Methods and systems of stringing utility lines using an unmanned aerial vehicle and stringing assemblies

Abstract

The disclosed technology relates generally to a stringing block assembly that includes a pinned connection and self-alignment features that allows for easy removal and addition of feet used to support the stringing block. In this way, the excess weight added by the feet can be eliminated by disconnecting the stringing block from the feet prior to lifting the stringing block for transportation or use in a stringing operation. For example, easily removing the feet can enable a helicopter or other aircraft to lift the stringing block for implementation in a stringing operation. The modular conductor stringing block assembly includes many features which simplify use of the stringing block and reduces the overall weight of the stringing block.

Description

METHODS AND SYSTEMS OF STRINGING UTILITY LINES USING AN UNMANNED AERIAL VEHICLE AND STRINGING ASSEMBLIESCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit, under 35 U.S.C. § 119(e), of United States Provisional Patent Application No. 63 / 706,843, filed 14 October 2024, the entire contents and substance of which are incorporated herein by reference in their entirety as if fully set forth below.FIELD OF TECHNOLOGY

[0002] The disclosed technology relates generally to methods and systems of stringing utility lines, and, more particularly, using an unmanned aerial vehicle and individual stringing assemblies to install utility lines on support structures.BACKGROUND

[0003] High voltage utility transmission lines can transmit power over hundreds of miles with minimal losses because of the very high voltages used. Step-up transformers located at utility power generation plants increase the voltage transmission levels which minimizes losses due to the resistance of the transmission line (i.e., the conductor). As electrical demand continues to grow, higher-capacity lines and / or additional lines are needed.

[0004] Typically, high voltage utility transmission lines are installed by stringing the utility lines over great distances using equipment specifically designed to pull and tension the utility line. Other utility lines (conductors, fiber optic cables, and the like) can be installed using the same or similar methods and equipment. For example, as shown in FIG. 1, a utility line installation process according to known methods includes installing stringing blocks 55 on each support structure 50 (power poles, suspension towers, etc.), stringing a pilot line or pulling line 60 through each stringing block 55, pulling the utility line 70 through the stringing blocks 55, bringing the utility line 70 to a proper tension, and then clipping the utility line 70 in place on the support structure 50. A puller 20 and a tensioner 30 are usually positioned on each end to pull the pulling line 60 and to apply tension while the utility line 70 is installed. In some instances, a running board 40 can be used to pull one or more utility lines 70 into place.1 SR20320965061 vl

[0005] Before the utility line 70 can be pulled into place, the pulling line 60 must first be threaded through each of the stringing blocks 55 from a first end to a second end of the desired section of the transmission system to be installed. Sometimes a pilot line, which is a smaller, lighter line, can be first threaded through the stringing blocks 55 and used to pull the pulling line 60 into place. Other times, the pulling line 60 can be threaded directly through the stringing blocks 55 without the need to use a pilot line (for the sake of simplicity, the pilot line and the pulling line are referred to collectively herein as a “cable”). In either case, the cable is installed either manually through each stringing block 55 or a helicopter or unmanned aerial vehicle (UAV) is used to thread the cable through each stringing block 55. As will be appreciated, manually threading the cable through the stringing blocks 55 can be laborious, time-consuming, and dangerous. Although often faster than manually threading the cable, using a helicopter to install the cable is expensive and dangerous. Furthermore, although UAVs can reduce some of the danger associated with threading the cable through the stringing blocks 55, the UAVs are often limited to relatively short distances because they are unable to overcome the frictional and weight forces present during installation of the pilot line or cable. Sometimes light-weight, high-strength cables are used with the UAVs to reduce the frictional and weight forces. These light-weight, high-strength cables, however, are expensive and often limited to comparatively short distances. Furthermore, cables having a smaller diameter tend to become lodged between the wheel and the frame of the stringing blocks 55 leading to cable breakage or requiring a lineman to climb the support structure or use a helicopter to transport a lineman to the stringing block 55 to dislodge the cable.

[0006] What is needed, therefore, is a method and system of using a UAV to install utility lines 70 over greater distances than are presently possible. These and other advantages of the presently- disclosed technology will become apparent throughout the following disclosure.SUMMARY

[0007] The disclosed technology relates generally to systems and methods of stringing utility lines using a UAV. Unlike existing systems which use a UAV to thread a single pull line or a single pilot line through each stringing block from one end to the other end of a section of utility line to be installed, the disclosed technology uses a UAV to connect discreet sections of pulling line or pilot line to form a continuous pulling line or pilot line. Once the discreet sections of pulling line or pilot line are connected, the newly-formed continuous pulling line or pilot line can extend2 SR20320965061 vlfrom one end to the other end of the section of utility line to be installed. In this way, the disclosed technology is not limited to the short distances of installing cable typical of existing systems.

[0008] To achieve the above-described method of stringing a cable, the disclosed technology includes using multiple stringing assemblies that can each be installed on or near a respective stringing block. The stringing assemblies can each include a cable having a first attachment member at a first end of the cable and a second attachment member at a second end of the cable. Each first attachment member can be configured to couple to a second attachment member to form a continuous cable. That is. when the first attachment member is coupled to a second attachment member, the first cable will be coupled to a second cable, thereby essentially forming one continuous cable. In this way, multiple stringing assemblies can be used together to form a continuous cable (pulling line or pilot line) that can extend virtually as far a distance as necessary for the stringing operation. Furthermore, because the UAV is only required to pull the section of cable between the respective stringing assemblies rather than the entire length of the cable, the UAV can be relatively small and lightweight to string the cable over great distances.

