WO2021048201A1

WO2021048201A1 - Failsafe powerline engagement system for a drone or for an aerial robot

Info

Publication number: WO2021048201A1
Application number: PCT/EP2020/075186
Authority: WO
Inventors: Emad Samuel Malki EBEID
Original assignee: Syddansk Universitet
Priority date: 2019-09-10
Filing date: 2020-09-09
Publication date: 2021-03-18

Abstract

A powerline engagement system (300) for mounting on a drone (200) or configured to form part of a drone to be engaged with a powerline (100) is disclosed. The system comprises a split core gripper (301), which may be a split core current transformer, having a first part (302) and at least one second part (303) movably connected to the first part. The at least one second part is movable, by use of an actuator (308), between a closed configuration in which a closed circuit is formed, and an open configuration in which there is an upwardly facing gap (305) for letting a powerline pass there through to allow for the engagement. During faulty operation conditions, the at least one second part can be automatically moved from the closed configuration to the open configuration in order to disengage the powerline engagement system from the powerline. Thus, the drone can fall down by gravity so that there is no need for a person to come up to the powerline to release it.

Description

FAILSAFE POWERLINE ENGAGEMENT SYSTEM FOR A DRONE OR FOR AN AERIAL ROBOT

FIELD OF THE INVENTION

The present invention relates to a powerline engagement system for mounting on a drone or configured to form part of a drone that has to land on a powerline, e.g. for charging, inspection, or mounting equipment such as sensors. In particular, it relates to such a system which has a failsafe gripping mechanism so that the drone can be automatically and safely released from the powerline in case of electrical or mechanical failure without the need for a person to come up to the powerline and release it.

BACKGROUND OF THE INVENTION

The electrical grids are the backbone infrastructure of any country and most of them were built during the 1960s and 1970s. Taking EU as an example, there are more than 200,000 km of overhead powerlines that need to be inspected at least once a year. The common way of inspecting the grid is by flying helicopters with camera operators to film the powerlines. However, this method is not only costly and time consuming but also inaccurate. Recently, manually flying drones have been used to inspect a small section of the grid at a time, before the drone has to fly back to a charging station; this is due to the relatively low endurance drone time. However, drones may benefit from the electromagnetic fields that are generated from the powerlines to recharge its batteries, and such recharging causes a need for the drones to land on the powerlines and recharge. In addition, drones can have or place equipment on the powerlines to measure the powerline characteristics and report them. The classical way is that the drone lands on the powerline, locks its sensors/equipment around the powerline, measures the desired data, releases the sensor/equipment, and flies away. The main challenge here is how to lock onto the powerlines and guarantee a safe detaching system that can release itself without human intervention.

There are some systems of drones that land on powerlines from top to down and/or by using sophisticated mechanical systems to lock over the powerlines. If a mechanical or electrical failure happens to the drone, the drone will never manage to fly away due to its attachment method. Then it will be necessary to shut down the electricity from the powerlines before releasing the drone. Such release typically includes sending an operator up to the powerline to actuate the release.

Hence, an improved powerline engagement system would be advantageous, and in particular a system allowing for a more efficient and/or reliable removal of the drone from the powerline in case of failure would be advantageous.

OBJECT OF THE INVENTION

It is an object of the present invention to provide a powerline engagement system for mounting on a drone to allow it to be automatically released from a powerline with which it has been engaged in case of faulty operation conditions.

It is another object of the present invention to provide a powerline engagement system for mounting on a drone with which it can be avoided to have a person to come up to a drone stuck on a powerline in order to release it therefrom.

It is an object of at least some embodiments of the present invention to provide a powerline engagement system for mounting on a drone with which system the approach to and engagement with a powerline can be obtained in a manner which lowers the risk of undesirable collision between the drone and the powerline compared to known systems.

It is a further object of the present invention to provide an alternative to the prior art.

