System and method for using a flying object to mount and dismount a device on an electrical cable

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 apparatuses disclosed herein relate to the field of power distribution networks, although not exclusively, and more specifically to transmission and distribution networks, although not exclusively, and more specifically to detecting faults in a power distribution network using sensors mounted on electrical cables, although not exclusively, and more specifically to using an unmanned aerial vehicle to mount or dismount a sensor or any other device on an electrical cable.

Background Art

[0002] A power distribution network can have many faults. Various components of the grid can fail, and the failures can be instantaneous, gradual, or intermittent. Some faults can be caused by the environment such as humidity, smoke, dust, wind, trees, etc. Various faults and failures have different characteristics and can affect the network in different ways. Characterizing, detecting, identifying, and locating faults in a power distribution network is a known problem involving various solutions including various types of sensors mounted on the cables of the power distribution network. Other devices mounted on electrical cables such as devices for warning aircraft are also known. In particular, mounting and dismounting such devices on the cable without disturbing the power supply source is complex, dangerous, cumbersome, and expensive. Therefore, it would be highly advantageous to be lacking in the above limitations.

Summary of the Invention

Means for Solving the Problems

[0003] According to an exemplary embodiment of the present invention, there is provided a system, method, and / or computer program for mounting a cable device on an electrical cable of a power distribution network and / or for removing the cable device from the electrical cable, the mounting device including a first coupling portion arranged to attach the mounting device to an aircraft, a second coupling portion arranged to attach the cable device to the mounting device, and a navigation portion operative to enable a user to navigate the aircraft so that a slot of the cable device is directed towards the electrical cable and / or to automatically navigate the aircraft so that the slot of the cable device is directed towards the electrical cable and / or to enable a user to navigate the aircraft to the cable device and / or to automatically navigate the aircraft to the cable device.

[0004] According to another exemplary embodiment of the present invention, the navigation portion is operative to enable a user to control the aircraft so that a slot of the cable device is aligned with the electrical cable and / or to automatically control the aircraft so that a slot of the cable device is aligned with the electrical cable and / or to enable a user to control the aircraft to mount the cable device on the electrical cable and / or to automatically control the aircraft to mount the cable device on the electrical cable and / or to enable a user to control the aircraft to align the mounting device with the cable device mounted on the electrical cable and / or to automatically control the aircraft to align the mounting device with the cable device mounted on the electrical cable.

[0005] According to yet another exemplary embodiment of the present invention, the navigation portion is operative to perform navigation using optical images of one or more electrical cables and the cable device and / or navigation according to one or more electric and magnetic fields radiated by one or more electrical cables and the cable device.

[0006] According to yet another exemplary embodiment of the present invention, the on-board device may further include a local communication device that operates to communicatively couple to an aircraft local control system so as to perform automatic control of the aircraft.

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

[0008] Furthermore, according to another exemplary embodiment of the present invention, the on-board device may further include a remote control device that operates to enable a user to control the aircraft so as to align a slot of a cable device with an electrical cable and / or to align the on-board device with a cable device mounted on the electrical cable and / or to control the aircraft to mount a cable device on the electrical cable and / or to control the aircraft to dismount a cable device from the electrical cable and / or to use a communication device communicatively coupled to the aircraft local control system to switch the on-board device to automatic operation and perform automatic control of the aircraft.

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

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

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

[0012] According to still another exemplary embodiment of the present invention, the mounted device operates to maneuver one or more yaw, pitch, and roll angles according to data received from the navigation unit.

[0013] Furthermore, according to another exemplary embodiment of the present invention, a flying object is provided for mounting a cable device on an electric cable of a power distribution network. The flying object includes a mounting portion, a sensor coupling portion arranged to attach the cable device to the mounting portion, and a slot navigation portion that operates to enable a user to navigate the flying object so that the slot of the cable device is directed at the electric cable and / or to automatically navigate the flying object so that the slot of the cable device is directed at the electric cable and / or to enable the user to navigate the flying object to the cable device and / or to automatically navigate the flying object to the cable device.

[0014] Still further, according to another exemplary embodiment of the present invention, the flying object may further include a helicopter coupling portion arranged to attach the flying object to the mounting portion, the helicopter coupling portion being arranged to maneuver the mounting device with respect to the flying object in at least one of yaw, pitch, and roll angles according to data received from the slot navigation portion.

[0015] Even still, according to another exemplary embodiment of the present invention, the flying object may further include a long-distance navigation portion that operates to enable a user to navigate the flying object and direct the slot navigation portion at the electric cable and / or to automatically navigate the flying object and direct the slot navigation portion at the electric cable.

[0016] Further expanding, according to another exemplary embodiment of the present invention, a method for mounting a cable device on an electric cable of a power distribution network includes attaching the cable device to a mounting device attached to an aircraft, using a long-distance navigation unit to fly the aircraft to the electric cable, directing a short-distance navigation unit to the electric cable, using the short-distance navigation unit to fly the aircraft to the electric cable, aligning a slot of the cable device with the electric cable, and mounting the cable device on the electric cable, wherein the electric cable is inserted into the slot of the cable device.