[0009] According to another aspect of the present disclosure, the disclosed technology includes a method of stringing a utility line. The method includes navigating an unmanned aerial vehicle (UAV) to a first stringing assembly attached to a first structure, moving a first end of a first cable from the first stringing assembly to a second stringing assembly attached to a second structure using the UAV, attaching the first end of the first cable to a second end of a second cable and, pulling a utility line or a pulling line through one or more sheaves using the first cable and the second cable.

[0010] The disclosed technology further includes a stringing assembly comprising a housing configured for attachment to a stringing block and a cable disposed at least partially in the housing with the cable having a first end and a second end. A first attachment member can be disposed at the first end of the cable and a second attachment member can be disposed at the second end of the cable. The second attachment member can be configured to couple with the first attachment member, thereby forming a continuous cable. In other words, more than one cable can be attached to each other using the first attachment member from a first stringing assembly and coupling it with a second attachment member of a second stringing assembly to form a single continuous cable.SR20320965061 vl

[0011] The disclosed technology can additionally include an unmanned aerial vehicle (UAV) comprising one or more rotor assemblies configured to provide lift and directional movement to the UAV, an articulable arm configured to grasp a cable and / or an attachment member, and one or more controllers. The one or more controllers can be configured to output first flight instructions to cause the one or more rotor assemblies to navigate the UAV to a first stringing assembly having a first cable, output instructions to cause the articulable arm to grasp the first cable, and output second flight instructions to cause the one or more rotor assemblies to navigate the UAV to a second stringing assembly having a second cable. The one or more controllers can be further configured to output instructions to cause the articulable arm to attach the first cable to the second cable.BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate various aspects of the presently disclosed subject matter and serve to explain the principles of the presently disclosed subject matter. The drawings are not intended to limit the scope of the presently disclosed subject matter in any manner.

[0013] FIG. 1 illustrates a schematic diagram of an existing system for stringing utility lines.

[0014] FIGs. 2A, 2B, and 2C illustrate a system for stringing utility lines using a UAV and a plurality of stringing assemblies at various stages of the stringing process, in accordance with examples of the present disclosure.

[0015] FIG. 3A illustrates an example UAV, in accordance with examples of the present disclosure.

[0016] FIG. 3B illustrates a block diagram of components of the UAV, in accordance with examples of the present disclosure.

[0017] FIG. 4A illustrates a front view while FIG. 4B illustrates a side view of a stringing assembly and a stringing block, in accordance with examples of the present disclosure.

[0018] FIG. 5 illustrates an example of using a UAV and stringing assemblies to string utility lines, in accordance with examples of the present disclosure.

[0019] FIG. 6 is a flow chart of a method of stringing utility lines using a drone and stringing assemblies, in accordance with examples of the present disclosure.SR20320965061 vlDETAILED DESCRIPTION

[0020] Although various aspects of the disclosed technology are explained in detail herein, it is to be understood that other aspects of the disclosed technology are contemplated. Accordingly, it is not intended that the disclosed technology is limited in its scope to the details of construction and arrangement of components expressly set forth in the following description or illustrated in the drawings. The disclosed technology can be implemented and practiced or carried out in various ways. In particular, the presently disclosed subject matter is described in the context of systems and methods of stringing utility lines used for power transmission using a UAV and stringing assemblies. The present disclosure, however, is not so limited, and can be applicable in other contexts such as systems and methods used for stringing other energy transmission or communication lines, ski lifts, material conveyance systems, zip lines, etc. Accordingly, when the present disclosure is described in the context of systems and methods of stringing utility lines used for power transmission using a UAV and stringing assemblies, it will be understood that other implementations can take the place of those referred to herein.

[0021] It should also be noted that, as used in the specification and the appended claims, the singular forms “a,” “an,” and “the” include plural references unless the context clearly dictates otherwise. References to a composition containing “a” constituent is intended to include other constituents in addition to the one named.

[0022] Also, in describing the disclosed technology, terminology will be resorted to for the sake of clarity. It is intended that each term contemplates its broadest meaning as understood by those skilled in the art and includes all technical equivalents which operate in a similar manner to accomplish a similar purpose.

[0023] Ranges may be expressed herein as from “about” or “approximately” or “substantially” one particular value and / or to “about” or “approximately” or “substantially” another particular value. When such a range is expressed, the disclosed technology can include from the one particular value and / or to the other particular value. Further, ranges described as being between a first value and a second value are inclusive of the first and second values. Likewise, ranges described as being from a first value and to a second value are inclusive of the first and second values.

[0024] Herein, the use of terms such as “having,” “has,” “including,” or “includes” are open- ended and are intended to have the same meaning as terms such as “comprising” or “comprises”5 SR20320965061 vland not preclude the presence of other structure, material, or acts. Similarly, though the use of terms such as “can” or “may” are intended to be open-ended and to reflect that structure, material, or acts are not necessary, the failure to use such terms is not intended to reflect that structure, material, or acts are essential. To the extent that structure, material, or acts are presently considered to be essential, they are identified as such.

[0025] The components described hereinafter as making up various elements of the disclosed technology are intended to be illustrative and not restrictive. Many suitable components that would perform the same or similar functions as the components described herein are intended to be embraced within the scope of the disclosed technology. Such other components not described herein can include, but are not limited to, similar components that are developed after development of the presently disclosed subject matter.

[0026] As used herein, the term “cable” can be used to describe a rope, a cord, a cable, a line, a bull line, a string, a strand, or other similar components that can be used in a stringing process. Thus, the term “cable” should not be construed narrowly. Furthermore, in some instances, the term “cable” can be used to describe a pilot line or a pulling line, depending on the particular context.