In particular, it may be seen as an object of the present invention to provide a powerline engagement system that solves the above-mentioned problems of the prior art. SUMMARY OF THE INVENTION

Thus, the above-described object and several other objects are intended to be obtained in a first aspect of the invention by providing a powerline engagement system for mounting on a drone or configured to form part of a drone to be engaged with a powerline during use of the system, the powerline engagement system comprising:

- a split core gripper arranged in a top region of the powerline engagement system, the split core gripper comprising:

- a first part,

- at least one second part being movably, such as pivotally, connected to the first part, wherein the first part and the at least one second part are dimensioned, shaped and arranged so that, during use of the powerline engagement system, the at least one second part is movable between: o a closed configuration in which the first part and the at least one second part form a closed circuit which is adapted to surround the powerline, and o an open configuration in which there is an upwardly facing gap in the circuit, the gap being shaped and dimensioned so that a powerline can pass through the gap, wherein there is provided at least one actuator for enabling the moving of the at least one second part between the closed configuration and the open configuration, wherein the powerline engagement system is designed so that during use of the system in engagement with a powerline: - during normal operation conditions, the at least one second part is movable between the closed configuration and the open configuration controlled by a controller, and

- during faulty operation conditions, the at least one second part is movable from the closed configuration to the open configuration in order to disengage the powerline engagement system from the powerline by the following: o in response to receiving an error signal from the powerline engagement system or from the drone, the controller sends an internal opening signal to the at least one actuator which in response thereto moves the at least one second part, o in case of electrical failure so that electronics of the powerline engagement system fails, the at least one actuator receives no signal or an error signal and in response thereto causes the at least one second part to move.

Here and in the following, reference is made to a "drone" as the application of the powerline engagement system. However, what is referred to as "drone" could also be other types of unmanned flying vehicles, typically referred to as UV, Unmanned Aerial Systems (UAS), or Unmanned Aerial Vehicles (UAV). It could also be referred to as an aerial robot.

By "configured to form part of a drone" is preferably meant that one can build a drone out of the powerline engagement system by adding motors and propellers to the powerline engagement system to allow it to fly.

Here and in the following, the word "powerline" is used to describe the overhead cables, typically high-power cables, used to transfer electric power over large distances. Thus, instead of "powerline", the words "cable" or "high-voltage power cable" could also have been used.

The first part will typically be fixedly mounted, but the scope of protection also covers embodiments wherein both the first part and the at least one second part are movable, such as pivotally movable.

The wording "is movable" could also be phrased "can be moved".

In presently preferred embodiments of the invention, the split core gripper is a split core current transformer, the first part and the at least one second part comprise magnetic material so that in the closed configuration, the first part and the at least one second part form a closed magnetic circuit, and the first part has an electric wire wound around at least a part thereof.

When in use mounted on a drone or forming part of a drone, and with the split core gripper being a split core current transformer, the powerline engagement system works in the following overall manner: The drone approaches the powerline with which it is to engage under the control of the flight controller of the drone. With the at least one second part of the split core current transformer in the open position, the drone moves to a location close to and below the powerline. From here, the drone moves upwards so that the powerline enters through the upwardly facing gap, and the at least one second part is moved to the closed configuration resulting in the formation of a closed magnetic circuit surrounding the powerline. Hereby the attachment to the powerline is obtained, and the necessary operations can be performed. Such action may include charging of a battery of the drone, charging of a tool or unit attached to the drone, inspection of the conditions of the powerline, or mounting of sensors/equipment onto the powerline.

The powerline engagement system is designed for mounting on top of a drone so that the gripping action of the first and at least one second part of the split core gripper can efficiently take place from below the powerline as explained above. However, the scope of protection of the claims also covers embodiments for mounting on other parts of the drone, such as at one or more sides provided that it still allows for engagement with a powerline from below the powerline. This is obtained by having the split core gripper arranged in a top region of the powerline and making sure that the first and at least one second parts of the gripper can approach and grip onto the powerline without other parts of the powerline engagement system or the drone coming into contact with the powerline.

