Method and system comprising robotic device for pre-treatment and / or coating of overhead power lines

Abstract

A system is provided including a robotic device configured to apply a coating to an overhead power line when deployed to the power line in use. The robotic device comprises a coating application subsystem and one or more applicators for performing coating operations. The robotic device also includes a plurality of wheels configured to engage the overhead power line to move the robotic device along the line for applying the coating thereto in use. The system further comprises an Unmanned Aerial Vehicle (UAV) configured to lift the robotic device. The UAV is operable to aerially transport the robotic device to an overhead power line and locate the robotic device relative to the power line during deployment of the robotic device to the power line in use. After deployment of the robotic device to the power line, the UAV separates from the robotic device and the wheels of the robotic device engage the power line to move the robotic device along the line for applying the pre-treatment and / or coating thereto. At least one applicator is deployed to the powerline for performing coating thereof.

Description

[0001] METHOD AND SYSTEM COMPRISING ROBOTIC DEVICE FOR PRE-TREATMENT AND / OR COATING OF OVERHEAD POWER LINES

[0002] The present invention relates a system comprising a robotic device for applying a pre-treatment and / or coating to an overhead power line and a method of using such a system to apply a pre-treatment and / or coating to an overhead power line. More specifically, the present invention relates to such systems and methods enabling the deployment of the robotic device to the overhead power line. The present invention is particularly, although not exclusively, concerned with systems and methods allowing the autonomous and / or remotely controlled deployment of the robotic device onto a power line for the coating and / or pre-treatment thereof.

[0003] Background of the Invention

[0004] Overhead power lines face significant degradation due to environmental exposure, which may lead to corrosion, noise issues, and frequent maintenance needs. There is also a need for increased transmission and distribution capacity in power networks. Rather than replacing conductors of overhead lines to address degradation or enhance capacity, a more cost and time effective solution has emerged involving applying a coating to the conductors to impart desired functionality, increase capacity and / or address any degradation which may have occurred.

[0005] Power line coating robots have emerged as a solution to increase capacity and apply a range of functional coatings to overhead power lines. However, at present there is a need to deploy these on to the line using human power. This has a number of drawbacks. For example, deploying robotic devices on to power lines typically involves using significant human involvement, such as tower climbing, which is slow, expensive and dangerous. This limits overall productivity. Most significantly, any operations carried out by humans in relation to power lines are inherently risky, involving performing operations at height and potential exposure to high-voltages. This limits the extent to which it is practical to deploy the robot devices to live power lines, since typically this would involve isolating and grounding the relevant stretch to enable human operators to work on the power line, resulting in undesirable power outages.

[0006] Thus, it has been recognised that a need exists for improved methods and systems for applying a pre-treatment and / or coating to an overhead power line using a robotic device which facilitate the deployment of the robotic device onto the power line, and in particular which may permit the autonomous and / or remotely controlled deployment of the robotic device onto an overhead power line for treating the power line.Summary of the Invention

[0007] In accordance with a first aspect of the invention there is provided a system comprising; a robotic device configured to pre-treat and / or apply a coating to an overhead power line when deployed to the power line in use;

[0008] the robotic device comprising a pre-treatment subsystem and / or a coating application subsystem,

[0009] the robotic device further comprising one or more applicators for performing pretreatment and / or coating operations in use and a plurality of wheels configured to engage the overhead power line to move the robotic device along the line for applying the pretreatment and / or coating thereto in use;

[0010] wherein the system further comprises an Unmanned Aerial Vehicle (UAV) configured to lift the robotic device;

[0011] wherein the UAV is operable to aerially transport the robotic device to an overhead power line and locate the robotic device relative to the power line during deployment of the robotic device to the power line in use, and wherein after deployment of the robotic device to the power line, the wheels of the robotic device engage the power line to move the robotic device along the line for applying the pre-treatment and / or coating thereto.

[0012] The present invention therefore broadly provides a system for use in the pretreatment and / or coating of an overhead power line. The system includes both a robotic device for performing the pre-treatment and / or coating and a UAV for use in deploying the robotic device to the power line. The UAV may or may not be present during the use of the robotic device to apply the pre-treatment and / or coating as discussed below.

[0013] In accordance with the invention, the system includes both a robotic device for applying a pre-treatment and / or coating to an overhead power line when deployed to the power line in use and an Unmanned Aerial Vehicle (UAV) configured to lift the robotic device.

[0014] The robotic device comprises one or more applicators for performing pre-treatment and / or coating operations in use, and a plurality of wheels configured to engage an overhead power line to move the robotic device along the line for applying the pre-treatment and / or coating thereto in use.

[0015] The UAV is operable to aerially transport the robotic device to the power line during deployment of the robotic device to the power line in use. After deployment of the robotic device to the power line, the wheels of the robotic device engage the power line to move the robotic device along the line for applying the pre-treatment and / or coating thereto.

[0016] The present invention extends to a method of using the system in accordance with any of its aspects or embodiments.In accordance with a further aspect of the invention there is provided a method of applying a pre-treatment and / or coating to an overhead power line using the system in accordance with any of the embodiments described herein, the method comprising;

[0017] deploying the robotic device to the overhead power line, wherein deploying the robotic device comprises aerially transporting the robotic device to the overhead power line and locating the robotic device relative to the overhead power line to be treated using the UAV;

[0018] and using the robotic device to apply a pre-treatment and / or coating to the overhead power line, wherein the wheels of the robotic device engage the overhead power line to move the robotic device along the line during application of the pre-treatment and / or coating thereto.

[0019] This further aspect of the invention may include any or all of the features described in relation to the first aspect and vice versa, to the extent that they are not mutually inconsistent. The system of the present invention may be configured to enable any feature described in respect of a method aspect of the invention to occur, and conversely the method may be in relation to a system including any of the features described in relation to the system aspects or involve performing any of the functions that are described in relation to the system.

[0020] Thus, in accordance with the invention in any of its aspects, a UAV is provided as part of the system for aerially transporting the device to a power line in use for deployment thereon. This addresses problems associated with conventional methods of deploying robotic devices to power lines for pre-treating or coating the lines which rely upon human power, and has a number of advantages.

[0021] The UAV is operable remotely and / or autonomously to aerially transport the robotic device to the power line in use and locate the robotic device relative to the power line for deployment thereon. The UAV may be operable to operate in either a remotely controlled or autonomous mode, or at least partially in both modes, depending upon the context. For example, the UAV may be controlled by a human operator at a base station, or may act autonomously in accordance with a pre-programmed deployment plan e.g. including a flight plan and target location at which to deploy the robotic device. It is envisaged that some operations may require remote control by a human operative while others may be performed autonomously.

[0022] An overhead power line referred to herein, and which the robotic device of the invention in any of its aspects or embodiments is configured to pre-treat and / or coat, comprises a set of one or more conductors. Thus, the robotic device is configured to pretreat and / or apply a coating to one or more conductors of the power line when deployed thereto in use. Each of the one or more applicators is operable to provide a pre-treatment or coating to one of the conductors. Where multiple applicators are present, differentapplicators may apply the pre-treatment or coating to the same conductor or to different ones of the conductors as described below. A particular applicator may be operable to apply a pre-treatment or coating to any one of a plurality of different ones of the conductors depending upon to which conductor it is deployed. Various exemplary embodiments are discussed below.

[0023] The wheels of the robotic device engage one or more of the conductors of the power line to move the robotic device along the line in use. The wheels may engage the same conductor or different ones of the conductors. The wheels may engage the same conductors with which the applicator(s) engage or different ones of the conductors.

[0024] Exemplary arrangements are described below.

[0025] A primary benefit of the UAV is an increase in productivity. It is not necessary for humans to climb towers to deploy the robotic coating devices, allowing greater throughput in terms of conductor coated per day. Additionally, the use of the UAV to transport the robotic device to the line enables pre-treatment and / or coating operations to be performed on a live power line, without requiring a power outage in order to install the robotic device on the line. This enables an uninterrupted electricity supply to be provided to customers and avoids revenue losses for utility companies. Any downtime of the power line may thus be eliminated. In contrast to manual deployment of a robotic device, there is no need to isolate and ground power lines, which can take several hours or days, resulting in greater efficiency. Greater lengths of power line may be treated at reduced cost. By avoiding the need for humans to perform operations to manually install the robotic device on the power line, risks associated with live line work are avoided. The UAV may operate autonomously or remotely under the control of a ground based human operative.

[0026] The system of the present invention is particularly (although not exclusively) applicable to the deployment of a robotic device to a live power lines for the pre-treatment or coating thereof. In some preferred embodiments the system is operable to deploy the robotic device to a live power line and the power line referred to in the system and method herein is a live power line. The robotic device in these embodiments is thus configured to pre-treat and / or coat a live overhead power line, and the UAV is operable to aerially transport the robotic device to the live power line in use. The method of the present invention advantageously involves applying a pre-treatment and / or coating to a live power line, with the UAV aerially transporting the robotic device to the live overhead powerline. Any reference to an overhead powerline therefore encompasses, and advantageously is, an overhead live powerline, unless the context demands otherwise.

[0027] Whether or not the system is used in relation to a live line, by avoiding the need for human operatives to participate in the deployment of the device on to the line, risks associated with work at a height may be avoided. The provision of the UAV avoids the need for human workers, associated with the physical installation of the robot, to be physicallypresent at the installation location. Any remote control performed may be done safely from the ground or a base station which may be some distance away.

[0028] The use of a UAV to transport the robotic device to a power line for deployment thereon may also provide greater productivity in comparison to the use of methods involving manual intervention. For example, a UAV can aerially transport a robotic device to a stretch of power line for treatment thereof within minutes, significantly reducing the time required in contrast to manual methods which may involve using heavy equipment, scaffolding or helicopters to deploy the device to the line. The use of UAV deployment enables any desired stretch of powerline to be treated in a cost and time efficient manner, and, for example, makes it possible to treat multiple relatively short stretches of line.

[0029] As the UAV aerially transports the robotic device to the power line it can readily negotiate any obstacles encountered en route to the power line e.g. trees, buildings, rivers, highways etc. Such obstacles may prove challenging and time consuming for manual teams or ground based equipment to negotiate. This is particularly advantageous since power lines are often located in remote regions which may be difficult to access over ground.

[0030] UAVs may also enable the deployment of the robotic device to a line with reduced environmental impact, both in terms of energy efficiency of the UAV in comparison to the use of helicopters and / or ground based vehicles and by avoiding the need to transport heavy machinery and other equipment through sensitive areas such as forests or wetlands.

[0031] The use of a UAV to deploy the robotic device also provides other advantages in terms of greater flexibility, precision and consistency in the application of the pre-treatment or coating. For example, a UAV may readily deploy the robotic device to a stretch of line for treatment and subsequently retrieve the robotic device and transfer it to another stretch or return it to a base station e.g. for maintenance, storage or set up for providing a different pre-treatment or coating to another stretch of line. Numerous possibilities can be envisaged which would not be practical or viable using conventional human power based deployment methods. The systems described herein using UAV deployment allow greater precision in the placement of the robotic device on to a power line, allowing for more accurate treatment of the line if only a particular section of the line needed treatment for example. The UAV may also remotely monitor the treatment process after deployment of the robotic device and provide feedback to operators enabling any adjustments to be made to the operation of the robotic device during the treatment process to ensure high quality results.

[0032] An overhead power line as referred to herein may be an overhead transmission or distribution line. The overhead power line may, for example, be a high voltage transmission line or low voltage distribution line. Thus the robotic devices of the systems or methods of the present invention in any of the aspects or embodiments described herein may be used to pre-treat and / or coat an overhead power line in the form of a transmission or distributionline. The system of the present invention may enable the treatment of transmission or distribution lines of any type according to need. The UAV may operate in the same manner to transport the robotic device to (or from) a transmission or distribution line, and the robotic device configured in the manner of any of the aspects or embodiments discussed herein may similarly treat either a transmission or distribution line of any type depending upon requirements.

[0033] An overhead power line referred to herein, and which the robotic device of the invention in any of its aspects or embodiments is configured to pre-treat and / or coat, comprises a set of one or more conductors. The set of one or more conductors may be a single conductor or may comprise a bundle of conductors i.e. a plurality of conductors. A bundle of conductors may include two, three, four or more conductors, such as from two to four conductors. For example, bundles may include two, three, four or higher numbers of conductors such as six. The bundle may include at least two, at least three or at least four conductors. Exemplary bundle arrangements include dual, triple, quad or hex bundle conductors. A bundle refers to a set of multiple conductors which are grouped together in the overhead power line. The set of conductors e.g. bundle of conductors may be in respect of a given phase of the power line. The line may comprise a plurality of such sets of one or more conductors e.g. bundles of conductors. A set of one or more conductors, optionally a bundle of multiple conductors, may be provided in respect of each phase of the power line.

[0034] The conductors within each bundle where present may be parallel to one another. The position of the conductors within a bundle are maintained relative to one another by features such as spacers. These provide mid-span obstacles to be negotiated as discussed herein.

[0035] The overhead power line may be a single or double circuit line. Each circuit may have three phases. Each phase e.g. arm of the power line, may then have a respective set of one or more conductors e.g. a bundle of multiple conductors.

[0036] In accordance with the system and method of the invention in any of its aspects or embodiments, the UAV may be configured to transport the robotic device from a base station to the power line during deployment thereof. The base station is located on the ground. The step of aerially transporting the robotic device to the power line during deployment thereto may comprise the UAV transporting the robotic device from a base station to the power line. At other times the UAV may transport the robotic device from a stretch of line which has previously been pre-treated and / or coated by the device to a new stretch of line for pre-treatment or coating without returning to a base station. The UAV is operable to lift the robotic device enabling it to be transport the robotic device through the air from a given origin to the stretch of line on which it is to be deployed.

[0037] Once deployed to the line, the wheels of the robotic device engage the power line to move the robotic device along the line for applying the pre-treatment and / or coating thereto.The wheels of the robotic device are configured to support the weight of the robotic device once deployed to the line. The system is thus configured such that the wheels may support the weight of the robotic device as it moves along the line without assistance from the UAV. A benefit of this is that the robotic device, when containing coating or pre-treating liquid represents a substantial payload (which may be up to 75kg). Such substantial payloads are significant for UAVs to sustain, if the primary means of translating the robotic device along the line was the UAV. In accordance with the invention, the payload is transferred to the mechanical structure of the robotic device, extending the battery life of the system. The systems of the present invention in which wheels of the robotic device engage the power line to move the robotic device along the line are thus in contrast to those of US 10,186,348 (General Cable Technologies Corporation) in which a UAV is itself adapted to clamp on to and coat a power line conductors, so as to provide a coating as it flies along the power line using its rotors.

[0038] In accordance with the invention the robotic device is configured to traverse the line autonomously and / or under remote control once deployed thereto. The robotic device may be operable to operate in either a remotely controlled or autonomous mode, or at least partially in both modes, depending upon the context. For example, the robotic device may be controlled by a human operator at a base station, or may act autonomously in accordance with a pre-programmed treatment plan. Whether the robotic device operates autonomously or under remote control may depend upon a particular task being performed or particular conditions of operation. In some cases it may be desirable for a human operator to assist in remotely controlling the robotic device. However, the robotic device is preferably configured to operate autonomously at least in some situations. For example, it may be desirable that processes involved in negotiating mid-span obstacles as discussed below are performed autonomously.

[0039] After deployment to the line, the robotic device is able to traverse the power line under its own power in use for applying the pre-treatment and / or coating thereto with the wheels engaging the power line to move the robotic device therealong. The robotic device propels itself along the line. The robotic device operates in this manner in the methods of the present invention.

[0040] The wheels form part of a propulsion system of the robotic device for moving the device along the line. The propulsion system may further comprise a power supply and at least one motor for driving the wheels along the power line in use. The power supply typically comprises a set of one or more batteries. The wheels of the robotic device are preferably each drive wheels.

[0041] The robotic device is thus able to traverse the power line for applying the pretreatment and / or coating thereto without receiving power from the UAV or being propelled thereby. The robotic device is configured to propel itself along the line without assistancefrom the UAV. In other words, the robotic device is operable to move along the line for applying the pre-treatment and / or coating thereto in use independently of the UAV. The robotic device traverses the power line in this way in the method aspects of the invention described herein. The robotic device is capable of being operated in such a way whether or not it is releasably attached to the UAV as discussed below.

[0042] This has the advantage that the UAV need only be used to deploy the robotic device to the power line initially, reducing the flight time required for the UAV and accordingly the demands placed on the battery. The UAV may be made more lightweight and energy efficient since a lower capacity battery may be used. Furthermore, by avoiding the need to use the UAV during the pre-treatment and / or coating process itself, greater flexibility is provided and greater lengths of line may potentially treated, as this is not limited by the battery life of the UAV (which will already have had to power the flight to the power line). While it is envisaged that the UAV might provide feedback relating to the coating or pre-treatment process (e.g. based on sensed data such as from sensor or vision systems thereof), whether directly to the robotic device or via a base station or other controller, for example, the UAV does not assist directly in the performance of the coating or pre-treatment process i.e. the movement of the robotic device along the line or the application of the coating or pre-treatment to the line.

[0043] The UAV and robotic device each comprise their own respective propulsion systems. The UAV propulsion system is operable to move the UAV together with the robotic device through the air for aerially transporting the robotic device to the power line in use. The UAV propulsion system comprises a power source e.g. a set of one or more batteries, a motor and a set of rotors or propellers. The UAV may typically use rotors, which may allow for more precise manoeuvrability of the robotic device onto the power line.

[0044] However, fixed wing UAVs using propellers may alternatively be used any may provide advantages in terms of flight range. The most appropriate form will depend upon a particular context.

[0045] In some embodiments, as discussed below, the UAV is operable to detach from the robotic device once the robotic device is deployed to the line for applying the pre-treatment and / or coating thereto. However, it is envisaged that in some cases the UAV may, even where separable from the robotic device, remain attached thereto after deployment of the device to the line for applying the pre-treatment and / or coating thereto. This may be the case where only a short stretch of line is to be treated, for example. In such cases, or where the robotic device is not separable from the UAV, the robotic device is still configured to be able to traverse the power line under its own power (even with the UAV attached thereto). This may preserve the life of a power source e.g. battery of the UAV. The benefit of the optional detachment of the UAV from the robotic device is that it allows an optimal configuration for a particular context to be determined based on a particular context e.g. thesection being treated. For example, when deploying multiple robotic devices across a number of long stretches of power line, it would be most efficient to have one UAV deploy multiple robotic devices. Conversely, targeted sections on smaller sections of line may not warrant the additional time of detachment of the UAV and returning to ground. Critically however, in both cases, whether or not the UAV remains attached to the robotic device, as the payload is transferred to the overhead line / robotic device, the battery life of the UAV is preserved even where the UAV remains attached to the robotic device during treatment of the line.

[0046] It is envisaged that during transport of the robotic device by the UAV, the UAV may be configured to temporarily provide power to the robotic device, with the robotic device then performing function at least partially using power from the UAV. However, once deployed to the line for applying the pre-treatment and / or coating thereto in use, the robotic device preferably does not receive power from the UAV, and, in preferred embodiments, is separated therefrom.

[0047] The features of the robotic device are described in more detail below, with reference to exemplary embodiments. In general, the wheels of the robotic device are configured to ride on top of the line. Preferably the robotic device does not include any wheels located below the line. The wheels may comprise first and second wheels spaced apart and located one behind the other along a longitudinal direction of the robotic device.

[0048] The robotic device may comprise a chassis comprising a T-shape portion suspending a main body of the robotic device below the wheels thereof, wherein the main body comprises one or more fluid tanks for holding fluid for use in pre-treatment and / or coating of the line.

[0049] The T-shaped connector may define a stem and a top bar, the wheels being mounted to the top bar and the main body of the device being mounted to a bottom of the stem of the connector. The top bar may define arms on either side of the stem, wherein the first and second wheels are mounted to respective ones of the arms. Where the wheels comprise first and second wheels spaced apart and located one behind the other along a longitudinal direction of the robotic device, the first and second wheels may be mounted to respective ones of the arms. The robotic device need not be of such a construction.

[0050] However, such features of exemplary embodiments are discussed to facilitate understanding of the following.

[0051] It is envisaged that the UAV may be integral with the robotic device such that the UAV and robotic device are not separable from one another in use. In such embodiments the UAV remains attached to the robotic device at all times, during and after deployment to the line.

[0052] In some embodiments the system is configured such that the robotic device is releasably attached to the UAV during transport to the overhead power line, and whereinonce the robotic device is deployed to the power line, the UAV may (fully) separate from the robotic device to allow the robotic device to traverse the power line alone for applying the pre-treatment and / or coating thereto in use. The UAV and robotic device are thus separable and independently operable in such embodiments. The method may comprise the UAV separating from the robotic device once the robotic device has been deployed to the power line leaving the robotic device to traverse the power line alone for applying the pre-treatment and / or coating thereto.

[0053] In these embodiments in which the robotic device is releasably attached to the UAV during transport to the line, the system comprises a releasable attachment arrangement for releasably attaching the UAV and the robotic device to one another during deployment of the robotic device, wherein the releasable attachment arrangement is configured to securely connect the UAV to the robotic device during transport of the robotic device by the UAV while enabling the UAV to separate from the robotic device once deployed to the power line leaving the robotic device to traverse the power line alone for applying the pre-treatment and / or coating thereto. The releasable attachment arrangement comprises one or more attachment devices for releasably engaging one or more portions of the robotic device.

[0054] The releasable attachment arrangement is operable to release the robotic device once deployed on to the line by the UAV. The releasable attachment arrangement may be configured to release in response to a determination being made that the robotic device has been appropriately deployed on to the line. The releasable attachment arrangement may be operable to release the robotic device under the control of a payload mechanism of the system of which the releasable attachment arrangement forms part.

[0055] The releasable attachment arrangement is operable to transition in either direction between configurations for releasing and securely retaining the robotic device. In this way, the releasable attachment arrangement is operable to form a secure attachment to the robotic device when the UAV is operating to lift the robotic device at the start of deployment or during a retrieval operation or adjustment of its position. Each releasable attachment device of the releasable attachment arrangement is operable to transition in either direction between configurations for releasing and securely retaining the robotic device.

[0056] The releasable attachment arrangement provides a mechanical connection to the robotic device.

[0057] The releasable attachment arrangement may be of any suitable configuration capable of securely retaining the robotic device during transport thereof by the UAV while allowing the UAV to release the robotic device once deployed to the line.

[0058] The releasable attachment arrangement comprises at least a portion mounted to the UAV and configured to engage with one or more portions of the robotic device to provide a releasable attachment thereto in use. The portion of the releasable attachment arrangement mounted to the UAV may engage with a portion of the releasable attachmentarrangement mounted to the robotic device i.e. a dedicated connecting portion such as a hook and / or with a part or parts of the robotic device not specifically provided for the purpose of connecting to the UAV. Thus, the robotic device may not necessarily be specifically adapted for connection to the releasable attachment arrangement portion mounted to the UAV. In such arrangements the releasable attachment arrangement may include only a portion associated with the UAV.

[0059] The portion of the releasable attachment arrangement mounted to the UAV may comprise one or more attachment devices for releasably engaging one or more portions the robotic device. For example the one or more attachment devices may comprise one or more grippers arranged to releasably grip one or more portions of the robotic device in use and / or one or more clamps arranged to releasably clamp around one or more portions of the robotic device in use.

[0060] The releasable attachment devices may be configured to transition between configurations for releasing and engaging the robotic device in any suitable manner e.g. by a pneumatic or motorized actuation system. Any suitable system which enables a quick release of the robotic device once deemed appropriate may be used.

[0061] The releasable attachment arrangement may be configured to suspend the robotic device below a main body of the UAV in use.

[0062] The portion of the releasable attachment arrangement mounted to the UAV is mounted at a proximal end thereof to the UAV. This mounting securely attaches or anchors the portion of the releasable attachment arrangement to the UAV. The mounting to the UAV may be via a stabilization subsystem of a robotic device deployment subsystem of the system which comprises the payload mechanism of the UAV as discussed below. The portion of the releasable attachment arrangement mounted to the UAV extends downwardly therefrom.