[0027] Referring now to the drawings, in which like numerals represent like elements, the present disclosure is herein described. FIG. 2 illustrates an example system according to the disclosed technology. Similar to existing systems, the disclosed technology can include installing stringing blocks 55 on each support structure 50 (power poles, suspension towers, etc.) and using a puller 20 and a tensioner 30 positioned at either end of the section of utility line to be installed on the support structures 50 to pull a utility line 70 into place (as shown in FIG. 2C). Unlike existing systems, however, the disclosed technology includes a plurality of stringing assemblies 200 that are installed on or near each stringing block 55. Furthermore, the disclosed technology includes an unmanned aerial vehicle (UAV) 100 that is configured to move a cable 202 between each of the stringing assemblies 200. As will become apparent throughout this disclosure, each stringing assembly 200 can include its own cable 202 that can then be strung to an adjacent stringing assembly 200 and attached to a second cable 202 that is disposed on or in the second stringing assembly 200. That is, instead of using a single continuous pilot line or pulling line, the disclosed technology begins with a plurality of discreet cables 202 disposed at each stringing assembly 200 that are then connected together to form a segmented, but fully-connected cable 202.6 SR20320965061 vl

[0028] Each cable 202, for example, can be or include a pilot line or a pulling line that can be attached to other adjacent cables 202 to form a segmented, but fully-connected, pilot line or pulling line. If the cable 202 is a segmented pilot line, the pilot line can be used to pull a continuous pulling line (sometimes referred to herein as a bull line) through the stringing blocks 55. If the cable 202 is a segmented pulling line, the segmented pulling line can then be used to pull the utility line 70 into place. As will be appreciated, the cable 202 can be light weight such that the UAV 100 can pull the cable 202 to a subsequent stringing assembly 200 a distance away on an adjacent support structure 50. Furthermore, the cable 202 can be strong enough to either pull a pulling line or a utility line into place.

[0029] As shown in FIGs. 2A-2C, a method of pulling a utility line 70 into place according to the disclosed technology includes using a UAV 100 to attached cables 202A, 202B (etc.) together to form a continuous cable 202. For example, the disclosed technology can include using a UAV 100 to move a first cable 202A from a first stringing assembly 200A to a second stringing assembly 200B (as shown in FIG. 2A). As will be described in greater detail herein, the first cable 202A can be attached to a second cable 202B. The UAV 100 can then be used to move the second cable 202B from the second stringing assembly 202B to a third stringing assembly 200C. The third stringing assembly 202C can include a third cable 202 (although not shown) that can then be attached to a puller 20. Each stringing assembly 200 can be configured to prevent the cable 202 from being pulled backwards out of the stringing assembly 200 such that the stringing assembly 200 each carry the weight of the cable 202 when connected between stringing assemblies 200. In this way, the UAV 100 is not required to carry the load of the cable 202 or multiple cables 202 once one or more cables are connected. That is, the UAV 100 is only required to carry the weight of a single section of cable 202 when moving a cable 202 from a first stringing assembly 200 to a second stringing assembly 200. In this way, lighter and smaller UAVs 100 can be used as compared to existing systems which often require large UAVs or helicopters for stringing. In particular, a UAV 100 weighing 50 lbs. or less can be used to string the cable 202 according to the disclosed technology.

[0030] The different sections of cable 202, once connected, can form a continuous cable 202 that is then used by the puller 20 to pull a utility line 70 into place (as shown in FIG. 2C). A running board 40 or other coupling device can be used to attach the cable 202 to the utility line 70 and help install the utility line 70 on the support structures 50. Furthermore, a tensioner 30 can be attached7 SR20320965061 vlto the utility line 70 opposite the puller 20 to ensure a proper tension is applied to the cable 202 and the utility line 70 as the utility line 70 is pulled into place.

[0031] As will be appreciated, by using a UAV 100 and individual stringing assemblies 200 that include individual cables 202, the disclosed technology can overcome many of the dangers and limitations present with existing stringing methods. In particular, the use of a UAV 100 helps to reduce the dangers associated with manually stringing or using a helicopter to string the pulling line such as dangers to the pilot or linemen near the helicopter. Additionally, by using individual stringing assemblies 200, the disclosed technology can be configured to string a cable 202 over greater distances than existing technologies because the UAV 100 is only required to pull individual sections of cable 202, rather than the entire length of the cable 202 once individual sections of the cable 202 are connected.

[0032] Although FIGs. 2A-2C illustrate using a single UAV 100 to connect the individual sections of cable 202 together, the disclosed technology is not so limited and can include using a plurality of UAVs 100 to attach the individual sections of cable 202 together. In this way, the time required to string the cable 202 can be significantly decreased and the overall process of stringing the utility line 70 can be accomplished faster. If multiple UAVs 100 are used, each UAV 100 can be individually controlled or the multiple UAVs 100 can be controlled simultaneously together (e.g., controlled as a swarm).

[0033] The UAV 100. as shown better in FIG. 3 A, can include a body 102, a lower frame 104, and one or more rotor assemblies 110. The lower frame 104 can include a support structure (e.g., a plurality of legs) configured to support the UAV 100 when it is in a grounded position. The lower frame 104 can have a height that provides clearance between the bottom of the body 102 and the surface on which the lower frame 104 is resting that is sufficient to accommodate one or more components, such as those described more fully herein (e.g., one or more sensors, one or more articulable arms). That is to say, lower frame 104 has a height such that the one or more components are separated from the ground when the UAV 100 is in the grounded position. Each rotor assembly 110 can include a corresponding motor 112 (e.g., an electric motor) and one or more rotor blades 114. Together, the rotor assemblies 110 can form a propulsion system configured to provide lift and directional flight to the UAV 100. As described more fully herein, the UAV 100 can include a local controller, which can be located inside the body 102 or any location on or in the UAV 100. The UAV 100 can include one or more batteries configured to supply power to the8 SR20320965061 vlcontroller, the rotor assemblies 110, and any additional components in communication with the UAV 100.