As mentioned above, the gap between the first and second parts of the split core gripper, when the at least one second part is in the open configuration, is facing upwards. Hereby it is obtained that in case of an error in the system, the at least one second part can move to the open configuration and thereby enable the drone to release the gripping around the powerline and fall downwards by gravity.

Hereby it is possible to avoid that the drone is stuck on the powerline and has to be removed by external efforts, such as by a person having to be lifted up or to climb up to release the drone. This possibility of allowing for automatic release in case of failure in the powerline engagement system or in the drone is an advantage over prior art systems.

The powerline engagement system may be provided with a parachute system or an airbag or rope roller to ensure a smooth landing of the drone in case of release from the powerline due to failure.

By "upwardly facing gap" is preferably meant that the gap is oriented and shaped so that the drone can leave the powerline under action of gravity only, if needed; i.e. in case the system is in an error condition so that the normal control system cannot be used for the release from and leaving the powerline.

In some embodiments of the invention, one actuator in the form of one motor with appropriate gearing can be used to control more than one moving part, such as two second parts of the split core gripper and elements supporting or enabling this movement. It may also be an option to have one motor per moving part. An actuator, such as a motor, may actively move a second part between the closed and open configurations. Another option is to have a spring-loaded actuator with a magnetic locking so that if the power is lost, the second part will automatically move to the open position. In the following, a motor is used as an example of an actuator. The actuation will typically also include moveable joints or links as will be shown in the examples in the figures. The at least one actuator may also be actuated by another drone not forming part of the system.

"Faulty operation conditions" is used to designate any kind of condition that differs from the normal operation condition. Examples of such faulty operation conditions include, but are not limited to the following:

Mechanical failure, such as a broken component, which makes it impossible for the drone to fly away from the powerline, at least in a safe and controlled way.

- Electrical failure, such as a loss of electrical contact, or electronic failure, such as a crash of the computer software, which e.g. results in the motor not receiving any signal from the flight controller. "Normal operation conditions" could include that if the drone moves along the powerline and meets an obstacle thereon, it will release the gripping, move clear of and past the obstacle, before it re-engages with the powerline. Such an obstacle could e.g. be a connector between parts of the powerline or a pylon carrying the powerline.

The powerline engagement system is designed for and will be described for use in establishing the contact with a powerline. However, the same gripping mechanism in the form of the split core gripper and the components and electronics used to control the functioning thereof can also be used for enabling a drone to land on other kinds of powerlines or powerline-shaped structures for temporary idleness, e.g. during bad weather conditions. The dimensions and specific shapes of the different parts of the system will be determined as part of a design process as they will depend on the size and weight of the drone on which the powerline engagement system is to be mounted. The upwardly facing gap when the second part of the split core gripper is in the open condition is to be dimensioned in accordance with the actual thickness of the powerline with which engagement is to be obtained. However, the precision with which the drone can be positioned also has to be taken into account to ensure that the engagement can be established. This will be determined as part of the design process and will possibly include test flights with a prototype. However, as a general guidance, the high-voltage powerlines are typically 40 mm thick, so the gap should typically have at least this size. This dimension of powerlines may differ, and thus the sizes of the gap in the powerline engagement system should be adjusted accordingly.

In some embodiments of the invention, the powerline engagement system further comprises a receiver and is designed so that during faulty operation conditions, the at least one second part is movable from the closed configuration to the open configuration in order to disengage the powerline engagement system from the powerline by the receiver receiving an external opening signal from a remote control, such as from an operator on the ground, and the at least one actuator in response thereto moves the at least one second part to the open configuration.

In such systems, it can be ensured that the powerline engagement system can be released from the powerline to bring the drone safely down even when the possibilities for release as described above do not work. The receiver may be a separate unit or it may be built into a controller of the system; such a controller will be described in relation to the figures.