[0017] Furthermore, according to yet another exemplary embodiment of the present invention, a method for dismounting a cable device from an electric cable of a power distribution network includes using a long-distance navigation unit to fly the aircraft to the electric cable, identifying the cable device mounted on the electric cable, directing a short-distance navigation unit to the cable device, using the short-distance navigation unit to fly the aircraft to the electric cable, aligning a mounting portion of the aircraft with the cable device, unlocking the cable device from the electric cable, and dismounting the cable device from the electric cable. This specification also provides, for example, the following items. (Item 1) A mounting device for at least one of mounting a cable device on an electric cable of a power distribution network and dismounting the cable device from the electric cable, wherein the mounting device a first coupling portion arranged to attach the mounting device to an aircraft, a second coupling portion arranged to attach the cable device to the mounting device, a navigation unit, wherein the navigation unit Enabling the user to navigate the aircraft so that the slot of the cable device is directed towards the electrical cable, Automatically navigating the aircraft and directing the slot of the cable device towards the electrical cable, Enabling the user to navigate the aircraft to the cable device, Automatically navigating the aircraft to the cable device A navigation unit that operates to perform at least one of the above, An on-board device comprising (Item 2) The navigation unit Enabling the user to control the aircraft so that the slot of the cable device is aligned with the electrical cable, Automatically controlling the aircraft so that the slot of the cable device is aligned with the electrical cable, Enabling the user to control the aircraft so that the cable device is mounted on the electrical cable, Automatically controlling the aircraft so that the cable device is mounted on the electrical cable, Enabling the user to control the aircraft so that the on-board device is aligned with the cable device mounted on the electrical cable, Automatically controlling the aircraft so that the on-board device is aligned with the cable device mounted on the electrical cable The on-board device according to Item 1, which operates to perform at least one of the above. (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 radiated by at least one of the electrical cable and the cable device The mounted device according to item 1, which operates to perform at least one of the following. (Item 4) The mounted device according to item 1, further comprising a local communication device, wherein the local communication device operates to be communicably coupled to the aircraft local control system so as to perform automatic control of the aircraft. (Item 5) The mounted device according to item 1, further comprising a remote communication device communicably coupled to a remote control device, wherein the remote communication device communicates at least one of the following between the mounted device and the remote control device: navigation data from the mounted device to the remote control device, and navigation control data from the remote control device to the mounted device. The mounted device according to item 1, further comprising a remote control device, wherein the remote control device enables a user to perform at least one of the following: (Item 6) The mounted device according to item 1, further comprising a remote control device, wherein the remote control device enables a user to control the aircraft so that the user can align the slot of the cable device with the electrical cable, control the aircraft so that the user can align the mounted device with the cable device mounted on the electrical cable, control the aircraft so that the user can mount the cable device on the electrical cable, control the aircraft so that the user can dismount the cable device from the electrical cable, control the aircraft so that the user can use a communication device communicably coupled to the aircraft local control system to switch the mounted device to automatic operation and perform automatic control of the aircraft. The mounted device according to item 1, which operates 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 mounted device is Mechanical coupling and, electromechanics and The mounted device according to item 1, comprising at least one of them. (Item 8) Further comprising a locking actuator unit, the locking actuator unit Coupled to the locking portion of the cable device, and Hereinafter, namely, Activating the locking of the cable device to the electrical cable, and Activating the unlocking of the cable device from the electrical cable, and Identifying the indication of the locking of the cable device to the electrical cable, and Identifying the indication of the unlocking of the cable device from the electrical cable Operating at least one of them and The mounted device according to item 7, which operates to perform the above. (Item 9) Further comprising an operating device, the operating device Steering the mounting part with respect to the flying object at at least one of yaw, pitch, and roll angles, and Steering the cable device with respect to the mounting part at at least one of yaw, pitch, and roll angles, and Steering the cable device with respect to the electrical cable at at least one of yaw, pitch, and roll angles, and Steering the mounting part with respect to the cable device mounted on the electrical cable at at least one of yaw, pitch, and roll angles, and Steering the mounting part without affecting at least one of the yaw, pitch, and roll angles of the flying object, and Steering the cable device without affecting at least one of the yaw, pitch, and roll angles of the flying object The mounting device according to item 1, which is arranged to perform at least one of them. (Item 10) The mounting device according to item 9, wherein the mounting device operates to control at least one of yaw, pitch, and roll angles according to data received from the navigation unit. (Item 11) An aircraft for mounting a cable device on an electric cable of a power distribution network, the aircraft comprising: A mounting part; A sensor coupling part arranged to attach the cable device to the mounting part; A slot navigation unit, the slot navigation unit: Enabling a user to navigate the aircraft so that a slot of the cable device is directed at the electric cable; Automatically navigating the aircraft so that a slot of the cable device is directed at the electric cable; Enabling a user to navigate the aircraft to the cable device; Automatically navigating the aircraft to the cable device; and A slot navigation unit that operates to perform at least one of them; An aircraft comprising the same. (Item 12) Further comprising a helicopter coupling part, the helicopter coupling part being arranged to attach the aircraft to the mounting part, and the helicopter coupling part being arranged to control the mounting device with respect to the aircraft in at least one of yaw, pitch, and roll angles according to data received from the slot navigation unit. The aircraft according to item 9. (Item 13) Further comprising a long-distance navigation unit, the long-distance navigation unit: Enabling a user to navigate the aircraft and direct the slot navigation unit at the electric cable; Automatically navigate the flying object and direct the slot navigation unit towards the electrical cable The flying object according to item 9, which operates so as to perform at least one of (Item 14) A method for mounting a cable device on an electrical cable of a power distribution network, the method comprising: Attaching the cable device to a mounting device attached to a flying object; Using a long-distance navigation unit to fly the flying object towards the electrical cable; Directing a short-distance navigation unit towards the electrical cable; Using the short-distance navigation unit to fly the flying object towards the electrical cable; Aligning the slot of the cable device with the electrical cable; Mounting the cable device on the electrical cable, wherein the electrical cable is inserted into the slot of the cable device. A method comprising the above steps. (Item 15) A method for dismounting a cable device from an electrical cable of a power distribution network, the method comprising: Using a long-distance navigation unit to fly a flying object towards the electrical cable; Identifying the cable device mounted on the electrical cable; Directing a short-distance navigation unit towards the cable device; Using the short-distance navigation unit to fly the flying object towards the electrical cable; Aligning the mounting part of the flying object with the cable device; Releasing the locking of the cable device from the electrical cable; Dismounting the cable device from the electrical cable. A method comprising the above steps. (Item 16) The step of flying the flying object using the long-distance navigation unit includes: enabling the user to control the flying object so that the slot of the cable device is aligned with the electrical cable; automatically controlling the flying object so that the slot of the cable device is aligned with the electrical cable; enabling the user to control the flying object so that the cable device is mounted on the electrical cable; automatically controlling the flying object so that the cable device is mounted on the electrical cable; enabling the user to control the flying object so that the mounted device is aligned with the cable device mounted on the electrical cable; automatically controlling the flying object so that the mounted device is aligned with the cable device mounted on the electrical cable, and including at least one of the above, the method according to any one of items 14 and 15. (Item 17) The step of flying the flying object using the long-distance navigation unit includes: navigating using at least one optical image of at least one of the electrical cable and the cable device; navigating according to at least one of the electric field and the magnetic field radiated by at least one of the electrical cable and the cable device, and including at least one of the above, the method according to any one of items 14 and 15. (Item 18) The step of flying the flying object using the long-distance navigation unit includes: further including the step of automatically controlling the flying object using a local communication device in a mounting unit that is attached to the flying object and communicably coupled to the flying object local control system. The method according to any one of items 14 and 15. (Item 19) At least one of the step of flying the aircraft using the long - distance navigation unit and the step of flying the aircraft using the short - distance navigation unit is further including the step of using a remote communication device communicably coupled to a remote control device, and the remote communication device navigational data from the mounted device to the remote control device, and navigational control data from the remote control device to the mounted device communicates at least one of them with the remote control device. The method according to any one of Items 14 and 15. (Item 20) At least one of the step of flying the aircraft using the long - distance navigation unit and the step of flying the aircraft using the short - distance navigation unit is enabling a user using a remote control device to control the aircraft so as to align the slot of the cable device with the electrical cable; enabling a user using a remote control device to control the aircraft so as to align the mounted device with the cable device mounted on the electrical cable; enabling a user using a remote control device to control the aircraft so as to mount the cable device on the electrical cable; enabling a user using a remote control device to control the aircraft so as to dismount the cable device from the electrical cable; enabling a user using a remote control device to use a communication device communicably coupled to the aircraft local control system to switch the mounted device to automatic operation and perform automatic control of the aircraft and further including. The method according to any one of Items 14 and 15. (Item 21) further comprising the step of providing an operating device, wherein the operating device is configured to: operate the mounting part with respect to the flying object at at least one of yaw, pitch, and roll angles; operate the cable device with respect to the mounting part at at least one of yaw, pitch, and roll angles; operate the cable device with respect to the electrical cable at at least one of yaw, pitch, and roll angles; operate the mounting part with respect to the cable device mounted on the electrical cable at at least one of yaw, pitch, and roll angles; operate the mounting part without affecting at least one of the yaw, pitch, and roll angles of the flying object; operate the cable device without affecting at least one of the yaw, pitch, and roll angles of the flying object, and is arranged to perform at least one of the above, the method according to any one of items 14 and 15. (Item 22) providing a mounting part attached to the flying object, the mounting part comprising a locking actuator part; coupling the locking actuator part to a locking part of the cable device; hereinafter, 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, and at least one of further comprising the method according to any one of items 14 and 15. (Item 23) Providing a mounting part comprising a coupling part arranged to attach the mounted device to the flying object, wherein the coupling part of the mounting part includes at least one of a mechanical coupling and an electromechanical coupling; Using the coupling part to maneuver the mounting part relative to the flying object at at least one of yaw, pitch, and roll angles; 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 one of ordinary skill in the relevant technical field. The materials, methods, and examples provided herein are illustrative only and are not intended to be limiting. Except to the extent necessary or essential in the process itself, no particular order is intended or implied for the steps or stages of the methods and processes described in this disclosure, including the figures. In many cases, the order of process steps may vary without changing the purpose or effect of the described method.