[0034] The UAV 100 can include one or more sensor assemblies 120, as described more fully herein. One or more of the sensor assemblies 120 can be located on an underside of the body 102. Alternatively, or in addition, one or more of the sensor assemblies 120 can be located on a top surface or a side surface of the body 102. As non-limiting examples, the one or more sensor assemblies 120 can include an ultrasonic sensor assembly (e.g., an ultrasonic transducer, an ultrasonic receiver, and / or an ultrasonic transceiver configured to act as an ultrasonic gauge), a camera or vision system, a LiDAR sensor assembly (e.g., a laser and corresponding receiver sensor), a radar sensor assembly, or the like. As discussed more fully herein, the sensor(s) 120 can be configured to make certain measurements and / or detections and output corresponding sensor data to a controller.

[0035] As illustrated in FIG. 3 A, the sensor assemblies 120 can include a camera 122 and / or a LiDAR sensor assembly 124 (and / or a radar sensor assembly). The camera 122 can be configured to obtain image data corresponding to images of a target area and / or object and output the image data for a controller. The image data can relate to still images, or the image data can relate to video images. The camera 122 can be configured to obtain images in the visible spectrum, the infrared spectrum, the ultraviolet spectrum, or any other light spectrum. The LiDAR sensor assembly 124 can include one or more lasers and one or more receivers. The LiDAR sensor assembly 124 can be configured to obtain LiDAR data corresponding to one or more objects or portions thereof and output the LiDAR data for a controller. Optionally, the UAV 100 and / or the various sensor assemblies 120 can include a stabilizing system, device, or mechanism, such as a gimbal, which can help decrease skewed data (e.g., any blurred imaging or otherwise corrupted data) captured by a corresponding sensor assembly 120. The camera 122 and / or the LiDAR sensor assembly 124 can each be used by the UAV 100 to detect a stringing assembly 200 and / or a cable 202 and data from the camera 122 and / or the LiDAR sensor assembly 124 can be used to guide the UAV 100 while moving a cable 202A from a first stringing assembly 200A to a second stringing assembly 200B and connecting a first cable 202 A to a second cable 202B.

[0036] The UAV 100 can, alternatively or in addition, include one or more articulable arms 130, such as the example UAV 100 illustrated in FIG. 3 A. Each arm 130 can include one or more linkages 132 having one or more motors configured to move the arm 130 in a plurality of positions.9 SR20320965061 vlAs discussed more fully herein, the arm(s) 130 (and / or components thereof) can receive instructions from a controller, and the arm(s) 130 can be configured to perform one or more actions based on the instructions received from the controller. The arm 130 can include pinchers 134, which can be configured to move toward and away from one another (e.g., to grab an object).

[0037] As shown in FIG. 3B, the UAV 100 can alternatively, or in addition, include an electromagnet 140 that can be used by the UAV 100 to attach to the structure and / or to facilitate attachment to the cable 202. For example, the cable 202 (as will be described in greater detail herein) can include a first attachment member 212 that can be made from or comprise a metallic component such that the UAV 100 can attach to the first attachment member 212 by energizing the electromagnet 140. The UAV can be configured to energize the electromagnet 140 to attach to the cable 202 and then move the cable 202 (via the first attachment member 212) to a second attachment member 214. Once the first attachment member 212 is attached to the second attachment member 214, the electromagnet 140 can be deenergized and the UAV 100 can be disconnected from the cable 202.

[0038] Referring to FIG. 3B, the UAV 100 can include a controller 190. The UAV 100 can further include a geolocation sensor 160 configured to provide a current geolocation of the UAV 100, an altitude sensor 170 (e.g., a barometer) to provide a current altitude of the UAV 100, and / or one or more gyroscopes 180 or other sensor(s) configured to provide a current tilt or rotation of the UAV 100.

[0039] As described more fully herein, the controller 190 can receive data, such as from one or more sensor assemblies 120, the geolocation sensor 160, the altitude sensor 170, the gyroscope 180, and / or a remote computing device 150. Alternatively, or in addition, the controller 190 can output instructions to one or more components (e.g., the arm 130, the electromagnet 140, and / or a remote computing device 150). For example, the controller 190 can perform one or more of the methods described herein or any part thereof. The controller 190 can be or include any control or computing system, such as a dedicated controller for the UAV 100. This disclosure references a single controller 190 for simplicity of discussion, but the disclosed technology is not so limited. For example, multiple computing devices (e.g., a network of computing devices) can be used to perform one, some, or all of the actions and / or functionalities described herein. Moreover, a first computing device can perform one or more actions and / or functionalities, and a second computing device can perform one or more other actions and / or functionalities. As a specific example, it is10 SR20320965061 vlcontemplated that a local controller is configured to receive data from one or more sensor assemblies 120, the geolocation sensor 160, the altitude sensor 170, the gyroscope 180, and / or one or more components (e.g., the rotor assemblies 110, the arm 130, and / or the electromagnet 140) and the controller can transmit some or all of that data to the remote computing device 150, which is configured to perform some or all of the analyses described herein. For example, certain analyses or determinations can be made by the remote computing device 150, and the remote computing device 150 can transmit instructions to the UAV 100 (e.g., the local controller 190) for execution by the various components thereon.

