CN104204819A

CN104204819A - Mobile device configured to travel on a transmission line and provide assistance

Info

Publication number: CN104204819A
Application number: CN201380018552.9A
Authority: CN
Inventors: 罗德里克·A·海德; 洛厄尔·L·伍德
Original assignee: Elwha LLC
Current assignee: Elwha LLC
Priority date: 2012-03-30
Filing date: 2013-03-27
Publication date: 2014-12-10
Also published as: JP2015515250A; EP2839299A1; WO2013148794A1; EP2839299A4

Abstract

Described embodiments include a system and an apparatus. A described system includes a mobile device configured to travel on a transmission line between two transmission towers of a power transmission system, physically assist installation of a new conductor cable or line between the two transmission towers, and wirelessly communicate with an installation controller. The system includes the installation controller configured to control travel by the mobile device over the transmission line, to control provision of physical assistance by the mobile device, and to wirelessly communicate with the mobile device.

Description

Be configured to advance and auxiliary mobile device is provided at transmission line

The cross reference of related application

The application relate to and advocate the following application (" related application ") of enumerating the live application day that can use the earliest rights and interests (for example, advocate the priority date that can use the earliest of the application that is different from temporary patent application, or according to the rights and interests of any and all parent patent applications of 35USC § 119 (e) opinion temporary patent application, related application, ancestral's patented claim, great-grandfather's patented claim etc.).

Related application

For the extra legal requirements of United States Patent (USP) trademark office, the application be formed in the name of submitting on March 30th, 2012 be called " for dispatch the equipment and system of mobile device operation on electrical power transmission system ", invention people is Roderick A.Hyde and Lowell L.Wood, Jr. U.S. Patent application No.13/436,299 part continuation application, this patented claim is current common pending trial, or allows the have the right application of the rights and interests of enjoying this application day of the application of at present common pending trial.

For the extra legal requirements of United States Patent (USP) trademark office, the application be formed in the name of submitting on March 30th, 2012 be called " mobile device that is configured to carry out the task relevant with electrical power transmission system ", to invent people be Roderick A.Hyde and Lowell L.Wood, Jr. U.S. Patent application No.13/436,404 part continuation application, this patented claim is current common pending trial, or allows the have the right application of the rights and interests of enjoying this application day of the application of at present common pending trial.

For the extra legal requirements of United States Patent (USP) trademark office, the application be formed on March 30th, 2012 submit to name be called " equipment that is configured to cooperative electrical power transmission system ", invention people be Roderick A.Hyde and Lowell L.Wood, Jr. U.S. Patent application No.13/436,462 part continuation application, this patented claim is current common pending trial, or allows the have the right application of the rights and interests of enjoying this application day of the application of at present common pending trial.

The announcement that United States Patent (USP) trademark office (USPTO) announces, the meaning is that the computer program of USPTO requires patented claim not only to quote sequence number but also shows that application is continuation application or part continuation application.Stephen G.Kunin, " the formerly rights and interests of submit applications ", on March 18th, 2003 USPTO government gazette.The applicant's entity (hereinafter referred to as " applicant ") is advocated that according to regulation the application of right of priority provides above-mentioned concrete reference.Applicant understands, and does not need sequence number, also need to any feature such as " continuations " or " part continuation " carry out the right of priority of requirement U.S. Patent application.Although above-mentioned item, the computer program that applicant understands USPTO has some data input requirements, and therefore, applicant specifies the part continuation application as its mother's application as described above, but explicitly point out, such appointment is interpreted as the application whether also to comprise except the content of its female application comment and/or the accreditation of any type of any fresh content never by any way.

Related application and arbitrarily and all themes of the application such as all female cases, grandmother's case, great grandmother's case at such theme not with in the degree of conflict herein, all by reference to being incorporated to this paper.

Summary of the invention

Comprise a kind of mobile device such as, but not limited to, the embodiment of theme described in the invention.In the present embodiment, this mobile device comprises: be configured to cabinet (chassis) mobile on the transmission line between two transmission towers of built on stilts electrical power transmission system.This system comprises supplementary module, this supplementary module physically and cabinet be associated and be configured to physically to aid in two conductor cables between transmission tower or the installation or removal of wire.

An embodiment such as, but not limited to, theme described in the invention comprises a kind of system.In the present embodiment, this system comprises: mobile device, it is configured to move on the transmission line between two transmission towers of electrical power transmission system, physically the new conductor cable between auxiliary described two transmission towers or wire installation and with wireless mode with controller be installed communicated.Described system comprises this installation controller, and this installation controller is configured to control the movement of described mobile device on described transmission line, control described mobile device provides physics auxiliary and communicate with wireless mode and described mobile device.

General introduction is above only illustrative, is not intended to limit by any way.Except illustrative aspect, embodiment and above-described feature, also have detailed description with reference to the accompanying drawings and below of further aspect, embodiment and feature and become apparent.

Brief description of the drawings

Fig. 1 illustrates the illustrative embodiments of the thin computing equipment that can implement embodiment.

Fig. 2 illustrates the illustrative embodiments of the general-purpose computing system that can implement embodiment;

Fig. 3 illustrates the exemplary environments that can implement embodiment;

Fig. 3 illustrates the exemplary environments 200 that can implement embodiment;

Fig. 4 illustrates the exemplary environments 300 that can implement embodiment;

Fig. 5 illustrates the exemplary environments 400 that can implement embodiment;

Fig. 6 illustrates the example operational flow 500 that can implement embodiment;

Fig. 7 illustrates the alternate embodiments of the reception operation 510 of Fig. 6;

Fig. 8 illustrates the alternate embodiments of the operating process 500 of Fig. 6;

Fig. 9 illustrates the computer program 600 that can implement embodiment;

Figure 10 illustrates the exemplary environments 700 that can implement embodiment;

Figure 11 illustrates the exemplary environments 800 that can implement embodiment.

Figure 12 illustrates the exemplary environments 900 that can implement embodiment;

Figure 13 illustrates the environment 1000 that can implement embodiment;

Figure 14 illustrates the illustrative embodiments of the mobile device 1005 of Figure 13;

Figure 15 illustrates the exemplary environments 1200 that can implement embodiment;

Figure 16 illustrates the exemplary environments 1300 that can implement embodiment; And

Figure 17 illustrates the exemplary environments 1400 that can implement embodiment.

Embodiment

In the following detailed description, with reference to the accompanying drawing that forms a part of the present invention.In the accompanying drawings, similar symbol is the similar assembly of mark conventionally, unless be otherwise noted in context.The illustrative embodiments of describing in embodiment, accompanying drawing and claims does not also mean that restriction.In the case of not departing from the spirit or scope of theme disclosed herein, can utilize other embodiments, and can carry out other amendments.

Those skilled in the art will appreciate that prior art has developed into the hardware of the many aspects of system, software and/or firmware embodiment and only had very other degree of community; The use of hardware, software and/or firmware is generally the design alternative that (still not such was the case with, and under some background, it is very important that the selection between hardware and software becomes) represents cost and efficiency tradeoff.Those skilled in the art will know, existence can make various carriers that method described herein and/or system and/or other technologies play a role (for example, hardware, software and/or firmware), and preferred carrier can change according to the variation of the background that adopts these methods and/or system and/or other technologies.For example, be most important if implementer determines speed and degree of accuracy, implementer can select main hardware and/or firmware carrier so; Alternately, if dirigibility is most important, implementer can select main implement software mode so; Or also alternately, implementer can select some combinations of hardware, software and/or firmware.Therefore, several feasible carrier that existence can make method as herein described and/or equipment and/or other technologies play a role, they are not better than other inherently, for example, because any carrier that will utilize is to depend on to adopt the background of carrier and (specifically considering of implementer, speed, dirigibility or predictability), any one all may change.The optics aspect that person of skill in the art will appreciate that embodiment adopts optics guiding hardware, software and/or firmware conventionally.

In embodiments more as herein described, logic and similarly embodiment can comprise the software or other control structures that are suitable for implementation and operation.For example, electronic circuit can show as the one or more current paths that are constructed and are arranged to implement various logic functions as herein described.In some embodiments, one or more media are configured to the detectable embodiment of Portable device, and prerequisite is that the specialized equipment instruction set that can operate to carry out according to mode described herein is preserved or sent to this medium.In some modification, for example, this can show as by the one or more instructions relevant to one or more operations as herein described that for example receive or carry renewal or other amendments of existing software or firmware or gate array or other programmable hardwares.Alternatively or additionally, in some modification, a kind of embodiment can comprise specialized hardware, software, fastener components and/or execution or call the general purpose module of personal module.Specification or other embodiments can be by one or more examples of tangible transmission medium as herein described, optionally transmit by bag or by transmitting via distribution media transmission at different time.

Alternatively or additionally, embodiment can comprise and carries out special instruction sequence or call circuit to enable, trigger, coordinate, to ask or to cause any feature operation generation one or many described below.In some modification, operation herein or other logical descriptions can directly be expressed as source code and be compiled as executable instruction sequence or call as executable instruction sequence.Under some backgrounds, for example, C++ or other code sequences can direct compilations or are embodied as high level description language (for example, logic synthesis language, hardware description language, hardware design simulation and/or other this similar expression waies).Alternatively or additionally, some or all of logics can show as hardware description or other circuit models of the Verilog type before physical implementation in hardware, particularly for basic operation or the crucial application of timing.It will be understood by those skilled in the art that according to these transmission that how instruction obtains, allocation and optimization is suitable or computing element, material supply, actuator or other common structures.

In general sense, one skilled in the art will realize that, various embodiment as herein described can be by the following separately and/or common implementing: polytype Mechatronic Systems with far-ranging electronic component, for example, hardware, software, firmware and/or in fact their combination in any; Can give the far-ranging assembly of mechanical force or motion, for example rigid body, spring body or reverse body, hydraulic means, electromechanically device and/or their combination in any in fact.Therefore, " Mechatronic Systems " as herein described includes but not limited to: with transducer (for example, actuator, motor, piezoelectric crystal, MEMS (micro electro mechanical system) (MEMS) etc.) operationally coupling circuit, there is the circuit of at least one discrete circuit, there is the circuit of at least one integrated circuit, there is the circuit of at least one special IC, the universal computing device that formation is configured to by computer program (for example, the multi-purpose computer being configured to by carrying out at least in part the computer program of method as herein described and/or equipment, or the microprocessor being configured to by the computer program of carrying out at least in part method as herein described and/or equipment) circuit, (for example form memory device, (for example form storer, random access memory, flash memory, ROM (read-only memory) etc.)) circuit, (for example form communication facilities, modulator-demodular unit, communication module, communication switch, optoelectronic device etc.) circuit, and/or the mimic channel of any non-electricity, for example optical analogy circuit or other mimic channels.Those skilled in the art also will appreciate that, the example of Mechatronic Systems includes but not limited to various consumer electronics systems, medicine equipment and other system, for example motor-driven induction system, factory automation system, security system and/or communication/computing system.It will be understood by those skilled in the art that " electromechanics " used herein may not be confined to have the system of electric actuator and mechanical actuator, except showing in addition.

In general sense, those skilled in the art also will appreciate that, can by the hardware of wide scope, software, firmware and/or their combination in any separately and/or the many aspects as herein described of common implementing can regard as by polytype " circuit " and form.Therefore, " circuit " used herein includes but not limited to: the circuit with at least one discrete circuit, there is the circuit of at least one integrated circuit, there is the circuit of at least one special IC, the universal computing device that formation is become by computer system configurations (for example, the multi-purpose computer being configured to by the computer program of carrying out at least in part method as herein described and/or equipment, or the microprocessor being configured to by the computer program of carrying out at least in part method as herein described and/or equipment) circuit, (for example form memory device, (for example form storer, random access memory, flash memory, ROM (read-only memory) etc.)) circuit, and/or (for example form communication facilities, modulator-demodular unit, communication switch, optoelectronic device etc.) circuit.Those of skill in the art will recognize that theme as herein described may be embodied as analog or digital mode or their some combinations.