Brief Description of the Drawings

[0019] Various embodiments of the present invention are described herein by way of example only with reference to the accompanying drawings. Here, specifically referring to the drawings in detail, the details shown are for the purpose of illustrative discussion of various embodiments of the present invention as an example only, and are considered to be the most useful and easily understood explanations of the principles and conceptual aspects of the embodiments. It is emphasized that in this regard, no attempt is made to show the configurational details of the embodiments of the present invention in more detail than is necessary for a basic understanding of the subject matter, and the description to be interpreted with the drawings will make it clear to those skilled in the art how some forms and structures can be embodied in practice.

[0020]

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DETAILED DESCRIPTION OF THE INVENTION

[0021] In its embodiments, the present invention provides a method and a system for mounting a device on an electric cable using an unmanned aircraft and / or for dismounting a device on an electric cable using an unmanned aircraft. The device may be a sensor, a warning sign, a communication node, etc. The unmanned aircraft may be a drone, a helicopter, a quadcopter, and / or any other aircraft. The aircraft may be remotely controlled or autonomous.

[0022] The principles and operations of a system and a method for using an aircraft to mount a device on an electric cable or to dismount it therefrom according to some exemplary embodiments of the present invention can be better understood with reference to the following drawings and the accompanying description.

[0023] Before explaining in detail at least one embodiment of the present invention, it should be understood that the embodiments of the present invention are not limited to the details of the structure and arrangement of the components described in the following description or illustrated in the drawings in their applications. Other embodiments of the present invention may be practiced or implemented in various ways. Also, it should be understood that the phrases and terms employed herein are for the purpose of description and should not be regarded as limiting.

[0024] In this book, elements of the drawings that are not described within the scope of the drawings and are identified by the numbers described in the previous drawings have the same use and description as within the previous drawings. Similarly, elements identified within the text by numbers that do not appear in the drawings described by the text have the same use and description as within the previous drawings in which they were described.

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

[0026] An object of embodiments of the present invention is to use an aircraft to dispose or mount any device, particularly a measurement device or sensor, on an electric cable. The measurement device can measure various electrical parameters at multiple locations within an electrical network and determine the presence of a fault, the type or characteristics of the fault, and its location by comparing multiple measurements. Another object of embodiments of the present invention is to use an aircraft to remove or dismount any device, particularly a measurement device or sensor, on an electric cable.

[0027] The term "grid" or "power distribution network" can refer to a transmission network and / or a distribution network, and any portion of such a network between one or more power generation plants and loads or consumers. The term "cable" or "electric cable" can refer to any single cable or wire of the grid, such as a phase-carrying cable.

[0028] The term "cable device" can refer to any device to be mounted on or dismounted from an electric cable of the grid, including sensors, measurement devices, communication devices, warning devices, marking devices, etc. Typically, a cable device can derive power from the electric and / or magnetic fields around the electric cable, and the electric and / or magnetic fields can be generated by the current flowing within the electric cable.

[0029] The term "aircraft" can refer to any type of device capable of flying or hovering, and can also be capable of carrying a cable device, mounting it on an electrical cable, or dismounting it therefrom. In particular, the aircraft may include any type of unmanned aircraft such as drones, helicopters, quadcopters, etc. The aircraft can be remotely controlled, autonomous, or both (in different parts of the flight as described below).

[0030] The term "measurement" or "electrical measurement" can 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" can refer to any type of measurement of any physical parameter other than electrical parameters. Such parameters can be temperature, wind, humidity, motion, height, (cable) depression angle, (cable) angle, etc. Such measurements are typically performed by a cable device mounted on an electrical cable.

[0031] Reference is made to FIG. 1, which is a simplified explanatory diagram of an aircraft 10 disposing a cable device 11 on an electrical cable 12 of a power distribution network 13 according to an exemplary embodiment of the present invention.

[0032] As shown in FIG. 1, the aircraft 10 may include an air propulsion system and a mounting portion 14. The air propulsion system may include, for example, one or more propellers 15. The propeller 15 may be operated, for example, using an electric motor controlled by a first navigation system. However, alternatively and / or additionally, the air propulsion system may be operated using one or more internal combustion engines and / or may include one or more jet engines, turbofan jet engines, turbojet engines, etc. The air propulsion system may include any number, typically four or eight engines and / or propellers.

[0033] The mounting part 14 may be an integral part of the flying object 10 (i.e., an integrally mounted part 14). Alternatively, the mounting part 14 may be a separate device (i.e., an attachable mounting part 14) that can be attached to, or coupled to, or crimped to various types of flying objects 10.

[0034] The attachable mounting part 14 reduces the need to design and produce the entire flying object 10 and enables the use of off-the-shelf flying objects 10. Further, the attachable mounting part 14 enables a single flying object 10 to carry two or more mounting parts 14. However, the attachable mounting part 14 requires a (first) coupling device 16, which may not be required for the integrally mounted part 14.

[0035] For the purposes of generality of description, it should be understood that FIG. 1 may also show a flying object 10 that unmounts the cable device 11 from the electrical cable 12 of the power distribution network 13. Thus, both the flying object 10 and the mounting part 14 operate to mount the cable device 11 on the electrical cable 12 of the power distribution network 13 and to unmount the cable device 11 on the electrical cable 12 of the power distribution network 13.