[0040] The remote computing device 150 can be in wireless communication with the controller and remotely located. As will be appreciated, any combination of steps described herein can be performed by a first computing device, and any combination of other steps described herein can be performed by a second computing device. That is to say, the disclosed technology contemplates transmission and receipt of data between different computing devices, although such steps may not be expressly discussed herein.

[0041] The controller 190 can include memory 192, a processor 194, a communication interface 196, and / or a user interface 198. The controller 190 can communicate with one or more sensors and / or devices, via the communication interface 196, as a non-limiting example. For example, the controller 190 can output instructions, and / or receive data, from one or more sensor assemblies 120, the geolocation sensor 160, the altitude sensor 170. the gyroscope 180, one or more components (e.g., the rotor assemblies 110, the arm 130, and / or the electromagnet 140), and / or the remote computing device 150.

[0042] Based on received image data (e.g., from the camera 122 and / or LiDAR sensor assembly 124), the controller 190 can perform one or more image recognition processes. For example, the controller 190 can execute one or more object recognition algorithms and / or perform one or more image processing methods, such as Scale-Invariant Feature Transform (SIFT), Speeded Up Robust Features (SURF), Principal Component Analysis (PCA), Linear Discriminant Analysis (LDA), Region Based Convolutional Neural Networks (R-CNN), Fast R-CNN. Faster R- CNN, Mask R-CNN, Histogram of Oriented Gradients (HOG), Region-Based Fully Convolutional Network (R-FCN), Single Shot Detector (SSD), Spatial Pyramid Pooling (SPP-net), or You Only Look Once (YOLO), as non-limiting examples.SR20320965061 vl

[0043] The controller 190 can identify and / or recognize several different components, subcomponents, and the like for a given support structure 50 and / or stringing assembly 55. For example, the computing device can identify and / or recognize utility poles, towers, crossarms, various electrical wires, cables, sheave, guide arms, etc. The controller 190 can output instructions for displaying (e.g., on a display device which can be associated with the remote computing devices 150) one or more images based on the camera data.

[0044] The user interface of the remote computing device 150 (or a user interface of a different device, such as a technician device) can enable the technician or another user to interact with the various components of the UAV 100. Thus, the technician or user can manually guide the the UAV 100 and / or the manipulation of one or more tools or components (e.g., the arm 130, the electromagnet 140). Alternatively, or in addition, the controller 190 can be configured to automatically perform some or all of the methods and processes described herein.

[0045] The disclosed technology also relates to tangible and non-transitory computer readable media that include program instructions or program code that, when executed by one or more processors, perform one or more computer-implemented operations. The program instructions or program code may include specially designed and constructed instructions or code, and / or instructions and code well-known and available to those having ordinary skill in the computer software arts. For example, the disclosed technology may execute high level and / or low-level software instructions, such as machine code (e.g., such as that produced by a compiler) and / or high-level code that can be executed by a processor using an interpreter.

[0046] Turning now to FIGs. 4A and 4B, the stringing assemblies 200 will be further described. FIG. 4 A illustrates a front view while FIG. 4B is a side view of the stringing assembly 200 disposed on a stringing block 55. As will be appreciated, the stringing block 55 can include a frame 304 and a wheel 302 supported by the frame 304. The stringing block 55 can also be referred to as a sheave, pulley, or other similar terms used in the art. The stringing block 55 can further include an arm 306 that can be configured to open a close and help keep a cable 202 and / or utility line 70 aligned on the wheel 302. In this way, as the line 202 and / or utility line 70 are strung through the stringing block 55, the cable 202 and / or line 70 is prevented from falling off the wheel 302.

[0047] As shown, the stringing assembly 200 can be attached to the stringing block 55 at a position where the cable 202 can be threaded through the stringing block 55 such that the cable12 SR20320965061 vl202 will be disposed on the wheel 302 when the cable 202 is strung. Although the stringing assembly 200 is shown attached near a top side of the stringing block 55, the stringing assembly 200 can be disposed in any position on the stringing block 55 as suitable for the particular application.

[0048] The stringing assembly 200 can include a housing 210, a cable 202, a first attachment member 212 attached at a first end of the cable 202, and a second attachment member 214 attached at a second end of the cable 202. The housing 210 can be a tube or generally tube-like member that can be configured to house the cable 202 within the housing 210. The cable 202, for example, can be coiled and placed within the housing 210 in such a way that the cable 202 does not become tangled as it is removed from the housing (e.g., by the UAV 100). For example, the cable 202 can be disposed in the housing 210 and configured for center extraction, thereby reducing the likelihood that the cable 202 becomes tangled as it is removed from the housing 210. For instance, the cable 202 can be wound within the housing 210 and removed near a center of the winding to help ensure the cable 202 does not become tangled. The housing 210 can include one or more supports 216 that can be configured for attaching the housing 210 to the stringing block 55 or other components near the stringing block 55.

[0049] Alternatively, the cable 202 can be wound in such a way that a housing is not required. For example, the cable 202 can be wound similar to balls or cylinders of twine are wound and then the cable 202 can be removed from the center of the winding to ensure the cable 202 does not become twisted. Furthermore, in some examples the cable 202 can comprise a wax coating to protect the cable 202 and ensure the cable 202 remains in place in the housing 210 or as a separate winding. In other examples, the cable 202 can be wound directly around the wheel 302.

