De-installation of object from power line

Abstract

An unmanned aerial vehicle – UAV – (100) for de-installing an object (200) installed on a power line (300) and secured to the power line (300) by a locking portion (220). The UAV (100) comprises a power-line coupling arrangement (110) for 5 coupling to the power line (300) so as to limit movement of the UAV (100) relative to the power line (300), and an engagement arrangement (120) for engaging with the object (200). The engagement arrangement (120) is rotatable around the longitudinal axis of the power line (300) while the UAV (100) is coupled to the power line (300) so as to allow the engagement arrangement (120) to align with an10 engagement point (210) on the object (200) installed on the power line (300). The UAV (100) also comprises an unlocking part (123) for unlocking the locking portion (220) securing the object (220) to the power line (300).

Description

[0001] 496.135.175335 / 01 - 1 -

[0002] De-lnstallation of Object from Power Line

[0003] TECHNICAL FIELD

[0004] This disclosure relates to an apparatus and method for de-installing an object from a power line.

[0005] BACKGROUND OF THE INVENTION

[0006] It is known to install objects to power lines for a range of purposes, such as to provide safety markers on the power line or to allow for monitoring of the condition of the power line over time, e.g., using an electronic monitoring device such as a capacitance sensor.

[0007] One method of installing objects to a power line involves flying the object to the power line using an unmanned aerial vehicle (also referred to as a drone) configured to carry the object and using an attached tool to secure the object to the power line in a predetermined orientation.

[0008] However, it has now been appreciated that it would also be advantageous to have an efficient and reliable way of removing such objects installed on power lines. This scenario is generally more challenging than the original installation as there are more variables. For example the object may move over time while it is in operation, resulting in a change in its orientation. Such changes in the orientation of the object present challenges when trying to remove or de-install the object. For example, the position of any mechanism locking the object to the power line may not be accurately known at the time of de-installation, making it difficult to remove the object from the power line.

[0009] The present invention aims to provide an approach for de-installing an object from a power line.

[0010] SUMMARY OF THE INVENTION

[0011] According to a first aspect of the invention, there is provided an unmanned aerial vehicle (UAV) for de-installing an object installed on a power line and secured to the power line by a locking portion, the UAV comprising:496.135.175335 / 01 - 2 -

[0012] a power-line coupling arrangement for coupling the UAV to the power line so as to limit movement of the UAV relative to the power line;

[0013] an engagement arrangement for engaging with the object, the engagement arrangement being rotatable around the longitudinal axis of the power line while the UAV is coupled to the power line so as to allow the engagement arrangement to align with an engagement point on the object installed on the power line; and an unlocking part for unlocking the locking portion securing the object to the power line.

[0014] According to a second aspect of the invention, there is provided a method for deinstalling an object installed on a power line and secured to the power line by a locking portion, the method comprising:

[0015] flying an unmanned aerial vehicle (UAV) towards the object installed on the power line;

[0016] coupling the UAV to the power line using a power line coupling arrangement on the UAV so as to limit movement of the UAV relative to the power line;

[0017] rotating an engagement arrangement of the UAV around the longitudinal axis of the power line while the UAV is coupled to the power line so as to align the engagement arrangement with an engagement point on the object installed on the power line;

[0018] engaging the engagement arrangement with the engagement point on the object;

[0019] unlocking the locking portion securing the object to the power line while the object is secured to the UAV so as to decouple the object from the power line; and decoupling the power line coupling arrangement from the power line.

[0020] Thus, it will be seen that, in accordance with the invention, an object secured to a power line can be de-installed using an unmanned aerial vehicle (UAV), also known as a drone, by rotating an engagement arrangement of the UAV around the longitudinal axis of the power line to which the object is secured.

[0021] The present invention allows for changes in orientation of the object resulting from, e.g., changes in the temperature and load of the power line to be compensated for by appropriate rotation of the engagement arrangement. After rotating the engagement arrangement to the correct position to allow the UAV to engage with496.135.175335 / 01 - 3 -

[0022] the object, an unlocking part is used to unlock the locking portion securing the object to the power line. The UAV is then able to remove the object from the power line by decoupling itself from the power line. The UAV may then fly away from the power line while the object is connected to the UAV and unlocked from the power line, or may allow the object to fall from the power line, e.g. to be collected by an operator. The present invention thus advantageously allows the object to be deinstalled even when the orientation of the object has changed between installation and de-installation.

