System and method for mounting and dismounting device on and from electric cable by using flying object

Abstract

To provide a system and a method for mounting and dismounting a device on and from an electric cable by using a flying object.SOLUTION: The system and the method and / or a computer program are for mounting and dismounting a device on and from an electric cable of a distribution network. The mounted device includes a first coupling part disposed to attach the mounted device to a flying object, a second coupling part disposed to attach a cable device to the mounted device, and a navigation part that operates to enable a user to navigate the flying object so as to direct a slot of the cable device toward the electric cable, and / or automatically navigate the flying object to direct the slot of the cable device toward the electric cable, and / or enable the user to navigate the flying object toward the cable device, and / or automatically navigate the flying object toward the cable device.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The methods and apparatus disclosed herein relate to the field of electrical grids, and more particularly, but not exclusively, to electrical power transmission and distribution networks, and more particularly, but not exclusively, to detecting faults in electrical grids using sensors mounted on electrical cables, and more particularly, but not exclusively, to using unmanned aerial vehicles to mount or remove sensors or any other devices from electrical cables. [Background technology]

[0002] Electrical grids can have many faults. Various components of the grid can fail, and faults can be momentary, gradual, or intermittent. Some faults can be caused by the environment, such as humidity, smoke, dust, wind, trees, etc. Various faults and faults can have different characteristics and affect the network in different ways. Characterizing, detecting, identifying, and locating faults in electrical grids is a known problem with various solutions, including various types of sensors mounted on electrical grid cables. Other devices mounted on electrical cables, such as devices for warning aircraft, are also known. Installing and uninstalling such devices on cables, particularly without disrupting the power supply, can be complex, dangerous, cumbersome, and expensive. Therefore, it would be highly advantageous to be devoid of the above limitations. Summary of the Invention [Means for solving the problem]

[0003] According to an exemplary embodiment of the present invention, a system, method, and / or computer program is provided for mounting a cable device onto and / or demounting a cable device from an electric cable of an electric power grid, the mounting device including a first coupling unit arranged to attach the mounting device to an air vehicle, a second coupling unit arranged to attach the cable device to the mounting device, and a navigation unit operable to enable a user to navigate the air vehicle to orient a slot of the cable device to the electric cable and / or automatically navigate the air vehicle to orient a slot of the cable device to the electric cable and / or enable a user to navigate the air vehicle to the cable device and / or automatically navigate the air vehicle to the cable device.

[0004] According to another exemplary embodiment of the present invention, the navigation unit may operate to enable a user to control the flying object to align a slot of a cable device with an electrical cable, and / or automatically control the flying object to align a slot of the cable device with an electrical cable, and / or enable a user to control the flying object to mount a cable device on an electrical cable, and / or automatically control the flying object to mount a cable device on an electrical cable, and / or enable a user to control the flying object to align a mounted device with a cable device mounted on the electrical cable, and / or automatically control the flying object to align a mounted device with a cable device mounted on the electrical cable.

[0005] According to yet another exemplary embodiment of the present invention, the navigation unit operates to perform navigation using optical images of one or more electrical cables and cable devices and / or navigation according to one or more electric and magnetic fields emitted by one or more electrical cables and cable devices.

[0006] According to yet another exemplary embodiment of the present invention, the onboard device may further include a local communication device operative to communicatively couple to the air vehicle local control system to implement automatic control of the air vehicle.

[0007] Moreover, according to another exemplary embodiment of the present invention, the onboard device may further include a remote communication device communicatively coupled to the remote control device, the remote communication device communicating with the remote control device navigation data from the onboard device to the remote control device and / or navigation control data from the remote control device to the onboard device.

[0008] Furthermore, according to another exemplary embodiment of the present invention, the mounting device may further include a remote control device operable to enable a user to control the air vehicle to align the slot of the cable device with the electrical cable, and / or control the air vehicle to align the mounting device with the cable device mounted on the electrical cable, and / or control the air vehicle to mount the cable device on the electrical cable, and / or control the air vehicle to detach the cable device from the electrical cable, and / or switch the mounting device to automatic operation and perform automatic control of the air vehicle using a communication device communicatively coupled to the air vehicle local control system.

[0009] Still further, according to another exemplary embodiment of the present invention, the second coupling, arranged to attach the cable device to the mounting device, includes a mechanical coupling and / or an electromechanical coupling.

[0010] Broadly, according to another exemplary embodiment of the present invention, the mounting device may further include a locking actuator portion that couples to the locking portion of the cable device and operates to activate the locking portion to lock the cable device to the electrical cable and / or activate unlocking of the cable device from the electrical cable and / or identify an indication of locking of the cable device to the electrical cable and / or identify an indication of unlocking of the cable device from the electrical cable.

[0011] Furthermore, according to yet another exemplary embodiment of the present invention, the mounting device may further include an operating device for steering the mounting portion relative to the air vehicle at at least one of the yaw, pitch, and roll angles, and / or steering the cable device relative to the mounting portion at at least one of the yaw, pitch, and roll angles, and / or steering the cable device relative to the electrical cable at at least one of the yaw, pitch, and roll angles, and / or steering the mounting portion relative to the cable device mounted on the electrical cable at at least one of the yaw, pitch, and roll angles, and / or steering the mounting portion without affecting at least one of the yaw, pitch, and roll angles of the air vehicle, and / or steering the cable device without affecting at least one of the yaw, pitch, and roll angles of the air vehicle.

[0012] According to yet another exemplary embodiment of the present invention, the onboard device is operable to steer one or more of yaw, pitch, and roll angles according to data received from the navigation portion.

[0013] Furthermore, according to another exemplary embodiment of the present invention, an air vehicle is provided for mounting a cable device on an electrical cable of an electric power distribution network, the air vehicle including a mounting portion, a sensor coupling portion arranged to attach the cable device to the mounting portion, and a slot navigation portion operable to enable a user to navigate the air vehicle to orient a slot of the cable device to the electrical cable, and / or to automatically navigate the air vehicle and orient a slot of the cable device to the electrical cable, and / or to enable a user to navigate the air vehicle to the cable device, and / or to automatically navigate the air vehicle to the cable device.

[0014] Furthermore, in accordance with another exemplary embodiment of the present invention, the air vehicle may further include a helicopter coupling arranged to attach the air vehicle to the onboard unit, the helicopter coupling arranged to steer the onboard device relative to the air vehicle in at least one of yaw, pitch, and roll angles according to data received from the slot navigation unit.

[0015] Still further, according to another exemplary embodiment of the present invention, the air vehicle may further include a long-range navigation unit that operates to enable a user to navigate the air vehicle and point the slot navigation unit to the electrical cable, and / or to automatically navigate the air vehicle and point the slot navigation unit to the electrical cable.

[0016] Further broadly, according to another exemplary embodiment of the present invention, a method for mounting a cable device on an electrical cable of an electric power distribution network may include the steps of attaching the cable device to a mounting device attached to an air vehicle; flying the air vehicle toward the electrical cable using a long-range navigation unit; pointing the short-range navigation unit toward the electrical cable; flying the air vehicle toward the electrical cable using the short-range navigation unit; aligning a slot in the cable device with the electrical cable; and mounting the cable device on the electrical cable, wherein the electrical cable is inserted into the slot in the cable device.

