CN104272117A

CN104272117A - Devices configured to cooperatively measure properties of a power transmission system

Info

Publication number: CN104272117A
Application number: CN201380018628.8A
Authority: CN
Inventors: 罗德里克·A·海德; 洛厄尔·L·小伍德
Original assignee: Elwha LLC
Current assignee: Elwha LLC
Priority date: 2012-03-30
Filing date: 2013-03-27
Publication date: 2015-01-07
Also published as: EP2831602A4; EP2831602A1; JP2015524238A; WO2013148788A1

Abstract

Described embodiments include a system and an apparatus. A described system includes a stationary device configured to be electrically coupled to a transmission line of a power transmission system and remain at a fixed location during a test measurement of the power transmission system. The system includes a mobile device configured to travel on the transmission line. The stationary device and the mobile device are further configured to cooperatively measure properties of the power transmission system.

Description

Be configured to the equipment of cooperative power transmission system

The cross reference of related application

The application relate to and advocate the following application (" related application ") enumerated the earliest can live application day rights and interests (such as, advocate to be different from the application of temporary patent application the earliest can priority date, or advocate the rights and interests of any and all parent patent application, ancestral's patented claim, great-grandfather's patented claim etc. of temporary patent application, related application according to 35 USC § 119 (e)).

Related application

In order to the extra legal requirements of U.S.Patent & Trademark Office, the application be formed on March 30th, 2012 submit to name be called " for schedule mobile device on electrical power transmission system run equipment and system ", invention people be Roderick A.Hyde and Lowell L.Wood, Jr. U.S. Patent application No.13/436, the part continuation application of 299, this patented claim is current common pending trial, or allows the application of common pending trial at present have the right the application of the rights and interests enjoying this application day.

In order to the extra legal requirements of U.S.Patent & Trademark Office, the application be formed in the name submitted on March 30th, 2012 be called " mobile device being configured to perform 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, the part continuation application of 404, this patented claim is current common pending trial, or allows the application of common pending trial at present have the right the application of the rights and interests enjoying this application day.

In order to the extra legal requirements of U.S.Patent & Trademark Office, the application be formed on March 30th, 2012 submit to name be called " be configured to move on the transmission line and the mobile device of assistance be provided ", invention people be Roderick A.Hyde and Lowell L.Wood, Jr. U.S. Patent application No.13/436, the part continuation application of 520, this patented claim is current common pending trial, or allows the application of common pending trial at present have the right the application of the rights and interests enjoying this application day.

The announcement that U.S.Patent & Trademark Office (USPTO) announces, the computer program being meant to 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, " rights and interests at first submit applications ", on March 18th, 2003 USPTO government gazette.The applicant's entity (hereinafter referred to as " applicant ") is provided above-mentioned concrete reference according to regulation by the application of CLAIM OF PRIORITY.Applicant understands, and does not need sequence number, does not also need such as any feature of " continuation " or " part continues " and so on to 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 entry requirement, and therefore, applicant specify as its as described above mother application part continuation application, but explicitly point out, such appointment is interpreted as the comment and/or the accreditation that whether the application are also comprised except the content of its female application to 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 conflicting herein, all by reference to being incorporated to herein.

Summary of the invention

Embodiment such as, but not limited to, theme as herein described comprises system.In this embodiment, described system comprises static equipment, and described static equipment is configured to the transmission line electrical couplings of electrical power transmission system and rests on fixed position during the thermometrically of described electrical power transmission system.Described system comprises mobile device, and described mobile device is configured to move on described transmission line.Static equipment and mobile device are configured to the performance of cooperative electrical power transmission system further.

Embodiment such as, but not limited to, theme as herein described comprises system.In this embodiment, described system comprises at least two mobile devices, described at least two mobile devices are configured to (i) and move on the transmission line of electrical power transmission system or move along it, and described at least two mobile devices are configured to the performance of transmission line and/or other structures relevant to described electrical power transmission system described in (ii) cooperative further.

Embodiment such as, but not limited to, theme as herein described comprises system.In this embodiment, described system comprises at least two mobile devices, described at least two mobile devices are configured to (i) and move on the transmission line of electrical power transmission system or move along it, and described at least two mobile devices are configured to the performance of transmission line and/or other structures relevant to described electrical power transmission system described in (ii) cooperative further.Described system comprises mobile device management instrument, and this mobile device management instrument is configured to the transmission line of at least two mobile device traversal (traverse) described electrical power transmission systems described in control.

Accompanying drawing explanation

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

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

Fig. 3 illustrates the exemplary environments can implementing embodiment;

Fig. 3 illustrates the exemplary environments 200 can implementing embodiment;

Fig. 4 illustrates the exemplary environments 300 can implementing embodiment;

Fig. 5 illustrates the exemplary environments 400 can implementing embodiment;

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

Figure 10 illustrates the exemplary environments 700 can implementing embodiment;

Figure 11 illustrates the exemplary environments 800 can implementing embodiment.

Figure 12 illustrates the exemplary environments 900 can implementing embodiment;

Figure 13 illustrates the environment 1000 can implementing embodiment;

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

Figure 15 illustrates the exemplary environments 1200 can implementing embodiment;

Figure 16 illustrates the exemplary environments 1300 can implementing embodiment; And

Figure 17 illustrates the exemplary environments 1400 can implementing embodiment.

Embodiment

In the following detailed description, with reference to the accompanying drawing forming a part of the present invention.In the accompanying drawings, similar symbol identifies similar assembly usually, unless be otherwise noted in context.The illustrative embodiments described in embodiment, accompanying drawing and claims does not also mean that restriction.When not departing from the spirit or scope of theme disclosed herein, other embodiments can be utilized, and other amendments can be carried out.

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 implementation and only had very other degree of community; The use of hardware, software and/or firmware is generally the design alternative that (such was the case with but not, and in some contexts, the selection between hardware and software becomes very important) represents cost and efficiency tradeoff.Those skilled in the art will know, the various carriers that existence can make method described herein and/or system and/or other technologies play a role (such as, hardware, software and/or firmware), and preferred carrier can change according to adopting the change of the background of these methods and/or system and/or other technologies.Such as, if implementer determines that speed and degree of accuracy are most important, so implementer can select main hardware and/or firmware vehicle; Alternately, if dirigibility is most important, so implementer can select main Software Implementation; 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, because any carrier that will utilize depends on that the background of carrier and implementer's specifically consider (such as by adopting, speed, dirigibility or predictability), any one all may change.Person of skill in the art will appreciate that the optics aspect of embodiment adopts optics guiding hardware, software and/or firmware usually.

In embodiments more as herein described, logic and similar embodiment can comprise the software or other control structures that are suitable for implementation and operation.Such as, electronic circuit can show as and is configured to and is arranged to implement one or more current paths of various logic function as herein described.In some embodiments, one or more media are configured to the detectable embodiment of Portable device, and prerequisite is that this medium is preserved or sends the specialized equipment instruction set that can operate to perform according to mode described herein.In some variations, such as, this can show as the renewal of existing software or firmware or gate array or other programmable hardwares or other are revised by one or more instruction relevant to one or more operation as herein described such as received or carry.Alternatively or additionally, in some variations, 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 by one or more examples of tangible transmission media as herein described, optionally by bag transmission or by transmitting via distribution media transmission at different time.

Alternatively or additionally, embodiment can comprise execution special instruction sequence or call circuit to enable, to trigger, to coordinate, to ask or to cause any feature operation generation one or many described below.In some variations, operation herein or other logical descriptions directly can be expressed as source code and be compiled as executable instruction sequence or call as executable instruction sequence.Under some backgrounds, such as, C++ or other code sequences can direct compilations or be embodied as high level description language (such as, 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 within hardware, particularly for basic operation or the application of timing key.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 by the following separately and/or common implementing: polytype Mechatronic Systems with far-ranging electronic component, such as, hardware, software, firmware and/or in fact their combination in any; The far-ranging assembly of mechanical force or motion can be given, such as rigid body, spring body or reverse body, hydraulic means, electromechanical actuators and/or in fact their combination in any.Therefore, " Mechatronic Systems " as herein described includes but not limited to: with transducer (such as, actuator, motor, piezoelectric crystal, MEMS (micro electro mechanical system) (MEMS) etc.) circuit that is operationally coupled, 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, form the universal computing device that is configured to by computer program (such as, by the multi-purpose computer that the computer program performing method as herein described and/or equipment is at least in part configured to, or the microprocessor be configured to by the computer program performing method as herein described and/or equipment at least in part) circuit, form memory device (such as, form storer (such as, random access memory, flash memory, ROM (read-only memory) etc.)) circuit, form communication facilities (such as, modulator-demodular unit, communication module, communication switch, optoelectronic device etc.) circuit, and/or the mimic channel of any non-electrical, such as 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 system, medicine equipment and other system, such as motorized transport systems, 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 and be made up of polytype " circuit ".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 (such as, the multi-purpose computer be configured to by the computer program performing method as herein described and/or equipment at least in part, or the microprocessor be configured to by the computer program performing method as herein described and/or equipment at least in part) circuit, form memory device (such as, form storer (such as, random access memory, flash memory, ROM (read-only memory) etc.)) circuit, and/or form communication facilities (such as, 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 recognize further, equipment as herein described and/or method can be integrated in image processing system at least partially.Typical image processing system generally can comprise one or more system unit housing, video display apparatus, the storer of such as volatibility or nonvolatile memory and so on, the processor of such as microprocessor or digital signal processor and so on, the computational entity of such as operating system and so on, driver, application program, one or more interactive device (such as, Trackpad, touch-screen, antenna etc.), comprise backfeed loop and control motor (such as, for sensing the feedback of lens position and/or speed, move/be out of shape the control motor obtaining required focus for making lens) control system.Image processing system can utilize suitable commercially available assembly to implement, such as, and those assemblies usually found in digital still system and/or digital motion systems.