[0023] In some embodiments, the UAV comprises a frame to which one or more rotors are attached. The UAV preferably has two or more rotors, e.g. three, four, six or eight rotors. In a preferred embodiment the UAV is a quadcopter, comprising four rotors. As is known in the art, each rotor has a corresponding motor, powered by a power source provided within the UAV and controlled using an electronic speed controller based on signals from an onboard flight controller. The UAV may be piloted remotely by a human operator and / or may be able to operate autonomously. For example, the UAV may fly autonomously between a base station and an operating site, but may be remotely piloted at the site by a human operator. In embodiments in which the UAV is able to operate autonomously, the UAV may comprise various sensors and on-board logic to facilitate autonomous operation as is known in the art.

[0024] In some embodiments, the UAV comprises an object de-installation platform attached to the frame, comprising apparatus for de-installing an object from a power line. The object de-installation platform may extend downwardly beneath the frame of the UAV, e.g. it may be suspended from the frame in use. In some embodiments, the object de-installation platform has a concave - e.g. substantially C-shaped - profile shaped for receiving the object installed on the power line during de-installation.

[0025] In some embodiments, rotating the engagement arrangement comprises rotating the entire UAV around the longitudinal axis of the power line while the the UAV is coupled to the power line by the power line coupling arrangement. Rotating the UAV may comprise leaning the UAV forwards and / or backwards around the power line such that the engagement arrangement rotates around the longitudinal axis of496.135.175335 / 01 - 4 -

[0026] the power line. The engagement arrangement may be repeatedly rotated around the power line until the engagement arrangement is aligned with the engagement point on the object. In such embodiments, movement of the UAV around the longitudinal axis of the power line may be facilitated by the power line coupling arrangement, which may prevent movement of the UAV other than around the longitudinal axis of the power line (e.g. away from or laterally along the wire) and may control rotation around the wire.

[0027] However, in some embodiments, the engagement arrangement is independently actuatable such that the engagement arrangement can be rotated around the longitudinal axis of the power line while the rest of the UAV remains substantially stationary, e.g. the UAV may be hovering in place next to the power line whilst coupled to it. Thus, in some embodiments, rotating the engagement arrangement comprises using an actuator to rotate the engagement arrangement with respect to both the UAV and the power line. In some such embodiments, the engagement arrangement comprises a rotary actuator, e.g. a servomotor, for actively changing the angle of the engagement arrangement relative to the power line. In some embodiments, the servomotor may be actuated in response to the UAV being coupled to the power line by the power line coupling arrangement. The engagement arrangement may be rotated around the power line using the actuator until the engagement arrangement aligns with the engagement point on the object.

[0028] In some embodiments, the power-line coupling arrangement comprises a pair of arms for receiving the power line. The arms may extend outwardly from the UAV. The arms may be separated by a first distance in the horizontal direction, and aligned in the vertical direction. In this way, the power line can be coupled to the power line coupling arrangement at two independent, vertically aligned points so as to limit movement of the UAV with respect to the power line.

[0029] In some embodiments, one or both of the arms comprises a notch for receiving the power line. The or each notch may be shaped to accommodate the power line, e.g. of arcuate profile with a radius of curvature that is substantially equal to the radius of curvature of the power line. The radius of curvature of the notch may be adjustable in some embodiments. In some such embodiments the radius of curvature of the notch is adjusted by selectively fitting one of a set of adapters496.135.175335 / 01 - 5 -

[0030] within the notch. However, in some embodiments the radius of curvature of the notch itself is mechanically adjustable. For example, all or part of the notch may be moveable so as to adjust the radius of curvature of the notch, or the notch may comprise a compliant material that can be elastically deformed so as to allow power lines having a range of curvatures to be accommodated.