Those skilled in the art can further recognize, at least a portion of equipment as herein described and/or method can be integrated in image processing system.Typical image processing system generally can comprise one or more system unit housings, video display apparatus, the storer of for example volatibility or nonvolatile memory and so on, the processor of for example microprocessor or digital signal processor and so on, the computational entity of for example operating system and so on, driver, application program, one or more interactive devices (for example, Trackpad, touch-screen, antenna etc.), comprise backfeed loop and (for example control motor, for the feedback of sensing lens position and/or speed, for making lens move/be out of shape the control motor to obtain required focus) control system.Image processing system can utilize suitable commercially available assembly to implement, for example, and those assemblies of conventionally finding in digital still system and/or digital moving system.

Those skilled in the art will appreciate that equally, and at least some equipment as herein described and/or method can be integrated in digital processing system.One skilled in the art will realize that, digital processing system generally comprises one or more system unit housings, video display apparatus, the storer of for example volatibility or nonvolatile memory and so on, the processor of for example microprocessor or digital signal processor and so on, the computational entity of for example operating system and so on, driver, graphic user interface, and application program, one or more interactive devices (for example, Trackpad, touch-screen, antenna etc.), and/or comprise backfeed loop and control motor (for example,, for the feedback of sense position and/or speed; For the control motor of mobile and/or adjusting part and/or quantity) control system.Digital processing system can utilize suitable commercially available assembly to implement, for example, and the assembly of conventionally finding in digital computation/communication and/or network calculations/communication system.

Fig. 1 and Fig. 2 provide the corresponding general description of several environment that can implement embodiment.Fig. 1 relates generally to the thin computing environment 19 with thin computing equipment 20, and Fig. 2 relates generally to the general-purpose computations environment 100 with universal computing device 110.But, due to the prices of computer module and due to the lifting of performance and speed, therefore between thin computing equipment and universal computing device, not always there is boundary line clearly.In addition, for the environment because using computing power income, there are new endlessly design and application.Therefore, anything is all not to be construed as subject matter restricted disclosed herein in concrete computing environment, unless be subject to the restriction of clear and definite language.

Fig. 1 and following discussion aim to provide the brief summary of the thin computing environment 19 that can implement embodiment.Fig. 1 illustrates the example system that comprises thin computing equipment 20, and this thin computing equipment 20 can be included in or embed in electronic equipment, and this electronic equipment also comprises functions of the equipments element 50.For example, electronic equipment can comprise any article, these article have the electric or electronic component working in the function of article, such as picture refrigerator, automobile, digital image acquisition apparatus, camera, cable modem, printer, ultrasonic equipment, X-ray production apparatus, non-invasive imaging equipment or aircraft.For example, electronic equipment can comprise any article that are connected with the function element of article or it is controlled.And for example, in implantable medical device or equipment, can comprise thin computing equipment.For another example, thin computing equipment can operationally communicate with medicine equipment implantable or that implant.For example, thin computing equipment can comprise the computing equipment with limited resources or limited handling property, for example, the computing equipment of limited resources, Wireless Telecom Equipment, mobile radio communication apparatus, smart mobile phone, electronic pen, hand-held electronic apparatus for writing, scanner, mobile phone, smart phone (for example based on or equipment), flat-panel devices (for example, ) or equipment.For example, thin computing equipment can comprise thin customer equipment or mobile thin customer equipment, for example, and smart mobile phone, panel computer, notebook computer or the desktop hardware that is configured to work in virtualized environment.

Thin computing equipment 20 comprises processing unit 21, system storage 22 and the various system components that comprise system storage 22 is coupled to the system bus 23 of processing unit 21.System bus 23 can be the bus structure of any several types, comprises the local bus of memory bus or Memory Controller, peripheral bus and any multiple bus architecture of use.System storage comprises ROM (read-only memory) (ROM) 24 and random access memory (RAM) 25.Basic input/output (BIOS) 26, comprises the base program that for example transmits information between the sub-component contributing between the starting period in thin computing equipment 20, is stored in ROM24.Multiple program modules can be stored in ROM24 or RAM25, comprise operating system 28, one or more application programs 29, other program modules 30 and routine data 31.

User can be by one or more input interface input commands and information in computing equipment 20.Input interface can comprise touch control display, or has one or more switches or the button of suitable input detecting circuit.Touch control display is illustrated as display 32 and screen input detector 33.One or more switches or button are illustrated as the hardware button 44 that is connected to system via hardware button interface 45.The output circuit of touch control display 32 is connected to system bus 23 via video driver 37.Other input equipments can comprise the microphone 34 or the physical hardware keyboard (not shown) that connect by suitable audio interface 35.Output device can comprise display 32 or projector display 36.

Except display 32, computing equipment 20 can comprise other peripheral output devices, for example, and at least one loudspeaker 38.Other outsides input or output equipment 39, and for example, operating rod, game paddle, satellite receiver, scanner etc., can be connected to processing unit 21 by USB port 40 and USB port interface 41, is connected to system bus 23.Alternately, other outside inputs or outputs equipment 39 and can connect by other interfaces, for example, connects by parallel port, game port or other ports.Computing equipment 20 may further include flash card memory (not shown) or can be connected to flash card memory (not shown) by suitable connectivity port (not shown).Computing equipment 20 may further include network or can by the network port 42 and network interface 43 and by radio port 46 and corresponding wave point 47 connected to the network on, can be arranged for ease of with other peripherals and communicate by letter, other peripherals comprise other computing machines, printer etc. (not shown).Should be appreciated that illustrated various assembly is example and can uses other assemblies and the device of setting up communication link with being connected.

Computing equipment 20 can mainly be designed to include user interface.User interface can comprise character, the data input based on button or another user data input of inputting via touch control display 32.User interface can comprise use pointer (not shown).In addition, user interface is not limited to be configured to directly receive the actual contact panel of input, but can be used as another selection or in addition in response to another input equipment of for example microphone 34 and so on.For example, language and characters can receive and be identified at microphone 34.Alternately, computing equipment 20 can be designed to include the user interface with physical keyboard (not shown).

Functions of the equipments element 50 normally special and the function that relates to electronic equipment, and be coupled by interface (not shown) and system bus 23.Function element can or arrange to carry out single clearly defined task with user's configuration seldom or not conventionally, for example, refrigerator keeps food cold storage, mobile phone is connected with suitable control tower and receiving and transmitting voice or numerical information, camera collection is also preserved image, or communicate by letter with implantable medical device.

In some cases, one or more elements of thin computing equipment 20 can be regarded as needing or be omitted.In other cases, one or more other elements can be regarded as necessary and be increased in thin computing equipment.

Fig. 2 and following discussion aim to provide the brief summary of the environment that can implement embodiment.Fig. 2 illustrates the illustrative embodiments of the general-purpose computing system that can implement embodiment, is illustrated as computingasystem environment 100.The assembly of computingasystem environment 100 can include but not limited to universal computing device 110, and universal computing device 110 has: processor 120, system storage 130 and the various system components that comprise system storage are connected to the system bus 121 of processor 120.System bus 121 can be any one in the bus structure of the several types including the local bus of memory bus or Memory Controller, peripheral bus and any multiple bus architecture of use.For instance, but not restriction, this framework comprises Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, strengthen ISA (EISA) bus, VESA (VESA) local bus, and peripheral component interconnect (PCI) bus, also referred to as mezzanine bus.

Computingasystem environment 100 generally includes various computer readable medium products.Computer-readable medium can comprise any medium that can access by computing equipment 110, and comprises volatibility and non-volatile media, move media and non-moving medium.For instance, but be not restriction, computer-readable medium can comprise computer-readable storage medium.Again for instance, but be not restriction, computer-readable medium can comprise communication media.

Computer-readable storage medium comprises for storing volatibility for example computer-readable instruction, data structure, program module or other data, that implement with any method or technology and non-volatile, mobile or non-moving medium.Computer-readable storage medium includes but not limited to: random access memory (RAM), ROM (read-only memory) (ROM), EEPROM (Electrically Erasable Programmable Read Only Memo) (EEPROM), flash memory or other memory technologies, compact disk ROM (read-only memory) (CD-ROM), digital versatile disc (DVD) or other optical disc memorys, tape cassete, tape, magnetic disk memory or other magnetic storage apparatus, or any other the medium that can be used in that the required information of storage and computing equipment 110 can access.In further embodiment, computer-readable storage medium can comprise computer-readable storage medium equipment in groups.In another embodiment, computer-readable storage medium can comprise information-storing device.In another embodiment, information-storing device can comprise quantum memory, light quantum storer or atomic weight quantum memory.The combination of above-mentioned Arbitrary Term is included in the scope of computer-readable medium.

Communication media can include other data in computer-readable instruction, data structure, program module or for example carrier wave or other transmission mechanisms and so on modulated data signal conventionally, and comprises any information conveyance medium.Term " modulated data signal " means with a kind of signal, and the one or more features in its feature of this signal are to cause the mode of coded message in this signal be set or change.For instance, but be not restriction, communication media can comprise: wire medium, for example cable network and directly wired connection; And wireless medium, for example sound wave, radio frequency, light and infrared ray medium.

System storage 130 comprises the computer-readable storage medium of volatibility and nonvolatile memory form, for example, and ROM131 and RAM132.RAM can comprise at least one in DRAM, EDO DRAM, SDRAM, RDRAM, VRAM or DDR DRAM.Basic input/output (BIOS) 133, for example comprises at the base program that contributes to transmission information between the element of computing equipment 110 between the starting period, is conventionally stored in ROM 131.Data and program module that RAM 132 generally includes direct access processor 120 or at once moves by processor 120.For instance, but be not restriction, Fig. 2 illustrates operating system 134, application program 135, other program modules 136 and routine data 137.Conventionally, operating system 134 provides service by one or more application programming interfaces (API) (not shown) to application program 135.Because operating system 134 is integrated these services, so the developer of application program 135 does not need again exploitation code to use these services.By " WINDOWS " of for example Microsoft (Microsoft) the example of the API providing etc. operating system is being known in the art.

Computing equipment 110 can also comprise other move/non-moving, volatile/nonvolatile computer storage media products.Only for instance, Fig. 2 illustrates from for example non-moving, non-volatile magnetic medium and reads and to non-moving, the non-volatile storage interface (hard-disk interface) 140 of its data writing.Fig. 2 also illustrates mobile, non-volatile storage interface 150, for example, this interface coupling is to reading from movement, non-volatile magnetic disk 152 and to the disc driver 151 of its data writing, or this interface coupling is extremely from movement, non-volatile CD 156, for example, CD-ROM, reads and to the CD drive 155 of its data writing.In exemplary operation environment, move/non-moving, volatile/nonvolatile computer storage media of operable other includes but not limited to: tape cassete, storage card, flash card, DVD, digital video band, solid-state RAM and solid-state ROM.Hard disk drive 141 passes through non-moving memory interface conventionally, for example, and interface 140, be connected to system bus 121, and disc driver 151 and CD drive 155 is conventionally for example, by mobile non-volatile storage interface,, interface 150, is connected to system bus 121.

More than discuss and provide to computer-readable instruction, data structure, program module with for the storage of other data of computing equipment 110 at the illustrated driver of Fig. 2 and correlation computer storage medium thereof.In Fig. 2, for example, hard disk drive 141 is illustrated as storage operation system 144, application program 145, other program modules 146 and routine data 147.Be noted that these elements can be also identical with routine data 137 or different from operating system 134, application program 135, other program modules 136.Operating system 144, application program 145, other program modules 146 and routine data 147 have in this article to determined number with minimum level illustrate that they are different duplicate.

User can be by input equipment input command and information in computing equipment 110, and this input equipment is for example microphone 163, keyboard 162 and sensing equipment 161, and sensing equipment 161 is commonly referred to mouse, trace ball or Trackpad.Other input equipment (not shown) can comprise at least one in touch control display, operating rod, game paddle, satellite receiver and scanner.These and other input equipments are connected to processor 120 by the user's input interface 160 that is connected to system bus conventionally, but can be connected with bus structure by other interfaces, for example, connect by parallel port, game port and USB (universal serial bus) (USB).

