CN206485543U - Real-time prospecting apparatus under pump water seal - Google Patents
Real-time prospecting apparatus under pump water seal Download PDFInfo
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- CN206485543U CN206485543U CN201621450590.9U CN201621450590U CN206485543U CN 206485543 U CN206485543 U CN 206485543U CN 201621450590 U CN201621450590 U CN 201621450590U CN 206485543 U CN206485543 U CN 206485543U
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Abstract
Real-time prospecting apparatus under the utility model pump water seal, including mobile workstation, communication cable and underwater robot.Mobile workstation mainly includes host computer, and host computer is connected by communication cable with underwater robot, and communication cable is that mobile workstation and underwater robot set up communication；Underwater robot includes dynamical system, control system, sensing system, picture system and 2 sets of batteries.Underwater robot of the present utility model is configured with 6 underwater propellers, the any direction vector movement of 6 frees degree under water can be completed, there is fast and flexible motion and motion stabilization, course are precisely kept and position is hovered, possesses good underwater observation platform, and solve existing small underwater robot under water posture be not sufficiently stable, cable do not have neutral buoyancy design, the technical problem without Real-Time Communication Interface, be especially suitable for hydraulic engineering field in all kinds of water pumps, gate complexity hidden danger is detected under water and failure is detected.
Description
Technical field
The utility model is related to the prospecting apparatus real-time under water in hydraulic engineering, and in particular to one kind is for hydraulic engineering neck
The device that all kinds of water pumps, the underwater portion of gate are detected in real time in domain.
Background technology
For all kinds of pumping plants, the operational management at lock station and maintenance in hydraulic engineering field, especially water pump, gate stop
Regular maintenance, inspection or maintenance after fortune, are directed to underwater operation, that is, check the actual shape of underwater portion of all kinds of water pumps, gate
State, hidden danger is detected under water and failure is detected for progress, and this kind of underwater operation is often a great problem for perplexing administrative staff.In the past
We must use diver to carry out underwater operation, but this mode cost is higher, and due to the complexity pair of sub-marine situations
There is certain danger for diver.Meanwhile, for the depth of water it is more than 50 meters of place, or pump station is led under water
Stream part, can not all be detected by diver.So, underwater operation was carried out at only few pumping plant, lock station.
More advanced is to use this kind of underwater operation of prospecting apparatus progress in real time under pump water seal, solves all kinds of water pumps, lock
The door problem that hidden danger is detected under water and failure is detected.Under water prospecting apparatus can in highly complex or even dangerous waters, instead of
Artificial long working under water.
Current all kinds of prospecting apparatus under water (underwater robot) are in oil development, maritime affair law enforcement evidence obtaining, ocean expedition and army
The fields such as thing are used widely, but it is existing, can apply all kinds of water pumps in hydraulic engineering field, gate use environment it is small
Type underwater robot, still suffers from that posture under water is not sufficiently stable, cable does not have neutral buoyancy design, without the technology such as Real-Time Communication Interface
Problem.Using underwater robot technology, for all kinds of water pumps in hydraulic engineering field, gate use environment, a kind of pump water seal is developed
Real-time prospecting apparatus down, to solve existing small underwater robot, posture is not sufficiently stable under water, cable does not have neutral buoyancy design, do not have
There are a technical problems such as Real-Time Communication Interface, carry out that hidden danger is detected in real time under pump water seal and failure is detected, instead of artificial underwater operation
What is become is particularly necessary.
Real-time prospecting apparatus can detect the virtual condition of all kinds of water pumps under this pump water seal, and water pump is clearly showed in real time
The clear picture of overall picture and thin portion of motor unit water diversion part under water, such as diversion component corrosion, damage situation, jam feelings
Condition, under water dirt situation etc.；The virtual condition of all kinds of gates can also be detected, the total of gate underwater portion is clearly showed in real time
Body picture and the clear picture of thin portion, such as component of the strobe corrosion, damage situation, under water jam situation, dirt situation, while also may be used
Observe the dirt situation under water of whole Forebay of Pumping Station, particularly trash rack.Make operational management personnel in regular maintenance, check or inspection
All kinds of hidden danger of pump lock when repairing work, can be understood, investigated accurately and in time.