[0031] In some embodiments, the UAV comprises one or more guide members for guiding the power line towards the arms of the power line coupling arrangement as the UAV flies towards the power line, e.g. the guide members may guide the power line into the or each notch of the arms. The one or more guide members may comprise a guide member comprising an angled portion that extends at a downward angle, i.e. that extends at an angle away from the plane of the rotors, or towards the ground while the UAV is in flight. In addition or as an alternative to the first guide member, the one or more guide members may comprise a guide member comprising an angled portion that extends at an upward angle, i.e. that extends at an angle in a direction opposite the ground while the UAV is in flight. In a preferred embodiment, the UAV comprises a pair of guide members that extend from the UAV in diverging directions, e.g. a first guide member that extends at a downward angle and a second guide member that extends at an upward angle. By providing guide members arranged at diverging angles, the guide members together form a V-shaped profile that facilitates coupling to the power line. For example, in the case that the UAV is not perfectly aligned with the power line, e.g. if the UAV is vertically offset with respect to the power line, the guide members may help to guide the power line towards the arms of the power line coupling arrangement. In some embodiments, one or more of the guide members may form part of the power line coupling arrangement, e.g. one or more of the guide members may form part of the arms of the power line coupling arrangement.

[0032] In some embodiments, the power-line coupling arrangement comprises a clamping mechanism for coupling the UAV to the power line. The clamping mechanism may comprise an actuatable clamp. The clamp may be configured to move between a ‘closed’ position in which the clamp couples the power line to the arms of the power line coupling arrangement, and an ‘open’ position in which the power line is free to move relative to the arms of the power line coupling arrangement. In some embodiments, the clamp couples the power line to a notch in the arms of the power496.135.175335 / 01 - 6 -

[0033] line coupling arrangement. The clamp may be held in the open position when not in use, and may be moved to the closed position during the de-installation process. In some embodiments, the clamping mechanism comprises a rotatable arm connecting the clamp to a pivot point on the UAV such that the clamp is arranged to pivot from the open position to the closed position and vice versa.

[0034] In some embodiments, the clamping mechanism comprises a pair of clamps, each configured to couple the power line to a respective arm of the power line coupling arrangement, e.g. to a respective notch in each of the arms of the power line coupling arrangement. By coupling the power line to each of the arms using a respective clamp, rotational movement of the UAV around axes other than the longitudinal axis of the power line may be advantageously prevented.

[0035] In some embodiments, the clamp is moved to the closed position in response to the power line being received by the arms of the power line coupling arrangement, e.g. in response to the power line coming into physical contact with the arms of the power line coupling arrangement. For example, a mechanical latch may be provided on the or each of the arms of the power line coupling arrangement, e.g. within a notch of the or each of the arms. The mechanical latch may be arranged to be triggered in response to contact with the power line. The latch may be coupled to the clamping mechanism such that triggering of the latch causes the clamp to move to the closed position. In some embodiments, the clamp is moved to the closed position in response to detection of the power line being received by the arms of the power line coupling arrangement, e.g. in response to the power line being detected as being present within a notch of the arms. The presence of the power line in the arms of the power line coupling arrangement may be detected using a switch provided on the arms of the power line coupling arrangement that is contacted by the power line when it is received by the arms. Alternatively, the presence of the power line may be detected using one or more sensors, e.g. an imaging sensor configured to detect the presence of the power line in an image of the arms of the power line coupling arrangement, or a proximity sensor provided in the arms of the power line coupling arrangement configured to detect the power line when the power line comes within a threshold distance of the arms. In some embodiments, the position of the power line is monitored using a LIDAR sensor, and the presence of the power line in the arms of the power line coupling arrangement is detected496.135.175335 / 01 - 7 -

[0036] using one or more switches provided on the arms of the power line coupling arrangement.

[0037] In some embodiments the object installed on the power line is an electronic monitoring device for monitoring a condition of the power line. The object may comprise one or more sensors, for example a capacitance sensor, a temperature sensor, a current sensor, a tension sensor, a vibration sensor, a fire detection sensor, etc. However, in some alternative embodiments, the object is not used for monitoring of power line condition, and instead comprises, for example, a flight marker, a bird diverter or a vibration damper.