Display 191, for example, the display device of monitor or other types or surface, can be via interface, and for example, video interface 190, is connected to system bus 121.The Projection Display engine 192 that comprises projection element can be connected to system bus.Except display, computing equipment 110 can also comprise other peripheral output devices, for example, and loudspeaker 197 and the printer 196 that can connect by output peripheral interface 195.

Computingasystem environment 100 can be being used logic web member to work in being connected to the network environment of for example one or more remote computers of remote computer 180 and so on.Remote computer 180 can be personal computer, server, router, network PC, peer device or other common network node, and generally include many or all in the element of describing with respect to computing equipment 110 above, although illustrated a unique memory devices 181 in Fig. 2.In Fig. 2, illustrated cellular logic connects and comprises LAN (Local Area Network) (LAN) and wide area network (WAN), and can comprise other networks, for example, and PAN (Personal Area Network) (PAN) (not shown).This network environment is common in office, enterprise-wide computing, intranet and internet.

In the time using in network environment, computingasystem environment 100 is by network interface, and for example, network interface 170, modulator-demodular unit 172 or wave point 193, be connected to network 171.This network can comprise lan network environment, or WAN network environment, for example internet.In networked environment, the program module of describing with respect to computing equipment 110 or its part can be stored in remote memory equipment.For instance, but be not restriction, Fig. 2 illustrates the remote application 185 being stored on memory devices 181.Should be appreciated that it is exemplary that illustrated network connects, and can use other devices of setting up communication link between computing machine.

In some cases, one or more elements of computing equipment 110 can be regarded as needing and can be omitted.In other cases, one or more other elements can be considered to be necessary and be increased in computing equipment.

Fig. 3 illustrates the exemplary environments 200 that can implement embodiment.This environment comprises the high-tension electricity transmission system of the another place that is configured to transmit electric power from a place.The example that Fig. 3 illustrates high-tension electricity transmission system is aerial high-voltage electrical power transmission system 205.In another example, high-tension electricity transmission system can be underground high-voltage electrical power transmission system.

In one embodiment, high-tension electricity transmission system can comprise electrical power transmission system, and this electrical power transmission system is designed and insulate to carry the electric power of about more than 35000 volts voltage to another place from a place.For example, the voltage of high-tension electricity transmission can comprise 138kV, 230kV, 345kV, 500kV or 765kV.In one embodiment, electric power distribution system can comprise system, and this system is designed and insulate carry from high-tension electricity transmission system and distribute electric power to subtransmission user.For example, the voltage of electric power distribution system can comprise 26kV or 69kV, and user's voltage is 13kV or 4kV, and secondary user voltage is 120V or 240V.

The structure relevant to example system 205 comprises the transmission tower 210 that supports transmission line 230, and this transmission line 230 is built on stilts from insulator 220.Exemplary transmission tower is illustrated as tower 210A and 210B by Fig. 3.Exemplary insulated body 220 is illustrated as insulator 220A.1,220A.2 and the 220A.3 being arranged on tower 210A and is arranged on insulator 220B.1,220B.2 and the 220B.3 on tower 210B.Insulator can be to be made up of for example wet method pottery, tempered glass, glass strengthening polymer composite or other non-ceramic materials.Exemplary transmission line 230 is illustrated as transmission line 230.1,230.2 and 230.3.High-tension electricity transmission system stands work risk, such as, weather condition, environment temperature, lightning or Rainfall Influence aerial high-voltage electrical power transmission system.Other work risks can comprise for example aging, damage or loss.Other work risks can comprise for example vegetation or artificial destruction.Potential work risk is illustrated as vegetation 240 in Fig. 3.

Fig. 4 illustrates exemplary environments 300.Environment comprises device, is illustrated as system management facility 320 (hereinafter referred to as " TSM instrument ").Environment comprises the high-tension electricity transmission system 205 of describing in conjunction with Fig. 3, and is illustrated as tower 210.Environment comprises mobile device 380, and this mobile device is configured to traversal (traverse) transmission line and the executable operations in response to the potential work risk of assessing to high-tension electricity transmission system.

TSM instrument 320 comprises receiving circuit 322, analysis circuit 324 and plan circuit 326.Receiving circuit comprise be configured to receive at least one physical parameter that represents electrical power transmission system data, be illustrated as high-tension electricity transmission system 205, be configured to the receiving circuit from a local transferring electric power to another place.Analysis circuit comprises and is configured to the analysis circuit of the potential work risk of a part for the data assessment electrical power transmission system based on received at least in part.For example, a part for electrical power transmission system can comprise the part between tower 210A and 210B of high-tension electricity transmission system.For example, a part for electrical power transmission system can comprise the part between tower 210A and 210B of power transmission line 230.1.For example, a part for electrical power transmission system can comprise the part between tower 210A and another tower of high-tension electricity transmission system.Plan circuit comprises the transmission line that is configured to travel through based on assessed potential work Risk Scheduling mobile device 380 at least in part electrical power transmission system.Transmission line provides towards the path of a part for electrical power transmission system.

It will be understood by those skilled in the art that in one embodiment, the many aspects of TSM instrument 320 can be implemented by hardware, software and/or firmware embodiment.Those skilled in the art will recognize that, in one embodiment, the many aspects of TSM instrument can be by polytype Mechatronic Systems separately and/or common implementing, described Mechatronic Systems has the electronic package of wide scope, for example, hardware, software, firmware and/or in fact their combination in any.It will be understood by those skilled in the art that in one embodiment, the many aspects of TSM instrument can be implemented with multi-purpose computer, and described multi-purpose computer is programmed to implement or carry out one or more specific functions of TSM instrument.For example, the many aspects of TSM instrument can be implemented with computing equipment 350.In one embodiment, on computing equipment can be coupled with the computer memory device 338 that is connected to computer-readable medium.In one embodiment, computing equipment can partially or completely use the general thin computing equipment 20 of describing in conjunction with Fig. 1 to implement.In one embodiment, computing equipment can partially or completely use the dedicated computing equipment 100 of describing in conjunction with Fig. 2 to implement.

In one embodiment, electrical power transmission system comprises high-tension electricity transmission system.In one embodiment, electrical power transmission system comprises electric power distribution system.

In one embodiment, the data that represent at least one physical parameter of high-tension electricity transmission system 205 comprise at least one in operating voltage, electric current, phase place, configuration, the aging or capacitance parameter of the assembly of high-tension electricity transmission system.For example, assembly can comprise insulator, and parameter can be type, manufacturer, failure rate, aging, the length of service or clean for the last time of insulator.For example, assembly can comprise circuit-breaker, switch or the transformer of high-tension electricity transmission system.In one embodiment, the data that wherein represent at least one physical parameter of high-tension electricity transmission system comprise at least one in the electric current, phase place, configuration of the transmission line of high-tension electricity transmission system, aging, cable dimension, cable material or metal ingredient or single or bunchy conductor state parameter.In one embodiment, the data that represent at least one physical parameter of high-tension electricity transmission system comprise at least one in position or the map of high-tension electricity transmission system.For example, map can comprise geographical map or signal map.For example, map can comprise tower position, tower structure or tower height degree.For example, the circuit sag that map can be included in the gap of ad-hoc location or allow.In one embodiment, the data that represent at least one physical parameter of high-tension electricity transmission system comprise at least one in safety and/or Fault-Tolerant Margin or the peak load of high-tension electricity transmission system.

In one embodiment, high-tension electricity transmission system 205 comprises the aerial high-voltage electrical power transmission system of the another place that is configured to transmit electric power from a place.In one embodiment, high-tension electricity transmission system comprises the underground high-voltage electrical power transmission system of the another place that is configured to transmit electric power from a place.In one embodiment, high-tension electricity transmission system comprises the certain high pressure electrical power transmission system of the another place that is configured to transmit electric power from a place.In one embodiment, high-tension electricity transmission system can split at least two high-tension electricity transmission system parts, for assessing potential work risk.

In one embodiment, receiving circuit 322 is further configured to represent the data of the existence conditions that affects high-tension electricity transmission system.For example, existence conditions can comprise existing weather condition, that is, and and wind, snow or temperature.In one embodiment, at least one event comprises at least one impact in the weather condition of high-tension electricity transmission system, environment temperature, lightning or precipitation.In one embodiment, at least one event comprises at least one in existing line temperature, electric current demand or the equipment failure of high-tension electricity transmission system.In one embodiment, at least one event comprises at least one in peak load value, peak load feature or the state of another high-tension electricity transmission system that affects this high-tension electricity transmission system.In one embodiment, at least one event comprises at least one in the state in the season of high-tension electricity transmission system that affects, date state or holiday state.In one embodiment, potential work risk comprises potential inspection requirements.In one embodiment, potential work risk comprises potential maintenance requirement.In one embodiment, potential work risk comprises potential maintenance requirement.

In one embodiment, analysis circuit 324 comprises the analysis circuit of the potential work risk that is configured to assess a part for high-tension electricity transmission system or the structure relevant with a part for high-tension electricity transmission system.This assessment is the data based on received at least in part.

In one embodiment, transmission line is band electric transmission line.In one embodiment, transmission line is electricity (depowered) transmission line.

In one embodiment, the potential work risk priority that plan circuit 326 comprises the first assessment that is configured to the Part I that makes the part to high-tension electricity transmission system is in the plan circuit of the potential work risk of the second assessment of the Part II to high-tension electricity transmission system.Priority is the potential work risk based on the first assessment and the second potential work risk of assessing at least in part.Plan circuit is also configured to the Part I in response to a part for this priority scheduling traversal high-tension electricity transmission system.For example, the rank that priority ordering can be based on multiple work risks.For example, possible calamity work risk can have higher priority than daily preventative work risk.In one embodiment, plan circuit comprises and is configured to be provided towards the plan circuit of the transmission line of the path of the part of high-tension electricity transmission system by least two mobile devices traversal in response to the potential work Risk Scheduling of assessment.At least two mobile devices are configured to corporate action each other.

In one embodiment, transmission line is located with respect to a part for high-tension electricity transmission system in the mode that allows a part for high-tension electricity transmission system to check.In one embodiment, transmission line is located with respect to a part for high-tension electricity transmission system in the mode that allows a part for high-tension electricity transmission system to keep in repair.In one embodiment, transmission line is located with respect to a part for high-tension electricity transmission system in the mode that allows a part for high-tension electricity transmission system to safeguard.In one embodiment, transmission line is located with respect to a part for high-tension electricity transmission system in the mode that allows a part for high-tension electricity transmission system to change.

In one embodiment, data receiver circuit 322 is further configured to receive the data that represent the existence conditions that affects high-tension electricity transmission system, and described existence conditions is to be provided by another mobile device of working in high-tension electricity transmission system.In one embodiment, data receiver circuit is further configured to receive and represents that the first available mobile device has in response to first performance of potential work risk of assessment and the second available mobile device and has the data in response to the second performance of the potential work risk of assessment.In one embodiment, TSM instrument comprise be configured to from first can with mobile device and second can with mobile device select can with mobile device come the traversal to transmission line operation dispatching mobile device select circuit 332.

In one embodiment, plan circuit 326 is further configured to provide the data that represent the traversal of mobile device to transmission line operation dispatching.For example, can provide data in response to request or the traction of another circuit from TSM instrument 320 or third party device.For example, data can be transported to another circuit of TSM instrument or be pushed to third party device, for example, and computing equipment 392.