Further functionalities may be built into the control of the powerline engagement system, if desired. It could e.g. be built into the system that during normal operation conditions, the at least one second part should not open until the battery of the drone has enough power to bring the drone back to a predefined location.

In some embodiments of the invention, there are two second parts each having a proximal end where they are pivotally connected to opposite ends of the first part and a distal end arranged to engage with the distal end of the other second part to form the closed configuration and to form the gap there between in the open configuration. An example of such an embodiment will be described in relation to the figures.

The powerline engagement system may further comprise at least one motor for driving the at least one actuator. This driving will be controlled to obtain the desired functioning as will be described in further details in the following. In presently preferred embodiments to be described below, an actuator is in the form a motor so that these words may be used to describe the same component. However, the scope of protection also covers embodiments wherein a motor is only part of an actuator.

When the at least one second part is to remain in either the closed or the open configuration for a while, some locking may be involved to ensure that is does not move unintentionally. Such locking could e.g. be obtained by electromagnetic devices, custom made motors, or gearing locking systems. The locking system will assure that the powerline engagement system is closed while the motor is unloaded. Once the locking system is triggered to open or loses power, the engagement system will not have any forces to keep it locked.

In any of the above described embodiments of the powerline engagement system having an electric wire, the electric wire wound around a part of the first part may have outputs for establishing an electrical connection to a battery, such as a battery of the drone, to be charged from current generated in the split core current transformer when the powerline engagement system is engaged with a powerline during use of the powerline engagement system.

The powerline engagement system may further comprise at least one camera sensor for acquiring image data and for outputting image signals representing the image data to a controller.

The powerline engagement system may further comprise at least one LiDAR sensor for acquiring the relative distance between the powerline and the powerline engagement system and for outputting distance signals representing the relative distance.

Such a powerline engagement system having at least one camera sensor and/or at least one LiDAR sensor may further comprise a companion computer for receiving the image signals and/or the distance signals and in response thereto controlling the movement of the at least one second part and guide the drone towards the powerline to attach the drone. Thus, the image signals and distance signals can be used to guide the drone safely to the correct position with respect to the powerline. The signals may also be stored on a computer, such as the companion computer, and used for analysis of the conditions of the powerline, e.g. with respect to wear.

A powerline engagement system comprising a companion computer may further comprise a databus for providing data communication between the companion computer and the flight controller of the drone to provide control signals to guide the drone to the desired powerline for landing.

A powerline engagement system according to any of the embodiments as described above may further comprise at least one position sensor for registering whether a powerline is present and surrounded by the magnetic circuit formed by the split core current transformer. A signal from such a sensor can thus be used to trigger the actuation causing the second part to move from the open to the closed configuration.

The powerline engagement system may further comprise a frame on which all the components of which the system consists are mounted so that the powerline engagement system forms a unit which can be mounted to a drone via the frame. In this manner, the powerline engagement system can be manufactured and delivered as a unit which can easily be mounted to a drone at a later point in time. It also facilitates the movement of the powerline engagement system between different drones, if desired.

A powerline engagement system may further comprise a caging or shielding that can protect the components of the powerline engagement system from electrical charges or bursts. Such a caging or shielding may surround most of the powerline engagement system while still allowing for engagement with a powerline. However, it may also be designed to cover only the most sensitive parts of the system, such as the companion computer, when present.

The powerline engagement system may further comprise a frame on which all the components of which the system consists and on which the drone electronics (flight controller, receivers, ESCs, etc.) are mounted, so that the powerline engagement system forms a unit which can be mounted on a drone's airframe (propulsion system and a frame) to form a full drone system. In this manner, the powerline engagement system can be manufactured as a full drone system that is EMI immune at a later point in time.

In a second aspect, the present invention relates to a drone comprising a powerline engagement system as in any of the embodiments as described above.

