A power line engagement system for an electrically powered aerial vehicle

Abstract

The present invention concern a power line engagement system (1) for an electrically powered aerial vehicle (3) comprising a propulsion system, a navigation system capable of steering the aerial vehicle towards an overhead 5 power line (2), a rechargeable battery and a power line charging unit for recharging the battery, said engagement system (1) comprising a magnetic core (8) comprising at least two parts of a magnetic core (8a, 8b); a magnetic gripping mechanism for connecting to the power line (2) for forming at least one current transformer (12) that closes around the power line (2), wherein said gripping 10 mechanism comprises two case cores (6a, 6b) that are pivotally connected and having extensions (20) at their distal end; wherein the gripping mechanism is adapted to open and disengage from the power line (2) in the event of electrical failures in the system, wherein the gripping mechanism is arranged to grip the power line (2) from below, allowing the aerial vehicle (3) to suspend from the 15 power line (2), wherein the gripping mechanism is adapted such that upon gripping, at least one rope (5), which connects each ends of the gripper, closes the gripper comprising the at least two parts of a magnetic core (8a, 8b), which upon closing are configured such that the magnetic core parts (8a, 8b) are pulled towards each other, closing the system. Hereby, a simplified design is provided 20 which contributes to enhanced reliability, making it a significant advancement in aerial vehicle technology.

Description

[0001] A POWER LINE ENGAGEMENT SYSTEM FOR AN ELECTRICALLY POWERED AERIAL VEHICLE

[0002] FIELD OF THE INVENTION

[0003] The present invention relates to a power line engagement system for an electrically powered aerial vehicle.

[0004] BACKGROUND OF THE INVENTION

[0005] The electrical grids are the backbone infrastructure of any country and most of them were built during the 1960s and 1970s. Taking EU as an example, there are more than 200,000 km of overhead power lines that need to be inspected at least once a year. The common way of inspecting the grid is by flying helicopters with camera operators to film the power lines. However, this method is not only costly and time consuming but also inaccurate. Recently, manually flying drones have been used to inspect a small section of the grid at a time, before the drone has to fly back to a charging station; this is due to the relatively low endurance drone time. However, drones may benefit from the electromagnetic fields that are generated from the power lines to recharge its batteries, and such recharging causes a need for the drones to land on the power lines and recharge. In addition, drones can have or place equipment on the power lines to measure the power line characteristics and report them. The classical way is that the drone lands on the power line, locks its sensors / equipment around the power line, measures the desired data, releases the sensor / equipment, and flies away. The main challenge here is how to lock onto the power lines and guarantee a safe detaching system that can release itself without human intervention.

[0006] There are some systems of drones that land on power lines from top to down and / or by using sophisticated mechanical systems to lock over the power lines. If a mechanical or electrical failure happens to the drone, the drone will never manage to fly away due to its attachment method. Then it will be necessary to shut down the electricity from the power lines before releasing the drone. Such release typically includes sending an operator up to the power line to actuate the release. A drone gripper, which involve power line gripping from below is known from W02021 / 048201. However these do not provide sufficient failsafe capabilities. Hence, an improved power line engagement system would be advantageous, and in particular a system allowing for a more efficient and / or reliable removal of the drone from the power line in case of failure would be advantageous.

[0007] OBJECT OF THE INVENTION

[0008] It is an object of the present invention to provide a power line engagement system for mounting on a drone to allow it to be automatically released from a power line with which it has been engaged in case of faulty operation conditions.

[0009] It may be a further object of the present invention to provide a power line engagement system for mounting on a drone with which it can be avoided to have a person to come up to a drone stuck on a power line in order to release it therefrom.

[0010] It may be a further object of the present invention to reduce the weight of the grippers.

[0011] It may be a further object of at least some embodiments of the present invention to provide a power line engagement system for mounting on a drone with which system the approach to and engagement with a power line can be obtained in a manner which lowers the risk of undesirable collision between the drone and the power line compared to known systems.

[0012] In particular, it may be seen as an object of the present invention to provide a power line engagement system that solves the above-mentioned problems of the prior art.