In one embodiment, TSM instrument 320 comprises the mobile control circuit 334 of the traversal that is configured to the scheduling of controlling mobile device execution.In one embodiment, mobile control circuit is configured to path and the speed of the traversal of the scheduling of controlling mobile device execution.In one embodiment, mobile control circuit is configured to control spacing between the two when mobile device and another mobile device all travel through high-tension electricity transmission system.In one embodiment, mobile control circuit is configured to determine that mobile device is by the mobile route adopting.One or more because usually determining mobile route based on what comprise the following: the starting position of mobile device, required space/time of position that barrier quantity on the way of path and type and mobile device will arrive.In one embodiment, mobile control circuit is configured to assign mobile device in response to the data of traversal of the scheduling that represents transmission line.In one embodiment, mobile control circuit is configured in response to one or more because usually assigning mobile device.These factors can comprise the type of required measurement, the time since one-shot measurement in the past, the value of front one-shot measurement, and/or the distribution of the space of required measurement/time.In one embodiment, mobile control circuit be configured to based on mobile device with respect to the measurement of a part for high-tension electricity transmission system or movable for another measurement or activity be that another time that arrives another part of high-tension electricity transmission system by transmission line travels through assignment mobile device.In one embodiment, mobile control circuit is configured to another measurement or movable and be another another mobile device of traversal assignment that arrives another part of high-tension electricity transmission system by transmission line.Measurement or the activity with respect to a part for high-tension electricity transmission system that be assigned to small part based on mobile device.In one embodiment, mobile control circuit be configured to measure or the movable mobile device of assigning to the position on transmission line.The considering of one or more factors that is assigned to small part based on comprising the following: line condition, phase place, magnitude of voltage or current value, load, source, weather and/or environmental baseline.In one embodiment, mobile control circuit is configured to assign the different piece of mobile device to high-tension electricity transmission system.Be assigned to small part based on the considering inspection and the relative demand of activity and the availability of this mobile device and another mobile device in different piece.In one embodiment, mobile control circuit is configured to assign the different piece of mobile device to high-tension electricity transmission system.Be assigned to small part based in different piece to checking and movable expection or the availability of forecast demand and mobile device.

In one embodiment, one or more decision element of mobile control circuit 334 are arranged on the discrete location in high-tension electricity transmission system 205 or are arranged on discrete location around high-tension electricity transmission system 205.In one embodiment, one or more decision element of mobile control circuit are arranged in one or more mobile devices 380.In one embodiment, one or more decision element of mobile control circuit are configured to activity independent of one another to control the assignment of one or more mobile devices.

In one embodiment, TSM instrument 320 further comprises the computer-readable medium 339 that is configured to store the traversal of a part for high-tension electricity transmission system 205 being dispatched by mobile device 380.

In one embodiment, mobile device 380 is configured to travel through a part for high-tension electricity transmission system 205 and the potential work risk of inspection and evaluation.In one embodiment, the potential work risk that mobile device is configured to travel through a part for high-tension electricity transmission system and processes assessment.For example, process the potential work risk of assessing and can comprise a task of beginning.For example, process the potential work risk of assessing and can comprise information or the instruction outside inspection, evaluation, maintenance or amount of the claim.In one embodiment, the potential work risk that mobile device is configured to travel through a part for high-tension electricity transmission system and automatically processes assessment.In one embodiment, the potential work risk that mobile device is configured to automatically to travel through a part for high-tension electricity transmission system and automatically processes assessment.In one embodiment, mobile device is configured to travel through a part for high-tension electricity transmission system and starts the activity with respect to the potential work risk of assessment.In one embodiment, mobile device is configured to travel through a part for high-tension electricity transmission system and starts maintenance or the maintenance activity with respect to the potential work risk of assessment.In one embodiment, mobile device comprises the robot moving equipment that is configured to travel through a part for high-tension electricity transmission system and automatically processes the potential work risk of assessment.For example, in one embodiment, robot moving equipment comprises the mobile device that is configured to have speed and precision and repeats one or more tasks.Http:// searchcio-midmarket.techtarget.com/definition/robot (last January 25 2012 access time).In one embodiment, mobile device is configured to travel through a part for high-tension electricity transmission system and carries out maintenance and/or the maintenance operation in response to the potential work risk of assessment.In one embodiment, mobile device is configured to travel through a part for high-tension electricity transmission system and automatically performs maintenance and/or the maintenance operation in response to the potential work risk of assessment.Other examples of mobile device are provided in conjunction with Figure 10 to Figure 17.

Exemplary environments 300 comprises remote computation environment, is illustrated as the computing environment 392 that comprises display 394.In one embodiment, computing environment can comprise the one or more elements in the computing environment 19 of describing in conjunction with Fig. 1 or the computing environment 100 of describing in conjunction with Fig. 2.Exemplary environments 300 comprises people 396.In one embodiment, computing environment 392 can be mutual with people, for example, receive the input from people, or provide output to people, comprises via display 394 and carrying out.In one embodiment, computing environment 392 can be carried out wired or wireless communication with TSM instrument 320.

In one embodiment, TSM instrument 320 comprises communication module 328, and this communication module is configured to the data that output represents the traversal of transmission line being dispatched by mobile device.For example, communication module can be configured to by wired or wireless communication path output data.

Can illustrate with reference to Fig. 3 and Fig. 4 the prediction example of the operation of the TSM instrument in use.For example, the receiving circuit 322 of TSM instrument 320 receives and represents to be configured to the transmit electric power data of at least one physical parameter of high-tension electricity transmission system 205 of another transformer station from a specific transformer station.For example, high-tension electricity transmission system can be the built on stilts electrical power transmission system of specific 500kV of building for transferring electric power between near BPA ' the s Big Eddy Substation The Dalles (Oregon) and the transformer station of Goldendale (Washington) northwest four miles.Physical parameter can comprise the fault of aging, insulator of insulator adjoint system or maintenance history or date of clean insulator for the last time.

Continue this prediction example, the potential work risk of a part for this specific high-tension electricity transmission system of the data assessment of analysis circuit 324 based on received.Potential work risk can comprise degeneration or the fault of insulator.Plan circuit 326 is for mobile device is through the transmission line scheduling inspection route of system.Scheduling is that the potential work risk based on to system evaluation is carried out, and can determine when the possible work importance (, complete failure with lose a little ability) that scheduling is checked to the potential work risk that balance is assessed aspect route.For example, plan circuit can dispatch that mobile device 380 moves on transmission line 230.2 and insulator group 220A, the 220B etc. that are arranged on each tower 210 are checked to traversal.If work risk is divided into slightly, can facilitate time scheduling traversal in certain of future so.In the time that mobile device is had the ability position detection insulator 220A.1 from transmission line 230.2 and 220A.3, can select transmission line 230.2 that the inspection entrance of the insulator of high-tension electricity transmission system is provided.If mobile device does not have the insulator of efficiency test away from the transmission line of traversal, plan so circuit and can dispatch mobile device and move on one of three transmission lines 230.1,230.2 and 230.3, and carry out corresponding inspection traversal to supporting the insulator of each transmission line.For example, traversal transmission line 230.1 can be provided to for mobile device the inspection entrance of insulator 220A.1 and 220B.1.Communication module 328 is configured to the data that output represents the traversal of transmission line being dispatched by mobile device.In this prediction example, communication module can be exported and represent that scheduling mobile device mobile data on transmission line 230.2 check traversal with the date and time selected to insulator group 220A, the 220B etc. that are arranged on each tower 210.

Fig. 5 illustrates exemplary environments 400.Environment comprises equipment, is illustrated as transmission system management tool 420 (hereinafter referred to as " TSM instrument ").Environment comprises electrical power transmission system, is illustrated as the high-tension electricity transmission system 205 that is configured to from a local transferring electric power to another place and describes in conjunction with Fig. 3, and is illustrated as tower 210.Environment comprises mobile device 480.

TSM instrument 420 is configured to potential inspection and/or the maintenance requirements of the structure that assessment is relevant to high-tension electricity transmission system 205.TSM instrument is also configured to correspondingly dispatch the transmission line of mobile device traversal high-tension electricity transmission system in response to potential inspection and/or maintenance requirements.Mobile device is configured to travel through the transmission line of high-tension electricity transmission system, and in response to potential inspection and/or maintenance requirements executable operations.High-tension electricity transmission system is configured to from a local transferring electric power to another place, and transmission line provides the entrance towards structure.

In one embodiment, test macro management tool 420 is configured to correspondingly dispatch and assign the transmission line of mobile device 480 Ergodic Theory.

In one embodiment, mobile device 480 is configured on transmission line in use to travel through mobile time another transmission line.In one embodiment, mobile device is configured for transmission line and/or the structure relevant to transmission line section is carried out to passive or active electric checking.In one embodiment, mobile device is configured to measure the physical parameter of transmission line, comprises one or more in temperature, cleanliness factor, stress/strain and/or sag.In one embodiment, mobile device comprises camera or is configured to the radar in the vegetation gap of processing transmission line.In one embodiment, mobile device is configured to the inspection potential from dynamic response and/or maintenance requirements.In one embodiment, mobile device is configured to automatically travel through transmission line section and from the potential inspection of dynamic response and/or maintenance requirements.In one embodiment, mobile device is configured to start about potential inspection and/or the activity of maintenance requirements.In one embodiment, mobile device is configured to travel through transmission line and autonomous potential inspection and/or the maintenance requirements solving for the assessment of transmission line.In one embodiment, mobile device can be similar to the mobile device 380 of describing in conjunction with Fig. 4 at least substantially.

In one embodiment, TSM instrument 420 can comprise the computer memory device 338 that receiving circuit 422 and evaluation circuits 424, plan circuit 426, communication module 428, mobile device are selected circuit 432, mobile control circuit 434, computing equipment 450 or be coupled with computer-readable medium 339.

Fig. 6 illustrates example operational flow 500.After starting operation, operating process comprises reception operation 510.Receive operation and comprise that receiving expression is configured to the data from a local transferring electric power at least one physical parameter of the electrical power transmission system of another place.In one embodiment, receiving operation can use the receiving circuit 322 of describing in conjunction with Fig. 4 to implement.Analysis operation 530 comprises the potential work risk of a part for the data assessment electrical power transmission system based on received at least in part.In one embodiment, receiving operation can use the analysis circuit 324 of describing in conjunction with Fig. 4 to implement.Schedules operations 540 comprises at least a portion in response to the potential work Risk Scheduling mobile device traversal transmission line of assessment.Transmission line provides towards the path of a part for electrical power transmission system.In one embodiment, schedules operations can be used the plan circuit 326 of describing in conjunction with Fig. 4 to implement.Mobile device is configured to travel through the transmission line of electrical power transmission system and in response to the potential work risk of the assessment of electrical power transmission system and executable operations.In one embodiment, mobile device can use the mobile device 380 of describing in conjunction with Fig. 4 to implement.Operating process comprises end operation.

In one embodiment, schedules operations 540 comprises at least one operation bidirectional, for example, and operation 542.Operation 542 comprise make the Part I to high-tension electricity transmission system first assessment potential work risk priority in to the second high-tension electricity transmission system second assessment potential work risk and dispatch in response to this priority traversal the first transmission line section.Priority ordering is the potential work risk based on the first assessment and the second work risk of assessing at least in part.

Fig. 7 illustrates the alternate embodiments of the reception operation 510 of Fig. 6.Receive operation and can comprise at least one operation bidirectional.At least one operation bidirectional can comprise operation 512, operation 514 or operation 516.Operation 512 comprises that receiving expression has the data that affect or predict influential at least one event on high-tension electricity transmission system.Operation 514 comprises that receiving expression affects the data of the existence conditions of high-tension electricity transmission system, and described existence conditions is to be provided by another mobile device of working in high-tension electricity transmission system.Operate 516 and comprise the data that receive the performance that represents the performance of the satisfied potential work risk of assessing of the first mobile device and the potential work risk of the satisfied assessment of the second mobile device.

Fig. 8 illustrates the alternate embodiments of the operating process 500 of Fig. 6.Operating process can comprise at least one operation, is illustrated as operation 550.Operation 550 can comprise operation 552, operation 554, operation 556, operation 558, operation 562 or operation 564.Operation 552 comprises from having the first performance with the first mobile device of the potential work risk in response to assessment and having the second performance selects specific mobile device to carry out the traversal of operation dispatching with the second mobile device of the potential work risk in response to assessment.Operation 554 comprises the traversal of controlling the scheduling of being carried out by mobile device.Operation 556 is included in the data of the traversal of the scheduling that in computer-readable medium, storage expression is carried out by mobile device.Operation 558 comprises that output represents the information data of the traversal of the scheduling of being carried out by mobile device.Operation 562 comprises and converts the traversal of the scheduling of being carried out by mobile device to specific visual depiction (visual depiction), and exports specific visual depiction.Operation 564 comprises provides the notice of the traversal of the scheduling based on being carried out by mobile device at least in part at least one in people, computing machine or system.