The scope of the present invention also covers embodiments, wherein the powerline engagement system is designed so that it can be disconnected from the drone while being kept in engagement with the powerline in such a manner that the drone can fly away and leave the powerline engagement system hanging from the powerline. Such embodiments can e.g. be used for placing and leaving e.g. monitoring equipment or recharging stations on the powerline. Preferably, such embodiments should allow for subsequent engagement with the drone returning to bring the power engagement system back to ground again after a while. To make such an application possible, the drone and the power engagement system should be provided with suitable engagement components to allow for such disengagement and re-engagement, preferably under the automatic control of a build-in drone controller or by remote control.

The first and second aspect of the present invention will be apparent from and elucidated with reference to the embodiments described hereinafter.

BRIEF DESCRIPTION OF THE FIGURES

The powerline engagement system according to the invention will now be described in more detail with regard to the accompanying figures. The figures show one way of implementing the present invention and is not to be construed as being limiting to other possible embodiments falling within the scope of the attached claim set.

Figure 1 shows schematically the overall idea of using a powerline engagement system mounted on a drone to bring the drone into engagement with the powerline.

Figure 2 shows schematically a split core current transformer with one second part. Figures 2. a and 2.b show the transformer with the second part in the closed configuration and the open configuration, respectively.

Figure 3 shows schematically a split core current transformer with two second parts. Figures 3. a and 3.b show the transformer with the second parts in the closed configuration and the open configuration, respectively.

Figure 4 shows schematically an embodiment of a powerline engagement system according to the invention. Figure 5 shows schematically the powerline engagement system in figure 4 provided with a caging.

DETAILED DESCRIPTION OF AN EMBODIMENT

Figure 1 shows schematically the overall idea of enabling that a drone 200 with a powerline engagement system 300 according to the present invention can approach and connect to a powerline 100 from below. The following description will be based on such a use, but the same powerline engagement system 300 can also be used for connecting to other similarly shaped and dimensioned powerlines or powerline-like structures, e.g. for temporary parking of the drone 200 when not in use or for temporary idleness in case of bad weather conditions.

The powerline engagement system 300 which is illustrated in the figures and which will be described in the following comprises a split core current transformer 301 arranged in a top region of the powerline engagement system 300 so that it can grip onto the powerline 100 from below. This also means that after engagement, the drone 200 will hang below the powerline 100 so that in the occurrence of a failure, it can automatically be released from the powerline 100 and fall down due to gravity. The powerline engagement system 300 or the drone 200 may be provided with a parachute, airbag, or rope roller system (not shown) to ensure a smooth falling and landing of the drone on the ground. As mentioned above, the scope protection also covers embodiment wherein the first part 302 and the second parts 303 form a gripper made from elements not establishing a current transformer.

The powerline engagement system 300 comprises a split core current transformer 301 that performs a gripping action to engage with the powerline 100. The split core current transducer 301 comprises a first part 302 and at least one second part 303. Figures 2 and 3 show two embodiments having one and two second parts 303, respectively. Both the first part 302 and the at least one second part 303 comprise magnetic material so that they together can form a closed magnetic circuit around the powerline 100. The first part 302 has an electric wire 304 wound around at least a part thereof. In the illustrated embodiments, the at least one second part 303 is pivotally connected to the first part 302. The at least one second part 303 is movable between a closed configuration in which the first part 302 and the at least one second part 303 form a closed magnetic circuit, and an open configuration in which there is an upwardly facing gap 305 in the magnetic circuit. The gap 305 is shaped and dimensioned so that a powerline 100 can pass through the gap 305 during use of the powerline engagement system 300. Figures 2. a and 3. a show the split core current transformers 301 in the closed configuration, and figures 2.b and 3.b show the split core current transformers 301 in the open configuration.

In the embodiment in figure 3, there are two second parts 303 each having a proximal end 306 where they are pivotally connected to opposite ends of the first part 302 and a distal end 307 arranged to engage with the distal end of the other second part to form the closed configuration and to form the gap 305 there between in the open configuration.