[0013] SUMMARY OF THE INVENTION

[0014] Thus, the above-described object and several other objects are intended to be obtained in a first aspect of the invention by providing a power line engagement system for mounting on a drone or configured to form part of a drone to be engaged with a power line during use of the system, the power line engagement system for an electrically powered aerial vehicle comprising a propulsion system, a navigation system capable of steering the aerial vehicle towards an overhead power line, a rechargeable battery and a power line charging unit for recharging the battery, said engagement system comprising a magnetic gripping mechanism for connecting to the power line for forming at least one current transformer that closes around the power line, wherein said gripping mechanism comprises at least two transformer core portions that are pivotally connected and having extensions at their distal end, wherein the gripping mechanism is adapted to open and disengage from the power line in the event of electrical failures in the system, wherein the gripping mechanism is arranged to grip the power line from below, allowing the aerial vehicle to suspend from the power line, and wherein the gripping mechanism is adapted such that upon gripping, at least one rope, which connects each ends of the gripper closes the gripper comprising at least two electromagnets, which upon closing are configured such that the magnetic core parts contact each other.

[0015] Here and in the following, reference is made to an electrically powered aerial vehicle for the power line engagement system. However, what is referred could also be other types of unmanned flying vehicles, typically referred to as Unmanned Vehicle (UV), Unmanned Aerial Systems (UAS), or Unmanned Aerial Vehicles (UAV). It could also be referred to as an aerial robot.

[0016] Here and in the following, the terms "a magnetic core" and "magnetic gripping mechanism" are used synonymously.

[0017] The power line engagement system is designed for drones. Its magnetic gripping mechanism offers adjustable holding force and incorporates fail-safe features for secure power line attachment and automatic disengagement in case of electrical issues. Rollers ensure frictionless operation. Intelligent control circuits adapt to power line conditions, battery charging and grip control. A failsafe circuit with a separate battery or drone battery enables controlled detachment during emergencies. A control circuit precisely times disengagement for take-off. Its simplified design enhances reliability, while integrated sensors improve safety. This invention redefines drone-power line interaction, revolutionizing aerial vehicle technology.

[0018] This present invention addresses the critical need for safe and efficient power line engagement for drones, particularly in scenarios where aerial vehicles require recharging or secure attachment to overhead power lines. The present innovation in this field encompasses a range of novel features, from a magnetic gripping mechanism with adjustable holding force to intelligent control circuits operating in various modes based on power line conditions. Additionally, this invention introduces fail-safe mechanisms and simplified designs to enhance reliability. The integration of advanced sensors further contributes to the precise control of the gripping mechanism. Overall, this invention revolutionizes the way drones interact with power lines, making it a vital development in the realm of aerial vehicle technology.

[0019] By the power line engagement system for a drone according to the invention, it is advantageous since the gripper mechanism reduces the number of components in the power line engagement system compared to the grippers of the prior art since all actuators or motors are removed, as well as the points of chance of failure are reduced, which may occur when operating the drone. Consequently, by the invention there is achieved a lighter power line engagement system than the conventional grippers of the prior art.

[0020] In some embodiment, the magnetic gripping mechanism is designed with a gripper consisting of a magnetic core comprising at least two parts of a magnetic core. Each magnetic core parts may preferably be provided with at least two electromagnets. These electromagnets may advantageously be configured to interlock with each other upon closure.

[0021] In some embodiments, the magnetic gripping mechanism comprises a first part and at least one second part. These components are movably connected to each other, allowing for the formation of a closed circuit around the power line in a closed configuration. Conversely, in another embodiment, an open gap for power line passage is created in an open configuration. In certain embodiments, rollers are strategically positioned within the gripping mechanism to eliminate friction between the magnetic core housing and the power line cable. This design choice facilitates the smooth opening and closing of the gripping mechanism.

[0022] In some embodiments, the electrically powered aerial vehicle leverages the lifting forces generated by its motors during approach to engage the magnetic core, thus initiating the recharging of its battery.

[0023] In some embodiments, a magnetic manipulating circuit is integrated into the system to control the magnetic flux within the magnetic core. This control includes the adjustment of the holding force, the management of battery charging, and the governance of the opening and closing of the gripping mechanism.