[0038] In some embodiments, the object is formed from two parts that are brought together around the power line to secure the object to the power line - e.g. a clamshell arrangement. One or both parts of the object may comprise a recess or pocket in which the power line can be received, such that the two parts of the object can be closed around the power line. The locking portion securing the object to the power line may secure the two parts of the object together such that the object is locked to the power line when installed. In some embodiments, the object has a substantially spherical form. In some such embodiments, the two parts of the object are substantially identical hemispheres, each comprising a recess shaped to receive part of the power line. Preferably, the recess is located centrally and symmetrically within the object when the two halves of the sphere are combined around the power line in use.

[0039] In some embodiments, the locking portion securing the object to the power line comprises a mechanical or hydraulic actuator that brings the two parts of the object together around the power line to secure the object to the power line. In some embodiments, the locking portion comprises a screw working as a linear actuator to bring two parts of the object together around the power line, e.g. to close a recess or pocket on the object around the power line. By using a screw to lock the object to the power line, the object can be locked to the power line using a torque tool. A similar torque tool mounted to a UAV may then be used to de-install the object from the power line by unscrewing the screw holding the two halves of the object together.496.135.175335 / 01 - 8 -

[0040] In an alternative set of embodiments, the locking portion comprises a biasing member such as a biased spring, piston or similar, adapted to clamp two halves of the object together around the power line or to close a recess or pocket of the object around the power line.

[0041] The engagement point on the object may be any part that can engage with the engagement arrangement. In some embodiments, the engagement point on the object comprises a recessed portion of the object, and the engagement arrangement is configured to mate with the recessed portion of the object, e.g. it may be configured to be inserted into the object to engage with the object. In some alternative embodiments however, the engagement point on the object comprises a protrusion from the object, and the engagement arrangement comprises a recessed portion configured to mate with the protruding engagement point. For example, the engagement point on the object may be the head of a screw and the engagement arrangement on the UAV may comprise a screw-bit that corresponds to the fitting on the head of the screw. As a second example, the engagement point on the object may be an eye bolt and the engagement arrangement may comprise a hook or fastener, e.g. a clip or shackle configured to engage the eye bolt. As a further example, the engagement point on the object may be a nut and the engagement arrangement on the UAV may comprise a complementary fitting nut-shaped head of a screw.

[0042] In some embodiments, the engagement point on the object forms part of the locking portion securing the object to the power line. For example, the engagement point may be formed at the head of a screw that secures the object to the power line, e.g. where the shank of the screw secures two parts of the object together around the power line. In some such embodiments, the UAV may be configured to engage the engagement point using the engagement arrangement and to subsequently use the engagement arrangement to interact with the engagement point using the unlocking part. In some such embodiments, the unlocking part comprises a tool provided within the engagement arrangement configured to interact with the engagement point on the object to unlock the locking portion securing the object to the power line. For example, the unlocking part may comprise a torque tool configured to rotate so as to unlock the locking portion.496.135.175335 / 01 - 9 -

[0043] In some embodiments however, the locking portion securing the object to the power line is provided separately from the engagement point on the object. This may be the case in embodiments in which engagement point comprises a recessed portion of the object, and the engagement arrangement is configured to mate with the recessed portion of the object. In some such embodiments, the UAV first engages with the engagement point using the engagement arrangement and then subsequently interacts with the locking portion separate to the engagement point. For example, the engagement arrangement may first engage the engagement point on the object, and the unlocking part may subsequently interact with the locking portion on the object, for example with a screw that is separate from the engagement point and which secures the object to the power line, e.g. by holding two parts of the object together around the power line. However, in some alternative embodiments the unlocking part of the UAV is separate to the engagement arrangement. In some such embodiments the unlocking part comprises a tool, e.g. a torque tool, provided in the UAV separately to the engagement arrangement, and the tool is configured to interact with the locking portion securing the object to the power line independently of the engagement arrangement.

[0044] In some embodiments, the power line is a conductor for electrical power transmission, e.g. an overhead power line suspended by one or more towers or poles. The power line may consist solely of the conductor, or it may additionally comprise insulation or shielding, e.g. surrounding the conductor. Although embodiments described herein relate to overhead lines used to transmit power, it will be appreciated that the present invention is equally applicable to ground wires or shield wires, or any other line used in an overhead power transmission system.