In one embodiment, mobile device is configured to automatically travel through with electric transmission line and automatically in response to the potential work risk of assessing.In one embodiment, mobile device comprises and is configured to autonomous traversal with electric transmission line and independently in response to the robot moving equipment of the potential work risk of assessment.In one embodiment, high-tension electricity transmission system comprises aerial high-voltage electrical power transmission system.In one embodiment, high-tension electricity transmission system comprises specific high-tension electricity transmission system.

Fig. 9 illustrates computer program 600.Computer program comprises the computer-readable medium 610 that carries programmed instruction 620.Programmed instruction makes computing equipment implementation in the time that the processor by computing equipment is carried out.This process comprises that receiving expression is configured to the data from a local transferring electric power at least one physical parameter of the electrical power transmission system of another place.This process comprises the potential work risk of a part for the data assessment electrical power transmission system based on received at least in part.This process comprises the potential work Risk Scheduling mobile device traversal band electric transmission line based on assessment.Provide towards the path of a part for electrical power transmission system with electric transmission line.Mobile device is configured to traversal with electric transmission line and in response to assessed potential work risk executable operations on electrical power transmission system.

In one embodiment, this process comprises that 622 provide at least in part the notice of data of traversal based on representing scheduling at least one in people, computing machine or system.In one embodiment, this process comprises that the data-switching of the traversal that represents scheduling is become specific visual depiction by 624, and exports specific visual depiction.In one embodiment, this process comprises that 626 outputs represent the data of mobile device to the traversal with electric transmission line operation dispatching.

In one embodiment, computer-readable medium 610 comprises tangible computer-readable medium 612.In one embodiment, computer-readable medium comprises communication media 614.In one embodiment, electrical power transmission system comprises high-tension electricity transmission system.In one embodiment, electrical power transmission system comprises electric power distribution system.

Figure 10 illustrates exemplary environments 700.This environment comprises the transmission line of charged electrical power transmission system, is illustrated as the band electric transmission line 230.1 of the aerial high-voltage electrical power transmission system 205 of describing in conjunction with Fig. 3.This environment also comprises robot moving equipment 705.This mobile device comprise be configured to be advanced by propulsion system 710 electrical power transmission system with electric transmission line on mobile movable chassis 707.This mobile device comprises checking module 722, and this checking module is in movable chassis physical interconnection and be configured to the structure that self-verifying is relevant with charged electrical power transmission system.This mobile device comprises risk evaluation module 724, in this risk evaluation module and movable chassis physical interconnection and the potential risk of the inspection data assessment electrical power transmission system that is configured to provide in response to checking module.Mobile device comprises communication module 726, this communication module be configured to movable chassis physical interconnection on and be configured to the data that output represents the potential risk assessed.

It will be understood by those skilled in the art that in one embodiment, the many aspects of robot moving equipment 705 can be implemented by hardware, software and/or firmware embodiment.Those skilled in the art will recognize that, in one embodiment, the many aspects of mobile device can be by polytype Mechatronic Systems separately and/or common implementing, described Mechatronic Systems has the electronic package of wide scope, for example, hardware, software, firmware and/or in fact their combination in any.It will be understood by those skilled in the art that in one embodiment, the many aspects of mobile device can be implemented with multi-purpose computer, and described multi-purpose computer is programmed to implement or carry out one or more specific functions of mobile device.For example, the many aspects of mobile device can be used computing equipment 732 to implement.In one embodiment, computing equipment can partially or completely use the general thin computing equipment 20 of describing in conjunction with Fig. 1 to implement.In one embodiment, computing equipment can partially or completely use the dedicated computing equipment 100 of describing in conjunction with Fig. 2 to implement.

In one embodiment, band electric transmission line is built on stilts band electric transmission line.In one embodiment, band electric transmission line is underground band electric transmission line.

The example of the movable chassis advancing refers in the U.S. Patent No. 4904996 that transfers Fermandes.The example of the movable chassis advancing is described in and transfers the U.S. Patent No. 7496459 of McAllister and the U.S. Patent Application Publication 2008/0249723 that McAllister submits to.The example of the movable chassis advancing is described in and transfers the U.S. Patent No. 7282944 of Gunn, the U.S. Patent Application Publication 2008/0246507 of Gunn submission and the U.S. Patent Application Publication 2005/0017751 that Gunn submits to.The example of the movable chassis advancing refers in the U.S. Patent No. 6494141 that transfers Montambault.

B Jiang and AV Mamishev have described the example of the movable chassis advancing in " Mobile Monitoring and Maintenance of Power Systems " (University of Washington) (ND) (in access on February 29th, 2012 http://www.ee.washington.edu/research/seal/pubfiles/Sci07.pdf).T Li, F Lijin, and W Hongguang has described the example of the movable chassis advancing in " Development of an Inspection Robot Control System for 500kV Extra-High-voltage Power Transmission Lines " (SICE 2004Annual Conference Sapporo Japan (in August, 2004)).A.De Souza etc. have described the example of the movable chassis advancing in 1 " Inspection Robot for High-Voltage Transmission Lines 1-7 " (ABCM Symposium Series in Mechatronics 2004) (in access on February 29th, 2012 http://www.abcm.org.br/symposiumseries/ssm_vol1/section_i_robot ics/ssm_i_01.p df).X Xiao etc. have described the example of the movable chassis advancing in " An Inspection Robot for High-voltage Power Transmission Line and its Dynamic Study " (Wuhan University, the People's Republic of China (PRC)) (ND) (in access on February 29th, 2012 http://www.intechopen.com/source/pdfs/5322/InTech-An_inspection _ robot_for_high_voltage_power_transmission_line_and_its_d ynami cs_study.pdf).Z Tingyu etc. has described the embodiment of the movable chassis advancing in " Development of a Dual-Arm mobile Robot for High-voltage Power Lines 1924-1929 " (IEEE International Conference on Robotics and Biomimetics, 2007.ROBIO 2007).N Pouliot etc. has described the example of the movable chassis advancing in " Geometric Design of the LineScout; a Teleoperated Robot for Power Line Inspection and Maintenance " (IEEE International Conference on Robotics and Automation, 2008.ICRA 2008).S Montambault etc. are at " Design and Validation of a Mobile Robot for Power Line Inspection and Maintenance " (6 ^thinternational Conference on Field and Service Robotics-FSR 2007, Chamonix France 2007) example of the movable chassis advancing described in (in access on February 29th, 2012 http://hal.inria.fr/docs/00/19/47/17/PDF/fsr_15.pdf).Do H san Segundo etc. (access http://ieeexplore.ieee.org/stamp/stamp.jsp at " Automated Inspection of Electric Transmission Lines:The power supply system " (IEEE 2006) on March 5th, 2012? tp=& arnumber=4152907 & userType=& tag=1) in the embodiment of the movable chassis advancing has been described.

In one embodiment, checking module 722 is configured to latent lesion or the degeneration of self-verifying structure.In one embodiment, checking module is configured to latent lesion or the degeneration of self-verifying by normal wear and the damaged structure causing.In one embodiment, checking module is configured to latent lesion or the degeneration of self-verifying by the aging structure causing of structure.In one embodiment, checking module is configured to latent lesion or the degeneration of the structure that self-verifying causes by weather event.In one embodiment, checking module is configured to latent lesion or the degeneration of the structure that self-verifying causes by ponding.In one embodiment, checking module is configured to potential maintenance, repair or the amendment needs of self-verifying structure.In one embodiment, checking module is configured to self-verifying intrusion vegetation.In one embodiment, this structure comprises at least one in the transmission line relevant with electrical power transmission system, other transmission lines, insulator, ground wire, packaging, cooling system or tower.

In one embodiment, the potential risk from normal wear and loss being subject in response to the inspection data assessment electrical power transmission system being provided by checking module is provided risk evaluation module 724.In one embodiment, the potential risk from the vegetation of gradually invading that the data assessment electrical power transmission system that risk evaluation module is configured to provide in response to checking module is subject to.In one embodiment, risk evaluation module is configured to assess the potential risk from the vegetation of gradually invading that electrical power transmission system is subject to.Inspection data that assessment response provides in checking module and in response to the data of vegetation of gradually invading that once check before being illustrated in.For example, comprise in the assessment of potential risk, expect that the data that in the past once check are provided for the assessment benchmark of the vegetation growth speed of intrusion gradually.In one embodiment, risk evaluation module is configured to assess the potential risk from the vegetation of gradually invading that electrical power transmission system is subject to.Assessment response is in the inspection data that provided by checking module, and in response to imaging, triangulation and/or flight time measurement data to determine height or the degree of the vegetation of gradually invading.In one embodiment, risk evaluation module is configured to assess the potential risk from the vegetation of gradually invading that electrical power transmission system is subject to.Assessment response is in the inspection data that provided by checking module and in response to one or more local geography or orographic factor.These factors can comprise vegetation whether above line of electric force, below or side direction, and/or whether vegetation in upward slope or the windward side of line of electric force.

In one embodiment, mobile device 705 comprises maintenance modules 728, and this maintenance modules and movable chassis are physically associated and be configured to, in response to the potential risk of assessment, electrical power transmission system is carried out to maintenance, repair or amendment activity.In one embodiment, maintenance modules is configured to electrical power transmission system to automatically perform maintenance, repair or amendment activity.In one embodiment, maintenance modules is configured to, in response to the mandate receiving, electrical power transmission system is carried out to maintenance, repair or amendment activity.In one embodiment, maintenance modules is configured to damage or the degeneration of the structure that maintenance is relevant to electrical power transmission system.In one embodiment, maintenance modules is configured to maintenance or the amendment insulator relevant to electrical power transmission system.In one embodiment, maintenance modules is configured to the structure relevant to electrical power transmission system to carry out maintenance, repair or amendment activity.In one embodiment, maintenance modules is configured to prune the vegetation of gradually invading the structure relevant to electrical power transmission system.In one embodiment, maintenance modules is configured to prune the vegetation of gradually invading the structure relevant to electrical power transmission system.Pruning can shear to realize by transmission of electric energy, luminous energy or chemistry sprinkling and/or physics.In one embodiment, maintenance modules is configured to maintenance or clean electric power line insulator.In one embodiment, maintenance modules is configured to transmission line deicing.In one embodiment, maintenance modules is configured to apply deicing compound or fluid on transmission line.In one embodiment, maintenance modules is configured to transmission line deicing mechanically.In one embodiment, maintenance modules is configured to heat transmission line.For example, can be by blowing hot blast or resistance heated heats.

Figure 10 also illustrates another embodiment of exemplary environments 700.This embodiment comprises robot moving equipment 705 and transmission system management tool, hereinafter referred to as TSM instrument 760.Robot device is configured to the structure moving on the transmission line of electrical power transmission system and self-verifying is relevant to electrical power transmission system.Potential risk in response to the inspection data assessment electrical power transmission system being provided by mobile device is provided TSM instrument, and is therefore started maintenance, repair or the amendment activity of the structure to electrical power transmission system by robot moving equipment or another mobile device.In one embodiment, TSM instrument can comprise communication module 762, schedule module 764, risk evaluation module 766, or computing equipment 768.

It will be understood by those skilled in the art that in one embodiment, the many aspects of TSM instrument 760 can be implemented by hardware, software and/or firmware embodiment.Those skilled in the art will recognize that, in one embodiment, the many aspects of TSM instrument can be by polytype Mechatronic Systems separately and/or common implementing, described Mechatronic Systems has the electronic package of wide scope, for example, hardware, software, firmware and/or in fact their combination in any.It will be understood by those skilled in the art that in one embodiment, the many aspects of TSM instrument can be implemented with multi-purpose computer, and described multi-purpose computer is programmed to implement or carry out one or more specific functions of TSM instrument.For example, the many aspects of TSM instrument can be used computing equipment 768 to implement.In one embodiment, computing equipment can partially or completely use the general thin computing equipment 20 of describing in conjunction with Fig. 1 to implement.In one embodiment, computing equipment can partially or completely use the dedicated computing equipment 100 of describing in conjunction with Fig. 2 to implement.