Figure 4 shows schematically an embodiment of the invention comprising the split core current transducer 301 of figure 3, i.e. with two second parts 303. In this embodiment, there is provided one actuator in the form of a motor 308 for enabling the moving of each of the second parts 303 between the closed configuration and the open configuration. In the illustrated embodiment, this is done via a mechanical joint 309 that is drilled in the split side part of the split core current transformer 301. The motor 308 moves the second part 303 of the split core current transformer 301 in a circular way that rotates around the joint 309 to open and close the magnetic circuit.

During normal operation conditions, the second parts 303 are movable between the closed configuration and the open configuration controlled by a controller providing control signals to the motor 308. Typically, a powerline engagement system 300 according to the invention comprises at least one motor 308 for opening and closing the split core current transformer 301.

During faulty operation conditions, the second parts 303 is movable from the closed configuration to the open configuration in order to disengage the powerline engagement system 300 from the powerline and allow the drone 200 to fall downwards by gravity.

The release from the powerline 100 in case of faulty conditions can be obtained in a number of ways including but not limited to the following: Any malfunctioning, such as due to a mechanically broken element, will result in an error signal being emitted. This can be obtained in a number of ways which will be well known to a person skilled in the art. It may e.g. be a signal from a strain gauge, from the flight controller, or from the battery monitoring system. In response to receiving this error signal from the powerline engagement system 300 or from the drone 200, the controller sends an internal opening signal to the at least one motor 308 which in response thereto moves the at least one second part 303 to the open configuration thereby establishing the gap 305 that will result in the disengagement from the powerline 100. In a similar manner, in case of electrical failure so that electronics of the powerline engagement system 300 fails, the at least one motor 308 receives no signal or an error signal and in response thereto causes the at least one second part 303 to move to the open configuration.

The embodiment illustrated in figure 4 comprises a receiver 310 for receiving an external opening signal from a remote control (not shown), such as from an operator on the ground. Hereby it will be possible to disengage the powerline engagement system 300 from the powerline 100 by remote control so that the disengagement can be obtained even if the above-mentioned built-in options are not working as intended.

The electric wire 304 preferably has outputs for establishing an electrical connection to a battery (not shown), such as a battery of the drone 200, to be charged from current generated in the split core current transformer 301 when the powerline engagement system 300 is engaged with a powerline 100 during use of the powerline engagement system 300. Hereby the powerline engagement system 300 can be used to enable that the battery can be charged either as a main purpose of the engagement or in combination with other purposes, such as for inspection or maintenance of the powerline 100. The embodiment shown in figure 4 comprises two camera sensors 311 for acquiring image data and for outputting image signals representing the image data to a companion computer 319. It also comprises two LiDAR sensors 312 for acquiring the relative distance between the powerline 100 and the powerline engagement system 300 and for outputting distance signals representing the relative distance. For perfect alignment under the powerline 100, the two camera sensors 311 and two LiDAR sensors 312 are used. However, one camera sensor 311 and one LiDAR sensor 312 can be used, or a stereo camera or time-of-flight camera can be also used. Magnetometers may be added to the system to know if the powerline 100 is active or not. Signals from such magnetometers can also be used to calculate the relative distance between the drone 200 and the powerline 100.

As shown in figure 4, the powerline engagement system 300 comprises a databus

313 for providing data communication between the companion computer 319 and the drone's flight controller (not shown), such as the flight controller arranged on the drone 200 on which the powerline engagement system 300 is mounted when in use. In some embodiments of the invention, including the one shown in figure 4, the powerline engagement system 300 comprises at least one position sensor

314 for registering whether a powerline 100 is present and surrounded by the magnetic circuit formed by the split core current transformer 301; one position sensor 314 is shown in figure 4. A lock sensor 315 is shown as being arranged on the first part 302. Once the second parts 303 are in the closed configuration so that a closed magnetic circuit is formed, the lock sensor 315 sends a confirmation signal to the controller to stop the motors 308 and lock them. Hereby it is ensured that the split core current transformer 301 remains closed and does not un intentionally open during normal operating conditions.