Utility model content
The purpose of this utility model is to provide real-time prospecting apparatus under a kind of pump water seal, to solve in hydraulic engineering field
All kinds of water pumps, the hidden danger under water of gate is detected and failure is detected.
The technical solution adopted in the utility model is：
Real-time prospecting apparatus under pump water seal, it includes underwater robot, communication cable and mobile workstation.
The underwater robot, including dynamical system, sensing system, picture system, control system and battery；Institute
State underwater robot and be provided with main cabin and battery flat；
The mobile workstation, mainly including host computer, is built in bank work；Host computer display in real time and preservation
The image/video and data (including underwater robot posture, electric quantity of power supply, depth of water water temperature, video etc.) of underwater robot, simultaneously
Control underwater robot dynamical system, according to detect need adjust robot movement velocity and direction (advance, retreat, on
Floating, sinking and steering)；
The communication cable, one end connection host computer, other end connection underwater robot, is mobile workstation and under water
Communication is set up between robot.
The communication cable, is designed using neutral buoyancy, it is ensured that cable will not produce huge weight in water；The communication
Cable also uses tensile materials, to increase the drag force that can bear.
The mobile workstation is additionally provided with cable reel, and the communication cable is wrapped on cable reel, cable reel
Function is folding and unfolding communication cable, i.e., the distance travelled according to underwater robot (100 meters of standard configuration) is grown to discharge or reclaim correspondence
The cable of degree；Meanwhile, take out underwater robot by pulling communication cable when robot breaks down under water.With according to described
The distance that underwater robot is travelled pulls to discharge or reclaim the cable of correspondence length when robot breaks down under water
Cable takes out underwater robot.
The dynamical system includes 6 symmetrical underwater propellers, respectively before underwater robot is anterior
Left propeller, front right propeller and left vertical pusher in the middle part of underwater robot, right vertical pusher and positioned at water
Rear left propeller, the rear right propeller at lower robot rear portion；By converting, the direction of different spiral propellers, realizes robot
The motion of all directions in water；When front left propeller, front right propeller, rear left propeller, rear right propeller are all one
When direction is done work, underwater robot realizes anterior-posterior translation；When front left propeller, front right propeller be respectively two opposite directions and
When rear left propeller, rear right propeller are all a direction, it is possible to achieve the left-hand rotation forward of underwater robot, forward turn right or to
Turn left afterwards, turn right backward；When front left propeller, rear left propeller is same direction and front right propeller, rear right propeller are another
During one direction, underwater robot realizes left and right move horizontally；When left vertical pusher, right vertical pusher with identical speed,
When equidirectional is rotated, it is possible to achieve underwater robot is moved up and down.Underwater robot is using 6 propellers, before can be achieved
Enter, retreat, turning left, turning right, floating, dive, left, right translation, run in water more stablize, facilitate under user's observation water
Target.
Described image system, including video camera and LED illumination lamp under water, for being recorded among underwater robot motion process
With the video image that part is detected needed for transmission pump lock；
The sensing system, including gyroscope and pressure-temperature sensor, for monitoring in real time residing for underwater robot
Water in posture and depth of water water temperature；
The control system, using customization embedded control system, completion power supply, dynamical system control, carrier wave lead to
Letter control, according to the feedback of the gyroscope of sensing system and the video camera of picture system, by controlling dynamical system to complete tune
The movement velocity of whole underwater robot and direction；
Sensing system, video camera, control system and the electrical wire interface of underwater robot, electric wire are installed in the main cabin
Interface is used for the external battery of circuit board electric wire and propeller of main cabin controlling system；Machine under water is installed in the battery flat
The battery of device people；
The battery is two sets, standby each other, is that described underwater robot is powered.
The underwater robot is provided with buffer gear, and buffer gear includes collateral fagging and bottom supporting plate；Collateral fagging is consolidated
Surely it is arranged at the arranged on left and right sides of underwater robot；Bottom supporting plate is fixedly installed on the bottom of underwater robot, solid with collateral fagging
Fixed connection.