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 housing, video display apparatus, the storer of such as volatibility or nonvolatile memory and so on, the processor of such as microprocessor or digital signal processor and so on, the computational entity of such as operating system and so on, driver, graphic user interface, and application program, one or more interactive device (such as, Trackpad, touch-screen, antenna etc.), and/or comprise backfeed loop and control motor (such as, for the feedback of sense position and/or speed; For mobile and/or adjusting part and/or quantity control motor) control system.Digital processing system can utilize suitable commercially available assembly to implement, such as, and the assembly usually found in digital computation/communication and/or network calculations/communication system.

Fig. 1 and Fig. 2 provides the corresponding general description of several environment can implementing 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 computing environment 100 with universal computing device 110.But, due to computer module prices and due to the lifting of performance and speed, therefore not always there is boundary line clearly between thin computing equipment and universal computing device.In addition, for the environment of income because using computing power, design new endlessly and application is had.Therefore, anything is all not to be construed as and theme disclosed herein is limited 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 can implementing embodiment.Fig. 1 illustrates the example system comprising 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.Such as, electronic equipment can comprise any article, these article have the electric or electronic component functionally worked at article, such as refrigerator, automobile, digital image acquisition apparatus, camera, cable modem, printer, ultrasonic equipment, X-ray production apparatus, non-invasive imaging equipment or aircraft.Such as, electronic equipment can comprise any article being connected with the function element of article or controlling it.And for example, thin computing equipment can be comprised in implantable medical device or equipment.For another example, thin computing equipment can operationally communicate with medicine equipment that is implantable or that implant.Such as, thin computing equipment can comprise the computing equipment with limited resources or limited handling property, such as, 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 (such as based on or equipment), tablet device (such as, ) or equipment.Such as, thin computing equipment can comprise thin customer equipment or mobile thin customer equipment, such as, and the desktop hardware that smart mobile phone, panel computer, notebook computer or be configured to works in virtualized environment.

Thin computing equipment 20 comprises processing unit 21, system storage 22 and the various system components comprising 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 any multiple bus architecture of Memory Controller, peripheral bus and 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 transmitting information between the sub-component that such as contributes between the starting period in thin computing equipment 20, is stored in ROM24.Multiple program module can be stored in ROM24 or RAM25, comprises operating system 28, one or more application program 29, other program modules 30 and routine data 31.

User can by one or more input interface input command and information in computing equipment 20.Input interface can comprise touch control display, or has one or more switch or the button of suitable input detecting circuit.Touch control display is illustrated as display 32 and screen input detector 33.One or more switch or button are illustrated as the hardware button 44 being 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 physical hardware keyboard (not shown) that are connected 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, such as, and at least one loudspeaker 38.Other outsides input or output equipment 39, and such as, operating rod, game paddle, satellite receiver, scanner etc., can be connected to processing unit 21 by USB port 40 and USB port interface 41, be connected to system bus 23.Alternately, other outside is inputed or outputed equipment 39 and can be connected by other interfaces, such as, is connected 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 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 and other peripheral communications, other peripherals comprise other computing machines, printer etc. (not shown).Should be appreciated that illustrated various assembly is example with being connected and can using other assemblies and device of setting up communication link.

Computing equipment 20 mainly can be designed to include user interface.User interface can comprise character, the data input based on button or another user data input via touch control display 32 input.User interface can comprise use pointer (not shown).In addition, user interface is not limited to be configured to the contact panel of the reality directly receiving input, but can alternatively or in addition in response to another input equipment of such as microphone 34 and so on.Such as, language and characters can receive at microphone 34 and be identified.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 relate to the function of electronic equipment, and to be coupled with system bus 23 by interface (not shown).Function element usually can use seldom or not use user to configure or arrange to perform single clearly defined task, such as, refrigerator keeps food cold storage, mobile phone is connected with suitable control tower and receiving and transmitting voice or numerical information, camera acquires also preserves image, or communicate with implantable medical device.

In some cases, one or more elements of thin computing equipment 20 can be regarded as not necessarily or be omitted.In other cases, other elements one or more 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 can implementing embodiment.Fig. 2 illustrates the illustrative embodiments of the general-purpose computing system can implementing embodiment, is illustrated as computing system environment 100.The assembly of computing system 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 comprising 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 of the local bus comprising memory bus or any multiple bus architecture of Memory Controller, peripheral bus and use.For example, 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.

Computing system environment 100 generally includes various computer readable medium product.Computer-readable medium can comprise any medium can accessed by computing equipment 110, and comprises volatibility and non-volatile media, move media and non-moving medium.For example, but be not restriction, computer-readable medium can comprise computer-readable storage medium.Again for example, but be not restriction, computer-readable medium can comprise communication media.

Computer-readable storage medium comprise for store such as computer-readable instruction, data structure, program module or other data, in any method or technology implement volatibility 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 information needed for can be used in storing and any other the medium that can access of computing equipment 110.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 such as carrier wave or other transmission mechanisms and so on modulated data signal usually, and comprises any information delivery media.Term " modulated data signal " means with a kind of signal, and the one or more features in its feature of this signal are set to cause the mode of coded message in the signal or change.For example, but be not restriction, communication media can comprise: wire medium, such as cable network and direct wired connection; And wireless medium, such as sound wave, radio frequency, light and infrared ray medium.

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

Computing equipment 110 can also comprise other and move/non-moving, volatile/nonvolatile computer storage media product.Only for example, Fig. 2 illustrates and reads from such as non-moving, non-volatile magnetic media and write non-moving, the non-volatile storage interface (hard-disk interface) 140 of data to it.Fig. 2 also illustrates mobile, non-volatile storage interface 150, such as, this interface coupling reads to from movement, non-volatile magnetic disk 152 and writes the disc driver 151 of data to it, or this interface coupling is extremely from movement, anonvolatile optical disk 156, such as, CD-ROM, read and to its write data CD drive 155.In Illustrative Operating Environment operable other move/non-moving, volatile/nonvolatile computer storage media includes but not limited to: tape cassete, storage card, flash card, DVD, digital video cassette, solid-state RAM and solid-state ROM.Hard disk drive 141 passes through non-moving memory interface usually, such as, and interface 140, be connected to system bus 121, and disc driver 151 and CD drive 155 are usually by mobile non-volatile storage interface, such as, interface 150, is connected to system bus 121.

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

User can by input equipment input command and information in computing equipment 110, and this input equipment is such as 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 being connected to system bus usually, but can be connected with bus structure by other interfaces, such as, connected by parallel port, game port and USB (universal serial bus) (USB).

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

Computing system environment 100 can be connected in the network environment of one or more remote computers of such as remote computer 180 and so at use logic web member and work.Remote computer 180 can be personal computer, server, router, network PC, peer device or other common network node, and generally include above relative to computing equipment 110 describe element in many or all, 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, such as, and PAN (Personal Area Network) (PAN) (not shown).This network environment is common in office, enterprise-wide computing, intranet and internet.

When using in a network environment, computing system environment 100 is by network interface, and such as, 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, such as internet.In networked environment, the program module described relative to computing equipment 110 or its part can be stored in remote memory storage devices.For example, but be not restriction, Fig. 2 illustrates the remote application 185 be stored on memory devices 181.It is exemplary for should be appreciated that illustrated network connects, and can use other devices setting up communication link between the computers.

In some cases, one or more elements of computing equipment 110 can be regarded as not necessarily and can be omitted.In other cases, other elements one or more can be considered to be necessary and be increased in computing equipment.

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

In one embodiment, high voltage power transmission system can comprise electrical power transmission system, and this electrical power transmission system is designed and insulate with the electric power of the voltage from local about more than 35000 volts an of conveying to another place.Such as, the voltage of high voltage power 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 voltage power transmission system and distribute electric power to subtransmission user.Such as, 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 supporting transmission line 230, and this transmission line 230 is maked somebody a mere figurehead 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 220A.3 of being arranged on tower 210A and insulator 220B.1,220B.2 and 220B.3 of being arranged on tower 210B.Insulator can be made up of such as 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 voltage power transmission system stands work risk, such as, and weather condition, environment temperature, lightning or Rainfall Influence aerial high-voltage electrical power transmission system.Other work risks can comprise such as aging, damage or loss.Other work risks can comprise such as vegetation or artificial destruction.Potential work risk is illustrated as vegetation 240 in figure 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 voltage power transmission system 205 that composition graphs 3 describes, and is illustrated as tower 210.Environment comprises mobile device 380, this mobile device be configured to traversal transmission line and in response to the potential work risk assessed to high voltage power transmission system executable operations.

TSM instrument 320 comprises receiving circuit 322, analysis circuit 324 and plan circuit 326.Receiving circuit comprises the data being configured to receive at least one physical parameter representing electrical power transmission system, the receiving circuit being illustrated as high voltage power transmission system 205, being configured to from a localized transmissions electric power to another place.Analysis circuit comprises and being configured at least in part based on the analysis circuit of the potential work risk of a part for received data assessment electrical power transmission system.Such as, a part for electrical power transmission system can comprise the part between tower 210A and 210B of high voltage power transmission system.Such as, a part for electrical power transmission system can comprise the part between tower 210A and 210B of power transmission line 230.1.Such as, a part for electrical power transmission system can comprise the part between tower 210A and another tower of high voltage power transmission system.Plan circuit comprises the transmission line being configured to travel through electrical power transmission system at least in part based on assessed potential work Risk Scheduling mobile device 380.Transmission line provides the path of the part towards 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 use hardware, software and/or firmware implementation to implement.Those skilled in the art will recognize that, in one embodiment, the many aspects of TSM instrument can by polytype Mechatronic Systems separately and/or common implementing, described Mechatronic Systems has the electronic package of wide scope, such as, 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 use multi-purpose computer to implement, and described multi-purpose computer is programmed the one or more specific functions implementing or perform TSM instrument.Such as, the many aspects of TSM instrument can use computing equipment 350 to implement.In one embodiment, computing equipment can be coupled with the computer memory device 338 being connected to computer-readable medium.In one embodiment, the general thin computing equipment 20 that computing equipment can partially or completely use composition graphs 1 to describe is implemented.In one embodiment, the dedicated computing equipment 100 that computing equipment can partially or completely use composition graphs 2 to describe is implemented.

In one embodiment, electrical power transmission system comprises high voltage power transmission system.In one embodiment, electrical power transmission system comprises electric power distribution system.

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

In one embodiment, high voltage power 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 voltage power 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 voltage power 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 voltage power transmission system can split at least two high voltage power transmission components of system as directed, for the potential work risk of assessment.

In one embodiment, receiving circuit 322 is configured to the data of the existence conditions representing impact to voltage electrical power transmission system further.Such as, existence conditions can comprise existing weather condition, that is, wind, snow or temperature.In one embodiment, at least one event comprises at least one in the weather condition of impact to voltage electrical power transmission system, environment temperature, lightning or precipitation.In one embodiment, at least one event comprises at least one in the existing line temperature of high voltage power transmission system, current needs or equipment failure.In one embodiment, at least one event comprises at least one in the peak loading value of another high voltage power transmission system affecting this high voltage power transmission system, peak load feature or state.In one embodiment, at least one event comprises at least one in the state in season of impact to voltage electrical power transmission system, 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 being configured to assess a part for high voltage power transmission system or the potential work risk of the structure relevant with a part for high voltage power transmission system.This assessment is at least in part based on received data.

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

In one embodiment, plan circuit 326 and comprise the potential work risk priority that is configured to make first of the Part I of the part to high voltage power transmission system assess in the plan circuit of the second potential work risk assessed of the Part II to high voltage power transmission system.Priority is at least in part based on the potential work risk of the first assessment and the potential work risk of the second assessment.Plan circuit is also configured to the Part I of the part in response to this priority scheduling traversal high voltage power transmission system.Such as, priority ordering can based on the rank of multiple work risk.Such as, possible calamity work risk can have higher priority than daily preventative work risk.In one embodiment, the plan circuit that circuit comprises the transmission line being configured to the path being traveled through the part provided towards high voltage power transmission system in response to the potential work Risk Scheduling assessed by least two mobile devices is planned.At least two mobile devices are configured to corporate action each other.

In one embodiment, transmission line is to allow to locate relative to a part for high voltage power transmission system the mode that a part for high voltage power transmission system checks.In one embodiment, transmission line is to allow to locate relative to a part for high voltage power transmission system the mode that a part for high voltage power transmission system is keeped in repair.In one embodiment, transmission line is to allow to locate relative to a part for high voltage power transmission system the mode that a part for high voltage power transmission system is safeguarded.In one embodiment, transmission line is to allow to locate relative to a part for high voltage power transmission system the mode that a part for high voltage power transmission system is changed.

In one embodiment, data receiver circuit 322 is configured to the data receiving the existence conditions representing impact to voltage electrical power transmission system further, and described existence conditions is provided by another mobile device worked in high voltage power transmission system.In one embodiment, data receiver circuit is configured to receive expression first available mobile device further and has the data in response to the first performance of the potential work risk of assessment and the second available mobile device with the second performance of the potential work risk in response to assessment.In one embodiment, TSM instrument comprise be configured to from first can with mobile device and second can with select mobile device can mobile device carry out the mobile device selection circuit 332 of the traversal to transmission line operation dispatching.

In one embodiment, plan circuit 326 to be configured to further provide expression mobile device to the data of the traversal of transmission line operation dispatching.Such as, data can be provided in response to from another circuit of TSM instrument 320 or the request of third party device or traction.Such as, data can be transported to another circuit of TSM instrument or be pushed to third party device, such as, and computing equipment 392.

In one embodiment, TSM instrument 320 comprises the mobile control circuit 334 being configured to the traversal controlling the scheduling that mobile device performs.In one embodiment, mobile control circuit is configured to path and the speed of the traversal controlling the scheduling that mobile device performs.In one embodiment, mobile control circuit is configured to control spacing between the two while mobile device and another mobile device all travel through high voltage power transmission system.In one embodiment, mobile control circuit is configured to determine the mobile route that mobile device will adopt.Based on comprising the one or more because usually determining mobile route of the following: the starting position of mobile device, the space/time needed for position that path barrier quantity on the way and type and mobile device will arrive.In one embodiment, mobile control circuit is configured to the data of the traversal of the scheduling in response to expression transmission line to assign mobile device.In one embodiment, mobile control circuit is configured in response to one or more because usually assigning mobile device.These factors can comprise the required type measured, the time in the past since one-shot measurement, the value of front one-shot measurement, and/or the space/Annual distribution of required measurement.In one embodiment, mobile control circuit is configured to measure or movable and be that another traversal arriving another part of high voltage power transmission system by transmission line assigns mobile device for another relative to the measurement of a part for high voltage power transmission system or activity based on mobile device.In one embodiment, mobile control circuit is configured to another and measures or movable and be that another traversal arriving another part of high voltage power transmission system by transmission line assigns another mobile device.Be assigned to and be at least partly based on mobile device relative to the measurement of a part for high voltage power transmission system or activity.In one embodiment, mobile control circuit be configured to measurement or active dispatch mobile device to the position on transmission line.Be assigned to and be at least partly based on considering of one or more factors of 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 voltage power transmission system.Be assigned to and be at least partly based in different piece checking and the considering of availability of movable relative requirements and this mobile device and another mobile device.In one embodiment, mobile control circuit is configured to assign the different piece of mobile device to high voltage power transmission system.Be assigned to and be at least partly based in different piece the expection of inspection with activity 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 voltage power transmission system 205 or are arranged on discrete location around high voltage power transmission system 205.In one embodiment, one or more decision element of mobile control circuit are arranged in one or more mobile device 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 device.

In one embodiment, TSM instrument 320 comprises the computer-readable medium 339 being configured to store the traversal of being dispatched by a part for mobile device 380 pairs of high voltage power transmission systems 205 further.

In one embodiment, mobile device 380 is configured to travel through the part of high voltage power transmission system 205 and the potential work risk of inspection and evaluation.In one embodiment, mobile device is configured to travel through a part for high voltage power transmission system and the potential work risk of process assessment.Such as, the potential work risk of process assessment can comprise beginning task.Such as, the potential work risk of process assessment can comprise inspection, evaluate, keeps in repair or ask extra information or instruction.In one embodiment, mobile device is configured to travel through a part for high voltage power transmission system and the potential work risk of process assessment automatically.In one embodiment, mobile device is configured to automatically travel through a part for high voltage power transmission system and the potential work risk of process assessment automatically.In one embodiment, mobile device is configured to travel through a part for high voltage power transmission system and starts the activity of the potential work risk relative to assessment.In one embodiment, mobile device is configured to travel through the part of high voltage power transmission system and the maintenance started relative to the potential work risk of assessment or maintenance activity.In one embodiment, mobile device comprises the part and the robot moving equipment of the potential work risk of process assessment automatically that are configured to travel through high voltage power transmission system.Such as, in one embodiment, robot moving equipment comprises the mobile device being configured to repeat one or more task with having speed and precision.Http:// searchcio-midmarket.techtarget.com/definition/robot (January 25 2012 last access time).In one embodiment, mobile device is configured to travel through the part of high voltage power transmission system and the maintenance performed in response to the potential work risk of assessment and/or maintenance operation.In one embodiment, mobile device is configured to travel through the part of high voltage power transmission system and the maintenance automatically performed in response to the potential work risk of assessment and/or maintenance operation.Other examples of mobile device are provided in conjunction with Figure 10 to Figure 17.

Exemplary environments 300 comprises remote computing environment, is illustrated as the computing environment 392 comprising display 394.In one embodiment, computing environment can comprise the one or more elements in the computing environment 19 of composition graphs 1 description or the computing environment 100 of composition graphs 2 description.Exemplary environments 300 comprises people 396.In one embodiment, computing environment 392 can be mutual with people, such as, receive the input from people, or provide output to people, comprise and carrying out via display 394.In one embodiment, computing environment 392 can carry 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 export and represents by the data of mobile device to the traversal that transmission line is dispatched.Such as, communication module can be configured to export data by wired or wireless communication path.

The prediction example of the operation of the TSM instrument in use can be illustrated with reference to Fig. 3 and Fig. 4.Such as, the receiving circuit 322 of TSM instrument 320 receives the data of at least one physical parameter of high voltage power transmission system 205 representing another transformer station that is configured to transmit electric power from a specific transformer station.Such as, high voltage power transmission system can be the specific 500kV overhead power transmission system of building transferring electric power between the transformer station for BPA ' s Big Eddy Substation and Goldendale (Washington) northwest four mile near The Dalles (Oregon).Physical parameter can comprise the fault of aging, the insulator of insulator adjoint system or the date of maintenance history or last clean insulator.

Continue this prediction example, analysis circuit 324 is based on the potential work risk of a part for this specific high voltage power transmission system of received data assessment.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 carries out based on to the potential work risk of system evaluation, and can scheduling determined when to check the possible work importance (that is, complete failure with lose ability a little) weighing the potential work risk assessed in route.Such as, plan circuit to move on transmission line 230.2 and carry out inspection traversal to insulator group 220A, the 220B etc. that are arranged on each tower 210 by schedule mobile device 380.If work risk is divided into slightly, so time scheduling can be facilitated to travel through in certain of future.When mobile device is had the ability from the position detection insulator 220A.1 transmission line 230.2 and 220A.3, transmission line 230.2 can be selected to provide the inspection entrance of the insulator of high voltage power transmission system.If mobile device does not have efficiency test away from the insulator of the transmission line of traversal, so plan circuit can move on one of three transmission lines 230.1,230.2 and 230.3 by schedule mobile device, and corresponding inspection traversal is carried out to the insulator supporting each transmission line.Such as, travel through transmission line 230.1 and can be provided to the inspection entrance of insulator 220A.1 and 220B.1 for mobile device.Communication module 328 is configured to export and represents by the data of mobile device to the traversal that transmission line is dispatched.In this prediction example, communication module can export and represent that the data of schedule mobile device movement on transmission line 230.2 are to carry out inspection traversal at selected date and time 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 and is configured to from a localized transmissions electric power to another place and the high voltage power transmission system 205 of composition graphs 3 description, and be illustrated as tower 210.Environment comprises mobile device 480.

TSM instrument 420 is configured to potential inspection and/or the maintenance requirements of assessing the structure relevant to high voltage power transmission system 205.TSM instrument is also configured to the transmission line in response to potential inspection and/or maintenance requirements correspondingly schedule mobile device traversal high voltage power transmission system.Mobile device is configured to the transmission line traveling through high voltage power transmission system, and in response to potential inspection and/or maintenance requirements executable operations.High voltage power transmission system is configured to from a localized transmissions 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 assigns the transmission line of mobile device 480 Ergodic Theory.

In one embodiment, mobile device 480 travels through another transmission line while movement on being configured in use transmission line.In one embodiment, mobile device is configured for and carries out passive or active electrical inspection to transmission line and/or the structure relevant to transmission line section.In one embodiment, mobile device is configured to measure the physical parameter of transmission line, and what comprise in temperature, cleanliness factor, stress/strain and/or sag is one or more.In one embodiment, mobile device comprises camera or is configured to the radar in the vegetation gap processing transmission line.In one embodiment, mobile device is configured to from the potential inspection of 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 the activity about potential inspection and/or maintenance requirements.In one embodiment, mobile device is configured to travel through transmission line and the potential inspection independently solved for the assessment of transmission line and/or maintenance requirements.In one embodiment, mobile device can be similar to the mobile device 380 that composition graphs 4 describes at least substantially.

In one embodiment, TSM instrument 420 computer memory device 338 that can comprise receiving circuit 422 and evaluation circuits 424, plan circuit 426, communication module 428, mobile device selection 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 a start operation, operating process comprises reception operation 510.Reception operation comprises the data receiving and represent and be configured to from a localized transmissions electric power at least one physical parameter of the electrical power transmission system of another place.In one embodiment, reception operates the receiving circuit 322 that composition graphs 4 can be used to describe and implements.Analysis operation 530 comprises at least in part based on the potential work risk of a part for received data assessment electrical power transmission system.In one embodiment, reception operates the analysis circuit 324 that composition graphs 4 can be used to describe and implements.The potential work Risk Scheduling mobile device that schedules operations 540 comprises in response to assessment travels through transmission line at least partially.Transmission line provides the path of the part towards electrical power transmission system.In one embodiment, the plan circuit 326 that schedules operations can use composition graphs 4 to describe is implemented.Mobile device be configured to travel through electrical power transmission system transmission line and in response to the potential work risk of the assessment of electrical power transmission system executable operations.In one embodiment, the mobile device 380 that mobile device can use composition graphs 4 to describe is implemented.Operating process comprises end operation.

In one embodiment, schedules operations 540 comprises at least one operation bidirectional, such as, and operation 542.Operation 542 comprises to be made the potential work risk priority of the first assessment of the Part I to high voltage power transmission system in the potential work risk of the second assessment to the second high voltage power transmission system and dispatches traversal first transmission line section in response to this priority.Priority ordering is at least in part based on the potential work risk of the first assessment and the work risk of the second assessment.

Fig. 7 illustrates the alternate embodiments of the reception operation 510 of Fig. 6.Reception operation can comprise at least one operation bidirectional.At least one operation bidirectional can comprise operation 512, operation 514 or operation 516.Operation 512 comprises reception and represents have on high voltage power transmission system the data affecting or predict at least one event influential.Operation 514 comprises the data receiving the existence conditions representing impact to voltage electrical power transmission system, and described existence conditions is provided by another mobile device worked in high voltage power transmission system.Operation 516 comprises and receives expression first mobile device and meet the data that the performance of the potential work risk of assessment and the second mobile device meet the performance of the potential work risk of assessment.

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 with have the second performance to select specific mobile device to carry out the traversal of operation dispatching in response to second mobile device of potential work risk of assessment.Operation 554 comprises the traversal controlling the scheduling performed by mobile device.Operation 556 is included in the data storing the traversal representing the scheduling performed by mobile device in computer-readable medium.Operation 558 comprises the information data exporting the traversal representing the scheduling performed by mobile device.Operation 562 comprises and converts the traversal of the scheduling performed by mobile device to specific visual depiction (visual depiction), and exports specific visual depiction.Operation 564 comprise be provided to the traversal that is at least partly based on the scheduling performed by mobile device inform in people, computing machine or system at least one.

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

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

In one embodiment, this process comprise 622 be provided to the data being at least partly based on the traversal representing scheduling inform in people, computing machine or system at least one.In one embodiment, this process comprises 624 and converts the data of the traversal representing scheduling to specific visual depiction, and exports specific visual depiction.In one embodiment, this process comprises 626 outputs and represents the data of mobile device to the traversal of band 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 voltage power 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 that composition graphs 3 describes.This environment also comprises robot moving equipment 705.This mobile device comprises the movable chassis (chassis) 707 being configured to the movement on the band electric transmission line of electrical power transmission system advanced by propulsion system 710.This mobile device comprises checking module 722, and this checking module is configured to the self-verifying structure relevant with charged electrical power transmission system in movable chassis physical interconnection.This mobile device comprises risk evaluation module 724, and this risk evaluation module and movable chassis physical interconnection are configured to the potential risk of the inspection data assessment electrical power transmission system provided 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 export the data representing 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 use hardware, software and/or firmware implementation to implement.Those skilled in the art will recognize that, in one embodiment, the many aspects of mobile device can by polytype Mechatronic Systems separately and/or common implementing, described Mechatronic Systems has the electronic package of wide scope, such as, 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 use multi-purpose computer to implement, and described multi-purpose computer is programmed the one or more specific functions implementing or perform mobile device.Such as, the many aspects of mobile device can use computing equipment 732 to implement.In one embodiment, the general thin computing equipment 20 that computing equipment can partially or completely use composition graphs 1 to describe is implemented.In one embodiment, the dedicated computing equipment 100 that computing equipment can partially or completely use composition graphs 2 to describe is implemented.

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

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

B Jiang and AV Mamishev describes the example of the movable chassis of propelling 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 describes the example of the movable chassis of propelling in " Development of an Inspection Robot Control System for 500 kV Extra-High-voltage Power Transmission Lines " (SICE 2004 Annual Conference Sapporo Japan (in August, 2004)).A.De Souza etc. describe the example of the movable chassis of propelling 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. describe the example of the movable chassis of propelling 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. describes the embodiment of the movable chassis of propelling 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. describes the example of the movable chassis of propelling 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) describe the example of the movable chassis of propelling 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 on March 5th, 2012 at " Automated Inspection of Electric Transmission Lines:The power supply system " (IEEE 2006)? tp=& arnumber=4152907 & userType=& tag=1) in describe the embodiment of the movable chassis of propelling.

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 the structure that self-verifying is caused by normal wear and breakage.In one embodiment, checking module is configured to self-verifying by the latent lesion of the aging structure caused of structure or degeneration.In one embodiment, checking module is configured to latent lesion or the degeneration of the structure that self-verifying is caused by weather event.In one embodiment, checking module is configured to latent lesion or the degeneration of the structure that self-verifying is caused 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, risk evaluation module 724 is configured to the potential risk from normal wear and loss that is subject in response to the inspection data assessment electrical power transmission system provided by checking module.In one embodiment, the potential risk from the vegetation gradually invaded 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 the potential risk from the vegetation gradually invaded that assessment electrical power transmission system is subject to.Inspection data that assessment response provides in checking module and in response to the data represented in the front vegetation gradually invaded once checked.Such as, comprise in the assessment of potential risk, expect that the data in the past once checked are provided for assessing the benchmark of the vegetation growth speed gradually invaded.In one embodiment, risk evaluation module is configured to the potential risk from the vegetation gradually invaded that assessment electrical power transmission system is subject to.Assessment response in the inspection data 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 gradually invaded.In one embodiment, risk evaluation module is configured to the potential risk from the vegetation gradually invaded that assessment electrical power transmission system is subject to.Assessment response is in the inspection data provided by checking module and in response to one or more local geographical 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 physically associate and be configured to perform maintenance, repair or amendment activity in response to the potential risk assessed to electrical power transmission system.In one embodiment, maintenance modules is configured to automatically perform maintenance, repair or amendment activity to electrical power transmission system.In one embodiment, maintenance modules is configured to perform maintenance, repair or amendment activity in response to the mandate received to electrical power transmission system.In one embodiment, maintenance modules is configured to damage or the degeneration of keeping in repair the structure relevant to electrical power transmission system.In one embodiment, maintenance modules is configured to keep in repair or revise the insulator relevant to electrical power transmission system.In one embodiment, maintenance modules is configured to perform maintenance, repair or amendment activity to the structure relevant to electrical power transmission system.In one embodiment, maintenance modules is configured to prune the vegetation of the structure that intrusion is relevant to electrical power transmission system gradually.In one embodiment, maintenance modules is configured to prune the vegetation of the structure that intrusion is relevant to electrical power transmission system gradually.Pruning can be sprayed by transmission of electric energy, luminous energy or chemistry and/or physical shear realizes.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 the transmission line.In one embodiment, maintenance modules is configured to transmission line deicing mechanically.In one embodiment, maintenance modules is configured to heat transfer line.Such as, can 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 move on the transmission line of electrical power transmission system and the self-verifying structure relevant to electrical power transmission system.TSM instrument is configured to the potential risk in response to the inspection data assessment electrical power transmission system provided by mobile device, and therefore starts maintenance, repair to the structure of electrical power transmission system or amendment activity 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 use hardware, software and/or firmware implementation to implement.Those skilled in the art will recognize that, in one embodiment, the many aspects of TSM instrument can by polytype Mechatronic Systems separately and/or common implementing, described Mechatronic Systems has the electronic package of wide scope, such as, 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 use multi-purpose computer to implement, and described multi-purpose computer is programmed the one or more specific functions implementing or perform TSM instrument.Such as, the many aspects of TSM instrument can use computing equipment 768 to implement.In one embodiment, the general thin computing equipment 20 that computing equipment can partially or completely use composition graphs 1 to describe is implemented.In one embodiment, the dedicated computing equipment 100 that computing equipment can partially or completely use composition graphs 2 to describe is implemented.

In one embodiment, robot moving equipment 705 is configured to carry out radio communication with TSM instrument 760 further.In one embodiment, transmission system management tool is configured to carry out radio communication with robot moving equipment further.In one embodiment, transmission system management tool is configured to be still in fixed position further.In one embodiment, transmission system management tool is configured to the potential risk in response to the inspection data assessment electrical power transmission system provided by mobile device.Transmission system management tool is configured to correspondingly dispatch and authorizes robot moving equipment or another robot moving equipment to perform 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 that composition graphs 3 describes.Environment also comprises robot moving equipment 805.Mobile device comprises the movable chassis 807 being configured to the movement on the transmission line of electrical power transmission system advanced by propulsion system 710.Mobile device comprises vegetation checking module 822, and this checking module and movable chassis physical interconnection are configured to the vegetation characteristics measuring the part grown near overhead power transmission system.Such as, Figure 11 illustrates vegetation 802 and grows close to 803 power transmission lines 230.1.Mobile device comprises and physically to associate with movable chassis and to be configured to export the communication module 826 of the data representing the vegetation characteristics recorded.

It will be understood by those skilled in the art that in one embodiment, the many aspects of mobile device 805 can use hardware, software and/or firmware implementation to implement.Those skilled in the art will recognize that, in one embodiment, the many aspects of mobile device can by polytype Mechatronic Systems separately and/or common implementing, described Mechatronic Systems has the electronic package of wide scope, such as, 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 use multi-purpose computer to implement, and described multi-purpose computer is programmed the one or more specific functions implementing or perform mobile device.Such as, the many aspects of mobile device can use computing equipment 832 to implement.In one embodiment, the general thin computing equipment 20 that computing equipment 832 can partially or completely use composition graphs 1 to describe is implemented.In one embodiment, the dedicated computing equipment 100 that computing equipment 832 can partially or completely use composition graphs 2 to describe is implemented.

In one embodiment, the vegetation that the part comprising close overhead power transmission system 205 known before this near the vegetation 802 of growth grows.In one embodiment, the vegetation that the part comprising close overhead power transmission system unknown before this near the vegetation of growth grows.

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

In one embodiment, communication module 862 is configured to wirelessly export the data representing the vegetation characteristics recorded.Such as, represent that the data of vegetation characteristics recorded can wirelessly communicate vegetation management instrument 860.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 with the maintenance module 828 being configured to prune vegetation.

In one embodiment, mobile device 805 comprises and physically to associate with movable chassis and to be configured to prune the maintenance module 828 of the vegetation that the part near overhead power transmission system grows.In one embodiment, maintenance module is configured in response to representing the vegetation that the part of the output data pruning of the vegetation characteristics recorded near overhead power transmission system grows.In one embodiment, maintenance module is configured to automatically to prune the vegetation that the part near overhead power transmission system grows.In one embodiment, maintenance module is configured to prune in response to the instruction from vegetation management instrument the vegetation grown near the part of overhead power transmission system.

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 that composition graphs 3 describes.Environment also comprises mobile device 905 and vegetation management instrument 960.Mobile device comprises and is configured to move on the transmission line of electrical power transmission system or move along it and measure one or more features of the vegetation gradually invading electrical power transmission system.

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 configured to prune the vegetation that gradually invades further to process the risk of assessment.Such as, pruning the vegetation gradually invaded can use vegetation control module 924 to implement.In one embodiment, mobile device is configured to use electric energy or luminous energy, chemistry sprinkling and/or physical shear 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 use hardware, software and/or firmware implementation to implement.Those skilled in the art will recognize that, in one embodiment, the many aspects of mobile device can by polytype Mechatronic Systems separately and/or common implementing, described Mechatronic Systems has the electronic package of wide scope, such as, 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 use multi-purpose computer to implement, and described multi-purpose computer is programmed the one or more specific functions implementing or perform mobile device.Such as, the many aspects of mobile device can use computing equipment 932 to implement.In one embodiment, the general thin computing equipment 20 that computing equipment can partially or completely use composition graphs 1 to describe is implemented.In one embodiment, the dedicated computing equipment 100 that computing equipment can partially or completely use composition graphs 2 to describe is implemented.

Vegetation management instrument 960 is configured to process one or more feature of recording and assesses the risk that the vegetation that gradually invades causes electrical power transmission system.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 assess based on generally available guide and/or agreement the risk that the vegetation that gradually invades causes electrical power transmission system at least in part.In one embodiment, vegetation management instrument is configured to assess based on generally available guide and/or agreement the risk that the vegetation that gradually invades causes electrical power transmission system at least in part.In one embodiment, vegetation management instrument is configured to assess the risk that the vegetation that gradually invades is caused electrical power transmission system.This risk is assessed at least in part based on for the specific guide of electrical power transmission system and/or agreement.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 gradually invaded.In one embodiment, vegetation management instrument is configured to the spacing determining between the vegetation that gradually invades and transmission line in response to one or more features of the vegetation gradually invaded recorded.In one embodiment, vegetation management instrument is configured to assess the risk that the vegetation that gradually invades is caused electrical power transmission system.Assessing this risk is based on one or more local geographical or orographic factor, these factors comprise: the vegetation gradually invaded be above electrical power transmission system, below or side direction, and/or the vegetation gradually invaded is in the upward slope of electrical power transmission system or windward side.In one embodiment, the risk that the vegetation that vegetation management instrument is configured to gradually to invade based on the height of the vegetation gradually invaded or the passage of time analysis and evaluation of degree change is caused transmission line.In one embodiment, vegetation management instrument is configured to process the spacing recorded between vegetation and electrical power transmission system gradually invaded.The risk that the vegetation that vegetation management instrument is also configured to gradually to invade based on the spacing automatic evaluation recorded is caused transmission line.In one embodiment, vegetation management instrument is configured to process the spacing recorded between vegetation and electrical power transmission system gradually invaded.The risk that the vegetation that vegetation management instrument is also configured to gradually to invade based on the regulation sag value automatic evaluation of the transmission line of the spacing recorded and electrical power transmission system is caused transmission line.In one embodiment, vegetation management instrument is configured to process the spacing recorded between vegetation and the transmission line of electrical power transmission system gradually invaded.The risk that the vegetation that vegetation management instrument is also configured to gradually to invade based on the wind environment automatic evaluation of the regulation of the spacing recorded and transmission line is caused transmission line.Such as, the wind environment of regulation can comprise prediction or existing wind environment.

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

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

In one embodiment, test and excitation frequency is approximately nominal transfer line excitation frequency.In one embodiment, test and excitation frequency is different from nominal transfer line excitation frequency.In one embodiment, the about zero crossing of excitation carried at band electric transmission line is on band electric transmission line and applies test and excitation.In one embodiment, about zero crossing place comprises and is no more than the zero crossing of excitation that band electric transmission line carries and adds or deduct 10 degree.In one embodiment, about zero crossing place comprises and is no more than the zero crossing of excitation that band electric transmission line carries and adds or deduct 5 degree.In one embodiment, about zero crossing place comprises and is no more than the zero crossing of excitation that band electric transmission line carries and adds or deduct 2 degree.In one embodiment, about zero crossing place comprises and is no more than the zero crossing of excitation that band electric transmission line carries and adds or deduct 1 degree.In one embodiment, test and excitation is applied to band electric transmission line in the seclected time of the frequency cycle of the excitation of being with electric transmission line to carry in section.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 insulator to the response of test and excitation.In one embodiment, static equipment and mobile device are configured to transmission line and/or the passive or active electrical inspection of the collaborative execution of the structure relevant to transmission line.In one embodiment, static equipment and mobile device are configured to the physical parameter of cooperative transmission line, and what comprise in temperature, cleanliness factor, stress/strain and/or sag is one or more.

In one embodiment, mobile device 1005 comprises and is configured to measurement along the height of the vegetation gradually invaded of transmission line 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 the cooperative of the performance managing static equipment 1420 and mobile device 1005 pairs of electrical power transmission systems.In one embodiment, test controller is configured to mobile device further and moves aspect by transmission line.In one embodiment, test controller is configured to start the cooperative to the performance of electrical power transmission system further.In one embodiment, test controller is configured to receive from static equipment or mobile device the data representing the collaborative performance recorded further.In one embodiment, test controller is configured to the information data of the data exporting the collaborative performance recorded of response expression further.

Embodiment comprises method.After a start operation, the operating process of the method comprises the transmission line static equipment in fixed position being electrically coupled to electrical power transmission system.Such as, in one embodiment, described in conjunction with Figure 17, this operation can use conductor 1412 and connector 1414 that static equipment 1420 is electrically coupled to transmission line 230.1 and implement.Operating process comprises startup mobile device arrives the select location on transmission line movement by transmission line 230.1.Such as, in one embodiment, this operation can be implemented by using the mobile control module 1052 described in conjunction with Figure 14 to start the transmission line that mobile device 1005 moves by describing in conjunction with Figure 17.Operating process comprises the performance using 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 the data exporting the performance recorded representing structure.Such as, in one embodiment, this operation can use in conjunction with Figure 14 describe communication module 1028 or communication module 1056 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 management static equipment and mobile device to the cooperative of the performance of electrical power transmission system.Such as, in one embodiment, this operation can use the Collaborative Control module 1054 described in conjunction with Figure 14 to implement.

Figure 13 illustrates exemplary environments 1000.Environment comprises electrical power transmission system, is illustrated as a part of the tower 210A of the high voltage power transmission system 205 that composition graphs 3 describes, insulator 220A.1 and transmission line 230.1.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 move on the transmission line of electrical power transmission system or move along it, and at least two mobile devices are configured to the performance of (ii) cooperative transmission line and/or other structures relevant to electrical power transmission system further.

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 measuring modules 1022, cooperative module 1024, maintenance module 1026 or communication module 1028.Performance measuring modules is configured to the performance of mobile device 1070 cooperative transmission line to Figure 13 and/or the structure relevant with electrical power transmission system.Cooperative module is configured to be convenient to when measuring the performance of transmission line and/or the structure relevant to electrical power transmission system work in coordination with mobile device 1070.Communication module is configured to communicate with another mobile device at least two mobile devices or robot moving equipment management tool.

It will be understood by those skilled in the art that in one embodiment, the many aspects of mobile device can use hardware, software and/or firmware implementation to implement.Those skilled in the art will recognize that, in one embodiment, the many aspects of mobile device can by polytype Mechatronic Systems separately and/or common implementing, described Mechatronic Systems has the electronic package of wide scope, such as, 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 use multi-purpose computer to implement, and this multi-purpose computer is programmed the one or more specific functions implementing or perform mobile device.Such as, the many aspects of mobile device can use computing equipment 1032 to implement.In one embodiment, the general thin computing equipment 20 that computing equipment can partially or completely use composition graphs 1 to describe is implemented.In one embodiment, the dedicated computing equipment 100 that computing equipment can partially or completely use composition graphs 2 to describe is implemented.

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 overhead power transmission system.In one embodiment, electrical power transmission system comprises underground electric transmission system.In one embodiment, at least two mobile devices are configured to automatically and the performance of cooperative transmission line and/or other structures relevant to power transmission line further.In one embodiment, at least two mobile devices be configured to further cooperative transmission line and/or other structures relevant to transmission line electrically and/or mechanical property.In one embodiment, at least two mobile devices are configured to the performance of the assembly of cooperative electrical power transmission system between the two further.In one embodiment, at least two mobile devices are configured to automatically and the collaborative voltage resistance energy determining the insulator of support or fixed transmission lines further.Such as, in one embodiment, mobile device 1005 is configured to apply test and excitation on the transmission line, and mobile device 1070 is configured to measure transmission line to the response of test and excitation.

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

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

Figure 14 illustrates the alternate embodiments of the environment 1000 comprising system 1002.This system comprises at least two mobile devices, is illustrated as first mobile device 1005 and second mobile device 1070 of Figure 13.At least two mobile devices are configured to (i) and move on the transmission line of electrical power transmission system or move along it, and at least two mobile devices are configured to the performance of (ii) cooperative transmission line and/or other structures relevant to electrical power transmission system further.This system comprises mobile device management instrument 1050.Mobile device management instrument is configured to control at least two mobile device traversal transmission lines, such as, and the transmission line 230.1 of high voltage power 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 to the performance of transmission line and/or the structure relevant to electrical power transmission system.Communication module is configured to communicate 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 use hardware, software and/or firmware implementation to implement.Those skilled in the art will recognize that, in one embodiment, the many aspects of mobile device management instrument can by polytype Mechatronic Systems separately and/or common implementing, this Mechatronic Systems has the electronic package of wide scope, such as, 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 use multi-purpose computer to implement, and this multi-purpose computer is programmed the one or more specific functions implementing or perform mobile device.Such as, the many aspects of mobile device management instrument can use computing equipment 1058 to implement.In one embodiment, the general thin computing equipment 20 that computing equipment can partially or completely use composition graphs 1 to describe is implemented.In one embodiment, the dedicated computing equipment 100 that computing equipment can partially or completely use composition graphs 2 to describe is implemented.

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

Embodiment comprises method.After a start operation, the operating process of the method comprises startup first mobile device arrives the primary importance on transmission line movement by the transmission line of electrical power transmission system.Such as, in one embodiment, this operation can use and describe mobile control module 1052 in conjunction with Figure 14 and implement.Operating process comprises startup second mobile device arrives the second place on transmission line movement by transmission line.Such as, in one embodiment, this operation can also be implemented by using the mobile control module 1052 described in conjunction with Figure 14.Operating process comprises the performance of the structure of use first mobile device and the second mobile device measurement electrical power transmission system.Such as, in one embodiment, this operation can also use performance measuring modules 1022, cooperative module 1024 and/or the Collaborative Control module 1054 described in conjunction with Figure 14 to implement.First mobile device and the second mobile device are configured to the performance of cooperative structure.Operating process comprises the data exporting the performance recorded representing structure.Such as, in one embodiment, this operation also can use in conjunction with Figure 14 describe communication module 1028 and/or communication module 1056 implement.Operating process comprises end operation.

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

Figure 15 illustrates exemplary environments 1200.Environment comprises electrical power transmission system, is illustrated as the transmission line 230.1 of the high voltage power transmission system 205 that composition graphs 3 describes.Environment also comprises mobile device 1205.Mobile device comprises and is configured to the cabinet 1207 of movement on band electric transmission line, this band electric transmission line as the transmission line 260A between two transmission towers, tower 210a and 210B of the aerial high-voltage electrical power transmission system that these two transmission towers describe as composition graphs 3.Mobile device comprises and physically to associate with cabinet and to be configured to physically to assist the supplementary module 1222 of conductor cable between installation or removal two transmission towers or wire.

In one embodiment, supplementary module 1222 comprises the bracing wire or stay cord supplementary module 1224 that are configured between two transmission towers, configure bracing wire or stay cord.In one embodiment, bracing wire or stay cord supplementary module are configured to configuration bracing wire or stay cord, and this bracing wire or stay cord are configured to be convenient to install new conductor cable or wire between two transmission towers.In one embodiment, stay cord comprises lightweight, high strength stay cord, such as, 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 to 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 the support for new conductor cable or wire or interval stationary installation.In one embodiment, support or interval stationary installation supplementary module are configured to physically to be convenient in any one place of two transmission towers or the open-wire transmission line mounting bracket traveled through along this supplementary module or interval stationary installation.In one embodiment, supplementary module comprises the stretching supplementary module 1228 being configured to apply pulling force on the new conductor cable installed or wire.In one embodiment, supplementary module comprises the dismounting supplementary module 1232 being configured to physically assist conductor cable or the wire dismantled between two transmission towers.In one embodiment, supplementary module comprises the configuration supplementary module 1234 being configured to physically assist conductor cable or the wire dismantled between two transmission towers.In one embodiment, supplementary module comprises the bobbin and 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 being configured to conductor cable or the wire collecting dismounting.In one embodiment, mobile device comprises and physically to associate with cabinet and to be configured for the communication module 1244 of radio communication.

It will be understood by those skilled in the art that in one embodiment, the many aspects comprising the mobile device 1205 of supplementary module 1222 can use hardware, software and/or firmware implementation to implement.Those skilled in the art will recognize that, in one embodiment, the many aspects of mobile device can by polytype Mechatronic Systems separately and/or common implementing, described Mechatronic Systems has the electronic package of wide scope, such as, 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 use multi-purpose computer to implement, and described multi-purpose computer is programmed the one or more specific functions implementing or perform mobile device.Such as, the many aspects of mobile device can use computing equipment 1246 to implement.In one embodiment, the general thin computing equipment 20 that computing equipment can partially or completely use composition graphs 1 to describe is implemented.In one embodiment, the dedicated computing equipment 100 that computing equipment can partially or completely use composition graphs 2 to describe is implemented.

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 voltage power transmission system 205 that composition graphs 3 describes.Environment comprises system 1302.This system comprises the mobile device 1205 and installation subcontrol 1350 that describe in conjunction with Figure 15.This installation subcontrol comprises and is configured to control mobile device and moves by being with the mobile control module 1352 of electric transmission line.Subcontrol is installed and comprises the physics secondary control module 1354 being configured to control mobile device and providing physics auxiliary.Subcontrol is installed and comprises the communication module 1356 be configured to mobile device radio communication.In one embodiment, travel through control module 1352 to be configured to control the movement of at least two mobile devices on the band electric transmission line of electrical power transmission system simultaneously.

It will be understood by those skilled in the art that in one embodiment, the many aspects of installing subcontrol can use hardware, software and/or firmware implementation to implement.Those skilled in the art will recognize that, in one embodiment, install subcontrol many aspects can by polytype Mechatronic Systems independent and/or common implementing, described Mechatronic Systems has the electronic package of wide scope, such as, 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 installing subcontrol can use multi-purpose computer to implement, and described multi-purpose computer is programmed the one or more specific functions implementing or perform mobile device.Such as, the many aspects of installing subcontrol can use computing equipment 1358 to implement.In one embodiment, the general thin computing equipment 20 that computing equipment can partially or completely use composition graphs 1 to describe is implemented.In one embodiment, the dedicated computing equipment 100 that computing equipment can partially or completely use composition graphs 2 to describe is implemented.

The all lists of references quoted herein be all incorporated herein by way of reference or they theme with herein can be consistent scope in be incorporated to herein.

In some embodiments, at least one of the following " is configured to " to comprise: 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 used in appended claims is generally understood as open to the outside world term.Such as, term " comprises " and should be understood to " including but not limited to ".Such as, term " has " and should be understood to " at least having ".Such as, term " has " and should be understood to " having at least ".Such as, term " comprise " and should be understood to " including but not limited to " etc.If it is to be further understood that be intended to the concrete quantity representing the claim recitation introduced, then such implication should clearly be stated in the claims, and when there is not this statement, then there is not this implication.Such as, in order to help to understand, following appended claims can comprise use leading question, and such as, " at least one " or " one or more ", to introduce claim recitation.But, the any specific rights comprising the claim recitation of this introducing is required that being defined as invention only comprises a this statement by claim recitation that indefinite article " " or " one " introduce to use this phrase should not be construed as imply, even when same claim comprises the indefinite article of guiding phrase " one or more " or " at least one " and such as " " or " one " and so on, (such as, " receiver " should be understood to " at least one receiver " usually) is also like this; Use for the definite article for introducing claim recitation is like this equally.In addition, even if clearly describe the concrete quantity of the claim recitation of introducing, also will be appreciated that this statement should be understood to usually and mean that the quantity at least stated (such as, the blunt statement of " at least two rooms " or " multiple room ", when there is no other modifiers, usually mean at least two rooms.

When use such as " in A, B and C at least one ", " in A, B or C at least one " or " being selected from one [article] of the group be made up of A, B and C " phrase, general this structure be meant to antisense conjunction (such as, any one in these phrases can include but not limited to the system of following item: A separately, independent B, together with independent C, A and B, together with A with C, together with B with C, or A, B, C are together; Such as, and this system may further include than more than in A, B or C, 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 the possibility of any one or two terms comprising one of term, term.Such as, phrase " A or B " should be understood to the possibility comprising " A " or " B " or " A and B ".

Aspect as herein described describes different assembly, and these different assemblies are included in other different assemblies or from other different assemblies and connect.Should be appreciated that the framework of this description is only example, and in fact, other frameworks many obtaining identical function can be implemented.In the meaning of design, any assembly obtaining identical function arrange " in association " effectively make to obtain needed for function.Therefore, any two assemblies combining to obtain specific function herein can be regarded as each other " being correlated with " make to obtain needed for function, and no matter framework or intermediate module be how.Similarly, two assemblies like this in association also can be considered as each other " on being operably connected ", or " operationally in coupling " is to obtain required function.Any two assemblies that can associate so also can be regarded as each other " on operationally can being coupled " to obtain required function.Instantiation on operationally can being coupled includes but not limited to that can mate physically or interactional physically assembly, or wirelessly can be mutual or wirelessly interactional assembly.

For appended claims, the operation stated herein generally can perform according to random order.In addition, although provide multiple operating process in order, should be understood that, multiple operation can perform according to other orders except the order illustrated, or can perform simultaneously.The example of this sequence replaced can comprise overlap, interlocks, interrupts, reorders, increases, prepares, supplements, synchronous, oppositely or other different sequences, unless context indicates in addition.Use the square frame such as " beginning ", " end ", " stopping " not intended to be represents the beginning or end that are confined to any operation or function in block scheme in a block diagram.This process flow diagram or block scheme can be incorporated in other process flow diagrams or block scheme performing additional functionality in the block scheme of the application before or after illustrated function.In addition, as " response ", " relating to " or the adjectival term of other past tenses, also not intended to be gets rid of this variant, unless context indicates in addition.

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

Claims

1. a system, it comprises:

Static equipment, it is configured to the transmission line electrical couplings of electrical power transmission system and rests on fixed position during the thermometrically of described electrical power transmission system; And

Mobile device, it is configured to move on described transmission line,

Described static equipment and described mobile device are configured to the performance of electrical power transmission system described in cooperative further.

2. system according to claim 1, wherein said electrical power transmission system comprises high voltage power transmission system.

3. system according to claim 1, wherein said electrical power transmission system comprises electric power distribution system.

4. system according to claim 1, wherein said transmission line is band electric transmission line.

5. system according to claim 1, wherein said transmission line is electric transmission line.

6. system according to claim 1, wherein said static equipment and described mobile device are configured to the performance of the assembly of the described electrical power transmission system of cooperative between described static equipment and described mobile device.

7. system according to claim 1, wherein said static equipment and described mobile device are configured to automatically and the performance of electrical power transmission system described in cooperative.

8. system according to claim 1, wherein said static equipment and described mobile device are configured to electric property and/or the mechanical property of electrical power transmission system described in cooperative.

9. system according to claim 1, wherein said static equipment and described mobile device are configured to automatically and the collaborative voltage resistance energy determining the insulator supporting or fix described transmission line.

10. system according to claim 1, wherein said static equipment and described mobile device are configured to the performance of transmission line and/or other structures relevant to described electrical power transmission system described in cooperative when the instruction not from third party device.

11. systems according to claim 1, wherein said static equipment is configured to the performance of transmission line described in cooperative and/or other structures relevant to described electrical power transmission system in response to the instruction from third party device with described mobile device.

12. systems according to claim 1, one in wherein said static equipment or described mobile device is configured to apply test and excitation to described transmission line, and another in described static equipment or described mobile device is configured to measure the response of described transmission line to described test and excitation.

13. systems according to claim 12, wherein said test and excitation frequency is approximately nominal transfer line excitation frequency.

14. systems according to claim 12, wherein said test and excitation frequency is different from nominal transfer line excitation frequency.

15. systems according to claim 12, wherein apply described test and excitation at about zero crossing of the described excitation of being carried by described band electric transmission line to described band electric transmission line.

16. systems according to claim 15, wherein said about zero crossing place comprises the described zero crossing be no more than in the described excitation of being carried by described band electric transmission line and adds or deduct 10 degree.

17. systems according to claim 15, wherein said about zero crossing place comprises the described zero crossing be no more than in the described excitation of being carried by described band electric transmission line and adds or deduct 5 degree.

18. systems according to claim 15, wherein said about zero crossing place comprises the described zero crossing be no more than in the described excitation of being carried by described band electric transmission line and adds or deduct 2 degree.

19. systems according to claim 15, wherein said about zero crossing place comprises the described zero crossing be no more than in the described excitation of being carried by described band electric transmission line and adds or deduct 1 degree.

20. systems according to claim 1, wherein apply described test and excitation to described band electric transmission line in the seclected time of the frequency cycle of the excitation of being carried by described band electric transmission line in section.

21. systems according to claim 1, wherein said mobile device is configured to the insulator applying test and excitation to supporting or fix described transmission line, and described static equipment is configured to measure the response of described insulator to described test and excitation.

22. systems according to claim 1, wherein said static equipment and described mobile device are configured to work in coordination with described transmission line and/or the structure relevant to described transmission line perform passive or active electrical inspection.

23. systems according to claim 1, wherein said static equipment and described mobile device are configured to the physical parameter of transmission line described in cooperative, and it is one or more that described physical parameter comprises in temperature, cleanliness factor, stress/strain and/or sag.

24. systems according to claim 1, wherein said mobile device comprises and is configured to measure the height of the vegetation gradually invaded along described transmission line or the sensor of degree.

25. systems according to claim 24, wherein said sensor comprises camera, radar, laser locator or sonar.

26. systems according to claim 1, wherein said mobile device comprises robot moving equipment.

27. systems according to claim 1, it comprises test controller further, and described test controller is configured to manage the described cooperative carried out the performance of described electrical power transmission system by described static equipment and described mobile device.

28. systems according to claim 27, wherein said test controller is configured to control described mobile device further and moves aspect by described transmission line.

29. systems according to claim 27, wherein said test controller is configured to start the described cooperative carried out the performance of described electrical power transmission system further.

30. systems according to claim 27, wherein said test controller is configured to receive from described static equipment or described mobile device the data representing the collaborative described performance recorded further.

31. systems according to claim 30, wherein said test controller is configured to export the information data in response to the described data representing the collaborative described performance recorded further.

32. 1 kinds of methods, it comprises:

Described static equipment in fixed position is electrically coupled to the transmission line of electrical power transmission system;

Start mobile device arrives the select location on described transmission line movement by described transmission line;

Use described static equipment and described mobile device to measure the performance of the structure of described electrical power transmission system, described static equipment and described mobile device are configured to the described performance of structure described in cooperative; And

Export the data of the measured described performance representing described structure.

33. methods according to claim 32, wherein said electrical power transmission system comprises high voltage power transmission system.

34. systems according to claim 32, wherein said electrical power transmission system comprises electric power distribution system.

35. methods according to claim 32, it comprises further:

Manage the described cooperative that the described performance to described electrical power transmission system is carried out by described static equipment and described mobile device.

36. 1 kinds of systems, it comprises:

At least two mobile devices, it is configured to (i) and moves on the transmission line of electrical power transmission system or move along it, and described at least two mobile devices are configured to the performance of transmission line and/or other structures relevant to described electrical power transmission system described in (ii) cooperative further; And

Mobile device management instrument, its be configured to control described at least two mobile devices travel through the described transmission line of described electrical power transmission system.

37. systems according to claim 36, wherein said mobile device management instrument is configured to dispatch and at least two mobile devices described in controlling travel through the described transmission line of described electrical power transmission system.

38. systems according to claim 36, wherein said mobile device management instrument is configured to provide instruction about they cooperative performances to described at least two mobile devices further.

39. systems according to claim 36, wherein said mobile device management instrument is configured to the aspect of at least two mobile device cooperative performances described in control further.

40. systems according to claim 36, wherein said mobile device management instrument is configured to the information data exporting the collaborative described performance recorded of response further.