So in summary, the mechanical opening and closing movement of the second parts 303 as well as the movement of the whole drone 200 carrying the power engagement system 300 are controlled by a companion computer 319 that takes inputs from the image sensors 311 and LiDAR sensors 312 and fuse them and use the fused data to communicate with and control the drone 200 to be aligned under the powerline 100. Figure 4 shows schematically the power ports 316 for the companion computer 319 and the databus 313 used to control the drone's flight controller. Once the drone 200 is aligned under the powerline 100, the companion computer 319 increases the throttle of the drone 200 to move the split core current transformer 301 around the powerline 100. Once the powerline 100 is inside the transformer, the position sensor 314 sends an ON signal to the companion computer 319. Thus, the companion computer 319 sends closing signals to the motors 308 to make the second parts 303 move to the closed configuration so that a closed magnetic circuit is established.

A powerline engagement system 300 according to the invention may further comprise a frame 317 on which all the components of which the system consists are mounted so that the powerline engagement system 300 form a unit which can be mounted to a drone 200 via the frame 317 or contains the airframe to form a full drone. In the embodiment shown in figure 4, such a frame 317 is just shown schematically as a beam representing e.g. a plate. However, a frame could also be in other forms, such as in the form of a grid-shaped structure or a circular disc. Preferably, the frame is shaped in correspondence with the positions and sizes of the components to be mounted thereon and in correspondence with the location of mounting means, such as holes for mounting by use of e.g. bolts and nuts.

Figure 5 shows schematically a powerline engagement system comprising a caging 318 or shielding that can protect the components of the powerline engagement system 300 from electrical charges or bursts that may occur e.g. when a drone 200 equipped with the powerline engagement system 300 approaches a high-voltage overhead powerline 100. In the embodiment in figure 5, the illustrated caging 318 surrounds most of the powerline engagement system 300 while still allowing for engagement with a powerline 100. However, in alternative embodiments (not shown), it may also be designed to cover only the most sensitive parts of the system, such as the companion computer 319, when present. As shown in figure 5, the camera sensors 311 and the LiDAR sensors 312 of the illustrated embodiment extend to outside the caging 318 so that they can be used to guide the drone 200 safely towards the powerline 100.

Although the present invention has been described in connection with the specified embodiments, it should not be construed as being in any way limited to the presented examples. The scope of the present invention is set out by the accompanying claim set. In the context of the claims, the terms "comprising" or "comprises" do not exclude other possible elements or steps. Furthermore, the mentioning of references such as "a" or "an" etc. should not be construed as excluding a plurality. The use of reference signs in the claims with respect to elements indicated in the figures shall also not be construed as limiting the scope of the invention. Furthermore, individual features mentioned in different claims, may possibly be advantageously combined, and the mentioning of these features in different claims does not exclude that a combination of features is not possible and advantageous.

Claims

1. Powerline engagement system (300) for mounting on a drone (200) or configured to form part of a drone to be engaged with a powerline (100) during use of the system, the powerline engagement system (300) comprising:

- a split core gripper (301) arranged in a top region of the powerline engagement system (300), the split core gripper (301) comprising:

- a first part (302), - at least one second part (303) being movably, such as pivotally, connected to the first part (302), wherein the first part (302) and the at least one second part (303) are dimensioned, shaped and arranged so that, during use of the powerline engagement system (300), the at least one second part (302) is movable between: o a closed configuration in which the first part (302) and the at least one second part (303) form a closed circuit which is adapted to surround the powerline (100), and o an open configuration in which there is an upwardly facing gap (305) in the circuit, the gap (305) being shaped and dimensioned so that a powerline (100) can pass through the gap (305), wherein there is provided at least one actuator (308) for enabling the moving of the at least one second part (303) between the closed configuration and the open configuration, wherein the powerline engagement system (300) is designed so that during use of the system in engagement with a powerline (100):