[0050] The first attachment member 212 can be configured to couple with the second attachment member 214. As a non-limiting example, and as shown in FIGs. 4A and 4B, the first attachment member 212 can include one or more barbs or other directional protrusions that can be configured to slide into a recess or aperture of the second attachment member 214 in such a way that the first attachment member 212 and the second attachment member 214 become coupled and the first attachment member 212 is prevented from being removed from the second attachment member 214 once coupled. In this way, the first attachment member 212 and second attachment member 214 can couple the cables 202 together to form one continuous cable 202 for use with pulling a pull line or a utility line 70. The second attachment member 214 can further include a13 SR20320965061 vlunidirectional interlocking tubular restraint that can be configured to prevent the first attachment member 212 from becoming decoupled from the first attachment member 212. As yet another example, the first attachment member 212 can be a male end of a quick-disconnect- style connection and the second attachment member 214 can be a female end of a quick-disconnect- style connection. As another example, the first attachment member 212 and the second attachment member 214 can be configured to couple together using a spring-loaded grip or clamp, similar to a finger trap, or a lever, similar to a mouse trap.

[0051] As still another example, the first attachment member 212 and the second attachment member 214 can connect via a push-to-pull connection, a push-to-connect connection, a push-in connection, a push-fit connection, a snap-fit connection, a snap-action connection, or other similar instant fittings that can couple the first attachment member 212 and the second attachment member 214 together. As still another example, the first attachment member 212 and / or the second attachment member 214 can comprise one or more magnets to help facilitate coupling of the two together such as for alignment and / or locking the two together.

[0052] Further still, the first attachment member 212 and the second attachment member 214 can include hooks, jaws, or a lever (similar to a carabiner) and an electromechanical actuator configured to open and close the hooks or jaws to secure the first attachment member 212 and the second attachment member 214 to each other. Alternatively, the first attachment member 212 and the second attachment member 214 can comprise complimentary helical structures that can be threaded together. As another example, the second attachment member 214 can include a funnel and the first attachment member can be configured to be dropped into the second attachment member 214 and couple with the second attachment member 214. In other words, there are many different devices and methods of coupling multiple cables 202 together to form a continuous cable 202 that can be used with the disclosed technology without departing from the scope of this disclosure.

[0053] To help ensure that the first attachment member 212 and the second attachment member214 are properly coupled, the first attachment member 212 and / or the second attachment member 214 can include a visual indicator that is visible from the ground or by the camera 122 of the UAV 100. For example, the first attachment member 212 and / or the second attachment member 214 can include a lever, window, collar, colored component, transmitter, or other visual or electrical14 SR20320965061 vlindicator that can either actuate to a final position or act as an indicator that is indicative of the first attachment member 212 and the second attachment member 214 being properly coupled.

[0054] Once the first attachment member 212 and the second attachment member 214 are initially secured together, the disclosed technology can include further securing the first attachment member 212 to the second attachment member 214 by the force applied to the second cable 202B when the UAV 100 moves to the second cable 202B and begins pulling. For instance, the housing 210 can include a rotating mechanism that crimps, wraps, or clamps the first attachment member 212 to the second attachment member 214 by the force applied by the UAV 100 when pulling the second cable 202B. For instance, the housing 210 or a different component can be configured similar to a collet that can be tightened to better attach the first attachment member 212 and the second attachment member 214 to each other.

[0055] The stringing assembly 200 can further include a tension member 218 configured to apply tension to the cable 202 when being pulled from the housing 210 (e.g., via the UAV 100). The tension member 218, for example, can be a magnetic brake, friction brake, electromagnetic brake, or hydraulic brake that applies tension to the cable 202 to ensure the cable 202 does not sag excessively when being removed from the housing 210 as is commonly used in auto-belaying devices.

[0056] The tension member 218 can further be calibrated to prevent the cable 202 from excessively sagging while also helping to ensure the UAV 100 does not consume too much battery capacity. In some examples, the tension member 218 can progressively apply more tension as the cable 202 is pulled out to help prevent excessive sag due to the increasing weight. As another example, the tension member 218 can be configured to apply more tension as the speed of the cable 202 increases.

[0057] The stringing assembly 200 can also include a unidirectional brake 220 that is configured to prevent the second end of the cable 202 (near the second attachment member 214) from being pulled out of the stringing assembly 200 in a first direction but will permit the cable 202 from being pulled out of the stringing assembly 20 in a second direction. In other words, the unidirectional brake 220 can allow the cable 202 to be pulled out of the stringing assembly 200 in the direction that the UAV 100 or the puller 20 is pulling the cable 202 out of the stringing assemblies 200 but prevent the cable 202 from being pulled in the opposite direction. As will be appreciated, when the UAV 100 is stringing the cables 202 between stringing assemblies 200 and15 SR20320965061 vlconnects a first attachment member 212 to an adjacent attachment member 214 excessive sag may result if the cable 202 were to also be pulled out of the adjacent stringing assembly 200. Thus, the unidirectional brake 220 can help to prevent the cable 202 from sagging too much during the stringing operation.

[0058] In some examples, the tension member 218 and / or the unidirectional brake 220 can be configured to be remotely operated such that an operator on the ground can control the outfeed of the cable 202 while the UAV 100 is moving the cable 202 between stringing blocks 55. For instance, the stringing assembly 200 can include a controller 230, a battery 232, and a transceiver 234 such that the stringing assembly 200 can be remotely controlled.

[0059] Although shown as being a separate component attached to the stringing block 55, in other examples, the stringing assembly 200 can be integrated with the stringing block 55.