[0063] At least a part of the portion of the releasable attachment arrangement mounted to the UAV may be extendable and retractable in use (relative to the UAV) to vary the length of the connector and enable adjustment of a vertical position of one or more attachment devices thereof relative to the UAV. Alternatively or additionally, a horizontal position of the one or more attachment devices may be adjustable in use (i.e. relative to a reference point of the portion of the releasable attachment arrangement mounted to the UAV e.g. a connector or connecting arm thereof). This may allow the attachment device(s) to be suitably brought into contact with a cooperating portion of the robotic device. Providing attachment devices whose vertical and / or horizontal position is adjustable may facilitate attachment of the UAV to different types and / or dimensions of robotic device, and / or may assist in obtaining a secure attachment even where there may be variation in a position of the UAV relative to the robotic device e.g. due to wind effects.The releasable attachment arrangement may comprise a locating arrangement, such as one or more locating arms for locating the attachment arrangement relative to the robotic device prior to bringing the one or more attachment devices into engagement with the one or more portions of the robotic device.

[0064] The releasable attachment arrangement may comprise at least one connector mounted to the UAV and extending downwardly therefrom and one or more releasable attachment devices associated with the connector for releasably engaging the robotic device. The connector extends downwardly from a main body of the UAV. The connector may be a connecting arm. A single arm may be provided, or multiple connecting arms. Where multiple connecting arms are provided the connecting arms may form part of a frame extending downwardly from the UAV. The one or more releasable attachment devices may comprise one or more grippers and / or one or more clamps as mentioned above. Each of the one or more releasable attachment devices may be defined by one or more releasable attachment members e.g. fingers or clamping members. For example a gripper may comprise a pair of fingers, or a clamp a pair of clamping members. A releasable attachment member may be associated in any suitable manner with the connector e.g. being mounted directly or indirectly thereto.

[0065] The connector may be extendable and retractable relative to the UAV to vary the length of the connector in order to adjust a vertical position of at least some of the one or more releasable attachment devices. Alternatively or additionally a horizontal position of at least some of the releasable attachment devices may be adjustable relative to the connector. This may allow the attachment device(s) to be suitably brought into contact with a cooperating portion of the robotic device or of the attachment arrangement disposed thereon. For example, where a clamp is provided, the clamping members may be independently movable in a horizontal direction to adjust the horizontal position of the clamp.

[0066] In one exemplary arrangement the connector comprises a connecting arm mounted to the UAV at a proximal end thereof and extending downwardly from the UAV, and a releasable attachment device comprising a gripper at a distal end of the connecting arm which engages with a corresponding portion of the releasable attachment arrangement provided on the robotic device, for example a hook, to provide the releasable attachment between the UAV and the robotic device. The corresponding portion of the attachment arrangement e.g. hook is provided on an upper side of the robotic device.

[0067] The connecting arm may be extendable and retractable to vary a length of the connecting arm in order to adjust a vertical position of the gripper for bringing it into contact with the corresponding portion of the attachment arrangement in use e.g. by means of a slider. The connector may be configured such that transformation of the gripper from aclosed configuration to an open configuration occurs automatically on extension of the arm for receiving the corresponding portion of the releasable attachment arrangement provided on the robotic device and conversely transformation of the gripper from the open configuration to the closed configuration occurs automatically on retraction of the arm for providing a secure connection to the robotic device.

[0068] In another exemplary arrangement a pair of connectors extend downwardly from the UAV with a shelf extending between the connectors at a distal end thereof, the releasable attachment arrangement comprising a set of one or more clamps for clamping the robotic device securely onto the shelf. Each clamp may be defined by a pair of clamping members. A position of each of the clamps may be adjustable in vertical and / or horizontal directions. This may be achieved through movement of one or both of the clamping members of a clamp in the appropriate direction(s). In some embodiments the robotic device comprises a chassis comprising a T-shape portion suspending a main body of the robotic device below the wheels thereof, wherein the main body comprises one or more fluid tanks for holding fluid for use in pre-treatment and / or coating of the line, and the set of one or more clamps are configured to clamp the main body of the robotic device securely onto the shelf. At least one of the one or more clamps may be configured to clamp around the bar of the T-shape connector.

[0069] In accordance with the invention in any of the embodiments, whether or not the UAV is releasably attachable to the robotic device, the robotic device provides a payload of the UAV. The releasable attachment arrangement (or at least a portion thereof mounted to the UAV) where provided, may be provided as part of a payload mechanism of the UAV for deploying the robotic device.

[0070] A payload mechanism comprising the releasable attachment arrangement may be integrally formed with the UAV or may be provided as a modular attachment. The latter arrangement may allow the payload mechanism specifically adapted for use in deploying a robotic device to a power line as described herein to be retrofitted to a UAV, or to allow replacement of the payload mechanism to enable operation of the UAV with different robotic devices.

[0071] The payload mechanism in any of the embodiments described herein (and / or the releasable attachment arrangement) may generally form part of a robotic device deployment subsystem of the system for supporting deployment of the robotic device using the UAV. The robotic device deployment subsystem refers to any functionality or features implemented by the robotic device and / or UAV which supports deployment of the robotic device by the UAV e.g. through the air and / or on to the line. Thus a landing subsystem may form part of this deployment subsystem including features implemented by either or both of the UAV and robotic device. The payload mechanism will relate to features of the UAV forming part of the deployment subsystem. The robotic device deployment subsystem willalso comprise a part of the releasable attachment arrangement provided on the robotic device where this is the case.

[0072] The robotic device deployment subsystem is adapted to support the deployment of the robotic device using the UAV. The robotic device deployment subsystem comprises the releasable attachment arrangement and may comprise other features to support deployment of the robotic device both during transport of the robotic device to the line and deployment on to the line. The robotic device deployment subsystem provides an interface between the UAV and robotic device. The interface includes a mechanical interface provided by the releasable attachment arrangement and also may provide a communication and control interface between the UAV and robotic device. The robotic device deployment subsystem therefore includes both structural and functional features and may include both mechanical and electrical components. The robotic device deployment subsystem may be implemented at least partially using software.

[0073] The robotic device deployment subsystem may comprise any one or ones of the following subsystems.

[0074] The robotic device deployment subsystem may comprise a payload mechanism comprising a releasable attachment arrangement as previously described.

[0075] The robotic device deployment subsystem may comprise a stabilization subsystem to stabilize the robotic device relative to the UAV during deployment thereof by the UAV. This is provided by the UAV. This may stabilize the robotic device against UAV movements caused by wind or turbulence for example. The stabilization subsystem may stabilize the robotic device relative to the UAV during transport of the robotic device by the UAV through the air and during lowering on to the line.

[0076] The stabilization subsystem may be located between an underside of the UAV and a portion of the releasable attachment arrangement mounted to the UAV for releasably attaching to the robotic device. The stabilization subsystem may be configured to provide variable rigidity in the connection between the connector and UAV in order to stabilize the robotic device.

[0077] The stabilization subsystem may comprise one or more of a gimbal mechanism, such as a multi-axis gimbal, a set of adjustable counterweights and a locking mechanism. A gimbal mechanism may stabilize the robot against UAV movements caused e.g. by wind and turbulence, and may ensure alignment with the line during deployment onto the line. The gimbal system may be left free to move or locked by a locking mechanism to provide a rigid connection between the UAV and robotic device. An adjustable counterweight system may provide balancing of the payload to maintain stability and efficiency of the UAV during transport of the robotic device. A locking mechanism may be operable to lock the robotic device in a fixed position relative to the robot. It will be appreciated that under someconditions and / or during certain manoeuvres of the UAV e.g. high speed manoeuvres it may be desirable to lock the robotic device in a fixed position relative to the robot.

[0078] The robotic device deployment subsystem may comprise a communications subsystem to enable communication between the UAV and robotic device during deployment of the robotic device by the UAV. Such communications may take place over a wired or wireless interface.

[0079] The robotic device deployment subsystem may comprise a deployment monitoring subsystem for monitoring the deployment process. This may be provided by the UAV. The deployment monitoring subsystem may comprise a set of one or more sensors. The deployment monitoring subsystem may be configured to provide feedback relating to the deployment process for use in controlling the deployment process. Such feedback may be provided to other subsystems of the UAV and / or robotic device and / or to a base station.

[0080] The robotic device deployment subsystem may further comprise a landing subsystem for supporting landing of the robotic device on to the line. The landing subsystem may include structural features and / or functionality to allow precise and safe landing of the robotic device on the line. The landing subsystem may control aspects of the landing of the robotic device in as it is lowered on to the line and makes contact therewith.

[0081] The landing subsystem may comprise a vision system of the UAV for supporting precise positioning of the robotic device relative to the power line.

[0082] Optionally the robotic device may comprise one or more extendable landing probes to guide the robotic device as it is lowered on to the power line by the UAV and / or a locking arrangement to lock the robotic device onto the line (e.g. on to a conductor or conductors thereof) once brought into contact therewith by the UAV. Such a locking arrangement may utilise a mechanical latching arrangement, which may be passive or actively actuated, or a magnetic latching arrangement. This may provide a part of a landing subsystem associated with the robotic device. One example of a locking arrangement is discussed below, and involves providing a latching arrangement associated with an end effector of a robotic manipulator which also comprises an applicator of the device.

[0083] The UAV is configured to aerially transport the robotic device to the power line and locate the robotic device relative to the power line for deployment thereon. The UAV may be configured to precisely locate the robotic device relative to the power line.

[0084] The UAV may be configured to lower the robotic device on to the power line once located relative thereto until the wheels of the device are securely engaged on the line. The line will then support the weight of the robotic device enabling the UAV to detach from the robotic device in embodiments in which the UAV is separable from the robotic device. The system may be configured such that the UAV may only separate from the robotic device once it has been determined that the wheels of the robotic device have engaged securely with the line with the line supporting the weight of the robotic device. A determination thatthe wheels are engaged appropriately with the line may be made in any suitable manner e.g. using a set of sensors including one or more sensors that are configured to determine when the payload provided by the robotic device has been fully transferred from the UAV to the line, optionally in combination with data from a set of cameras of the UAV.

[0085] The releasable attachment arrangement, where provided, may be operable to release the robotic device only once it has been deployed on to the line by the UAV with the wheels of the robotic device securely engaged with the line. This may be achieved under the action of a robotic device deployment subsystem e.g. of a payload mechanism thereof as discussed above. There may also be other conditions placed on when the robotic device may be released. For example, it may be required that at least one applicator has been deployed and / or locked on to a conductor of the line. However, the provision of a locking arrangement to lock the robotic device to the line is only optional. As, in embodiments of the invention, the centre of mass of the robotic device will be below the power line, it is sufficient for the robotic device to be located on the line with the wheels taking its weight in order for the UAV to detach from the robotic device.

[0086] In accordance with the invention in any of its aspects or embodiments the robotic device is configured to pre-treat and / or apply a coating to the overhead power line when deployed to the power line in use. This means that the robotic device is configured to apply the pre-treatment and / or coating to one or more of the set of one or more conductors of the line. The robotic device will provide the pre-treatment and / or coating to a stretch of the line. The robotic device thus comprises a pre-treatment subsystem and / or coating subsystem for performing the applicable functions in relation to the power line. This subsystem may include any mechanical and / or electrical components involved in enabling the applicable function to be performed. Certain components may form part of both pre-treatment and coating subsystems where provided.

[0087] The robotic device may be configured to perform only one of pre-treating and coating a power line, and thus may comprise only one of a pre-treatment subsystem and a coating application subsystem, or may be configured to perform both pre-treatment and coating of a power line, and accordingly comprise both pre-treatment and coating application subsystems. Preferably the robotic device is configured to perform at least a coating of a power line, and thus preferably comprises at least a coating application subsystem. Where the robotic device is configured to provide only one of pre-treatment and coating of a line, it is envisaged configured to pre-treat the line (i.e. comprising a pretreatment subsystem) may be run along the line to apply a pre-treatment to the line with another robotic device in accordance with the invention configured to apply a coating to the line (i.e. comprising a coating application subsystem) then being run along the line to coat the line. Where a robotic device is configured to provide both pre-treatment and coating of a line (i.e. comprises both pre-treatment and coating application subsystems), the roboticdevice may be run along the line to provide both pre-treatment and subsequently coating to line i.e. in a single pass, or may be passed along the line to first provide pre-treatment and then subsequently run along the line again to provide coating to the line.

[0088] A range of different types of pre-treatment or coating may be applied depending upon the particular context and / or properties to be imparted to the line.

[0089] It will be appreciated that application of a pre-treatment may or may not involve the application of material to the line. The application of a pre-treatment includes, for example, abrading a conductor of the line, or other processes which do not necessarily involve application of material to the line. An applicator for providing a pre-treatment may therefore not necessarily apply material to the line, but may be configured e.g. to apply a treatment such as abrasion to the line.

[0090] The pre-treatment of the line may comprise cleaning at least a portion of one or more conductors of the line. The pre-treatment subsystem may be configured to prepare the surface of at least a portion of one or more conductors of the set of one or more conductors of the line for receiving a coating.

[0091] Preferably, where the robotic device is configured to pre-treat the line the robotic device comprises a pre-treatment subsystem configured to mechanically abrade and / or chemically treat the line i.e. at least a portion of one or more conductors of the line.

[0092] The robotic device comprises one or more applicators for performing pre-treatment and / or coating operations in use. Each applicator may be configured to apply a pretreatment or coating to one of the set of conductors of the line, and may be configured to engage with one of the set of one or more conductors of the line in use to apply the pretreatment or coating thereto. The pre-treating and / or coating functionality may be provided using suitable end effector(s) of the robotic device. Each applicator for performing pretreatment and / or coating operations may therefore be an end effector of the robotic device. Various optional features relating to the applicator(s) will be discussed herein. Each of the one or more applicators may be of any of the constructions described. Additional applicators of different construction may or may not be provided.

[0093] The applicator(s) may be provided as a modular attachment to the robotic device. This will enable the applicator to be removed and replaced with another applicator as required for a particular task. For example, the applicator may be a modular end effector which may be selectively removed from and attached to the robotic device e.g. to a distal end of a manipulator thereof or otherwise coupled to a chassis of the device, so as to set up the robotic device for a particular operation. A first stage of the deployment may involve selecting and attaching appropriate applicator(s) to the robotic device for use in the intended pre-treatment and / or coating operation. This may occur at a base station.

[0094] The applicator(s) e.g. end effector(s) form part of the coating application subsystem and / or pre-treating subsystem as appropriate. The applicator(s) for performing pre-treatment form part of the pre-treatment subsystem and the applicator(s) for performing coating form part of the coating application subsystem. For each of whichever of the coating and / or pre-treating subsystem is present, a respective set of one or more applicators) may be provided.

[0095] The robotic device therefore may comprise a set of one or more applicators for performing pre-treating and / or a set of one or more applicators for performing coating operations. Where the set of one or more conductors of the line comprises a plurality of conductors i.e. a bundle, providing a plurality of the applicators for providing pre-treatment and / or a plurality of applicators for providing coating enables different applicators to engage with different respective conductors of the set i.e. bundle to enable simultaneous pretreating and / or coating of multiple conductors of the set. This enables the multiple conductors to be treated in a single pass.

[0096] The robotic device may comprise a set of a plurality of applicators configured to provide simultaneous pre-treatment and / or coating of multiple conductors of the power line in a single pass. The method may comprise operating the robotic device such that the plurality of applicators provide simultaneous pre-treatment and / or coating of multiple conductors of the power line, for example in a single pass.

[0097] The device may therefore comprise a set of a plurality of applicators for performing pre-treating and / or a set of a plurality of applicators for performing coating operations, wherein, when the line comprises a set of multiple conductors (i.e. a bundle of conductors), different applicators of each set of applicators may engage with different respective conductors of the set of conductors to enable simultaneous pre-treating and / or coating of multiple conductors of the set of multiple conductors. In preferred embodiments the robotic device thus comprises a set of a plurality of applicators for performing pre-treating and / or a set of a plurality of applicators for performing coating operations, wherein different applicators of each set of applicators may engage with different respective conductors of the conductors of a power line comprising multiple conductors and are operable to provide simultaneous pre-treating and / or coating of multiple conductors of the set of multiple conductors, for example in a single pass.

[0098] It will be appreciated that multiple applicators may alternatively or additionally be provided for treating the same conductor of the set of one or more conductors (whether or not the set comprises multiple conductors e.g. a bundle) e.g. to provide different types of pre-treatment and / or coating thereto, or to provide more complete application of the pretreatment and / or coating. The robotic device may comprise a set of one or more applicators for providing a pre-treatment to the line and a set of one or more applicators for providing a coating to the line, wherein applicators from each set of applicators are configured to treat the same conductor of the line. For example, the set of one or more applicators for providing a pre-treatment may be located forward of a set of applicator(s) for providing acoating in a direction of travel of the robotic device in order to allow first pre-treatment and then coating of the same conductor(s). The applicators may be configured to simultaneously treat the same conductor, for example in a single pass.

[0099] The applicator(s) in respect of a coating or pre-treating subsystem should be of the appropriate type to apply the intended coating or pre-treatment, and should be located appropriately to provide the coating or pre-treatment. Exemplary positions of applicators) for providing coating or pre-treatment are described below.

[0100] Where the robotic device comprises a pre-treatment subsystem, the one or more applicators may comprise a set of one or more applicators configured to apply pre-treatment in the form of one of more of; surface preparation, cleaning, mechanical abrasion, and chemical treatment to one or more conductors of the set of one or more conductors of the line. For example, an applicator e.g. end effector for applying mechanical abrasion may comprise brushes for abrading the line. Different applicators may be provided for providing the mechanical abrasion and chemical treatment.

[0101] Each applicator in respect of a coating application subsystem may be configured to coat its respective conductor by applying a fluid thereto.

[0102] At least one, and optionally each of the one or more applicators may be configured to pre-treat or coat (as appropriate) its respective conductor by applying a fluid thereto by a contact-based method. Preferably where a coating application subsystem is provided, each applicator for providing a coating is configured to coat its respective conductor by applying fluid thereto by a contact-based method. Each applicator (whether of the pre-treatment or coating application subsystem) configured to coat or pre-treat a conductor by applying fluid thereto is preferably configured to do so in this manner e.g. each applicator of the coating application subsystem preferably is configured to coat a conductor in this way. The contactbased method may be selected from; brushing, rolling, dip coating, fluid jetting, flow coating, fluid deposition and doctoring, electrostatic coating, slot die coating (and equivalent practices), annular die coating, extruding and combinations thereof. It has been found that such methods may provide more control to the pre-treatment or coating application process in comparison e.g. to spraying of material onto the conductor. Where the coating system comprises applicator(s) configured to coat conductors by application of fluid thereto in a contact-based method, the pre-treatment system, where present, may or may not include applicators configured to provide a pre-treatment to respective conductor(s) in this manner.

[0103] In accordance with the invention at least one of the one or more applicators may be configured to pre-treat or coat a conductor of the line by applying fluid thereto in a contact based method and / or at least one of the one or more applicators may be configured to apply pre-treatment to a conductor of the line in the form of one of more of; surface preparation, cleaning, mechanical abrasion, and chemical treatment.The pre-treatment subsystem may be configured to pre-treat one or more conductors of the set of one or more conductors of the overhead power line in a single pass, further optionally wherein the set of one or more conductors comprises multiple conductors and the pre-treatment application subsystem is configured to pre-treat multiple conductors of the set of conductors of the line simultaneously in a single pass. In some embodiments the pre-treatment subsystem may be configured to pre-treat each conductor of the set of one or more conductors of the overhead power line simultaneously in a single pass.

[0104] The coating application subsystem may be configured to coat one or more conductors of the set of one or more conductors of the overhead power line in a single pass. The set of one or more conductors of the line may comprise multiple conductors and the coating application subsystem is preferably configured to coat multiple conductors of the set of conductors of the line simultaneously in a single pass. In some embodiments the coating application subsystem may be configured to coat each conductor present in the set of one or more conductors of the overhead power line simultaneously in a single pass.

[0105] The ability to pre-treat and / or coat multiple conductors (e.g. of the set of conductors of the line) simultaneously in a single pass may be achieved by providing multiple applicators for performing each of pre-treatment and / or coating operations, wherein different ones of the applicators are configured to engage with different respective ones of a plurality of conductors (of the set of conductors) of the line to apply a pre-treatment or coating thereto. For example, at least one applicator may be provided in respect of each conductor of a plurality of conductors (or of each one) of the set of conductors of the line. A single applicator may be provided for each conductor or multiple applicators may be provided in respect of a given conductor e.g. to impart different types of pre-treatment or coating thereto.

[0106] In general, the pre-treatment subsystem may be configured to pre-treat (e.g. clean) one or more conductors of the overhead power line in a single pass, further optionally wherein the line comprises multiple conductors and the pre-treatment application subsystem is configured to pre-treat (e.g. clean) multiple conductors of the line, such as simultaneously in a single pass. In some embodiments the pre-treatment subsystem may be configured to pre-treat (e.g. clean) each conductor of one or more conductors present in the overhead power line simultaneously in a single pass.

[0107] The coating application subsystem may be configured to coat one or more conductors of the overhead power line in a single pass, optionally wherein the line comprises multiple conductors and the coating application subsystem is configured to coat multiple conductors of the line, such as simultaneously in a single pass. In some embodiments the coating application subsystem may be configured to pre-treat (e.g. clean) each conductor of one or more conductors present in the overhead power line simultaneously in a single pass.In accordance with the invention in any of its embodiments, each of the one or more applicators for performing pre-treatment and / or coating operations is preferably configured to engage with one of a set of one or more conductors of the line to apply the pre-treatment or coating thereto. The applicator engages around the respective conductor. As discussed above, different applicators may engage with different parts of the same conductor or with different ones of the conductors where multiple conductors are present in the set of one or more conductors.

[0108] Where present, the pre-treatment subsystem (e.g. the set of one or more applicators for providing pre-treatment) may be configured to provide complete circumferential coverage of the pre-treatment in respect of the conductor(s) to which pretreatment is provided. Where present, the coating application subsystem (e.g. the set of one or more applicators for providing coating) may be configured to provide complete circumferential coverage of the coating in respect of the conductor(s) to which coating is provided. Any suitable arrangement may be used to provide complete circumferential coverage of the pre-treatment or coating.

[0109] The following (which may refer to “the applicator”) applies to the, at least one, some or each of the one or more applicators of the robotic device for performing pre-treatment and / or coating operations. As stated above additional applicators may or may not be present e.g. in some cases each applicator present may be of the same construction in accordance with the embodiments defined herein.

[0110] Preferably the robotic device comprises at least a coating application subsystem comprising one or more applicators for coating the line having any one or ones of the following features. However, unless the context demands otherwise, the features below are also applicable to the applicator(s) of a pre-treatment subsystem.

[0111] The applicator is preferably configured to circumferentially surround the conductor when engaged around the conductor for applying the coating or pre-treatment thereto. At least one, or preferably each applicator of the one or more applicators may be configured in this way. Preferably the applicator is configured to fully circumferentially surround the conductor when engaged around the conductor for applying the coating or pre-treatment thereto.

[0112] Where an applicator is configured to provide a pre-treatment or coating application by applying fluid to a conductor of the line, the applicator may be configured to provide a fluid tight seal with the conductor of the line.

[0113] The deployment of the robotic device to the power line involves the aerial transport of the device to the power line and its location relative thereto by the UAV. The deployment may involve other actions required to place the robotic device in a state ready to use e.g. the deployment of at least one applicator. Such actions may be performed under the control of the UAV and / or robotic device, or may otherwise be remotely controlled. In any event,deployment of the robotic device i.e. placing it in a state ready for use on the power line, may be achieved autonomously or remotely.

[0114] While one aspect of the deployment of the robotic device to the power line relates to locating the device with respect to the power line and engaging the wheels of the robotic device with the power line ready to traverse the line, another aspect relates to the deployment of at least one applicator, (which may include a deploying of one or more, at least one, a plurality of or each applicator), of the robotic device to place the applicator(s) in a state ready to apply the pre-treatment or coating to the line.

[0115] The deployment of an applicator may occur in parallel with deployment of the robotic device onto the line e.g. during lowering of the robotic device on to the line so that the wheels are supported by the line, or may occur subsequently to the robotic device being engaged with the line. The system may be configured such that pre-treatment or coating of the line may not commence until it is determined that at least one applicator is in a deployed state. This may ensure that the device has been properly located with respect to the power line by the UAV prior to commencing pre-treatment or coating operations.

[0116] Where the UAV is separable from the robotic device, the system may be configured such that separation may only occur once it is determined that at least one applicator is in a deployed state or may commence once it is determined that the wheels are engaged with the line, if earlier. In some embodiments it is envisaged that the UAV may separate from a robotic device once the wheels are engaged with the line and before or while the applicator(s) thereof are placed into a deployed state e.g. to engage conductors of the line. As mentioned above, as the centre of mass of the robotic device will be below the line, in embodiments of the invention, it is possible for the UAV to release the robotic device without the applicators or any locking arrangement of the robotic device being locked on to the line.