[0024] In another embodiment, the magnetic manipulating circuit is designed to operate in different modes, each tailored to specific power line current levels. In this mode, the DC current may be used to magnetize the cores.

[0025] In some embodiments, Mode 1 employs battery power to magnetize the core when power line current is insufficient for both charging and holding.

[0026] In another embodiment, Mode 2 facilitates the simultaneous charging of the battery and the maintenance of magnetic force during suitable power line current conditions.

[0027] In some embodiments, Mode 3 involves the conversion of the AC magnetic field to a DC field. This conversion serves to prevent vibrations, thus protecting the core contact surfaces, and enhances attachment to the power line for extended durations. Moreover, this mode does not consume power from the battery to magnetize the core like Mode 1, enabling the drone to stay on the line for a long time. The control circuit may enter into this mode in the following non-exhaustive cases: the power line current is insufficient for charging but enough to hold the drone, the battery is fully charged and the drone is still on the powerline for inspecting or staying over nighttime, or the power line current is too high meaning that the harvested power exceeds the charging capacity of the charging circuit. Since the magnetic field on the powerline alternates and changes direction constantly, the magnetic force falls to zero value regularly. By tracking this zerocrossing point of the magnetic flux, the control circuit demagnetizes the core at an appropriate moment to open the core immediately. Therefore, the flight controller knows the exact time to start taking off from the cable.

[0028] In some embodiments, the electrically powered aerial vehicle is equipped with a failsafe circuit, complete with a separate battery or powered by the drone battery This configuration enables controlled opening of the magnetic core to disengage the vehicle from the power line during emergencies. This failsafe circuit can connect to windings of the magnetic core and can be controlled wirelessly to open the core. To reduce the weight of the electrically powered aerial vehicle the failsafe circuit can be installed on another drone which is used to attach the failsafe circuit to a failed drone.

[0029] In some embodiments, the design of the electrically powered aerial vehicle is intentionally simplified. This approach incorporates a minimal number of components, thereby reducing the probability of failure and enhancing overall reliability.

[0030] In some embodiments, the two case cores are shaped and have massdistributions such that a torque acting on each of the respective two case cores caused by the force of gravity moves the two case cores to the open configuration when the two case cores are demagnetized. Advantageously, since the powerline engagement system of the present disclosure can be moved to the open configuration under the action of gravity rather than by the action of an actuator, as is required by existing technologies, no part of the powerline engagement system is damaged even if the magnetic force still exists. Furthermore, since the new system is simple and contains only a few components compared to existing systems, the chance of failure reduces significantly.

[0031] In some embodiments or another embodiment, the aerial vehicle is additionally equipped with sensors, such as cameras, radar or LiDAR sensors. These sensors are utilized for image and distance data acquisition, thereby assisting in the control and operation of the gripping mechanism.

[0032] In some embodiments or another embodiment, the electrically powered aerial vehicle features an integrated power line engagement system. This system includes at least one split core current transformer, ensuring secure and efficient attachment to power lines.

[0033] In some embodiments the two parts of the magnetic gripping mechanism are pivotally connected and interconnected by a at least one rope, such as a pair of ropes, such that when the at least one rope is pushed downward, the mechanism securely closes around the power line. This ensures a simple and light weight gripping mechanism.

[0034] In some embodiments the at least one rope connecting the parts of the gripping mechanism serves as a mechanical means for synchronized closure, ensuring that both core case simultaneously engage the power line.

[0035] In some embodiments the at least one rope is a pair of ropes placed on each side of the core case.

[0036] In some embodiments, the two parts of the magnetic core move to an open configuration under the action of gravity upon demagnetization of the two case cores. This is advantageous because in the event of an electrical failure in the system, the gripping mechanism will open and disengage from the power line automatically, which obviates the need for having a back-up system for triggering the opening of the gripping mechanism in such situations.

[0037] In some embodiments, windings are wound about each part of the magnetic core and when power is supplied to those windings the at least two parts of the magnetic core are magnetized and pulled together, closing the system.

[0038] In some embodiments, at least one rope is fastened at each end at a first and second attachment point, wherein said first and second attachment points located at opposite ends to a pivot axis of the two case cores. In some embodiments, the two parts of the magnetic core are electromagnets.

[0039] In some embodiments, the two parts of the magnetic core, which are electromagnetics, are activated when the power line engagement system detects the power line and engages the system, thus closing the two parts of the magnetic core. In some embodiments, the electromagnetics are configured to interlock with each other upon closure.

[0040] In some embodiments, in the closed configuration the two parts of the magnetic gripping mechanism grasp each other allowing for a secure grip on the power line.

[0041] In some embodiments, the two core cases moving into a closed configuration is triggered by applying a push force on the at least one rope by the power line.

[0042] In some embodiments, the power line engagement system comprises two extensions.

[0043] In some embodiments, each extension is fixedly connected to the two case cores.

[0044] In some embodiments, the two extensions are respectively attached to the distal ends of the two case cores such that the distance between the respective distal ends of the two extensions is greater than the distance between the two parts of the magnetic core.

[0045] In some embodiments, the ends of the at least one rope are fixedly connected to distal ends of the core case extension.

[0046] In some embodiments, the power line engagement system comprises a cable guide.

[0047] In some further embodiments, at least one part of the cable guide is mounted on the engagement system. In some embodiments, the at least one rope extends over points provided on the cable guide such that the at least one rope has an essentially horizontal middle rope section between said points and a sloping rope section on both sides of this middle section.

[0048] In some embodiments, the ends of the at least one rope are fixedly connected to a part of each of the two extensions, such as to the first attachment point and the second attachment point.

[0049] In some embodiments, the cable guide (4) is a V-shaped frame mounted to the engagement system.

[0050] In some embodiments, the V-shaped frame comprises two arms that form two opposing sides of a channel configured to guide a power line into the space provided between the two case cores.

[0051] In some embodiments, the engagement system is mounted on an aerial vehicle

[0052] DETAILED DESCRIPTION

[0053] In the following, the invention is described in more detail with reference to the embodiments shown in the accompanying drawings, in which:

[0054] Fig. 1 shows the power line engagement system mounted on a drone;

[0055] Fig. 2 shows an open configuration of the power line engagement system;

[0056] Fig. 3 shows the power line engagement system when interacting with a power line;

[0057] Fig. 4 shows the flux density lines when the power line engagement system is closed;

[0058] Fig. 5 shows a side view of the power line engagement system according to another embodiment of the power line engagement system of the invention; and Fig. 6 shows the power line engagement system mounted on a drone envisaging the control circuit. An embodiment of the invention is shown in figure 1, which illustrates how a drone 3 equipped with the power line engagement system 1 can approach and connect to a power line 2 from below. While the primary focus is on engaging with power lines 2, it's important to note that this power line engagement system 1 can also be adapted for connecting to similarly shaped and sized structures.

[0059] With reference to figure 2, central to the power line engagement system 1 is the rope 5, positioned in the upper section of the system to facilitate engagement with the power line 2 (not shown in figure 2) from below, the rope 5 is fastened at each end at a first and second attachment point 101, 102.

[0060] This configuration ensures that the drone hangs below the power line 2, allowing for automatic release in case of failure. Rollers 7 to ensure frictionless contact is placed inside the core case 6. The core case 6 is separated in to two pivotal parts 61, 62. Each pivotal parts 61, 62 are pivoting about an axis 63, positioned at the lower portion of the core case 6. The attachment points 101, 102 are located at the opposite ends than the pivot axis 63 of the pivotal parts 61, 62. Within the core case of each part a magnetic core part 8a, 8b is placed.

[0061] The engagement system, features a cable guide 4 that simplifies and accelerates the process of closing the gripping mechanism, eliminating the need for precise cable tracking and grasping by making the cable guide 4 consisting of at least one part mounted on the drone. The magnetic gripping mechanism 8 comprises a sets of magnetic cores 8a, 8b within a core case 6, at the bottom and top of the core case the magnetic cores are protruding.

[0062] The magnetic core parts 8a, 8b which are electromagnets, are activated, when the power line engagement system 1 detects the power line 2 and engages the system, which closes the magnetic core 8.

[0063] With reference to figure 3, the part(s) of the core case 6 are pivotally connected, enabling movement between a closed configuration and an open configuration. In the closed configuration, the sets of magnets 8a, 8b grasp each other, allowing for a secure grip on the power line, this mechanism is triggered by applying a push force on the rope 5 from the power line 2. The cable guide 4 eliminates the need for precise motion tracking.

[0064] With reference to figure 4, both the first part and the second part of the core 8 are made of magnetic materials, enabling them to form a closed magnetic gripping mechanism 8 around the power line 2. This magnetic gripping mechanism 8 can be opened and closed to engage with and disengage from the power line 2. The windings 11 within the core case 6 is envisaged. The winding are wound about each part of the magnetic core 8a, 8b, this means that when power is supplied, the magnets 8 is magnetized and closes the system.

[0065] Advantageously, when the power supply to the magnets 8 is turned off, and the magnets 8 are de-magnetized, the gripping mechanism 8 is opened because of the action of gravity. This can be achieved by ensuring that the case core 6 is shaped and has a mass distribution such that a torque acting on the case core 6 caused by the force of gravity moves the case core 6 to its open configuration with the two case cores 6a, 6b pivoted away from each other. Hence, in the event of an electrical failure that causes the loss of power to the magnets, the gripping mechanism will automatically open and disengage from a powerline. The failed drone on which the powerline engagement system was mounted will then fall from the powerline to the ground from where it can be safely retrieved.

[0066] Powerline engagement systems in the prior art are known that provide failsafe mechanisms for disengaging gripping mechanisms from a powerline in the event of electrical failure in the system, such as WO 2021 / 048201 Al. However, those systems still rely on electrically controlled devices for opening the gripping mechanism in the event of an electrical or mechanical failure that are themselves prone to electrical failures. As such, those systems in the prior art do not completely solve the issue that electrical failures within the system may lead to a drone being stuck on the live powerline and a person needing to go up to retrieve it. With reference to figure 5, another embodiment of the invention is shown where core case extensions 20 which are fixedly connected to the core case 6 are present. On the distal ends of said extensions 20 the ends of the rope 5 is fixed. On the cable guides 4 the points 101 and 102 are provided, so that the rope 5 extends over these points and has an essentially horizontal middle rope section between the points and a sloping rope section on both sides of this middle section. Hereby less force is needed to provide the downward gripping force on the rope in order to activate the gripping of the power line engagements system 1. The guide 4 is extended and the rope 5 is now attachable to both the core case extension 20 and guide 4 the case 6 is pivotable about a pivot axis 63 the control system 14 is present below the powerline engagement system 1, within the core case 6 two parts of a magnetic core 8a and 8b are present.

[0067] The core case extensions 20 and the rope 5 act as a lever system that leverages the downward gripping force on the rope 5 applied from above by a power line 2 to provide a greater torque acting on the case core 6 for closing the two parts of the magnetic core 8a and 8b.

[0068] The mechanical advantage gained by the use of the extensions 20 and the cable guide 4 is determined by the distances of the first connection point 101 and the second connection point 102 from the pivot axis 63 of the control system 14. The mechanical advantage gained is further determined by the distance of the distal ends of the core cases 6a, 6b where the ends of the rope 5 is attached to the pivot axis 63.

[0069] In the embodiment shown in figure 5, the cable guide is a V-shaped frame mounted on the power line engagement system. However, in alternative examples, the cable guide may be a U-shaped frame. The shape of the frame for the cable guide may also be configured to maximize the mechanical advantage gained between the the downward gripping force on the rope 5 applied from above by a power line 2 and the force acting on the case core 6 for closing the two parts of the magnetic core 8a and 8b.

[0070] Another advantage of the cable guide 4 having a V-shaped frame is that a channel is formed enabling a power line 2 to be more easily guided into the space provided within the case core 6, as shown in figure 5, when the power line 2 is approached from below by the aerial vehicle. The use of the V-shaped frame as the cable guide 4 therefore reduces the required spatial accuracy of the navigation system of the power line engagement system 1. With reference to figure 6, the power line engagement system 1 is equipped with a control systems and sensors 14 to ensure precise engagement with the power line 2. These sensors 14 may include one camera sensors for image data acquisition and sensors for measuring the relative distance between the power line and the power line engagement system 1.

[0071] Although the present invention has been described in connection with the specified embodiments, it should not be construed as being in any way limited to the presented examples. The scope of the present invention is set out by the accompanying claim set. In the context of the claims, the terms "comprising" or "comprises" do not exclude other possible elements or steps. Also, the mentioning of references such as "a" or "an" etc. should not be construed as excluding a plurality. The use of reference signs in the claims with respect to elements indicated in the figures shall also not be construed as limiting the scope of the invention. Furthermore, individual features mentioned in different claims, may possibly be advantageously combined, and the mentioning of these features in different claims does not exclude that a combination of features is not possible and advantageous.

[0072] Above, the invention is described with reference to some currently preferred embodiments. However, by the invention it is realised that other embodiments and variants may be provided without departing from the scope of the invention as defined in the accompanying claims.

Claims

CLAIMS1. A power line engagement system (1) for an electrically powered aerial vehicle (3) comprising a propulsion system, a navigation system capable of steering the aerial vehicle towards an overhead power line (2), a rechargeable battery and a power line charging unit for recharging the battery, said engagement system (1) comprising:- a magnetic core (8) comprising at least two parts of a magnetic core (8a, 8b):- a magnetic gripping mechanism for connecting to the power line (2) for forming at least one current transformer (12) that closes around the power line (2), wherein said gripping mechanism comprises two case cores (6a, 6b) that are pivotally connected and having extensions (20) at their distal end; wherein the gripping mechanism is adapted to open and disengage from the power line (2) in the event of electrical failures in the system, wherein the gripping mechanism is arranged to grip the power line (2) from below, allowing the aerial vehicle (3) to suspend from the power line (2), and wherein the gripping mechanism is adapted such that upon gripping, at least one rope (5), which connects each ends of the gripper, closes the gripper comprising the at least two parts of a magnetic core (8a, 8b), which upon closing are configured such that the magnetic core parts (8a, 8b) are pulled towards each other, closing the system.

2. The power line engagement system (1) according to claim 1, comprises a first part and at least one second part movably connected to the first part, enabling the formation of a closed circuit around the power line (2) in a closed configuration and an open gap for power line (2) passage in an open configuration.

3. The power line engagement system (1) according to any of the preceding claims, wherein rollers (7) positioned to eliminate friction between the core case (6) of the engagement system (1) and the power line (2).

4. The power line engagement system (1) according to any of the preceding claims, wherein the gripping mechanism utilizes lifting forces generated by anaerial vehicle (3) during approach to engage the magnetic core (8), initiating battery recharging.

5. The power line engagement system (1) according to any of the preceding claims, wherein the magnetic core (8) manipulating circuit controls the magnetic flux to adjust the holding force, manage battery charging, and govern the opening and closing of the power line engagement system (1).

6. The power line engagement system (1) according to any of the preceding claims, wherein an electronically driven magnetic manipulation operates in different modes based on powerline (2) current levels.

7. The power line engagement system (1) according to claim 6, wherein one mode comprises employing battery power to magnetize the core when power line current is insufficient for both charging and holding.

8. The power line engagement system (1) according to claim 6 or claim 7, wherein one mode comprises facilitating the simultaneous charging of the battery and the maintenance of magnetic force during suitable power line conditions.

9. The power line engagement system (1) according to any of the preceding claims, wherein one mode comprises the conversion of AC magnetic field to DC field.

10. The power line engagement system (1) according to any of the preceding claims, further comprising a failsafe circuit with a separate battery or drone battery enabling controlled opening of the magnetic core to disengage the aerial vehicle from the power line during emergencies.

11. The power line engagement system (1) according to any of the preceding claims, wherein a control circuit (14) monitors the magnetic flux to determine the optimal timing for demagnetizing the magnetic core (8) and opening the gripping mechanism for takeoff.

12. The power line engagement system (1) according to any preceding claim, wherein the two case cores (6a, 6b) are shaped and have mass-distributions such that a torque acting on each of the respective two case cores (6a, 6b) caused by the force of gravity moves the two case cores (6a, 6b) to the open configuration when the two case cores (6a, 6b) are demagnetized.

13. The power line engagement system (1) according to any of the preceding claims, further comprising sensors, such as camera and sensors (14), for image and distance data acquisition, aiding in the control of the gripping mechanism.

14. The power line engagement system (1) according to claim 13, wherein the sensors comprise at least one of a camera, a radar sensor and a lidar sensor.

15. The power line engagement system (1) according to any of the preceding claims, wherein the two parts (8a, 8b) of the magnetic gripping mechanism are pivotally connected and interconnected by at least one rope, such as a pair of ropes (5), such that when the at least one rope (5) is pushed downward, the power line engagement system (1) securely closes around the power line (2).

16. The power line engagement system (1) according to claim 15, wherein the at least one rope (5) connecting the parts (8a, 8b) of the gripping mechanism serves as a mechanical means for synchronized closure, ensuring that both core case (61, 62) simultaneously engage the power line (2).

17. The power line engagement system (1) according to claim 15 or 16, wherein the at least one rope is a pair of ropes placed on each side of the core case (61, 62).

18. The power line engagement system (1) according to any of claims 15-17, wherein the at least one rope (5) is fastened at each end at a first (101) and second attachment point (102), said first (101) and second attachment point (102) being located at opposite ends to a pivot axis (63) of the two case cores (61, 62).

19. The power line engagement system (1) according to any preceding claim, wherein, upon demagnetization of the two case cores (6a, 6b), the two case cores (6a, 6b) move to an open configuration under the action of gravity.

20. The power line engagement system (1) according to any preceding claim, wherein windings (11) are wound about each part of the magnetic core (8a, 8b) and when power is supplied to those windings (11) the at least two parts of the magnetic cores (8a, 8b) are magnetized and pulled together, closing the system.

21. The power line engagement system (1) according to any preceding claim, wherein the two parts (8a, 8b) of the magnetic core are electromagnets.

22. The power line engagement system (1) according to claim 21, wherein the electromagnets are activated when the power line engagement system (1) detects the power line (2) and engages the system, which closes the two parts (8a, 8b) of the magnetic core.

23. The power line engagement system (1) according to claim 21 or claim 22, wherein the electromagnets are configured to interlock with each other upon closure.

24. The power line engagement system (1) according to any preceding claim, wherein in the closed configuration the two parts (8a, 8b) of the magnetic gripping mechanism grasp each other allowing for a secure grip on the power line (2).

25. The power line engagement system (1) according to any preceding claim, wherein the two core cases (6a, 6b) moving into a closed configuration is triggered by applying a push force on the at least one rope, such as a pair of ropes, by the power line (2).

26. The power line engagement system (1) according to claim 24, wherein the extensions (20) are fixedly connected to the two case cores (6a, 6b).

27. The power line engagement system (1) according to claim 26, wherein the extensions (20) are respectively attached to the distal ends of the two case cores (6a, 6b) such that the distance between the respective distal ends of the extensions (20) is greater than the distance between the two parts of the magnetic core (8a, 8b).

28. The power line engagement system (1) according to claim 26 or claim 27, wherein the ends of the at least one rope (5) are fixedly connected to distal ends of the core case extensions (20).

29. The power line engagement system (1) according to any of the preceding claims, wherein the engagement system further comprises a cable guide (4).

30. The power line engagement system (1) according to claim 29, wherein at least one part of the cable guide (4) is mounted on the engagement system (1).

31. The power line engagement system (1) according to claim 29 or claim 30, wherein the at least one rope extends over points (101, 102) provided on the cable guide (4), such that the at least one rope (5) has an essentially horizontal middle rope section between said points (101, 102) and a sloping rope section on both sides of this middle section.

32. The power line engagement system (1) according to claim 31, wherein the ends of the at least one rope (5) are fixedly connected to a part of the respective extensions (20), such as to the first attachment point (101) and the second attachment point (102).

33. The power line engagement system (1) according to any of claims 30-32, wherein the cable guide (4) is a V-shaped frame mounted to the engagement system (1).

34. The power line engagement system (1) according to claim 33, wherein the V- shaped frame comprises two arms that form two opposing sides of a channel configured to guide a power line (2) into the space provided between the two case cores (6a, 6b).

35. The power line engagement system (1) according to any preceding claim, wherein the engagement system (1) is mounted on an aerial vehicle.

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