JP2015515250A - A mobile device that is configured to travel and assist on a transmission line - Google Patents

Abstract

Embodiments include systems and apparatus. The system moves over the transmission line between the two power towers of the power transmission system, physically supports the installation of a new conductor cable or line between the two power towers, and communicates wirelessly with the installation controller. Includes mobile devices that are configured. The system includes an installation controller configured to control movement of the mobile device through the transmission line, control measures of physical assistance by the mobile device, and communicate wirelessly with the mobile device.

Description

Detailed Description of the Invention

[Cross-reference of related applications]
This application relates to and claims the benefit of the earliest effective filing date (s) available from the following listed application (s) ("Related Applications"). (Eg, claim the earliest available priority date for non-division applications, or 35 USC for patent application or divisional application (s) such as any and all parents, parent parents, parent parents) § 119 (e) claims the benefit).

  For purposes of legal requirements outside the United States Patent and Trademark Office, this application is a US patent application 13 / 436,299 for mobile devices configured to perform tasks related to power transmission systems (inventor: Roderick). A.Hyde, Lowell and L.Wood, Jr, which are part of a continuation of the current copending or currently pending application that is entitled to benefit from the filing date. is there.

  For purposes of legal requirements outside the United States Patent and Trademark Office, this application is a US patent application 13 / 436,404 for mobile devices configured to perform tasks related to power transmission systems (inventor: Roderick A Hyde and Lowell L. Wood, Jr. (part of filing date: March 30, 2012) and currently co-pending or currently co-pending applications that are entitled to benefit from the filing date It is.

  For the purposes of legal requirements outside the US Patent and Trademark Office, this application is based on US patent application 13 / 436,462 (inventor: Roderick A) Hyde and Lowell L. Wood, Jr. (part of filing date: March 30, 2012) and is a currently continuing application that is currently continually or is entitled to benefit from the filing date .

  The United States Patent Office (USPTO) has published a notice requesting that patent applications refer to both serial numbers and indicate whether the application is continuation or partial continuation (Steven G. Kanin, formerly US Patent and Trademark Office Gazette, March 18, 2003). The Applicant entity (hereinafter “Applicant”) is specifically provided with the specific references described above for the application (s) claimed by law. Applicant must confirm that the law is clear in its specific reference language and either serial number or characteristic, such as “continue in part” or “continue”, to claim priority to a US patent application. Understand that you don't need. Regardless of the above, the applicant must have a USPTO computer program to input certain data, and the applicant constitutes this application as a continuation of the parent application as described above. Whether to include new matter in addition to the matter of the parent application should never be construed as any type of commentary or authorization.

  The related applications and all other parents, parents of parents, parents of parents of parents, etc., applications of related applications are hereby incorporated by reference to the extent not inconsistent with this specification.

〔wrap up〕
For example, and not limitation, embodiments of the subject matter described herein include mobile devices. In this embodiment, the mobile device includes a chassis configured to move on a transmission line between two power towers of the overhead power transmission system. The system includes an assistance module that is physically associated with the chassis and configured to physically assist in the installation or removal of conductor cables or lines between the two power towers.

  For example, without limitation, embodiments of the subject matter described herein include systems. In this embodiment, the system moves over a transmission line between two transmission towers of the power transmission system, physically supports the installation of a new conductor cable or line between the two transmission towers, Includes mobile devices configured to communicate wirelessly. The system includes an installation controller configured to control movement of the mobile device over the transmission line, control provision of physical assistance by the mobile device, and communicate wirelessly with the mobile device.

  The above summary is exemplary and is not intended to limit the method. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features will become apparent from the drawings and the following detailed description.

3 illustrates an exemplary embodiment of a thin computing device in which embodiments may be implemented. 1 illustrates an exemplary embodiment of a general purpose computing system in which embodiments may be implemented. 2 illustrates an example environment in which embodiments may be implemented. 2 illustrates an example environment in which embodiments may be implemented. 2 illustrates an example environment in which embodiments may be implemented. Fig. 4 illustrates an exemplary operational flow in which embodiments may be implemented. 7 shows an alternative embodiment of the receiving operation of FIG. 7 shows an alternative embodiment of the operational flow of FIG. Fig. 4 illustrates a computer program product with which an embodiment may be implemented. 2 illustrates an example environment in which embodiments may be implemented. 2 illustrates an example environment in which embodiments may be implemented. 2 illustrates an example environment in which embodiments may be implemented. 2 illustrates an example environment in which embodiments may be implemented. 14 illustrates an example embodiment of the mobile device of FIG. 2 illustrates an example environment in which embodiments may be implemented. 2 illustrates an example environment in which embodiments may be implemented. 2 illustrates an example environment in which embodiments may be implemented.

[Detailed explanation]
In the following detailed description, reference is made to the accompanying drawings, which form a part hereof. In the figures, unless otherwise noted in the context, similar symbols typically identify similar components. The illustrative embodiments, drawings and claims in the detailed description are not to be construed as limiting. Other embodiments may be utilized and other changes may be made without departing from the spirit or scope of the subject matter presented herein.

  Those skilled in the art will recognize that the state of the art has progressed to the point where there is little distinction between the hardware, software and / or firmware implementations in the system. The use of hardware, software and / or firmware is a design choice that generally represents a cost-effectiveness (though not always, but the choice between hardware and software is important in certain situations) It is. Those skilled in the art will appreciate that there are various implementations that the process and / or system and / or other techniques described herein can achieve (eg, hardware, software, and / or firmware). Will do. The preferred implementation will vary depending on the process and / or system and / or content employed. For example, if the implementer determines that speed and accuracy are most important, the implementer can primarily select hardware and / or firmware means. Alternatively, if flexibility is paramount, implementers can primarily choose a software implementation. Alternatively, the practitioner can select some combination of hardware, software and / or firmware. Thus, there are several possible implementations that can implement processes and / or devices and / or other techniques described herein. Any implementation where dependency selection is utilized in context, the implementer's specific concerns (eg, speed, flexibility, or predictability) are more consistent than others in that either will vary. There is no such thing as superior. Those skilled in the art will appreciate that the optical aspects of the implementation typically employ optically oriented hardware, software, or firmware.

  In some implementations, logic and similar implementations may include software or other control structures appropriate to implement the operations. The electronic circuit may be configured, for example, to construct one or more paths of current and perform various logic functions described herein. In some implementations, one or more media may bear a device-detectable implementation when holding or transmitting special purpose device instructions operatively to perform as described herein. It is configured. In some variations, for example, this may be an update or other modification of existing software or firmware by receiving or transmitting one or more instructions with respect to one or more instructions described herein. Or changes in the gate array or other programmable hardware may be made. Alternatively or additionally, in some variations, implementations may include special purpose hardware, software, firmware components and / or general purpose components to perform or other special purpose components that perform otherwise. Good. As described herein, specifications and other implementations are transmitted over one or more exemplary tangible transmission media. By sending packets or otherwise passing through the distribution medium at various times.

  Alternatively, or in addition, the implementation performs a dedicated instruction sequence or enables operation of any function, triggers circuitry to trigger, coordinate, request, and cause. In some variations, operations or other logical descriptions can be expressed directly herein as source code, compiled, or invoked as executable instruction sequences. In some contexts, for example, C ++ or other code sequences are compiled directly, or high-level description languages (synthesizable languages, hardware description languages, hardware design simulations and / or other expressions) Implemented in such a similar mode). Alternatively or additionally, some or all of the logical expressions may be manifested as a Verilog hardware description or other circuit model prior to the physical implementation of the hardware, especially for basic operations and timing critical applications. can do. Those skilled in the art will recognize and set the method to obtain and optimize the appropriate transmission or calculation elements, material supplies, actuators, or other common structures in light of these teachings.

  In a general sense, those skilled in the art will be able to individually and / or aggregated by various types of electromechanical systems having a wide range of electrical components such as hardware, software, firmware and / or virtually any combination thereof. In particular, it will be appreciated that various embodiments described herein may be implemented. A wide range of components that can provide mechanical force or motion, such as their rigid bodies, springs or torsion bodies, hydraulics, electromagnetically actuated devices and / or virtually any combination. As a result, as used herein, but not limited to, an “electromechanical system”, an electrical circuit coupled to an operable transducer (eg, a piezoelectric crystal such as an actuator or motor, a microcrystal, Electromechanical system (MEMS)), an electrical circuit having at least one individual electrical circuit, an electrical circuit having at least one integrated circuit, an electrical circuit forming a general-purpose computing device configured by a computer program (eg, the present specification) A general-purpose computer configured by a computer program that at least partially executes the processes and / or apparatuses described in the document, or a computer program that executes at least partially the processes and / or apparatuses described herein. Micro Processor), an electrical circuit forming a storage device (for example, formation of a memory (random access, flash, read-only, etc.)), an electrical circuit forming a communication device (for example, a modem, a module, a communication switch, an opto-electric device, etc.) ) And / or any non-electric analog, such as optical or other analog. Those skilled in the art will recognize, by way of example and not limitation, electromechanical systems, home appliance systems, medical devices, and other systems such as electric transport systems, factory automation systems, security systems, and / or communication / computing systems. including. Those skilled in the art will recognize that the electrical machines used in the specification are not necessarily limited to systems having both electrical and mechanical actuation, except as described in context.

  In general terms, those skilled in the art will recognize the various aspects described herein individually and / or collectively, depending on the wide range of hardware, software, firmware, and / or any combination thereof implemented. You will recognize that it consists of various types of “electrical circuits”. Consequently, an “electrical circuit” as used herein includes, but is not limited to, an electrical circuit having at least one individual electrical circuit, an electrical circuit having at least one integrated circuit, and at least one An electrical circuit having an application specific integrated circuit, an electrical circuit forming a general purpose computer device configured by a computer program (eg, configured by a computer program that at least partially executes the processes and / or devices described herein) General-purpose computer, or a macroprocessor comprised of a computer program that at least partially executes the processes and / or devices described herein, electrical circuitry that forms a memory device (eg, formation of memory ( For example, Randa Access, flash, an electrical circuit (e.g., to form a read-only, etc.)) and / or communication device, a modem, communications switch, optical - electrical device, etc.). Those skilled in the art will recognize that the subject matter described herein may be implemented in analog form, digital form, or some combination thereof.

  Those skilled in the art will recognize at least some of the devices and / or processes described herein that can be integrated into additional image processing systems. A typical image processing system generally includes one or more system unit housings, video display devices, memories such as volatile or non-volatile memory, processors such as microprocessors or digital signal processors, operating systems, drivers, applications. A control system (eg, feedback to sense lens position and / or velocity) including a program, a computing entity such as one or more interactive devices (eg, touchpad, touchscreen, antenna, etc.), a feedback loop and a control motor : Control motor for movement / lens distortion for a given focus). The image processing system can typically be implemented utilizing suitable commercially available components such as found in digital still systems and / or digital video systems.