[0117] Depending upon the configuration of an applicator and the manner in which it is coupled to the robotic device, deployment of an applicator may involve various steps, for example involving transitioning the applicator between installation and deployed states as discussed below e.g. between open and closed configurations, and / or transitioning of the applicator from a retracted state to an extended state for engagement with the line.

[0118] Whatever is involved in deployment, in accordance with the invention deployment of the at least one, and optionally a plurality of or each, applicator, is preferably performed autonomously and / or under remote control. Each applicator of the one or more applicators of the robotic device may be selectively deployable into a deployed state i.e. in relation to a conductor of the line under autonomous and / or remote control. Each applicator is selectively movable into and out of a deployed state relative to the line under autonomous and / or remote control. For example, a remote operator may issue a command to deploy the applicators) once the robotic device is deemed to be appropriately located on the power line, or the robotic device may autonomously make a decision that the applicator(s) may bedeployed, for example in response to receiving an indication from the UAV that the robotic device is properly engaged with the line.

[0119] The deploying of an applicator under autonomous and / or remote control therefore encompasses the possibility of the applicator being deployable in an autonomous mode, a remotely controlled mode e.g. by a remote human operator, or in either such mode. For example, as with the operation of the UAV and robotic device discussed above, there may be some situations where autonomous control is used and others where remote control is used e.g. based on the particular task, conditions etc.

[0120] The ability to both deploy the robotic device on to the line autonomously and / or under remote control using the UAV and to also deploy the applicator(s) thereof for commencing pre-treatment or coating of the line autonomously and / or under remote control results in a system enabling all steps involved in deployment of the robotic device into a deployed state for applying the pre-treatment or coating to be achieved without a human operator needing to perform any operation directly in relation to the robotic device at the location of the powerline, providing a number of advantages as discussed above in terms of efficiency, safety and quality of treatment of the line achievable. The robotic device may then also be configured to apply the coating and / or pre-treatment under autonomous and / or remote control. It will be appreciated that any combination of autonomous and remote control operation may be used for the steps involved in any of the operation of the UAV to deploy the robotic device, the deployment of the applicator(s) and the operation of the robotic device to apply the pre-treatment and / or coating. For example the use of a remotely controlled deployment of the applicator(s) may be used in conjunction with autonomous operation of the UAV etc.

[0121] The system may be configured such that during deployment of the robotic device to the line, at least one applicator is deployed to the line, preferably autonomously and / or under remote control. The method may comprise deploying at least one applicator to the line under autonomous and / or remote control for applying the pre-treatment or coating thereto. This may be performed once the UAV has located the robotic device in proximity to the line. The at least one applicator may be moved into a deployed state relative to a conductor of the line, wherein the movement of the applicator into the deployed state preferably occurs autonomously and / or under remote control.

[0122] The applicator may be configured to transition between a first installation state and a second deployed state for applying a pre-treatment or coating to a conductor of the line in use. Deployment of the applicator may comprise transitioning the applicator from the first installation state into the second deployed state. The first state may be a state in which the applicator is in an open configuration for installation around a conductor of the line and the second state a state in which the applicator is in a closed configuration for engaging arounda conductor of the line for applying a pre-treatment or coating to a conductor of the line in use.

[0123] The applicator may be configured to be selectively transitionable between the first and second states in either direction, with a transition from the second to the first state resulting in the applicator being opened in preparation for removal from the line by a or the UAV, or in order to negotiate an obstacle, for example a mid-span obstacle such as a spacer, damper etc. This transition may therefore occur as a first stage prior to removal by a or the UAV.

[0124] Transitioning to the second state occurs as part of the deployment of the robotic device onto the line. The transitioning between the first and second states is preferably caused to occur under autonomous and / or remote control.

[0125] The first installation state enables the applicator to be located around the conductor during deployment of the robotic device e.g. when the robotic device is lowered onto the line by the UAV. The first state similarly allows the applicator to be moved away from its position for treating a conductor when required e.g. during removal of the robotic device from the line by a or the UAV, whether for retrieval or adjustment of the position of the robotic device, or in order to negotiate an obstacle.

[0126] The robotic device is preferably configured such that deployment of an applicator and / or transitioning of the applicator between the first and second states (and / or retracted or extended positions as discussed below) may be controlled remotely and / or autonomously. For example, deployment of an applicator and / or transitioning of the applicator between the states may occur autonomously under the control of the robotic device. However, it is envisaged that the deployment and / or transition may alternatively or additionally be caused to occur remotely, for example under the control of a remote human operative under certain conditions.

[0127] The ability to transition between the first and second states may also be useful in the context of obstacle avoidance. For example, during movement of the robotic device along the line in use, transitioning to the open configuration to disengage from the conductor may enable certain obstacles to be negotiated (i.e. passed), or may form the first stage in enabling the applicator to be retracted from the conductor in order to negotiate (i.e. pass) an obstacle as discussed below.

[0128] The ability to transition the applicators between the first and second states remotely or autonomously therefore allows operation of the robotic device at various stages during and after deployment to be precisely controlled.

[0129] Where multiple applicators are present, these are preferably selectively and independently operable to transition between the first and second states. By “selectively and independently” it is meant that each applicator is independently able to transition between the open and closed configurations as required, in either direction, withoutnecessitating corresponding transitioning of any of the other applicators present between the open and closed configurations.

[0130] While on deployment at least one applicator is deployed, which may be a subset of multiple applicators where present, each applicator present is preferably operable in any of the manners described i.e. to allow transitioning between first and second states (and / or between retracted and extended positions as discussed below), to provide flexibility in operation of the robotic device. For example, when traversing a mid-span obstacle, it may be advantageous to be able to independently transition the applicators between such states and / or positions.

[0131] Transitioning of an applicator between the first and second states whenever this is performed i.e. for installation, removal or obstacle negotiation, may be achieved using any suitable actuation mechanism. In some embodiments an actuator is provided associated with each applicator configured to transition the applicator between open and closed configurations for transitioning the applicator between the first and second states.

[0132] When in the closed configuration of the second, deployed state, the applicator may extend fully circumferentially a conductor when disposed therein.

[0133] Preferably each applicator of the one or more applicators of the pre-treatment or coating application subsystems are configured to transition between first and second states as described herein.

[0134] The applicator preferably contacts its respective conductor when engaged therearound in the second, deployed state for applying the pre-treatment or coating, for example around the entire circumference of the conductor. Each applicator present may be configured in this way.

[0135] The applicator may comprise first and second parts movable relative to one another to transition the applicator between the open and closed configurations. The first and second parts may be connected to one another in any suitable manner to enable the parts to move so as to transition the applicator between the open and closed configurations. The applicator may comprise additional parts, or may consist of the first and second parts. The first and second parts are preferably configured such that the applicator defines an annular shape when in the closed configuration with a central bore for receiving the conductor. The first and second parts may directly contact one another to provide a fluid tight seal when in the closed configuration. This is particularly useful where the applicator is for applying a fluid e.g. as part of the coating subsystem or certain types of pre-treatment subsystem.

[0136] The first and second parts may be movable linearly and / or rotationally to transition the applicator between the open and closed configurations i.e. first and second states. In some embodiments the applicator comprises first and second parts connected to one another at a hinge, wherein the first and second parts are rotatable relative to one another about the hinge to transition the applicator between the open and closed configurations.This may be referred to as a “clamshell” type structure. In other embodiments the first and second parts may be connected to one another by a mechanism for moving the parts linearly relative to one another to transition the applicator between the first and second states.

[0137] Preferably the robotic device is configured such that the (or each) applicator is movable from a retracted to an extended position relative to the line e.g. for deployment, and preferably to transition between retracted and extended positions relative to the line as described below.

[0138] While in preferred embodiments this is achieved by movably coupling the applicator to a chassis of the robotic device, for example using a robotic manipulator, any suitable retraction mechanism may be used to enable an applicator to retract and extend as described. The ability of an applicator to retract may be provided by using a coupling the applicator to a chassis of the robotic device in a manner which allows the applicator to move relative to the chassis of the device. Such a coupling may be referred to as a dynamic coupling. This is in contrast to a fixed coupling in which the applicator is coupled in a fixed position relative to the chassis. The coupling may comprise parts movable relative to one another in use to enable retraction of the applicator. One of the parts of the (dynamic) coupling may be a robotic manipulator e.g. robotic arm, the applicator being mounted to the arm. In other arrangements the movable parts of the coupling may be configured to slide or rotate relative to one another. For example, the coupling may comprise a revolute joint, swing arm, prismatic joint ora four-bar link mechanism. Couplings of varying degrees of complexity and including various number of components and / or joints may be used, depending upon the range and / or type of movement to be provided to the applicator. The use of a robotic manipulator e.g. robotic arm provides a greater degree of freedom in the positioning of the applicator in the retracted and extended positions.

[0139] It is also envisaged that the ability of an applicator to retract or extend may be provided even where it is fixed to a chassis of the robotic device by mounting the applicator to a portion of the chassis which is itself configured to be able to move to transition the applicator between retracted and extended position e.g. the “twin chassis” arrangement mentioned below. Examples of such arrangements are described herein, in which the chassis comprises portions coupled to one another at one or more central coupling, wherein each central coupling is defined between a pair of arms of the chassis, wherein the applicators) are mounted e.g. fixed to ones of the arms of the central coupling(s), wherein movement of an arm on opening of a respective central coupling, with an applicator mounted thereto, retracts the applicator (“split chassis” arrangements). The arm may rotate out of a (horizontal) plane of the conductor to retract the applicator.

[0140] In some embodiments therefore, a chassis of the robotic device comprises portions coupled to one another at one or more central coupling, wherein each central coupling isdefined between a pair of arms movable relative to one another to transition the central coupling from a closed configuration in which the arms connect the chassis portions and an open configuration for passing an obstacle, wherein at least one applicator is mounted e.g. fixedly to one of the chassis arms, whereby movement of the arm upon opening of the respective central coupling retracts the applicator. The chassis portions are longitudinal portions. The portions may be chassis halves.

[0141] In general, an applicator may be described as being mounted to the robotic device by a deployment mechanism, which is movable to enable movement of the applicator between retracted and extended positions relative to the line. While in an exemplary embodiment the deployment mechanism comprises a robotic manipulator e.g. arm, this encompasses the case of dynamic couplings i.e. movable couplings of any of the types previously mentioned, or the fixed mounting to a part of the chassis of the robotic device which is itself movable to retract or extend the applicator.

[0142] Retraction of an applicator does not simply involve transforming the applicator from the second deployed state to the first installation state mentioned above e.g. from a closed to an open configuration as described herein, but involves moving the applicator away from the line. The converse applies to the extension of the applicator. It will be appreciated that the retracted and extended positions referred to herein need not be predefined positions, although depending upon the particular coupling of the applicator to the chassis this may be the case. For example, where a robotic manipulator is used to retract and extend the applicator a wide range of positions may be achieved. Retraction and extension refer to the position of the applicator relative to a position of a conductor of the line. A retracted position will typically result in the applicator being located closer to the chassis of the robotic device, and the extended position further therefrom.

[0143] Deployment of an applicator may involve moving the applicator (e.g. relative to a chassis of the robotic device) into an extended position for deployment around a conductor of the line. This step is preferably carried out under autonomous and / or remote control as previously discussed. The system may be configured such that during deployment of the robotic device to the line, once the UAV has located the robotic device in proximity to the line, the applicator is moved (e.g. relative to a chassis of the robotic device) into an extended position for deployment around a conductor of the line, wherein the movement of the applicator into the extended position occurs autonomously and / or under remote control.

[0144] Deployment may then further comprise transitioning the applicator from a first installation state to a second deployed state around the conductor as previously described. The applicator may therefore be in the first, installation state during movement into the extended position to allow it to be located around the line. Thus deployment may involve both moving the applicator to an extended position and transitioning the applicator to a deployed state around the conductor.The robotic device may be configured such that the (or each) applicator may be selectively transitionable (e.g. by movement of a deployment mechanism e.g. robotic manipulator, such as relative to a chassis of the robotic device) between a retracted position and an extended position relative to the line in use. Deployment of the applicator may comprise transitioning the applicator from the retracted position to the extended position. The robotic device may be configured such that the applicator may transition between the retracted and extended positions in either direction. Where multiple applicators are present, these are preferably selectively and independently operable to transition between the first and second states.

[0145] By “selectively and independently” it is meant that each applicator is independently able to transition between the retracted and extended positions as required, in either direction, without necessitating corresponding transitioning of any of the other applicators present.

[0146] Movement of an applicator from an extended position to a retracted position may be performed in preparation for removal of the device from the line by a or the UAV. Movement of the applicator to the retracted position may also occur in use in order to negotiate an obstacle during the treatment of the line.

[0147] The robotic device is preferably configured such that deployment of an applicator including movement of an applicator to an extended position and / or transitioning between retracted or extended positions may be controlled remotely and / or autonomously. For example, deployment of an applicator and / or transitioning of the applicator between the positions may occur autonomously under the control of the robotic device. However, it is envisaged that the deployment and / or transition may alternatively or additionally be caused to occur remotely, for example remote human operative under certain conditions.

[0148] The applicator may be selectively transitionable between the retracted and extended positions relative to the line as required during operation. For example, the applicator may be moved into an extended position relative to line to prepare for deployment. The applicator may be moved to a retracted position relative to the line to prepare for removal of the robotic device from the line e.g for retrieval or adjustment of its position. The applicator may also move to the retracted position during a pre-treatment or coating process in order to negotiate an obstacle. The applicator may then move back to an extended position to continue the treatment process after passing the obstacle.

[0149] Preferably the at least one (or each) applicator is mounted to a chassis of the robotic device by a robotic manipulator e.g. a robotic arm. The manipulator may be a serial manipulator or, preferably a multi-axis robotic arm.

[0150] A robotic manipulator as referred to herein refers to a robotic arm. The arm includes a plurality of links connected by a plurality of joints. A multi-axis robotic arm as referred to herein may have at least two or three axes, optionally at least four axes, orpreferably at least 6 axes. Preferably the robotic arm is a multi-axis robotic arm having at least 6 axes, for example being a 6 axis robotic arm.

[0151] The mounting of the applicator to the chassis by a robotic manipulator enables precise control of the movement of the applicator into an extended position around a conductor of the line ready for deployment. The robotic manipulator may also be used to precisely retract the applicator from the line as required at other times in the robotic device’s operation e.g. for removal of the robotic device from the line for retrieval or adjustment of its position, or for obstacle negotiation.

[0152] The movement of the manipulator may be controlled to achieve desired movement of the applicator where the applicator is coupled to the chassis by a robotic manipulator.

[0153] The autonomous and / or remote control of the movement of an applicator between retracted and extended positions as discussed may be achieved by suitable movement of the robotic manipulator. The robotic manipulator is thus preferably operable autonomously and / or remotely to move the applicator between extended and retracted positions relative to the line in use.

[0154] The robotic device e.g. a deployment mechanism, such as a robotic manipulator thereof is operable to position the applicator relative to a conductor of the line in use during deployment of the robotic device to the line. The robotic device e.g. a deployment mechanism, such as a robotic manipulator thereof is also operable to position the applicator relative to the conductor of the line as required at other times e.g. to move the applicator away from the line for removal of the robotic device from the line by the UAV and / or for obstacle negotiation.

[0155] Where used, a robotic manipulator is preferably operable to selectively transition the applicator between the first installation state and second deployed state and / or to selectively extend or retract the applicator relative to a conductor of the line in use. These operations will be performed as required in use e.g. to move the applicator into position around the line for deployment thereto (or as applicable to move the applicator away from the line for removal of the robotic device from the line and / or obstacle negotiation). The system may be configured such that the applicator is in the first installation state e.g. an open configuration during movement by the robotic arm into position around the conductor of the line, and then transitions to the second, deployed state e.g. the closed configuration ready for commencement of pre-treatment or coating operations once positioned around the line.

[0156] The applicator in these embodiments forms part of an end effector of the robotic manipulator.

[0157] The robotic device may further comprise a latching mechanism configured to automatically latch on to a conductor once moved into contact therewith during or after lowering of the robotic device onto the power line by the UAV for securing the robotic device relative to the power line. Such a latching mechanism may be provided as part of an endeffector of a robotic manipulator also comprising an applicator, and operable to locate the end effector relative to the conductor prior to movement of the applicator into a deployed state e.g. transitioning into a second deployed state as discussed above. The latching arrangement may comprise a passive mechanical latching arrangement e.g. comprising a suitable set of linkages. However, other arrangements are envisaged.

[0158] In preferred embodiments the robotic device further comprises an obstacle negotiation subsystem. The robotic device may be configured such that the at least one applicator and preferably each applicator may be transitioned between the first and second states and / or the retracted and extended positions under the control of the obstacle negotiation subsystem. Where the device comprises a plurality of applicators configured to transition between the first and second states i.e. open and closed configuration and / or retracted and extended positions, the applicators are preferably selectively and independently transitionable between the open and closed configuration and / or the retracted and extended positions. The applicators are selectively and independently transitionable between the open and closed configurations and / or retracted and extended positions as required in order to negotiate (i.e. pass) obstacles in use. The obstacle negotiation subsystem may initiate transition of a given applicator from the closed configuration to an open configuration or vice versa as required during use in order to negotiate obstacles encountered and / or to move the applicator to a retracted position. The transitioning of the applicators) between the first and second states and / or retracted and extended positions preferably occurs under autonomous or remote control.

[0159] The robotic device of the invention of any of its aspects or embodiments is configured to move along the overhead power line in use to apply the pre-treatment and / or coating thereto. The robotic device comprises a plurality of wheels which are driven to move the robotic device along the line.

[0160] The wheels of the robotic device are configured to run on one or more of the set of one or more conductors of the line in use to mount the device to the line.

[0161] By having wheels which run on the top of the line i.e. on top of one or more respective conductors thereof, the robotic device may readily lowered onto the line during deployment by the UAV. This arrangement also means that it is possible to negotiate certain types of obstacle by rolling over the obstacle. The wheels may therefore be configured to roll over obstacles encountered. This may be useful in particular in overcoming mid-span obstacles such as splice connections, suspension clamps, spacers, compression fittings and dampers such as spacer dampers and vibration dampers. Driving the robotic device forward with the wheels moving over an obstacle therefore may provide obstacle negotiation. An obstacle negotiation subsystem may be configured to cause one or more of the wheels to roll over an obstacle, such as a splice connection, damper, spaceror compression fitting when encountered. The obstacle negotiation subsystem is more broadly acting to negotiate (or pass) the obstacle in this case.

[0162] The device may therefore comprise a plurality of wheels which are configured to engage and run on one or more of the set of one or more conductors of the line in use to mount the device to the line, wherein the wheels may roll over obstacles encountered. Exemplary such obstacles include mid-span obstacles, for example splice connections, suspension clamps, dampers, spacers or compression fittings.

[0163] The wheels run on respective conductors of the set of one or more conductors of the line. Where the set of conductors of the line comprises multiple conductors e.g. a bundle of conductors, multiple wheels may engage and run on the same conductor, or wheels may engage and run on multiple conductors. Preferably at least two wheels run on the same conductor.

[0164] By way of example only and not limitation, each wheel may have a diameter of at least 35 cm and / or no greater than 50cm. Each wheel may have a diameter in the range of from 35 cm to 50cm.

[0165] In some embodiments, each wheel may selectively retract from its respective conductor of the line (i.e. the conductor which it engages and on which it runs) in order to pass an obstacle. Thus the wheel retracts from the conductor in order to disengage from the conductor for passing an obstacle. The device may be configured such that when a wheel to retract from the conductor on which it runs to negotiate (i.e. pass) an obstacle at least one other of the wheels remains engaged with the conductor on which it runs to provide stable support to the robotic device in use. Advantageously multiple wheels engage the same conductor in order to facilitate such arrangements. This will enable at least one wheel to remain engaged with its conductor when another of the wheels disengages and retracts from the conductor. This may maintain stability of the device. Even if one of the wheels does not retract from the conductor, having first and second wheels in contact with the same conductor may maintain stability as one traverses e.g. runs over an obstacle, which may result in the wheel temporarily disengaging from its conductor.

[0166] Awheel retraction mechanism may be actively actuated e.g. under the control of the obstacle negotiation subsystem to retract a wheel. In other cases, the retraction of the wheel may be achieved through the use of a passive retraction mechanism e.g. activated through interaction with an obstacle. Retraction of the wheels from the conductor(s) of the line, where used, may be carried out by or under the control of an obstacle negotiation subsystem.

[0167] The robotic device may be configured such that individual wheels may be independently and selectively retracted from conductors of the line as required in order to negotiate obstacles.Awheel may be coupled to a chassis of the robotic device by a coupling enabling retraction of the wheel from the conductor in use, such as by a coupling enabling the wheel to move relative to the chassis of the device in order to retract from the conductor in use. Each wheel may be coupled to a chassis of the robotic device by a coupling comprising parts movable relative to one another in use to enable retraction of the wheel; and / or each wheel may be coupled to a chassis of the robotic device by a coupling which comprises a sprung joint, revolute joint, swing arm, prismatic joint, robotic arm, levered screw mechanism or a four-bar link mechanism.

[0168] In some further embodiments, it is envisaged that a fixed coupling of the wheel to a chassis of the robotic device may be used, with that part of the chassis itself being movable in order to retract the wheel. Examples of such arrangements are described herein, in which the chassis comprises portions coupled to one another at one or more central coupling, wherein each central coupling is defined between a pair of arms of the chassis, wherein the wheel(s) are mounted e.g. fixed to ones of the arms of the central coupling(s), wherein movement of an arm on opening of a respective central coupling, with a wheel mounted thereto, retracts the wheel (“split chassis” arrangements). The arm may rotate out of a (horizontal) plane (e.g. including the conductor or parallel to a plane including the conductor) to retract the wheel.

[0169] In embodiments therefore, a chassis of the robotic device comprises portions coupled to one another at one or more central coupling, wherein each central coupling is defined between a pair of arms movable relative to one another to transition the central coupling from a closed configuration in which the arms connect the chassis portions and an open configuration for passing an obstacle, wherein at least one wheel is mounted e.g. fixedly to one of the chassis arms, whereby movement of the arm upon opening of the respective central coupling retracts the wheel. The chassis portions are longitudinal portions. The chassis portions may be chassis halves.

[0170] An obstacle negotiation subsystem of the robotic device may comprise an obstacle detection system for detecting when the device is approaching an obstacle, and a wheel retraction system operable to selectively retract wheels from respective conductor(s) of the line in order to negotiate detected obstacles in use. This may enable proactive avoidance of obstacles e.g. using active wheel retraction. However, as mentioned, passive wheel retraction may alternatively be used, providing obstacle negotiation through interaction between the wheel and the obstacle. The obstacle negotiation subsystem may be configured to enable wheels to negotiate obstacles by rolling over the obstacle, or by retracting from the line out of the way of an obstacle. The obstacle negotiation subsystem may be configured to detect a particular obstacle, and cause a wheel to either roll over the obstacle or retract the wheel out of the way of the obstacle depending upon the obstacle detected. This may depend on e.g. the type or size of obstacle.In accordance with any of the aspects or embodiments of the invention, whether or not the wheels are retractable, the wheels are in direct contact with their respective conductor of the set of one or more conductors of the line when engaged therewith.

[0171] The wheels may engage their respective conductor(s) in any suitable manner. The wheels may include straight wheels and / or pulley wheels and / or conical wheels. Advantageously the wheels are pulley wheels. A pulley wheel defines a groove in its conductor engaging surface for locating the conductor.

[0172] The wheels may form part of a wheel system connected to a chassis of the device. Advantageously the device only includes wheels configured to run on top of conductor(s) of the line in use and does not include wheels running below conductors of the line.

[0173] Any suitable number of wheels may be present. In exemplary embodiments two or four wheels are present, although other arrangements may be used.

[0174] The use of wheels running (only) on top of the conductors is advantageous in facilitating negotiation of obstacles. The conductor engaging surface of the wheel engages a top surface of the conductor in use. Wheels located below a conductor may get in the way when attempting to pass an obstacle.

[0175] Thus, the plurality of wheels preferably only includes wheels configured to engage the top of one or more conductors of the line, and located one behind the other along the length of the conductors, and does not include opposed wheels configured to engage a bottom of the conductors. No opposed wheel is provided beneath any wheel of the device. Having nowheels located below conductors of the line facilitates obstacle navigation, enabling wheels to run over obstacles and / or retract out of their way more easily.