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

[0037] As shown in FIG. 1, the step of mounting the cable device 11 on the electric cable 12 may include the step of inserting the cable into the mounting slot 18 within the cable device 11. In other words, the step of mounting the cable device 11 on the electric cable 12 may be accompanied by the step of orienting the mounting slot 18 of the cable device 11 towards the electric cable 12. In other words, the step of mounting the cable device 11 on the electric cable 12 may be accompanied by the step of guiding and / or navigating the aircraft 10 (and the mounting portion 14) to the electric cable 12 such that the slot 18 of the cable device 11 takes in the electric cable 12. Thereafter, the mounting portion 14 may operate a crimping device (cable crimping portion) within the cable device 11 to fix the cable device 11 to the electric cable 12.

[0038] Similarly, the step of dismounting the cable device 11 from the electric cable 12 may include the step of guiding and / or navigating the aircraft 10 (and the mounting portion 14) to the selected cable device 11 mounted on the electric cable 12, the step of attaching the mounting portion 14 to the selected cable device 11, the step of operating a crimping device (cable crimping portion) within the cable device 11 to remove the cable device 11 from the electric cable 12, and the step of removing the cable device 11 from the electric cable 12.

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

[0040] A navigation unit (which may also be referred to as a second navigation unit, and / or a short - range navigation unit, and / or a slot navigation unit) including at least one navigation sensor such as camera 20, operating to perform at least one of the following. By navigating the flying object 10 so that the slot 18 of the cable device 11 is directed at the electrical cable 12 such that the slot 18 is aligned with the electrical cable 12, it enables the user to mount the cable device 11 onto the electrical cable 12 of the power distribution network 13. By navigating the flying object 10 to the cable device 11 such that the flying object 10 is aligned with the cable device 11, it enables the user to dismount the cable device 11 from the electrical cable 12 of the power distribution network 13. Automatically navigate the flying object so that the slot 18 is aligned with the electrical cable 12 and direct the slot 18 of the cable device 11 at the electrical cable 12. Automatically navigate the flying object 10 to the cable device 11 such that the flying object 10 is aligned with the cable device 11.

[0041] Here, reference is made to FIG. 2, which is a simplified explanatory view of the front view of the mounting portion 14, FIG. 3, which is a simplified explanatory view of the side view of the mounting portion 14, FIG. 4, which is a simplified explanatory view of the bottom view of the mounting portion 14, and FIG. 5, which is a simplified explanatory view of the perspective view of the mounting portion 14, all according to an exemplary embodiment of the present invention.

[0042] Optionally, the explanatory views of FIGS. 2, 3, 4, and 5 can be considered in relation to the details of the previous figures. However, of course, the explanatory view of FIG. 5 can be considered in relation to any desired environment. Further, the foregoing definitions can also be equally applied to the following description. In FIGS. 2, 3, 4, and 5, the mounting portion 14 is shown as carrying the cable device 11.

[0043] As shown in FIGS. 2, 3, 4, and 5, the mounting portion 14 typically includes a second coupling portion such as an arm 19, which is coupled to another device, i.e., the main body 21, and is arranged to attach the cable device 11, a navigation portion 22 including at least one navigation sensor such as a camera 20, a cable attachment actuator portion 23 that is coupled to the main body 21 and operates to activate the cable crimping portion 24 in the cable device 11, and may include a computing device such as a microcontroller, and typically includes an electronic device, and may include the main body 21.

[0044] Reference is now made to FIG. 6, which is a simplified explanatory diagram of a computing device 25, typically included within the main body 21, according to an exemplary embodiment of the present invention.

[0045] Optionally, the explanatory diagram of FIG. 6 may be considered in relation to the details of the previous figures. However, of course, the explanatory diagram of FIG. 6 may be considered in relation to any desired environment. Further, the foregoing definitions may equally apply to the following description.

[0046] The computing device 25 is provided as an exemplary implementation of the processing portion of the mounting portion 14. Thus, the computing device 25 may be arranged to operate other devices such as a second coupling portion such as an arm 19, a navigation portion 22, and a cable attachment actuator portion 23, and the mounting portion 14 and / or the main body 21 as shown and described with reference to FIGS. 1-5, which are coupled to or included within the main body 21.

[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., non-volatile memory such as random access memory (RAM), flash memory, etc.), and one or more storage units 28 (e.g., including removable storage drives representing hard disk drives, and / or floppy (registered trademark) disk drives, magnetic tape drives, compact disk drives, flash memory devices, etc.).

[0048] The computing device 25 may also include the following. One or more communication units 29. Such communication units 29 may use any type of communication technology, particularly RF communication technology, particularly Wi-Fi, Bluetooth®, ZigBee, and any remote control communication technology similar to those that can be used to remotely control the aircraft 10, etc. One or more second coupling control circuits 30 for controlling a second coupling portion such as the arm 19. In particular, for releasing the cable device 11 and / or for the control arm 19 to be aligned with and / or attached to the cable device 11. Optionally, one or more navigation sensor control circuits 31 for controlling a navigation sensor such as the camera 20, including the navigation sensor 32 itself. One or more cable attachment control circuits 33 for controlling the cable attachment actuator portion 23, and the cable attachment actuator portion 23 itself. One or more communication buses 34 connecting the above units. The computing device 25 may also include one or more control circuits for controlling other devices coupled to or included in the main body 21.

[0049] The computing system 25 may also include one or more computer programs 35 or computer control logic algorithms that may be stored in either the memory unit 27 and / or the storage unit 28. When such a computer program is executed, it enables the computing system 25 to perform various functions as described herein. The memory unit 27 and / or the storage unit 28 and / or any other storage device are examples that can be considered as tangible computer-readable media.

[0050] In particular, the computer program 35 may include software programs for the following. The step of operating and / or controlling the communication unit 29. The step of operating and / or controlling a device coupled to or included in the main body 21, such as a second coupling part like the arm 19, the navigation part 22, the navigation sensor 32 such as the camera 20, and the cable attachment actuator part 23. The step of communicating with a user (operator) who operates the aircraft 10. The step of communicating with a computing system and / or one or more computer programs that operate and / or control the aircraft 10. The step of communicating with a computing system and / or one or more computer programs that operate and / or control the cable device 11. The step of navigating the aircraft 10, and / or the mounting part 14, and / or the cable device 11 to the cable 12 and mounting the cable device 11 on the cable 12. The step of navigating the aircraft 10 and / or the mounting part 14 to the cable device 11 mounted on the cable 12 and removing the cable device 11 mounted on the cable 12. The computing system 25 may execute any software program, such as for analyzing measurements performed by one or more of the cable devices 11 in FIGS. 1 - 5. The step of operating and / or controlling a device coupled to or included in the main body 21, such as a second coupling part like the arm 19, the navigation part 22, the navigation sensor 32 such as the camera 20, and the cable attachment actuator part 23.

[0051] For example, the mounting part 14, and / or the computing system 25, and / or the computer program 35 may perform the following.

[0052] Enable a user who operates the aircraft 10 to navigate the aircraft 10 to a specific component of the power distribution network 13, such as a specific part of the power distribution network 13.

[0053] It enables a user operating the aircraft 10 to identify a specific electrical cable 12 of the power distribution network 13 and / or a specific cable device 11 mounted on the specific electrical cable 12.

