitation of video, and the front end coding and rear end owing to decreasing video and audio frequency decodes the work of shunting and make place
Reason speed is improved, nor there is the adaptive work of different manufacturers data encoding and decoding..
Accompanying drawing explanation
Fig. 1 is traditional Audio Processing logical schematic；
Fig. 2 is present invention Intelligent Mobile Robot based on Centralized Monitoring audio frequency and video separating treatment schematic diagram；
Fig. 3 is voice frequency terminal equipment structure chart of the present invention；
Fig. 4 is voiceband facility structure chart of the present invention.
Detailed description of the invention:
The present invention will be further described with embodiment below in conjunction with the accompanying drawings:
A kind of Intelligent Mobile Robot monitoring system based on Centralized Monitoring, including: it is respectively arranged at some transformer stations
Internal, pick up facility, teller machines, voice frequency terminal equipment and the first voiceband facility；
Pick up facility communicates with voice frequency terminal equipment respectively with teller machines, and voice frequency terminal equipment and the first audio transmission set
Standby communication；
Voice frequency terminal equipment within each transformer station is respectively by the second voiceband facility and centralized Control client
End communication.
Voice frequency terminal equipment obtains voice data by pick up facility and is respectively sent to the first voiceband facility and second
Voiceband facility, the voice data of transformer station's client and centralized Control client feedback is respectively by the first audio transmission
Equipment and the second voiceband facility are sent to voice frequency terminal equipment, and are played out by teller machines.
As shown in Figure 2, the logic of the video of robot and the collection of audio frequency and process is separated.
Original video service equipment retains, but only processes video data, i.e. obtains video data from video capture device,
Then it is compressed being sent to the Video Applications of client.Owing to there is no input and the output of audio frequency, therefore without compiling again
Code and the operation of decoding.
And for voice data, add voice frequency terminal equipment and voiceband facility.Voice frequency terminal equipment is mainly used in
Obtain voice data from pick up facility, and voice data can be play on teller machines.Voiceband facility can be with audio frequency
Terminal unit carries out data interaction, and it can receive the voice data that terminal sends over and be then forwarded at client
Reason, and the voice data of client can be issued terminal and play out.
During deployment, it is respectively provided with a voiceband facility, the i.e. first voiceband facility at station end and Centralized Monitoring end
With the second voiceband facility, be allowed to stand in voice frequency terminal equipment communicate；First voiceband facility and transformer station
Client carries out data exchange, and the second voiceband facility and centralized Control client carry out data exchange.
Owing to there may be multiple stage robot in a transformer station, therefore there may be multiple voice frequency terminal in transformer station and set
Standby, voiceband facility can keep the link to multiple terminals, client grasp voice data according to the demand of oneself
Make.
As shown in Figure 3, voice frequency terminal equipment includes:
First communication module: for carrying out data interaction with voiceband facility；
First processing module: inside have embedded OS, mainly carries out chauvent's criterion, noise reduction etc. to voice signal
Reason, and realize the various operations about audio frequency by developing application program on embedded OS.
First power module: for providing power supply for whole equipment；
Coding/decoding module: for realizing coding and the decoding operation of voice data；
Power amplifier module: amplify for realizing the signal of voice data；
First communication module and the first processing module two-way communication, the first processing module respectively with coding/decoding module and power amplifier
Module connects communication.
Voice frequency terminal equipment has 4 interfaces, including: the first power interface, it is connected with outer power supply source, by the first power supply
Module is powered to whole equipment；First communication interface, realizes voice frequency terminal equipment by communication module and sets with audio transmission
Data interaction between Bei；Audio collection interface, is connected with pick up facility, and the voice data of pick up facility collection is passed through encoding and decoding
Module carries out encoding and decoding, the data of encoding and decoding is delivered to data processing module and processes；Audio frequency play interface, plays with audio frequency
Equipment is connected, and the voice data processed is sent to audio-frequence player device through power amplifier.
As shown in Figure 4, voiceband facility includes:
Second communication module: for carrying out data interaction with voice frequency terminal equipment；
Second processing module: inside have embedded OS, mainly carries out chauvent's criterion, noise reduction etc. to voice signal
Reason, and realize the various operations about audio frequency by developing application program on embedded OS.
Second source module: for providing power supply for whole equipment；
Second communication module and the second processing module two-way communication, the second communication module passes through the second communication interface and audio frequency
Terminal unit communicates, and second source module is connected with second source interface, and second source interface connects external power source.