[0176] The wheels which run on the conductors in accordance with the invention may comprise portions which extend over at least a portion of the sides of a conductor with which they are engaged e.g. to locate the conductor. For example, a pulley wheel may define a conductor receiving groove with rims on either side of the groove extending in the radial direction. Even with a wheel extending over the sides of a conductor obstacles e.g. spacers may be driven over. In some embodiments, the wheels may be configured such that in use, each wheel contacts no more than a top 180 degrees of the conductor on which it runs. This may facilitate running over obstacles. However, running over of obstacles may still be achieved even with contact over a greater amount of the circumference of the conductor. Where the wheels are pulley wheels, a depth of a conductor receiving groove may, for example, be no greater than a radius of the conductor to be engaged by the wheel. The depth of the groove is measured between a lowermost point of the conductor contacting surface and the highest point of the rim on either side of the groove. The invention extends to a system in which the wheels are engaged with their respective conductors.Preferably the wheels of the device are exposed. The wheels are not disposed within any housing of the device. For similar reasons this enables obstacles to be more readily negotiated by wheels simply running over obstacles and / or retracting out of their way. The absence of a housing enclosing the wheels provides greater freedom in the ability of the wheels to move so as to retract out of the way of an obstacle.

[0177] At least some, and optionally all of the wheels present may be drive wheels. The wheels may be coupled to a motor fortraversing the robotic device e.g. a platform thereof along the line. An actuator may be coupled to each wheel. An actuator housing may be provided associated with each wheel.

[0178] Some exemplary configurations of the location of the various components of the robotic device will now be described.

[0179] In some embodiments the device comprises a coating application subsystem, the coating application subsystem comprising an applicator disposed at a trailing end of the chassis to the trailing side of a trailing most wheel. This arrangement may prevent the wheels running over an applied coating. Alternatively or additionally the device may comprise a pre-treatment subsystem, the pre-treatment subsystem having an applicator disposed at a leading end of the chassis to the leading side of a leading most wheel (e.g. the first wheel) and / or an applicator at a trailing end of the chassis to the trailing side of a trailing most wheel (e.g. the second wheel).

[0180] In accordance with any of its aspects or embodiments the robotic device preferably further comprises one or more fluid tanks for holding fluid for use in pre-treatment and / or coating of the line. Whether a fluid tank is required for pre-treatment will depend on the nature of pre-treatment to be provided. Preferably the device comprises a coating application subsystem, and one or more fluid tanks are provided for holding fluid for use in coating of the line. The one or more fluid tanks present are preferably disposed below the wheels, and preferably entirely below the wheels. The tanks are located below each of the wheels present. The one or more fluid tanks may be suspended below the wheels by a chassis of the device.

[0181] In some embodiments the robotic device comprises a main body suspended below the wheels by a chassis of the device. Optionally the main body is located below the wheels by a distance of at least 15cm. For example, this will provide a suitable gap to pass a damper. A gap between the wheels and the main body will provide the ability to more easily pass obstacles. Where the robotic device comprises a main body suspended below the wheels by a chassis of the device, the one or more tanks may be housed in the main body. In such arrangements, the centre of mass of the device lies in a plane located below a plane in which the bottom of the wheels lies by an appreciable distance.

[0182] Wherever the tanks are located, the device may further comprise a fluid delivery system for supplying fluid from the one or more tanks to one or more applicators of the pre-treatment subsystem and / or coating application subsystem. The fluid delivery system may supply fluid to at least to the one or more applicators of the coating application subsystem where present and may supply fluid to any applicator of the pre-treatment subsystem requiring fluid in its pre-treatment operation. The fluid delivery system may comprise a set of one or more pumps and a set of one or more fluid passageways e.g. conduits for supplying fluid to the applicator(s). In embodiments in which the device comprises a main body suspended below the wheels by a chassis of the device, the one or more pumps may be located in the main body of the device. The one or more fluid conduits may pass through a hollow interior of a part of the chassis suspending the main body of the device below the wheels to reach the one or more applicators.

[0183] Preferably the plurality of wheels comprise first and second wheels configured to run on a first conductor of the set of one or more conductors of the line, the wheels being spaced apart and located one behind the other along a longitudinal direction of the robotic device. The wheels are consecutive wheels along the longitudinal direction. The longitudinal direction of the device corresponds to the direction of the line along which the device will travel in use. The first and second wheels are configured to contact the conductor tangentially at respective first and second points, the first and second points being connected by a line corresponding to the path of the conductor.

[0184] In embodiments the plurality of wheels of the device consists of the first and second wheels i.e. no further wheels are present for engaging the line. The device may therefore include only two wheels for engaging the line. In other embodiments discussed below additional wheels may be located side by side with the first and second wheels.

[0185] The first and second wheels may be spaced apart along the length of the device (and hence conductor) by a distance of at least 20cm, or at least 25cm. Alternatively or additionally the first and second wheels may be spaced apart by a distance of less than 250cm, or less than 200cm. For example, the wheels may be spaced apart by a distance in a range of from 25cm to 200cm. The spacing of the wheels is taken along a line extending along the length of the device and between the axes of each wheel.

[0186] Whatever the spacing of the wheels, preferably the chassis of the device comprises a longitudinally extending support to which the first and second wheels are mounted. The first and second wheels are therefore mounted to a common support. The support extends in the direction of the line. The wheels may be coupled to the support in any suitable manner. Preferably the wheels are coupled to the support in a manner such that the support is disposed laterally outboard of the wheels. This may assist in obtaining an empty space below the wheels to support obstacle negotiation. In some embodiments the wheels are fixedly coupled to the support. In such arrangements the wheels are not retractable.

[0187] The support may be a tubular support. The tubular support defines an interior cavity. One or more fluid conduit(s) of a fluid delivery system may pass through the hollowinterior of the support to reach the one or more applicators for supplying fluid thereto. In some embodiments a main body of the device is suspended by the chassis below the first and second wheels and the support. In some embodiments as discussed below, the support is provided by a top bar of the T-shaped connector, having a stem which suspends the chassis below the wheels and support.

[0188] The first and second wheels may be disposed at leading and trailing ends of the device respectively. In some embodiments the device comprises a coating application subsystem, the coating application subsystem comprising an applicator disposed at a trailing end of the chassis to the trailing side of second wheel. This arrangement may prevent the wheels running over an applied coating. Alternatively or additionally the device may comprise a pre-treatment subsystem, the pre-treatment subsystem having an applicator disposed at a leading end of the chassis to the leading side of the first wheel and / or an applicator at a trailing end of the chassis to the trailing side of the second wheel.

[0189] Preferably the chassis comprises a T-shaped connector defining a stem and a top bar defining arms on either side of the stem, with the first and second wheels mounted to respective one of the arms at the top of the T-shaped connector, and with a main body of the device mounted to a bottom of the stem of the T-shaped connector. The top bar of the T-shaped connector may therefore provide the common longitudinal support for the wheels discussed earlier. The top bar may thus advantageously be tubular. The wheels are advantageously coupled to the arms in a manner such that the top bar is disposed laterally outboard of the wheels.

[0190] The stem of the T-shaped connector may have a length of at least 15cm. This may help to provide a space between the wheels and main body / housing of the device that enables obstacles to be more easily traversed e.g. dampers.

[0191] The main body of the device may be mounted to the bottom of the stem at a longitudinal edge of the main body. The main body and stem of the T-shape connector may define an “L shape” in vertical cross section where the stem is joined to the main body.

[0192] Preferably the one or more fluid tanks are housed in the main body of the chassis suspended below the wheels by the T-shaped connector. Such arrangements may enable the tank(s) to be located at a desired spacing below the wheels. The wheels are mounted in any suitable manner to the arms of the T-shaped connector e.g. depending whether the wheels are to be retractable. In some embodiments a fixed coupling is used.

[0193] The main body of the chassis may house other components of the device e.g. on board computer, power source, electronics, positioning systems etc.

[0194] The device comprises a fluid delivery system for supplying fluid from the one or more tanks to the pre-treatment subsystem and / or coating application subsystem. The fluid delivery system may comprise a set of one or more pumps and a set of one or more fluidpassageways e.g. conduits for supplying fluid to applicator(s) of the pre-treatment and / or coating application subsystems.

[0195] In embodiments the T-shaped connector defines an internal cavity through which a set of one or more fluid conduits pass to deliver fluid from the one or more tanks to one or more applicators of the pre-treatment and / or coating application subsystems. The fluid delivery system may supply fluid to at least to the one or more applicators of the coating application subsystem where present and may supply fluid to any applicator of the pretreatment subsystem requiring fluid in its pre-treatment operation. The internal cavity extends through the stem and top bar of the connector. One or more pumps are provided in the main body of the chassis for pumping fluid from the one or more tanks in use through the set of one or more fluid conduits to the one or more applicators.

[0196] The main body of the chassis may comprise (notional) leading, central and trailing portions along the longitudinal direction. Each may occupy 1 / 3 of the length of the main body. The base of the stem of the T-shaped connector may be connected to the central portion, preferably adjacent a longitudinally extending edge thereof. In embodiments first and second fluid tanks are provided within the leading and trailing portions respectively. This may provide a more stable arrangement in use. The central portion may house the one or more pumps of the fluid delivery system. The central portion may house other components of the device e.g. onboard computer, power source, electronics, positioning systems etc.

[0197] In other exemplary embodiments, the plurality of wheels comprise first and second wheels configured to run on a first conductor of the set of one or more conductors of the line, the wheels being spaced apart and located one behind the other along a longitudinal direction of the robotic device, and third and fourth wheels configured to run on a second conductor of the set of one or more conductors of the line, the wheels being spaced apart and located one behind the other along a longitudinal direction of the robotic device. The first and second conductors are parallel conductors. The first and second wheels are therefore configured to run along a line that is parallel to a line along which the third and fourth wheels run.

[0198] The first and third wheels and second and fourth wheels define first and second pairs of wheels located one behind the other and spaced apart along the longitudinal direction of the device. The wheels in each pair are located side by side. The wheels of each pair may be referred to as opposed wheels. The wheels of each pair may rotate about the same axis and are spaced apart laterally along that axis. The wheels in each pair are spaced apart laterally i.e. in a transverse direction of the robotic device. The most appropriate lateral spacing between the wheels in each pair of wheels will depend upon the spacing of the conductors of a line on which they are to run.

[0199] The first and second wheels may be spaced apart along the length of the device by a distance of at least 20cm, or at least 25cm and / or by a distance of less than 250cm, orless than 200cm, and optionally by a distance in a range of from 25cm to 200cm. The third and fourth wheels may be spaced apart along the length of the device by a distance of at least 20cm, or at least 25cm and / or by a distance of less than 250cm, or less than 200cm, and optionally by a distance in a range of from 25cm to 200cm.

[0200] The first and third wheels may be located at a leading end of the device and the second and fourth wheels at a trailing end of the device.

[0201] The first, second, third and fourth wheels may be the only wheels present on the device.

[0202] The first and third, and second and fourth wheels may be mirror images of one another about a longitudinal centreline extending in the direction of the line between the first and second sets of wheels.

[0203] The first and second wheels and third and fourth wheels respectively may be associated with respective halves of a chassis of the robotic device.

[0204] The device may comprise a chassis having first and second halves, the first and second wheels are mounted to a first half of the chassis and the third and fourth wheels being mounted to the second half of the chassis. The chassis halves are longitudinal halves. The halves extend along the direction of the line in use. The first and second chassis halves may provide left and right chassis halves in use.

[0205] The chassis may comprise first and second central couplings bridging between the chassis halves respectively at a first end and a second end thereof, wherein each central coupling is selectively and independently transformable between a closed configuration in which it connects the chassis halves and an open, configuration in which the chassis halves are decoupled from one another at the coupling. The first and second central couplings are located at the leading and trailing ends of the device.

[0206] The first central coupling may be defined between first and second rotatable arms of the chassis, and the second central coupling between third and fourth rotatable arms of the chassis. Rotation of either or both of the arms of a respective central coupling transforms the coupling between its open and closed configurations. The first and third wheels may be mounted to the first and second rotatable arms respectively, and the third and fourth wheels are mounted to the third and fourth rotatable arms respectively. In this way, rotation of any one of the first, second, third and fourth arms to open the central coupling of which the arm forms part disengages the wheel mounted thereto from its conductor and moves the wheel to a retracted position for passing an obstacle. The first, second, third and fourth wheels may be fixedly coupled to their respective arms.

[0207] The first and second central couplings preferably provide the only connection between the chassis halves. Thus, no other transversely extending connection is provided. This enables obstacles to be passed by selectively opening the couplings. Preferably the first and second central couplings are the only central couplings present.The device may be configured that the first and second (or third and fourth) arms both rotate together to open a respective one of the first and second central couplings. However, the first, second, third and fourth arms are preferably selectively and independently rotatable to transform their respective couplings between the closed and open configurations. This provides greater flexibility in passing obstacles, while maintaining stability of the device on the line in use. For example, if an obstacle is present on only one of the first and second conductors, only one of the arms associated with a coupling need be opened on the relevant side of the device. Each arm may rotate about an axis extending in the longitudinal direction. The longitudinal direction is the direction in which the line extends. Each arm may be rotatable about an axis extending parallel to a conductor of the line in use. This will be parallel to a line connecting the conductor engaging surfaces of the first and second wheels. The arm may rotate out of a horizontal plane including the conductor or a plane parallel thereto.

[0208] The first and second central couplings may be selectively transformed from the closed configuration to the open configuration to pass an obstacle under the control of an obstacle negotiation subsystem. The obstacle negotiation subsystem may be configured to selectively transform only one of the first and second central couplings to the open configuration for passing an obstacle at a time while the other of the first and second central couplings remains in its closed, coupled configuration to maintain a stable connection between the chassis halves in use.

[0209] Advantageously the device comprises one or more applicators for performing pretreatment and / or coating operations, and at least one of the one or more applicators (or optionally each of the one or more applicators) is mounted to one of the first, second, third and fourth arms. Each applicator is mounted to one of the arms. Where multiple applicators are provided each may be mounted to any one of the arms. In this way the applicator is moved together with the wheel to a retracted position on rotation of the arm to open one of the central couplings. The applicators may be mounted to different ones of the arms, depending on their position. Each applicator may be mounted to a different one of the arms. The applicators may be fixedly mounted to their respective arms. The central coupling at a given end of the device may be located between the wheels and any applicator associated with that end of the device when in the closed, coupled configuration.

[0210] Preferably one or more applicator is provided on each chassis half. This may enable treatment of both the first and second conductors simultaneously. Each applicator may be configured to engage around the same conductor as engaged by the wheels on its side of the chassis.

[0211] The applicator may be of any of the constructions described above i.e. being configured to transition between closed and open configurations (or otherwise between engaged and disengaged configurations) for disengagement from the conductor.Deployment of the applicator(s) may simply involve transitioning the applicator to its closed configuration, with the reverse occurring when it is desired to remove the robotic device from the line. Typically the central couplings would remain closed during the deployment and any removal process, opening only when required to traverse an obstacle. However, it is envisaged that in some cases, the central couplings may be in an open configuration when moving the robotic device into position on the line, closing as part of the deployment process, and similarly may open subsequently to assist in removal of the device from the line. Having the chassis central coupling(s) open may facilitate deployment or removal of the robotic device from the line by a UAV.

[0212] An obstacle negotiation subsystem, where provided, may be configured to cause an applicator to transition to its open (or disengaged) configuration to disengage from its conductor before initiating rotation of an arm of a central coupling to which the applicator is mounted to move the applicator to its retracted position.

[0213] Rotation of an arm retracts the wheel (and any applicator) mounted thereto such that it is located to a side of the conductor from which it has disengaged. The retraction therefore moves the wheel (and any applicator) to a position laterally outboard of its position when engaging the conductor. The provision of the split chassis with central couplings therefore enables retraction of a wheel or applicator to be achieved without needing to use a dynamic coupling of the wheel or applicator to the chassis, since a part of the chassis itself may move to retract the wheel or applicator.

[0214] After passing an obstacle, the or each arm of a central coupling may be rotated back to its original position to close the respective coupling once more and engage the wheels associated therewith with its conductor once more. Rotation of an arm back to its original position will move an applicator back to its installation position from which it may be caused to return to its closed configuration to engage around the conductor once more for applying the pre-treatment or coating thereto.

[0215] An arm may rotate through any suitable angle to provide appropriate retraction of a wheel. For example, rotation may be through an angle of at least 45 degrees or at least 60 degrees. Alternatively or additionally, rotation may be through an angle of up to 90 degrees.

[0216] A first longitudinally extending tubular support of the first chassis half may extend between or connect the first and second wheels. A second longitudinally extending tubular support of the second chassis half may extend between or connect the third and fourth wheels. The first and third arms may be rotatably mounted to respective ends of the first support, and the second and fourth arms may be rotatably mounted to respective ends of the second support. Each support may be disposed laterally outboard of its respective wheels when the central couplings are in their closed configuration.

[0217] In this further split chassis embodiment one or more fluid tanks may be provided for holding fluid for use in pre-treatment and / or coating of the line.The one or more fluid tanks are preferably disposed below the wheels, and preferably entirely below the wheels.

[0218] The first chassis half may comprise a first tank, and the second chassis half a second tank. The tanks may be suspended below the respective longitudinal support of their chassis halves. Preferably the chassis comprises a first housing suspended below the first tubular support and comprising a first fluid tank, and a second housing suspended below the second tubular support and comprising a second fluid tank.

[0219] The first and second wheels may be provided at opposed ends of the first longitudinal support and the third and fourth wheels at opposed ends of the second longitudinal support. The first and third arms of the first and second central couplings may be mounted to the respective ends of the first longitudinal support so as to be rotatable about the axis of the support for retracting the wheels (and, where applicable, applicator(s)). The second and fourth arms of the first and second central couplings may be mounted to the respective ends of the second longitudinal support so as to be rotatable about the axis of the support for retracting the wheels (and, where applicable, applicator(s).

[0220] The first and second wheels may be spaced from one another along a length of the device by the first housing and the third and fourth wheels may be spaced from one another along a length of the device by the second housing.

[0221] A fluid delivery system may be provided for supplying fluid from the one or more tanks to one or more applicators of the pre-treatment subsystem and / or coating application subsystem. The fluid delivery system may supply fluid to at least to the one or more applicators of the coating application subsystem where present and may supply fluid to any applicator of the pre-treatment subsystem requiring fluid in its pre-treatment operation. The fluid delivery system may comprise a set of one or more pumps and a set of one or more fluid conduits for supplying fluid to applicator(s) of the device. First and second sets of one or more pumps and one or more fluid conduits may be provided in respect of each chassis half for supplying fluid to one or more applicator(s) associated with that chassis half. The first and second sets of pump(s) may be disposed in the first and second housings respectively. The first and second housings may include other components required for the operation of the device e.g. communications interfaces, controllers, processors, etc.

[0222] One or more fluid conduits may pass through the hollow interior of each of the first and second supports to supply fluid from the respective one of the first and second tanks to one or more applicators of the device. The fluid conduits associated with each chassis half will supply any applicator(s) associated with that half.

[0223] In a split chassis arrangement, the centre of mass of the device may also lie in a plane located below a plane in which the bottom of the wheels lies by an appreciable distance.In some exemplary embodiments regardless of its configuration, whether or not it includes a split chassis, the robotic device defines an empty space extending over a distance of at least 15cm below a lowermost conductor contacting point of each wheel. It is desirable that no components of the device are present over a substantial distance below each conductor and hence wheel. Thus, an empty space may be provided extending over a vertical distance of at least 15cm below a line connecting the lowermost conductor contacting surfaces of the first and second wheels. This may assist in being able to negotiate obstacles. For example, this will provide a suitable gap to pass a damper.

[0224] The use of a split chassis arrangement with central couplings to enable negotiation of obstacles is advantageous in its own right. In general, the robotic device may comprise a chassis having first and second halves connected to one another by first and second central couplings at leading and trailing ends thereof, wherein the first and second central couplings are selectively and independently openable to retract one or more wheels and / or one or more applicators of the device from engagement with their respective conductors for passing an obstacle.

[0225] Each of the first and second central couplings may be selectively and independently transformable between a closed configuration in which it connects the chassis halves and an open configuration in which the chassis halves are decoupled from one another at the coupling. The first central coupling may be defined between first and second rotatable arms of the chassis, and the second central coupling between third and fourth rotatable arms of the chassis. The one or more wheels and / or one or more applicators are mounted to ones of the first, second, third and fourth rotatable arms, wherein rotation of the arm to which a wheel or applicator is mounted moves the wheel or applicator to a retracted position as the respective central coupling of which it forms part opens. The wheels and / or applicators may be fixedly connected to their respective arms.

[0226] The device may be configured so that only one of the first and second central couplings is opened at a time to pass an obstacle while the other central coupling remains closed to maintain a stable connection between the chassis halves. The first and second central couplings may be the only connections between the chassis halves. There may be only the first and second central couplings present.

[0227] It will be appreciated that in any of the embodiments of the invention having a split chassis, the chassis halves (e.g. first and second chassis halves) are spaced apart from one another (in the transverse direction). The chassis halves are spaced from one another by the arms of the central couplings (i.e. by the arms of the first and second central couplings). The chassis halves are spaced from one another such that a longitudinally extending gap is defined extending between the chassis halves between the central couplings i.e. between the first and second central couplings. This enables an obstacle to be traversed by opening the first and second central couplings sequentially, with no components being presentbetween the chassis halves to interfere with passing the obstacle in the region between the first and second central couplings.

[0228] An exemplary arrangement of this “split-chassis” type is shown in Figures 10A and 10B.

[0229] It will be appreciated that the principles of UAV deployment discussed herein are equally applicable to such robotic devices and other types of robotic device having pretreatment and / or coating subsystems. Where a releasable attachment is made between the UAV and robotic device it will be appreciated that a modification may need to be made to provide a corresponding attachment portion for engagement with the UAV part of the attachment arrangement, or the attachment arrangement portion on the UAV may cooperate directly with a part of the robotic device as previously described.

[0230] In some exemplary embodiments regardless of its configuration, whether or not it includes a split chassis, the robotic device defines an empty space extending over a distance of at least 15cm below a lowermost conductor contacting point of each wheel. It is desirable that no components of the device are present over a substantial distance below each conductor and hence wheel. Thus, an empty space may be provided extending over a vertical distance of at least 15cm below a line connecting the lowermost conductor contacting surfaces of the first and second wheels. This may assist in being able to negotiate obstacles. For example, this will provide a suitable gap to pass a damper.

[0231] In any of the aspects or embodiments of the invention, the applicators) may be associated with the same or different conductors of the line to the wheels. In some embodiments the device comprises one or more applicators for applying pre-treatment and / or coating to one or more conductors on which the wheels run. For example, an applicator may be located at a trailing end of the robotic device for applying pre-treatment and / or coating to a portion of a conductor after the wheels have travelled over that portion of the conductor.

[0232] The device may comprise a detection system, for example comprising one or more camera, for use in positioning the device relative to the line during deployment on to the line and / or for detecting obstacles.

[0233] Any embodiment of the invention in which a fluid tank for providing fluid for use in pre-treatment or coating of the line is provided may extend to the tank comprising such fluid. In embodiments the device comprises a coating application subsystem, and the fluid is a coating material.

[0234] The present invention in these further aspects may include any or all of the features described in relation to the other as pect(s) of the invention.

[0235] Advantageously, in accordance with any of the aspects and embodiments of the invention, the robotic device may be configured to pass mid-span obstacles located along the power line e.g. along the conductor(s) thereof being treated. This may be achievedusing the features described herein. For example, a top line position of the wheels allows such obstacles to be passed, with no wheels or other impediments being provided for a distance below the line that would prevent movement of the device past such an obstacle. The ability to move applicators to an installation i.e. open state also contributes to this, with the ability to retract the applicators where present providing further flexibility in being able to negotiate a wider range of obstacles. In some embodiments where wheels and applicators are retractable other types of obstacles such as T-shaped connectors may also be passed.

[0236] Mid-span obstacles which may be passed by the robotic device in preferred embodiments may include (byway of example and not limitation) spacers, splice connections, dampers such as spacer dampers and vibration dampers, compression fittings and suspension clamps. Preferably the robotic device is able to pass all such exemplary mid-span obstacles. Mid-span obstacles may be encountered when traversing the line in a region between consecutive suspension towers.

[0237] Byway of example only, individual conductors of the line may have a diameter in the range of 10-50mm. The applicators) of the embodiments described herein may, for example, be configured to engage around e.g. completely circumferentially surround, a conductor of diameter in this range.

[0238] Advantageously the robotic device of the various embodiments described herein comprises a pre-treatment subsystem and a coating application subsystem. However, in embodiments the device comprises a pre-treatment subsystem and / or a coating application subsystem. Thus, unless the context demands otherwise only one of the pre-treatment subsystem and coating application subsystem may be present. It may be desirable in some cases to separate the pre-treatment and coating processes e.g. to reduce risk of coating contamination.