[0060] To help prevent the cable 202 from becoming twisted during the stringing operation, either the first attachment member 212 or the second attachment member 214, or both, can include, or be integrated with, a swivel or other similar component. Furthermore, to help operators determine the length of cable 202 to be pulled, the cable 202 can be colored or include varying patterns at predetermine length intervals. For example, the cable 202 can be colored alternating colors every 100 feet, every 500 feet, every 1,000 feet, etc., so that the operator is able to determine the length of pull completed and the length of pull remaining.

[0061] FIG. 5 illustrates an example of the UAV 100 moving a first cable 202 from a first stringing assembly 200A to a second stringing assembly 200B. The UAV 100 is shown using the arm 130 by gripping the first attachment member 212A on the first stringing assembly 200A and moving to the second attachment member 214B on the second stringing assembly 200B. As will be appreciated, the UAV 100 can then use the arm 130 to cause the first attachment member 212A to attach to the second attachment member 212B to form a continuous cable 202 with a first cable 202A and a second cable 202B. The UAV 100 can then release the first attachment member 212A, navigate to the other first attachment member 212B, and then grip and move the other first attachment member 212B to another stringing assembly 200 (not shown in FIG. 5). This process can be repeated as many times as necessary to form a continuous cable 202 that can then be used to pull a pulling line or a utility line 70 into place on the stringing blocks 55. Although not shown, it will also be appreciated that the UAV 100 can also be used to bring the cable 202 to the puller 20 and the tensioner 30 as necessary.16 SR20320965061 vl

[0062] FIG. 6 illustrates a method 600 of completing a stringing operation using a UAV 100 and one or more stringing assemblies 200. The method 600 can include installing 610 one or more stringing assemblies (e.g., stringing assembly 200) on one or more support structure (e.g., support structure 50). The method 600 can further include navigating 620 a UAV (e.g., UAV 100) to a first stringing assembly (e.g., stringing assembly 200) and moving 630 a first end of a first cable (e.g., first attachment member 212 of a first cable 202) from the first stringing assembly to a second stringing assembly. The method 600 can include attaching 640 a first end of the first cable to a second end of a second cable (e.g., by attaching the first attachment member 212 to a second attachment member 214) and then repeating 650 steps 620 through 640 for the remaining stringing assemblies.

[0063] The method 600 can further include attaching 660 a puller (e.g., puller 20) to the assembled cable 202, attaching 670 assembled the assembled cable to a utility line (e.g., utility line 70), and then pulling 680 the utility line through stringing blocks (e.g., stringing blocks 55) using the cable, the puller, and a tensioner (e.g., tensioner 30). Although not shown, the method 600 can alternatively include attaching the cable to a pulling line, pulling the pulling line through the stringing blocks using the cable, and then attaching the pulling line to a utility line to then pull the utility line through the stringing blocks. In other words, in some examples, the cable can act as a pulling line or it can act as a pilot line, depending on the particular application and the weight of the utility line to be pulled into place.

[0064] The method 600 just described is offered for explanatory purposes and should not be construed as limited to the particular steps and order of steps just described. That is, the method 600 just described can include other intervening steps not described or the method 600 can be completed in an order other than described herein. Accordingly, the method 600 should be understood in the context of the entire disclosure presented herein.

[0065] The disclosed technology can be further understood according to the following clauses:

[0066] Clause 1: A method comprising: navigating an unmanned aerial vehicle (UAV) to a first stringing assembly attached to a first structure; moving a first end of a first cable from the first stringing assembly to a second stringing assembly attached to a second structure using the UAV; attaching the first end of the first cable to a second end of a second cable; and pulling a utility line or a pulling line through one or more stringing blocks using the first cable and the second cable.17 SR20320965061 vl

[0067] Clause 2: The method of Clause 1, further comprising attaching a second end of the first cable to a puller or a tensioner.

[0068] Clause 3: The method of Clause 2, further comprising attaching a first end of the second cable to a puller or a tensioner.

[0069] Clause 4: The method of Clause 1, wherein the UAV comprises an articulable arm configured to grasp at least one of the first cable and the second cable.

[0070] Clause 5: The method of Clause 1, wherein the first end of the first cable comprises a first attachment member.

[0071] Clause 6: The method of Clause 5, wherein the second end of the second cable comprises a second attachment member, the second attachment member configured to couple to the first attachment member.

[0072] Clause 7: The method of Clause 1, wherein the UAV weighs less than 55 lbs.

[0073] Clause 8: The method of Clause 1, wherein the first cable is at least temporarily stored on or in the first stringing assembly and the second cable is at least temporarily stored on or in the second stringing assembly.

[0074] Clause 9: The method of Clause 8, wherein the first cable is removable from the first stringing assembly and the second cable is removable from the second stringing assembly.

[0075] Clause 10: The method of Clause 1, wherein the first stringing assembly is attached to a first stringing block and the second stringing assembly is attached to a second stringing block.

[0076] Clause 11: The method of Clause 10, wherein at least a portion of the first cable is disposed at least partially on or in a portion of a first wheel of the first stringing block, and wherein at least a portion of the second cable is disposed at least partially on or in a portion of a second wheel of the second stringing block.

[0077] Clause 12: A stringing assembly comprising: a housing configured for attachment to a stringing block; a cable disposed at least partially in the housing, the cable having a first end and a second end; a first attachment member disposed at the first end of the cable; and a second attachment member disposed at the second end of the cable, the second attachment member configured to couple with the first attachment member.

[0078] Clause 13: The stringing assembly of Clause 12 further comprising a unidirectional brake configured to prevent the cable from being pulled outward from the housing at the second end.18 SR20320965061 vl

[0079] Clause 14: The stringing assembly of Clause 12 further comprising a tension member configured to apply tension to the cable when pulled from the housing.

[0080] Clause 15: The stringing assembly of Clause 12, wherein the first attachment member comprises a swivel.