When underwater robot carries other outside plants, the underwater robot is provided with buoyant module, passes through adjustment
The buoyancy that buoyant module is produced, so that underwater robot is in neutral buoyancy state in water；Buoyant module is placed in underwater robot
Top corner.Buoyant module material needs long period of soaking in water when Shi Jishiyong, using water-fast, pressure-resistant, corrosion-resistant, impact resistance
Material, its density is usually the 0.3~0.6 of water density.
When the underwater robot carries other outside plants, underwater robot is provided with balancing weight, adjusts machine under water
Device people's center of gravity, in order to underwater robot held stationary posture.Balancing weight is placed in the bottom of underwater robot.Counterweight block of material is real
Long period of soaking is needed when border is used in water, it is desirable to water-fast, pressure-resistant, corrosion-resistant, impact resistance, generally using highdensity heavy metal material
Material is made, such as iron, lead, copper etc..
The beneficial effects of the utility model are：
Underwater robot under the utility model pump water seal in real-time prospecting apparatus tool is configured with 6 underwater propellers, can
Complete any direction vector movement of 6 frees degree under water, precisely kept with fast and flexible motion and motion stabilization, course and
The advantages of position is hovered, possesses good underwater observation platform, and solves existing small underwater robot posture is inadequate under water
Stable, cable does not have neutral buoyancy design, the technical problem without Real-Time Communication Interface, is especially suitable for all kinds of in hydraulic engineering field
Water pump, gate complicated hidden danger is detected under water and failure is detected.
Brief description of the drawings
Fig. 1 is the system structure diagram of the utility model embodiment；
Fig. 2 is the underwater robot front view of the utility model embodiment；
Fig. 3 is the underwater robot side view of the utility model embodiment；
Fig. 4 is the underwater robot top view of the utility model embodiment；
Fig. 5 is the underwater robot rearview of the utility model embodiment；
Fig. 6 is the underwater robot upward view of the utility model embodiment；
Fig. 7 is the System Working Principle schematic diagram of the utility model embodiment.
In figure：1- mobile workstations；101- host computers；102- cable reeles；2- communication cables；3- underwater robots；
31- picture systems；311-LED illuminating lamps；312- video cameras；32- dynamical systems；321- front left propellers；322- front rights are promoted
Device；The left vertical pushers of 323-；The right vertical pushers of 324-；325- rear left propellers；326- rear right propellers；33- controls system
System；34- sensing systems；35- buffer gears；The collateral faggings of 351-；352- bottoms supporting plate；36- balancing weights；37- buoyant modules；
The main cabins of 38-；381- electrical wire interfaces；39- battery flats.
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in Figures 1 to 6, real-time prospecting apparatus under the utility model pump water seal, including mobile workstation 1, communication electricity
Cable 2 and underwater robot 3.
Underwater robot 3 includes dynamical system 32, sensing system 34, picture system 31, control system 33 and battery；
The underwater robot is provided with main cabin 332 and battery flat 333, wherein the video camera of underwater robot is installed in the inside of main cabin 332
312nd, control system circuit plate and electrical wire interface 343, the inside of battery flat 333 are installed by the battery of underwater robot.
Dynamical system 32, including 6 underwater propellers, movement velocity and direction to underwater robot 3 are controlled；This
6 underwater propellers are symmetrical, including positioned at the anterior front left propeller 321 of the underwater robot 3, front right propeller 322；
Left vertical pusher 323 positioned at the middle part of underwater robot 3, right vertical pusher 324；Positioned at the underwater robot 3
The rear left propeller 325 at rear portion, rear right propeller 326.
When front left propeller 321, front right propeller 322；Rear left propeller 325, rear right propeller 326 are all a direction
During acting, underwater robot 3 realizes anterior-posterior translation；When front left propeller 321 and front right propeller 322 are respectively two phase negative sides
To and rear left propeller 325, rear right propeller 326 be all a direction when, it is possible to achieve the left-hand rotation forward of underwater robot 3,
Turn right forward or turn left backward, turn right backward；When front left propeller 321, rear left propeller 325, for same direction, front right is promoted
When device 322, rear right propeller 326 are another direction, robot 3 realizes that left and right horizontal is moved；When left vertical pusher 323,
When right vertical pusher 324 is rotated with identical speed, equidirectional, it is possible to achieve underwater robot 3 is moved up and down.Thus water
Lower robot can realize advance, retreat, and turn left, and turn right, and float, dive, left, right translation.Underwater robot 3 can be made in water
Realize that any angle is translated in plane.With reference to control system 33, its interior completion vector motion of six-freedom degree under water can be made.