[0017] Furthermore, according to yet another exemplary embodiment of the present invention, a method for detaching a cable device from an electrical cable of an electric power distribution network may include the steps of flying an air vehicle toward the electrical cable using a long-range navigation unit, identifying a cable device mounted on the electrical cable, pointing a short-range navigation unit toward the cable device, flying the air vehicle toward the electrical cable using the short-range navigation unit, aligning a mounting unit of the air vehicle with the cable device, unlocking the cable device from the electrical cable, and detaching the cable device from the electrical cable. The present specification also provides, for example, the following items: (Item 1) 1. A mounting device for at least one of mounting a cable device onto an electrical cable of an electric power distribution network and unmounting the cable device from the electrical cable, the mounting device comprising: a first coupling arranged to attach the onboard device to an air vehicle; a second coupling portion arranged to attach the cable device to the mounting device; A navigation unit, the navigation unit comprising: enabling a user to navigate the air vehicle to orient the slot of the cable device toward the electrical cable; automatically navigating the air vehicle and directing a slot of the cable device toward the electrical cable; enabling a user to navigate the air vehicle to the cable device; automatically navigating the air vehicle to the cable device; a navigation unit that operates to implement at least one of An on-board device comprising: (Item 2) The navigation unit allowing a user to control the air vehicle to align a slot of the cable device with the electrical cable; automatically controlling the air vehicle to align the slot of the cable device with the electrical cable; enabling a user to control the air vehicle to mount the cable device on the electrical cable; automatically controlling the air vehicle to mount the cable device on the electrical cable; enabling a user to control the air vehicle to align the mounted device with the cable device mounted on the electrical cable; automatically controlling the air vehicle to align the mounted device with the cable device mounted on the electrical cable; Item 1. The on-board device of item 1, operable to implement at least one of the following: (Item 3) The navigation unit navigation using an optical image of at least one of the electrical cable and the cable device; Navigation according to at least one of an electric field and a magnetic field emitted by at least one of the electric cable and the cable device; Item 1. The on-board device of item 1, operable to implement at least one of the following: (Item 4) Item 10. The onboard device of item 1, further comprising a local communication device, the local communication device operable to communicatively couple to the air vehicle local control system to perform automatic control of the air vehicle. (Item 5) and a remote communication device communicatively coupled to the remote control device, the remote communication device comprising: navigation data from the on-board device to the remote control device; navigation control data from the remote control device to the on-board device; Item 1, the on-board device communicating with the remote control device at least one of the following: (Item 6) Further comprising a remote control device, the remote control device comprising: allowing a user to control the air vehicle to align a slot of the cable device with the electrical cable; enabling a user to control the air vehicle to align the mounted device with the cable device mounted on the electrical cable; enabling a user to control the air vehicle to mount the cable device on the electrical cable; enabling a user to control the air vehicle to detach the cable device from the electrical cable; enabling a user to switch the onboard device into automatic operation and perform automatic control of the air vehicle using a communication device communicatively coupled to the air vehicle local control system; Item 1. The on-board device of item 1, operable to enable a user to perform at least one of the following: (Item 7) the second coupling portion arranged to attach the cable device to the mounting device, Mechanical coupling and Electrical machinery and Item 1, the on-board device including at least one of the following: (Item 8) The locking actuator further includes: coupling to a catch of the cable device; The following, i.e., activating a locking of the cable device to the electrical cable; activating an unlocking of the cable device from the electrical cable; identifying an indication of locking of the cable device to the electrical cable; identifying an indication of unlocking of the cable device from the electrical cable; and operating at least one of Item 8. The on-board device according to item 7, which operates to perform the above. (Item 9) The apparatus further includes an operation device, steering the payload relative to the air vehicle in at least one of a yaw, pitch, and roll angle; steering the cable device relative to the mount in at least one of a yaw, pitch, and roll angle; steering the cable device relative to the electrical cable in at least one of a yaw, pitch, and roll angle; steering the mount relative to the cable device mounted on the electrical cable in at least one of a yaw, pitch, and roll angle; steering the payload without affecting at least one of a yaw, pitch, and roll angle of the air vehicle; steering the cable device without affecting at least one of a yaw, pitch, and roll angle of the air vehicle; Item 1, wherein the on-board device is configured to perform at least one of the following: (Item 10) 10. The onboard device of claim 9, wherein the onboard device operates to steer the at least one of yaw, pitch, and roll angles according to data received from the navigation unit. (Item 11) 1. An air vehicle for mounting a cable device on an electric cable of an electric power distribution network, said air vehicle comprising: A mounting section and a sensor coupling portion arranged to attach the cable device to the mounting portion; A slot navigation unit, the slot navigation unit comprising: enabling a user to navigate the air vehicle to orient the slot of the cable device toward the electrical cable; automatically navigating the air vehicle and directing a slot of the cable device toward the electrical cable; enabling a user to navigate the air vehicle to the cable device; automatically navigating the air vehicle to the cable device; a slot navigation unit operative to implement at least one of An aircraft equipped with: (Item 12) 10. The air vehicle of claim 9, further comprising a helicopter coupling unit, the helicopter coupling unit arranged to attach the air vehicle to the mounting unit, and the helicopter coupling unit arranged to steer the mounted device relative to the air vehicle in at least one of yaw, pitch, and roll angles according to data received from the slot navigation unit. (Item 13) The vehicle further includes a long-distance navigation unit, the long-distance navigation unit comprising: enabling a user to navigate the air vehicle and point the slot navigation portion at the electrical cable; automatically navigating the air vehicle and directing the slot navigation unit to the electrical cable; 10. The air vehicle of item 9, operable to perform at least one of the following: (Item 14) 1. A method for mounting a cable device on an electrical cable of an electrical grid, the method comprising: attaching the cable device to an on-board device attached to an air vehicle; using a long-range navigation unit to fly the air vehicle along the electrical cable; directing a short-range navigation unit toward the electrical cable; using the short-range navigation unit to fly the air vehicle along the electrical cable; aligning a slot of the cable device with the electrical cable; mounting the cable device onto the electrical cable, the electrical cable being inserted into a slot in the cable device; A method comprising: (Item 15) 1. A method for demounting a cable device from an electrical cable of an electric power distribution network, the method comprising: using a long-range navigation unit to fly an air vehicle along the electrical cable; identifying the cable device mounted on the electrical cable; directing a short-range navigation unit to the cable device; using the short-range navigation unit to fly the air vehicle along the electrical cable; aligning a payload of the air vehicle with the cable device; unlocking the cable device from the electrical cable; unloading the cable device from the electrical cable; A method comprising: (Item 16) The step of flying the aircraft using the long-distance navigation unit includes: allowing a user to control the air vehicle to align a slot of the cable device with the electrical cable; automatically controlling the air vehicle to align the slot of the cable device with the electrical cable; enabling a user to control the air vehicle to mount the cable device on the electrical cable; automatically controlling the air vehicle to mount the cable device on the electrical cable; enabling a user to control the air vehicle to align the mounted device with the cable device mounted on the electrical cable; automatically controlling the air vehicle to align the mounted device with the cable device mounted on the electrical cable; 16. The method according to any one of items 14 and 15, comprising at least one of: (Item 17) The step of flying the aircraft using the long-distance navigation unit includes: navigating using an optical image of at least one of the electrical cable and the cable device; navigating according to at least one of an electric field and a magnetic field emitted by at least one of the electric cable and the cable device; 16. The method according to any one of items 14 and 15, comprising at least one of: (Item 18) The step of flying the aircraft using the long-distance navigation unit includes: automatically controlling the air vehicle using an on-board local communication device attached to the air vehicle and communicatively coupled to the air vehicle local control system; 16. The method according to any one of items 14 and 15, further comprising: (Item 19) At least one of the steps of flying the aircraft using the long-distance navigation unit and flying the aircraft using the short-distance navigation unit includes: The method further includes using a remote communication device communicatively coupled to the remote control device, the remote communication device comprising: navigation data from the on-board device to the remote control device; navigation control data from the remote control device to the on-board device; 16. The method according to any one of items 14 and 15, wherein at least one of the following is communicated with the remote control device. (Item 20) At least one of the steps of flying the aircraft using the long-distance navigation unit and flying the aircraft using the short-distance navigation unit includes: enabling a user using a remote control device to control the air vehicle to align a slot in the cable device with the electrical cable; enabling a user using a remote control device to control the air vehicle to align the on-board device with the cable device mounted on the electrical cable; enabling a user using a remote control device to control the air vehicle to mount the cable device on the electrical cable; enabling a user using a remote control device to control the air vehicle to detach the cable device from the electrical cable; enabling a user using a remote control device to switch the onboard device into automatic operation and perform automatic control of the air vehicle using a communication device communicatively coupled to the air vehicle local control system; 16. The method according to any one of items 14 and 15, further comprising: (Item 21) Further comprising providing a manipulation device, the manipulation device comprising: steering the payload relative to the air vehicle in at least one of yaw, pitch, and roll angles; steering the cable device relative to the mount in at least one of a yaw, pitch, and roll angle; steering the cable device relative to the electrical cable in at least one of a yaw, pitch, and roll angle; steering the mount relative to the cable device mounted on the electrical cable in at least one of a yaw, pitch, and roll angle; steering the payload without affecting at least one of a yaw, pitch, and roll angle of the air vehicle; steering the cable device without affecting at least one of a yaw, pitch, and roll angle of the air vehicle; 16. The method according to any of items 14 and 15, wherein the method is arranged to carry out at least one of the following: (Item 22) providing a mount attached to the air vehicle, the mount including a locking actuator; coupling the locking actuator portion to a locking portion of the cable device; The following, i.e., locking the cable device to the electrical cable; Unlocking the cable device from the electrical cable; identifying an indication of locking of the cable device to the electrical cable; identifying an indication of unlocking of the cable device from the electrical cable; with at least one of 16. The method according to any one of items 14 and 15, further comprising: (Item 23) providing a mount including a coupling arranged to attach the mounted device to the air vehicle, the coupling of the mount including at least one of a mechanical coupling and an electromechanical coupling; using the coupling to steer the payload relative to the air vehicle in at least one of yaw, pitch, and roll angles; 16. The method according to any one of items 14 and 15, further comprising:

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the relevant art. The materials, methods, and examples provided herein are illustrative only and are not intended to be limiting. Except to the extent necessary or essential to the process itself, no particular order to the steps or stages of the methods and processes described in this disclosure, including the figures, is intended or implied. In many cases, the order of process steps can be varied without changing the purpose or effect of the described method. [Brief explanation of the drawings]

[0019] Various embodiments of the present invention are described herein, by way of example only, with reference to the accompanying drawings. Now, with specific reference to the drawings in detail, it is emphasized that the details shown are presented by way of example only, for purposes of illustrative discussion of various embodiments of the present invention, and in order to provide what is believed to be the most useful and readily understood explanation of the principles and conceptual aspects of the embodiments. In this regard, no attempt is made to show architectural details of embodiments of the present invention in more detail than is necessary for a fundamental understanding of the subject matter; the description taken in conjunction with the drawings will make apparent to those skilled in the art how several forms and structures may be embodied in practice.

[0020] [Figure 1] FIG. 1 is a simplified illustration of an air vehicle including a mount for disposing cable devices on electrical cables of an electrical grid. [Figure 2]FIG. 2 is a simplified illustration of a front view of the mounting portion. [Figure 3] FIG. 3 is a simplified illustration of a side view of the mounting portion. [Figure 4] FIG. 4 is a simplified illustration of a bottom view of the mounting portion. [Figure 5] FIG. 5 is a simplified illustration of an oblique view of the mounting portion. [Figure 6] FIG. 6 is a simplified illustration of a computing device 1, typically contained within the body of a mounting portion. [Figure 7] FIG. 7 is a simplified illustration of a cut through cable device mounted on an electrical cable. [Figure 8A] FIG. 8A is a simplified illustration of a cable crimp of a cable device in an open position. [Figure 8B] FIG. 8B is a simplified illustration of a cable crimp of a cable device in a closed position. [Figure 9A] FIG. 9A is a simplified illustration of a front view of an integrated mount carrying an air vehicle and a cable device below the air vehicle. [Figure 9B] FIG. 9B is a simplified illustration of a side view of the system shown in FIG. 9A. [Figure 10] FIG. 10 is a simplified illustration of a front view of an air vehicle and an integrated mount carrying a cable device above the air vehicle. [Figure 11] FIG. 11 is a simplified illustration of a front view of an integrated mount carrying an air vehicle and a cable device above the air vehicle, along with one or more inward-looking (downward-looking) near-field (secondary) navigation devices. [Figure 12] FIG. 12 is a simplified illustration of a side view of an integrated mount carrying an air vehicle and cable device with a long-range navigation device, a short-range navigation device, and a precision steering device. [Figure 13]FIG. 13 is a simplified illustration of a side view of an air vehicle and attachable payload equipped with a long-range navigation device, a short-range navigation device, and a precision steering device. [Figure 14] FIG. 14 is a simplified illustration of a front view of an air vehicle with a mount with a funnel for directing slots of a cable device into the cable or vice versa. DETAILED DESCRIPTION OF THE INVENTION

[0021] In its embodiments, the present invention provides methods and systems for mounting and / or demounting devices on electrical cables using unmanned air vehicles. The devices may be sensors, warning signs, communication nodes, etc. The unmanned air vehicles may be drones, helicopters, quadcopters, and / or any other air vehicles. The air vehicles may be remotely controlled or autonomous.

[0022] The principles and operation of systems and methods for using an air vehicle to mount or unmount devices on an electrical cable, according to some exemplary embodiments of the present invention, may be better understood with reference to the following drawings and accompanying description.

[0023] Before describing at least one embodiment of the invention in detail, it is to be understood that embodiments of the invention are not limited in their application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. Other embodiments of the invention may be practiced or carried out in various ways. Also, it is to be understood that the phraseology and terminology employed herein is for the purpose of description and should not be regarded as limiting.

[0024] Herein, elements of a drawing labeled with a number that is not described within the drawing but is described in a previous drawing have the same use and description as in the previous drawing. Similarly, elements identified in the text by a number that does not appear in the drawing described by the text have the same use and description as in the previous drawing in which it is described.

[0025] The drawings in this document may not be to any particular scale. Different figures may use different scales, and different scales may be used, for example, for different views of the same object, or for two adjacent objects, even within the same drawing.

[0026] An object of an embodiment of the present invention is to use an air vehicle to place or mount any device, particularly a measuring device or sensor, on an electrical cable. The measuring device can measure various electrical parameters at multiple locations in the electrical network and, by comparing the multiple measurements, determine the presence, type or characteristics of the fault, and its location. Another object of an embodiment of the present invention is to use an air vehicle to remove or demount any device, particularly a measuring device or sensor, on an electrical cable.

[0027] The term "grid" or "electrical grid" may refer to an electric transmission network and / or an electric distribution network, and any portion of such a network between one or more generating stations and loads or consumers. The term "cable" or "electrical cable" may refer to any single cable or wire of the grid, such as a phase carrier cable.

[0028] The term "cable device" may refer to any device to be mounted on or removed from an electrical cable of a grid, including sensors, measuring devices, communication devices, warning devices, marking devices, etc. Typically, a cable device may derive power from electric and / or magnetic fields around the electrical cable, which may be generated by currents flowing in the electrical cable.

[0029] The term "air vehicle" may refer to any type of device capable of flying or hovering, and may also be capable of carrying a cable device and mounting or dismounting it from an electrical cable. In particular, an air vehicle may include any type of unmanned air vehicle, such as a drone, helicopter, quadcopter, etc. An air vehicle may be remotely controlled (during different portions of its flight as described below), autonomous, or both.

[0030] The term "measurement" or "electrical measurement" may refer to any type of measurement of any electrical parameter, such as voltage, current, electric field, magnetic field, resistance, capacitance, inductance, charge, etc. The term "physical measurement" or "mechanical measurement" may refer to any type of measurement of any physical parameter other than an electrical parameter. Such parameters may be temperature, wind, humidity, movement, height, (cable) depression, (cable) angle, etc. Such measurements are typically performed by cable devices mounted on the electrical cable.

[0031] Reference is now made to FIG. 1, which is a simplified illustration of an air vehicle 10 deploying a cable device 11 on an electrical cable 12 of an electrical grid 13, according to one exemplary embodiment of the present invention.

[0032] As shown in FIG. 1 , the air vehicle 10 may include an airborne propulsion system and a payload 14. The airborne propulsion system may include, for example, one or more propellers 15. The propellers 15 may be operated using, for example, electric motors that may be controlled by the first navigation system. However, alternatively and / or in addition, the airborne propulsion system may be operated using one or more internal combustion engines and / or include one or more jet engines, turbofan jet engines, turbopropulsion jet engines, etc. The airborne propulsion system may include any number of engines and / or propellers, typically four or eight.

[0033] Mount 14 may be an integral part of air vehicle 10 (i.e., an integral mount 14). Alternatively, mount 14 may be a separate device (i.e., an attachable mount 14) that can be attached, coupled, or clamped to various types of air vehicles 10.

[0034] The attachable mount 14 alleviates the need to design and produce the entire air vehicle 10, allowing for the use of off-the-shelf air vehicles 10. Additionally, the attachable mount 14 allows a single air vehicle 10 to carry two or more mounts 14. However, the attachable mount 14 requires a (first) coupling device 16, which an integral mount 14 may not require.

[0035] 1 may also show the air vehicle 10 unloading the cable device 11 from the electrical cable 12 of the power distribution network 13. Thus, the air vehicle 10 and the mounting unit 14 together operate to unload the cable device 11 onto the electrical cable 12 of the power distribution network 13 and to unload the cable device 11 from the electrical cable 12 of the power distribution network 13.

[0036] FIG. 1 also shows another cable device 11 , designated by the numeral 17 , already mounted on another cable 12 of the power distribution network 13 .

[0037] 1 , mounting the cable device 11 on the electrical cable 12 may include inserting the cable into a mounting slot 18 in the cable device 11. In other words, mounting the cable device 11 on the electrical cable 12 may involve orienting the mounting slot 18 of the cable device 11 over the electrical cable 12. In other words, mounting the cable device 11 on the electrical cable 12 may involve guiding and / or navigating the air vehicle 10 (and the mounting unit 14) to the electrical cable 12 so that the slot 18 of the cable device 11 captures the electrical cable 12. The mounting unit 14 may then operate a crimping device (cable crimping unit) in the cable device 11 to secure the cable device 11 to the electrical cable 12.

[0038] Similarly, the step of unmounting the cable device 11 from the electrical cable 12 may include the steps of guiding and / or navigating the air vehicle 10 (and the mounting portion 14) to the selected cable device 11 mounted on the electrical cable 12, attaching the mounting portion 14 to the selected cable device 11, operating a crimping device (cable crimping portion) within the cable device 11 to detach the cable device 11 from the electrical cable 12, and removing the cable device 11 from the electrical cable 12.

[0039] As shown in FIG. 1, the mounting portion 14 may include the following components: A first coupling, such as a coupling device 16, arranged to attach the payload 14 to the air vehicle 10. This first coupling may also be referred to as a helicopter coupling. A second coupling, such as arm 19, arranged to attach cable device 11 to mounting portion 14. This second coupling may also be referred to as a sensor coupling.

[0040] A navigation section (which may also be referred to as a second navigation section, and / or a short-range navigation section, and / or a slot navigation section) that includes at least one navigation sensor, such as a camera 20, that operates to perform at least one of the following: The user can mount the cable device 11 onto the electrical cable 12 of the power distribution network 13 by navigating the air vehicle 10 to point the slot 18 of the cable device 11 toward the electrical cable 12 so that the slot 18 is aligned with the electrical cable 12. The user is able to detach the cable device 11 from the electrical cable 12 of the power grid 13 by navigating the air vehicle 10 to the cable device 11 so that the air vehicle 10 is aligned with the cable device 11. The air vehicle automatically navigates and directs the slot 18 of the cable device 11 toward the electrical cable 12 so that the slot 18 is aligned with the electrical cable 12. The air vehicle 10 is automatically navigated to the cable device 11 so that the air vehicle 10 is aligned with the cable device 11.

[0041] Reference is now made to Figure 2, which is a simplified illustration of a front view of the mounting portion 14, Figure 3, which is a simplified illustration of a side view of the mounting portion 14, Figure 4, which is a simplified illustration of a bottom view of the mounting portion 14, and Figure 5, which is a simplified illustration of an oblique view of the mounting portion 14, all according to an exemplary embodiment of the present invention.

[0042] Optionally, the illustrations of Figures 2, 3, 4, and 5 may be viewed in the context of the details of the previous figures. However, of course, the illustration of Figure 5 may be viewed in the context of any desired environment. Furthermore, the definitions above may be equally applied to the following descriptions. In Figures 2, 3, 4, and 5, the mounting portion 14 is shown carrying the cable device 11.

[0043] As shown in Figures 2, 3, 4, and 5, the mounting portion 14 may include a main body 21 that typically includes electronics, including a computing device such as a microcontroller, that operates between other devices, namely, a second coupling portion, such as an arm 19, coupled to the main body 21 and arranged to mount the cable device 11, a navigation portion 22 that includes at least one navigation sensor, such as a camera 20, and a cable attachment actuator portion 23 that is coupled to the main body 21 and operates to actuate a cable crimp portion 24 within the cable device 11.

[0044] Reference is now made to FIG. 6, which is a simplified illustration of a computing device 25, typically contained within a body 21, according to one exemplary embodiment of the present invention.

[0045] Alternatively, the illustration of Figure 6 may be viewed in the context of the details of the previous figures. However, it should be understood that the illustration of Figure 6 may be viewed in the context of any desired environment. Furthermore, the foregoing definitions may equally apply to the following description.

[0046] Computing device 25 is provided as an exemplary implementation of a processing unit of mount 14. Accordingly, computing device 25 may be arranged to operate second coupling portions such as arm 19, navigation portion 22, and cable-mounted actuator portion 23, as well as other devices coupled to or included within mount 14 and / or body 21 as shown and described with reference to FIGS. 1-5 .

[0047] As shown in FIG. 6, the computing device 25 may include at least one processor unit 26, one or more memory units 27 (e.g., random access memory (RAM), non-volatile memory such as flash memory, etc.), and one or more storage units 28 (e.g., including hard disk drives and / or removable storage drives representing floppy disk drives, magnetic tape drives, compact disk drives, flash memory devices, etc.).

[0048] The computing device 25 may also include: One or more communication units 29. Such communication units 29 may use any type of communication technology, in particular RF communication technology, in particular Wi-Fi, Bluetooth, ZigBee, and any remote control communication technology similar to that which may be used to remotely control the air vehicle 10. One or more second coupling control circuits 30 for controlling second couplings such as arms 19. In particular, steering arms 19 for releasing cable device 11 and / or to be aligned with cable device 11 and / or for attaching to cable device 11. Optionally, one or more navigation sensor control circuits 31 for controlling navigation sensors such as camera 20, including navigation sensor 32 itself. One or more cable attach control circuits 33 for controlling the cable attach actuator section 23, and the cable attach actuator section 23 itself. One or more communication buses 34 connecting the above units. Computing device 25 may also include one or more control circuits for controlling other devices coupled to or contained within body 21 .

[0049] Computing system 25 may also include one or more computer programs 35 or computer control logic algorithms that may be stored in any of memory unit 27 and / or storage unit 28. Such computer programs, when executed, enable computing system 25 to perform various functions as described herein. Memory unit 27 and / or storage unit 28 and / or any other storage device are possible examples of tangible computer-readable media.

[0050] In particular, the computer programs 35 may include software programs for: Operating and / or controlling the communication unit 29. Operate and / or control devices coupled to or contained within the body 21, such as a second coupling portion, such as the arm 19, the navigation portion 22, the navigation sensor 32, such as the camera 20, the cable-mounted actuator portion 23, etc. A step of communicating with a user (operator) who operates the air vehicle 10. Communicating with a computing system and / or one or more computer programs that operate and / or control the air vehicle 10. Communicating with a computing system and / or one or more computer programs that operate and / or control the cable device 11. Navigating the air vehicle 10, and / or the payload 14, and / or the cable device 11 to the cable 12 and mounting the cable device 11 on the cable 12. Navigating the air vehicle 10 and / or the payload 14 to the cable device 11 mounted on the cable 12 and unmounting the cable device 11 from the cable 12. Computing system 25 may execute any software program, such as for analyzing measurements made by any one or more of cable devices 11 of FIGS. 1-5. Operate and / or control devices coupled to or contained within the body 21, such as a second coupling portion, such as the arm 19, the navigation portion 22, the navigation sensor 32, such as the camera 20, the cable-mounted actuator portion 23, etc.

[0051] For example, the on-board unit 14, and / or the computing system 25, and / or the computer program 35 may perform the following:

[0052] A user operating the air vehicle 10 may navigate the air vehicle 10 to the electrical grid 13, such as to a particular part of the electrical grid 13.

[0053] This allows a user operating the air vehicle 10 to identify a particular electrical cable 12 in the power distribution network 13 and / or a particular cable device 11 mounted on a particular electrical cable 12.

[0054] The user operating the air vehicle 10 can align the slot 18 of the cable device 11 with a particular electrical cable 12. The user can then load the cable device 11 onto the electrical cable 12, which includes engaging the cable device 11 with the electrical cable 12 and crimping the cable device 11 to the electrical cable 12. This step may be performed automatically by the onboard unit 14, and / or the computing system 25, and / or the computer program 35, which takes over control of the air vehicle 10 from the operating user.

[0055] The steps include: allowing a user operating the air vehicle 10 to align the air vehicle 10, and / or the mounting portion 14, and / or the second coupling portion, and / or the arm 19, with a particular cable device 11 mounted on the electrical cable 12; allowing the mounting portion 14 to engage with the cable device 11; and allowing the cable device 11 to be uncrimped, unclamped, and / or removed from the electrical cable 12. This step may also be performed automatically by the mounting portion 14, and / or the computing system 25, and / or the computer program 35, which takes over control of the air vehicle 10 from the operating user.

[0056] To precisely align the slot 18 of the cable device 11 with the electrical cable 12, the mounting unit 14 may directly operate the air vehicle 10, for example, by transmitting communication signals that mimic a remote control device similar to that which may be used by a user / operator. In a similar manner, the mounting unit 14 may directly operate the air vehicle 10 to precisely align a second coupling, such as the arm 19, with the cable device 11 mounted on the electrical cable 12. The mounting unit 14 may operate the air vehicle 10 via the communication unit 29 by transmitting communication signals that mimic a remote control device.

[0057] The payload 14 may operate the air vehicle 10 via a communication unit 29 as a local communication device that is communicatively coupled to a local control system of the air vehicle 10 and operates to automatically control the air vehicle 10 .

[0058] The mount 14 may navigate the electrical cable 12 using optical images, for example, optical images may be provided by one or more optical sensors, such as the camera 20, and processed by the processor unit 26 and computer program 35. Alternatively, or in addition, the mount 14 may navigate the electrical cable 12 using electrical sensors that sense electric and / or magnetic fields generated by electrical currents in the electrical cable 12. Optical navigation is useful when the electrical cable 12 does not carry electrical current, while electromagnetic navigation is useful when optical conditions are difficult, such as darkness, excessive brightness, adverse backgrounds, etc. Other navigation methods may include cable heat sensing, proximity sensing, etc.

[0059] The mount 14 may navigate to the cable device 11 using optical images, for example, optical images may be provided by one or more optical sensors, such as the camera 20, and processed by the processor unit 26 and computer program 35. Alternatively, or in addition, the mount 14 may navigate to the cable device 11 using electrical sensors that sense electric and / or magnetic fields generated by currents in the electrical cable 12. Alternatively, or in addition, the mount 14 may navigate to the cable device 11 using other types of radio frequency (RF) sensors that sense RF signals emitted by the cable device 11, such as by a radio frequency identification device (RFID), enabling navigation to unpowered and / or inoperable and / or defective cable devices 11.

[0060] For the present purposes, the system for using the air vehicle to mount or dismount a sensor on an electrical cable also includes a remote control operated by a user or operator. The remote control may include two components: a first remote control for operating the air vehicle 10 and a second remote control for operating the payload 14, for example, via a communications unit 29. It should be understood that the two controls may be combined into one remote control device. It should be understood that the remote control device may be a dedicated device or a general-purpose device such as a smartphone.

[0061] The on-board unit 14 may, for example via a communications unit 29, provide navigation data to and receive navigation control data from a remote control, particularly but not exclusively a second remote control.

[0062] The navigation data may include, for example, image data from one or more cameras 20 and / or one or more electromagnetic sensors, and / or identification signals of the cable device 11, various control signals associated with the operation of the cable attachment system, etc.

[0063] The navigation control data may include, for example, the selection of a particular electrical cable 12 in the power distribution network 13, the selection of a particular location on the selected electrical cable 12, the selected orientation of the cable device 11 to the electrical cable 12 (e.g., according to the direction of the current), etc.

[0064] The navigation control data may also include instructions to the onboard unit 14 to perform automatic navigation as described above, for example, by taking over control of the air vehicle 10 and operating the air vehicle 10 directly.

[0065] As described above, a user or operator operating the system described above, in particular operating the remote control device described above, may operate the cable attachment actuator portion 23 to instruct the mounting portion 14 to attach the cable device 11 to the electrical cable 12 or to detach the cable device 11 from the electrical cable 12, as described below.

[0066] The RFID embedded in the cable device 11 may contain a unique identification of the device, which when read by the mounting portion 14 may be used for positive verification to remove the correct device 11 from the cable.

[0067] Reference is now made to FIG. 7, which is a simplified illustration of cutting through a cable device 11 mounted on an electrical cable 12, according to one exemplary embodiment of the present invention.

[0068] Alternatively, the illustration of cable device 11 in Figure 7 may be viewed in conjunction with the details of the previous figure. However, it should be understood that the illustration of cable device 11 in Figure 7 may be viewed in conjunction with any desired environment. Furthermore, the foregoing definitions may equally apply to the following description.

[0069] 7, cable device 11 may include a box or body 36 through which electrical cable 12 passes. Electrical cable 12 may be part of an electrical grid, transmission network, or distribution network such as that maintained by an electric utility company to provide electricity to the public, factories, etc. Cable device 11 may therefore be mounted on energized cable 12, i.e., when cable 12 is fully energized and / or carries voltage and / or current.

[0070] Box 36 is thus constructed in two pieces that can be operated and then closed around cable 12. Alternatively, box 36 may be constructed in one piece that surrounds most of the cable diameter and has an opening, such as slot 18, on one side for inserting cable 12 and attaching the box to cable 12.

[0071] 7, cable device 11 may include a power supply module 37, a controller module 38, one or more electrical measurement devices 39, one or more physical measurement devices 40, and a backhaul communication module 41. Optionally, cable device 11 may also include a local area communication module 42, a remote sensing module 43, and a propulsion control module 44. Optionally, cable device 11 may also include a cable crimp 24 and a GPS module 45.

[0072] 7, cable device 11 may include a magnetic core 46 in which at least one coil is wrapped to form winding 47. Core 46 may be mounted around electrical cable 12. Core 46 may be constructed from two parts, i.e., a part in each of the two parts of box 36, which are closed around electrical cable 12 when box 36 is attached to electrical cable 12. However, optionally, particularly for high voltage cables, core 46 may be open, in the sense of having a slot through which electrical cable 12 can be inserted.

[0073] The magnetic core 46 typically derives a magnetic field from the current flowing in the electrical cable 12. The windings 12 typically derive a current from the magnetic flux in the magnetic core 46. The windings 12 may typically be electrically coupled to a power supply module 37, which provides voltage to the other modules of the cable device 46. It should be understood that the cable device 11 may derive power from a single electrical cable 12.

[0074] Alternatively, for example, when used with insulated high voltage cables and / or underground cables and / or low voltage grids, the power supply module 37 may be connected to sensors attached to the electrical cable, which derives its power supply from a main unit connected to the low voltage output of a transformer. Such a configuration of the cable device 11 may have only one part with an opening at the bottom.

[0075] The backhaul communication module 41 and the local area communication module 42 may each and / or both be coupled to one or more antennas 48. The remote sensing module 19 may be coupled to and control various sensors, one or more cameras 49, one or more microphones 50, etc. It should be understood that the cameras may be mounted on an axel system that provides three-dimensional rotation. Alternatively, multiple fixed cameras, or an array thereof, may be mounted to cover a wide field of view as needed.

[0076] The backhaul communication module 41 and the local area communication module 42 may use any type of communication technology and / or network, such as, but not limited to, the terms “communication technology” or “communication network,” or simply “network” refers to any type of communication medium, including, but not limited to, fixed (wire, cable) networks, wireless networks, and / or satellite networks, fixed or wireless wide area networks (WANs) including various types of cellular networks, fixed or wireless local area networks (LANs) including Wi-Fi, and fixed or wireless personal area networks (PANs) including Bluetooth, ZigBee, and NFC, power line carrier (PLC) communication technologies, etc. The terms “communication network” or “network” may refer to any number of networks and any combination of networks and / or communication technologies.

[0077] Optionally, cable device 11 may also include a Global Positioning Service (GPS) module 45, which may be used to measure, monitor, and / or control the position of cable device 11 along electrical cable 12. GPS module 45 may also provide, for example, an accurate universal clock for accurately determining the absolute time of measurements.

[0078] The controller module 14 may include a processor unit similar to those that may be used to store and / or execute software programs and associated data and to communicate with external devices, one or more memory units (e.g., random access memory (RAM), non-volatile memory such as flash memory, etc.), and one or more storage units (e.g., including a hard disk drive and / or a removable storage drive, etc.). The controller module 14 may be designated as the computing device 25 of FIG. 6.

[0079] The propulsion control module 44 may be coupled to one or more actuation devices, such as electric motors 51, which may be coupled to one or more wheels 52. The wheels 52 may be mounted on the cable 12 such that controlling the electric motors 51 enables the propulsion control module 44 to move the cable device 11 along the cable 12.

[0080] It should be understood that the propulsion system of the cable device 11 (including, but not limited to, the propulsion control module 44, one or more electric motors 51, one or more wheels 52, etc.) may operate to move the cable device 11 along the cable 12 and / or to rotate the cable device 11 around the cable 12.

[0081] It should be understood that electric motor 51, as used herein, represents any type of technology suitable for steering cable device 11 along and / or around cable 12, including, but not limited to, AC motor, DC motor, stepper motor, pneumatic pump and / or motor, hydraulic pump and / or motor, or any other type of actuator.

[0082] Cable crimping portion 24 may include, for example, a cable holder portion 53 that can be pressed against cable 12 to securely attach cable device 11 to cable 12. Cable holder portion 53 may be manipulated (e.g., up and down) by electrical means and / or by mechanical means, such as a threaded rod 54. Threaded rod 54 may be operated by an electric actuator or, as shown in FIG. 7, by a shaft 55 inserted into a socket in cable attachment actuator portion 23. Alternatively, threaded rod 54 may be operated by a rod inserted into a socket 56.

[0083] Reference is now made to FIG. 8A, which is a simplified illustration of cable crimp 24 in an open position, and FIG. 8B, which is a simplified illustration of cable crimp 24 in a closed position, according to one exemplary embodiment of the present invention.

[0084] Optionally, the illustrations of Figures 8A and 8B may be viewed in the context of the details of the previous figures. However, of course, the illustrations of Figures 8A and 8B may be viewed in the context of any desired environment. Furthermore, the foregoing definitions may equally apply to the following description.

[0085] 8A and 8B, pivoting threaded rod 54 (e.g., counterclockwise) to release cable device 11 from cable 12, for example, by moving (lowering) cable holder portion 53 away from cable 12, also ultimately pivots cable holder portion 53 and passes through slot 18 so that cable device 11 can be removed from cable 12. As shown in FIG. 8A, when cable holder portion 53 is fully opened, it pivots into opening 57, where it can be detected as fully opened, for example, by camera 20.

[0086] The cable device 11, and in particular the cable crimping portion 24, may include one or more sensors for detecting and / or verifying that the cable device 11 is properly mounted on the electrical cable 12 and / or that the cable holder portion 53 is properly locked or unlocked. Such sensors may be operated by a controller module 38 of the cable device 11, which may report their measurements to the processor unit 26 of the mounting portion 14, as shown and described with reference to FIG.

[0087] The processor unit 26 of the mount 14 and the controller module 38 of the cable device 11 may communicate using, for example, the communication unit 29 of the mount 14 and the local area communication module 42 of the cable device 11 .

[0088] Mount 14 may provide power to cable device 11 through a connector, by electromagnetic induction, or using laser light. For example, mount 14 may provide power to cable device 11 through one or more connectors in arm 19.

[0089] Reference is now made to Figure 9A, which is a simplified illustration of a front view of the air vehicle 10 and the integrated mounting section 14 carrying the cable device 11 below the air vehicle 10, and Figure 9B, which is a simplified illustration of a side view of the system shown in Figure 9A, according to an exemplary embodiment of the present invention.

[0090] Optionally, the illustrations of Figures 9A and 9B may be viewed in the context of the details of the previous figures. However, of course, the illustrations of Figures 9A and 9B may be viewed in the context of any desired environment. Furthermore, the foregoing definitions may equally apply to the following description.

[0091] 9A and 9B, in addition to the first navigation device (e.g., navigation unit 22) contained within air vehicle 10 and / or payload 14, there is a second navigation device 58 contained within cable device 11. Second navigation device 58 may be used to navigate air vehicle 10 in proximity to electrical cable 12. In the example shown in FIGS. 9A and 9B, proximate (second) navigation device 58 includes four sensors 59 for precisely aligning cable device 11 with cable 12. Sensors 59 may be image sensors (e.g., cameras, ultrasound, etc.), thermal sensors, electromagnetic sensors, etc.

[0092] 9A and 9B, cable device 11 may be mounted below air vehicle 10 with its slot 18 open downward. Air vehicle 10 may then approach electrical cable 12 from above and insert electrical cable 12 into slot 18 from below.

[0093] Reference is now made to FIG. 10, which is a simplified illustration of a front view of air vehicle 10 and integral mount 14 carrying cable device 11 above air vehicle 10, in accordance with one exemplary embodiment of the present invention.

[0094] Alternatively, the illustration of Figure 10 may be viewed in conjunction with the details of the previous figures. However, it should be understood that the illustration of Figure 10 may be viewed in conjunction with any desired environment. Furthermore, the foregoing definitions may equally apply to the following description.

[0095] 10 differs from the systems of FIGS. 9A and 9B in that the cable device 11 may be mounted above the air vehicle 10 with its slot 18 open upward. Thus, the air vehicle 10 approaches the electrical cable 12 from below, and the electrical cable 12 may then be inserted into the slot 18 from above. This configuration may be aerodynamically advantageous, for example, if wind pushes the air vehicle 10 aside when engaged with the electrical cable 12.

[0096] Reference is now made to FIG. 11, which is a simplified illustration of a front view of an integrated mount 14 carrying an air vehicle 10 and a cable device 11 above the air vehicle 10, along with one or more inward-facing (downward-facing) looking near (second) navigation devices 58, according to one exemplary embodiment of the present invention.

[0097] Alternatively, the illustration of Figure 11 may be viewed in conjunction with the details of the previous figures. However, it should be understood that the illustration of Figure 11 may be viewed in conjunction with any desired environment. Furthermore, the foregoing definitions may equally apply to the following description.

[0098] The system of Figure 11 differs from the system of Figure 10 (and the systems of Figures 9A and 9B) in that a proximate (second) navigation device 58 is mounted on the mounting portion 14 (and air vehicle 10) instead of the cable device 11. As shown in Figure 11, the proximate (second) navigation device 58 is mounted facing inward and / or downward and / or into the slot 18 of the cable device 11.

[0099] 11 has the aerodynamic properties of the system of FIG. 10, but without the need to include a proximate (second) navigation device 58 within each cable device 11.

[0100] The cable device 11 may be mounted above the air vehicle 10 with its slot 18 open upward. Thus, the air vehicle 10 approaches the electrical cable 12 from below, and the electrical cable 12 may then be inserted into the slot 18 from above under the guidance of the proximate (second) navigation device 58, which is therefore facing downward.

[0101] Reference is now made to FIG. 12, which is a simplified illustration of a side view of an integrated mount 14 carrying an air vehicle 10 and a cable device 11, along with a long-range navigation device 60 and a short-range navigation device 61, and a precision steering device 62, in accordance with an exemplary embodiment of the present invention.

[0102] Alternatively, the illustration of Figure 12 may be viewed in conjunction with the details of the previous figure. However, it should be understood that the illustration of Figure 12 may be viewed in conjunction with any desired environment. Furthermore, the foregoing definitions may equally apply to the following description.

[0103] As shown in Figure 12, the air vehicle 10 and integral payload 14 system may also include a first long-range navigation device 60 and a second short-range navigation device 61. These two systems may be equipped with their own sensors. As shown in Figure 12, the first long-range navigation device 60 includes an image sensor such as a camera 63 that is pointed outward, away from the cable device 11, and the second short-range navigation device 61 includes an image sensor such as a camera 64 that is pointed inward, toward the cable device 11, and specifically, into the slot 18 of the cable device 11.

[0104] The first long-range navigation device 60 may allow a user to use a remote control to navigate the system of air vehicle 10 and integral mount 14 to the power grid 13, then to a particular electrical cable 12, and then to a particular location or portion of electrical cable 12. The second short-range navigation device 61 may then allow a user to use the same or a different remote control to navigate the system of air vehicle 10, integral mount 14, and cable device 11 such that electrical cable 12 is inserted into slot 18 of cable device 11.

[0105] Additionally and / or optionally, the second short-range navigation device 61 may also include a sensor, such as a camera 65, oriented toward the location on the cable device 11 where the second coupling (e.g., arm 19) is attached to the cable device 11.

[0106] The first long-range navigation device 60 may allow a user to use a remote control to navigate the system of air vehicle 10 and integral mount 14 to the power grid 13, then to a particular electrical cable 12, and then to the cable device 11 mounted on the electrical cable 12. The second short-range navigation device 61 may then allow a user to use the same or a different remote control to navigate the system of air vehicle 10 and integral mount 14 so that a second coupling (e.g., arm 19) is properly aligned with and attached to the cable device 11.

[0107] It should be understood that the first long-range navigation device 60 and / or the second short-range navigation device 61 may use any type or combination of types of sensors as described above.

[0108] It should be understood that the first long-range navigation device 60 and the second short-range navigation device 61 may have an overlapping range in which the two systems operate, and handover between the systems may be accomplished either manually or automatically, e.g., within the overlapping range, both systems have sufficient accuracy and steerability control.

[0109] It should be understood that the final part of the step of flying the air vehicle 10 using the long-range navigation unit may be used to engage the short-range navigation unit with an electrical cable (to mount) or a cable device (to dismount).

[0110] Additionally and / or optionally, the air vehicle 10 and integral mount 14 system may also include a precision steering device 62, which typically includes a steering actuator such as one or more propellers 66. The precision steering device 62 may enable a user to precisely navigate the air vehicle 10 and integral mount 14 system using a remote control to (load) the electrical cable 12 and / or (unload) the cable device 11 with minimal effect on pitch and roll angles.

[0111] Reference is now made to FIG. 13, which is a simplified illustration of a side view of air vehicle 10 and attachable mount 14 equipped with long-range navigation device 60, short-range navigation device 61, and precision steering device 62, according to one exemplary embodiment of the present invention.

[0112] Alternatively, the illustration of Figure 13 may be viewed in conjunction with the details of the previous figures. However, it should be understood that the illustration of Figure 13 may be viewed in conjunction with any desired environment. Furthermore, the foregoing definitions may be equally applied to the following description.

[0113] The system of the air vehicle 10 and attached mount 14 according to FIG. 13 differs from the system of the air vehicle 10 and attached mount 14 according to FIG. 12 in that the long-range navigation device 60, the short-range navigation device 61, and the precision steering device 62 are part of the attached mount 14 and can therefore be transferred from one air vehicle 10 to another using a first coupling such as coupling device 16.

[0114] It should be understood that a cable sensor mounting system as described herein typically includes an air vehicle, such as air vehicle 10, and a mount, such as mount 14, that may be integral with or attached to air vehicle 10. The cable sensor mounting system may have two navigation systems, typically a long-range navigation system and a short-range navigation system.

[0115] The long-range navigation system is used to navigate the air vehicle 10 to the grid 13 and to a particular location on the electrical cable 12, and the short-range navigation system is used to precisely align the device 11 with the electrical cable 12. In particular, when loading the device 11 onto the electrical cable 12, the short-range navigation system is used to precisely align the slot 18 or similar cable attachment feature of the device 11 with the electrical cable 12. Similarly, when unloading the device 11 from the electrical cable 12, the short-range navigation system is used to precisely align the air vehicle 10 and payload 14 with the device 11.

[0116] For example, the long-range navigation system may be the native navigation system of the air vehicle 10, and the short-range navigation system may be part of the onboard unit 14, such as the navigation unit 22 and camera 20, as shown and described with reference to Figures 1-5 and Figures 9A, 9B, 10, and 11.

[0117] Alternatively, for example, as shown and described with reference to Figures 12 and 13, the mounting portion 14 may include both a long-range navigation system, such as elements 60 and 63, and a short-range navigation system, such as elements 61 and 64.

[0118] It should be understood that slot 18 is typically a few millimeters wider than electrical cable 12, and therefore the required accuracy of the short-range navigation system and associated precision steering device 62 is only a few millimeters, typically less than half the difference between the width of slot 18 and the width of electrical cable 12.

[0119] The precision or accuracy of short-range navigation systems and precision steering devices includes location precision (or accuracy) as described above and alignment precision (or accuracy), which should typically be better than Sin(0.01) or 0.01 radians.

[0120] Thus, for example, the sensor range of a long-range navigation system may have a long focus, typically sensing an area of at least one-tenth of a square meter, with a typical resolution of, for example, about one centimeter, while the sensor range of a short-range navigation system may have a short focus, typically sensing an area of less than a few tens of square centimeters, with a typical resolution of at least 0.1 millimeters.

[0121] Similarly, the long-range navigation system of the air vehicle 10 may have a precision (or accuracy) of 1 centimeter or less, and / or yaw and / or pitch and / or roll of no better than 0.1 radians, while the short-range navigation system should have a precision (or accuracy) of 0.1 millimeter or better, and / or yaw and / or pitch and / or roll of at least 0.001 radians.

[0122] The precision (or accuracy) requirements described above may refer to mounting and unmounting the cable device 11 onto and from the electrical cable 12. In this regard, the precision (or accuracy) requirements may refer to positioning and / or aligning the cable device 11 relative to the electrical cable 12 or positioning and / or aligning the mounting portion 14 relative to the cable device 11.

[0123] As shown in FIG. 1, the electrical cable 12 is typically curved or concave, and therefore, at the loading and / or unloading location, the electrical cable 12 may be tilted and / or at an arbitrary pitch angle relative to the horizontal or gravity vector.

[0124] The cable device 11 should be mounted on the electrical cable 12 with the slot 18 aligned vertically. However, as shown in FIG. 1, the cable device 11 may be found mounted on the electrical cable 12 at any roll angle.

[0125] Thus, precision (or accuracy) requirements may refer to any of yaw, pitch, and roll angles, whether related to loading and / or unloading, and / or whether related to navigation and / or maneuvering.

[0126] In this regard, for example, as shown in FIG. 13, the coupling device 16 may include a manipulation device 67, such as a joint, that enables the mount 14 to manipulate itself in real time at any angle relative to the air vehicle 10.

[0127] Thus, while the air vehicle 10 may be positioned horizontally, the mount 14 may use the coupling device 16 and the manipulation device 67 to rotate itself relative to the air vehicle 10 according to the angle of the electrical cable 12 (to mount) or the cable device 11 (to unmount). The manipulation device 67 may rotate the mount 14 relative to the air vehicle 10 in any or a combination of yaw, pitch, and roll angles.

[0128] Alternatively, or additionally, or optionally, particularly when the mount 14 is affixed to the air vehicle 10, any of the yaw, pitch, and roll angles of the mount 14 may be achieved by manipulating the yaw, pitch, and roll angles of the air vehicle 10. This may be achieved by a precision steering device 62 using one or more propellers 66 and / or by using tilting propellers.

[0129] 13, the coupling device 16 may include two steering devices 67 to minimize the effect of manipulating any of the yaw, pitch, and roll angles of the air vehicle 10 and the mount 14 on the center of gravity and aerodynamic properties of the system of the air vehicle 10, the mount 14, and the optional cable device 11. Thus, the coupling device 16 with two steering devices 67 may allow the air vehicle 10 to tilt in response to wind, while the mount 14 may tilt according to the cable orientation (mounted) or the cable device 11 orientation (unmounted).

[0130] It should be understood that a coupling device 16 with one or more operating devices 67 may be provided on the air vehicle 10 to carry the cable device 11 above the air vehicle 10, as shown and described with reference to FIG. 11.

[0131] It should be understood that a second coupling such as arm 19 may also provide functionality such as steerability of cable device 11 relative to mount 14, such as by changing yaw, pitch, and / or roll angles.

[0132] Please refer now to FIG. 14, which is a simplified illustration of a front view of air vehicle 10 with mount 14 with funnel 68, according to one exemplary embodiment of the present invention.

[0133] Alternatively, the illustration of Figure 14 may be viewed in conjunction with the details of the previous figures. However, it should be understood that the illustration of Figure 14 may be viewed in conjunction with any desired environment. Furthermore, the foregoing definitions may equally apply to the following description.

[0134] 14, the arms 19 of the mounting portion 14 are shaped to form a funnel 68. The funnel 68 is so shaped to guide the mounting portion 14 carrying the cable device 11 and / or the air vehicle 10 with the slot 18 of the cable device 11 toward the electrical cable 12. It should be understood that the mounting portion 14 may have two or more such funnels 68 arranged to direct the slot 18 toward the electrical cable 12 and / or vice versa.

[0135] It should be understood that the funnel 68 may be part of the cable device 11, or part of the air vehicle 10, or part of the mount 14 other than the arm 19. As can be seen in FIG. 14, the arm 19 and the funnel 68 also serve as landing gear for the air vehicle 10.

[0136] As shown and described above, the air vehicle 10 and payload 14 system allows for mounting a cable device onto an electrical cable of a power grid, for example, by performing the following steps. Attaching the cable device to an onboard device attached to the air vehicle. Flying the air vehicle onto the electrical cable using the long-range navigation unit. Using the long-range navigation unit to point the short-range navigation unit to the electrical cable. Flying the air vehicle onto the electrical cable using the short-range navigation unit while aligning the slot of the cable device with the electrical cable. Mounting the cable device onto the electrical cable such that the electrical cable is inserted into the slot of the cable device.

[0137] Similarly, the air vehicle 10 and payload 14 systems enable the cable device to be detached from an electrical cable of a power grid, for example, by performing the following steps. Flying the air vehicle onto the electrical cable using the long-range navigation unit. Identifying a cable device mounted on the electrical cable. Using the long-range navigation portion to point the short-range navigation portion to the cable device. Flying the air vehicle onto the electrical cable using the short-range navigation unit while aligning the air vehicle's payload with the cable device. Unlocking the cable device from the electrical cable. Demounting the cable device from the electrical cable.

[0138] It should be understood that certain features, which are, for clarity, described in the context of separate embodiments of the invention, may also be provided in combination in a single embodiment. Conversely, various features, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable subcombination.

[0139] While a description has been provided above in conjunction with specific embodiments of the invention, it is evident that many alternatives, modifications, and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications, and variations that fall within the spirit and broad scope of the appended claims. All publications, patents, and patent applications mentioned herein are incorporated by reference in their entirety to the same extent as if each individual publication, patent, or patent application was specifically and individually indicated to be incorporated by reference herein. Furthermore, citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art.

Claims

1. 1. A mounting device for at least one of mounting a cable device onto an electrical cable of an electric power distribution network and unmounting the cable device from the electrical cable, the cable device comprising: a slot adapted to capture the electrical cable within the cable device, the slot comprising a locking device adapted to attach the cable device to the electrical cable, the mounting device comprising: one or more manipulation devices arranged to attach the mounted device to the air vehicle and to attach the cable device to the mounted device; a navigation unit operative to control the air vehicle to detach the cable device from the electrical cable; a locking actuator portion operative to activate unlocking of the locking device of the cable device from the electrical cable; An on-board device comprising:

2. The navigation unit enabling a user to control the air vehicle to align the mounted device with the cable device mounted on the electrical cable; automatically controlling the air vehicle to align the mounted device with the cable device mounted on the electrical cable; The onboard device of claim 1 , operative to implement at least one of:

3. The navigation unit navigation using optical images of at least one of the electrical cable and the cable device; Navigation according to at least one of an electric field and a magnetic field emitted by at least one of the electric cable and the cable device; The onboard device of claim 1 , operative to implement at least one of:

4. The onboard device of claim 2 , further comprising a local communication device, the local communication device operative to communicatively couple to a local control system of the air vehicle to implement automatic control of the air vehicle.

5. The mounted device of claim 1, further comprising a remote communication device communicatively coupled to the remote control device, the remote communication device communicating with the remote control device at least one of navigation data from the mounted device to the remote control device and navigation control data from the remote control device to the mounted device.

6. Further comprising a remote control device, enabling a user to control the air vehicle to align the mounted device with the cable device mounted on the electrical cable; enabling a user to control the air vehicle to detach the cable device from the electrical cable; enabling a user to switch the onboard device into automatic operation and perform automatic control of the air vehicle using a communication device communicatively coupled to a local control system of the air vehicle; The on-board device of claim 2 , operative to enable a user to perform at least one of:

7. The mounting device of claim 1 , further comprising a coupling arranged to attach the cable device to the mounting device, the coupling including at least one of a mechanical coupling and an electromechanical coupling.

8. The locking actuator section coupling to a catch of the cable device; The following, i.e., activating a locking of the cable device to the electrical cable; identifying an indication of locking of the cable device to the electrical cable; identifying an indication of unlocking of the cable device from the electrical cable; and operating at least one of The loading device of claim 1 , further operative to:

9. The one or more operating devices are steering the onboard device relative to the air vehicle in at least one of a yaw, pitch, and roll angle; steering the cable device relative to the mount device in at least one of a yaw, pitch, and roll angle; steering the cable device relative to the electrical cable in at least one of a yaw, pitch, and roll angle; steering the mounted device relative to the cable device mounted on the electrical cable in at least one of a yaw, pitch, and roll angle; steering the onboard device without affecting at least one of a yaw, pitch, and roll angle of the air vehicle; steering the cable device without affecting at least one of a yaw, pitch, and roll angle of the air vehicle; The mounting device of claim 1 , arranged to perform at least one of:

10. The on-board device of claim 9 , wherein the on-board device is operative to steer the at least one of yaw, pitch, and roll angles according to data received from the navigation portion.

11. An air vehicle for at least one of mounting a cable device onto an electric cable of an electric power distribution network and unmounting said cable device from said electric cable, said cable device comprising a slot adapted to take said electric cable into said cable device, said slot comprising a locking device adapted to attach said cable device to said electric cable, said air vehicle: one or more manipulation devices arranged to attach a mounting device to the air vehicle and to attach the cable device to the mounting device; a navigation unit operative to control the air vehicle to detach the cable device from the electrical cable; a locking actuator portion operative to activate unlocking of the locking device of the cable device from the electrical cable; An aircraft equipped with:

12. The navigation unit enabling a user to control the air vehicle to align the mounted device with the cable device mounted on the electrical cable; automatically controlling the air vehicle to align the mounted device with the cable device mounted on the electrical cable; 12. The air vehicle of claim 11, operative to perform at least one of:

13. The navigation unit navigation using optical images of at least one of the electrical cable and the cable device; Navigation according to at least one of an electric field and a magnetic field emitted by at least one of the electric cable and the cable device; 12. The air vehicle of claim 11, operative to perform at least one of:

14. An air vehicle as described in claim 12, further comprising a local communication device, the local communication device operative to communicatively couple to a local control system of the air vehicle so as to perform automatic control of the air vehicle.

15. An air vehicle as described in claim 11, further comprising a remote communication device communicatively coupled to a remote control device, the remote communication device communicating with the remote control device at least one of navigation data from the onboard device to the remote control device and navigation control data from the remote control device to the onboard device.

16. The apparatus according to claim 1, further comprising a remote control device, enabling a user to control the air vehicle to align the mounted device with the cable device mounted on the electrical cable; enabling a user to control the air vehicle to detach the cable device from the electrical cable; enabling a user to switch the onboard device into automatic operation and perform automatic control of the air vehicle using a communication device communicatively coupled to a local control system of the air vehicle; 13. The air vehicle of claim 12, operative to enable a user to perform at least one of the following:

17. The air vehicle described in claim 11, further comprising a coupling portion arranged to attach the cable device to the onboard device, the coupling portion including at least one of a mechanical coupling and an electromechanical coupling.

18. The locking actuator portion coupling to a catch of the cable device; The following, i.e., activating a locking of the cable device to the electrical cable; identifying an indication of locking of the cable device to the electrical cable; identifying an indication of unlocking of the cable device from the electrical cable; and operating at least one of The air vehicle of claim 11 , further operative to:

19. The one or more operating devices are steering the onboard device relative to the air vehicle in at least one of a yaw, pitch, and roll angle; steering the cable device relative to the mount device in at least one of a yaw, pitch, and roll angle; steering the cable device relative to the electrical cable in at least one of a yaw, pitch, and roll angle; steering the mounted device relative to the cable device mounted on the electrical cable in at least one of a yaw, pitch, and roll angle; steering the onboard device without affecting at least one of a yaw, pitch, and roll angle of the air vehicle; steering the cable device without affecting at least one of a yaw, pitch, and roll angle of the air vehicle; 12. The air vehicle of claim 11, configured to perform at least one of the following:

20. The air vehicle described in Claim 19, wherein the onboard device operates to steer at least one of yaw, pitch, and roll angles in accordance with data received from the navigation unit.

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