[0054] It enables a user operating the aircraft 10 to align the slot 18 of the cable device 11 with a specific electrical cable 12. It enables mounting the cable device 11 on the electrical cable 12, including 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 automatically operated by the mounting part 14, and / or the computing system 25, and / or the computer program 35 that takes over the control of the aircraft 10 from the operating user.

[0055] It enables a user operating the aircraft 10 to align the aircraft 10, and / or the mounting part 14, and / or the second coupling part, and / or the arm 19 with a specific cable device 11 mounted on the electrical cable 12. It enables engaging the mounting part 14 with the cable device 11. It enables releasing the crimping of the cable device 11 from the electrical cable 12, and / or dismounting, and / or removing. This step may also be automatically operated by the mounting part 14, and / or the computing system 25, and / or the computer program 35 that takes over the control of the aircraft 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 aircraft 10 by transmitting a communication signal that mimics, for example, a remote control device similar to that which can be used by a user / operator. In a similar manner, the mounting unit 14 may directly operate the aircraft 10 and precisely align a second coupling part such as the arm 19 with the cable device 11 mounted on the electrical cable 12. The mounting unit 14 may operate the aircraft 10 by transmitting a communication signal that mimics a remote control device via the communication unit 29.

[0057] The mounting unit 14 may operate the aircraft 10 by the communication unit 29 as a local communication device that communicatively couples to the local control system of the aircraft 10 and operates to automatically control the aircraft 10.

[0058] The mounting unit 14 may navigate to the electrical cable 12 using an optical image. For example, the optical image may be supplied from one or more optical sensors such as the camera 20 and may be processed by the processor unit 26 and the computer program 35. Alternatively or additionally, the mounting unit 14 may navigate to the electrical cable 12 using an electrical sensor that senses an electric field and / or a magnetic field generated by the current in the electrical cable 12. Optical navigation is useful when the electrical cable 12 does not carry current, and electromagnetic navigation is useful when optical conditions such as darkness, excessive brightness, and adverse backgrounds are difficult. Other navigation methods may include cable heat sensing, proximity sensing, etc.

[0059] The mounting unit 14 may navigate to the cable device 11 using an optical image. For example, the optical image may be supplied from one or more optical sensors such as the camera 20 and may be processed by the processor unit 26 and the computer program 35. Alternatively, or additionally, the mounting unit 14 may navigate to the cable device 11 using an electrical sensor that senses an electric field and / or a magnetic field generated by an electric current in the electrical cable 12. Alternatively, or additionally, the mounting unit 14 may use another type of radio frequency (RF) sensor that senses an RF signal emitted by the cable device 11, such as a radio frequency identification device (RFID), to enable navigation to a powerless and / or inoperative and / or defective cable device 11.

[0060] For this purpose, a system for using an aircraft to mount or dismount a sensor on or from an electrical cable also includes a remote control operated by a user or an operator. The remote control may include two parts, namely, a first remote control part for operating the aircraft 10 and a second remote control part for operating the mounting unit 14, for example, via the communication unit 29. It should be understood that the two control parts may be integrated 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 mounting unit 14 may provide navigation data to the remote control, particularly, but not exclusively, to the second remote control part, and receive navigation control data from the remote control, for example, via the communication unit 29.

[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 an identification signal of the cable device 11, various control signals associated with the operation of the cable attachment system, and the like.

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

[0064] The navigation control data may also include, for example, commands to the mounting unit 14 for performing automatic navigation as described above by taking over the control of the aircraft 10 and directly operating the aircraft 10.

[0065] As described above, the user or operator who operates the system described above, particularly the remote control device described above, may operate the cable attachment actuator unit 23 and instruct the mounting unit 14 to attach the cable device 11 to the electrical cable 12 or to remove the cable device 11 from the electrical cable 12, as described below.

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

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

[0068] As an option, the explanatory diagram of the cable device 11 in FIG. 7 can be considered in relation to the details of the previous figures. However, of course, the explanatory diagram of the cable device 11 in FIG. 7 can be considered in relation to any desired environment. Furthermore, the definitions described above can also be equally applied to the following description.

[0069] As shown in FIG. 7, the cable device 11 may include a box or body 36 through which an electrical cable 12 passes. The electrical cable 12 may be part of a power distribution network, a power transmission network, or a distribution network maintained by a power company to supply electricity to the public, factories, etc. The cable device 11 may thus be mounted on the energized cable 12. That is, when the cable 12 is fully powered and / or carries voltage and / or current.

[0070] The box 36 is thus constructed of two parts that can be operated and then closed around the cable 12. Alternatively, the box 36 may be constructed of one part that surrounds most of the cable diameter and has an opening such as a slot 18 on one side to insert the cable 12 and attach the box to the cable 12.

[0071] As shown in FIG. 7, the 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, the cable device 11 may also include a local area communication module 42, a remote sensing module 43, and a propulsion control module 44. Optionally, the cable device 11 may also include a cable crimping portion 24 and a GPS module 45.

[0072] As shown in FIG. 7, the cable device 11 may include a magnetic core 46 around which at least one coil is wrapped to form a winding 47. The magnetic core 46 may be mounted around the electrical cable 12. The magnetic core 46 may be constructed of two parts, i.e., parts within each of the two parts of the box 36, and the two parts of the magnetic core 46 are closed around the electrical cable 12 when the box 36 is attached to the electrical cable 12. However, optionally, especially for high voltage cables, the magnetic core 46 may be open in the sense of having a slot through which the 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 winding 12 typically derives a current from the magnetic flux within the magnetic core 46. The winding 12 may be electrically coupled to a power supply module 37 that typically provides voltage to other modules of the cable device 46. It should be understood that the cable device 11 can derive power from a single electrical cable 12.

[0074] Alternatively, for example, when used in combination with an insulated high-voltage cable, and / or an underground cable, and / or a low-voltage grid, the power supply module 37 may be connected to a sensor attached to an electrical cable that derives a power supply source 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 camera can be mounted on a system of accelerometers that provide three-dimensional rotation. Alternatively, a plurality of fixed cameras, or an array thereof, can 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 communication network, such as, but not limited to, the terms "communication technology" or "communication network", or simply, the "network" may be, 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, and any type of communication medium including power line carrier (PLC) communication technology. The term "communication network" or "network" may refer to any number of networks and any combination of networks and / or communication technologies.

[0077] Optionally, the cable device 11 may also include a Global Positioning System (GPS) module 45 and use it to measure, monitor, and / or control the position of the cable device 11 along the electrical cable 12. The GPS module 45 may also provide an accurate universal clock, for example, to accurately determine the absolute time of the measurement.

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

[0079] The propulsion control module 44 may be coupled to one or more actuating devices such as an electric motor 51 that may be coupled to one or more wheels 52. The wheels 52 may be mounted on the cable 12 such that by controlling the electric motor 51, the propulsion control module 44 is enabled 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 rotate the cable device 11 around the cable 12.