Voiceband facility has 2 interfaces, including: second source interface, it is connected with outer power supply source, passes through second source
Module is powered to whole equipment；Second communication interface, realizes voice frequency terminal equipment by the second communication module and passes with audio frequency
Data interaction between transfer device；
Because robot needs mobile, voice frequency terminal equipment is transmitted by wireless with voiceband facility, Ke Yiwei
WiFi or COFDM or GPRS or Zigbee or the wireless telecommunications of other form.
Voiceband facility is carried out data transmission by wired forms or wireless with client.Wired forms includes:
Coaxial cable, twisted-pair feeder or optical fiber.
The method of Intelligent Mobile Robot audio frequency processing system, including:
The audio frequency individual transformer station gathered and video data carry out centralized Control, and by video data and the place of voice data
Reason logic separates, particularly as follows:
Video service equipment only obtains video data from video capture device, and the Video Applications being sent to client regards
The process of frequency evidence；
Voice data is sent to voice frequency terminal equipment by pick up facility, and the first voiceband facility obtains from voice frequency terminal equipment
Taking voice data to be sent to the voice applications of transformer station's client and carry out the process of video data, the second voiceband facility is from sound
Frequency terminal equipment obtains voice data and is sent to the voice applications of centralized Control client and carries out the process of video data, and will become
The voice data of power station client or centralized Control client is sent to voice frequency terminal equipment, is broadcast by teller machines
Put.
To the processing procedure of voice data particularly as follows:
The voice data of pick up facility collection is reversibly encoded operation, the data of coding are carried out chauvent's criterion, fall
Make an uproar and perform compression after processing, then described data are respectively sent to the first voiceband facility and the second voiceband facility,
After first voiceband facility and second voiceband facility decoding data to receiving, send to respective client
Complete to apply accordingly；
For the speech data of client feedback, the first voiceband facility and the second voiceband facility respectively to data
Performing compression after carrying out chauvent's criterion, noise reduction process, be then forwarded to voice frequency terminal equipment, data are carried out by voice frequency terminal equipment
After decoding, then through power amplification, voice data is played out.
Although the detailed description of the invention of the present invention is described by the above-mentioned accompanying drawing that combines, but not the present invention is protected model
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not
Need to pay various amendments or deformation that creative work can make still within protection scope of the present invention.
Claims (10)
1. an Intelligent Mobile Robot monitoring system based on Centralized Monitoring, is characterized in that, including: it is respectively arranged at some
Pick up facility, teller machines, voice frequency terminal equipment and the first voiceband facility within transformer station；
Described pick up facility communicates with voice frequency terminal equipment respectively with teller machines, and voice frequency terminal equipment and the first audio transmission set
Standby communication；
Voice frequency terminal equipment within each transformer station described is respectively by the second voiceband facility and centralized Control client
End communication.
A kind of Intelligent Mobile Robot monitoring system based on Centralized Monitoring, is characterized in that, institute
State voice frequency terminal equipment and be respectively sent to the first voiceband facility and the second audio frequency biography by pick up facility acquisition voice data
Transfer device, the voice data of transformer station's client and centralized Control client feedback respectively by the first voiceband facility and
Second voiceband facility is sent to voice frequency terminal equipment, and is played out by teller machines.
A kind of Intelligent Mobile Robot monitoring system based on Centralized Monitoring, is characterized in that, institute
State the first voiceband facility and the second voiceband facility keeps and multiple voice frequency terminal equipment communications, respectively by power transformation standee
Family end or centralized Control client select corresponding voice data according to demand.
A kind of Intelligent Mobile Robot monitoring system based on Centralized Monitoring, is characterized in that, institute
State voice frequency terminal equipment to include:
First communication module: for carrying out data interaction with voiceband facility；
First processing module: for realizing the chauvent's criterion to audio signal, noise reduction process and other operations；
First power module: for providing power supply for whole equipment；
Coding/decoding module: for realizing coding and the decoding operation of voice data；
Power amplifier module: amplify for realizing the signal of voice data；
Described first communication module and the first processing module two-way communication, the first processing module respectively with coding/decoding module and power amplifier
Module connects communication.
A kind of Intelligent Mobile Robot monitoring system based on Centralized Monitoring, is characterized in that, institute
State voice frequency terminal equipment also to include: the first power interface, the first communication interface, audio collection interface and audio frequency play interface；
Described first communication interface and the first communication module connect, and the first communication module passes through the first communication interface and audio transmission
Equipment communicates；First power interface and the first power module connect, and the first power interface is also connected with external power source；Audio frequency is adopted
Collection interface is connected with coding/decoding module, and audio frequency play interface is connected with power amplifier module.