[0239] An obstacle negotiation subsystem as referred to herein may broadly be understood as enabling obstacles to be negotiated. For example, in some cases a wheel may contact an obstacle as it passes the obstacle. Negotiating an obstacle herein refers to passing the obstacle. Thus any reference to negotiating or to negotiate an obstacle may be understood as passing or to pass the obstacle. Similarly traversing an obstacle refers to the ability to pass the obstacle.

[0240] The robotic device may be configured to move autonomously and / or under remote control along the line in use and apply the pre-treatment and / or coating thereto in situ. Any functions involved in obstacle negotiation or coating / pre-treatment processes performed by the robotic device herein therefore occur autonomously and / or under remote control and may occur while the device is located in situ on a line. Where an obstacle avoidance sub system is provided, the robotic device is preferably configured to autonomously pass obstacles.By “selectively” it is meant that e.g. a given applicator, wheel or coupling may be transitioned as required between its different states e.g. open / closed, retracted / un retracted. This may occur in either direction.

[0241] The robotic devices of the present invention when deployed to the line using the UAV i.e. including any fluid located in the fluid tanks for use in treating the line, may have a weight of at least 10Kg and up to 75Kg, and typically from 25Kg to 75Kg. The UAV is thus operable to lift a robotic device of weight in this range. Where shorter stretches of line are being treated the amount of liquid in the tanks may be lower, resulting in weights toward the lower end of the range.

[0242] Byway of example only and not by limitation, the robotic devices in accordance with any of the aspects or embodiments of the invention may, in exemplary embodiments, have a length of at least 0.75m. The robotic devices may alternatively or additionally have a length of no greater than 3m. The robotic devices may alternatively or additionally have a width of at least 30cm and / or less than 80cm. The robotic devices may alternatively or additionally have a height of at least 35cm and / or a height of less than 70cm. In exemplary embodiments, a robotic device having a “split chassis” configuration may have a length of at least 2m and / or a width of at least 50cm.

[0243] It will be appreciated that in addition to being used in the deployment of the robotic device to the power line, the UAV, which is configured to lift the robotic device om accordance with the invention, may also be used to move the robotic device as required at other times. The UAV may also be used to retrieve the robotic device from the power line after deployment thereto in use. This may be after a coating and / or pre-treatment operation has been performed or for maintenance purposes. The UAV may return the robotic device to a base station or move the device to a new stretch of line to be treated. Alternatively or additionally the UAV may be used to lift the robotic device from the line and replace it thereon in order to adjust the position of the robotic device relative to the power line after initial deployment thereto.

[0244] The provision of a UAV as part of the system provides flexibility as to how pretreatment and / or coating operations are performed. For example, the UAV may readily remove the robotic line from a stretch of line once treated and move the device to another stretch of line to be treated or to a base station. A UAV may operate over extended hours in comparison to human teams for deploying robotic devices to power lines, potentially limited only by battery life. Moving a robotic device from one stretch of power line to another would be a lengthy and difficult operation using human power. In contrast, a UAV can be remotely or autonomously controlled as desired to enable different stretches of power line to be readily treated in a time and cost efficient manner.

[0245] The step of using the UAV to deploy the robotic device to the line may comprise the UAV transporting the robotic device from a base station to the line, and the method mayfurther comprise the UAV returning to the base station after deploying the robotic device to the power line to collect a further robotic device, and aerially deploying the further robotic device to another stretch of overhead power line. Thus, the UAV may operate to deploy multiple robotic devices to respective stretches of power line for treatment at different times.

[0246] The method may further comprise using the UAV to retrieve the robotic device from the power line or to adjust the position of the robotic device relative to the power line after deployment thereto. The UAV of the system is configured to retrieve the robotic device from the power line and / or to adjust the position of the robotic device relative to the power line after deployment thereto. The step of using the robotic device to apply a pre-treatment and / or coating to the line may comprise using the robotic device to apply a pre-treatment and / or coating to a first stretch of overhead power line. The method may further comprise using the UAV to retrieve the robotic device from the power line, transport the robotic device to a second stretch of power line, and deploy the robotic device to the second stretch of power line, and then using the robotic device to apply a pre-treatment and / or coating to the second stretch of powerline. The first and second stretches of power line may be stretches of the same powerline or of different power lines.

[0247] In any of these embodiments, the method preferably involves the UAV detaching from the robotic device after transporting the device to the power line for initial deployment thereto and reattaching to the robotic device for retrieving the robotic device from the power line or adjusting the position thereof relative to the power line. The UAV of the system is configured to operate in this manner.

[0248] In other embodiments it is envisaged that the UAV used to retrieve the robotic device from the overhead powerline or adjust the position thereof may be a different UAV to that used to transport the robotic device to the power line for initial deployment. The method may therefore more generally involve using the or another UAV to retrieve the robotic device and / or adjust the position thereof relative to the power line. Where the UAV used to retrieve and / or adjust the position of the robotic device is different to that used to transport the device to the line for deployment thereto initially, the UAV used to transport the device to the line initially may be referred to as the “first” UAV, and the other UAV as a second UAV. The UAV of the system used in deployment is therefore a first UAV and the system may comprise a second UAV for the retrieval and / or adjustment operation. The first UAV is configured to detach from the robotic device after deployment of the device on the line. In these embodiments using multiple UAVs, the applicable UAV is configured to releasably attach to and lift the robotic device during the removal or adjustment step. The releasable attachment may be via a releasable attachment arrangement of any of the forms discussed in relation to the attachment during deployment. In any of these embodiments, the removal and / or adjustment of the robotic device involve the lifting of the robotic device from the power line by the applicable UAV.In some embodiments in which the UAV is separable from the robotic device, the UAV is one of a set of one or more UAVs and the robotic device is one of a set of a plurality of robotic devices, wherein each UAV may be releasably attached to any one of the robotic devices for aerial deployment thereof, optionally wherein the number of robotic devices is greater than the number of UAVs.

[0249] In accordance with a further aspect of the invention there is provided a method of deploying robotic devices for use in pre-treating and / or coating overhead power lines comprising;

[0250] providing a plurality of robotic devices at a base station;

[0251] wherein each robotic device comprises a pre-treatment subsystem and / or a coating application subsystem, one or more applicators for performing pre-treatment and / or coating operations and a plurality of wheels which engage the line when deployed thereto to move the robotic device along the line for applying the pre-treatment and / or coating thereto in use;

[0252] the method further comprising providing a UAV, wherein the UAV is releasably attachable to any of the robotic devices for aerially deploying the robotic device to or from an operating position on a stretch of the line for applying the pre-treatment and / or coating thereto;

[0253] connecting the UAV to one of the robotic devices and using the UAV to deploy the robotic device to a stretch of line for pre-treatment and / or coating thereof;

[0254] separating the UAV from the robotic device once deployed to the line leaving the robotic device to traverse the line for applying the pre-treatment and / or coating thereto; and causing the UAV to return to the base station to collect another one of the plurality of robotic devices for deployment to another stretch of overhead line for pretreatment and / or coating thereof.

[0255] The further aspects described herein may include any or all of the features described in relation to the earlier aspects and vice versa, to the extent that they are not mutually inconsistent.

[0256] As referred to herein, a “UAV” is an Unmanned Aerial Vehicle. This term has its usual meaning the art and refers to a vehicle with no human controller on board. The UAV may be configured to be operated remotely and / or to operate autonomously. The UAV may thus be configured to be guided remotely by a human operator and / or to operate autonomously under the control of an onboard computer system. The UAV may be operated solely remotely or autonomously or may configured to be operated in either of these manners depending upon a particular task or situation etc.

[0257] The UAV is configured to move in three dimensions.

[0258] The UAV may comprise any suitable propulsion arrangement.

[0259] The UAV preferably is a multi-rotor vehicle. The UAV may comprise, for example, at least 4 rotors.The UAV comprises a fuselage providing a main body of the UAV. The fuselage may house components such as an on board computer and power source e.g. battery.

[0260] It will be appreciated that the deployment of the robotic device by the UAV in accordance with the methods or systems described herein may be controlled autonomously or remotely, or in combinations thereof. Some steps may be performed autonomously and others under remote control depending upon the type of step and / or conditions etc.

[0261] However, the deployment does not require any direct contact by a human operator with the robotic device in order to deploy it on to the power line. The deployment may, for example, be performed under the control of an on board computer of the UAV and / or robotic device and / or a remote control system e.g. at a base station. The same applies to any removal of the robotic device by the UAV from the line for retrieval and / or adjustment of the position thereof.

[0262] The present invention further extends to a system in accordance with the invention of any its aspects or embodiments in which the UAV and robotic device are attached together, for example by means of the releasable attachment arrangement described herein.

[0263] The present invention further extends to an overhead power line e.g. transmission or distribution line system comprising an overhead power line e.g. transmission or distribution line and a system in accordance with any of the aspects or embodiments of the invention.

[0264] A subsystem as referenced herein refers to a set of one or more components providing particular functionality, and may include electrical and / or mechanical components, and may be implemented at least partially using software. The term does not imply any particular position of the various components relative to one another and components of different subsystems may be shared.

[0265] Any aspect of the invention described herein may include any or all of the features described in relation any of the other aspects, to the extent that they are not mutually inconsistent. The system of the present invention may be configured to enable any feature described in respect of a method aspect of the invention to occur, and conversely the method may be in relation to a system including any of the features described in relation to the system aspects or involve performing any of the functions that are described in relation to the system.

[0266] References to autonomous operation herein should be understood in relation to the system of the present invention. Thus, steps performed autonomously may involve control being performed by one or both of the robotic device and UAV unless the context demands otherwise.The terms “upper”, “lower”, “lowermost”, “horizontal”, “vertical” etc. are defined with respect to the intended in use orientation of the device when located on a power line in use or of the UAV when in use as appropriate.

[0267] The ends of the robotic device and positions of components thereof may be referred to by reference to leading and trailing ends (or front and back ends) of the device. This refers to the ends as oriented in use when installed on a power line. This does not necessarily imply that the device must always be run in the same orientation. It is envisaged that the direction of a device may be reversible. The terms “leading” and “trailing” may be replaced by references to front and back as appropriate, or first and second ends.

[0268] The device or parts thereof are configured to function as described herein in use. References to the various configurations / functions being applicable when “in use” may therefore be introduced as appropriate where not explicitly stated. For example, the applicators and / or wheels are configured such that they may interact with the conductor(s) of the line in the described manner when the robotic device is installed on a line in use e.g. with the wheels running thereon, the wheels or applicators engaging and / or retracting from the conductor(s) etc.

[0269] For brevity, reference may be made to the treatment of an overhead powerline by the robotic device herein. This should be understood to refer to the pre-treatment and / or coating thereof unless the context demands otherwise.

[0270] References made to a “powerline” herein should be understood to refer to an “overhead powerline” if not explicitly stated.

[0271] BRIEF DESCRIPTION OF THE DRAWINGS

[0272] Various embodiments of the present invention will now be described, by way of example only, and with reference to the accompanying drawings, in which:

[0273] Figure 1 is a perspective view of a robotic device in accordance with one embodiment which may be used in systems of the present invention, being taken from one side (and toward the left hand or trailing end);

[0274] Figure 2 is a view of the robotic device of Figure 2 taken from one end (to the left hand or trailing end of Figure 1);

[0275] Figure 3 is a top view of the robotic device of Figure 1 ;

[0276] Figure 4 is a view of the robotic device of Figure 1 taken from one side (the same side to which Figure 1 is taken);

[0277] Figure 5 is a perspective view of a robotic device similar to that of Figures 1 to 4 from one end and side, taken from the opposite side to that of Figure 1 ;Figure 6 is a view of the device of Figure 5 taken from one side;

[0278] Figure 7 is a view similar to that of Figure 6, but taken from the opposite side of the device and showing a section through the other side of the main body 450;

[0279] Figure 8 is a top view of the device of Figure 5 showing a part of the main body housing cut away to illustrate the interior thereof;

[0280] Figure 9 is a vertical cross sectional view taken through the stem of the T-shape connector of the device of Figures 6 to 8;

[0281] Figure 10A illustrates a robotic device in accordance with another embodiment which may be used in systems in accordance with the invention;

[0282] Figure 10B illustrates a device similar to that of Figures 10A showing the central coupling at the leading end open fortraversing an obstacle;

[0283] Figures 11-13 illustrate a system for deploying a robotic device for pre-treating and / or coating a power line in accordance with one embodiment of the invention, with Figure 11 illustrating the system from one side, and Figure 12 from the other side showing the releasable attachment arrangement and its cooperation with the robotic device more clearly, while Figure 13 shows the system from a slightly different perspective to Figure 11 towards the leading end;

[0284] Figure 14 shows the releasable attachment system of the system of Figures 11-13; Figure 15 shows the way in which a releasable attachment arrangement of the type shown in Figures 11-14 may engage another embodiment of a robotic device similar to that of the embodiments of Figures 1-9;

[0285] Figure 16 illustrates an alternative embodiment of a releasable attachment arrangement usable in systems of the present invention;

[0286] Figure 17 illustrates the attachment mechanism of Figure 16 attached to a robotic device of the type shown in the embodiments of Figures 1-9 in accordance with another embodiment of a system of the present invention;

[0287] Figure 18 illustrates an end effector of the manipulator of the embodiment of Figures 11-13 in more detail, the end effector including the applicator and a latching mechanism, Figure 18 showing the interaction with a conductor of the power line;

[0288] Figures 19-21 illustrates a sequence of steps involved in the locking of the latching mechanism on to the conductor;

[0289] Figure 22 illustrates the latching mechanism locked on to the conductor with the applicator in an open configuration, taken from the side of the latching arrangement;

[0290] Figure 23 is a side on view similar to Figure 22;

[0291] Figure 24A illustrates the end effector of Figure 22 disposed around the conductor and also shows the manipulator connected thereto;

[0292] Figure 24B shows the end effector from the side as in Figure 23, and additionally shows the manipulator attached thereto;Fig. 25 shows a schematic fluid delivery diagram showing tank reservoir, peristaltic pump, flow rate sensor, pressure sensor and a coating applicator which may be used in exemplary embodiments of robotic devices for use in systems of the present invention;

[0293] Fig. 26 shows an overview of an exemplary applicator of a mechanical abrasion subsystem assembled on an ideal conductor cylinder which may be used in robotic devices for use in systems of the present invention;

[0294] Fig. 27 shows a wheel of a mechanical abrasion system applicator assembled with bristles, coupler flange and brushless motor;

[0295] Figs. 28A-C show various known conductor bundle configurations;

[0296] and Figs. 29A-D show; a conductor spacer (Fig. 29A), a stockbridge vibrational damper (Fig. 29B), a suspension insulator (Fig. 29C) and a tension tower (Fig. 29D);

[0297] The present invention relates to methods and systems for deploying a robotic device for performing pre-treatment and / or coating operations on an overhead power line e.g. an overhead transmission or distribution line, and to the treatment of the line by the robotic device to provide a pre-treatment or coating thereto.

[0298] Examples of robotic devices to which the principles described herein will first be described. Such robotic devices may be in accordance with any of the embodiments described in the Applicant’s co-pending WO 2025 / 008637A1(PCT / GB2024 / 051751) entitled “Robotic device for coating and / or pre-treatment of overhead transmission or distribution line conductors”, filed on 4 July 2024. Such embodiments of robotic devices include obstacle negotiation functionality. While the present invention is advantageously applied to such robotic devices, it will be appreciated that the principles relating to the deployment of the robotic devices described below are applicable equally to other types of robotic device having the ability to pre-treat and / or coat a power line, not necessarily including such obstacle negotiation functionality, and which need not be of the construction described in relation to these particular examples.

[0299] Figure 1 illustrated one exemplary robotic device to which the principles of the present invention may be applied. Figure 1 is a perspective view of the robotic device taken from one side (and toward the left hand or trailing end). Figure 2 is a view of the robotic device of Figure 1 taken from one end (to the left hand or trailing end of Figure 1), Figure 3 is a top view of the robotic device of Figure 1 , and Figure 4 is a view of the robotic device of Figure 1 taken from one side (the same side to which Figure 1 is taken).

[0300] The robotic device 300 is in the form of a platform which is mounted to an overhead powerline e.g. a transmission or distribution line including a set of one or more conductors in use. The set of conductors may be a single conductor or a bundle e.g. twin, triplex or quad conductor bundle, for example, and typically includes a plurality of conductors. Examples of various exemplary conductor arrangements are illustrated with respect to Figures 28A-D. The device 300 is configured to provide a pre-treatment and / or coating to one or moreconductors of the bundle in use. The device includes a pair of wheels 302, 304. The wheels are located on top of a conductor of the line (not shown) to mount the device thereto. The wheels are located so as to engage with the same conductor of the line, being located one in front of the other along the direction of the line. In the illustrated embodiment the wheels are pulley wheels.

[0301] The device defines a longitudinal direction (indicated as x-x in Figure 3) in the direction that the transmission or distribution line extends in use (and which corresponds to a direction of travel of the device / platform along the line), and a transverse direction perpendicular thereto (indicated as y-y in Figure 3). The transverse direction refers to the direction which is generally horizontal in use. The device has a length in the length direction and a width in the transverse direction. The device further defines a height direction (marked as Z-Z in Figure 4) perpendicular to the longitudinal and transverse directions. The height direction refers to the direction which is generally vertical in use.

[0302] For ease of illustration, the wheel 302 will be referred to as the leading wheel, and the wheel 304 as the trailing wheel. This refers to the direction of travel of the device when installed in use, which in this example would be to the right as shown in Figure 1. The leading and trailing wheels provide front and rear wheels of the device. This does not imply that the device necessarily can travel only in one direction. It is envisaged that in some cases the same device may be run in both forward or reverse directions, while in other cases the device may be configured to run in a single particular direction. This will depend e.g. on the positions of the applicators for applying a particular pre-treatment and / or coating. The ability to run the device in either direction also enables it to be used with conductors to the left or right side of a bundle of multiple conductors respective, or to left or right hand bundles of a multi bundle line. However, in some cases, dedicated devices may be provided for use with left hand or right hand located conductors e.g. being mirror images of one another.

[0303] The wheels 302, 304 rotate respectively about axes X1 , X2. These axes extend in the transverse direction. The wheels 302, 304 are mounted to first and second ends (i.e. leading and trailing ends) of the top bar 312 of a T shaped connector 316 of a chassis of the device by means of couplings 306, 308. An actuator housing 325, 329 is provided at the distal end of each coupling 306, 308, adjacent the respective wheel, and houses an actuator fordriving the respective wheel.

[0304] The couplings 306, 308 may be fixed couplings. In such arrangements, since the wheels are top mounted i.e. the ride on top of the line (i.e. the conductor thereof), the wheels may still ride over mid-span type obstacles, such as splice connections, dampers, spacers, suspension clamps, vibration dampers or compression fittings. In other embodiments, the couplings 306, 308 may be dynamic couplings which enable either one of the wheels to be selectively retracted out of engagement with the line (i.e. the conductorthereof) and out of the way of an obstacle, while the other of the wheels remains engaged therewith to provide stable support to the robotic device i.e. platform in use. This may enable a wider range of obstacles to be negotiated, including T-shaped obstacles, such as suspension towers, which the wheel cannot ride over. One type of dynamic coupling might, for example, involve a revolute joint.

[0305] In general, a dynamic coupling refers to a non-fixed coupling which permits movement of the wheel relative to the top bar 312 other than rotation about the axis of the wheel. The coupling is configured to enable the wheel to move relative to the top bar 312 to which it is attached. For example, the coupling may be configured to rotate about an axis of the top bar 312 to retract the wheel. The coupling may therefore comprise a revolute joint. In some embodiments the coupling may comprise first and second parts connected to one another at a joint, wherein movement of the second part relative to the first may result in retraction of the wheel. The first and second parts may be connected at one end to the bar and the wheel respectively and at the other ends to one another. However the parts may not necessarily be directly connected to one another. There may be one or more intermediate joints. Whatever the form of the coupling, the coupling may be actively actuated to cause retraction of the wheel. Thus an actuator may be provided for independently and selectively retracting each wheel. A wheel may then be actively retracted before encountering an obstacle. In other embodiments a passive retraction mechanism may be used. In such cases contact of the wheel with an obstacle may cause the wheel to automatically retract. For example, a passive arrangement may include a sprung revolute joint.

[0306] Retraction of a wheel where required will, when actively initiated, be initiated when it is determined by the robotic device that retraction is required in order to negotiate an upcoming obstacle. This may be determined in any suitable manner based e.g. on the results of a detection system e.g. one or more cameras, or other sensors, positioning information and / or information obtained by a communications interface of the device.

[0307] Once an obstacle has been passed, the wheel may be moved back from the retracted position to the original position in which it is engaged with the conductor. This may be achieved actively e.g. by under the control of an actuator, or passively e.g. by the wheel automatically moving back e.g. under the action of a spring when it no longer contacts the obstacle.

[0308] The device shown in Figures 1-4 includes applicators (which may be referred to as end effectors) 318, 323 at the leading and trailing ends thereof. Each applicator includes first and second curved parts 320, 322 (or 324, 326) together, which are connected to one another by a hinge 327 (or 328). In the illustrated embodiment the first and second parts define upper and lower parts of the applicator respectively. The hinged connection between the first and second parts enables the applicators to transition between the closedconfiguration shown in Figure 1 , in which the first and second parts of each applicator engage the respective conductor of the line for applying a pre-treatment or coating thereto, and an open configuration in which the first and second parts of the applicator are disengaged from the line.

[0309] The device shown in Figures 1-4 includes applicators (which may be referred to as end effectors) 318, 323 at the leading and trailing ends thereof. Each applicator includes first and second curved parts 320, 322 (or 324, 326) together, which are connected to one another by a hinge 327 (or 328). In the illustrated embodiment the first and second parts define upper and lower parts of the applicator respectively. The hinged connection between the first and second parts enables the applicators to transition between the closed configuration shown in Figure 1, in which the first and second parts of each applicator engage the respective conductor of the line for applying a pre-treatment or coating thereto, and an open configuration in which the first and second parts of the applicator are disengaged from the line. The closed configuration may correspond to a deployed state of the applicator in which it is ready to apply treatment to a conductor of the line, while the open configuration may correspond to an installation state in which it may be moved into or out of position around a conductor for transitioning into or out of the deployed state.

[0310] In the closed configuration the first and second parts fully circumferentially surround the conductor, (i.e. extend around the full circumference thereof). They define an annular shape having closed central bore for receiving the conductor. When in a closed configuration, the applicator may extend fully circumferentially around an axis of the bore and hence of a conductor when disposed therein. In the open configuration the first and second parts rotate apart from one another about the hinge so as to no longer engage i.e. contact the conductor. The first and second parts do not fully circumferentially surround the conductor in the open configuration. Thus they do not define a closed central bore in the open configuration. The first and second parts of each applicator each define a first edge and a second edge, wherein the first edges are joined to one another along the hinge. Opposite second edges of the parts contact one another in the closed configuration but are spaced from one another in the open configuration. The opposite second edges define free edges of the first and second parts. This arrangement may be referred to as a “clamshell” arrangement.

[0311] Alternative forms of applicator may be used. For example, an alternative embodiment of an applicator having two parts which are movable linearly towards and away from one another between a deployed state for providing a coating or pre-treatment to the line and an open, disengaged state are shown in Figures 18-23.

[0312] In the view of Figures 1-4 the applicators are shown in the closed configuration which corresponds to a deployed state for applying a treatment to the line.The applicators 318, 323 are each coupled to the chassis of the device by means of a respective dynamic coupling 330, 332. The couplings 330, 332 associated with the applicators are most clearly seen in Figure 3. The dynamic couplings may be of any of the types described earlier and enable the applicator, once in its open configuration i.e. disengaged from the line i.e. a conductor thereof, to be retracted out of the way of the conductor (and line). In the retracted position the applicator will no longer be concentric with the axis along which the conductor of the line lies and is disposed to one side of the conductor. By retracting the applicator from the line in this way, obstacles may be negotiated, including mid-span obstacles, such as dampers, splice connections, vibration dampers, spacers or compression fittings, and also suspension towers or other T-shaped obstacles. The applicator is thus movable between retracted and extended positions relative to the conductor (and line).