In one embodiment, robot moving equipment 705 is further configured to carry out radio communication with TSM instrument 760.In one embodiment, transmission system management tool is further configured to carry out radio communication with robot moving equipment.In one embodiment, transmission system management tool is further configured to be still in fixed position.In one embodiment, the potential risk in response to the inspection data assessment electrical power transmission system being provided by mobile device is provided transmission system management tool.Transmission system management tool is configured to correspondingly dispatch and authorize robot moving equipment or another robot moving equipment to carry out maintenance, repair or amendment activity to the structure of electrical power transmission system.

Figure 11 illustrates exemplary environments 800.This environment comprises the transmission line of electrical power transmission system, is illustrated as the transmission line 230.1 of the aerial high-voltage electrical power transmission system 205 of describing in conjunction with Fig. 3.Environment also comprises robot moving equipment 805.Mobile device comprises the movable chassis 807 moving on the transmission line of electrical power transmission system that is configured to be advanced by propulsion system 710.Mobile device comprises vegetation checking module 822, in this checking module and movable chassis physical interconnection and be configured to measure the vegetation characteristics near a part for built on stilts electrical power transmission system growth.For example, Figure 11 illustrates vegetation 802 and approaches 803 power transmission lines 230.1 and grow.Mobile device comprises physically associated and be configured to the communication module 826 that output represents the data of the vegetation characteristics that records with movable chassis.

It will be understood by those skilled in the art that in one embodiment, the many aspects of mobile device 805 can be implemented by hardware, software and/or firmware embodiment.Those skilled in the art will recognize that, in one embodiment, the many aspects of mobile device can be by polytype Mechatronic Systems separately and/or common implementing, described Mechatronic Systems has the electronic package of wide scope, for example, hardware, software, firmware and/or in fact their combination in any.It will be understood by those skilled in the art that in one embodiment, the many aspects of mobile device can be implemented with multi-purpose computer, and described multi-purpose computer is programmed to implement or carry out one or more specific functions of mobile device.For example, the many aspects of mobile device can be used computing equipment 832 to implement.In one embodiment, computing equipment 832 can partially or completely use the general thin computing equipment 20 of describing in conjunction with Fig. 1 to implement.In one embodiment, computing equipment 832 can partially or completely use the dedicated computing equipment 100 of describing in conjunction with Fig. 2 to implement.

In one embodiment, comprise the vegetation of the known before this growth of the part near built on stilts electrical power transmission system 205 near the vegetation 802 of growth.In one embodiment, comprise the vegetation of the unknown before this growth of the part near built on stilts electrical power transmission system near the vegetation of growth.

In one embodiment, vegetation checking module 822 comprises and is configured to measure vegetation with respect to the height of transmission line or the sensor of degree 823.In one embodiment, sensor comprises camera, radar, laser locator or sonar.

In one embodiment, communication module 862 is configured to wirelessly export the data that represent the vegetation characteristics recording.For example, the data that represent the vegetation characteristics that the records vegetation management instrument 860 of can wirelessly communicating by letter.In one embodiment, vegetation management instrument can comprise schedule module 864 or risk evaluation module 866.In one embodiment, vegetation management instrument comprises computing equipment 872.In one embodiment, communication module is configured to communicate by letter with the maintenance module 828 that is configured to prune vegetation.

In one embodiment, mobile device 805 comprises physically associated and be configured to prune the maintenance module 828 near the vegetation of the part growth of built on stilts electrical power transmission system with movable chassis.In one embodiment, maintenance module is configured to prune the vegetation near the part growth of built on stilts electrical power transmission system in response to the output data that represent the vegetation characteristics recording.In one embodiment, maintenance module is configured to automatically prune the vegetation near the part growth of built on stilts electrical power transmission system.In one embodiment, maintenance module is configured to prune the vegetation near the part growth of built on stilts electrical power transmission system in response to the instruction from vegetation management instrument.

Figure 12 illustrates exemplary environments 900.Environment comprises the transmission line of electrical power transmission system, is illustrated as the transmission line 230.1 of the aerial high-voltage electrical power transmission system 205 of describing in conjunction with Fig. 3.Environment also comprises mobile device 905 and vegetation management instrument 960.Mobile device comprises and is configured on the transmission line of electrical power transmission system, move or move and measure one or more features of the vegetation of gradually invading electrical power transmission system along it.

In one embodiment, mobile device 905 can comprise vegetation measurement module 922, vegetation control module 924, or communication module 926.In one embodiment, mobile device is further configured to prune the vegetation of gradually invading to process the risk of assessment.For example, pruning the vegetation of gradually invading can implement by vegetation control module 924.In one embodiment, mobile device is configured to electric energy or luminous energy, chemistry sprays and/or physics shears to prune vegetation.

It will be understood by those skilled in the art that in one embodiment, the many aspects of mobile device 905 can be implemented by hardware, software and/or firmware embodiment.Those skilled in the art will recognize that, in one embodiment, the many aspects of mobile device can be by polytype Mechatronic Systems separately and/or common implementing, described Mechatronic Systems has the electronic package of wide scope, for example, hardware, software, firmware and/or in fact their combination in any.It will be understood by those skilled in the art that in one embodiment, the many aspects of mobile device can be implemented with multi-purpose computer, and described multi-purpose computer is programmed to implement or carry out one or more specific functions of mobile device.For example, the many aspects of mobile device can be used computing equipment 932 to implement.In one embodiment, computing equipment can partially or completely use the general thin computing equipment 20 of describing in conjunction with Fig. 1 to implement.In one embodiment, computing equipment can partially or completely use the dedicated computing equipment 100 of describing in conjunction with Fig. 2 to implement.

Vegetation management instrument 960 is configured to process the one or more features and the assessment risk that the vegetation of intrusion is caused electrical power transmission system gradually that record.In one embodiment, vegetation management instrument can comprise communication module 962, vegetation evaluation module 964, schedule module 966 or risk evaluation module 974.In one embodiment, vegetation management instrument is configured to the guide based on general available and/or the agreement assessment risk that the vegetation of intrusion is caused electrical power transmission system gradually at least in part.In one embodiment, vegetation management instrument is configured to the guide based on general available and/or the agreement assessment risk that the vegetation of intrusion is caused electrical power transmission system gradually at least in part.In one embodiment, vegetation management instrument is configured to the assessment risk that the vegetation of intrusion is caused electrical power transmission system gradually.Specific guide based on for electrical power transmission system and/or agreement are assessed this risk at least in part.In one embodiment, vegetation management instrument is configured to use imaging, triangulation and/or flight time measurement data to determine height or the degree of the vegetation of gradually invading.In one embodiment, vegetation management instrument is configured to determine the spacing between vegetation and the transmission line of gradually invading in response to one or more features of the vegetation of gradually invading recording.In one embodiment, vegetation management instrument is configured to the assessment risk that the vegetation of intrusion is caused electrical power transmission system gradually.Assessing this risk is based on one or more local geography or orographic factor, these factors comprise: gradually invade vegetation be above electrical power transmission system, below or side direction, and/or gradually invade vegetation be upward slope or the windward side at electrical power transmission system.In one embodiment, vegetation management instrument is configured to risk transmission line being caused based on the vegetation that the height of the vegetation of intrusion or the passage of time analysis and evaluation of degree variation are invaded gradually gradually.In one embodiment, vegetation management instrument is configured to process the spacing recording between vegetation and the electrical power transmission system of gradually invading.Vegetation management instrument is also configured to the risk that vegetation that the spacing automatic evaluation based on recording invades is gradually caused transmission line.In one embodiment, vegetation management instrument is configured to process the spacing recording between vegetation and the electrical power transmission system of gradually invading.Vegetation management instrument is also configured to the risk that vegetation that the regulation sag value automatic evaluation of the transmission line of spacing based on recording and electrical power transmission system invades is gradually caused transmission line.In one embodiment, vegetation management instrument is configured to process the spacing recording between vegetation and the transmission line of electrical power transmission system of gradually invading.Vegetation management instrument is also configured to the risk that vegetation that the wind environment automatic evaluation of the regulation of spacing based on recording and transmission line invades is gradually caused transmission line.For example, the wind environment of regulation can comprise wind environment prediction or existing.

Figure 17 illustrates environment 1400.Environment comprises electrical power transmission system, is illustrated as a part, insulator 220A.1 and the transmission line 230.1 of the tower 210A of the high-tension electricity transmission system 205 of describing in conjunction with Fig. 3.Environment also comprises system 1405.System comprises static equipment 1420 and mobile device 1460.Static equipment be configured to the transmission line electrical couplings of electrical power transmission system on and during the thermometrically of electrical power transmission system, rest on fixed position.Static equipment is illustrated as and uses conductor 1412 and connector 1414 and transmission line coupling.Mobile device is configured to move on transmission line.In one embodiment, mobile device can be substantially similar to mobile device 1005 or the mobile device 1070 described in conjunction with Figure 13.In one embodiment, mobile device comprises robot moving equipment.Static equipment and mobile device are further configured to the performance of cooperative electrical power transmission system.

In one embodiment, static equipment 1420 and mobile device 1460 are configured to the performance of the assembly of the electrical power transmission system of cooperative between static equipment and mobile device.In one embodiment, static equipment and mobile device are configured to automatically and the performance of cooperative electrical power transmission system.In one embodiment, static equipment and mobile device are configured to the electric and/or mechanical property of cooperative electrical power transmission system.In one embodiment, static equipment and mobile device are configured to automatically and the voltage resistance energy of the collaborative insulator of determining support or fixed transmission lines.In one embodiment, one in static equipment or mobile device is configured on transmission line, apply test and excitation, and another in static equipment or mobile device is configured to measure the response of transmission line to test and excitation.

In one embodiment, test and excitation frequency is approximately nominal transmission line excitation frequency.In one embodiment, test and excitation frequency is different from nominal transmission line excitation frequency.In one embodiment, be on band electric transmission line and apply test and excitation at about zero crossing of the excitation of carrying with electric transmission line.In one embodiment, approximately zero crossing place comprises that the zero crossing that is no more than the excitation of carrying with electric transmission line adds or deduct 10 degree.In one embodiment, approximately zero crossing place comprises that the zero crossing that is no more than the excitation of carrying with electric transmission line adds or deduct 5 degree.In one embodiment, approximately zero crossing place comprises that the zero crossing that is no more than the excitation of carrying with electric transmission line adds or deduct 2 degree.In one embodiment, approximately zero crossing place comprises that the zero crossing that is no more than the excitation of carrying with electric transmission line adds or deduct 1 degree.In one embodiment, in section, apply test and excitation to band electric transmission line in the seclected time of the frequency period of the excitation of carrying with electric transmission line.In one embodiment, mobile device is configured to apply test and excitation to the insulator of support or fixed transmission lines, and static equipment is configured to measure the response of insulator to test and excitation.In one embodiment, static equipment is configured to transmission line and/or structure collaborative the execution passive or active electric checking relevant to transmission line with mobile device.In one embodiment, static equipment and mobile device are configured to the physical parameter of cooperative transmission line, comprise one or more in temperature, cleanliness factor, stress/strain and/or sag.

In one embodiment, mobile device 1005 comprise be configured to measure along transmission line gradually invade the height of vegetation or the sensor (not shown) of degree.In one embodiment, sensor comprises camera, radar, laser locator or sonar.

In one embodiment, system 1405 comprises test controller 1460, and this test controller is configured to manage the cooperative of static equipment 1420 and the performance of mobile device 1005 to electrical power transmission system.In one embodiment, test controller is further configured to mobile device and moves through the aspect of transmission line.In one embodiment, test controller is further configured to start the cooperative of the performance to electrical power transmission system.In one embodiment, test controller is further configured to receive from static equipment or mobile device the data that represent the collaborative performance recording.In one embodiment, test controller is further configured to the information data that output response represents the data of the collaborative performance recording.

Embodiment comprises method.After starting operation, the operating process of the method comprises the transmission line to electrical power transmission system by the static equipment electrical couplings in fixed position.For example, in one embodiment, described in conjunction with Figure 17, this operation can be implemented static equipment 1420 electrical couplings to transmission line 230.1 with conductor 1412 and connector 1414.Operating process comprises that startup mobile device arrives the movement of the select location on transmission line by transmission line 230.1.For example, in one embodiment, this operation can by use in conjunction with Figure 14 describe mobile control module 1052 start mobile device 1005 move through in conjunction with Figure 17 describe transmission line implement.Operating process comprises the performance that uses static equipment and mobile device to measure the structure of electrical power transmission system.Static equipment and mobile device are configured to the performance of this structure of cooperative.Operating process comprises that output represents the data of the performance recording of structure.For example, in one embodiment, this operation can use communication module 1028 or the communication module 1056 described in conjunction with Figure 14 to implement.Operating process comprises end operation.In one embodiment, operating process can comprise at least one operation bidirectional.At least one operation bidirectional can comprise the cooperative of management static equipment and the performance of mobile device to electrical power transmission system.For example, in one embodiment, this operation can use the Collaborative Control module 1054 of describing in conjunction with Figure 14 to implement.

Figure 13 illustrates exemplary environments 1000.Environment comprises electrical power transmission system, is illustrated as a part, insulator 220A.1 and the transmission line 230.1 of the tower 210A of the high-tension electricity transmission system 205 of describing in conjunction with Fig. 3.Environment also comprises system 1002.This system comprises at least two mobile devices, is illustrated as the first mobile device 1005 and the second mobile device 1070.At least two mobile devices are configured to (i) and on the transmission line of electrical power transmission system, move or move along it, and at least two mobile devices are further configured to the performance of (ii) cooperative transmission line and/or other structures relevant to electrical power transmission system.

Figure 14 illustrates the embodiment of the mobile device 1005 of Figure 13.Mobile device comprises movable chassis 1007, and this movable chassis is configured to be promoted to move on the transmission line of electrical power transmission system by moving system 710.Mobile device 1005 can comprise performance measurement module 1022, cooperative module 1024, maintenance module 1026 or communication module 1028.Performance measurement module be configured to the mobile device 1070 cooperative transmission lines of Figure 13 and/or with electrical power transmission system the performance of relevant structure.Cooperative module is configured in the time measuring the performance of transmission line and/or the structure relevant to electrical power transmission system, be convenient to mobile device 1070 collaborative.Communication module is configured to communicate by letter with another mobile device or robot moving equipment management tool at least two mobile devices.

It will be understood by those skilled in the art that in one embodiment, the many aspects of mobile device can be implemented by hardware, software and/or firmware embodiment.Those skilled in the art will recognize that, in one embodiment, the many aspects of mobile device can be by polytype Mechatronic Systems separately and/or common implementing, described Mechatronic Systems has the electronic package of wide scope, for example, hardware, software, firmware and/or in fact their combination in any.It will be understood by those skilled in the art that in one embodiment, the many aspects of mobile device can be implemented with multi-purpose computer, and this multi-purpose computer is programmed to implement or carry out one or more specific functions of mobile device.For example, the many aspects of mobile device can be used computing equipment 1032 to implement.In one embodiment, computing equipment can partially or completely use the general thin computing equipment 20 of describing in conjunction with Fig. 1 to implement.In one embodiment, computing equipment can partially or completely use the dedicated computing equipment 100 of describing in conjunction with Fig. 2 to implement.

With reference to Figure 13 to Figure 14, in one embodiment, mobile device 1005 and mobile device 1070 can be substantially similar.In one embodiment, a mobile device at least two mobile devices is robot moving equipment.In one embodiment, two mobile devices at least two mobile devices are all robot moving equipments.In one embodiment, electrical power transmission system comprises built on stilts electrical power transmission system.In one embodiment, electrical power transmission system comprises underground electrical power transmission system.In one embodiment, at least two mobile devices are further configured to automatically and the performance of cooperative transmission line and/or other structures relevant to power transmission line.In one embodiment, at least two mobile devices are further configured to the electric and/or mechanical property of cooperative transmission line and/or other structures relevant to transmission line.In one embodiment, at least two mobile devices are further configured to the performance of the assembly of cooperative electrical power transmission system between the two.In one embodiment, at least two mobile devices are further configured to automatically and the voltage resistance energy of the collaborative insulator of determining support or fixed transmission lines.For example, in one embodiment, mobile device 1005 is configured on transmission line, apply test and excitation, and mobile device 1070 is configured to measure the response of transmission line to test and excitation.

In one embodiment, test and excitation frequency is approximately nominal transmission line excitation frequency.In one embodiment, test and excitation frequency is different from nominal transmission line excitation frequency.In one embodiment, on band electric transmission line, apply test and excitation at about zero crossing place of the excitation by carrying with electric transmission line.In one embodiment, approximately zero crossing place comprises that the zero crossing that is no more than the excitation of carrying with electric transmission line adds or deduct 10 degree.In one embodiment, approximately zero crossing place comprises that the zero crossing that is no more than the excitation of carrying with electric transmission line adds or deduct 5 degree.In one embodiment, approximately zero crossing place comprises that the zero crossing that is no more than the excitation of carrying with electric transmission line adds or deduct 2 degree.In one embodiment, approximately zero crossing place comprises that the zero crossing that is no more than the excitation of carrying with electric transmission line adds or deduct 1 degree.

In one embodiment, mobile device is configured in section, on band electric transmission line, apply test and excitation in the seclected time of the frequency period of the excitation of carrying with electric transmission line.In one embodiment, the first mobile device is configured to apply test and excitation to the insulator of support or fixed band electric transmission line, and the second mobile device is configured to measure the response of insulator to test and excitation.In one embodiment, the first mobile device is configured to apply test and excitation to the insulator supporting or maintain electric power, and the second mobile device is configured to the test and excitation of offsetting or compensation applies.In one embodiment, at least two mobile devices are further configured to the performance of the insulator that cooperative is relevant to electrical power transmission system, for example, wherein mobile device 1005 is positioned in the first side of transmission line and insulator, and mobile device 1070 is positioned in second and contrary side of transmission line and insulator.Figure 13 illustrates this embodiment.In one embodiment, mobile device is configured to apply test and excitation at about zero crossing place of the excitation of being carried by transmission line to the insulator of support or fixed transmission lines.To the insulator of support or fixed transmission lines apply test and excitation in section the seclected time of the frequency period of the excitation that in one embodiment, mobile device is configured to carry at transmission line.In one embodiment, mobile device is configured for transmission line and/or the structure relevant to transmission line is carried out to passive or active electric checking.In one embodiment, mobile device is configured to measure the physical parameter of transmission line, comprises one or more in temperature, cleanliness factor, stress/strain and/or sag.In one embodiment, mobile device at least comprise be configured to measure along transmission line gradually invade the height of vegetation or the sensor of degree.

Figure 14 illustrates the alternate embodiments of the environment 1000 that comprises system 1002.This system comprises at least two mobile devices, is illustrated as the first mobile device 1005 and the second mobile device 1070 of Figure 13.At least two mobile devices are configured to (i) and on the transmission line of electrical power transmission system, move or move along it, and at least two mobile devices are further configured to the performance of (ii) cooperative transmission line and/or other structures relevant to electrical power transmission system.This system comprises mobile device management instrument 1050.Mobile device management instrument is configured to control at least two mobile device traversal transmission lines, for example, and the transmission line 230.1 of high-tension electricity transmission system 205.

In one embodiment, mobile device management instrument 1050 comprises mobile control module 1052, Collaborative Control module 1054, or communication module 1056.Mobile control module is configured to control at least two mobile device traversal transmission lines.Collaborative Control module is configured to control the cooperative of at least two mobile devices performance to transmission line and/or the structure relevant to electrical power transmission system.Communication module is configured to communicate by letter with at least two mobile devices and/or third party device.

It will be understood by those skilled in the art that in one embodiment, the many aspects of mobile device management instrument can be implemented by hardware, software and/or firmware embodiment.Those skilled in the art will recognize that, in one embodiment, the many aspects of mobile device management instrument can be by polytype Mechatronic Systems separately and/or common implementing, this Mechatronic Systems has the electronic package of wide scope, for example, hardware, software, firmware and/or in fact their combination in any.It will be understood by those skilled in the art that in one embodiment, the many aspects of mobile device management instrument can be implemented with multi-purpose computer, and this multi-purpose computer is programmed to implement or carry out one or more specific functions of mobile device.For example, the many aspects of mobile device management instrument can be used computing equipment 1058 to implement.In one embodiment, computing equipment can partially or completely use the general thin computing equipment 20 of describing in conjunction with Fig. 1 to implement.In one embodiment, computing equipment can partially or completely use the dedicated computing equipment 100 of describing in conjunction with Fig. 2 to implement.

In one embodiment, mobile device management instrument is configured to control at least two mobile device traversal transmission lines and is convenient to cooperative.In one embodiment, mobile device management instrument is configured to dispatch and control the transmission line of at least two mobile device traversal electrical power transmission systems.In one embodiment, mobile device management instrument is further configured to provide the instruction about they cooperative performances at least two mobile devices.In one embodiment, mobile device management instrument is further configured to control the aspect of at least two mobile device cooperative performances.In one embodiment, mobile device management instrument is further configured to the information data of the collaborative performance recording of output response.

Embodiment comprises method.After starting operation, the operating process of the method comprises that startup the first mobile device arrives the movement of the primary importance on transmission line by the transmission line of electrical power transmission system.For example, in one embodiment, this operation can be used and describe mobile control module 1052 in conjunction with Figure 14 and implement.Operating process comprises that startup the second mobile device arrives the movement of the second place on transmission line by transmission line.For example, in one embodiment, this operation can also be by using the mobile control module 1052 of describing in conjunction with Figure 14 to implement.Operating process comprises the performance that uses the first mobile device and the second mobile device to measure the structure of electrical power transmission system.For example, in one embodiment, this operation can also use performance measurement module 1022, cooperative module 1024 and/or the Collaborative Control module 1054 described in conjunction with Figure 14 to implement.The first mobile device and the second mobile device are configured to the performance of cooperative structure.Operating process comprises that output represents the data of the performance recording of structure.For example, in one embodiment, this operation also can use communication module 1028 and/or the communication module 1056 described in conjunction with Figure 14 to implement.Operating process comprises end operation.

In one embodiment, operating process comprises the cooperative of management the first mobile device and the performance of the second mobile device to electrical power transmission system.In one embodiment, transmission line is included in the primary importance of preliminary election on transmission line.In one embodiment, the primary importance on transmission line comprise first mobile device select transmission line on primary importance.In one embodiment, the second place on transmission line comprises the second place of preliminary election on transmission line.In one embodiment, the second place on transmission line comprise second mobile device select transmission line on the second place.

Figure 15 illustrates exemplary environments 1200.Environment comprises electrical power transmission system, is illustrated as the transmission line 230.1 of the high-tension electricity transmission system 205 of describing in conjunction with Fig. 3.Environment also comprises mobile device 1205.Mobile device comprises and is configured to cabinet 1207 mobile on electric transmission line, and this is with electric transmission line as the transmission line 260A between two transmission towers, and these two transmission towers are as tower 210a and the 210B of the aerial high-voltage electrical power transmission system of describing in conjunction with Fig. 3.Mobile device comprise and cabinet physically associated and be configured to physically assist conductor cable between two transmission towers of installation or removal or the supplementary module 1222 of wire.