  Those skilled in the art will similarly recognize that at least a device and / or can be integrated into several data processing systems of the methods described herein. Those skilled in the art will recognize that a data processing system generally includes one or more system unit housings, video display devices, memories such as volatile or non-volatile memory, processors such as microprocessors or digital signal processors, computing entities such as operating systems. , Drivers, graphical user interfaces, application programs, one or more interaction devices (eg touchpad, touchscreen) and / or control systems including feedback loops and control motors (eg for sensing position and / or velocity) It will be appreciated that it includes feedback; control motors for moving and / or adjusting components and / or quantities.

  1 and 2 show a general description of each of several environments in which implementations can be implemented. FIG. 1 illustrates a thin computing environment 19 that generally has a thin computing device 20. FIG. 2 illustrates a general purpose computing environment 100 that generally comprises a general purpose computing device 110. However, when the price of computer components decreases and functionality and speed increase, there is not necessarily a clear line between thin computing devices and general purpose computing devices. In addition, there is a continuous flow of new ideas and applications for environments that benefit from computing power. As a result, the subject matter disclosed herein is not limited to any particular computing environment, unless explicitly limited.

  FIG. 1 and the following description are intended to provide a brief, general description of a thin computing environment 19 in which embodiments may be implemented. FIG. 1 is a diagram illustrating an exemplary system that includes a thin computing device 20 that may be embedded in an electronic device that includes a device functional element 50. For example, an electronic device can serve as a function of a device such as a refrigerator, automobile, digital image acquisition device, camera, cable modem, printer ultrasound device, X-ray device, non-invasive imaging device or airplane or Any item having an electronic component may be included. For example, an electronic device can include any device that interfaces with or controls the functional elements of the device. In another example, the thin computing device may be included in an implantable medical device or device. In a further example, the thin computing device may be operable to communicate with an implantable or implantable medical device. For example, thin computing devices include limited resource computing devices, wireless communication devices, mobile wireless communication devices, smartphones, electronic pens, handheld electronic writer devices, scanners, mobile phones, smartphones (eg Android®). Or a computing device with limited resources or limited processing power, such as a tablet device (e.g. iPad (R)) or a BlackBerry device (R). Can do. For example, a thin computing device can include a thin client device or a mobile thin client device such as a smartphone, tablet, notebook, or desktop hardware configured to function in a virtualized environment.

  The thin computing device 20 includes a processing unit 21, a system memory 22, and a system bus 23. The system bus 23 couples various system components including the system memory 22 to the processing unit 21. The system bus 23 may be a local bus that uses several types of bus structures including a memory bus or memory controller, a peripheral bus, and any type of bus architecture. The system memory includes a read only memory (ROM) 24 and a random access memory (RAM) 25. A basic input / output system (BIOS) 26 includes basic routines that help transfer information between subcomponents within the thin computing device 20, such as during startup, and are stored in ROM 24. A number of program modules may be stored in ROM 24 or RAM 25 including operating system 28, one or more application programs 29, other program modules 30 and program data 31.

  A user may enter commands and information into the computing device 20 through one or more input interfaces. The input interface may include a touch-sensitive display or one or more switches or buttons with appropriate input detection circuitry. The touch sensor type display is shown as a display 32 and a screen input detection unit 33. One or more switches or buttons are shown as hardware buttons 44 that are connected to the system via a hard button interface 45. An output circuit of the touch sensor type display 32 is connected to the system bus 23 via a video driver 37. Other input devices may include a microphone 34 connected via a suitable audio interface 35 or physical hardware keyboard (not shown). The output device can include a display 32 and a projector display 36.

  In addition to the display 32, the computing device 20 can include other peripheral output devices such as at least one speaker 38. Other external input or output devices 39 such as joysticks, game pads, satellite dishes, scanners, etc. may be connected to the processing unit 21 via the USB port 40 and the USB port interface 41. Alternatively, other external input and output devices 39 can be connected by other interfaces such as a parallel port, game port or other port. The computing device 20 may further include a flash card memory or be connectable to a flash card memory (not shown) via an appropriate connection port (not shown). The computing device 20 may further be capable of connecting to a network via the network port 42 and the network interface 43 and via the wireless port 46. A corresponding wireless interface 47 may be provided to facilitate communication with other peripheral devices including other computers or printers (not shown). It will be appreciated that the various components and connections shown are exemplary and other components and means of providing a communication link may be used.

  The computing device 20 can be designed primarily to include a user interface. The user interface can include character, key-based or other user data input via the touch-sensitive display 32. Also, the user interface is not limited to an actual touch-sensitive panel configured to receive direct input, but instead or in addition, it can respond to another input device, such as a microphone 34. For example, spoken language may be received and recognized by the microphone 34. Alternatively, the computing device 20 may be designed to include a user interface with a physical keyboard (not shown).

  The device functional elements 50 are typically application specific, relate to the functionality of the electronics, and are coupled to the system bus 23 via an interface (not shown). Functional elements include refrigerators that maintain food cooling, connect to appropriate towers, send and receive audio or data information, capture images, store images, and communicate with implantable medical devices, A single well-defined task with little user configuration or setup may generally be performed.

  In certain cases, one or more elements of thin computing device 20 are considered unnecessary and may be omitted. In other examples, one or more other elements may be considered necessary and added to the thin computing device.

  FIG. 2 and the following description are intended to provide a concise and general description of the environment in which embodiments may be implemented. FIG. 2 illustrates an exemplary embodiment of a general-purpose computing system in which embodiments may be implemented, such as that illustrated as computing system environment 100. The components of the computing system environment 100 include, but are not limited to, a general purpose computing device 110 having a processor 120, a system memory 130 and a system bus 121. A system bus 121 connects various system components, including system memory, to the processor 120. The system bus 121 may be any type of bus structure including a memory bus or memory controller, a peripheral bus, and a local bus using any of a variety of bus architectures. For example, without limitation, such architectures include Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, Enhanced ISA (EISA) bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component. Includes an Interconnect (PCI) bus (also known as a mezzanine bus).

  The computing system environment 100 typically includes a variety of products on computer readable media. Computer-readable media includes any media that can be accessed by the computing device 110, includes volatile and nonvolatile media, and includes removable and non-removable media. By way of example, and not limitation, computer readable media may include computer storage media. By way of further example, and not limitation, computer-readable media may include communication media.

  Computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technique for storing information, such as computer readable instructions, data structures, program modules or other data. Including. Computer storage media include, but are not limited to, random access memory (RAM) is read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital Includes a versatile disk (DVD), other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage, or other magnetic storage device used to store desired information and accessed by the computing device 110. In further embodiments, the computer storage medium may include a group of computer storage media devices. In another embodiment, the computer storage medium may include an information store. In another embodiment, the information store can include quantum memory, photonic quantum memory, or atomic quantum memory. Any combination of the above can be included within the scope of computer-readable media.

  Communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and may include any information delivery media. The term “modulated data signal” means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal. By way of example, and not limitation, communication media may include wired networks, wired media such as direct wired connections, and wireless media such as acoustic, RF, light, infrared media, and the like.

  The system memory 130 includes computer storage media in the form of volatile and nonvolatile memory such as ROM 131 and RAM 132. The RAM may include at least one of DRAM, EDO DRAM, SDRAM, RDRAM, VRAM, or DDR DRAM. A basic input / output system (BIOS) 133 that contains basic routines that help transfer information between elements within the computing device 110, such as at startup, is typically stored in the ROM 131. The RAM 132 typically includes data and program modules that are readily manipulated and accessible by the processor 120. By way of example, and not limitation, FIG. 2 shows an operating system 134, application programs 135, other program modules 136, and program data 137. In many cases, operating system 134 provides services to application program 135 via one or more application programming interfaces (APIs) (not shown). Since the operating system 134 incorporates these services, the developer of the application program 135 does not need to redevelop code to use the services. Examples of APIs provided by Microsoft's “WINDOWS” (registered trademark) operating system are well known in the art.

  The computing device 110 may also include other removable / non-removable, volatile / nonvolatile computer storage media products. According to an example, FIG. 2 shows a non-removable non-volatile memory interface (hard disk interface) 140 that reads from and writes to non-removable, non-volatile magnetic media. FIG. 2 also includes a removable non-volatile memory interface 150 coupled to the magnetic disk drive 151 or optical disk drive 155. The magnetic disk drive 151 reads from and writes to the nonvolatile magnetic disk 152. The optical disk drive 155 reads from and writes to a removable nonvolatile optical disk 156 such as a CD-ROM. Other removable / non-removable, volatile / nonvolatile computer storage media used in the operating environment examples include, but are not limited to, magnetic tape cassettes, memory cards, flash memory cards, DVDs, digital video tapes, solids Includes state RAM and solid state ROM. The hard disk drive 141 is typically connected to the system bus 121 via a non-removable memory interface, such as the interface 140, and the magnetic disk drive 151 and optical disk drive 155 are typically removed, such as the interface 150. Connected to the system bus 121 by a possible volatile memory interface.

  The drives described above and shown in FIG. 2 and their associated computer storage media provide storage of computer readable instructions, data structures, program modules and other data for the computing device 110. In FIG. 2, for example, hard disk drive 141 is illustrated as storing operating system 144, application programs 145, other program modules 146, and program data 147. These components may be the same as or different from operating system 134, application programs 135, other program modules 136, and program data 137. Operating system 144, application program 145, other program modules 146, and program data 147 are given different numbers here at a minimum to indicate that they are different copies.

  A user may enter commands and information into the computing device 110 through input devices such as a microphone 163, a keyboard 162, and a pointing device 161, commonly referred to as a mouse, trackball or touch pad. Other input devices (not shown) may include at least one of a touch-sensitive display, a joystick, a game pad, a satellite dish, and a scanner. These and other input devices are often connected to the processor 120 via a user input interface 160 coupled to the system bus, but other interfaces and bus structures (such as parallel ports, game ports or universal serial (USB)) May be connected by.

  A monitor or other type of display device or surface display 191 may be connected to the system bus 121 via an interface, such as a video interface 190. A projector display engine 192 that includes a projection element may be connected to the system bus. In addition to the display, computing device 110 may include other peripheral output devices such as speakers 197 and printer 196, and may be connected via output peripheral interface 195.

  The computing system environment 100 can operate in a network environment that uses logical connections to one or more remote computers, such as a remote computer 180. The remote computer 180 is a personal computer, server, router, network PC, peer device or other common network node and can typically include all of the elements described above with respect to the computing device 110. The memory storage device 181 is shown in the figure. The network logical connections shown in FIG. 2 include a local area network (LAN) and a wide area network (WAN), and may include other networks such as a personal area network (PAN) (not shown). Such networking environments are commonplace in offices, enterprise-wide computer networks, intranets and the Internet.