[0313] The dynamic coupling may, for example, involve a robotic manipulator, i.e. a multiaxis robotic arm, which permits a greater range of movement of the applicator, or may involve an arrangement which involves less range of movement e.g. as provided by a set of mechanical linkages. The use of a multi-axis robotic arm i.e. robotic manipulator provides greater flexibility in overcoming a range of different obstacles. An example using a robotic manipulator is shown in Figures 11-13. While a dynamic coupling is illustrated and enables a greater range of obstacles to be more readily traversed, it is envisaged that in some cases a fixed coupling together with the ability of the applicators to transition to the open configuration may be sufficient to traverse some obstacles. As described with respect to the wheels, the dynamic coupling refers to a movable coupling. Typically the coupling is actuated actively e.g. using a respective actuator.

[0314] When it is determined that retraction of an applicator is required to negotiate an obstacle, the applicator will first be caused to transition to an open configuration in which it is disengaged from the conductor, and then the coupling will be actuated to cause retraction of the applicator away from the conductor. This may be carried out, as described with respect to the wheels, when an obstacle is detected and it is determined that retraction is required. When it is determined that the obstacle has been passed, the coupling may be actuated to move the applicator back into position around the conductor (while still in the open, disengaged configuration) and the applicator then caused to transition to the closed configuration engaged around the conductor once more. The applicators are selectively and independently retractable from their conductors.

[0315] Retraction of wheels and / or applicators is achieved while the robotic device continues to move along the line.

[0316] It will be appreciated that initial deployment of the robotic device, as described in more detail below, will involve moving the applicator into place while in an open configuration and then transitioning the applicator to a closed, deployed state around itsconductor of the line. Moving the applicator into place may be achieved by lowering the robotic device as a whole by the UAV into position with the applicator appropriately located about the conductor, or, where the applicator is movably coupled to the chassis e.g. via a robotic arm or other dynamic coupling, will typically additionally involve movement of the applicator relative to the chassis e.g. movement of the robotic arm, so as to locate the open applicator around the conductor. This involves moving the applicator from a retracted to an extended position relative to the line for engaging the conductor. Removal of the robotic device from the line may effectively involve the reverse process with the applicators moving to an open, installation configuration from their deployed, closed configuration and then typically moving to a retracted position relative to the line e.g. by movement of a robotic manipulator, ready for the UAV to lift the robotic device off the line.

[0317] The applicators shown in the embodiment of Figures 1-4 are arranged such that in use both will engage the same conductor of the line, which corresponds to the conductor on which the wheels 302, 304 ride. Thus the device 300 as illustrated will provide a pretreatment and / or coating to a single conductor of a bundle of the line. However, in other embodiments, the applicators may be configured to engage around different conductors (e.g. of a bundle) to one another and / or to a conductor on which the wheels ride. This may be achieved using certain types of coupling of the applicators to the chassis, e.g. a robotic manipulator such as a multi axis robotic arm, which allows a greater degree of freedom in movement of the applicator. Such arrangements are illustrated in the embodiment of Figure 11 , for example. Arrangements in which applicators engage different conductors of the line will also enable multiple conductors to be simultaneously treated in the same pass e.g. by providing a plurality of applicators each associated with a different conductor. This may be most readily achieved using a robotic manipulator e.g. multi axis robotic arm type of coupling of the applicator to the chassis.

[0318] As described earlier, the applicators may be arranged to apply a pre-treatment and / or coating to the conductor of the line. The application of pre-treatment may involve applying material of the line e.g. a chemical pre-treatment, or may involve applying a treatment to the line such as abrasion without the application of material thereto. The applicators may, for example, be of any of the types previously described. When in the closed configuration, the applicators contact their respective conductor. In embodiments each applicator is configured to contact the conductor around which it is engaged around 360 degrees of the conductor circumferential surface. This may provide more complete pretreatment or coating of the conductor. While the applicators shown in Figures 1-4 are annular in type, including two parts hingedly attached to one another, it is envisaged that other shapes of applicator may be used, with each applicator desirably still providing complete circumferential coverage of the conductor with which it cooperates. Applicators of the type illustrated in Figures 1-4 are particularly useful for applying a coating to theconductor(s) e.g. as part of a coating application process. Examples of applicators useful for applying a pre-treatment in the form of abrasion to conductor(s) of the line are shown in Figures 26 and 27.

[0319] In the illustrated embodiment of Figures 1-4 there are two applicators, disposed respectively at the leading and trailing ends of the robotic device. The number and position of the applicators may vary depending upon whether pre-treatment and / or coating is to be provided, the number of conductors of the bundle to be coated, and the intended direction of travel of the device etc. For example, where coating is to be provided, it is desirable that the applicator for providing the coating is disposed at the trailing end of the conductor i.e. beyond the trailing wheel e.g. in the position of applicator 323 shown. This will avoid the wheel disturbing the coating once applied. An applicator for pre-treatment if also present on the same device may then be located at the leading end, such as ahead of the leading wheel e.g. in the position of applicator 318 shown. If the device is to be used only for pretreatment, a single applicator may be provided e.g. at the trailing end of the device. Multiple applicators may be provided for providing pre-treatment and / or multiple applicators may be provided for providing coating of the line.

[0320] A pair of cameras 344, 346 are provided looking rearward beyond the applicator 323 along the position of the conductor at the trailing end of the device, and a corresponding pair of cameras 340, 342 are provided looking forward along the position of the conductor at the leading end ahead of the applicator 318. The forward looking cameras 340, 342 form part of the obstacle detection system, while those looking rearward may be used to inspect the applied coating / pre-treatment. Cameras may be provided at additional positions e.g. looking into the interior of the device along the conductor in either the forward or rearward direction (such as to the trailing side of applicator 318 or the leading side of applicator 323. This may enable inspection of coating / pre-treatment applied by the leading applicator and / or inspection of the conductor prior to application of a coating / pre-treatment by the trailing applicator. The position and / or number of cameras may vary from that illustrated.

[0321] Generally any suitable arrangement of cameras may be used as required to support obstacle detection and / or inspection of the line before and / or after application of a pretreatment or coating thereto.

[0322] The chassis includes a T- shaped connector 316 including a top bar 312 to which the wheels are mounted (and which extends in the longitudinal direction), and a stem 314 connecting the top bar 312 to a main body 350 of the chassis. The stem 314 divides the top bar 312 into two arms extending on either side thereof, to which the leading and trailing wheels are coupled. The stem 314 extends downwardly from the top bar 312. The stem extends in a direction perpendicular to the direction in which the top bar extends. In use, the stem extends vertically while the top bar extends horizontally. The stem 314 bisects the top bar312.In this way, the T-shaped connector suspends the main body of the device from the line in use so that it hangs below the line. This is advantageous in that a space is provided beneath the intended path of a conductor to be treated / coated over an appreciable distance, facilitating obstacle navigation. For example, the stem 314 of the connector may have a length of at least 15cm. As the main body is suspended below the wheels and applicators in this way, the wheels and applicators are located outside of a main housing of the device. Indeed the wheels and applicators are not located in any housing and are exposed. The centre of mass of the device is located below the level of the conductor. For example, the centre of mass of the device may be located level with a point in the lower half of a length of the stem of the T-shaped connector, labelled A in Figure 2. This position is merely exemplary.

[0323] The main body 350 has first and second opposite edges 351 , 353 extending in the longitudinal direction i.e. in the direction of the line in use, and the stem of the T-shape connector is attached to a central portion 352 of the main body 350 of the housing, being offset toward the first edge 351 thereof. This may assist in stable mounting of the device to a line, even when a wheel is selectively retracted from the line to traverse an obstacle. In the illustrated embodiment, the stem of the T-shape connector is attached to the main body at the first longitudinal edge 351 thereof. When viewed in vertical cross section as in Figure 2, the stem of the T-shape connector and the main body of the housing may define an L-shape. The central portion 352 refers to a central portion of the main body along the longitudinal direction. The central portion 352 may be notionally divided into a first and second outer portions and a central portion therebetween along the length thereof i.e. in the direction of the line. Each portion may be of 1 / 3 of the length of the main body.

[0324] As discussed above, while desirably extending around the full circumference of the conductor when in the closed configuration and engaged around the conductor to apply a coating / pre-treatment thereto, when in the open configuration and retracted from the conductor, the applicators no longer extend around the conductor. Together with the wheels being located in a top line position, i.e. being disposed on top of the line, with no wheels being located below the line and the use of the T-shaped connector, this may assist in obstacle negotiation, since the space beneath the conductor is left free over an appreciable distance. It may be seen that no other components of the robotic device are present in the area beneath the wheels or applicators

[0325] The structure of the chassis, main body and fluid delivery system for the applicators will now be described in more detail by reference to Figures 5-9. Figures 5-9 illustrate a robotic device similar to that shown in Figures 1-4, but without including the applicators or cameras for ease of reference. Like components will be numbered by the same references as in the device of Figures 1-4, but incremented by 100. The device 400 of Figures 1-4 is shown from a different side to the device 300 of Figures 1-4.Figure 5 is a perspective view of the device from one end and side, taken from the opposite side to that of Figure 1 , having leading 402 and trailing 404 wheels assuming a direction of travel to the left in Figure 5, and taking a section through the T-shape connector and main housing. Figure 26 is a view of the device 400 taken from one side, being the side at which the T-shape connector is located, again showing the T-shape connector and one end of the main body in sectional form to illustrate the interior thereof. Figure 7 is a view similar to that of Figure 6, but taken from the opposite side of the device 400 and showing a section through the other side of the main body 450. Figure 8 is a top view of the device 400 showing a part of the main body housing cut away to illustrate the interior thereof. Figure 9 is a vertical cross-sectional view taken through the stem of the T-shape connector of the device 400.

[0326] As illustrated in Fig. 7, the distance L1 the spacing of the wheels (as measured between the axes of about which the wheels rotate) may be in a range of from 25cm-200cm. This may also apply to the later twin chassis embodiments. In both cases each wheel may, by way of example, have a diameter in the range of from 35 cm to 50cm.

[0327] All features described with respect to the example of Figures 5-9 will also be present in the example of Figures 1-4. As may be seen best in Figure 5, the interior of the T-shaped connector is hollow. The connector thus defines an inner cavity through which fluid pipes may be routed for supplying fluid from the fluid tank(s) of the device 400 to the applicator(s) thereof as required.

[0328] The main body 350, 450 provides a housing for various components of the device 300, 400. As shown most clearly in Figures 5-9, the main body 450 includes a central portion 452 with first and second outer portions 454, 456 on either side thereof. The central portion is disposed in the region to which the T-shape connector is attached (being attached along one of the longitudinal edges of the main body). Each of the central and first and second outer portions extends over the full width of the main body of the device. The first and second outer portions are located to the leading and trailing ends of the device beneath the leading and trailing wheels of the device. Each of the outer portions 454, 456 houses a respective fluid tank. By providing fluid tanks on either side of the base of the T-shape connector and below the wheels of the device in this way, a stable arrangement may be provided. (The corresponding parts of the main body 350 in the example of Figures 1-4 are labelled as 350, 354 and 356 respectively.)

[0329] The central part 352, 452 of the main body 350, 450 of the device 300, 400 houses various components of the device required for its operation, including a controller e.g. computer system, power source, communications systems, and pumps for pumping fluid from the tanks to the applicators as required. The location of pumps 460 and controller 462 are shown schematically, and are most easily seen in Figure 8. Although not shown inFigures 5-9, suitable pipes will be provided to pump fluid from the tanks disclosed in the regions 456, 454 up through the T-shaped connector to the applicators.

[0330] As mentioned above, in the illustrated embodiment of Figures 1-4 and 5-9, the wheels are pulley wheels. The shape of the wheel may be seen most clearly in Figure 9. A pulley wheel has a circumferentially extending groove in its conductor contacting surface for locating the conductor in use. The groove of the trailing wheel 304 is denoted 331 in Figure 1. Figure 9 shows the groove 431 associated with the trailing wheel 404. However, as discussed above, other types of wheel may be used. While two wheels are shown, it is envisaged that a greater number of wheels may be used.

[0331] Each wheel (whatever its type) may, in some examples, in use extend over (only) up to 180 degrees of the circumferential surface of the conductor on which it runs. Thus the wheel may extend over only an upper part of the surface of the conductor. This facilitates obstacle negotiation, allowing the wheels to readily run over obstacles. For a pulley type wheel as illustrated in Figure 9 this may mean that the height h of a rim 433 of the wheel on either side of the groove 431 measured from a bottom of the groove is no greater than a radius of the conductor. However, this is only exemplary, and it is envisaged that the wheel may extend over a greater proportion of the circumferential surface of the conductor without detriment to obstacle navigation.

[0332] Figures 10A and 10B illustrate another robotic device to which the principles described herein may be applied. Figure 10A is a perspective view of the device 500 taken from above and one side.

[0333] The wheels, applicators and cameras of the device are similar to those described in relation to the earlier embodiment of Figures 1-4 and 5-9. Rather than there being a single leading and a single trailing wheel, in this case there is a pair of leading wheels and a pair of trailing wheels. The chassis includes first and second halves 510, 512 coupled together at a leading end (first) central coupling 514 and a trailing end (second) central coupling 516. Each chassis half extends in the longitudinal direction i.e. along the length of the line, with the couplings 514, 516 connecting the two halves and extending therebetween in the transverse direction. The chassis half 510 includes a first wheel 502 at the leading end and a second wheel 504 at a trailing end. The chassis half 512 has a third wheel 503 at the leading end and a fourth wheel 505 at the trailing end. The leading and trailing wheels of the chassis halves define respective pairs of opposed wheels (i.e. the first and third wheels 502, 503 and second and fourth wheels 504, 505), the pairs being spaced apart along the length of the device.

[0334] Each chassis half 510, 512 includes a respective tubular connector 518, 520 (first and second connectors) extending between the leading and trailing wheels thereof. A respective housing 522, 524 (first and second housings) hangs below i.e. is suspended fromeach respective one of the connectors 518, 520. Each housing 522, 524 includes a respective fluid tank disposed therein (first and second fluid tanks).

[0335] As described with respect to Figures 1-9, a suitable arrangement of pipes may be used to supply fluid from the tank of a given chassis half to the applicators) associated therewith. Other components of the device e.g. pumps, control system etc as described with respect to the main body of the earlier embodiment may similarly be provided within the housings of the two chassis halves as appropriate.

[0336] In this embodiment, the wheels 502, 504 of the first chassis half 510 will run on top of a first conductor of the line e.g. of a bundle thereof, while the wheels 503, 505 of the second chassis half 512 run along a second, different conductor of the line e.g. bundle which is parallel to the first conductor. In the example illustrated, an applicator 523, 525 is provided at the trailing end of each of the first and second chassis halves respectively (to the trailing side of the trailing wheels), and a further applicator 517, 519 is provided at the leading end of each of the first and second chassis halves, to the leading side of the leading wheels. The pairs of applicators at either end of the chassis are offset longitudinally from one another so that they do not interfere with each other upon opening of the central coupling at the respective chassis end. A pair of cameras is provided associated with each applicator in a similar manner to the embodiment of Figures 1-4 and 5-9. The cameras associated with applicator 523 are labelled 544, 546 respectively, while those associated with applicator 525 are labelled 548, 550 respectively. The applicators are of the same configuration as that described with respect to the embodiment of Figures 1-4 and 5-9. The type of applicator, number and position of the cameras and position of the applicators (e.g. whether provided at the leading or trailing end) may similarly vary from the arrangement illustrated as described with respect to Figures 1-4 and 5-9.

[0337] As in the earlier embodiment of Figures 1-4 and 5-9, the wheels are shown as pulley wheels. Again, the wheels ride on top of respective conductors of a line. The wheels associated with each chassis half ride on the same conductor, which is the same conductor around which the applicators associated with that chassis half engage. As described with respect to the embodiment of Figures 1-5 and 6-9, in alternative arrangements, it is envisaged that the applicators may treat a conductor other than that on which the wheels roll (and additional applicators may be provided to permit treatment of multiple conductors in a single pass).

[0338] An actuator is provided in a respective actuator housing associated with each wheel as in the earlier embodiment of Figures 1-9 for driving each wheel.

[0339] In the embodiment of Figure 10A, the applicators are fixedly coupled to respective arms of the central coupling at the respective end of the chassis. The front central coupling 514 includes first and second arms 550, 552 associated with the first 510 and second 512 chassis halves respectively. The rear central coupling 516 includes third and fourth arms530, 532 associated with the first 510 and second 512 chassis halves respectively. Each of the first and second (and third and fourth) arms has a proximal end movably coupled to the chassis e.g. rotatably coupled thereto, and a distal end which is coupled to the other of the first and second (or third and fourth) arms at the central coupling 514 (or 516). The central coupling 514 joins the first and second arms 550, 552. The central coupling 516 joins the third and fourth arms 530, 532.

[0340] The applicators 523 and 525 (and associated cameras) are fixedly connected via connectors 560, 562 to the arms 530, 532 respectively. A similar arrangement is provided at the leading end, with the leading central coupling 514 connecting arms 550, 552 associated with the first and second chassis halves 510, 512. The wheels 504, 505 are fixedly coupled via connectors 570, 571 to the arms 530, 532 at the trailing end, with a similar arrangement at the leading end connecting wheels 502, 503 via connectors 573, 574 to arms 550, 552.

[0341] Each arm 530, 532 (and corresponding 550, 552) is rotatably mounted at its proximal end to an end of the connector 518, 520 on the applicable side of the chassis so as to be able to rotate about the axis of the connector. Each arm rotates about an axis extending in the longitudinal direction. Each arm at a particular end of the device is selectively and independently rotatable upon opening of the relevant central coupling. Rotation of a given arm will retract the applicator and wheel mounted to that arm away from the line as described below, permitting negotiation of an obstacle. While one of the central couplings is open to permit rotation of one or both of the arms thereof and retraction of the associated wheel(s) and applicator(s), the other central coupling at the other end of the chassis remains closed, ensuring the chassis halves remain stably connected, allowing the device to continue to traverse the line.

[0342] Each central coupling is shown in a closed, coupled configuration in Figure 10A, providing a rigid connection between the chassis halves. Each of the central couplings 514, 516 is configured to be independently and selectively movable between this closed, coupled configuration, and an open, decoupled configuration in use so as to enable the wheels and applicators to be moved out of the way of obstacles. This is achieved by opening of the central joint of the coupling and rotation of one or both of the arms e.g. 530, 532. In the embodiment illustrated, opening of one of the central couplings and associated rotation of the arms apart from one another moves both the wheels and the applicators out of the way of the line. It is envisaged that in other embodiments some form of dynamic coupling might be used to connect an applicator to its chassis half to provide greater freedom of movement of the applicator away from an obstacle / into engagement with a given conductor. For example, a coupling of the type described in relation to any of Figures 1-9 might be used. However, as the chassis is configured to split to traverse an obstacle in the Figure 10Aembodiment, retraction of the applicators from the line may still be achieved where they are fixedly coupled to an arm of the coupling.

[0343] The centre of mass of the device again lies in a plane located below a plane in which the conductor, and also a bottom of the wheels lies. The centre of mass lies below item 548 and between the applicators.

[0344] It will be appreciated that the split chassis arrangement of Figure 10A provides great flexibility in negotiating a wide range of obstacles associated with either or both conductors by selective rotation of any one or ones of the four arms.

[0345] Figure 10B illustrates a device similar to that of Figures 10A, with corresponding parts having the same reference numerals incremented by 100 and annotated by It will be noted that the device shown in Figure 10B differs in some minor details from that of Figure 10A, for example omitting the applicators at the leading end, and not showing cameras, while instead showing actuators 702’, 704’ used to transition the applicators between open and closed configurations at the trailing end. The operation of the devices 500, 600’ is the same.

[0346] Figure 10B shows the central coupling 614’ at the leading end open, with the arms 650’, 652’ to which the wheels 602’, 603’ are mounted rotated out of engagement with the line to permit a T-shaped obstacle 700’ (here a suspension insulator) to be negotiated. Here such obstacles are present on both conductors, requiring rotation of both arms 650’, 652’ about the axis of the connectors 618’, 620’. The device may traverse mid-span obstacles by the wheels simply rolling over the obstacles as described in the embodiment of Figures 1-4 or 5-9, for example. However, the split chassis configuration of this further embodiment gives the possibility of traversing other types of obstacles, such as suspension towers or dampers. While the central coupling at the leading end of the chassis opens to traverse the obstacle, the coupling at the trailing end remains closed to keep the chassis halves rigidly fixed to one another and allow the device 600’ to continue to traverse the line, with the applicators 623’, 624’ applying treatment or coating to respective conductors of the line.

[0347] A system for deploying a robotic device for pre-treating and / or coating a power line in accordance with one embodiment of the invention is shown in Figure 11.

[0348] The system 600 includes a robotic device 640 and a UAV 651 configured to lift the robotic device 640. The UAV has rotors 653 (see Fig. 12) and a fuselage including a housing 655. The housing 655 houses components such as a communications system, on board computer and a power source of the UAV.

[0349] The robotic device is similar to that of the embodiments of Figures 1-9, having a pair of wheels 602, 60 and cameras 642 and 646 at respective longitudinal ends thereof. In the embodiment of Figure 11 only one camera is present at each end, but other arrangements are possible. The wheels are mounted to a chassis of the robotic device as previouslydescribed. The chassis includes a connector 616 having a top bar 612 to which the wheels are mounted and a stem 614. A main body 652 of the robotic device is of the construction earlier described with respect to Figures 1-9 and includes tanks for housing fluid for use in performing coating and / or pre-treatment using the applicator 618. The applicator 618 is of a different construction to that of the embodiments of Figures 1-9 and is described in more detail below.

[0350] The applicator forms part of an end effector of a robotic manipulator 620 which is connected at a proximal end to the main body 650 of the device. The manipulator is in the form of a serial manipulator in this example. The manipulator may move the applicator into position around a conductor of the line to be treated during deployment of the robotic device, and may also retract the applicator from the line for removal of the robotic device from the line or to negotiate an obstacle. Movement of the applicator into position will involve moving it through movement of the manipulator while in an open, installation state to a position around a conductor of the line, before causing the applicator to transition to a closed, deployed state around the conductor. While in this example a single applicator and robotic manipulator are shown, multiple manipulators and applicators may alternatively be used.

[0351] The UAV 651 is releasably attached to the robotic device 640 via a releasable attachment arrangement 660 of a payload mechanism. The releasable attachment arrangement 650 enables the robotic device to be held securely by the UAV during flight, while allowing the UAV to detach from the robotic device once it has been deployed on the line e.g. once the wheels have taken the weight of the robotic device. Conversely the releasable attachment arrangement allows the UAV to reattach to the robotic device in order to remove it from the line e.g. for retrieval to a base station, maintenance, adjustment of position on the line. The releasable attachment arrangement may also be adjustable permit the UAV to attach to different robotic devices, for example differing in type and / or size.

[0352] The centre of mass of the system may be directly below the UAV to help maintain stability of the system during flight of the UAV.

[0353] The releasable attachment arrangement 660 is seen more clearly in Figure 12, which shows the system of Figure 11 from the side of the releasable attachment arrangement. Figure 14 illustrates the releasable attachment arrangement alone, without the UAV or robotic device, for the purposes of illustration. This type of releasable attachment arrangement includes a shelf on which the robotic device sits and two clamps which ensure safe and secure deployment.

[0354] The releasable attachment arrangement is securely attached by a pad 663 at a proximal end to the underside of the UAV. The connection is via a stabilization system described in more detail below, which forms part of the payload mechanism.The releasable attachment arrangement 660 includes a frame including pair of horizontally spaced connecting arms 664, 666 which extend downwardly from a connecting portion 668 which is securely attached at its proximal end 665 to the UAV. This attachment may be seen in Figures 11-13 where the connecting portion 668 is shown extending downwardly from the housing 655 i.e. main body of the UAV. At its distal end, the releasable attachment arrangement includes a shelf 670 which is configured to slide under the underside of the main body 650 of the robotic device as shown in Figures 11 and 12 to help support the robotic device during transport thereof by the UAV. The arrangement is akin to a fork lift arrangement.

[0355] The releasable attachment arrangement 660 further includes a clamping mechanism including a pair of clamping members 680, 682, each being provided at a distal end of a respective arm 672, 674, which is mounted at its proximal end to a block 690, 692. Each clamping member 680, 682 is movable horizontally to extend or retract the clamping member relative to the block 690, 692 to provide horizontal adjustment of the position of the clamping members and thus of a clamp provided thereby. The clamping mechanism is slidable vertically up and down relative to the arms 664, 666 by movement of the blocks 690, 692 in respective tracks 662. This provides adjustment of a vertical position of the clamping mechanism. The horizontal and vertical adjustment of the clamping mechanism ensures that the clamping members 680, 682 can clamp around a desired part of the robotic device. A further clamp is provided by the cooperation of clamping plates 694, 696 and the shelf 670 as the height of the blocks relative to the shelf is adjusted. The horizontal and vertical adjustment possible for the clamping mechanism enables the releasable attachment arrangement to be used with robotic devices of different types and sizes. The clamps provided by the clamping mechanism may engage any desired portion or portions of the robotic device to provide a secure attachment to the UAV in use.