[0045] Features of any aspect or embodiment described herein may, wherever appropriate, be applied to any other aspect or embodiment described herein.

[0046] Where reference is made to different embodiments or sets of embodiments, it should be understood that these are not necessarily distinct but may overlap.

[0047] BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Certain preferred embodiments of this disclosure will now be described, byway of example only, with reference to the accompanying drawings, in which:496.135.175335 / 01 - 10 -

[0049] FIG. 1 is a side view of an object installed on a power line and a UAV for deinstalling the object in accordance with the present invention;

[0050] FIGs. 2A and 2B show the object installed on the power line from a side view and a bottom view respectively;

[0051] FIG. 3 is a side view of the UAV locked to the power line;

[0052] FIG. 4 is a cutaway view of an engagement arrangement of the UAV engaged with the object installed on the power line;

[0053] FIGs. 5A and 5B illustrate the UAV rotating around the power line;

[0054] FIG. 6 shows the UAV engaged with the object installed on the power line;

[0055] FIG. 7 shows the UAV unlocking the object from the power line;

[0056] FIG. 8 shows the UAV flying away from the power line carrying the de-installed object; and

[0057] FIG. 9 is a flowchart outlining a method of de-installing an object secured to a power line in accordance with the present invention.

[0058] DETAILED DESCRIPTION

[0059] Figure 1 is a side view of an unmanned aerial vehicle, i.e. a drone 100, in accordance with the present invention approaching an object 200 installed on a power line 300 to perform a method of de-installing the object 200 also in accordance with the present invention.

[0060] In the embodiment shown in Figure 1, the object 200 is an electronic monitoring device for monitoring the status of the power line 300. The object 200, shown in more detail in Figures 2A and 2B, has a spherical shape, formed from a first hemisphere 201 and a second hemisphere 202. The first hemisphere 201 and the second hemisphere 202 are secured together around the power line 300, which sits within a recess provided between the two hemispheres 201, 202 as shown in Figure 1.

[0061] The object 200 comprises an engagement point 210 for the drone 100 to engage with the object 200 during installation and de-installation, and a locking portion 220 securing the object 200 to the power line 300 while the object 200 is installed, i.e., in use. In this embodiment, the engagement point 210 comprises a recessed portion of the object 200, and the locking portion 220 comprises a lead screw provided within the object 200 that holds the hemispheres 201, 202 together. As496.135.175335 / 01 - 11 -

[0062] shown in Figure 2, the head of the lead screw forming the locking portion 220 is formed as a loop to allow for de-installation of the object 200 as explained in the following.

[0063] Although the embodiment shown in Figures 1 and 2 show an object 200 in the form of an electronic monitoring device, it will be appreciated that in other embodiments, the object may have any suitable form and function without departing from the scope of the present invention. For example, the object may be a safety marker, a vibration damper, a bird diverter etc, provided it can be de-installed from a power line in accordance with the present invention.

[0064] Returning to Figure 1, the drone 100 includes a frame 101, to which four rotors 102 are attached, and a de-installation platform 103 that extends below the frame 101. The de-installation platform 103 includes a power-line coupling arrangement 110 for coupling the drone 100 to the power line 300 while de-installing the object 200 from the power line 300, and an engagement arrangement 120 for engaging with the object 200 to allow the drone 100 to carry the object 200 away from the power line 300.

[0065] The power line coupling arrangement 110 comprises a pair of arms 111 (only one of which is visible in Fig. 1) for receiving the power line 300 that extend away from the drone 100 at a downward angle, i.e. that extend towards the ground while the drone 100 is in flight. The arms 111 each include a notch 112 shaped to accommodate the power line 300. The power line coupling arrangement 110 also comprises two pairs of guide members 113 (again only one of which is visible) that extend away from the drone 100 at diverging angles, such that the guide members 113 form a V-shaped profile for guiding the power line 300 towards the notch 112.