A kind of Intelligent Mobile Robot monitoring system based on Centralized Monitoring, is characterized in that, institute
State the first voiceband facility and the second voiceband facility structure be identical, all include:
Second communication module: for carrying out data interaction with voice frequency terminal equipment；
Second processing module: for realizing the chauvent's criterion to audio signal, noise reduction process and other operations；
Second source module: for providing power supply for whole equipment；
And second communication interface and second source interface；
Described second communication module and the second processing module two-way communication, the second communication module passes through the second communication interface and audio frequency
Terminal unit communicates, and second source module is connected with second source interface, and second source interface connects external power source.
A kind of Intelligent Mobile Robot monitoring system based on Centralized Monitoring, is characterized in that, institute
State voice frequency terminal equipment and the first voiceband facility or the second voiceband facility is carried out data transmission by wireless.
A kind of Intelligent Mobile Robot monitoring system based on Centralized Monitoring, is characterized in that, institute
State wireless to include: any one in WiFi, COFDM, GPRS or Zigbee.
9. a method for Intelligent Mobile Robot monitoring system based on Centralized Monitoring as claimed in claim 1, it is special
Levy and be, including:
The audio frequency individual transformer station gathered and video data carry out centralized Control, and the process of video data and voice data are patrolled
Collect and separate, particularly as follows:
Video service equipment only obtains video data from video capture device, and the Video Applications being sent to client carries out video counts
According to process；
Voice data is sent to voice frequency terminal equipment by pick up facility, and the first voiceband facility obtains sound from voice frequency terminal equipment
Frequency carries out the process of video data according to the voice applications being sent to transformer station's client, and the second voiceband facility is from audio frequency eventually
End equipment obtains voice data and is sent to the voice applications of centralized Control client and carries out the process of video data, and by transformer station
The voice data of client or centralized Control client is sent to voice frequency terminal equipment, is played out by teller machines.
A kind of method of Intelligent Mobile Robot monitoring system based on Centralized Monitoring, it is special
Levy and be, to the processing procedure of voice data particularly as follows:
The voice data of pick up facility collection is reversibly encoded operation, the data of coding are carried out at chauvent's criterion, noise reduction
Perform compression after reason, then described data are respectively sent to the first voiceband facility and the second voiceband facility, first
After voiceband facility and second voiceband facility decoding data to receiving, send extremely respective client and complete
Corresponding application；
Data are carried out by the speech data of client feedback, the first voiceband facility and the second voiceband facility respectively
Performing compression after chauvent's criterion, noise reduction process, be then forwarded to voice frequency terminal equipment, voice frequency terminal equipment is to decoding data
After, then through power amplification, voice data is played out.
Priority Applications (1)
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| CN201610628740.9A CN106078806B (en) | 2016-08-03 | 2016-08-03 | Intelligent Mobile Robot monitoring system and method based on Centralized Monitoring |
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| CN201610628740.9A CN106078806B (en) | 2016-08-03 | 2016-08-03 | Intelligent Mobile Robot monitoring system and method based on Centralized Monitoring |
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| CN106078806A true CN106078806A (en) | 2016-11-09 |
| CN106078806B CN106078806B (en) | 2018-06-19 |
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| CN201610628740.9A Active CN106078806B (en) | 2016-08-03 | 2016-08-03 | Intelligent Mobile Robot monitoring system and method based on Centralized Monitoring |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111385911A (en) * | 2018-12-27 | 2020-07-07 | 深圳市优必选科技有限公司 | Inspection robot and voice communication method thereof |
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| CN111385911B (en) * | 2018-12-27 | 2022-06-28 | 深圳市优必选科技有限公司 | Inspection robot and voice communication method thereof |
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| Publication number | Publication date |
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| CN106078806B (en) | 2018-06-19 |
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Address after: 330000, 980, high tech Avenue, private science park, Qingshan Lake District, Jiangxi, Nanchang Co-patentee after: National Network Intelligent Technology Co., Ltd. Patentee after: National network Jiangxi Electric Power Co., Ltd. maintenance branch Co-patentee after: State Grid Co., Ltd. Address before: 330000, 980, high tech Avenue, private science park, Qingshan Lake District, Jiangxi, Nanchang Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Patentee before: MAINTENANCE COMPANY OF STATE GRID JIANGXI ELECTRIC POWER COMPANY Co-patentee before: State Grid Corporation |
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Effective date of registration: 20201028 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 330000, 980, high tech Avenue, private science park, Qingshan Lake District, Jiangxi, Nanchang Patentee before: STATE GRID JIANGXI ELECTRIC POWER Co.,Ltd. INSPECTION BRANCH Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |