DEVICE, SYSTEM AND METHOD FOR INSTALLING AN OBJECT ON A POWER LINE

Abstract

A drone is for installing an object on a power line. The drone has a connection means for connecting the drone to the object, so that the drone may carry the object. A first engagement member is for engaging a second engagement member on the object. A power source is for operating the first engagement member so as to actuate a locking means on the object, via the second engagement member, for securely locking the object to the power line. The drone further has a device for limiting one or more degrees of freedom of the object relative to the power line before engaging the locking means.

Claims

1.-16. (canceled)

17. A drone for installing an object on a power line, the drone comprising: a connection means for connecting the drone to the object, so that the drone may carry the object, a first engagement member for engaging a second engagement member on the object, and a power source for operating the first engagement member so as to actuate a locking means on the object, via the second engagement member, for securely locking the object to the power line, wherein the drone further comprises a device for limiting one or more degrees of freedom of the object relative to the power line before engaging the locking means, and wherein said device for limiting one or more degrees of freedom of the object relative to the power line is adapted to move from an idle to an active position independently of the position of the drone.

18. The drone according to claim 17, wherein said device for limiting one or more degrees of freedom of the object relative to the power line is adapted to limit all six degrees of freedom of the object relative to the power line before engaging the locking means.

19. The drone according to claim 17, wherein the device for limiting one or more degrees of freedom of the object relative to the power line comprises two pairs of arms, the pairs of arms being provided with a horizontal distance therebetween, each arm in the pairs of arms being individually rotatable towards the power line so that each pair of arms is adapted enclose the power line therebetween before actuating the locking means.

20. The drone according to claim 17, wherein the device for limiting one or more degrees of freedom of the object relative to the power line comprises a pair of clamps, the clamps being provided with a horizontal distance therebetween, and each clamp in the pair of clamps being adapted to move in a vertical di-rection upon release of a holding member to enclose the power line before actuating the locking means.

21. The drone according to claim 17, wherein the drone comprises a camera.

22. The drone according to claim 17, wherein the drone comprises a proximity sensor for sensing the position of the power line relative to the device for limiting one or more degrees of freedom of the object relative to the power line.

23. The drone according to claim 22, wherein the drone further comprises control unit adapted to activate the device for limiting one or more degrees of freedom of the object relative to the power line based on a signal received from the proximity sensor.

24. An object for installation on a power line, the object comprising a locking means for securely locking the object to the power line, the locking means comprising a second engagement member for being engaged by a first engagement member on a drone in order to actuate the locking means, wherein the drone comprises a connection means for connecting the drone to the object, so that the drone may carry the object, the first engagement member, and a power source for operating the first engagement member so as to actuate the locking means on the object, via the second engagement member, for securely locking the object to the power line, wherein the drone further comprises a device for limiting one or more degrees of freedom of the object relative to the power line before engaging the locking means, and wherein said device for limiting one or more degrees of freedom of the object relative to the power line is adapted to move from an idle to an active position independently of the position of the drone.

25. The object according to claim 24, where in the object is an electronic device for monitoring the condition of the power line, namely one or more of the following parameters: current, temperature, sag/tension in the power line, vibration, galloping line, and/or corona.

26. The object according to claim 24, wherein the object further comprises a third engagement member, separate from the second engagement member, adapted to be engaged by a hot stick in order to actuate the locking means manually.

27. The object according to claim 24, wherein the object has a substantially spherical form.

28. A drone assembly comprising a drone comprising a connection means for connecting the drone to an object, so that the drone may carry the object, a first engagement member for engaging a second engagement member on the object, and a power source for operating the first engagement member so as to actuate a locking means on the object, via the second engagement member, for securely locking the object to the power line, wherein the drone further comprises a device for limiting one or more degrees of freedom of the object relative to the power line before engaging the locking means, and wherein said device for limiting one or more degrees of freedom of the object relative to the power line is adapted to move from an idle to an active position independently of the position of the drone, and the object comprising the locking means for securely locking the object to the power line, the locking means comprising the second engagement member for being engaged by the first engagement member in order to actuate the locking means.

29. A method for installing an object on a power line, the method comprising: providing a drone comprising a connection means for connecting the drone to an object, so that the drone may carry the object, a first engagement member for engaging a second engagement member on the object, and a power source for operating the first engagement member so as to actuate a locking means on the object, via the second engagement member, for securely locking the object to the power line, wherein the drone further comprises a device for limiting one or more degrees of freedom of the object relative to the power line before engaging the locking means, and wherein said device for limiting one or more degrees of freedom of the object relative to the power line is adapted to move from an idle to an active position independently of the position of the drone, and providing the object comprising the locking means for securely locking the object to the power line, the locking means comprising the second engagement member for being engaged by the first engagement member in order to actuate the locking means, connecting the object to the drone, flying the drone, carrying the object, towards the power line, positioning the object relative to the power line so that the power line is received within a recess or pocket or between two halves of the object, locking the object to the power line by closing the recess or pocket and/or by bringing the two halves together, disconnecting the drone from the object, and flying the drone away from the power line, wherein the method, before the step of locking the object to the power line, further comprises, by means of the drone, limiting one or more degrees of freedom of the object relative to the power line.

30. The method according to claim 29, wherein the step of positioning the object relative to the power line so that the power line is received within a recess, pocket and/or between two halves of the object at least partially based on manually operating the drone via camera control.

31. The method according to claim 29, wherein the step of positioning the object relative to the power line so that the power line is received within a recess, pocket and/or between two halves of the object is at least partially based on automatically operating the drone via a control unit.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In the following is described examples of preferred embodiments illustrated in the accompanying drawings, wherein:

[0048] FIGS. 1-9 show, in a side view, various stages of a process of installing an object on a power line by means of a drone according to the present invention;

[0049] FIGS. 10-12 show, in a slightly enlarged perspective view, details of a connection means for connecting and disconnecting the drone to and from the object;

[0050] FIGS. 13-17 show, in a side view, an alternative embodiment of a device for limiting one or more degrees of freedom of the object relative to the power line; and

[0051] FIGS. 18-19 show, in a side view, an alternative embodiment of an object for installation on a power line.

DETAILED DESCRIPTION OF THE DRAWINGS

[0052] In the following the reference numeral 1 will be used to denote a drone for installing an object on a power line, reference numeral 10 will be used to denote an object for installation on a power line, while reference numeral 100 will denote a drone assembly including such a drone 1 connected to such an object 10. Identical reference numerals will be used to denote identical or similar features in the drawings. The drawings are shown schematic and simplified and various features therein may or may not be drawn to scale.

[0053] Reference is now made to FIGS. 1-9, where various stages of installing an object 10 to a power line 2 by means of a drone 1 according to the invention are shown. The object 10 is here shown in the form of a substantially spherical, electronic device for monitoring the status of the power line 2. The details and functionality of the electronics for monitoring will not be discussed herein. The drone 1 connected to the object 10, as shown in FIGS. 1-8, constitutes a drone assembly 100. The drone 1 is provided with a connection means 6 in the form of a bracket, connectable to screws 7 on the object 10. A bracket 6 with similar functionality is shown in further detail in FIGS. 10-12 and will be discussed below. The bracket 6 connects the drone 1 to the screws 7 on the object 10 in a simple and reliable manner so that the drone 1 may carry the object 10 and so that the drone 1 may release the object 10 from the bracket 6 once the object 10 is securely connected to the power line 2.

[0054] The drone 1 comprises a first engagement member 8 in the form of the head of a torque tool rotatable by means of an electric motor 80 via a gear 81. The motor 80 is powered by a not shown power source in the form of a battery. The head of the torque tool 8 is formed with a not shown internal hexagonal shape complementary fitting to a second engagement member in the form of a not shown nut-shaped hexagonal head of a screw 12. The screw 12 is provided with external threads complementary fitting to internal threads in upper half 10a of the object 10. The torque tool therefore simply functioning as a box spanner. By rotation of the of the torque tool, when the first and second engagement members are engaged, the screw 12 will rotate, whereby the lower half 10b of the object will be displaced linearly in an upward vertical direction towards the upper half 10a of the object 10, whereby the screw acts as a simple locking means in the form of a mechanical, linear actuator. When the two halves 10a, b of the object 10 are brought fully together, the object 10 will be securely locked to the power line 2.

[0055] In order to ensure that the object 10 is in a correct position and orientation relative to the power line 2 before the locking means 12 is engaged/activated, the drone 1 is provided with a device 14 for limiting one or more degrees of freedom of the object 10 relative to the power line 2 before the locking means 12 is engaged. In the embodiment of FIGS. 1-9, the device 14 for limiting one or more degrees of freedom is exemplified by two pairs of arms, wherein each arm 16a, 16b in each of the pairs of arms are individually rotatable between a horizontal, non-engaged position and a vertical, engaged position as will be explained in the following. Since the arms 16a, 16b are movable from an idle position to an active position, where the arms 16a, 16b limit the degrees of freedom of the object 10 relative to the power line 2, the drone 1 may be kept at a fixed position relative to the power line 2 while the device for limiting one or more degrees of freedom is activate. This would not be possible if the device for limiting one or more degrees of freedom where simply passive guide or similar, since that would require lowering of the drone 2 towards the power line 2 during activation. It should be noted that since FIGS. 1-9 show the drone assembly 100 in a side view, only one of the two pairs of arms are shown in the figures.

[0056] The other, not shown pair of arms is symmetrically provided on the other side of the drone 1. The arms are operable by means of a small, not shown servo motor adapted to be activated by remote signal from an operator or by autonomous control as mentioned above.

[0057] When the drone assembly 100 flies towards the power line 2, both arms 16a,b are in a horizontal, non-engage position as indicated in FIG. 1. When the drone assembly 100 is approaching the power line 2, the camera on the drone 1 sees the power line. A first arm 16a in each pair of arms is then rotated into a vertical position, as indicated in FIGS. 2 and 3. The activation of the first arm 16a in each of the pairs of arms may be done by an operator receiving live images captured by the camera on the drone 1, or the activation may be done automatically by means of a control unit provided with software adapted to recognize the power line 2 and thereby automatically engage the first arms 16a before the drone 1 moves the object 10 in over the power line 2. When the first arms 16a have been rotated into a vertical position, the drone 1 moves the object 10 so that the first arms 16a come into contact with the power line 2, as indicated in FIG. 4. Already at this stage, a rotational degree of freedom of the object 10 relative to the power line 2 is limited since there is an axial distance between the first arms 16a along the power line 2. Further translational movement of the object 10 in the same direction in over the power line is also prevented. A sensor, here shown in the form of a microswitch 18, senses when the power line 2 gets into contact with first arms 16a in the pair of arms. Based on the sensed contact of the power line 2 by the microswitch 18, the second arms 16b in the pair of arms are immediately activated, i.e. rotated into a vertical position, as indicated in FIG. 4. In FIG. 5 both arms 16a,b in both pair of arms have been engaged to extend in a vertical direction so that the power line 2 is held between the two arms 16a,b in each pair of arms. At this stage, rotational movement in a plane of the power line 2, i.e. about an axis extending between the power line and a centre of the drone, as well as translational movement perpendicularly to the power line in the same plane are completely locked. The other degrees of freedom are limited or locked, where the degree of limitation is dependent on the frictional contact between the arms 16a, b and the power line 2. Vertical translational movement between the object 10 and the power line 2 is limited as the power line 2 in any case is kept in the space between the arms 16a, b and the upper and lower halves 10a,b of the object 10. At this stage, the head of the torque tool 8 on the drone 1 engages the head of the screw 12 on the object if not already engaged. The torque tool is then activated to move the lower half 10b of the object 10 towards the upper half 10a of the object 10, as indicated in FIG. 6, where the vertical gap between the two halves 10a,b has been reduced, and in FIG. 7 where the two halves 10a,b have been brought into contact so that the power line 2 is locked to the object 10. In the shown embodiment, the power line 2 passes centrally through the object 10, which has a generally spherical form. In the shown embodiment, the object 10 is prevented from gliding along the power line 2 due to frictional contact between the inside of the object 10 and outside of the power line 2. After the object 10 has been securely locked to the power line 2, the arms 16a,b in the pair of arms may be disengaged and rotated back to their horizontal position, as indicated in FIG. 8. The disengagement of the arms 16a,b may be done by means of an operator having verified the secured locking of the object 10 to the power line 2, or by means of an autonomous/automatic system adapted to recognize that the object 10 has been securely locked to the power line 2 and thereafter release the arms 16a,b based on this information.

[0058] When the arms 16a,b are being disengaged from the power line 2, the connection means 6, which in the shown embodiment is a bracket, is also disconnected from the object 10, and the drone is flown away from the power line 2, e.g. to pick up another object 10 to be installed at another position along the power line 2.

[0059] FIGS. 10-12 show, in a slightly enlarged and simplified view, the connection and disconnection of bracket 6 to and from an object 10. In FIG. 10 the bracket 6 is shown latched to a pair of screws 7 on the object 10. Once again, it should be noted that only one bracket 6 and one pair of screws 7 are visible on the drawings, while a similar bracket 6 will be engaged with a similar pair of screws 7 on the other side of the object 10. An angled pair of legs 20 is connected to the drone 1 and extends from the drone 1, which for simplicity is not shown in any of FIGS. 10-12, and down to the bracket 6. A similar, not shown pair of legs is connected to the opposite side of the drone 1 and extends down to the not shown bracket connected to the other side of the object 10. On its lower side, the bracket 6 is formed with a claw-like portion 22 adapted to engage with the screws 7. A small servo motor 25 is adapted to rotate each side of the claw-like portion 22 so that the two “claws” are rotated into and out from engagement with screws. Rotation of the claws away from engagement with the screws may be initiated on remote signal from an operator or by autonomous control. Holes 23 in the outer periphery of the bracket 6 serve as connections points for the rotatable arms 16a,b as shown in FIGS. 1-9. Disengagement of the bracket 6 and the arms 16 a, b from the object 10 and power line 2 may preferably be activated simultaneously by the servo motor 25. In FIGS. 11-12, the bracket 6 can be seen when the claw-like portion 22 is no longer locked/engaged with screws. The drone 1 is thereby freed from the object 10 and may fly away from the power line 2 as indicated in FIGS. 11-12.

[0060] FIGS. 13-17 show another embodiment of a device 14 for limiting one or more degrees of freedom of the object 10 relative to the power line 2, here as a pair of fork-shaped clamps 24 connected to a not shown drone 1. Once again, only one of the fork-shaped clamps 24 are shown on the figure, but a similar, not shown fork-shaped clamp 24 is symmetrically provided on the other side of the object 10. For simplicity, these drawings are shown without connection to a drone 1. A releasing member, here shown in the form of an arm 26 with a claw-like top portion 28 extends in substantially vertical direction. A lower, straight portion 30 of the arm extends across the vertical gap between the two halves 10a,b of the object 10. The claw-like top portion 28 of the arm 26 fits into a complementary shaped recess 32 in the fork-shaped clamp 24, thus holding the clamp in a raised, elevated and non-engaged position. When the lower, straight portion of the arm 30 comes into contact with the power line 2, the arm 26 is rotated around a rotation axis 34, substantially parallel to the power line 2, with the effect that the claw-like top portion 28 is rotated out of the recess 32 with the further effect that the fork-shaped clamp 24 is free to move in a downward vertical direction. The fork-shaped clamp 24 may be biased to move in a vertical direction by means of a loaded spring or similar, or the fork-shaped clamp 24 may simply fall based on its own weight. When the fork-shaped clamp 24 has moved downwardly and come to a stop, the power line 2 is “trapped” between the two tines of the fork and the upper and lower halves 10a,b of the object 10 as indicated in FIG. 15. Once the power line 2 is “trapped”, at least two translational and two rotational degrees of freedom are limited, implying that the object 1 will remain in a substantially constant position and orientation relative to the power line 2. While the object 10 in principle would be free to rotate around the power line 2, the connection to the drone 1 would prevent such rotation. In practice, the only degree of freedom not limited in this embodiment, is translational movement along the power line 2, which will usually not be critical for correct positioning of the object relative to the power line 2. When the fork-shaped clamp 24 has been activated to limit the mentioned degrees of freedom, the locking means 12 may be activated as discussed above with reference to FIGS. 1-9. Once the object 10 has been locked to the power line 2, the fork-shaped clamp 24 is freed from the power line 2 simply by flying the drone 1 in an upward vertical direction as indicated in FIG. 17. Since the arms fork-shaped clamps 24 are movable from an idle position to an active position, where the arms fork-shaped clamps 24 limit the degrees of freedom of the object 10 relative to the power line 2, the drone 1 may be kept at a fixed position relative to the power line 2 while the device for limiting one or more degrees of freedom is activated. This would not be possible if the device for limiting one or more degrees of freedom where simply passive guide or similar, since that would require lowering of the drone 1 towards the power line 2 during activation.

[0061] An alternative embodiment of an object 10 is shown in FIGS. 18-19, which are highly simplified. For simplicity, the drone 1, power line 2 and first and second engagements member are not shown in these figures, but a third engagement member, here in the form of an eye 36 provided at the lower end of the screw 12, is shown for illustrating the general idea of this embodiment. The screw 12 extends through the full height of the object 10, and the eye 36 is engageable from below by means of an operator via a so-called hot stick, enabling service and maintenance of the object 10 to be performed without the use of a drone. The hot stick may be used to rotate the screw 12 via the eye 36 so as to open, and thereby free the object from the power line 2 as well as to close the object to re-lock it to the power line 2.

[0062] It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. Use of the verb “comprise” and its conjugations does not exclude the presence of elements or steps other than those stated in a claim. The article “a” or “an” preceding an element does not exclude the presence of a plurality of such elements.

[0063] The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.