[0081] The electric motor 51 represents, herein, any type of technology suitable for maneuvering the cable device 11 along and / or around the cable 12, including, but not limited to, AC motors, DC motors, stepper motors, pneumatic pumps and / or motors, hydraulic pumps and / or motors, or any other type of actuator.

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

[0083] Reference is made to FIGS. 8A, which is a simplified explanatory view of the cable crimping portion 24 in the open position, and FIGS. 8B, which is a simplified explanatory view of the cable crimping portion 24 in the closed position, according to an exemplary embodiment of the present invention.

[0084] Alternatively, the explanatory views of FIGS. 8A and 8B can be considered in relation to the details of the previous figures. However, of course, the explanatory views of FIGS. 8A and 8B can be considered in relation to any desired environment. Further, the foregoing definitions can also be equally applied to the following description.

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

[0086] The cable device 11, particularly 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 can be operated by the controller module 38 of the cable device 11, which can report their measurements to the processor unit 26 of the mounting portion 14 as shown and described with reference to FIG. 6.

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

[0088] The mounting part 14 may supply power to the cable device 11 via a connector, by electromagnetic induction, or using laser light. For example, the mounting part 14 may supply power to the cable device 11 via one or more connectors within the arm 19.

[0089] Here, FIGS. 9A, which is a simplified explanatory view of a front view of the flying object 10 and the integrated mounting part 14 that transports the cable device 11 below the flying object 10 according to an exemplary embodiment of the present invention, and FIG. 9B, which is a simplified explanatory view of a side view of the system shown in FIG. 9A, are referred to.

[0090] As an option, the explanatory views of FIGS. 9A and 9B can be considered in relation to the details of the previous figures. However, of course, the explanatory views of FIGS. 9A and 9B can be considered in relation to any desired environment. Furthermore, the aforementioned definitions can also be equally applied to the following description.

[0091] As shown in FIGS. 9A and 9B, in addition to the first navigation device (for example, the navigation unit 22) included in the flying object 10 and / or the mounting part 14, there is a second navigation device 58 included in the cable device 11. The second navigation device 58 may be used to navigate the flying object 10 in the vicinity of the electrical cable 12. In the embodiments shown in FIGS. 9A and 9B, the proximity (second) navigation device 58 includes four sensors 59 for precisely aligning the cable device 11 with the cable 12. The sensors 59 may be image sensors (for example, cameras, ultrasonic waves, etc.), thermal sensors, electromagnetic sensors, etc.

[0092] As shown in FIGS. 9A and 9B, the cable device 11 may be mounted below the flying object 10 with its slot 18 opened downward. The flying object 10 may then approach the electrical cable 12 from above and insert the electrical cable 12 into the slot 18 from below.

[0093] Reference is made to FIG. 10, which is a simplified explanatory view of a front view of the flying object 10 and the integrated mounting portion 14 that transports the cable device 11 above the flying object 10 according to an exemplary embodiment of the present invention.

[0094] Optionally, the explanatory view of FIG. 10 can be considered in relation to the details of the previous figures. However, of course, the explanatory view of FIG. 10 can be considered in relation to any desired environment. Further, the foregoing definitions can also be equally applied to the following description.

[0095] The system of FIG. 10 differs from the systems of FIGS. 9A and 9B in that the cable device 11 can be mounted above the flying object 10 with its slot 18 open upward. Thus, the flying object 10 can approach the electrical cable 12 from below, and then the electrical cable 12 can then be inserted into the slot 18 from above. This configuration can be aerodynamically advantageous, for example, when the wind blows the flying object 10 aside when engaged with the electrical cable 12.

[0096] Reference is made to FIG. 11, which is a simplified explanatory view of a front view of the flying object 10 and the integrated mounting portion 14 that transports the cable device 11 above the flying object 10, with one or more inward (downward) looking proximity (second) navigation devices 58 according to an exemplary embodiment of the present invention.

[0097] Optionally, the explanatory view of FIG. 11 can be considered in relation to the details of the previous figures. However, of course, the explanatory view of FIG. 11 can be considered in relation to any desired environment. Further, the foregoing definitions can also be equally applied to the following description.

[0098] The system of FIG. 11 differs from the system of FIG. 10 (and the systems of FIGS. 9A and 9B) in that a proximity (second) navigation device 58 is mounted on the mounting portion 14 (and the aircraft 10) instead of the cable device 11. As shown in FIG. 11, the proximity (second) navigation device 58 is mounted facing inwardly, and / or downwardly, and / or into the slot 18 of the cable device 11.

[0099] Accordingly, the system of FIG. 11 has the aerodynamic properties of the system of FIG. 10, however, it is not necessary to include the proximity (second) navigation device 58 within each cable device 11.

[0100] The cable device 11 may be mounted above the aircraft 10 with its upwardly open slot 18. Accordingly, the aircraft 10 approaches the electrical cable 12 from below, and then the electrical cable 12 may then be inserted into the slot 18 from above under the guidance of the downward-facing proximity (second) navigation device 58.

[0101] Reference is now made to FIG. 12, which is a simplified explanatory side view of the integrated mounting portion 14 carrying the aircraft 10 and the cable device 11, with a long-range navigation device 60, a short-range navigation device 61, and a precision control device 62, according to an exemplary embodiment of the present invention.

[0102] Alternatively, the explanatory diagram of FIG. 12 may be considered in relation to the details of the previous figures. However, of course, the explanatory diagram of FIG. 12 may be considered in relation to any desired environment. Further, the definitions described above may equally apply to the following description.

[0103] As shown in FIG. 12, the system of the aircraft 10 and the integrated mounting portion 14 may also include a first long - distance navigation device 60 and a second short - distance navigation device 61. These two systems may be equipped with their own sensors. As shown in FIG. 12, the first long - distance navigation device 60 includes an image sensor such as a camera 63 that is directed outward away from the cable device 11, and the second short - distance navigation device 61 includes an image sensor such as a camera 64 that is directed inward toward the cable device 11, particularly toward the slot 18 of the cable device 11.

[0104] The first long - distance navigation device 60 may enable a user to navigate the system of the aircraft 10 and the integrated mounting portion 14 to the power grid 13, then to a specific electrical cable 12, and then to a specific location or a part of the electrical cable 12 using remote control. Thereafter, the second short - distance navigation device 61 may enable the user to navigate the system of the aircraft 10, the integrated mounting portion 14, and the cable device 11 such that the electrical cable 12 is inserted into the slot 18 of the cable device 11 using the same or a different remote control.

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

[0106] The first long - range navigation device 60 can enable a user to navigate the system of the flying object 10 and the integrated mounting part 14 to the power distribution network 13, then to a specific electrical cable 12, and then to a cable device 11 mounted on the electrical cable 12 using a remote control. Thereafter, the second short - range navigation device 61 can enable a user to navigate the system of the flying object 10 and the integrated mounting part 14 so that a second coupling part (e.g., arm 19) is properly aligned with and attached to the cable device 11 using the same or a different remote control.