[0356] As may be seen in Figure 12 most clearly, in one example the clamp provided by clamping members 680, 682 grips the stem 614 of the T shape connector, while the main body of the robotic device is clamped between the shelf 670 and plates 694, 696, with the plates engaging an upper surface of the manipulator (which is secured to the main body of the robotic device in this example) to secure the main body in the region of the central portion thereof (which may include a control system of the robotic device) on the shelf 670. Figure 13 shows the system from another perspective, allowing the engagement of the clamping plate 694, 696 with the robotic device to more easily be seen.

[0357] Figure 15 shows the way in which a releasable attachment arrangement 660 of the type shown in Figures 11 -14 may engage another embodiment of a robotic device similar to that of the embodiments of Figures 1-9 in accordance with another embodiment of the invention. Here the clamping plates 694, 696 directly contact an upper surface of the main body 650 of the device, since there is no robotic manipulator connected thereto in thisembodiment. The clamping members 680, 682 still clamp around the stem 614 of the T-shape connector.

[0358] The releasable attachment arrangement 660 is securely attached i.e. anchored to the UAV. The releasable attachment arrangement 660 may be integral with the UAV, or, in other embodiments it might be separately formed and securely attachable thereto as a modular component e.g. as part of a payload mechanism specific to attaching a robotic device for coating and / or pre-treating a line to a UAV for deployment in accordance with the present disclosure.

[0359] An alternative releasable attachment arrangement is shown in Figure 16.

[0360] This arrangement 700 includes a connecting arm 703 extending from a pad 704 at a proximal end for connection to the UAV, for example via a stabilization system of a payload mechanism thereof and in any of the manners described in relation to the earlier embodiments of Figures 11-15. At a distal end of the arm 703 a gripper 706 is provided. The gripper is defined by fingers 712, 714 each being connected to one of a pair of links 708, 710 operable to move the respective fingers between open and closed positions for releasing and gripping respectively. A slider is associated with the distal end of a proximal portion 701 of the arm 703 i.e. being slidably mounted therein to allow extension of the gripper 706 through extension of the slider thereby extending the arm 703. A mechanism is provided which results in the fingers moving to an open position as the slider extends and toward a closed position as the slider retracts. Each link 708, 710 has two joints and has one end connected to a respective finger 712, 714. One joint attached closely to the finger allows the link to rotate and slide relative to arm 703 along a constrained path, whereas an attachment closer to the slider has a rotary joint, allowing it to rotate.

[0361] Where this type of releasable attachment arrangement is used, it is necessary to provide a cooperating connecting portion on the robotic device for the fingers 712, 714 to close around e.g. hook onto, in order to provide a secure attachment to the robotic device. This connecting portion may be in the form of a linkage e.g. hook embedded securely into the robotic device.

[0362] This form of releasable attachment additionally includes a pair of auxiliary arms 716, 718 terminating in pads 720, 722. The auxiliary arms can extend relative to connecting bar 713 independently of the movement of the slider that allows the arm 703 to extend. In use, the auxiliary arms can extend first, bringing the pads 712, 714 into contact with the upper surface of the robotic device. This may stabilise the UAV to ensure accurate positioning while hovering, especially in windy conditions. Next the middle slider extends downward relative to a distal end of the proximal portion 701 of the arm and thus relative to the UAV and the proximal attachment 704 of the arm 703 to the UAV. As the slider extends, both links 708, 710 rotate and the fingers 712, 714 open. Once both fingers are open, the gripper 706 is lowered via the slider until aligned with the connector on the robotic devicee.g. with the fingers aligned with a hole defined by a hook of the linkage. Once everything is aligned, the gripper is closed by moving the slider upward, pulling on the links 708, 710 and closing the fingers of the gripper. This provides the secure connection between the UAV and the robotic device to enable lifting of the robotic device by the UAV.

[0363] Figure 17 illustrates the attachment mechanism of Figure 16 attached to a robotic device of the type shown in the embodiments of Figures 1-9, with the UAV omitted for the purposes of illustration. It may be seen that the pads 720, 722 of extendable locating arms 716, 718 are in contact with an upper surface of the top bar312 ofthe T-shape connector of the chassis, while the fingers 712, 714 are closed around a hook 780 embedded in the upper side of the device.

[0364] The embodiment of Figures 16 and 17 may provide a more simple and compact design for the releasable attachment arrangement. Arrangements as shown in this embodiment or the previous “fork lift” type embodiment may be selected as desired for a particular context. The “fork lift” type arrangement of Figures 13 and 14 does not require modification ofthe robotic device. Of course these are only exemplary of two types of releasable attachment arrangement which can be used. Any suitable attachment providing secure attachment between the UAV and robotic device when required may be used while enabling quick and precise release or reattachment as required in use for different operations.

[0365] Actuation of a releasable attachment arrangement in accordance with any ofthe embodiments ofthe invention may be achieved using a motorized or pneumatic quickrelease mechanism, to allow precise release or conversely attachment to the robotic device when required.

[0366] The applicator 618 and manipulator 620 ofthe embodiment shown in Figures 11-13 will now be described in more detail, since it differs from those used in the earlier embodiments. With reference to Figure 18, the applicator 618 forms part of an end effector ofthe manipulator. The end effector also includes a latching arrangement 806 configured to securely lock the end effector onto a conductor. In use, during a final stage ofthe deployment ofthe robotic device on to the power line, typically once the device has been lowered onto the power line and the wheels engaged with the line, the manipulator brings the latching arrangement into contact with the conductor to be coated. The latching arrangement locks onto the conductor using a passive arrangement, triggered by contact with the conductor. The opposed parts 800, 802 ofthe applicator are then moved from the open configuration shown in Figure 18 into a closed configuration, in which the applicator is deployed ready for use.

[0367] The way in which this is achieved in this example will now be described.

[0368] Figure 18 shows the end effector with the latching arrangement locked on to the conductor, and from the side ofthe applicator, showing the applicator in an openconfiguration around the conductor. This corresponds to an “installation” state. The opposed parts 800, 802 of the applicator are movable from this state into a deployed state by movement of the parts towards one another as a result of movement of the parts along rails 808, 810 under the action of a motor e.g. a single motor. The rails ensure precise alignment of the two parts. The parts 800, 802 are moved together so that a fluid tight seal arises between the parts. This avoids leakage of fluids supplied by the applicator for pretreatment or coating of the conductor in use. The construction of the applicator is similar to that of embodiments shown in Figures 1-10 above, other than rather than rotating about a hinge between the open and closed configurations, the two curved parts of the applicator are driven linearly along rails toward or away from one another to transform the applicator between closed and open states.

[0369] The passive latching arrangement is now described in more detail with respect to Figures 19-21 which show the end effector from the side of the latching arrangement. The latching arrangement includes a set of mechanical linkages configured to automatically latch onto the conductor when the end effector makes contact therewith. As shown in Figure 19, the latching arrangement includes three links 1 , 2,3. When the end effector is pressed against the conductor by the manipulator, link 1 moves upward (Figure 20), causing links 2 and 3 to pivot around their respective pins- Figure 21. This motion results in latching of the mechanism on to the conductor.

[0370] It will be appreciated that the robotic device may lock on to a conductor in other ways to help secure the device to a power line when deployed thereto, and a locking arrangement is only optional.

[0371] Once the latching system has locked the end effector to the conductor, the two parts of the applicator are moved to the closed configuration as described in relation to Figure 18. Figure 22 illustrates the latching mechanism latched on to the conductor with the applicator in its open configuration, and is taken from the side of the latching arrangement. Figure 23 is a side on view.

[0372] While a passive latching arrangement has been described, other arrangements may be used to lock the end effector on to a conductor e.g. active arrangements, for example with the latch being electronically triggered upon determination that the end effector is in proximity to the conductor, or on detection of the conductor etc.

[0373] The system may be configured such that initiation of coating or pre-treatment using the applicator may only be commenced upon the robotic device receiving feedback that the two parts of the applicator are in their closed configuration. An appropriate sensing arrangement may be used to detect this state of the applicator.

[0374] Figure 24A illustrates the end effector with the applicator disposed around the conductor but in an open configuration i.e. in an installation position as in Fig. 22, and with the latching arrangement locked on to the conductor. This Figure shows the manipulatorthat is connected to the applicator in more detail. Fig. 24B correspondingly shows the applicator from the side as in Fig. 23, this time additionally showing the manipulator attached thereto.

[0375] The use of a manipulator to mount applicators to the chassis of the robotic device is advantageous in that it enables the applicator to be readily remotely or autonomously deployed on to a desired conductor of the line. The manipulator allows for simple engagement and disengagement of the applicator with a desired conductor of the line as required during operation of the robotic device, providing flexibility and efficiency in dynamic environments. The manipulator may move the applicator away from the line as necessary to negotiate obstacles. The ability of the end effector to latch onto a line may be useful in facilitating deployment using a UAV as described herein, as the end effector may latch onto the line to provide a secure connection therewith aiding transfer of the robotic device to the line, at least once the wheels of the device have been lowered on to the line, and potentially in the final stages of lowering of the robotic device onto the line by the UAV.

[0376] Providing applicators associated with manipulators e.g. as part of an end effector thereof, may be advantageous in that the manipulators may be deployed, retracted and controlled as required during the various stages of operation of the robotic device, e.g. during deployment, in use while providing coating or pre-treatment of the line, negotiation of obstacles, or removal of the robotic device from the line. However, such functionality may equally be obtained using other techniques as described in relation to Figures 1-11, which do not necessarily include a robotic arm. Various mechanisms may be used to allow transition of an applicator between deployed and installation states and / or retracted and extended states.

[0377] While some specific aspects of systems including a UAV and robotic device in accordance with the invention have been described, relating in particular to the attachment between the UAV and robotic device, and forms of applicator, some more general aspects of the system and of UAVs and robotic devices for use therein and their integration with each other will now be described.

[0378] The systems and methods of the present invention may utilise integration between the UAV and robotic device. The following features relating to possible implementations of the integration between the UAV and robotic device are byway of example only and not by limitation.

[0379] In exemplary arrangements, the UAV may seamlessly integrate with the robotic device to support deployment, monitoring, and retrieval operations. Its capabilities may ensure precision and safety in high-risk powerline environments, enhancing the overall performance and efficiency of the coating / pre-treatment robotic device.

[0380] As mentioned above, the UAV incorporates a releasable attachment arrangement for releasably attaching the UAV and robotic device together.The releasable attachment arrangement forms part of a Payload mechanism of the UAV. The payload mechanism is specifically adapted to provide an interface between the UAV and robotic device. In this case, the payload is the robotic device.

[0381] The payload mechanism forms part of a robotic device deployment support subsystem for supporting deployment of the robotic device, and which serves as an interface between the UAV and the robotic device, enabling precise remote deployment, secure attachment, and reliable operation on overhead lines. This subsystem and the payload mechanism are designed to handle the complexities of transporting and deploying the robot in high-risk environments, ensuring stability and accuracy.

[0382] The robotic device deployment subsystem includes components associated with the UAV and also components associated with the robotic device which support deployment of the robotic device as described herein. These may include both mechanical and electrical components and systems, and may at least partially be implemented in software.

[0383] As described above, the payload mechanism includes a releasable attachment arrangement, which may include a suitable arrangement, such as the gripper or clamping system as previously described, to securely hold the robotic device during transport and deployment (or at other times such as during retrieval). For example, this may include;

[0384] Adjustable attachment devices, such as clamps or robotic grippers to securely attach to the robotic device, accommodating variations in size and weight.

[0385] Quick-Release System: A motorized or pneumatic quick-release mechanism allows for precise release of the robotic device onto powerlines upon reaching the deployment site.

[0386] The robotic device deployment support subsystem further includes a payload stabilization system, which forms part of the UAV.

[0387] The payload stabilization subsystem ensures the robot remains steady during transport and deployment and may include one or more of the following features;

[0388] Gimbal System: A multi-axis gimbal for stabilizing the robotic device against UAV movements caused e.g. by wind or turbulence, ensuring alignment during deployment.

[0389] Counterweights: Adjustable counterweights balance the load to maintain UAV flight stability and efficiency.

[0390] Locking Mechanism: Operable to secures the robot in a fixed position e.g. during high-speed UAV manoeuvres. For example, this may act to lock the gimbal system at appropriate times so that a rigid connection is provided between the UAV and robotic device.

[0391] Shock Absorption: Integrated dampers may be provided to absorb vibrations and shocks during UAV flight, preventing damage to the robot or payload mechanism.

[0392] The payload stabilization subsystem is located functionally between the UAV and the attachment of the releasable attachment arrangement thereto, for example between theUAV and the pad 704 or 664 of the exemplary attachment arrangements shown in Figures 14 and 17.

[0393] The robotic device deployment support subsystem includes a Communication and Control subsystem, on the UAV side.

[0394] The robotic device deployment support subsystem integrates communication systems to coordinate operations between the UAV and the robotic device. This may involve;

[0395] Wired or Wireless Interface: which facilitates data and command exchange between the robotic device and the UAV during flight.

[0396] Deployment Feedback subsystem, which may include sensors to monitor the deployment process, and provide real-time feedback to the ground control station to ensure successful placement.

[0397] The robotic device deployment support subsystem includes a Power Support System on the UAV side.

[0398] The robotic device deployment support subsystem may be configured to provide temporary power to the robotic device while the UAV is attached thereto during transport. A power support system may include;

[0399] Power Coupling: A power cable or contact points supply energy from the UAV’s battery to the robot, ensuring it remains operational before deployment.

[0400] Battery Backup: An auxiliary battery on the mechanism provides additional power for extended transport operations.

[0401] However, it will be appreciated that the robotic device has its own power system and typically power source e.g. battery, and it is only optional that the UAV provides power to the robotic device, for example during particular parts of the deployment and / or in particular conditions.

[0402] The robotic device deployment support subsystem may also include Environmental Protection Features, for example to ensure reliable operation in various conditions. The payload mechanism may include protection systems such as:

[0403] Weatherproofing: Encased in materials resistant to rain, dust, and high temperatures to protect sensitive components.

[0404] Insulation: Electrically insulated materials prevent short circuits or interference during deployment on live powerlines.

[0405] The robotic device deployment support subsystem may include appropriate safety and recovery features.

[0406] It is envisaged that the payload mechanism and other parts of the robotic device deployment support subsystem forming part of the UAV may be of a Modular Design toallow adaptation to connect to different robotic device configurations and types, for example, and / or operational requirements. This enables the UAV side of the robotic devicedeployment support subsystem e.g. the payload mechanism to be readily replaced as needed for a particular application. The releasable attachment arrangement is itself adjustable as discussed above, to allow different sizes and / or types of robotic device to be held.

[0407] The robotic device deployment subsystem may include a landing subsystem. This may include features associated with the robotic device and / or UAV. The system may include tools for accurate placement of the robotic device onto powerlines:

[0408] Landing Probes: Extendable arms or probes guide the robotic device onto the target powerline, ensuring proper alignment.

[0409] Vision Systems: Cameras and sensors, typically associated with the UAV, provide real-time feedback to ensure precise positioning relative to the powerline.

[0410] Optionally latching arrangements may be associated with the robotic device to anchor the robot securely to the line upon deployment. For example, motorized arms may be used, or, a mechanical latch arrangement as described in relation to Figure 18-21 may be used.

[0411] Robotic Device

[0412] The robotic device includes a base robotic platform, which may refer to the main body and chassis thereof, with the applicator(s) being coupled thereto in any of the ways previously discussed. The applicator(s) form part of a coating application subsystem and / or pre-treatment subsystem as appropriate. Such subsystems may also include fluid tanks and fluid passageways where the treatment involves the provision of a fluid to the line, and systems for controlling operation of the applicator(s) in use.

[0413] The robotic device will also include general mechatronic subsystems, including a power supply subsystem, on board computer, wifi etc. A power supply subsystem may be provided wherein this subsystem is responsible for providing power to the robotic device, typically in the form of batteries or a power supply. The robotic device may be powered by batteries or inductively powered by live lines.

[0414] An actuation sub system may be provided wherein the actuation subsystem includes motors, gears, sensors, actuator couplings, housings, shafts and other components that enable the robotic device to move and perform its tasks. Examples of these include DC motors, stepper motors, servo motors, linear actuators, and pneumatic or hydraulic actuators.

[0415] A sensing and perception subsystem may be provided wherein this subsystem includes sensors that allow the robotic device to sense its environment. These may include cameras, LIDAR, ultrasonic sensors, inertial measurement units, force / torque sensors, sonar sensors, temperature sensors, pressure sensors or magnetic sensors. It may alsoinclude other sensors that provide feedback on the robotic device's position, orientation, or other parameters such as fill level of coating.

[0416] A control subsystem may be provided which manages the operation of the robotic device, including controlling the actuation system and interpreting the sensor data. It may include switching control, a wired communication bus, servo motor drives, applicator drive, surface preparation drive, and sensor interfaces, any of which may have communication chips, microcontroller chips, local regulation and local sensors.

[0417] Furthermore, ROV-based and ground station computing, ROV<->Ground station communications modules, situational awareness sensors (e.g. feeler switches, hall sensors, cameras etc.) and human interface device (e.g. joystick, touchscreen) may enable remote control.

[0418] A wireless communication subsystem may be provided which enables the robotic device to communicate with other devices, such as the UAV, a remote control or a central computer system. These may include a transmitter, receiver, antenna, and other networking hardware. Further this may include speech recognition, natural language processing, or gesture recognition systems.

[0419] The robotic device preferably comprises a navigation system which enables the robotic device to move autonomously through its environment. This may include localization, mapping, and path planning subsystems. This may include GPS (Global Positioning System), Inertial Navigation System (INS), LIDAR, visual odometry, beacons / Automated Guided Vehicles (AGVs), Magnetic sensors or RFID.

[0420] Generally the robotic device may include an on board computer.

[0421] A safety system may be provided which may include sensors and other components that ensure the robot operates safely, such as limit switches, emergency stop buttons, and collision avoidance sensors.

[0422] An exemplary fluid delivery subsystem is illustrated byway of example only in Figure 25, and may comprise various elements such as one or more pumps, one or more sensors, a fluidic path and an input to a coating applicator 174. The one or more pumps are responsible for delivering the coating material from a storage tank to the applicator. The one or more pumps may include a centrifugal pump, a positive displacement pump, diaphragm pump, peristaltic pump, gear pump or a vane pump, or any combination thereof.

[0423] In addition to the pump, the fluid delivery system also includes several sensors that are used to monitor and control the coating application process. The flow meter 178 is one of these sensors, and it measures the flow rate of the coating material as it is delivered to the applicator. This allows the system to maintain a consistent flow rate and ensure that the coating material is delivered in the right amount.

[0424] Another important sensor in the fluid delivery system is the pressure sensor 180. This sensor monitors the pressure of the coating material as it is delivered to the applicator.This is important because the pressure can affect the flow rate and the thickness of the coating applied. By monitoring the pressure, the system can adjust the flow rate and ensure that the coating is applied evenly and consistently.

[0425] The fluidic path is another important component of the fluid delivery system. It is responsible for ensuring that the coating material is delivered from the storage container to the applicator in a controlled manner. The fluidic path includes tubing and fittings that are designed to minimize any turbulence or air bubbles in the coating material, which could affect the coating application process. The path is also designed to minimize any dead spaces where the coating material could accumulate, which would lead to inconsistent coating application.

[0426] Finally, the input to the coating applicator is the point at which the coating material is delivered to the applicator. The input may be designed to ensure that the coating material is delivered in a controlled manner, and that it is evenly distributed across the surface of the applicator. This is important to ensure that the coating material is applied evenly to the conductor surface.

[0427] UAV

[0428] The system of the invention incorporates an Unmanned Aerial Vehicle (UAV) as a subsystem to enable the remote or autonomous deployment of the powerline coating robot. The UAV may serve as a versatile platform for transportation, inspection, and operational support in complex environments.

[0429] The UAV system may include any or all of the following components. These implementations are given byway of example only and not limitation.

[0430] UAV Structure

[0431] The UAV has a suitable chassis e.g. frame. The UAV may have a lightweight and durable airframe, for example constructed from advanced materials such as carbon fibre and composites. It includes:

[0432] The UAV includes a fuselage providing a housing for essential electronics e.g. on board computer, control and communication systems, sensors, and payloads.

[0433] The UAV includes rotors or wings. While the embodiment of Figures 11 to 13 illustrates the UAV having a set of rotors, it is envisaged that fixed wing designs may alternatively be used. Rotary wing configurations may allow for more efficient manoeuvrability while fixed-wing designs may allow for extended flight.

[0434] The UAV includes appropriate landing gear: Shock-absorbent skids or retractable landing legs may provide stability during takeoff and landing, even on uneven terrain.

[0435] The UAV has a propulsion system which may ensure reliable and efficient flight performance. The propulsion system may include motors e.g. high-efficiency brushless electric motors for durability and low maintenance, propellers / rotors as previously described,which may be aerodynamically optimized for maximum thrust and stability, and Electronic Speed Controllers (ESCs), which may regulate motor speed dynamically to maintain precise control and responsiveness.

[0436] The propulsion system of the UAV includes a Power System which may support extended operations and reliability. The power system may include batteries e.g. High-capacity lithium polymer (LiPo) or lithium-ion batteries for long flight times, a Power Distribution System which supplies energy to motors, sensors, and communication systems, and a Battery Management System (BMS), which monitors battery health, charge levels, and temperature to prevent overcharging or overheating.

[0437] In exemplary embodiments the UAV includes a Flight Control System to ensure stability and precision. The Flight Control System may include a Flight Controller, which is an onboard microprocessor for managing flight dynamics and user commands, an Inertial Measurement Unit (IMU), which combines accelerometer and gyroscope data for stability and orientation, and Altitude Sensors and Barometer, which may maintain accurate altitude and stability in varying environmental conditions.

[0438] The UAV may include Navigation and Autonomy Systems. Advanced navigation systems may enable precise and safe operation, and may include a GPS Module which provides geolocation data and waypoint navigation capabilities, an Obstacle Avoidance System, which utilizes LiDAR, ultrasonic sensors, or vision systems to detect and avoid obstacles, ensuring safety near powerlines, and an Autopilot System which supports preprogrammed flight paths and autonomous operation for deployment and retrieval tasks.

[0439] The UAV may include a Communication System. The communications system provides reliable communications for real-time control and monitoring, and may include a Telemetry Module which transmits flight data such as altitude, position, and battery status to the operator, a Video Link which streams high-definition video for visual monitoring and inspection tasks and Antennas which ensure extended communication range and minimize interference with other systems.

[0440] Payload Integration

[0441] As mentioned above, in embodiment of the invention, the UAV’s payload mechanism may be tailored for the deployment and operation of the robotic device. These features may form part of a robotic device deployment subsystem :

[0442] A releasable attachment arrangement is provided which may include a clamp or gripper: This may allow for precise deployment, retrieval, or adjustment of the robotic device.

[0443] The UAV may include a vision system i.e. cameras: High-resolution optical, infrared, or thermal cameras for powerline inspection and monitoring.Sensor arrangements: may include LiDAR for mapping, environmental sensors for atmospheric data, and stabilizers for precision operation.

[0444] The UAV may be configured to operate in either or both of autonomous and remotely controlled modes. For example, it may be operated and monitored through a Ground Control Station (GCS). The GCS may include Mission Planning Software which enables pre-programmed flight paths and autonomous missions, Real-Time Monitoring which displays telemetry data such as battery life, position, and environmental conditions and a control Interface which provides user-friendly remote control of the UAV and its payloads.

[0445] The UAV is provided with suitable Software and Algorithms. The UAV’s software ecosystem enables advanced capabilities, and may include Flight Software including realtime systems manage stabilization, navigation, and communication, Machine Learning Algorithms which enhance obstacle detection, dynamic flight path adjustment, and precision payload operation and Mapping Software which generates georeferenced maps for inspection and operational planning.

[0446] The releaseable attachment arrangement and other components relating to the attachment of the UAV to the robotic device i.e. elements of the payload mechanism may be integrally attached to the UAV or provided as a separate module securely attachable thereto e.g. to retrofit the UAV for the purposes discussed herein.