Sensing system 34, including 1 set of gyroscope are used to monitor posture in the water residing for underwater robot 3 in real time, use
MPU9150 type gyroscopes；1 set of pressure-temperature sensor is used to monitor the depth of water water temperature residing for underwater robot 3 in real time, uses
MS5803 type pressure-temperature sensors.
Picture system 31, including LED illumination lamp 311 under water of 1 video camera 312 and 2, are moved for underwater robot 3
Recorded among process and the video image that part is detected needed for transmission pump lock；Video camera 312 uses special 2,000,000 pixel low-light (level)
Colour TV camera 312 under water of (your sharp prestige of Shenzhen regards RER-USBFHD01M)；Underwater luminaire 311 uses 24V/30W arrays
Formula daylight type LED illumination lamp.
Control system 33, using customization embedded system, complete dynamical system 32 control (6 underwater propellers control),
Power supply and carrier communication control；Simultaneously according to the video camera 312 of the gyroscope of sensing system 34 and picture system 31
Feedback, by controlling dynamical system 32 to complete to adjust movement velocity and the direction of underwater robot 3；
Communication cable 2, is wrapped on cable reel 102, is that communication is set up between host computer 101 and underwater robot 3,
Communication cable 2 is using neutral buoyancy design (fresh water), it is ensured that cable will not produce huge weight in water；Communication cable 2 is used
Tensile materials, increase the drag force that can bear of cable, it is ensured that the machine under water during with enough intensity to pull unpowered
Device people 3.
Mobile workstation 1 includes host computer 101 and cable reel 102.Host computer 101, for showing and protecting in real time
Deposit the view data (including the posture of underwater robot 3, electric quantity of power supply, depth of water water temperature, video etc.) of underwater robot 3, same to time control
The control system 33 of underwater robot 3 processed, according to detect need adjust underwater robot 3 movement velocity and direction (advance, after
Move back, float, sink and turn to)；Cable reel 102, control communication cable 2 folding and unfolding, according to underwater robot 3 travelled away from
The cable of correspondence length is discharged or reclaimed from (100 meters of standard configuration), meanwhile, it can be pulled when robot 3 breaks down under water
Cable takes out underwater robot 3.
Battery is 2 sets, standby each other (standby on the bank), the power supply for underwater robot 3.
Control system 33 obtains posture under water according to gyroscope, by control front left propeller 321, front right propeller 322,
Rear left propeller 325, rear right propeller 326 can make the direction of underwater robot 3 keep constant；Control system 33 is according to hydraulic pressure water temperature
Sensor obtains depth under water data, by controlling left vertical pusher 323, right vertical pusher 324 to determine underwater robot 3
It is deep.
Underwater robot 3 is provided with buffer gear 35, when robot 3 and immersed body are collided under water from cushioning effect.It is slow
Punch mechanism 35 includes collateral fagging 351 and bottom supporting plate 352, and collateral fagging 344 is fixedly installed on the left and right of underwater robot 3
On both sides；Bottom supporting plate 352 is fixedly installed on the bottom of underwater robot 3, is fixedly connected with collateral fagging 351.
(include but is not limited to more searchlights under water when underwater robot 3 carries other outside plants, dissolve under water
Oxygen, acidity-basicity sensor, video camera etc.) when, underwater robot 3 is provided with buoyant module 37, is produced by adjusting buoyant module 37
Raw buoyancy, so that underwater robot 3 is in neutral buoyancy state in water；Buoyant module 37 is placed in the top of underwater robot 3
Corner.The material of buoyant module 37 needs long period of soaking in water when Shi Jishiyong, using water-fast, pressure-resistant, corrosion-resistant, impact resistance
Material, its density is usually the 0.3~0.6 of water density.
When the underwater robot 3 carry other outside plants (include but is not limited to more searchlights under water, it is molten under water
Solve oxygen, acidity-basicity sensor, video camera etc.) when, the bottom of underwater robot is provided with balancing weight 36, adjusts underwater robot 3
Center of gravity, in order to the held stationary posture of underwater robot 3.The material of balancing weight 36 needs long period of soaking in water when Shi Jishiyong
In, it is desirable to water-fast, pressure-resistant, corrosion-resistant, impact resistance, generally it is made of highdensity heavy metal material, such as iron, lead, copper etc..
As shown in fig. 7, the workflow of real-time prospecting apparatus is under a kind of pump water seal of the utility model：Pass through mobile working
Stand 1, the movement velocity of control the utility model underwater robot 3, the direction of motion, diving depth simultaneously open LED illumination lamp 311
Afterwards, this underwater robot 3 is positioned in pump water seal domain, underwater robot 3 will dive under water；Underwater robot leads in the process of moving
The required video image for detecting part crossed under the recording pump water seal of picture system 31, uploads to host computer 101 in real time.Computer master
The total data that the storage underwater robot 3 of machine 101 is uploaded.
The underwater robot 3 of real-time prospecting apparatus is configured with 6 underwater propellers under the utility model pump water seal, can complete
Any direction vector movement of 6 frees degree, moves with fast and flexible and motion stabilization, course is precisely kept and position under water
The advantages of hovering, possess good underwater observation platform, and solve existing small underwater robot under water posture be not sufficiently stable,
Cable do not have all kinds of water pumps in neutral buoyancy design, the technical problem without Real-Time Communication Interface, especially suitable hydraulic engineering field,
Detect (in the range of 0~100 meter of the depth of water) under water and failure is detected by hidden danger for the complexity of gate.
Finally it should be noted that：Embodiment of above is only limited to illustrate the technical solution of the utility model, rather than to it
System；Although the utility model is described in detail with reference to aforementioned embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing each embodiment, or special to which part technology
Levy carry out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from each reality of the utility model
Apply the protection domain of mode technical scheme.
Claims (7)
1. real-time prospecting apparatus under pump water seal, it is characterised in that：It includes underwater robot, communication cable and mobile workstation；
The underwater robot, including dynamical system, sensing system, picture system, control system and battery；The water
Lower robot is provided with main cabin and battery flat；
The mobile workstation, mainly including host computer, is built in bank work；Host computer display in real time and preservation are under water
The image/video and data of robot, while controlling the control system of underwater robot, need to adjust robot according to detecting
Movement velocity and direction；
The communication cable, one end connection host computer, other end connection underwater robot, is mobile workstation and underwater
Communication is set up between people.
2. real-time prospecting apparatus under pump water seal according to claim 1, it is characterised in that：The mobile workstation is also set up
There is cable reel, the communication cable is wrapped on cable reel.
3. real-time prospecting apparatus under pump water seal according to claim 1, it is characterised in that：The communication cable, using zero
Buoyancy is designed.
4. real-time prospecting apparatus under pump water seal according to claim 1, it is characterised in that：
The dynamical system includes 6 symmetrical underwater propellers, is respectively pushed away positioned at the anterior front left of underwater robot
Enter device, front right propeller and left vertical pusher in the middle part of underwater robot, right vertical pusher and positioned at machine under water
Rear left propeller, the rear right propeller at device people rear portion；The direction of different spiral propellers by converting, realizes robot in water
In all directions motion；
Described image system, including video camera and LED illumination lamp under water, for recording and passing among underwater robot motion process
The video image of part is detected needed for defeated pump lock；
The sensing system, including gyroscope and pressure-temperature sensor, for monitoring the water residing for underwater robot in real time
Middle posture and the depth of water water temperature；
The control system, using customization embedded control system, completes power supply, dynamical system control, carrier communication control
System, according to the feedback of the gyroscope of sensing system and the video camera of picture system, by controlling dynamical system to complete adjustment water
The movement velocity of lower robot and direction；
Sensing system, video camera, control system and the electrical wire interface of underwater robot, the battery are installed in the main cabin
The battery of underwater robot is installed in cabin；
The battery is two sets, standby each other, is that described underwater robot is powered.
5. real-time prospecting apparatus under pump water seal according to claim 1, it is characterised in that：The underwater robot is provided with slow
Punch mechanism, buffer gear includes collateral fagging and bottom supporting plate；Collateral fagging is fixedly installed on left and right the two of underwater robot
Side；Bottom supporting plate is fixedly installed on the bottom of underwater robot, is fixedly connected with collateral fagging.
6. real-time prospecting apparatus under pump water seal according to claim 1, it is characterised in that：The underwater robot is provided with
Buoyant module makes underwater robot be in neutral buoyancy state in water with the buoyancy produced by adjusting buoyant module；Buoyant module
It is placed in the top corner of underwater robot.
7. real-time prospecting apparatus under pump water seal according to claim 1, it is characterised in that：The underwater robot is provided with
Balancing weight makes underwater robot held stationary posture to adjust underwater robot center of gravity, and balancing weight is arranged on the bottom of underwater robot
Portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621450590.9U CN206485543U (en) | 2016-12-28 | 2016-12-28 | Real-time prospecting apparatus under pump water seal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621450590.9U CN206485543U (en) | 2016-12-28 | 2016-12-28 | Real-time prospecting apparatus under pump water seal |
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| Publication Number | Publication Date |
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| CN206485543U true CN206485543U (en) | 2017-09-12 |
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ID=59770243
Family Applications (1)
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| CN201621450590.9U Active CN206485543U (en) | 2016-12-28 | 2016-12-28 | Real-time prospecting apparatus under pump water seal |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106628066A (en) * | 2016-12-28 | 2017-05-10 | 浙江省水利水电勘测设计院 | Underwater real-time detection and inspection device for pumps and gates |
| CN108557041A (en) * | 2018-04-18 | 2018-09-21 | 河海大学 | A kind of bimodal underwater robot with six degrees of freedom and its control method |
| CN109050837A (en) * | 2018-08-16 | 2018-12-21 | 东莞市奇趣机器人科技有限公司 | A kind of shell of the underwater robot with shock-absorbing function |
| CN109458992A (en) * | 2018-12-13 | 2019-03-12 | 浙江建工水利水电建设有限公司 | The detection device and application method of underwater punching hole range and depth |
| CN111640219A (en) * | 2020-06-04 | 2020-09-08 | 许昌开普电气研究院有限公司 | Inspection robot control system and method based on overhead line |
| CN112356041A (en) * | 2020-10-26 | 2021-02-12 | 广州大学 | Novel eight-degree-of-freedom diving robot |
-
2016
- 2016-12-28 CN CN201621450590.9U patent/CN206485543U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106628066A (en) * | 2016-12-28 | 2017-05-10 | 浙江省水利水电勘测设计院 | Underwater real-time detection and inspection device for pumps and gates |
| CN108557041A (en) * | 2018-04-18 | 2018-09-21 | 河海大学 | A kind of bimodal underwater robot with six degrees of freedom and its control method |
| CN108557041B (en) * | 2018-04-18 | 2020-02-21 | 河海大学 | Bimodal six-degree-of-freedom underwater robot and control method thereof |
| CN109050837A (en) * | 2018-08-16 | 2018-12-21 | 东莞市奇趣机器人科技有限公司 | A kind of shell of the underwater robot with shock-absorbing function |
| CN109458992A (en) * | 2018-12-13 | 2019-03-12 | 浙江建工水利水电建设有限公司 | The detection device and application method of underwater punching hole range and depth |
| CN111640219A (en) * | 2020-06-04 | 2020-09-08 | 许昌开普电气研究院有限公司 | Inspection robot control system and method based on overhead line |
| CN112356041A (en) * | 2020-10-26 | 2021-02-12 | 广州大学 | Novel eight-degree-of-freedom diving robot |
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| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20180907 Address after: 310002 Funing lane, Shangcheng District, Hangzhou, Zhejiang 66 Co-patentee after: Hangzhou Aiyite Intelligent Technology Co., Ltd. Patentee after: Zhejiang Design Institute of Water Conservancy and Hydroelectric Power Address before: 310002 Funing lane, Shangcheng District, Hangzhou, Zhejiang 66 Patentee before: Zhejiang Design Institute of Water Conservancy and Hydroelectric Power |
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| TR01 | Transfer of patent right |