In one embodiment, supplementary module 1222 comprises the bracing wire or the stay cord supplementary module 1224 that are configured to configure bracing wire or stay cord between two transmission towers.In one embodiment, bracing wire or stay cord supplementary module are configured to configure bracing wire or stay cord, and this bracing wire or stay cord are configured to be convenient to install between two transmission towers new conductor cable or wire.In one embodiment, stay cord comprises lightweight, high strength stay cord, for example, and Kevlar or Spectra.In one embodiment, bracing wire or stay cord supplementary module are configured to install bracing wire or stay cord between two transmission towers.In one embodiment, bracing wire or stay cord supplementary module are configured to

In one embodiment, supplementary module 1222 comprises and is configured to physically be convenient to install for new conductor cable or the support of wire or the support of interval stationary installation or interval stationary installation supplementary module 1226.In one embodiment, support or interval stationary installation supplementary module are configured to install support or the interval stationary installation for new conductor cable or wire.In one embodiment, support or interval stationary installation supplementary module are configured to physically be convenient at any place of two transmission towers or the open-wire transmission line mounting bracket traveling through along this supplementary module or interval stationary installation.In one embodiment, supplementary module comprises the stretching supplementary module 1228 that is configured to apply pulling force on the new conductor cable of installing or wire.In one embodiment, supplementary module comprises and is configured to physically to assist the conductor cable of dismounting between two transmission towers or the dismounting supplementary module 1232 of wire.In one embodiment, supplementary module comprises and is configured to physically to assist the conductor cable of dismounting between two transmission towers or the configuration supplementary module 1234 of wire.In one embodiment, supplementary module comprises the bobbin and the spool module 1236 that are configured to carry new conductor cable or wire.In one embodiment, bobbin and spool are configured to carry and configure new conductor cable or wire.In one embodiment, supplementary module comprises the conductor dismounting module 1238 of the conductor cable or the wire that are configured to collection dismounting.In one embodiment, mobile device comprises physically associated and be configured for the communication module 1244 of radio communication with cabinet.

It will be understood by those skilled in the art that in one embodiment, comprise that the many aspects of the mobile device 1205 of supplementary module 1222 can be implemented by hardware, software and/or firmware embodiment.Those skilled in the art will recognize that, in one embodiment, the many aspects of mobile device can be by polytype Mechatronic Systems separately and/or common implementing, described Mechatronic Systems has the electronic package of wide scope, for example, hardware, software, firmware and/or in fact their combination in any.It will be understood by those skilled in the art that in one embodiment, the many aspects of mobile device can be implemented with multi-purpose computer, and described multi-purpose computer is programmed to implement or carry out one or more specific functions of mobile device.For example, the many aspects of mobile device can be used computing equipment 1246 to implement.In one embodiment, computing equipment can partially or completely use the general thin computing equipment 20 of describing in conjunction with Fig. 1 to implement.In one embodiment, computing equipment can partially or completely use the dedicated computing equipment 100 of describing in conjunction with Fig. 2 to implement.

Figure 16 illustrates exemplary environments 1300.Environment comprises electrical power transmission system, is illustrated as the band electric transmission line 230.1 of the high-tension electricity transmission system 205 of describing in conjunction with Fig. 3.Environment comprises system 1302.This system comprises the mobile device 1205 of describing in conjunction with Figure 15 and subcontrol 1350 is installed.This installation subcontrol comprises that being configured to control mobile device moves through the mobile control module 1352 with electric transmission line.Subcontrol is installed and is comprised that being configured to control mobile device provides the auxiliary physics of physics to assist control module 1354.Subcontrol is installed and is comprised the communication module 1356 being configured to mobile device radio communication.In one embodiment, traversal control module 1352 be configured to control simultaneously at least two mobile devices electrical power transmission system with the movement on electric transmission line.

It will be understood by those skilled in the art that in one embodiment, the many aspects of subcontrol are installed and can implement by hardware, software and/or firmware embodiment.Those skilled in the art will recognize that, in one embodiment, install the many aspects of subcontrol can be by polytype Mechatronic Systems independent and/or common implementing, described Mechatronic Systems has the electronic package of wide scope, for example, hardware, software, firmware and/or in fact their combination in any.It will be understood by those skilled in the art that in one embodiment, the many aspects of subcontrol are installed and can implement with multi-purpose computer, described multi-purpose computer is programmed to implement or carry out one or more specific functions of mobile device.For example, the many aspects of installation subcontrol can be used computing equipment 1358 to implement.In one embodiment, computing equipment can partially or completely use the general thin computing equipment 20 of describing in conjunction with Fig. 1 to implement.In one embodiment, computing equipment can partially or completely use the dedicated computing equipment 100 of describing in conjunction with Fig. 2 to implement.

All lists of references of quoting herein mode by reference is all incorporated herein or is incorporated to herein with in scope that herein can be consistent at their theme.

In some embodiments, " be configured to " comprise at least one of the following: design, arrange, be shaped, implement, construct or be adapted to at least one specific purpose, quote or function.

Should be appreciated that in general, the term herein and especially using in appended claims is generally understood as open to the outside world term.For example, term " comprises " and should be understood to " including but not limited to ".For example, term " has " and should be understood to " at least having ".For example, term " has " and should be understood to " having at least ".For example, term " comprise " and should be understood to " including but not limited to " etc.It should be further understood that, if be intended to represent the concrete quantity of the claim statement of introducing, such implication should clearly be explained in the claims, and in the time not there is not this statement, does not have this implication.For example, in order to help to understand, below appended claims can comprise use leading question, for example, " at least one " or " one or more ", to introduce claim statement.But, the claim statement that uses this phrase should not be construed as implying that indefinite article " " or " one " are introduced requires to be defined as invention by any specific rights of the claim statement that comprises this introducing and only comprises a this statement, even in the time that same claim comprises the indefinite article of guiding phrase " one or more " or " at least one " and for example " " or " one " and so on, (for example, " receiver " should be understood to " at least one receiver " conventionally) is also like this; Use for the definite article for introducing claim statement is like this equally.In addition, even if clearly explained the concrete quantity of the claim statement of introducing, also will be appreciated that this statement conventionally should be understood to mean at least statement quantity (for example, the blunt statement of " at least two chambers " or " multiple chamber ", in the situation that there is no other modifiers, conventionally mean at least two chambers.

In the case of using the phrase of for example " at least one in A, B and C ", " at least one in A, B or C " or " selecting [article] of the group of free A, B and C composition ", the meaning of general this structure be antisense conjunction (for example, any one in these phrases can include but not limited to the system of following: A separately, B separately, C separately, A is together with B, and A is together with C, B is together with C, or A, B, C are together; And this system may further include than in A, B or C more than one, for example A ₁, A ₂together with C, A, B ₁, B ₂, C ₁and C ₂together, or B ₁and B ₂together).What be further understood that is, any antisense conjunction or the phrase of two or more other terms are in fact provided, no matter be in instructions, claims or accompanying drawing, all should be understood to expection has and comprises any of one of term, term or the possibility of two terms.For example, phrase " A or B " should be understood to the possibility that comprises " A " or " B " or " A and B ".

Different assemblies have been described in aspect as herein described, and these different assemblies are included in other different assemblies or from other different assemblies and connect.The framework that should be appreciated that this description is only example, and in fact, can implement to obtain many other frameworks of identical function.In the meaning of design, any assembly setting of acquisition identical function effectively " in association " makes to obtain required function.Therefore, any two assemblies that combine to obtain specific function herein can be regarded as each other " being correlated with " and make to obtain required function, and no matter framework or intermediate module how.Similarly, two assemblies in association also can be considered as each other " on being operably connected " like this, or " operationally in coupling " is to obtain required function.Any two assemblies in association also can be regarded as each other " on operationally can being coupled " to obtain required function like this.Instantiation on operationally can being coupled includes but not limited to assembly that can mate physically or interactional physically, or can be mutual by wireless mode or by the interactional assembly of wireless mode.

For appended claims, the operation of statement herein generally can be carried out according to random order.In addition, although multiple operating processes are provided in order, should be understood that, multiple operations can be carried out according to other orders except the order of explanation, or can carry out simultaneously.That the example of this sequence replacing can comprise is overlapping, interlock, interrupt, reorder, increase, prepare, supplement, synchronous, oppositely or other different sequences, unless context indicates in addition.In block scheme, use the square frames such as " beginnings ", " end ", " stopping " being not intended to expression to be confined to beginning or the end of any operation in block scheme or function.This process flow diagram or block scheme can be incorporated in the application's block scheme and carry out in other process flow diagrams or block scheme of additional functionality before or after illustrated function.In addition, as " response ", " relating to " or the adjectival term of other past tenses, be not intended to get rid of this variant, unless context indicates in addition.

Although herein disclosed is many aspects and embodiment, art technology people can understand other aspects and embodiment.In order to illustrate instead of in order to limit, true scope and spirit are shown by following claims at many aspects disclosed herein and embodiment.

Claims

1. a mobile device, it comprises:

Cabinet, it is configured to move on the transmission line between two transmission towers of built on stilts electrical power transmission system; With

Supplementary module, itself and described cabinet are physically associated and be configured to physically assist conductor cable or the wire of installation or removal between described two transmission towers.

2. mobile device according to claim 1, wherein, described electrical power transmission system comprises high-tension electricity transmission system.

3. mobile device according to claim 1, wherein, described electrical power transmission system comprises electric power distribution system.

4. mobile device according to claim 1, wherein, described supplementary module is configured to configure bracing wire or stay cord between described two transmission towers.

5. mobile device according to claim 2, wherein, described bracing wire or stay cord are configured to be convenient to, between described two transmission towers, new conductor cable or wire are installed.

6. mobile device according to claim 2, wherein, described supplementary module is configured to, between described two transmission towers, bracing wire or stay cord are installed.

7. mobile device according to claim 2, wherein, described stay cord comprises lightweight, high-intensity stay cord.

8. mobile device according to claim 1, wherein, described supplementary module is configured to physically be convenient to install support or the interval stationary installation for new conductor cable or wire.

9. mobile device according to claim 8, wherein, described supplementary module is configured to be physically convenient to that support or interval stationary installation are arranged on any one place in described two transmission towers or along allowing the described open-wire transmission line of described supplementary module traversal install.

10. mobile device according to claim 8, wherein, described supplementary module is configured to install support or the interval stationary installation for new conductor cable or wire.

11. mobile devices according to claim 8, wherein, described support or interval stationary installation comprise for one or more guiding fixing devices of bracing wire, for the machinery mount of bracing wire or cable and/or for the attachment arrangement conduction of new transmission cable or transmission line or insulation.

12. mobile devices according to claim 1, wherein, described supplementary module is configured to apply pulling force on the new conductor cable being just mounted or wire.

13. mobile devices according to claim 1, wherein, described supplementary module is further configured to physically assist conductor cable between described two transmission towers or the dismounting of wire.

14. mobile devices according to claim 1, wherein, described supplementary module comprises the bobbin or the spool that are configured to carry new conductor cable or wire.

15. mobile devices according to claim 14, wherein said bobbin or spool are configured to carry and configure new conductor cable or wire.

16. mobile devices according to claim 1, wherein, described supplementary module comprises and is configured to collect the conductor cable removed or the carrier of wire.

17. mobile devices according to claim 1, also comprise physically associated with described cabinet and be arranged to the communication module of radio communication.

18. 1 kinds of systems, it comprises:

Mobile device, it is configured on the transmission line between two transmission towers of electrical power transmission system, move, physically assist new conductor cable or the wire of installing between described two transmission towers and communicate with wireless mode and installation controller; With

Described installation controller, it is configured to control described mobile device and moves through described transmission line, controls described mobile device and provide physics auxiliary and communicate with wireless mode and described mobile device.

19. systems according to claim 18, wherein, described electrical power transmission system comprises high-tension electricity transmission system.

20. systems according to claim 18, wherein, described electrical power transmission system comprises electric power distribution system.

21. according to the system of claim 18, and wherein, described mobile device is configured to apply pulling force on the described new conductor cable or wire that are just being mounted.

22. systems according to claim 18, wherein, described subcontrol is configured to control the movement of at least two mobile devices on the described transmission line of described electrical power transmission system simultaneously.