[0447] While in the exemplary embodiment above reference has been made in particular to applicators for applying a fluid coating to the line whether as a coating or a pre-treatment, it will be appreciated that the robotic device may alternatively or additionally be configured to provide a pre-treatment that does not involve supplying fluid to the line. By reference to Figs. 26and 27, one exemplary embodiment of a mechanical abrasion applicator is disclosed consisting of a pair 200 of grooved wheels 202 positioned, in use, on top and bottom of the conductor. The grooves 210 on the wheels run parallel to the conductor and may be fitted with custom abrasion brushes 212 with bristles of varying hardness. Hard bristles such as stainless steel, brass, aluminium and carbon fibre as well as softer bristles such as nylon, polyester, polypropylene, Tynex and animal hair may be used. By way of example only and not by limitation, the wheels may be arranged to clean conductors which have a diameter ranging from 10-50 mm. This system ensures that the conductor is in contact with the circumferential grooves with bristles thereby providing effective mechanical abrasion for improved coating adhesion.

[0448] The circumferential brushes may be arranged to circulate along the conductor in the axis perpendicular to the conductor. The circumferential groove ensures that all 360° of the conductor is covered. Fig. 27 shows a wheel 202 assembled with a motor 214. In this example, each U-groove brush wheel is mated by screws with a flange coupler which is coupled with a diameter shaft of a brushless DC motor. The motor is arranged to rotate inthe same direction generating equal opposite forces on the conductor which will not affect severely the overall motion of the robot. The other face of the wheel has a hollow hole having different diameters as it goes through the wheel to fit the bearing and dowel pin to keep the wheel aligned while rotating at high speeds. This will help in reducing the vibration of the wheel while it is rotating.

[0449] Method of Operation

[0450] An exemplary method of operation of systems described herein, with particular reference to Figures 11- 13 will now be described.

[0451] The method of operation of the system is first described in relation to the deployment of a robotic device on to a power line for the pre-treatment or coating thereof.

[0452] The robotic device may be located at a base station. The robotic device is first prepared for deployment by installing batteries and filling the coating tanks. The pretreatment and / or coating sub systems are configured and prepared for use. This may involve selecting appropriate applicators for performing desired operations and connecting them to the chassis of the robotic device.

[0453] A UAV is initiated for flight, and then picks up the robotic device from the base station. The UAV hovers above the robotic device, and the releasable attachment arrangement of the UAV forms a secure attachment to the robotic device. This may be in any of the manners described above, e.g. by clamping or gripping a portion of the robotic device or a specific connection portion e.g. hook thereof. The location of the grips or clamps etc. is adjustable horizontally and vertically to allow for a secure connection to be made, even to robotic devices of different types or dimensions, and in windy conditions.

[0454] Once the robotic device is securely attached to the UAV via the releasable attachment arrangement, the UAV aerially transports the device to a stretch of power line to be treated. The stabilization subsystem of the robotic device deployment subsystem ensures stability of the robotic device during flight to the power line. An assistive control system and obstacle avoidance algorithm operate to guide the UAV “precisely” to the target line.

[0455] The UAV aligns the robotic device releasable attachment arrangement with the power line using onboard sensors and vision systems.

[0456] Upon reaching the line, the UAV executes a controlled landing sequence. The UAV with the robotic device attached thereto lowers the robotic device until the traction wheels on the robotic attach securely to the power line subsequently taking the weight of the robotic device. This may be detected using a suitable sensor arrangement in combination with camera data. The robotic device may optionally include landing probes to assist in locating the device relative to the line during the landing process.An end effector of the UAV may lock onto a conductor of the line in the final stages of the landing process or once the device is fully supported by engagement with the wheels on the line, for example as described in respect of Figure 18. Alternatively another form of landing arrangement might be used to locate the robotic device relative to the power line e.g. locating legs etc. However, landing arrangements of this type or locking arrangements are optional. The device will be securely located on the power line once the wheels are supported thereby as the centre of mass of the robotic device is below the power line.

[0457] Once the robotic device is securely attached via the wheels to the power line i.e. once this has been detected, the UAV releases the releasable attachment arrangement of its payload mechanism to enable it to detach from the robotic device, leaving the robotic device to traverse the power line alone using its wheels and own propulsion system. The UAV may return to its base station. The UAV therefore does not assist in propelling the robotic device along the line.

[0458] Before treatment of the line can commence, the applicator(s) need to be moved to a deployed position. The first stage involves movement of the applicator from a retracted to an extended position relative to the line e.g. by movement of the manipulator. This may result in contact between the end effector and the line. Once the end effector is locked on to a conductor of the line, the applicator transforms from its open (installation) configuration to its closed configuration, in which it is deployed ready to provide treatment to the line. The coating or pre-treatment process is then initiated.

[0459] Movement of the end effector (via the manipulator) into the deployed position is performed remotely and / or autonomously. For example, in some cases, a remote human operator may send a command to deploy the applicator(s) when they are informed that the robotic device has landed on the line and its wheels are properly engaged with it. In an autonomous arrangement, a landing algorithm may control a sequence of steps in the deployment of the robotic device. For example, a vision system e.g. cameras may record the position of the line and autonomously land the wheels of the robotic device onto the line. A sensing system (e.g. sensors which determine the payload on the UAV and pressure sensors on the wheels of the robotic device) might then confirm that landing has occurred with the line taking the robotic device’s weight, and cause the releasable attachment arrangement to operate to release the UAV. This release could then trigger the deployment of the applicators, which could then initiate the drive circuits on the robotic device.

[0460] Alternatively, all of these steps could be remotely controlled by a human piloting the UAV and operating a user interface. This sequence of steps and conditional form of operation is merely exemplary. In yet other embodiments, combinations of autonomous and remote control may be used for different steps.

[0461] Of course, not all arrangements will involve an end effector locking on to a conductor of the line prior to movement of the applicator to a deployed condition.Furthermore, the applicator may be of various configurations. In general, the applicator may transform between an installation configuration in which it is disposed around the conductor of the line but not yet in engagement therewith and a configuration in which it is deployed ready for treatment of the conductor, i.e. being engaged around the conductor. Movement of the applicator to its deployed state may occur before or after detachment of the UAV. As mentioned above, the robotic device may be stable on the line once the wheels are engaged therewith, even before the applicator(s) are deployed. Movement into the deployed state may also involve moving the applicator into an extended position (i.e. from a retracted position).

[0462] The robotic device then proceeds to move along the line applying the pre-treatment or coating thereto. This is achieved autonomously by the robotic device and / or under remote control e.g. from an operative at a base station. The applicators and any manipulators associated therewith are deployed remotely or autonomously. The UAV is not involved in the treatment process. During movement along the line, the robotic device is able to pass mid span obstacles, enabling efficient treatment of a stretch of line. The applicator(s) may be selectively moved out of the deployed position and / or retracted from the line and vice versa to move past mid span obstacles. This is achieved autonomously or remotely.

[0463] Once a stretch of line has been treated, the applicators move once more from the deployed position to an installation position around the conductor e.g. by transitioning from a closed to an open configuration. In embodiments in which the applicator(s) are retractable e.g. by being provided on a manipulator, they are retracted away from the conductor ready for retrieval of the device by the UAV.

[0464] The UAV may then be redeployed from the base station to retrieve the robotic device. The UAV may use its vision system to detect the robotic device and the assistive control system to guide the UAV to hover above the robotic device and locate the releasable attachment arrangement relative to the robotic device. The releasable attachment arrangement is engaged with the robotic device as appropriate to provide a secure connection therewith. The UAV then transports the robotic device back to the ground station for post-operation processing and maintenance.

[0465] Of course, this method of operation is only exemplary, and other options exist. For example, the UAV used to deploy the robotic device may not be the same as that used for retrieval. It is envisaged that a UAV may be used to service a set of multiple robotic devices, since for relatively long periods of time the robotic devices will be traversing power lines. Thus it may be more efficient to keep using the same UAV to retrieve or deploy robotic devices as needed. A set of multiple UAVs may be provided which is of lesser number than a number of robotic devices which they are configured to deploy.A UAV may be used not just to deploy a robotic device and retrieve it after operations are completed, but also to retrieve it at any time e.g. for maintenance, or to temporarily remove and replace the robotic device on the line to adjust its position.

[0466] While the robotic device is capable of independently traversing the line and applying a treatment thereto, it is envisaged that for short stretches of line, it may be more efficient for the UAV to remain attached to the robotic device as it performs the treatment of the line before removing the UAV for moving it to another stretch of line to be treated.

[0467] While the invention has been described in relation to the case in which the UAV and robotic device are fully separable from one another, it is envisaged that this need not be the case. However, the robotic device is then still capable of traversing the line with its own wheels, rather than being propelled by the UAV along the line. The ability of the robotic device to traverse the line alone i.e. using its own power system may advantageously reduce demands on the battery of the UAV, also providing the ability to reduce the weight of the UAV.

[0468] The powerline is advantageously a live line. In this way, the system of the present invention allows both deployment of the robotic device and then treatment of the line to be achieved autonomously / under remote control, even where mid span obstacles are present, providing particular advantages.

[0469] Systems in accordance with the invention may provide a number of advantages;

[0470] 1. Ability to Operate on Live Lines

[0471] • Elimination of Downtime: Remote deployment systems enable coating / pre- treatment operations on live powerlines without requiring power outages. This ensures uninterrupted electricity supply to customers and avoids revenue losses for utility companies.

[0472] • Increased Efficiency: Manual deployment often requires isolating powerlines and grounding them, which can take several hours to days, whereas UAV-deployed systems bypass this process entirely.

[0473] • Risk Reduction: By operating remotely, workers avoid exposure to the high-voltage risks associated with live line work.

[0474] 2. Increased Productivity

[0475] • Faster Deployment: A UAV can transport and deploy the robotic device to multiple sections of the powerline within minutes, significantly reducing the time spent compared to manual methods, which require heavy equipment, scaffolding, or helicopters.o Quantitative Estimate: UAV deployment can achieve coating operations at a rate of 2-5 kilometres per day, compared to 0.5-1 kilometer per day for manual teams.

[0476] • Extended Operating Hours: UAVs can operate continuously with minimal breaks and are less affected by fatigue, enabling 24-hour operation with battery swapping or charging.

[0477] • Streamlined Logistics: Remote deployment eliminates the need for heavy vehicles or cranes to transport equipment, accelerating setup and execution times.

[0478] bility to Pass Mid-Span Obstacles

[0479] • Obstacle Navigation: UAVs can easily fly over mid-span obstacles such as trees, buildings, rivers, or highways, which are challenging for manual teams or ground- based equipment.

[0480] • Reduced Line Interruption: Unlike manual deployment, which might require line splicing or equipment dismantling at obstacles, UAVs seamlessly navigate and place robots at inaccessible spans.

[0481] • Efficient Resource Utilization: This capability allows for more comprehensive and uninterrupted coating, improving the overall quality and durability of the powerline system.

[0482] ealth and Safety Improvements

[0483] • Elimination of Hazardous Working Conditions:

[0484] o Manual deployment often involves workers climbing tall towers, using heavy machinery, or working near high-voltage lines, exposing them to falls, electrocution, and equipment-related injuries.

[0485] o UAVs remove the need for human workers to be physically present in such dangerous environments.

[0486] • Reduction in Fatalities and Injuries:

[0487] o According to industry data, utility workers face fatality rates of approximately 20 deaths per 100,000 workers annually. Remote deployment significantly lowers this risk by keeping personnel away from active work zones.Stress Reduction: Workers operate UAVs and robots from a safe, remote location, reducing physical strain and psychological stress associated with high-risk tasks.

[0488] wer Costs

[0489] • Reduced Labor Costs:

[0490] o Manual deployment requires teams of skilled linemen, equipment operators, and support staff. Remote deployment reduces the need for large teams, requiring only UAV operators and monitoring personnel.

[0491] • Lower Equipment Costs:

[0492] o Traditional deployment requires expensive cranes, bucket trucks, or helicopters, whereas UAVs and coating robots involve lower capital and operational costs.

[0493] • Savings on Outages: Operating on live lines avoids the financial losses incurred during power shutdowns, which can range from tens to hundreds of thousands of pounds per day, depending on the grid and consumer base.

[0494] • Fewer Maintenance Requirements: UAVs and robots, once purchased, require lower maintenance than the fleet of vehicles and tools used for manual deployment. nvironmental Benefits

[0495] • Reduced Carbon Footprint: UAVs consume significantly less fuel than helicopters or trucks used in manual deployments, lowering greenhouse gas emissions.

[0496] • Minimal Environmental Impact: UAVs have a lighter environmental footprint, as they do not require heavy machinery to be transported through sensitive areas like forests or wetlands.

[0497] calability and Flexibility

[0498] • Adaptability to Diverse Environments:

[0499] o UAVs can operate in challenging terrains, from remote mountainous regions to urban areas with restricted access.

[0500] o They can deploy robots on various types of powerlines, including high- voltage transmission lines and low-voltage distribution lines.

[0501] • Scalable Operations: Multiple UAVs can be operated simultaneously, significantly increasing the area covered within a specific timeframe.It will be appreciated that a subsystem e.g. obstacle avoidance subsystem, pretreatment or coating application subsystem, may include any suitable set of components, including both electronic and mechanical, for providing the described functionality. The functionality may be implemented at least in part using software.

[0502] While various embodiments of the present invention have been illustrated and described in detail in the drawings and forgoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive. It will be understood that various changes in form and detail may be made without departing from the scope of the present invention as defined by the claims.

[0503] In general, the robotic device according to various embodiments may operate on single or multiple bundle conductors (e.g. dual, triple, quad, and hex bundle conductors), and may overcome obstacles such as splice connections, suspension clamps, spacers, spacer dampers and vibration dampers. Such obstacles (splice connections, suspension clamps, spacers, spacer dampers and vibration dampers) may, for example, be rolled over with wheels of appropriate design and diameter. The ability to transition applicators between open and closed states and / or to retract applicators also facilitates traversal of such obstacles, with such transitions being accomplished remotely or autonomously, while the absence of wheels or other obstructions in the region below the line also contributes to this functionality.

[0504] Examples of bundled conductors are shown in Figs.28A-C, which illustrate duplex (Fig. 28A ), triplex (Fig. 28B ) and quadruplex (Fig. 28C ) bundled arrangements. Figs. 28A-C show views of such bundled connectors including spacers.

[0505] Examples of obstacles which may be encountered are shown in Figs. 29A-D, which show; a conductor spacer (Fig. 29A), a stockbridge vibrational damper (Fig. 29B), a suspension insulator (Fig. 29C) and a tension tower (Fig. 29D).

Claims

1. CLAIMS1. A system comprising;a robotic device configured to pre-treat and / or apply a coating to an overhead power line when deployed to the power line in use;the robotic device comprising a pre-treatment subsystem and / or a coating application subsystem;the robotic device further comprising one or more applicators for performing pretreatment and / or coating operations in use and a plurality of wheels configured to engage the overhead power line to move the robotic device along the line for applying the pretreatment and / or coating thereto in use;wherein the system further comprises an Unmanned Aerial Vehicle (UAV) configured to lift the robotic device;wherein the UAV is operable to aerially transport the robotic device to an overhead power line and locate the robotic device relative to the power line during deployment of the robotic device to the power line in use, and wherein after deployment of the robotic device to the power line, the wheels of the robotic device engage the power line to move the robotic device along the line for applying the pre-treatment and / or coating thereto.

2. The system of claim 1 wherein the robotic device is configured to traverse the power line under its own power in use for applying the pre-treatment and / or coating thereto with the wheels engaging the power line to move the robotic device along the line.

3. The system of claim 1 or claim 2 wherein the UAV is configured to lower the robotic device on to the power line once located relative thereto until the wheels of the device are securely engaged on the line.

4. The system of any preceding claim wherein the wheels of the robotic device are configured to ride on top of the line, and wherein the robotic device does not include any wheels located below the line, optionally wherein the wheels are pulley wheels.

5. The system of any preceding claim wherein the system is configured such that during deployment of the robotic device to the line, at least one applicator may be deployed to the line under autonomous and / or remote control.

6. The system of claim 5 wherein the system is configured such that deployment of the applicator occurs subsequently to engagement of the robotic device with the line.

7. The system of claim 5 or claim 6 wherein the applicator is configured to be selectively transitionable between a first installation state in which it is in an open configuration for installation around a conductor of the line and a second deployed state in which it is in a closed configuration for engaging around a conductor of the line to apply a pre-treatment or coating thereto in use, wherein deployment of the applicator comprises transitioning the applicator from the first installation state into the second deployed state under autonomous and / or remote control.

8. The system of claim 7 wherein the applicator comprises first and second parts movable relative to one another to transition the applicator between the open and closed configurations, for example wherein the first and second parts are configured such that the applicator defines an annular shape when in the closed configuration with a central bore for receiving the conductor.

9. The system of any one of claims 5 to 8 wherein deployment of the applicator involves moving the applicator to an extended position for deployment around a conductor of the line under autonomous and / or remote control.

10. The system of claim 9 wherein the applicator is configured to be selectively transitionable between a retracted position and an extended position relative to the line in use under autonomous and / or remote control.

11. The system of any preceding claim wherein each applicator is selectively movable into and out of a deployed state relative to the line in use under autonomous and / or remote control.

12. The system of any preceding claim wherein the or each applicator is coupled to a chassis of the robotic device by a deployment mechanism, or by a robotic manipulator.

13. The system of any preceding claim wherein each applicator of the robotic device is configured to be selectively transitionable under autonomous and / or remote control between a first installation state in which it is in an open configuration for installation around a conductor of the line and a second deployed state in which it is in a closed configuration for engaging around a conductor of the line to apply a pre-treatment or coating thereto in use14. The system of any preceding claim wherein each applicator of the robotic device is configured to be selectively transitionable under autonomous and / or remote control between a retracted position and an extended position relative to the line in use.

15. The system of claim 14 wherein each applicator is transitionable under autonomous and / or remote control from the extended position to the retracted position in order to negotiate an obstacle in use during a pre-treatment or coating process.

16. The system of any preceding claim wherein the system is configured such that pretreatment and / or coating using the applicator may commence only once the applicator is in the deployed state around a conductor.

17. The system of any preceding claim wherein the robotic device comprises a set of a plurality of applicators operable to provide simultaneous pre-treatment and / or coating of multiple conductors of a power line.

18. The system of any preceding claim wherein at least one of the one or more applicators is configured to pre-treat or coat a conductor of the line by applying fluid thereto in a contact based method; optionally wherein the contact-based method is selected from; brushing, rolling, dip coating, fluid jetting, flow coating, fluid deposition and doctoring, electrostatic coating, slot die coating, annular die coating, extruding and combinations thereof.

19. The system of any preceding claim wherein at least one of the one or more applicators is configured to apply pre-treatment to a conductor of the line in the form of one of more of; surface preparation, cleaning, mechanical abrasion, and chemical treatment.

20. The system of any preceding claim wherein each of the pre-treatment subsystem and / or the coating subsystem is configured to provide complete circumferential coverage of the pre-treatment and / or coating in respect of each conductor of the line to which the coating is applied.

21. The system of any preceding claim wherein at least one, and optionally each, applicator is configured to circumferentially surround a respective conductor when engaged around the conductor for applying the coating or pre-treatment thereto in use.

22. The system of any preceding claim wherein the robotic device comprises one or more extendable landing probes to guide the robotic device as it is lowered on to the power line by the UAV and / or a locking arrangement to lock the robotic device onto the line once brought into contact therewith by the UAV.

23. The system of any preceding claim comprising one or more fluid tanks for holding fluid for use in pre-treatment and / or coating of the line.

24. The system of claim 23 wherein the one or more fluid tanks are disposed below the wheels, and preferably entirely below the wheels.

25. The system of any preceding claim wherein the robotic device comprises a chassis comprising a T-shape portion suspending a main body of the robotic device below the wheels thereof, wherein the main body comprises the one or more fluid tanks for holding fluid for use in pre-treatment and / or coating of the line.

26. The system of any preceding claim wherein the device comprises a chassis having first and second halves connected to one another by first and second central couplings at leading and trailing ends thereof, wherein the first and second central couplings are selectively and independently openable to retract one or more wheels and / or one or more applicators of the device from engagement with their respective conductors for passing an obstacle.

27. The system of any preceding claim wherein the system is configured such that the robotic device is releasably attached to the UAV during transport to the overhead power line, and wherein once the robotic device is deployed to the power line, the UAV may separate from the robotic device to allow the robotic device to traverse the power line alone for applying the pre-treatment and / or coating thereto in use.

28. The system of claim 27 comprising a releasable attachment arrangement for releasably attaching the UAV and the robotic device to one another during deployment of the UAV, wherein the releasable attachment arrangement is configured to securely connect the UAV to the robotic device during transport of the robotic device by the UAV while enabling the UAV to separate from the robotic device once deployed to the power line leaving the robotic device to traverse the power line alone for applying the pre-treatment and / or coating thereto.

29. The system of claim 28 wherein the releasable attachment arrangement comprises at least a portion mounted to the UAV and configured to engage with one or more portions of the robotic device to provide a releasable attachment thereto in use,wherein the portion of the releasable attachment arrangement mounted to the UAV extends downwardly from the UAV and comprises one or more releasable attachment devices or releasably engaging the robotic device, wherein the one or more releasable attachment devices comprise one or more grippers arranged to releasably grip one or more portions of the robotic device in use and / or one or more clamps arranged to releasably clamp around one or more portions of the robotic device in use.

30. The system of claim 29 wherein at least a part of the portion of the releasable attachment arrangement mounted to the UAV is extendable and retractable in use to enable adjustment of a vertical position of one or more of the releasable attachment devices relative to the UAV, and / or wherein a horizontal position of at least one of the one or more attachment devices is adjustable in use.

31. The system of any one of claims 281 to 30 wherein the releasable attachment arrangement comprises a locating arrangement for locating the attachment arrangement relative to the robotic device prior to bringing the one or more attachment devices into engagement with the one or more portions of the robotic device.

32. The system of any preceding claim wherein the system comprises a robotic device deployment subsystem for supporting deployment of the robotic device using the UAV, wherein the robotic device deployment subsystem comprises one or more of; a stabilization subsystem to stabilize the robotic device relative to the UAV during deployment thereof by the UAV, a communications subsystem to enable communication between the UAV and robotic device during deployment of the robotic device by the UAV, a payload mechanism comprising the a or the releasable attachment for releasably attaching the UAV and the robotic device to one another, a landing subsystem for supporting landing of the robotic device on to the line and a deployment monitoring subsystem for monitoring the deployment process.

33. The system of any preceding claim wherein the robotic device comprises an obstacle negotiation subsystem.

34. The system of any preceding claim wherein the robotic device is capable of overcoming mid-span obstacles including any or all of; splice connections, suspension clamps, spacers, compression fittings and dampers such as spacer dampers and vibration dampers.

35. The system of any preceding claim wherein the robotic device defines an empty space extending over a distance of at least 15cm below a lowermost conductor contacting point of each wheel of the device.

36. The system of any preceding claim wherein the system is configured such that the applicators) may treat a different conductor in use to a conductor engaged by the wheels of the robotic device.

37. The system of any preceding claim wherein the wheels of the device are exposed and are not disposed within any housing.

38. The system of any preceding claim wherein the robotic device is configured to be able to operate on an overhead powerline comprising a bundle of multiple conductors, for example wherein the robotic device is configured to be able to operate on an overhead powerline comprising a bundle including at least four conductors, such as a quad bundle.

39. The system of any preceding claim wherein the robotic device is configured to apply a coating to an overhead power line when deployed to the power line in use;the robotic device comprising a coating application subsystem; the robotic device further comprising one or more applicators for performing coating operations in use.

40. A method of applying a pre-treatment and / or coating to an overhead power line using the system of any preceding claim, the method comprising;deploying the robotic device to the overhead power line, wherein deploying the robotic device comprises aerially transporting the robotic device to the overhead power line and locating the robotic device relative to the overhead power line to be treated using the UAV;and using the robotic device to apply a pre-treatment and / or coating to the overhead power line, wherein the wheels of the robotic device engage the power line to move the robotic device along the line during application of the pre-treatment and / or coating thereto.

41. The method of claim 40 further comprising the UAV separating from the robotic device once the robotic device has been deployed to the power line leaving therobotic device to traverse the power line alone for applying the pre-treatment and / or coating thereto.

42. The method of claim 40 or 41 comprising deploying at least one applicator to the line under autonomous and / or remote control for applying the pre-treatment and / or coating thereto; optionally wherein the at least one applicator is deployed to the line after engagement of the robotic device with the power line..

43. The method of any of claims 40 to 42 further comprising using the or another UAV to retrieve the robotic device from the power line and / or to adjust the position of the robotic device relative to the power line after deployment thereto.

44. The method or system of any preceding claim wherein the power line is a live power line.

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