  When used in a networking environment, the computing system environment 100 is connected to the network 171 through a network interface, such as a network interface 170, a modem 172, or a wireless interface 193. The network can include a LAN network environment such as the Internet or a WAN network environment. In a network environment, program modules illustrated in connection with computing device 110 or a portion thereof may be stored in a remote memory storage device. By way of example, and not limitation, FIG. 2 shows remote application program 185 as resident on memory storage device 181. It will be appreciated that the network connections shown are exemplary and other means of establishing a communications link between the computers may be used.

  In certain instances, one or more elements of computing device 110 are considered unnecessary and may be omitted. In other examples, one or more other elements may be considered necessary and may be added to the computing device.

  FIG. 3 illustrates an example environment 200 in which embodiments may be implemented. The environment includes a high voltage power transfer system configured to transfer power from one location to another. FIG. 3 is a diagram illustrating an example of a high voltage power transmission system as the aerial high voltage power transmission system 205. In another example, the high voltage power transmission system may be an underground high voltage power transmission system.

  In one embodiment, the high voltage power transfer system may include a power transfer system designed and isolated to transport power from one location to another at a voltage of about 35,000 volts. For example, the voltage of the high voltage transmission can include 138 kV, 230 kV, 345 kV, 500 kV or 765 kV. In an embodiment, the power distribution system may include a system designed and isolated to transport and distribute power from the high voltage transmission system to the secondary transmission customer. For example, the voltage of the power distribution system can include 13 kV or 4 kV for the primary customer, or 26 kV or 69 kv for 120 V or 240 V for the secondary customer.

  The structure associated with the example system 205 includes a power transmission tower 210 that supports a transmission line 230 suspended from an insulator 220. FIG. 3 shows example power transmission towers such as towers 210A and 210B. Example insulators 220 are insulators 220A.1, 220A.2, 220A.3 mounted on tower 210A and insulators 220B.1, 220B.2, 220B.3 mounted on tower 210B. It is shown. The insulator comprises, for example, wet porcelain, tempered glass, glass reinforced polymer composite or other non-ceramic material. For example, transmission line 230 is shown as transmission lines 230.1, 230.2, and 230.3. High voltage transmission systems are exposed to operational risks such as weather conditions, ambient temperature, lightning or precipitation that affects overhead high voltage transmission systems. Other operational risks can include, for example, age, damage or degradation. Other operational risks include, for example, vegetation or human intrusion. A potential operational risk is shown in FIG.

  FIG. 4 illustrates an example environment 300. The environment includes devices represented by a transmission system management tool 320 (hereinafter “TSM tool”). The environment includes high voltage power transfer system 205 and is shown by tower 210 in connection with FIG. The environment includes a mobile device 380 that is configured to traverse the transmission line and execute in response to the evaluated potential operational risk of the high voltage power transmission system.

  The TSM tool 320 includes a receiving circuit 322, an analysis circuit 324, and a planning circuit 326. The receiving circuit includes a receiving circuit configured to receive data indicative of at least one physical parameter of a power transfer system configured to transfer power from one location to another. The power transfer system is shown as a high voltage power transfer system 205. The analysis circuit includes an analysis circuit configured to evaluate a potential operational risk for a portion of the power transfer system based at least in part on the received data. For example, a portion of the power transmission system can include a portion of the high voltage transmission system between towers 210A and 210B. For example, a portion of the power transmission system can include a portion of transmission line 230.1 between towers 210A and 210B. For example, a portion of the power transmission system can include a portion of the high voltage power transmission system between tower 210A and other towers. The planning circuit includes a planning circuit configured to plan a trip by the mobile device 380 of the power transmission system transmission line based at least in part on the evaluated potential operational risk. The transmission line provides access to a portion of the power transmission system.

  Those skilled in the art will recognize that in one embodiment of the TSM tool 320, it can be implemented using hardware, software and / or firmware implementations. In one embodiment of the TSM tool, implemented individually and / or collectively by various types of electromechanical systems having a wide range of electrical components such as hardware, software, firmware and / or virtually any combination. One skilled in the art will recognize that this is possible. One skilled in the art will recognize that one embodiment of a TSM tool is implemented using a general purpose computer programmed to perform one or more specific functions of the TSM tool. For example, the TSM tool can be implemented using computing device 350. In an embodiment, the computing device may be connected to a computer storage device 338 that is connected to a computer readable medium. In an embodiment, the computing device may be implemented in part or in whole using the general purpose thin computing device 20 described in connection with FIG. In an embodiment, the computing device may be implemented in part or in whole using the general purpose computing device 100 described in connection with FIG.

  In the embodiment, the power transmission system includes a high-voltage power transmission system. In an embodiment, the power transmission system includes a power distribution system.

  In an embodiment, the data representing at least one physical parameter of the high voltage power transfer system 205 includes at least one of an operating voltage, current, phase, configuration, age, or capacity parameter of the high voltage power transfer system. For example, the element may include an insulator and the parameters may include type, manufacturer, failure rate, age, year of service, last cleaning of the insulator. For example, the elements can include circuit breakers, switches, or transformers in high voltage power transfer systems. Data representing at least one physical parameter of the high voltage power transmission system is single or bundled of the current, phase, configuration, age, cable size, cable material or metal configuration or transmission line of the high voltage power transmission system Including at least one of the conductor state parameters. In an embodiment, the data representing at least one physical parameter of the high voltage power transmission system includes at least one of a location or a map of the high voltage power transmission system. For example, the map can include a geographic or schematic map. For example, the map may include tower location, tower configuration or tower height. For example, the map may include gaps or allowed line sag at specific locations. In an embodiment, the data representing at least one physical parameter of the high voltage power transfer system includes at least one of a high voltage power transfer system safety and / or fault tolerance margin or a high voltage power transfer system peak load.

  In an embodiment, the high voltage power transfer system 205 includes an overhead high voltage power transfer system configured to transport power from one location to another. In an embodiment, the high voltage power transfer system includes an underground high voltage power transfer system configured to transfer power from one location to another. In an embodiment, the high voltage power transfer system includes a specific high voltage power transfer system configured to transfer power from one location to another. In an embodiment, the high voltage power transfer system can be analyzed into at least two portions of the high voltage power transfer system for assessing potential operational risks.

  In an embodiment, the receiving circuit 322 is further configured to receive data indicative of an existing condition that affects the high voltage transmission system. For example, existing conditions can include existing weather conditions, ie, wind, snow, or temperature. In an embodiment, the at least one event includes at least one of weather conditions, ambient temperature, lightning or precipitation that affects the high voltage transmission system. In an embodiment, the at least one event includes at least one of an existing line temperature, a current request, or a failure of a high voltage power transfer system device. In an embodiment, the at least one event includes at least one of a peak load value, a peak load characteristic or another high voltage power transmission system condition that affects the high voltage transmission system. In an embodiment, the at least one event includes at least one of a season, date / time or holiday status affecting the high voltage transmission system. In an embodiment, potential operational risk includes the need for potential testing. In an embodiment, the potential operational risk includes a potential maintenance need. In an embodiment, the potential operational risk includes a potential repair need.

  In one embodiment, the analysis circuit 324 includes an analysis circuit configured to evaluate potential operational risks for a portion of a high voltage power transfer system or a structure associated with a portion of the high voltage power transfer system. Including. The assessment is based at least in part on the received data.

  In an embodiment, the transmission line is a live transmission line. In an embodiment, the transmission line is a depowered transmission line.

  In an embodiment, the planning circuit 326 is associated with a first evaluated potential operational risk for a second portion of the high voltage power transfer system in relation to the first evaluated potential for the first portion of the high voltage power transfer system. A planning circuit configured to prioritize potential operational risks. Prioritization is based at least in part on the first assessed potential operational risk and the second assessed potential operational risk. The planning circuit is configured to plan the travel of the first portion of the portion of the high voltage power transfer system in response to prioritization. For example, the priorities may be based on multiple operational risk ranks. For example, possible catastrophic operational risks would have a higher priority than routine preventive operational risks. In an embodiment, the planning circuit plans a journey on a transmission line that provides access to a portion of the high voltage power transmission system by at least two mobile devices in response to the evaluated potential operational risk. The at least two mobile devices are configured to work in cooperation with each other.

  In one embodiment, the transmission line is arranged for a portion of the high voltage power transmission system so as to access and allow inspection of the portion of the high voltage power transmission system. In one embodiment, the transmission line is arranged for a portion of the high voltage power transmission system so as to access and allow repair of the portion of the high voltage power transmission system. In one embodiment, the transmission line is arranged for a portion of the high voltage power transmission system to access a portion of the high voltage power transmission system and allow maintenance. In one embodiment, the transmission line is arranged for a portion of the high voltage power transmission system so as to access and allow replacement of the portion of the high voltage power transmission system.

  In an embodiment, the data receiving circuit 322 is further configured to receive data indicative of an existing condition affecting a high voltage power transmission system provided by another mobile device operating on the high voltage power transmission system. Has been. In one embodiment, the data receiving circuit has a first function and a first available mobile device responsive to the evaluated potential operational risk and a second function and the evaluated potential. Is further configured to receive data indicative of a second available mobile device responsive to a particular operational risk. In one embodiment, the TSM tool selects an available mobile device to perform a planned traversal of the transmission line from a first available mobile device and a second available mobile device. A mobile device selector circuit 332 configured as described above.

  In an embodiment, the planning circuit 326 is further configured to provide data indicating the planned travel of the transmission line by the mobile device. For example, the data may be provided in response to a request or pull from another circuit of the TSM tool 320 or a third party device. For example, the data may be pushed to other circuits of the TSM tool or a third party device, such as computing device 392.

  In one embodiment, the TSM tool 320 includes a travel control circuit 334 that is configured by a mobile device to control planned travel. In one embodiment, the cruise control circuit is configured to control a planned route and speed by the mobile device. In one embodiment, the cruise control circuit is configured to control the spacing between the mobile device and the other mobile device while both the mobile device and the other mobile device are traversing the high voltage power transfer system. ing. In one embodiment, the travel control circuit is configured to determine a travel route that the mobile device should take. The travel route is determined based on one or more factors including the starting location of the mobile device, the number and type of obstacles along the route, and the desired space / time of the place to be reached by the mobile device. In one embodiment, the cruise control circuit is configured to send the mobile device in response to data indicating the planned travel of the transmission line. In one embodiment, the cruise control circuit is configured to send the mobile device in response to one or more factors. These factors may include the type of measurement required, the time since the previous measurement, the previous measurement and / or the temporal / spatial profile of the required measurement. In one embodiment, the cruise control circuit is configured to transmit a transmission line to another part of the high voltage power transmission system for other measurements or operations based on the measurement or operation of the mobile device for the part of the high voltage power transmission system. Configured to send the mobile device for other traffic. In one embodiment, the cruise control circuit sends another mobile device for another trip via a transmission line to another part of the high voltage power transmission system for further measurements or operations. It is configured. The dispatch is based at least in part on the measurement or operation of the mobile device for a portion of the high voltage power transfer system. In one embodiment, the cruise control circuit is configured to route the mobile device to a location on the transmission line for measurement or operation. Dispatch is based at least in part on consideration of one or more factors including line condition, phase, voltage or current value, load, source, weather and / or environmental conditions. In one embodiment, the cruise control circuit is configured to route the mobile device to different parts of the high voltage power transfer system. Dispatch is based at least in part on consideration of relative needs for inspection and operation in different parts, availability of mobile devices and other mobile devices. In one embodiment, the cruise control circuit is configured to route the mobile device to different parts of the high voltage power transfer system. Dispatch is based at least in part on expectations or prediction needs for inspection and operation of mobile devices in different parts.

  In one embodiment, one or more decision-making elements of travel control circuit 334 are located at various locations in high voltage power transfer system 205. In one embodiment, one or more decision-making elements of the travel control circuit are located on one or more mobile devices 380. In one embodiment, one or more decision-making elements of the cruise control circuit are configured to act independently of one another to control dispatch of one or more mobile devices.

  In one embodiment, the TSM tool 320 includes a computer readable medium 339 that is configured to store some planned traffic of the high voltage power transfer system 205 by the mobile device 380.

In one embodiment, the mobile device 380 is configured to cross a portion of the high voltage power transfer system 205 and examine the evaluated potential operational risk. In one embodiment, the mobile device is configured to address a potential operational risk evaluated across a portion of the high voltage power transfer system. For example, addressing potential operational risks that have been assessed can include the initiation of a task. For example, addressing potential operational risks that have been assessed may include inspection, assessment, repair, or require additional information or instructions. In one embodiment, the mobile device is configured to traverse a portion of the high voltage power transfer system and configured to automatically address potential operational risks that have been evaluated. In one embodiment, the mobile device is configured to automatically traverse portions of the high voltage power transfer system and automatically address potential operational risks that have been assessed. In one embodiment, the mobile device is configured to traverse a portion of the high voltage power transfer system and initiate operations against the evaluated potential operational risk. In one embodiment, the mobile device is configured to traverse a portion of the high voltage power transfer system and initiate a repair or maintenance operation for the evaluated potential operational risk. In one embodiment, the mobile device includes a mobile robotic device configured to autonomously address an estimated potential operational risk across a portion of the high voltage power transfer system. For example, in one embodiment, a mobile robotic device includes a mobile device designed to repeatedly perform one or more tasks with speed and accuracy.
http://searchcio-midmarket.techtarget.com/definition/robot (last access on January 25, 2012).
In one embodiment, the mobile device is configured to perform maintenance and / or repair across a portion of the high voltage power transfer system and depending on the potential operational risk that has been evaluated. In one embodiment, the mobile device is configured to traverse a portion of the high voltage power transfer system and automatically perform maintenance and / or repair operations depending on the potential operational risk that has been evaluated. Other examples of mobile devices are provided in conjunction with FIGS. 10-17.

  For example, environment 300 includes a remote computing environment shown as computing environment 392 that includes display 394. In one embodiment, the computing environment includes one or more elements of the computing environment 19 described in connection with FIG. 1 or the computing environment 100 described in connection with FIG. The example environment 300 includes a person 396. In an environment, the computing environment 392 can interact with a person to receive input from the person and provide output to the person via the display 394. In one embodiment, the computing environment 392 can be in wired or wireless communication with the TSM tool 320.

  In one embodiment, the TSM tool 320 includes a communication module 328 that is configured to output data indicative of planned travel of a transmission line by a mobile device. For example, the communication module may be configured to output data via a wired or wireless communication path.

  An example of predicting the operation of a TSM tool in use can be described with reference to FIGS. For example, the receiving circuit 322 of the TSM tool 320 receives data indicative of at least one physical parameter of the high voltage power transfer system 205 configured to send power from a particular substation to another substation. For example, a high-voltage power transmission system is a specific 500 kV overhead power transmission system built to deliver power between BPA's Big Edidales substation near Odale, Oregon, Goldendale's four mountains, and Washington. Also good. The physical parameters may include the age of the insulator, the failure or repair history of the insulator, or the date the insulator was last cleaned.

  Continuing with this prophetic example, analysis circuit 324 evaluates potential operational risks to a portion of this particular high voltage power transfer system based on the received data. Potential operational risks may include degradation or failure of the insulator. The planning circuit 326 plans movement for inspection by the mobile device via the transmission line of the system. The plan is based on the estimated potential operational risk for the system, and when determining whether a move for inspection is planned, the potential operational risk assessed (i.e. slight power loss and full Compare the importance of operations that may have failed. For example, the planning circuit can move the transmission line 230.2 and plan the mobile device 380, and perform the inspection traversal of the insulator sets 220A, 220B attached to each tower 210. Can be planned. If operational risk is subdivided, trips can be scheduled at some convenient time in the future. The transmission line 230.2 is connected to the insulator 220. If you have the ability to inspect A1,220A.3, you can choose to access the high voltage power transmission system insulator and provide inspection. If the mobile device does not have the ability to inspect the insulation away from the moved transmission line, the planning circuit plans the mobile device to move through the three transmission lines 230.1, 230.2, 230.3. And plan to go back and forth for each inspection of the insulator that supports each line. For example, the traversal of transmission line 230.1 accesses insulators 220A.1, 220B.1 to provide inspection of mobile devices. The communication module 328 is configured to output data indicating the planned travel of the transmission line by the mobile device. In this prophetic example, the communication module indicates a plan for mobile movement on the transmission line 230.2 to perform a check back and forth between the insulators 220A, 220B mounted on each tower 210 at the selected date and time. Output data.

  FIG. 5 shows an exemplary environment 400. The environment includes the devices indicated by the transmission system management tool 420 (after the “TSM tool”). The environment is configured to transfer power from one location to another and includes a power transfer system illustrated by the high voltage power transfer system 205 described in connection with FIG. The environment includes a mobile device 480.

  In the embodiment, the power transmission system includes a high-voltage power transmission system. In one embodiment, the power transfer system includes a power distribution system.

  The TSM tool 420 is configured to evaluate potential inspection and / or repair needs for structures associated with the high voltage power transfer system 205. The TSM tool is configured to schedule trips by mobile devices in the transmission line of the high voltage power transmission system, depending on potential inspection and / or repair needs. The mobile device is configured to traverse the transmission line of the high voltage power transmission system and perform operations as needed for potential inspection and / or repair. A high voltage power transmission system is configured to carry power from one location to another, and the transmission line provides access to the structure.

  In one embodiment, the transmission system management tool 420 is configured by the mobile device 480 to plan and depatch the transmission lines of the system.

  In one embodiment, mobile device 480 is configured to traverse other transmission lines while traveling on a transmission line that is in use. In one embodiment, the mobile device is configured as a passive or active electrical inspection of the transmission line and / or structure associated with the transmission line segment. In one embodiment, the mobile device is configured to measure physical parameters of the transmission line including one or more temperatures, cleanliness, stress / strain and / or sagging. In one embodiment, the mobile device includes a camera and radar configured to address vegetation clearance in the transmission line. In one embodiment, the mobile device is configured to automatically respond to potential inspection and / or repair needs. In one embodiment, the mobile device is configured to automatically traverse the transmission line segment and automatically respond to potential inspection and / or repair needs. In one embodiment, the mobile device is configured to initiate operations for potential inspection and / or repair needs. In one embodiment, the mobile device is configured to traverse the transmission line and autonomously address potential inspection and / or repair needs assessed for the transmission line. In one embodiment, the mobile device may be at least substantially similar to the mobile device 380 described in connection with FIG.

  In one embodiment, the TSM tool 420 is connected to the receiving circuit 422, the evaluation circuit 424, the planning circuit 426, and the communication module 428 to the mobile device selector circuit 432, the travel control circuit 434, the computing device 450, and the computer storage 338. Computer readable medium 339.

  FIG. 6 shows an exemplary operational flow 500. After the start operation, the operation flow includes a receive operation 510. The receiving operation includes receiving data indicative of at least one physical parameter of a power transfer system configured to transfer power from one location to another. In one embodiment, the receive operation can be implemented using the receive circuit 322 described in connection with FIG. Analysis operation 530 includes assessing potential operational risks for a portion of the power transfer system based at least in part on the received data. In one embodiment, the receive operation can be implemented using the analysis circuit 324 described in connection with FIG. The planning operation 540 includes planning a trip by the mobile device over at least a portion of the transmission line in response to the evaluated potential operational risk. The transmission line provides access to a portion of the power transmission system. In one embodiment, the planning operation can be implemented using the planning circuit 326 described in connection with FIG. The mobile device is configured to traverse the transmission line of the power transfer system and perform operations in response to the evaluated potential operational risk of the power transfer system. In one embodiment, the mobile device can be implemented using the mobile device 380 described in connection with FIG. The operation flow includes an end operation.

  In an embodiment, the power transmission system includes a high voltage power transmission system. In one embodiment, the power transfer system includes a power distribution system.

  In one embodiment, planning operation 540 may include at least one additional operation, such as operation 542. Act 542 prioritizes the first evaluated potential operational risk for the first portion of the high voltage power transfer system with respect to the second evaluated potential operational risk for the second high voltage power transfer system. , Planning to travel the first transmission line segment according to priority. Prioritization is based at least in part on the first evaluated potential operational risk and the second evaluated operational risk.

  FIG. 7 illustrates another embodiment of the receive operation 510 of FIG. The receiving operation can include at least one additional operation. The at least one additional operation can include an operation 512, an operation 514, or an operation 516. Act 512 includes receiving data representing at least one event that has or is predicted to have an impact on the high voltage power transfer system. Act 514 includes receiving data indicative of an existing condition affecting the high voltage power transfer system provided by another mobile device operating on the high voltage power transfer system. Act 516 receives data indicating a function of the first mobile device to meet the evaluated potential operational risk and data indicating a function of the second mobile device to meet the evaluated potential operational risk. Including doing.

  FIG. 8 is a diagram illustrating another embodiment of the operational flow 500 of FIG. The operational flow may include at least one operation, as shown as operation 550. Act 550 may include act 552, act 554, act 556, act 558, act 562 or act 564. Act 552 includes a specific mobile device for performing a planned trip from a first mobile device having a first function to respond to the evaluated potential operational risk, and the evaluated potential operational risk. Selecting a second mobile device having a second function to respond to. Act 554 includes controlling planned travel by the mobile device. Act 556 includes storing data indicative of a trip planned by the mobile device on a computer readable medium. Act 558 includes outputting information data indicating the trip scheduled by the mobile device. Act 562 includes converting a planned trip by the mobile device into a specific visual representation and outputting the specific visual representation. Act 564 includes providing a notification to at least one of the person, computer, or system based at least in part on the trip planned by the mobile device.

  In this embodiment, the mobile device is configured to automatically traverse the live transmission line and automatically respond to potential operational risks that have been evaluated. In one embodiment, the mobile device includes a mobile robotic device configured to autonomously traverse a live transmission line and respond autonomously to the evaluated potential operational risk. In one embodiment, the high voltage power transmission system includes an aerial high voltage power transmission system. In one embodiment, the high voltage power transmission system includes a specific high voltage power transmission system.

  FIG. 9 shows a computer program product 600. The computer program product includes a computer readable medium 610 having program instructions 620. When executed by a processor of the computing device, causes the computing device to execute processing according to program instructions. The process includes receiving data indicative of at least one physical parameter of a power transfer system configured to transfer power from one location to another. The process includes assessing potential operational risks for a portion of the power transfer system based at least in part on the received data. The process includes planning a trip by the mobile device via a live transmission line based on the evaluated potential operational risk. Live transmission lines provide access to parts of the power transmission system. The mobile device is configured to traverse the live transmission line and perform operations on the power transmission system in response to the potential operational risk assessed.

  In an embodiment, the process includes providing a notification for at least one of a person, computer, or system based on data indicative of a planned trip (622). In one embodiment, the process includes converting data indicating the planned journey to a specific visual representation and outputting the specific visual representation (624). In one embodiment, the process includes outputting 626 data indicative of the planned travel of the live transmission line by the mobile device.

  In one embodiment, computer readable media 610 includes tangible computer readable media 612. In one embodiment, computer readable media includes communication media 614. In one embodiment, the power transfer system includes a high voltage power transfer system. In one embodiment, the power transfer system includes a power distribution system.

  FIG. 10 illustrates an example environment 700. The environment includes a transmission line of a live power transmission system, shown as live transmission line 230.1 of the aerial high voltage power transmission system 205 described in connection with FIG. The environment includes a mobile robot device 705. The mobile device includes a mobile chassis 707 configured to travel on a live transmission line of a power transmission system propelled by a propulsion system 710. The mobile device includes an inspection module 722 that is physically associated with the mobile chassis and configured to automatically inspect the structure associated with the live power transfer system. The mobile device includes a risk assessment module 724 that is physically associated with the mobile chassis and configured to assess a potential risk for the power transfer system in response to test data provided by the test module. The mobile device includes a communication module 726 that is physically associated with the mobile chassis and configured to output data indicative of the assessed potential risk.

  In the embodiment, the power transmission system includes a high-voltage power transmission system. In one embodiment, the power transfer system includes a power distribution system.

  In embodiments, those skilled in the art will recognize that aspects of the mobile robotic device 705 can be implemented using hardware, software and / or firmware implementations. Capable of being implemented in one embodiment of a mobile device individually and / or collectively by various types of electromechanical systems having a wide range of electrical components such as hardware, software, firmware and / or any combination Those skilled in the art will recognize. For example, aspects of a mobile device can be implemented using a computing device 732. In one embodiment, the computing device may be implemented in part or in whole using the general purpose thin computing device 20 described in connection with FIG. In one embodiment, the computing device may be implemented in part or in whole using the general purpose computing device 100 described in connection with FIG.

  In one embodiment, the live transmission line is a fictitious live transmission line. In one embodiment, the live transmission line is an underground live transmission line.

  An example of a propulsion mobile chassis is described in US Pat. No. 4,904,996 to Fermandes. An example of a propulsion mobile chassis is described in US Pat. No. 7496459 by McAllister and in US Pat. No. 2008/0249723 by McAllister. An example of a propulsion mobile chassis is described in Gunn US Pat. No. 7282944, Gunn US Pat. No. 2008/0246507, Gunn US Pat. No. 2005/0017751. An example of a propulsion mobile chassis is described in US Pat. No. 6,494,141 by Montambault.

An example of a propulsion mobile chassis is described by Bjiang & AV Mamishev in "Mobile monitoring and maintenance of power systems".
Access (http://www.ee.washington.edu/research/seal/pubfiles/Sci07.pdf on February 29,2012)
Examples of propulsion mobile chassis are described in 500 kV ultra-high voltage transmission lines T Li, F Lijin & W Hongguang (2004 Annual Conference Sapporo, August 2004). An example of a propulsion mobile chassis is "Inspection robot for high voltage transmission lines 1-7 by A.De Souza et al. (Described in the ABCM Symposium series at Mechatronics 2004)
(Http://www.abcm.org.br/symposiumseries/ssm_voll/section_i_robotics/ssm_i_01.pdf on February 29,2012)
An example of a propulsion mobile chassis is described in "Inspection Robot for High Voltage Transmission Line and Its Dynamic Research (Wuhan University, People's Republic of China) (No Date)" by X Xiao et al.
(http://www.intechopen.com/source/pdfs/5322/InTechAn_inspection_robot_for_high_voltage_power_transmission_line_and_its_dynamics_study.pdf on February 29,2012)
An embodiment of a propulsion mobile chassis is described in "Development of a dual-arm mobile robot for high voltage power lines 1924-1929" by Z Tingyu et al. (IEEE International Robotics Conference and Biomimetics, 2007. ROBIO 2007).
An example of a propulsion mobile chassis is described in N Pouliot et al. In “Geometric Design of Remote Control Robots, Power Line Inspection and Robotics Maintenance” (Robot IEEE International Conference and Automation, 2008, ICRA 2008).
An example of a propulsion mobile chassis is described in "Design and Verification of Mobile Robots for Power Line Inspection and Maintenance" by S Montambault et al. (6th International Conference Service Robotics-FSR 2007, Chamonix France 2007)
(http://hal.inria.fr/docs/00/19/47/17/PDF/fsr_15.pdf on February 29,2012)
An example of a propulsion mobile chassis is described in Hsan Segundo et al. In “Automatic Transmission Line Inspection: Power Supply System (IEEE 2006)”.
(http://ieeexplore.ieee.org/stamps/stamp.jsp?tp=&arnumber=4152907&userType=&tag=1on March 5,2012).

  In this embodiment, the inspection module 722 is configured to automatically inspect for potential damage and degradation structures. In one embodiment, the inspection module is configured to automatically inspect for potential damage or degradation structures caused by structural aging. In one embodiment, the inspection module is configured to automatically inspect for potential damage and degradation structures caused by weather conditions. In one embodiment, the inspection module is configured to inspect the structure for potential damage or degradation caused by the automatically drained water. In one embodiment, the inspection module is configured to automatically inspect structures for potential maintenance, repair or modification needs. In one embodiment, the inspection module is configured to automatically inspect for vegetation intrusion. In one embodiment, the structure includes at least one of transmission towers, transmission lines, other transmission lines, insulators, underground lines, enclosures, cooling systems or towers associated with power transmission lines.

  In an embodiment, risk assessment module 724 is configured to assess potential risks from normal wear to the power transfer system in response to data provided by the inspection module. In one embodiment, the risk assessment module is configured to assess potential risks to the power transmission system from invading vegetation in response to data provided by the inspection module. In one embodiment, the risk assessment module is configured to assess potential risks to the power transfer system from vegetation intrusions. The assessment is responsive to data previously indicative of vegetation intrusion in the inspection, depending on the data provided by the inspection module. For example, inclusion in the assessment of potential risk data from previous tests is expected to provide a baseline for assessing how fast invading vegetation grows. In one embodiment, the risk assessment module is configured to assess potential risks to the power transfer system from vegetation intrusions. The assessment is responsive to imaging, triangulation and / or time-of-flight data in response to data provided by the inspection module to determine the height or extent of vegetation invasion. In one embodiment, the risk assessment module is configured to assess potential risks to the power transfer system from vegetation intrusions. The assessment is dependent on one or more local geography or terrain factors depending on the data provided by the inspection module. These factors can include whether the plant is above, below or beside the power line and / or whether the vegetation is upwind or uphill from the power line.

  In one embodiment, the mobile device 705 physically includes a maintenance module 728 that is associated with the mobile chassis and configured to perform maintenance, repair, or modification operations on the power transfer system in response to the assessed potential risk. Including. In one embodiment, the maintenance module is configured to automatically perform maintenance, repair or modification operations on the power transfer system. In one embodiment, the maintenance module is configured to perform maintenance, repair or modification operations on the power transfer system in response to the received authentication. In one embodiment, the maintenance module is configured to repair damage and degradation to structures associated with the power transfer system. In one embodiment, the maintenance module is configured to repair or modify an insulator associated with the power transfer system, and the maintenance module performs maintenance, repair or change operations on the structure associated with the power transfer system. Is configured to run. In one embodiment, the maintenance module is configured to trim vegetation that invades structures associated with the power transmission line. In one embodiment, the maintenance module is configured to trim vegetation that invades structures associated with the power transfer system. Trimming may be by electrical energy, light energy, chemical spraying, and / or physical cutting. In one embodiment, the maintenance module is configured to repair or clean the power line insulation. In one embodiment, the maintenance module is configured to deice the transmission line. In one embodiment, the maintenance module is configured to apply a deicing compound or fluid to the transmission line. In one embodiment, the maintenance module is configured to mechanically deicing the transmission line. In one embodiment, the maintenance module is configured to apply heat to the transmission line. For example, heat can be applied by blowing warm air or by resistance heat.

  FIG. 10 illustrates another embodiment of an environment 700, for example. This embodiment includes a mobile robotic device 705, also referred to as a TSM tool 760, and a transmission system management tool. The robotic device is configured to move on the transmission line of the power transmission system and automatically inspect the structure associated with the power transmission system. The TSM tool is configured to assess potential risks to the power transfer system in response to inspection data provided by the mobile device, and maintain the structure of the power transfer system by the mobile robotic device or other mobile device. Configured to initiate a repair or correction operation. In one embodiment, the TSM tool can include a communication module 762, a planning module 764, a risk assessment module 766 or a computing device 768.

  In an embodiment, the power transmission system includes a high voltage power transmission system. In one embodiment, the power transfer system includes a power distribution system.

  One skilled in the art will recognize that in one embodiment, aspects of the TSM tool 760 may be implemented using hardware, software and / or firmware implementations. In one embodiment of the TSM tool, implemented individually and / or collectively by various types of electromechanical systems having a wide range of electrical components such as hardware, software, firmware and / or virtually any combination. One skilled in the art will recognize that this is possible. One skilled in the art will recognize that one embodiment of a TSM tool can be implemented using a general purpose computer programmed to perform one or more specific functions of the TSM tool. For example, aspects of the TSM tool can be implemented using computing device 768. In one embodiment, the computing device may be implemented in part or in whole using the general purpose thin computing device 20 described in connection with FIG. In one embodiment, the computing device may be implemented in part or in whole using the general purpose computing device 100 described in connection with FIG.

  In one embodiment, mobile robotic device 705 is further configured to communicate with TSM tool 760 wirelessly. In one embodiment, the transmission system management tool is further configured to communicate wirelessly with the mobile robotic device. In one embodiment, the transmission system management tool is further configured to be stationed at a fixed location. In one embodiment, the transmission system management tool is configured to assess potential risk to the power transmission system in response to inspection data provided by the mobile device. The transmission system management tool is configured to plan or authenticate a mobile robot device or another mobile robot device to perform maintenance, repair or modification operations on the structure of the power transfer system.

  FIG. 11 shows an exemplary environment 800. The environment includes a transmission line of the power transmission system, shown as transmission line 230.1 of the aerial high voltage power transmission system 205 described in connection with FIG. The environment includes a mobile robot device 805. The mobile device includes a mobile chassis 807 that is configured to travel over a transmission line of a power transfer system propelled by a propulsion system 710. The mobile device includes a vegetation inspection module 822 that is physically associated with the mobile chassis and configured to measure characteristics of plants that grow in proximity to a portion of the overhead power transmission system. For example, FIG. 11 shows vegetation 802 growing in close proximity 803 to transmission line 230.1. The mobile device is physically associated with the mobile chassis and includes a communication module 826 configured to output data indicative of measured characteristics of the vegetation.

  Those skilled in the art will recognize that aspects of embodiments of the mobile device 805 are implemented using hardware, software and / or firmware. Aspects of mobile devices may be implemented individually and / or collectively by various types of electromechanical systems having a wide range of electrical components such as hardware, software, firmware and / or virtually any combination. Those skilled in the art will recognize that this is possible. One skilled in the art will recognize that one embodiment of a mobile device can be implemented using a general purpose computer programmed to perform one or more specific functions of the mobile device. For example, aspects of a mobile device can be implemented using a computing device 832. In one embodiment, computing device 832 may be implemented in part or in whole using general purpose thin computing device 20 described in connection with FIG. In one embodiment, computing device 832 may be implemented in part or in whole using general purpose computing device 100 described in connection with FIG.

  In an embodiment, vegetation 802 that grows in close proximity includes known plants that have previously grown in close proximity to a portion of overhead power transmission system 205. In one embodiment, the vegetation that grows in close proximity includes previously unknown plants that grow in close proximity to a portion of the overhead power transmission system.

  In one embodiment, the vegetation inspection module 822 includes a sensor 823 configured to measure the height and extent of vegetation relative to the transmission line. In one embodiment, the sensor comprises a camera, radar, lidar or sonar device.

  In an embodiment, the communication module 862 is configured to wirelessly output data indicative of the measured characteristics of the vegetation. For example, data indicative of the measured characteristics of the plant can be transmitted to the vegetation management tool 860 wirelessly. In one embodiment, the vegetation management tool may include a planning module 864 or a risk assessment module 866. In one embodiment, the vegetation management tool includes a computing device 872. In one embodiment, the communication module is configured to communicate with a maintenance module 828 configured to trim vegetation.

  In one embodiment, the mobile device 805 includes a maintenance module 828 that is physically associated with the mobile chassis and configured to trim vegetation that grows in proximity to a portion of the overhead power transmission system. In one embodiment, the maintenance module is configured to trim a plant that grows in proximity to a portion of the overhead power transmission system in response to output data indicative of the measured characteristics of the vegetation. In one embodiment, the maintenance module is configured to automatically trim plants that grow in proximity to a portion of the overhead power transmission system. In one embodiment, the maintenance module is configured to trim a plant that grows in close proximity to a portion of the overhead power transmission system in response to an outgoing instruction by a vegetation management tool.

  FIG. 12 illustrates an example environment 900. The environment includes a transmission line of the power transmission system, shown as transmission line 230.1 of the aerial high voltage power transmission system 205 described in connection with FIG. The environment includes a mobile device 905 and a vegetation management tool 960. The mobile device is configured to move along a transmission line of the power transmission system and measure one or more characteristics of the invading plant of the power transmission system.

  In the embodiment, the power transmission system includes a high-voltage power transmission system. In one embodiment, the power transfer system includes a power distribution system.

  In one embodiment, the mobile device 905 can include a vegetation measurement module 922, a vegetation control module 924, or a communication module 926. In one embodiment, the mobile device is further configured to trim invasive vegetation to address the assessment risk. For example, trimming vegetation intrusion can be implemented using vegetation control module 924. In one embodiment, the mobile device is configured to trim the vegetation using electrical or light energy, chemical spray and / or physical cutting.

  One skilled in the art will recognize that in one embodiment, aspects of the mobile device 905 can be implemented using hardware, software and / or firmware. In an embodiment, aspects of the mobile device may be individually and / or collectively depending on various types of electromechanical systems having a wide range of electrical components such as hardware, software, firmware and / or virtually any combination. Those skilled in the art will appreciate that can be implemented. One skilled in the art will recognize that in one embodiment, it can be implemented using a general purpose computer programmed to perform one or more specific functions of the mobile device. For example, the mobile device aspect can be implemented using a computing device 932. In one embodiment, the computing device may be implemented in part or in whole using the general purpose thin computing device 20 described in connection with FIG. In one embodiment, the computing device may be implemented in part or in whole using the general purpose computing device 100 described in connection with FIG.

  The vegetation management tool 960 is also configured to address one or more measured characteristics and assess the risk to the power transfer system caused by invasive vegetation. In one embodiment, the vegetation management tool may include a communication module 962, a vegetation assessment module 964, a planning module 966, or a plant risk assessment module 974. In one embodiment, the vegetation management tool is configured to assess the risk to the power transfer system caused by invasive vegetation based at least in part on commonly available guidelines and / or protocols. In one embodiment, generally available guidelines and / or protocols based on vegetation management tools are assessed for risks to the power transfer system that are at least partially caused by invasive vegetation. In one embodiment, the vegetation management tool assesses the risk to the power transfer system caused by invasive vegetation. Risk is assessed at least in part based on specific guidelines and / or protocols for the power transfer system. In one embodiment, the vegetation management tool is configured to use imaging, triangulation and / or time-of-flight data to determine the height or degree of invasive vegetation. In one embodiment, the vegetation management tool is configured to determine a clearance (clearance) between the vegetation and the transmission line depending on one or more measured characteristics of the invasive vegetation. In one embodiment, the vegetation management tool is configured to assess the risk to the power transfer system from invasive vegetation. The risk is based on one or more local geographical or terrain factors including whether the invasive vegetation is above, below or side of the power transmission system and / or whether the invasive vegetation is upwind or uphill from the power transmission system. Be evaluated. In one embodiment, the vegetation management tool is configured to assess the risk of transmission lines from invasive vegetation based on a temporal analysis of changes in the height or degree of invasive vegetation. In one embodiment, the vegetation management tool is configured to account for the measured spacing between the invasive vegetation and the power transfer system. The vegetation management tool is configured to automatically assess the risk for transmission lines caused by invading vegetation based on automatically measured intervals. In one embodiment, the vegetation management tool is configured to deal with measured spacing between intrusive vegetation and power transmission systems. The vegetation management tool is configured to automatically assess the risk for transmission lines caused by invasive vegetation based on the automatically measured spacing and the specified sag values of the transmission line of the power transmission system. In one embodiment, the vegetation management tool is configured to account for the measured spacing between the invasive vegetation and the power transfer system. The vegetation management tool is configured to assess the risk for the transmission line caused by invasive vegetation based on the measured spacing and the identified wind environment of the transmission line. For example, the identified wind environment may include a predicted or existing wind environment.

  FIG. 17 shows the environment 1400. The environment includes the power transmission system represented by a portion of tower 210A, insulator 220A.1, and transmission line 230.1 of high voltage power transmission system 205 described in connection with FIG. The environment includes a system 1405. The system includes a stationary device 1420 and a mobile device 1460. The stationary device is configured to be electrically coupled to the transmission line of the power transfer system and remains in a fixed position during the test measurement of the power transfer system. The stationary device is shown coupled to the transmission line using conductors 1412 and connectors 1414. The mobile device is configured to move on the transmission line. In one embodiment, the mobile device can be substantially similar to the mobile device 1005 or the mobile device 1070 described in connection with FIG. In one embodiment, the mobile device includes a mobile robotic device. The stationary device and the mobile device are further configured to cooperate to measure the characteristics of the power transfer system.

  In one embodiment, the power transfer system includes a high voltage power transfer system. In one embodiment, the power transfer system includes a power distribution system.

  In this embodiment, stationary device 1420 and mobile device 1460 are configured to cooperate to measure the characteristics of the components of the power transfer system located between the stationary device and the mobile device. In one embodiment, the stationary device and the mobile device are configured to automatically and cooperatively measure the characteristics of the power transfer system. In one embodiment, the stationary device and the mobile device are configured to cooperate to measure the electrical and / or mechanical properties of the power transfer system. In one embodiment, the stationary device and the mobile device are configured to automatically and cooperatively determine the voltage standoff capacity of the insulator that supports or holds the transmission line. In one embodiment, one of the fixed device or mobile device is configured to apply a test excitation to the transmission line, and the other of the fixed device or mobile device is configured to measure the response of the transmission line to be test excited. ing.

  In one embodiment, the test excitation frequency is about a nominal transmission line excitation frequency. In one embodiment, the test excitation frequency is different from the nominal transmission line excitation frequency. In one embodiment, the excitation carried by the test excitation live transmission line is applied to the live transmission line at about zero crossing. In one embodiment, the approximately zero crossing includes ± 10 degrees or less of the zero crossing in the excitation carried by the live transmission line. In one embodiment, the approximately zero crossing includes no more than ± 5 degrees of the zero crossing in the excitation carried by the live transmission line. In one embodiment, the approximately zero crossing includes no more than ± 2 degrees of the zero crossing in the excitation carried by the live transmission line. In one embodiment, the approximately zero crossing includes no more than ± 1 degree of the zero crossing in the excitation carried by the live transmission line. In one embodiment, the test excitation is applied to the live transmission line for a selected time portion of the period of the excitation frequency carried by the live transmission line. In one embodiment, the mobile device is configured to apply the test excitation to the insulator that supports or holds the transmission line, and the stationary device is configured to measure the response of the insulator for the test excitation. In one embodiment, the stationary device and the mobile device are configured to cooperatively perform an active or passive electrical inspection of the transmission line and / or structure associated with the transmission line. In one embodiment, the stationary device and the mobile device are configured to cooperate to measure physical transmission line parameters including one or more temperatures, cleanliness, stress / strain and / or sagging.

  In one embodiment, the mobile device 1005 includes a sensor (not shown) configured to measure the height or degree of vegetation penetration along the transmission line. In one embodiment, the sensor includes a camera, radar, lidar, or sonar device.

  In one embodiment, the system 1405 includes a test controller 1460 configured to coordinate measurements of power with the stationary device 1420 and the mobile device 1005 to manage measurements. In one embodiment, the test controller is configured to control aspects of movement on the transmission line by the mobile device. In one embodiment, the test controller is further configured to initiate a cooperating measurement of the characteristics of the power transfer system. In one embodiment, the test controller is further configured to receive data indicative of cooperatively measured characteristics from a stationary device or mobile device. In one embodiment, the test controller is further configured to output information data in response to data indicative of the characteristic measured in cooperation.

  One embodiment includes a method. After the start operation, the operation flow of the method includes electrically connecting the stationary device to a position fixed to the transmission line of the power transmission system. For example, in one embodiment, this operation is achieved by using a conductor 1412 and a connector 1414 to electrically connect the stationary device 1420 to the transmission line 230.1 described in connection with FIG. May be. The operational flow includes initiating movement of the mobile device via transmission line 230.1 to a selected location on the transmission line. For example, in one embodiment, this operation initiates movement of the mobile device 1005 via the transmission line described in connection with FIG. 17 by using the travel control module 1052 described in connection with FIG. It may be realized by doing. The operational flow includes measuring the characteristics of the structure of the power transfer system using stationary devices and mobile devices. The stationary device and the mobile device are configured to cooperate to measure the properties of the structure. The operational flow includes outputting data indicative of the measured characteristics of the structure. For example, in one embodiment, this operation can be implemented using the communication module 1028 or the communication module 1056 described in connection with FIG. The operation flow includes an end operation. In one embodiment, the operational flow can include at least one additional operation. The at least one additional operation may include managing cooperative measurements of characteristics of the power transfer system by the stationary device and the mobile device. For example, in one embodiment, this operation can be implemented using the collaborative control module 1054 described in connection with FIG.

  FIG. 13 shows the environment 1000. The environment includes a power transmission system indicated by a portion of tower 210A, insulator 220A.1, transmission line 230.1 of high voltage power transmission system 205 described in connection with FIG. The environment includes a system 1002. The system includes at least two mobile devices shown as illustrated first mobile device 1005 and second mobile device 1070. The at least two mobile devices are configured to move (i) on or along the transmission line of the power transmission system, and the at least two mobile devices are (ii) a transmission line associated with the power transmission system and / or Or configured to cooperatively measure properties of other structures.

  In one embodiment, the power transmission system includes a high voltage power transmission system. In one embodiment, the power transfer system includes a power distribution system.

  FIG. 14 illustrates an embodiment of the mobile device 1005 of FIG. The mobile device includes a mobile chassis 1007 configured to travel over a transmission line of a power transmission system propelled by a propulsion system 710. The mobile device 1005 can include a characteristic measurement module 1022, a collaboration module 1024, a maintenance module 1026 or a communication module 1028. The characteristic measurement module is configured to measure in cooperation with the mobile device 1070 having the characteristics of FIG. 13 of the power transmission line and / or other structures associated with the power transmission system. The cooperation module is configured to facilitate cooperation with the mobile device 1070 in measurement of transmission line characteristics and / or other structures associated with the power transfer system. The communication module is configured to communicate with other mobile devices or mobile robotic device management tools of at least two mobile devices.

  One skilled in the art will recognize that in one implementation, the mobile device can be implemented using hardware, software and / or firmware. Those skilled in the art will recognize that aspects of mobile devices will vary between electromechanical systems having a wide range of electrical components such as hardware, software, firmware and / or virtually any combination. One skilled in the art will recognize that the types can be implemented individually and / or collectively. One skilled in the art will recognize that it can be implemented using a general purpose computer programmed to perform one or more specific functions of the mobile device. For example, aspects of a mobile device can be implemented using computing device 1032. In one embodiment, the computing device may be implemented in part or in whole using the general purpose thin computing device 20 described in connection with FIG. In one embodiment, the computing device may be implemented in part or in whole using the general purpose computing device 100 described in connection with FIG.

  With reference to FIGS. 13-14, in one embodiment, the mobile device 1005 and the mobile device 1070 may be substantially similar. In one embodiment, one of the at least two mobile devices is a mobile robotic device. In one embodiment, two of the at least two mobile devices are mobile robotic devices. In one embodiment, the power transmission system includes an overhead power transmission system. In one embodiment, the power transmission system includes an underground power transmission system. In one embodiment, the at least two mobile devices are further configured to automatically and cooperatively measure the characteristics of the transmission line and / or other structures associated with the transmission line. In one embodiment, the at least two mobile devices are configured to measure electrical and / or mechanical properties of the transmission line and / or other structures associated with the transmission line. In one embodiment, the at least two mobile devices are configured to cooperatively measure the characteristics of the components of the power transfer system disposed therebetween. In one embodiment, the at least two mobile devices are further configured to automatically and cooperatively determine the voltage standoff capacity of the insulator that supports or holds the transmission line. For example, in one embodiment, the mobile device 1005 is configured to apply a test excitation to the transmission line, and the mobile device 1070 is configured to measure the transmission line response to the test excitation.

  In one embodiment, the test excitation frequency is about the nominal transmission line excitation frequency. In one embodiment, the test excitation frequency is different from the nominal transmission line excitation frequency. In one embodiment, the excitation carried by the live transmission line is applied to the live transmission line at about zero crossing. In one embodiment, the approximately zero crossing includes ± 10 degrees or less of the zero crossing in the excitation carried by the live transmission line. In one embodiment, the approximately zero crossing includes no more than ± 5 degrees of the zero crossing in the excitation carried by the live transmission line. In one embodiment, the approximately zero crossing includes no more than ± 2 degrees of the zero crossing in the excitation carried by the live transmission line. In one embodiment, the approximately zero crossing includes no more than ± 1 degree of the zero crossing in the excitation carried by the live transmission line.

  In one embodiment, the mobile device is configured to apply a test excitation to the live transmission line during a selected time portion of the period of the excitation frequency carried by the live transmission line. In one embodiment, the first mobile device applies a test excitation to an insulator that supports or holds the live transmission line, and the second mobile device is configured to measure the response of the insulator to the test excitation. . In one embodiment, the first mobile device applies test excitation to an insulator that supports or retains power, and the second mobile device is configured to attenuate or offset the applied test excitation. In one embodiment, the at least two mobile devices are configured to cooperatively measure the properties of the insulator associated with the power transfer system, eg, the moy device 1005 is located on the transmission line and the first side of the insulator. The mobile device 1070 is disposed on the opposite side of the insulator, the second of the transmission line and the insulator. FIG. 13 shows this embodiment. In one embodiment, the mobile device is configured to apply the test excitation to an insulator that supports or holds the transmission line at approximately zero crossing in the excitation carried by the transmission line. In one embodiment, the mobile device is configured to apply the test excitation to an insulator that supports or holds the transmission line line during a selected time portion of the frequency period of excitation carried by the transmission line. In one embodiment, the mobile device is configured for passive or active electrical inspection of transmission lines and / or structures associated with transmission lines. In one embodiment, the mobile device is configured to measure physical transmission line parameters including one or more of temperature, cleanliness, stress / strain and / or sag. In one embodiment, the mobile device includes at least a sensor configured to measure the height or degree of vegetation penetration along the transmission line.

  FIG. 14 illustrates another embodiment of an environment 1000 that includes a system 1002. The system includes at least a mobile device, shown as first mobile device 1005 and second mobile device 1070 in FIG. The at least two mobile devices are (i) configured to move on or along the transmission line of the power transmission system, the at least two mobile devices (ii) further to the transmission line and / or the power transmission system. It is configured to cooperatively measure the properties of other related structures. The system includes a mobile device management tool 1050. The mobile device management tool is configured to control the back and forth of a transmission line, such as the transmission line 230.1 of the high voltage power transmission system 205, by at least two mobile devices.

  In one embodiment, the power transmission system includes a high voltage power transmission system. In one embodiment, the power transfer system includes a power distribution system.

  In one embodiment, the mobile device management tool 1050 includes a travel control module 1052, a collaborative control module 1054, and a communication module 1056. The travel control module is configured to control the travel of the transmission line by at least two mobile devices. The cooperative control module is configured to control cooperative measurements of transmission lines and / or other structures associated with the power transmission system associated with the power transmission system with at least two mobile devices. The communication module is configured to communicate with at least two mobile devices and / or third party devices.

  Those skilled in the art will recognize that in one implementation, aspects of the mobile device management tool can be implemented using hardware, software, and / or firmware implementations. In one embodiment, aspects of a mobile device management tool can be used in various electromechanical systems having a wide range of electrical components, such as hardware, software, firmware and / or substantially any combination, individually and / or collectively. Those skilled in the art will recognize that these are implemented by any type. One skilled in the art will recognize that in one implementation, the mobile device management tool can be implemented using a general purpose computer programmed to perform one or more specific functions of the mobile device. For example, aspects of a mobile device management tool can be implemented using a computing device 1058. In one embodiment, the computing device may be implemented in part or in whole using the general purpose thin computing device 20 described in connection with FIG. In one embodiment, the computing device may be implemented in part or in whole using the general purpose computing device 100 described in connection with FIG.

  In one embodiment, the mobile device management tool is configured to control the transmission line traversal and facilitate collaborative measurements by at least two mobile devices. In one embodiment, the mobile device management tool is configured to plan and control the transmission line traversal of the power transfer system by at least two mobile devices. In one embodiment, the mobile device management tool is configured to provide instructions to at least two mobile devices for cooperative measurement of characteristics. In one embodiment, the mobile device management tool is further configured to control aspects of cooperative measurement of characteristics by at least two mobile devices. In one embodiment, the mobile device management tool is further configured to output information data as a function of the cooperatively measured characteristics.

  One embodiment includes a method. After the start operation, the operation flow of the method includes initiating movement of the first mobile device to the first position on the transmission line via the transmission line of the power transmission system. For example, in one embodiment, this operation can be performed using the travel control module 1052 described in connection with FIG. The operational flow includes initiating movement of the second mobile device via the transmission line to a second location on the transmission line. For example, in one embodiment, this operation can be performed using the travel control module 1052 described in connection with FIG. The operational flow includes measuring the characteristics of the structure of the power transfer system using the first mobile device and the second mobile device. For example, in one embodiment, this operation can be implemented using the characteristic measurement module 1022, the collaboration module 1024, and / or the collaboration control module 1054 described in connection with FIG. The first mobile device and the second mobile device are configured to cooperatively measure the characteristics of the structure. The operational flow includes outputting data indicative of the measured characteristics of the structure. For example, in one embodiment, this operation can be implemented using communication module 1028 and / or communication module 1056 described in connection with FIG. The operation flow includes an end operation.

  In one embodiment, the operational flow includes a cooperative measurement of the characteristics of the power transfer system by the first mobile device and the second mobile device. In one embodiment, the transmission line includes a preselected first location on the transmission line. In one embodiment, the first location on the transmission line includes the first location on the transmission line selected by the first mobile device. In one embodiment, the second location on the transmission line includes a preselected second location on the transmission line. In one embodiment, the second location on the transmission line includes the second location on the transmission line selected by the second mobile device.

  FIG. 15 shows an exemplary environment 1200. The environment includes the power transfer system illustrated by the transmission line 230.1 of the high voltage power transfer system 205 described in connection with FIG. The environment includes a mobile device 1205. The mobile device is configured to travel a live transmission line such as transmission line 260A between two power transmission towers, such as towers 210a and 210b of overhead high voltage power transmission system 205 described in connection with FIG. Chassis 1207 is included. The mobile device is physically associated with the chassis and includes an assistance module 1222 configured to assist in the installation or removal of conductor cables or lines between the two power towers.

  In one embodiment, the assistance module 1222 includes a pull wire or pull rope assistance module 1224 configured to deploy a pull wire or pull rope between two transmission towers. In an embodiment, the pull wire or pull rope support module is configured to deploy a pull wire or pull rope configured to facilitate the installation of a new conductor cable or line between the two power towers. In one embodiment, the pull wire or pull rope comprises a low mass, high strength tensile rope, such as Kevlar or Spectra. In one embodiment, the pull wire or pull rope support module is configured to install a pull wire or pull rope between two power towers. In one embodiment, the pull wire or pull rope support module is configured.

  In one embodiment, the support module 1222 includes a support or spacing support module 1226 that is configured to physically facilitate installation of a new conductor cable or line support or spacing. In one embodiment, the support or spacing support module is configured to attach support or spacing for a new conductor cable or line. In one embodiment, the support or spacing support module physically facilitates the installation of support or spacing at either one of the two transmission towers or along the incoming and going overhead transmission lines. It is configured. In one embodiment, the support module includes a tension support module 1228 configured to apply a pulling force to a new conductor cable or line provided. In one embodiment, the assistance module includes a removal assistance module 1232 configured to physically assist removal of a conductor cable or line between two power towers. In one embodiment, the assistance module includes a deployment assistance module 1234 that is configured to physically assist removal of a conductor cable or line between two transmission towers. In one embodiment, the support module includes a spool or reel 1236 configured to carry a new conductor cable or line. In one embodiment, the spool or reel is configured to carry and deploy a new conductor cable or line. In one embodiment, the support module includes a conductor removal module 1238 configured to collect the removed conductor cable or line. In one embodiment, the mobile device includes a communication module 1244 that is physically associated with the chassis and configured for wireless communication.

  One skilled in the art will recognize that in one embodiment, aspects of the mobile device 1205 including the assistance module 1222 can be implemented using hardware, software and / or firmware implementations. In one embodiment, aspects of the mobile device may be individual and / or collective depending on various types of electromechanical systems having a wide range of electrical components such as hardware, software, firmware and / or substantially any combination. Those skilled in the art will recognize that can be implemented. One of ordinary skill in the art will recognize that the embodiments can be implemented using a general purpose computer programmed to perform one or more specific functions of the mobile device. For example, aspects of a mobile device can be implemented using a computing device 1246. In one embodiment, the computing device may be implemented in part or in whole using the general purpose thin computing device 20 described in connection with FIG. In one embodiment, the computing device may be implemented in part or in whole using the general purpose computing device 100 described in connection with FIG.

  FIG. 16 illustrates an example environment 1300. The environment includes the power transfer system illustrated by the transmission line 230.1 of the high voltage power transfer system 205 described in connection with FIG. The environment includes a system 1302. The system includes the mobile device 1205 and the installation support controller 1350 described with reference to FIG. The installation assistance controller includes a travel control module 1352 configured to control movement by the mobile device via a live transmission line. The installation assistance controller includes a physical assistance control module 1354 configured to control the provision of physical assistance by the mobile device. The installation support controller includes a communication module 1356 configured to communicate with a mobile device wirelessly. In one embodiment, the cruise control module 1352 is configured to simultaneously control movement by at least two mobile devices on the live transmission line of the power transfer system.

  In one embodiment, the power transmission system includes a high voltage power transmission system. In one embodiment, the power transfer system includes a power distribution system.

  Those skilled in the art will recognize that in one embodiment, aspects of an installation assistance (installation-assistance) controller can be implemented using hardware, software and / or firmware implementations. In one embodiment, aspects of the installation support controller are various and different for electromechanical systems having a wide range of electrical components such as hardware, software, firmware and / or virtually any combination, individually and / or collectively. One skilled in the art will recognize that it is implemented by type. One skilled in the art will recognize that in one embodiment, the installation assistance controller aspects may be implemented using a general purpose computer programmed to perform one or more specific functions of the mobile device. For example, an aspect of the installation support controller can be realized using the computing device 1358. In one embodiment, the computing device may be implemented in part or in whole using the general purpose thin computing device 20 described in connection with FIG. In one embodiment, the computing device may be implemented in part or in whole using the general purpose computing device 100 described in connection with FIG.

  All references are incorporated herein in their entirety, or their subject matter is incorporated to the extent not inconsistent with this specification.

  In some embodiments, “configured” includes at least one of designing, setting, forming, implementing, building, or applying for at least one of a particular purpose, application or function.

It will be understood that in general terms are generally intended as “open” terms, as used herein, particularly in the appended claims. For example, the term “including” should be interpreted as “including but not limited to”. For example, the term “having” should be interpreted as “having at least”. For example, the term “having” should be interpreted as “having at least”. For example, the term “including” should be construed as “including but not limited to”. For example, the term is to be understood that when a particular number is intended in an introduced claim description, such intention is expressly recited in the claims and no such description exists. Let's go. For example, as an aid to understanding, the following appended claims may include the use of introductory phrases such as “at least one” or “one or more” to introduce claim recitations. However, even if the same claim contains the introductory phrases “one or more” or “at least one” and such indefinite articles such as “a” or “an” (eg, “receiver” The use of such a phrase means that the introduction of a claim statement by the indefinite article “a” or “an” is intended to be in any way that includes such a statement. Should not be construed as implying any limitation to this claim. Further, it will be appreciated that even though the list of introductory claims is explicitly stated, such description is typically taken to mean at least the stated number. (For example, a minimal description of “at least two chambers” or “multiple chambers” typically means at least two chambers unless otherwise modified.)
When the terms "at least one of A, B and C", "at least one of A, B or C" or "[item] selected from the group consisting of A, B or C" are used, Such constructions are disjunctive (these terms are not limited, but only A, B only, C only, A and B, A and C, B and C, A and B and C And may include at least one or more of A, B and C, such as A1 and A2 and C, A and B1, B2 and C1 and C2 or B1 and B2. It will be understood that virtually any disjunction or phrase presenting a term will take into account the possibility of including either or both of the terms in the specification, claims or drawings. The phrase “A or B” will be understood to include the possibilities of “A” or “B” or “A and B”.

  Aspects described herein illustrate different components that include or are connected to different other configurations. It will be appreciated that such an architecture is an example, and in fact many other architectures perform the same function. In a conceptual sense, any arrangement of components accomplishes the same function “associated” effectively to achieve the desired function. Thus, any two components combined to implement a particular function herein are “associated” with each other such that the desired function is achieved regardless of the architecture or intermediate components. Can be considered. Similarly, any two associated components are considered “operably connected” or “operably coupled” to each other to achieve a desired function. Any two components that can be so associated can also be considered “operably coupleable” to each other to achieve a desired function. Particular examples of operably coupleable are not limited to physically matable or physically interacting components or wirelessly interactable or wirelessly interacting components.

  With respect to the appended claims, the operations described can be performed in any order. Also, it is to be understood that the various operational flows are shown in an arrangement or arrangements, but may be executed in an order other than shown or in an order other than being executed. is there. Unless the context indicates otherwise, examples of such alternative orders may include overlap, break, interleave, rearrange, supplement, prepare, simultaneous, reverse or other ordering. The use of “start”, “end”, “stop” or similar blocks in the block diagram is not intended to indicate a restriction on the beginning or end of any operation or function in the diagram. Such flowcharts or diagrams can be incorporated into other flowcharts or diagrams where additional functions are performed before or after the functions shown in the diagram of this application. Also, terms such as “responding to”, “related to” or other past tense adjectives are not generally intended to exclude such variations unless the context indicates otherwise.

  While various aspects and embodiments are disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are for purposes of illustration, and the true scope and spirit is indicated by the following claims, and is not intended to be limiting.

Claims (22)

A chassis configured to move on a transmission line between two transmission towers of the overhead power transmission system;
And a support module physically associated with the chassis and configured to physically support installation or removal of conductor cables or lines between the two power towers.   The mobile device of claim 1, wherein the power transfer system comprises a high voltage power transfer system.   The mobile device of claim 1, wherein the power transfer system includes a power distribution system.   The mobile device of claim 1, wherein the support module is configured to deploy a pull wire or pull rope between the two power towers.   The mobile device of claim 2, wherein the pull wire or pull rope is configured to facilitate installation of a new conductor cable or line between the two power towers.   The mobile device according to claim 2, wherein the support module is configured to install a pull wire or pull rope between the two power transmission towers.   The mobile device according to claim 2, wherein the pull rope is a low mass, high strength pull rope.   The mobile device of claim 1, wherein the support module is configured to physically facilitate installation of a support member or spacing member for a new conductor cable or line.   9. The mobile of claim 8, wherein the assistance module is configured to physically facilitate installation of a support member or spacing member at the two power towers or along incoming and outgoing overhead transmission lines. device.   The mobile device of claim 8, wherein the support module is configured to install a support member or spacing member for a new conductor cable or line.   The support member or spacing member includes one or more guide anchors for a pull wire, a mechanical support member for a pull wire or cable, and / or a conductor or insulating accessory for a new transmission cable or line. 9. The mobile device according to 8.   The mobile device of claim 1, wherein the support module is configured to provide a pulling force to a new conductor cable or line provided.   The mobile device of claim 1, wherein the assistance module is configured to physically assist removal of a conductor cable or line between the two power towers.   The mobile device of claim 1, wherein the support module includes a spool or reel configured to carry a new conductor cable or line.   The mobile device of claim 14, wherein the spool or reel is configured to carry and deploy a new conductor cable or line.   The mobile device of claim 1, wherein the support module includes a transport device configured to collect removed conductor cables or lines.   The mobile device of claim 1, comprising a communication module physically associated with the chassis and configured for wireless communication. Configured to travel on a transmission line between two transmission towers of a power transmission system, physically support the installation of a new conductor cable or line between the two transmission towers, and to communicate wirelessly with an installation controller Including mobile devices
The installation controller is configured to travel by the mobile device over the transmission line, control provision of physical assistance by the mobile device, and communicate wirelessly with the mobile device.   The system of claim 18, wherein the power transfer system comprises a high voltage power transfer system.   The system of claim 18, wherein the power transfer system comprises a power distribution system.   The system of claim 18, wherein the mobile device is configured to provide a pulling force on a new conductor cable or line to be installed.   The system of claim 18, wherein the installation controller is configured to simultaneously control movement by at least two mobile devices on the transmission line of the power transmission system.

Images