[0107] It should be understood that the first long - range navigation device 60 and / or the second short - range navigation device 61 can 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 can have an overlapping range in which both systems operate, and the handover between the systems can be achieved either manually or automatically. For example, within the overlapping range, both systems have sufficient accuracy and maneuverability control.

[0109] It should be understood that the last part of the step of flying the flying object 10 using the long - range navigation part can be used to engage the short - range navigation part with an electrical cable (for mounting) or a cable device (for dismounting).

[0110] Furthermore, and / or optionally, the system of the aircraft 10 and the integral mounting part 14 may also typically include a precision control device 62, including one or more control actuators such as a propeller 66. The precision control device 62 enables a user to precisely navigate the system of the aircraft 10 and the integral mounting part 14 to the electrical cable 12 (so as to mount the cable device 11) and / or to the cable device 11 (so as to dismount) with minimal impact on the pitch and roll angles using remote control.

[0111] Reference is made to FIG. 13, which is a simplified explanatory side view of the aircraft 10 and the attachable mounting part 14 equipped with a long-distance navigation device 60, a short-distance navigation device 61, and a precision control device 62, according to an exemplary embodiment of the present invention.

[0112] Alternatively, the explanatory diagram of FIG. 13 can be considered in relation to the details of the previous figures. However, of course, the explanatory diagram of FIG. 13 can be considered in relation to any desired environment. Furthermore, the aforementioned definitions can also be equally applied to the following description.

[0113] The system of the aircraft 10 and the attached mounting part 14 according to FIG. 13 is different from the system of the aircraft 10 and the integral mounting part 14 according to FIG. 12 in that the long-distance navigation device 60, the short-distance navigation device 61, and the precision control device 62 are part of the attached mounting part 14 and can thus be transferred from one aircraft 10 to another using a first coupling part such as the coupling device 16.

[0114] It should be understood that a cable sensor-mounted system as described herein typically includes an aircraft such as the aircraft 10 and a mounting part such as the mounting part 14 that is integral with or attachable to the aircraft 10. The cable sensor-mounted system may have two navigation systems, typically a long-distance navigation system and a short-distance navigation system.

[0115] The long - distance navigation system is used to navigate the flying object 10 to the grid 13 and to a specific electrical cable 12 (upper location), and the short - distance navigation system is used to precisely align the device 11 with the electrical cable 12. In particular, when mounting the device 11 on the electrical cable 12, the short - distance navigation system is used to precisely align the slot 18 or a similar cable attachment facility of the device 11 with the electrical cable 12. Similarly, when dismounting the device 11 from the electrical cable 12, the short - distance navigation system is used to precisely align the flying object 10 and the mounting part 14 with the device 11.

[0116] For example, the long - distance navigation system may be the native navigation system of the flying object 10, and the short - distance navigation system may be a part of the mounting part 14 such as the navigation unit 22 and the camera 20, as shown and described with reference to FIGS. 1 - 5, and FIGS. 9A, 9B, 10, and 11.

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

[0118] The slot 18 is typically only a few millimeters wider than the electrical cable 12. Thus, the required accuracy of the short - distance navigation system and the associated precision control device 62 is only a few millimeters and is typically less than half of the difference between the width of the slot 18 and the width of the electrical cable 12.

[0119] The accuracy or precision of the short - distance navigation system and the precision control device should include the location accuracy (or precision) as described above and the alignment accuracy (or precision), 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 and typically senses an area of at least one-tenth of a square meter with a typical resolution of, for example, about 1 centimeter. The sensor range of a short-range navigation system may have a short focus and typically senses an area of less than several tens of square centimeters with a typical resolution of at least 0.1 millimeter.

[0121] Similarly, while the long-range control system of the aircraft 10 may have an accuracy (or precision) of less than 1 centimeter and / or a yaw and / or pitch and / or roll that is not better than 0.1 radian, the short-range control system should have an accuracy (or precision) of 0.1 millimeter or better and / or a yaw and / or pitch and / or roll of at least 0.001 radian.

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

[0123] As shown in FIG. 1, the electrical cable 12 is typically curved or concave, and thus, at the mounting and / or dismounting location, the electrical cable 12 may be inclined and / or at an arbitrary pitch angle with respect to the horizontal or gravity vector.

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

[0125] Thus, the accuracy (or precision) requirement may refer to any of the yaw angle, pitch angle, and roll angle, regardless of whether it relates to mounting and / or dismounting, and / or regardless of whether it relates to navigation and / or maneuvering.

[0126] In this regard, for example, as shown in FIG. 13, the coupling device 16 may include an operating device 67 such as a joint that enables the mounting portion 14 to operate itself in real time at an arbitrary angle with respect to the flying object 10.

[0127] Thus, while the flying object 10 may be positioned horizontally, the mounting portion 14 may use the coupling device 16 and the operating device 67 to rotate itself with respect to the flying object 10 according to the angle of the electrical cable 12 (for mounting) or the cable device 11 (for dismounting). The operating device 67 may rotate the mounting portion 14 with respect to the flying object 10 at any of the yaw, pitch, and roll angles, or a combination thereof.

[0128] Alternatively, or additionally, or optionally, especially when the mounting portion 14 is attached to the flying object 10, any of the yaw, pitch, and roll angles of the mounting portion 14 may be achieved by operating the yaw, pitch, and roll angles of the flying object 10. This may be achieved by a precision maneuvering device 62 using one or more propellers 66 and / or by using tilting propellers.

[0129] As shown in FIG. 13, the coupling device 16 may include two actuating devices 67 for minimizing the impact of manipulating any of the yaw, pitch, and roll angles of the air vehicle 10 and the mounting portion 14 on the center of gravity and aerodynamic properties of the system of the air vehicle 10, the mounting portion 14, and the optional cable device 11. Thus, the coupling device 16 with the two actuating devices 67 may allow the air vehicle 10 to tilt in response to the wind, while the mounting portion 14 may tilt according to the cable orientation (mounting) or the cable device 11 orientation (dismounting).

[0130] It should be understood that the coupling device 16 with one or more actuating 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 part, such as the arm 19, may also provide functionality such as the maneuverability of the cable device 11 with respect to the mounting portion 14, by changing the yaw, pitch, and / or roll angle, etc.

[0132] Reference is now made to FIG. 14, which is a simplified explanatory view of a front view of the air vehicle 10 with the mounting portion 14 with the funnel 68, according to an exemplary embodiment of the present invention.

[0133] Optionally, the explanatory view of FIG. 14 may be considered in relation to the details of the previous figures. However, of course, the explanatory view of FIG. 14 may be considered in relation to any desired environment. Further, the foregoing definitions may equally apply to the following description.

[0134] As shown in FIG. 14, the arm 19 of the mounting portion 14 is shaped to form a funnel 68. The funnel 68 is shaped so as to guide the mounting portion 14 that conveys the cable device 11 and / or the flying object 10 with the slot 18 of the cable device 11 toward the electric cable 12. It should be understood that the mounting portion 14 can arrange two or more such funnels 68 so as to guide the slot 18 toward the electric cable 12 and / or vice versa.