- during normal operation conditions, the at least one second part (303) is movable between the closed configuration and the open configuration controlled by a controller, and

- during faulty operation conditions, the at least one second part (303) is movable from the closed configuration to the open configuration in order to disengage the powerline engagement system (300) from the powerline (100) by the following: o in response to receiving an error signal from the powerline engagement system (300) or from the drone (200), the controller sends an internal opening signal to the at least one actuator (308) which in response thereto moves the at least one second part (303), o in case of electrical failure so that electronics of the powerline engagement system (300) fails, the at least one actuator (308) receives no signal or an error signal and in response thereto causes the at least one second part (303) to move.

2. Powerline engagement system (300) according to claim 1, wherein:

- the split core gripper (301) is a split core current transformer,

- the first part (302) and the at least one second part (303) comprise magnetic material so that in the closed configuration, the first part (302) and the at least one second part (303) form a closed magnetic circuit, and

- the first part has an electric wire (304) wound around at least a part thereof.

3. Powerline engagement system (300) according to claim 1 or 2, further comprising a receiver (310), wherein during faulty operation conditions, the at least one second part (303) is movable from the closed configuration to the open configuration in order to disengage the powerline engagement system (300) from the powerline (100) by the receiver (310) receiving an external opening signal from a remote control, such as from an operator on the ground, and wherein the at least one actuator (308) in response thereto moves the at least one second part (303) to the open configuration.

4. Powerline engagement system according to any of the preceding claims, wherein there are two second parts (303) each having a proximal end (306) where they are pivotally connected to opposite ends of the first part (302) and a distal end (307) arranged to engage with the distal end (307) of the other second part (303) to form the closed configuration and to form the gap (305) there between in the open configuration.

5. Powerline engagement system (300) according to any of the preceding claims, further comprising at least one motor for driving the at least one actuator (308).

6. Powerline engagement system (300) according to claim 2 or any of claims 3 to 5 when dependent on claim 2, wherein the electric wire (304) has outputs for establishing an electrical connection to a battery, such as a battery of the drone (200), to be charged from current generated in the split core current transformer (301) when the powerline engagement system (300) is engaged with a powerline (100) during use of the powerline engagement system (300).

7. Powerline engagement system (300) according to any of the preceding claims, further comprising at least one camera sensor (311) for acquiring image data and for outputting image signals representing the image data to a controller.

8. Powerline engagement system according to any of the preceding claims, further comprising at least one LiDAR sensor (312) for acquiring the relative distance between the powerline (100) and the powerline engagement system (300) and for outputting distance signals representing the relative distance.

9. Powerline engagement system according to claim 7 or 8, further comprising a companion computer (319) for receiving the image signals and/or the distance signals and in response thereto controlling the movement of the at least one second part (303).

10. Powerline engagement system according to claim 9, further comprising a databus (313) for providing data communication between the companion computer (319) and an external computer, such as an external computer arranged on a drone (200) on which the powerline engagement system (300) is mounted when in use.

11. Powerline engagement system (300) according to any of the preceding claims, further comprising at least one position sensor (314) for registering whether a powerline (100) is present and surrounded by the magnetic circuit formed by the split core current transformer (301).

12. Powerline engagement system (300) according to any of the preceding claims, further comprising a frame (317) on which all the components of which the system consists are mounted so that the powerline engagement system (300) forms a unit which can be mounted to a drone (200) via the frame (317).

13. Powerline engagement system (300) according to any of the preceding claims, further comprising a caging (318) or shielding that can protect the components of the powerline engagement system (300) from electrical charges or bursts.

14. Drone (200) comprising a powerline engagement system (300) according to any of the preceding claims.