[0081] Clause 16: The stringing assembly of Clause 12, wherein the first attachment member comprises a barbed end.

[0082] Clause 17: The stringing assembly of Clause 12, wherein the second attachment member comprises a unidirectional interlocking tubular restraint.

[0083] Clause 18: The stringing assembly of Clause 12, wherein the cable is disposed at least partially in the housing such that the cable is configured for center extraction of the cable.

[0084] Clause 19: The stringing assembly of Clause 12, wherein the cable is colored indicative of a length.

[0085] Clause 20: The stringing assembly of Clause 12, wherein at least one of the first attachment member or the second attachment member comprises a magnet configured to facilitate attachment of the first attachment member to the second attachment member.

[0086] Clause 21: An unmanned aerial vehicle (UAV) comprising: one or more rotor assemblies configured to provide lift and directional movement to the UAV; an articulable arm configured to grasp a cable; and one or more controllers configured to: output first flight instructions to cause the one or more rotor assemblies to navigate the UAV to a first stringing assembly, the first stringing assembly comprising a first cable; output instructions to cause the articulable arm to grasp the first cable; output second flight instructions to cause the one or more rotor assemblies to navigate the UAV to a second stringing assembly, the second stringing assembly comprising a second cable; and output instructions to cause the articulable arm to attach the first cable to the second cable.

[0087] Clause 22: The UAV of Clause 21 further comprising an electromagnet configured to attach to an attachment member of the cable.

[0088] Clause 23: The UAV of Clause 21 further comprising a geolocation sensor configured to determine a current geolocation of the UAV and output geolocation data corresponding to the current geolocation of the UAV.19 SR20320965061 vl

[0089] Clause 24: The UAV of Clause 21 further comprising an altitude sensor configured to detect a current altitude of the UAV and output altitude data corresponding to the current altitude of the UAV.

[0090] Clause 25: The UAV of Clause 21 further comprising a vision system configured to capture and output image data.

[0091] Clause 26: The UAV of Clause 21 further comprising a LiDAR system configured to capture and output LiDAR data.

[0092] While the present disclosure has been described in connection with a plurality of exemplary aspects, as illustrated in the various figures and discussed above, it is understood that other similar aspects can be used, or modifications and additions can be made to the described subject matter for performing the same function of the present disclosure without deviating therefrom. In this disclosure, methods and compositions were described according to aspects of the presently disclosed subject matter. But other equivalent methods or compositions to these described aspects are also contemplated by the teachings herein. Therefore, the present disclosure should not be limited to any single aspect, but rather construed in breadth and scope in accordance with the appended claims.20 SR20320965061 vl

Claims

CLAIMSWhat is claimed is:

1. A method comprising: navigating an unmanned aerial vehicle (UAV) to a first stringing assembly attached to a first structure; moving a first end of a first cable from the first stringing assembly to a second stringing assembly attached to a second structure using the UAV; attaching the first end of the first cable to a second end of a second cable; and pulling a utility line or a pulling line through one or more stringing blocks using the first cable and the second cable.

2. The method of Claim 1, further comprising attaching a second end of the first cable to a puller or a tensioner.

3. The method of Claim 2, further comprising attaching a first end of the second cable to a puller or a tensioner.

4. The method of Claim 1, wherein the UAV comprises an articulable arm configured to grasp at least one of the first cable and the second cable.

5. The method of Claim 1, wherein the first end of the first cable comprises a first attachment member.

6. The method of Claim 5, wherein the second end of the second cable comprises a second attachment member, the second attachment member configured to couple to the first attachment member.

7. The method of Claim 1, wherein the UAV weighs less than 55 lbs.21 SR20320965061 vl8. The method of Claim 1, wherein the first cable is at least temporarily stored on or in the first stringing assembly and the second cable is at least temporarily stored on or in the second stringing assembly.

9. The method of Claim 8, wherein the first cable is removable from the first stringing assembly and the second cable is removable from the second stringing assembly.

10. The method of Claim 1, wherein the first stringing assembly is attached to a first stringing block and the second stringing assembly is attached to a second stringing block.

11. The method of Claim 10, wherein at least a portion of the first cable is disposed at least partially on or in a portion of a first wheel of the first stringing block, and wherein at least a portion of the second cable is disposed at least partially on or in a portion of a second wheel of the second stringing block.

12. A stringing assembly comprising: a housing configured for attachment to a stringing block; a cable disposed at least partially in the housing, the cable having a first end and a second end: a first attachment member disposed at the first end of the cable; and a second attachment member disposed at the second end of the cable, the second attachment member configured to couple with the first attachment member.

13. The stringing assembly of Claim 12 further comprising a unidirectional brake configured to prevent the cable from being pulled outward from the housing at the second end.

14. The stringing assembly of Claim 12 further comprising a tension member configured to apply tension to the cable when pulled from the housing.

15. The stringing assembly of Claim 12, wherein the first attachment member comprises a swivel.22 SR20320965061 vl16. The stringing assembly of Claim 12, wherein the first attachment member comprises a barbed end.

17. The stringing assembly of Claim 12, wherein the second attachment member comprises a unidirectional interlocking tubular restraint.

18. The stringing assembly of Claim 12. wherein the cable is disposed at least partially in the housing such that the cable is configured for center extraction of the cable.

19. The stringing assembly of Claim 12, wherein the cable is colored indicative of a length.

20. The stringing assembly of Claim 12, wherein at least one of the first attachment member or the second attachment member comprises a magnet configured to facilitate attachment of the first attachment member to the second attachment member.SR20320965061 vl

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