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

[0136] As shown and described above, the system of the flying object 10 and the mounting portion 14 enables mounting a cable device on an electric cable of a power distribution network, for example, by performing the following steps. Attaching the cable device to a mounting device attached to the flying object. Flying the flying object toward the electric cable using the long-distance navigation unit. Directing the short-distance navigation unit toward the electric cable using the long-distance navigation unit. Flying the flying object toward the electric cable using the short-distance navigation unit while aligning the slot of the cable device with the electric cable. Mounting the cable device on the electric cable such that the electric cable is inserted into the slot of the cable device.

[0137] Similarly, the system of the flying object 10 and the mounting portion 14 enables dismounting the cable device from the electric cable of the power distribution network, for example, by performing the following steps. Flying the flying object toward the electric cable using the long-distance navigation unit. Steps for identifying a cable device mounted on an electrical cable. Steps for using a long - distance navigation unit to direct a short - distance navigation unit towards the cable device. Steps for flying the aircraft towards the electrical cable using the short - distance navigation unit while aligning the mounting part of the aircraft with the cable device. Steps for unlocking the cable device from the electrical cable. Steps for removing the cable device from the electrical cable.

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

[0139] Although the description has been provided above in conjunction with specific embodiments of the invention, it is clear 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 in this specification are hereby 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. Furthermore, the citation or identification of any reference within this application is not to be construed as an admission that such reference is available as prior art.

Claims

1. A mounting device for at least one of mounting a cable device onto an electric cable of an electric power distribution network and unmounting the cable device from the electric cable, the cable device comprising a slot adapted to take the electric cable into the cable device, the mounting device comprising: a first coupling portion arranged to attach the onboard device to an air vehicle; a second coupling portion arranged to attach the cable device to the mounting device; and one or more operating devices arranged to mount the mounting device on the air vehicle and to mount the cable device above the mounting device, the slot being open upward to allow the electrical cable to be inserted into the slot from above; A navigation unit, the navigation unit comprising: enabling a user to navigate the air vehicle to orient a slot of the cable device toward the electrical cable; automatically navigating the air vehicle and directing a slot of the cable device to the electrical cable; a navigation unit operative to implement at least one of An on-board device comprising:

2. The navigation unit includes: enabling 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 a slot of the cable device with the electrical cable; enabling a user to control the air vehicle to mount the cable device onto 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; The on-board device of claim 1 , operative to implement at least one of:

3. The navigation unit includes: 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 on-board device of claim 1 , operative to implement at least one of:

4. The onboard device of claim 1 , 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 automated 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. The remote control device further comprises: enabling 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 onto 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 to 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 1 , operative to enable a user to perform at least one of:

7. The mounting device of claim 1 , wherein the second coupling arranged to attach the cable device to the mounting device includes at least one of a mechanical coupling and an electromechanical coupling.

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; and identifying an indication of engagement 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 on-board device of claim 7 , operative to:

9. The apparatus further includes an operation device, 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 on-board device of claim 1 , arranged to implement 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. 1. An air vehicle for mounting a cable device onto an electric cable of an electric power grid, the air vehicle comprising: one or more operating devices arranged to mount a mounting portion on the air vehicle and to mount the cable device above the mounting portion; a sensor coupling portion arranged to mount the cable device on the mounting portion; A slot navigation unit, the slot navigation unit comprising: enabling a user to navigate the air vehicle to orient a slot of the cable device toward the electrical cable; automatically navigating the air vehicle and directing a slot of the cable device to 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: wherein the slot opens upward to allow the electrical cable to be inserted into the slot from above.

12. 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; 12. The air vehicle of claim 11 , operable to implement at least one of the following:

13. 1. A method for mounting a cable device on an electric cable of an electric power distribution network, the method comprising: arranging one or more operating devices to mount a mounting device on an air vehicle and to mount the cable device above the mounting device; flying the air vehicle on the electric cable using a long-range navigation unit; directing a short-range navigation portion toward the electrical cable; using the short-range navigation unit to fly the air vehicle onto 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; Including, a coupling connects the mounted device to the air vehicle, the coupling including two manipulation devices arranged to minimize the effect of manipulating any of the yaw, pitch, and roll angles of the air vehicle, the mounted device, and the cable device on any of the centers of gravity and aerodynamic properties of the air vehicle, the mounted device, and the cable device; The slot opens upwardly to allow the electrical cable to be inserted into the slot from above.

14. 1. A method for unloading a cable device from an electric cable of an electric power distribution network, the method comprising: arranging one or more operating devices to mount a mounting device on an air vehicle and to mount the cable device above the mounting device; flying the air vehicle on the electric cable using a long-range navigation unit; identifying the cable device mounted on the electrical cable; pointing a short-range navigation portion at the cable device; using the short-range navigation unit to fly the air vehicle onto the electrical cable; aligning an onboard device of the air vehicle with the cable device via a coupling; unlocking the cable device from the electrical cable; unloading the cable device from the electrical cable; Including, the coupling portion comprises at least one operating device arranged to connect to the cable device from below the cable device; The method, wherein the cable device comprises a slot adapted to receive the electrical cable, the slot opening upwardly.

15. The step of flying the aircraft using the long-distance navigation unit includes: enabling 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 a 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; The method according to any one of claims 13 and 14, comprising at least one of:

16. 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; The method according to any one of claims 13 and 14, comprising at least one of:

17. The step of flying the aircraft using the long-distance navigation unit includes: automatically controlling the air vehicle using a local communication device in an on-board device attached to the air vehicle and communicatively coupled to a local control system of the air vehicle; The method of any of claims 13 and 14, further comprising:

18. At least one of the steps of flying the aircraft using the long-distance navigation unit and the step of 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; The method according to claim 13 or 14, further comprising communicating at least one of the following with the remote control device:

19. At least one of the steps of flying the aircraft using the long-distance navigation unit and the step of 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 of 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 a local control system of the air vehicle; The method of any of claims 13 and 14, further comprising:

20. The method further includes providing a manipulation device, the manipulation device comprising: 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; 15. The method according to claim 13, arranged to carry out at least one of the following:

21. providing a mounting device attached to the air vehicle, the mounting device including a locking actuator portion; 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; identifying an indication of the locking of the cable device to the electrical cable; identifying an indication of unlocking of the cable device from the electrical cable; At least one of The method of any of claims 13 and 14, further comprising:

22. providing a mounting device, the mounting device comprising a coupling arranged to attach the mounting device to the air vehicle, the coupling including at least one of a mechanical coupling and an electromechanical coupling; using the coupling to steer the onboard device relative to the air vehicle in at least one of a yaw, pitch, and roll angle; The method of any of claims 13 and 14, further comprising:

23. A mounting device described in any one of claims 1 to 10, further comprising a locking actuator portion operative to activate the unlocking of the cable device from the electrical cable.

24. A method according to any one of claims 13 to 22, further comprising unlocking the cable device from the electrical cable by a locking actuator portion.

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