[0066] In addition to the receiving arms 111 and the guide members 113, the power line coupling arrangement 110 also includes an actuatable clamping member 114 configured to clamp the power line 300 when received in the notches 112 so as to couple the drone 100 to the power line 300 as explained in the following. The clamping member 114 comprises a pair of a pivotable arms (one of which is visible). In this embodiment, the arms of the clamping member 114 are pivoted using a servomotor provided within the drone 100, configured to move the clamping496.135.175335 / 01 - 12 -

[0067] member 114 between an ‘open’ position as shown in Figure 1, and a ‘closed’ position to which it is moved by the servomotor to hold the power line 300 within the notch 112.

[0068] To de-install the object 200 from the power line 300, the drone 100 is controlled (either autonomously or by a remote human operator) to fly towards the power line 300 such that the power line 300 is positioned within an opening formed between the guide members 113, e.g. as shown in Figure 1. As the drone 100 approaches the power line 300, the guide members 113 guide the power line 300 towards the notches 112, which are shaped to accommodate the power line 300.

[0069] Once the power line 300 passes the tips of the pivotable arms of the clamping member 114 the servomotor moves the clamping member to the closed position to hold the power line 300 within the receiving notches 112. This is illustrated in Figure 3, which shows the drone 100 coupled to the power line 300 by the power-line coupling arrangement 110. With the drone 100 coupled to the power line 300 in this way, movement of the drone 100 with respect to the power line 300 is limited. In particular, translational movement in a radial direction away from the power line 300, and rotational movement around axes other than the longitudinal axis of the power line 300 is prevented. However, while clamped, the drone 100 is still able to rotate around the longitudinal axis of the power line 300 to allow the drone 100 to couple to the object 200 as explained below.

[0070] As mentioned above and also shown in Figure 3, the drone 100 comprises an engagement arrangement 120 that is used to engage with the engagement point 210 on the object 200 after the drone 100 is coupled to the power line 300 by the power line coupling arrangement 110.

[0071] In this embodiment, the engagement arrangement 120 comprises a protrusion 121 that is configured to mate with the recessed engagement point 210 of the object 200. However, it will be appreciated that other embodiments may employ an engagement arrangement that engages with the object 200 in any appropriate way, In this embodiment, the engagement arrangement 120 also comprises a fastener that is shaped to engage the loop at the head of the lead screw forming the locking496.135.175335 / 01 - 13 -

[0072] portion 220, so as to allow the object 200 to be unlocked from the power line 300 as explained in the following.

[0073] The engagement arrangement 120 is moveable between an ‘open’ position (as shown in Figures 1 and 3), in which the drone 100 is not engaged with the object 200, and a ‘closed’ position in which the drone 100 is securely connected to the object 200 by the engagement arrangement 120. The engagement arrangement 120 is moved to the closed position after the engagement arrangement 120 and the engagement point 210 are aligned.

[0074] Figure 4 shows a cutaway view of the engagement arrangement 120 in the closed position. It can be seen in Figure 4 that in the closed position, the protrusion 121 of the engagement arrangement is located substantially within the object 200, having mated with the recessed engagement point 210 on the object 200. Figure 4 also shows the lead screw 221 of the locking portion 220, and the fastener 122 shaped to engage the loop at the head of the lead screw 221. The fastener 122 is arranged to be driven by an an unlocking part 123, which in this embodiment comprises a torque tool provided in the engagement arrangement 122 arranged to rotate the lead screw 221 to allow the object 200 to be unlocked from the power line 300.

[0075] To align the engagement arrangement 120 with the engagement point 210 on the object 200, the engagement arrangement 120 is rotated with respect to the object 200 until the protrusion 121 engages with the engagement point 210 on the object 200 (i.e. until the protrusion 121 is able to be inserted into the recessed engagement point 210 of the object 200). In the embodiment shown in Figures 1 to 4, this is achieved by controlling the drone 100 to rotate forwards and / or backwards around the power line 300 after having been coupled to the power line 300 using the power line coupling arrangement 110, as illustrated in Figures 5A and 5B.

[0076] Figure 5A shows the drone 100 rotating forwards while coupled to the conductor 300 (i.e. clockwise around the power line 300 as illustrated in Figure 5A), while Figure 5B shows the drone 100 rotating backwards while coupled to the conductor 300 (i.e. anticlockwise around the power line 300 as illustrated in Figure 5B). By ‘rocking’ the drone 100 around the longitudinal axis of the power line 300 while other movement with respect to the power line 300 is prevented, the protrusion 121496.135.175335 / 01 - 14 -

[0077] of the engagement arrangement 120 can be aligned with the engagement point 210 on the object 200.

[0078] When the engagement arrangement 120 is correctly aligned, a switch is activated that causes the engagement arrangement 120 to be actuated such that the protrusion 121 moves towards the engagement point 210 on the object 200. In this state, the protrusion 121 enters the recessed engagement point 210 of the object 200 and securely connects the drone 100 to the object 200. With the drone 100 connected to the object 200, the fastener 122 is also able to connect to the to the loop at the head of the lead screw 221 of the locking portion 220.

[0079] Although Figures 5A and 5B show the entire drone rotating around the power line to align the engagement arrangement with the engagement point on the object, this is not required in all embodiments. In an alternative embodiment, not shown in the Figures, the engagement arrangement is independently actuatable with respect to the rest of the drone using a servomotor. The servomotor is used to rotate the engagement arrangement relative to the power line and the drone, while the drone remains substantially stationary proximate the power line. Once the engagement arrangement has been rotated to a position in which the engagement arrangement is aligned with the engagement point on the object, a switch is activated that causes the engagement arrangement to be actuated such that it moves towards the engagement point on the object, as described above in relation to the embodiment shown in Figures 5B and 5B.

[0080] Figure 6 shows the drone 100 coupled to the power line 300 by the power-line coupling arrangement 110, with the engagement arrangement 120 in the closed position securing the drone 100 to the object 200. When the drone 100 is secured to the object 200, an unlocking part 123, which in this embodiment is a torque tool provided in the engagement arrangement 120 causes the fastener 122 to unlock the locking portion 220 securing the object 200 to the power line 300. Specifically, the torque tool causes the fastener 122 to rotate so as to rotate the lead screw holding the two hemispheres of the object 200 together. This causes the object 200 to be unlocked from the power line 300, as illustrated in Figure 7.496.135.175335 / 01 - 15 -

[0081] Figure 7 shows the drone 100 securely connected to the object 200 after the locking portion 220 of the object 200 has been unlocked by the unlocking part 123. It can be seen in Figure 7 that in response to the lead screw of the locking portion 220 being rotated by the torque tool, the two halves of the object 200 are driven apart so as to open the object, thereby unlocking the object 200 from the power line 300. In addition to opening the object 200, in response to unlocking of the locking portion 220, the clamping member 114 is lifted so as to release the power line 300 from its position between the clamping member 114 and the notches 112.

[0082] With the power line 300 uncoupled from the drone 100 and the object 200 released from the power line 300, the drone 100 is free to fly backwards away from the power line 300 while holding the object 200, as illustrated in Figure 8. Alternatively, the drone 100 may simply allow the object 200 to fall after being decoupled from the power line. In this way, the drone 100 is able to de-install the object 200 from the power line 300, and return the object 200 to, e.g. a remote human operator or designated site.

[0083] The de-installation process is summarised in Figure 9, which shows a flow diagram of a method of de-installing an object installed on a power line and secured to the power line by a locking portion.

[0084] In step 901, a drone is flown towards the object installed on the power line. The drone is then coupled to the power line using a power line coupling arrangement so as to limit movement of the drone relative to the power line in step 902.

[0085] In step 903, an engagement arrangement of the drone is rotated around the longitudinal axis of the power line while the drone is coupled to the power line so as to align the engagement arrangement with an engagement point on the object installed on the power line.

[0086] In step 904, the engagement arrangement engages the engagement point on the object.

[0087] In step 905 the locking portion securing the object to the power line is unlocked while the object is secured to the drone so as to decouple the object from the power496.135.175335 / 01 - 16 -

[0088] line, and the power line coupling arrangement is also decoupled from the power line in step 906 to release the drone.

[0089] In step 907, the drone is optionally flown away from the power line while the object is secured to the drone to complete de-installation of the object from the power line. This step may not always be performed, and the drone may instead allow the object to be dropped from the power line in some embodiments.

[0090] It will be appreciated by those skilled in the art that the present disclosure has been illustrated by describing one or more specific examples thereof, but is not limited to these examples; many variations and modifications are possible, within the scope of the accompanying claims.

Claims

496. 135.175335 / 01 - 17 -CLAIMS1. An unmanned aerial vehicle (UAV) for de-installing an object installed on a power line and secured to the power line by a locking portion, the UAV comprising:a power-line coupling arrangement for coupling the UAV to the power line so as to limit movement of the UAV relative to the power line;an engagement arrangement for engaging with the object, the engagement arrangement being rotatable around the longitudinal axis of the power line while the UAV is coupled to the power line so as to allow the engagement arrangement to align with an engagement point on the object installed on the power line; and an unlocking part for unlocking the locking portion securing the object to the power line.

2. The UAV of claim 1, wherein the UAV is configured to rotate the engagement arrangement by rotating the UAV around the longitudinal axis of the power line.

3. The UAV of claim 1, wherein the UAV is configured to rotate the engagement arrangement with respect to the UAV and the power line.

4. The UAV of any of claims 1 to 3, wherein the power line coupling arrangement comprises a pair of arms for receiving the power line.

5. The UAV of claim 4, wherein each arm comprises a notch shaped to accommodate the power line.

6. The UAV of claim 4 or 5, wherein the UAV comprises one or more guide members for guiding the power line towards the arms of the power line coupling arrangement.

7. The UAV of claim 6, wherein the one or more guide members comprises a first guide member comprising an angled portion that extends outwardly from the UAV at an upward angle.496.135.175335 / 01 - 18 -8. The UAV of claim 6 or 7, wherein the one or more guide members comprises a second guide member comprising an angled portion that extends outwardly from the UAV at a downward angle.

9. The UAV of any of claims 4 to 8, wherein the power-line coupling arrangement comprises a clamping mechanism comprising a clamp configured to move between a first position in which the clamp couples the power line to the arms of the power line coupling arrangement, and a second position in which the power line is free to move relative to the arms of the power line coupling arrangement.

10. The UAV of claim 9, wherein the clamp is configured to move from the second position to the first position in response to the power line being received by the arms of the power line coupling arrangement.

11. The UAV of any preceding claim, wherein:the engagement point on the object forms part of the locking portion securing the object to the power line;wherein the unlocking part comprises a tool provided within the engagement arrangement;wherein the tool is configured to interact with the engagement point on the object to unlock the locking portion securing the object to the power line.

12. The UAV of claim 11 , wherein the UAV is configured to unlock the locking portion by rotating the engagement arrangement while the engagement arrangement is engaged with the engagement point of the object.

13. The UAV of claim 12, wherein the tool is a torque tool configured to rotate while it is connected to the engagement connection arrangement while the engagement arrangement is engaged with the engagement point of the object.

14. The UAV of any of claims 1 to 10, wherein the locking portion securing the object to the power line is provided separately from the engagement point on the object.496.135.175335 / 01 - 19 -15. The UAV of claim 14, wherein the unlocking part of the UAV comprises a torque tool configured to rotate the locking portion of the object.

16. A method for de-installing an object installed on a power line and secured to the power line by a locking portion, the method comprising:flying an unmanned aerial vehicle (UAV) towards the object installed on the power line;coupling the UAV to the power line using a power line coupling arrangement on the UAV so as to limit movement of the UAV relative to the power line;rotating an engagement arrangement of the UAV around the longitudinal axis of the power line while the UAV is coupled to the power line so as to align the engagement arrangement with an engagement point on the object installed on the power line;engaging the engagement arrangement with the engagement point on the object;unlocking the locking portion securing the object to the power line while the object is secured to the UAV so as to decouple the object from the power line; and decoupling the power line coupling arrangement from the power line.

17. The method of claim 16, further comprising flying the UAV away from the power line while the object is secured to the UAV.

18. The method of claim 16 or 17, wherein rotating the engagement arrangement comprises rotating the UAV around the longitudinal axis of the power line.

19. The method of claim 16 or 17, wherein rotating the engagement arrangement comprises rotating the engagement arrangement with respect to the UAV.

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